tmc9660::TMC9660< CommType >::FeedbackSense Struct Reference

Subsystem for feedback sensor configuration. More...

#include <tmc9660.hpp>

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

Classes
struct	Abn2Config
	Configuration structure for ABN2 (secondary) encoder auto-configuration. More...
struct	AbnConfig
	Configuration structure for ABN encoder auto-configuration. More...
struct	HallConfig
	Configuration structure for Hall sensor auto-configuration. More...
struct	SpiEncoderConfig
	Configuration structure for SPI encoder auto-configuration. More...

Public Member Functions
bool	configureHall (tmc9660::tmcl::HallSectorOffset sectorOffset=tmc9660::tmcl::HallSectorOffset::DEG_0, tmc9660::tmcl::Direction inverted=tmc9660::tmcl::Direction::NOT_INVERTED, tmc9660::tmcl::EnableDisable enableExtrapolation=tmc9660::tmcl::EnableDisable::DISABLED, uint8_t filterLength=0) noexcept
	Configure digital Hall sensors for BLDC commutation.
bool	setHallPositionOffsets (int16_t offset0=0, int16_t offset60=10922, int16_t offset120=21845, int16_t offset180=-32768, int16_t offset240=-21846, int16_t offset300=-10923, int16_t globalOffset=0) noexcept
	Set Hall sensor position offsets for improved accuracy.
bool	setHallPositionOffsetsDegrees (float offset0Deg=0.0f, float offset60Deg=60.0f, float offset120Deg=120.0f, float offset180Deg=180.0f, float offset240Deg=240.0f, float offset300Deg=300.0f, float globalOffsetDeg=0.0f) noexcept
	Set Hall sensor position offsets using degrees.
bool	setHallPositionOffsetsRadians (float offset0Rad=0.0f, float offset60Rad=1.04719755f, float offset120Rad=2.09439510f, float offset180Rad=3.14159265f, float offset240Rad=4.18879020f, float offset300Rad=5.23598775f, float globalOffsetRad=0.0f) noexcept
	Set Hall sensor position offsets using radians.
bool	getHallPhiE (int16_t &phi_e) noexcept
	Read the electrical angle (phi_e) calculated from Hall feedback.
bool	configureABNEncoder (uint32_t counts_per_rev, tmc9660::tmcl::Direction inverted=tmc9660::tmcl::Direction::NOT_INVERTED, tmc9660::tmcl::EnableDisable nChannelInverted=tmc9660::tmcl::EnableDisable::DISABLED) noexcept
	Configure an ABN incremental encoder for feedback.
bool	configureABNInitialization (tmc9660::tmcl::AbnInitMethod initMethod=tmc9660::tmcl::AbnInitMethod::FORCED_PHI_E_ZERO_WITH_ACTIVE_SWING, uint16_t initDelay=1000, int32_t initVelocity=5, int16_t nChannelOffset=0) noexcept
	Configure ABN encoder initialization method.
bool	getABNInitializationState (tmc9660::tmcl::AbnInitState &state) noexcept
	Read the current state of ABN encoder initialization.
bool	getABNPhiE (int16_t &phi_e) noexcept
	Read the electrical angle (phi_e) calculated from ABN feedback.
bool	getABNRawValue (uint32_t &value) noexcept
	Read the raw ABN encoder internal counter value.
bool	configureABNNChannel (tmc9660::tmcl::AbnNChannelFiltering filterMode=tmc9660::tmcl::AbnNChannelFiltering::FILTERING_OFF, tmc9660::tmcl::EnableDisable clearOnNextNull=tmc9660::tmcl::EnableDisable::DISABLED) noexcept
	Configure N-channel filtering for ABN encoder.
bool	configureSecondaryABNEncoder (uint32_t counts_per_rev, tmc9660::tmcl::Direction inverted=tmc9660::tmcl::Direction::NOT_INVERTED, uint8_t gearRatio=1) noexcept
	Configure the secondary ABN encoder input.
bool	getSecondaryABNCountsPerRev (uint32_t &counts) noexcept
	Read ABN_2_STEPS (encoder steps per rotation, 0…16777215).
bool	getSecondaryABNDirection (tmc9660::tmcl::Direction &dir) noexcept
	Read ABN_2_DIRECTION (normal/inverted).
bool	getSecondaryABNGearRatio (uint8_t &ratio) noexcept
	Read ABN_2_GEAR_RATIO (1…255).
bool	setSecondaryABNEncoderEnabled (bool enable) noexcept
	Enable or disable the secondary ABN encoder.
bool	getSecondaryABNEncoderValue (uint32_t &value) noexcept
	Read the raw ABN2 encoder internal counter value.
bool	configureSPIEncoder (uint8_t cmd_size, uint16_t cs_settle_time_ns, uint8_t cs_idle_time_us) noexcept
	Configure a SPI-based encoder for feedback.
bool	configureSPIEncoderDataFormat (uint32_t position_mask, uint8_t positionShift=0, tmc9660::tmcl::Direction invertDirection=tmc9660::tmcl::Direction::NOT_INVERTED) noexcept
	Configure SPI encoder data format and processing.
bool	setSPIEncoderRequestData (const uint8_t *requestData, uint8_t size) noexcept
	Set up SPI encoder request data for continuous transfer mode.
bool	configureSPIEncoderInitialization (tmc9660::tmcl::SpiInitMethod init_method, int16_t offset=0) noexcept
	Configure SPI encoder initialization method.
bool	setSPIEncoderLUTCorrection (tmc9660::tmcl::EnableDisable enable, int8_t shiftFactor=0) noexcept
	Enable or disable SPI encoder lookup table correction.
bool	uploadSPIEncoderLUTEntry (uint8_t index, int8_t value) noexcept
	Upload a single entry to the SPI encoder correction lookup table.
bool	getSPIEncoderCSSettleDelay (uint16_t &timeNs) noexcept
	Read SPI_ENCODE_CS_SETTLE_DELAY_TIME (0…6375 ns).
bool	getSPIEncoderCSIdleDelay (uint8_t &timeUs) noexcept
	Read SPI_ENCODER_CS_IDLE_DELAY_TIME (0…102 µs).
bool	getSPIEncoderMainCmdSize (uint8_t &size) noexcept
	Read SPI_ENCODER_MAIN_TRANSFER_CMD_SIZE (1…16 bytes).
bool	getSPIEncoderSecondaryCmdSize (uint8_t &size) noexcept
	Read SPI_ENCODER_SECONDARY_TRANSFER_CMD_SIZE (0…15 bytes).
bool	getSPIEncoderPositionMask (uint32_t &mask) noexcept
	Read SPI_ENCODER_POSITION_COUNTER_MASK.
bool	getSPIEncoderPositionShift (uint8_t &shift) noexcept
	Read SPI_ENCODER_POSITION_COUNTER_SHIFT.
bool	getSPIEncoderPositionValue (uint32_t &value) noexcept
	Read SPI_ENCODER_POSITION_COUNTER_VALUE.
bool	getSPIEncoderCommutationAngle (int16_t &angle) noexcept
	Read SPI_ENCODER_COMMUTATION_ANGLE (-32768…32767).
bool	getSPIEncoderInitialization (tmc9660::tmcl::SpiInitMethod &method, int16_t &offset) noexcept
	Read SPI_ENCODER_INITIALIZATION_METHOD and SPI_ENCODER_OFFSET.
bool	getSPIEncoderDirection (tmc9660::tmcl::Direction &dir) noexcept
	Read SPI_ENCODER_DIRECTION.
bool	getSPIEncoderLUTAddress (uint8_t &address) noexcept
	Read SPI_LUT_ADDRESS_SELECT.
bool	getSPIEncoderLUTData (int8_t &data) noexcept
	Read SPI_LUT_DATA.
bool	getSPIEncoderLUTShiftFactor (int8_t &shift_factor) noexcept
	Read SPI_LUT_COMMON_SHIFT_FACTOR.
bool	configureAuto (const HallConfig &config) noexcept
	Auto-configure Hall sensor feedback.
bool	configureAuto (const AbnConfig &config) noexcept
	Auto-configure ABN encoder feedback.
bool	configureAuto (const Abn2Config &config) noexcept
	Auto-configure ABN2 (secondary) encoder feedback.
bool	configureAuto (const SpiEncoderConfig &config) noexcept
	Auto-configure SPI encoder feedback.

Static Public Member Functions
static int16_t	degreesToHallOffset (float degrees) noexcept
	Convert electrical angle from degrees to 16-bit format.
static int16_t	radiansToHallOffset (float radians) noexcept
	Convert electrical angle from radians to 16-bit format.

Private Member Functions
	FeedbackSense (TMC9660 &parent) noexcept

Private Attributes
TMC9660 &	driver

Friends
class	TMC9660

Detailed Description

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

Subsystem for feedback sensor configuration.

Constructor & Destructor Documentation

FeedbackSense()

template<typename CommType >

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

inlineexplicitprivatenoexcept

Member Function Documentation

configureABNEncoder()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::FeedbackSense::configureABNEncoder ( uint32_t counts_per_rev, tmc9660::tmcl::Direction inverted = tmc9660::tmcl::Direction::NOT_INVERTED, tmc9660::tmcl::EnableDisable nChannelInverted = tmc9660::tmcl::EnableDisable::DISABLED )

noexcept

Configure an ABN incremental encoder for feedback.

Sets up an incremental quadrature encoder with optional index (N) channel for position and velocity feedback.

Parameters

counts_per_rev	Encoder resolution (counts per revolution, 0-16777215).
inverted	If true, invert the encoder direction (tmc9660::tmcl::Direction).
n_channel_inverted	If true, invert the N-channel signal (active low instead of active high) (tmc9660::tmcl::EnableDisable).

Returns

true if encoder parameters were set successfully.

configureABNInitialization()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::FeedbackSense::configureABNInitialization ( tmc9660::tmcl::AbnInitMethod initMethod = tmc9660::tmcl::AbnInitMethod::FORCED_PHI_E_ZERO_WITH_ACTIVE_SWING, uint16_t initDelay = 1000, int32_t initVelocity = 5, int16_t nChannelOffset = 0 )

noexcept

Configure ABN encoder initialization method.

Sets the method used to align the ABN encoder with the rotor's absolute position.

Parameters

init_method	Initialization method (tmc9660::tmcl::AbnInitMethod): FORCED_PHI_E_ZERO_WITH_ACTIVE_SWING, FORCED_PHI_E_90_ZERO, USE_HALL, USE_N_CHANNEL_OFFSET
init_delay	Delay in milliseconds to wait for mechanical oscillations to stop (1000-10000)
init_velocity	Velocity used during N-channel initialization (-200000 to 200000)
n_channel_offset	Offset between phi_e zero and encoder index pulse position (-32768 to 32767)

Returns

true if ABN initialization parameters were set successfully.

configureABNNChannel()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::FeedbackSense::configureABNNChannel ( tmc9660::tmcl::AbnNChannelFiltering filterMode = tmc9660::tmcl::AbnNChannelFiltering::FILTERING_OFF, tmc9660::tmcl::EnableDisable clearOnNextNull = tmc9660::tmcl::EnableDisable::DISABLED )

noexcept

Configure N-channel filtering for ABN encoder.

Sets up filtering for the N-channel (index pulse) to handle imprecise encoders.

Parameters

filter_mode	N-channel filtering mode (tmc9660::tmcl::AbnNChannelFiltering): FILTERING_OFF, N_EVENT_ON_A_HIGH_B_HIGH, N_EVENT_ON_A_HIGH_B_LOW, N_EVENT_ON_A_LOW_B_HIGH, N_EVENT_ON_A_LOW_B_LOW
clear_on_next_null	If true, clear position counter on next N-channel event (tmc9660::tmcl::EnableDisable).

Returns

true if N-channel settings were applied successfully.

configureAuto() [1/4]

template<typename CommType >

bool tmc9660::TMC9660< CommType >::FeedbackSense::configureAuto ( const Abn2Config & config )

noexcept

Auto-configure ABN2 (secondary) encoder feedback.

Configures the secondary ABN encoder for position/velocity feedback (cannot be used for commutation).

Parameters

config

ABN2 encoder configuration (see Abn2Config)

Returns

true if all configurations succeeded, false otherwise

configureAuto() [2/4]

template<typename CommType >

bool tmc9660::TMC9660< CommType >::FeedbackSense::configureAuto ( const AbnConfig & config )

noexcept

Auto-configure ABN encoder feedback.

Configures ABN encoder including initialization method, N-channel settings, and filtering.

Parameters

config

ABN encoder configuration (see AbnConfig)

Returns

true if all configurations succeeded, false otherwise

configureAuto() [3/4]

template<typename CommType >

bool tmc9660::TMC9660< CommType >::FeedbackSense::configureAuto ( const HallConfig & config )

noexcept

Auto-configure Hall sensor feedback.

Configures all Hall sensor parameters including offsets, filtering, and extrapolation.

Parameters

config

Hall sensor configuration (see HallConfig)

Returns

true if all configurations succeeded, false otherwise

configureAuto() [4/4]

template<typename CommType >

bool tmc9660::TMC9660< CommType >::FeedbackSense::configureAuto ( const SpiEncoderConfig & config )

noexcept

Auto-configure SPI encoder feedback.

Configures SPI encoder including timing, data format, initialization, and optional LUT correction.

Parameters

config

SPI encoder configuration (see SpiEncoderConfig)

Returns

true if all configurations succeeded, false otherwise

configureHall()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::FeedbackSense::configureHall ( tmc9660::tmcl::HallSectorOffset sectorOffset = tmc9660::tmcl::HallSectorOffset::DEG_0, tmc9660::tmcl::Direction inverted = tmc9660::tmcl::Direction::NOT_INVERTED, tmc9660::tmcl::EnableDisable enableExtrapolation = tmc9660::tmcl::EnableDisable::DISABLED, uint8_t filterLength = 0 )

noexcept

Configure digital Hall sensors for BLDC commutation.

This enables Hall sensor inputs as the feedback for commutation. Typically used with tmc9660::tmcl::CommutationMode::FOC_HALL.

Parameters

sector_offset	Hall sensor 60-degree/sector offset (tmc9660::tmcl::HallSectorOffset): tmc9660::tmcl::HallSectorOffset::DEG_0, DEG_60, DEG_120, DEG_180, DEG_240, DEG_300 This combines both the 120° order offset and 180° polarity offset.
inverted	If true, invert the interpretation of hall sensor signals (tmc9660::tmcl::Direction).
enable_extrapolation	If true, enable hall extrapolation for higher resolution position signal (tmc9660::tmcl::EnableDisable).
filter_length	Digital filter length (0-255) for hall sensor inputs.

Returns

true if Hall sensor feedback is configured successfully.

configureSecondaryABNEncoder()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::FeedbackSense::configureSecondaryABNEncoder ( uint32_t counts_per_rev, tmc9660::tmcl::Direction inverted = tmc9660::tmcl::Direction::NOT_INVERTED, uint8_t gearRatio = 1 )

noexcept

Configure the secondary ABN encoder input.

This allows the use of a second incremental encoder or a geared encoder setup. It writes ABN_2_* parameters to set the resolution, direction and optional gear ratio.

Parameters

counts_per_rev	Encoder resolution in counts per revolution.
inverted	True to invert the encoder direction (tmc9660::tmcl::Direction).
gear_ratio	Gear ratio between the second encoder and the motor shaft. Use 1 if directly coupled.

Returns

true if all parameters were written successfully.

configureSPIEncoder()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::FeedbackSense::configureSPIEncoder ( uint8_t cmd_size, uint16_t cs_settle_time_ns, uint8_t cs_idle_time_us )

noexcept

Configure a SPI-based encoder for feedback.

Sets up a digital SPI encoder (e.g., absolute magnetic encoder) for position feedback.

Parameters

cmd_size	Size of SPI transfer frame (1-16 bytes).
cs_settle_time_ns	CS settle time in nanoseconds (0-6375).
cs_idle_time_us	CS idle time between frames in microseconds (0-102).

Returns

true if configured successfully.

configureSPIEncoderDataFormat()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::FeedbackSense::configureSPIEncoderDataFormat ( uint32_t position_mask, uint8_t positionShift = 0, tmc9660::tmcl::Direction invertDirection = tmc9660::tmcl::Direction::NOT_INVERTED )

noexcept

Configure SPI encoder data format and processing.

Sets up how the position data is extracted from the SPI encoder response.

Parameters

position_mask	Bit mask to extract position from SPI response.
position_shift	Right shift value to apply to position counter.
invert_direction	If true, invert the direction of the SPI encoder (tmc9660::tmcl::Direction).

Returns

true if configuration was successful.

configureSPIEncoderInitialization()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::FeedbackSense::configureSPIEncoderInitialization ( tmc9660::tmcl::SpiInitMethod init_method, int16_t offset = 0 )

noexcept

Configure SPI encoder initialization method.

Sets how the SPI encoder is initialized for commutation.

Parameters

init_method	Initialization method (tmc9660::tmcl::SpiInitMethod): FORCED_PHI_E_ZERO_WITH_ACTIVE_SWING, FORCED_PHI_E_90_ZERO, USE_OFFSET
offset	Manual offset value if using offset-based initialization.

Returns

true if initialization method was set successfully.

degreesToHallOffset()

template<typename CommType >

static int16_t tmc9660::TMC9660< CommType >::FeedbackSense::degreesToHallOffset ( float degrees )

staticnoexcept

Convert electrical angle from degrees to 16-bit format.

Converts degrees to the internal representation: value = (degrees * 65536) / 360. The result wraps around the 16-bit signed integer range.

Parameters

degrees

Electrical angle in degrees

Returns

16-bit signed integer value (-32768 to 32767)

getABNInitializationState()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::FeedbackSense::getABNInitializationState ( tmc9660::tmcl::AbnInitState & state )

noexcept

Read the current state of ABN encoder initialization.

Parameters

[out]

state

Current initialization state (tmc9660::tmcl::AbnInitState): IDLE, BUSY, WAIT, DONE

Returns

true if the state was read successfully.

getABNPhiE()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::FeedbackSense::getABNPhiE ( int16_t & phi_e )

noexcept

Read the electrical angle (phi_e) calculated from ABN feedback.

Parameters

[out]

phi_e

Electrical angle (-32768 to 32767).

Returns

true if the value was read successfully.

getABNRawValue()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::FeedbackSense::getABNRawValue ( uint32_t & value )

noexcept

Read the raw ABN encoder internal counter value.

Parameters

[out]

value

Raw counter value (0-16777215).

Returns

true if the value was read successfully.

getHallPhiE()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::FeedbackSense::getHallPhiE ( int16_t & phi_e )

noexcept

Read the electrical angle (phi_e) calculated from Hall feedback.

Parameters

[out]

phi_e

Electrical angle (-32768 to 32767).

Returns

true if the value was read successfully.

getSecondaryABNCountsPerRev()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::FeedbackSense::getSecondaryABNCountsPerRev ( uint32_t & counts )

noexcept

Read ABN_2_STEPS (encoder steps per rotation, 0…16777215).

Parameters

[out]

counts

CPR value.

Returns

true if read successful.

getSecondaryABNDirection()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::FeedbackSense::getSecondaryABNDirection ( tmc9660::tmcl::Direction & dir )

noexcept

Read ABN_2_DIRECTION (normal/inverted).

Parameters

[out]

dir

Direction (tmc9660::tmcl::Direction).

Returns

true if read successful.

getSecondaryABNEncoderValue()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::FeedbackSense::getSecondaryABNEncoderValue ( uint32_t & value )

noexcept

Read the raw ABN2 encoder internal counter value.

Parameters

[out]

value

Raw counter value (0-4294967295).

Returns

true if the value was read successfully.

getSecondaryABNGearRatio()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::FeedbackSense::getSecondaryABNGearRatio ( uint8_t & ratio )

noexcept

Read ABN_2_GEAR_RATIO (1…255).

Parameters

[out]

ratio

Gear ratio.

Returns

true if read successful.

getSPIEncoderCommutationAngle()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::FeedbackSense::getSPIEncoderCommutationAngle ( int16_t & angle )

noexcept

Read SPI_ENCODER_COMMUTATION_ANGLE (-32768…32767).

getSPIEncoderCSIdleDelay()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::FeedbackSense::getSPIEncoderCSIdleDelay ( uint8_t & timeUs )

noexcept

Read SPI_ENCODER_CS_IDLE_DELAY_TIME (0…102 µs).

getSPIEncoderCSSettleDelay()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::FeedbackSense::getSPIEncoderCSSettleDelay ( uint16_t & timeNs )

noexcept

Read SPI_ENCODE_CS_SETTLE_DELAY_TIME (0…6375 ns).

getSPIEncoderDirection()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::FeedbackSense::getSPIEncoderDirection ( tmc9660::tmcl::Direction & dir )

noexcept

Read SPI_ENCODER_DIRECTION.

getSPIEncoderInitialization()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::FeedbackSense::getSPIEncoderInitialization ( tmc9660::tmcl::SpiInitMethod & method, int16_t & offset )

noexcept

Read SPI_ENCODER_INITIALIZATION_METHOD and SPI_ENCODER_OFFSET.

getSPIEncoderLUTAddress()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::FeedbackSense::getSPIEncoderLUTAddress ( uint8_t & address )

noexcept

Read SPI_LUT_ADDRESS_SELECT.

getSPIEncoderLUTData()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::FeedbackSense::getSPIEncoderLUTData ( int8_t & data )

noexcept

Read SPI_LUT_DATA.

getSPIEncoderLUTShiftFactor()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::FeedbackSense::getSPIEncoderLUTShiftFactor ( int8_t & shift_factor )

noexcept

Read SPI_LUT_COMMON_SHIFT_FACTOR.

getSPIEncoderMainCmdSize()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::FeedbackSense::getSPIEncoderMainCmdSize ( uint8_t & size )

noexcept

Read SPI_ENCODER_MAIN_TRANSFER_CMD_SIZE (1…16 bytes).

getSPIEncoderPositionMask()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::FeedbackSense::getSPIEncoderPositionMask ( uint32_t & mask )

noexcept

Read SPI_ENCODER_POSITION_COUNTER_MASK.

getSPIEncoderPositionShift()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::FeedbackSense::getSPIEncoderPositionShift ( uint8_t & shift )

noexcept

Read SPI_ENCODER_POSITION_COUNTER_SHIFT.

getSPIEncoderPositionValue()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::FeedbackSense::getSPIEncoderPositionValue ( uint32_t & value )

noexcept

Read SPI_ENCODER_POSITION_COUNTER_VALUE.

getSPIEncoderSecondaryCmdSize()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::FeedbackSense::getSPIEncoderSecondaryCmdSize ( uint8_t & size )

noexcept

Read SPI_ENCODER_SECONDARY_TRANSFER_CMD_SIZE (0…15 bytes).

radiansToHallOffset()

template<typename CommType >

static int16_t tmc9660::TMC9660< CommType >::FeedbackSense::radiansToHallOffset ( float radians )

staticnoexcept

Convert electrical angle from radians to 16-bit format.

Converts radians to the internal representation: value = (radians * 65536) / (2 * π). The result wraps around the 16-bit signed integer range.

Parameters

radians

Electrical angle in radians

Returns

16-bit signed integer value (-32768 to 32767)

setHallPositionOffsets()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::FeedbackSense::setHallPositionOffsets ( int16_t offset0 = 0, int16_t offset60 = 10922, int16_t offset120 = 21845, int16_t offset180 = -32768, int16_t offset240 = -21846, int16_t offset300 = -10923, int16_t globalOffset = 0 )

noexcept

Set Hall sensor position offsets for improved accuracy.

Compensates for Hall sensor mounting tolerances by setting precise electrical angle offsets.

Parameters

offset0	Offset for 0° Hall position (-32768 to 32767)
offset60	Offset for 60° Hall position (-32768 to 32767)
offset120	Offset for 120° Hall position (-32768 to 32767)
offset180	Offset for 180° Hall position (-32768 to 32767)
offset240	Offset for 240° Hall position (-32768 to 32767)
offset300	Offset for 300° Hall position (-32768 to 32767)
global_offset	Additional global offset applied to all positions (-32768 to 32767)

Returns

true if Hall position offsets were set successfully.

setHallPositionOffsetsDegrees()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::FeedbackSense::setHallPositionOffsetsDegrees ( float offset0Deg = 0.0f, float offset60Deg = 60.0f, float offset120Deg = 120.0f, float offset180Deg = 180.0f, float offset240Deg = 240.0f, float offset300Deg = 300.0f, float globalOffsetDeg = 0.0f )

noexcept

Set Hall sensor position offsets using degrees.

Convenience function that converts degrees to the internal 16-bit format. The electrical angle is represented as: value = (degrees * 65536) / 360.

Parameters

offset0Deg	Offset for 0° Hall position in degrees
offset60Deg	Offset for 60° Hall position in degrees
offset120Deg	Offset for 120° Hall position in degrees
offset180Deg	Offset for 180° Hall position in degrees
offset240Deg	Offset for 240° Hall position in degrees
offset300Deg	Offset for 300° Hall position in degrees
global_offset_deg	Additional global offset in degrees

Returns

true if Hall position offsets were set successfully.

setHallPositionOffsetsRadians()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::FeedbackSense::setHallPositionOffsetsRadians ( float offset0Rad = 0.0f, float offset60Rad = 1.04719755f, float offset120Rad = 2.09439510f, float offset180Rad = 3.14159265f, float offset240Rad = 4.18879020f, float offset300Rad = 5.23598775f, float globalOffsetRad = 0.0f )

noexcept

Set Hall sensor position offsets using radians.

Convenience function that converts radians to the internal 16-bit format. The electrical angle is represented as: value = (radians * 65536) / (2 * π).

Parameters

offset0Rad	Offset for 0° Hall position in radians
offset60Rad	Offset for 60° Hall position in radians
offset120Rad	Offset for 120° Hall position in radians
offset180Rad	Offset for 180° Hall position in radians
offset240Rad	Offset for 240° Hall position in radians
offset300Rad	Offset for 300° Hall position in radians
global_offset_rad	Additional global offset in radians

Returns

true if Hall position offsets were set successfully.

setSecondaryABNEncoderEnabled()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::FeedbackSense::setSecondaryABNEncoderEnabled ( bool enable )

noexcept

Enable or disable the secondary ABN encoder.

Parameters

enable

True to enable, false to disable.

Returns

true if the operation was successful.

setSPIEncoderLUTCorrection()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::FeedbackSense::setSPIEncoderLUTCorrection ( tmc9660::tmcl::EnableDisable enable, int8_t shiftFactor = 0 )

noexcept

Enable or disable SPI encoder lookup table correction.

Enables the lookup table-based correction for encoder nonlinearity.

Parameters

enable	If true, enable LUT correction (tmc9660::tmcl::EnableDisable).
shift_factor	Common shift factor for all LUT entries.

Returns

true if LUT settings were applied successfully.

setSPIEncoderRequestData()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::FeedbackSense::setSPIEncoderRequestData ( const uint8_t * requestData, uint8_t size )

noexcept

Set up SPI encoder request data for continuous transfer mode.

Sets the data to be sent to the SPI encoder during position acquisition.

Parameters

requestData	Array of data bytes to send to the encoder.
size	Size of the request data (1-16 bytes).

Returns

true if transfer data was set successfully.

uploadSPIEncoderLUTEntry()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::FeedbackSense::uploadSPIEncoderLUTEntry ( uint8_t index, int8_t value )

noexcept

Upload a single entry to the SPI encoder correction lookup table.

Parameters

index	Index in the LUT (0-255).
value	Correction value (-128 to 127).

Returns

true if the entry was uploaded successfully.

Friends And Related Symbol Documentation

TMC9660

template<typename CommType >

friend class TMC9660

friend

Member Data Documentation

driver

template<typename CommType >

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

private

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

• tmc9660.hpp