CoolStep configuration structure. More...

#include <tmc51x0_types.hpp>

Public Member Functions
	CoolStepConfig ()=default
	Default constructor.

	CoolStepConfig (uint16_t lower_sg, uint16_t upper_sg, float min_vel, float max_vel, Unit vel_unit=Unit::RevPerSec)
	Helper constructor for common configuration.

Public Attributes
uint16_t	lower_threshold_sg {0}
	Lower StallGuard2 threshold for current increase.

uint16_t	upper_threshold_sg {0}
	Upper StallGuard2 threshold for current decrease.

CoolStepIncrementStep	increment_step {CoolStepIncrementStep::STEP_2}
	Current increment step width.

CoolStepDecrementSpeed	decrement_speed {CoolStepDecrementSpeed::EVERY_8}
	Current decrement speed.

CoolStepMinCurrent	min_current {CoolStepMinCurrent::HALF_IRUN}
	Minimum current percentage.

bool	enable_filter {false}
	Enable StallGuard2 filter (reduces measurement rate by 4x)

float	min_velocity {0.0F}
	Lower velocity threshold for CoolStep activation.

float	max_velocity {0.0F}
	Upper velocity threshold for CoolStep activation.

Unit	velocity_unit {Unit::Steps}
	Unit for velocity thresholds.

Detailed Description

CoolStep configuration structure.

User-friendly configuration for CoolStep automatic current reduction feature. CoolStep automatically reduces motor current when load is low, saving energy and reducing heat.

Note: CoolStep requires SpreadCycle mode (StealthChop must be disabled).; CoolStep uses StallGuard2 to measure motor load, so StallGuard2 must be properly tuned.

See also: Datasheet section 14: CoolStep Operation

Constructor & Destructor Documentation

◆ CoolStepConfig() [1/2]

tmc51x0::CoolStepConfig::CoolStepConfig ( )

default

Default constructor.

Initializes with CoolStep disabled (semin=0). All fields use default member initializers.

◆ CoolStepConfig() [2/2]

tmc51x0::CoolStepConfig::CoolStepConfig	(	uint16_t	lower_sg,
		uint16_t	upper_sg,
		float	min_vel,
		float	max_vel,
		Unit	vel_unit = Unit::RevPerSec )

inline

Helper constructor for common configuration.

Creates a CoolStep configuration with typical settings:

Lower threshold: 64 (increases current when SG < 64)
Upper threshold: 256 (decreases current when SG >= 256)
Moderate increment/decrement speeds
50% minimum current

Parameters

lower_sg	Lower SG threshold (0-1023, 0 to disable CoolStep)
upper_sg	Upper SG threshold (0-1023, must be > lower_sg)
min_vel	Minimum velocity for CoolStep activation
max_vel	Maximum velocity for CoolStep activation
vel_unit	Unit for velocity thresholds

Member Data Documentation

◆ decrement_speed

CoolStepDecrementSpeed tmc51x0::CoolStepConfig::decrement_speed {CoolStepDecrementSpeed::EVERY_8}

Current decrement speed.

◆ enable_filter

bool tmc51x0::CoolStepConfig::enable_filter {false}

Enable StallGuard2 filter (reduces measurement rate by 4x)

◆ increment_step

CoolStepIncrementStep tmc51x0::CoolStepConfig::increment_step {CoolStepIncrementStep::STEP_2}

Current increment step width.

◆ lower_threshold_sg

uint16_t tmc51x0::CoolStepConfig::lower_threshold_sg {0}

Lower StallGuard2 threshold for current increase.

When SG_RESULT falls below this value, CoolStep increases current. Range: 0-1023 (actual SG_RESULT values)

Set to 0 to disable CoolStep.

Note: Automatically converted to SEMIN register value internally: SEMIN = lower_threshold_sg / 32 Lower threshold in SG units (0-1023, 0 = CoolStep disabled)

◆ max_velocity

float tmc51x0::CoolStepConfig::max_velocity {0.0F}

Upper velocity threshold for CoolStep activation.

CoolStep is disabled above this velocity. Set to match the upper limit of velocity range where StallGuard2 gives stable results.

Note: Unit is specified by velocity_unit field. Maximum velocity for CoolStep (0 = no upper limit)

◆ min_current

CoolStepMinCurrent tmc51x0::CoolStepConfig::min_current {CoolStepMinCurrent::HALF_IRUN}

Minimum current percentage.

◆ min_velocity

float tmc51x0::CoolStepConfig::min_velocity {0.0F}

Lower velocity threshold for CoolStep activation.

CoolStep is disabled below this velocity. Set to match the lower limit of velocity range where StallGuard2 gives stable results.

Note: Unit is specified by velocity_unit field.; Setting equal to max_velocity disables CoolStep during acceleration/deceleration. Minimum velocity for CoolStep (0 = disabled)

◆ upper_threshold_sg

uint16_t tmc51x0::CoolStepConfig::upper_threshold_sg {0}

Upper StallGuard2 threshold for current decrease.

When SG_RESULT is equal to or above this value enough times, CoolStep decreases current. Range: 0-1023 (actual SG_RESULT values)

Must be greater than lower_threshold_sg for CoolStep to function properly.

Note: Automatically converted to SEMAX register value internally based on lower_threshold_sg Upper threshold in SG units (0-1023)

◆ velocity_unit

Unit tmc51x0::CoolStepConfig::velocity_unit {Unit::Steps}

Unit for velocity thresholds.

Specifies the unit used for min_velocity and max_velocity fields. Unit for velocity thresholds

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

tmc51x0_types.hpp

Public Member Functions

Public Attributes