Fluent configuration builder for DriverConfig. More...

#include <tmc51x0_config_builder.hpp>

Collaboration diagram for tmc51x0::ConfigBuilder:

Public Member Functions
	ConfigBuilder ()=default
	Default constructor.

	ConfigBuilder (const DriverConfig &cfg)
	Construct from existing config.

ConfigBuilder &	WithMotorMa (uint16_t steps_per_rev, uint16_t rated_current_ma)
	Configure motor specifications.

ConfigBuilder &	WithRunCurrentMa (uint16_t run_current_ma)
	Set run current value.

ConfigBuilder &	WithHoldCurrentMa (uint16_t hold_current_ma)
	Set hold current value.

ConfigBuilder &	WithSupplyVoltageMv (uint32_t voltage_mv)
	Set supply voltage value.

ConfigBuilder &	WithSenseResistorMohm (uint32_t resistance_mohm)
	Set sense resistor value.

ConfigBuilder &	WithWindingResistanceMohm (uint32_t resistance_mohm)
	Set winding resistance value.

ConfigBuilder &	WithWindingInductanceMh (float inductance_mh)
	Set winding inductance value.

ConfigBuilder &	WithMotorPowerDownDelayMs (float delay_ms)
	Set motor power down delay time.

ConfigBuilder &	WithStepsPerRevolution (uint16_t steps)
	Set steps per revolution.

ConfigBuilder &	WithMosfetMillerChargeNc (float charge_nc)
	Set MOSFET Miller charge.

ConfigBuilder &	WithBbmTimeNs (uint32_t time_ns)
	Set Break Before Make time.

ConfigBuilder &	WithSenseFilter (SenseFilterTime filter_time)
	Set sense amplifier filter time.

ConfigBuilder &	WithOverTempProtection (OverTempProtection protection)
	Set over-temperature protection level.

ConfigBuilder &	WithS2vsVoltageMv (uint16_t voltage_mv)
	Set short to VS detector voltage threshold.

ConfigBuilder &	WithS2gVoltageMv (uint16_t voltage_mv)
	Set short to GND detector voltage threshold.

ConfigBuilder &	WithShortFilter (uint8_t filter)
	Set short detection filter bandwidth.

ConfigBuilder &	WithShortDetectionDelayUsX10 (uint8_t delay_us_x10)
	Set short detection delay.

ConfigBuilder &	WithChopperMode (ChopperMode mode)
	Set chopper mode.

ConfigBuilder &	WithChopperToff (uint8_t toff)
	Set chopper off-time (TOFF)

ConfigBuilder &	WithChopperBlankTime (ChopperBlankTime blank_time)
	Set chopper blank time.

ConfigBuilder &	WithHysteresisStart (uint8_t hstrt)
	Set hysteresis start value (SpreadCycle mode)

ConfigBuilder &	WithHysteresisEnd (uint8_t hend)
	Set hysteresis end value (SpreadCycle mode)

ConfigBuilder &	WithFastDecayTime (uint8_t tfd)
	Set fast decay time (Classic mode only)

ConfigBuilder &	WithPassiveFastDecayTime (uint8_t tpfd)
	Set passive fast decay time.

ConfigBuilder &	WithMicrostepResolution (MicrostepResolution mres)
	Set microstep resolution.

ConfigBuilder &	WithInterpolation (bool enable)
	Enable/disable interpolation.

ConfigBuilder &	WithStealthChop (bool enable)
	Enable/disable StealthChop.

ConfigBuilder &	WithStealthChopThreshold (const VelocityValue &velocity)
	Set StealthChop threshold velocity.

ConfigBuilder &	WithStealthChopPwmFreq (uint8_t freq)
	Set StealthChop PWM frequency.

ConfigBuilder &	WithStealthChopPwmOfs (uint8_t ofs)
	Set StealthChop PWM offset.

ConfigBuilder &	WithStealthChopAutoscale (bool enable)
	Enable/disable StealthChop PWM autoscale.

ConfigBuilder &	WithStealthChopAutograd (bool enable)
	Enable/disable StealthChop PWM autograd.

ConfigBuilder &	WithStallGuardThreshold (int8_t threshold)
	Set StallGuard2 threshold (SGT)

ConfigBuilder &	WithStallGuardFilter (bool enable)
	Enable/disable StallGuard2 filter.

ConfigBuilder &	WithStallGuardMinVelocity (float velocity, Unit unit=Unit::RPM)
	Set StallGuard2 minimum velocity threshold.

ConfigBuilder &	WithStallGuardMaxVelocity (float velocity, Unit unit=Unit::RPM)
	Set StallGuard2 maximum velocity threshold.

ConfigBuilder &	WithStallGuard (const StallGuardConfig &sg_config)
	Configure StallGuard2 with a complete config struct.

ConfigBuilder &	WithRecalibration (bool enable)
	Enable/disable recalibration.

ConfigBuilder &	WithShortStandstillTimeout (bool enable)
	Enable/disable short standstill timeout.

ConfigBuilder &	WithStealthChopStepFilter (bool enable)
	Enable/disable StealthChop step filter.

ConfigBuilder &	WithMaxSpeed (const VelocityValue &velocity)
	Set maximum velocity.

ConfigBuilder &	WithAcceleration (const AccelerationValue &acceleration)
	Set maximum acceleration.

ConfigBuilder &	WithDeceleration (const AccelerationValue &deceleration)
	Set maximum deceleration.

ConfigBuilder &	WithStartSpeed (const VelocityValue &velocity)
	Set start velocity.

ConfigBuilder &	WithStopSpeed (const VelocityValue &velocity)
	Set stop velocity.

ConfigBuilder &	WithVelocityThreshold (const VelocityValue &velocity)
	Set velocity threshold for acceleration/deceleration phase transition.

ConfigBuilder &	WithFirstAcceleration (const AccelerationValue &acceleration)
	Set first acceleration phase.

ConfigBuilder &	WithFirstDeceleration (const AccelerationValue &deceleration)
	Set first deceleration phase.

ConfigBuilder &	WithRampPowerDownDelayMs (float delay_ms)
	Set ramp power down delay.

ConfigBuilder &	WithZeroWaitTimeMs (float wait_ms)
	Set zero velocity wait time.

ConfigBuilder &	WithInternalClock ()
	Use internal clock (12MHz)

ConfigBuilder &	WithExternalClockHz (uint32_t frequency_hz)
	Use external clock.

ConfigBuilder &	WithDirectDrive ()
	Configure direct drive system.

ConfigBuilder &	WithGearbox (float gear_ratio)
	Configure gearbox system.

ConfigBuilder &	WithLeadScrew (float pitch_mm)
	Configure lead screw system.

ConfigBuilder &	WithBeltDrive (uint16_t pulley_teeth, float belt_pitch_mm)
	Configure belt drive system.

ConfigBuilder &	WithDirection (MotorDirection direction)
	Set motor direction.

DriverConfig	Build () const
	Build the final configuration.

DriverConfig &	Config ()
	Get mutable reference to config for advanced customization.

const DriverConfig &	Config () const
	Get const reference to config.

Private Attributes
DriverConfig	config_

Detailed Description

Fluent configuration builder for DriverConfig.

Provides a user-friendly interface for building TMC51x0 configurations with automatic unit conversions. All motor-specific presets are removed to allow users full control over configuration.

The builder ensures all DriverConfig fields are properly initialized, following the same pattern as ESP32 test config initialization.

Constructor & Destructor Documentation

◆ ConfigBuilder() [1/2]

tmc51x0::ConfigBuilder::ConfigBuilder ( )

default

Default constructor.

Creates a builder with default configuration values. All DriverConfig fields use their default constructors.

◆ ConfigBuilder() [2/2]

tmc51x0::ConfigBuilder::ConfigBuilder ( const DriverConfig & cfg )

inlineexplicit

Construct from existing config.

Parameters

cfg	Existing DriverConfig to start from

Member Function Documentation

◆ Build()

DriverConfig tmc51x0::ConfigBuilder::Build ( ) const

inline

Build the final configuration.

Returns a complete DriverConfig with all fields properly initialized. The configuration follows the same pattern as ESP32 test config:

Motor configuration (motor_spec, chopper, stealthchop, ramp_config, global_config, direction, mechanical gear_ratio)
Board configuration (power_stage, sense_resistor_mohm, external_clk_config)
Platform configuration (mechanical system_type)

Returns: The built DriverConfig

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◆ Config() [1/2]

DriverConfig & tmc51x0::ConfigBuilder::Config ( )

inline

Get mutable reference to config for advanced customization.

Allows direct access to the internal config for advanced use cases where the fluent interface doesn't provide enough control.

Returns: Reference to internal config

◆ Config() [2/2]

const DriverConfig & tmc51x0::ConfigBuilder::Config ( ) const

inline

Get const reference to config.

Returns: Const reference to internal config

◆ WithAcceleration()

ConfigBuilder & tmc51x0::ConfigBuilder::WithAcceleration ( const AccelerationValue & acceleration )

inline

Set maximum acceleration.

Parameters

acceleration Self-describing acceleration with unit

Returns: Reference to builder for chaining

builder.WithAcceleration({50.0f, Unit::RevPerSec});

builder.WithAcceleration(AccelerationValue::FromRevPerSec(50.0f));

tmc51x0::Unit::RevPerSec

@ RevPerSec

Revolutions per Second (recommended default for velocity)

tmc51x0::AccelerationValue::FromRevPerSec

static constexpr AccelerationValue FromRevPerSec(float v) noexcept

Definition tmc51x0_types.hpp:1828

◆ WithBbmTimeNs()

ConfigBuilder & tmc51x0::ConfigBuilder::WithBbmTimeNs ( uint32_t time_ns )

inline

Set Break Before Make time.

Parameters

time_ns BBM time in nanoseconds (0 = auto-calculate)

Returns: Reference to builder for chaining

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◆ WithBeltDrive()

ConfigBuilder & tmc51x0::ConfigBuilder::WithBeltDrive	(	uint16_t	pulley_teeth,
		float	belt_pitch_mm )

inline

Configure belt drive system.

Parameters

pulley_teeth	Number of pulley teeth
belt_pitch_mm	Belt pitch in mm (e.g., 2.0 for GT2)

Returns: Reference to builder for chaining

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◆ WithChopperBlankTime()

ConfigBuilder & tmc51x0::ConfigBuilder::WithChopperBlankTime ( ChopperBlankTime blank_time )

inline

Set chopper blank time.

Parameters

blank_time Blank time (TBL_36CLK typical)

Returns: Reference to builder for chaining

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◆ WithChopperMode()

ConfigBuilder & tmc51x0::ConfigBuilder::WithChopperMode ( ChopperMode mode )

inline

Set chopper mode.

Parameters

mode	Chopper mode (SPREAD_CYCLE recommended)

Returns: Reference to builder for chaining

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◆ WithChopperToff()

ConfigBuilder & tmc51x0::ConfigBuilder::WithChopperToff ( uint8_t toff )

inline

Set chopper off-time (TOFF)

Parameters

toff	Off-time value (0-15, 0=driver disable, 5=typical)

Returns: Reference to builder for chaining

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◆ WithDeceleration()

ConfigBuilder & tmc51x0::ConfigBuilder::WithDeceleration ( const AccelerationValue & deceleration )

inline

Set maximum deceleration.

Parameters

deceleration Self-describing deceleration with unit

Returns: Reference to builder for chaining

◆ WithDirectDrive()

ConfigBuilder & tmc51x0::ConfigBuilder::WithDirectDrive ( )

inline

Configure direct drive system.

Returns: Reference to builder for chaining

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◆ WithDirection()

ConfigBuilder & tmc51x0::ConfigBuilder::WithDirection ( MotorDirection direction )

inline

Set motor direction.

Parameters

direction Motor direction (NORMAL or INVERSE)

Returns: Reference to builder for chaining

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◆ WithExternalClockHz()

ConfigBuilder & tmc51x0::ConfigBuilder::WithExternalClockHz ( uint32_t frequency_hz )

inline

Use external clock.

Parameters

frequency_hz External clock frequency in Hz

Returns: Reference to builder for chaining

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◆ WithFastDecayTime()

ConfigBuilder & tmc51x0::ConfigBuilder::WithFastDecayTime ( uint8_t tfd )

inline

Set fast decay time (Classic mode only)

Parameters

tfd	Fast decay time (0-15, 0=slow decay only)

Returns: Reference to builder for chaining

◆ WithFirstAcceleration()

ConfigBuilder & tmc51x0::ConfigBuilder::WithFirstAcceleration ( const AccelerationValue & acceleration )

inline

Set first acceleration phase.

Parameters

acceleration Self-describing acceleration with unit

Returns: Reference to builder for chaining

◆ WithFirstDeceleration()

ConfigBuilder & tmc51x0::ConfigBuilder::WithFirstDeceleration ( const AccelerationValue & deceleration )

inline

Set first deceleration phase.

Parameters

deceleration Self-describing deceleration with unit

Returns: Reference to builder for chaining

◆ WithGearbox()

ConfigBuilder & tmc51x0::ConfigBuilder::WithGearbox ( float gear_ratio )

inline

Configure gearbox system.

Parameters

gear_ratio Gear ratio (output/input, e.g., 5.18 for 5.18:1)

Returns: Reference to builder for chaining

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◆ WithHoldCurrentMa()

ConfigBuilder & tmc51x0::ConfigBuilder::WithHoldCurrentMa ( uint16_t hold_current_ma )

inline

Set hold current value.

Parameters

hold_current_ma Hold current in milliamps (0 = auto-calculate as 30% of run)

Returns: Reference to builder for chaining

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◆ WithHysteresisEnd()

ConfigBuilder & tmc51x0::ConfigBuilder::WithHysteresisEnd ( uint8_t hend )

inline

Set hysteresis end value (SpreadCycle mode)

Parameters

hend	Hysteresis end (0-15, 0=typical)

Returns: Reference to builder for chaining

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◆ WithHysteresisStart()

ConfigBuilder & tmc51x0::ConfigBuilder::WithHysteresisStart ( uint8_t hstrt )

inline

Set hysteresis start value (SpreadCycle mode)

Parameters

hstrt Hysteresis start (0-7, 4=typical)

Returns: Reference to builder for chaining

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◆ WithInternalClock()

ConfigBuilder & tmc51x0::ConfigBuilder::WithInternalClock ( )

inline

Use internal clock (12MHz)

Returns: Reference to builder for chaining

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◆ WithInterpolation()

ConfigBuilder & tmc51x0::ConfigBuilder::WithInterpolation ( bool enable )

inline

Enable/disable interpolation.

Parameters

enable True to enable interpolation to 256 microsteps

Returns: Reference to builder for chaining

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◆ WithLeadScrew()

ConfigBuilder & tmc51x0::ConfigBuilder::WithLeadScrew ( float pitch_mm )

inline

Configure lead screw system.

Parameters

pitch_mm Lead screw pitch in mm

Returns: Reference to builder for chaining

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◆ WithMaxSpeed()

ConfigBuilder & tmc51x0::ConfigBuilder::WithMaxSpeed ( const VelocityValue & velocity )

inline

Set maximum velocity.

Parameters

velocity Self-describing velocity with unit

Returns: Reference to builder for chaining

builder.WithMaxSpeed({100.0f, Unit::RPM});

builder.WithMaxSpeed(VelocityValue::FromRPM(100.0f));

tmc51x0::Unit::RPM

@ RPM

Revolutions per Minute (Velocity only, typically)

tmc51x0::VelocityValue::FromRPM

static constexpr VelocityValue FromRPM(float v) noexcept

Definition tmc51x0_types.hpp:1794

◆ WithMicrostepResolution()

ConfigBuilder & tmc51x0::ConfigBuilder::WithMicrostepResolution ( MicrostepResolution mres )

inline

Set microstep resolution.

Parameters

mres	Microstep resolution (MRES_256 typical)

Returns: Reference to builder for chaining

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◆ WithMosfetMillerChargeNc()

ConfigBuilder & tmc51x0::ConfigBuilder::WithMosfetMillerChargeNc ( float charge_nc )

inline

Set MOSFET Miller charge.

Used to calculate DRVSTRENGTH register.

Parameters

charge_nc MOSFET Miller charge in nanocoulombs (0 = auto-calculate)

Returns: Reference to builder for chaining

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◆ WithMotorMa()

ConfigBuilder & tmc51x0::ConfigBuilder::WithMotorMa	(	uint16_t	steps_per_rev,
		uint16_t	rated_current_ma )

inline

Configure motor specifications.

Sets basic motor parameters: steps per revolution and rated current.

Parameters

steps_per_rev	Steps per revolution (e.g., 200 for 1.8° motors)
rated_current_ma	Rated motor current in milliamps (e.g., 1500 for 1.5A)

Returns: Reference to builder for chaining

builder.WithMotorMa(200, 1500); // 200 steps, 1500mA = 1.5A rated

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◆ WithMotorPowerDownDelayMs()

ConfigBuilder & tmc51x0::ConfigBuilder::WithMotorPowerDownDelayMs ( float delay_ms )

inline

Set motor power down delay time.

Controls the total delay time for motor power down after standstill. This is the IHOLDDELAY setting that controls the smooth transition from run current to hold current.

Parameters

delay_ms Total delay time in milliseconds (0 = instant)

Returns: Reference to builder for chaining

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◆ WithOverTempProtection()

ConfigBuilder & tmc51x0::ConfigBuilder::WithOverTempProtection ( OverTempProtection protection )

inline

Set over-temperature protection level.

Parameters

protection Over-temperature protection level

Returns: Reference to builder for chaining

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◆ WithPassiveFastDecayTime()

ConfigBuilder & tmc51x0::ConfigBuilder::WithPassiveFastDecayTime ( uint8_t tpfd )

inline

Set passive fast decay time.

Parameters

tpfd	Passive fast decay time (0=disabled, 1-15)

Returns: Reference to builder for chaining

◆ WithRampPowerDownDelayMs()

ConfigBuilder & tmc51x0::ConfigBuilder::WithRampPowerDownDelayMs ( float delay_ms )

inline

Set ramp power down delay.

Sets the TPOWERDOWN delay - time before motor power down after standstill. This is different from motor power down delay (IHOLDDELAY).

Parameters

delay_ms Power down delay in milliseconds

Returns: Reference to builder for chaining

◆ WithRecalibration()

ConfigBuilder & tmc51x0::ConfigBuilder::WithRecalibration ( bool enable )

inline

Enable/disable recalibration.

Parameters

enable True to enable recalibration

Returns: Reference to builder for chaining

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◆ WithRunCurrentMa()

ConfigBuilder & tmc51x0::ConfigBuilder::WithRunCurrentMa ( uint16_t run_current_ma )

inline

Set run current value.

Parameters

run_current_ma Run current in milliamps (0 = use rated current)

Returns: Reference to builder for chaining

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◆ WithS2gVoltageMv()

ConfigBuilder & tmc51x0::ConfigBuilder::WithS2gVoltageMv ( uint16_t voltage_mv )

inline

Set short to GND detector voltage threshold.

Parameters

voltage_mv Voltage threshold in millivolts (0 = auto-calculate)

Returns: Reference to builder for chaining

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◆ WithS2vsVoltageMv()

ConfigBuilder & tmc51x0::ConfigBuilder::WithS2vsVoltageMv ( uint16_t voltage_mv )

inline

Set short to VS detector voltage threshold.

Parameters

voltage_mv Voltage threshold in millivolts (0 = auto-calculate)

Returns: Reference to builder for chaining

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◆ WithSenseFilter()

ConfigBuilder & tmc51x0::ConfigBuilder::WithSenseFilter ( SenseFilterTime filter_time )

inline

Set sense amplifier filter time.

Parameters

filter_time Sense filter time constant

Returns: Reference to builder for chaining

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◆ WithSenseResistorMohm()

ConfigBuilder & tmc51x0::ConfigBuilder::WithSenseResistorMohm ( uint32_t resistance_mohm )

inline

Set sense resistor value.

Required for automatic current calculation.

Parameters

resistance_mohm Sense resistor in milliohms (e.g., 50 for 0.05Ω)

Returns: Reference to builder for chaining

builder.WithSenseResistorMohm(50); // 50mΩ = 0.05Ω

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◆ WithShortDetectionDelayUsX10()

ConfigBuilder & tmc51x0::ConfigBuilder::WithShortDetectionDelayUsX10 ( uint8_t delay_us_x10 )

inline

Set short detection delay.

Parameters

delay_us_x10 Delay in 0.1µs units (0 = auto-calculate)

Returns: Reference to builder for chaining

◆ WithShortFilter()

ConfigBuilder & tmc51x0::ConfigBuilder::WithShortFilter ( uint8_t filter )

inline

Set short detection filter bandwidth.

Parameters

filter Filter bandwidth (0-3, 0=lowest, 1=default)

Returns: Reference to builder for chaining

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◆ WithShortStandstillTimeout()

ConfigBuilder & tmc51x0::ConfigBuilder::WithShortStandstillTimeout ( bool enable )

inline

Enable/disable short standstill timeout.

Parameters

enable True to enable short standstill timeout

Returns: Reference to builder for chaining

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◆ WithStallGuard()

ConfigBuilder & tmc51x0::ConfigBuilder::WithStallGuard ( const StallGuardConfig & sg_config )

inline

Configure StallGuard2 with a complete config struct.

Sets all StallGuard parameters at once.

Parameters

sg_config Complete StallGuard configuration

Returns: Reference to builder for chaining

StallGuardConfig sg{};
sg.threshold = -5;
sg.enable_filter = false;
sg.min_velocity = 20.0f;
sg.velocity_unit = Unit::RPM;
builder.WithStallGuard(sg);

◆ WithStallGuardFilter()

ConfigBuilder & tmc51x0::ConfigBuilder::WithStallGuardFilter ( bool enable )

inline

Enable/disable StallGuard2 filter.

Filter reduces measurement rate to one per electrical period (4 fullsteps).

Parameters

enable True to enable filter (smoother, recommended for CoolStep), False to disable (faster response, recommended for homing)

Returns: Reference to builder for chaining

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◆ WithStallGuardMaxVelocity()

ConfigBuilder & tmc51x0::ConfigBuilder::WithStallGuardMaxVelocity	(	float	velocity,
		Unit	unit = Unit::RPM )

inline

Set StallGuard2 maximum velocity threshold.

StallGuard is disabled above this velocity. Set to 0 to disable limit.

Parameters

velocity	Maximum velocity value (0 = no limit)
unit	Velocity unit (default: RPM)

Returns: Reference to builder for chaining

◆ WithStallGuardMinVelocity()

ConfigBuilder & tmc51x0::ConfigBuilder::WithStallGuardMinVelocity	(	float	velocity,
		Unit	unit = Unit::RPM )

inline

Set StallGuard2 minimum velocity threshold.

StallGuard readings are only valid above this velocity. Below this speed, stall detection is unreliable.

Parameters

velocity	Minimum velocity value
unit	Velocity unit (default: RPM)

Returns: Reference to builder for chaining

builder.WithStallGuardMinVelocity(20.0f, Unit::RPM); // 20 RPM minimum

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◆ WithStallGuardThreshold()

ConfigBuilder & tmc51x0::ConfigBuilder::WithStallGuardThreshold ( int8_t threshold )

inline

Set StallGuard2 threshold (SGT)

Controls StallGuard2 sensitivity for stall detection.

Parameters

threshold

SGT value (-64 to +63)

Lower values: Higher sensitivity (detects stalls easier)
Higher values: Lower sensitivity (needs more torque to detect)
0: Starting value, works with most motors

Returns: Reference to builder for chaining

builder.WithStallGuardThreshold(10); // Less sensitive

builder.WithStallGuardThreshold(-10); // More sensitive

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◆ WithStartSpeed()

ConfigBuilder & tmc51x0::ConfigBuilder::WithStartSpeed ( const VelocityValue & velocity )

inline

Set start velocity.

Parameters

velocity Self-describing velocity with unit

Returns: Reference to builder for chaining

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◆ WithStealthChop()

ConfigBuilder & tmc51x0::ConfigBuilder::WithStealthChop ( bool enable )

inline

Enable/disable StealthChop.

Parameters

enable True to enable StealthChop, false for SpreadCycle

Returns: Reference to builder for chaining

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◆ WithStealthChopAutograd()

ConfigBuilder & tmc51x0::ConfigBuilder::WithStealthChopAutograd ( bool enable )

inline

Enable/disable StealthChop PWM autograd.

Parameters

enable True to enable automatic PWM gradient calibration

Returns: Reference to builder for chaining

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◆ WithStealthChopAutoscale()

ConfigBuilder & tmc51x0::ConfigBuilder::WithStealthChopAutoscale ( bool enable )

inline

Enable/disable StealthChop PWM autoscale.

Parameters

enable True to enable automatic PWM amplitude calibration

Returns: Reference to builder for chaining

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◆ WithStealthChopPwmFreq()

ConfigBuilder & tmc51x0::ConfigBuilder::WithStealthChopPwmFreq ( uint8_t freq )

inline

Set StealthChop PWM frequency.

Parameters

freq	PWM frequency (0-3, 1=~35kHz typical)

Returns: Reference to builder for chaining

◆ WithStealthChopPwmOfs()

ConfigBuilder & tmc51x0::ConfigBuilder::WithStealthChopPwmOfs ( uint8_t ofs )

inline

Set StealthChop PWM offset.

Parameters

ofs	PWM offset (0-255, 20-40 typical)

Returns: Reference to builder for chaining

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◆ WithStealthChopStepFilter()

ConfigBuilder & tmc51x0::ConfigBuilder::WithStealthChopStepFilter ( bool enable )

inline

Enable/disable StealthChop step filter.

Parameters

enable True to enable step filter for StealthChop

Returns: Reference to builder for chaining

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◆ WithStealthChopThreshold()

ConfigBuilder & tmc51x0::ConfigBuilder::WithStealthChopThreshold ( const VelocityValue & velocity )

inline

Set StealthChop threshold velocity.

Velocity below which StealthChop is active, above which SpreadCycle is used.

Parameters

velocity Threshold velocity with unit

Returns: Reference to builder for chaining

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◆ WithStepsPerRevolution()

ConfigBuilder & tmc51x0::ConfigBuilder::WithStepsPerRevolution ( uint16_t steps )

inline

Set steps per revolution.

Parameters

steps Steps per revolution (e.g., 200 for 1.8° motor)

Returns: Reference to builder for chaining

◆ WithStopSpeed()

ConfigBuilder & tmc51x0::ConfigBuilder::WithStopSpeed ( const VelocityValue & velocity )

inline

Set stop velocity.

Parameters

velocity Self-describing velocity with unit

Returns: Reference to builder for chaining

◆ WithSupplyVoltageMv()

ConfigBuilder & tmc51x0::ConfigBuilder::WithSupplyVoltageMv ( uint32_t voltage_mv )

inline

Set supply voltage value.

Parameters

voltage_mv Supply voltage in millivolts (e.g., 24000 for 24V)

Returns: Reference to builder for chaining

builder.WithSupplyVoltageMv(24000); // 24000mV = 24V

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◆ WithVelocityThreshold()

ConfigBuilder & tmc51x0::ConfigBuilder::WithVelocityThreshold ( const VelocityValue & velocity )

inline

Set velocity threshold for acceleration/deceleration phase transition.

Parameters

velocity Self-describing velocity with unit

Returns: Reference to builder for chaining

◆ WithWindingInductanceMh()

ConfigBuilder & tmc51x0::ConfigBuilder::WithWindingInductanceMh ( float inductance_mh )

inline

Set winding inductance value.

Used for StealthChop configuration.

Parameters

inductance_mh Winding inductance in millihenries

Returns: Reference to builder for chaining

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◆ WithWindingResistanceMohm()

ConfigBuilder & tmc51x0::ConfigBuilder::WithWindingResistanceMohm ( uint32_t resistance_mohm )

inline

Set winding resistance value.

Required for StealthChop lower limit calculation.

Parameters

resistance_mohm Winding resistance in milliohms

Returns: Reference to builder for chaining

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◆ WithZeroWaitTimeMs()

ConfigBuilder & tmc51x0::ConfigBuilder::WithZeroWaitTimeMs ( float wait_ms )

inline

Set zero velocity wait time.

Parameters

wait_ms Wait time at zero velocity in milliseconds

Returns: Reference to builder for chaining

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Member Data Documentation

◆ config_

DriverConfig tmc51x0::ConfigBuilder::config_

private

The documentation for this class was generated from the following file:

tmc51x0_config_builder.hpp

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ConfigBuilder() [1/2]

◆ ConfigBuilder() [2/2]

Member Function Documentation

◆ Build()

◆ Config() [1/2]

◆ Config() [2/2]

◆ WithAcceleration()

◆ WithBbmTimeNs()

◆ WithBeltDrive()

◆ WithChopperBlankTime()

◆ WithChopperMode()

◆ WithChopperToff()

◆ WithDeceleration()

◆ WithDirectDrive()

◆ WithDirection()

◆ WithExternalClockHz()

◆ WithFastDecayTime()

◆ WithFirstAcceleration()

◆ WithFirstDeceleration()

◆ WithGearbox()

◆ WithHoldCurrentMa()

◆ WithHysteresisEnd()

◆ WithHysteresisStart()

◆ WithInternalClock()

◆ WithInterpolation()

◆ WithLeadScrew()

◆ WithMaxSpeed()

◆ WithMicrostepResolution()

◆ WithMosfetMillerChargeNc()

◆ WithMotorMa()

◆ WithMotorPowerDownDelayMs()

◆ WithOverTempProtection()

◆ WithPassiveFastDecayTime()

◆ WithRampPowerDownDelayMs()

◆ WithRecalibration()

◆ WithRunCurrentMa()

◆ WithS2gVoltageMv()

◆ WithS2vsVoltageMv()

◆ WithSenseFilter()

◆ WithSenseResistorMohm()

◆ WithShortDetectionDelayUsX10()

◆ WithShortFilter()

◆ WithShortStandstillTimeout()

◆ WithStallGuard()

◆ WithStallGuardFilter()

◆ WithStallGuardMaxVelocity()

◆ WithStallGuardMinVelocity()

◆ WithStallGuardThreshold()

◆ WithStartSpeed()

◆ WithStealthChop()

◆ WithStealthChopAutograd()

◆ WithStealthChopAutoscale()

◆ WithStealthChopPwmFreq()

◆ WithStealthChopPwmOfs()

◆ WithStealthChopStepFilter()

◆ WithStealthChopThreshold()

◆ WithStepsPerRevolution()

◆ WithStopSpeed()

◆ WithSupplyVoltageMv()

◆ WithVelocityThreshold()

◆ WithWindingInductanceMh()

◆ WithWindingResistanceMohm()

◆ WithZeroWaitTimeMs()

Member Data Documentation

◆ config_