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

Configuration structure for stop events auto-configuration. More...

#include <tmc9660.hpp>

Public Attributes
std::optional< uint32_t >	maxVelocityDeviation
	Maximum allowed velocity deviation for stop condition (optional, disabled if not provided).
std::optional< uint32_t >	maxPositionDeviation
	Maximum allowed position deviation for stop condition (optional, disabled if not provided).
std::optional< bool >	deviationSoftStop
	Use soft stop (ramp down) for deviation stop (optional, default: true).
std::optional< uint8_t >	referenceSwitchMask
	Reference switch enable mask (optional, default: 0 = all disabled).
std::optional< bool >	invertLeftSwitch
	Invert left switch polarity (optional, default: false).
std::optional< bool >	invertRightSwitch
	Invert right switch polarity (optional, default: false).
std::optional< bool >	invertHomeSwitch
	Invert home switch polarity (optional, default: false).
std::optional< bool >	swapLeftRight
	Swap left and right switch wiring (optional, default: false).

Detailed Description

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

Configuration structure for stop events auto-configuration.

Member Data Documentation

deviationSoftStop

template<typename CommType >

std::optional<bool> tmc9660::TMC9660< CommType >::StopEvents::StopEventsConfig::deviationSoftStop

Use soft stop (ramp down) for deviation stop (optional, default: true).

When true, uses soft stop (ramp down) instead of immediate hard stop. Use soft stop for deviation (optional, default: true)

invertHomeSwitch

template<typename CommType >

std::optional<bool> tmc9660::TMC9660< CommType >::StopEvents::StopEventsConfig::invertHomeSwitch

Invert home switch polarity (optional, default: false).

Invert home switch (optional, default: false)

invertLeftSwitch

template<typename CommType >

std::optional<bool> tmc9660::TMC9660< CommType >::StopEvents::StopEventsConfig::invertLeftSwitch

Invert left switch polarity (optional, default: false).

Invert left switch (optional, default: false)

invertRightSwitch

template<typename CommType >

std::optional<bool> tmc9660::TMC9660< CommType >::StopEvents::StopEventsConfig::invertRightSwitch

Invert right switch polarity (optional, default: false).

Invert right switch (optional, default: false)

maxPositionDeviation

template<typename CommType >

std::optional<uint32_t> tmc9660::TMC9660< CommType >::StopEvents::StopEventsConfig::maxPositionDeviation

Maximum allowed position deviation for stop condition (optional, disabled if not provided).

When actual position deviates from target position by more than this value, a stop event is triggered. Range: 0-2147483647 (default: disabled if not provided) Max position deviation [0-2147483647] (optional, disabled if not provided)

maxVelocityDeviation

template<typename CommType >

std::optional<uint32_t> tmc9660::TMC9660< CommType >::StopEvents::StopEventsConfig::maxVelocityDeviation

Maximum allowed velocity deviation for stop condition (optional, disabled if not provided).

When actual velocity deviates from target velocity by more than this value, a stop event is triggered. Range: 0-200000 (default: disabled if not provided) Max velocity deviation [0-200000] (optional, disabled if not provided)

referenceSwitchMask

template<typename CommType >

std::optional<uint8_t> tmc9660::TMC9660< CommType >::StopEvents::StopEventsConfig::referenceSwitchMask

Reference switch enable mask (optional, default: 0 = all disabled).

Bit mask of switches to enable:

• Bit 0: Left switch
• Bit 1: Right switch
• Bit 2: Home switch Range: 0-7 (default: 0 = all disabled) Reference switch enable mask [0-7] (optional, default: 0)

swapLeftRight

template<typename CommType >

std::optional<bool> tmc9660::TMC9660< CommType >::StopEvents::StopEventsConfig::swapLeftRight

Swap left and right switch wiring (optional, default: false).

Swap left/right wiring (optional, default: false)

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

• tmc9660.hpp