StallGuard2 configuration structure. More...

#include <tmc51x0_types.hpp>

Public Member Functions
	StallGuardConfig ()=default
	Default constructor.

	StallGuardConfig (int8_t sgt_threshold, bool enable_filt=false, float min_vel=0.0F, float max_vel=0.0F, Unit vel_unit=Unit::RevPerSec, bool stop_on_stall=false)
	Helper constructor for quick setup.

	StallGuardConfig (StallGuardSensitivity sensitivity, bool enable_filt=false, float min_vel=0.0F, float max_vel=0.0F, Unit vel_unit=Unit::Steps, bool stop_on_stall=false)
	Helper constructor using sensitivity enum.

Public Attributes
int8_t	threshold {0}
	StallGuard2 threshold value.

bool	enable_filter {false}
	Enable StallGuard2 filter.

float	min_velocity {0.0F}
	Lower velocity threshold for StallGuard2 operation.

float	max_velocity {0.0F}
	Upper velocity threshold for StallGuard2 operation.

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

bool	stop_on_stall {false}
	Stop motor when stall detected.

Detailed Description

StallGuard2 configuration structure.

User-friendly configuration for StallGuard2 load measurement and stall detection. StallGuard2 provides accurate measurement of motor load and can detect stalls. It's used for sensorless homing, CoolStep load-adaptive current reduction, and diagnostics.

Note: StallGuard2 requires SpreadCycle mode (StealthChop must be disabled).; StallGuard2 measurement is updated with each fullstep (or every 4 fullsteps if filter enabled).; SGT threshold should be tuned for your specific motor and operating conditions.

See also: Datasheet section 13: StallGuard2 Load Measurement

Constructor & Destructor Documentation

◆ StallGuardConfig() [1/3]

tmc51x0::StallGuardConfig::StallGuardConfig ( )

default

Default constructor.

Initializes with recommended default values:

threshold: 0 (starting value, works with most motors)
enable_filter: false (faster response)
stop_on_stall: false (don't stop on stall)

◆ StallGuardConfig() [2/3]

tmc51x0::StallGuardConfig::StallGuardConfig	(	int8_t	sgt_threshold,
		bool	enable_filt = false,
		float	min_vel = 0.0F,
		float	max_vel = 0.0F,
		Unit	vel_unit = Unit::RevPerSec,
		bool	stop_on_stall = false )

inline

Helper constructor for quick setup.

Creates a StallGuard2 configuration with typical settings.

Parameters

sgt_threshold	StallGuard2 threshold (-64 to +63, 0 = starting value)
enable_filt	Enable filter for smoother readings
min_vel	Minimum velocity for StallGuard2 operation
max_vel	Maximum velocity for StallGuard2 operation (0 = no limit)
vel_unit	Unit for velocity thresholds
stop_on_stall	Stop motor when stall detected

◆ StallGuardConfig() [3/3]

tmc51x0::StallGuardConfig::StallGuardConfig	(	StallGuardSensitivity	sensitivity,
		bool	enable_filt = false,
		float	min_vel = 0.0F,
		float	max_vel = 0.0F,
		Unit	vel_unit = Unit::Steps,
		bool	stop_on_stall = false )

inline

Helper constructor using sensitivity enum.

Creates a StallGuard2 configuration using intuitive sensitivity levels.

Member Data Documentation

◆ enable_filter

bool tmc51x0::StallGuardConfig::enable_filter {false}

Enable StallGuard2 filter.

Filter reduces measurement rate to one measurement per electrical period (4 fullsteps). Compensates for motor construction variations (e.g., misalignment of phase magnets).

Enabled: More precise measurement, smoother readings (recommended for CoolStep)
Disabled: Faster response, higher time resolution (recommended for sensorless homing)

Note: Filter should be enabled when high-precision measurement is required.; Filter should be disabled for rapid response and best sensorless homing results. Enable StallGuard2 filter (reduces measurement rate 4x)

◆ max_velocity

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

Upper velocity threshold for StallGuard2 operation.

StallGuard2 may not operate reliably 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.; Set to 0 for no upper limit (StallGuard2 active at all velocities above min_velocity). Maximum velocity for StallGuard2 (0 = no upper limit)

◆ min_velocity

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

Lower velocity threshold for StallGuard2 operation.

StallGuard2 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.; Set to match your typical operating velocity range.; For sensorless homing, set to match search speed. Minimum velocity for StallGuard2 (0 = no lower limit)

◆ stop_on_stall

bool tmc51x0::StallGuardConfig::stop_on_stall {false}

Stop motor when stall detected.

If true, motor stops (VACTUAL = 0) when stall is detected. Motor remains stopped until RAMP_STAT.event_stop_sg flag is read.

Note: Requires StallGuard2 to be properly tuned (threshold set correctly).; Requires min_velocity to be set (TCOOLTHRS must be configured).; Motor can be restarted by reading/writing RAMP_STAT register or disabling sg_stop. Stop motor when stall detected

◆ threshold

int8_t tmc51x0::StallGuardConfig::threshold {0}

StallGuard2 threshold value.

Controls StallGuard2 sensitivity for stall detection and sets optimum measurement range.

Range: -64 to +63

Lower values (-64 to 0): Higher sensitivity (detects stalls easier, more false positives)
Higher values (0 to +63): Lower sensitivity (requires more torque to detect stall, fewer false positives)
Zero (0): Starting value, works with most motors

Tuning: Adjust until SG_RESULT is between 0-100 at maximum load before stall.

Note: Can be set directly as int8_t or use sensitivity enum for convenience. StallGuard2 threshold (-64 to +63, 0 = starting value)

◆ velocity_unit

Unit tmc51x0::StallGuardConfig::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