File syn_stepper.h¶

FileList > motor > syn_stepper.h

Stepper motor driver — step/direction with acceleration ramps. More...

#include "../common/syn_defs.h"
#include "../drivers/syn_gpio.h"
#include "../motor/syn_motor_output.h"
#include "../port/syn_port_system.h"
#include <stdbool.h>

Classes¶

Type	Name
struct	SYN_Stepper Stepper motor controller context.

Public Types¶

Type	Name
enum	SYN_StepperDir Stepper motor direction.
enum	SYN_StepperState Stepper motor operational states for the ramp generator.

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
bool	syn_stepper_is_moving (const SYN_Stepper * s) Is a move in progress?
int32_t	syn_stepper_position (const SYN_Stepper * s) Get current position (steps).
void	syn_stepper_set_position (SYN_Stepper * s, int32_t pos) Set current position without moving.

Detailed Description¶

Generates step pulses for step/dir drivers (A4988, DRV8825, TMC2209, etc.). Supports trapezoidal acceleration profiles and non-blocking operation.

** **

static SYN_Stepper stepper;
syn_stepper_init(&stepper, STEP_PIN, DIR_PIN);
syn_stepper_set_speed(&stepper, 1000, 500);   // max 1000 sps, accel 500 sps²
syn_stepper_move(&stepper, 2000);               // move 2000 steps forward

// Call periodically (from timer ISR or fast loop):
syn_stepper_tick(&stepper);

Public Types Documentation¶

enum SYN_StepperDir¶

Stepper motor direction.

enum SYN_StepperDir {
    SYN_STEPPER_CW = 0,
    SYN_STEPPER_CCW = 1
};

enum SYN_StepperState¶

Stepper motor operational states for the ramp generator.

enum SYN_StepperState {
    SYN_STEPPER_IDLE = 0,
    SYN_STEPPER_ACCEL = 1,
    SYN_STEPPER_CRUISE = 2,
    SYN_STEPPER_DECEL = 3
};

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 syn_stepper_is_moving¶

Is a move in progress?

static inline bool syn_stepper_is_moving (
    const SYN_Stepper * s
)

Parameters:

s Stepper.

Returns:

true if moving.

function syn_stepper_position¶

Get current position (steps).

static inline int32_t syn_stepper_position (
    const SYN_Stepper * s
)

Parameters:

s Stepper.

Returns:

Position in steps.

function syn_stepper_set_position¶

Set current position without moving.

static inline void syn_stepper_set_position (
    SYN_Stepper * s,
    int32_t pos
)

Parameters:

s Stepper.
pos New position.

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