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

Subsystem for controlling the STEP/DIR pulse input interface. More...

#include <tmc9660.hpp>

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

Public Member Functions
bool	setMicrostepResolution (tmc9660::tmcl::StepDirStepDividerShift µSteps) noexcept
	Configure microstep resolution for each STEP pulse.
bool	enableInterface (bool on) noexcept
	Enable or disable the STEP/DIR interface.
bool	enableExtrapolation (bool enable) noexcept
	Enable signal extrapolation between STEP pulses.
bool	setSignalTimeout (uint16_t timeout_ms) noexcept
	Timeout before extrapolated motion stops after last pulse.
bool	setMaxExtrapolationVelocity (uint32_t e_rpm) noexcept
	Set maximum allowed extrapolation velocity.
bool	enableVelocityFeedForward (bool enable_vel_ff) noexcept
	Enable hardware feed-forward terms and set gain/shift.

Private Member Functions
	StepDir (TMC9660 &parent) noexcept

Private Attributes
TMC9660 &	driver

Friends
class	TMC9660

Detailed Description

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

Subsystem for controlling the STEP/DIR pulse input interface.

Enables stepper-style control using external STEP and DIR pulses, with support for:

• Signal extrapolation to interpolate between pulses
• Velocity feed-forward
• Microstep resolution configuration

Refer to Parameter IDs #205–#209 (Table 48). See datasheet page 95 for details on the STEP/DIR interface.

Constructor & Destructor Documentation

StepDir()

template<typename CommType >

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

inlineexplicitprivatenoexcept

Member Function Documentation

enableExtrapolation()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::StepDir::enableExtrapolation ( bool enable )

noexcept

Enable signal extrapolation between STEP pulses.

Parameters

enable

true = enable extrapolation

Returns

true on success

• Parameter: STEPDIR_EXTRAPOLATE
• Behavior described on p. 96, Fig. 27

enableInterface()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::StepDir::enableInterface ( bool on )

noexcept

Enable or disable the STEP/DIR interface.

Parameters

on	true = enable, false = disable

Returns

true on success

• Parameter: STEPDIR_ENABLE
• Boot option: see datasheet Table 11

enableVelocityFeedForward()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::StepDir::enableVelocityFeedForward ( bool enable_vel_ff )

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)

Returns

true on success

setMaxExtrapolationVelocity()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::StepDir::setMaxExtrapolationVelocity ( uint32_t e_rpm )

noexcept

Set maximum allowed extrapolation velocity.

Parameters

e_rpm

Max electrical RPM before extrapolation is disabled

Returns

true on success

• Parameter: STEPDIR_MAXIMUM_EXTRAPOLATION_VELOCITY

setMicrostepResolution()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::StepDir::setMicrostepResolution ( tmc9660::tmcl::StepDirStepDividerShift µSteps )

noexcept

Configure microstep resolution for each STEP pulse.

Parameters

µSteps

Microsteps per full step (e.g. 256 = 1/256 resolution)

Returns

true on success

• Parameter: STEPDIR_STEP_DIVIDER_SHIFT (shift of incoming step pulse count)

setSignalTimeout()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::StepDir::setSignalTimeout ( uint16_t timeout_ms )

noexcept

Timeout before extrapolated motion stops after last pulse.

Parameters

timeout_ms

Timeout in milliseconds

Returns

true on success

• Parameter: STEPDIR_STEP_SIGNAL_TIMEOUT_LIMIT

Friends And Related Symbol Documentation

TMC9660

template<typename CommType >

friend class TMC9660

friend

Member Data Documentation

driver

template<typename CommType >

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

private

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

• tmc9660.hpp