TMC9660::FOCControl Struct Reference

Subsystem for FOC control: torque/flux, velocity, position loops, open‐loop support, and reference switch / stop-event parameters. More...

#include <TMC9660.hpp>

Collaboration diagram for TMC9660::FOCControl:

Public Member Functions
bool	stop () noexcept
	Stop torque/flux control (SYSTEM_OFF).
bool	setTargetTorque (int16_t milliamps) noexcept
	Set desired torque.
bool	getActualTorque (int16_t &milliamps) noexcept
	Read actual torque.
bool	setTargetFlux (int16_t milliamps) noexcept
	Set desired flux current.
bool	getActualFlux (int32_t &milliamps) noexcept
	Read actual flux current.
bool	setTorqueOffset (int16_t milliamps) noexcept
	Set torque offset (feed-forward).
bool	getTorqueOffset (int16_t &milliamps) noexcept
	Read torque offset.
bool	setFluxOffset (int16_t milliamps) noexcept
	Set flux offset (feed-forward).
bool	getFluxOffset (int16_t &milliamps) noexcept
	Read flux offset.
bool	setCurrentLoopGains (uint16_t p, uint16_t i, bool separate=false, uint16_t fluxP=0, uint16_t fluxI=0) noexcept
	Configure current-loop PI gains.
bool	setTorqueFluxPiSeparation (tmc9660::tmcl::TorqueFluxPiSeparation sep) noexcept
	Select combined or separate torque/flux PI parameters.
bool	setCurrentNormalization (tmc9660::tmcl::CurrentPiNormalization pNorm, tmc9660::tmcl::CurrentPiNormalization iNorm) noexcept
	Set normalization for current-PI outputs.
bool	getTorquePiError (int32_t &error) noexcept
	Read torque PI error.
bool	getFluxPiError (int32_t &error) noexcept
	Read flux PI error.
bool	getTorquePiIntegrator (int32_t &integrator) noexcept
	Read torque-PI integrator state.
bool	getFluxPiIntegrator (int32_t &integrator) noexcept
	Read flux-PI integrator state.
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 pNorm, tmc9660::tmcl::VelocityPiNorm iNorm) 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 maxError, bool softStop=true) noexcept
	Configure stop-on-velocity-deviation.
bool	getStopOnVelocityDeviation (uint32_t &maxError, bool &softStop) 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	setVelocityReachedThreshold (uint32_t threshold) noexcept
	Set velocity reached threshold.
bool	getVelocityReachedThreshold (uint32_t &threshold) noexcept
	Read velocity reached threshold.
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	setPositionSensor (tmc9660::tmcl::PositionSensorSelection sel) noexcept
	Select position feedback sensor.
bool	getPositionSensor (tmc9660::tmcl::PositionSensorSelection &sel) noexcept
	Read position feedback sensor.
bool	setTargetPosition (int32_t position) noexcept
	Set target position.
bool	getActualPosition (int32_t &position) noexcept
	Read actual position.
bool	setPositionScalingFactor (uint16_t factor) noexcept
	Set position scaling factor.
bool	getPositionScalingFactor (uint16_t &factor) noexcept
	Read position scaling factor.
bool	setPositionLoopGains (uint16_t p, uint16_t i) noexcept
	Configure position PI gains.
bool	setPositionNormalization (tmc9660::tmcl::VelocityPiNorm pNorm, tmc9660::tmcl::VelocityPiNorm iNorm) noexcept
	Set position PI normalization.
bool	getPositionPiIntegrator (int32_t &integrator) noexcept
	Read position-PI integrator.
bool	getPositionPiError (int32_t &error) noexcept
	Read position-PI error.
bool	setStopOnPositionDeviation (uint32_t maxError, bool softStop=true) noexcept
	Configure stop-on-position-deviation.
bool	getStopOnPositionDeviation (uint32_t &maxError, bool &softStop) noexcept
	Read stop-on-position-deviation settings.
bool	setPositionLoopDownsampling (uint8_t divider) noexcept
	Set position loop downsampling.
bool	getPositionLoopDownsampling (uint8_t &divider) noexcept
	Read position loop downsampling.
bool	setPositionLimitLow (int32_t limit) noexcept
	Set low position limit.
bool	getPositionLimitLow (int32_t &limit) noexcept
	Read low position limit.
bool	setPositionLimitHigh (int32_t limit) noexcept
	Set high position limit.
bool	getPositionLimitHigh (int32_t &limit) noexcept
	Read high position limit.
bool	setPositionReachedThreshold (uint32_t threshold) noexcept
	Set position reached threshold.
bool	getPositionReachedThreshold (uint32_t &threshold) noexcept
	Read position reached threshold.
bool	getOpenloopAngle (int16_t &angle) noexcept
	Read open-loop angle.
bool	setOpenloopCurrent (uint16_t milliamps) noexcept
	Set open-loop current.
bool	getOpenloopCurrent (uint16_t &milliamps) noexcept
	Read open-loop current.
bool	setOpenloopVoltage (uint16_t voltage) noexcept
	Set open-loop voltage.
bool	getOpenloopVoltage (uint16_t &voltage) noexcept
	Read open-loop voltage.
bool	setReferenceSwitchEnable (tmc9660::tmcl::ReferenceSwitchEnable enable) noexcept
	Enable/disable reference switch stops.
bool	getReferenceSwitchEnable (tmc9660::tmcl::ReferenceSwitchEnable &enable) noexcept
	Read reference switch enable mask.
bool	setReferenceSwitchPolaritySwap (tmc9660::tmcl::ReferenceSwitchPolaritySwap config) noexcept
	Configure switch polarity and swap.
bool	getReferenceSwitchPolaritySwap (tmc9660::tmcl::ReferenceSwitchPolaritySwap &config) noexcept
	Read switch polarity/swap config.
bool	setReferenceSwitchLatchSettings (tmc9660::tmcl::ReferenceSwitchLatchSettings setting) noexcept
	Configure switch latch settings.
bool	getReferenceSwitchLatchSettings (tmc9660::tmcl::ReferenceSwitchLatchSettings &setting) noexcept
	Read switch latch settings.
bool	setEventStopSettings (tmc9660::tmcl::EventStopSettings settings) noexcept
	Configure event-stop settings.
bool	getEventStopSettings (tmc9660::tmcl::EventStopSettings &settings) noexcept
	Read event-stop settings.
bool	setReferenceSwitchSearchMode (tmc9660::tmcl::ReferenceSwitchSearchMode mode) noexcept
	Set reference search mode.
bool	getReferenceSwitchSearchMode (tmc9660::tmcl::ReferenceSwitchSearchMode &mode) noexcept
	Read reference search mode.
bool	setReferenceSwitchSearchSpeed (int32_t speed) noexcept
	Set reference search speed.
bool	getReferenceSwitchSearchSpeed (int32_t &speed) noexcept
	Read reference search speed.
bool	setReferenceSwitchSpeed (int32_t speed) noexcept
	Set reference positioning speed.
bool	getReferenceSwitchSpeed (int32_t &speed) noexcept
	Read reference positioning speed.
bool	getRightLimitSwitchPosition (int32_t &position) noexcept
	Read right-limit-switch position.
bool	getHomeSwitchPosition (int32_t &position) noexcept
	Read home-switch position.
bool	getLastReferencePosition (int32_t &position) noexcept
	Read last reference position.
Raw Inputs (read-only)
bool	getMccInputsRaw (uint16_t &inputs) noexcept
Intermediate FOC Voltages (read-only)
bool	getFocVoltageUx (int16_t &voltage) noexcept
bool	getFocVoltageWy (int16_t &voltage) noexcept
bool	getFocVoltageV (int16_t &voltage) noexcept
bool	getFocVoltageUq (int16_t &voltage) noexcept
Field-weakening (read/write)
bool	setFieldWeakeningI (uint16_t milliamps) noexcept
bool	getFieldWeakeningI (uint16_t &milliamps) noexcept
bool	setFieldWeakeningVoltageThreshold (uint16_t voltage) noexcept
bool	getFieldWeakeningVoltageThreshold (uint16_t &voltage) noexcept
Intermediate FOC Currents (read-only)
bool	getFocCurrentUx (int16_t &milliamps) noexcept
bool	getFocCurrentV (int16_t &milliamps) noexcept
bool	getFocCurrentWy (int16_t &milliamps) noexcept
bool	getFocCurrentIq (int16_t &milliamps) noexcept
Target Torque Biquad Filter (read/write)
bool	setTargetTorqueBiquadFilterEnable (bool enable) noexcept
bool	getTargetTorqueBiquadFilterEnable (bool &enable) noexcept
bool	setTargetTorqueBiquadFilterACoeff1 (int32_t coeff) noexcept
bool	getTargetTorqueBiquadFilterACoeff1 (int32_t &coeff) noexcept
bool	setTargetTorqueBiquadFilterACoeff2 (int32_t coeff) noexcept
bool	getTargetTorqueBiquadFilterACoeff2 (int32_t &coeff) noexcept
bool	setTargetTorqueBiquadFilterBCoeff0 (int32_t coeff) noexcept
bool	getTargetTorqueBiquadFilterBCoeff0 (int32_t &coeff) noexcept
bool	setTargetTorqueBiquadFilterBCoeff1 (int32_t coeff) noexcept
bool	getTargetTorqueBiquadFilterBCoeff1 (int32_t &coeff) noexcept
bool	setTargetTorqueBiquadFilterBCoeff2 (int32_t coeff) noexcept
bool	getTargetTorqueBiquadFilterBCoeff2 (int32_t &coeff) noexcept
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	getTorqueFluxCombinedTargetValues (uint32_t &value) noexcept
bool	getTorqueFluxCombinedActualValues (uint32_t &value) noexcept
bool	getVoltageDqCombinedActualValues (uint32_t &value) noexcept
bool	getIntegratedActualTorqueValue (uint32_t &value) noexcept
bool	getIntegratedActualVelocityValue (uint32_t &value) noexcept

Private Member Functions
	FOCControl (TMC9660 &parent) noexcept

Private Attributes
TMC9660 &	driver

Friends
class	TMC9660

Detailed Description

Subsystem for FOC control: torque/flux, velocity, position loops, open‐loop support, and reference switch / stop-event parameters.

Covers TMCL parameters:

• Torque/Flux PI (104–120)
• Velocity PI (123–139)
• Position PI (142–157)
• Open‐loop (45–47)
• Ref switch & stop (161–170)

Constructor & Destructor Documentation

FOCControl()

TMC9660::FOCControl::FOCControl ( TMC9660 &  parent )

inlineexplicitprivatenoexcept

Member Function Documentation

getActualFlux()

bool TMC9660::FOCControl::getActualFlux ( int32_t &  milliamps )

noexcept

Read actual flux current.

Parameters

[out]

milliamps

Actual flux in mA.

Returns

true if read.

getActualPosition()

bool TMC9660::FOCControl::getActualPosition ( int32_t &  position )

noexcept

Read actual position.

Parameters

[out]

position

Measured position.

Returns

true if read.

getActualTorque()

bool TMC9660::FOCControl::getActualTorque ( int16_t &  milliamps )

noexcept

Read actual torque.

Parameters

[out]

milliamps

Actual torque in mA.

Returns

true if read.

getActualVelocity()

bool TMC9660::FOCControl::getActualVelocity ( int32_t &  velocity )

noexcept

Read actual velocity.

Parameters

[out]

velocity

Measured velocity.

Returns

true if read.

getActualVelocityBiquadFilterACoeff1()

bool TMC9660::FOCControl::getActualVelocityBiquadFilterACoeff1 ( int32_t &  coeff )

noexcept

getActualVelocityBiquadFilterACoeff2()

bool TMC9660::FOCControl::getActualVelocityBiquadFilterACoeff2 ( int32_t &  coeff )

noexcept

getActualVelocityBiquadFilterBCoeff0()

bool TMC9660::FOCControl::getActualVelocityBiquadFilterBCoeff0 ( int32_t &  coeff )

noexcept

getActualVelocityBiquadFilterBCoeff1()

bool TMC9660::FOCControl::getActualVelocityBiquadFilterBCoeff1 ( int32_t &  coeff )

noexcept

getActualVelocityBiquadFilterBCoeff2()

bool TMC9660::FOCControl::getActualVelocityBiquadFilterBCoeff2 ( int32_t &  coeff )

noexcept

getActualVelocityBiquadFilterEnable()

bool TMC9660::FOCControl::getActualVelocityBiquadFilterEnable ( bool &  enable )

noexcept

getEventStopSettings()

bool TMC9660::FOCControl::getEventStopSettings ( tmc9660::tmcl::EventStopSettings &  settings )

noexcept

Read event-stop settings.

Parameters

[out]

settings

Stop conditions.

Returns

true if read.

getFieldWeakeningI()

bool TMC9660::FOCControl::getFieldWeakeningI ( uint16_t &  milliamps )

noexcept

getFieldWeakeningVoltageThreshold()

bool TMC9660::FOCControl::getFieldWeakeningVoltageThreshold ( uint16_t &  voltage )

noexcept

getFluxOffset()

bool TMC9660::FOCControl::getFluxOffset ( int16_t &  milliamps )

noexcept

Read flux offset.

Parameters

[out]

milliamps

Offset in mA.

Returns

true if read.

getFluxPiError()

bool TMC9660::FOCControl::getFluxPiError ( int32_t &  error )

noexcept

Read flux PI error.

Parameters

[out]

error

Current flux-PI error.

Returns

true if read.

getFluxPiIntegrator()

bool TMC9660::FOCControl::getFluxPiIntegrator ( int32_t &  integrator )

noexcept

Read flux-PI integrator state.

Parameters

[out]

integrator

Integrator value.

Returns

true if read.

getFocCurrentIq()

bool TMC9660::FOCControl::getFocCurrentIq ( int16_t &  milliamps )

noexcept

getFocCurrentUx()

bool TMC9660::FOCControl::getFocCurrentUx ( int16_t &  milliamps )

noexcept

getFocCurrentV()

bool TMC9660::FOCControl::getFocCurrentV ( int16_t &  milliamps )

noexcept

getFocCurrentWy()

bool TMC9660::FOCControl::getFocCurrentWy ( int16_t &  milliamps )

noexcept

getFocVoltageUq()

bool TMC9660::FOCControl::getFocVoltageUq ( int16_t &  voltage )

noexcept

getFocVoltageUx()

bool TMC9660::FOCControl::getFocVoltageUx ( int16_t &  voltage )

noexcept

getFocVoltageV()

bool TMC9660::FOCControl::getFocVoltageV ( int16_t &  voltage )

noexcept

getFocVoltageWy()

bool TMC9660::FOCControl::getFocVoltageWy ( int16_t &  voltage )

noexcept

getHomeSwitchPosition()

bool TMC9660::FOCControl::getHomeSwitchPosition ( int32_t &  position )

noexcept

Read home-switch position.

Parameters

[out]

position

Position value.

Returns

true if read.

getIntegratedActualTorqueValue()

bool TMC9660::FOCControl::getIntegratedActualTorqueValue ( uint32_t &  value )

noexcept

getIntegratedActualVelocityValue()

bool TMC9660::FOCControl::getIntegratedActualVelocityValue ( uint32_t &  value )

noexcept

getLastReferencePosition()

bool TMC9660::FOCControl::getLastReferencePosition ( int32_t &  position )

noexcept

Read last reference position.

Parameters

[out]

position

Position value.

Returns

true if read.

getMccInputsRaw()

bool TMC9660::FOCControl::getMccInputsRaw ( uint16_t &  inputs )

noexcept

getOpenloopAngle()

bool TMC9660::FOCControl::getOpenloopAngle ( int16_t &  angle )

noexcept

Read open-loop angle.

Parameters

[out]

angle

Electrical angle.

Returns

true if read.

getOpenloopCurrent()

bool TMC9660::FOCControl::getOpenloopCurrent ( uint16_t &  milliamps )

noexcept

Read open-loop current.

Parameters

[out]

milliamps

Current in mA.

Returns

true if read.

getOpenloopVoltage()

bool TMC9660::FOCControl::getOpenloopVoltage ( uint16_t &  voltage )

noexcept

Read open-loop voltage.

Parameters

[out]

voltage

Voltage unit.

Returns

true if read.

getPositionLimitHigh()

bool TMC9660::FOCControl::getPositionLimitHigh ( int32_t &  limit )

noexcept

Read high position limit.

Parameters

[out]

limit

Maximum allowed position.

Returns

true if read.

getPositionLimitLow()

bool TMC9660::FOCControl::getPositionLimitLow ( int32_t &  limit )

noexcept

Read low position limit.

Parameters

[out]

limit

Minimum allowed position.

Returns

true if read.

getPositionLoopDownsampling()

bool TMC9660::FOCControl::getPositionLoopDownsampling ( uint8_t &  divider )

noexcept

Read position loop downsampling.

Parameters

[out]

divider

Factor.

Returns

true if read.

getPositionPiError()

bool TMC9660::FOCControl::getPositionPiError ( int32_t &  error )

noexcept

Read position-PI error.

Parameters

[out]

error

PI error.

Returns

true if read.

getPositionPiIntegrator()

bool TMC9660::FOCControl::getPositionPiIntegrator ( int32_t &  integrator )

noexcept

Read position-PI integrator.

Parameters

[out]

integrator

Integrator value.

Returns

true if read.

getPositionReachedThreshold()

bool TMC9660::FOCControl::getPositionReachedThreshold ( uint32_t &  threshold )

noexcept

Read position reached threshold.

Parameters

[out]

threshold

Latch threshold.

Returns

true if read.

getPositionScalingFactor()

bool TMC9660::FOCControl::getPositionScalingFactor ( uint16_t &  factor )

noexcept

Read position scaling factor.

Parameters

[out]

factor

Scale factor.

Returns

true if read.

getPositionSensor()

bool TMC9660::FOCControl::getPositionSensor ( tmc9660::tmcl::PositionSensorSelection &  sel )

noexcept

Read position feedback sensor.

Parameters

[out]

sel

Sensor selection.

Returns

true if read.

getReferenceSwitchEnable()

bool TMC9660::FOCControl::getReferenceSwitchEnable ( tmc9660::tmcl::ReferenceSwitchEnable &  enable )

noexcept

Read reference switch enable mask.

Parameters

[out]

enable

Mask.

Returns

true if read.

getReferenceSwitchLatchSettings()

bool TMC9660::FOCControl::getReferenceSwitchLatchSettings ( tmc9660::tmcl::ReferenceSwitchLatchSettings &  setting )

noexcept

Read switch latch settings.

Parameters

[out]

setting

Latch behavior.

Returns

true if read.

getReferenceSwitchPolaritySwap()

bool TMC9660::FOCControl::getReferenceSwitchPolaritySwap ( tmc9660::tmcl::ReferenceSwitchPolaritySwap &  config )

noexcept

Read switch polarity/swap config.

Parameters

[out]

config

Config.

Returns

true if read.

getReferenceSwitchSearchMode()

bool TMC9660::FOCControl::getReferenceSwitchSearchMode ( tmc9660::tmcl::ReferenceSwitchSearchMode &  mode )

noexcept

Read reference search mode.

Parameters

[out]

mode

Search sequence.

Returns

true if read.

getReferenceSwitchSearchSpeed()

bool TMC9660::FOCControl::getReferenceSwitchSearchSpeed ( int32_t &  speed )

noexcept

Read reference search speed.

Parameters

[out]

speed

Search velocity.

Returns

true if read.

getReferenceSwitchSpeed()

bool TMC9660::FOCControl::getReferenceSwitchSpeed ( int32_t &  speed )

noexcept

Read reference positioning speed.

Parameters

[out]

speed

Approach speed.

Returns

true if read.

getRightLimitSwitchPosition()

bool TMC9660::FOCControl::getRightLimitSwitchPosition ( int32_t &  position )

noexcept

Read right-limit-switch position.

Parameters

[out]

position

Position value.

Returns

true if read.

getStopOnPositionDeviation()

bool TMC9660::FOCControl::getStopOnPositionDeviation ( uint32_t &  maxError, bool &  softStop  )

noexcept

Read stop-on-position-deviation settings.

Parameters

[out]	maxError	Configured max deviation.
[out]	softStop	Soft/hard stop flag.

Returns

true if read.

getStopOnVelocityDeviation()

bool TMC9660::FOCControl::getStopOnVelocityDeviation ( uint32_t &  maxError, bool &  softStop  )

noexcept

Read stop-on-velocity-deviation settings.

Parameters

[out]	maxError	Configured max deviation.
[out]	softStop	Soft/hard stop flag.

Returns

true if read.

getTargetTorqueBiquadFilterACoeff1()

bool TMC9660::FOCControl::getTargetTorqueBiquadFilterACoeff1 ( int32_t &  coeff )

noexcept

getTargetTorqueBiquadFilterACoeff2()

bool TMC9660::FOCControl::getTargetTorqueBiquadFilterACoeff2 ( int32_t &  coeff )

noexcept

getTargetTorqueBiquadFilterBCoeff0()

bool TMC9660::FOCControl::getTargetTorqueBiquadFilterBCoeff0 ( int32_t &  coeff )

noexcept

getTargetTorqueBiquadFilterBCoeff1()

bool TMC9660::FOCControl::getTargetTorqueBiquadFilterBCoeff1 ( int32_t &  coeff )

noexcept

getTargetTorqueBiquadFilterBCoeff2()

bool TMC9660::FOCControl::getTargetTorqueBiquadFilterBCoeff2 ( int32_t &  coeff )

noexcept

getTargetTorqueBiquadFilterEnable()

bool TMC9660::FOCControl::getTargetTorqueBiquadFilterEnable ( bool &  enable )

noexcept

getTorqueFluxCombinedActualValues()

bool TMC9660::FOCControl::getTorqueFluxCombinedActualValues ( uint32_t &  value )

noexcept

getTorqueFluxCombinedTargetValues()

bool TMC9660::FOCControl::getTorqueFluxCombinedTargetValues ( uint32_t &  value )

noexcept

getTorqueOffset()

bool TMC9660::FOCControl::getTorqueOffset ( int16_t &  milliamps )

noexcept

Read torque offset.

Parameters

[out]

milliamps

Offset in mA.

Returns

true if read.

getTorquePiError()

bool TMC9660::FOCControl::getTorquePiError ( int32_t &  error )

noexcept

Read torque PI error.

Parameters

[out]

error

Current torque-PI error.

Returns

true if read.

getTorquePiIntegrator()

bool TMC9660::FOCControl::getTorquePiIntegrator ( int32_t &  integrator )

noexcept

Read torque-PI integrator state.

Parameters

[out]

integrator

Integrator value.

Returns

true if read.

getVelocityLoopDownsampling()

bool TMC9660::FOCControl::getVelocityLoopDownsampling ( uint8_t &  divider )

noexcept

Read velocity loop downsampling.

Parameters

[out]

divider

Factor.

Returns

true if read.

getVelocityMeterMode()

bool TMC9660::FOCControl::getVelocityMeterMode ( tmc9660::tmcl::VelocityMeterMode &  mode )

noexcept

Read current velocity meter mode.

Parameters

[out]

mode

Current mode.

Returns

true if read.

getVelocityMeterSwitchHysteresis()

bool TMC9660::FOCControl::getVelocityMeterSwitchHysteresis ( uint16_t &  hysteresis )

noexcept

Read velocity meter hysteresis.

Parameters

[out]

hysteresis

Hysteresis.

Returns

true if read.

getVelocityMeterSwitchThreshold()

bool TMC9660::FOCControl::getVelocityMeterSwitchThreshold ( uint32_t &  threshold )

noexcept

Read velocity meter switch threshold.

Parameters

[out]

threshold

Threshold.

Returns

true if read.

getVelocityOffset()

bool TMC9660::FOCControl::getVelocityOffset ( int32_t &  offset )

noexcept

Read velocity offset.

Parameters

[out]

offset

Offset in RPM.

Returns

true if read.

getVelocityPiError()

bool TMC9660::FOCControl::getVelocityPiError ( int32_t &  error )

noexcept

Read velocity-PI error.

Parameters

[out]

error

PI error.

Returns

true if read.

getVelocityPiIntegrator()

bool TMC9660::FOCControl::getVelocityPiIntegrator ( int32_t &  integrator )

noexcept

Read velocity-PI integrator.

Parameters

[out]

integrator

Integrator value.

Returns

true if read.

getVelocityReachedThreshold()

bool TMC9660::FOCControl::getVelocityReachedThreshold ( uint32_t &  threshold )

noexcept

Read velocity reached threshold.

Parameters

[out]

threshold

Threshold.

Returns

true if read.

getVelocityScalingFactor()

bool TMC9660::FOCControl::getVelocityScalingFactor ( uint16_t &  factor )

noexcept

Read velocity scaling factor.

Parameters

[out]

factor

Scale factor.

Returns

true if read.

getVelocitySensor()

bool TMC9660::FOCControl::getVelocitySensor ( tmc9660::tmcl::VelocitySensorSelection &  sel )

noexcept

Read velocity feedback sensor.

Parameters

[out]

sel

Sensor selection.

Returns

true if read.

getVoltageDqCombinedActualValues()

bool TMC9660::FOCControl::getVoltageDqCombinedActualValues ( uint32_t &  value )

noexcept

setActualVelocityBiquadFilterACoeff1()

bool TMC9660::FOCControl::setActualVelocityBiquadFilterACoeff1 ( int32_t  coeff )

noexcept

setActualVelocityBiquadFilterACoeff2()

bool TMC9660::FOCControl::setActualVelocityBiquadFilterACoeff2 ( int32_t  coeff )

noexcept

setActualVelocityBiquadFilterBCoeff0()

bool TMC9660::FOCControl::setActualVelocityBiquadFilterBCoeff0 ( int32_t  coeff )

noexcept

setActualVelocityBiquadFilterBCoeff1()

bool TMC9660::FOCControl::setActualVelocityBiquadFilterBCoeff1 ( int32_t  coeff )

noexcept

setActualVelocityBiquadFilterBCoeff2()

bool TMC9660::FOCControl::setActualVelocityBiquadFilterBCoeff2 ( int32_t  coeff )

noexcept

setActualVelocityBiquadFilterEnable()

bool TMC9660::FOCControl::setActualVelocityBiquadFilterEnable ( bool  enable )

noexcept

setCurrentLoopGains()

bool TMC9660::FOCControl::setCurrentLoopGains ( uint16_t  p, uint16_t  i, bool  separate = false, uint16_t  fluxP = 0, uint16_t  fluxI = 0  )

noexcept

Configure current-loop PI gains.

Parameters

p	Proportional gain for torque (and flux if not separate).
i	Integral gain for torque (and flux if not separate).
separate	true to use separate flux gains.
fluxP	Proportional gain for flux loop.
fluxI	Integral gain for flux loop.

Returns

true if written.

setCurrentNormalization()

bool TMC9660::FOCControl::setCurrentNormalization ( tmc9660::tmcl::CurrentPiNormalization  pNorm, tmc9660::tmcl::CurrentPiNormalization  iNorm  )

noexcept

Set normalization for current-PI outputs.

Parameters

pNorm	Normalization for P-term.
iNorm	Normalization for I-term.

Returns

true if written.

setEventStopSettings()

bool TMC9660::FOCControl::setEventStopSettings ( tmc9660::tmcl::EventStopSettings  settings )

noexcept

Configure event-stop settings.

Parameters

settings

Stop conditions.

Returns

true if written.

setFieldWeakeningI()

bool TMC9660::FOCControl::setFieldWeakeningI ( uint16_t  milliamps )

noexcept

setFieldWeakeningVoltageThreshold()

bool TMC9660::FOCControl::setFieldWeakeningVoltageThreshold ( uint16_t  voltage )

noexcept

setFluxOffset()

bool TMC9660::FOCControl::setFluxOffset ( int16_t  milliamps )

noexcept

Set flux offset (feed-forward).

Parameters

milliamps

Offset in mA.

Returns

true if written.

setOpenloopCurrent()

bool TMC9660::FOCControl::setOpenloopCurrent ( uint16_t  milliamps )

noexcept

Set open-loop current.

Parameters

milliamps

Current in mA.

Returns

true if written.

setOpenloopVoltage()

bool TMC9660::FOCControl::setOpenloopVoltage ( uint16_t  voltage )

noexcept

Set open-loop voltage.

Parameters

voltage

Voltage unit (0…32767).

Returns

true if written.

setPositionLimitHigh()

bool TMC9660::FOCControl::setPositionLimitHigh ( int32_t  limit )

noexcept

Set high position limit.

Parameters

limit

Maximum allowed position.

Returns

true if written.

setPositionLimitLow()

bool TMC9660::FOCControl::setPositionLimitLow ( int32_t  limit )

noexcept

Set low position limit.

Parameters

limit

Minimum allowed position.

Returns

true if written.

setPositionLoopDownsampling()

bool TMC9660::FOCControl::setPositionLoopDownsampling ( uint8_t  divider )

noexcept

Set position loop downsampling.

Parameters

divider

Downsample factor.

Returns

true if written.

setPositionLoopGains()

bool TMC9660::FOCControl::setPositionLoopGains ( uint16_t  p, uint16_t  i  )

noexcept

Configure position PI gains.

Parameters

p	P gain.
i	I gain.

Returns

true if written.

setPositionNormalization()

bool TMC9660::FOCControl::setPositionNormalization ( tmc9660::tmcl::VelocityPiNorm  pNorm, tmc9660::tmcl::VelocityPiNorm  iNorm  )

noexcept

Set position PI normalization.

Parameters

pNorm	P-term norm.
iNorm	I-term norm.

Returns

true if written.

setPositionReachedThreshold()

bool TMC9660::FOCControl::setPositionReachedThreshold ( uint32_t  threshold )

noexcept

Set position reached threshold.

Parameters

threshold

Latch threshold.

Returns

true if written.

setPositionScalingFactor()

bool TMC9660::FOCControl::setPositionScalingFactor ( uint16_t  factor )

noexcept

Set position scaling factor.

Parameters

factor

Scale factor.

Returns

true if written.

setPositionSensor()

bool TMC9660::FOCControl::setPositionSensor ( tmc9660::tmcl::PositionSensorSelection  sel )

noexcept

Select position feedback sensor.

Parameters

sel	Sensor selection.

Returns

true if written.

setReferenceSwitchEnable()

bool TMC9660::FOCControl::setReferenceSwitchEnable ( tmc9660::tmcl::ReferenceSwitchEnable  enable )

noexcept

Enable/disable reference switch stops.

Parameters

enable

Bitmask of switch stops.

Returns

true if written.

setReferenceSwitchLatchSettings()

bool TMC9660::FOCControl::setReferenceSwitchLatchSettings ( tmc9660::tmcl::ReferenceSwitchLatchSettings  setting )

noexcept

Configure switch latch settings.

Parameters

setting

Latch behavior.

Returns

true if written.

setReferenceSwitchPolaritySwap()

bool TMC9660::FOCControl::setReferenceSwitchPolaritySwap ( tmc9660::tmcl::ReferenceSwitchPolaritySwap  config )

noexcept

Configure switch polarity and swap.

Parameters

config

Polarity/swap config.

Returns

true if written.

setReferenceSwitchSearchMode()

bool TMC9660::FOCControl::setReferenceSwitchSearchMode ( tmc9660::tmcl::ReferenceSwitchSearchMode  mode )

noexcept

Set reference search mode.

Parameters

mode	Search sequence.

Returns

true if written.

setReferenceSwitchSearchSpeed()

bool TMC9660::FOCControl::setReferenceSwitchSearchSpeed ( int32_t  speed )

noexcept

Set reference search speed.

Parameters

speed

Search velocity.

Returns

true if written.

setReferenceSwitchSpeed()

bool TMC9660::FOCControl::setReferenceSwitchSpeed ( int32_t  speed )

noexcept

Set reference positioning speed.

Parameters

speed

Approach speed.

Returns

true if written.

setStopOnPositionDeviation()

bool TMC9660::FOCControl::setStopOnPositionDeviation ( uint32_t  maxError, bool  softStop = true  )

noexcept

Configure stop-on-position-deviation.

Parameters

maxError	Max allowed deviation.
softStop	true for ramp down, false for hard stop.

Returns

true if written.

setStopOnVelocityDeviation()

bool TMC9660::FOCControl::setStopOnVelocityDeviation ( uint32_t  maxError, bool  softStop = true  )

noexcept

Configure stop-on-velocity-deviation.

Parameters

maxError	Max allowed deviation.
softStop	true for ramp down, false for hard stop.

Returns

true if written.

setTargetFlux()

bool TMC9660::FOCControl::setTargetFlux ( int16_t  milliamps )

noexcept

Set desired flux current.

Parameters

milliamps

Target flux in mA.

Returns

true if written.

setTargetPosition()

bool TMC9660::FOCControl::setTargetPosition ( int32_t  position )

noexcept

Set target position.

Parameters

position

Desired position (internal units).

Returns

true if written.

setTargetTorque()

bool TMC9660::FOCControl::setTargetTorque ( int16_t  milliamps )

noexcept

Set desired torque.

Parameters

milliamps

Target torque in mA.

Returns

true if written.

setTargetTorqueBiquadFilterACoeff1()

bool TMC9660::FOCControl::setTargetTorqueBiquadFilterACoeff1 ( int32_t  coeff )

noexcept

setTargetTorqueBiquadFilterACoeff2()

bool TMC9660::FOCControl::setTargetTorqueBiquadFilterACoeff2 ( int32_t  coeff )

noexcept

setTargetTorqueBiquadFilterBCoeff0()

bool TMC9660::FOCControl::setTargetTorqueBiquadFilterBCoeff0 ( int32_t  coeff )

noexcept

setTargetTorqueBiquadFilterBCoeff1()

bool TMC9660::FOCControl::setTargetTorqueBiquadFilterBCoeff1 ( int32_t  coeff )

noexcept

setTargetTorqueBiquadFilterBCoeff2()

bool TMC9660::FOCControl::setTargetTorqueBiquadFilterBCoeff2 ( int32_t  coeff )

noexcept

setTargetTorqueBiquadFilterEnable()

bool TMC9660::FOCControl::setTargetTorqueBiquadFilterEnable ( bool  enable )

noexcept

setTargetVelocity()

bool TMC9660::FOCControl::setTargetVelocity ( int32_t  velocity )

noexcept

Set target velocity.

Parameters

velocity

Target velocity (internal units).

Returns

true if written.

setTorqueFluxPiSeparation()

bool TMC9660::FOCControl::setTorqueFluxPiSeparation ( tmc9660::tmcl::TorqueFluxPiSeparation  sep )

noexcept

Select combined or separate torque/flux PI parameters.

Parameters

sep	Separation mode.

Returns

true if written.

setTorqueOffset()

bool TMC9660::FOCControl::setTorqueOffset ( int16_t  milliamps )

noexcept

Set torque offset (feed-forward).

Parameters

milliamps

Offset in mA.

Returns

true if written.

setVelocityLoopDownsampling()

bool TMC9660::FOCControl::setVelocityLoopDownsampling ( uint8_t  divider )

noexcept

Set velocity loop downsampling.

Parameters

divider

Downsample factor.

Returns

true if written.

setVelocityLoopGains()

bool TMC9660::FOCControl::setVelocityLoopGains ( uint16_t  p, uint16_t  i  )

noexcept

Configure velocity PI gains.

Parameters

p	P gain.
i	I gain.

Returns

true if written.

setVelocityMeterSwitchHysteresis()

bool TMC9660::FOCControl::setVelocityMeterSwitchHysteresis ( uint16_t  hysteresis )

noexcept

Set velocity meter hysteresis.

Parameters

hysteresis

Hysteresis value.

Returns

true if written.

setVelocityMeterSwitchThreshold()

bool TMC9660::FOCControl::setVelocityMeterSwitchThreshold ( uint32_t  threshold )

noexcept

Set velocity meter switch threshold.

Parameters

threshold

Threshold value.

Returns

true if written.

setVelocityNormalization()

bool TMC9660::FOCControl::setVelocityNormalization ( tmc9660::tmcl::VelocityPiNorm  pNorm, tmc9660::tmcl::VelocityPiNorm  iNorm  )

noexcept

Set velocity PI normalization.

Parameters

pNorm	P-term norm.
iNorm	I-term norm.

Returns

true if written.

setVelocityOffset()

bool TMC9660::FOCControl::setVelocityOffset ( int32_t  offset )

noexcept

Set velocity offset.

Parameters

offset

Offset in RPM.

Returns

true if written.

setVelocityReachedThreshold()

bool TMC9660::FOCControl::setVelocityReachedThreshold ( uint32_t  threshold )

noexcept

Set velocity reached threshold.

Parameters

threshold

Threshold value.

Returns

true if written.

setVelocityScalingFactor()

bool TMC9660::FOCControl::setVelocityScalingFactor ( uint16_t  factor )

noexcept

Set velocity scaling factor.

Parameters

factor

Scale factor.

Returns

true if written.

setVelocitySensor()

bool TMC9660::FOCControl::setVelocitySensor ( tmc9660::tmcl::VelocitySensorSelection  sel )

noexcept

Select velocity feedback sensor.

Parameters

sel	Sensor selection.

Returns

true if written.

stop()

bool TMC9660::FOCControl::stop ( )

noexcept

Stop torque/flux control (SYSTEM_OFF).

Returns

true on success.

Friends And Related Symbol Documentation

TMC9660

friend class TMC9660

friend

Member Data Documentation

driver

TMC9660& TMC9660::FOCControl::driver

private

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

• TMC9660.hpp
• TMC9660.cpp