Subsystem for configuring ADC-based current measurement. More...

#include <tmc9660.hpp>

Collaboration diagram for tmc9660::TMC9660< CommType >::CurrentSensing:

Classes
struct	AutoConfig
	Configuration structure for auto-configuring current sensing. More...

Public Member Functions
bool	setShuntType (tmc9660::tmcl::AdcShuntType shuntType) noexcept
	Set the ADC shunt type (Parameter 12: ADC_SHUNT_TYPE).

bool	getShuntType (tmc9660::tmcl::AdcShuntType &shuntType) noexcept
	Get the ADC shunt type (Parameter 12: ADC_SHUNT_TYPE).

bool	readRaw (int16_t &adc0, int16_t &adc1, int16_t &adc2, int16_t &adc3) noexcept
	Read raw ADC values (Parameters 13-16: ADC_I0_RAW ... ADC_I3_RAW).

bool	setCSAGain (tmc9660::tmcl::CsaGain gain012, tmc9660::tmcl::CsaGain gain3) noexcept
	Set current sense amplifier gain (Parameters 17/18: CSA_GAIN_ADC_I0_TO_ADC_I2, CSA_GAIN_ADC_I3).

bool	getCSAGain (tmc9660::tmcl::CsaGain &gain012, tmc9660::tmcl::CsaGain &gain3) noexcept
	Get current sense amplifier gain (Parameters 17/18: CSA_GAIN_ADC_I0_TO_ADC_I2, CSA_GAIN_ADC_I3).

bool	setCSAFilter (tmc9660::tmcl::CsaFilter filter012, tmc9660::tmcl::CsaFilter filter3) noexcept
	Set current sense amplifier filter (Parameters 19/20: CSA_FILTER_ADC_I0_TO_ADC_I2, CSA_FILTER_ADC_I3).

bool	getCSAFilter (tmc9660::tmcl::CsaFilter &filter012, tmc9660::tmcl::CsaFilter &filter3) noexcept
	Get current sense amplifier filter (Parameters 19/20: CSA_FILTER_ADC_I0_TO_ADC_I2, CSA_FILTER_ADC_I3).

bool	setScalingFactor (uint16_t scaling_factor) noexcept
	Set current scaling factor (Parameter 21: CURRENT_SCALING_FACTOR).

bool	getScalingFactor (uint16_t &scaling_factor) noexcept
	Get current scaling factor (Parameter 21: CURRENT_SCALING_FACTOR).

bool	setPhaseAdcMapping (tmc9660::tmcl::AdcMapping ux1, tmc9660::tmcl::AdcMapping vx2, tmc9660::tmcl::AdcMapping wy1, tmc9660::tmcl::AdcMapping y2) noexcept
	Set ADC mapping for each phase (Parameters 22-25: PHASE_UX1_ADC_MAPPING ... PHASE_Y2_ADC_MAPPING).

bool	getPhaseAdcMapping (tmc9660::tmcl::AdcMapping &ux1, tmc9660::tmcl::AdcMapping &vx2, tmc9660::tmcl::AdcMapping &wy1, tmc9660::tmcl::AdcMapping &y2) noexcept
	Get ADC mapping for each phase (Parameters 22-25: PHASE_UX1_ADC_MAPPING ... PHASE_Y2_ADC_MAPPING).

bool	setScalingFactors (uint16_t scale0, uint16_t scale1, uint16_t scale2, uint16_t scale3) noexcept
	Set individual ADC scaling factors (Parameters 26-29: ADC_I0_SCALE ... ADC_I3_SCALE).

bool	getScalingFactors (uint16_t &scale0, uint16_t &scale1, uint16_t &scale2, uint16_t &scale3) noexcept
	Get individual ADC scaling factors (Parameters 26-29: ADC_I0_SCALE ... ADC_I3_SCALE).

bool	setInversion (tmc9660::tmcl::AdcInversion inv0, tmc9660::tmcl::AdcInversion inv1, tmc9660::tmcl::AdcInversion inv2, tmc9660::tmcl::AdcInversion inv3) noexcept
	Set ADC inversion (Parameters 30-33: ADC_I0_INVERTED ... ADC_I3_INVERTED).

bool	getInversion (tmc9660::tmcl::AdcInversion &inv0, tmc9660::tmcl::AdcInversion &inv1, tmc9660::tmcl::AdcInversion &inv2, tmc9660::tmcl::AdcInversion &inv3) noexcept
	Get ADC inversion (Parameters 30-33: ADC_I0_INVERTED ... ADC_I3_INVERTED).

bool	setOffsets (int16_t offset0, int16_t offset1, int16_t offset2, int16_t offset3) noexcept
	Set ADC offset (Parameters 34-37: ADC_I0_OFFSET ... ADC_I3_OFFSET).

bool	getOffsets (int16_t &offset0, int16_t &offset1, int16_t &offset2, int16_t &offset3) noexcept
	Get ADC offset (Parameters 34-37: ADC_I0_OFFSET ... ADC_I3_OFFSET).

bool	readScaledAndOffset (int16_t &adc0, int16_t &adc1, int16_t &adc2, int16_t &adc3) noexcept
	Read scaled and offset-compensated ADC values (Parameters 38-41: ADC_I0 ... ADC_I3).

bool	calibrateOffsets (bool waitForCompletion=false, uint32_t timeoutMs=1000) noexcept
	Calibrate the ADC offsets for current measurement.

bool	getCalibrationStatus (bool &is_calibrated) noexcept
	Check if ADC offset calibration has been completed.

bool	configureAuto (const AutoConfig &config) noexcept
	Auto-configure current sensing based on shunt resistance and expected current.

Private Member Functions
	CurrentSensing (TMC9660 &parent) noexcept

Private Attributes
TMC9660 &	driver

Friends
class	TMC9660

Detailed Description

template<typename CommType>
struct tmc9660::TMC9660< CommType >::CurrentSensing

Subsystem for configuring ADC-based current measurement.

Constructor & Destructor Documentation

◆ CurrentSensing()

template<typename CommType >

tmc9660::TMC9660< CommType >::CurrentSensing::CurrentSensing ( TMC9660 & parent )

inlineexplicitprivatenoexcept

Member Function Documentation

◆ calibrateOffsets()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::CurrentSensing::calibrateOffsets	(	bool	waitForCompletion = false,
		uint32_t	timeoutMs = 1000 )

noexcept

Calibrate the ADC offsets for current measurement.

Initiates a calibration sequence for the ADCs. This should be done:

With the motor stationary
With the commutation mode set to off

Parameters

wait_for_completion	If true, wait until calibration is completed
timeout_ms	Timeout in milliseconds if waiting for completion

Returns: true if calibration was started (and completed if wait_for_completion is true)

◆ configureAuto()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::CurrentSensing::configureAuto ( const AutoConfig & config )

noexcept

Auto-configure current sensing based on shunt resistance and expected current.

This method automatically selects the optimal CSA gain and calculates the current scaling factor to enable direct m_a units for torque/flux commands.

The function:

Selects the smallest CSA gain that provides ≥1.5x headroom above expected peak current
Calculates CURRENT_SCALING_FACTOR using the formula from the datasheet:
- Peak: Factor = 39.06 / (G_CSA * R_shunt_Ohm)
- RMS: Factor = 27.62 / (G_CSA * R_shunt_Ohm)
Configures shunt type, CSA gain, filter, scaling factor, and ADC inversion
Optionally calculates per-ADC scaling factors if actual shunt resistances are provided

After calling this, torque/flux commands (MAX_TORQUE, TARGET_TORQUE, etc.) can be specified directly in m_a. For example, MAX_TORQUE = 3000 means 3.0 A.

Two-Level Scaling System

The TMC9660 uses a two-level scaling system:

ADC_Ix_SCALE (per-phase trim): Compensates for physical mismatch in shunt resistors and CSA amplifier tolerances. Default: 1024 (1.000×). If actual shunt resistances are provided, this is automatically calculated to equalize all phases.
CURRENT_SCALING_FACTOR (global unit conversion): Converts normalized ADC currents to m_a units for the torque/flux control system. This is automatically calculated based on nominal shunt resistance and CSA gain.

Signal flow:

ADC_Ix_RAW → (offset removal) → ADC_Ix → (ADC_Ix_SCALE correction) →

normalized phase current → (CURRENT_SCALING_FACTOR) → final torque/flux in m_a

tmc9660::CommInterface

SPI status codes as per TMC9660 Parameter Mode.

Definition tmc9660_comm_interface.hpp:514

Per-ADC Shunt Resistance Compensation

If you have measured the actual shunt resistance for each ADC channel, you can provide them to automatically calculate ADC_Ix_SCALE. The formula used is:

ADC_Ix_SCALE = 1024 * (R_nominal / R_actual)

This ensures all phases report the same current for the same real current, compensating for shunt resistor tolerances.

Parameters

config Configuration structure containing all current sensing parameters. See AutoConfig for details on all available options.

Returns: true if configuration was successful (and calibration succeeded if autoCalibrate=true)

Note: ADC inversion defaults are set according to Table 24 for the specified motor type, but can be overridden via config.adc0_inverted, etc. Verify in open-loop voltage mode and adjust if phases are 180° out of phase.; ADC offset calibration is required before using current sensing. If config.autoCalibrate is false, you must call calibrateOffsets() manually. The motor must be stationary and commutation must be off (SYSTEM_OFF) during calibration.

// Example 1: Basic configuration (minimal setup)
TMC9660::CurrentSensing::AutoConfig config;
config.shuntResistance_mOhm = 3.0;
config.expectedPeakCurrent_A = 3.0;
config.motorType = tmc9660::tmcl::MotorType::BLDC_MOTOR;
driver.currentSensing.configureAuto(config);
 
// Example 2: With measured shunt resistances for automatic ADC_Ix_SCALE compensation
// Measured: U=2.97 mΩ, V=3.01 mΩ, W=3.02 mΩ (nominal = 3.00 mΩ)
config.actualShuntR_adc0_mOhm = 2.97;  // ADC_I0 (Phase U)
config.actualShuntR_adc1_mOhm = 3.01;  // ADC_I1 (Phase V)
config.actualShuntR_adc2_mOhm = 3.02; // ADC_I2 (Phase W)
driver.currentSensing.configureAuto(config);
 
// Example 3: With custom ADC mapping and inversion
config.phaseU_adcMapping = tmc9660::tmcl::AdcMapping::ADC_I0;
config.phaseV_adcMapping = tmc9660::tmcl::AdcMapping::ADC_I1;
config.phaseW_adcMapping = tmc9660::tmcl::AdcMapping::ADC_I2;
config.adc0_inverted = tmc9660::tmcl::AdcInversion::INVERTED;
config.adc1_inverted = tmc9660::tmcl::AdcInversion::INVERTED;
config.adc2_inverted = tmc9660::tmcl::AdcInversion::INVERTED;
config.autoCalibrate = true;
driver.currentSensing.configureAuto(config);
 
// Now use m_a directly:
driver.motorConfig.setMaxTorqueCurrent(3000);  // 3.0 A
driver.focControl.setTargetTorque(2500);      // 2.5 A

◆ getCalibrationStatus()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::CurrentSensing::getCalibrationStatus ( bool & is_calibrated )

noexcept

Check if ADC offset calibration has been completed.

Parameters

[out] is_calibrated Set to true if calibration is complete

Returns: true if the status was read successfully

◆ getCSAFilter()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::CurrentSensing::getCSAFilter	(	tmc9660::tmcl::CsaFilter &	filter012,
		tmc9660::tmcl::CsaFilter &	filter3 )

noexcept

Get current sense amplifier filter (Parameters 19/20: CSA_FILTER_ADC_I0_TO_ADC_I2, CSA_FILTER_ADC_I3).

Parameters

[out]	filter012	CsaFilter enum value for ADC I0/I1/I2
[out]	filter3	CsaFilter enum value for ADC I3

Returns: true if successful

◆ getCSAGain()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::CurrentSensing::getCSAGain	(	tmc9660::tmcl::CsaGain &	gain012,
		tmc9660::tmcl::CsaGain &	gain3 )

noexcept

Get current sense amplifier gain (Parameters 17/18: CSA_GAIN_ADC_I0_TO_ADC_I2, CSA_GAIN_ADC_I3).

Parameters

[out]	gain012	CsaGain enum value for ADC I0/I1/I2
[out]	gain3	CsaGain enum value for ADC I3

Returns: true if successful

◆ getInversion()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::CurrentSensing::getInversion	(	tmc9660::tmcl::AdcInversion &	inv0,
		tmc9660::tmcl::AdcInversion &	inv1,
		tmc9660::tmcl::AdcInversion &	inv2,
		tmc9660::tmcl::AdcInversion &	inv3 )

noexcept

Get ADC inversion (Parameters 30-33: ADC_I0_INVERTED ... ADC_I3_INVERTED).

Parameters

[out]	inv0	AdcInversion enum value for ADC I0
[out]	inv1	AdcInversion enum value for ADC I1
[out]	inv2	AdcInversion enum value for ADC I2
[out]	inv3	AdcInversion enum value for ADC I3

Returns: true if all inversion flags were retrieved successfully

◆ getOffsets()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::CurrentSensing::getOffsets	(	int16_t &	offset0,
		int16_t &	offset1,
		int16_t &	offset2,
		int16_t &	offset3 )

noexcept

Get ADC offset (Parameters 34-37: ADC_I0_OFFSET ... ADC_I3_OFFSET).

Parameters

[out]	offset0	Offset for ADC I0 (-32768...32767)
[out]	offset1	Offset for ADC I1 (-32768...32767)
[out]	offset2	Offset for ADC I2 (-32768...32767)
[out]	offset3	Offset for ADC I3 (-32768...32767)

Returns: true if all offsets were retrieved successfully

◆ getPhaseAdcMapping()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::CurrentSensing::getPhaseAdcMapping	(	tmc9660::tmcl::AdcMapping &	ux1,
		tmc9660::tmcl::AdcMapping &	vx2,
		tmc9660::tmcl::AdcMapping &	wy1,
		tmc9660::tmcl::AdcMapping &	y2 )

noexcept

Get ADC mapping for each phase (Parameters 22-25: PHASE_UX1_ADC_MAPPING ... PHASE_Y2_ADC_MAPPING).

Parameters

[out]	ux1	AdcMapping enum value for UX1
[out]	vx2	AdcMapping enum value for VX2
[out]	wy1	AdcMapping enum value for WY1
[out]	y2	AdcMapping enum value for Y2

Returns: true if all mappings were retrieved successfully

◆ getScalingFactor()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::CurrentSensing::getScalingFactor ( uint16_t & scaling_factor )

noexcept

Get current scaling factor (Parameter 21: CURRENT_SCALING_FACTOR).

Parameters

[out] scaling_factor Scaling factor (1...65535)

Returns: true if successful

◆ getScalingFactors()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::CurrentSensing::getScalingFactors	(	uint16_t &	scale0,
		uint16_t &	scale1,
		uint16_t &	scale2,
		uint16_t &	scale3 )

noexcept

Get individual ADC scaling factors (Parameters 26-29: ADC_I0_SCALE ... ADC_I3_SCALE).

Parameters

[out]	scale0	Scaling factor for ADC I0 (1...32767)
[out]	scale1	Scaling factor for ADC I1 (1...32767)
[out]	scale2	Scaling factor for ADC I2 (1...32767)
[out]	scale3	Scaling factor for ADC I3 (1...32767)

Returns: true if all scales were retrieved successfully

◆ getShuntType()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::CurrentSensing::getShuntType ( tmc9660::tmcl::AdcShuntType & shuntType )

noexcept

Get the ADC shunt type (Parameter 12: ADC_SHUNT_TYPE).

Parameters

[out] shuntType AdcShuntType enum value

Returns: true if successful

◆ readRaw()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::CurrentSensing::readRaw	(	int16_t &	adc0,
		int16_t &	adc1,
		int16_t &	adc2,
		int16_t &	adc3 )

noexcept

Read raw ADC values (Parameters 13-16: ADC_I0_RAW ... ADC_I3_RAW).

Parameters

[out]	adc0	Raw ADC I0
[out]	adc1	Raw ADC I1
[out]	adc2	Raw ADC I2
[out]	adc3	Raw ADC I3

Returns: true if all values were read successfully

◆ readScaledAndOffset()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::CurrentSensing::readScaledAndOffset	(	int16_t &	adc0,
		int16_t &	adc1,
		int16_t &	adc2,
		int16_t &	adc3 )

noexcept

Read scaled and offset-compensated ADC values (Parameters 38-41: ADC_I0 ... ADC_I3).

Parameters

[out]	adc0	Scaled/offset ADC I0
[out]	adc1	Scaled/offset ADC I1
[out]	adc2	Scaled/offset ADC I2
[out]	adc3	Scaled/offset ADC I3

Returns: true if all values were read successfully

◆ setCSAFilter()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::CurrentSensing::setCSAFilter	(	tmc9660::tmcl::CsaFilter	filter012,
		tmc9660::tmcl::CsaFilter	filter3 )

noexcept

Set current sense amplifier filter (Parameters 19/20: CSA_FILTER_ADC_I0_TO_ADC_I2, CSA_FILTER_ADC_I3).

Parameters

filter012	CsaFilter enum value for ADC I0/I1/I2
filter3	CsaFilter enum value for ADC I3

Returns: true if successful

◆ setCSAGain()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::CurrentSensing::setCSAGain	(	tmc9660::tmcl::CsaGain	gain012,
		tmc9660::tmcl::CsaGain	gain3 )

noexcept

Set current sense amplifier gain (Parameters 17/18: CSA_GAIN_ADC_I0_TO_ADC_I2, CSA_GAIN_ADC_I3).

Parameters

gain012	CsaGain enum value for ADC I0/I1/I2
gain3	CsaGain enum value for ADC I3

Returns: true if successful

◆ setInversion()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::CurrentSensing::setInversion	(	tmc9660::tmcl::AdcInversion	inv0,
		tmc9660::tmcl::AdcInversion	inv1,
		tmc9660::tmcl::AdcInversion	inv2,
		tmc9660::tmcl::AdcInversion	inv3 )

noexcept

Set ADC inversion (Parameters 30-33: ADC_I0_INVERTED ... ADC_I3_INVERTED).

Parameters

inv0	AdcInversion enum value for ADC I0
inv1	AdcInversion enum value for ADC I1
inv2	AdcInversion enum value for ADC I2
inv3	AdcInversion enum value for ADC I3

Returns: true if all inversion flags were set successfully

◆ setOffsets()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::CurrentSensing::setOffsets	(	int16_t	offset0,
		int16_t	offset1,
		int16_t	offset2,
		int16_t	offset3 )

noexcept

Set ADC offset (Parameters 34-37: ADC_I0_OFFSET ... ADC_I3_OFFSET).

Parameters

offset0	Offset for ADC I0 (-32768...32767)
offset1	Offset for ADC I1 (-32768...32767)
offset2	Offset for ADC I2 (-32768...32767)
offset3	Offset for ADC I3 (-32768...32767)

Returns: true if all offsets were set successfully

◆ setPhaseAdcMapping()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::CurrentSensing::setPhaseAdcMapping	(	tmc9660::tmcl::AdcMapping	ux1,
		tmc9660::tmcl::AdcMapping	vx2,
		tmc9660::tmcl::AdcMapping	wy1,
		tmc9660::tmcl::AdcMapping	y2 )

noexcept

Set ADC mapping for each phase (Parameters 22-25: PHASE_UX1_ADC_MAPPING ... PHASE_Y2_ADC_MAPPING).

Parameters

ux1	AdcMapping enum value for UX1
vx2	AdcMapping enum value for VX2
wy1	AdcMapping enum value for WY1
y2	AdcMapping enum value for Y2

Returns: true if all mappings were set successfully

◆ setScalingFactor()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::CurrentSensing::setScalingFactor ( uint16_t scaling_factor )

noexcept

Set current scaling factor (Parameter 21: CURRENT_SCALING_FACTOR).

Parameters

scaling_factor Scaling factor (1...65535)

Returns: true if successful

◆ setScalingFactors()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::CurrentSensing::setScalingFactors	(	uint16_t	scale0,
		uint16_t	scale1,
		uint16_t	scale2,
		uint16_t	scale3 )

noexcept

Set individual ADC scaling factors (Parameters 26-29: ADC_I0_SCALE ... ADC_I3_SCALE).

Parameters

scale0	Scaling factor for ADC I0 (1...32767)
scale1	Scaling factor for ADC I1 (1...32767)
scale2	Scaling factor for ADC I2 (1...32767)
scale3	Scaling factor for ADC I3 (1...32767)

Returns: true if all scales were set successfully

◆ setShuntType()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::CurrentSensing::setShuntType ( tmc9660::tmcl::AdcShuntType shuntType )

noexcept

Set the ADC shunt type (Parameter 12: ADC_SHUNT_TYPE).

Parameters

shuntType AdcShuntType enum value

Returns: true if successful

Friends And Related Symbol Documentation

◆ TMC9660

template<typename CommType >

friend class TMC9660

friend

Member Data Documentation

◆ driver

template<typename CommType >

TMC9660& tmc9660::TMC9660< CommType >::CurrentSensing::driver

private

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

tmc9660.hpp

Classes

Public Member Functions

Private Member Functions

Private Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

◆ CurrentSensing()

Member Function Documentation

◆ calibrateOffsets()

◆ configureAuto()

Two-Level Scaling System

Per-ADC Shunt Resistance Compensation

◆ getCalibrationStatus()

◆ getCSAFilter()

◆ getCSAGain()

◆ getInversion()

◆ getOffsets()

◆ getPhaseAdcMapping()

◆ getScalingFactor()

◆ getScalingFactors()

◆ getShuntType()

◆ readRaw()

◆ readScaledAndOffset()

◆ setCSAFilter()

◆ setCSAGain()

◆ setInversion()

◆ setOffsets()

◆ setPhaseAdcMapping()

◆ setScalingFactor()

◆ setScalingFactors()

◆ setShuntType()

Friends And Related Symbol Documentation

◆ TMC9660

Member Data Documentation

◆ driver