Device state. More...

#include <ximc.h>

Data Fields
unsigned int	MoveSts
	Flags of move state.
unsigned int	MvCmdSts
	Move command state.
unsigned int	PWRSts
	Flags of power state of stepper motor.
unsigned int	EncSts
	Encoder state.
unsigned int	WindSts
	Winding state.
int	CurPosition
	Current position.
int	uCurPosition
	Step motor shaft position in microsteps.
long_t	EncPosition
	Current encoder position.
int	CurSpeed
	Motor shaft speed in steps/s or rpm.
int	uCurSpeed
	Fractional part of motor shaft speed in microsteps.
int	Ipwr
	Engine current, mA.
int	Upwr
	Power supply voltage, tens of mV.
int	Iusb
	USB current, mA.
int	Uusb
	USB voltage, tens of mV.
int	CurT
	Temperature, tenths of degrees Celsius.
unsigned int	Flags
	Status flags.
unsigned int	GPIOFlags
	Status flags of the GPIO outputs.
unsigned int	CmdBufFreeSpace
	This field is a service field.

Detailed Description

Device state.

A useful structure that contains current controller state, including speed, position, and boolean flags.

See also: get_status_impl

Field Documentation

◆ CmdBufFreeSpace

unsigned int CmdBufFreeSpace

This field is a service field.

It shows the number of free synchronization chain buffer cells.

◆ CurPosition

int CurPosition

Current position.

◆ CurSpeed

int CurSpeed

Motor shaft speed in steps/s or rpm.

◆ CurT

int CurT

Temperature, tenths of degrees Celsius.

◆ EncPosition

long_t EncPosition

Current encoder position.

◆ EncSts

unsigned int EncSts

Encoder state.

◆ Flags

unsigned int Flags

Status flags.

◆ GPIOFlags

unsigned int GPIOFlags

Status flags of the GPIO outputs.

◆ Ipwr

int Ipwr

Engine current, mA.

◆ Iusb

int Iusb

USB current, mA.

◆ MoveSts

unsigned int MoveSts

Flags of move state.

◆ MvCmdSts

unsigned int MvCmdSts

Move command state.

◆ PWRSts

unsigned int PWRSts

Flags of power state of stepper motor.

◆ uCurPosition

int uCurPosition

Step motor shaft position in microsteps.

The microstep size and the range of valid values for this field depend on the selected step division mode (see the MicrostepMode field in engine_settings). Used with stepper motors only.

◆ uCurSpeed

int uCurSpeed

Fractional part of motor shaft speed in microsteps.

The microstep size and the range of valid values for this field depend on the selected step division mode (see the MicrostepMode field in engine_settings). Used with stepper motors only.

◆ Upwr

int Upwr

Power supply voltage, tens of mV.

◆ Uusb

int Uusb

USB voltage, tens of mV.

◆ WindSts

unsigned int WindSts

Winding state.

Data Fields