Group sstep_defs¶

Constants shared by the public API. More...

Public Types¶

Type	Name
enum	sstep_state Driver state.
enum	sstep_topology Power stage topology.

Macros¶

Type	Name
define	SSTEP_ERR_CONFIG `(-2)` Configuration is consistent field by field but not as a whole (for example rated current above the power stage limit).
define	SSTEP_ERR_PARAM `(-1)` NULL pointer or a value outside its documented range.
define	SSTEP_ERR_STATE `(-3)` Call not allowed in the current state (for example a move while faulted).
define	SSTEP_ERR_UNSUPPORTED `(-4)` Topology not compiled in (see SSTEP_CFG_TOPOLOGY_FULL_BRIDGE ).
define	SSTEP_FAULT_EXTERNAL `0x0010U` Reported by the application through sstep_report_fault() (driver fault pin, over-temperature...).
define	SSTEP_FAULT_HAL `0x0008U` A hardware callback returned an error.
define	SSTEP_FAULT_NONE `0x0000U` Fault flags reported by sstep_get_status() and the fault callback.
define	SSTEP_FAULT_OVERCURRENT `0x0001U` Measured phase current above the configured trip level.
define	SSTEP_FAULT_OVERVOLTAGE `0x0002U` Bus voltage above the configured maximum.
define	SSTEP_FAULT_STALL `0x0020U` The rotor does not follow the commanded electrical angle: lost synchronism in motion, or rotor motion while the command is at rest (sensorless back-EMF observer, enabled with sstep_ctrl_cfg::stall_time_ms ).
define	SSTEP_FAULT_UNDERVOLTAGE `0x0004U` Bus voltage below the configured minimum.
define	SSTEP_LEGS_MAX `4U` Number of half-bridge legs of the largest supported topology.
define	SSTEP_OK `0` Success.

Detailed Description¶

Units. Configuration values are integers in engineering units (milliohm, microhenry, milliampere, millivolt, hertz, nanosecond) so that sstep_init() needs no floating point with the fixed point backend. The unit is part of every field name (r_mohm, l_uh...). Positions are in microsteps, velocities in microsteps per second.

Sign convention. A positive phase voltage drives a positive phase current; positive velocity increases the position. Phase A leads phase B by 90 electrical degrees for positive motion.

Public Types Documentation¶

enum sstep_state¶

Driver state.

enum sstep_state {
    SSTEP_STATE_DISABLED = 0,
    SSTEP_STATE_HOLDING = 1,
    SSTEP_STATE_MOVING = 2,
    SSTEP_STATE_FAULT = 3
};

enum sstep_topology¶

Power stage topology.

enum sstep_topology {
    SSTEP_TOPOLOGY_FULL_BRIDGE = 0,
    SSTEP_TOPOLOGY_SHARED_LEG = 1
};

Macro Definition Documentation¶

define SSTEP_ERR_CONFIG¶

Configuration is consistent field by field but not as a whole (for example rated current above the power stage limit).

#define SSTEP_ERR_CONFIG `(-2)`

define SSTEP_ERR_PARAM¶

NULL pointer or a value outside its documented range.

#define SSTEP_ERR_PARAM `(-1)`

define SSTEP_ERR_STATE¶

Call not allowed in the current state (for example a move while faulted).

#define SSTEP_ERR_STATE `(-3)`

define SSTEP_ERR_UNSUPPORTED¶

Topology not compiled in (see SSTEP_CFG_TOPOLOGY_FULL_BRIDGE ).

#define SSTEP_ERR_UNSUPPORTED `(-4)`

define SSTEP_FAULT_EXTERNAL¶

Reported by the application through sstep_report_fault() (driver fault pin, over-temperature...).

#define SSTEP_FAULT_EXTERNAL `0x0010U`

define SSTEP_FAULT_HAL¶

A hardware callback returned an error.

#define SSTEP_FAULT_HAL `0x0008U`

define SSTEP_FAULT_NONE¶

Fault flags reported by sstep_get_status() and the fault callback.

#define SSTEP_FAULT_NONE `0x0000U`

A fault switches the outputs off; sstep_clear_faults() re-arms the driver.

define SSTEP_FAULT_OVERCURRENT¶

Measured phase current above the configured trip level.

#define SSTEP_FAULT_OVERCURRENT `0x0001U`

define SSTEP_FAULT_OVERVOLTAGE¶

Bus voltage above the configured maximum.

#define SSTEP_FAULT_OVERVOLTAGE `0x0002U`

define SSTEP_FAULT_STALL¶

The rotor does not follow the commanded electrical angle: lost synchronism in motion, or rotor motion while the command is at rest (sensorless back-EMF observer, enabled with sstep_ctrl_cfg::stall_time_ms ).

#define SSTEP_FAULT_STALL `0x0020U`

define SSTEP_FAULT_UNDERVOLTAGE¶

Bus voltage below the configured minimum.

#define SSTEP_FAULT_UNDERVOLTAGE `0x0004U`

define SSTEP_LEGS_MAX¶

Number of half-bridge legs of the largest supported topology.

#define SSTEP_LEGS_MAX `4U`

define SSTEP_OK¶

Success.

#define SSTEP_OK `0`