Hardware 8-segment acceleration/dec-acc profile controller. More...

#include <TMC9660.hpp>

Collaboration diagram for TMC9660::Ramp:

[legend]

Public Member Functions
bool	enable (bool on) noexcept
	Enable or disable the ramp generator block.

bool	setAcceleration (uint32_t a1, uint32_t a2, uint32_t aMax) noexcept
	Set acceleration segments A1, A2, Amax (µ units/s²).

bool	setDeceleration (uint32_t d1, uint32_t d2, uint32_t dMax) noexcept
	Set deceleration segments D1, D2, Dmax (µ units/s²).

bool	setVelocities (uint32_t vStart, uint32_t vStop, uint32_t v1, uint32_t v2, uint32_t vMax) noexcept
	Configure velocity thresholds and limits.

bool	setTiming (uint16_t tVmaxCycles, uint16_t tZeroWaitCycles) noexcept
	Timing constraints at Vmax and between moves.

bool	enableFeedForward (bool enableVelFF, bool enableAccelFF, uint16_t accelFFGain, tmc9660::tmcl::AccelerationFFShift accelFFShift) noexcept
	Enable hardware feed-forward terms and set gain/shift.

bool	setDirectVelocityMode (bool enable) noexcept
	Direct-velocity mode instead of classic PI velocity loop.

bool	getRampVelocity (int32_t &velocity) noexcept
	Get the current target velocity calculated by the ramp controller.

bool	getRampPosition (int32_t &position) noexcept
	Get the current target position calculated by the ramp controller.

Private Member Functions
	Ramp (TMC9660 &parent) noexcept

Private Attributes
TMC9660 &	driver

Friends
class	TMC9660

Detailed Description

Hardware 8-segment acceleration/dec-acc profile controller.

Covers all ramp generator and feedforward parameters:

ACCELERATION_FF_GAIN (50)
ACCELERATION_FF_SHIFT (51)
RAMP_ENABLE (52)
DIRECT_VELOCITY_MODE (53)
RAMP_AMAX/A1/A2 (54/55/56)
RAMP_DMAX/D1/D2 (57/58/59)
RAMP_VMAX/V1/V2/VSTART/VSTOP (60/61/62/63/64)
RAMP_TVMAX/TZEROWAIT (65/66)
ACCELERATION_FEEDFORWARD_ENABLE (67)
VELOCITY_FEEDFORWARD_ENABLE (68)
RAMP_VELOCITY (69)
RAMP_POSITION (70)

Constructor & Destructor Documentation

◆ Ramp()

TMC9660::Ramp::Ramp ( TMC9660 & parent )

inlineexplicitprivatenoexcept

Member Function Documentation

◆ enable()

bool TMC9660::Ramp::enable ( bool on )

noexcept

Enable or disable the ramp generator block.

Parameters

on	True to enable, false to disable (RAMP_ENABLE).

◆ enableFeedForward()

bool TMC9660::Ramp::enableFeedForward	(	bool	enableVelFF,
		bool	enableAccelFF,
		uint16_t	accelFFGain,
		tmc9660::tmcl::AccelerationFFShift	accelFFShift
	)

noexcept

Enable hardware feed-forward terms and set gain/shift.

This allows the ramp generator to use feed-forward terms for velocity and acceleration.

Parameters

enableVelFF	Enable the VELOCITY_FEEDFORWARD feature (VELOCITY_FEEDFORWARD_ENABLE)
enableAccelFF	Enable the ACCELERATION_FEEDFORWARD feature (ACCELERATION_FEEDFORWARD_ENABLE)
accelFFGain	ACCELERATION_FF_GAIN (0…65535)
accelFFShift	ACCELERATION_FF_SHIFT enum (tmc9660::tmcl::AccelerationFFShift)

◆ getRampPosition()

bool TMC9660::Ramp::getRampPosition ( int32_t & position )

noexcept

Get the current target position calculated by the ramp controller.

Parameters

[out] position The current ramp target position (RAMP_POSITION, param 70)

Returns: true if the value was read successfully.

◆ getRampVelocity()

bool TMC9660::Ramp::getRampVelocity ( int32_t & velocity )

noexcept

Get the current target velocity calculated by the ramp controller.

Parameters

[out] velocity The current ramp target velocity (RAMP_VELOCITY, param 69)

Returns: true if the value was read successfully.

◆ setAcceleration()

bool TMC9660::Ramp::setAcceleration	(	uint32_t	a1,
		uint32_t	a2,
		uint32_t	aMax
	)

noexcept

Set acceleration segments A1, A2, Amax (µ units/s²).

Parameters

a1	First acceleration (RAMP_A1)
a2	Second acceleration (RAMP_A2)
aMax	Top acceleration (RAMP_AMAX)

◆ setDeceleration()

bool TMC9660::Ramp::setDeceleration	(	uint32_t	d1,
		uint32_t	d2,
		uint32_t	dMax
	)

noexcept

Set deceleration segments D1, D2, Dmax (µ units/s²).

Parameters

d1	Second deceleration (RAMP_D1)
d2	First deceleration (RAMP_D2)
dMax	Top deceleration (RAMP_DMAX)

◆ setDirectVelocityMode()

bool TMC9660::Ramp::setDirectVelocityMode ( bool enable )

noexcept

Direct-velocity mode instead of classic PI velocity loop.

Parameters

enable True to enable direct velocity mode (DIRECT_VELOCITY_MODE)

◆ setTiming()

bool TMC9660::Ramp::setTiming	(	uint16_t	tVmaxCycles,
		uint16_t	tZeroWaitCycles
	)

noexcept

Timing constraints at Vmax and between moves.

Parameters

tVmaxCycles	Minimum time at VMAX (RAMP_TVMAX)
tZeroWaitCycles	Wait time at end of ramp (RAMP_TZEROWAIT)

◆ setVelocities()

bool TMC9660::Ramp::setVelocities	(	uint32_t	vStart,
		uint32_t	vStop,
		uint32_t	v1,
		uint32_t	v2,
		uint32_t	vMax
	)

noexcept

Configure velocity thresholds and limits.

Parameters

vStart	Start velocity (RAMP_VSTART)
vStop	Stop velocity (RAMP_VSTOP)
v1	Velocity threshold 1 (RAMP_V1)
v2	Velocity threshold 2 (RAMP_V2)
vMax	Maximum velocity (RAMP_VMAX)

Friends And Related Symbol Documentation

◆ TMC9660

friend class TMC9660

friend

Member Data Documentation

◆ driver

TMC9660& TMC9660::Ramp::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

◆ Ramp()

Member Function Documentation

◆ enable()

◆ enableFeedForward()

◆ getRampPosition()

◆ getRampVelocity()

◆ setAcceleration()

◆ setDeceleration()

◆ setDirectVelocityMode()

◆ setTiming()

◆ setVelocities()

Friends And Related Symbol Documentation

◆ TMC9660

Member Data Documentation

◆ driver