Ramp control subsystem. More...

#include <tmc51x0.hpp>

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

Public Member Functions
	RampControl (TMC51x0 &driver) noexcept
	Construct ramp control subsystem.

Result< void >	SetRampMode (RampMode mode) noexcept
	Set the ramp mode.

Result< RampMode >	GetRampMode () noexcept
	Get current ramp mode.

Result< bool >	IsPositionReached () noexcept
	Check if position target has been reached.

Result< bool >	IsVelocityReached () noexcept
	Check if velocity target has been reached.

Result< bool >	IsStandstill () noexcept
	Check if motor is in standstill.

Result< void >	SetTargetPosition (float value, Unit unit) noexcept
	Set target position (absolute)

Result< void >	MoveRelative (float offset, Unit unit) noexcept
	Move relative to current position.

Result< float >	GetCurrentPosition (Unit unit) noexcept
	Get current position.

Result< float >	GetTargetPosition (Unit unit) noexcept
	Get target position.

Result< int32_t >	GetCurrentPositionMicrosteps () noexcept
	Get current position in raw driver microsteps (XACTUAL)

Result< int32_t >	GetTargetPositionMicrosteps () noexcept
	Get target position in raw driver microsteps (XTARGET)

Result< void >	SetCurrentPosition (float value, Unit unit, bool update_encoder=false) noexcept
	Set current position.

Result< void >	SetMaxSpeed (float value, Unit unit) noexcept
	Set maximum speed.

Result< void >	SetAcceleration (float value, Unit unit) noexcept
	Set acceleration and deceleration.

Result< void >	SetAccelerations (float accel_val, float decel_val, Unit unit) noexcept
	Set acceleration and deceleration separately.

Result< void >	SetDeceleration (float value, Unit unit) noexcept
	Set deceleration only (DMAX register)

Result< void >	SetRampSpeeds (float start_speed, float stop_speed, float transition_speed, Unit unit) noexcept
	Set ramp speeds.

Result< float >	GetCurrentSpeed (Unit unit) noexcept
	Get current speed.

Result< bool >	IsTargetReached () noexcept
	Check if target position is reached.

Result< bool >	IsTargetVelocityReached () noexcept
	Check if target velocity is reached.

Result< void >	Stop () noexcept
	Stop the motor.

Result< void >	SetPowerDownDelay (uint8_t tpowerdown) noexcept
	Set power down delay (raw register value)

Result< void >	SetPowerDownDelayMs (float delay_ms) noexcept
	Set power down delay in milliseconds.

Result< void >	SetZeroWaitTime (uint16_t tzerowait) noexcept
	Set zero wait time (raw register value)

Result< void >	SetZeroWaitTimeMs (float delay_ms) noexcept
	Set zero wait time in milliseconds.

Result< void >	ConfigureRamp (const RampConfig &config) noexcept
	Configure ramp generator from RampConfig structure.

Result< void >	SetFirstAcceleration (float a1, Unit unit) noexcept
	Set first acceleration phase.

Result< void >	SetFinalDeceleration (float d1, Unit unit) noexcept
	Set final deceleration phase.

Private Member Functions
Result< void >	SetTargetPosition (int32_t position) noexcept
	Set XTARGET directly in register units.

Result< void >	SetCurrentPosition (int32_t position, bool update_encoder=false) noexcept

Private Attributes
TMC51x0 &	driver_
	Reference to parent driver instance.

Detailed Description

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

Ramp control subsystem.

Provides methods for controlling motor motion including positioning, velocity control, and hold modes.

Constructor & Destructor Documentation

◆ RampControl()

template<typename CommType >

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

inlineexplicitnoexcept

Construct ramp control subsystem.

Parameters

driver Reference to parent TMC51x0 driver instance

Member Function Documentation

◆ ConfigureRamp()

template<typename CommType >

Result< void > tmc51x0::TMC51x0< CommType >::RampControl::ConfigureRamp ( const RampConfig & config )

noexcept

Configure ramp generator from RampConfig structure.

Parameters

config Ramp configuration structure with all ramp parameters

Returns: Result<void> indicating success or error

Configures all ramp parameters including velocities, accelerations, and timing using the unit specifications from the config.

◆ GetCurrentPosition()

template<typename CommType >

Result< float > tmc51x0::TMC51x0< CommType >::RampControl::GetCurrentPosition ( Unit unit )

noexcept

Get current position.

Parameters

unit	Unit to return the position in (default: Steps)

Returns: Result<float> containing the current position or error

Returns the current position relative to the zero/home position set via SetCurrentPosition(). If home is unknown, call SetCurrentPosition(0.0f) at the current physical position first.

Note: Internally, XACTUAL is in microsteps (depends on CHOPCONF.MRES). When requesting Unit::Steps, the returned value is in motor full steps (microsteps are converted back using the current MRES).

◆ GetCurrentPositionMicrosteps()

template<typename CommType >

Result< int32_t > tmc51x0::TMC51x0< CommType >::RampControl::GetCurrentPositionMicrosteps ( )

noexcept

Get current position in raw driver microsteps (XACTUAL)

Returns: Result<int32_t> containing XACTUAL in microsteps (native register unit)

Use this when you want to inspect the exact microstep-level position used by the ramp generator. This avoids any conversion/rounding to degrees/full-steps.

◆ GetCurrentSpeed()

template<typename CommType >

Result< float > tmc51x0::TMC51x0< CommType >::RampControl::GetCurrentSpeed ( Unit unit )

noexcept

Get current speed.

Parameters

speed	Reference to store the current speed
unit	Unit to return the speed in (default: Steps)

Returns: Result<float> containing the value or error

◆ GetRampMode()

template<typename CommType >

Result< RampMode > tmc51x0::TMC51x0< CommType >::RampControl::GetRampMode ( )

noexcept

Get current ramp mode.

Returns: Result<RampMode> containing the current ramp mode or error

◆ GetTargetPosition()

template<typename CommType >

Result< float > tmc51x0::TMC51x0< CommType >::RampControl::GetTargetPosition ( Unit unit )

noexcept

Get target position.

Parameters

unit	Unit to return the position in (default: Steps)

Returns: Result<float> containing the target position or error

◆ GetTargetPositionMicrosteps()

template<typename CommType >

Result< int32_t > tmc51x0::TMC51x0< CommType >::RampControl::GetTargetPositionMicrosteps ( )

noexcept

Get target position in raw driver microsteps (XTARGET)

Returns: Result<int32_t> containing XTARGET in microsteps (native register unit)

◆ IsPositionReached()

template<typename CommType >

Result< bool > tmc51x0::TMC51x0< CommType >::RampControl::IsPositionReached ( )

noexcept

Check if position target has been reached.

Returns: Result<bool> containing true if position reached, false otherwise

◆ IsStandstill()

template<typename CommType >

Result< bool > tmc51x0::TMC51x0< CommType >::RampControl::IsStandstill ( )

noexcept

Check if motor is in standstill.

Returns: Result<bool> containing true if motor is in standstill, false otherwise

◆ IsTargetReached()

template<typename CommType >

Result< bool > tmc51x0::TMC51x0< CommType >::RampControl::IsTargetReached ( )

noexcept

Check if target position is reached.

Returns: Result<bool> containing true if target position reached, false otherwise

◆ IsTargetVelocityReached()

template<typename CommType >

Result< bool > tmc51x0::TMC51x0< CommType >::RampControl::IsTargetVelocityReached ( )

noexcept

Check if target velocity is reached.

Returns: Result<bool> containing true if target velocity reached, false otherwise

◆ IsVelocityReached()

template<typename CommType >

Result< bool > tmc51x0::TMC51x0< CommType >::RampControl::IsVelocityReached ( )

noexcept

Check if velocity target has been reached.

Returns: Result<bool> containing true if velocity reached, false otherwise

◆ MoveRelative()

template<typename CommType >

Result< void > tmc51x0::TMC51x0< CommType >::RampControl::MoveRelative	(	float	offset,
		Unit	unit )

noexcept

Move relative to current position.

Parameters

offset	Relative movement offset (positive = forward, negative = backward)
unit	Unit of the offset value (default: Steps)

Returns: Result<void> indicating success or error

Moves relative to the current position. Automatically calculates the new target position by adding the offset to the current position. No need to manually calculate steps.

Example: MoveRelative(90.0f, Unit::Deg); // Move 90 degrees from current position MoveRelative(-45.0f, Unit::Deg); // Move 45 degrees backward

◆ SetAcceleration()

template<typename CommType >

Result< void > tmc51x0::TMC51x0< CommType >::RampControl::SetAcceleration	(	float	value,
		Unit	unit )

noexcept

Set acceleration and deceleration.

Parameters

value	Acceleration value
unit	Unit of the value (default: Steps)

Returns: Result<void> indicating success or error

◆ SetAccelerations()

template<typename CommType >

Result< void > tmc51x0::TMC51x0< CommType >::RampControl::SetAccelerations	(	float	accel_val,
		float	decel_val,
		Unit	unit )

noexcept

Set acceleration and deceleration separately.

Parameters

accel_val	Acceleration value
decel_val	Deceleration value
unit	Unit of the values (default: Steps)

Returns: Result<void> indicating success or error

◆ SetCurrentPosition() [1/2]

template<typename CommType >

Result< void > tmc51x0::TMC51x0< CommType >::RampControl::SetCurrentPosition	(	float	value,
		Unit	unit,
		bool	update_encoder = false )

noexcept

Set current position.

Parameters

value	Position value
unit	Unit of the value (default: Steps)
update_encoder	If true, also update encoder position

Returns: Result<void> indicating success or error

◆ SetCurrentPosition() [2/2]

template<typename CommType >

Result< void > tmc51x0::TMC51x0< CommType >::RampControl::SetCurrentPosition	(	int32_t	position,
		bool	update_encoder = false )

privatenoexcept

◆ SetDeceleration()

template<typename CommType >

Result< void > tmc51x0::TMC51x0< CommType >::RampControl::SetDeceleration	(	float	value,
		Unit	unit )

noexcept

Set deceleration only (DMAX register)

Parameters

value	Deceleration value
unit	Unit of the value (default: Steps)

Returns: Result<void> indicating success or error

Sets only the deceleration rate (DMAX register) without affecting acceleration (AMAX).

◆ SetFinalDeceleration()

template<typename CommType >

Result< void > tmc51x0::TMC51x0< CommType >::RampControl::SetFinalDeceleration	(	float	d1,
		Unit	unit )

noexcept

Set final deceleration phase.

Parameters

d1	Deceleration value
unit	Unit of the value (default: Steps)

Returns: Result<void> indicating success or error

Sets the final deceleration phase (D1). Attention: Do not set 0 in positioning mode (datasheet 6.3.1). If set to 0, the driver might behave unexpectedly in positioning mode. A safe minimum (e.g., 100) is recommended if unsure.

◆ SetFirstAcceleration()

template<typename CommType >

Result< void > tmc51x0::TMC51x0< CommType >::RampControl::SetFirstAcceleration	(	float	a1,
		Unit	unit )

noexcept

Set first acceleration phase.

Parameters

a1	First acceleration value
unit	Unit of the value (default: Steps)

Returns: Result<void> indicating success or error

Sets the first acceleration phase. If 0.0f, AMAX is used for this phase.

◆ SetMaxSpeed()

template<typename CommType >

Result< void > tmc51x0::TMC51x0< CommType >::RampControl::SetMaxSpeed	(	float	value,
		Unit	unit )

noexcept

Set maximum speed.

Parameters

value	Maximum speed value
unit	Unit of the value (default: Steps)

Returns: Result<void> indicating success or error

◆ SetPowerDownDelay()

template<typename CommType >

Result< void > tmc51x0::TMC51x0< CommType >::RampControl::SetPowerDownDelay ( uint8_t tpowerdown )

noexcept

Set power down delay (raw register value)

Parameters

tpowerdown Power down delay (0-255, time range ~0 to 5.6 seconds)

Returns: Result<void> indicating success or error

Sets the delay before power down when motor enters standstill. Minimum setting of 2 is required to allow automatic tuning of stealthChop PWM_OFFS_AUTO.

Note: For user-friendly API, use SetPowerDownDelayMs() instead.

◆ SetPowerDownDelayMs()

template<typename CommType >

Result< void > tmc51x0::TMC51x0< CommType >::RampControl::SetPowerDownDelayMs ( float delay_ms )

noexcept

Set power down delay in milliseconds.

Parameters

delay_ms Power down delay in milliseconds (0.0 = instant, automatically converted to register value 0-255)

Returns: Result<void> indicating success or error

Sets the delay before power down when motor enters standstill. The delay is automatically converted from milliseconds to register value based on f_clk.

Conversion: tpowerdown = round((delay_ms × f_clk) / (1000 × 2^18))

Note: Minimum setting of 2 register units is required to allow automatic tuning of stealthChop PWM_OFFS_AUTO.; At 12 MHz: 1 register unit ≈ 21.85 ms, range ≈ 0-5.6 seconds

◆ SetRampMode()

template<typename CommType >

Result< void > tmc51x0::TMC51x0< CommType >::RampControl::SetRampMode ( RampMode mode )

noexcept

Set the ramp mode.

Parameters

mode	Ramp mode (POSITIONING, VELOCITY_POS, VELOCITY_NEG, HOLD)

Returns: Result<void> indicating success or error

◆ SetRampSpeeds()

template<typename CommType >

Result< void > tmc51x0::TMC51x0< CommType >::RampControl::SetRampSpeeds	(	float	start_speed,
		float	stop_speed,
		float	transition_speed,
		Unit	unit )

noexcept

Set ramp speeds.

Parameters

start_speed	Start speed value
stop_speed	Stop speed value
transition_speed	Transition speed value
unit	Unit of the speed values (default: Steps)

Returns: Result<void> indicating success or error

◆ SetTargetPosition() [1/2]

template<typename CommType >

Result< void > tmc51x0::TMC51x0< CommType >::RampControl::SetTargetPosition	(	float	value,
		Unit	unit )

noexcept

Set target position (absolute)

Parameters

value	Target position value (absolute position from current zero/home)
unit	Unit of the value (default: Steps)

Returns: Result<void> indicating success or error

Sets an absolute target position. The position is relative to the current zero/home position set via SetCurrentPosition(). If home is unknown, call SetCurrentPosition(0.0f) at the current physical position to establish a reference point.

Note: Internally, XTARGET/XACTUAL are in microsteps and therefore depend on the configured microstep resolution (CHOPCONF.MRES). When using Unit::Steps here, the value is interpreted as motor full steps and will be converted to microsteps using the current MRES setting.

◆ SetTargetPosition() [2/2]

template<typename CommType >

Result< void > tmc51x0::TMC51x0< CommType >::RampControl::SetTargetPosition ( int32_t position )

privatenoexcept

Set XTARGET directly in register units.

Parameters

position Target position in microsteps (XTARGET register units)

Note: This bypasses unit conversion. XTARGET units depend on CHOPCONF.MRES (microstep resolution). Prefer the public float+Unit overload unless you intentionally work in raw register units.

◆ SetZeroWaitTime()

template<typename CommType >

Result< void > tmc51x0::TMC51x0< CommType >::RampControl::SetZeroWaitTime ( uint16_t tzerowait )

noexcept

Set zero wait time (raw register value)

Parameters

tzerowait Waiting time after ramping down to zero velocity in clock cycles (0-65535)

Returns: Result<void> indicating success or error

Sets the waiting time after ramping down to zero velocity before next movement or direction inversion can start.

Note: For user-friendly API, use SetZeroWaitTimeMs() instead.

◆ SetZeroWaitTimeMs()

template<typename CommType >

Result< void > tmc51x0::TMC51x0< CommType >::RampControl::SetZeroWaitTimeMs ( float delay_ms )

noexcept

Set zero wait time in milliseconds.

Parameters

delay_ms Velocity-zero wait time in milliseconds (0.0 = no waiting, automatically converted to register value 0-65535)

Returns: Result<void> indicating success or error

Sets the waiting time after ramping down to zero velocity before next movement or direction inversion can start.

The delay is automatically converted from milliseconds to register value based on f_clk.

Conversion: tzerowait = round((delay_ms × f_clk) / (1000 × 2^18))

Note: Used only with the internal ramp generator (positioning / velocity mode).; Has no effect in external Step/Dir mode (SD_MODE=1).; At 12 MHz: 1 register unit ≈ 21.85 ms, maximum ≈ 1430 seconds (~23.8 minutes)

◆ Stop()

template<typename CommType >

Result< void > tmc51x0::TMC51x0< CommType >::RampControl::Stop ( )

noexcept

Stop the motor.

Returns: Result<void> indicating success or error

Stops the motor by setting VSTART and VMAX to 0.

Member Data Documentation

◆ driver_

template<typename CommType >

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

private

Reference to parent driver instance.

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

tmc51x0.hpp

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ RampControl()

Member Function Documentation

◆ ConfigureRamp()

◆ GetCurrentPosition()

◆ GetCurrentPositionMicrosteps()

◆ GetCurrentSpeed()

◆ GetRampMode()

◆ GetTargetPosition()

◆ GetTargetPositionMicrosteps()

◆ IsPositionReached()

◆ IsStandstill()

◆ IsTargetReached()

◆ IsTargetVelocityReached()

◆ IsVelocityReached()

◆ MoveRelative()

◆ SetAcceleration()

◆ SetAccelerations()

◆ SetCurrentPosition() [1/2]

◆ SetCurrentPosition() [2/2]

◆ SetDeceleration()

◆ SetFinalDeceleration()

◆ SetFirstAcceleration()

◆ SetMaxSpeed()

◆ SetPowerDownDelay()

◆ SetPowerDownDelayMs()

◆ SetRampMode()

◆ SetRampSpeeds()

◆ SetTargetPosition() [1/2]

◆ SetTargetPosition() [2/2]

◆ SetZeroWaitTime()

◆ SetZeroWaitTimeMs()

◆ Stop()

Member Data Documentation

◆ driver_