tmc51x0::TMC51x0< CommType >::Encoder Struct Reference

Encoder subsystem. More...

#include <tmc51x0.hpp>

Collaboration diagram for tmc51x0::TMC51x0< CommType >::Encoder:

Public Member Functions
	Encoder (TMC51x0 &driver) noexcept
	Construct encoder subsystem.
Result< void >	Configure (const EncoderConfig &config) noexcept
	Configure encoder settings.
Result< EncoderConfig >	GetEncoderConfig () noexcept
	Get current encoder configuration.
Result< void >	SetNChannelActiveLevel (ReferenceSwitchActiveLevel active_level) noexcept
	Set N channel active level (determines polarity)
Result< void >	SetNChannelSensitivity (EncoderNSensitivity sensitivity) noexcept
	Set N channel sensitivity (edge/level detection)
Result< void >	SetClearMode (EncoderClearMode clear_mode) noexcept
	Set encoder clear mode.
Result< void >	SetPrescalerMode (EncoderPrescalerMode prescaler_mode) noexcept
	Set encoder prescaler mode.
Result< void >	SetLatchXactualEnabled (bool enable) noexcept
	Enable/disable latching XACTUAL with encoder position.
Result< bool >	IsLatchXactualEnabled () noexcept
	Check if XACTUAL latching is enabled.
Result< int32_t >	GetPosition () noexcept
	Get encoder position.
Result< void >	SetResolution (int32_t motor_steps, int32_t enc_resolution, bool inverted=false) noexcept
	Set encoder resolution.
Result< void >	SetAllowedDeviation (int32_t steps) noexcept
	Set encoder allowed deviation.
Result< bool >	IsNEventDetected () noexcept
	Check if an encoder N-event was detected (ENC_STATUS.n_event)
Result< void >	ClearNEventFlag () noexcept
	Clear the encoder N-event flag (ENC_STATUS.n_event, W1C)
Result< int32_t >	GetLatchedPosition () noexcept
	Get encoder latched position.
Result< bool >	IsDeviationWarning () noexcept
	Check if encoder deviation warning is active.
Result< void >	ClearDeviationWarning () noexcept
	Clear encoder deviation warning flag.

Private Attributes
TMC51x0 &	driver_
	Reference to parent driver instance.

Detailed Description

template<typename CommType>
struct tmc51x0::TMC51x0< CommType >::Encoder

Encoder subsystem.

Provides methods for encoder configuration and reading encoder position.

Constructor & Destructor Documentation

Encoder()

template<typename CommType >

tmc51x0::TMC51x0< CommType >::Encoder::Encoder ( TMC51x0 & driver )

inlineexplicitnoexcept

Construct encoder subsystem.

Parameters

driver

Reference to parent TMC51x0 driver instance

Member Function Documentation

ClearDeviationWarning()

template<typename CommType >

Result< void > tmc51x0::TMC51x0< CommType >::Encoder::ClearDeviationWarning ( )

noexcept

Clear encoder deviation warning flag.

Returns

Result<void> indicating success or error

Attempts to clear the deviation warning flag. The flag will only clear if the deviation is no longer present (X_ENC and XACTUAL are within ENC_DEVIATION steps).

Note

This writes '1' to the deviation_warn bit in ENC_STATUS (W1C).

ClearNEventFlag()

template<typename CommType >

Result< void > tmc51x0::TMC51x0< CommType >::Encoder::ClearNEventFlag ( )

noexcept

Clear the encoder N-event flag (ENC_STATUS.n_event, W1C)

Returns

Result<void> indicating success or error

Return values

INVALID_STATE

if called while in external STEP/DIR mode

Configure()

template<typename CommType >

Result< void > tmc51x0::TMC51x0< CommType >::Encoder::Configure ( const EncoderConfig & config )

noexcept

Configure encoder settings.

Parameters

config

Encoder configuration structure

Returns

Result<void> indicating success or error

Note

Encoder registers are only functional when the chip is using the internal ramp generator (SD_MODE=LOW). In external STEP/DIR mode the encoder pins are repurposed (DCEN/DCIN/DCO) and encoder functionality is not available.

Return values

INVALID_STATE

if called while in external STEP/DIR mode

GetEncoderConfig()

template<typename CommType >

Result< EncoderConfig > tmc51x0::TMC51x0< CommType >::Encoder::GetEncoderConfig ( )

noexcept

Get current encoder configuration.

Parameters

config

Reference to store current configuration

Returns

Result<EncoderConfig> containing the value or error

Return values

INVALID_STATE

if called while in external STEP/DIR mode

GetLatchedPosition()

template<typename CommType >

Result< int32_t > tmc51x0::TMC51x0< CommType >::Encoder::GetLatchedPosition ( )

noexcept

Get encoder latched position.

Parameters

position

Reference to store encoder position latched on N event

Returns

Result<int32_t> containing the value or error

Reads the encoder position that was latched on the last N channel event.

Return values

INVALID_STATE

if called while in external STEP/DIR mode

GetPosition()

template<typename CommType >

Result< int32_t > tmc51x0::TMC51x0< CommType >::Encoder::GetPosition ( )

noexcept

Get encoder position.

Parameters

position

Reference to store encoder position in steps

Returns

Result<int32_t> containing the value or error

Return values

INVALID_STATE

if called while in external STEP/DIR mode

IsDeviationWarning()

template<typename CommType >

Result< bool > tmc51x0::TMC51x0< CommType >::Encoder::IsDeviationWarning ( )

noexcept

Check if encoder deviation warning is active.

Returns

Result<bool> true if deviation between X_ENC and XACTUAL exceeds the threshold set by SetAllowedDeviation()

Deviation detection compares the encoder position (X_ENC) with the internal motor position (XACTUAL). If they differ by more than ENC_DEVIATION steps, a warning is triggered.

This is useful for:

• Detecting lost steps (motor missed steps due to overload)
• Detecting mechanical slippage
• Closed-loop position verification

Note

Set ENC_DEVIATION to 0 to disable deviation detection.

The warning cannot be cleared while deviation persists.

See also

SetAllowedDeviation()

IsLatchXactualEnabled()

template<typename CommType >

Result< bool > tmc51x0::TMC51x0< CommType >::Encoder::IsLatchXactualEnabled ( )

noexcept

Check if XACTUAL latching is enabled.

Returns

Result<bool> true if latch_x_act is enabled, false otherwise

IsNEventDetected()

template<typename CommType >

Result< bool > tmc51x0::TMC51x0< CommType >::Encoder::IsNEventDetected ( )

noexcept

Check if an encoder N-event was detected (ENC_STATUS.n_event)

Returns

Result<bool> true if an N-event is latched, false otherwise

ENC_STATUS.n_event is a write-1-to-clear flag set by the hardware on an N-channel event (as configured by ENCMODE).

Return values

INVALID_STATE

if called while in external STEP/DIR mode

SetAllowedDeviation()

template<typename CommType >

Result< void > tmc51x0::TMC51x0< CommType >::Encoder::SetAllowedDeviation ( int32_t steps )

noexcept

Set encoder allowed deviation.

Parameters

steps

Maximum number of steps deviation before warning

Returns

Result<void> indicating success or error

SetClearMode()

template<typename CommType >

Result< void > tmc51x0::TMC51x0< CommType >::Encoder::SetClearMode ( EncoderClearMode clear_mode )

noexcept

Set encoder clear mode.

Parameters

clear_mode

Clear mode (DISABLED, ONCE, CONTINUOUS)

Returns

Result<void> indicating success or error

Updates only clear mode, preserving other settings.

SetLatchXactualEnabled()

template<typename CommType >

Result< void > tmc51x0::TMC51x0< CommType >::Encoder::SetLatchXactualEnabled ( bool enable )

noexcept

Enable/disable latching XACTUAL with encoder position.

Parameters

enable

true to latch XACTUAL together with X_ENC on N-event

Returns

Result<void> indicating success or error

When enabled, the motor position (XACTUAL) is latched into X_LATCH simultaneously with the encoder position on N-channel events. This is useful for precise position verification and homing.

Updates only latch_x_act, preserving other ENCMODE settings.

See also

Datasheet Section 20: Encoder Interface, ENCMODE.latch_x_act

SetNChannelActiveLevel()

template<typename CommType >

Result< void > tmc51x0::TMC51x0< CommType >::Encoder::SetNChannelActiveLevel ( ReferenceSwitchActiveLevel active_level )

noexcept

Set N channel active level (determines polarity)

Parameters

active_level

Active level (ACTIVE_LOW or ACTIVE_HIGH)

Returns

Result<void> indicating success or error

Updates only the active level, preserving other settings. Shares ReferenceSwitchActiveLevel enum with reference switches.

SetNChannelSensitivity()

template<typename CommType >

Result< void > tmc51x0::TMC51x0< CommType >::Encoder::SetNChannelSensitivity ( EncoderNSensitivity sensitivity )

noexcept

Set N channel sensitivity (edge/level detection)

Parameters

sensitivity

Sensitivity mode (ACTIVE_LEVEL, RISING_EDGE, FALLING_EDGE, BOTH_EDGES)

Returns

Result<void> indicating success or error

Updates only sensitivity, preserving other settings.

SetPrescalerMode()

template<typename CommType >

Result< void > tmc51x0::TMC51x0< CommType >::Encoder::SetPrescalerMode ( EncoderPrescalerMode prescaler_mode )

noexcept

Set encoder prescaler mode.

Parameters

prescaler_mode

Prescaler mode (BINARY or DECIMAL)

Returns

Result<void> indicating success or error

Updates only prescaler mode, preserving other settings.

SetResolution()

template<typename CommType >

Result< void > tmc51x0::TMC51x0< CommType >::Encoder::SetResolution ( int32_t motor_steps, int32_t enc_resolution, bool inverted = false )

noexcept

Set encoder resolution.

Parameters

motor_steps	Number of steps per turn for the motor
enc_resolution	Actual encoder resolution (pulses per turn)
inverted	Whether encoder and motor rotations are inverted

Returns

Result<void> indicating success or error

Member Data Documentation

driver_

template<typename CommType >

TMC51x0& tmc51x0::TMC51x0< CommType >::Encoder::driver_

private

Reference to parent driver instance.

---

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

• tmc51x0.hpp