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

StallGuard2 subsystem (COOLCONF/DRV_STATUS + SW_MODE interactions) More...

#include <tmc51x0.hpp>

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

Public Member Functions
	StallGuard (TMC51x0 &driver) noexcept
Result< uint16_t >	GetStallGuard () noexcept
	Read StallGuard2 value (SG_RESULT)
Result< uint16_t >	GetStallGuardResult () noexcept
	Read StallGuard2 result from DRV_STATUS (SG_RESULT)
Result< void >	ConfigureStallGuard (const StallGuardConfig &config) noexcept
	Configure StallGuard2 parameters (COOLCONF)
Result< void >	EnableStopOnStall (bool enable) noexcept
	Enable/disable stop-on-stall behavior.
Result< bool >	IsStopOnStallEnabled () noexcept
	Check whether stop-on-stall is enabled.
Result< void >	SetSoftStop (bool enable) noexcept
	Enable/disable soft-stop behavior (instead of hard stop)
Result< bool >	IsSoftStopEnabled () noexcept
	Check whether soft-stop is enabled.
Result< void >	ClearStallFlag () noexcept
	Clear stall event flag (RAMP_STAT)
Result< bool >	IsStallDetected () noexcept
	Check if stall has been detected (RAMP_STAT)

Private Attributes
TMC51x0 &	driver_
	Set StallGuard/CoolStep threshold velocity (TCOOLTHRS, unit-aware)

Detailed Description

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

StallGuard2 subsystem (COOLCONF/DRV_STATUS + SW_MODE interactions)

Owns StallGuard configuration and control signals that affect motion behavior (stop-on-stall, soft-stop), keeping diagnostics focused on monitoring.

Constructor & Destructor Documentation

StallGuard()

template<typename CommType >

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

inlineexplicitnoexcept

Member Function Documentation

ClearStallFlag()

template<typename CommType >

Result< void > tmc51x0::TMC51x0< CommType >::StallGuard::ClearStallFlag ( )

noexcept

Clear stall event flag (RAMP_STAT)

Returns

Result<void> indicating success or error

ConfigureStallGuard()

template<typename CommType >

Result< void > tmc51x0::TMC51x0< CommType >::StallGuard::ConfigureStallGuard ( const StallGuardConfig & config )

noexcept

Configure StallGuard2 parameters (COOLCONF)

Parameters

config

StallGuard configuration

Returns

Result<void> indicating success or error

EnableStopOnStall()

template<typename CommType >

Result< void > tmc51x0::TMC51x0< CommType >::StallGuard::EnableStopOnStall ( bool enable )

noexcept

Enable/disable stop-on-stall behavior.

Parameters

enable

True to enable stop on stall

Returns

Result<void> indicating success or error

Warning

Datasheet (SW_MODE): do not combine stop-on-stall (sg_stop) with soft-stop (en_softstop). This API returns INVALID_STATE if enabling sg_stop while soft-stop is enabled.

GetStallGuard()

template<typename CommType >

Result< uint16_t > tmc51x0::TMC51x0< CommType >::StallGuard::GetStallGuard ( )

noexcept

Read StallGuard2 value (SG_RESULT)

Returns

Result<uint16_t> containing the value or error

GetStallGuardResult()

template<typename CommType >

Result< uint16_t > tmc51x0::TMC51x0< CommType >::StallGuard::GetStallGuardResult ( )

noexcept

Read StallGuard2 result from DRV_STATUS (SG_RESULT)

Returns

Result<uint16_t> containing the value or error

IsSoftStopEnabled()

template<typename CommType >

Result< bool > tmc51x0::TMC51x0< CommType >::StallGuard::IsSoftStopEnabled ( )

noexcept

Check whether soft-stop is enabled.

Returns

Result<bool> containing true if enabled, false otherwise

IsStallDetected()

template<typename CommType >

Result< bool > tmc51x0::TMC51x0< CommType >::StallGuard::IsStallDetected ( )

noexcept

Check if stall has been detected (RAMP_STAT)

Returns

Result<bool> containing true if stall event is set

IsStopOnStallEnabled()

template<typename CommType >

Result< bool > tmc51x0::TMC51x0< CommType >::StallGuard::IsStopOnStallEnabled ( )

noexcept

Check whether stop-on-stall is enabled.

Returns

Result<bool> containing true if enabled, false otherwise

SetSoftStop()

template<typename CommType >

Result< void > tmc51x0::TMC51x0< CommType >::StallGuard::SetSoftStop ( bool enable )

noexcept

Enable/disable soft-stop behavior (instead of hard stop)

Parameters

enable

True to enable soft stop

Returns

Result<void> indicating success or error

Warning

Datasheet (SW_MODE): do not combine soft-stop (en_softstop) with stop-on-stall (sg_stop). This API returns INVALID_STATE if enabling soft-stop while sg_stop is enabled.

Member Data Documentation

driver_

template<typename CommType >

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

private

Set StallGuard/CoolStep threshold velocity (TCOOLTHRS, unit-aware)

Parameters

threshold	Threshold velocity
unit	Unit of threshold

Returns

Result<void> indicating success or error

---

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

• tmc51x0.hpp