BeRTOS
Data Fields
StepperConfig Struct Reference

Stepper configuration. More...

#include <stepper.h>

Data Fields

struct Ramp ramp
 Acceleration ramp.
uint16_t pulse
 (clocks) Length of the clock pulse used to drive the motor
fsm_state states [STEPPER_MAX_STATES]
 Custom FSM states (or NULL for default handling)
int16_t stepsInHome
 Additional steps to do after home detection.
int16_t stepsOutHome
 Additional steps to do leaving sensor in home procedure.
uint16_t clocksHome
 Clock ticks for steps done when searching home.
int16_t stepsTollOutHome
 tolerance steps leaving home sensor control while moving
int16_t stepsTollInHome
 tolerance steps leaving home sensor control while moving
int16_t timeoutHome
 timeout in ms in home procedure
uint8_t powerRun
 Vref voltage when motor runs (0-255)
uint8_t powerIdle
 Vref voltage when motor is idle (0-255)
uint16_t homeSensorIndex
 Home Sensor index in the sensor list.
uint16_t levelSensorIndex
 Level Sensor index in the sensor list.
bool homeInverted: 1
 True for inverted home sensor.
bool halfStep: 1
 True for half-step mode.
bool axisInverted: 1
 True if the CW/CCW are inverted from default.
bool levelInverted: 1
 True for inverted level sensor.
bool controlBit: 1
 Control bit status.
bool controlMoveBit: 1
 Control bit status in movement.
bool highcurrentBit: 1
 Mantain high current bit status.

Detailed Description

Stepper configuration.

Definition at line 126 of file stepper.h.


The documentation for this struct was generated from the following file: