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

Configuration structure for SPI encoder auto-configuration. More...

#include <tmc9660.hpp>

Public Attributes
uint8_t	cmdSize
	Size of SPI transfer frame [1-16 bytes].
uint32_t	positionMask
	Bit mask to extract position from SPI response [0-4294967295].
uint16_t	csSettleTimeNs = 0
	CS settle delay time [0-6375 ns] (default: 0)
uint8_t	csIdleTimeUs = 0
	CS idle time between frames [0-102 µs] (default: 0)
uint8_t	positionShift = 0
	Right shift for position counter [0-127] (default: 0)
tmc9660::tmcl::Direction	direction
	SPI encoder direction (default: NOT_INVERTED)
tmc9660::tmcl::SpiInitMethod	initMethod
int16_t	offset = 0
	Manual offset for USE_OFFSET initialization method (default: 0)
std::optional< std::array< uint8_t, 16 > >	requestData
tmc9660::tmcl::EnableDisable	lutCorrection
int8_t	lutShiftFactor = 0
	LUT common shift factor [0-4] (default: 0)

Detailed Description

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

Configuration structure for SPI encoder auto-configuration.

Member Data Documentation

cmdSize

template<typename CommType >

uint8_t tmc9660::TMC9660< CommType >::FeedbackSense::SpiEncoderConfig::cmdSize

Size of SPI transfer frame [1-16 bytes].

csIdleTimeUs

template<typename CommType >

uint8_t tmc9660::TMC9660< CommType >::FeedbackSense::SpiEncoderConfig::csIdleTimeUs = 0

CS idle time between frames [0-102 µs] (default: 0)

csSettleTimeNs

template<typename CommType >

uint16_t tmc9660::TMC9660< CommType >::FeedbackSense::SpiEncoderConfig::csSettleTimeNs = 0

CS settle delay time [0-6375 ns] (default: 0)

direction

template<typename CommType >

tmc9660::tmcl::Direction tmc9660::TMC9660< CommType >::FeedbackSense::SpiEncoderConfig::direction

Initial value:

=
          tmc9660::tmcl::Direction::NOT_INVERTED

SPI encoder direction (default: NOT_INVERTED)

initMethod

template<typename CommType >

tmc9660::tmcl::SpiInitMethod tmc9660::TMC9660< CommType >::FeedbackSense::SpiEncoderConfig::initMethod

Initial value:

= tmc9660::tmcl::SpiInitMethod::
          FORCED_PHI_E_ZERO_WITH_ACTIVE_SWING

Initialization method (default: FORCED_PHI_E_ZERO_WITH_ACTIVE_SWING)

lutCorrection

template<typename CommType >

tmc9660::tmcl::EnableDisable tmc9660::TMC9660< CommType >::FeedbackSense::SpiEncoderConfig::lutCorrection

Initial value:

=
          tmc9660::tmcl::EnableDisable::DISABLED

Enable lookup table correction (default: DISABLED)

lutShiftFactor

template<typename CommType >

int8_t tmc9660::TMC9660< CommType >::FeedbackSense::SpiEncoderConfig::lutShiftFactor = 0

LUT common shift factor [0-4] (default: 0)

offset

template<typename CommType >

int16_t tmc9660::TMC9660< CommType >::FeedbackSense::SpiEncoderConfig::offset = 0

Manual offset for USE_OFFSET initialization method (default: 0)

positionMask

template<typename CommType >

uint32_t tmc9660::TMC9660< CommType >::FeedbackSense::SpiEncoderConfig::positionMask

Bit mask to extract position from SPI response [0-4294967295].

positionShift

template<typename CommType >

uint8_t tmc9660::TMC9660< CommType >::FeedbackSense::SpiEncoderConfig::positionShift = 0

Right shift for position counter [0-127] (default: 0)

requestData

template<typename CommType >

std::optional<std::array<uint8_t, 16> > tmc9660::TMC9660< CommType >::FeedbackSense::SpiEncoderConfig::requestData

Request data bytes to send to encoder (optional, for continuous transfer mode)

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

• tmc9660.hpp