File syn_stepper.h¶

File List > motor > syn_stepper.h
#ifndef SYN_STEPPER_H
#define SYN_STEPPER_H

#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>

#ifdef __cplusplus
extern "C" {
#endif

/* ── Stepper state ──────────────────────────────────────────────────────── */

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

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

/* ── Stepper descriptor ─────────────────────────────────────────────────── */

typedef struct {
    /* Configuration */
    SYN_GPIO_Pin step_pin;   
    SYN_GPIO_Pin dir_pin;    
    SYN_GPIO_Pin enable_pin; 
    bool dir_invert;         
    bool enable_invert;      
    /* Motion parameters */
    uint32_t max_speed; 
    uint32_t accel;     
    /* Internal state */
    uint8_t state;           
    int32_t position;        
    int32_t target;          
    uint32_t speed;          
    uint32_t step_interval;  
    uint32_t last_step_tick; 
    int32_t steps_to_go;     
    int32_t decel_start;     
    bool step_state;         
} SYN_Stepper;

/* ── API ────────────────────────────────────────────────────────────────── */

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

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

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

void syn_stepper_move(SYN_Stepper *s, int32_t steps);

void syn_stepper_move_to(SYN_Stepper *s, int32_t position);

void syn_stepper_tick(SYN_Stepper *s);

void syn_stepper_stop(SYN_Stepper *s);

void syn_stepper_enable(const SYN_Stepper *s, bool enable);

static inline bool syn_stepper_is_moving(const SYN_Stepper *s)
{
    return s->state != (uint8_t)SYN_STEPPER_IDLE;
}

static inline int32_t syn_stepper_position(const SYN_Stepper *s)
{
    return s->position;
}

static inline void syn_stepper_set_position(SYN_Stepper *s, int32_t pos)
{
    s->position = pos;
}

SYN_MotorOutput syn_stepper_output(SYN_Stepper *stepper);

#ifdef __cplusplus
}
#endif

#endif /* SYN_STEPPER_H */