Struct sstep_ctx¶

Driver state behind the opaque sstep .More...

#include <sstep_internal.h>

Public Attributes¶

Type	Name
struct sstep_gain	adc_i Current per ADC count [pu].
struct sstep_gain	adc_v Bus voltage per ADC count [pu].
uint16_t	adv Angle increments applied since the hand-off.
sstep_angle_t	angle_offset Electrical angle of position 0.
uint8_t	angle_shift 14 - log2(microsteps).
struct sstep_config	cfg Copy of the configuration.
uint16_t	compare Last compare values.
struct sstep_setpoint	cur Setpoint in use.
sstep_integ_t	emf Filtered back-EMF, d and q axis [pu V].
struct sstep_gain	emf_a L / Ts + R / 2 [pu V / pu A].
struct sstep_gain	emf_alpha Ts / tau of the back-EMF filter.
struct sstep_gain	emf_b L / Ts - R / 2 [pu V / pu A].
int64_t	emf_off Mean back-EMF at rest, d and q [mV 2^16].*
volatile uint16_t	faults Active faults.
sstep_real_t	ff_cmd Back-EMF of vel_cmd [pu V].
struct sstep_gain	ff_gain Feed-forward per microstep/s [pu].
bool	hold_active Hold current applied.
uint32_t	hold_ticks Slow periods at standstill before hold.
sstep_real_t	i_hold Hold current [pu].
sstep_real_t	i_meas Last measured phase currents [pu].
sstep_real_t	i_prev Phase currents of the previous period [pu].
sstep_real_t	i_run Run current [pu].
uint16_t	i_trip_counts Overcurrent trip [ADC counts from zero].
sstep_integ_t	integ PI integrators [pu V].
struct sstep_gain	inv_vbus Last V_base / bus voltage.
struct sstep_gain	kb Anti-windup gain Ts / Tt.
struct sstep_gain	ki Integral gain per fast loop period.
struct sstep_gain	kp Proportional gain [pu V / pu A].
struct sstep_motion	mo Motion generator.
struct sstep_gain	r_pu Phase resistance [pu] (voltage drive).
uint16_t	ratio Fast loop periods per slow loop period.
uint32_t	ready SSTEP_READY after a successful sstep_init() .
struct sstep_setpoint	sp Setpoints; the fast loop owns sp[sp_active].
volatile uint8_t	sp_active Buffer in use by the fast loop.
volatile uint8_t	sp_pending 1: sp[1 - sp_active] is complete and new.
uint32_t	stall_count Stall detector up/down counter.
int32_t	stall_emf_mv Back-EMF of stall_speed [mV].
uint32_t	stall_hold Slow periods the condition stays true after a reversal.
uint32_t	stall_ticks Slow periods of stall to trip; 0 = detection off.
enum sstep_state	state Driver state.
uint32_t	still Slow periods at standstill.
sstep_acc_t	v_hist Applied phase voltages computed 1 and 2 periods ago [pu V].
uint16_t	vbus_max_raw Overvoltage trip [ADC counts], 0 = off.
uint16_t	vbus_min_raw Undervoltage trip [ADC counts], 0 = off.
volatile uint16_t	vbus_raw Last bus voltage [ADC counts].
int32_t	vel_cmd Commanded velocity of the period in use [microsteps/s].

Detailed Description¶

Its layout may change in any release.

Public Attributes Documentation¶

variable adc_i¶

Current per ADC count [pu].

struct sstep_gain sstep_ctx::adc_i;

variable adc_v¶

Bus voltage per ADC count [pu].

struct sstep_gain sstep_ctx::adc_v;

variable adv¶

Angle increments applied since the hand-off.

uint16_t sstep_ctx::adv;

variable angle_offset¶

Electrical angle of position 0.

sstep_angle_t sstep_ctx::angle_offset;

variable angle_shift¶

14 - log2(microsteps).

uint8_t sstep_ctx::angle_shift;

variable cfg¶

Copy of the configuration.

struct sstep_config sstep_ctx::cfg;

variable compare¶

Last compare values.

uint16_t sstep_ctx::compare[SSTEP_LEGS_MAX];

variable cur¶

Setpoint in use.

struct sstep_setpoint sstep_ctx::cur;

variable emf¶

Filtered back-EMF, d and q axis [pu V].

sstep_integ_t sstep_ctx::emf[2];

variable emf_a¶

L / Ts + R / 2 [pu V / pu A].

struct sstep_gain sstep_ctx::emf_a;

variable emf_alpha¶

Ts / tau of the back-EMF filter.

struct sstep_gain sstep_ctx::emf_alpha;

variable emf_b¶

L / Ts - R / 2 [pu V / pu A].

struct sstep_gain sstep_ctx::emf_b;

variable emf_off¶

Mean back-EMF at rest, d and q [mV * 2^16].

int64_t sstep_ctx::emf_off[2];

variable faults¶

Active faults.

volatile uint16_t sstep_ctx::faults;

variable ff_cmd¶

Back-EMF of vel_cmd [pu V].

sstep_real_t sstep_ctx::ff_cmd;

variable ff_gain¶

Feed-forward per microstep/s [pu].

struct sstep_gain sstep_ctx::ff_gain;

variable hold_active¶

Hold current applied.

bool sstep_ctx::hold_active;

variable hold_ticks¶

Slow periods at standstill before hold.

uint32_t sstep_ctx::hold_ticks;

variable i_hold¶

Hold current [pu].

sstep_real_t sstep_ctx::i_hold;

variable i_meas¶

Last measured phase currents [pu].

sstep_real_t sstep_ctx::i_meas[2];

variable i_prev¶

Phase currents of the previous period [pu].

sstep_real_t sstep_ctx::i_prev[2];

variable i_run¶

Run current [pu].

sstep_real_t sstep_ctx::i_run;

variable i_trip_counts¶

Overcurrent trip [ADC counts from zero].

uint16_t sstep_ctx::i_trip_counts;

variable integ¶

PI integrators [pu V].

sstep_integ_t sstep_ctx::integ[2];

variable inv_vbus¶

Last V_base / bus voltage.

struct sstep_gain sstep_ctx::inv_vbus;

variable kb¶

Anti-windup gain Ts / Tt.

struct sstep_gain sstep_ctx::kb;

variable ki¶

Integral gain per fast loop period.

struct sstep_gain sstep_ctx::ki;

variable kp¶

Proportional gain [pu V / pu A].

struct sstep_gain sstep_ctx::kp;

variable mo¶

Motion generator.

struct sstep_motion sstep_ctx::mo;

variable r_pu¶

Phase resistance [pu] (voltage drive).

struct sstep_gain sstep_ctx::r_pu;

variable ratio¶

Fast loop periods per slow loop period.

uint16_t sstep_ctx::ratio;

variable ready¶

SSTEP_READY after a successful sstep_init() .

uint32_t sstep_ctx::ready;

variable sp¶

Setpoints; the fast loop owns sp[sp_active].

struct sstep_setpoint sstep_ctx::sp[2];

variable sp_active¶

Buffer in use by the fast loop.

volatile uint8_t sstep_ctx::sp_active;

variable sp_pending¶

1: sp[1 - sp_active] is complete and new.

volatile uint8_t sstep_ctx::sp_pending;

variable stall_count¶

Stall detector up/down counter.

uint32_t sstep_ctx::stall_count;

variable stall_emf_mv¶

Back-EMF of stall_speed [mV].

int32_t sstep_ctx::stall_emf_mv;

variable stall_hold¶

Slow periods the condition stays true after a reversal.

uint32_t sstep_ctx::stall_hold;

variable stall_ticks¶

Slow periods of stall to trip; 0 = detection off.

uint32_t sstep_ctx::stall_ticks;

variable state¶

Driver state.

enum sstep_state sstep_ctx::state;

variable still¶

Slow periods at standstill.

uint32_t sstep_ctx::still;

variable v_hist¶

Applied phase voltages computed 1 and 2 periods ago [pu V].

sstep_acc_t sstep_ctx::v_hist[2][2];

variable vbus_max_raw¶

Overvoltage trip [ADC counts], 0 = off.

uint16_t sstep_ctx::vbus_max_raw;

variable vbus_min_raw¶

Undervoltage trip [ADC counts], 0 = off.

uint16_t sstep_ctx::vbus_min_raw;

variable vbus_raw¶

Last bus voltage [ADC counts].

volatile uint16_t sstep_ctx::vbus_raw;

variable vel_cmd¶

Commanded velocity of the period in use [microsteps/s].

int32_t sstep_ctx::vel_cmd;

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