File sstep_internal.h¶

FileList > src > sstep_internal.h

#include <stdbool.h>
#include <stdint.h>
#include "sstep_ctrl.h"
#include "sstep_math.h"

Classes¶

Type	Name
struct	sstep_bridge_out Result of the power stage mapping.
struct	sstep_ctx Driver state behind the opaque sstep .
struct	sstep_motion Motion generator state.
struct	sstep_setpoint Setpoint handed from the slow loop to the fast loop.

Public Functions¶

Type	Name
void	sstep_bridge_map (enum sstep_topology topology, sstep_acc_t va, sstep_acc_t vb, const struct sstep_gain * inv_vbus, sstep_acc_t vbus, uint16_t period, struct sstep_bridge_out * out) Map requested phase voltages to leg compare values (averaged power stage).
uint32_t	sstep_isqrt64 (uint64_t x) Integer square root: floor(sqrt(x)).
uint8_t	sstep_motion_step (struct sstep_motion * mo) One slow loop period of the motion generator: trapezoidal velocity profile with one-period look-ahead braking for moves, exact stop on the target.
bool	sstep_stall_check (struct sstep_ctx * m) Stall decision of one slow loop period, against the command of the period that just ended (vel_cmd, ff_cmd).
void	sstep_stall_observe (struct sstep_ctx * m, const struct sstep_sincos * sc, const sstep_acc_t v_applied) Back-EMF observer of one fast loop period (fast loop, current drive).
void	sstep_stall_reset (struct sstep_ctx * m) Reset the stall detector when the outputs are enabled: empty voltage history, filters at zero, current history from the last measurement.
void	sstep_stall_status (const struct sstep_ctx * m, struct sstep_status * status) Fill the observer fields of a status (zero when stall detection is off).

Public Static Functions¶

Type	Name
struct sstep_ctx *	sstep_ctx_of (struct sstep * drv) Driver state of an instance.
const struct sstep_ctx *	sstep_ctx_of_const (const struct sstep * drv) Read-only variant of sstep_ctx_of().

Macros¶

Type	Name
define	SSTEP_MODE_HOLD `0U` Motion generator modes.
define	SSTEP_MODE_MOVE `1U`
define	SSTEP_MODE_RUN `2U`
define	SSTEP_MOTION_DONE `0x01U` Result flags of sstep_motion_step().
define	SSTEP_POS_ONE `((int64\_t)65536)` Fixed point position: 1 microstep = 2^16.
define	SSTEP_POS_SNAP `((int64\_t)64)` A move ends when it is closer than this to the target and slow enough (1/1024 microstep).
define	SSTEP_READY `0x53545043U` Value of sstep_ctx::ready after a successfulsstep_init() ("STPC").

Public Functions Documentation¶

function sstep_bridge_map¶

Map requested phase voltages to leg compare values (averaged power stage).

void sstep_bridge_map (
    enum sstep_topology topology,
    sstep_acc_t va,
    sstep_acc_t vb,
    const struct sstep_gain * inv_vbus,
    sstep_acc_t vbus,
    uint16_t period,
    struct sstep_bridge_out * out
)

The voltage vector is scaled down with its direction kept when the stage cannot produce it: full bridge |a|, |b| <= 1, shared leg max(a,b,0) - min(a,b,0) <= 1, a and b relative to the measured bus voltage. Shared leg: common leg centred.

Parameters:

topology Power stage topology (compiled in).
va Requested phase voltages [pu of V_base].
inv_vbus V_base / bus voltage.
vbus Bus voltage [pu of V_base], 0 .. 2.
period Compare value for 100 % duty cycle.
out Result.

function sstep_isqrt64¶

Integer square root: floor(sqrt(x)).

uint32_t sstep_isqrt64 (
    uint64_t x
)

Parameters:

x Value.

Returns:

floor(sqrt(x)).

function sstep_motion_step¶

One slow loop period of the motion generator: trapezoidal velocity profile with one-period look-ahead braking for moves, exact stop on the target.

uint8_t sstep_motion_step (
    struct sstep_motion * mo
)

Parameters:

mo Motion state; pos and vel are updated.

Returns:

SSTEP_MOTION_DONE when a move reached its target in this period, else 0.

function sstep_stall_check¶

Stall decision of one slow loop period, against the command of the period that just ended (vel_cmd, ff_cmd).

bool sstep_stall_check (
    struct sstep_ctx * m
)

Parameters:

m Driver state.

Returns:

true when the stall condition has persisted for stall_time_ms.

function sstep_stall_observe¶

Back-EMF observer of one fast loop period (fast loop, current drive).

void sstep_stall_observe (
    struct sstep_ctx * m,
    const struct sstep_sincos * sc,
    const sstep_acc_t v_applied
)

Uses the voltage computed two periods ago (applied during the period that just ended), the measured currents and the commanded angle, then stores v_applied.

Parameters:

m Driver state; i_meas holds the currents of this period.
sc Sine and cosine of the commanded angle of this period.
v_applied Phase voltages computed in this period [pu V].

function sstep_stall_reset¶

Reset the stall detector when the outputs are enabled: empty voltage history, filters at zero, current history from the last measurement.

void sstep_stall_reset (
    struct sstep_ctx * m
)

Parameters:

m Driver state.

function sstep_stall_status¶

Fill the observer fields of a status (zero when stall detection is off).

void sstep_stall_status (
    const struct sstep_ctx * m,
    struct sstep_status * status
)

Parameters:

m Driver state.
status Status to complete.

Public Static Functions Documentation¶

function sstep_ctx_of¶

Driver state of an instance.

static inline struct sstep_ctx * sstep_ctx_of (
    struct sstep * drv
)

Note:

MISRA C:2012 Rule 11.3, deviation DEV-01 (docs/misra.md): sstep is the opaque storage of sstep_ctx; size and alignment are checked in sstep_ctrl.c.

Parameters:

drv Driver instance, may be NULL.

Returns:

Driver state, NULL if drv is NULL.

function sstep_ctx_of_const¶

Read-only variant of sstep_ctx_of().

static inline const struct sstep_ctx * sstep_ctx_of_const (
    const struct sstep * drv
)

Macro Definition Documentation¶

define SSTEP_MODE_HOLD¶

Motion generator modes.

#define SSTEP_MODE_HOLD `0U`

define SSTEP_MODE_MOVE¶

#define SSTEP_MODE_MOVE `1U`

define SSTEP_MODE_RUN¶

#define SSTEP_MODE_RUN `2U`

define SSTEP_MOTION_DONE¶

Result flags of sstep_motion_step().

#define SSTEP_MOTION_DONE `0x01U`

define SSTEP_POS_ONE¶

Fixed point position: 1 microstep = 2^16.

#define SSTEP_POS_ONE `((int64_t)65536)`

define SSTEP_POS_SNAP¶

A move ends when it is closer than this to the target and slow enough (1/1024 microstep).

#define SSTEP_POS_SNAP `((int64_t)64)`

define SSTEP_READY¶

Value of sstep_ctx::ready after a successfulsstep_init() ("STPC").

#define SSTEP_READY `0x53545043U`

A zeroed or never initialized instance holds another value: every function but sstep_init() then returns SSTEP_ERR_STATE instead of using an empty configuration.

The documentation for this class was generated from the following file src/sstep_internal.h