TMC9660::CurrentSensing Struct Reference

Subsystem for configuring ADC-based current measurement. More...

#include <TMC9660.hpp>

Collaboration diagram for TMC9660::CurrentSensing:

Public Member Functions
bool	setShuntType (tmc9660::tmcl::AdcShuntType shuntType) noexcept
	Set the ADC shunt type (Parameter 12: ADC_SHUNT_TYPE).
bool	getShuntType (tmc9660::tmcl::AdcShuntType &shuntType) noexcept
	Get the ADC shunt type (Parameter 12: ADC_SHUNT_TYPE).
bool	readRaw (int16_t &adc0, int16_t &adc1, int16_t &adc2, int16_t &adc3) noexcept
	Read raw ADC values (Parameters 13-16: ADC_I0_RAW ... ADC_I3_RAW).
bool	setCSAGain (tmc9660::tmcl::CsaGain gain012, tmc9660::tmcl::CsaGain gain3) noexcept
	Set current sense amplifier gain (Parameters 17/18: CSA_GAIN_ADC_I0_TO_ADC_I2, CSA_GAIN_ADC_I3).
bool	getCSAGain (tmc9660::tmcl::CsaGain &gain012, tmc9660::tmcl::CsaGain &gain3) noexcept
	Get current sense amplifier gain (Parameters 17/18: CSA_GAIN_ADC_I0_TO_ADC_I2, CSA_GAIN_ADC_I3).
bool	setCSAFilter (tmc9660::tmcl::CsaFilter filter012, tmc9660::tmcl::CsaFilter filter3) noexcept
	Set current sense amplifier filter (Parameters 19/20: CSA_FILTER_ADC_I0_TO_ADC_I2, CSA_FILTER_ADC_I3).
bool	getCSAFilter (tmc9660::tmcl::CsaFilter &filter012, tmc9660::tmcl::CsaFilter &filter3) noexcept
	Get current sense amplifier filter (Parameters 19/20: CSA_FILTER_ADC_I0_TO_ADC_I2, CSA_FILTER_ADC_I3).
bool	setScalingFactor (uint16_t scalingFactor) noexcept
	Set current scaling factor (Parameter 21: CURRENT_SCALING_FACTOR).
bool	getScalingFactor (uint16_t &scalingFactor) noexcept
	Get current scaling factor (Parameter 21: CURRENT_SCALING_FACTOR).
bool	setPhaseAdcMapping (tmc9660::tmcl::AdcMapping ux1, tmc9660::tmcl::AdcMapping vx2, tmc9660::tmcl::AdcMapping wy1, tmc9660::tmcl::AdcMapping y2) noexcept
	Set ADC mapping for each phase (Parameters 22-25: PHASE_UX1_ADC_MAPPING ... PHASE_Y2_ADC_MAPPING).
bool	getPhaseAdcMapping (tmc9660::tmcl::AdcMapping &ux1, tmc9660::tmcl::AdcMapping &vx2, tmc9660::tmcl::AdcMapping &wy1, tmc9660::tmcl::AdcMapping &y2) noexcept
	Get ADC mapping for each phase (Parameters 22-25: PHASE_UX1_ADC_MAPPING ... PHASE_Y2_ADC_MAPPING).
bool	setScalingFactors (uint16_t scale0, uint16_t scale1, uint16_t scale2, uint16_t scale3) noexcept
	Set individual ADC scaling factors (Parameters 26-29: ADC_I0_SCALE ... ADC_I3_SCALE).
bool	getScalingFactors (uint16_t &scale0, uint16_t &scale1, uint16_t &scale2, uint16_t &scale3) noexcept
	Get individual ADC scaling factors (Parameters 26-29: ADC_I0_SCALE ... ADC_I3_SCALE).
bool	setInversion (tmc9660::tmcl::AdcInversion inv0, tmc9660::tmcl::AdcInversion inv1, tmc9660::tmcl::AdcInversion inv2, tmc9660::tmcl::AdcInversion inv3) noexcept
	Set ADC inversion (Parameters 30-33: ADC_I0_INVERTED ... ADC_I3_INVERTED).
bool	getInversion (tmc9660::tmcl::AdcInversion &inv0, tmc9660::tmcl::AdcInversion &inv1, tmc9660::tmcl::AdcInversion &inv2, tmc9660::tmcl::AdcInversion &inv3) noexcept
	Get ADC inversion (Parameters 30-33: ADC_I0_INVERTED ... ADC_I3_INVERTED).
bool	setOffsets (int16_t offset0, int16_t offset1, int16_t offset2, int16_t offset3) noexcept
	Set ADC offset (Parameters 34-37: ADC_I0_OFFSET ... ADC_I3_OFFSET).
bool	getOffsets (int16_t &offset0, int16_t &offset1, int16_t &offset2, int16_t &offset3) noexcept
	Get ADC offset (Parameters 34-37: ADC_I0_OFFSET ... ADC_I3_OFFSET).
bool	readScaledAndOffset (int16_t &adc0, int16_t &adc1, int16_t &adc2, int16_t &adc3) noexcept
	Read scaled and offset-compensated ADC values (Parameters 38-41: ADC_I0 ... ADC_I3).
bool	calibrateOffsets (bool waitForCompletion=false, uint32_t timeoutMs=1000) noexcept
	Calibrate the ADC offsets for current measurement.
bool	getCalibrationStatus (bool &isCalibrated) noexcept
	Check if ADC offset calibration has been completed.

Private Member Functions
	CurrentSensing (TMC9660 &parent) noexcept

Private Attributes
TMC9660 &	driver

Friends
class	TMC9660

Detailed Description

Subsystem for configuring ADC-based current measurement.

Constructor & Destructor Documentation

CurrentSensing()

TMC9660::CurrentSensing::CurrentSensing ( TMC9660 &  parent )

inlineexplicitprivatenoexcept

Member Function Documentation

calibrateOffsets()

bool TMC9660::CurrentSensing::calibrateOffsets ( bool  waitForCompletion = false, uint32_t  timeoutMs = 1000  )

noexcept

Calibrate the ADC offsets for current measurement.

Initiates a calibration sequence for the ADCs. This should be done:

1. With the motor stationary
2. With the commutation mode set to off

Parameters

waitForCompletion	If true, wait until calibration is completed
timeoutMs	Timeout in milliseconds if waiting for completion

Returns

true if calibration was started (and completed if waitForCompletion is true)

getCalibrationStatus()

bool TMC9660::CurrentSensing::getCalibrationStatus ( bool &  isCalibrated )

noexcept

Check if ADC offset calibration has been completed.

Parameters

[out]

isCalibrated

Set to true if calibration is complete

Returns

true if the status was read successfully

getCSAFilter()

bool TMC9660::CurrentSensing::getCSAFilter ( tmc9660::tmcl::CsaFilter &  filter012, tmc9660::tmcl::CsaFilter &  filter3  )

noexcept

Get current sense amplifier filter (Parameters 19/20: CSA_FILTER_ADC_I0_TO_ADC_I2, CSA_FILTER_ADC_I3).

Parameters

[out]	filter012	CsaFilter enum value for ADC I0/I1/I2
[out]	filter3	CsaFilter enum value for ADC I3

Returns

true if successful

getCSAGain()

bool TMC9660::CurrentSensing::getCSAGain ( tmc9660::tmcl::CsaGain &  gain012, tmc9660::tmcl::CsaGain &  gain3  )

noexcept

Get current sense amplifier gain (Parameters 17/18: CSA_GAIN_ADC_I0_TO_ADC_I2, CSA_GAIN_ADC_I3).

Parameters

[out]	gain012	CsaGain enum value for ADC I0/I1/I2
[out]	gain3	CsaGain enum value for ADC I3

Returns

true if successful

getInversion()

bool TMC9660::CurrentSensing::getInversion ( tmc9660::tmcl::AdcInversion &  inv0, tmc9660::tmcl::AdcInversion &  inv1, tmc9660::tmcl::AdcInversion &  inv2, tmc9660::tmcl::AdcInversion &  inv3  )

noexcept

Get ADC inversion (Parameters 30-33: ADC_I0_INVERTED ... ADC_I3_INVERTED).

Parameters

[out]	inv0	AdcInversion enum value for ADC I0
[out]	inv1	AdcInversion enum value for ADC I1
[out]	inv2	AdcInversion enum value for ADC I2
[out]	inv3	AdcInversion enum value for ADC I3

Returns

true if all inversion flags were retrieved successfully

getOffsets()

bool TMC9660::CurrentSensing::getOffsets ( int16_t &  offset0, int16_t &  offset1, int16_t &  offset2, int16_t &  offset3  )

noexcept

Get ADC offset (Parameters 34-37: ADC_I0_OFFSET ... ADC_I3_OFFSET).

Parameters

[out]	offset0	Offset for ADC I0 (-32768...32767)
[out]	offset1	Offset for ADC I1 (-32768...32767)
[out]	offset2	Offset for ADC I2 (-32768...32767)
[out]	offset3	Offset for ADC I3 (-32768...32767)

Returns

true if all offsets were retrieved successfully

getPhaseAdcMapping()

bool TMC9660::CurrentSensing::getPhaseAdcMapping ( tmc9660::tmcl::AdcMapping &  ux1, tmc9660::tmcl::AdcMapping &  vx2, tmc9660::tmcl::AdcMapping &  wy1, tmc9660::tmcl::AdcMapping &  y2  )

noexcept

Get ADC mapping for each phase (Parameters 22-25: PHASE_UX1_ADC_MAPPING ... PHASE_Y2_ADC_MAPPING).

Parameters

[out]	ux1	AdcMapping enum value for UX1
[out]	vx2	AdcMapping enum value for VX2
[out]	wy1	AdcMapping enum value for WY1
[out]	y2	AdcMapping enum value for Y2

Returns

true if all mappings were retrieved successfully

getScalingFactor()

bool TMC9660::CurrentSensing::getScalingFactor ( uint16_t &  scalingFactor )

noexcept

Get current scaling factor (Parameter 21: CURRENT_SCALING_FACTOR).

Parameters

[out]

scalingFactor

Scaling factor (1...65535)

Returns

true if successful

getScalingFactors()

bool TMC9660::CurrentSensing::getScalingFactors ( uint16_t &  scale0, uint16_t &  scale1, uint16_t &  scale2, uint16_t &  scale3  )

noexcept

Get individual ADC scaling factors (Parameters 26-29: ADC_I0_SCALE ... ADC_I3_SCALE).

Parameters

[out]	scale0	Scaling factor for ADC I0 (1...32767)
[out]	scale1	Scaling factor for ADC I1 (1...32767)
[out]	scale2	Scaling factor for ADC I2 (1...32767)
[out]	scale3	Scaling factor for ADC I3 (1...32767)

Returns

true if all scales were retrieved successfully

getShuntType()

bool TMC9660::CurrentSensing::getShuntType ( tmc9660::tmcl::AdcShuntType &  shuntType )

noexcept

Get the ADC shunt type (Parameter 12: ADC_SHUNT_TYPE).

Parameters

[out]

shuntType

AdcShuntType enum value

Returns

true if successful

readRaw()

bool TMC9660::CurrentSensing::readRaw ( int16_t &  adc0, int16_t &  adc1, int16_t &  adc2, int16_t &  adc3  )

noexcept

Read raw ADC values (Parameters 13-16: ADC_I0_RAW ... ADC_I3_RAW).

Parameters

[out]	adc0	Raw ADC I0
[out]	adc1	Raw ADC I1
[out]	adc2	Raw ADC I2
[out]	adc3	Raw ADC I3

Returns

true if all values were read successfully

readScaledAndOffset()

bool TMC9660::CurrentSensing::readScaledAndOffset ( int16_t &  adc0, int16_t &  adc1, int16_t &  adc2, int16_t &  adc3  )

noexcept

Read scaled and offset-compensated ADC values (Parameters 38-41: ADC_I0 ... ADC_I3).

Parameters

[out]	adc0	Scaled/offset ADC I0
[out]	adc1	Scaled/offset ADC I1
[out]	adc2	Scaled/offset ADC I2
[out]	adc3	Scaled/offset ADC I3

Returns

true if all values were read successfully

setCSAFilter()

bool TMC9660::CurrentSensing::setCSAFilter ( tmc9660::tmcl::CsaFilter  filter012, tmc9660::tmcl::CsaFilter  filter3  )

noexcept

Set current sense amplifier filter (Parameters 19/20: CSA_FILTER_ADC_I0_TO_ADC_I2, CSA_FILTER_ADC_I3).

Parameters

filter012	CsaFilter enum value for ADC I0/I1/I2
filter3	CsaFilter enum value for ADC I3

Returns

true if successful

setCSAGain()

bool TMC9660::CurrentSensing::setCSAGain ( tmc9660::tmcl::CsaGain  gain012, tmc9660::tmcl::CsaGain  gain3  )

noexcept

Set current sense amplifier gain (Parameters 17/18: CSA_GAIN_ADC_I0_TO_ADC_I2, CSA_GAIN_ADC_I3).

Parameters

gain012	CsaGain enum value for ADC I0/I1/I2
gain3	CsaGain enum value for ADC I3

Returns

true if successful

setInversion()

bool TMC9660::CurrentSensing::setInversion ( tmc9660::tmcl::AdcInversion  inv0, tmc9660::tmcl::AdcInversion  inv1, tmc9660::tmcl::AdcInversion  inv2, tmc9660::tmcl::AdcInversion  inv3  )

noexcept

Set ADC inversion (Parameters 30-33: ADC_I0_INVERTED ... ADC_I3_INVERTED).

Parameters

inv0	AdcInversion enum value for ADC I0
inv1	AdcInversion enum value for ADC I1
inv2	AdcInversion enum value for ADC I2
inv3	AdcInversion enum value for ADC I3

Returns

true if all inversion flags were set successfully

setOffsets()

bool TMC9660::CurrentSensing::setOffsets ( int16_t  offset0, int16_t  offset1, int16_t  offset2, int16_t  offset3  )

noexcept

Set ADC offset (Parameters 34-37: ADC_I0_OFFSET ... ADC_I3_OFFSET).

Parameters

offset0	Offset for ADC I0 (-32768...32767)
offset1	Offset for ADC I1 (-32768...32767)
offset2	Offset for ADC I2 (-32768...32767)
offset3	Offset for ADC I3 (-32768...32767)

Returns

true if all offsets were set successfully

setPhaseAdcMapping()

bool TMC9660::CurrentSensing::setPhaseAdcMapping ( tmc9660::tmcl::AdcMapping  ux1, tmc9660::tmcl::AdcMapping  vx2, tmc9660::tmcl::AdcMapping  wy1, tmc9660::tmcl::AdcMapping  y2  )

noexcept

Set ADC mapping for each phase (Parameters 22-25: PHASE_UX1_ADC_MAPPING ... PHASE_Y2_ADC_MAPPING).

Parameters

ux1	AdcMapping enum value for UX1
vx2	AdcMapping enum value for VX2
wy1	AdcMapping enum value for WY1
y2	AdcMapping enum value for Y2

Returns

true if all mappings were set successfully

setScalingFactor()

bool TMC9660::CurrentSensing::setScalingFactor ( uint16_t  scalingFactor )

noexcept

Set current scaling factor (Parameter 21: CURRENT_SCALING_FACTOR).

Parameters

scalingFactor

Scaling factor (1...65535)

Returns

true if successful

setScalingFactors()

bool TMC9660::CurrentSensing::setScalingFactors ( uint16_t  scale0, uint16_t  scale1, uint16_t  scale2, uint16_t  scale3  )

noexcept

Set individual ADC scaling factors (Parameters 26-29: ADC_I0_SCALE ... ADC_I3_SCALE).

Parameters

scale0	Scaling factor for ADC I0 (1...32767)
scale1	Scaling factor for ADC I1 (1...32767)
scale2	Scaling factor for ADC I2 (1...32767)
scale3	Scaling factor for ADC I3 (1...32767)

Returns

true if all scales were set successfully

setShuntType()

bool TMC9660::CurrentSensing::setShuntType ( tmc9660::tmcl::AdcShuntType  shuntType )

noexcept

Set the ADC shunt type (Parameter 12: ADC_SHUNT_TYPE).

Parameters

shuntType

AdcShuntType enum value

Returns

true if successful

Friends And Related Symbol Documentation

TMC9660

friend class TMC9660

friend

Member Data Documentation

driver

TMC9660& TMC9660::CurrentSensing::driver

private

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

• TMC9660.hpp
• TMC9660.cpp