stepper_ptrs_t Struct Reference

Stepper motor handlers. More...

#include <hal.h>

Data Fields
stepper_wake_up_ptr	wake_up
	Handler for enabling stepper motor power and main stepper interrupt. More...
stepper_go_idle_ptr	go_idle
	Handler for disabling main stepper interrupt and optionally reset stepper signals. Called from interrupt context. More...
stepper_enable_ptr	enable
	Handler for enabling/disabling stepper motor power for individual motors. Called from interrupt context. More...
stepper_disable_motors_ptr	disable_motors
	Optional handler for enabling/disabling stepper motor step signals for individual motors. More...
stepper_cycles_per_tick_ptr	cycles_per_tick
	Handler for setting the step pulse rate for the next motion segment. Called from interrupt context. More...
stepper_pulse_start_ptr	pulse_start
	Handler for starting outputting direction signals and a step pulse. Called from interrupt context. More...
stepper_interrupt_callback_ptr	interrupt_callback
	Callback for informing about the next step pulse to output. Set by the core at startup. More...
stepper_get_ganged_ptr	get_ganged
	Optional handler getting which axes are configured for ganging or auto squaring. More...
stepper_output_step_ptr	output_step
	Optional handler for outputting a single step pulse. Experimental. Called from interrupt context. More...
motor_iterator_ptr	motor_iterator
	Optional handler iteration over motor vs. axis mappings. Required for the motors plugin (Trinamic drivers). More...

Detailed Description

Stepper motor handlers.

Field Documentation

cycles_per_tick

stepper_cycles_per_tick_ptr cycles_per_tick

Handler for setting the step pulse rate for the next motion segment. Called from interrupt context.

disable_motors

stepper_disable_motors_ptr disable_motors

Optional handler for enabling/disabling stepper motor step signals for individual motors.

enable

stepper_enable_ptr enable

Handler for enabling/disabling stepper motor power for individual motors. Called from interrupt context.

get_ganged

stepper_get_ganged_ptr get_ganged

Optional handler getting which axes are configured for ganging or auto squaring.

go_idle

stepper_go_idle_ptr go_idle

Handler for disabling main stepper interrupt and optionally reset stepper signals. Called from interrupt context.

interrupt_callback

stepper_interrupt_callback_ptr interrupt_callback

Callback for informing about the next step pulse to output. Set by the core at startup.

motor_iterator

motor_iterator_ptr motor_iterator

Optional handler iteration over motor vs. axis mappings. Required for the motors plugin (Trinamic drivers).

output_step

stepper_output_step_ptr output_step

Optional handler for outputting a single step pulse. Experimental. Called from interrupt context.

pulse_start

stepper_pulse_start_ptr pulse_start

Handler for starting outputting direction signals and a step pulse. Called from interrupt context.

wake_up

stepper_wake_up_ptr wake_up

Handler for enabling stepper motor power and main stepper interrupt.

---

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

• hal.h