/* File: MOTOR.H */

/****************************************************************************
*
* STK16XSW.MOTOR
* ==============
*
* Low level routines for stepping motor control
*
* TQ-Systems GmbH                                                         
* ---------------                                                         
* Customer: TQ-Components
* Project : STK16XSW
* Tools   : uVision 2.05
*
* Rev: Date:     Name:            Modification:
* ----+---------+----------------+------------------------------------------
* 100  16.01.01  A. Lichte       taken over from STK16X.506                
*****************************************************************************/

#include "header.h"

/*==========================================================================*
* extern available definitions (#DEFINE):
*===========================================================================*/

/*--------------------------------------------------------------------------*
* hardware definitions for stepping motor control:
*---------------------------------------------------------------------------*/
#define PHASE_DIR_OUT    1      /* data direction register: output   */

// definitions for TQM165,166,167,167LC
#define PHASE_0_DIR_167  DP2^8  /* data direction register: phase 0  */
#define PHASE_0_167      P2^8   /* data register:           phase 0  */

#define PHASE_1_DIR_167  DP2^10 /* data direction register: phase 1  */
#define PHASE_1_167      P2^10  /* data register:           phase 1  */

#define PHASE_2_DIR_167  DP2^9  /* data direction register: phase 2 */
#define PHASE_2_167      P2^9   /* data register:           phase 2 */

#define PHASE_3_DIR_167  DP2^11 /* data direction register: phase 3 */
#define PHASE_3_167      P2^11  /* data register:           phase 3 */

#define PHASE_ON         1      /* level for phase 0..3 ON          */

/*--------------------------------------------------------------------------*
* hardware definitions for motor driver enabling:
*---------------------------------------------------------------------------*/
#define DRV_ENABLE_EN    1      /* level for enabling motor driver        */

/*--------------------------------------------------------------------------*
* steeping motor windings bit mask:
*---------------------------------------------------------------------------*/
#define PHASE_0_MASK     0x01
#define PHASE_1_MASK     0x02
#define PHASE_2_MASK     0x04
#define PHASE_3_MASK     0x08

/*--------------------------------------------------------------------------*
* stepping motor windings OFF state:
*---------------------------------------------------------------------------*/
#define PHASES_ALL_OFF   0x00

/*--------------------------------------------------------------------------*
* stepping motor operating modes:
*---------------------------------------------------------------------------*/
#define MOTOR_FSTEP1        0        /* full step mode, 1 active winding  */
#define MOTOR_FSTEP2        1        /* full step mode, 2 active windings */
#define MOTOR_HSTEP         2        /* half step mode                    */
#define MOTOR_MODE_UNDEF 0xFF        /* undefined operating mode          */

/*--------------------------------------------------------------------------*
* stepping motor direction:
*---------------------------------------------------------------------------*/
#define MOTOR_CW            0        /* clock wise rotation               */
#define MOTOR_CCW           1        /* counter clock wise rotation       */

/*--------------------------------------------------------------------------*
* general definitions:
*---------------------------------------------------------------------------*/

/*==========================================================================*
* extern available type definitions (TYPEDEF):
*===========================================================================*/

/*==========================================================================*
* extern available constants (CONST):
*===========================================================================*/

/*==========================================================================*
* globale extern available variables (EXTERN):
*===========================================================================*/

/*==========================================================================*
* extern available functions:
*===========================================================================*/

/*--------------------------------------------------------------------------*
* BYTE  motor_setdir(BYTE dir)
*---------------------------------------------------------------------------*
* FT: set stepping motor direction
* EP: dir = motor direction  MOTOR_CW: clock wise rotation
*                           MOTOR_CCW: counter clock wise rotation
* RV: TRUE = function succesfully; FALSE = function failed
* GP: 
*---------------------------------------------------------------------------*/
BYTE motor_setdir(BYTE dir);

/*--------------------------------------------------------------------------*
* BYTE  motor_setdir()
*---------------------------------------------------------------------------*
* FT: detect stepping motor direction
* EP -
* RV: MOTOR_CW = motor direction; MOTOR_CW = clock wise rotation
* GP: 
*---------------------------------------------------------------------------*/
BYTE motor_getdir();

/*--------------------------------------------------------------------------*
* BYTE motor_init(BYTE mode)
*---------------------------------------------------------------------------*
* FT: init motor 
* EP: mode = operating mode  0: full step with 1 winding
*                            1: full step with 2 windings
*                            2: half step
* RV: 0 = function succesfully; 1 = unvalid mode; 2 = motor defect
* GP: 
*---------------------------------------------------------------------------*/
BYTE motor_init(BYTE mode);

/*--------------------------------------------------------------------------*
* void motor_enable()
*---------------------------------------------------------------------------*
* FT: switch on motor driver
* EP: -
* RV: -
* GP: -
*---------------------------------------------------------------------------*/
void motor_enable();

/*--------------------------------------------------------------------------*
* void motor_disable()
*---------------------------------------------------------------------------*
* FT: switch off motor driver ( = standby mode)
* EP: -
* RV: -
* GP: 
*---------------------------------------------------------------------------*/
void motor_disable();

/*--------------------------------------------------------------------------*
* BOOL motor_step()
*---------------------------------------------------------------------------*
* FT: motor driver port output
* EP: -
* RV: TRUE = function succesfully; FALSE = unvalid driving mode
* GP: 
*---------------------------------------------------------------------------*/
BOOL motor_step();

/*--------------------------------------------------------------------------*
* void motor_set(BYTE state)
*---------------------------------------------------------------------------*
* FT: control motor phases
* EP: state = 4 bit nibble for motor phase stati
* RV: -
* GP: 
*---------------------------------------------------------------------------*/
void motor_set(BYTE state);

/*--------------------------------------------------------------------------*
* BOOL motor_getfault()
*---------------------------------------------------------------------------*
* FT: get motor error status 
* EP: -
* RV: TRUE = driver failure detected; FALSE = no driver failure detected
* GP: 
*---------------------------------------------------------------------------*/
BOOL motor_getfault();