stepper.h File Reference

Driver to control stepper motor. More...

#include <cfg/compiler.h>
#include <algo/ramp.h>

Go to the source code of this file.

Data Structures
struct	StepperConfig
	Stepper configuration. More...
struct	Stepper
	Motor context structure. More...
Defines
#define	STEPS_INFINITE_POSITIVE   ((int16_t)0xFFFF)
	Special value for steps to move the motor continuously.
#define	STEPS_INFINITE_NEGATIVE   ((int16_t)0x8FFF)
	Maximum value for stepper steps.
#define	MAX_STEPS   0x7FFF
	Default value -> no level sensor associated to the motor.
#define	MOTOR_NO_LEVEL_SENSOR   0xFFFF
	Default value -> no home sensor associated to the motor.
#define	MOTOR_NO_HOME_SENSOR   0xFFFF
	Default value for deafsteps in normal movement (no level sensor).
#define	DEAFSTEPS_DEFAULT   MAX_STEPS
	Out-of-band values for speed.
#define	SPEED_STOPPED   0xFFFF
	motor is stopped
#define	SPEED_HOMING   0xFFFE
	motor is homing
Typedefs
typedef enum StepperState(*	fsm_state )(struct Stepper *)
	Pointer to a isr stepper function.
typedef void(*	stepper_isr_t )(struct Stepper *)
	Time for steppers motor.
Enumerations
enum	MotorDirection { DIR_POSITIVE = 1, DIR_NONE = 0, DIR_NEGATIVE = -1 }
	Motor direction. More...
enum	StepperState {   MSTS_UNINIT, MSTS_RUN, MSTS_IDLE, MSTS_PREIDLE,   MSTS_PRERUN, MSTS_PREINIT, MSTS_INIT, MSTS_ENTERING,   MSTS_LEAVING, MSTS_OUTHOME, MSTS_ERROR }
	Stepper state-machine conditions. More...
Functions
void	stepper_init (void)
	Initialize the stepper module.
struct Stepper *	stepper_setup (int index, struct StepperConfig *cfg)
	Apply a setup config to motor structure context.
void	stepper_disable (void)
	Set the enable for all the motors to 0 before switching on the power.
void	stepper_reset (struct Stepper *motor)
	Reset the motor.
void	stepper_home (struct Stepper *motor)
	Find the home of a motor assuming no current knowledge about its position.
int16_t	stepper_move (struct Stepper *motor, int16_t step, uint16_t speed, int16_t deafstep)
	Move motor to absolute position at specified speed.
void	stepper_stop (struct Stepper *motor)
	Stop motor gracefully.
void	stepper_break (struct Stepper *motor, enum StepperState state)
	Stop motor immediately, changing the status.
bool	stepper_idle (struct Stepper *motor)
	Returns true if the stepper is in error mode.
bool	stepper_error (struct Stepper *motor)
	check the home sensor in zero position

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Detailed Description

Driver to control stepper motor.

Author:

Francesco Michelini <francesco.michelini@seacfi.com>

Giovanni Bajo <rasky@develer.com>

Bernie Innocenti <bernie@codewiz.org>

Simone Zinanni <s.zinanni@develer.com>

Daniele Basile <asterix@develer.com>

Definition in file stepper.h.

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Enumeration Type Documentation

enum MotorDirection

Motor direction.

Enumerator:

DIR_POSITIVE	moving away from zero (which is the home)
DIR_NONE	no movement
DIR_NEGATIVE	moving towards towards zero (which is the home)

Definition at line 80 of file stepper.h.

enum StepperState

Stepper state-machine conditions.

Enumerator:

MSTS_UNINIT	stepper_init() not yet called
MSTS_RUN	running
MSTS_IDLE	waiting for a command
MSTS_PREIDLE	waiting before going low-current
MSTS_PRERUN	waiting after high-current
MSTS_PREINIT	preparing to initialize ;-)
MSTS_INIT	initializing home procedure
MSTS_ENTERING	entering home sensor
MSTS_LEAVING	moving away from home (inside the sensor)
MSTS_OUTHOME	moving away from home (outside the sensor)
MSTS_ERROR	error status Dummy entry to guarantee the right underlying size for the enum

Definition at line 93 of file stepper.h.

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Function Documentation

void stepper_break	(	struct Stepper *	motor,
		enum StepperState	state
	)

Stop motor immediately, changing the status.

Returns true if the stepper is in idle at the final position or in error:

Definition at line 946 of file stepper.c.

void stepper_home

(

struct Stepper *

motor

)

Find the home of a motor assuming no current knowledge about its position.

This must be done when the motor is desynchronized with the firmware and we do not know anymore where it is.

In normal operation mode, to go back to the home, it is sufficient to use move to step #0 with stepper_move, since the home is always at step #0.

Definition at line 765 of file stepper.c.

int16_t stepper_move	(	struct Stepper *	motor,
		int16_t	steps,
		uint16_t	speed,
		int16_t	deafstep
	)

Move motor to absolute position at specified speed.

• steps position to reach in steps
• speed speed in timer ticks (use TIME2CLOCKS() to convert)

Definition at line 887 of file stepper.c.