Motor control subsystem. More...

#include <tmc51x0.hpp>

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

Public Member Functions
	MotorControl (TMC51x0 &driver) noexcept
	Construct motor control subsystem.

Result< void >	Enable () noexcept
	Enable the motor driver.

Result< void >	Disable () noexcept
	Disable the motor driver.

Result< void >	SetCurrent (uint8_t irun, uint8_t ihold) noexcept
	Set motor run and hold current.

Result< void >	ConfigureChopper (const ChopperConfig &config) noexcept
	Configure chopper settings.

Result< void >	SetMicrostepResolution (MicrostepResolution mres, const MicrostepChangeOptions &opts=MicrostepChangeOptions{}) noexcept
	Change microstep resolution (CHOPCONF.MRES)

Result< void >	ConfigureStealthChop (const StealthChopConfig &config) noexcept
	Configure stealthChop settings.

Result< void >	ConfigureMotorCurrent (const MotorSpec &motor_spec) noexcept
	Configure motor current from motor specifications.

Result< void >	SetGlobalScaler (uint16_t scaler) noexcept
	Set global current scaler.

Result< GlobalConfig >	GetGlobalConfig () noexcept
	Get global configuration.

Result< void >	ConfigureCoolStep (const CoolStepConfig &config) noexcept
	Configure CoolStep current reduction.

Result< void >	ConfigureDcStep (const DcStepConfig &config) noexcept
	Configure dcStep automatic commutation.

Result< void >	SetMicrostepLookupTable (uint8_t index, uint32_t value) noexcept
	Set microstep lookup table entry.

Result< void >	SetMicrostepLookupTableSegmentation (uint8_t width_sel_0, uint8_t width_sel_1, uint8_t width_sel_2, uint8_t width_sel_3, uint8_t lut_seg_start1, uint8_t lut_seg_start2, uint8_t lut_seg_start3) noexcept
	Set microstep lookup table segmentation.

Result< void >	SetMicrostepLookupTableStart (uint16_t start_current) noexcept
	Set microstep lookup table start current.

Result< void >	ConfigureMicrostepLutPreset (MicrostepLutPreset preset) noexcept
	Configure microstep lookup table with a preset waveform.

Result< void >	ConfigureMicrostepLutCustom (const uint32_t lut[8], uint8_t w0, uint8_t w1, uint8_t w2, uint8_t w3, uint8_t x1, uint8_t x2, uint8_t x3, uint8_t start_sin, uint8_t start_sin90) noexcept
	Configure microstep lookup table from raw data.

Result< void >	SetupMotorFromSpec (const MotorSpec &motor_spec, const MechanicalSystem *mechanical_system=nullptr) noexcept
	Setup motor from high-level specifications.

Result< void >	ConfigureGlobalConfig (const GlobalConfig &config) noexcept
	Configure global configuration (GCONF register)

Result< void >	SetStealthChopEnabled (bool enabled) noexcept
	Enable/Disable StealthChop (PWM mode)

Result< ChopperConfig >	GetChopperConfig () noexcept
	Get chopper configuration.

Result< bool >	IsEnabled () noexcept
	Check if motor driver is enabled.

Result< bool >	IsStealthChopEnabled () noexcept
	Check if StealthChop is enabled.

Result< bool >	IsStealthChopCalibrated () noexcept
	Check if StealthChop is calibrated and working.

Result< Diag0Config >	GetDiag0Config () noexcept
	Get DIAG0 pin configuration.

Result< void >	SetDiag0Config (const Diag0Config &config) noexcept
	Set DIAG0 pin configuration.

Result< Diag1Config >	GetDiag1Config () noexcept
	Get DIAG1 pin configuration.

Result< void >	SetDiag1Config (const Diag1Config &config) noexcept
	Set DIAG1 pin configuration.

Result< void >	SetCoilCurrents (int16_t coil_a, int16_t coil_b) noexcept
	Set coil currents for direct mode operation.

Result< void >	SetIholdDelayMs (float total_delay_ms) noexcept
	Set motor power down delay (IHOLDDELAY) in milliseconds.

Private Attributes
TMC51x0 &	driver_
	Reference to parent driver instance.

Detailed Description

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

Motor control subsystem.

Provides methods for controlling motor current, chopper configuration, and stealthChop operation.

Constructor & Destructor Documentation

◆ MotorControl()

template<typename CommType >

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

inlineexplicitnoexcept

Construct motor control subsystem.

Parameters

driver Reference to parent TMC51x0 driver instance

Member Function Documentation

◆ ConfigureChopper()

template<typename CommType >

Result< void > tmc51x0::TMC51x0< CommType >::MotorControl::ConfigureChopper ( const ChopperConfig & config )

noexcept

Configure chopper settings.

Parameters

config Chopper configuration structure

Returns: Result<void> indicating success or error

◆ ConfigureCoolStep()

template<typename CommType >

Result< void > tmc51x0::TMC51x0< CommType >::MotorControl::ConfigureCoolStep ( const CoolStepConfig & config )

noexcept

Configure CoolStep current reduction.

Parameters

config CoolStep configuration structure

Returns: Result<void> indicating success or error

◆ ConfigureDcStep()

template<typename CommType >

Result< void > tmc51x0::TMC51x0< CommType >::MotorControl::ConfigureDcStep ( const DcStepConfig & config )

noexcept

Configure dcStep automatic commutation.

Parameters

config dcStep configuration structure

Returns: Result<void> indicating success or error

◆ ConfigureGlobalConfig()

template<typename CommType >

Result< void > tmc51x0::TMC51x0< CommType >::MotorControl::ConfigureGlobalConfig ( const GlobalConfig & config )

noexcept

Configure global configuration (GCONF register)

Parameters

config Global configuration structure

Returns: Result<void> indicating success or error

◆ ConfigureMicrostepLutCustom()

template<typename CommType >

Result< void > tmc51x0::TMC51x0< CommType >::MotorControl::ConfigureMicrostepLutCustom	(	const uint32_t	lut[8],
		uint8_t	w0,
		uint8_t	w1,
		uint8_t	w2,
		uint8_t	w3,
		uint8_t	x1,
		uint8_t	x2,
		uint8_t	x3,
		uint8_t	start_sin,
		uint8_t	start_sin90 )

noexcept

Configure microstep lookup table from raw data.

Parameters

lut	Array of 8 uint32_t values for MSLUT0-7
w0	Width select for segment 0 (0-3)
w1	Width select for segment 1 (0-3)
w2	Width select for segment 2 (0-3)
w3	Width select for segment 3 (0-3)
x1	Segment 1 start (0-255)
x2	Segment 2 start (0-255)
x3	Segment 3 start (0-255)
start_sin	Start sine value at entry 0 (0-255)
start_sin90	Sine value at entry 256 / 90° (0-255)

Returns: Result<void> indicating success or error

Programs all MSLUT registers with custom values for advanced waveform shaping. Use this for custom motor characteristics or torque ripple compensation.

See also: Datasheet Section 18: Microstep Lookup Table

◆ ConfigureMicrostepLutPreset()

template<typename CommType >

Result< void > tmc51x0::TMC51x0< CommType >::MotorControl::ConfigureMicrostepLutPreset ( MicrostepLutPreset preset )

noexcept

Configure microstep lookup table with a preset waveform.

Parameters

preset Waveform preset (DEFAULT_SINE, PURE_SINE, etc.)

Returns: Result<void> indicating success or error

Programs all MSLUT registers (MSLUT0-7, MSLUTSEL, MSLUTSTART) with optimized values for the selected waveform type.

Available presets:

DEFAULT_SINE: TMC5160 power-on default (slightly modified sine)
PURE_SINE: Mathematical pure sine wave (smooth, standard torque)

Note: The lookup table defines the first quarter of the sine wave; the driver mirrors it for the remaining three quarters.

See also: Datasheet Section 18: Microstep Lookup Table

◆ ConfigureMotorCurrent()

template<typename CommType >

Result< void > tmc51x0::TMC51x0< CommType >::MotorControl::ConfigureMotorCurrent ( const MotorSpec & motor_spec )

noexcept

Configure motor current from motor specifications.

Parameters

motor_spec Motor specifications including current, sense resistor, supply voltage

Returns: Result<void> indicating success or error

Automatically calculates and sets IRUN, IHOLD, and GLOBAL_SCALER from motor specifications. Also sets IHOLDDELAY if configured in motor_spec.

◆ ConfigureStealthChop()

template<typename CommType >

Result< void > tmc51x0::TMC51x0< CommType >::MotorControl::ConfigureStealthChop ( const StealthChopConfig & config )

noexcept

Configure stealthChop settings.

Parameters

config StealthChop configuration structure

Returns: Result<void> indicating success or error

◆ Disable()

template<typename CommType >

Result< void > tmc51x0::TMC51x0< CommType >::MotorControl::Disable ( )

noexcept

Disable the motor driver.

Returns: Result<void> indicating success or error

◆ Enable()

template<typename CommType >

Result< void > tmc51x0::TMC51x0< CommType >::MotorControl::Enable ( )

noexcept

Enable the motor driver.

Returns: Result<void> indicating success or error

◆ GetChopperConfig()

template<typename CommType >

Result< ChopperConfig > tmc51x0::TMC51x0< CommType >::MotorControl::GetChopperConfig ( )

noexcept

Get chopper configuration.

Parameters

config Reference to store current ChopperConfig

Returns: Result<ChopperConfig> containing the value or error

◆ GetDiag0Config()

template<typename CommType >

Result< Diag0Config > tmc51x0::TMC51x0< CommType >::MotorControl::GetDiag0Config ( )

noexcept

Get DIAG0 pin configuration.

Parameters

config Reference to store current Diag0Config

Returns: Result<Diag0Config> containing the value or error

Reads DIAG0 configuration from GCONF register using read-modify-write pattern.

◆ GetDiag1Config()

template<typename CommType >

Result< Diag1Config > tmc51x0::TMC51x0< CommType >::MotorControl::GetDiag1Config ( )

noexcept

Get DIAG1 pin configuration.

Parameters

config Reference to store current Diag1Config

Returns: Result<Diag1Config> containing the value or error

Reads DIAG1 configuration from GCONF register using read-modify-write pattern.

◆ GetGlobalConfig()

template<typename CommType >

Result< GlobalConfig > tmc51x0::TMC51x0< CommType >::MotorControl::GetGlobalConfig ( )

noexcept

Get global configuration.

Parameters

config Reference to store current GlobalConfig

Returns: Result<GlobalConfig> containing the value or error

◆ IsEnabled()

template<typename CommType >

Result< bool > tmc51x0::TMC51x0< CommType >::MotorControl::IsEnabled ( )

noexcept

Check if motor driver is enabled.

Returns: Result<bool> containing true if motor is enabled (toff > 0), false otherwise

◆ IsStealthChopCalibrated()

template<typename CommType >

Result< bool > tmc51x0::TMC51x0< CommType >::MotorControl::IsStealthChopCalibrated ( )

noexcept

Check if StealthChop is calibrated and working.

Returns: Result<bool> containing true if StealthChop is calibrated (pwm_scale_auto != 0), false otherwise

StealthChop requires calibration to work properly. If not calibrated, the motor may not move or may have poor performance.

◆ IsStealthChopEnabled()

template<typename CommType >

Result< bool > tmc51x0::TMC51x0< CommType >::MotorControl::IsStealthChopEnabled ( )

noexcept

Check if StealthChop is enabled.

Returns: Result<bool> containing true if StealthChop is enabled, false otherwise

◆ SetCoilCurrents()

template<typename CommType >

Result< void > tmc51x0::TMC51x0< CommType >::MotorControl::SetCoilCurrents	(	int16_t	coil_a,
		int16_t	coil_b )

noexcept

Set coil currents for direct mode operation.

Parameters

coil_a	Coil A current target (signed, range ±248 recommended for safe operation)
coil_b	Coil B current target (signed, range ±248 recommended for safe operation)

Returns: Result<void> indicating success or error

Sets coil current targets directly via XTARGET register when direct_mode is enabled. In direct mode, XTARGET controls coil currents instead of position:

Bits 8..0: Coil A current (signed 9-bit)
Bits 24..16: Coil B current (signed 9-bit)

Current is scaled by IHOLD setting. The STEP/DIR inputs and motion controller are not used in direct mode.

Note: Requires direct_mode to be enabled via ConfigureGlobalConfig().; For SpreadCycle mode, limit amplitude to ±248 for IHOLD up to 31 and hysteresis settings not exceeding 15 to keep sufficient regulation margin.; Values are automatically constrained to valid 9-bit signed range (-256 to +255).

Warning: This method overwrites XTARGET register. Do not use with normal position control.

◆ SetCurrent()

template<typename CommType >

Result< void > tmc51x0::TMC51x0< CommType >::MotorControl::SetCurrent	(	uint8_t	irun,
		uint8_t	ihold )

noexcept

Set motor run and hold current.

Parameters

irun	Run current (0-31, where 31 = 100% of global scaler)
ihold	Hold current (0-31, where 31 = 100% of global scaler)

Returns: Result<void> indicating success or error

◆ SetDiag0Config()

template<typename CommType >

Result< void > tmc51x0::TMC51x0< CommType >::MotorControl::SetDiag0Config ( const Diag0Config & config )

noexcept

Set DIAG0 pin configuration.

Parameters

config Diag0Config structure with DIAG0 settings

Returns: Result<void> indicating success or error

Writes DIAG0 configuration to GCONF register using read-modify-write pattern. Preserves all other GCONF bits.

◆ SetDiag1Config()

template<typename CommType >

Result< void > tmc51x0::TMC51x0< CommType >::MotorControl::SetDiag1Config ( const Diag1Config & config )

noexcept

Set DIAG1 pin configuration.

Parameters

config Diag1Config structure with DIAG1 settings

Returns: Result<void> indicating success or error

Writes DIAG1 configuration to GCONF register using read-modify-write pattern. Preserves all other GCONF bits.

Note: steps_skipped should not be enabled with other DIAG1 options (mutually exclusive).

◆ SetGlobalScaler()

template<typename CommType >

Result< void > tmc51x0::TMC51x0< CommType >::MotorControl::SetGlobalScaler ( uint16_t scaler )

noexcept

Set global current scaler.

Parameters

scaler Global scaler value (32-256)

Returns: Result<void> indicating success or error

◆ SetIholdDelayMs()

template<typename CommType >

Result< void > tmc51x0::TMC51x0< CommType >::MotorControl::SetIholdDelayMs ( float total_delay_ms )

noexcept

Set motor power down delay (IHOLDDELAY) in milliseconds.

Parameters

total_delay_ms Total motor power down delay time in milliseconds (0.0 = instant, automatically calculated to register value 0-15)

Returns: Result<void> indicating success or error

Sets the total delay time for motor power down after motion as soon as standstill is detected (stst=1) and TPOWERDOWN has expired. The smooth transition avoids a motor jerk upon power down.

The delay is automatically calculated from the desired total delay time, clock frequency, and the number of current reduction steps (IRUN - IHOLD).

Calculation: IHOLDDELAY = round((total_delay_ms / (IRUN - IHOLD)) × f_clk / (1000 × 2^18)) Total delay = (IRUN - IHOLD) × IHOLDDELAY × (2^18 / f_clk)

Note: If IRUN == IHOLD, the delay is always 0 regardless of this setting.; At 12 MHz with 15 current steps: typical range is 200-700 ms total delay.; The actual delay may differ slightly from the desired value due to register quantization.; This reads the current IRUN and IHOLD values from the driver to calculate the delay.

◆ SetMicrostepLookupTable()

template<typename CommType >

Result< void > tmc51x0::TMC51x0< CommType >::MotorControl::SetMicrostepLookupTable	(	uint8_t	index,
		uint32_t	value )

noexcept

Set microstep lookup table entry.

Parameters

index	Lookup table index (0-7)
value	Lookup table value (32-bit)

Returns: Result<void> indicating success or error

◆ SetMicrostepLookupTableSegmentation()

template<typename CommType >

Result< void > tmc51x0::TMC51x0< CommType >::MotorControl::SetMicrostepLookupTableSegmentation	(	uint8_t	width_sel_0,
		uint8_t	width_sel_1,
		uint8_t	width_sel_2,
		uint8_t	width_sel_3,
		uint8_t	lut_seg_start1,
		uint8_t	lut_seg_start2,
		uint8_t	lut_seg_start3 )

noexcept

Set microstep lookup table segmentation.

Parameters

width_sel_0	Width selection for segment 0 (0-3)
width_sel_1	Width selection for segment 1 (0-3)
width_sel_2	Width selection for segment 2 (0-3)
width_sel_3	Width selection for segment 3 (0-3)
lut_seg_start1	Start position for segment 1 (0-255)
lut_seg_start2	Start position for segment 2 (0-255)
lut_seg_start3	Start position for segment 3 (0-255)

Returns: Result<void> indicating success or error

◆ SetMicrostepLookupTableStart()

template<typename CommType >

Result< void > tmc51x0::TMC51x0< CommType >::MotorControl::SetMicrostepLookupTableStart ( uint16_t start_current )

noexcept

Set microstep lookup table start current.

Parameters

start_current Start current value (0-255)

Returns: Result<void> indicating success or error

◆ SetMicrostepResolution()

template<typename CommType >

Result< void > tmc51x0::TMC51x0< CommType >::MotorControl::SetMicrostepResolution	(	MicrostepResolution	mres,
		const MicrostepChangeOptions &	opts = MicrostepChangeOptions{} )

noexcept

Change microstep resolution (CHOPCONF.MRES)

Parameters

mres	New microstep resolution
opts	Options controlling rescaling behavior

Returns: Result<void> indicating success or error

By default, this preserves physical meaning across the MRES change:

Position registers (XACTUAL/XTARGET/X_COMPARE) are rescaled in microstep counts
Motion profile registers are rewritten so speed/accel in user units remain unchanged
Encoder scaling is recalculated if encoder is configured

If the motor is not in standstill and opts.require_standstill is true (default), the operation fails with INVALID_STATE.

◆ SetStealthChopEnabled()

template<typename CommType >

Result< void > tmc51x0::TMC51x0< CommType >::MotorControl::SetStealthChopEnabled ( bool enabled )

noexcept

Enable/Disable StealthChop (PWM mode)

Parameters

enabled true to enable StealthChop, false for SpreadCycle

Returns: Result<void> indicating success or error

◆ SetupMotorFromSpec()

template<typename CommType >

Result< void > tmc51x0::TMC51x0< CommType >::MotorControl::SetupMotorFromSpec	(	const MotorSpec &	motor_spec,
		const MechanicalSystem *	mechanical_system = nullptr )

noexcept

Setup motor from high-level specifications.

Parameters

motor_spec	Motor specification structure
mechanical_system	Optional mechanical system configuration

Returns: Result<void> indicating success or error

Automatically calculates and sets motor current, chopper configuration, and other parameters based on motor specifications.

Member Data Documentation

◆ driver_

template<typename CommType >

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

private

Reference to parent driver instance.

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

tmc51x0.hpp

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ MotorControl()

Member Function Documentation

◆ ConfigureChopper()

◆ ConfigureCoolStep()

◆ ConfigureDcStep()

◆ ConfigureGlobalConfig()

◆ ConfigureMicrostepLutCustom()

◆ ConfigureMicrostepLutPreset()

◆ ConfigureMotorCurrent()

◆ ConfigureStealthChop()

◆ Disable()

◆ Enable()

◆ GetChopperConfig()

◆ GetDiag0Config()

◆ GetDiag1Config()

◆ GetGlobalConfig()

◆ IsEnabled()

◆ IsStealthChopCalibrated()

◆ IsStealthChopEnabled()

◆ SetCoilCurrents()

◆ SetCurrent()

◆ SetDiag0Config()

◆ SetDiag1Config()

◆ SetGlobalScaler()

◆ SetIholdDelayMs()

◆ SetMicrostepLookupTable()

◆ SetMicrostepLookupTableSegmentation()

◆ SetMicrostepLookupTableStart()

◆ SetMicrostepResolution()

◆ SetStealthChopEnabled()

◆ SetupMotorFromSpec()

Member Data Documentation

◆ driver_