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

Snapshot of motor-current related calculated/cached values. More...

#include <tmc51x0.hpp>

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

Public Attributes
bool	initialized {false}
	True if Initialize() has completed successfully.
uint32_t	f_clk_hz {0}
	Effective clock used for calculations.
MotorSpec	motor_spec {}
	MotorSpec used for calculations.
uint8_t	calculated_irun {0}
	Last calculated IRUN (0..31)
uint8_t	calculated_ihold {0}
	Last calculated IHOLD (0..31)
uint16_t	calculated_global_scaler {0}
	Last calculated GLOBAL_SCALER (32..256)
uint16_t	cached_global_scaler {0}
	Cached write-only GLOBAL_SCALER value.
uint32_t	cached_ihold_irun {0}
	Cached write-only IHOLD_IRUN raw register value.

Detailed Description

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

Snapshot of motor-current related calculated/cached values.

The TMC5160 has several write-only registers (notably GLOBAL_SCALER and IHOLD_IRUN). This driver maintains an internal cache of those values and also stores the most recent calculated values from motor-current configuration (IRUN/IHOLD/GLOBAL_SCALER).

This struct exposes those values for application-level logging without duplicating the calculation logic in the application.

Member Data Documentation

cached_global_scaler

template<typename CommType >

uint16_t tmc51x0::TMC51x0< CommType >::MotorCurrentDebugInfo::cached_global_scaler {0}

Cached write-only GLOBAL_SCALER value.

cached_ihold_irun

template<typename CommType >

uint32_t tmc51x0::TMC51x0< CommType >::MotorCurrentDebugInfo::cached_ihold_irun {0}

Cached write-only IHOLD_IRUN raw register value.

calculated_global_scaler

template<typename CommType >

uint16_t tmc51x0::TMC51x0< CommType >::MotorCurrentDebugInfo::calculated_global_scaler {0}

Last calculated GLOBAL_SCALER (32..256)

calculated_ihold

template<typename CommType >

uint8_t tmc51x0::TMC51x0< CommType >::MotorCurrentDebugInfo::calculated_ihold {0}

Last calculated IHOLD (0..31)

calculated_irun

template<typename CommType >

uint8_t tmc51x0::TMC51x0< CommType >::MotorCurrentDebugInfo::calculated_irun {0}

Last calculated IRUN (0..31)

f_clk_hz

template<typename CommType >

uint32_t tmc51x0::TMC51x0< CommType >::MotorCurrentDebugInfo::f_clk_hz {0}

Effective clock used for calculations.

initialized

template<typename CommType >

bool tmc51x0::TMC51x0< CommType >::MotorCurrentDebugInfo::initialized {false}

True if Initialize() has completed successfully.

motor_spec

template<typename CommType >

MotorSpec tmc51x0::TMC51x0< CommType >::MotorCurrentDebugInfo::motor_spec {}

MotorSpec used for calculations.

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

• tmc51x0.hpp