Stepper Struct Reference

Motor context structure. More...

#include <stepper.h>

Data Fields
struct StepperConfig *	cfg
	Configuration of this stepper.
fsm_state	state
	Motor FSM state function.
struct TimerCounter *	timer
	HW timer bound to this motor.
uint16_t	index
	Index of the motor.
volatile int16_t	step
	Steps counter (used in interrupt).
volatile int16_t	rampStep
	Current position in acceleration ramp (used in intrrupt).
enum MotorDirection	dir
	Current direction.
uint8_t	power
	Current power.
uint16_t	speed
	Timer compare value to reach.
int16_t	stepToReach
	Final position to reach when running.
int16_t	skipIrqs
	Counter used to skip IRQs (delay state changes).
int16_t	changeCurrentIrqs
	Counter used to change current level (delay state changes).
int8_t	enableCheckHome
	enable the home sensor control during movement
int8_t	stepsErrorHome
	number of consecutive steps in error
int16_t	stepsTollMax
	home sensor out max position
int16_t	stepsTollMin
	home sensor in max position
int16_t	stepsDeaf
	Position after which start the level check.
int16_t	stepsLevel
	Position of level contact.
int16_t	stepCircular
	Steps corresponding to 360 degrees (rotating motor).

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Detailed Description

Motor context structure.

Definition at line 160 of file stepper.h.

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The documentation for this struct was generated from the following file:

• stepper.h