Stepper Motor Timer Driver

Stepper Motor Timer Driver

Stepper Motor Timer Driver Overview

The primary function of the Stepper Motor Timer Driver is to ensure that the stepper motor is driven with the correct timing, ensuring smooth and precise movements. It works by generating pulses at a specified rate, which are sent to the stepper motor driver circuit. The timing of these pulses determines the speed and direction of the motor’s rotation.

Application Interface

This driver implements the stepper driver using the following

Stepper Drivers

Module	Description
rs_stepper_timer_driver_init	Initializes the timer based stepper driver
rs_stepper_timer_driver_set_timer	To sets the timer for the driver
rs_stepper_timer_driver_set_enable_pin	To sets the enable pin for the driver
rs_stepper_timer_driver_set_direction_pin	To sets the direction pin for the driver
rs_stepper_timer_driver_set_pulse_pin	To sets the pulse pin for the driver
rs_stepper_timer_driver_set_limit_pin	To sets the limit pin for the driver
rs_stepper_timer_driver_timer_on	To on the timer of the driver
rs_stepper_timer_driver_timer_callback	To call from the timer interrupt
rs_stepper_timer_driver_process	To process the stepper timer driver

Stepper Motor Timer Driver Header details

Documentation from the relevant header as follows:

Typedefs

typedef struct __rs_stepper_timer_driver_config rs_stepper_timer_driver_config_t

Functions

rs_ret_val_t rs_stepper_timer_driver_init(rs_stepper_timer_driver_config_t *ptr_smt_drv, void *ptr_sm_config)

Initializes the timer based stepper driver.

This function initializes the timer based stepper driver unit

Parameters:

• ptr_smt_drv – [in] - Pointer to timer based stepper motor driver

• ptr_sm_config – [in] - Pointer to higher level stepper module

Returns:

Zero on success or negative error code

rs_ret_val_t rs_stepper_timer_driver_set_timer(rs_stepper_timer_driver_config_t *ptr_smt_drv, uint8_t u8_timer_unit, uint8_t u8_timer_channel)

Sets the timer for the driver.

This function assigns the timer unit and channel for the given stepper driver

Parameters:

• ptr_smt_drv – [in] - Pointer to timer based stepper motor driver

• u8_timer_unit – [in] - Timer unit corresponding to the driver

• u8_timer_channel – [in] - Timer channel corresponding to the driver

Returns:

Zero on success or negative error code

rs_ret_val_t rs_stepper_timer_driver_set_enable_pin(rs_stepper_timer_driver_config_t *ptr_smt_drv, uint8_t u8_port, uint32_t u32_pin)

rs_ret_val_t rs_stepper_timer_driver_set_direction_pin(rs_stepper_timer_driver_config_t *ptr_smt_drv, uint8_t u8_port, uint32_t u32_pin)

rs_ret_val_t rs_stepper_timer_driver_set_pulse_pin(rs_stepper_timer_driver_config_t *ptr_smt_drv, uint8_t u8_port, uint32_t u32_pin)

rs_ret_val_t rs_stepper_timer_driver_set_limit_pin(rs_stepper_timer_driver_config_t *ptr_smt_drv, uint8_t u8_port, uint32_t u32_pin, uint8_t u8_active_state)

struct __rs_stepper_timer_driver_config

Public Members

rs_stepper_driver_config_t driver_config

Generic Stepper Motor Driver configuration

uint8_t port_direction

Set Direction Ports

uint32_t pin_direction

Set Direction pin

uint8_t port_enable

Set Enable Ports

uint32_t pin_enable

Set Enable pin

uint8_t port_pulse

Set Pulse Ports

uint32_t pin_pulse

Set Pulse pin

uint8_t port_limit

Set limit Ports

uint32_t pin_limit

Set limit_pin

uint8_t active_state_limit

Active state when in limits

uint8_t timer_unit

Timer unit to use

uint8_t timer_channel

Timer channel to use

uint64_t u64_holding_time

Z Motor Press & Hold the Panel key

uint32_t new_step_delay

Holds next delay period

int32_t last_accel_delay

Remember the last step delay used when decel_raterating.

int64_t step_count

Counting steps when moving.

int32_t rest

Keep track of remainder from new_step-delay calculation to incrase accurancy

uint32_t timer_freq

Set timer frequency

uint8_t run_state

What part of the speed ramp we are in.

uint8_t dir

Direction stepper motor should move.

uint32_t step_delay

Peroid of next timer delay. At start this value set the accelration rate.

uint32_t decel_start

What step_pos to start decelaration

int32_t decel_val

Sets deceleration rate.

int32_t min_delay

Minimum time delay (max speed)

int32_t accel_count

Counter used when accelerateing/decelerateing to calculate step_delay.

uint8_t timer_gpio_state

set timer gpio state

float alpha

motor step angle

uint64_t alpha_timer_freq_x100

Find the max speed

int32_t timer_freq_100

find the acceleration

uint64_t alpha_sq

use to find the acceleration

int32_t alpha_X20000

find max speed limit

uint16_t spr

Number of steps per round on stepper motor in use

rs_handle_t timer_handle

rs_timer_config_t timer_unit_config

rs_timer_channel_config_t timer_channel_config