File sstep_ctrl.h¶

FileList > inc > sstep_ctrl.h

#include <stdbool.h>
#include <stddef.h>
#include <stdint.h>
#include "sstep_config.h"
#include "sstep_defs.h"

Classes¶

Type	Name
struct	sstep Driver instance.
struct	sstep_callbacks Hardware callbacks.
struct	sstep_config Complete configuration given to sstep_init() .
struct	sstep_ctrl_cfg Control and motion parameters.
struct	sstep_motor_cfg Motor parameters, from the datasheet or measured.
struct	sstep_sample Raw measurements of one fast loop period, as read from the ADC.
struct	sstep_stage_cfg Power stage and measurement parameters.
struct	sstep_status Snapshot returned by sstep_get_status() , in engineering units.

Public Types¶

Type	Name
enum	sstep_drive_mode How the phase voltages are obtained.
enum	sstep_event Events reported through sstep_event_fn.
typedef void(*	sstep_event_fn Notify the application of a motion event (optional).
typedef void(*	sstep_fault_fn Notify the application of new faults (optional).
typedef int(*	sstep_output_enable_fn Enable or disable the power stage outputs (disabled = all legs high impedance).
typedef int(*	sstep_pwm_write_fn Write the PWM compare values of all legs.

Macros¶

Type	Name
define	SSTEP_CONFIG_BYTES `152U` Bytes of the configuration copy at the start of the instance and of the private driver state that follows it, for 32-bit (Cortex-M) and 64-bit pointers.
define	SSTEP_INSTANCE_WORDS `((SSTEP\_CONFIG\_BYTES + SSTEP\_STATE\_BYTES + 7U) / 8U)` Size of sstep in 64-bit words.
define	SSTEP_STATE_BYTES `280U`

Public Types Documentation¶

enum sstep_drive_mode¶

How the phase voltages are obtained.

enum sstep_drive_mode {
    SSTEP_DRIVE_CURRENT = 0,
    SSTEP_DRIVE_VOLTAGE = 1
};

enum sstep_event¶

Events reported through sstep_event_fn.

enum sstep_event {
    SSTEP_EVENT_MOVE_DONE = 0,
    SSTEP_EVENT_HOLD_CURRENT = 1
};

typedef sstep_event_fn¶

Notify the application of a motion event (optional).

typedef void(* sstep_event_fn) (void *context, enum sstep_event event);

Called from sstep_slow_loop().

Parameters:

context sstep_callbacks::context.
event The event.

typedef sstep_fault_fn¶

Notify the application of new faults (optional).

typedef void(* sstep_fault_fn) (void *context, uint16_t faults);

Called from the context that detected the fault, which may be sstep_fast_loop() (interrupt).

Parameters:

context sstep_callbacks::context.
faults Newly raised SSTEP_FAULT_OVERCURRENT ... flags.

typedef sstep_output_enable_fn¶

Enable or disable the power stage outputs (disabled = all legs high impedance).

typedef int(* sstep_output_enable_fn) (void *context, bool enable);

Parameters:

context sstep_callbacks::context.
enable true to enable the gate drivers, false to switch every leg off.

Return value:

0 Success.
<0 Error, reported as SSTEP_FAULT_HAL.

typedef sstep_pwm_write_fn¶

Write the PWM compare values of all legs.

typedef int(* sstep_pwm_write_fn) (void *context, const uint16_t compare[SSTEP_LEGS_MAX]);

Called from sstep_fast_loop().

Parameters:

context sstep_callbacks::context.
compare One compare value per leg, 0 .. pwm_period_ticks (0 = low-side on, pwm_period_ticks = high-side on). Entries above the leg count of the topology are 0. Valid only during the call.

Return value:

0 Success.
<0 Error: the driver switches the outputs off with SSTEP_FAULT_HAL.

Macro Definition Documentation¶

define SSTEP_CONFIG_BYTES¶

Bytes of the configuration copy at the start of the instance and of the private driver state that follows it, for 32-bit (Cortex-M) and 64-bit pointers.

#define SSTEP_CONFIG_BYTES `152U`

Plain constants, so that the instance size needs no sizeof (static analysis); sstep_ctrl.c checks both at compile time.

define SSTEP_INSTANCE_WORDS¶

Size of sstep in 64-bit words.

#define SSTEP_INSTANCE_WORDS `((SSTEP_CONFIG_BYTES + SSTEP_STATE_BYTES + 7U) / 8U)`

define SSTEP_STATE_BYTES¶

#define SSTEP_STATE_BYTES `280U`

The documentation for this class was generated from the following file inc/sstep_ctrl.h