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70 lines
2.2 KiB
C
70 lines
2.2 KiB
C
/*
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* Author: Jon Trulson <jtrulson@ics.com>
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* Copyright (c) 2016 Intel Corporation.
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*
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* Permission is hereby granted, free of charge, to any person obtaining
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* a copy of this software and associated documentation files (the
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* "Software"), to deal in the Software without restriction, including
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* without limitation the rights to use, copy, modify, merge, publish,
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* distribute, sublicense, and/or sell copies of the Software, and to
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* permit persons to whom the Software is furnished to do so, subject to
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* the following conditions:
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*
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* The above copyright notice and this permission notice shall be
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* included in all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
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* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
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* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
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* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
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* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*/
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#pragma once
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#ifdef __cplusplus
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extern "C" {
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#endif
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#define MD_I2C_BUS 0
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#define MD_DEFAULT_I2C_ADDR 0x0f
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// This is a NOOP value used to pad packets
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#define MD_NOOP 0x01
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// MD registers
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typedef enum {
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MD_REG_SET_SPEED = 0x82,
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MD_REG_SET_PWM_FREQ = 0x84,
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MD_REG_SET_DIRECTION = 0xaa,
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MD_REG_SET_MOTOR_A = 0xa1, // not documented
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MD_REG_SET_MOTOR_B = 0xa5, // not documented
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MD_REG_STEPPER_ENABLE = 0x1a,
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MD_REG_STEPPER_DISABLE = 0x1b,
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MD_REG_STEPPER_NUM_STEPS = 0x1c
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} MD_REG_T;
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// legal directions for the stepper
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typedef enum {
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MD_STEP_DIR_CCW = 0x01,
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MD_STEP_DIR_CW = 0x00
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} MD_STEP_DIRECTION_T;
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// legal directions for individual DC motors
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typedef enum {
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MD_DIR_CCW = 0x02,
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MD_DIR_CW = 0x01
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} MD_DC_DIRECTION_T;
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// stepper modes
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typedef enum {
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MD_STEP_MODE1 = 0x00,
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MD_STEP_MODE2 = 0x01
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} MD_STEP_MODE_T;
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#ifdef __cplusplus
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}
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#endif
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