Reference switches / endstops subsystem (SW_MODE / XLATCH) More...

#include <tmc51x0.hpp>

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

Public Member Functions
	Switches (TMC51x0 &driver) noexcept

Result< void >	ConfigureReferenceSwitch (const ReferenceSwitchConfig &config) noexcept
	Configure reference switches / endstops (SW_MODE)

Result< ReferenceSwitchConfig >	GetReferenceSwitchConfig () noexcept
	Read reference switch configuration (SW_MODE)

Result< void >	SetLeftSwitchActiveLevel (ReferenceSwitchActiveLevel active_level) noexcept
	Set left reference switch active level / polarity.

Result< void >	SetRightSwitchActiveLevel (ReferenceSwitchActiveLevel active_level) noexcept
	Set right reference switch active level / polarity.

Result< void >	SetLeftSwitchStopEnable (bool enable) noexcept
	Enable/disable stop-on-left-switch (SW_MODE.stop_l_enable)

Result< void >	SetRightSwitchStopEnable (bool enable) noexcept
	Enable/disable stop-on-right-switch (SW_MODE.stop_r_enable)

Result< void >	SetLeftSwitchLatchMode (ReferenceLatchMode latch_mode) noexcept
	Configure left switch latching behavior (SW_MODE.latch_l_active)

Result< void >	SetRightSwitchLatchMode (ReferenceLatchMode latch_mode) noexcept
	Configure right switch latching behavior (SW_MODE.latch_r_active)

Result< void >	SetStopMode (ReferenceStopMode stop_mode) noexcept
	Set reference stop mode (hard/soft stop) for internal ramp generator.

Result< bool >	GetReferenceSwitchStatus (bool &right_active, bool &left_enabled, bool &right_enabled) noexcept
	Get reference switch active/enabled status (RAMP_STAT + SW_MODE)

Result< float >	GetLatchedPosition (Unit unit) noexcept
	Read latched position from XLATCH (unit-aware)

Private Attributes
TMC51x0 &	driver_

Detailed Description

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

Reference switches / endstops subsystem (SW_MODE / XLATCH)

Owns reference switch configuration, latching, and related status helpers. (This used to live under RampControl; it is separated to keep RampControl focused on motion profile programming.)

Constructor & Destructor Documentation

◆ Switches()

template<typename CommType >

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

inlineexplicitnoexcept

Member Function Documentation

◆ ConfigureReferenceSwitch()

template<typename CommType >

Result< void > tmc51x0::TMC51x0< CommType >::Switches::ConfigureReferenceSwitch ( const ReferenceSwitchConfig & config )

noexcept

Configure reference switches / endstops (SW_MODE)

Parameters

config Reference switch configuration

Returns: Result<void> indicating success or error

Programs the reference switch logic in the SW_MODE register, including:

input polarity / active level (left/right)
enable/disable stop-on-switch per side
latch configuration (XLATCH behavior)
hard/soft stop behavior for the internal motion controller

Use GetReferenceSwitchStatus() to read the current active state and whether stop-on-switch is enabled.

◆ GetLatchedPosition()

template<typename CommType >

Result< float > tmc51x0::TMC51x0< CommType >::Switches::GetLatchedPosition ( Unit unit )

noexcept

Read latched position from XLATCH (unit-aware)

Parameters

unit	Unit to return the position in

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

XLATCH latches the internal position counter (microsteps). This helper converts it into the requested user unit based on the current microstep resolution and mechanical system configuration.

◆ GetReferenceSwitchConfig()

template<typename CommType >

Result< ReferenceSwitchConfig > tmc51x0::TMC51x0< CommType >::Switches::GetReferenceSwitchConfig ( )

noexcept

Read reference switch configuration (SW_MODE)

Returns: Result<ReferenceSwitchConfig> containing the value or error

◆ GetReferenceSwitchStatus()

template<typename CommType >

Result< bool > tmc51x0::TMC51x0< CommType >::Switches::GetReferenceSwitchStatus	(	bool &	right_active,
		bool &	left_enabled,
		bool &	right_enabled )

noexcept

Get reference switch active/enabled status (RAMP_STAT + SW_MODE)

Parameters

right_active	Output: true if right switch is currently active
left_enabled	Output: true if left stop-on-switch is enabled
right_enabled	Output: true if right stop-on-switch is enabled

Returns: Result<bool> true on success, or error

Active state is read from RAMP_STAT status bits.
Enabled state is derived from SW_MODE stop-enable bits.

◆ SetLeftSwitchActiveLevel()

template<typename CommType >

Result< void > tmc51x0::TMC51x0< CommType >::Switches::SetLeftSwitchActiveLevel ( ReferenceSwitchActiveLevel active_level )

noexcept

Set left reference switch active level / polarity.

Parameters

active_level Active level (ACTIVE_LOW / ACTIVE_HIGH)

Returns: Result<void> indicating success or error

Convenience helper that reads the current SW_MODE, updates the left polarity field, and writes it back.

◆ SetLeftSwitchLatchMode()

template<typename CommType >

Result< void > tmc51x0::TMC51x0< CommType >::Switches::SetLeftSwitchLatchMode ( ReferenceLatchMode latch_mode )

noexcept

Configure left switch latching behavior (SW_MODE.latch_l_active)

Parameters

latch_mode Latch mode selection

Returns: Result<void> indicating success or error

◆ SetLeftSwitchStopEnable()

template<typename CommType >

Result< void > tmc51x0::TMC51x0< CommType >::Switches::SetLeftSwitchStopEnable ( bool enable )

noexcept

Enable/disable stop-on-left-switch (SW_MODE.stop_l_enable)

Parameters

enable True to enable stop-on-switch

Returns: Result<void> indicating success or error

◆ SetRightSwitchActiveLevel()

template<typename CommType >

Result< void > tmc51x0::TMC51x0< CommType >::Switches::SetRightSwitchActiveLevel ( ReferenceSwitchActiveLevel active_level )

noexcept

Set right reference switch active level / polarity.

Parameters

active_level Active level (ACTIVE_LOW / ACTIVE_HIGH)

Returns: Result<void> indicating success or error

Convenience helper that reads the current SW_MODE, updates the right polarity field, and writes it back.

◆ SetRightSwitchLatchMode()

template<typename CommType >

Result< void > tmc51x0::TMC51x0< CommType >::Switches::SetRightSwitchLatchMode ( ReferenceLatchMode latch_mode )

noexcept

Configure right switch latching behavior (SW_MODE.latch_r_active)

Parameters

latch_mode Latch mode selection

Returns: Result<void> indicating success or error

◆ SetRightSwitchStopEnable()

template<typename CommType >

Result< void > tmc51x0::TMC51x0< CommType >::Switches::SetRightSwitchStopEnable ( bool enable )

noexcept

Enable/disable stop-on-right-switch (SW_MODE.stop_r_enable)

Parameters

enable True to enable stop-on-switch

Returns: Result<void> indicating success or error

◆ SetStopMode()

template<typename CommType >

Result< void > tmc51x0::TMC51x0< CommType >::Switches::SetStopMode ( ReferenceStopMode stop_mode )

noexcept

Set reference stop mode (hard/soft stop) for internal ramp generator.

Parameters

stop_mode Stop mode selection

Returns: Result<void> indicating success or error

Warning: Datasheet (SW_MODE): do not use soft stop in combination with StallGuard stop-on-stall (sg_stop). This API returns INVALID_STATE if soft-stop is requested while sg_stop is enabled.

Member Data Documentation

◆ driver_

template<typename CommType >

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

private

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

tmc51x0.hpp

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Switches()

Member Function Documentation

◆ ConfigureReferenceSwitch()

◆ GetLatchedPosition()

◆ GetReferenceSwitchConfig()

◆ GetReferenceSwitchStatus()

◆ SetLeftSwitchActiveLevel()

◆ SetLeftSwitchLatchMode()

◆ SetLeftSwitchStopEnable()

◆ SetRightSwitchActiveLevel()

◆ SetRightSwitchLatchMode()

◆ SetRightSwitchStopEnable()

◆ SetStopMode()

Member Data Documentation

◆ driver_