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

Subsystem for velocity control (FOC middle loop). More...

#include <tmc9660.hpp>

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

Classes
struct	VelocityConfig
	Configuration structure for velocity control auto-configuration. More...

Public Member Functions
bool	stop () noexcept
	Stop velocity control (SYSTEM_OFF).
bool	setVelocitySensor (tmc9660::tmcl::VelocitySensorSelection sel) noexcept
	Select velocity feedback sensor.
bool	getVelocitySensor (tmc9660::tmcl::VelocitySensorSelection &sel) noexcept
	Read velocity feedback sensor.
bool	setTargetVelocity (int32_t velocity) noexcept
	Set target velocity.
bool	getActualVelocity (int32_t &velocity) noexcept
	Read actual velocity.
bool	setVelocityOffset (int32_t offset) noexcept
	Set velocity offset.
bool	getVelocityOffset (int32_t &offset) noexcept
	Read velocity offset.
bool	setVelocityLoopGains (uint16_t p, uint16_t i) noexcept
	Configure velocity PI gains.
bool	setVelocityNormalization (tmc9660::tmcl::VelocityPiNorm p_norm, tmc9660::tmcl::VelocityPiNorm i_norm) noexcept
	Set velocity PI normalization.
bool	getVelocityPiIntegrator (int32_t &integrator) noexcept
	Read velocity-PI integrator.
bool	getVelocityPiError (int32_t &error) noexcept
	Read velocity-PI error.
bool	setVelocityScalingFactor (uint16_t factor) noexcept
	Set velocity scaling factor.
bool	getVelocityScalingFactor (uint16_t &factor) noexcept
	Read velocity scaling factor.
bool	setStopOnVelocityDeviation (uint32_t max_error, bool softStop=true) noexcept
	Configure stop-on-velocity-deviation.
bool	getStopOnVelocityDeviation (uint32_t &max_error, bool &soft_stop) noexcept
	Read stop-on-velocity-deviation settings.
bool	setVelocityLoopDownsampling (uint8_t divider) noexcept
	Set velocity loop downsampling.
bool	getVelocityLoopDownsampling (uint8_t &divider) noexcept
	Read velocity loop downsampling.
bool	setVelocityMeterSwitchThreshold (uint32_t threshold) noexcept
	Set velocity meter switch threshold.
bool	getVelocityMeterSwitchThreshold (uint32_t &threshold) noexcept
	Read velocity meter switch threshold.
bool	setVelocityMeterSwitchHysteresis (uint16_t hysteresis) noexcept
	Set velocity meter hysteresis.
bool	getVelocityMeterSwitchHysteresis (uint16_t &hysteresis) noexcept
	Read velocity meter hysteresis.
bool	getVelocityMeterMode (tmc9660::tmcl::VelocityMeterMode &mode) noexcept
	Read current velocity meter mode.
bool	configureAuto (const VelocityConfig &config) noexcept
	Auto-configure velocity control parameters.
Actual Velocity Biquad Filter (read/write)
bool	setActualVelocityBiquadFilterEnable (bool enable) noexcept
bool	getActualVelocityBiquadFilterEnable (bool &enable) noexcept
bool	setActualVelocityBiquadFilterACoeff1 (int32_t coeff) noexcept
bool	getActualVelocityBiquadFilterACoeff1 (int32_t &coeff) noexcept
bool	setActualVelocityBiquadFilterACoeff2 (int32_t coeff) noexcept
bool	getActualVelocityBiquadFilterACoeff2 (int32_t &coeff) noexcept
bool	setActualVelocityBiquadFilterBCoeff0 (int32_t coeff) noexcept
bool	getActualVelocityBiquadFilterBCoeff0 (int32_t &coeff) noexcept
bool	setActualVelocityBiquadFilterBCoeff1 (int32_t coeff) noexcept
bool	getActualVelocityBiquadFilterBCoeff1 (int32_t &coeff) noexcept
bool	setActualVelocityBiquadFilterBCoeff2 (int32_t coeff) noexcept
bool	getActualVelocityBiquadFilterBCoeff2 (int32_t &coeff) noexcept
Combined & integrated raw measurements (read-only)
bool	getIntegratedActualVelocityValue (uint32_t &value) noexcept

Private Member Functions
	VelocityControl (TMC9660 &parent) noexcept

Private Attributes
TMC9660 &	driver

Friends
class	TMC9660

Detailed Description

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

Subsystem for velocity control (FOC middle loop).

Controls motor velocity using a PI controller that outputs torque commands. Covers TMCL parameters 123–139.

This control loop operates at a downsampled frequency relative to PWM. Velocity feedback can come from various sensors (ABN, Hall, SPI encoder).

Constructor & Destructor Documentation

VelocityControl()

template<typename CommType >

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

inlineexplicitprivatenoexcept

Member Function Documentation

configureAuto()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::VelocityControl::configureAuto ( const VelocityConfig & config )

noexcept

Auto-configure velocity control parameters.

Configures velocity sensor selection, PI gains, scaling, and other velocity control parameters based on high-level characteristics.

Parameters

config

Velocity control configuration (see VelocityConfig)

Returns

true if all configurations succeeded, false otherwise

getActualVelocity()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::VelocityControl::getActualVelocity ( int32_t & velocity )

noexcept

Read actual velocity.

Parameters

[out]

velocity

Measured velocity.

Returns

true if read.

getActualVelocityBiquadFilterACoeff1()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::VelocityControl::getActualVelocityBiquadFilterACoeff1 ( int32_t & coeff )

noexcept

getActualVelocityBiquadFilterACoeff2()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::VelocityControl::getActualVelocityBiquadFilterACoeff2 ( int32_t & coeff )

noexcept

getActualVelocityBiquadFilterBCoeff0()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::VelocityControl::getActualVelocityBiquadFilterBCoeff0 ( int32_t & coeff )

noexcept

getActualVelocityBiquadFilterBCoeff1()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::VelocityControl::getActualVelocityBiquadFilterBCoeff1 ( int32_t & coeff )

noexcept

getActualVelocityBiquadFilterBCoeff2()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::VelocityControl::getActualVelocityBiquadFilterBCoeff2 ( int32_t & coeff )

noexcept

getActualVelocityBiquadFilterEnable()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::VelocityControl::getActualVelocityBiquadFilterEnable ( bool & enable )

noexcept

getIntegratedActualVelocityValue()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::VelocityControl::getIntegratedActualVelocityValue ( uint32_t & value )

noexcept

getStopOnVelocityDeviation()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::VelocityControl::getStopOnVelocityDeviation ( uint32_t & max_error, bool & soft_stop )

noexcept

Read stop-on-velocity-deviation settings.

Parameters

[out]	max_error	Configured max deviation.
[out]	soft_stop	Soft/hard stop flag.

Returns

true if read.

getVelocityLoopDownsampling()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::VelocityControl::getVelocityLoopDownsampling ( uint8_t & divider )

noexcept

Read velocity loop downsampling.

Parameters

[out]

divider

Factor.

Returns

true if read.

getVelocityMeterMode()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::VelocityControl::getVelocityMeterMode ( tmc9660::tmcl::VelocityMeterMode & mode )

noexcept

Read current velocity meter mode.

Parameters

[out]

mode

Current mode.

Returns

true if read.

getVelocityMeterSwitchHysteresis()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::VelocityControl::getVelocityMeterSwitchHysteresis ( uint16_t & hysteresis )

noexcept

Read velocity meter hysteresis.

Parameters

[out]

hysteresis

Hysteresis.

Returns

true if read.

getVelocityMeterSwitchThreshold()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::VelocityControl::getVelocityMeterSwitchThreshold ( uint32_t & threshold )

noexcept

Read velocity meter switch threshold.

Parameters

[out]

threshold

Threshold.

Returns

true if read.

getVelocityOffset()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::VelocityControl::getVelocityOffset ( int32_t & offset )

noexcept

Read velocity offset.

Parameters

[out]

offset

Offset in RPM.

Returns

true if read.

getVelocityPiError()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::VelocityControl::getVelocityPiError ( int32_t & error )

noexcept

Read velocity-PI error.

Parameters

[out]

error

PI error.

Returns

true if read.

getVelocityPiIntegrator()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::VelocityControl::getVelocityPiIntegrator ( int32_t & integrator )

noexcept

Read velocity-PI integrator.

Parameters

[out]

integrator

Integrator value.

Returns

true if read.

getVelocityScalingFactor()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::VelocityControl::getVelocityScalingFactor ( uint16_t & factor )

noexcept

Read velocity scaling factor.

Parameters

[out]

factor

Scale factor.

Returns

true if read.

getVelocitySensor()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::VelocityControl::getVelocitySensor ( tmc9660::tmcl::VelocitySensorSelection & sel )

noexcept

Read velocity feedback sensor.

Parameters

[out]

sel

Sensor selection.

Returns

true if read.

setActualVelocityBiquadFilterACoeff1()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::VelocityControl::setActualVelocityBiquadFilterACoeff1 ( int32_t coeff )

noexcept

setActualVelocityBiquadFilterACoeff2()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::VelocityControl::setActualVelocityBiquadFilterACoeff2 ( int32_t coeff )

noexcept

setActualVelocityBiquadFilterBCoeff0()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::VelocityControl::setActualVelocityBiquadFilterBCoeff0 ( int32_t coeff )

noexcept

setActualVelocityBiquadFilterBCoeff1()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::VelocityControl::setActualVelocityBiquadFilterBCoeff1 ( int32_t coeff )

noexcept

setActualVelocityBiquadFilterBCoeff2()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::VelocityControl::setActualVelocityBiquadFilterBCoeff2 ( int32_t coeff )

noexcept

setActualVelocityBiquadFilterEnable()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::VelocityControl::setActualVelocityBiquadFilterEnable ( bool enable )

noexcept

setStopOnVelocityDeviation()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::VelocityControl::setStopOnVelocityDeviation ( uint32_t max_error, bool softStop = true )

noexcept

Configure stop-on-velocity-deviation.

Parameters

max_error	Max allowed deviation.
soft_stop	true for ramp down, false for hard stop.

Returns

true if written.

setTargetVelocity()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::VelocityControl::setTargetVelocity ( int32_t velocity )

noexcept

Set target velocity.

Parameters

velocity

Target velocity (internal units).

Returns

true if written.

setVelocityLoopDownsampling()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::VelocityControl::setVelocityLoopDownsampling ( uint8_t divider )

noexcept

Set velocity loop downsampling.

Parameters

divider

Downsample factor.

Returns

true if written.

setVelocityLoopGains()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::VelocityControl::setVelocityLoopGains ( uint16_t p, uint16_t i )

noexcept

Configure velocity PI gains.

Parameters

p	P gain.
i	I gain.

Returns

true if written.

setVelocityMeterSwitchHysteresis()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::VelocityControl::setVelocityMeterSwitchHysteresis ( uint16_t hysteresis )

noexcept

Set velocity meter hysteresis.

Parameters

hysteresis

Hysteresis value.

Returns

true if written.

setVelocityMeterSwitchThreshold()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::VelocityControl::setVelocityMeterSwitchThreshold ( uint32_t threshold )

noexcept

Set velocity meter switch threshold.

Parameters

threshold

Threshold value.

Returns

true if written.

setVelocityNormalization()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::VelocityControl::setVelocityNormalization ( tmc9660::tmcl::VelocityPiNorm p_norm, tmc9660::tmcl::VelocityPiNorm i_norm )

noexcept

Set velocity PI normalization.

Parameters

p_norm	P-term norm.
i_norm	I-term norm.

Returns

true if written.

setVelocityOffset()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::VelocityControl::setVelocityOffset ( int32_t offset )

noexcept

Set velocity offset.

Parameters

offset

Offset in RPM.

Returns

true if written.

setVelocityScalingFactor()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::VelocityControl::setVelocityScalingFactor ( uint16_t factor )

noexcept

Set velocity scaling factor.

Parameters

factor

Scale factor.

Returns

true if written.

setVelocitySensor()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::VelocityControl::setVelocitySensor ( tmc9660::tmcl::VelocitySensorSelection sel )

noexcept

Select velocity feedback sensor.

Parameters

sel	Sensor selection.

Returns

true if written.

stop()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::VelocityControl::stop ( )

noexcept

Stop velocity control (SYSTEM_OFF).

Returns

true on success.

Friends And Related Symbol Documentation

TMC9660

template<typename CommType >

friend class TMC9660

friend

Member Data Documentation

driver

template<typename CommType >

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

private

---

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

• tmc9660.hpp