Struct sstep_status

ClassList > sstep_status

Snapshot returned by sstep_get_status() , in engineering units.

• #include <sstep_ctrl.h>

Public Attributes

Type	Name
int32_t	emf_d_mv Filtered back-EMF estimate along the commanded current vector [mV]; 0 when stall detection is off.
int32_t	emf_q_mv Filtered back-EMF estimate 90 degrees ahead of the commanded current vector [mV]; 0 when stall detection is off.
uint16_t	faults Active SSTEP_FAULT_OVERCURRENT ... flags.
int32_t	i_a_ma Last measured phase A current [mA].
int32_t	i_b_ma Last measured phase B current [mA].
int32_t	load_angle_cdeg Estimated load angle, commanded minus rotor electrical angle [0.01 deg], same sign as the motor torque.
int32_t	position Commanded position [microsteps].
int32_t	rotor_velocity Estimated rotor velocity [microsteps/s], from the back-EMF magnitude; 0 when stall detection is off.
uint8_t	stall_level_pct Stall detector level, 0 .
enum sstep_state	state Driver state.
int32_t	target Target of the current move [microsteps].
uint32_t	vbus_mv Last measured bus voltage [mV].
int32_t	velocity Commanded velocity [microsteps/s].

Public Attributes Documentation

variable emf_d_mv

Filtered back-EMF estimate along the commanded current vector [mV]; 0 when stall detection is off.

int32_t sstep_status::emf_d_mv;

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variable emf_q_mv

Filtered back-EMF estimate 90 degrees ahead of the commanded current vector [mV]; 0 when stall detection is off.

int32_t sstep_status::emf_q_mv;

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variable faults

Active SSTEP_FAULT_OVERCURRENT ... flags.

uint16_t sstep_status::faults;

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variable i_a_ma

Last measured phase A current [mA].

int32_t sstep_status::i_a_ma;

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variable i_b_ma

Last measured phase B current [mA].

int32_t sstep_status::i_b_ma;

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variable load_angle_cdeg

Estimated load angle, commanded minus rotor electrical angle [0.01 deg], same sign as the motor torque.

int32_t sstep_status::load_angle_cdeg;

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variable position

Commanded position [microsteps].

int32_t sstep_status::position;

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variable rotor_velocity

Estimated rotor velocity [microsteps/s], from the back-EMF magnitude; 0 when stall detection is off.

int32_t sstep_status::rotor_velocity;

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variable stall_level_pct

Stall detector level, 0 .

uint8_t sstep_status::stall_level_pct;

. 100 % of the trip.

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variable state

Driver state.

enum sstep_state sstep_status::state;

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variable target

Target of the current move [microsteps].

int32_t sstep_status::target;

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variable vbus_mv

Last measured bus voltage [mV].

uint32_t sstep_status::vbus_mv;

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variable velocity

Commanded velocity [microsteps/s].

int32_t sstep_status::velocity;

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