modules::motion Namespace Reference

Classes
struct	AxisUnit
struct	AxisScale
	Axis type conversion table for template expansion. More...
class	SuspendIsr
struct	AxisParams
	Main axis enumeration. More...
class	Motion
class	MovableBase
	Base class for movable modules - modules::idler::Idler and modules::selector::Selector contains the common code. More...

Typedefs
typedef AxisUnit< pos_t, Pulley, Lenght >	P_pos_t
	Pulley position type (steps)
typedef AxisUnit< steps_t, Pulley, Speed >	P_speed_t
	Pulley speed type (steps/s)
typedef AxisUnit< steps_t, Pulley, Accel >	P_accel_t
	Pulley acceleration type (steps/s2)
typedef AxisUnit< pos_t, Selector, Lenght >	S_pos_t
	Selector position type (steps)
typedef AxisUnit< steps_t, Selector, Speed >	S_speed_t
	Selector speed type (steps/s)
typedef AxisUnit< steps_t, Selector, Accel >	S_accel_t
	Selector acceleration type (steps/s2)
typedef AxisUnit< pos_t, Idler, Lenght >	I_pos_t
	Idler position type (steps)
typedef AxisUnit< steps_t, Idler, Speed >	I_speed_t
	Idler speed type (steps/s)
typedef AxisUnit< steps_t, Idler, Accel >	I_accel_t
	Idler acceleration type (steps/s2)

Functions
template<typename T , Axis A, config::UnitType U>
constexpr AxisUnit< T, A, U >	operator* (const long double f, const AxisUnit< T, A, U > u)
template<typename AU , typename U >
static constexpr AU	unitToAxisUnit (U v)
template<typename U , typename AU , typename T = int32_t>
static constexpr T	axisUnitToTruncatedUnit (AU v, long double mul=1.)
template<typename U , typename T = int32_t>
static constexpr T	truncatedUnit (U v, long double mul=1.)
template<typename AU , typename U >
static constexpr AU::type_t	unitToSteps (U v)
static constexpr P_pos_t	operator""_P_mm (long double mm)
static constexpr P_speed_t	operator""_P_mm_s (long double mm_s)
static constexpr P_accel_t	operator""_P_mm_s2 (long double mm_s2)
static constexpr S_pos_t	operator""_S_mm (long double mm)
static constexpr S_speed_t	operator""_S_mm_s (long double mm_s)
static constexpr S_accel_t	operator""_S_mm_s2 (long double mm_s2)
static constexpr I_pos_t	operator""_I_deg (long double deg)
static constexpr I_speed_t	operator""_I_deg_s (long double deg_s)
static constexpr I_accel_t	operator""_I_deg_s2 (long double deg_s2)
static void	IsrSetEnabled (bool state)
	ISR state manipulation.
static bool	IsrDisable ()
static void	Isr ()
void	Init ()
	ISR initialization.
static constexpr MotorMode	DefaultMotorMode (const config::AxisConfig &axis)
	Return the default motor mode for an Axis.
void	__attribute__ ((noinline)) MovableBase

Variables
static constexpr AxisScale	axisScale [config::NUM_AXIS]
Motion	motion
static AxisParams	axisParams [NUM_AXIS]
	Static axis configuration. More...

Detailed Description

Logic of motor handling Ideally enable stepping of motors under ISR (all timers have higher priority than serial)

Function Documentation

axisUnitToTruncatedUnit()

template<typename U , typename AU , typename T = int32_t>

static constexpr T modules::motion::axisUnitToTruncatedUnit ( AU  v, long double  mul = 1.  )

staticconstexpr

Convert an AxisUnit to a physical unit with a truncated integer type (normally int32_t). Inverse of unitToAxisUnit, with the additional constraint that type casts are performed earlier so that no floating point computation is required at runtime.

Template Parameters

U	Base unit type (normally U_mm)
AU	AxisUnit type (implicit)
T	Resulting integer type

Parameters

v	Value to truncate
mul	Optional pre-multiplier

Returns

Truncated unit (v * mul)

See also

unitToAxisUnit

truncatedUnit()

template<typename U , typename T = int32_t>

static constexpr T modules::motion::truncatedUnit ( U  v, long double  mul = 1.  )

staticconstexpr

Truncate an Unit type to an integer (normally int32_t)

Parameters

v	Value to truncate
mul	Optional pre-multiplier

Returns

Truncated unit (v * mul)

unitToAxisUnit()

template<typename AU , typename U >

static constexpr AU modules::motion::unitToAxisUnit ( U  v )

staticconstexpr

Convert a unit::Unit to AxisUnit. The scaling factor is stored with the pair config::AxisConfig::uSteps and config::AxisConfig::stepsPerUnit (one per-axis).

unitToSteps()

template<typename AU , typename U >

static constexpr AU::type_t modules::motion::unitToSteps ( U  v )

staticconstexpr

Convert a unit::Unit to a steps type (pos_t or steps_t). Extract the raw step count from an AxisUnit with type checking.

Variable Documentation

axisParams

AxisParams modules::motion::axisParams[NUM_AXIS]

static

Initial value:

= {
    
    {
        .name = 'P',
        .params = { .spi = hal::spi::TmcSpiBus, .idx = Pulley, .dirOn = config::pulley.dirOn, .csPin = PULLEY_CS_PIN, .stepPin = PULLEY_STEP_PIN, .sgPin = PULLEY_SG_PIN, .mRes = config::pulley.mRes, .sg_thrs = config::pulley.sg_thrs, Axis::Pulley },
        .currents = MotorCurrents(config::pulley.iRun, config::pulley.iHold),
        .mode = DefaultMotorMode(config::pulley),
        .jerk = unitToSteps<P_speed_t>(config::pulleyLimits.jerk),
        .accel = unitToSteps<P_accel_t>(config::pulleyLimits.accel),
    },
    
    {
        .name = 'S',
        .params = { .spi = hal::spi::TmcSpiBus, .idx = Selector, .dirOn = config::selector.dirOn, .csPin = SELECTOR_CS_PIN, .stepPin = SELECTOR_STEP_PIN, .sgPin = SELECTOR_SG_PIN, .mRes = config::selector.mRes, .sg_thrs = config::selector.sg_thrs, Axis::Selector },
        .currents = MotorCurrents(config::selector.iRun, config::selector.iHold),
        .mode = DefaultMotorMode(config::selector),
        .jerk = unitToSteps<S_speed_t>(config::selectorLimits.jerk),
        .accel = unitToSteps<S_accel_t>(config::selectorLimits.accel),
    },
    
    {
        .name = 'I',
        .params = { .spi = hal::spi::TmcSpiBus, .idx = Idler, .dirOn = config::idler.dirOn, .csPin = IDLER_CS_PIN, .stepPin = IDLER_STEP_PIN, .sgPin = IDLER_SG_PIN, .mRes = config::idler.mRes, .sg_thrs = config::idler.sg_thrs, Axis::Idler },
        .currents = MotorCurrents(config::idler.iRun, config::idler.iHold),
        .mode = DefaultMotorMode(config::idler),
        .jerk = unitToSteps<I_speed_t>(config::idlerLimits.jerk),
        .accel = unitToSteps<I_accel_t>(config::idlerLimits.accel),
    },
}

Static axis configuration.

axisScale

constexpr AxisScale modules::motion::axisScale[config::NUM_AXIS]

staticconstexpr

Initial value:

= {
    { config::pulleyLimits.base, config::pulley.stepsPerUnit },
    { config::selectorLimits.base, config::selector.stepsPerUnit },
    { config::idlerLimits.base, config::idler.stepsPerUnit },
}