Configuration structure for auto-configuring current sensing. More...

#include <tmc9660.hpp>

Public Attributes
float	shuntResistance_mOhm
	Nominal shunt resistor value in milliohms (e.g. 3.0 for 3 mΩ)

float	expectedPeakCurrent_A
	Expected peak phase current in amperes (e.g., 3.0 for 3A)

tmc9660::tmcl::MotorType	motorType
	Motor type (used for default ADC inversion settings)

bool	usePeakScaling
	If true, use peak scaling (recommended for FOC/BLDC). If false, use RMS.

tmc9660::tmcl::AdcShuntType	shuntType
	Shunt type configuration.

tmc9660::tmcl::CsaFilter	csaFilter
	CSA filter time constant.

float	actualShuntR_adc0_mOhm
	Actual shunt resistance for ADC_I0 in mΩ

float	actualShuntR_adc1_mOhm
	Actual shunt resistance for ADC_I1 in mΩ

float	actualShuntR_adc2_mOhm
	Actual shunt resistance for ADC_I2 in mΩ

float	actualShuntR_adc3_mOhm
	Actual shunt resistance for ADC_I3 in mΩ

std::optional< tmc9660::tmcl::AdcMapping >	phaseU_adcMapping
	ADC mapping for phase U (UX1). Default: ADC_I0.

std::optional< tmc9660::tmcl::AdcMapping >	phaseV_adcMapping
	ADC mapping for phase V (VX2). Default: ADC_I1.

std::optional< tmc9660::tmcl::AdcMapping >	phaseW_adcMapping
	ADC mapping for phase W (WY1). Default: ADC_I2.

std::optional< tmc9660::tmcl::AdcMapping >	phaseY2_adcMapping
	ADC mapping for phase Y2. Default: ADC_I3.

std::optional< tmc9660::tmcl::AdcInversion >	adc0_inverted
	Inversion for ADC_I0. Default: based on motor type.

std::optional< tmc9660::tmcl::AdcInversion >	adc1_inverted
	Inversion for ADC_I1. Default: based on motor type.

std::optional< tmc9660::tmcl::AdcInversion >	adc2_inverted
	Inversion for ADC_I2. Default: based on motor type.

std::optional< tmc9660::tmcl::AdcInversion >	adc3_inverted
	Inversion for ADC_I3. Default: based on motor type.

bool	autoCalibrate
	If true, automatically calibrate ADC offsets after configuration.

uint32_t	calibrationTimeoutMs
	Timeout in milliseconds for auto-calibration verification.

Detailed Description

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

Configuration structure for auto-configuring current sensing.

This struct contains all parameters needed to configure the TMC9660 current sensing system. Most fields have sensible defaults based on the motor type and datasheet recommendations.

// Example: Basic BLDC configuration
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: 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.phaseY2_adcMapping = tmc9660::tmcl::AdcMapping::ADC_I3;
config.adc0_inverted = tmc9660::tmcl::AdcInversion::INVERTED;
config.adc1_inverted = tmc9660::tmcl::AdcInversion::INVERTED;
config.adc2_inverted = tmc9660::tmcl::AdcInversion::INVERTED;
config.adc3_inverted = tmc9660::tmcl::AdcInversion::INVERTED;
config.autoCalibrate = true;
driver.currentSensing.configureAuto(config);