Group sstep_config¶

Macros that select the code compiled into the library. More...

Macros¶

Type	Name
define	SSTEP_CFG_ARG_CHECKS `1` 1: every public function validates its pointer arguments (MISRA Dir 4.11).
define	SSTEP_CFG_MATH_BACKEND `[SSTEP\_MATH\_BACKEND\_FIXED](group__sstep__config.md#define-sstep_math_backend_fixed)` Selected numeric backend: SSTEP_MATH_BACKEND_FIXED orSSTEP_MATH_BACKEND_FLOAT .
define	SSTEP_CFG_MICROSTEPS_MAX `256U` Largest microstep division accepted by sstep_init() (power of two, 1..256).
define	SSTEP_CFG_SINE_TABLE_BITS `8U` log2 of the number of entries of the quarter-wave sine table (6..10).
define	SSTEP_CFG_TOPOLOGY_FULL_BRIDGE `1` 1: compile support for two full H-bridges (4 half-bridge legs).
define	SSTEP_CFG_TOPOLOGY_SHARED_LEG `1` 1: compile support for three half-bridges with a common leg (3 legs), for example STMicroelectronics B-G431B-ESC1.
define	SSTEP_MATH_BACKEND_FIXED `0` Fixed point backend: Q15 signals, Q31 accumulators, integer-only arithmetic.
define	SSTEP_MATH_BACKEND_FLOAT `1` Single-precision float backend.

Detailed Description¶

Every macro has a default and may be overridden in one of two ways: * on the compiler command line (-DSSTEP_CFG_MATH_BACKEND=SSTEP_MATH_BACKEND_FLOAT), or * in a user header sstep_user_config.h, included when the macro SSTEP_USER_CONFIG is defined (CMake: set SSTEP_CONFIG_DIR to its folder).

Values that cannot change at run time (code size, table sizes, which code paths exist) live here. Motor and board parameters are run-time values passed to sstep_init().

Macro Definition Documentation¶

define SSTEP_CFG_ARG_CHECKS¶

1: every public function validates its pointer arguments (MISRA Dir 4.11).

#define SSTEP_CFG_ARG_CHECKS `1`

0 removes the checks from sstep_fast_loop() only, the function called from the PWM interrupt; all other functions always check.

define SSTEP_CFG_MATH_BACKEND¶

Selected numeric backend: SSTEP_MATH_BACKEND_FIXED orSSTEP_MATH_BACKEND_FLOAT .

#define SSTEP_CFG_MATH_BACKEND `SSTEP_MATH_BACKEND_FIXED`

define SSTEP_CFG_MICROSTEPS_MAX¶

Largest microstep division accepted by sstep_init() (power of two, 1..256).

#define SSTEP_CFG_MICROSTEPS_MAX `256U`

define SSTEP_CFG_SINE_TABLE_BITS¶

log2 of the number of entries of the quarter-wave sine table (6..10).

#define SSTEP_CFG_SINE_TABLE_BITS `8U`

The table is static const (flash): 2^bits + 1 entries of 2 bytes (fixed) or 4 bytes (float). Values between entries are linearly interpolated.

define SSTEP_CFG_TOPOLOGY_FULL_BRIDGE¶

1: compile support for two full H-bridges (4 half-bridge legs).

#define SSTEP_CFG_TOPOLOGY_FULL_BRIDGE `1`

define SSTEP_CFG_TOPOLOGY_SHARED_LEG¶

1: compile support for three half-bridges with a common leg (3 legs), for example STMicroelectronics B-G431B-ESC1.

#define SSTEP_CFG_TOPOLOGY_SHARED_LEG `1`

define SSTEP_MATH_BACKEND_FIXED¶

Fixed point backend: Q15 signals, Q31 accumulators, integer-only arithmetic.

#define SSTEP_MATH_BACKEND_FIXED `0`

For MCUs without an FPU (Cortex-M0/M0+/M3, RISC-V RV32IMC, 8/16-bit cores).

define SSTEP_MATH_BACKEND_FLOAT¶

Single-precision float backend.

#define SSTEP_MATH_BACKEND_FLOAT `1`

For MCUs with a hardware FPU (Cortex-M4F/M7/M33 with FPU, STM32G4, ESP32-S3...).