tmc51x0::TMC51x0< CommType >::Homing::BoundsOptions Struct Reference

#include <tmc51x0.hpp>

Collaboration diagram for tmc51x0::TMC51x0< CommType >::Homing::BoundsOptions:

Public Attributes
Unit	speed_unit {Unit::RPM}
Unit	position_unit {Unit::Deg}
Unit	accel_unit {Unit::RevPerSec}
	Accel/decel unit (interpreted as rev/s² when used for acceleration fields)
float	search_speed {0.0F}
	In speed_unit.
float	search_span {360.0F}
	Max distance to attempt per direction, in position_unit.
float	backoff_distance {5.0F}
	Backoff after bound hit, in position_unit.
uint32_t	timeout_ms {30000}
	Timeout per direction.
bool	search_positive_first {true}
	Bounds finding: when true, search + direction first; when false, search - direction first.
bool	preflight_clear_active_switch {true}
	Switch homing: if selected switch is active at start, attempt a bounded move away to clear it.
float	search_accel {0.0F}
	Acceleration override in accel_unit (0 = use cached/default)
float	search_decel {0.0F}
	Deceleration override in accel_unit (0 = use cached/default)
float	current_reduction_factor {0.3F}
	0..1 (percentage of configured current). Ignored if current_reduction_target_mA > 0.
uint16_t	current_reduction_target_mA {0}
	Absolute RMS current target during bounds (0 = disabled).
const StallGuardConfig *	stallguard_override {nullptr}
	Optional override (SGT/min_velocity/filter/etc.). If null, uses configured StallGuard settings.

Member Data Documentation

accel_unit

template<typename CommType >

Unit tmc51x0::TMC51x0< CommType >::Homing::BoundsOptions::accel_unit {Unit::RevPerSec}

Accel/decel unit (interpreted as rev/s² when used for acceleration fields)

backoff_distance

template<typename CommType >

float tmc51x0::TMC51x0< CommType >::Homing::BoundsOptions::backoff_distance {5.0F}

Backoff after bound hit, in position_unit.

current_reduction_factor

template<typename CommType >

float tmc51x0::TMC51x0< CommType >::Homing::BoundsOptions::current_reduction_factor {0.3F}

0..1 (percentage of configured current). Ignored if current_reduction_target_mA > 0.

current_reduction_target_mA

template<typename CommType >

uint16_t tmc51x0::TMC51x0< CommType >::Homing::BoundsOptions::current_reduction_target_mA {0}

Absolute RMS current target during bounds (0 = disabled).

position_unit

template<typename CommType >

Unit tmc51x0::TMC51x0< CommType >::Homing::BoundsOptions::position_unit {Unit::Deg}

preflight_clear_active_switch

template<typename CommType >

bool tmc51x0::TMC51x0< CommType >::Homing::BoundsOptions::preflight_clear_active_switch {true}

Switch homing: if selected switch is active at start, attempt a bounded move away to clear it.

search_accel

template<typename CommType >

float tmc51x0::TMC51x0< CommType >::Homing::BoundsOptions::search_accel {0.0F}

Acceleration override in accel_unit (0 = use cached/default)

search_decel

template<typename CommType >

float tmc51x0::TMC51x0< CommType >::Homing::BoundsOptions::search_decel {0.0F}

Deceleration override in accel_unit (0 = use cached/default)

search_positive_first

template<typename CommType >

bool tmc51x0::TMC51x0< CommType >::Homing::BoundsOptions::search_positive_first {true}

Bounds finding: when true, search + direction first; when false, search - direction first.

search_span

template<typename CommType >

float tmc51x0::TMC51x0< CommType >::Homing::BoundsOptions::search_span {360.0F}

Max distance to attempt per direction, in position_unit.

search_speed

template<typename CommType >

float tmc51x0::TMC51x0< CommType >::Homing::BoundsOptions::search_speed {0.0F}

In speed_unit.

speed_unit

template<typename CommType >

Unit tmc51x0::TMC51x0< CommType >::Homing::BoundsOptions::speed_unit {Unit::RPM}

stallguard_override

template<typename CommType >

const StallGuardConfig* tmc51x0::TMC51x0< CommType >::Homing::BoundsOptions::stallguard_override {nullptr}

Optional override (SGT/min_velocity/filter/etc.). If null, uses configured StallGuard settings.

timeout_ms

template<typename CommType >

uint32_t tmc51x0::TMC51x0< CommType >::Homing::BoundsOptions::timeout_ms {30000}

Timeout per direction.

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

• tmc51x0.hpp