Namespaces
namespace	anonymous_namespace{esp32_tmc51x0_test_config.hpp}

namespace	ConfigValidators
	Validator helper - checks if a type has required members.

Classes
struct	BoardConfig_TMC51x0_BOB
	Board hardware configuration for TMC51x0 Break-Out Board (BOB) More...

struct	BoardConfig_TMC51x0_EVAL
	Board hardware configuration for TMC51x0 Evaluation Kit. More...

struct	MotorConfig_17HS4401S
	Motor Configuration for 17HS4401S-PG518 NEMA 17 Stepper Motor (WITH GEARBOX) More...

struct	MotorConfig_17HS4401S_Direct
	Motor Configuration for 17HS4401S NEMA 17 Stepper Motor (DIRECT DRIVE, NO GEARBOX) More...

struct	MotorConfig_AppliedMotion_5034_369
	Motor Configuration for Applied Motion 5034-369 NEMA 34 Stepper Motor. More...

struct	PlatformConfig_CoreDriverTestRig
	Platform configuration for Core Driver Test Rig. More...

struct	PlatformConfig_FatigueTestRig
	Platform configuration for Fatigue Test Rig. More...

struct	TestConfig_17HS4401S
	Test Rig Configuration Defaults. More...

struct	TestConfig_AppliedMotion_5034
	Test Configuration for Applied Motion 5034-369 Motor. More...

struct	TestConfigAccessor
	Test configuration accessor struct. More...

struct	TestRigConfig
	Base template for test rig configuration (undefined - forces explicit specialization) More...

struct	TestRigConfig< TestRigType::TEST_RIG_CORE_DRIVER >
	Test rig configuration for TEST_RIG_CORE_DRIVER. More...

struct	TestRigConfig< TestRigType::TEST_RIG_FATIGUE >
	Test rig configuration for TEST_RIG_FATIGUE. More...

Typedefs
template<TestRigType test_rig>
using	GetTestConfigForTestRig = typename TestRigConfig<test_rig>::Test
	Get test configuration accessor for a given test rig.

Enumerations
enum class	MotorType { MOTOR_17HS4401S_GEARBOX , MOTOR_17HS4401S_DIRECT , MOTOR_APPLIED_MOTION_5034 }
	Motor type enumeration for compile-time motor selection. More...

enum class	BoardType { BOARD_TMC51x0_EVAL , BOARD_TMC51x0_BOB }
	Board type enumeration. More...

enum class	PlatformType { PLATFORM_CORE_DRIVER_TEST_RIG , PLATFORM_FATIGUE_TEST_RIG }
	Platform type enumeration. More...

enum class	TestRigType { TEST_RIG_CORE_DRIVER , TEST_RIG_FATIGUE }
	Test rig type enumeration. More...

Functions
Esp32SpiPinConfig	GetDefaultPinConfig () noexcept
	Complete pin configuration for all tests.

template<BoardType board_type>
void	ApplyBoardConfig (tmc51x0::DriverConfig &cfg) noexcept
	Helper function to apply board configuration to DriverConfig.

void	ConfigureDriverFromMotor_17HS4401S_Gearbox (tmc51x0::DriverConfig &cfg) noexcept
	Helper function to populate DriverConfig from 17HS4401S gearbox motor configuration.

void	ConfigureDriverFromMotor_17HS4401S_Direct (tmc51x0::DriverConfig &cfg) noexcept
	Helper function to populate DriverConfig from 17HS4401S direct drive motor configuration.

void	ConfigureDriverFromMotor_AppliedMotion_5034 (tmc51x0::DriverConfig &cfg) noexcept
	Helper function to populate DriverConfig from Applied Motion 5034 motor configuration.

template<PlatformType platform_type>
void	ApplyPlatformConfig (tmc51x0::DriverConfig &cfg) noexcept
	Helper function to apply platform configuration to DriverConfig.

template<PlatformType platform_type>
tmc51x0::ReferenceSwitchConfig	GetReferenceSwitchConfig () noexcept
	Helper function to configure reference switches from platform config.

template<PlatformType platform_type>
tmc51x0::EncoderConfig	GetEncoderConfig () noexcept
	Helper function to configure encoder from platform config.

template<PlatformType platform_type>
constexpr uint16_t	GetEncoderPulsesPerRev () noexcept
	Helper function to get encoder pulses per revolution from platform config.

template<PlatformType platform_type>
bool	GetEncoderInvertDirection () noexcept
	Helper function to get encoder invert direction flag from platform config.

template<TestRigType test_rig>
constexpr MotorType	GetTestRigMotorType () noexcept
	Get motor type for a given test rig.

template<TestRigType test_rig>
constexpr BoardType	GetTestRigBoardType () noexcept
	Get board type for a given test rig.

template<TestRigType test_rig>
constexpr PlatformType	GetTestRigPlatformType () noexcept
	Get platform type for a given test rig.

template<TestRigType test_rig>
void	ConfigureDriverFromTestRig (tmc51x0::DriverConfig &cfg, bool use_direct_drive=false) noexcept
	Configure driver from test rig selection.

template<TestRigType test_rig>
tmc51x0::ReferenceSwitchConfig	GetTestRigReferenceSwitchConfig () noexcept
	Get reference switch configuration for a test rig.

template<TestRigType test_rig>
tmc51x0::EncoderConfig	GetTestRigEncoderConfig () noexcept
	Get encoder configuration for a test rig.

template<TestRigType test_rig>
constexpr uint16_t	GetTestRigEncoderPulsesPerRev () noexcept
	Get encoder pulses per revolution for a test rig.

template<TestRigType test_rig>
bool	GetTestRigEncoderInvertDirection () noexcept
	Get encoder invert direction flag for a test rig.

template<TestRigType test_rig>
constexpr uint16_t	GetTestRigMotorOutputFullSteps (bool use_direct_drive=false) noexcept
	Get motor output full steps per revolution for a test rig.

Variables
constexpr gpio_num_t	SPI_SCK = GPIO_NUM_5
	SPI clock pin.

constexpr gpio_num_t	SPI_MOSI = GPIO_NUM_6
	SPI MOSI (master out, slave in)

constexpr gpio_num_t	SPI_MISO = GPIO_NUM_2
	SPI MISO (master in, slave out)

constexpr gpio_num_t	SPI_CS = GPIO_NUM_18
	SPI chip select pin.

constexpr gpio_num_t	DRV_EN = GPIO_NUM_11
	Driver enable pin (DRV_ENN)

constexpr gpio_num_t	CLK = GPIO_NUM_10
	Clock input pin (CLK, pin 12)

constexpr gpio_num_t	SPI_MODE_PIN = GPIO_NUM_0
	SPI_MODE pin (pin 22) - GPIO0 if available as control pin.

constexpr gpio_num_t	SD_MODE_PIN = GPIO_NUM_1
	SD_MODE pin (pin 21) - GPIO1 if available as control pin.

constexpr gpio_num_t	DIAG0 = GPIO_NUM_23
	Diagnostic output 0 (DIAG0_SWN, pin 26)

constexpr gpio_num_t	DIAG1 = GPIO_NUM_15
	Diagnostic output 1 (DIAG1_SWP, pin 27)

constexpr gpio_num_t	DIR = static_cast<gpio_num_t>(-1)
	Direction pin (optional)

constexpr gpio_num_t	STEP = static_cast<gpio_num_t>(-1)
	Step pin (optional)

constexpr uint32_t	SPI_CLOCK_SPEED_HZ = 500000
	SPI clock speed.

constexpr spi_host_device_t	SPI_HOST = SPI2_HOST
	SPI host device.

Typedef Documentation

◆ GetTestConfigForTestRig

template<TestRigType test_rig>

using tmc51x0_test_config::GetTestConfigForTestRig = typename TestRigConfig<test_rig>::Test

Get test configuration accessor for a given test rig.

Automatically selects the appropriate test config based on the test rig's motor type. This provides compile-time access to test configuration parameters.

Usage: using TestConfig = GetTestConfigForTestRig<SELECTED_TEST_RIG>; float speed = TestConfig::Motion::BOUNDS_SEARCH_SPEED_RPM;

Note: This is now an alias to TestRigConfig::Test for consistency. The TestConfigAccessor is still available for backward compatibility.

Enumeration Type Documentation

◆ BoardType

enum class tmc51x0_test_config::BoardType

strong

Board type enumeration.

Selects which board configuration to use at compile time. Board configuration includes hardware parameters like sense resistor, supply voltage, MOSFET characteristics, etc.

Enumerator
BOARD_TMC51x0_EVAL	TMC51x0 Evaluation Kit (0.05Ω sense, 24V, BSC072N08NS5 MOSFETs)
BOARD_TMC51x0_BOB	TMC51x0 Break-Out Board (0.11Ω sense, 24V, typical MOSFETs)

◆ MotorType

enum class tmc51x0_test_config::MotorType

strong

Motor type enumeration for compile-time motor selection.

This enumeration defines the available motor configurations that can be selected at compile time. Each motor has its own configuration namespace with optimized settings for current, chopper, and StealthChop parameters.

MOTOR SELECTION GUIDE:

MOTOR_17HS4401S_GEARBOX (default):
- Model: 17HS4401S-PG518 with 5.18:1 planetary gearbox
- Rated Current: 1.68A RMS per phase
- Step Angle: 1.8° (200 steps/rev motor, ~1036 steps/rev output)
- Holding Torque: 40Ncm (motor), ~207Ncm (output with gearbox)
- Current Settings: IRUN=20 (~1.88A RMS), IHOLD=10 (~0.94A RMS)
- Use for: Applications requiring high torque and precision positioning
- Power Supply: 2-3A recommended
MOTOR_17HS4401S_DIRECT:
- Model: 17HS4401S direct drive (no gearbox)
- Rated Current: 1.68A RMS per phase
- Step Angle: 1.8° (200 steps/rev)
- Holding Torque: 40Ncm
- Current Settings: IRUN=20 (~1.88A RMS), IHOLD=10 (~0.94A RMS)
- Use for: Applications requiring higher speed and lower torque
- Power Supply: 2-3A recommended
MOTOR_APPLIED_MOTION_5034:
- Model: Applied Motion Products 5034-369 NEMA 34
- Rated Current: 4.17A RMS per phase (bipolar series)
- Step Angle: 1.8° (200 steps/rev)
- Holding Torque: 636 oz-in (4.5 Nm)
- Resistance: 0.84 Ohms/phase (bipolar series)
- Inductance: 10.4 mH/phase (bipolar series)
- Current Settings: IRUN=28 (~4.17A RMS), IHOLD=14 (~2.15A RMS)
- Use for: High-torque applications requiring 4A+ current
- WARNING: Requires power supply capable of 5A+ continuous current

USAGE: In your example file, declare a static constexpr variable at global scope:

static constexpr tmc51x0_test_config::MotorType SELECTED_MOTOR = 
    tmc51x0_test_config::MotorType::MOTOR_17HS4401S_GEARBOX;

Then use conditional compilation or if constexpr to select the motor namespace:

if constexpr (SELECTED_MOTOR == MotorType::MOTOR_17HS4401S_GEARBOX) {
    namespace Motor = tmc51x0_test_config::MotorConfig_17HS4401S;
} else if constexpr (SELECTED_MOTOR == MotorType::MOTOR_17HS4401S_DIRECT) {
    namespace Motor = tmc51x0_test_config::MotorConfig_17HS4401S_Direct;
} else if constexpr (SELECTED_MOTOR == MotorType::MOTOR_APPLIED_MOTION_5034) {
    namespace Motor = tmc51x0_test_config::MotorConfig_AppliedMotion_5034_369;
}

Motor type enumeration

Selects which motor configuration to use at compile time.

Enumerator
MOTOR_17HS4401S_GEARBOX	17HS4401S with 5.18:1 planetary gearbox
MOTOR_17HS4401S_DIRECT	17HS4401S direct drive (no gearbox)
MOTOR_APPLIED_MOTION_5034	Applied Motion 5034-369 NEMA 34 (high torque)

◆ PlatformType

enum class tmc51x0_test_config::PlatformType

strong

Platform type enumeration.

Selects which platform configuration to use at compile time. Platform configuration includes reference switches, encoder, mechanical system type, etc.

Note: For test rigs, use TestRigType instead - it automatically selects the platform. This enum is kept for backward compatibility and future non-test-rig platforms.

Enumerator
PLATFORM_CORE_DRIVER_TEST_RIG	Core driver test rig (gearbox motor, reference switches, encoder)
PLATFORM_FATIGUE_TEST_RIG	Fatigue test rig (Applied Motion motor, reference switches, encoder)

◆ TestRigType

enum class tmc51x0_test_config::TestRigType

strong

Test rig type enumeration.

Selects which complete test rig configuration to use at compile time. Each test rig automatically selects the appropriate motor, board, and platform. This simplifies configuration by grouping related hardware together.

TEST RIG CONFIGURATIONS:

TEST_RIG_CORE_DRIVER:
- Motor: 17HS4401S with gearbox (MOTOR_17HS4401S_GEARBOX) or direct drive (MOTOR_17HS4401S_DIRECT)
- Board: TMC51x0 Evaluation Kit (BOARD_TMC51x0_EVAL)
- Platform: Core Driver Test Rig (PLATFORM_CORE_DRIVER_TEST_RIG)
- Features: Reference switches, encoder (AS5047U), gearbox or direct drive
- Used for: Comprehensive tests, core driver functionality
TEST_RIG_FATIGUE:
- Motor: Applied Motion 5034-369 (MOTOR_APPLIED_MOTION_5034)
- Board: TMC51x0 Evaluation Kit (BOARD_TMC51x0_EVAL)
- Platform: Fatigue Test Rig (PLATFORM_FATIGUE_TEST_RIG)
- Features: Reference switches, encoder (AS5047U), direct drive (NEMA 34)
- Used for: Bounds finding, sinusoidal motion, fatigue testing

Enumerator
TEST_RIG_CORE_DRIVER	Core driver test rig (17HS4401S motor, TMC51x0 EVAL board, reference switches, encoder)
TEST_RIG_FATIGUE	Fatigue test rig (Applied Motion 5034-369 motor, TMC51x0 EVAL board, reference switches, encoder)

Function Documentation

◆ ApplyBoardConfig()

template<BoardType board_type>

void tmc51x0_test_config::ApplyBoardConfig ( tmc51x0::DriverConfig & cfg )

inlinenoexcept

Helper function to apply board configuration to DriverConfig.

Applies board-specific configuration (sense resistor, MOSFETs, etc.) to an already-configured DriverConfig. This should be called after motor configuration.

Uses ConfigBuilder internally for improved readability and maintainability.

Parameters

[in,out]	cfg	DriverConfig structure (must be configured with motor settings first)
[in]	board_type	Board type to use (compile-time constant)

Note

This function configures:

Sense resistor (for current calculation)
Power stage MOSFET characteristics
Short protection defaults
Clock frequency

Supply voltage is motor-specific and should be set from MotorConfig, not BoardConfig.

Here is the call graph for this function:

◆ ApplyPlatformConfig()

template<PlatformType platform_type>

void tmc51x0_test_config::ApplyPlatformConfig ( tmc51x0::DriverConfig & cfg )

inlinenoexcept

Helper function to apply platform configuration to DriverConfig.

Applies platform-specific configuration (mechanical system) to an already-configured DriverConfig. This should be called after motor configuration.

Uses ConfigBuilder internally for improved readability and maintainability.

Parameters

[in,out]	cfg	DriverConfig structure (must be configured with motor settings first)
[in]	platform_type	Platform type to use (compile-time constant)

Note

This function configures:

Mechanical system (system type, lead screw pitch, belt parameters)

Gear ratio is set from motor config (motor-specific). Reference switches and encoder are configured separately via driver methods after initialization.

Here is the call graph for this function:

◆ ConfigureDriverFromMotor_17HS4401S_Direct()

void tmc51x0_test_config::ConfigureDriverFromMotor_17HS4401S_Direct ( tmc51x0::DriverConfig & cfg )

inlinenoexcept

Helper function to populate DriverConfig from 17HS4401S direct drive motor configuration.

Configures motor-specific parameters only. Board and platform configuration should be applied separately via ApplyBoardConfig() and ApplyPlatformConfig().

Uses ConfigBuilder internally for improved readability and maintainability.

Parameters

[out] cfg DriverConfig structure to populate

Here is the call graph for this function:

Here is the caller graph for this function:

◆ ConfigureDriverFromMotor_17HS4401S_Gearbox()

void tmc51x0_test_config::ConfigureDriverFromMotor_17HS4401S_Gearbox ( tmc51x0::DriverConfig & cfg )

inlinenoexcept

Helper function to populate DriverConfig from 17HS4401S gearbox motor configuration.

Configures motor-specific parameters only. Board and platform configuration should be applied separately via ApplyBoardConfig() and ApplyPlatformConfig().

Uses ConfigBuilder internally for improved readability and maintainability.

Parameters

[out] cfg DriverConfig structure to populate

Here is the call graph for this function:

Here is the caller graph for this function:

◆ ConfigureDriverFromMotor_AppliedMotion_5034()

void tmc51x0_test_config::ConfigureDriverFromMotor_AppliedMotion_5034 ( tmc51x0::DriverConfig & cfg )

inlinenoexcept

Helper function to populate DriverConfig from Applied Motion 5034 motor configuration.

Configures motor-specific parameters only. Board and platform configuration should be applied separately via ApplyBoardConfig() and ApplyPlatformConfig().

Uses ConfigBuilder internally for improved readability and maintainability.

Parameters

[out] cfg DriverConfig structure to populate

Here is the call graph for this function:

Here is the caller graph for this function:

◆ ConfigureDriverFromTestRig()

template<TestRigType test_rig>

void tmc51x0_test_config::ConfigureDriverFromTestRig	(	tmc51x0::DriverConfig &	cfg,
		bool	use_direct_drive = false )

inlinenoexcept

Configure driver from test rig selection.

This is a convenience function that automatically configures motor, board, platform, reference switches, and encoder based on the test rig selection. For Core Driver rig, defaults to gearbox motor.

Parameters

[out]	cfg	DriverConfig structure to populate
[in]	test_rig	Test rig type (compile-time constant)
[in]	use_direct_drive	For Core Driver rig only: true = direct drive motor, false = gearbox motor (default)

◆ GetDefaultPinConfig()

Esp32SpiPinConfig tmc51x0_test_config::GetDefaultPinConfig ( )

inlinenoexcept

Complete pin configuration for all tests.

This structure includes both SPI pins and TMC51x0 control pins, allowing all GPIO assignments to be managed in one place. Use this with the Esp32SPI constructor that takes Esp32SpiPinConfig.

Here is the caller graph for this function:

◆ GetEncoderConfig()

template<PlatformType platform_type>

tmc51x0::EncoderConfig tmc51x0_test_config::GetEncoderConfig ( )

inlinenoexcept

Helper function to configure encoder from platform config.

Creates an EncoderConfig structure from platform configuration. This can be used after driver initialization to configure encoder.

Parameters

[in] platform_type Platform type to use (compile-time constant)

Returns: EncoderConfig structure configured from selected platform

◆ GetEncoderInvertDirection()

template<PlatformType platform_type>

bool tmc51x0_test_config::GetEncoderInvertDirection ( )

inlinenoexcept

Helper function to get encoder invert direction flag from platform config.

Parameters

[in] platform_type Platform type to use (compile-time constant)

Returns: true if encoder direction should be inverted

◆ GetEncoderPulsesPerRev()

template<PlatformType platform_type>

constexpr uint16_t tmc51x0_test_config::GetEncoderPulsesPerRev ( )

constexprnoexcept

Helper function to get encoder pulses per revolution from platform config.

Parameters

[in] platform_type Platform type to use (compile-time constant)

Returns: Encoder pulses per revolution

◆ GetReferenceSwitchConfig()

template<PlatformType platform_type>

tmc51x0::ReferenceSwitchConfig tmc51x0_test_config::GetReferenceSwitchConfig ( )

inlinenoexcept

Helper function to configure reference switches from platform config.

Creates a ReferenceSwitchConfig structure from platform configuration. This can be used after driver initialization to configure reference switches.

Parameters

[in] platform_type Platform type to use (compile-time constant)

Returns: ReferenceSwitchConfig structure configured from selected platform

◆ GetTestRigBoardType()

template<TestRigType test_rig>

constexpr BoardType tmc51x0_test_config::GetTestRigBoardType ( )

constexprnoexcept

Get board type for a given test rig.

Parameters

[in] test_rig Test rig type

Returns: Board type for the test rig

◆ GetTestRigEncoderConfig()

template<TestRigType test_rig>

tmc51x0::EncoderConfig tmc51x0_test_config::GetTestRigEncoderConfig ( )

inlinenoexcept

Get encoder configuration for a test rig.

Convenience function that automatically selects the platform and returns encoder config.

Parameters

[in] test_rig Test rig type (compile-time constant)

Returns: EncoderConfig structure configured from selected test rig

◆ GetTestRigEncoderInvertDirection()

template<TestRigType test_rig>

bool tmc51x0_test_config::GetTestRigEncoderInvertDirection ( )

inlinenoexcept

Get encoder invert direction flag for a test rig.

Parameters

[in] test_rig Test rig type (compile-time constant)

Returns: true if encoder direction should be inverted

◆ GetTestRigEncoderPulsesPerRev()

template<TestRigType test_rig>

constexpr uint16_t tmc51x0_test_config::GetTestRigEncoderPulsesPerRev ( )

constexprnoexcept

Get encoder pulses per revolution for a test rig.

Parameters

[in] test_rig Test rig type (compile-time constant)

Returns: Encoder pulses per revolution

◆ GetTestRigMotorOutputFullSteps()

template<TestRigType test_rig>

constexpr uint16_t tmc51x0_test_config::GetTestRigMotorOutputFullSteps ( bool use_direct_drive = false )

constexprnoexcept

Get motor output full steps per revolution for a test rig.

Returns the number of full steps per revolution at the output shaft (accounting for gearbox if present).

Parameters

[in]	test_rig	Test rig type (compile-time constant)
[in]	use_direct_drive	For Core Driver rig only: true = direct drive motor, false = gearbox motor (default)

Returns: Output full steps per revolution

Note: This function now delegates to TestRigConfig::GetMotorOutputFullSteps() for consistency.

◆ GetTestRigMotorType()

template<TestRigType test_rig>

constexpr MotorType tmc51x0_test_config::GetTestRigMotorType ( )

constexprnoexcept

Get motor type for a given test rig.

Parameters

[in] test_rig Test rig type

Returns: Motor type for the test rig

◆ GetTestRigPlatformType()

template<TestRigType test_rig>

constexpr PlatformType tmc51x0_test_config::GetTestRigPlatformType ( )

constexprnoexcept

Get platform type for a given test rig.

Parameters

[in] test_rig Test rig type

Returns: Platform type for the test rig

◆ GetTestRigReferenceSwitchConfig()

template<TestRigType test_rig>

tmc51x0::ReferenceSwitchConfig tmc51x0_test_config::GetTestRigReferenceSwitchConfig ( )

inlinenoexcept

Get reference switch configuration for a test rig.

Convenience function that automatically selects the platform and returns reference switch config.

Parameters

[in] test_rig Test rig type (compile-time constant)

Returns: ReferenceSwitchConfig structure configured from selected test rig

Variable Documentation

◆ CLK

constexpr gpio_num_t tmc51x0_test_config::CLK = GPIO_NUM_10

constexpr

Clock input pin (CLK, pin 12)

◆ DIAG0

constexpr gpio_num_t tmc51x0_test_config::DIAG0 = GPIO_NUM_23

constexpr

Diagnostic output 0 (DIAG0_SWN, pin 26)

◆ DIAG1

constexpr gpio_num_t tmc51x0_test_config::DIAG1 = GPIO_NUM_15

constexpr

Diagnostic output 1 (DIAG1_SWP, pin 27)

◆ DIR

constexpr gpio_num_t tmc51x0_test_config::DIR = static_cast<gpio_num_t>(-1)

constexpr

Direction pin (optional)

◆ DRV_EN

constexpr gpio_num_t tmc51x0_test_config::DRV_EN = GPIO_NUM_11

constexpr

Driver enable pin (DRV_ENN)

◆ SD_MODE_PIN

constexpr gpio_num_t tmc51x0_test_config::SD_MODE_PIN = GPIO_NUM_1

constexpr

SD_MODE pin (pin 21) - GPIO1 if available as control pin.

◆ SPI_CLOCK_SPEED_HZ

constexpr uint32_t tmc51x0_test_config::SPI_CLOCK_SPEED_HZ = 500000

constexpr

SPI clock speed.

◆ SPI_CS

constexpr gpio_num_t tmc51x0_test_config::SPI_CS = GPIO_NUM_18

constexpr

SPI chip select pin.

◆ SPI_HOST

constexpr spi_host_device_t tmc51x0_test_config::SPI_HOST = SPI2_HOST

constexpr

SPI host device.

◆ SPI_MISO

constexpr gpio_num_t tmc51x0_test_config::SPI_MISO = GPIO_NUM_2

constexpr

SPI MISO (master in, slave out)

◆ SPI_MODE_PIN

constexpr gpio_num_t tmc51x0_test_config::SPI_MODE_PIN = GPIO_NUM_0

constexpr

SPI_MODE pin (pin 22) - GPIO0 if available as control pin.

◆ SPI_MOSI

constexpr gpio_num_t tmc51x0_test_config::SPI_MOSI = GPIO_NUM_6

constexpr

SPI MOSI (master out, slave in)

◆ SPI_SCK

constexpr gpio_num_t tmc51x0_test_config::SPI_SCK = GPIO_NUM_5

constexpr

SPI clock pin.

◆ STEP

constexpr gpio_num_t tmc51x0_test_config::STEP = static_cast<gpio_num_t>(-1)

constexpr

Step pin (optional)

Namespaces

Classes

Typedefs

Enumerations

Functions

Variables

Typedef Documentation

◆ GetTestConfigForTestRig

Enumeration Type Documentation

◆ BoardType

◆ MotorType

◆ PlatformType

◆ TestRigType

Function Documentation

◆ ApplyBoardConfig()

◆ ApplyPlatformConfig()

◆ ConfigureDriverFromMotor_17HS4401S_Direct()

◆ ConfigureDriverFromMotor_17HS4401S_Gearbox()

◆ ConfigureDriverFromMotor_AppliedMotion_5034()

◆ ConfigureDriverFromTestRig()

◆ GetDefaultPinConfig()

◆ GetEncoderConfig()

◆ GetEncoderInvertDirection()

◆ GetEncoderPulsesPerRev()

◆ GetReferenceSwitchConfig()

◆ GetTestRigBoardType()

◆ GetTestRigEncoderConfig()

◆ GetTestRigEncoderInvertDirection()

◆ GetTestRigEncoderPulsesPerRev()

◆ GetTestRigMotorOutputFullSteps()

◆ GetTestRigMotorType()

◆ GetTestRigPlatformType()

◆ GetTestRigReferenceSwitchConfig()

Variable Documentation

◆ CLK

◆ DIAG0

◆ DIAG1

◆ DIR

◆ DRV_EN

◆ SD_MODE_PIN

◆ SPI_CLOCK_SPEED_HZ

◆ SPI_CS

◆ SPI_HOST

◆ SPI_MISO

◆ SPI_MODE_PIN

◆ SPI_MOSI

◆ SPI_SCK

◆ STEP