internal_ramp_sinusoidal.cpp File Reference

Back-and-forth motion example for TMC51x0 stepper motor driver. More...

#include "tmc51x0.hpp"
#include "test_config/esp32_tmc51x0_bus.hpp"
#include "test_config/esp32_tmc51x0_test_config.hpp"
#include "esp_log.h"
#include "esp_timer.h"
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include <cmath>

Include dependency graph for internal_ramp_sinusoidal.cpp:

Classes
class	BackAndForthMotion
	Back-and-forth motion controller using positioning mode. More...

Functions
void	app_main ()

Variables
static constexpr tmc51x0_test_config::TestRigType	SELECTED_TEST_RIG
static const char *	TAG = "Sinusoidal"

Detailed Description

Back-and-forth motion example for TMC51x0 stepper motor driver.

This example demonstrates simple back-and-forth motion using the TMC51x0's internal ramp generator in positioning mode. The motor moves between two positions repeatedly (configurable travel distance in degrees).

TEST RIG SELECTION: Use SELECTED_TEST_RIG at the top of this file (TEST_RIG_FATIGUE or TEST_RIG_CORE_DRIVER). See esp32_tmc51x0_test_config.hpp for motor, board, and platform specifications.

Hardware Requirements:

• ESP32 development board
• TMC51x0 stepper motor driver
• Stepper motor connected to TMC51x0 (see motor selection above)
• SPI connection between ESP32 and TMC51x0
• Chip must be in SPI_INTERNAL_RAMP mode (SPI_MODE=HIGH, SD_MODE=LOW)
• Power supply: 12-36V DC (ensure adequate current capacity for selected motor)

Pin Configuration (using standard test config):

• SPI: MOSI=6, MISO=2, SCLK=5, CS=18
• Control: EN=11
• Clock: CLK=10
• Diagnostics: DIAG0=23, DIAG1=15

Author

Nebiyu Tadesse

Date

2025

Function Documentation

app_main()

void app_main

(

void

)

Here is the call graph for this function:

Variable Documentation

SELECTED_TEST_RIG

constexpr tmc51x0_test_config::TestRigType SELECTED_TEST_RIG

staticconstexpr

Initial value:

= 
    tmc51x0_test_config::TestRigType::TEST_RIG_FATIGUE

TAG

const char* TAG = "Sinusoidal"

static