File syn_stepper.c¶

FileList > motor > syn_stepper.c

Stepper motor driver implementation.

#include "../util/syn_assert.h"
#include "syn_stepper.h"
#include <string.h>

Public Functions¶

Type	Name
void	syn_stepper_enable (const SYN_Stepper * s, bool enable) Enable or disable the motor driver.
void	syn_stepper_init (SYN_Stepper * s, SYN_GPIO_Pin step_pin, SYN_GPIO_Pin dir_pin) Initialize stepper motor driver.
void	syn_stepper_move (SYN_Stepper * s, int32_t steps) Start a relative move.
void	syn_stepper_move_to (SYN_Stepper * s, int32_t position) Start a move to an absolute position.
SYN_MotorOutput	syn_stepper_output (SYN_Stepper * stepper) Create a SYN_MotorOutput interface for this stepper.
void	syn_stepper_set_enable_pin (SYN_Stepper * s, SYN_GPIO_Pin pin, bool active_low) Set optional enable pin.
void	syn_stepper_set_speed (SYN_Stepper * s, uint32_t max_sps, uint32_t accel_sps2) Set maximum speed and acceleration.
void	syn_stepper_stop (SYN_Stepper * s) Emergency stop — immediately halt with no deceleration.
void	syn_stepper_tick (SYN_Stepper * s) Advance the stepper state machine by one tick.

Public Static Functions¶

Type	Name
void	set_direction (const SYN_Stepper * s, bool forward) Set stepper direction pin.
void	stepper_output_brake (void * ctx) Brake adapter for SYN_MotorOutput .
void	stepper_output_coast (void * ctx) Coast adapter for SYN_MotorOutput .
void	stepper_output_set (void * ctx, int32_t output) Set output adapter for SYN_MotorOutput (ticks the stepper).

Public Functions Documentation¶

function syn_stepper_enable¶

Enable or disable the motor driver.

void syn_stepper_enable (
    const SYN_Stepper * s,
    bool enable
)

Parameters:

s Stepper instance.
enable true to enable, false to disable.

function syn_stepper_init¶

Initialize stepper motor driver.

void syn_stepper_init (
    SYN_Stepper * s,
    SYN_GPIO_Pin step_pin,
    SYN_GPIO_Pin dir_pin
)

Parameters:

s Stepper instance.
step_pin Step pulse GPIO.
dir_pin Direction GPIO.

function syn_stepper_move¶

Start a relative move.

void syn_stepper_move (
    SYN_Stepper * s,
    int32_t steps
)

Parameters:

s Stepper handle.
steps Number of steps (positive = forward, negative = reverse).

function syn_stepper_move_to¶

Start a move to an absolute position.

void syn_stepper_move_to (
    SYN_Stepper * s,
    int32_t position
)

Parameters:

s Stepper.
position Target absolute position in steps.

function syn_stepper_output¶

Create a SYN_MotorOutput interface for this stepper.

SYN_MotorOutput syn_stepper_output (
    SYN_Stepper * stepper
)

The set_output callback calls syn_stepper_tick(), coast/brake both call syn_stepper_stop(). The motor controller's output value is not used directly — stepper motion is driven by the stepper's own move/move_to commands.

Parameters:

stepper Stepper instance (must outlive the returned output).

Returns:

Motor output interface.

function syn_stepper_set_enable_pin¶

Set optional enable pin.

void syn_stepper_set_enable_pin (
    SYN_Stepper * s,
    SYN_GPIO_Pin pin,
    bool active_low
)

Parameters:

s Stepper instance.
pin Enable signal GPIO pin.
active_low True if enabling requires driving pin LOW.

function syn_stepper_set_speed¶

Set maximum speed and acceleration.

void syn_stepper_set_speed (
    SYN_Stepper * s,
    uint32_t max_sps,
    uint32_t accel_sps2
)

Parameters:

s Stepper.
max_sps Maximum speed in steps per second.
accel_sps2 Acceleration in steps per second².

function syn_stepper_stop¶

Emergency stop — immediately halt with no deceleration.

void syn_stepper_stop (
    SYN_Stepper * s
)

Parameters:

s Stepper instance.

function syn_stepper_tick¶

Advance the stepper state machine by one tick.

void syn_stepper_tick (
    SYN_Stepper * s
)

Call from a timer ISR or high-frequency loop. The tick rate should be at least 2× the maximum step rate for proper pulse generation.

Parameters:

s Stepper instance.

Public Static Functions Documentation¶

function set_direction¶

Set stepper direction pin.

static void set_direction (
    const SYN_Stepper * s,
    bool forward
)

Parameters:

s Stepper instance.
forward true for forward, false for reverse.

function stepper_output_brake¶

Brake adapter for SYN_MotorOutput .

static void stepper_output_brake (
    void * ctx
)

Parameters:

ctx Stepper instance (SYN_Stepper*).

function stepper_output_coast¶

Coast adapter for SYN_MotorOutput .

static void stepper_output_coast (
    void * ctx
)

Parameters:

ctx Stepper instance (SYN_Stepper*).

function stepper_output_set¶

Set output adapter for SYN_MotorOutput (ticks the stepper).

static void stepper_output_set (
    void * ctx,
    int32_t output
)

Parameters:

ctx Stepper instance (SYN_Stepper*).
output Unused — stepper motion is driven by its own commands.

The documentation for this class was generated from the following file src/syntropic/motor/syn_stepper.c