uStepperS.h File Reference

Function prototypes and definitions for the uStepper S library. More...

#include <avr/io.h>
#include <avr/interrupt.h>
#include <Arduino.h>
#include <EEPROM.h>
#include <inttypes.h>
#include <uStepperServo.h>
#include <uStepperEncoder.h>
#include <uStepperDriver.h>

Go to the source code of this file.

Classes
union	floatBytes_t
	Union to easily split a float into its binary representation. More...
struct	dropinCliSettings_t
	Struct to store dropin settings. More...
struct	posFilter_t
	Struct for encoder velocity estimator. More...
class	uStepperS
	Prototype of class for accessing all features of the uStepper S in a single object. More...

Macros
#define	CW   1
#define	CCW   0
#define	POSITION_REACHED   0x20
#define	VELOCITY_REACHED   0x10
#define	STANDSTILL   0x08
#define	STALLGUARD2   0x04
#define	HARD   0
#define	SOFT   1
#define	DRV_ENN   PD4
#define	SD_MODE   PD5
#define	SPI_MODE   PD6
#define	CS_DRIVER   PE2
#define	CS_ENCODER   PD7
#define	MOSI1   PE3
#define	MOSI_ENC   PC2
#define	MISO1   PC0
#define	SCK1   PC1
#define	NORMAL   0
#define	DROPIN   1
#define	PID   2
#define	CLOCKFREQ   16000000.0
#define	ENCODERINTFREQ   1000.0
#define	ENCODERINTPERIOD   1.0/ENCODERINTFREQ
#define	ENCODERSPEEDCONSTANT   ENCODERINTFREQ/65535.0
#define	PULSEFILTERKP   120.0
#define	PULSEFILTERKI   1900.0*ENCODERINTPERIOD

Functions
void	TIMER1_COMPA_vect (void) __attribute__((signal
	Interrupt routine for critical tasks. More...
void	interrupt0 (void)
	Used by dropin feature to take in step pulses. More...
void	interrupt1 (void)
	Used by dropin feature to take in enable signal. More...

Variables
void	used

Detailed Description

Function prototypes and definitions for the uStepper S library.

        This file contains class and function prototypes for the library,
        as well as necessary constants and global variables.

Author

Thomas Hørring Olsen (thoma.nosp@m.s@us.nosp@m.teppe.nosp@m.r.co.nosp@m.m)

Definition in file uStepperS.h.

Macro Definition Documentation

CCW

#define CCW   0

DESCRIPTION PENDING

Definition at line 132 of file uStepperS.h.

CLOCKFREQ

#define CLOCKFREQ   16000000.0

DESCRIPTION PENDING

Definition at line 208 of file uStepperS.h.

CS_DRIVER

#define CS_DRIVER   PE2

DESCRIPTION PENDING

Definition at line 193 of file uStepperS.h.

CS_ENCODER

#define CS_ENCODER   PD7

DESCRIPTION PENDING

Definition at line 194 of file uStepperS.h.

CW

#define CW   1

DESCRIPTION PENDING

Definition at line 131 of file uStepperS.h.

DROPIN

#define DROPIN   1

Value defining dropin mode for 3d printer/CNC controller boards

Definition at line 204 of file uStepperS.h.

DRV_ENN

#define DRV_ENN   PD4

DESCRIPTION PENDING

Definition at line 189 of file uStepperS.h.

ENCODERINTFREQ

#define ENCODERINTFREQ   1000.0

Frequency at which the encoder is sampled, for keeping track of angle moved and current speed

Definition at line 211 of file uStepperS.h.

ENCODERINTPERIOD

#define ENCODERINTPERIOD   1.0/ENCODERINTFREQ

Frequency at which the encoder is sampled, for keeping track of angle moved and current speed

Definition at line 213 of file uStepperS.h.

ENCODERSPEEDCONSTANT

#define ENCODERSPEEDCONSTANT   ENCODERINTFREQ/65535.0

Constant to convert angle difference between two interrupts to speed in revolutions per second. Dividing by 10 as each speed is calculated from 10 samples

Definition at line 215 of file uStepperS.h.

HARD

#define HARD   0

DESCRIPTION PENDING

Definition at line 186 of file uStepperS.h.

MISO1

#define MISO1   PC0

DESCRIPTION PENDING

Definition at line 198 of file uStepperS.h.

MOSI1

#define MOSI1   PE3

DESCRIPTION PENDING

Definition at line 196 of file uStepperS.h.

MOSI_ENC

#define MOSI_ENC   PC2

DESCRIPTION PENDING

Definition at line 197 of file uStepperS.h.

NORMAL

#define NORMAL   0

Value defining normal mode

Definition at line 202 of file uStepperS.h.

PID

#define PID   2

Value defining PID mode for normal library functions

Definition at line 206 of file uStepperS.h.

POSITION_REACHED

#define POSITION_REACHED   0x20

DESCRIPTION PENDING

Definition at line 134 of file uStepperS.h.

PULSEFILTERKI

#define PULSEFILTERKI   1900.0*ENCODERINTPERIOD

I term in the PI filter estimating the step rate of incomming pulsetrain in DROPIN mode

Definition at line 219 of file uStepperS.h.

PULSEFILTERKP

#define PULSEFILTERKP   120.0

P term in the PI filter estimating the step rate of incomming pulsetrain in DROPIN mode

Definition at line 217 of file uStepperS.h.

SCK1

#define SCK1   PC1

DESCRIPTION PENDING

Definition at line 199 of file uStepperS.h.

SD_MODE

#define SD_MODE   PD5

DESCRIPTION PENDING

Definition at line 190 of file uStepperS.h.

SOFT

#define SOFT   1

DESCRIPTION PENDING

Definition at line 187 of file uStepperS.h.

SPI_MODE

#define SPI_MODE   PD6

DESCRIPTION PENDING

Definition at line 191 of file uStepperS.h.

STALLGUARD2

#define STALLGUARD2   0x04

DESCRIPTION PENDING

Definition at line 137 of file uStepperS.h.

STANDSTILL

#define STANDSTILL   0x08

DESCRIPTION PENDING

Definition at line 136 of file uStepperS.h.

VELOCITY_REACHED

#define VELOCITY_REACHED   0x10

DESCRIPTION PENDING

Definition at line 135 of file uStepperS.h.

Function Documentation

interrupt0()

void interrupt0

(

void

)

Used by dropin feature to take in step pulses.

        This interrupt routine is used by the dropin feature to keep
        track of step and direction pulses from main controller

Definition at line 483 of file uStepperS.cpp.

interrupt1()

void interrupt1

(

void

)

Used by dropin feature to take in enable signal.

        This interrupt routine is used by the dropin feature to keep
        track of enable signal from main controller

Definition at line 471 of file uStepperS.cpp.

TIMER1_COMPA_vect()

void TIMER1_COMPA_vect

(

void

)

Interrupt routine for critical tasks.

    This interrupt routine is in charge of sampling the encoder, process the data and handle PID

Definition at line 518 of file uStepperS.cpp.