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

Subsystem for reading various telemetry and status information from the driver. More...

#include <tmc9660.hpp>

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

Public Member Functions
bool	getGeneralStatusFlags (uint32_t &flags) noexcept
	Read the GENERAL_STATUS_FLAGS register.
float	getSupplyVoltage () noexcept
	Read the current supply (bus) voltage.
float	getChipTemperature () noexcept
	Read the internal chip temperature.
int16_t	getMotorCurrent () noexcept
	Read the current motor current (torque current).
int32_t	getActualVelocity () noexcept
	Read the measured actual velocity of the motor.
int32_t	getActualPosition () noexcept
	Read the measured actual position of the motor.
bool	getGeneralErrorFlags (uint32_t &flags) noexcept
	Read the GENERAL_ERROR_FLAGS register.
bool	getGateDriverErrorFlags (uint32_t &flags) noexcept
	Read the GDRV_ERROR_FLAGS register.
bool	clearGeneralErrorFlags (uint32_t mask) noexcept
	Clear bits in the GENERAL_ERROR_FLAGS register.
bool	clearGateDriverErrorFlags (uint32_t mask) noexcept
	Clear bits in the GDRV_ERROR_FLAGS register.
bool	getADCStatusFlags (uint32_t &flags) noexcept
	Read the ADC_STATUS_FLAGS register (clipped ADC channels).
bool	clearADCStatusFlags (uint32_t mask) noexcept
	Clear bits in the ADC_STATUS_FLAGS register (write-1-to-clear).
uint16_t	getExternalTemperature () noexcept
	Read the external temperature sensor raw value.

Private Member Functions
	Telemetry (TMC9660 &parent) noexcept

Private Attributes
TMC9660 &	driver

Friends
class	TMC9660

Detailed Description

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

Subsystem for reading various telemetry and status information from the driver.

Constructor & Destructor Documentation

Telemetry()

template<typename CommType >

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

explicitprivatenoexcept

Member Function Documentation

clearADCStatusFlags()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::Telemetry::clearADCStatusFlags ( uint32_t mask )

noexcept

Clear bits in the ADC_STATUS_FLAGS register (write-1-to-clear).

Parameters

mask	Bit mask of clipping flags to clear.

Returns

true if the mask was written successfully.

clearGateDriverErrorFlags()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::Telemetry::clearGateDriverErrorFlags ( uint32_t mask )

noexcept

Clear bits in the GDRV_ERROR_FLAGS register.

Parameters

mask	Bit mask of flags to clear (write-1-to-clear).

Returns

true if the mask was written successfully.

clearGeneralErrorFlags()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::Telemetry::clearGeneralErrorFlags ( uint32_t mask )

noexcept

Clear bits in the GENERAL_ERROR_FLAGS register.

Parameters

mask	Bit mask of flags to clear (write-1-to-clear).

Returns

true if the mask was written successfully.

getActualPosition()

template<typename CommType >

int32_t tmc9660::TMC9660< CommType >::Telemetry::getActualPosition ( )

noexcept

Read the measured actual position of the motor.

Returns

The actual position in internal units. Returns 0 if not available.

getActualVelocity()

template<typename CommType >

int32_t tmc9660::TMC9660< CommType >::Telemetry::getActualVelocity ( )

noexcept

Read the measured actual velocity of the motor.

Returns

The actual velocity in internal units. Returns 0 if not available.

getADCStatusFlags()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::Telemetry::getADCStatusFlags ( uint32_t & flags )

noexcept

Read the ADC_STATUS_FLAGS register (clipped ADC channels).

Parameters

[out]

flags

Bit mask of clipping status.

Returns

true if read successfully.

getChipTemperature()

template<typename CommType >

float tmc9660::TMC9660< CommType >::Telemetry::getChipTemperature ( )

noexcept

Read the internal chip temperature.

Returns

Chip temperature in degrees Celsius. Returns a negative value (e.g. -273) on read error. Formula: T(°C) = raw * 0.01615 - 268.15

getExternalTemperature()

template<typename CommType >

uint16_t tmc9660::TMC9660< CommType >::Telemetry::getExternalTemperature ( )

noexcept

Read the external temperature sensor raw value.

Returns

Raw external temperature. Returns 0 if unable to read.

getGateDriverErrorFlags()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::Telemetry::getGateDriverErrorFlags ( uint32_t & flags )

noexcept

Read the GDRV_ERROR_FLAGS register.

Parameters

[out]

flags

Bit mask of current gate driver error flags.

Returns

true if the flags were read successfully.

getGeneralErrorFlags()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::Telemetry::getGeneralErrorFlags ( uint32_t & flags )

noexcept

Read the GENERAL_ERROR_FLAGS register.

Parameters

[out]

flags

Bit mask of current error flags.

Returns

true if the flags were read successfully.

getGeneralStatusFlags()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::Telemetry::getGeneralStatusFlags ( uint32_t & flags )

noexcept

Read the GENERAL_STATUS_FLAGS register.

Parameters

[out]

flags

Bit mask of current status flags.

Returns

true if the flags were read successfully.

getMotorCurrent()

template<typename CommType >

int16_t tmc9660::TMC9660< CommType >::Telemetry::getMotorCurrent ( )

noexcept

Read the current motor current (torque current).

Returns

Motor current in milliamps (m_a). Returns 0 if unable to read.

getSupplyVoltage()

template<typename CommType >

float tmc9660::TMC9660< CommType >::Telemetry::getSupplyVoltage ( )

noexcept

Read the current supply (bus) voltage.

Returns

Supply voltage in volts. Returns a negative value if unable to read.

Friends And Related Symbol Documentation

TMC9660

template<typename CommType >

friend class TMC9660

friend

Member Data Documentation

driver

template<typename CommType >

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

private

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

• tmc9660.hpp