BeRTOS
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Motor context structure. More...
#include <stepper.h>
Data Fields | |
struct StepperConfig * | cfg |
Configuration of this stepper. | |
fsm_state | state |
Motor FSM state function. | |
struct TimerCounter * | timer |
HW timer bound to this motor. | |
uint16_t | index |
Index of the motor. | |
volatile int16_t | step |
Steps counter (used in interrupt) | |
volatile int16_t | rampStep |
Current position in acceleration ramp (used in intrrupt) | |
enum MotorDirection | dir |
Current direction. | |
uint8_t | power |
Current power. | |
uint16_t | speed |
Timer compare value to reach. | |
int16_t | stepToReach |
Final position to reach when running. | |
int16_t | skipIrqs |
Counter used to skip IRQs (delay state changes) | |
int16_t | changeCurrentIrqs |
Counter used to change current level (delay state changes) | |
int8_t | enableCheckHome |
enable the home sensor control during movement | |
int8_t | stepsErrorHome |
number of consecutive steps in error | |
int16_t | stepsTollMax |
home sensor out max position | |
int16_t | stepsTollMin |
home sensor in max position | |
int16_t | stepsDeaf |
Position after which start the level check. | |
int16_t | stepsLevel |
Position of level contact. | |
int16_t | stepCircular |
Steps corresponding to 360 degrees (rotating motor) |