MotorDriver.h File Reference

#include <stdint.h>
#include "Connector.h"
#include "DigitalIn.h"
#include "PeripheralRoute.h"
#include "ShiftRegister.h"
#include "StatusManager.h"
#include "StepGenerator.h"
#include "SysUtils.h"
#include "SysManager.h"

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Classes
class	ClearCore::MotorDriver
	ClearCore motor connector class. More...
union	ClearCore::MotorDriver::PolarityInversionsSD
	A small register with bit and field views. This allows easy configuration for steppers that use an inverted signal on one of the main input signals. See PolarityInvertSDEnable(bool invert), PolarityInvertSDDirection(bool invert), and PolarityInvertSDHlfb(bool invert). More...
union	ClearCore::MotorDriver::StatusRegMotor
	Register access for information about the motor's operating status. Intended for use in Step and Direction mode. More...
union	ClearCore::MotorDriver::AlertRegMotor
	Accumulating register of alerts that have occurred on this motor. Intended for use in Step and Direction mode. More...

Namespaces
namespace	ClearCore
	Namespace to encompass the ClearCore board API.

Macros
#define	HLFB_CARRIER_LOSS_ERROR_LIMIT   (0)
#define	HLFB_CARRIER_LOSS_STATE_CHANGE_MS_45_HZ   (25)
#define	HLFB_CARRIER_LOSS_STATE_CHANGE_MS_482_HZ   (4)
#define	CPM_HLFB_CAP_HISTORY   2
#define	CPM_ENABLE_DELAY   1250
#define	DEFAULT_TRIGGER_PULSE_WIDTH_MS   25

Detailed Description

ClearCore stepper/servo motor Connector class

Macro Definition Documentation

CPM_ENABLE_DELAY

#define CPM_ENABLE_DELAY   1250

Delay before the motor is considered to be enabled after an enable request.

CPM_HLFB_CAP_HISTORY

#define CPM_HLFB_CAP_HISTORY   2

The amount of HLFB captures to hold onto. This should remain 2, as we only care about 1 capture back due to clipping of the last PWM to assert move done/shutdown.

DEFAULT_TRIGGER_PULSE_WIDTH_MS

#define DEFAULT_TRIGGER_PULSE_WIDTH_MS   25

Default enable trigger pulse width, in milliseconds.