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

Configure automatic stop/latch behaviour for deviation, switches. More...

#include <tmc9660.hpp>

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

Classes
struct	StopEventsConfig
	Configuration structure for stop events auto-configuration. More...

Public Member Functions
bool	enableDeviationStop (uint32_t max_vel_error, uint32_t max_pos_error, bool softStop=true) noexcept
	Stop when ramp target deviates from actual > thresholds.
bool	configureReferenceSwitches (uint8_t mask, bool invert_l, bool invert_r, bool invert_h, bool swap_lr) noexcept
	Configure reference / limit-switch inputs.
bool	getAndClearLatchedPosition (int32_t &pos) noexcept
	Read and clear the latched position from a switch event.
bool	configureAuto (const StopEventsConfig &config) noexcept
	Auto-configure stop events parameters.

Private Member Functions
	StopEvents (TMC9660 &parent) noexcept

Private Attributes
TMC9660 &	driver

Friends
class	TMC9660

Detailed Description

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

Configure automatic stop/latch behaviour for deviation, switches.

Constructor & Destructor Documentation

StopEvents()

template<typename CommType >

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

inlineexplicitprivatenoexcept

Member Function Documentation

configureAuto()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::StopEvents::configureAuto ( const StopEventsConfig & config )

noexcept

Auto-configure stop events parameters.

Configures deviation stop thresholds and reference switch settings based on high-level requirements.

Parameters

config

Stop events configuration (see StopEventsConfig)

Returns

true if all configurations succeeded, false otherwise

configureReferenceSwitches()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::StopEvents::configureReferenceSwitches ( uint8_t mask, bool invert_l, bool invert_r, bool invert_h, bool swap_lr )

noexcept

Configure reference / limit-switch inputs.

Parameters

mask	Bit-mask 0…7 ; see REFERENCE_SWITCH_ENABLE.
invert_l,R,H	invert individual polarities.
swap_lr	swap left/right wiring.

Configure reference and limit switch inputs.

Parameters

mask	Bit mask of switches to enable (see REFERENCE_SWITCH_ENABLE).
invert_l	Invert left switch polarity.
invert_r	Invert right switch polarity.
invert_h	Invert home switch polarity.
swap_lr	Swap left and right wiring.

Returns

true on success

See also

REFERENCE_SWITCH_* parameters in the datasheet. REFERENCE_SWITCH_*

Datasheet REFERENCE_SWITCH_ENABLE

enableDeviationStop()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::StopEvents::enableDeviationStop ( uint32_t max_vel_error, uint32_t max_pos_error, bool softStop = true )

noexcept

Stop when ramp target deviates from actual > thresholds.

Stop when ramp target deviates from actual values beyond the allowed thresholds.

Parameters

max_vel_error	Maximum allowed velocity error.
max_pos_error	Maximum allowed position error.
soft_stop	Use soft stop instead of immediate stop when true.

Returns

true on success

See also

EVENT_STOP_SETTINGS and STOP_ON_*_DEVIATION in the datasheet. STOP_ON_*_DEVIATION + EVENT_STOP_SETTINGS

Datasheet EVENT_STOP_SETTINGS

getAndClearLatchedPosition()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::StopEvents::getAndClearLatchedPosition ( int32_t & pos )

noexcept

Read and clear the latched position from a switch event.

Parameters

[out]

pos

Latched position value.

Returns

true on success

See also

LATCH_POSITION / RAMPER_LATCHED in the datasheet. LATCH_POSITION / RAMPER_LATCHED

Datasheet LATCH_POSITION

Friends And Related Symbol Documentation

TMC9660

template<typename CommType >

friend class TMC9660

friend

Member Data Documentation

driver

template<typename CommType >

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

private

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

• tmc9660.hpp