Velocity thresholds / mode thresholds (TPWMTHRS, TCOOLTHRS, THIGH) More...

#include <tmc51x0.hpp>

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

Public Member Functions
	Thresholds (TMC51x0 &driver) noexcept

Result< void >	SetStealthChopVelocityThreshold (float value, Unit unit) noexcept
	Set StealthChop velocity threshold (TPWMTHRS)

Result< float >	GetStealthChopVelocityThreshold (Unit unit) const noexcept
	Get StealthChop velocity threshold (TPWMTHRS) from local tracking.

Result< void >	SetTcoolthrs (float threshold, Unit unit) noexcept
	Set StallGuard/CoolStep threshold velocity (TCOOLTHRS)

Result< float >	GetTcoolthrs (Unit unit) const noexcept
	Get cached StallGuard/CoolStep threshold velocity (TCOOLTHRS)

Result< void >	SetHighSpeedThreshold (float value, Unit unit) noexcept
	Set High-Speed velocity threshold (THIGH)

Result< void >	SetDcStepVelocityThreshold (float value, Unit unit) noexcept
	Set DcStep velocity threshold (VDCMIN)

Result< float >	GetDcStepVelocityThreshold (Unit unit) const noexcept
	Get cached DcStep velocity threshold (VDCMIN)

uint32_t	GetVdcminRegisterValue () const noexcept
	Get locally tracked VDCMIN register value (raw)

Result< void >	SetModeChangeSpeeds (float pwm_thrs, float cool_thrs, float high_thrs, Unit unit) noexcept
	Convenience: set TPWMTHRS, TCOOLTHRS, and THIGH in one call.

uint32_t	GetTpwmthrsRegisterValue () const noexcept
	Get locally tracked TPWMTHRS register value (raw)

uint32_t	GetTcoolthrsRegisterValue () const noexcept
	Get locally tracked TCOOLTHRS register value (raw)

uint32_t	GetThighRegisterValue () const noexcept
	Get locally tracked THIGH register value (raw)

Result< void >	SetModeHysteresis (float lower_speed, float upper_speed, Unit unit) noexcept
	Configure StealthChop to SpreadCycle transition with hysteresis.

Result< void >	UpdateModeHysteresis () noexcept
	Update TPWMTHRS based on current chopper mode for hysteresis.

Result< void >	DisableModeHysteresis () noexcept
	Disable mode hysteresis (use single TPWMTHRS threshold)

bool	IsModeHysteresisEnabled () const noexcept
	Check if mode hysteresis is currently configured.

Private Attributes
TMC51x0 &	driver_

uint32_t	hysteresis_to_spreadcycle_tstep_ {0}

uint32_t	hysteresis_to_stealthchop_tstep_ {0}

bool	hysteresis_enabled_ {false}

Detailed Description

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

Velocity thresholds / mode thresholds (TPWMTHRS, TCOOLTHRS, THIGH)

Consolidates all "threshold" knobs so users don't have to guess whether a given threshold belongs to motor control, StallGuard, or diagnostics.

Constructor & Destructor Documentation

◆ Thresholds()

template<typename CommType >

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

inlineexplicitnoexcept

Member Function Documentation

◆ DisableModeHysteresis()

template<typename CommType >

Result< void > tmc51x0::TMC51x0< CommType >::Thresholds::DisableModeHysteresis ( )

noexcept

Disable mode hysteresis (use single TPWMTHRS threshold)

Returns: Result<void> indicating success or error

Clears the hysteresis configuration and returns to standard single-threshold mode switching behavior.

◆ GetDcStepVelocityThreshold()

template<typename CommType >

Result< float > tmc51x0::TMC51x0< CommType >::Thresholds::GetDcStepVelocityThreshold ( Unit unit ) const

noexcept

Get cached DcStep velocity threshold (VDCMIN)

Parameters

unit	Unit to return the cached value in

Returns: Result<float> containing the cached value or error

This returns the locally tracked value (VDCMIN is treated as write-only by this driver).

◆ GetStealthChopVelocityThreshold()

template<typename CommType >

Result< float > tmc51x0::TMC51x0< CommType >::Thresholds::GetStealthChopVelocityThreshold ( Unit unit ) const

noexcept

Get StealthChop velocity threshold (TPWMTHRS) from local tracking.

Parameters

unit	Unit of the returned threshold

Returns: Result<float> containing the threshold in requested units

◆ GetTcoolthrs()

template<typename CommType >

Result< float > tmc51x0::TMC51x0< CommType >::Thresholds::GetTcoolthrs ( Unit unit ) const

noexcept

Get cached StallGuard/CoolStep threshold velocity (TCOOLTHRS)

Parameters

unit	Unit to return the cached value in

Returns: Result<float> containing the cached value or error

◆ GetTcoolthrsRegisterValue()

template<typename CommType >

uint32_t tmc51x0::TMC51x0< CommType >::Thresholds::GetTcoolthrsRegisterValue ( ) const

noexcept

Get locally tracked TCOOLTHRS register value (raw)

Returns: Raw TCOOLTHRS register value (20-bit meaningful range)

◆ GetThighRegisterValue()

template<typename CommType >

uint32_t tmc51x0::TMC51x0< CommType >::Thresholds::GetThighRegisterValue ( ) const

noexcept

Get locally tracked THIGH register value (raw)

Returns: Raw THIGH register value (20-bit meaningful range)

Note: THIGH defines the upper velocity limit for StallGuard2/CoolStep. Above this velocity, SG and CoolStep are disabled.

◆ GetTpwmthrsRegisterValue()

template<typename CommType >

uint32_t tmc51x0::TMC51x0< CommType >::Thresholds::GetTpwmthrsRegisterValue ( ) const

noexcept

Get locally tracked TPWMTHRS register value (raw)

Returns: Raw TPWMTHRS register value (20-bit meaningful range)

◆ GetVdcminRegisterValue()

template<typename CommType >

uint32_t tmc51x0::TMC51x0< CommType >::Thresholds::GetVdcminRegisterValue ( ) const

noexcept

Get locally tracked VDCMIN register value (raw)

Returns: Raw VDCMIN register value

◆ IsModeHysteresisEnabled()

template<typename CommType >

bool tmc51x0::TMC51x0< CommType >::Thresholds::IsModeHysteresisEnabled ( ) const

noexcept

Check if mode hysteresis is currently configured.

Returns: true if hysteresis is enabled with valid upper/lower thresholds

◆ SetDcStepVelocityThreshold()

template<typename CommType >

Result< void > tmc51x0::TMC51x0< CommType >::Thresholds::SetDcStepVelocityThreshold	(	float	value,
		Unit	unit )

noexcept

Set DcStep velocity threshold (VDCMIN)

Parameters

value	Velocity threshold value (0 disables)
unit	Unit of the value

Returns: Result<void> indicating success or error

VDCMIN is part of the ramp-generator driver feature control register set. Per datasheet, VDCMIN-based DcStep enable is only valid when using the internal ramp generator (SD_MODE=LOW). In external STEP/DIR mode, DcStep is enabled via the external DCEN pin instead.

Return values

INVALID_STATE if called while in external STEP/DIR mode

◆ SetHighSpeedThreshold()

template<typename CommType >

Result< void > tmc51x0::TMC51x0< CommType >::Thresholds::SetHighSpeedThreshold	(	float	value,
		Unit	unit )

noexcept

Set High-Speed velocity threshold (THIGH)

Parameters

value	Velocity threshold value
unit	Unit of the value

Returns: Result<void> indicating success or error

◆ SetModeChangeSpeeds()

template<typename CommType >

Result< void > tmc51x0::TMC51x0< CommType >::Thresholds::SetModeChangeSpeeds	(	float	pwm_thrs,
		float	cool_thrs,
		float	high_thrs,
		Unit	unit )

noexcept

Convenience: set TPWMTHRS, TCOOLTHRS, and THIGH in one call.

Parameters

pwm_thrs	Speed threshold for StealthChop (TPWMTHRS)
cool_thrs	Speed threshold for StallGuard/CoolStep (TCOOLTHRS)
high_thrs	Speed threshold for high-speed mode (THIGH)
unit	Unit of the speed values

Returns: Result<void> indicating success or error

◆ SetModeHysteresis()

template<typename CommType >

Result< void > tmc51x0::TMC51x0< CommType >::Thresholds::SetModeHysteresis	(	float	lower_speed,
		float	upper_speed,
		Unit	unit )

noexcept

Configure StealthChop to SpreadCycle transition with hysteresis.

Parameters

lower_speed	Speed below which StealthChop activates (lower threshold)
upper_speed	Speed above which SpreadCycle activates (upper threshold)
unit	Speed unit for both thresholds

Returns: Result<void> indicating success or error

Creates a velocity hysteresis band to prevent mode oscillation near the threshold. The motor will:

Switch to SpreadCycle when accelerating above upper_speed
Switch to StealthChop when decelerating below lower_speed

Implementation note: The TMC5160 has only one TPWMTHRS register. This method dynamically updates TPWMTHRS based on current chopper mode to create the hysteresis effect. Call UpdateModeHysteresis() periodically or after velocity changes for best results.

Example: SetModeHysteresis(50, 70, Unit::RPM) creates a 20 RPM dead band:

StealthChop → SpreadCycle at 70 RPM (accelerating)
SpreadCycle → StealthChop at 50 RPM (decelerating)

Note: Requires GCONF.en_pwm_mode = 1 (StealthChop enabled globally)

See also: Datasheet section 9.2: Switching between SpreadCycle and StealthChop

◆ SetStealthChopVelocityThreshold()

template<typename CommType >

Result< void > tmc51x0::TMC51x0< CommType >::Thresholds::SetStealthChopVelocityThreshold	(	float	value,
		Unit	unit )

noexcept

Set StealthChop velocity threshold (TPWMTHRS)

Parameters

value	Velocity threshold value
unit	Unit of the value

Returns: Result<void> indicating success or error

◆ SetTcoolthrs()

template<typename CommType >

Result< void > tmc51x0::TMC51x0< CommType >::Thresholds::SetTcoolthrs	(	float	threshold,
		Unit	unit )

noexcept

Set StallGuard/CoolStep threshold velocity (TCOOLTHRS)

Parameters

threshold	Threshold velocity
unit	Unit of threshold

Returns: Result<void> indicating success or error

◆ UpdateModeHysteresis()

template<typename CommType >

Result< void > tmc51x0::TMC51x0< CommType >::Thresholds::UpdateModeHysteresis ( )

noexcept

Update TPWMTHRS based on current chopper mode for hysteresis.

Returns: Result<void> indicating success or error

Call this method periodically to maintain hysteresis behavior. It reads the current chopper mode (DRV_STATUS.stealth) and updates TPWMTHRS to the appropriate threshold:

If in StealthChop: set TPWMTHRS to upper threshold (switch at higher speed)
If in SpreadCycle: set TPWMTHRS to lower threshold (switch at lower speed)

Note: Only effective after calling SetModeHysteresis() to configure the upper and lower thresholds.

Member Data Documentation

◆ driver_

template<typename CommType >

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

private

◆ hysteresis_enabled_

template<typename CommType >

bool tmc51x0::TMC51x0< CommType >::Thresholds::hysteresis_enabled_ {false}

private

◆ hysteresis_to_spreadcycle_tstep_

template<typename CommType >

uint32_t tmc51x0::TMC51x0< CommType >::Thresholds::hysteresis_to_spreadcycle_tstep_ {0}

private

◆ hysteresis_to_stealthchop_tstep_

template<typename CommType >

uint32_t tmc51x0::TMC51x0< CommType >::Thresholds::hysteresis_to_stealthchop_tstep_ {0}

private

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

tmc51x0.hpp

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Thresholds()

Member Function Documentation

◆ DisableModeHysteresis()

◆ GetDcStepVelocityThreshold()

◆ GetStealthChopVelocityThreshold()

◆ GetTcoolthrs()

◆ GetTcoolthrsRegisterValue()

◆ GetThighRegisterValue()

◆ GetTpwmthrsRegisterValue()

◆ GetVdcminRegisterValue()

◆ IsModeHysteresisEnabled()

◆ SetDcStepVelocityThreshold()

◆ SetHighSpeedThreshold()

◆ SetModeChangeSpeeds()

◆ SetModeHysteresis()

◆ SetStealthChopVelocityThreshold()

◆ SetTcoolthrs()

◆ UpdateModeHysteresis()

Member Data Documentation

◆ driver_

◆ hysteresis_enabled_

◆ hysteresis_to_spreadcycle_tstep_

◆ hysteresis_to_stealthchop_tstep_