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

Power stage + protection subsystem (DRV_CONF, SHORT_CONF) More...

#include <tmc51x0.hpp>

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

Public Member Functions
	PowerStage (TMC51x0 &driver) noexcept
Result< void >	ConfigurePowerStage (const PowerStageParameters &config) noexcept
	Configure power stage parameters (DRV_CONF register)
Result< void >	ConfigureShortProtection (const PowerStageParameters &config) noexcept
	Configure short protection levels from PowerStageParameters.
Result< void >	SetShortProtectionLevels (uint8_t s2vs_level, uint8_t s2g_level, uint8_t shortfilter, uint8_t shortdelay) noexcept
	Set short protection levels.

Private Attributes
TMC51x0 &	driver_

Detailed Description

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

Power stage + protection subsystem (DRV_CONF, SHORT_CONF)

Groups board/power-electronics configuration and short protection, keeping motorControl focused on motor drive behavior.

Constructor & Destructor Documentation

PowerStage()

template<typename CommType >

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

inlineexplicitnoexcept

Member Function Documentation

ConfigurePowerStage()

template<typename CommType >

Result< void > tmc51x0::TMC51x0< CommType >::PowerStage::ConfigurePowerStage ( const PowerStageParameters & config )

noexcept

Configure power stage parameters (DRV_CONF register)

Parameters

config

Power stage parameters structure

Returns

Result<void> indicating success or error

ConfigureShortProtection()

template<typename CommType >

Result< void > tmc51x0::TMC51x0< CommType >::PowerStage::ConfigureShortProtection ( const PowerStageParameters & config )

noexcept

Configure short protection levels from PowerStageParameters.

Parameters

config

Power stage parameters structure (contains short protection fields)

Returns

Result<void> indicating success or error

SetShortProtectionLevels()

template<typename CommType >

Result< void > tmc51x0::TMC51x0< CommType >::PowerStage::SetShortProtectionLevels ( uint8_t s2vs_level, uint8_t s2g_level, uint8_t shortfilter, uint8_t shortdelay )

noexcept

Set short protection levels.

Parameters

s2vs_level	Short to VS detector sensitivity (4-15)
s2g_level	Short to GND detector sensitivity (2-15)
shortfilter	Spike filtering bandwidth (0-3)
shortdelay	Short detection delay (0-1)

Returns

Result<void> indicating success or error

Member Data Documentation

driver_

template<typename CommType >

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

private

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

• tmc51x0.hpp