stepper2.c File Reference

#include "hal.h"
#include <math.h>
#include <stdlib.h>
#include "stepper2.h"

Data Structures
struct	st2_motor
	Internal structure for holding motor configuration and keeping track of its status. More...

Enumerations
enum	st2_state_t {   State_Idle = 0 , State_Accel , State_Run , State_RunInfinite ,   State_DecelTo , State_Decel }

Functions
void	st2_motor_register_stopped_callback (st2_motor_t *motor, foreground_task_ptr callback)
bool	st2_motor_bind_spindle (uint_fast8_t axis_idx)
	Bind and initialize a motor. More...
st2_motor_t *	st2_motor_init (uint_fast8_t axis_idx, bool is_spindle)
	Bind and initialize a motor. More...
float	st2_get_speed (st2_motor_t *motor)
	Get current speed (RPM). More...
float	st2_motor_set_speed (st2_motor_t *motor, float speed)
	Set speed. More...
bool	st2_motor_move (st2_motor_t *motor, const float move, const float speed, position_t type)
	Command a motor to move. More...
int64_t	st2_get_position (st2_motor_t *motor)
	Get current position in steps. More...
bool	st2_set_position (st2_motor_t *motor, int64_t position)
	Set current position in steps. More...
	__attribute__ ((always_inline))
	Execute a move commanded by st2_motor_move(). More...
bool	st2_motor_run (st2_motor_t *motor)
	Execute a move commanded by st2_motor_move(). More...
bool	st2_motor_stop (st2_motor_t *motor)
	Stop a move. This will initiate deceleration to stop the motor if it is running. More...
bool	st2_motor_poll (st2_motor_t *motor)
	Check if motor is run by polling. More...
bool	st2_motor_running (st2_motor_t *motor)
	Check if motor is running. More...
bool	st2_motor_cruising (st2_motor_t *motor)
	Check if motor is running in cruising phase. More...

Enumeration Type Documentation

st2_state_t

enum st2_state_t

Enumerator
State_Idle	0
State_Accel	1
State_Run	2
State_RunInfinite	3
State_DecelTo	4
State_Decel	5

Function Documentation

__attribute__()

__attribute__

(

(always_inline)

)

Execute a move commanded by st2_motor_move().

Parameters

motor

pointer to a st2_motor structure.

Returns

true if motor is moving (steps are output), false if not (motion is completed).

st2_get_position()

int64_t st2_get_position

(

st2_motor_t *

motor

)

Get current position in steps.

Parameters

motor

pointer to a st2_motor structure.

Returns

current position as number of steps.

st2_get_speed()

float st2_get_speed

(

st2_motor_t *

motor

)

Get current speed (RPM).

Parameters

motor

pointer to a st2_motor structure.

Returns

current speed in RPM.

st2_motor_bind_spindle()

bool st2_motor_bind_spindle

(

uint_fast8_t

axis_idx

)

Bind and initialize a motor.

Binds motor 0 as a spindle.

Parameters

axis_idx

axis index of motor to bind to. 3 = A, 4 = B, ...

Returns

true if successful, false if not.

st2_motor_cruising()

bool st2_motor_cruising

(

st2_motor_t *

motor

)

Check if motor is running in cruising phase.

Parameters

motor

pointer to a st2_motor structure.

Returns

true if motor is cruising (not acceleration or decelerating), false if not.

st2_motor_init()

st2_motor_t* st2_motor_init	(	uint_fast8_t	axis_idx,
		bool	is_spindle
	)

Bind and initialize a motor.

Allocates and initializes motor configuration/data structure. If is_spindle is set true then axis settings will be changed to step/rev etc. when bound.
NOTE: X, Y or Z motors cannot be bound as a spindle.
NOTE: currently any axis bound as a spindle should not be instructed to move via gcode commands.

Parameters

axis_idx	axis index of motor to bind to. 0 = X, 1 = Y, 2 = Z, ...
is_spindle	set to true if axis is to be used as a spindle (infinite motion).

Returns

pointer to a st2_motor structure if successful, NULL if not.

st2_motor_move()

bool st2_motor_move	(	st2_motor_t *	motor,
		const float	move,
		const float	speed,
		position_t	type
	)

Command a motor to move.

NOTE: For all motions except single steps st2_motor_run() has to be called from the foreground process at a high frequency in order for steps to be generated. Typically this is done by registering a function with the hal.on_execute_realtime event that calls st2_motor_run().

Parameters

motor	pointer to a st2_motor structure.
move	relative distance to move.
speed	speed
type	a position_t enum.

Returns

true if command is accepted, false if not.

st2_motor_poll()

bool st2_motor_poll

(

st2_motor_t *

motor

)

Check if motor is run by polling.

Parameters

motor

pointer to a st2_motor structure.

Returns

true if motor is run by polling, false if not.

st2_motor_register_stopped_callback()

void st2_motor_register_stopped_callback	(	st2_motor_t *	motor,
		foreground_task_ptr	callback
	)

st2_motor_run()

bool st2_motor_run

(

st2_motor_t *

motor

)

Execute a move commanded by st2_motor_move().

This should be called from the foreground process as often as possible when step output is not driven by interrupts (polling mode).

Parameters

motor

pointer to a st2_motor structure.

Returns

true if motor is moving (steps are output), false if not (motion is completed).

st2_motor_running()

bool st2_motor_running

(

st2_motor_t *

motor

)

Check if motor is running.

Parameters

motor

pointer to a st2_motor structure.

Returns

true if motor is running, false if not.

st2_motor_set_speed()

float st2_motor_set_speed	(	st2_motor_t *	motor,
		float	speed
	)

Set speed.

Change speed of a running motor. Typically used for motors bound as a spindle. Motor will be accelerated or decelerated to the new speed.

Parameters

motor	pointer to a st2_motor structure.
speed	new speed.

Returns

new speed in steps/s.

st2_motor_stop()

bool st2_motor_stop

(

st2_motor_t *

motor

)

Stop a move. This will initiate deceleration to stop the motor if it is running.

Parameters

motor

pointer to a st2_motor structure.

Returns

true if motor was running, false if not.

st2_set_position()

bool st2_set_position	(	st2_motor_t *	motor,
		int64_t	position
	)

Set current position in steps.

NOTE: position will not be set if motor is moving.

Parameters

motor	pointer to a st2_motor structure.
position	position to set.

Returns

true if new position was accepted, false if not.