Stepper Manager

Stepper Manager Overview

A Stepper Manager is a software or hardware module designed to control and manage the operation of stepper motors efficiently. It provides an interface for configuring motor parameters, setting movement patterns, and ensuring accurate and synchronized control for a variety of motion control applications.

Usage

The API functions have the first argument as the config structure.

To drives the motor to the given count position

To get the current position of the motor.

To adjust speed, direction, or target position during operation.

Application Interface

Stepper Manager calls
Function	Description
rs_stepper_manager_open	Function to open the stepper manager
rs_stepper_manager_set_driver	Function to sets motor driver
rs_stepper_manager_set_count_limits	Function to set motor count limits
rs_stepper_manager_set_rate_limits	Function to set motor speed rate limits
rs_stepper_manager_get_current_count	Gets the current position of the stepper
rs_stepper_manager_detect_zero_pos	Function to Perform Zero Point Detection for the stepper
rs_stepper_manager_set_target_count	Function to set the motor to given position
rs_stepper_manager_process	Stepper Motor processsing function to be called continously

Error Code

Every API’s for the stepper manager returns some success or failure values. Please refer below section,

RAPIDSEA ERROR CODES

Stepper Manager Header Details

Documentation from the relevant header as follows:

Typedefs

typedef struct tag_rs_stepper_manager_config rs_stepper_manager_config_t: Structure For Stepper Motor configuration

Functions

rs_ret_val_t rs_stepper_manager_init(rs_stepper_manager_config_t *ptr_stepper_motor)

Configures the Stepper Motor.

This function initializes the motor as per the given configuration information

Parameters:: ptr_stepper_motor – [in] - Pointer to stepper motor configuration
Returns:: 0

rs_ret_val_t rs_stepper_manager_set_count_limits(rs_stepper_manager_config_t *ptr_stepper_motor, int32_t i32_min_count, int32_t i32_max_count)

Set motor count limits.

This function sets the minimum and maximum values possible to driver the motor to

Parameters:

ptr_stepper_motor – [in] - Pointer to stepper motor
i32_min_count – [in] - Set motor minimum value or the maximum value in reverse
i32_max_count – [in] - Set motor maximum value

Returns:

0

rs_ret_val_t rs_stepper_manager_set_rate_limits(rs_stepper_manager_config_t *ptr_stepper_motor, uint32_t u32_max_pulse_rate, uint32_t u32_max_count_rate_per_sec)

Set motor speed rate limits.

This function sets the minimum and maximum rates possible to driver the motor to

Parameters:

ptr_stepper_motor – [in] - Pointer to stepper motor
u32_max_pulse_rate – [in] - Maximum pulse rate
u32_max_count_rate_per_sec – [in] - Max Count Rate Per Second For Acceleration And Deceleration

Returns:

0

rs_ret_val_t rs_stepper_manager_set_target_count(rs_stepper_manager_config_t *ptr_stepper_motor, int32_t i32_target_count)

Set the motor to given position.

This function drives the motor to the given count position

Parameters:

ptr_stepper_motor – [in] - Pointer to stepper motor
i32_target_count – [in] - Count value to move the stepper position to

Returns:

0 on success or error code on failure

rs_ret_val_t rs_stepper_manager_set_driver(rs_stepper_manager_config_t *ptr_stepper_motor, rs_stepper_driver_config_t *ptr_stepper_driver)

Sets the motor driver.

This function assigns the stepper motor driver through which the motor has to be driven

Parameters:

ptr_stepper_motor – [in] - Pointer to stepper motor
ptr_stepper_driver – [in] - Pointer to stepper motor driver

Returns:

0 on success or error code on failure

rs_ret_val_t rs_stepper_manager_set_state(rs_stepper_manager_config_t *ptr_stepper_motor, uint32_t u32_on)

Set the motor state.

This function starts/stops driving the stepper motor

Parameters:

ptr_stepper_motor – [in] - Pointer to stepper motor
u32_on – [in] - Non Zero value to start and 0 to stop the motor drive

Returns:

Zero on success or negative error code

void rs_stepper_manager_process(rs_stepper_manager_config_t *ptr_stepper_motor)

Stepper motor processsing function to be called continously.

This function process the stepper motor and drives in necessary direction and must be called continoulsy

Parameters:: ptr_stepper_motor – [in] - Pointer to stepper motor
Returns:: 0 on success or error code on failure

int32_t rs_stepper_manager_get_current_count(rs_stepper_manager_config_t *ptr_stepper_motor)

Gets the current position of the stepper.

This function is used to get the current position of the stepper motor

Parameters:: ptr_stepper_motor – [in] - Pointer for stepper motor configuration
Returns:: Current stepper position

rs_ret_val_t rs_stepper_manager_detect_zero_pos(rs_stepper_manager_config_t *ptr_stepper_motor)

Perform Zero Point Detection for the stepper.

This function moves the stepper motor to its Zero position

Parameters:: ptr_stepper_motor – [in] - Pointer to stepper motor
Returns:: Zero if in zero position or negative error code

struct tag_rs_stepper_manager_config

#include <rs_stepper_manager.h>

Structure For Stepper Motor configuration

Public Members

int32_t i32_target_count: Count to set the motor position to

int32_t i32_min_count: Minimum count that can be set for the motor

int32_t i32_max_count: Maximum count that can be set for the motor

uint32_t u32_max_count_per_sec: Maximum count per second that the motor can be driven

uint32_t u32_max_count_rate_per_sec: Maximum Acceleration Per Second accepted

int32_t i32_current_position: Current motor position

uint8_t u8_in_zero_point: Flag to indicate if the motor is in Zero Position

uint8_t u8_state: Operating State Of Stepper Motor

uint32_t u32_last_call_time_ms: Last Call Time In Milli Seconds

uint32_t u32_max_pulse_rate: Max Pulse For Max Speed Of The Motor. ToReview

int8_t s8_move_dir: Set The Motor Direction For Move Forward Or Backward

uint16_t u16_zpd_const_speed: Set constant speed for zero position detection

rs_stepper_driver_config_t *ptr_stepper_driver: Pointer to the stepper driver