Namespaces
namespace	ChipVersion
	TMC chip version constants.

namespace	ClockFreq
	TMC51x0 clock frequency constants.

namespace	MathConstants
	Mathematical constants.

namespace	MotorCalcConstants

namespace	RegisterConstants
	Register conversion constants.

namespace	Registers
	TMC51x0 register addresses.

Classes
struct	AccelerationValue
	Self-describing acceleration value with explicit unit. More...

union	CHOPCONF_Register
	Chopper and driver configuration register (CHOPCONF) More...

struct	ChopperConfig
	Chopper configuration structure. More...

class	CommInterface
	CRTP-based communication interface for register read/write operations. More...

class	ConfigBuilder
	Fluent configuration builder for DriverConfig. More...

union	COOLCONF_Register
	coolStep smart current control and stallGuard2 configuration register (COOLCONF) More...

struct	CoolStepConfig
	CoolStep configuration structure. More...

union	DCCTRL_Register
	dcStep automatic commutation configuration register (DCCTRL) More...

struct	DcStepConfig
	DcStep configuration structure. More...

struct	Diag0Config
	DIAG0 pin configuration structure. More...

struct	Diag1Config
	DIAG1 pin configuration structure. More...

struct	DriverConfig
	Driver initialization configuration structure. More...

union	DRV_CONF_Register
	Driver configuration register (DRV_CONF) More...

union	DRV_STATUS_Register
	stallGuard2 value and driver error flags register (DRV_STATUS) More...

union	ENC_STATUS_Register
	Encoder status register (ENC_STATUS) More...

union	ENCMODE_Register
	Encoder configuration register (ENCMODE) More...

struct	EncoderConfig
	Encoder configuration structure. More...

struct	ExternalClockConfig
	External clock configuration structure. More...

union	GCONF_Register
	General configuration register (GCONF) More...

struct	GlobalConfig
	Global configuration (GCONF) structure. More...

union	GSTAT_Register
	Global status register (GSTAT) More...

struct	HomingSettingsCache
	Cached settings for homing operations. More...

union	IHOLD_IRUN_Register
	Driver current control register (IHOLD_IRUN) More...

struct	InputStatus
	Input pin status structure. More...

union	IOIN_Register
	Input pin register (IOIN) - Read-only at address 0x04. More...

struct	MechanicalSystem
	Mechanical system configuration structure. More...

struct	MicrostepChangeOptions
	Options for changing microstep resolution (CHOPCONF.MRES) More...

struct	MotorSpec
	Motor specification structure. More...

union	MSCURACT_Register
	Actual microstep current register (MSCURACT) More...

union	MSLUTSEL_Register
	Microstep lookup table segmentation definition register (MSLUTSEL) More...

union	NODECONF_Register
	UART node address configuration register (NODECONF) More...

union	OFFSET_READ_Register
	Offset calibration result register (OFFSET_READ) More...

union	OTP_PROG_Register
	OTP programming register (OTP_PROG) More...

union	OTP_READ_Register
	OTP read register (OTP_READ) More...

struct	PinActiveLevels
	Pin active level configuration structure. More...

struct	PowerStageParameters
	Power stage parameters structure. More...

union	PWM_AUTO_Register
	stealthChop automatically generated values read out register (PWM_AUTO) More...

union	PWM_SCALE_Register
	Results of stealthChop amplitude regulator register (PWM_SCALE) More...

union	PWMCONF_Register
	stealthChop voltage PWM mode chopper configuration register (PWMCONF) More...

union	RAMP_STAT_Register
	Ramp status and switch event status register (RAMP_STAT) More...

struct	RampConfig
	Ramp configuration structure. More...

struct	ReferenceSwitchConfig
	Reference switch configuration structure. More...

class	Result
	Result type for operations that return a value. More...

class	Result< void >
	Result type for operations that don't return a value. More...

union	SHORT_CONF_Register
	Short detector configuration register (SHORT_CONF) More...

struct	SpiCommand
	TMC5160 SPI command structure with union-based frame representation. More...

class	SpiCommInterface
	CRTP-based SPI implementation of TMC5160CommInterface. More...

struct	SpiResponse
	TMC5160 SPI response structure. More...

struct	SpiStatus
	SPI_STATUS structure - status flags returned with each SPI datagram. More...

struct	StallGuardConfig
	StallGuard2 configuration structure. More...

struct	StallGuardTuningResult
	Result structure for StallGuard2 threshold (SGT) tuning. More...

struct	StealthChopConfig
	StealthChop configuration structure. More...

union	SW_MODE_Register
	Switch mode configuration register (SW_MODE) More...

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

class	TMC51x0DaisyChain
	High-level manager for multiple TMC51x0 drivers in a daisy-chain configuration. More...

class	TMC51x0MultiNode
	High-level manager for multiple TMC51x0 drivers in a UART multi-node configuration. More...

struct	TMC51x0PinConfig
	TMC51x0 GPIO pin configuration structure. More...

class	UartCommInterface
	CRTP-based UART implementation of TMC5160CommInterface. More...

struct	UartConfig
	UART communication configuration structure. More...

struct	UartFrame
	TMC5160 UART command/response frame structure with built-in CRC8. More...

struct	VelocityValue
	Self-describing velocity value with explicit unit. More...

Typedefs
using	ResultVoid = Result<void>

Enumerations
enum class	RampMode : uint8_t { POSITIONING = 0x00 , VELOCITY_POS = 0x01 , VELOCITY_NEG = 0x02 , HOLD = 0x03 }
	Ramp mode enumeration values. More...

enum class	PWMFreewheel : uint8_t { NORMAL = 0x00 , ENABLED = 0x01 , SHORT_LS = 0x02 , SHORT_HS = 0x03 }
	PWM freewheel mode enumeration values. More...

enum class	EncoderSensitivity : uint8_t { NO_EDGE = 0x00 , RISING_EDGE = 0x01 , FALLING_EDGE = 0x02 , BOTH_EDGES }
	Encoder N channel sensitivity enumeration values. More...

enum class	LogLevel : uint8_t { Error = 0 , Warn = 1 , Info = 2 , Debug = 3 , Verbose = 4 }
	Driver-native log levels for debug output. More...

enum class	CommMode : uint8_t { SPI , UART }
	Supported physical communication modes for TMC51x0. More...

enum class	TMC51x0CtrlPin : uint8_t { EN , DIR , STEP , REFL_STEP , REFR_DIR , DIAG0 , DIAG1 , ENCA , ENCB , ENCN , DCEN , DCIN , DCO , CLK , SPI_MODE , SD_MODE }
	TMC51x0 control pin identifiers with board-agnostic naming. More...

enum class	GpioSignal : uint8_t { INACTIVE = 0 , ACTIVE = 1 }
	GPIO signal states with board-agnostic naming. More...

enum class	UartFrameType : uint8_t { WriteAccess , ReadRequest , ReadReply }
	TMC5160 UART frame types. More...

enum class	ErrorCode : uint8_t { OK = 0 , NOT_INITIALIZED , COMM_ERROR , INVALID_VALUE , INVALID_STATE , TIMEOUT , CANCELLED , HARDWARE_ERROR , SHORT_CIRCUIT , OPEN_LOAD , OVERTEMP_WARNING , OVERTEMP_SHUTDOWN , UNSUPPORTED }
	Error codes for TMC51x0 operations. More...

enum class	ChipCommMode : uint8_t { SPI_INTERNAL_RAMP , SPI_EXTERNAL_STEPDIR = 1 , UART_INTERNAL_RAMP , STANDALONE_EXTERNAL_STEPDIR }
	Chip communication and motion control mode configuration. More...

enum class	MotorDirection : uint8_t { NORMAL = 0 , INVERSE = 1 }
	Motor direction enumeration. More...

enum class	MotorType : uint8_t { STEPPER = 0 , DC_MOTOR_SINGLE = 1 , DC_MOTOR_DUAL = 2 , SOLENOID_SINGLE = 3 , SOLENOID_DUAL = 4 }
	Motor type enumeration. More...

enum class	Unit : uint8_t { Steps , Rad , Deg , Mm , RPM , RevPerSec }
	Unit enumeration. More...

enum class	DriverStatus : uint8_t { OK , CP_UV , S2VSA , S2VSB , S2GA , S2GB , OT , OTHER_ERR , OTPW }
	Driver status enumeration. More...

enum class	MechanicalSystemType : uint8_t { DirectDrive , LeadScrew , BeltDrive , Gearbox }
	Mechanical system type enumeration. More...

enum class	SenseFilterTime : uint8_t { T100ns = 0 , T200ns = 1 , T300ns = 2 , T400ns = 3 }
	Sense amplifier filter time constant enumeration. More...

enum class	OverTempProtection : uint8_t { Temp150C = 0 , Temp143C = 1 , Temp136C = 2 , Temp120C = 3 }
	Over-temperature protection level enumeration. More...

enum class	ChopperMode : bool { SPREAD_CYCLE = false , CLASSIC = true }
	Chopper mode enumeration. More...

enum class	ChopperBlankTime : uint8_t { TBL_16CLK = 0 , TBL_24CLK = 1 , TBL_36CLK = 2 , TBL_54CLK = 3 }
	Comparator blank time enumeration. More...

enum class	MicrostepResolution : uint8_t { MRES_256 = 0 , MRES_128 = 1 , MRES_64 = 2 , MRES_32 = 3 , MRES_16 = 4 , MRES_8 = 5 , MRES_4 = 6 , MRES_2 = 7 , FULLSTEP = 8 }
	Microstep resolution enumeration. More...

enum class	MicrostepLutPreset : uint8_t { DEFAULT_SINE = 0 , PURE_SINE = 1 }
	Microstep lookup table preset waveforms. More...

enum class	StealthChopPwmFreq : uint8_t { PWM_FREQ_0 = 0 , PWM_FREQ_1 = 1 , PWM_FREQ_2 = 2 , PWM_FREQ_3 = 3 }
	StealthChop PWM frequency enumeration. More...

enum class	StealthChopRegulationSpeed : uint8_t { VERY_SLOW = 1 , SLOW = 2 , MODERATE = 4 , FAST = 8 , VERY_FAST = 15 }
	StealthChop regulation speed enumeration. More...

enum class	StealthChopJerkReduction : uint8_t { MAXIMUM = 8 , HIGH = 10 , MODERATE = 12 , LOW = 14 , MINIMUM = 15 }
	StealthChop mode switching jerk reduction enumeration. More...

enum class	StallGuardSensitivity : int8_t { VERY_HIGH = -32 , HIGH = -16 , MODERATE = 0 , LOW = 16 , VERY_LOW = 32 }
	StallGuard2 sensitivity enumeration. More...

enum class	CoolStepIncrementStep : uint8_t { STEP_1 = 0 , STEP_2 = 1 , STEP_4 = 2 , STEP_8 = 3 }
	CoolStep current increment step width enumeration. More...

enum class	CoolStepDecrementSpeed : uint8_t { EVERY_32 = 0 , EVERY_8 = 1 , EVERY_2 = 2 , EVERY_1 = 3 }
	CoolStep current decrement speed enumeration. More...

enum class	CoolStepMinCurrent : uint8_t { HALF_IRUN = 0 , QUARTER_IRUN = 1 }
	CoolStep minimum current percentage enumeration. More...

enum class	DcStepStallSensitivity : uint8_t { DISABLED = 0 , LOW = 1 , MODERATE = 2 , HIGH = 3 }
	DcStep stall detection sensitivity enumeration. More...

enum class	ReferenceSwitchActiveLevel : uint8_t { ACTIVE_LOW , ACTIVE_HIGH }
	Reference switch active level enumeration. More...

enum class	ReferenceLatchMode : uint8_t { DISABLED , ACTIVE_EDGE , INACTIVE_EDGE , BOTH_EDGES }
	Position latching mode enumeration. More...

enum class	ReferenceStopMode : uint8_t { HARD_STOP , SOFT_STOP }
	Stop mode enumeration. More...

enum class	EncoderNSensitivity : uint8_t { ACTIVE_LEVEL , RISING_EDGE , FALLING_EDGE , BOTH_EDGES }
	Encoder N channel sensitivity enumeration. More...

enum class	EncoderClearMode : uint8_t { DISABLED , ONCE , CONTINUOUS }
	Encoder clear mode enumeration. More...

enum class	EncoderPrescalerMode : uint8_t { BINARY , DECIMAL }
	Encoder prescaler mode enumeration. More...

Functions
const char *	GetRegisterDef (uint8_t address)

bool	CalculateMotorCurrent (const MotorSpec &motor_spec, uint32_t sense_resistor_mohm, uint32_t supply_voltage_mv, uint16_t run_current_ma, uint16_t hold_current_ma, uint8_t &irun, uint8_t &ihold, uint16_t &global_scaler) noexcept
	Calculate motor current settings from physical parameters.

uint16_t	CalculateStealthChopLowerLimit (const MotorSpec &motor_spec, uint32_t supply_voltage_mv, uint8_t tbl, uint8_t pwm_freq, uint32_t f_clk=12000000U) noexcept
	Calculate StealthChop lower current limit.

uint16_t	CalculateMaxCurrentForSenseResistor (uint32_t sense_resistor_mohm) noexcept
	Calculate maximum RMS current for a given sense resistor.

uint8_t	CalculateS2VSLevel (uint16_t voltage_mv) noexcept
	Calculate S2VS_LEVEL register value from voltage threshold.

uint8_t	CalculateS2GLevel (uint16_t voltage_mv, uint32_t supply_voltage_mv=0) noexcept
	Calculate S2G_LEVEL register value from voltage threshold.

uint8_t	CalculateShortDelay (uint8_t delay_us_x10) noexcept
	Calculate shortdelay register bit from detection delay time.

constexpr float	StepsToMm (int32_t steps, float steps_per_rev, float lead_screw_pitch_mm) noexcept
	Convert steps to millimeters.

constexpr int32_t	MmToSteps (float mm, float steps_per_rev, float lead_screw_pitch_mm) noexcept
	Convert millimeters to steps.

constexpr float	StepsToDegrees (int32_t steps, float steps_per_rev) noexcept
	Convert steps to degrees.

constexpr int32_t	DegreesToSteps (float degrees, float steps_per_rev) noexcept
	Convert degrees to steps.

constexpr float	RpmToStepsPerSec (float rpm, float steps_per_rev) noexcept
	Convert RPM to steps per second.

constexpr float	StepsPerSecToRpm (float steps_per_sec, float steps_per_rev) noexcept
	Convert steps per second to RPM.

constexpr float	MmPerSecToStepsPerSec (float mm_per_sec, float steps_per_rev, float lead_screw_pitch_mm) noexcept
	Convert millimeters per second to steps per second.

constexpr float	StepsPerSecToMmPerSec (float steps_per_sec, float steps_per_rev, float lead_screw_pitch_mm) noexcept
	Convert steps per second to millimeters per second.

constexpr float	AccelerationMmToSteps (float accel_mm_per_sec2, float steps_per_rev, float lead_screw_pitch_mm) noexcept
	Convert acceleration from mm/s² to steps/s²

constexpr float	AccelerationStepsToMm (float accel_steps_per_sec2, float steps_per_rev, float lead_screw_pitch_mm) noexcept
	Convert acceleration from steps/s² to mm/s²

constexpr int32_t	BeltTeethToSteps (uint32_t teeth, float steps_per_rev, uint16_t belt_pulley_teeth) noexcept
	Convert belt drive distance (teeth) to steps.

constexpr float	StepsToBeltTeeth (int32_t steps, float steps_per_rev, uint16_t belt_pulley_teeth) noexcept
	Convert steps to belt drive distance (teeth)

const char *	GetDriverVersion () noexcept

static constexpr uint8_t	calculateCrc8 (const uint8_t *data, size_t length) noexcept
	Calculate CRC8 checksum for UART communication.

const char *	ErrorMessage (ErrorCode code)
	Get human-readable error message.

template<std::size_t N, typename T >
decltype(auto)	get (Result< T > &r) noexcept
	Tuple-like access for structured bindings (C++17)

template<std::size_t N, typename T >
decltype(auto)	get (const Result< T > &r) noexcept

template<std::size_t N, typename T >
decltype(auto)	get (Result< T > &&r) noexcept

template<std::size_t N>
std::enable_if_t< N==0, ErrorCode >	get (Result< void > &r) noexcept

template<std::size_t N>
std::enable_if_t< N==0, ErrorCode >	get (const Result< void > &r) noexcept

template<std::size_t N>
std::enable_if_t< N==0, ErrorCode >	get (Result< void > &&r) noexcept

constexpr const char *	ToString (MotorDirection d) noexcept
	Convert MotorDirection to human-readable string.

constexpr const char *	ToString (MotorType t) noexcept
	Convert MotorType to human-readable string.

constexpr const char *	ToString (Unit u) noexcept
	Convert Unit to human-readable string.

constexpr const char *	ToString (MechanicalSystemType type) noexcept
	Convert MechanicalSystemType to human-readable string.

constexpr const char *	ToString (ChopperMode m) noexcept
	Convert ChopperMode to human-readable string.

constexpr const char *	ToString (MicrostepResolution mres) noexcept
	Convert MicrostepResolution to human-readable string.

constexpr uint16_t	MicrostepsPerFullStep (MicrostepResolution mres) noexcept
	Get microsteps-per-full-step for an MRES value.

constexpr const char *	ToString (MicrostepLutPreset preset) noexcept
	Convert MicrostepLutPreset to human-readable string.

constexpr const char *	ToString (ReferenceSwitchActiveLevel a) noexcept
	Convert ReferenceSwitchActiveLevel to human-readable string.

constexpr const char *	ToString (ReferenceLatchMode m) noexcept
	Convert ReferenceLatchMode to human-readable string.

constexpr const char *	ToString (ReferenceStopMode m) noexcept
	Convert ReferenceStopMode to human-readable string.

constexpr const char *	ToString (EncoderNSensitivity s) noexcept
	Convert EncoderNSensitivity to human-readable string.

constexpr const char *	ToString (EncoderClearMode m) noexcept
	Convert EncoderClearMode to human-readable string.

constexpr const char *	ToString (EncoderPrescalerMode m) noexcept
	Convert EncoderPrescalerMode to human-readable string.

Typedef Documentation

◆ ResultVoid

using tmc51x0::ResultVoid = Result<void>

Enumeration Type Documentation

◆ ChipCommMode

enum class tmc51x0::ChipCommMode : uint8_t

strong

Chip communication and motion control mode configuration.

This enumeration represents the combination of SPI_MODE and SD_MODE pins that determine the TMC51x0 operating mode. These pins are typically hardwired and read at startup, but can be controlled via GPIO if connected.

WARNING: Changing the mode requires a chip reset to take effect. The mode pins are read at startup, so any changes must be followed by a reset cycle (power cycle since TMC51x0 has no reset pin).

Note

These modes correspond to the hardware pin configuration:

SPI_MODE (pin 22): HIGH=SPI, LOW=UART/Standalone
SD_MODE (pin 21): HIGH=External step/dir, LOW=Internal ramp generator

Complete mode mapping:

SD_MODE	SPI_MODE	Mode	Description
LOW (0)	HIGH (1)	SPI_INTERNAL_RAMP	SPI + internal ramp generator (motion controller)
HIGH (1)	HIGH (1)	SPI_EXTERNAL_STEPDIR	SPI + external Step/Dir inputs
LOW (0)	LOW (0)	UART_INTERNAL_RAMP	UART + internal ramp generator (motion controller)
HIGH (1)	LOW (0)	STANDALONE_EXTERNAL_STEPDIR	Standalone Step/Dir (no SPI/UART, CFG pins configure driver)

Enumerator
SPI_INTERNAL_RAMP	SPI_MODE=HIGH, SD_MODE=LOW - SPI interface with internal ramp generator (motion controller)
SPI_EXTERNAL_STEPDIR	SPI_MODE=HIGH, SD_MODE=HIGH - SPI interface with external step/dir inputs.
UART_INTERNAL_RAMP	SPI_MODE=LOW, SD_MODE=LOW - UART interface with internal ramp generator (motion controller)
STANDALONE_EXTERNAL_STEPDIR	SPI_MODE=LOW, SD_MODE=HIGH - Standalone Step/Dir mode (no SPI/UART, CFG pins configure driver)

◆ ChopperBlankTime

enum class tmc51x0::ChopperBlankTime : uint8_t

strong

Comparator blank time enumeration.

Blank time masks comparator input to block spikes from parasitic capacitances during switching. Longer blank time provides more protection but may limit chopper frequency.

Note: For most applications, TBL_24CLK or TBL_36CLK is good.; For highly capacitive loads (e.g., filter networks), TBL_36CLK or TBL_54CLK may be required.

Enumerator
TBL_16CLK	16 clock cycles (~1.33µs @ 12MHz)
TBL_24CLK	24 clock cycles (~2.0µs @ 12MHz)
TBL_36CLK	36 clock cycles (~3.0µs @ 12MHz, typical)
TBL_54CLK	54 clock cycles (~4.5µs @ 12MHz, for high capacitive loads)

◆ ChopperMode

enum class tmc51x0::ChopperMode : bool

strong

Chopper mode enumeration.

Selects between SpreadCycle (patented high-performance algorithm) and Classic constant off-time chopper.

Enumerator
SPREAD_CYCLE	SpreadCycle mode (recommended) - superior microstepping quality.
CLASSIC	Classic constant off-time mode - alternative chopper algorithm.

◆ CommMode

enum class tmc51x0::CommMode : uint8_t

strong

Supported physical communication modes for TMC51x0.

Enumerator
SPI	SPI (Serial Peripheral Interface) mode - 4-wire synchronous communication
UART	UART (Universal Asynchronous Receiver-Transmitter) mode - 2-wire asynchronous communication

◆ CoolStepDecrementSpeed

enum class tmc51x0::CoolStepDecrementSpeed : uint8_t

strong

CoolStep current decrement speed enumeration.

Defines how many StallGuard2 measurements above threshold before decrementing current. Higher values provide slower current reduction, preventing rapid oscillations.

Enumerator
EVERY_32	Decrement every 32 measurements (slowest reduction, most stable)
EVERY_8	Decrement every 8 measurements.
EVERY_2	Decrement every 2 measurements.
EVERY_1	Decrement every measurement (fastest reduction)

◆ CoolStepIncrementStep

enum class tmc51x0::CoolStepIncrementStep : uint8_t

strong

CoolStep current increment step width enumeration.

Defines how many current steps to increment per StallGuard2 measurement below threshold. Higher values provide faster response to increasing load but may cause oscillations.

Enumerator
STEP_1	Increment by 1 step per measurement (slowest, smoothest)
STEP_2	Increment by 2 steps per measurement.
STEP_4	Increment by 4 steps per measurement.
STEP_8	Increment by 8 steps per measurement (fastest response)

◆ CoolStepMinCurrent

enum class tmc51x0::CoolStepMinCurrent : uint8_t

strong

CoolStep minimum current percentage enumeration.

Defines the minimum motor current as a percentage of IRUN when CoolStep reduces current.

Enumerator
HALF_IRUN	Minimum current is 50% of IRUN (1/2)
QUARTER_IRUN	Minimum current is 25% of IRUN (1/4)

◆ DcStepStallSensitivity

enum class tmc51x0::DcStepStallSensitivity : uint8_t

strong

DcStep stall detection sensitivity enumeration.

Defines the sensitivity of stall detection in DcStep mode. Higher sensitivity detects stalls earlier but may trigger false positives.

Enumerator
DISABLED	Stall detection disabled (dc_sg = 0)
LOW	Low sensitivity - fewer false positives (dc_sg ≈ dc_time / 20)
MODERATE	Moderate sensitivity - balanced (dc_sg ≈ dc_time / 16, recommended)
HIGH	High sensitivity - detects stalls earlier (dc_sg ≈ dc_time / 12)

◆ DriverStatus

enum class tmc51x0::DriverStatus : uint8_t

strong

Driver status enumeration.

Indicates the current status of the TMC51x0 driver, including error conditions and warnings.

Enumerator
OK	No error condition.
CP_UV	Charge pump undervoltage.
S2VSA	Short to supply phase A.
S2VSB	Short to supply phase B.
S2GA	Short to ground phase A.
S2GB	Short to ground phase B.
OT	Overtemperature (error)
OTHER_ERR	GSTAT drv_err is set but none of the above conditions is found.
OTPW	Overtemperature pre-warning.

◆ EncoderClearMode

enum class tmc51x0::EncoderClearMode : uint8_t

strong

Encoder clear mode enumeration.

Defines when and how the encoder counter is cleared on N channel events.

Enumerator
DISABLED	No clearing or latching (clr_cont=0, clr_once=0) N channel events are ignored
ONCE	Latch or latch and clear X_ENC on the next N event only (clr_once=1) Automatically disables after first N event Useful for encoders that give N signal once per revolution
CONTINUOUS	Always latch or latch and clear X_ENC upon N event (clr_cont=1) Continuously monitors N channel and triggers on every event

◆ EncoderNSensitivity

enum class tmc51x0::EncoderNSensitivity : uint8_t

strong

Encoder N channel sensitivity enumeration.

Defines how the N channel event is detected (level-sensitive or edge-sensitive). Similar to ReferenceLatchMode but specifically for encoder N channel edge detection.

Enumerator
ACTIVE_LEVEL	N channel event is active during active N level (level-sensitive) Register: pos_edge=0, neg_edge=0
RISING_EDGE	N channel is valid upon active going edge (positive edge) Register: pos_edge=1, neg_edge=0
FALLING_EDGE	N channel is valid upon inactive going edge (negative edge) Register: pos_edge=0, neg_edge=1
BOTH_EDGES	N channel is valid upon both active and inactive going edges Register: pos_edge=1, neg_edge=1

◆ EncoderPrescalerMode

enum class tmc51x0::EncoderPrescalerMode : uint8_t

strong

Encoder prescaler mode enumeration.

Defines the encoder prescaler divisor mode for ENC_CONST calculation.

Enumerator
BINARY	Binary mode - Counts ENC_CONST(fractional part) / 65536 Standard fixed-point 16.16 format
DECIMAL	Decimal mode - Counts ENC_CONST(fractional part) / 10000 Decimal representation: FACTOR.DECIMALS (e.g., 25.6 = 0x0019.0x1770)

◆ EncoderSensitivity

enum class tmc51x0::EncoderSensitivity : uint8_t

strong

Encoder N channel sensitivity enumeration values.

Enumerator
NO_EDGE	N channel active while the N event is valid.
RISING_EDGE	N channel active when the N event is activated.
FALLING_EDGE	N channel active when the N event is de-activated.
BOTH_EDGES	N channel active on N event activation and de-activation.

◆ ErrorCode

enum class tmc51x0::ErrorCode : uint8_t

strong

Error codes for TMC51x0 operations.

Enumerator
OK	Operation succeeded.
NOT_INITIALIZED	Driver not initialized.
COMM_ERROR	Communication interface error (SPI/UART)
INVALID_VALUE	Invalid parameter value.
INVALID_STATE	Operation not valid in current state.
TIMEOUT	Operation timed out.
CANCELLED	Operation cancelled by user/request.
HARDWARE_ERROR	Hardware fault detected.
SHORT_CIRCUIT	Short circuit detected.
OPEN_LOAD	Open load detected.
OVERTEMP_WARNING	Overtemperature warning threshold.
OVERTEMP_SHUTDOWN	Overtemperature shutdown.
UNSUPPORTED	Feature not supported by this chip variant.

◆ GpioSignal

enum class tmc51x0::GpioSignal : uint8_t

strong

GPIO signal states with board-agnostic naming.

Enumerator
INACTIVE	Inactive signal state (logical low)
ACTIVE	Active signal state (logical high)

◆ LogLevel

enum class tmc51x0::LogLevel : uint8_t

strong

Driver-native log levels for debug output.

These are intentionally numeric and stable so platform integrations can map them onto their own logging systems.

Convention:

Error (0): Serious failures / incorrect behavior
Warn (1): Unexpected but recoverable situations
Info (2): High-level informational messages (typical init/runtime logs)
Debug (3): Debug details (noisy)
Verbose (4): Very noisy trace

Enumerator
Error
Warn
Info
Debug
Verbose

◆ MechanicalSystemType

enum class tmc51x0::MechanicalSystemType : uint8_t

strong

Mechanical system type enumeration.

Defines the type of mechanical system connected to the motor.

Enumerator
DirectDrive	Direct drive (motor shaft directly connected)
LeadScrew	Lead screw drive.
BeltDrive	Belt drive with pulleys.
Gearbox	Gearbox reduction.

◆ MicrostepLutPreset

enum class tmc51x0::MicrostepLutPreset : uint8_t

strong

Microstep lookup table preset waveforms.

Defines preset waveform configurations for the microstep lookup table (MSLUT). The lookup table defines the first quarter of the sine wave (0-90°); the driver mirrors it for the remaining three quarters.

See also: Datasheet Section 18: Microstep Lookup Table

Enumerator

DEFAULT_SINE

TMC5160 power-on default (slightly modified sine)

Uses the factory default values programmed at reset. This provides a balanced tradeoff between smoothness and torque.

PURE_SINE

Mathematical pure sine wave.

Provides the smoothest motion with minimal torque ripple. Best for applications where smooth motion is more important than maximum torque.

◆ MicrostepResolution

enum class tmc51x0::MicrostepResolution : uint8_t

strong

Microstep resolution enumeration.

Defines the number of microsteps per full step. Higher resolution provides smoother motion but may reduce maximum velocity.

Note: Interpolation can be enabled to extrapolate to 256 microsteps regardless of MRES setting.

Enumerator
MRES_256	256 microsteps per full step (highest resolution)
MRES_128	128 microsteps per full step
MRES_64	64 microsteps per full step
MRES_32	32 microsteps per full step
MRES_16	16 microsteps per full step (typical)
MRES_8	8 microsteps per full step
MRES_4	4 microsteps per full step
MRES_2	2 microsteps per full step
FULLSTEP	Full step (no microstepping)

◆ MotorDirection

enum class tmc51x0::MotorDirection : uint8_t

strong

Motor direction enumeration.

Enumerator
NORMAL	Normal motor direction.
INVERSE	Inverse motor direction.

◆ MotorType

enum class tmc51x0::MotorType : uint8_t

strong

Motor type enumeration.

Defines the type of motor being controlled. This is primarily for documentation and configuration purposes. Direct mode can be used with any motor type.

STEPPER: Standard stepper motor (typically uses step/dir or internal ramp generator)
DC_MOTOR_SINGLE: Single DC motor (typically uses direct mode, coil A only)
DC_MOTOR_DUAL: Two DC motors (typically uses direct mode, coil A and B)
SOLENOID_SINGLE: Single solenoid/actuator (typically uses direct mode, coil A only)
SOLENOID_DUAL: Two solenoids/actuators (typically uses direct mode, coil A and B)

Note: Direct mode (global_config.direct_mode) can be enabled for any motor type. When enabled, coil currents are controlled directly via XTARGET register instead of using the ramp generator or step/dir inputs. The motor type enum helps document the intended use case but does not automatically configure direct_mode - that must be set explicitly in GlobalConfig.

Enumerator
STEPPER	Stepper motor (default, typically uses step/dir or internal ramp generator)
DC_MOTOR_SINGLE	Single DC motor (typically uses direct mode, coil A only)
DC_MOTOR_DUAL	Two DC motors (typically uses direct mode, coil A and B)
SOLENOID_SINGLE	Single solenoid/actuator (typically uses direct mode, coil A only)
SOLENOID_DUAL	Two solenoids/actuators (typically uses direct mode, coil A and B)

◆ OverTempProtection

enum class tmc51x0::OverTempProtection : uint8_t

strong

Over-temperature protection level enumeration.

Selects the over-temperature level for bridge disable. Higher values provide more protection but trigger at lower temperatures.

Note: Based on DRV_CONF register: OTSELECT bits

Enumerator
Temp150C	150°C threshold (lowest protection, highest temperature)
Temp143C	143°C threshold
Temp136C	136°C threshold (more protection)
Temp120C	120°C threshold (highest protection, lowest temperature)

◆ PWMFreewheel

enum class tmc51x0::PWMFreewheel : uint8_t

strong

PWM freewheel mode enumeration values.

Enumerator
NORMAL	Normal operation.
ENABLED	Freewheeling.
SHORT_LS	Coil shorted using LS drivers.
SHORT_HS	Coil shorted using HS drivers.

◆ RampMode

enum class tmc51x0::RampMode : uint8_t

strong

Ramp mode enumeration values.

Enumerator
POSITIONING	Positioning mode using all A, D and V parameters.
VELOCITY_POS	Positive VMAX, using AMAX acceleration.
VELOCITY_NEG	Negative VMAX, using AMAX acceleration.
HOLD	Velocity remains unchanged, unless stop event occurs.

◆ ReferenceLatchMode

enum class tmc51x0::ReferenceLatchMode : uint8_t

strong

Position latching mode enumeration.

Defines when position should be latched (captured) on switch events. Used to simplify latching configuration instead of separate boolean flags.

Enumerator
DISABLED	No position latching (latch disabled)
ACTIVE_EDGE	Latch position on active edge (switch becomes active) Most common for homing - captures position when switch triggers
INACTIVE_EDGE	Latch position on inactive edge (switch becomes inactive) Useful for capturing position when switch releases
BOTH_EDGES	Latch position on both active and inactive edges Captures position on both switch activation and release

◆ ReferenceStopMode

enum class tmc51x0::ReferenceStopMode : uint8_t

strong

Stop mode enumeration.

Defines how the motor stops when a reference switch is triggered.

Enumerator
HARD_STOP	Abrupt stop (immediate, no deceleration) Use for emergency stops and precise homing Motor stops exactly at switch position
SOFT_STOP	Soft stop using deceleration ramp (DMAX, V1, D1) Use for normal operation to prevent mechanical shock Motor decelerates smoothly to zero velocity

◆ ReferenceSwitchActiveLevel

enum class tmc51x0::ReferenceSwitchActiveLevel : uint8_t

strong

Reference switch active level enumeration.

Defines the electrical signal level when the switch is active/triggered. Used to automatically configure polarity for proper switch detection.

Note: Active level must always be specified (ACTIVE_LOW or ACTIVE_HIGH). Use stop_enable to control whether the switch stops the motor. This allows configuring polarity while enabling/disabling stop functionality in real-time.

Enumerator
ACTIVE_LOW	Switch is active when signal is LOW (GND) Typically used with pull-up resistors (switch connects to GND when active) Common for normally-closed switches and failsafe configurations Recommended for safety-critical applications (broken wire = HIGH = not active = safe)
ACTIVE_HIGH	Switch is active when signal is HIGH (VCC) Typically used with pull-down resistors (switch connects to VCC when active) Common for normally-open switches and photo interrupters

◆ SenseFilterTime

enum class tmc51x0::SenseFilterTime : uint8_t

strong

Sense amplifier filter time constant enumeration.

Filter time constant of sense amplifier to suppress ringing and coupling from second coil operation. Increase setting if motor chopper noise occurs due to cross-coupling of both coils.

Enumerator
T100ns	~100ns (reset default)
T200ns	~200ns
T300ns	~300ns
T400ns	~400ns

◆ StallGuardSensitivity

enum class tmc51x0::StallGuardSensitivity : int8_t

strong

StallGuard2 sensitivity enumeration.

Provides intuitive sensitivity levels for StallGuard2 threshold tuning. Lower SGT values = higher sensitivity (detects stalls easier, more false positives). Higher SGT values = lower sensitivity (requires more torque to detect stall, fewer false positives).

Enumerator
VERY_HIGH	Very high sensitivity (SGT = -32) - detects stalls very easily.
HIGH	High sensitivity (SGT = -16) - detects stalls easily.
MODERATE	Moderate sensitivity (SGT = 0) - starting value, works with most motors.
LOW	Low sensitivity (SGT = 16) - requires more torque to detect stall.
VERY_LOW	Very low sensitivity (SGT = 32) - requires significant torque to detect stall.

◆ StealthChopJerkReduction

enum class tmc51x0::StealthChopJerkReduction : uint8_t

strong

StealthChop mode switching jerk reduction enumeration.

Controls current jerk reduction when switching from SpreadCycle to StealthChop. Lower values reduce current spike during mode switching (smoother). Higher values allow faster switching but may cause more current jerk.

Note: Only affects switching from SpreadCycle to StealthChop.; Reduce value if experiencing current spikes during mode switching.

Enumerator
MAXIMUM	Maximum jerk reduction (smoothest switching)
HIGH	High jerk reduction.
MODERATE	Moderate jerk reduction (default, balanced)
LOW	Low jerk reduction.
MINIMUM	Minimum jerk reduction (fastest switching, may cause spikes)

◆ StealthChopPwmFreq

enum class tmc51x0::StealthChopPwmFreq : uint8_t

strong

StealthChop PWM frequency enumeration.

Provides PWM frequency selection options for StealthChop operation. Lower frequencies reduce current ripple but may limit high-velocity performance. Higher frequencies improve high-velocity performance but increase dynamic power dissipation.

Recommended range: 20-50kHz for most applications.

Note

Actual frequency depends on clock frequency (f_CLK).

For 12MHz internal clock:

PWM_FREQ_0: ~23.4kHz
PWM_FREQ_1: ~35.1kHz (recommended)
PWM_FREQ_2: ~46.9kHz
PWM_FREQ_3: ~58.5kHz

Enumerator
PWM_FREQ_0	fPWM = 2/1024 * fCLK (~23.4kHz @ 12MHz)
PWM_FREQ_1	fPWM = 2/683 * fCLK (~35.1kHz @ 12MHz, recommended)
PWM_FREQ_2	fPWM = 2/512 * fCLK (~46.9kHz @ 12MHz)
PWM_FREQ_3	fPWM = 2/410 * fCLK (~58.5kHz @ 12MHz)

◆ StealthChopRegulationSpeed

enum class tmc51x0::StealthChopRegulationSpeed : uint8_t

strong

StealthChop regulation speed enumeration.

Controls how fast the PWM amplitude regulation loop adapts to changes. Specifies maximum PWM amplitude change per half wave when using automatic scaling.

Lower values provide stable, soft regulation (slower response). Higher values provide faster adaptation but may be less stable.

Note: Optimize for fastest required acceleration/deceleration ramp.; Higher acceleration during AT#2 requires higher regulation speed.

Enumerator
VERY_SLOW	0.5 increments per half wave (slowest, most stable)
SLOW	1 increment per half wave
MODERATE	2 increments per half wave (default, balanced)
FAST	4 increments per half wave
VERY_FAST	7.5 increments per half wave (fastest, may be less stable)

◆ TMC51x0CtrlPin

enum class tmc51x0::TMC51x0CtrlPin : uint8_t

strong

TMC51x0 control pin identifiers with board-agnostic naming.

These pin identifiers abstract the physical pin assignments to provide a consistent interface regardless of board implementation.

Pin functions depend on mode configuration (SPI_MODE, SD_MODE):

SPI_MODE=1, SD_MODE=0: Internal ramp generator mode (motion controller)
- REFL_STEP, REFR_DIR: Reference switch inputs
- ENCA, ENCB, ENCN: Encoder inputs
- DIAG0, DIAG1: Diagnostic outputs
SPI_MODE=1, SD_MODE=1: External step/dir mode
- REFL_STEP, REFR_DIR: STEP/DIR inputs (same physical pins)
- DCEN, DCIN, DCO: DC Step control pins (same physical pins as ENCB, ENCA, ENCN)
- DIAG0, DIAG1: Diagnostic outputs
SPI_MODE=0, SD_MODE=0: UART single wire interface mode
- DIAG1_SWP (pin 27): Single wire I/O (positive) - Use SWP alone for single wire UART
- DIAG0_SWN (pin 26): Single wire I/O (negative) - Use SWP+SWN for RS485 differential bus
- SDI_CFG1 (pin 15): Next address input (NAI) for sequential addressing
- SDO_CFG0 (pin 16): Next address output (NAO) for sequential addressing
- CSN_CFG3, SCK_CFG2, ENCB_CFG4, ENCA_CFG5: Configuration inputs (CFG functions)
- Other pins: Not used for communication in UART mode

Note: Some pins have multiple functions depending on mode. See datasheet section 2.2 for complete pin function descriptions.

Enumerator
EN	Enable pin (DRV_ENN, pin 28) - Active HIGH disables power stage.
DIR	Direction pin (REFR_DIR, pin 18) - DIR input when SD_MODE=1, Right reference when SD_MODE=0
STEP	Step pin (REFL_STEP, pin 17) - STEP input when SD_MODE=1, Left reference when SD_MODE=0
REFL_STEP	Left reference switch input (REFL_STEP, pin 17) - Used when SD_MODE=0
REFR_DIR	Right reference switch input (REFR_DIR, pin 18) - Used when SD_MODE=0
DIAG0	Diagnostic output 0 (DIAG0_SWN, pin 26) - Interrupt/STEP output when SD_MODE=0, SPI_MODE=1. Single wire I/O (negative) when SD_MODE=0, SPI_MODE=0 (UART mode). Use with DIAG1_SWP for RS485 bus.
DIAG1	Diagnostic output 1 (DIAG1_SWP, pin 27) - Position-compare/DIR output when SD_MODE=0, SPI_MODE=1. Single wire I/O (positive) when SD_MODE=0, SPI_MODE=0 (UART mode). Use alone for single wire UART.
ENCA	Encoder A-channel input (ENCA_DCIN_CFG5, pin 24) - Used when SD_MODE=0
ENCB	Encoder B-channel input (ENCB_DCEN_CFG4, pin 23) - Used when SD_MODE=0
ENCN	Encoder N-channel input (ENCN_DCO_CFG6, pin 25) - Used when SD_MODE=0
DCEN	DC Step enable input (ENCB_DCEN_CFG4, pin 23) - Used when SD_MODE=1, SPI_MODE=1
DCIN	DC Step gating input (ENCA_DCIN_CFG5, pin 24) - Used when SD_MODE=1, SPI_MODE=1
DCO	DC Step ready output (ENCN_DCO_CFG6, pin 25) - Used when SD_MODE=1, SPI_MODE=1
CLK	Clock input (CLK, pin 12) - External clock input (tie to GND for internal clock)
SPI_MODE	SPI/UART mode select (pin 22) - HIGH=SPI, LOW=UART. Typically hardwired.
SD_MODE	Step/Dir mode select (pin 21) - HIGH=External step/dir, LOW=Internal ramp. Typically hardwired.

◆ UartFrameType

enum class tmc51x0::UartFrameType : uint8_t

strong

TMC5160 UART frame types.

Enumerator
WriteAccess	Write access datagram (8 bytes: 7 bytes + CRC)
ReadRequest	Read access request datagram (4 bytes: 3 bytes + CRC)
ReadReply	Read access reply datagram (8 bytes: 7 bytes + CRC)

◆ Unit

enum class tmc51x0::Unit : uint8_t

strong

Unit enumeration.

Defines the unit of measurement for position, velocity, and acceleration. Steps:

For float APIs (e.g. SetTargetPosition(float, Unit) / SetMaxSpeed(float, Unit)), Unit::Steps is treated as motor full-steps for convenience.
The TMC51x0 motion-controller position registers (XACTUAL/XTARGET/...) use microsteps internally. The driver converts full-steps ↔ microsteps using the current microstep resolution.
For raw register units, use the APIs that accept int32_t positions (these are microsteps). Rad: Radians (per second for velocity, per second^2 for accel) Deg: Degrees (per second for velocity, per second^2 for accel) Mm: Millimeters (linear only) RPM: Revolutions per Minute (Velocity only, typically) RevPerSec: Revolutions per Second (recommended default for velocity)

Enumerator
Steps	Steps (see notes above; float APIs treat this as full-steps, register units are microsteps)
Rad	Radians (per second for velocity, per second^2 for accel)
Deg	Degrees (per second for velocity, per second^2 for accel)
Mm	Millimeters (linear only)
RPM	Revolutions per Minute (Velocity only, typically)
RevPerSec	Revolutions per Second (recommended default for velocity)

Function Documentation

◆ AccelerationMmToSteps()

constexpr float tmc51x0::AccelerationMmToSteps	(	float	accel_mm_per_sec2,
		float	steps_per_rev,
		float	lead_screw_pitch_mm )

constexprnoexcept

Convert acceleration from mm/s² to steps/s²

Parameters

accel_mm_per_sec2	Acceleration in millimeters per second squared
steps_per_rev	Steps per revolution of the motor
lead_screw_pitch_mm	Lead screw pitch in millimeters

Returns: Acceleration in steps per second squared

◆ AccelerationStepsToMm()

constexpr float tmc51x0::AccelerationStepsToMm	(	float	accel_steps_per_sec2,
		float	steps_per_rev,
		float	lead_screw_pitch_mm )

constexprnoexcept

Convert acceleration from steps/s² to mm/s²

Parameters

accel_steps_per_sec2	Acceleration in steps per second squared
steps_per_rev	Steps per revolution of the motor
lead_screw_pitch_mm	Lead screw pitch in millimeters

Returns: Acceleration in millimeters per second squared

◆ BeltTeethToSteps()

constexpr int32_t tmc51x0::BeltTeethToSteps	(	uint32_t	teeth,
		float	steps_per_rev,
		uint16_t	belt_pulley_teeth )

constexprnoexcept

Convert belt drive distance (teeth) to steps.

Parameters

teeth	Number of belt teeth
steps_per_rev	Steps per revolution of the motor
belt_pulley_teeth	Number of teeth on the motor pulley

Returns: Number of steps

◆ calculateCrc8()

static constexpr uint8_t tmc51x0::calculateCrc8	(	const uint8_t *	data,
		size_t	length )

staticconstexprnoexcept

Calculate CRC8 checksum for UART communication.

TMC5160 uses CRC8-ATM polynomial (x^8 + x^2 + x^1 + x^0 = 0x07) with initial value of zero. The CRC is applied LSB to MSB, including the sync- and addressing byte. The sync nibble is assumed to always be correct.

Algorithm per datasheet section 5.2: CRC = (CRC << 1) OR (CRC.7 XOR CRC.1 XOR CRC.0 XOR [new incoming bit])

Parameters

data	Pointer to the data bytes to checksum
length	Number of bytes to include in the checksum calculation

Returns: 8-bit CRC8 checksum value

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◆ CalculateMaxCurrentForSenseResistor()

uint16_t tmc51x0::CalculateMaxCurrentForSenseResistor ( uint32_t sense_resistor_mohm )

inlinenoexcept

Calculate maximum RMS current for a given sense resistor.

Parameters

sense_resistor_mohm Sense resistor value in milliohms

Returns: Maximum RMS current in milliamps at full scale (GLOBAL_SCALER=256, CS=31)

◆ CalculateMotorCurrent()

bool tmc51x0::CalculateMotorCurrent	(	const MotorSpec &	motor_spec,
		uint32_t	sense_resistor_mohm,
		uint32_t	supply_voltage_mv,
		uint16_t	run_current_ma,
		uint16_t	hold_current_ma,
		uint8_t &	irun,
		uint8_t &	ihold,
		uint16_t &	global_scaler )

inlinenoexcept

Calculate motor current settings from physical parameters.

Calculates IRUN, IHOLD, and GLOBAL_SCALER based on:

Desired run current (typically motor rated current)
Sense resistor value
Supply voltage (for StealthChop lower limit calculation)
Motor winding resistance (for StealthChop lower limit)

Parameters

motor_spec	Motor specifications including rated current, resistance, etc.
sense_resistor_mohm	Sense resistor value in milliohms (e.g., 50 for 0.05Ω)
supply_voltage_mv	Supply voltage in millivolts (e.g., 24000 for 24V)
run_current_ma	Desired run current in milliamps (default: motor rated current)
hold_current_ma	Desired hold current in milliamps (default: 30% of run current)
irun	Reference to store calculated IRUN value (0-31)
ihold	Reference to store calculated IHOLD value (0-31)
global_scaler	Reference to store calculated GLOBAL_SCALER value (32-256)

Returns: true if calculation successful, false if parameters invalid

Note: Based on datasheet equation: I_RMS = (GLOBAL_SCALER/256) * ((CS+1)/32) * (VFS/RSENSE) * (1/√2) Where VFS ≈ 325mV (0.325V, typical full-scale voltage) Calculations work directly in milliohms, millivolts, and milliamps; For best precision, IRUN will be constrained to 16-31 range; For automatic tuning compatibility, IRUN will be at least 8

◆ CalculateS2GLevel()

uint8_t tmc51x0::CalculateS2GLevel	(	uint16_t	voltage_mv,
		uint32_t	supply_voltage_mv = 0 )

inlinenoexcept

Calculate S2G_LEVEL register value from voltage threshold.

Converts user-friendly voltage threshold (mV) to S2G_LEVEL register value (2-15). Uses datasheet typical values for interpolation.

Parameters

voltage_mv	Voltage threshold in millivolts (0 = auto-calculate to 625mV)
supply_voltage_mv	Supply voltage in millivolts (for VS-dependent calculation)

Returns: S2G_LEVEL register value (2-15), or 0 if voltage out of range

Datasheet typical values (VS-dependent):

S2G_LEVEL=6 (VS<50V): 625mV
S2G_LEVEL=15 (VS<52V): 1560mV
S2G_LEVEL=15 (VS<55V): 850mV (minimum to prevent false triggers)

Note: For VS>52V, minimum recommended is 1200mV (S2G_LEVEL=12)

◆ CalculateS2VSLevel()

uint8_t tmc51x0::CalculateS2VSLevel ( uint16_t voltage_mv )

inlinenoexcept

Calculate S2VS_LEVEL register value from voltage threshold.

Converts user-friendly voltage threshold (mV) to S2VS_LEVEL register value (4-15). Uses datasheet typical values for interpolation.

Parameters

voltage_mv Voltage threshold in millivolts (0 = auto-calculate to 625mV)

Returns: S2VS_LEVEL register value (4-15), or 0 if voltage out of range

Datasheet typical values:

S2VS_LEVEL=6: 625mV
S2VS_LEVEL=15: 1560mV

Note: Linear interpolation between known points

◆ CalculateShortDelay()

uint8_t tmc51x0::CalculateShortDelay ( uint8_t delay_us_x10 )

inlinenoexcept

Calculate shortdelay register bit from detection delay time.

Converts user-friendly delay time (µs in 0.1µs units) to shortdelay register bit (0-1).

Parameters

delay_us_x10 Detection delay in 0.1µs units (0 = auto-calculate to 8.5 = 0.85µs)

Returns: shortdelay register bit (0 or 1), or 0 if delay out of range

Datasheet timing (typical values):

shortdelay=0: 0.5-0.85-1.1µs (normal)
shortdelay=1: 1.1-1.6-2.2µs (high delay)

Note: Threshold at ~1.0µs: below uses shortdelay=0, above uses shortdelay=1

◆ CalculateStealthChopLowerLimit()

uint16_t tmc51x0::CalculateStealthChopLowerLimit	(	const MotorSpec &	motor_spec,
		uint32_t	supply_voltage_mv,
		uint8_t	tbl,
		uint8_t	pwm_freq,
		uint32_t	f_clk = 12000000U )

inlinenoexcept

Calculate StealthChop lower current limit.

Calculates the minimum motor current that can be regulated in StealthChop mode based on blank time, PWM frequency, supply voltage, and motor resistance.

Parameters

motor_spec	Motor specifications including winding resistance
supply_voltage_mv	Supply voltage in millivolts
tbl	Blank time setting (0-3, corresponds to 16, 24, 36, 54 clock cycles)
pwm_freq	PWM frequency setting (0-3)
f_clk	Clock frequency in Hz (default: 12 MHz)

Returns: Lower current limit in milliamps, or 0 if calculation not possible

Note: Based on datasheet equation: I_Lower_Limit = t_BLANK * f_PWM * V_M / R_COIL Where t_BLANK depends on TBL setting

◆ DegreesToSteps()

constexpr int32_t tmc51x0::DegreesToSteps	(	float	degrees,
		float	steps_per_rev )

constexprnoexcept

Convert degrees to steps.

Parameters

degrees	Angle in degrees
steps_per_rev	Steps per revolution of the motor

Returns: Number of steps

◆ ErrorMessage()

const char * tmc51x0::ErrorMessage ( ErrorCode code )

inline

Get human-readable error message.

Parameters

code	Error code

Returns: Error message string

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◆ get() [1/6]

template<std::size_t N, typename T >

decltype(auto) tmc51x0::get ( const Result< T > & r )

noexcept

◆ get() [2/6]

template<std::size_t N>

std::enable_if_t< N==0, ErrorCode > tmc51x0::get ( const Result< void > & r )

noexcept

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◆ get() [3/6]

template<std::size_t N, typename T >

decltype(auto) tmc51x0::get ( Result< T > && r )

noexcept

◆ get() [4/6]

template<std::size_t N, typename T >

decltype(auto) tmc51x0::get ( Result< T > & r )

noexcept

Tuple-like access for structured bindings (C++17)

Structured bindings use unqualified get<N>(obj) found via ADL for tuple-like types. These overloads make auto [err, value] = result; work reliably.

◆ get() [5/6]

template<std::size_t N>

std::enable_if_t< N==0, ErrorCode > tmc51x0::get ( Result< void > && r )

noexcept

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◆ get() [6/6]

template<std::size_t N>

std::enable_if_t< N==0, ErrorCode > tmc51x0::get ( Result< void > & r )

noexcept

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◆ GetDriverVersion()

const char * tmc51x0::GetDriverVersion ( )

inlinenoexcept

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◆ GetRegisterDef()

const char * tmc51x0::GetRegisterDef ( uint8_t address )

◆ MicrostepsPerFullStep()

constexpr uint16_t tmc51x0::MicrostepsPerFullStep ( MicrostepResolution mres )

inlineconstexprnoexcept

Get microsteps-per-full-step for an MRES value.

Note: Encoded: 0=256 ... 8=1 (fullstep). Values outside [0,8] are clamped.

◆ MmPerSecToStepsPerSec()

constexpr float tmc51x0::MmPerSecToStepsPerSec	(	float	mm_per_sec,
		float	steps_per_rev,
		float	lead_screw_pitch_mm )

constexprnoexcept

Convert millimeters per second to steps per second.

Parameters

mm_per_sec	Speed in millimeters per second
steps_per_rev	Steps per revolution of the motor
lead_screw_pitch_mm	Lead screw pitch in millimeters

Returns: Speed in steps per second

◆ MmToSteps()

constexpr int32_t tmc51x0::MmToSteps	(	float	mm,
		float	steps_per_rev,
		float	lead_screw_pitch_mm )

constexprnoexcept

Convert millimeters to steps.

Parameters

mm	Distance in millimeters
steps_per_rev	Steps per revolution of the motor
lead_screw_pitch_mm	Lead screw pitch in millimeters

Returns: Number of steps

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◆ RpmToStepsPerSec()

constexpr float tmc51x0::RpmToStepsPerSec	(	float	rpm,
		float	steps_per_rev )

constexprnoexcept

Convert RPM to steps per second.

Parameters

rpm	Revolutions per minute
steps_per_rev	Steps per revolution of the motor

Returns: Speed in steps per second

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◆ StepsPerSecToMmPerSec()

constexpr float tmc51x0::StepsPerSecToMmPerSec	(	float	steps_per_sec,
		float	steps_per_rev,
		float	lead_screw_pitch_mm )

constexprnoexcept

Convert steps per second to millimeters per second.

Parameters

steps_per_sec	Speed in steps per second
steps_per_rev	Steps per revolution of the motor
lead_screw_pitch_mm	Lead screw pitch in millimeters

Returns: Speed in millimeters per second

◆ StepsPerSecToRpm()

constexpr float tmc51x0::StepsPerSecToRpm	(	float	steps_per_sec,
		float	steps_per_rev )

constexprnoexcept

Convert steps per second to RPM.

Parameters

steps_per_sec	Speed in steps per second
steps_per_rev	Steps per revolution of the motor

Returns: Speed in RPM

◆ StepsToBeltTeeth()

constexpr float tmc51x0::StepsToBeltTeeth	(	int32_t	steps,
		float	steps_per_rev,
		uint16_t	belt_pulley_teeth )

constexprnoexcept

Convert steps to belt drive distance (teeth)

Parameters

steps	Number of steps
steps_per_rev	Steps per revolution of the motor
belt_pulley_teeth	Number of teeth on the motor pulley

Returns: Number of belt teeth

◆ StepsToDegrees()

constexpr float tmc51x0::StepsToDegrees	(	int32_t	steps,
		float	steps_per_rev )

constexprnoexcept

Convert steps to degrees.

Parameters

steps	Number of steps
steps_per_rev	Steps per revolution of the motor

Returns: Angle in degrees

◆ StepsToMm()

constexpr float tmc51x0::StepsToMm	(	int32_t	steps,
		float	steps_per_rev,
		float	lead_screw_pitch_mm )

constexprnoexcept

Convert steps to millimeters.

Parameters

steps	Number of steps
steps_per_rev	Steps per revolution of the motor
lead_screw_pitch_mm	Lead screw pitch in millimeters (for lead screws)

Returns: Distance in millimeters

For lead screws: distance = (steps / steps_per_rev) * lead_screw_pitch_mm

◆ ToString() [1/13]

constexpr const char * tmc51x0::ToString ( ChopperMode m )

inlineconstexprnoexcept

Convert ChopperMode to human-readable string.

◆ ToString() [2/13]

constexpr const char * tmc51x0::ToString ( EncoderClearMode m )

inlineconstexprnoexcept

Convert EncoderClearMode to human-readable string.

◆ ToString() [3/13]

constexpr const char * tmc51x0::ToString ( EncoderNSensitivity s )

inlineconstexprnoexcept

Convert EncoderNSensitivity to human-readable string.

◆ ToString() [4/13]

constexpr const char * tmc51x0::ToString ( EncoderPrescalerMode m )

inlineconstexprnoexcept

Convert EncoderPrescalerMode to human-readable string.

◆ ToString() [5/13]

constexpr const char * tmc51x0::ToString ( MechanicalSystemType type )

inlineconstexprnoexcept

Convert MechanicalSystemType to human-readable string.

◆ ToString() [6/13]

constexpr const char * tmc51x0::ToString ( MicrostepLutPreset preset )

inlineconstexprnoexcept

Convert MicrostepLutPreset to human-readable string.

◆ ToString() [7/13]

constexpr const char * tmc51x0::ToString ( MicrostepResolution mres )

inlineconstexprnoexcept

Convert MicrostepResolution to human-readable string.

◆ ToString() [8/13]

constexpr const char * tmc51x0::ToString ( MotorDirection d )

inlineconstexprnoexcept

Convert MotorDirection to human-readable string.

◆ ToString() [9/13]

constexpr const char * tmc51x0::ToString ( MotorType t )

inlineconstexprnoexcept

Convert MotorType to human-readable string.

◆ ToString() [10/13]

constexpr const char * tmc51x0::ToString ( ReferenceLatchMode m )

inlineconstexprnoexcept

Convert ReferenceLatchMode to human-readable string.

◆ ToString() [11/13]

constexpr const char * tmc51x0::ToString ( ReferenceStopMode m )

inlineconstexprnoexcept

Convert ReferenceStopMode to human-readable string.

◆ ToString() [12/13]

constexpr const char * tmc51x0::ToString ( ReferenceSwitchActiveLevel a )

inlineconstexprnoexcept

Convert ReferenceSwitchActiveLevel to human-readable string.

◆ ToString() [13/13]

constexpr const char * tmc51x0::ToString ( Unit u )

inlineconstexprnoexcept

Convert Unit to human-readable string.

Namespaces

Classes

Typedefs

Enumerations

Functions

Typedef Documentation

◆ ResultVoid

Enumeration Type Documentation

◆ ChipCommMode

◆ ChopperBlankTime

◆ ChopperMode

◆ CommMode

◆ CoolStepDecrementSpeed

◆ CoolStepIncrementStep

◆ CoolStepMinCurrent

◆ DcStepStallSensitivity

◆ DriverStatus

◆ EncoderClearMode

◆ EncoderNSensitivity

◆ EncoderPrescalerMode

◆ EncoderSensitivity

◆ ErrorCode

◆ GpioSignal

◆ LogLevel

◆ MechanicalSystemType

◆ MicrostepLutPreset

◆ MicrostepResolution

◆ MotorDirection

◆ MotorType

◆ OverTempProtection

◆ PWMFreewheel

◆ RampMode

◆ ReferenceLatchMode

◆ ReferenceStopMode

◆ ReferenceSwitchActiveLevel

◆ SenseFilterTime

◆ StallGuardSensitivity

◆ StealthChopJerkReduction

◆ StealthChopPwmFreq

◆ StealthChopRegulationSpeed

◆ TMC51x0CtrlPin

◆ UartFrameType

◆ Unit

Function Documentation

◆ AccelerationMmToSteps()

◆ AccelerationStepsToMm()

◆ BeltTeethToSteps()

◆ calculateCrc8()

◆ CalculateMaxCurrentForSenseResistor()

◆ CalculateMotorCurrent()

◆ CalculateS2GLevel()

◆ CalculateS2VSLevel()

◆ CalculateShortDelay()

◆ CalculateStealthChopLowerLimit()

◆ DegreesToSteps()

◆ ErrorMessage()

◆ get() [1/6]

◆ get() [2/6]

◆ get() [3/6]

◆ get() [4/6]

◆ get() [5/6]

◆ get() [6/6]

◆ GetDriverVersion()

◆ GetRegisterDef()

◆ MicrostepsPerFullStep()

◆ MmPerSecToStepsPerSec()

◆ MmToSteps()

◆ RpmToStepsPerSec()

◆ StepsPerSecToMmPerSec()

◆ StepsPerSecToRpm()

◆ StepsToBeltTeeth()

◆ StepsToDegrees()

◆ StepsToMm()

◆ ToString() [1/13]

◆ ToString() [2/13]

◆ ToString() [3/13]

◆ ToString() [4/13]

◆ ToString() [5/13]

◆ ToString() [6/13]

◆ ToString() [7/13]