tmc51x0_config_builder.hpp File Reference

Fluent configuration builder for TMC51x0 driver. More...

#include <cstdint>
#include "../tmc51x0_types.hpp"

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Classes
class	tmc51x0::ConfigBuilder
	Fluent configuration builder for DriverConfig. More...

Namespaces
namespace	tmc51x0

Detailed Description

Fluent configuration builder for TMC51x0 driver.

Copyright

Copyright (c) 2024-2025 HardFOC. All rights reserved.

Provides a fluent interface for building DriverConfig with:

• Units in milliamps, millivolts, milliohms, millihenries
• Chainable method calls for easy configuration
• Complete coverage of all DriverConfig fields
• Mimics the ESP32 test config initialization pattern

Unit Naming Convention

Functions follow a clear unit naming convention for safety and readability:

• Unit suffixes for fixed units: Functions that always use a specific unit have the unit suffix in the function name:
  • WithMotorMa() - rated current in milliamps
  • WithRunCurrentMa() - run current in milliamps
  • WithHoldCurrentMa() - hold current in milliamps
  • WithSupplyVoltageMv() - supply voltage in millivolts
  • WithSenseResistorMohm() - sense resistor in milliohms
  • WithWindingResistanceMohm() - winding resistance in milliohms
  • WithWindingInductanceMh() - winding inductance in millihenries
  • WithMotorPowerDownDelayMs() - always milliseconds
  • WithRampPowerDownDelayMs() - always milliseconds
  • WithZeroWaitTimeMs() - always milliseconds
  • WithBbmTimeNs() - always nanoseconds
  • WithS2vsVoltageMv() - always millivolts
  • WithS2gVoltageMv() - always millivolts
  • WithMosfetMillerChargeNc() - always nanocoulombs
  • WithShortDetectionDelayUsX10() - always 0.1µs units
  • WithExternalClockHz() - clock frequency in Hz
• Unit-agnostic for flexible units: Functions that accept different units use self-describing value types (VelocityValue, AccelerationValue):
  • WithMaxSpeed(VelocityValue) - can be Steps, RPM, RevPerSec, etc.
  • WithAcceleration(AccelerationValue) - can be Steps, RevPerSec, etc.
  • WithStealthChopThreshold(VelocityValue) - can be Steps, RPM, etc.

This convention ensures type safety and prevents unit conversion errors.

The builder follows the same pattern as ESP32 test config:

1. Motor configuration (motor specs, chopper, StealthChop, StallGuard, ramp defaults)
2. Board configuration (sense resistor, power stage, clock)
3. Platform configuration (mechanical system type)

auto config = ConfigBuilder()
    // Motor configuration
    .WithMotorMa(200, 1500)  // 200 steps, 1500mA = 1.5A rated
    .WithSupplyVoltageMv(24000)  // 24000mV = 24V
    .WithSenseResistorMohm(50)  // 50mΩ = 0.05Ω
    .WithRunCurrentMa(1500)  // 1500mA = 1.5A run current
    .WithHoldCurrentMa(750)  // 750mA = 0.75A hold current
    // Chopper configuration
    .WithChopperMode(ChopperMode::SPREAD_CYCLE)
    .WithChopperToff(5)
    .WithChopperBlankTime(ChopperBlankTime::TBL_36CLK)
    // StealthChop configuration
    .WithStealthChop(true)
    .WithStealthChopThreshold({800.0f, Unit::Steps})
    // Motion configuration
    .WithMaxSpeed({100.0f, Unit::RPM})
    .WithAcceleration({50.0f, Unit::RevPerSec})
    // Mechanical system
    .WithGearbox(5.18f)  // 5.18:1 gearbox
    .Build();