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SMC.cpp File Reference
Stepper motor control module uses 1/8 microstepping.
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static volatile int smc_walker = 0 Motor control LUT index. static volatile int smc_dir = 1 Director in lookup table (unused) static volatile int smc_steps = -1 Remaining steps. static volatile int smc_free = 1 Argument to free motor when done. static volatile int smc_abort = 0 Set when motor control should quit by itself. static volatile int smc_steptime = 0 Time used to make 1 step. static volatile int smc_isPaused = 0 Boolean for paused state of control. DigitalOut HIFET_1 (P0_16) Hi Side FET 1 of bridge 1. DigitalOut HIFET_2 (P0_17) Hi Side FET 2 of bridge 1. DigitalOut HIFET_3 (P0_18) Hi Side FET 3 of bridge 2. DigitalOut HIFET_4 (P0_19) Hi Side FET 4 of bridge 2. void SMC_init (void) Initializes Stepper Motor Control. void SMC_deinit (void) De-Initializes Stepper Motor Control. void SMC_routine (void) Routine called by interrupt to modify H-Bridge states. int SMC_step (int steps, uint8_t dir, uint32_t time_ms, uint8_t free) Stepper motor control main command. uint32_t SMC_idle (void) Return 1 of stepper motor control is idle. void SMC_brake (void) Puts motor in brake mode, enable all low-side mosfets. void SMC_free (void) Puts motor in free mode, disables all mosfets. void SMC_pause (void) Pause current stepping command. void SMC_continue (void) Continue from pause. int SMC_getState (void) Return remaining steps, negative if paused. void SMC_egg (void) Egg, open it to find out.
Detailed Description
Stepper motor control module uses 1/8 microstepping.
Author: Jeroen Lodder Date: Oktober 2013 Definition in file SMC.cpp .
Function Documentation
DigitalOut HIFET_1
(
P0_16
)
Hi Side FET 1 of bridge 1.
DigitalOut HIFET_2
(
P0_17
)
Hi Side FET 2 of bridge 1.
DigitalOut HIFET_3
(
P0_18
)
Hi Side FET 3 of bridge 2.
DigitalOut HIFET_4
(
P0_19
)
Hi Side FET 4 of bridge 2.
Puts motor in brake mode, enable all low-side mosfets.
Definition at line 229 of file SMC.cpp .
void SMC_continue
(
void
)
Continue from pause.
Definition at line 265 of file SMC.cpp .
De-Initializes Stepper Motor Control.
Definition at line 53 of file SMC.cpp .
Egg, open it to find out.
Definition at line 289 of file SMC.cpp .
Puts motor in free mode, disables all mosfets.
Definition at line 242 of file SMC.cpp .
int SMC_getState
(
void
)
Return remaining steps, negative if paused.
Definition at line 275 of file SMC.cpp .
uint32_t SMC_idle
(
void
)
Return 1 of stepper motor control is idle.
Definition at line 219 of file SMC.cpp .
Initializes Stepper Motor Control.
Definition at line 36 of file SMC.cpp .
Pause current stepping command.
Definition at line 255 of file SMC.cpp .
void SMC_routine
(
void
)
Routine called by interrupt to modify H-Bridge states.
Definition at line 73 of file SMC.cpp .
int SMC_step
(
int
steps ,
uint8_t
dir ,
uint32_t
time_ms ,
uint8_t
free
)
Stepper motor control main command.
Parameters:
[in] steps Number of steps to take [in] dir Direction to step in, 1 or 0 [in] time_ms Time to take for these steps [in] free Free or lock motor when done 1 or 0 respectively
Returns: -1 when illegal command or mode Definition at line 189 of file SMC.cpp .
Variable Documentation
Set when motor control should quit by itself.
Definition at line 29 of file SMC.cpp .
Director in lookup table (unused)
Definition at line 26 of file SMC.cpp .
Argument to free motor when done.
Definition at line 28 of file SMC.cpp .
Boolean for paused state of control.
Definition at line 31 of file SMC.cpp .
Remaining steps.
Definition at line 27 of file SMC.cpp .
Time used to make 1 step.
Definition at line 30 of file SMC.cpp .
Motor control LUT index.
Definition at line 25 of file SMC.cpp .
1.7.2