Main class representing a TMC51x0 stepper motor driver (TMC5130 & TMC5160) More...

#include <tmc51x0.hpp>

Collaboration diagram for tmc51x0::TMC51x0< CommType >:

Classes
struct	Communication
	Communication subsystem. More...

struct	Encoder
	Encoder subsystem. More...

struct	Events
	Motion events / status outputs (X_COMPARE, RAMP_STAT clear) More...

struct	HardResetOptions
	Options for HardReset() More...

struct	Homing
	Homing subsystem with automatic settings caching. More...

struct	Io
	Chip IO / mode pins / IOIN helpers. More...

struct	MotorControl
	Motor control subsystem. More...

struct	MotorCurrentDebugInfo
	Snapshot of motor-current related calculated/cached values. More...

struct	PowerStage
	Power stage + protection subsystem (DRV_CONF, SHORT_CONF) More...

struct	Printer
	Register printer subsystem for debugging. More...

struct	RampControl
	Ramp control subsystem. More...

struct	StallGuard
	StallGuard2 subsystem (COOLCONF/DRV_STATUS + SW_MODE interactions) More...

struct	Status
	Status / monitoring subsystem (read-only) More...

struct	Switches
	Reference switches / endstops subsystem (SW_MODE / XLATCH) More...

struct	Thresholds
	Velocity thresholds / mode thresholds (TPWMTHRS, TCOOLTHRS, THIGH) More...

struct	Tuning
	Tuning subsystem for automatic parameter optimization. More...

struct	UartConfig
	UART configuration subsystem. More...

struct	WriteOnlyRegisters

Public Member Functions
	TMC51x0 (CommType &comm, uint8_t daisy_chain_position=0, uint8_t uart_node_address=0) noexcept
	Construct a TMC51x0 driver instance.

	~TMC51x0 () noexcept
	Destructor for TMC51x0, cleans up resources.

CommType &	GetComm () noexcept
	Get the communication interface used by this TMC51x0 instance.

Result< void >	Initialize (const DriverConfig &config=DriverConfig(), bool verbose=true) noexcept
	Initialize the TMC51x0 driver with configuration.

Result< void >	HardReset (const HardResetOptions &opts=HardResetOptions()) noexcept
	Perform a hard reset (power-cycle when available, else software reset)

DriverConfig	GetDriverConfig () const noexcept
	Get current driver configuration.

DriverConfig	GetDriverConfig (bool &initialized) const noexcept
	Get current driver configuration with initialization status.

std::string	GetDriverConfigString () const noexcept
	Get driver configuration as formatted string (heap allocating)

void	LogConfigSummary (const DriverConfig &cfg, const char *tag="TMC5160", LogLevel lvl=LogLevel::Info) noexcept
	Log a comprehensive, human-readable summary of a DriverConfig.

void	LogDerivedInitSummary (const char *tag="TMC5160", LogLevel lvl=LogLevel::Info) noexcept
	Log a compact, table-style summary of derived/cached initialization values.

void	LogLiveStatusReport (const char *tag="TMC5160", LogLevel lvl=LogLevel::Info) noexcept
	Read silicon registers and log a comprehensive live status report.

MotorCurrentDebugInfo	GetMotorCurrentDebugInfo () const noexcept
	Get motor-current calculated/cached values for application logging.

Public Attributes
struct tmc51x0::TMC51x0::RampControl *	this

struct tmc51x0::TMC51x0::Switches *	this

struct tmc51x0::TMC51x0::Events *	this

struct tmc51x0::TMC51x0::MotorControl *	this

struct tmc51x0::TMC51x0::Thresholds *	this

struct tmc51x0::TMC51x0::PowerStage *	this

struct tmc51x0::TMC51x0::Communication *	this

struct tmc51x0::TMC51x0::Io *	this

struct tmc51x0::TMC51x0::Encoder *	this

struct tmc51x0::TMC51x0::Status *	this

struct tmc51x0::TMC51x0::StallGuard *	this

struct tmc51x0::TMC51x0::Tuning *	this

struct tmc51x0::TMC51x0::Homing *	this

struct tmc51x0::TMC51x0::Printer *	this

struct tmc51x0::TMC51x0::UartConfig	this

Protected Member Functions
uint8_t	GetCommAddress () const noexcept
	Get the appropriate address parameter for ReadRegister/WriteRegister.

Result< void >	Reset () noexcept
	Reset the TMC51x0 driver.

bool	IsInitialized () const noexcept
	Check if the driver is initialized.

Static Protected Member Functions
static constexpr const char *	GetDriverVersion () noexcept
	Get the compiled driver version string.

static constexpr uint8_t	GetDriverVersionMajor () noexcept
	Get the compiled driver major version number.

static constexpr uint8_t	GetDriverVersionMinor () noexcept
	Get the compiled driver minor version number.

static constexpr uint8_t	GetDriverVersionPatch () noexcept
	Get the compiled driver patch version number.

Private Member Functions
Result< bool >	IsInternalRampMode () noexcept
	Check whether the chip is currently in internal ramp-generator mode (SD_MODE=0).

Result< void >	RequireInternalRampMode () noexcept
	Require internal ramp-generator mode (SD_MODE=0) for motion-controller operations.

float	convertSpeedToSteps (float value, Unit unit) const noexcept
	Convert speed value to internal steps/s.

float	convertAccelerationToSteps (float value, Unit unit) const noexcept
	Convert acceleration value to internal steps/s²

float	convertPositionToSteps (float value, Unit unit) const noexcept
	Convert position value to steps.

float	convertStepsToUnit (int32_t steps, Unit unit) const noexcept
	Convert steps to specified unit (for position)

float	convertSpeedToUnit (float steps_per_sec, Unit unit) const noexcept
	Convert speed (steps/s) to specified unit.

int32_t	speedToInternal (float speed_hz) const noexcept
	Convert speed from Hz to internal TMC5160 units.

float	speedFromInternal (int32_t speed_internal) const noexcept
	Convert speed from internal TMC5160 units to Hz.

int32_t	accelToInternal (float accel_hz) const noexcept
	Convert acceleration from Hz/s to internal TMC5160 units.

float	accelFromInternal (int32_t accel_internal) const noexcept
	Convert acceleration from internal TMC5160 units to steps/s²

int32_t	thresholdSpeedToTstep (float speed_hz) const noexcept
	Convert threshold speed to TSTEP format.

Private Attributes
CommType &	comm_
	Communication interface reference.

uint32_t	f_clk_ {ClockFreq::DEFAULT_F_CLK}
	TMC51x0 clock frequency in Hz.

uint8_t	daisy_chain_position_

uint8_t	uart_node_address_

uint8_t	send_delay_
	UART send delay (0-15) stored locally from NODECONF register.

bool	initialized_ {false}
	Initialization status flag.

uint8_t	chip_version_ {ChipVersion::TMC5160}

MotorSpec	motor_spec_

MechanicalSystem	mechanical_system_

DriverConfig	driver_config_

uint16_t	calculated_global_scaler_ {0}

uint8_t	calculated_irun_ {0}

uint8_t	calculated_ihold_ {0}

uint16_t	current_microsteps_ {256}

struct tmc51x0::TMC51x0::WriteOnlyRegisters	write_only_regs_

Detailed Description

template<typename CommType>
class tmc51x0::TMC51x0< CommType >

Main class representing a TMC51x0 stepper motor driver (TMC5130 & TMC5160)

The TMC51x0 class provides a comprehensive high-level interface for configuring and controlling TMC5130 and TMC5160 stepper motor driver chips. This class abstracts the complex low-level register operations into intuitive, easy-to-use methods for stepper motor control applications.

Key Features

The TMC51x0 class supports a wide range of stepper motor control features:

Ramp Modes: Positioning, velocity, and hold modes
Current Control: Configurable run and hold currents
Chopper Modes: spreadCycle and stealthChop operation
Encoder Support: Closed-loop control with encoder feedback
StallGuard2: Stall detection and prevention
Protection Systems: Short circuit, overtemperature, overvoltage protection
Communication: SPI or UART interface for platform independence

Communication Interface

The class uses a CRTP-based communication interface for communication, making it completely agnostic to the physical communication layer. This allows the same code to work with SPI, UART, or other communication methods by simply providing the appropriate communication interface implementation.

The driver is a template class that takes the communication interface type as a template parameter, providing compile-time polymorphism with zero runtime overhead.

Operating Modes (SD_MODE) and API Validity

The TMC51x0 family supports two fundamentally different motion sources:

Internal ramp generator / motion controller (SD_MODE = 0): The chip executes motion profiles from registers (XTARGET/VMAX/AMAX/…).
External Step/Dir (SD_MODE = 1): Motion comes from STEP/DIR pins. The internal ramp generator is not the active motion source.

This driver supports both, but not every API makes sense in every mode. To prevent confusing behavior, motion-controller operations require SD_MODE=0 and will return ErrorCode::INVALID_STATE if the chip reports SD_MODE=1 (external Step/Dir) via IOIN.

Quick mode matrix

Subsystem / Feature	SD_MODE=0 (Internal ramp)	SD_MODE=1 (External Step/Dir)
`rampControl` motion/profile setters (XTARGET/VMAX/AMAX/...)	✅	❌ (INVALID_STATE)
`homing` (sensorless/switch homing routines)	✅	❌ (INVALID_STATE)
`tuning` (StallGuard tuning routines)	✅	❌ (INVALID_STATE)
`motorControl` (chopper, stealthChop, currents, LUT)	✅	✅ (feature-dependent)
`thresholds` (TPWMTHRS/TCOOLTHRS/THIGH/VDCMIN)	✅	✅ (feature-dependent)
`powerStage` (DRV_CONF/SHORT_CONF)	✅	✅
`encoder` (ABN encoder config/read)	✅	❌ (INVALID_STATE)
`status` (GSTAT/DRV_STATUS/RAMP_STAT/IOIN/etc.)	✅	✅
`io` (SPI_MODE/SD_MODE pin helpers, IOIN/OUTPUT helpers)	✅	✅

Notes:

In SD_MODE=1, you typically still configure chopper/StealthChop/CoolStep/ StallGuard thresholds, but you do not command motion via XTARGET/VMAX.
Some features (e.g., StallGuard/CoolStep) have additional datasheet requirements (SpreadCycle vs StealthChop, velocity thresholds, etc.).

Usage Example

// Create communication interface (SPI example)
class MySPI : public tmc51x0::SpiCommInterface<MySPI> {
  // ... implement required methods
};
 
MySPI spi_comm;
 
// Create TMC51x0 driver with template parameter
tmc51x0::TMC51x0<MySPI> driver(spi_comm);
 
// Initialize driver
tmc51x0::DriverConfig cfg{};
cfg.motor.irun = 20;
cfg.motor.ihold = 10;
driver.Initialize(cfg);
 
// Configure ramp control
driver.rampControl.SetRampMode(tmc51x0::RampMode::POSITIONING);
driver.rampControl.SetTargetPosition(1000);
driver.rampControl.SetMaxSpeed(1000.0f);
driver.rampControl.SetAcceleration(500.0f);
 
// Enable motor
driver.motorControl.Enable();

Template Parameters

CommType The communication interface type (must inherit from SpiCommInterface<CommType> or UartCommInterface<CommType>)

Constructor & Destructor Documentation

◆ TMC51x0()

template<typename CommType >

tmc51x0::TMC51x0< CommType >::TMC51x0	(	CommType &	comm,
		uint8_t	daisy_chain_position = 0,
		uint8_t	uart_node_address = 0 )

inlineexplicitnoexcept

Construct a TMC51x0 driver instance.

Parameters

comm	Reference to a user-implemented communication interface (SPI, UART, etc)
daisy_chain_position	Position in daisy chain (0 = first chip/single chip, 1 = second, etc.) Only used for SPI daisy-chaining. Default: 0 (single chip)
uart_node_address	UART node address (0-254). Only used for UART multi-node addressing. Default: 0 (single node or first node). For sequential programming via TMC51x0MultiNode, this is set to 0 initially and updated automatically after ProgramSequentially(). For devices already programmed, specify the known address here.

Note

The clock frequency (f_clk) is determined during Initialize() from DriverConfig::external_clk_config:

If external_clk_config.frequency_hz = 0: Uses internal oscillator (~12 MHz, CLK pin tied to GND)
If external_clk_config.frequency_hz > 0: Uses external clock at specified frequency (CLK pin receives clock signal)
The internal clock has ±4% velocity precision and includes a watchdog that switches back to internal clock if external clock signal is missing for more than ~32 internal clock cycles
External clock range: 10-16 MHz recommended, up to 18 MHz with 50% duty cycle

◆ ~TMC51x0()

template<typename CommType >

tmc51x0::TMC51x0< CommType >::~TMC51x0 ( )

inlinenoexcept

Destructor for TMC51x0, cleans up resources.

Member Function Documentation

◆ accelFromInternal()

template<typename CommType >

float tmc51x0::TMC51x0< CommType >::accelFromInternal ( int32_t accel_internal ) const

privatenoexcept

Convert acceleration from internal TMC5160 units to steps/s²

Parameters

accel_internal Acceleration in internal TMC5160 units

Returns: Acceleration in steps per second squared

◆ accelToInternal()

template<typename CommType >

int32_t tmc51x0::TMC51x0< CommType >::accelToInternal ( float accel_hz ) const

privatenoexcept

Convert acceleration from Hz/s to internal TMC5160 units.

Parameters

accel_hz Acceleration in steps per second squared

Returns: Acceleration in internal TMC5160 units

◆ convertAccelerationToSteps()

template<typename CommType >

float tmc51x0::TMC51x0< CommType >::convertAccelerationToSteps	(	float	value,
		Unit	unit ) const

privatenoexcept

Convert acceleration value to internal steps/s²

Parameters

value	Acceleration value in specified unit
unit	Unit of the value

Returns: Acceleration in steps/s²

◆ convertPositionToSteps()

template<typename CommType >

float tmc51x0::TMC51x0< CommType >::convertPositionToSteps	(	float	value,
		Unit	unit ) const

privatenoexcept

Convert position value to steps.

Parameters

value	Position value in specified unit
unit	Unit of the value

Returns: Position in steps

◆ convertSpeedToSteps()

template<typename CommType >

float tmc51x0::TMC51x0< CommType >::convertSpeedToSteps	(	float	value,
		Unit	unit ) const

privatenoexcept

Convert speed value to internal steps/s.

Parameters

value	Speed value in specified unit
unit	Unit of the value

Returns: Speed in steps/s

◆ convertSpeedToUnit()

template<typename CommType >

float tmc51x0::TMC51x0< CommType >::convertSpeedToUnit	(	float	steps_per_sec,
		Unit	unit ) const

privatenoexcept

Convert speed (steps/s) to specified unit.

Parameters

steps_per_sec	Speed in steps/s
unit	Target unit

Returns: Speed in target unit

◆ convertStepsToUnit()

template<typename CommType >

float tmc51x0::TMC51x0< CommType >::convertStepsToUnit	(	int32_t	steps,
		Unit	unit ) const

privatenoexcept

Convert steps to specified unit (for position)

Parameters

steps	Position in steps
unit	Target unit

Returns: Position in target unit

◆ GetComm()

template<typename CommType >

CommType & tmc51x0::TMC51x0< CommType >::GetComm ( )

inlinenoexcept

Get the communication interface used by this TMC51x0 instance.

Returns: Reference to the communication interface (SPI, UART, etc)

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◆ GetCommAddress()

template<typename CommType >

uint8_t tmc51x0::TMC51x0< CommType >::GetCommAddress ( ) const

inlineprotectednoexcept

Get the appropriate address parameter for ReadRegister/WriteRegister.

Returns: daisy_chain_position_ for SPI, uart_node_address_ for UART

This method is protected so that subsystem classes can access it.

◆ GetDriverConfig() [1/2]

template<typename CommType >

DriverConfig tmc51x0::TMC51x0< CommType >::GetDriverConfig ( ) const

inlinenoexcept

Get current driver configuration.

Returns: Current driver configuration (including all runtime changes)

Retrieves the current driver configuration including all runtime changes. This includes the initial configuration plus any modifications made after initialization.

Note: If the driver is not initialized, the returned config will contain default values.

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◆ GetDriverConfig() [2/2]

template<typename CommType >

DriverConfig tmc51x0::TMC51x0< CommType >::GetDriverConfig ( bool & initialized ) const

inlinenoexcept

Get current driver configuration with initialization status.

Parameters

initialized Reference to store initialization status (true if initialized, false otherwise)

Returns: Current driver configuration (including all runtime changes)

Retrieves the current driver configuration including all runtime changes. Also returns the initialization status through the initialized parameter.

Note: If the driver is not initialized, the returned config will contain default values.

◆ GetDriverConfigString()

template<typename CommType >

std::string tmc51x0::TMC51x0< CommType >::GetDriverConfigString ( ) const

noexcept

Get driver configuration as formatted string (heap allocating)

Returns: String containing complete driver configuration and status information

Returns a human-readable string with all driver configuration, register values, and current status. Useful for debugging and diagnostics.

Note: The returned string is allocated on the heap (std::string / std::to_string).; For embedded systems, prefer LogConfigSummary() / LogDerivedInitSummary() or implement a fixed-size buffer variant.

◆ GetDriverVersion()

template<typename CommType >

static constexpr const char * tmc51x0::TMC51x0< CommType >::GetDriverVersion ( )

inlinestaticconstexprprotectednoexcept

Get the compiled driver version string.

◆ GetDriverVersionMajor()

template<typename CommType >

static constexpr uint8_t tmc51x0::TMC51x0< CommType >::GetDriverVersionMajor ( )

inlinestaticconstexprprotectednoexcept

Get the compiled driver major version number.

◆ GetDriverVersionMinor()

template<typename CommType >

static constexpr uint8_t tmc51x0::TMC51x0< CommType >::GetDriverVersionMinor ( )

inlinestaticconstexprprotectednoexcept

Get the compiled driver minor version number.

◆ GetDriverVersionPatch()

template<typename CommType >

static constexpr uint8_t tmc51x0::TMC51x0< CommType >::GetDriverVersionPatch ( )

inlinestaticconstexprprotectednoexcept

Get the compiled driver patch version number.

◆ GetMotorCurrentDebugInfo()

template<typename CommType >

MotorCurrentDebugInfo tmc51x0::TMC51x0< CommType >::GetMotorCurrentDebugInfo ( ) const

noexcept

Get motor-current calculated/cached values for application logging.

Returns: A snapshot of motor-current related values.

Note: If the driver has not been initialized yet, values may be defaults.

◆ HardReset()

template<typename CommType >

Result< void > tmc51x0::TMC51x0< CommType >::HardReset ( const HardResetOptions & opts = HardResetOptions() )

noexcept

Perform a hard reset (power-cycle when available, else software reset)

Parameters

opts	Hard reset options

Returns: Result<void> indicating success or error

Behavior:

If the platform implements CommInterface::PowerCycle(), this will power-cycle the device (true hard reset / POR semantics).
Otherwise, it falls back to Reset() (software reset via GSTAT).
If opts.reinitialize=true, Initialize(GetDriverConfig()) is called after reset.

UART multi-node note:

A power-cycle resets NODECONF in the chip. To re-initialize reliably, the device must be reachable at UART address 0 (typically the first chip with NAI tied to GND). For multi-node chains, prefer using TMC51x0MultiNode and ProgramSequentially() after power-up.

◆ Initialize()

template<typename CommType >

Result< void > tmc51x0::TMC51x0< CommType >::Initialize	(	const DriverConfig &	config = DriverConfig(),
		bool	verbose = true )

noexcept

Initialize the TMC51x0 driver with configuration.

Parameters

config	Driver configuration structure
verbose	If true, print configuration summary table (default: true)

Returns: Result<void> indicating success or specific error

This method performs the complete initialization sequence:

Clear reset and error flags
Configure power stage parameters
Configure motor current settings
Configure chopper settings
Configure stealthChop settings
Configure short protection
Set ramp mode to positioning
Configure global settings

The configuration is stored internally as a snapshot of initialization state. This snapshot represents what was configured during Initialize(), not runtime state. Runtime changes (e.g., SetCurrent(), SetMaxSpeed()) do not update this snapshot.

auto result = driver.Initialize(config);
if (!result) {  // Bool operator
    printf("Error: %s\n", result.ErrorMessage());
}
// Quiet reinitialization (e.g., after chip reset):
auto result2 = driver.Initialize(config, false);

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◆ IsInitialized()

template<typename CommType >

bool tmc51x0::TMC51x0< CommType >::IsInitialized ( ) const

inlineprotectednoexcept

Check if the driver is initialized.

Returns: true if initialized, false otherwise

◆ IsInternalRampMode()

template<typename CommType >

Result< bool > tmc51x0::TMC51x0< CommType >::IsInternalRampMode ( )

privatenoexcept

Check whether the chip is currently in internal ramp-generator mode (SD_MODE=0).

This reads IOIN.SD_MODE from the chip. If SD_MODE=1 (external Step/Dir), the internal ramp generator is not the active motion source and many motion-controller registers will not behave as users expect.

Returns: Result<bool> with true if SD_MODE=0 (internal ramp), false if SD_MODE=1 (external Step/Dir), or an error on communication failure.

◆ LogConfigSummary()

template<typename CommType >

void tmc51x0::TMC51x0< CommType >::LogConfigSummary	(	const DriverConfig &	cfg,
		const char *	tag = "TMC5160",
		LogLevel	lvl = LogLevel::Info )

noexcept

Log a comprehensive, human-readable summary of a DriverConfig.

Uses the driver's communication interface for logging (TMC51X0_LOG_DEBUG).

This is useful both before Initialize() (to verify the config you are about to apply) and after Initialize() (to compare with derived/cached values).

Note: This method is only available when TMC51X0_DISABLE_DEBUG_LOGGING is not defined. When disabled, calls to this method are optimized out at compile time.

◆ LogDerivedInitSummary()

template<typename CommType >

void tmc51x0::TMC51x0< CommType >::LogDerivedInitSummary	(	const char *	tag = "TMC5160",
		LogLevel	lvl = LogLevel::Info )

noexcept

Log a compact, table-style summary of derived/cached initialization values.

Includes f_clk, detected chip version, calculated currents (IRUN/IHOLD/GLOBAL_SCALER), cached write-only registers (IHOLD_IRUN, GLOBAL_SCALER, DRV_CONF), and a decoded IHOLDDELAY timing estimate.

Note: Requires that the driver has been initialized at least once (uses cached values).; This method is only available when TMC51X0_DISABLE_DEBUG_LOGGING is not defined. When disabled, calls to this method are optimized out at compile time.

◆ LogLiveStatusReport()

template<typename CommType >

void tmc51x0::TMC51x0< CommType >::LogLiveStatusReport	(	const char *	tag = "TMC5160",
		LogLevel	lvl = LogLevel::Info )

noexcept

Read silicon registers and log a comprehensive live status report.

Performs SPI/UART transactions to capture the current hardware state of the chip (GSTAT, DRV_STATUS, IOIN, CHOPCONF, PWMCONF, etc.) and prints it in a beautiful table format.

This is useful for "recapturing" the actual live state from the driver to verify it matches requested settings or to diagnose issues.

Note: This method is only available when TMC51X0_DISABLE_DEBUG_LOGGING is not defined. When disabled, calls to this method are optimized out at compile time.

◆ RequireInternalRampMode()

template<typename CommType >

Result< void > tmc51x0::TMC51x0< CommType >::RequireInternalRampMode ( )

privatenoexcept

Require internal ramp-generator mode (SD_MODE=0) for motion-controller operations.

Returns: Result<void> OK if internal ramp mode, INVALID_STATE if in external Step/Dir mode, COMM_ERROR if IOIN cannot be read.

◆ Reset()

template<typename CommType >

Result< void > tmc51x0::TMC51x0< CommType >::Reset ( )

protectednoexcept

Reset the TMC51x0 driver.

Returns: Result<void> indicating success or error

Performs a software reset by writing to the GSTAT register.

◆ speedFromInternal()

template<typename CommType >

float tmc51x0::TMC51x0< CommType >::speedFromInternal ( int32_t speed_internal ) const

privatenoexcept

Convert speed from internal TMC5160 units to Hz.

Parameters

speed_internal Speed in internal TMC5160 units

Returns: Speed in steps per second

◆ speedToInternal()

template<typename CommType >

int32_t tmc51x0::TMC51x0< CommType >::speedToInternal ( float speed_hz ) const

privatenoexcept

Convert speed from Hz to internal TMC5160 units.

Parameters

speed_hz Speed in steps per second

Returns: Speed in internal TMC5160 units

◆ thresholdSpeedToTstep()

template<typename CommType >

int32_t tmc51x0::TMC51x0< CommType >::thresholdSpeedToTstep ( float speed_hz ) const

privatenoexcept

Convert threshold speed to TSTEP format.

Parameters

speed_hz Speed threshold in steps per second

Returns: TSTEP value (0 if speed is 0)

Member Data Documentation

◆ calculated_global_scaler_

template<typename CommType >

uint16_t tmc51x0::TMC51x0< CommType >::calculated_global_scaler_ {0}

private

◆ calculated_ihold_

template<typename CommType >

uint8_t tmc51x0::TMC51x0< CommType >::calculated_ihold_ {0}

private

◆ calculated_irun_

template<typename CommType >

uint8_t tmc51x0::TMC51x0< CommType >::calculated_irun_ {0}

private

◆ chip_version_

template<typename CommType >

uint8_t tmc51x0::TMC51x0< CommType >::chip_version_ {ChipVersion::TMC5160}

private

Detected chip version (0x11 = TMC5130, 0x30 = TMC5160)

◆ comm_

template<typename CommType >

CommType& tmc51x0::TMC51x0< CommType >::comm_

private

Communication interface reference.

◆ current_microsteps_

template<typename CommType >

uint16_t tmc51x0::TMC51x0< CommType >::current_microsteps_ {256}

private

◆ daisy_chain_position_

template<typename CommType >

uint8_t tmc51x0::TMC51x0< CommType >::daisy_chain_position_

private

Position in daisy chain (0 = first chip/single chip)

◆ driver_config_

template<typename CommType >

DriverConfig tmc51x0::TMC51x0< CommType >::driver_config_

private

◆ f_clk_

template<typename CommType >

uint32_t tmc51x0::TMC51x0< CommType >::f_clk_ {ClockFreq::DEFAULT_F_CLK}

private

TMC51x0 clock frequency in Hz.

◆ initialized_

template<typename CommType >

bool tmc51x0::TMC51x0< CommType >::initialized_ {false}

private

Initialization status flag.

◆ mechanical_system_

template<typename CommType >

MechanicalSystem tmc51x0::TMC51x0< CommType >::mechanical_system_

private

◆ motor_spec_

template<typename CommType >

MotorSpec tmc51x0::TMC51x0< CommType >::motor_spec_

private

◆ send_delay_

template<typename CommType >

uint8_t tmc51x0::TMC51x0< CommType >::send_delay_

private

Initial value:

{

0}

UART send delay (0-15) stored locally from NODECONF register.

◆ this [1/15]

template<typename CommType >

struct tmc51x0::TMC51x0::RampControl* tmc51x0::TMC51x0< CommType >::this

◆ this [2/15]

template<typename CommType >

struct tmc51x0::TMC51x0::Switches* tmc51x0::TMC51x0< CommType >::this

◆ this [3/15]

template<typename CommType >

struct tmc51x0::TMC51x0::Events* tmc51x0::TMC51x0< CommType >::this

◆ this [4/15]

template<typename CommType >

struct tmc51x0::TMC51x0::MotorControl* tmc51x0::TMC51x0< CommType >::this

◆ this [5/15]

template<typename CommType >

struct tmc51x0::TMC51x0::Thresholds* tmc51x0::TMC51x0< CommType >::this

◆ this [6/15]

template<typename CommType >

struct tmc51x0::TMC51x0::PowerStage* tmc51x0::TMC51x0< CommType >::this

◆ this [7/15]

template<typename CommType >

struct tmc51x0::TMC51x0::Communication* tmc51x0::TMC51x0< CommType >::this

◆ this [8/15]

template<typename CommType >

struct tmc51x0::TMC51x0::Io* tmc51x0::TMC51x0< CommType >::this

◆ this [9/15]

template<typename CommType >

struct tmc51x0::TMC51x0::Encoder* tmc51x0::TMC51x0< CommType >::this

◆ this [10/15]

template<typename CommType >

struct tmc51x0::TMC51x0::Status* tmc51x0::TMC51x0< CommType >::this

◆ this [11/15]

template<typename CommType >

struct tmc51x0::TMC51x0::StallGuard* tmc51x0::TMC51x0< CommType >::this

◆ this [12/15]

template<typename CommType >

struct tmc51x0::TMC51x0::Tuning* tmc51x0::TMC51x0< CommType >::this

◆ this [13/15]

template<typename CommType >

struct tmc51x0::TMC51x0::Homing* tmc51x0::TMC51x0< CommType >::this

◆ this [14/15]

template<typename CommType >

struct tmc51x0::TMC51x0::Printer* tmc51x0::TMC51x0< CommType >::this

◆ this [15/15]

template<typename CommType >

struct tmc51x0::TMC51x0::UartConfig tmc51x0::TMC51x0< CommType >::this

◆ uart_node_address_

template<typename CommType >

uint8_t tmc51x0::TMC51x0< CommType >::uart_node_address_

private

UART node address (0-254) for multi-node addressing

◆ write_only_regs_

template<typename CommType >

struct tmc51x0::TMC51x0::WriteOnlyRegisters tmc51x0::TMC51x0< CommType >::write_only_regs_

private

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

tmc51x0.hpp

Classes

Public Member Functions

Public Attributes

Protected Member Functions

Static Protected Member Functions

Private Member Functions

Private Attributes

Detailed Description

Key Features

Communication Interface

Operating Modes (SD_MODE) and API Validity

Usage Example

Constructor & Destructor Documentation

◆ TMC51x0()

◆ ~TMC51x0()

Member Function Documentation

◆ accelFromInternal()

◆ accelToInternal()

◆ convertAccelerationToSteps()

◆ convertPositionToSteps()

◆ convertSpeedToSteps()

◆ convertSpeedToUnit()

◆ convertStepsToUnit()

◆ GetComm()

◆ GetCommAddress()

◆ GetDriverConfig() [1/2]

◆ GetDriverConfig() [2/2]

◆ GetDriverConfigString()

◆ GetDriverVersion()

◆ GetDriverVersionMajor()

◆ GetDriverVersionMinor()

◆ GetDriverVersionPatch()

◆ GetMotorCurrentDebugInfo()

◆ HardReset()

◆ Initialize()

◆ IsInitialized()

◆ IsInternalRampMode()

◆ LogConfigSummary()

◆ LogDerivedInitSummary()

◆ LogLiveStatusReport()

◆ RequireInternalRampMode()

◆ Reset()

◆ speedFromInternal()

◆ speedToInternal()

◆ thresholdSpeedToTstep()

Member Data Documentation

◆ calculated_global_scaler_

◆ calculated_ihold_

◆ calculated_irun_

◆ chip_version_

◆ comm_

◆ current_microsteps_

◆ daisy_chain_position_

◆ driver_config_

◆ f_clk_

◆ initialized_

◆ mechanical_system_

◆ motor_spec_

◆ send_delay_

◆ this [1/15]

◆ this [2/15]

◆ this [3/15]

◆ this [4/15]

◆ this [5/15]

◆ this [6/15]

◆ this [7/15]

◆ this [8/15]

◆ this [9/15]

◆ this [10/15]

◆ this [11/15]

◆ this [12/15]

◆ this [13/15]

◆ this [14/15]

◆ this [15/15]

◆ uart_node_address_

◆ write_only_regs_