Struct sstep_ctrl_cfg¶

Control and motion parameters. More...

#include <sstep_ctrl.h>

Public Attributes¶

Type	Name
uint32_t	accel Acceleration [microsteps/s^2].
uint32_t	current_bw_hz Current loop bandwidth [Hz]; the PI gains are computed from R, L and this value.
uint32_t	decel Deceleration [microsteps/s^2]; 0 = same as accel.
enum sstep_drive_mode	drive_mode Current or voltage drive.
uint32_t	fast_loop_hz Rate of sstep_fast_loop() [Hz].
uint32_t	hold_delay_ms Standstill time before switching to i_hold_ma [ms].
uint32_t	i_hold_ma Peak phase current at standstill [mA].
uint32_t	i_run_ma Peak phase current while moving [mA].
uint16_t	microsteps Microsteps per full step (power of two, 1 .
uint32_t	slow_loop_hz Rate of sstep_slow_loop() [Hz].
uint32_t	stall_filter_us Time constant of the back-EMF low-pass filter [us], at least one fast loop period.
uint32_t	stall_speed Slip threshold [microsteps/s]: rotor speed that counts as motion while the command is at rest or slower than this; above it, the synchronism check.
uint16_t	stall_sync_pct Synchronism threshold [%] (1 .
uint32_t	stall_time_ms Stall detection: time the stall condition must persist before SSTEP_FAULT_STALL [ms]; 0 = stall detection off (the other stall_ fields are then ignored).*
uint32_t	v_max Maximum velocity [microsteps/s].

Detailed Description¶

All of them except the loop rates can be changed at run time with the sstep_set_*() functions.

Public Attributes Documentation¶

variable accel¶

Acceleration [microsteps/s^2].

uint32_t sstep_ctrl_cfg::accel;

variable current_bw_hz¶

Current loop bandwidth [Hz]; the PI gains are computed from R, L and this value.

uint32_t sstep_ctrl_cfg::current_bw_hz;

variable decel¶

Deceleration [microsteps/s^2]; 0 = same as accel.

uint32_t sstep_ctrl_cfg::decel;

variable drive_mode¶

Current or voltage drive.

enum sstep_drive_mode sstep_ctrl_cfg::drive_mode;

variable fast_loop_hz¶

Rate of sstep_fast_loop() [Hz].

uint32_t sstep_ctrl_cfg::fast_loop_hz;

variable hold_delay_ms¶

Standstill time before switching to i_hold_ma [ms].

uint32_t sstep_ctrl_cfg::hold_delay_ms;

variable i_hold_ma¶

Peak phase current at standstill [mA].

uint32_t sstep_ctrl_cfg::i_hold_ma;

variable i_run_ma¶

Peak phase current while moving [mA].

uint32_t sstep_ctrl_cfg::i_run_ma;

variable microsteps¶

Microsteps per full step (power of two, 1 .

uint16_t sstep_ctrl_cfg::microsteps;

. SSTEP_CFG_MICROSTEPS_MAX).

variable slow_loop_hz¶

Rate of sstep_slow_loop() [Hz].

uint32_t sstep_ctrl_cfg::slow_loop_hz;

variable stall_filter_us¶

Time constant of the back-EMF low-pass filter [us], at least one fast loop period.

uint32_t sstep_ctrl_cfg::stall_filter_us;

variable stall_speed¶

Slip threshold [microsteps/s]: rotor speed that counts as motion while the command is at rest or slower than this; above it, the synchronism check.

uint32_t sstep_ctrl_cfg::stall_speed;

variable stall_sync_pct¶

Synchronism threshold [%] (1 .

uint16_t sstep_ctrl_cfg::stall_sync_pct;

. 100): smallest back-EMF along the commanded motion, relative to Ke * speed.

variable stall_time_ms¶

Stall detection: time the stall condition must persist before SSTEP_FAULT_STALL [ms]; 0 = stall detection off (the other stall_* fields are then ignored).

uint32_t sstep_ctrl_cfg::stall_time_ms;

Requires SSTEP_DRIVE_CURRENT and ke_uv_s_per_rad > 0.

variable v_max¶

Maximum velocity [microsteps/s].

uint32_t sstep_ctrl_cfg::v_max;

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