Subsystem for feedback sensor configuration. More...

#include <TMC9660.hpp>

Collaboration diagram for TMC9660::FeedbackSense:

[legend]

Public Member Functions
bool	configureHall (tmc9660::tmcl::HallSectorOffset sectorOffset=tmc9660::tmcl::HallSectorOffset::DEG_0, tmc9660::tmcl::Direction inverted=tmc9660::tmcl::Direction::NOT_INVERTED, tmc9660::tmcl::EnableDisable enableExtrapolation=tmc9660::tmcl::EnableDisable::DISABLED, uint8_t filterLength=0) noexcept
	Configure digital Hall sensors for BLDC commutation.

bool	setHallPositionOffsets (int16_t offset0=0, int16_t offset60=10922, int16_t offset120=21845, int16_t offset180=-32768, int16_t offset240=-21846, int16_t offset300=-10923, int16_t globalOffset=0) noexcept
	Set Hall sensor position offsets for improved accuracy.

bool	getHallPhiE (int16_t &phiE) noexcept
	Read the electrical angle (phi_e) calculated from Hall feedback.

bool	configureABNEncoder (uint32_t countsPerRev, tmc9660::tmcl::Direction inverted=tmc9660::tmcl::Direction::NOT_INVERTED, tmc9660::tmcl::EnableDisable nChannelInverted=tmc9660::tmcl::EnableDisable::DISABLED) noexcept
	Configure an ABN incremental encoder for feedback.

bool	configureABNInitialization (tmc9660::tmcl::AbnInitMethod initMethod=tmc9660::tmcl::AbnInitMethod::FORCED_PHI_E_ZERO_WITH_ACTIVE_SWING, uint16_t initDelay=1000, int32_t initVelocity=5, int16_t nChannelOffset=0) noexcept
	Configure ABN encoder initialization method.

bool	getABNInitializationState (tmc9660::tmcl::AbnInitState &state) noexcept
	Read the current state of ABN encoder initialization.

bool	getABNPhiE (int16_t &phiE) noexcept
	Read the electrical angle (phi_e) calculated from ABN feedback.

bool	getABNRawValue (uint32_t &value) noexcept
	Read the raw ABN encoder internal counter value.

bool	configureABNNChannel (tmc9660::tmcl::AbnNChannelFiltering filterMode=tmc9660::tmcl::AbnNChannelFiltering::FILTERING_OFF, tmc9660::tmcl::EnableDisable clearOnNextNull=tmc9660::tmcl::EnableDisable::DISABLED) noexcept
	Configure N-channel filtering for ABN encoder.

bool	configureSecondaryABNEncoder (uint32_t countsPerRev, tmc9660::tmcl::Direction inverted=tmc9660::tmcl::Direction::NOT_INVERTED, uint8_t gearRatio=1) noexcept
	Configure the secondary ABN encoder input.

bool	getSecondaryABNCountsPerRev (uint32_t &counts) noexcept
	Read ABN_2_STEPS (encoder steps per rotation, 0…16777215).

bool	getSecondaryABNDirection (tmc9660::tmcl::Direction &dir) noexcept
	Read ABN_2_DIRECTION (normal/inverted).

bool	getSecondaryABNGearRatio (uint8_t &ratio) noexcept
	Read ABN_2_GEAR_RATIO (1…255).

bool	setSecondaryABNEncoderEnabled (bool enable) noexcept
	Enable or disable the secondary ABN encoder.

bool	getSecondaryABNEncoderValue (uint32_t &value) noexcept
	Read the raw ABN2 encoder internal counter value.

bool	configureSPIEncoder (uint8_t cmdSize, uint16_t csSettleTimeNs, uint8_t csIdleTimeUs) noexcept
	Configure a SPI-based encoder for feedback.

bool	configureSPIEncoderDataFormat (uint32_t positionMask, uint8_t positionShift=0, tmc9660::tmcl::Direction invertDirection=tmc9660::tmcl::Direction::NOT_INVERTED) noexcept
	Configure SPI encoder data format and processing.

bool	setSPIEncoderRequestData (const uint8_t *requestData, uint8_t size) noexcept
	Set up SPI encoder request data for continuous transfer mode.

bool	configureSPIEncoderInitialization (tmc9660::tmcl::SpiInitMethod initMethod, int16_t offset=0) noexcept
	Configure SPI encoder initialization method.

bool	setSPIEncoderLUTCorrection (tmc9660::tmcl::EnableDisable enable, int8_t shiftFactor=0) noexcept
	Enable or disable SPI encoder lookup table correction.

bool	uploadSPIEncoderLUTEntry (uint8_t index, int8_t value) noexcept
	Upload a single entry to the SPI encoder correction lookup table.

bool	getSPIEncoderCSSettleDelay (uint16_t &timeNs) noexcept
	Read SPI_ENCODE_CS_SETTLE_DELAY_TIME (0…6375 ns).

bool	getSPIEncoderCSIdleDelay (uint8_t &timeUs) noexcept
	Read SPI_ENCODER_CS_IDLE_DELAY_TIME (0…102 µs).

bool	getSPIEncoderMainCmdSize (uint8_t &size) noexcept
	Read SPI_ENCODER_MAIN_TRANSFER_CMD_SIZE (1…16 bytes).

bool	getSPIEncoderSecondaryCmdSize (uint8_t &size) noexcept
	Read SPI_ENCODER_SECONDARY_TRANSFER_CMD_SIZE (0…15 bytes).

bool	getSPIEncoderPositionMask (uint32_t &mask) noexcept
	Read SPI_ENCODER_POSITION_COUNTER_MASK.

bool	getSPIEncoderPositionShift (uint8_t &shift) noexcept
	Read SPI_ENCODER_POSITION_COUNTER_SHIFT.

bool	getSPIEncoderPositionValue (uint32_t &value) noexcept
	Read SPI_ENCODER_POSITION_COUNTER_VALUE.

bool	getSPIEncoderCommutationAngle (int16_t &angle) noexcept
	Read SPI_ENCODER_COMMUTATION_ANGLE (-32768…32767).

bool	getSPIEncoderInitialization (tmc9660::tmcl::SpiInitMethod &method, int16_t &offset) noexcept
	Read SPI_ENCODER_INITIALIZATION_METHOD and SPI_ENCODER_OFFSET.

bool	getSPIEncoderDirection (tmc9660::tmcl::Direction &dir) noexcept
	Read SPI_ENCODER_DIRECTION.

bool	getSPIEncoderLUTAddress (uint8_t &address) noexcept
	Read SPI_LUT_ADDRESS_SELECT.

bool	getSPIEncoderLUTData (int8_t &data) noexcept
	Read SPI_LUT_DATA.

bool	getSPIEncoderLUTShiftFactor (int8_t &shiftFactor) noexcept
	Read SPI_LUT_COMMON_SHIFT_FACTOR.

Private Member Functions
	FeedbackSense (TMC9660 &parent) noexcept

Private Attributes
TMC9660 &	driver

Friends
class	TMC9660

Detailed Description

Subsystem for feedback sensor configuration.

Constructor & Destructor Documentation

◆ FeedbackSense()

TMC9660::FeedbackSense::FeedbackSense ( TMC9660 & parent )

inlineexplicitprivatenoexcept

Member Function Documentation

◆ configureABNEncoder()

bool TMC9660::FeedbackSense::configureABNEncoder	(	uint32_t	countsPerRev,
		tmc9660::tmcl::Direction	inverted = `tmc9660::tmcl::Direction::NOT_INVERTED`,
		tmc9660::tmcl::EnableDisable	nChannelInverted = `tmc9660::tmcl::EnableDisable::DISABLED`
	)

noexcept

Configure an ABN incremental encoder for feedback.

Sets up an incremental quadrature encoder with optional index (N) channel for position and velocity feedback.

Parameters

countsPerRev	Encoder resolution (counts per revolution, 0-16777215).
inverted	If true, invert the encoder direction (tmc9660::tmcl::Direction).
nChannelInverted	If true, invert the N-channel signal (active low instead of active high) (tmc9660::tmcl::EnableDisable).

Returns: true if encoder parameters were set successfully.

◆ configureABNInitialization()

bool TMC9660::FeedbackSense::configureABNInitialization	(	tmc9660::tmcl::AbnInitMethod	initMethod = `tmc9660::tmcl::AbnInitMethod::FORCED_PHI_E_ZERO_WITH_ACTIVE_SWING`,
		uint16_t	initDelay = `1000`,
		int32_t	initVelocity = `5`,
		int16_t	nChannelOffset = `0`
	)

noexcept

Configure ABN encoder initialization method.

Sets the method used to align the ABN encoder with the rotor's absolute position.

Parameters

initMethod	Initialization method (tmc9660::tmcl::AbnInitMethod): FORCED_PHI_E_ZERO_WITH_ACTIVE_SWING, FORCED_PHI_E_90_ZERO, USE_HALL, USE_N_CHANNEL_OFFSET
initDelay	Delay in milliseconds to wait for mechanical oscillations to stop (1000-10000)
initVelocity	Velocity used during N-channel initialization (-200000 to 200000)
nChannelOffset	Offset between phi_e zero and encoder index pulse position (-32768 to 32767)

Returns: true if ABN initialization parameters were set successfully.

◆ configureABNNChannel()

bool TMC9660::FeedbackSense::configureABNNChannel	(	tmc9660::tmcl::AbnNChannelFiltering	filterMode = `tmc9660::tmcl::AbnNChannelFiltering::FILTERING_OFF`,
		tmc9660::tmcl::EnableDisable	clearOnNextNull = `tmc9660::tmcl::EnableDisable::DISABLED`
	)

noexcept

Configure N-channel filtering for ABN encoder.

Sets up filtering for the N-channel (index pulse) to handle imprecise encoders.

Parameters

filterMode	N-channel filtering mode (tmc9660::tmcl::AbnNChannelFiltering): FILTERING_OFF, N_EVENT_ON_A_HIGH_B_HIGH, N_EVENT_ON_A_HIGH_B_LOW, N_EVENT_ON_A_LOW_B_HIGH, N_EVENT_ON_A_LOW_B_LOW
clearOnNextNull	If true, clear position counter on next N-channel event (tmc9660::tmcl::EnableDisable).

Returns: true if N-channel settings were applied successfully.

◆ configureHall()

bool TMC9660::FeedbackSense::configureHall	(	tmc9660::tmcl::HallSectorOffset	sectorOffset = `tmc9660::tmcl::HallSectorOffset::DEG_0`,
		tmc9660::tmcl::Direction	inverted = `tmc9660::tmcl::Direction::NOT_INVERTED`,
		tmc9660::tmcl::EnableDisable	enableExtrapolation = `tmc9660::tmcl::EnableDisable::DISABLED`,
		uint8_t	filterLength = `0`
	)

noexcept

Configure digital Hall sensors for BLDC commutation.

This enables Hall sensor inputs as the feedback for commutation. Typically used with tmc9660::tmcl::CommutationMode::FOC_HALL.

Parameters

sectorOffset	Hall sensor 60-degree/sector offset (tmc9660::tmcl::HallSectorOffset): tmc9660::tmcl::HallSectorOffset::DEG_0, DEG_60, DEG_120, DEG_180, DEG_240, DEG_300 This combines both the 120° order offset and 180° polarity offset.
inverted	If true, invert the interpretation of hall sensor signals (tmc9660::tmcl::Direction).
enableExtrapolation	If true, enable hall extrapolation for higher resolution position signal (tmc9660::tmcl::EnableDisable).
filterLength	Digital filter length (0-255) for hall sensor inputs.

Returns: true if Hall sensor feedback is configured successfully.

◆ configureSecondaryABNEncoder()

bool TMC9660::FeedbackSense::configureSecondaryABNEncoder	(	uint32_t	countsPerRev,
		tmc9660::tmcl::Direction	inverted = `tmc9660::tmcl::Direction::NOT_INVERTED`,
		uint8_t	gearRatio = `1`
	)

noexcept

Configure the secondary ABN encoder input.

This allows the use of a second incremental encoder or a geared encoder setup. It writes ABN_2_* parameters to set the resolution, direction and optional gear ratio.

Parameters

countsPerRev	Encoder resolution in counts per revolution.
inverted	True to invert the encoder direction (tmc9660::tmcl::Direction).
gearRatio	Gear ratio between the second encoder and the motor shaft. Use 1 if directly coupled.

Returns: true if all parameters were written successfully.

◆ configureSPIEncoder()

bool TMC9660::FeedbackSense::configureSPIEncoder	(	uint8_t	cmdSize,
		uint16_t	csSettleTimeNs,
		uint8_t	csIdleTimeUs
	)

noexcept

Configure a SPI-based encoder for feedback.

Sets up a digital SPI encoder (e.g., absolute magnetic encoder) for position feedback.

Parameters

cmdSize	Size of SPI transfer frame (1-16 bytes).
csSettleTimeNs	CS settle time in nanoseconds (0-6375).
csIdleTimeUs	CS idle time between frames in microseconds (0-102).

Returns: true if configured successfully.

◆ configureSPIEncoderDataFormat()

bool TMC9660::FeedbackSense::configureSPIEncoderDataFormat	(	uint32_t	positionMask,
		uint8_t	positionShift = `0`,
		tmc9660::tmcl::Direction	invertDirection = `tmc9660::tmcl::Direction::NOT_INVERTED`
	)

noexcept

Configure SPI encoder data format and processing.

Sets up how the position data is extracted from the SPI encoder response.

Parameters

positionMask	Bit mask to extract position from SPI response.
positionShift	Right shift value to apply to position counter.
invertDirection	If true, invert the direction of the SPI encoder (tmc9660::tmcl::Direction).

Returns: true if configuration was successful.

◆ configureSPIEncoderInitialization()

bool TMC9660::FeedbackSense::configureSPIEncoderInitialization	(	tmc9660::tmcl::SpiInitMethod	initMethod,
		int16_t	offset = `0`
	)

noexcept

Configure SPI encoder initialization method.

Sets how the SPI encoder is initialized for commutation.

Parameters

initMethod	Initialization method (tmc9660::tmcl::SpiInitMethod): FORCED_PHI_E_ZERO_WITH_ACTIVE_SWING, FORCED_PHI_E_90_ZERO, USE_OFFSET
offset	Manual offset value if using offset-based initialization.

Returns: true if initialization method was set successfully.

◆ getABNInitializationState()

bool TMC9660::FeedbackSense::getABNInitializationState ( tmc9660::tmcl::AbnInitState & state )

noexcept

Read the current state of ABN encoder initialization.

Parameters

[out] state Current initialization state (tmc9660::tmcl::AbnInitState): IDLE, BUSY, WAIT, DONE

Returns: true if the state was read successfully.

◆ getABNPhiE()

bool TMC9660::FeedbackSense::getABNPhiE ( int16_t & phiE )

noexcept

Read the electrical angle (phi_e) calculated from ABN feedback.

Parameters

[out] phiE Electrical angle (-32768 to 32767).

Returns: true if the value was read successfully.

◆ getABNRawValue()

bool TMC9660::FeedbackSense::getABNRawValue ( uint32_t & value )

noexcept

Read the raw ABN encoder internal counter value.

Parameters

[out] value Raw counter value (0-16777215).

Returns: true if the value was read successfully.

◆ getHallPhiE()

bool TMC9660::FeedbackSense::getHallPhiE ( int16_t & phiE )

noexcept

Read the electrical angle (phi_e) calculated from Hall feedback.

Parameters

[out] phiE Electrical angle (-32768 to 32767).

Returns: true if the value was read successfully.

◆ getSecondaryABNCountsPerRev()

bool TMC9660::FeedbackSense::getSecondaryABNCountsPerRev ( uint32_t & counts )

noexcept

Read ABN_2_STEPS (encoder steps per rotation, 0…16777215).

Parameters

[out] counts CPR value.

Returns: true if read successful.

◆ getSecondaryABNDirection()

bool TMC9660::FeedbackSense::getSecondaryABNDirection ( tmc9660::tmcl::Direction & dir )

noexcept

Read ABN_2_DIRECTION (normal/inverted).

Parameters

[out] dir Direction (tmc9660::tmcl::Direction).

Returns: true if read successful.

◆ getSecondaryABNEncoderValue()

bool TMC9660::FeedbackSense::getSecondaryABNEncoderValue ( uint32_t & value )

noexcept

Read the raw ABN2 encoder internal counter value.

Parameters

[out] value Raw counter value (0-4294967295).

Returns: true if the value was read successfully.

◆ getSecondaryABNGearRatio()

bool TMC9660::FeedbackSense::getSecondaryABNGearRatio ( uint8_t & ratio )

noexcept

Read ABN_2_GEAR_RATIO (1…255).

Parameters

[out] ratio Gear ratio.

Returns: true if read successful.

◆ getSPIEncoderCommutationAngle()

bool TMC9660::FeedbackSense::getSPIEncoderCommutationAngle ( int16_t & angle )

noexcept

Read SPI_ENCODER_COMMUTATION_ANGLE (-32768…32767).

◆ getSPIEncoderCSIdleDelay()

bool TMC9660::FeedbackSense::getSPIEncoderCSIdleDelay ( uint8_t & timeUs )

noexcept

Read SPI_ENCODER_CS_IDLE_DELAY_TIME (0…102 µs).

◆ getSPIEncoderCSSettleDelay()

bool TMC9660::FeedbackSense::getSPIEncoderCSSettleDelay ( uint16_t & timeNs )

noexcept

Read SPI_ENCODE_CS_SETTLE_DELAY_TIME (0…6375 ns).

◆ getSPIEncoderDirection()

bool TMC9660::FeedbackSense::getSPIEncoderDirection ( tmc9660::tmcl::Direction & dir )

noexcept

Read SPI_ENCODER_DIRECTION.

◆ getSPIEncoderInitialization()

bool TMC9660::FeedbackSense::getSPIEncoderInitialization	(	tmc9660::tmcl::SpiInitMethod &	method,
		int16_t &	offset
	)

noexcept

Read SPI_ENCODER_INITIALIZATION_METHOD and SPI_ENCODER_OFFSET.

◆ getSPIEncoderLUTAddress()

bool TMC9660::FeedbackSense::getSPIEncoderLUTAddress ( uint8_t & address )

noexcept

Read SPI_LUT_ADDRESS_SELECT.

◆ getSPIEncoderLUTData()

bool TMC9660::FeedbackSense::getSPIEncoderLUTData ( int8_t & data )

noexcept

Read SPI_LUT_DATA.

◆ getSPIEncoderLUTShiftFactor()

bool TMC9660::FeedbackSense::getSPIEncoderLUTShiftFactor ( int8_t & shiftFactor )

noexcept

Read SPI_LUT_COMMON_SHIFT_FACTOR.

◆ getSPIEncoderMainCmdSize()

bool TMC9660::FeedbackSense::getSPIEncoderMainCmdSize ( uint8_t & size )

noexcept

Read SPI_ENCODER_MAIN_TRANSFER_CMD_SIZE (1…16 bytes).

◆ getSPIEncoderPositionMask()

bool TMC9660::FeedbackSense::getSPIEncoderPositionMask ( uint32_t & mask )

noexcept

Read SPI_ENCODER_POSITION_COUNTER_MASK.

◆ getSPIEncoderPositionShift()

bool TMC9660::FeedbackSense::getSPIEncoderPositionShift ( uint8_t & shift )

noexcept

Read SPI_ENCODER_POSITION_COUNTER_SHIFT.

◆ getSPIEncoderPositionValue()

bool TMC9660::FeedbackSense::getSPIEncoderPositionValue ( uint32_t & value )

noexcept

Read SPI_ENCODER_POSITION_COUNTER_VALUE.

◆ getSPIEncoderSecondaryCmdSize()

bool TMC9660::FeedbackSense::getSPIEncoderSecondaryCmdSize ( uint8_t & size )

noexcept

Read SPI_ENCODER_SECONDARY_TRANSFER_CMD_SIZE (0…15 bytes).

◆ setHallPositionOffsets()

bool TMC9660::FeedbackSense::setHallPositionOffsets	(	int16_t	offset0 = `0`,
		int16_t	offset60 = `10922`,
		int16_t	offset120 = `21845`,
		int16_t	offset180 = `-32768`,
		int16_t	offset240 = `-21846`,
		int16_t	offset300 = `-10923`,
		int16_t	globalOffset = `0`
	)

noexcept

Set Hall sensor position offsets for improved accuracy.

Compensates for Hall sensor mounting tolerances by setting precise electrical angle offsets.

Parameters

offset0	Offset for 0° Hall position (-32768 to 32767)
offset60	Offset for 60° Hall position (-32768 to 32767)
offset120	Offset for 120° Hall position (-32768 to 32767)
offset180	Offset for 180° Hall position (-32768 to 32767)
offset240	Offset for 240° Hall position (-32768 to 32767)
offset300	Offset for 300° Hall position (-32768 to 32767)
globalOffset	Additional global offset applied to all positions (-32768 to 32767)

Returns: true if Hall position offsets were set successfully.

◆ setSecondaryABNEncoderEnabled()

bool TMC9660::FeedbackSense::setSecondaryABNEncoderEnabled ( bool enable )

noexcept

Enable or disable the secondary ABN encoder.

Parameters

enable True to enable, false to disable.

Returns: true if the operation was successful.

◆ setSPIEncoderLUTCorrection()

bool TMC9660::FeedbackSense::setSPIEncoderLUTCorrection	(	tmc9660::tmcl::EnableDisable	enable,
		int8_t	shiftFactor = `0`
	)

noexcept

Enable or disable SPI encoder lookup table correction.

Enables the lookup table-based correction for encoder nonlinearity.

Parameters

enable	If true, enable LUT correction (tmc9660::tmcl::EnableDisable).
shiftFactor	Common shift factor for all LUT entries.

Returns: true if LUT settings were applied successfully.

◆ setSPIEncoderRequestData()

bool TMC9660::FeedbackSense::setSPIEncoderRequestData	(	const uint8_t *	requestData,
		uint8_t	size
	)

noexcept

Set up SPI encoder request data for continuous transfer mode.

Sets the data to be sent to the SPI encoder during position acquisition.

Parameters

requestData	Array of data bytes to send to the encoder.
size	Size of the request data (1-16 bytes).

Returns: true if transfer data was set successfully.

◆ uploadSPIEncoderLUTEntry()

bool TMC9660::FeedbackSense::uploadSPIEncoderLUTEntry	(	uint8_t	index,
		int8_t	value
	)

noexcept

Upload a single entry to the SPI encoder correction lookup table.

Parameters

index	Index in the LUT (0-255).
value	Correction value (-128 to 127).

Returns: true if the entry was uploaded successfully.

Friends And Related Symbol Documentation

◆ TMC9660

friend class TMC9660

friend

Member Data Documentation

◆ driver

TMC9660& TMC9660::FeedbackSense::driver

private

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

Public Member Functions

Private Member Functions

Private Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

◆ FeedbackSense()

Member Function Documentation

◆ configureABNEncoder()

◆ configureABNInitialization()

◆ configureABNNChannel()

◆ configureHall()

◆ configureSecondaryABNEncoder()

◆ configureSPIEncoder()

◆ configureSPIEncoderDataFormat()

◆ configureSPIEncoderInitialization()

◆ getABNInitializationState()

◆ getABNPhiE()

◆ getABNRawValue()

◆ getHallPhiE()

◆ getSecondaryABNCountsPerRev()

◆ getSecondaryABNDirection()

◆ getSecondaryABNEncoderValue()

◆ getSecondaryABNGearRatio()

◆ getSPIEncoderCommutationAngle()

◆ getSPIEncoderCSIdleDelay()

◆ getSPIEncoderCSSettleDelay()

◆ getSPIEncoderDirection()

◆ getSPIEncoderInitialization()

◆ getSPIEncoderLUTAddress()

◆ getSPIEncoderLUTData()

◆ getSPIEncoderLUTShiftFactor()

◆ getSPIEncoderMainCmdSize()

◆ getSPIEncoderPositionMask()

◆ getSPIEncoderPositionShift()

◆ getSPIEncoderPositionValue()

◆ getSPIEncoderSecondaryCmdSize()

◆ setHallPositionOffsets()

◆ setSecondaryABNEncoderEnabled()

◆ setSPIEncoderLUTCorrection()

◆ setSPIEncoderRequestData()

◆ uploadSPIEncoderLUTEntry()

Friends And Related Symbol Documentation

◆ TMC9660

Member Data Documentation

◆ driver