Data Fields
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)

Detailed Description

Motor context structure.

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