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/Zephyr-latest/dts/bindings/stepper/adi/
Dadi,trinamic-ramp-generator.yaml11 Motor start velocity in [µsteps/t](unsigned)
27 First acceleration / deceleration phase threshold velocity in [µsteps/t] (unsigned)
37 for velocity mode.
43 Motion ramp target velocity in [µsteps/t] (for positioning ensure VMAX ≥ VSTART) (unsigned)
44 This is the target velocity in velocity mode. It can be changed any time during a motion.
65 Motor stop velocity in [µsteps/t] (unsigned)
76 Waiting time after ramping down to zero velocity before next movement or direction
110 This is the lower threshold velocity for switching on smart energy CoolStep and StallGuard
111 feature. Further it is the upper operation velocity for StealthChop. (unsigned)
115 becomes enabled when exceeding this velocity. It becomes disabled again once the velocity
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Dadi,trinamic-stallguard.yaml23 stallguard-threshold-velocity:
27 Threshold velocity for StallGuard2 to detect a stall event.
30 stallguard-velocity-check-interval-ms:
35 This delay is used to check if the actual stepper velocity is greater than
36 stallguard-threshold-velocity before enabling stallguard.
Dadi,tmc5041.yaml36 stallguard-velocity-check-interval-ms=<100>;
38 stallguard-threshold-velocity=<500000>;
87 Hint: µstep velocity v[Hz] µsteps / s v[Hz] = v[5041] * ( fCLK[Hz]/2 / 2^23 )
116 - stallguard-threshold-velocity
117 - stallguard-velocity-check-interval-ms
/Zephyr-latest/drivers/stepper/adi_tmc/
Dadi_tmc5xxx_common.h29 * @brief Calculate the velocity in full clock cycles from the velocity in Hz
31 * @param velocity_hz Velocity in Hz
34 * @return Calculated velocity in full clock cycles
Dadi_tmc5041_stepper_controller.c133 LOG_DBG("actual velocity: %d", actual_velocity); in stallguard_enable()
351 static int tmc5041_stepper_set_max_velocity(const struct device *dev, uint32_t velocity) in tmc5041_stepper_set_max_velocity() argument
359 velocity_fclk = tmc5xxx_calculate_velocity_from_hz_to_fclk(velocity, clock_frequency); in tmc5041_stepper_set_max_velocity()
363 LOG_ERR("%s: Failed to set max velocity", dev->name); in tmc5041_stepper_set_max_velocity()
481 const uint32_t velocity) in tmc5041_stepper_run() argument
483 LOG_DBG("Stepper motor controller %s run with velocity %d", dev->name, velocity); in tmc5041_stepper_run()
491 velocity_fclk = tmc5xxx_calculate_velocity_from_hz_to_fclk(velocity, clock_frequency); in tmc5041_stepper_run()
704 "stallguard threshold velocity must be a positive value"), ()); \
/Zephyr-latest/drivers/stepper/step_dir/
Dstep_dir_stepper_common.c232 LOG_ERR("Velocity not set or invalid velocity set"); in step_dir_stepper_common_move_by()
247 int step_dir_stepper_common_set_max_velocity(const struct device *dev, const uint32_t velocity) in step_dir_stepper_common_set_max_velocity() argument
252 if (velocity == 0) { in step_dir_stepper_common_set_max_velocity()
253 LOG_ERR("Velocity cannot be zero"); in step_dir_stepper_common_set_max_velocity()
257 if (velocity > USEC_PER_SEC) { in step_dir_stepper_common_set_max_velocity()
258 LOG_ERR("Velocity cannot be greater than %d micro steps per second", USEC_PER_SEC); in step_dir_stepper_common_set_max_velocity()
263 data->max_velocity = velocity; in step_dir_stepper_common_set_max_velocity()
264 config->timing_source->update(dev, velocity); in step_dir_stepper_common_set_max_velocity()
298 LOG_ERR("Velocity not set or invalid velocity set"); in step_dir_stepper_common_move_to()
322 const uint32_t velocity) in step_dir_stepper_common_run() argument
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Dstep_dir_stepper_common.h144 * @brief Set the maximum velocity in micro_steps per second.
147 * @param velocity Maximum velocity in micro_steps per second.
150 int step_dir_stepper_common_set_max_velocity(const struct device *dev, const uint32_t velocity);
189 * @brief Run the stepper with a given velocity in a given direction.
193 * @param velocity The velocity in micro_steps per second.
197 const uint32_t velocity);
Dstep_dir_stepper_timing_source.h23 * @param velocity Velocity in microsteps per second.
26 typedef int (*stepper_timing_source_update)(const struct device *dev, uint32_t velocity);
Dstep_dir_stepper_counter_timing.c20 int step_counter_timing_source_update(const struct device *dev, const uint32_t velocity) in step_counter_timing_source_update() argument
26 if (velocity == 0) { in step_counter_timing_source_update()
31 DIV_ROUND_UP(counter_us_to_ticks(config->counter, USEC_PER_SEC), velocity); in step_counter_timing_source_update()
Dstep_dir_stepper_work_timing.c38 int step_work_timing_source_update(const struct device *dev, const uint32_t velocity) in step_work_timing_source_update() argument
41 ARG_UNUSED(velocity); in step_work_timing_source_update()
/Zephyr-latest/drivers/stepper/
Dgpio_stepper_controller.c191 LOG_ERR("Velocity not set or invalid velocity set"); in gpio_stepper_move_by()
233 LOG_ERR("Velocity not set or invalid velocity set"); in gpio_stepper_move_to()
254 static int gpio_stepper_set_max_velocity(const struct device *dev, uint32_t velocity) in gpio_stepper_set_max_velocity() argument
258 if (velocity == 0) { in gpio_stepper_set_max_velocity()
259 LOG_ERR("Velocity cannot be zero"); in gpio_stepper_set_max_velocity()
263 if (velocity > USEC_PER_SEC) { in gpio_stepper_set_max_velocity()
264 LOG_ERR("Velocity cannot be greater than %d micro_steps_per_second", USEC_PER_SEC); in gpio_stepper_set_max_velocity()
269 data->delay_in_us = USEC_PER_SEC / velocity; in gpio_stepper_set_max_velocity()
271 LOG_DBG("Setting Motor Speed to %d", velocity); in gpio_stepper_set_max_velocity()
276 const uint32_t velocity) in gpio_stepper_run() argument
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Dstepper_shell.c231 uint32_t velocity = shell_strtoul(argv[ARG_IDX_PARAM], 10, &err); in cmd_stepper_set_max_velocity() local
242 err = stepper_set_max_velocity(dev, velocity); in cmd_stepper_set_max_velocity()
392 uint32_t velocity = shell_strtoul(argv[ARG_IDX_VALUE], 10, &err); in cmd_stepper_run() local
408 err = stepper_run(dev, direction, velocity); in cmd_stepper_run()
463 SHELL_CMD_ARG(set_max_velocity, &dsub_pos_stepper_motor_name, "<device> <velocity>",
475 SHELL_CMD_ARG(run, &dsub_pos_stepper_motor_name_dir, "<device> <direction> <velocity>",
/Zephyr-latest/include/zephyr/drivers/
Dstepper.h76 /** Velocity Mode */
116 * @brief Set the max velocity in micro_steps per seconds.
167 * @brief Run the stepper with a given velocity in a given direction
250 * @brief Set the target velocity to be reached by the motor
254 * driver. For controllers where velocity can be set, this parameter corresponds to max_velocity
255 * @note Setting max velocity does not set the motor into motion, a combination of set_max_velocity
262 * @retval -EINVAL If the requested velocity is not supported
418 * @brief Run the stepper with a given velocity in a given direction
420 * @details If velocity > 0, motor shall be set into motion and run incessantly until and unless
426 * @param velocity The velocity to set in microsteps per second
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/Zephyr-latest/tests/drivers/stepper/drv8424/api/src/
Dmain.c420 int32_t velocity = 50; in ZTEST_F() local
424 (void)stepper_run(fixture->dev, STEPPER_DIRECTION_POSITIVE, velocity); in ZTEST_F()
434 int32_t velocity = 50; in ZTEST_F() local
438 (void)stepper_run(fixture->dev, STEPPER_DIRECTION_NEGATIVE, velocity); in ZTEST_F()
448 int32_t velocity = 0; in ZTEST_F() local
452 (void)stepper_run(fixture->dev, STEPPER_DIRECTION_POSITIVE, velocity); in ZTEST_F()
461 int32_t velocity = 50; in ZTEST_F() local
465 (void)stepper_run(fixture->dev, STEPPER_DIRECTION_POSITIVE, velocity); in ZTEST_F()
473 int32_t velocity = 50; in ZTEST_F() local
477 (void)stepper_run(fixture->dev, STEPPER_DIRECTION_POSITIVE, velocity); in ZTEST_F()
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/Zephyr-latest/samples/sensor/icm42605/
DREADME.rst5 Get temperature, acceleration, and angular velocity from an ICM42605 sensor (polling & trigger
12 temperature, acceleration, and angular velocity, tap, double tap
/Zephyr-latest/samples/sensor/mpu6050/
DREADME.rst5 Get temperature, acceleration, and angular velocity from an MPU6050 sensor (polling & trigger
12 temperature, acceleration, and angular velocity, displaying the values
/Zephyr-latest/doc/hardware/peripherals/
Dstepper.rst15 - Set **max velocity** in micro-steps per second using :c:func:`stepper_set_max_velocity`
23 - Run continuously with a **constant velocity** in a specific direction until
/Zephyr-latest/samples/shields/x_nucleo_iks4a1/standard/
DREADME.rst15 - LSM6DSV16X 6-Axis acceleration and angular velocity
16 - LSM6DSO16IS 6-Axis acceleration and angular velocity
/Zephyr-latest/tests/drivers/stepper/shell/src/
Dmain.c73 zassert_equal(fake_stepper_set_max_velocity_fake.arg1_val, 200, "wrong velocity value"); in ZTEST()
138 zassert_equal(fake_stepper_run_fake.arg2_val, 200, "wrong velocity value"); in ZTEST()
/Zephyr-latest/samples/shields/x_nucleo_iks4a1/sensorhub1/
DREADME.rst17 - LSM6DSV16X 6-Axis acceleration and angular velocity
/Zephyr-latest/samples/shields/x_nucleo_iks4a1/sensorhub2/
DREADME.rst17 - LSM6DSO16IS 6-Axis acceleration and angular velocity
/Zephyr-latest/samples/sensor/6dof_motion_drdy/
DREADME.rst11 temperature, acceleration, and angular velocity, displaying the
/Zephyr-latest/samples/shields/x_nucleo_iks01a2/standard/
DREADME.rst14 - LSM6DSL: 3-Axis Acceleration and 3-Axis Angular Velocity
/Zephyr-latest/samples/shields/x_nucleo_iks01a2/sensorhub/
DREADME.rst20 - LSM6DSL 6-Axis acceleration and angular velocity
/Zephyr-latest/samples/boards/st/sensortile_box_pro/sensors-on-board/
DREADME.rst16 - LSM6DSV16X: 6-Axis acceleration and angular velocity

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