Public Member Functions
bool	InitAxis (Axis axis)

bool	InitAxis (Axis axis, MotorCurrents mc)

bool	Enabled (Axis axis) const
	Return the axis power status.

void	SetEnabled (Axis axis, bool enabled)

void	Disable (Axis axis)

void	SetMode (Axis axis, MotorMode mode)

void	SetMode (MotorMode mode)
	Set the same mode of TMC/motors operation for all axes. More...

bool	StallGuard (Axis axis)

void	StallGuardReset (Axis axis)
	clear StallGuard flag reported on an axis

void	PlanStallGuardThreshold (Axis axis, int8_t sg_thrs)

void	PlanMoveTo (Axis axis, pos_t pos, steps_t feed_rate, steps_t end_rate=0)

template<Axis A>
constexpr void	PlanMoveTo (AxisUnit< pos_t, A, Lenght > pos, AxisUnit< steps_t, A, Speed > feed_rate, AxisUnit< steps_t, A, Speed > end_rate={ 0 })

template<Axis A, config::UnitBase B>
constexpr void	PlanMoveTo (config::Unit< long double, B, Lenght > pos, config::Unit< long double, B, Speed > feed_rate, config::Unit< long double, B, Speed > end_rate={ 0 })

void	PlanMove (Axis axis, pos_t delta, steps_t feed_rate, steps_t end_rate=0)

template<Axis A>
constexpr void	PlanMove (AxisUnit< pos_t, A, Lenght > delta, AxisUnit< steps_t, A, Speed > feed_rate, AxisUnit< steps_t, A, Speed > end_rate={ 0 })

template<Axis A, config::UnitBase B>
constexpr void	PlanMove (config::Unit< long double, B, Lenght > delta, config::Unit< long double, B, Speed > feed_rate, config::Unit< long double, B, Speed > end_rate={ 0 })

pos_t	Position (Axis axis) const

template<Axis A>
constexpr AxisUnit< pos_t, A, Lenght >	Position () const

pos_t	CurPosition (Axis axis) const

template<Axis A>
constexpr AxisUnit< pos_t, A, Lenght >	CurPosition () const

void	SetPosition (Axis axis, pos_t x)

steps_t	Acceleration (Axis axis) const

void	SetAcceleration (Axis axis, steps_t accel)

template<Axis A>
void	SetAcceleration (AxisUnit< steps_t, A, Accel > accel)

template<Axis A, config::UnitBase B>
void	SetAcceleration (config::Unit< long double, B, Accel > accel)

steps_t	Jerk (Axis axis) const

void	SetJerk (Axis axis, steps_t max_jerk)

steps_t	Rate (Axis axis) const

st_timer_t	Step ()

bool	QueueEmpty () const

bool	QueueEmpty (Axis axis) const

uint8_t	PlannedMoves (Axis axis) const

bool	Full (Axis axis) const

void	AbortPlannedMoves (Axis axis, bool halt=true)

void	AbortPlannedMoves (bool halt=true)

hal::tmc2130::TMC2130 &	DriverForAxis (Axis axis)

hal::tmc2130::TMC2130 &	MMU_NEEDS_ATTENTION_DriverForAxis (Axis axis)

const pulse_gen::PulseGen &	CtrlForAxis (Axis axis) const

const MotorCurrents &	CurrentsForAxis (Axis axis) const

void	SetIRunForAxis (Axis axis, uint8_t i)

Member Function Documentation

◆ AbortPlannedMoves() [1/2]

void modules::motion::Motion::AbortPlannedMoves	(	Axis	axis,
		bool	halt = `true`
	)

Stop whatever moves are being done for one axis

Parameters

axis	axis requested
halt	When true, also abruptly stop axis movement.

◆ AbortPlannedMoves() [2/2]

void modules::motion::Motion::AbortPlannedMoves ( bool halt = true )

Stop whatever moves are being done on all axes

Parameters

halt	When true, also abruptly stop axis movement.

◆ Acceleration()

steps_t modules::motion::Motion::Acceleration ( Axis axis ) const

inline

Get current acceleration for the selected axis

Parameters

axis	axis affected

Returns: acceleration

◆ CtrlForAxis()

const pulse_gen::PulseGen& modules::motion::Motion::CtrlForAxis ( Axis axis ) const

inline

Returns: the controller associated with the particular axis

◆ CurPosition() [1/2]

template<Axis A>

constexpr AxisUnit<pos_t, A, Lenght> modules::motion::Motion::CurPosition ( ) const

inlineconstexpr

Fetch the current axis position, but in AxisUnit. This function is expensive! The Axis needs to be supplied as the first template argument: CurPosition<axis>().

See also: CurPosition

◆ CurPosition() [2/2]

pos_t modules::motion::Motion::CurPosition ( Axis axis ) const

Fetch the current position of the axis while stepping. This function is expensive! It's necessary only in exceptional cases. For regular usage, Position() should probably be used instead.

Parameters

axis	axis affected

Returns: the current position of the axis

◆ Disable()

void modules::motion::Motion::Disable ( Axis axis )

inline

Disable axis motor. One must manually ensure no moves are currently being performed by calling QueueEmpty().

◆ DriverForAxis()

hal::tmc2130::TMC2130& modules::motion::Motion::DriverForAxis ( Axis axis )

inline

Returns: the TMC213 driver associated with the particular axis

◆ Full()

bool modules::motion::Motion::Full ( Axis axis ) const

inline

Returns: false if new moves can still be planned for one axis

Parameters

axis	axis requested

◆ InitAxis()

bool modules::motion::Motion::InitAxis ( Axis axis )

Init axis driver - @TODO this should be probably hidden somewhere deeper ... something should manage the axes and their state especially when the TMC may get randomly reset (deinited)

Returns: true if the init was successful (TMC2130 responded ok)

◆ Jerk()

steps_t modules::motion::Motion::Jerk ( Axis axis ) const

inline

Get current jerk for the selected axis

Parameters

axis	axis affected

Returns: jerk

◆ MMU_NEEDS_ATTENTION_DriverForAxis()

hal::tmc2130::TMC2130& modules::motion::Motion::MMU_NEEDS_ATTENTION_DriverForAxis ( Axis axis )

inline

Returns: the (non-const) TMC2130 driver associated with the particular axis. Do not use unless you know exactly what you're doing, (i.e., nothing else can possibly be using the axis. Currently the only valid usage is in the hw sanity module.

◆ PlanMove() [1/3]

void modules::motion::Motion::PlanMove	(	Axis	axis,
		pos_t	delta,
		steps_t	feed_rate,
		steps_t	end_rate = `0`
	)

inline

Enqueue a single axis move in steps starting and ending at zero speed with maximum feedrate. Moves can only be enqueued if the axis is not Full().

Parameters

axis	axis affected
delta	relative to current position
feed_rate	maximum feedrate
end_rate	endding feedrate (may not be reached!)

◆ PlanMove() [2/3]

template<Axis A>

constexpr void modules::motion::Motion::PlanMove	(	AxisUnit< pos_t, A, Lenght >	delta,
		AxisUnit< steps_t, A, Speed >	feed_rate,
		AxisUnit< steps_t, A, Speed >	end_rate = `{ 0 }`
	)

inlineconstexpr

Enqueue a single axis move using PlanMove, but using AxisUnit. The Axis needs to be supplied as the first template argument: PlanMove<axis>(pos, rate).

See also: PlanMove, unitToSteps

◆ PlanMove() [3/3]

template<Axis A, config::UnitBase B>

constexpr void modules::motion::Motion::PlanMove	(	config::Unit< long double, B, Lenght >	delta,
		config::Unit< long double, B, Speed >	feed_rate,
		config::Unit< long double, B, Speed >	end_rate = `{ 0 }`
	)

inlineconstexpr

Enqueue a single axis move using PlanMove, but using physical units. The Axis needs to be supplied as the first template argument: PlanMove<axis>(pos, rate).

See also: PlanMove, unitToSteps

◆ PlanMoveTo() [1/3]

void modules::motion::Motion::PlanMoveTo	(	Axis	axis,
		pos_t	pos,
		steps_t	feed_rate,
		steps_t	end_rate = `0`
	)

Enqueue a single axis move in steps starting and ending at zero speed with maximum feedrate. Moves can only be enqueued if the axis is not Full().

Parameters

axis	axis affected
pos	target position
feed_rate	maximum feedrate
end_rate	endding feedrate (may not be reached!)

◆ PlanMoveTo() [2/3]

template<Axis A>

constexpr void modules::motion::Motion::PlanMoveTo	(	AxisUnit< pos_t, A, Lenght >	pos,
		AxisUnit< steps_t, A, Speed >	feed_rate,
		AxisUnit< steps_t, A, Speed >	end_rate = `{ 0 }`
	)

inlineconstexpr

Enqueue a single axis move using PlanMoveTo, but using AxisUnit. The Axis needs to be supplied as the first template argument: PlanMoveTo<axis>(pos, rate).

See also: PlanMoveTo, unitToSteps

◆ PlanMoveTo() [3/3]

template<Axis A, config::UnitBase B>

constexpr void modules::motion::Motion::PlanMoveTo	(	config::Unit< long double, B, Lenght >	pos,
		config::Unit< long double, B, Speed >	feed_rate,
		config::Unit< long double, B, Speed >	end_rate = `{ 0 }`
	)

inlineconstexpr

Enqueue a single axis move using PlanMoveTo, but using physical units. The Axis needs to be supplied as the first template argument: PlanMoveTo<axis>(pos, rate).

See also: PlanMoveTo, unitToSteps

◆ PlannedMoves()

uint8_t modules::motion::Motion::PlannedMoves ( Axis axis ) const

inline

Returns: number of planned moves on an axis

◆ PlanStallGuardThreshold()

void modules::motion::Motion::PlanStallGuardThreshold	(	Axis	axis,
		int8_t	sg_thrs
	)

Sets (plans) StallGuard threshold for an axis (basically the higher number the lower sensitivity) The new SGTHRS value gets applied in Init(), it is NOT written into the TMC immediately in this method.

◆ Position() [1/2]

template<Axis A>

constexpr AxisUnit<pos_t, A, Lenght> modules::motion::Motion::Position ( ) const

inlineconstexpr

Returns: head position of an axis, but in AxisUnit. The Axis needs to be supplied as the first template argument: Position<axis>().

See also: Position

◆ Position() [2/2]

pos_t modules::motion::Motion::Position ( Axis axis ) const

Returns: head position of an axis (last enqueued position)

Parameters

axis	axis affected

◆ QueueEmpty() [1/2]

bool modules::motion::Motion::QueueEmpty ( ) const

Returns: true if all planned moves have been finished for all axes

◆ QueueEmpty() [2/2]

bool modules::motion::Motion::QueueEmpty ( Axis axis ) const

inline

Returns: true if all planned moves have been finished for one axis

Parameters

axis requested

◆ Rate()

steps_t modules::motion::Motion::Rate ( Axis axis ) const

inline

Fetch the target rate of the last planned segment for the requested axis, or the current effective rate when the move has been aborted.

Parameters

axis	axis affected

Returns: last rate

◆ SetAcceleration() [1/3]

void modules::motion::Motion::SetAcceleration	(	Axis	axis,
		steps_t	accel
	)

inline

Set acceleration for the selected axis

Parameters

axis	axis affected
accel	acceleration

◆ SetAcceleration() [2/3]

template<Axis A>

void modules::motion::Motion::SetAcceleration ( AxisUnit< steps_t, A, Accel > accel )

inline

Set acceleration for the selected axis, but using AxisUnit. The Axis needs to be supplied as the first template argument: SetAcceleration<axis>(accel).

See also: SetAcceleration, unitToSteps

◆ SetAcceleration() [3/3]

template<Axis A, config::UnitBase B>

void modules::motion::Motion::SetAcceleration ( config::Unit< long double, B, Accel > accel )

inline

Set acceleration for the selected axis, but using physical units. The Axis needs to be supplied as the first template argument: SetAcceleration<axis>(accel).

Template Parameters

A	axis affected
B	unit base for the axis

Parameters

accel acceleration

◆ SetEnabled()

void modules::motion::Motion::SetEnabled	(	Axis	axis,
		bool	enabled
	)

Set axis power status. One must manually ensure no moves are currently being performed by calling QueueEmpty().

◆ SetJerk()

void modules::motion::Motion::SetJerk	(	Axis	axis,
		steps_t	max_jerk
	)

inline

Set maximum jerk for the selected axis

Parameters

axis	axis affected
max_jerk	maximum jerk

◆ SetMode() [1/2]

void modules::motion::Motion::SetMode	(	Axis	axis,
		MotorMode	mode
	)

Set mode of TMC/motors operation. One must manually ensure no moves are currently being performed by calling QueueEmpty().

◆ SetMode() [2/2]

void modules::motion::Motion::SetMode ( MotorMode mode )

Set the same mode of TMC/motors operation for all axes.

See also: SetMode

◆ SetPosition()

void modules::motion::Motion::SetPosition	(	Axis	axis,
		pos_t	x
	)

inline

Set the position of an axis. Should only be called when the queue is empty.

Parameters

axis	axis affected
x	position to set

◆ StallGuard()

bool modules::motion::Motion::StallGuard ( Axis axis )

Returns: true if a StallGuard event occurred recently on the axis

◆ Step()

st_timer_t modules::motion::Motion::Step ( )

inline

State machine doing all the planning and stepping. Called by the stepping ISR.

Returns: the interval for the next tick

The documentation for this class was generated from the following files:

src/modules/motion.h
src/modules/motion.cpp

Public Member Functions

Member Function Documentation

◆ AbortPlannedMoves() [1/2]

◆ AbortPlannedMoves() [2/2]

◆ Acceleration()

◆ CtrlForAxis()

◆ CurPosition() [1/2]

◆ CurPosition() [2/2]

◆ Disable()

◆ DriverForAxis()

◆ Full()

◆ InitAxis()

◆ Jerk()

◆ MMU_NEEDS_ATTENTION_DriverForAxis()

◆ PlanMove() [1/3]

◆ PlanMove() [2/3]

◆ PlanMove() [3/3]

◆ PlanMoveTo() [1/3]

◆ PlanMoveTo() [2/3]

◆ PlanMoveTo() [3/3]

◆ PlannedMoves()

◆ PlanStallGuardThreshold()

◆ Position() [1/2]

◆ Position() [2/2]

◆ QueueEmpty() [1/2]

◆ QueueEmpty() [2/2]

◆ Rate()

◆ SetAcceleration() [1/3]

◆ SetAcceleration() [2/3]

◆ SetAcceleration() [3/3]

◆ SetEnabled()

◆ SetJerk()

◆ SetMode() [1/2]

◆ SetMode() [2/2]

◆ SetPosition()

◆ StallGuard()

◆ Step()