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

Hardware 8-segment acceleration/dec-acc profile controller. More...

#include <tmc9660.hpp>

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

Classes
struct	RampConfig
	Configuration structure for ramp auto-configuration. More...

Public Member Functions
bool	enable (bool on) noexcept
	Enable or disable the ramp generator block.
bool	setAcceleration (uint32_t a1, uint32_t a2, uint32_t a_max) noexcept
	Set acceleration segments A1, A2, Amax (µ units/s²).
bool	setDeceleration (uint32_t d1, uint32_t d2, uint32_t d_max) noexcept
	Set deceleration segments D1, D2, Dmax (µ units/s²).
bool	setVelocities (uint32_t v_start, uint32_t v_stop, uint32_t v1, uint32_t v2, uint32_t v_max) noexcept
	Configure velocity thresholds and limits.
bool	setTiming (uint16_t t_vmax_cycles, uint16_t t_zero_wait_cycles) noexcept
	Timing constraints at Vmax and between moves.
bool	enableFeedForward (bool enable_vel_ff, bool enable_accel_ff, uint16_t accel_ff_gain, tmc9660::tmcl::AccelerationFFShift accel_ff_shift) noexcept
	Enable hardware feed-forward terms and set gain/shift.
bool	setDirectVelocityMode (bool enable) noexcept
	Direct-velocity mode instead of classic PI velocity loop.
bool	getRampVelocity (int32_t &velocity) noexcept
	Get the current target velocity calculated by the ramp controller.
bool	getRampPosition (int32_t &position) noexcept
	Get the current target position calculated by the ramp controller.
bool	configureAuto (const RampConfig &config) noexcept
	Auto-configure ramp parameters.

Private Member Functions
	Ramp (TMC9660 &parent) noexcept

Private Attributes
TMC9660 &	driver

Friends
class	TMC9660

Detailed Description

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

Hardware 8-segment acceleration/dec-acc profile controller.

Covers all ramp generator and feedforward parameters:

• ACCELERATION_FF_GAIN (50)
• ACCELERATION_FF_SHIFT (51)
• RAMP_ENABLE (52)
• DIRECT_VELOCITY_MODE (53)
• RAMP_AMAX/A1/A2 (54/55/56)
• RAMP_DMAX/D1/D2 (57/58/59)
• RAMP_VMAX/V1/V2/VSTART/VSTOP (60/61/62/63/64)
• RAMP_TVMAX/TZEROWAIT (65/66)
• ACCELERATION_FEEDFORWARD_ENABLE (67)
• VELOCITY_FEEDFORWARD_ENABLE (68)
• RAMP_VELOCITY (69)
• RAMP_POSITION (70)

Constructor & Destructor Documentation

Ramp()

template<typename CommType >

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

inlineexplicitprivatenoexcept

Member Function Documentation

configureAuto()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::Ramp::configureAuto ( const RampConfig & config )

noexcept

Auto-configure ramp parameters.

Configures acceleration, deceleration, velocity thresholds, and feedforward parameters based on high-level motion profile requirements.

Parameters

config

Ramp configuration (see RampConfig)

Returns

true if all configurations succeeded, false otherwise

enable()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::Ramp::enable ( bool on )

noexcept

Enable or disable the ramp generator block.

Parameters

on	True to enable, false to disable (RAMP_ENABLE).

enableFeedForward()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::Ramp::enableFeedForward ( bool enable_vel_ff, bool enable_accel_ff, uint16_t accel_ff_gain, tmc9660::tmcl::AccelerationFFShift accel_ff_shift )

noexcept

Enable hardware feed-forward terms and set gain/shift.

This allows the ramp generator to use feed-forward terms for velocity and acceleration.

Parameters

enable_vel_ff	Enable the VELOCITY_FEEDFORWARD feature (VELOCITY_FEEDFORWARD_ENABLE)
enable_accel_ff	Enable the ACCELERATION_FEEDFORWARD feature (ACCELERATION_FEEDFORWARD_ENABLE)
accel_ff_gain	ACCELERATION_FF_GAIN (0…65535)
accel_ff_shift	ACCELERATION_FF_SHIFT enum (tmc9660::tmcl::AccelerationFFShift)

getRampPosition()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::Ramp::getRampPosition ( int32_t & position )

noexcept

Get the current target position calculated by the ramp controller.

Parameters

[out]

position

The current ramp target position (RAMP_POSITION, param 70)

Returns

true if the value was read successfully.

getRampVelocity()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::Ramp::getRampVelocity ( int32_t & velocity )

noexcept

Get the current target velocity calculated by the ramp controller.

Parameters

[out]

velocity

The current ramp target velocity (RAMP_VELOCITY, param 69)

Returns

true if the value was read successfully.

setAcceleration()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::Ramp::setAcceleration ( uint32_t a1, uint32_t a2, uint32_t a_max )

noexcept

Set acceleration segments A1, A2, Amax (µ units/s²).

Parameters

a1	First acceleration (RAMP_A1)
a2	Second acceleration (RAMP_A2)
a_max	Top acceleration (RAMP_AMAX)

setDeceleration()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::Ramp::setDeceleration ( uint32_t d1, uint32_t d2, uint32_t d_max )

noexcept

Set deceleration segments D1, D2, Dmax (µ units/s²).

Parameters

d1	Second deceleration (RAMP_D1)
d2	First deceleration (RAMP_D2)
d_max	Top deceleration (RAMP_DMAX)

setDirectVelocityMode()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::Ramp::setDirectVelocityMode ( bool enable )

noexcept

Direct-velocity mode instead of classic PI velocity loop.

Parameters

enable

True to enable direct velocity mode (DIRECT_VELOCITY_MODE)

setTiming()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::Ramp::setTiming ( uint16_t t_vmax_cycles, uint16_t t_zero_wait_cycles )

noexcept

Timing constraints at Vmax and between moves.

Parameters

t_vmax_cycles	Minimum time at VMAX (RAMP_TVMAX)
t_zero_wait_cycles	Wait time at end of ramp (RAMP_TZEROWAIT)

setVelocities()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::Ramp::setVelocities ( uint32_t v_start, uint32_t v_stop, uint32_t v1, uint32_t v2, uint32_t v_max )

noexcept

Configure velocity thresholds and limits.

Parameters

v_start	Start velocity (RAMP_VSTART)
v_stop	Stop velocity (RAMP_VSTOP)
v1	Velocity threshold 1 (RAMP_V1)
v2	Velocity threshold 2 (RAMP_V2)
v_max	Maximum velocity (RAMP_VMAX)

Friends And Related Symbol Documentation

TMC9660

template<typename CommType >

friend class TMC9660

friend

Member Data Documentation

driver

template<typename CommType >

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

private

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

• tmc9660.hpp