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uStepper
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Function prototypes and definitions for the uStepper library. More...
#include <inttypes.h>#include <avr/io.h>#include <avr/delay.h>#include <Arduino.h>#include <uStepperServo.h>Go to the source code of this file.
Classes | |
| class | float2 |
| class | uStepperTemp |
| Prototype of class for the temperature sensor. More... | |
| class | uStepperEncoder |
| Prototype of class for the AS5600 encoder. More... | |
| class | uStepper |
| Prototype of class for accessing all features of the uStepper in a single object. More... | |
| class | i2cMaster |
| Prototype of class for accessing the TWI (I2C) interface of the AVR (master mode only). More... | |
Macros | |
| #define | FULL 1 |
| #define | HALF 2 |
| #define | QUARTER 4 |
| #define | EIGHT 8 |
| #define | SIXTEEN 16 |
| #define | NORMAL 0 |
| #define | PWM 1 |
| #define | DROPIN 1 |
| #define | PID 2 |
| #define | STOP 1 |
| #define | ACCEL 2 |
| #define | CRUISE 4 |
| #define | DECEL 8 |
| #define | INITDECEL 16 |
| #define | INTFREQ 28200.0f |
| #define | INTPERIOD 1000000.0/INTFREQ |
| #define | INTPIDDELAYCONSTANT 0.028199994 |
| #define | CW 0 |
| #define | CCW 1 |
| #define | HARD 1 |
| #define | SOFT 0 |
| #define | ENCODERINTFREQ 1000.0 |
| #define | ENCODERSPEEDCONSTANT ENCODERINTFREQ/10.0/4096.0 |
| #define | ENCODERADDR 0x36 |
| #define | ANGLE 0x0E |
| #define | STATUS 0x0B |
| #define | AGC 0x1A |
| #define | MAGNITUDE 0x1B |
| #define | R 4700.0 |
| #define | I2CFREE 0 |
| #define | READ 1 |
| #define | WRITE 0 |
| #define | START 0x08 |
| #define | REPSTART 0x10 |
| #define | TXADDRACK 0x18 |
| #define | TXDATAACK 0x28 |
| #define | RXADDRACK 0x40 |
| #define | ACK 1 |
| #define | NACK 0 |
| #define | A 0.001295752996237 |
| #define | B 0.000237488365866 |
| #define | C 0.000000083423218 |
Functions | |
| 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... | |
| void | TIMER2_COMPA_vect (void) __attribute__((signal |
| Used to apply step pulses to the motor. More... | |
| void | TIMER1_COMPA_vect (void) __attribute__((signal |
| Measures angle and speed of motor. More... | |
Variables | |
| void | naked |
| void | used |
| i2cMaster | I2C |
Function prototypes and definitions for the uStepper library.
This file contains class and function prototypes for the library, as well as necessary constants and global variables.
Definition in file uStepper.h.
| #define A 0.001295752996237 |
Coefficients needed by the Steinhart-hart equation in order to find the temperature of the NTC (and hereby the temperature of the motor driver) from the current resistance of the NTC resistor. The coefficients are calculated for the following 3 operating points:
A: T = 5 degree Celsius
B: T = 50 degree Celsius
C: T = 105 degree Celsius
The Steinhart-Hart equation is described at the following link:
https://en.wikipedia.org/wiki/Steinhart%E2%80%93Hart_equation#Developers_of_the_equation
Definition at line 321 of file uStepper.h.
| #define ACCEL 2 |
Value to put in state variable in order to indicate that the motor should be accelerating
Definition at line 234 of file uStepper.h.
| #define ACK 1 |
value to indicate ACK for i2c transmission
Definition at line 299 of file uStepper.h.
| #define AGC 0x1A |
Address of the register, in the encoder chip, containing information about the current gain value used in the encoder chip. This value should preferably be around 127 (Ideal case!)
Definition at line 267 of file uStepper.h.
| #define ANGLE 0x0E |
Address of the register, in the encoder chip, containing the 8 least significant bits of the stepper shaft angle
Definition at line 263 of file uStepper.h.
| #define B 0.000237488365866 |
See description of A
Definition at line 323 of file uStepper.h.
| #define C 0.000000083423218 |
See description of A
Definition at line 325 of file uStepper.h.
| #define CCW 1 |
Value to put in direction variable in order for the stepper to turn counterclockwise
Definition at line 250 of file uStepper.h.
| #define CRUISE 4 |
Value to put in state variable in order to indicate that the motor should be decelerating
Definition at line 236 of file uStepper.h.
| #define CW 0 |
Value to put in direction variable in order for the stepper to turn clockwise
Definition at line 248 of file uStepper.h.
| #define DECEL 8 |
Value to put in state variable in order to indicate that the motor should be cruising at constant speed with no acceleration
Definition at line 238 of file uStepper.h.
| #define DROPIN 1 |
Value defining dropin mode for 3d printer/CNC controller boards
Definition at line 227 of file uStepper.h.
| #define EIGHT 8 |
Eighth step definition
Definition at line 219 of file uStepper.h.
| #define ENCODERADDR 0x36 |
I2C address of the encoder chip
Definition at line 261 of file uStepper.h.
| #define ENCODERINTFREQ 1000.0 |
Frequency at which the encoder is sampled, for keeping track of angle moved and current speed
Definition at line 257 of file uStepper.h.
| #define ENCODERSPEEDCONSTANT ENCODERINTFREQ/10.0/4096.0 |
Constant to convert angle difference between two interrupts to speed in revolutions per second
Definition at line 259 of file uStepper.h.
| #define FULL 1 |
Full step definition
Definition at line 213 of file uStepper.h.
| #define HALF 2 |
Half step definition
Definition at line 215 of file uStepper.h.
| #define HARD 1 |
Value to put in hold variable in order for the motor to block when it is not running
Definition at line 252 of file uStepper.h.
| #define I2CFREE 0 |
I2C bus is not currently in use
Definition at line 275 of file uStepper.h.
| #define INITDECEL 16 |
Value to put in state variable in order to indicate that the motor should be decelerating to full stop before changing direction
Definition at line 240 of file uStepper.h.
| #define INTFREQ 28200.0f |
Frequency of interrupt routine, in which the delays for the stepper algorithm are calculated
Definition at line 242 of file uStepper.h.
| #define INTPERIOD 1000000.0/INTFREQ |
Period of interrupt routine for stepper algortihm
Definition at line 244 of file uStepper.h.
| #define INTPIDDELAYCONSTANT 0.028199994 |
constant to calculate the amount of interrupts TIMER2 has to wait with generating new pulse, during PID error correction
Definition at line 246 of file uStepper.h.
| #define MAGNITUDE 0x1B |
Address of the register, in the encoder chip, containing the 8 least significant bits of magnetic field strength measured by the encoder chip
Definition at line 269 of file uStepper.h.
| #define NACK 0 |
value to indicate NACK for i2c transmission
Definition at line 302 of file uStepper.h.
| #define NORMAL 0 |
Value defining normal mode
Definition at line 223 of file uStepper.h.
| #define PID 2 |
Value defining PID mode for normal library functions
Definition at line 229 of file uStepper.h.
| #define PWM 1 |
Value defining PWM mode of corresponding IO pin. Used to switch pin D3 and D8 between pwm or normal IO mode
Definition at line 225 of file uStepper.h.
| #define QUARTER 4 |
Quarter step definition
Definition at line 217 of file uStepper.h.
| #define R 4700.0 |
The NTC resistor used for measuring temperature, is placed in series with a 4.7 kohm resistor. This is used to calculate the temperature
Definition at line 272 of file uStepper.h.
| #define READ 1 |
Value for RW bit in address field, to request a read
Definition at line 278 of file uStepper.h.
| #define REPSTART 0x10 |
repeated start condition transmitted
Definition at line 287 of file uStepper.h.
| #define RXADDRACK 0x40 |
slave address plus read bit transmitted, ACK received
Definition at line 296 of file uStepper.h.
| #define SIXTEEN 16 |
Sixteenth step definition
Definition at line 221 of file uStepper.h.
| #define SOFT 0 |
Value to put in hold variable in order for the motor to not block when it is not running
Definition at line 254 of file uStepper.h.
| #define START 0x08 |
start condition transmitted
Definition at line 284 of file uStepper.h.
| #define STATUS 0x0B |
Address of the register, in the encoder chip, containing information about whether a magnet has been detected or not
Definition at line 265 of file uStepper.h.
| #define STOP 1 |
Value to put in state variable in order to indicate that the motor should not be running
Definition at line 232 of file uStepper.h.
| #define TXADDRACK 0x18 |
slave address plus write bit transmitted, ACK received
Definition at line 290 of file uStepper.h.
| #define TXDATAACK 0x28 |
data transmitted, ACK received
Definition at line 293 of file uStepper.h.
| #define WRITE 0 |
Value for RW bit in address field, to request a write
Definition at line 281 of file uStepper.h.
| 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 115 of file uStepper.cpp.
| 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 82 of file uStepper.cpp.
| void TIMER1_COMPA_vect | ( | void | ) |
Measures angle and speed of motor.
This interrupt routine is in charge of sampling the encoder and measure the current speed of the motor. In case of Dropin or PID feature this routine runs at a frequency of 500Hz while during normal operation it runs at a frequency of 1kHz.
Definition at line 271 of file uStepper.cpp.
| void TIMER2_COMPA_vect | ( | void | ) |
Used to apply step pulses to the motor.
This interrupt routine is in charge of applying step pulses to the motor. The routine runs at a frequency of 28.2kHz, and handles acceleration algorithm calculations, as well as applying step pulses during compensation for missed steps, while either dropin or PID feature are enabled.
Definition at line 128 of file uStepper.cpp.
| i2cMaster I2C |
Global definition of I2C object for use in arduino sketch
Definition at line 78 of file uStepper.cpp.
1.8.13