joint firmware More...

#include "configuration.h"
#include <UstepperS32.h>
#include <Wire.h>
#include "joint.h"
#include "filters.h"
#include "stall.h"

Macros
#define	J1
	Define either joint that is to be flashed.

Functions
void	bioscara_joint_firmware::blocking_handler (uint8_t reg)
	Handles commands received via I2C.

void	bioscara_joint_firmware::non_blocking_handler (uint8_t reg)
	Handles read request received via I2C.

void	bioscara_joint_firmware::set_flags_for_blocking_handler (uint8_t reg)
	prepare flags to initiate the blocking handling of the received comman.

void	bioscara_joint_firmware::receiveEvent (int n)
	I2C receive event Handler.

void	bioscara_joint_firmware::requestEvent ()
	I2C request event Handler.

void	bioscara_joint_firmware::setup (void)
	Setup Peripherals.

void	bioscara_joint_firmware::loop (void)
	Main loop.

void	setup (void)

void	loop (void)

Variables
UstepperS32	bioscara_joint_firmware::stepper
	The core UstepperS32 stepper object to control the motor.

uint8_t	bioscara_joint_firmware::reg = 0

uint8_t	bioscara_joint_firmware::blk_reg = 0

uint8_t	bioscara_joint_firmware::rx_buf [MAX_BUFFER] = {0}

uint8_t	bioscara_joint_firmware::tx_buf [MAX_BUFFER+RFLAGS_SIZE] = {0}

bool	bioscara_joint_firmware::rx_data_ready = 0

size_t	bioscara_joint_firmware::tx_length = 0

size_t	bioscara_joint_firmware::rx_length = 0

Detailed Description

joint firmware

This file contains the joint firmware.

Macro Definition Documentation

#define J1

Define either joint that is to be flashed.

Define either J1, J2, J3 or J4 and subsequently include configuration.h

void loop ( void )

void setup ( void )