38 #define SW_TYPE_HIGH 0x04
39 #define SW_TYPE_LOW 0x57
41 #define SW_VERSION_HIGH 0x01
42 #define SW_VERSION_LOW 0x00
45 #define WHICH_262(a) (a)
47 #define DISABLE_DRIVERS() GPIOD_PSOR = BIT2
48 #define ENABLE_DRIVERS() GPIOD_PCOR = BIT2
50 #define LED1_ON() GPIOA_PSOR = BIT5
51 #define LED1_OFF() GPIOA_PCOR = BIT5
52 #define LED1_TOGGLE() GPIOA_PTOR = BIT5
54 #define LED2_ON() GPIOE_PSOR = BIT5
55 #define LED2_OFF() GPIOE_PCOR = BIT5
56 #define LED2_TOGGLE() GPIOE_PTOR = BIT5
58 #define SPI_DEV_EEPROM 0x0001
59 #define SPI_DEV_TMC43xx_0 0x0101
81 UCHAR MicrostepResolution;
90 int EncoderResolution;
91 UINT MaxPositionDeviation;
92 UINT MaxVelocityDeviation;
103 UCHAR ClosedLoopMode;
109 UCHAR CurrentScalerMinimum;
110 UCHAR CurrentScalerMaximum;
111 UCHAR CurrentScalerStartUp;
114 UINT CorrectionVelocityP;
115 UINT CorrectionVelocityI;
116 UINT CorrectionVelocityIClip;
117 UINT CorrectionVelocityDClk;
118 UINT CorrectionVelocityDClip;
119 UINT PositionCorrectionP;
120 UINT PositionCorrectionTolerance;
123 UCHAR EncVMeanFilter;
125 signed char EncoderCorrectionYOffset;
UCHAR CANReceiveID
CAN receive ID.
Definition: stepRocker.h:71
coolStep configuration data
Definition: stepRocker.h:129
UCHAR SerialHostAddress
RS485 TMCL reply address.
Definition: stepRocker.h:70
Global module settings.
Definition: stepRocker.h:66
UINT ThresholdSpeed
coolStep threshold speed
Definition: stepRocker.h:131
UCHAR HysteresisStart
coolStep hysteresis start
Definition: stepRocker.h:133
UCHAR CANBitrate
CAN bit rate.
Definition: stepRocker.h:73
UCHAR SlowRunCurrent
coolStep slow run current
Definition: stepRocker.h:132
unsigned int UINT
32 bits unsigned
Definition: stepRocker.h:33
UCHAR SerialBitrate
RS485 baud rate (0..7, 0=9600bps)
Definition: stepRocker.h:68
Definition: stepRocker.h:101
UCHAR SerialModuleAddress
RS485 TMCL module address.
Definition: stepRocker.h:69
UCHAR CANSendID
CAN send ID.
Definition: stepRocker.h:72
Motor configuration data.
Definition: stepRocker.h:77
unsigned char UCHAR
8 bits unsigned
Definition: stepRocker.h:31
unsigned short USHORT
16 bits unsigned
Definition: stepRocker.h:32