BeRTOS
Data Fields
Stepper Struct Reference

Motor context structure. More...

#include <stepper.h>

Data Fields

struct StepperConfigcfg
 Configuration of this stepper.
fsm_state state
 Motor FSM state function.
struct TimerCountertimer
 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)

Detailed Description

Motor context structure.

Definition at line 164 of file stepper.h.


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