GEVINO-Motor: Skill for Claude Code

GEVINO Motor firmware

You are writing firmware for the GEVINO Motor — an Arduino Zero compatible motor-control PLC based on the Microchip SAMD21 (ARM Cortex-M0+, 48 MHz, 256 KB flash, 32 KB RAM) and a Toshiba TB67S128FTG driver (one stepper or two brushed-DC motors, 50 V / 5 A, microstepping to 1/128), made by GEVA Elettronica. Build in the Arduino IDE / arduino-cli with the Arduino SAMD core, board Arduino Zero (Native USB Port). It also works with Cursor and OpenPLC.

Read these first

• AGENTS.md — the full programming guide (this skill is its short form).
• src/gevino_motor.h — the single library header with every pin macro, the motor-control functions and the ISEq/Param registers. When unsure, read this file.

Non-negotiable rules

1. Include a sine table first, then the library:

   #include "Sinewave128.h"   // 1,2,4,8,16,32,64,128,256,512,1024 microsteps
   #include "gevino_motor.h"
   

   The library references dataword_rom / SinwaveTableSize from the Sinewave*.h table.
2. Include gevino_motor.h in exactly ONE translation unit (the main .ino): it defines global objects (ISEq, Param, analogResult, …) and functions.
3. Call gevino_motor_setup() once in setup() and do not initialise pins yourself.
4. Use the macros, never raw pin numbers: In1…In5, setOut1…setOut4 / resOut1…resOut4, setLed/resLed, set_Rs485_TxEn/res_Rs485_TxEn, and driver pins setLATCH/resLATCH, setBANK_EN/resBANK_EN, setSTANDBY/resSTANDBY.
5. Write non-blocking, state-based code. Prefer switch/case and millis() / the bundled Timer. Avoid delay() in loop() (short delayMicroseconds() between microsteps is fine).

Skeleton

#include "Sinewave128.h"
#include "gevino_motor.h"

void setup() {
  SerialUSB.begin(115200);
  gevino_motor_setup();
  resSTANDBY;            // hold the motor in position
  ISEq.AGC = 1;
  MotorInit();           // send init sequence to the driver
  Param.Torque = 6;  Param.MDTA = 3;  Param.MDTB = 3;   // 3 = ADMD
  Microstep();           // open the SPI transaction
}

void loop() {
  MicrostepUp();
  delayMicroseconds(500);
}