tmc51x0::EncoderConfig Struct Reference

Encoder configuration structure. More...

#include <tmc51x0_types.hpp>

Public Member Functions
	EncoderConfig ()=default
	Default constructor.

Public Attributes
ReferenceSwitchActiveLevel	n_channel_active
bool	require_a_high {false}
bool	require_b_high {false}
bool	ignore_ab_polarity {true}
EncoderNSensitivity	n_sensitivity
	N channel event sensitivity (edge/level detection)
EncoderClearMode	clear_mode {EncoderClearMode::DISABLED}
	Clear mode for encoder counter on N events.
bool	clear_enc_x_on_event {false}
bool	latch_xactual_with_enc {false}
EncoderPrescalerMode	prescaler_mode
	Encoder prescaler divisor mode (enc_sel_decimal)
int32_t	allowed_deviation_steps
	Allowed encoder deviation in steps.
uint16_t	pulses_per_rev {0}
	Encoder pulses per revolution.
bool	invert_direction {false}
	Invert encoder direction.

Detailed Description

Encoder configuration structure.

Configuration parameters for encoder interface operation. Uses enum-based API for intuitive configuration similar to ReferenceSwitchConfig.

Note

All fields must be explicitly set. Register values are calculated automatically.

See also

Datasheet section 20: ABN Incremental Encoder Interface

Constructor & Destructor Documentation

EncoderConfig()

tmc51x0::EncoderConfig::EncoderConfig ( )

default

Default constructor.

Initializes with safe defaults:

• N channel: ACTIVE_HIGH, ACTIVE_LEVEL sensitivity
• A/B polarity: ignored
• Clear mode: DISABLED
• Prescaler: BINARY
• Allowed deviation: 0 (disabled)
• Pulses per rev: 0 (not configured)
• Invert direction: false

Member Data Documentation

allowed_deviation_steps

int32_t tmc51x0::EncoderConfig::allowed_deviation_steps

Initial value:

{
      0}

Allowed encoder deviation in steps.

Maximum number of steps deviation between motor position (XACTUAL) and encoder position (X_ENC) before a deviation warning is triggered.

The deviation is automatically converted to microsteps using the current microstep setting. The register value is calculated as: deviation_microsteps = allowed_deviation_steps × current_microsteps

Range: 0 to 1048575 steps (0 = deviation detection disabled)

Note

The actual register value is in microsteps, so the effective range depends on microstep resolution.

Setting to 0 disables deviation detection (no warnings).

Typical values: 1-10 steps for tight control, 10-100 steps for normal operation.

This is automatically configured during Initialize() if set in EncoderConfig. Allowed encoder deviation in steps (0 = disabled, automatically converted to microsteps)

clear_enc_x_on_event

bool tmc51x0::EncoderConfig::clear_enc_x_on_event {false}

Clear encoder counter X_ENC upon N-event (clr_enc_x) true = latch and clear, false = latch only

clear_mode

EncoderClearMode tmc51x0::EncoderConfig::clear_mode {EncoderClearMode::DISABLED}

Clear mode for encoder counter on N events.

ignore_ab_polarity

bool tmc51x0::EncoderConfig::ignore_ab_polarity {true}

Ignore A and B polarity for N channel event (ignore_AB) true = ignore A/B, false = validate A/B polarity

invert_direction

bool tmc51x0::EncoderConfig::invert_direction {false}

Invert encoder direction.

Whether the encoder direction should be inverted relative to motor direction. When true, the encoder counts in the opposite direction from the motor.

Default: false (encoder direction matches motor direction)

Note

This is automatically configured during Initialize() if pulses_per_rev is set. Whether encoder direction is inverted

latch_xactual_with_enc

bool tmc51x0::EncoderConfig::latch_xactual_with_enc {false}

Also latch XACTUAL position together with X_ENC (latch_x_act) true = latch both, false = latch X_ENC only

n_channel_active

ReferenceSwitchActiveLevel tmc51x0::EncoderConfig::n_channel_active

Initial value:

{
      ReferenceSwitchActiveLevel::
          ACTIVE_LOW}

N channel active level (determines pol_N) ACTIVE_LOW = low active (pol_N=0), ACTIVE_HIGH = high active (pol_N=1)

n_sensitivity

EncoderNSensitivity tmc51x0::EncoderConfig::n_sensitivity

Initial value:

{
      EncoderNSensitivity::ACTIVE_LEVEL}

N channel event sensitivity (edge/level detection)

prescaler_mode

EncoderPrescalerMode tmc51x0::EncoderConfig::prescaler_mode

Initial value:

{
      EncoderPrescalerMode::BINARY}

Encoder prescaler divisor mode (enc_sel_decimal)

pulses_per_rev

uint16_t tmc51x0::EncoderConfig::pulses_per_rev {0}

Encoder pulses per revolution.

Number of encoder pulses per revolution (PPR). Used to calculate encoder resolution and set up the ENC_CONST register for position tracking.

Range: 0 to 65535 (0 = encoder resolution not configured)

Note

This is automatically configured during Initialize() if set.

For quadrature encoders, this is typically the PPR value (e.g., 4096 for AS5047U).

The driver calculates ENC_CONST based on motor steps, microsteps, and this value. Encoder pulses per revolution (0 = not configured)

require_a_high

bool tmc51x0::EncoderConfig::require_a_high {false}

Require A channel HIGH for N event validation (pol_A) true = A must be HIGH, false = A must be LOW

require_b_high

bool tmc51x0::EncoderConfig::require_b_high {false}

Require B channel HIGH for N event validation (pol_B) true = B must be HIGH, false = B must be LOW

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

• tmc51x0_types.hpp