Subsystem for position control (FOC outer loop). More...

#include <tmc9660.hpp>

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

Classes
struct	PositionConfig
	Configuration structure for position control auto-configuration. More...

Public Member Functions
bool	stop () noexcept
	Stop position control (SYSTEM_OFF).

bool	setPositionSensor (tmc9660::tmcl::PositionSensorSelection sel) noexcept
	Select position feedback sensor.

bool	getPositionSensor (tmc9660::tmcl::PositionSensorSelection &sel) noexcept
	Read position feedback sensor.

bool	setTargetPosition (int32_t position) noexcept
	Set target position.

bool	getActualPosition (int32_t &position) noexcept
	Read actual position.

bool	setPositionScalingFactor (uint16_t factor) noexcept
	Set position scaling factor.

bool	getPositionScalingFactor (uint16_t &factor) noexcept
	Read position scaling factor.

bool	setPositionLoopGains (uint16_t p, uint16_t i) noexcept
	Configure position PI gains.

bool	setPositionNormalization (tmc9660::tmcl::VelocityPiNorm p_norm, tmc9660::tmcl::VelocityPiNorm i_norm) noexcept
	Set position PI normalization.

bool	getPositionPiIntegrator (int32_t &integrator) noexcept
	Read position-PI integrator.

bool	getPositionPiError (int32_t &error) noexcept
	Read position-PI error.

bool	setStopOnPositionDeviation (uint32_t max_error, bool softStop=true) noexcept
	Configure stop-on-position-deviation.

bool	getStopOnPositionDeviation (uint32_t &max_error, bool &soft_stop) noexcept
	Read stop-on-position-deviation settings.

bool	setPositionLoopDownsampling (uint8_t divider) noexcept
	Set position loop downsampling.

bool	getPositionLoopDownsampling (uint8_t &divider) noexcept
	Read position loop downsampling.

bool	setPositionLimitLow (int32_t limit) noexcept
	Set low position limit.

bool	getPositionLimitLow (int32_t &limit) noexcept
	Read low position limit.

bool	setPositionLimitHigh (int32_t limit) noexcept
	Set high position limit.

bool	getPositionLimitHigh (int32_t &limit) noexcept
	Read high position limit.

bool	setPositionReachedThreshold (uint32_t threshold) noexcept
	Set position reached threshold.

bool	getPositionReachedThreshold (uint32_t &threshold) noexcept
	Read position reached threshold.

bool	setReferenceSwitchEnable (tmc9660::tmcl::ReferenceSwitchEnable enable) noexcept
	Enable/disable reference switch stops.

bool	getReferenceSwitchEnable (tmc9660::tmcl::ReferenceSwitchEnable &enable) noexcept
	Read reference switch enable mask.

bool	setReferenceSwitchPolaritySwap (tmc9660::tmcl::ReferenceSwitchPolaritySwap config) noexcept
	Configure switch polarity and swap.

bool	getReferenceSwitchPolaritySwap (tmc9660::tmcl::ReferenceSwitchPolaritySwap &config) noexcept
	Read switch polarity/swap config.

bool	setReferenceSwitchLatchSettings (tmc9660::tmcl::ReferenceSwitchLatchSettings setting) noexcept
	Configure switch latch settings.

bool	getReferenceSwitchLatchSettings (tmc9660::tmcl::ReferenceSwitchLatchSettings &setting) noexcept
	Read switch latch settings.

bool	setEventStopSettings (tmc9660::tmcl::EventStopSettings settings) noexcept
	Configure event-stop settings.

bool	getEventStopSettings (tmc9660::tmcl::EventStopSettings &settings) noexcept
	Read event-stop settings.

bool	setReferenceSwitchSearchMode (tmc9660::tmcl::ReferenceSwitchSearchMode mode) noexcept
	Set reference search mode.

bool	getReferenceSwitchSearchMode (tmc9660::tmcl::ReferenceSwitchSearchMode &mode) noexcept
	Read reference search mode.

bool	setReferenceSwitchSearchSpeed (int32_t speed) noexcept
	Set reference search speed.

bool	getReferenceSwitchSearchSpeed (int32_t &speed) noexcept
	Read reference search speed.

bool	setReferenceSwitchSpeed (int32_t speed) noexcept
	Set reference positioning speed.

bool	getReferenceSwitchSpeed (int32_t &speed) noexcept
	Read reference positioning speed.

bool	getRightLimitSwitchPosition (int32_t &position) noexcept
	Read right-limit-switch position.

bool	getHomeSwitchPosition (int32_t &position) noexcept
	Read home-switch position.

bool	getLastReferencePosition (int32_t &position) noexcept
	Read last reference position.

bool	configureAuto (const PositionConfig &config) noexcept
	Auto-configure position control parameters.

Raw Inputs (read-only)
bool	getMccInputsRaw (uint16_t &inputs) noexcept

Private Member Functions
	PositionControl (TMC9660 &parent) noexcept

Private Attributes
TMC9660 &	driver

Friends
class	TMC9660

Detailed Description

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

Subsystem for position control (FOC outer loop).

Controls motor position using a PI controller that outputs velocity commands. Covers TMCL parameters 142–157, 161–170.

This control loop operates at a downsampled frequency relative to velocity loop. Position feedback can come from various sensors (ABN, SPI encoder).

Constructor & Destructor Documentation

◆ PositionControl()

template<typename CommType >

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

inlineexplicitprivatenoexcept

Member Function Documentation

◆ configureAuto()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::PositionControl::configureAuto ( const PositionConfig & config )

noexcept

Auto-configure position control parameters.

Configures position sensor selection, PI gains, scaling, limits, and other position control parameters based on high-level characteristics.

Parameters

config Position control configuration (see PositionConfig)

Returns: true if all configurations succeeded, false otherwise

◆ getActualPosition()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::PositionControl::getActualPosition ( int32_t & position )

noexcept

Read actual position.

Parameters

[out] position Measured position.

Returns: true if read.

◆ getEventStopSettings()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::PositionControl::getEventStopSettings ( tmc9660::tmcl::EventStopSettings & settings )

noexcept

Read event-stop settings.

Parameters

[out] settings Stop conditions.

Returns: true if read.

◆ getHomeSwitchPosition()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::PositionControl::getHomeSwitchPosition ( int32_t & position )

noexcept

Read home-switch position.

Parameters

[out] position Position value.

Returns: true if read.

◆ getLastReferencePosition()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::PositionControl::getLastReferencePosition ( int32_t & position )

noexcept

Read last reference position.

Parameters

[out] position Position value.

Returns: true if read.

◆ getMccInputsRaw()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::PositionControl::getMccInputsRaw ( uint16_t & inputs )

noexcept

◆ getPositionLimitHigh()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::PositionControl::getPositionLimitHigh ( int32_t & limit )

noexcept

Read high position limit.

Parameters

[out] limit Maximum allowed position.

Returns: true if read.

◆ getPositionLimitLow()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::PositionControl::getPositionLimitLow ( int32_t & limit )

noexcept

Read low position limit.

Parameters

[out] limit Minimum allowed position.

Returns: true if read.

◆ getPositionLoopDownsampling()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::PositionControl::getPositionLoopDownsampling ( uint8_t & divider )

noexcept

Read position loop downsampling.

Parameters

[out] divider Factor.

Returns: true if read.

◆ getPositionPiError()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::PositionControl::getPositionPiError ( int32_t & error )

noexcept

Read position-PI error.

Parameters

[out] error PI error.

Returns: true if read.

◆ getPositionPiIntegrator()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::PositionControl::getPositionPiIntegrator ( int32_t & integrator )

noexcept

Read position-PI integrator.

Parameters

[out] integrator Integrator value.

Returns: true if read.

◆ getPositionReachedThreshold()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::PositionControl::getPositionReachedThreshold ( uint32_t & threshold )

noexcept

Read position reached threshold.

Parameters

[out] threshold Latch threshold.

Returns: true if read.

◆ getPositionScalingFactor()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::PositionControl::getPositionScalingFactor ( uint16_t & factor )

noexcept

Read position scaling factor.

Parameters

[out] factor Scale factor.

Returns: true if read.

◆ getPositionSensor()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::PositionControl::getPositionSensor ( tmc9660::tmcl::PositionSensorSelection & sel )

noexcept

Read position feedback sensor.

Parameters

[out] sel Sensor selection.

Returns: true if read.

◆ getReferenceSwitchEnable()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::PositionControl::getReferenceSwitchEnable ( tmc9660::tmcl::ReferenceSwitchEnable & enable )

noexcept

Read reference switch enable mask.

Parameters

[out] enable Mask.

Returns: true if read.

◆ getReferenceSwitchLatchSettings()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::PositionControl::getReferenceSwitchLatchSettings ( tmc9660::tmcl::ReferenceSwitchLatchSettings & setting )

noexcept

Read switch latch settings.

Parameters

[out] setting Latch behavior.

Returns: true if read.

◆ getReferenceSwitchPolaritySwap()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::PositionControl::getReferenceSwitchPolaritySwap ( tmc9660::tmcl::ReferenceSwitchPolaritySwap & config )

noexcept

Read switch polarity/swap config.

Parameters

[out] config Config.

Returns: true if read.

◆ getReferenceSwitchSearchMode()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::PositionControl::getReferenceSwitchSearchMode ( tmc9660::tmcl::ReferenceSwitchSearchMode & mode )

noexcept

Read reference search mode.

Parameters

[out] mode Search sequence.

Returns: true if read.

◆ getReferenceSwitchSearchSpeed()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::PositionControl::getReferenceSwitchSearchSpeed ( int32_t & speed )

noexcept

Read reference search speed.

Parameters

[out] speed Search velocity.

Returns: true if read.

◆ getReferenceSwitchSpeed()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::PositionControl::getReferenceSwitchSpeed ( int32_t & speed )

noexcept

Read reference positioning speed.

Parameters

[out] speed Approach speed.

Returns: true if read.

◆ getRightLimitSwitchPosition()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::PositionControl::getRightLimitSwitchPosition ( int32_t & position )

noexcept

Read right-limit-switch position.

Parameters

[out] position Position value.

Returns: true if read.

◆ getStopOnPositionDeviation()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::PositionControl::getStopOnPositionDeviation	(	uint32_t &	max_error,
		bool &	soft_stop )

noexcept

Read stop-on-position-deviation settings.

Parameters

[out]	max_error	Configured max deviation.
[out]	soft_stop	Soft/hard stop flag.

Returns: true if read.

◆ setEventStopSettings()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::PositionControl::setEventStopSettings ( tmc9660::tmcl::EventStopSettings settings )

noexcept

Configure event-stop settings.

Parameters

settings Stop conditions.

Returns: true if written.

◆ setPositionLimitHigh()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::PositionControl::setPositionLimitHigh ( int32_t limit )

noexcept

Set high position limit.

Parameters

limit Maximum allowed position.

Returns: true if written.

◆ setPositionLimitLow()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::PositionControl::setPositionLimitLow ( int32_t limit )

noexcept

Set low position limit.

Parameters

limit Minimum allowed position.

Returns: true if written.

◆ setPositionLoopDownsampling()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::PositionControl::setPositionLoopDownsampling ( uint8_t divider )

noexcept

Set position loop downsampling.

Parameters

divider Downsample factor.

Returns: true if written.

◆ setPositionLoopGains()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::PositionControl::setPositionLoopGains	(	uint16_t	p,
		uint16_t	i )

noexcept

Configure position PI gains.

Parameters

p	P gain.
i	I gain.

Returns: true if written.

◆ setPositionNormalization()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::PositionControl::setPositionNormalization	(	tmc9660::tmcl::VelocityPiNorm	p_norm,
		tmc9660::tmcl::VelocityPiNorm	i_norm )

noexcept

Set position PI normalization.

Parameters

p_norm	P-term norm.
i_norm	I-term norm.

Returns: true if written.

◆ setPositionReachedThreshold()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::PositionControl::setPositionReachedThreshold ( uint32_t threshold )

noexcept

Set position reached threshold.

Parameters

threshold Latch threshold.

Returns: true if written.

◆ setPositionScalingFactor()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::PositionControl::setPositionScalingFactor ( uint16_t factor )

noexcept

Set position scaling factor.

Parameters

factor Scale factor.

Returns: true if written.

◆ setPositionSensor()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::PositionControl::setPositionSensor ( tmc9660::tmcl::PositionSensorSelection sel )

noexcept

Select position feedback sensor.

Parameters

sel	Sensor selection.

Returns: true if written.

◆ setReferenceSwitchEnable()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::PositionControl::setReferenceSwitchEnable ( tmc9660::tmcl::ReferenceSwitchEnable enable )

noexcept

Enable/disable reference switch stops.

Parameters

enable Bitmask of switch stops.

Returns: true if written.

◆ setReferenceSwitchLatchSettings()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::PositionControl::setReferenceSwitchLatchSettings ( tmc9660::tmcl::ReferenceSwitchLatchSettings setting )

noexcept

Configure switch latch settings.

Parameters

setting Latch behavior.

Returns: true if written.

◆ setReferenceSwitchPolaritySwap()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::PositionControl::setReferenceSwitchPolaritySwap ( tmc9660::tmcl::ReferenceSwitchPolaritySwap config )

noexcept

Configure switch polarity and swap.

Parameters

config Polarity/swap config.

Returns: true if written.

◆ setReferenceSwitchSearchMode()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::PositionControl::setReferenceSwitchSearchMode ( tmc9660::tmcl::ReferenceSwitchSearchMode mode )

noexcept

Set reference search mode.

Parameters

mode	Search sequence.

Returns: true if written.

◆ setReferenceSwitchSearchSpeed()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::PositionControl::setReferenceSwitchSearchSpeed ( int32_t speed )

noexcept

Set reference search speed.

Parameters

speed Search velocity.

Returns: true if written.

◆ setReferenceSwitchSpeed()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::PositionControl::setReferenceSwitchSpeed ( int32_t speed )

noexcept

Set reference positioning speed.

Parameters

speed Approach speed.

Returns: true if written.

◆ setStopOnPositionDeviation()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::PositionControl::setStopOnPositionDeviation	(	uint32_t	max_error,
		bool	softStop = true )

noexcept

Configure stop-on-position-deviation.

Parameters

max_error	Max allowed deviation.
soft_stop	true for ramp down, false for hard stop.

Returns: true if written.

◆ setTargetPosition()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::PositionControl::setTargetPosition ( int32_t position )

noexcept

Set target position.

Parameters

position Desired position (internal units).

Returns: true if written.

◆ stop()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::PositionControl::stop ( )

noexcept

Stop position control (SYSTEM_OFF).

Returns: true on success.

Friends And Related Symbol Documentation

◆ TMC9660

template<typename CommType >

friend class TMC9660

friend

Member Data Documentation

◆ driver

template<typename CommType >

TMC9660& tmc9660::TMC9660< CommType >::PositionControl::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

◆ PositionControl()

Member Function Documentation

◆ configureAuto()

◆ getActualPosition()

◆ getEventStopSettings()

◆ getHomeSwitchPosition()

◆ getLastReferencePosition()

◆ getMccInputsRaw()

◆ getPositionLimitHigh()

◆ getPositionLimitLow()

◆ getPositionLoopDownsampling()

◆ getPositionPiError()

◆ getPositionPiIntegrator()

◆ getPositionReachedThreshold()

◆ getPositionScalingFactor()

◆ getPositionSensor()

◆ getReferenceSwitchEnable()

◆ getReferenceSwitchLatchSettings()

◆ getReferenceSwitchPolaritySwap()

◆ getReferenceSwitchSearchMode()

◆ getReferenceSwitchSearchSpeed()

◆ getReferenceSwitchSpeed()

◆ getRightLimitSwitchPosition()

◆ getStopOnPositionDeviation()

◆ setEventStopSettings()

◆ setPositionLimitHigh()

◆ setPositionLimitLow()

◆ setPositionLoopDownsampling()

◆ setPositionLoopGains()

◆ setPositionNormalization()

◆ setPositionReachedThreshold()

◆ setPositionScalingFactor()

◆ setPositionSensor()

◆ setReferenceSwitchEnable()

◆ setReferenceSwitchLatchSettings()

◆ setReferenceSwitchPolaritySwap()

◆ setReferenceSwitchSearchMode()

◆ setReferenceSwitchSearchSpeed()

◆ setReferenceSwitchSpeed()

◆ setStopOnPositionDeviation()

◆ setTargetPosition()

◆ stop()

Friends And Related Symbol Documentation

◆ TMC9660

Member Data Documentation

◆ driver