TMC9660::StopEvents Struct Reference

Configure automatic stop/latch behaviour for deviation, switches. More...

#include <TMC9660.hpp>

Collaboration diagram for TMC9660::StopEvents:

Public Member Functions
bool	enableDeviationStop (uint32_t maxVelError, uint32_t maxPosError, bool softStop=true) noexcept
	Stop when ramp target deviates from actual > thresholds.
bool	configureReferenceSwitches (uint8_t mask, bool invertL, bool invertR, bool invertH, bool swapLR) noexcept
	Configure reference / limit-switch inputs.
bool	getAndClearLatchedPosition (int32_t &pos) noexcept
	Read and clear the latched position from a switch event.

Private Member Functions
	StopEvents (TMC9660 &parent) noexcept

Private Attributes
TMC9660 &	driver

Friends
class	TMC9660

Detailed Description

Configure automatic stop/latch behaviour for deviation, switches.

Constructor & Destructor Documentation

StopEvents()

TMC9660::StopEvents::StopEvents ( TMC9660 &  parent )

inlineexplicitprivatenoexcept

Member Function Documentation

configureReferenceSwitches()

bool TMC9660::StopEvents::configureReferenceSwitches ( uint8_t  mask, bool  invertL, bool  invertR, bool  invertH, bool  swapLR  )

noexcept

Configure reference / limit-switch inputs.

Parameters

mask	Bit-mask 0…7 ; see REFERENCE_SWITCH_ENABLE.
invertL,R,H	invert individual polarities.
swapLR	swap left/right wiring.

Configure reference and limit switch inputs.

Parameters

mask	Bit mask of switches to enable (see REFERENCE_SWITCH_ENABLE).
invertL	Invert left switch polarity.
invertR	Invert right switch polarity.
invertH	Invert home switch polarity.
swapLR	Swap left and right wiring.

Returns

true on success

See also

REFERENCE_SWITCH_* parameters in the datasheet. REFERENCE_SWITCH_*

Datasheet REFERENCE_SWITCH_ENABLE

enableDeviationStop()

bool TMC9660::StopEvents::enableDeviationStop ( uint32_t  maxVelError, uint32_t  maxPosError, bool  softStop = true  )

noexcept

Stop when ramp target deviates from actual > thresholds.

Stop when ramp target deviates from actual values beyond the allowed thresholds.

Parameters

maxVelError	Maximum allowed velocity error.
maxPosError	Maximum allowed position error.
softStop	Use soft stop instead of immediate stop when true.

Returns

true on success

See also

EVENT_STOP_SETTINGS and STOP_ON_*_DEVIATION in the datasheet. STOP_ON_*_DEVIATION + EVENT_STOP_SETTINGS

Datasheet EVENT_STOP_SETTINGS

getAndClearLatchedPosition()

bool TMC9660::StopEvents::getAndClearLatchedPosition ( int32_t &  pos )

noexcept

Read and clear the latched position from a switch event.

Parameters

[out]

pos

Latched position value.

Returns

true on success

See also

LATCH_POSITION / RAMPER_LATCHED in the datasheet. LATCH_POSITION / RAMPER_LATCHED

Datasheet LATCH_POSITION

Friends And Related Symbol Documentation

TMC9660

friend class TMC9660

friend

Member Data Documentation

driver

TMC9660& TMC9660::StopEvents::driver

private

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

• TMC9660.hpp
• TMC9660.cpp