tmc51x0::TMC51x0PinConfig Struct Reference

TMC51x0 GPIO pin configuration structure. More...

#include <tmc51x0_comm_interface.hpp>

Public Member Functions
	TMC51x0PinConfig ()=default
	Default constructor - all pins unmapped (-1)
	TMC51x0PinConfig (int en, int dir=-1, int step=-1) noexcept
	Constructor with basic pins.

Public Attributes
int	en_pin {-1}
	EN pin (DRV_ENN, pin 28) - Required.
int	dir_pin
	DIR pin (REFR_DIR, pin 18) - Optional, same as ref_right_pin.
int	step_pin
	STEP pin (REFL_STEP, pin 17) - Optional, same as ref_left_pin.
int	ref_left_pin
	Left reference switch (REFL_STEP, pin 17) - Same as step_pin.
int	ref_right_pin
	Right reference switch (REFR_DIR, pin 18) - Same as dir_pin.
int	diag0_pin {-1}
	DIAG0 pin (DIAG0_SWN, pin 26) - Optional.
int	diag1_pin {-1}
	DIAG1 pin (DIAG1_SWP, pin 27) - Optional.
int	enc_a_pin {-1}
	Encoder A (ENCA_DCIN_CFG5, pin 24) - Same as dc_in_pin.
int	enc_b_pin {-1}
	Encoder B (ENCB_DCEN_CFG4, pin 23) - Same as dc_en_pin.
int	enc_n_pin {-1}
	Encoder N (ENCN_DCO_CFG6, pin 25) - Same as dc_out_pin.
int	dc_in_pin {-1}
int	dc_en_pin {-1}
int	dc_out_pin
	DC Step ready output (ENCN_DCO_CFG6, pin 25) - Same as enc_n_pin.
int	clk_pin {-1}
	Clock input (CLK, pin 12) - Optional.
int	spi_mode_pin {-1}
int	sd_mode_pin {-1}
	hardwired. HIGH=External step/dir, LOW=Internal ramp

Detailed Description

TMC51x0 GPIO pin configuration structure.

This structure allows configuring all TMC51x0 control pins in a single place. Compound pins (pins that share the same physical GPIO) are automatically handled - you only need to specify the GPIO once, and both logical pins will be mapped to it.

Compound pin relationships (same physical pin):

• Pin 17: REFL_STEP (SD_MODE=0) or STEP (SD_MODE=1) - specify via step_pin or ref_left_pin
• Pin 18: REFR_DIR (SD_MODE=0) or DIR (SD_MODE=1) - specify via dir_pin or ref_right_pin
• Pin 23: ENCB (SD_MODE=0) or DCEN (SD_MODE=1) - specify via enc_b_pin or dc_en_pin
• Pin 24: ENCA (SD_MODE=0) or DCIN (SD_MODE=1) - specify via enc_a_pin or dc_in_pin
• Pin 25: ENCN (SD_MODE=0) or DCO (SD_MODE=1) - specify via enc_n_pin or dc_out_pin

Note

Use -1 (or GPIO_NUM_NC equivalent) for pins that are not connected.

The ApplyPinConfig() method automatically handles compound pin mapping.

Constructor & Destructor Documentation

TMC51x0PinConfig() [1/2]

tmc51x0::TMC51x0PinConfig::TMC51x0PinConfig ( )

default

Default constructor - all pins unmapped (-1)

TMC51x0PinConfig() [2/2]

tmc51x0::TMC51x0PinConfig::TMC51x0PinConfig ( int en, int dir = -1, int step = -1 )

inlinenoexcept

Constructor with basic pins.

Parameters

en	EN pin (required)
dir	DIR pin (optional, -1 if not used)
step	STEP pin (optional, -1 if not used)

Member Data Documentation

clk_pin

int tmc51x0::TMC51x0PinConfig::clk_pin {-1}

Clock input (CLK, pin 12) - Optional.

dc_en_pin

int tmc51x0::TMC51x0PinConfig::dc_en_pin {-1}

DC Step enable input (ENCB_DCEN_CFG4, pin 23) - Same as enc_b_pin

dc_in_pin

int tmc51x0::TMC51x0PinConfig::dc_in_pin {-1}

DC Step gating input (ENCA_DCIN_CFG5, pin 24) - Same as enc_a_pin

dc_out_pin

int tmc51x0::TMC51x0PinConfig::dc_out_pin

Initial value:

{
      -1}

DC Step ready output (ENCN_DCO_CFG6, pin 25) - Same as enc_n_pin.

diag0_pin

int tmc51x0::TMC51x0PinConfig::diag0_pin {-1}

DIAG0 pin (DIAG0_SWN, pin 26) - Optional.

diag1_pin

int tmc51x0::TMC51x0PinConfig::diag1_pin {-1}

DIAG1 pin (DIAG1_SWP, pin 27) - Optional.

dir_pin

int tmc51x0::TMC51x0PinConfig::dir_pin

Initial value:

{
      -1}

DIR pin (REFR_DIR, pin 18) - Optional, same as ref_right_pin.

en_pin

int tmc51x0::TMC51x0PinConfig::en_pin {-1}

EN pin (DRV_ENN, pin 28) - Required.

enc_a_pin

int tmc51x0::TMC51x0PinConfig::enc_a_pin {-1}

Encoder A (ENCA_DCIN_CFG5, pin 24) - Same as dc_in_pin.

enc_b_pin

int tmc51x0::TMC51x0PinConfig::enc_b_pin {-1}

Encoder B (ENCB_DCEN_CFG4, pin 23) - Same as dc_en_pin.

enc_n_pin

int tmc51x0::TMC51x0PinConfig::enc_n_pin {-1}

Encoder N (ENCN_DCO_CFG6, pin 25) - Same as dc_out_pin.

ref_left_pin

int tmc51x0::TMC51x0PinConfig::ref_left_pin

Initial value:

{
      -1}

Left reference switch (REFL_STEP, pin 17) - Same as step_pin.

ref_right_pin

int tmc51x0::TMC51x0PinConfig::ref_right_pin

Initial value:

{
      -1}

Right reference switch (REFR_DIR, pin 18) - Same as dir_pin.

sd_mode_pin

int tmc51x0::TMC51x0PinConfig::sd_mode_pin {-1}

hardwired. HIGH=External step/dir, LOW=Internal ramp

SD_MODE pin (pin 21) - Optional, typically

spi_mode_pin

int tmc51x0::TMC51x0PinConfig::spi_mode_pin {-1}

SPI_MODE pin (pin 22) - Optional, typically hardwired. HIGH=SPI, LOW=UART

step_pin

int tmc51x0::TMC51x0PinConfig::step_pin

Initial value:

{
      -1}

STEP pin (REFL_STEP, pin 17) - Optional, same as ref_left_pin.

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

• tmc51x0_comm_interface.hpp