stallguard_tuning.cpp File Reference

Automatic StallGuard2 Tuning Tool with Current Reduction. More...

#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "../../../inc/tmc51x0.hpp"
#include "test_config/esp32_tmc51x0_bus.hpp"
#include "test_config/esp32_tmc51x0_test_config.hpp"
#include "esp_log.h"

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Typedefs
using	TestConfig = tmc51x0_test_config::GetTestConfigForTestRig<SELECTED_TEST_RIG>

Functions
void	app_main (void)

Variables
static const char *	TAG = "SGT_Tuning"
static constexpr tmc51x0_test_config::TestRigType	SELECTED_TEST_RIG
static constexpr float	TUNING_VELOCITY_RPM = TestConfig::StallGuard::SGT_TUNED_AT_VELOCITY_RPM
static constexpr float	TUNING_ACCELERATION_REV_S2 = TestConfig::Motion::BOUNDS_SEARCH_ACCEL_REV_S2
static constexpr tmc51x0::Unit	VELOCITY_UNIT = tmc51x0::Unit::RPM
static constexpr tmc51x0::Unit	ACCELERATION_UNIT = tmc51x0::Unit::RevPerSec

Detailed Description

Automatic StallGuard2 Tuning Tool with Current Reduction.

This tool automatically tunes the StallGuard2 Threshold (SGT) for a specific motor and velocity configuration using the comprehensive AutoTuneStallGuard function. It implements the tuning algorithm following Trinamic application note AN-002 guidelines:

1. Saves current motor settings (current, CoolStep, etc.)
2. Applies current reduction for safer tuning and improved sensitivity
3. Disables interfering features (CoolStep, filter, stop-on-stall)
4. Moves the motor at a constant velocity
5. Monitors the SG_RESULT (StallGuard value) across SGT range
6. Adjusts SGT until a stable non-zero SG_RESULT in ideal range (100-500) is obtained
7. Validates at min/max velocities
8. Restores all saved settings (except optimal SGT)

USAGE:

1. Ensure the motor is free to move (no load or minimal load).
2. Run this tool.
3. The tool will output the found optimal SGT value and velocity range analysis.
4. Use this SGT value in your application.

Author

Nebiyu Tadesse

Date

2025

Typedef Documentation

TestConfig

using TestConfig = tmc51x0_test_config::GetTestConfigForTestRig<SELECTED_TEST_RIG>

Function Documentation

app_main()

void app_main

(

void

)

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Variable Documentation

ACCELERATION_UNIT

constexpr tmc51x0::Unit ACCELERATION_UNIT = tmc51x0::Unit::RevPerSec

staticconstexpr

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 = "SGT_Tuning"

static

TUNING_ACCELERATION_REV_S2

constexpr float TUNING_ACCELERATION_REV_S2 = TestConfig::Motion::BOUNDS_SEARCH_ACCEL_REV_S2

staticconstexpr

TUNING_VELOCITY_RPM

constexpr float TUNING_VELOCITY_RPM = TestConfig::StallGuard::SGT_TUNED_AT_VELOCITY_RPM

staticconstexpr

VELOCITY_UNIT

constexpr tmc51x0::Unit VELOCITY_UNIT = tmc51x0::Unit::RPM

staticconstexpr