#include <cstdint>

Include dependency graph for tmc9660_param_mode_tmcl.hpp:

This graph shows which files directly or indirectly include this file:

Namespaces
namespace	tmc9660

namespace	tmc9660::tmcl

Macros
#define	OP_LIST(X)
	Operation codes accepted by the TMC9660 Parameter Mode (Table 18).

#define	X(NAME, VALUE, DOC) NAME = VALUE DOC,

#define	X(NAME, VALUE, DOC) case Op::NAME: return #NAME;

#define	CALC_OPERATION_LIST(X)

#define	X(NAME, VALUE, DOC) NAME = VALUE,

#define	X(NAME, VALUE, DOC) case CalcOperation::NAME: return #NAME;

#define	JUMP_CONDITION_LIST(X)

#define	X(NAME, VALUE, DOC) NAME = VALUE,

#define	X(NAME, VALUE, DOC) case JumpCondition::NAME: return #NAME;

#define	WAIT_CONDITION_LIST(X)

#define	X(NAME, VALUE, DOC) NAME = VALUE,

#define	X(NAME, VALUE, DOC) case WaitCondition::NAME: return #NAME;

#define	REPLY_CODE_LIST(X)
	Status codes returned in the status byte of every TMCL reply.

#define	X(NAME, VALUE, DOC) NAME = VALUE DOC,

#define	X(NAME, VALUE, DOC) case ReplyCode::NAME: return #NAME;

#define	RAMDEBUG_TYPE_LIST(X)
	TYPE field values when Operation::RamDebug is issued.

#define	X(NAME, VALUE, DOC) NAME = VALUE DOC,

#define	X(NAME, VALUE, DOC) case RamDebugType::NAME: return #NAME;

#define	RAMDEBUG_STATE_LIST(X)
	Values returned by ::RamDebugType::GET_STATE.

#define	X(NAME, VALUE, DOC) NAME = VALUE DOC,

#define	X(NAME, VALUE, DOC) case RamDebugState::NAME: return #NAME;

#define	GLOBAL_PARAM_BANK0_LIST(X)
	Non-motion parameters in bank 0: communication, I/O, heartbeat, hibernation, loops, auto-start, etc.

#define	X(NAME, VALUE, DOC) NAME = VALUE DOC,

#define	X(NAME, VALUE, DOC) case GlobalParamBank0::NAME: return #NAME;

#define	GLOBAL_PARAM_BANK2_LIST(X)
	User-script variables 0…15. RWE.

#define	X(NAME, VALUE, DOC) NAME = VALUE DOC,

#define	X(NAME, VALUE, DOC) case GlobalParamBank2::NAME: return #NAME;

#define	GLOBAL_PARAM_BANK3_LIST(X)
	Timer periods and input-trigger transitions for scripting interrupts.

#define	X(NAME, VALUE, DOC) NAME = VALUE DOC,

#define	X(NAME, VALUE, DOC) case GlobalParamBank3::NAME: return #NAME;

#define	X(NAME, VALUE, DOC) NAME = VALUE DOC,

#define	X(NAME, VALUE, DOC) case TriggerTransition::NAME: return #NAME;

#define	GATE_DRIVER_LIST(X)
	Parameters for gate driver timer and current settings (Table 20).

#define	X(NAME, VALUE, DOC) NAME = VALUE DOC,

#define	X(NAME, VALUE, DOC) case GateDriver::NAME: return #NAME;

#define	PWM_OUTPUT_POLARITY_LIST(X)
	Table — PWM Output Polarity:

#define	X(NAME, VALUE, DOC) NAME = VALUE DOC,

#define	X(NAME, VALUE, DOC) case PwmOutputPolarity::NAME: return #NAME;

#define	GATE_CURRENT_SINK_LIST(X)
	Enumerates possible values for UVW_SINK_CURRENT and Y2_SINK_CURRENT (50–2000mA).

#define	X(NAME, VALUE, DOC) NAME = VALUE DOC,

#define	X(NAME, VALUE, DOC) case GateCurrentSink::NAME: return #NAME;

#define	GATE_CURRENT_SOURCE_LIST(X)
	Enumerates possible values for UVW_SOURCE_CURRENT and Y2_SOURCE_CURRENT (25–1000mA).

#define	X(NAME, VALUE, DOC) NAME = VALUE DOC,

#define	X(NAME, VALUE, DOC) case GateCurrentSource::NAME: return #NAME;

#define	BOOTSTRAP_CURRENT_LIMIT_LIST(X)
	Enumerates possible values for BOOTSTRAP_CURRENT_LIMIT (45–391mA).

#define	X(NAME, VALUE, DOC) NAME = VALUE DOC,

#define	X(NAME, VALUE, DOC) case BootstrapCurrentLimit::NAME: return #NAME;

#define	OVERCURRENT_PROTECTION_LIST(X)
	Parameters for configuring gate driver overcurrent protection.

#define	X(NAME, VALUE, DOC) NAME = VALUE DOC,

#define	X(NAME, VALUE, DOC) case OvercurrentProtection::NAME: return #NAME;

#define	OVERCURRENT_ENABLE_LIST(X)
	Enumerates options for enabling or disabling overcurrent protection.

#define	X(NAME, VALUE, DOC) NAME = VALUE DOC,

#define	X(NAME, VALUE, DOC) case OvercurrentEnable::NAME: return #NAME;

#define	OVERCURRENT_THRESHOLD_LIST(X)
	Enumerates possible threshold values for overcurrent protection.

#define	X(NAME, VALUE, DOC) NAME = VALUE DOC,

#define	X(NAME, VALUE, DOC) case OvercurrentThreshold::NAME: return #NAME;

#define	OVERCURRENT_TIMING_LIST(X)
	Enumerates possible blanking and deglitch times for overcurrent protection.

#define	X(NAME, VALUE, DOC) NAME = VALUE DOC,

#define	X(NAME, VALUE, DOC) case OvercurrentTiming::NAME: return #NAME;

#define	VDS_USAGE_LIST(X)
	Enumerates options for VDS measurement usage in overcurrent protection.

#define	X(NAME, VALUE, DOC) NAME = VALUE DOC,

#define	X(NAME, VALUE, DOC) case VdsUsage::NAME: return #NAME;

#define	UNDERVOLTAGE_PROTECTION_LIST(X)
	Parameters for configuring undervoltage lockout (UVLO) protection.

#define	X(NAME, VALUE, DOC) NAME = VALUE DOC,

#define	X(NAME, VALUE, DOC) case UndervoltageProtection::NAME: return #NAME;

#define	UNDERVOLTAGE_LEVEL_LIST(X)
	Enumerates possible levels for undervoltage protection.

#define	X(NAME, VALUE, DOC) NAME = VALUE DOC,

#define	X(NAME, VALUE, DOC) case UndervoltageLevel::NAME: return #NAME;

#define	UNDERVOLTAGE_ENABLE_LIST(X)
	Enumerates options for enabling or disabling undervoltage protection.

#define	X(NAME, VALUE, DOC) NAME = VALUE DOC,

#define	X(NAME, VALUE, DOC) case UndervoltageEnable::NAME: return #NAME;

#define	VGS_SHORT_PROTECTION_LIST(X)
	Parameters for configuring gate-to-source (VGS) short circuit protection.

#define	X(NAME, VALUE, DOC) NAME = VALUE DOC,

#define	X(NAME, VALUE, DOC) case VgsShortProtection::NAME: return #NAME;

#define	VGS_SHORT_ENABLE_LIST(X)
	Enumerates options for enabling or disabling VGS short protection.

#define	X(NAME, VALUE, DOC) NAME = VALUE DOC,

#define	X(NAME, VALUE, DOC) case VgsShortEnable::NAME: return #NAME;

#define	VGS_BLANKING_TIME_LIST(X)
	Enumerates possible blanking times for VGS short protection.

#define	X(NAME, VALUE, DOC) NAME = VALUE DOC,

#define	X(NAME, VALUE, DOC) case VgsBlankingTime::NAME: return #NAME;

#define	VGS_DEGLITCH_TIME_LIST(X)
	Enumerates possible deglitch times for VGS short protection.

#define	X(NAME, VALUE, DOC) NAME = VALUE DOC,

#define	X(NAME, VALUE, DOC) case VgsDeglitchTime::NAME: return #NAME;

#define	MOTOR_CONFIG_LIST(X)
	Parameters for configuring motor characteristics and drive settings.

#define	X(NAME, VALUE, DOC) NAME = VALUE DOC,

#define	X(NAME, VALUE, DOC) case MotorConfig::NAME: return #NAME;

#define	MOTOR_TYPE_LIST(X)
	Enumerates supported motor types.

#define	X(NAME, VALUE, DOC) NAME = VALUE DOC,

#define	X(NAME, VALUE, DOC) case MotorType::NAME: return #NAME;

#define	MOTOR_DIRECTION_LIST(X)
	Enumerates motor rotation directions.

#define	X(NAME, VALUE, DOC) NAME = VALUE DOC,

#define	X(NAME, VALUE, DOC) case MotorDirection::NAME: return #NAME;

#define	PWM_SWITCHING_SCHEME_LIST(X)
	Enumerates PWM switching schemes.

#define	X(NAME, VALUE, DOC) NAME = VALUE DOC,

#define	X(NAME, VALUE, DOC) case PwmSwitchingScheme::NAME: return #NAME;

#define	COMMUTATION_MODE_LIST(X)
	Commutation modes define how the motor shaft angle is determined and the system's state.

#define	X(NAME, VALUE, DOC) NAME = VALUE DOC,

#define	X(NAME, VALUE, DOC) case CommutationMode::NAME: return #NAME;

#define	X(NAME, VALUE, DOC) NAME = VALUE DOC,

#define	X(NAME, VALUE, DOC) case IdleMotorPwmBehavior::NAME: return #NAME;

#define	ADC_CONFIG_LIST(X)
	Parameters for configuring ADCs for motor current measurement.

#define	X(NAME, VALUE, DOC) NAME = VALUE DOC,

#define	X(NAME, VALUE, DOC) case AdcConfig::NAME: return #NAME;

#define	ADC_SHUNT_TYPE_LIST(X)
	Enumerates shunt types for ADC measurements.

#define	X(NAME, VALUE, DOC) NAME = VALUE DOC,

#define	X(NAME, VALUE, DOC) case AdcShuntType::NAME: return #NAME;

#define	CSA_GAIN_LIST(X)
	Enumerates current sense amplifier gain settings.

#define	X(NAME, VALUE, DOC) NAME = VALUE DOC,

#define	X(NAME, VALUE, DOC) case CsaGain::NAME: return #NAME;

#define	CSA_FILTER_LIST(X)
	Enumerates current sense amplifier filter settings.

#define	X(NAME, VALUE, DOC) NAME = VALUE DOC,

#define	X(NAME, VALUE, DOC) case CsaFilter::NAME: return #NAME;

#define	ADC_MAPPING_LIST(X)
	Enumerates ADC mapping options for motor phases.

#define	X(NAME, VALUE, DOC) NAME = VALUE DOC,

#define	X(NAME, VALUE, DOC) case AdcMapping::NAME: return #NAME;

#define	ADC_INVERSION_LIST(X)
	Enumerates ADC inversion settings.

#define	X(NAME, VALUE, DOC) NAME = VALUE DOC,

#define	X(NAME, VALUE, DOC) case AdcInversion::NAME: return #NAME;

#define	PWM_FREQUENCY_LIST(X)
	Enumerates recommended PWM frequencies for different motor types.

#define	X(NAME, VALUE, DOC) NAME = VALUE DOC,

#define	X(NAME, VALUE, DOC) case PwmFrequency::NAME: return #NAME;

#define	FEEDBACK_SENSOR_CONFIG_LIST(X)
	Parameters for configuring feedback sensors (ABN, Hall, SPI encoders).

#define	X(NAME, VALUE, DOC) NAME = VALUE DOC,

#define	X(NAME, VALUE, DOC) case FeedbackSensorConfig::NAME: return #NAME;

#define	ABN_INIT_METHOD_LIST(X)
	Enumerates ABN encoder initialization methods.

#define	X(NAME, VALUE, DOC) NAME = VALUE DOC,

#define	X(NAME, VALUE, DOC) case AbnInitMethod::NAME: return #NAME;

#define	ABN_INIT_STATE_LIST(X)
	Enumerates ABN encoder initialization states.

#define	X(NAME, VALUE, DOC) NAME = VALUE DOC,

#define	X(NAME, VALUE, DOC) case AbnInitState::NAME: return #NAME;

#define	ABN_N_CHANNEL_FILTERING_LIST(X)
	Enumerates ABN N-channel filtering modes.

#define	X(NAME, VALUE, DOC) NAME = VALUE DOC,

#define	X(NAME, VALUE, DOC) case AbnNChannelFiltering::NAME: return #NAME;

#define	HALL_SECTOR_OFFSET_LIST(X)
	Enumerates Hall sector offsets.

#define	X(NAME, VALUE, DOC) NAME = VALUE DOC,

#define	X(NAME, VALUE, DOC) case HallSectorOffset::NAME: return #NAME;

#define	SPI_ENCODER_TRANSFER_LIST(X)
	Enumerates SPI encoder transfer modes.

#define	X(NAME, VALUE, DOC) NAME = VALUE DOC,

#define	X(NAME, VALUE, DOC) case SpiEncoderTransfer::NAME: return #NAME;

#define	SPI_INIT_METHOD_LIST(X)
	Enumerates SPI encoder initialization methods.

#define	X(NAME, VALUE, DOC) NAME = VALUE DOC,

#define	X(NAME, VALUE, DOC) case SpiInitMethod::NAME: return #NAME;

#define	ENABLE_DISABLE_LIST(X)
	Generic enable/disable settings used by various parameters.

#define	X(NAME, VALUE, DOC) NAME = VALUE DOC,

#define	X(NAME, VALUE, DOC) case EnableDisable::NAME: return #NAME;

#define	DIRECTION_LIST(X)
	Direction settings used by various encoder parameters.

#define	X(NAME, VALUE, DOC) NAME = VALUE DOC,

#define	X(NAME, VALUE, DOC) case Direction::NAME: return #NAME;

#define	X(NAME, VALUE, DOC) NAME = VALUE DOC,

#define	X(NAME, VALUE, DOC) case TorqueFluxControl::NAME: return #NAME;

#define	X(NAME, VALUE, DOC) NAME = VALUE DOC,

#define	X(NAME, VALUE, DOC) case TorqueFluxPiSeparation::NAME: return #NAME;

#define	X(NAME, VALUE, DOC) NAME = VALUE DOC,

#define	X(NAME, VALUE, DOC) case CurrentPiNormalization::NAME: return #NAME;

#define	X(NAME, VALUE, DOC) NAME = VALUE DOC,

#define	X(NAME, VALUE, DOC) case VelocityControl::NAME: return #NAME;

#define	X(NAME, VALUE, DOC) NAME = VALUE DOC,

#define	X(NAME, VALUE, DOC) case VelocitySensorSelection::NAME: return #NAME;

#define	X(NAME, VALUE, DOC) NAME = VALUE DOC,

#define	X(NAME, VALUE, DOC) case VelocityPiNorm::NAME: return #NAME;

#define	X(NAME, VALUE, DOC) NAME = VALUE DOC,

#define	X(NAME, VALUE, DOC) case VelocityMeterMode::NAME: return #NAME;

#define	X(NAME, VALUE, DOC) NAME = VALUE DOC,

#define	X(NAME, VALUE, DOC) case AccelerationFFShift::NAME: return #NAME;

#define	X(NAME, VALUE, DOC) NAME = VALUE DOC,

#define	X(NAME, VALUE, DOC) case PositionControl::NAME: return #NAME;

#define	X(NAME, VALUE, DOC) NAME = VALUE DOC,

#define	X(NAME, VALUE, DOC) case PositionSensorSelection::NAME: return #NAME;

#define	X(NAME, VALUE, DOC) NAME = VALUE DOC,

#define	X(NAME, VALUE, DOC) case PositionPiNorm::NAME: return #NAME;

#define	X(NAME, VALUE, DOC) NAME = VALUE DOC,

#define	X(NAME, VALUE, DOC) case RamperStopConfig::NAME: return #NAME;

#define	X(NAME, VALUE, DOC) NAME = VALUE DOC,

#define	X(NAME, VALUE, DOC) case ReferenceSwitchEnable::NAME: return #NAME;

#define	X(NAME, VALUE, DOC) NAME = VALUE DOC,

#define	X(NAME, VALUE, DOC) case ReferenceSwitchPolaritySwap::NAME: return #NAME;

#define	X(NAME, VALUE, DOC) NAME = VALUE DOC,

#define	X(NAME, VALUE, DOC) case ReferenceSwitchLatchSettings::NAME: return #NAME;

#define	X(NAME, VALUE, DOC) NAME = VALUE DOC,

#define	X(NAME, VALUE, DOC) case EventStopSettings::NAME: return #NAME;

#define	X(NAME, VALUE, DOC) NAME = VALUE DOC,

#define	X(NAME, VALUE, DOC) case BiquadFilter::NAME: return #NAME;

#define	X(NAME, VALUE, DOC) NAME = VALUE DOC,

#define	X(NAME, VALUE, DOC) case BiquadFilterEnable::NAME: return #NAME;

#define	X(NAME, VALUE, DOC) NAME = VALUE DOC,

#define	X(NAME, VALUE, DOC) case FaultHandling::NAME: return #NAME;

#define	X(NAME, VALUE, DOC) NAME = VALUE DOC,

#define	X(NAME, VALUE, DOC) case GdrvRetryBehaviour::NAME: return #NAME;

#define	X(NAME, VALUE, DOC) NAME = VALUE DOC,

#define	X(NAME, VALUE, DOC) case DriveFaultBehaviour::NAME: return #NAME;

#define	X(NAME, VALUE, DOC) NAME = VALUE DOC,

#define	X(NAME, VALUE, DOC) case IitMonitor::NAME: return #NAME;

#define	X(NAME, VALUE, DOC) NAME = VALUE DOC,

#define	X(NAME, VALUE, DOC) case TemperatureProtection::NAME: return #NAME;

#define	X(NAME, VALUE, DOC) NAME = VALUE DOC,

#define	X(NAME, VALUE, DOC) case HeartbeatMonitoring::NAME: return #NAME;

#define	X(NAME, VALUE, DOC) NAME = VALUE DOC,

#define	X(NAME, VALUE, DOC) case HeartbeatMonitoringConfig::NAME: return #NAME;

#define	X(NAME, VALUE, DOC) NAME = VALUE DOC,

#define	X(NAME, VALUE, DOC) case BrakeChopper::NAME: return #NAME;

#define	X(NAME, VALUE, DOC) NAME = VALUE DOC,

#define	X(NAME, VALUE, DOC) case MechanicalBrake::NAME: return #NAME;

#define	X(NAME, VALUE, DOC) NAME = VALUE DOC,

#define	X(NAME, VALUE, DOC) case ReferenceSearch::NAME: return #NAME;

#define	X(NAME, VALUE, DOC) NAME = VALUE DOC,

#define	X(NAME, VALUE, DOC) case ReferenceSwitchSearchMode::NAME: return #NAME;

#define	X(NAME, VALUE, DOC) NAME = VALUE DOC,

#define	X(NAME, VALUE, DOC) case ReferenceSearchCommand::NAME: return #NAME;

#define	X(NAME, VALUE, DOC) NAME = VALUE DOC,

#define	X(NAME, VALUE, DOC) case ReferenceSearchStatus::NAME: return #NAME;

#define	X(NAME, VALUE, DOC) NAME = VALUE DOC,

#define	X(NAME, VALUE, DOC) case StepDir::NAME: return #NAME;

#define	X(NAME, VALUE, DOC) NAME = VALUE DOC,

#define	X(NAME, VALUE, DOC) case StepDirStepDividerShift::NAME: return #NAME;

#define	X(NAME, VALUE, DOC) NAME = VALUE DOC,

#define	X(NAME, VALUE, DOC) case HibernationWakeup::NAME: return #NAME;

#define	X(NAME, VALUE, DOC) NAME = VALUE DOC,

#define	X(NAME, VALUE, DOC) case PowerDownTimeout::NAME: return #NAME;

#define	X(NAME, VALUE, DOC) NAME = VALUE DOC,

#define	X(NAME, VALUE, DOC) case SystemStatusSupply::NAME: return #NAME;

#define	X(NAME, VALUE, DOC) NAME = VALUE DOC,

#define	X(NAME, VALUE, DOC) case InternalMeasurement::NAME: return #NAME;

#define	X(NAME, VALUE, DOC) NAME = VALUE DOC,

#define	X(NAME, VALUE, DOC) case CombinedDiagnosticValues::NAME: return #NAME;

#define	X(NAME, VALUE, DOC) NAME = VALUE DOC,

#define	X(NAME, VALUE, DOC) case ErrorsAndFlags::NAME: return #NAME;

#define	FLAG(bit) (1u << (bit)) /** Bit flag macro */

#define	X(NAME, VALUE, DOC) NAME = VALUE DOC,

#define	X(NAME, VALUE, DOC) case GeneralStatusFlags::NAME: return #NAME;

#define	X(NAME, VALUE, DOC) NAME = VALUE DOC,

#define	X(NAME, VALUE, DOC) case GeneralErrorFlags::NAME: return #NAME;

#define	X(NAME, VALUE, DOC) NAME = VALUE DOC,

#define	X(NAME, VALUE, DOC) case GateDriverErrorFlags::NAME: return #NAME;

#define	X(NAME, VALUE, DOC) NAME = VALUE DOC,

#define	X(NAME, VALUE, DOC) case AdcStatusFlags::NAME: return #NAME;

#define	X(NAME, VALUE, DOC) NAME = VALUE DOC,

Enumerations
enum class	tmc9660::tmcl::Op : std::uint8_t { tmc9660::tmcl::X }

enum class	tmc9660::tmcl::CalcOperation : std::uint8_t { tmc9660::tmcl::X }

enum class	tmc9660::tmcl::JumpCondition : std::uint8_t { tmc9660::tmcl::X }

enum class	tmc9660::tmcl::WaitCondition : std::uint8_t { tmc9660::tmcl::X }

enum class	tmc9660::tmcl::ReplyCode : std::uint8_t { tmc9660::tmcl::X }

enum class	tmc9660::tmcl::RamDebugType : std::uint8_t { tmc9660::tmcl::X }

enum class	tmc9660::tmcl::RamDebugState : std::uint8_t { tmc9660::tmcl::X }

enum class	tmc9660::tmcl::GlobalParamBank0 : std::uint16_t { tmc9660::tmcl::X }

enum class	tmc9660::tmcl::GlobalParamBank2 : std::uint16_t { tmc9660::tmcl::X }

enum class	tmc9660::tmcl::GlobalParamBank3 : std::uint16_t { tmc9660::tmcl::X }

enum class	tmc9660::tmcl::GateDriver : uint16_t { tmc9660::tmcl::X }

enum class	tmc9660::tmcl::PwmOutputPolarity : std::uint8_t { tmc9660::tmcl::X }

enum class	tmc9660::tmcl::GateCurrentSink : std::uint8_t { tmc9660::tmcl::X }

enum class	tmc9660::tmcl::GateCurrentSource : std::uint8_t { tmc9660::tmcl::X }

enum class	tmc9660::tmcl::BootstrapCurrentLimit : std::uint8_t { tmc9660::tmcl::X }

enum class	tmc9660::tmcl::OvercurrentProtection : uint16_t { tmc9660::tmcl::X }

enum class	tmc9660::tmcl::OvercurrentEnable : std::uint8_t { tmc9660::tmcl::X }

enum class	tmc9660::tmcl::OvercurrentThreshold : std::uint8_t { tmc9660::tmcl::X }

enum class	tmc9660::tmcl::OvercurrentTiming : std::uint8_t { tmc9660::tmcl::X }

enum class	tmc9660::tmcl::VdsUsage : std::uint8_t { tmc9660::tmcl::X }

enum class	tmc9660::tmcl::UndervoltageProtection : uint16_t { tmc9660::tmcl::X }

enum class	tmc9660::tmcl::UndervoltageLevel : std::uint8_t { tmc9660::tmcl::X }

enum class	tmc9660::tmcl::UndervoltageEnable : std::uint8_t { tmc9660::tmcl::X }

enum class	tmc9660::tmcl::VgsShortProtection : uint16_t { tmc9660::tmcl::X }

enum class	tmc9660::tmcl::VgsShortEnable : uint8_t { tmc9660::tmcl::X }

enum class	tmc9660::tmcl::VgsBlankingTime : uint8_t { tmc9660::tmcl::X }

enum class	tmc9660::tmcl::VgsDeglitchTime : uint8_t { tmc9660::tmcl::X }

enum class	tmc9660::tmcl::MotorConfig : uint16_t { tmc9660::tmcl::X }

enum class	tmc9660::tmcl::MotorType : uint8_t { tmc9660::tmcl::X }

enum class	tmc9660::tmcl::MotorDirection : uint8_t { tmc9660::tmcl::X }

enum class	tmc9660::tmcl::PwmSwitchingScheme : uint8_t { tmc9660::tmcl::X }

enum class	tmc9660::tmcl::CommutationMode : std::uint8_t { tmc9660::tmcl::X }

enum class	tmc9660::tmcl::AdcConfig : uint16_t { tmc9660::tmcl::X }

enum class	tmc9660::tmcl::AdcShuntType : uint8_t { tmc9660::tmcl::X }

enum class	tmc9660::tmcl::CsaGain : uint8_t { tmc9660::tmcl::X }

enum class	tmc9660::tmcl::CsaFilter : uint8_t { tmc9660::tmcl::X }

enum class	tmc9660::tmcl::AdcMapping : uint8_t { tmc9660::tmcl::X }

enum class	tmc9660::tmcl::AdcInversion : uint8_t { tmc9660::tmcl::X }

enum class	tmc9660::tmcl::PwmFrequency : uint32_t { tmc9660::tmcl::X }

enum class	tmc9660::tmcl::FeedbackSensorConfig : uint16_t { tmc9660::tmcl::X }

enum class	tmc9660::tmcl::AbnInitMethod : uint8_t { tmc9660::tmcl::X }

enum class	tmc9660::tmcl::AbnInitState : uint8_t { tmc9660::tmcl::X }

enum class	tmc9660::tmcl::AbnNChannelFiltering : uint8_t { tmc9660::tmcl::X }

enum class	tmc9660::tmcl::HallSectorOffset : uint8_t { tmc9660::tmcl::X }

enum class	tmc9660::tmcl::SpiEncoderTransfer : uint8_t { tmc9660::tmcl::X }

enum class	tmc9660::tmcl::SpiInitMethod : uint8_t { tmc9660::tmcl::X }

enum class	tmc9660::tmcl::EnableDisable : uint8_t { tmc9660::tmcl::X }

enum class	tmc9660::tmcl::Direction : uint8_t { tmc9660::tmcl::X }

enum class	tmc9660::tmcl::Parameters : uint16_t { tmc9660::tmcl::X }

Functions
const char *	tmc9660::tmcl::to_string (Op op)

const char *	tmc9660::tmcl::to_string (CalcOperation op)

const char *	tmc9660::tmcl::to_string (JumpCondition c)

const char *	tmc9660::tmcl::to_string (WaitCondition w)

const char *	tmc9660::tmcl::to_string (ReplyCode rc)

const char *	tmc9660::tmcl::to_string (RamDebugType t)

const char *	tmc9660::tmcl::to_string (RamDebugState s)

const char *	tmc9660::tmcl::to_string (GlobalParamBank0 p)

const char *	tmc9660::tmcl::to_string (GlobalParamBank2 p)

const char *	tmc9660::tmcl::to_string (GlobalParamBank3 p)

const char *	tmc9660::tmcl::to_string (GateDriver gd)

const char *	tmc9660::tmcl::to_string (PwmOutputPolarity p)

const char *	tmc9660::tmcl::to_string (GateCurrentSink s)

const char *	tmc9660::tmcl::to_string (GateCurrentSource s)

const char *	tmc9660::tmcl::to_string (BootstrapCurrentLimit s)

const char *	tmc9660::tmcl::to_string (OvercurrentProtection p)

const char *	tmc9660::tmcl::to_string (OvercurrentEnable e)

const char *	tmc9660::tmcl::to_string (OvercurrentThreshold t)

const char *	tmc9660::tmcl::to_string (OvercurrentTiming t)

const char *	tmc9660::tmcl::to_string (VdsUsage v)

const char *	tmc9660::tmcl::to_string (UndervoltageProtection p)

const char *	tmc9660::tmcl::to_string (UndervoltageLevel level)

const char *	tmc9660::tmcl::to_string (UndervoltageEnable enable)

const char *	tmc9660::tmcl::to_string (VgsShortProtection p)

const char *	tmc9660::tmcl::to_string (VgsShortEnable e)

const char *	tmc9660::tmcl::to_string (VgsBlankingTime t)

const char *	tmc9660::tmcl::to_string (VgsDeglitchTime t)

const char *	tmc9660::tmcl::to_string (MotorConfig config)

const char *	tmc9660::tmcl::to_string (MotorType type)

const char *	tmc9660::tmcl::to_string (MotorDirection direction)

const char *	tmc9660::tmcl::to_string (PwmSwitchingScheme scheme)

const char *	tmc9660::tmcl::to_string (CommutationMode mode)

const char *	tmc9660::tmcl::to_string (AdcConfig config)

const char *	tmc9660::tmcl::to_string (AdcShuntType t)

const char *	tmc9660::tmcl::to_string (CsaGain g)

const char *	tmc9660::tmcl::to_string (CsaFilter f)

const char *	tmc9660::tmcl::to_string (AdcMapping m)

const char *	tmc9660::tmcl::to_string (AdcInversion i)

const char *	tmc9660::tmcl::to_string (PwmFrequency f)

const char *	tmc9660::tmcl::to_string (FeedbackSensorConfig config)

const char *	tmc9660::tmcl::to_string (AbnInitMethod method)

const char *	tmc9660::tmcl::to_string (AbnInitState state)

const char *	tmc9660::tmcl::to_string (AbnNChannelFiltering filtering)

const char *	tmc9660::tmcl::to_string (HallSectorOffset offset)

const char *	tmc9660::tmcl::to_string (SpiEncoderTransfer transfer)

const char *	tmc9660::tmcl::to_string (SpiInitMethod method)

const char *	tmc9660::tmcl::to_string (EnableDisable setting)

const char *	tmc9660::tmcl::to_string (Direction direction)

Trigger Transition Options
#define	TRIGGER_TRANSITION_LIST(X)
	For all "_TRIGGER_TRANSITION" params: 0=OFF, 1=RISING, 2=FALLING, 3=BOTH.

enum class	tmc9660::tmcl::TriggerTransition : uint8_t { tmc9660::tmcl::X }

const char *	tmc9660::tmcl::to_string (TriggerTransition e)

Idle Motor PWM Behavior
#define	IDLE_MOTOR_PWM_BEHAVIOR_LIST(X)
	PWM behavior in commutation mode "System Off" (Parameter ID: 9).

enum class	tmc9660::tmcl::IdleMotorPwmBehavior : std::uint8_t { tmc9660::tmcl::X }

const char *	tmc9660::tmcl::to_string (IdleMotorPwmBehavior behavior)

Torque and Flux Control Parameters
#define	TORQUE_FLUX_CONTROL_LIST(X)
	Parameters for configuring torque and flux control loops.

enum class	tmc9660::tmcl::TorqueFluxControl : uint16_t { tmc9660::tmcl::X }

const char *	tmc9660::tmcl::to_string (TorqueFluxControl config)

Torque/Flux PI Separation
#define	TORQUE_FLUX_PI_SEPARATION_LIST(X)
	Selects if torque and flux PI controllers use separate parameters.

enum class	tmc9660::tmcl::TorqueFluxPiSeparation : uint8_t { tmc9660::tmcl::X }

const char *	tmc9660::tmcl::to_string (TorqueFluxPiSeparation separation)

Current PI Normalization Format
#define	CURRENT_PI_NORMALIZATION_LIST(X)
	Normalization format for current PI controller output.

enum class	tmc9660::tmcl::CurrentPiNormalization : uint8_t { tmc9660::tmcl::X }

const char *	tmc9660::tmcl::to_string (CurrentPiNormalization norm)

Velocity Mode Parameters
#define	VELOCITY_CONTROL_LIST(X)
	Parameters for configuring velocity control and ramping.

enum class	tmc9660::tmcl::VelocityControl : uint16_t { tmc9660::tmcl::X }

const char *	tmc9660::tmcl::to_string (VelocityControl config)

Velocity Sensor Selection
#define	VELOCITY_SENSOR_SELECTION_LIST(X)
	Enumerates feedback sources for velocity PI regulator.

enum class	tmc9660::tmcl::VelocitySensorSelection : uint8_t { tmc9660::tmcl::X }

const char *	tmc9660::tmcl::to_string (VelocitySensorSelection selection)

Velocity PI Normalization
#define	VELOCITY_PI_NORM_LIST(X)
	Enumerates normalization formats for velocity PI controller.

enum class	tmc9660::tmcl::VelocityPiNorm : uint8_t { tmc9660::tmcl::X }

const char *	tmc9660::tmcl::to_string (VelocityPiNorm norm)

Velocity Meter Modes
#define	VELOCITY_METER_MODE_LIST(X)
	Enumerates velocity meter modes.

enum class	tmc9660::tmcl::VelocityMeterMode : std::uint8_t { tmc9660::tmcl::X }

const char *	tmc9660::tmcl::to_string (VelocityMeterMode mode)

Acceleration Feedforward Shift
#define	ACCELERATION_FF_SHIFT_LIST(X)
	Enumerates shift values for acceleration feedforward.

enum class	tmc9660::tmcl::AccelerationFFShift : uint8_t { tmc9660::tmcl::X }

const char *	tmc9660::tmcl::to_string (AccelerationFFShift shift)

Position Mode Parameters
#define	POSITION_CONTROL_LIST(X)
	Parameters for configuring position control and ramping.

enum class	tmc9660::tmcl::PositionControl : uint16_t { tmc9660::tmcl::X }

const char *	tmc9660::tmcl::to_string (PositionControl config)

Position Sensor Selection
#define	POSITION_SENSOR_SELECTION_LIST(X)
	Enumerates feedback sources for position PI regulator.

enum class	tmc9660::tmcl::PositionSensorSelection : uint8_t { tmc9660::tmcl::X }

const char *	tmc9660::tmcl::to_string (PositionSensorSelection selection)

Position PI Normalization
#define	POSITION_PI_NORM_LIST(X)
	Enumerates normalization formats for position PI controller.

enum class	tmc9660::tmcl::PositionPiNorm : uint8_t { tmc9660::tmcl::X }

const char *	tmc9660::tmcl::to_string (PositionPiNorm norm)

Ramper Stop Condition and Reference Switch Parameters
#define	RAMPER_STOP_CONFIG_LIST(X)
	Parameters for configuring ramper stop conditions and reference switch behavior.

enum class	tmc9660::tmcl::RamperStopConfig : uint16_t { tmc9660::tmcl::X }

const char *	tmc9660::tmcl::to_string (RamperStopConfig config)

Reference Switch Enable
#define	REFERENCE_SWITCH_ENABLE_LIST(X)
	Bitwise enable for stopping when reference switch input is triggered.

enum class	tmc9660::tmcl::ReferenceSwitchEnable : uint8_t { tmc9660::tmcl::X }

const char *	tmc9660::tmcl::to_string (ReferenceSwitchEnable enable)

Reference Switch Polarity and Swap
#define	REFERENCE_SWITCH_POLARITY_SWAP_LIST(X)
	Bitwise configuration for reference switch polarity and swapping.

enum class	tmc9660::tmcl::ReferenceSwitchPolaritySwap : uint8_t { tmc9660::tmcl::X }

const char *	tmc9660::tmcl::to_string (ReferenceSwitchPolaritySwap config)

Reference Switch Latch Settings
#define	REFERENCE_SWITCH_LATCH_SETTINGS_LIST(X)
	Bitwise configuration for reference switch latch behavior.

enum class	tmc9660::tmcl::ReferenceSwitchLatchSettings : uint8_t { tmc9660::tmcl::X }

const char *	tmc9660::tmcl::to_string (ReferenceSwitchLatchSettings setting)

Event Stop Settings
#define	EVENT_STOP_SETTINGS_LIST(X)
	Bitwise configuration for stop conditions.

enum class	tmc9660::tmcl::EventStopSettings : uint8_t { tmc9660::tmcl::X }

const char *	tmc9660::tmcl::to_string (EventStopSettings setting)

Biquad Filter Parameters
#define	BIQUAD_FILTER_LIST(X)
	Parameters for configuring biquad filters for torque and velocity control loops.

enum class	tmc9660::tmcl::BiquadFilter : uint16_t { tmc9660::tmcl::X }

const char *	tmc9660::tmcl::to_string (BiquadFilter e)

Biquad Filter Enable/Disable
#define	BIQUAD_FILTER_ENABLE_LIST(X)
	Enumerates enable/disable options for biquad filters.

enum class	tmc9660::tmcl::BiquadFilterEnable : uint8_t { tmc9660::tmcl::X }

const char *	tmc9660::tmcl::to_string (BiquadFilterEnable enable)

Fault Handling Parameters
#define	FAULT_HANDLING_LIST(X)
	Parameters for configuring system behavior on fault conditions.

enum class	tmc9660::tmcl::FaultHandling : uint16_t { tmc9660::tmcl::X }

const char *	tmc9660::tmcl::to_string (FaultHandling config)

Gate Driver Retry Behaviour
#define	GDRV_RETRY_BEHAVIOUR_LIST(X)
	System state after a gate driver fault occurs.

enum class	tmc9660::tmcl::GdrvRetryBehaviour : uint8_t { tmc9660::tmcl::X }

const char *	tmc9660::tmcl::to_string (GdrvRetryBehaviour behaviour)

Drive Fault Behaviour
#define	DRIVE_FAULT_BEHAVIOUR_LIST(X)
	System state after all retries fail following a fault.

enum class	tmc9660::tmcl::DriveFaultBehaviour : std::uint8_t { tmc9660::tmcl::X }

const char *	tmc9660::tmcl::to_string (DriveFaultBehaviour behaviour)

IIT Monitor Parameters
#define	IIT_MONITOR_LIST(X)
	Parameters for configuring IIT (I²t) monitoring and protection.

enum class	tmc9660::tmcl::IitMonitor : uint16_t { tmc9660::tmcl::X }

const char *	tmc9660::tmcl::to_string (IitMonitor e)

Temperature Protection Parameters
#define	TEMPERATURE_PROTECTION_LIST(X)
	Parameters for configuring temperature protection using external and internal sensors.

enum class	tmc9660::tmcl::TemperatureProtection : uint16_t { tmc9660::tmcl::X }

const char *	tmc9660::tmcl::to_string (TemperatureProtection e)

Heartbeat Monitoring Parameters
#define	HEARTBEAT_MONITORING_LIST(X)
	Parameters for configuring heartbeat monitoring.

enum class	tmc9660::tmcl::HeartbeatMonitoring : uint16_t { tmc9660::tmcl::X }

const char *	tmc9660::tmcl::to_string (HeartbeatMonitoring e)

Heartbeat Monitoring Config
#define	HEARTBEAT_MONITORING_CONFIG_LIST(X)
	Enumerates heartbeat monitoring interface selection.

enum class	tmc9660::tmcl::HeartbeatMonitoringConfig : uint8_t { tmc9660::tmcl::X }

const char *	tmc9660::tmcl::to_string (HeartbeatMonitoringConfig e)

Brake Chopper Parameters
#define	BRAKE_CHOPPER_LIST(X)
	Parameters for configuring the brake chopper functionality.

enum class	tmc9660::tmcl::BrakeChopper : uint16_t { tmc9660::tmcl::X }

const char *	tmc9660::tmcl::to_string (BrakeChopper e)

Mechanical Brake Parameters
#define	MECHANICAL_BRAKE_LIST(X)
	Parameters for controlling an external mechanical brake.

enum class	tmc9660::tmcl::MechanicalBrake : uint16_t { tmc9660::tmcl::X }

const char *	tmc9660::tmcl::to_string (MechanicalBrake e)

Reference Search (Automatic Homing) Parameters
#define	REFERENCE_SEARCH_LIST(X)
	Parameters for configuring automatic homing/reference search routines.

enum class	tmc9660::tmcl::ReferenceSearch : uint16_t { tmc9660::tmcl::X }

const char *	tmc9660::tmcl::to_string (ReferenceSearch e)

Reference Search Modes
#define	REFERENCE_SEARCH_MODE_LIST(X)
	Enumerates reference search (homing) patterns.

enum class	tmc9660::tmcl::ReferenceSwitchSearchMode : uint8_t { tmc9660::tmcl::X }

const char *	tmc9660::tmcl::to_string (ReferenceSwitchSearchMode e)

Reference Search TMCL Command Types
#define	REFERENCE_SEARCH_COMMAND_LIST(X)
	Enumerates TMCL RFS (13) command types for reference search.

enum class	tmc9660::tmcl::ReferenceSearchCommand : uint8_t { tmc9660::tmcl::X }

const char *	tmc9660::tmcl::to_string (ReferenceSearchCommand e)

Reference Search Status Codes
#define	REFERENCE_SEARCH_STATUS_LIST(X)
	Enumerates status codes for reference search state machine.

enum class	tmc9660::tmcl::ReferenceSearchStatus : uint8_t { tmc9660::tmcl::X }

const char *	tmc9660::tmcl::to_string (ReferenceSearchStatus e)

Step/Dir Interface Parameters
#define	STEP_DIR_LIST(X)
	Parameters for configuring the STEP/DIR target movement interface.

enum class	tmc9660::tmcl::StepDir : uint16_t { tmc9660::tmcl::X }

const char *	tmc9660::tmcl::to_string (StepDir e)

Step/Dir Microstep Divider Shift
#define	STEP_DIR_STEP_DIVIDER_SHIFT_LIST(X)
	Enumerates micro-step divider shift settings for STEP/DIR interface.

enum class	tmc9660::tmcl::StepDirStepDividerShift : uint8_t { tmc9660::tmcl::X }

const char *	tmc9660::tmcl::to_string (StepDirStepDividerShift e)

Hibernation and Wakeup Parameters
#define	HIBERNATION_WAKEUP_LIST(X)
	Parameters for configuring hibernation (low-power) and wakeup behavior.

enum class	tmc9660::tmcl::HibernationWakeup : uint16_t { tmc9660::tmcl::X }

const char *	tmc9660::tmcl::to_string (HibernationWakeup e)

Power Down Timeout
#define	POWER_DOWN_TIMEOUT_LIST(X)
	Enumerates timeout durations for power-down state.

enum class	tmc9660::tmcl::PowerDownTimeout : uint8_t { tmc9660::tmcl::X }

const char *	tmc9660::tmcl::to_string (PowerDownTimeout e)

System Supply Parameters
@{ System Supply Parameters
#define	SYSTEM_STATUS_SUPPLY_LIST(X)
	Parameters for supply voltage warnings.

enum class	tmc9660::tmcl::SystemStatusSupply : uint16_t { tmc9660::tmcl::X }

const char *	tmc9660::tmcl::to_string (SystemStatusSupply e)

Internal Measurement Parameters
@{ Internal Measurement Parameters
#define	INTERNAL_MEASUREMENT_LIST(X)
	Raw diagnostic values and FOC internal measurements.

enum class	tmc9660::tmcl::InternalMeasurement : uint16_t { tmc9660::tmcl::X }

const char *	tmc9660::tmcl::to_string (InternalMeasurement e)

Combined Diagnostic Values
@{ Combined Diagnostic Values
#define	COMBINED_DIAGNOSTIC_VALUES_LIST(X)
	Simplified combined measurement registers used during tuning.

enum class	tmc9660::tmcl::CombinedDiagnosticValues : uint16_t { tmc9660::tmcl::X }

const char *	tmc9660::tmcl::to_string (CombinedDiagnosticValues e)

Temperature and Error Flags Parameters
#define	ERRORS_AND_FLAGS_LIST(X)
	Parameters for temperature monitoring and error flags.

enum class	tmc9660::tmcl::ErrorsAndFlags : uint16_t { tmc9660::tmcl::X }

const char *	tmc9660::tmcl::to_string (ErrorsAndFlags e)

General Status Flags
#define	GENERAL_STATUS_FLAGS_LIST(X)
	General status flags indicating system state, events, and hardware availability.

enum class	tmc9660::tmcl::GeneralStatusFlags : uint32_t { tmc9660::tmcl::X }

const char *	tmc9660::tmcl::to_string (GeneralStatusFlags e)

General Error Flags
#define	GENERAL_ERROR_FLAGS_LIST(X)
	Enumerates general error flags for GENERAL_ERROR_FLAGS.

enum class	tmc9660::tmcl::GeneralErrorFlags : uint32_t { tmc9660::tmcl::X }

const char *	tmc9660::tmcl::to_string (GeneralErrorFlags e)

Gate Driver Error Flags
#define	GATE_DRIVER_ERROR_FLAGS_LIST(X)
	Enumerates gate driver error flags for GDRV_ERROR_FLAGS.

enum class	tmc9660::tmcl::GateDriverErrorFlags : uint32_t { tmc9660::tmcl::X }

const char *	tmc9660::tmcl::to_string (GateDriverErrorFlags e)

ADC Status Flags
@{
#define	ADC_STATUS_FLAGS_LIST(X)
	Bit flags reported via parameter ADC_STATUS_FLAGS.

enum class	tmc9660::tmcl::AdcStatusFlags : uint32_t { tmc9660::tmcl::X }

const char *	tmc9660::tmcl::to_string (AdcStatusFlags e)

Macro Definition Documentation

◆ ABN_INIT_METHOD_LIST

#define ABN_INIT_METHOD_LIST ( X )

Value:

    X(FORCED_PHI_E_ZERO_WITH_ACTIVE_SWING, 0, ) \
    X(FORCED_PHI_E_90_ZERO,               1, ) \
    X(USE_HALL,                           2, ) \
    X(USE_N_CHANNEL_OFFSET,               3, )

Enumerates ABN encoder initialization methods.

Table — ABN Initialization Methods:

NUMBER	NAME	DESCRIPTION
0	FORCED_PHI_E_ZERO_WITH_ACTIVE_SWING	Force phi_e zero with active swing.
1	FORCED_PHI_E_90_ZERO	Force phi_e 90-degree then zero.
2	USE_HALL	Use Hall sensor for alignment.
3	USE_N_CHANNEL_OFFSET	Use N-channel offset for alignment.

◆ ABN_INIT_STATE_LIST

#define ABN_INIT_STATE_LIST ( X )

Value:

    X(IDLE, 0, ) \
    X(BUSY, 1, ) \
    X(WAIT, 2, ) \
    X(DONE, 3, )

Enumerates ABN encoder initialization states.

Table — ABN Initialization States:

NUMBER	NAME	DESCRIPTION
0	IDLE	Initialization idle.
1	BUSY	Initialization in progress.
2	WAIT	Waiting for completion.
3	DONE	Initialization completed.

◆ ABN_N_CHANNEL_FILTERING_LIST

#define ABN_N_CHANNEL_FILTERING_LIST ( X )

Value:

    X(FILTERING_OFF,            0, ) \
    X(N_EVENT_ON_A_HIGH_B_HIGH, 1, ) \
    X(N_EVENT_ON_A_HIGH_B_LOW,  2, ) \
    X(N_EVENT_ON_A_LOW_B_HIGH,  3, ) \
    X(N_EVENT_ON_A_LOW_B_LOW,   4, )

Enumerates ABN N-channel filtering modes.

Table — ABN N-Channel Filtering Modes:

NUMBER	NAME	DESCRIPTION
0	FILTERING_OFF	No filtering.
1	N_EVENT_ON_A_HIGH_B_HIGH	Event on A high, B high.
2	N_EVENT_ON_A_HIGH_B_LOW	Event on A high, B low.
3	N_EVENT_ON_A_LOW_B_HIGH	Event on A low, B high.
4	N_EVENT_ON_A_LOW_B_LOW	Event on A low, B low.

◆ ACCELERATION_FF_SHIFT_LIST

#define ACCELERATION_FF_SHIFT_LIST ( X )

Value:

    X(NO_SHIFT,     0, ) \
    X(SHIFT_4_BIT,  1, ) \
    X(SHIFT_8_BIT,  2, ) \
    X(SHIFT_12_BIT, 3, ) \
    X(SHIFT_16_BIT, 4, ) \
    X(SHIFT_20_BIT, 5, ) \
    X(SHIFT_24_BIT, 6,  )

Enumerates shift values for acceleration feedforward.

Table — Acceleration Feedforward Shift:

NUMBER	NAME	DESCRIPTION
0	NO_SHIFT	No shift.
1	SHIFT_4_BIT	Shift right by 4 bits.
2	SHIFT_8_BIT	Shift right by 8 bits.
3	SHIFT_12_BIT	Shift right by 12 bits.
4	SHIFT_16_BIT	Shift right by 16 bits.
5	SHIFT_20_BIT	Shift right by 20 bits.
6	SHIFT_24_BIT	Shift right by 24 bits.

◆ ADC_CONFIG_LIST

#define ADC_CONFIG_LIST ( X )

Value:

    X(ADC_SHUNT_TYPE,             12, ) \
    X(ADC_I0_RAW,                 13, ) \
    X(ADC_I1_RAW,                 14, ) \
    X(ADC_I2_RAW,                 15, ) \
    X(ADC_I3_RAW,                 16, ) \
    X(CSA_GAIN_ADC_I0_TO_ADC_I2,  17, ) \
    X(CSA_GAIN_ADC_I3,            18, ) \
    X(CSA_FILTER_ADC_I0_TO_ADC_I2,19, ) \
    X(CSA_FILTER_ADC_I3,          20, ) \
    X(CURRENT_SCALING_FACTOR,     21, ) \
    X(PHASE_UX1_ADC_MAPPING,      22, ) \
    X(PHASE_VX2_ADC_MAPPING,      23, ) \
    X(PHASE_WY1_ADC_MAPPING,      24, ) \
    X(PHASE_Y2_ADC_MAPPING,       25, ) \
    X(ADC_I0_SCALE,               26, ) \
    X(ADC_I1_SCALE,               27, ) \
    X(ADC_I2_SCALE,               28, ) \
    X(ADC_I3_SCALE,               29, ) \
    X(ADC_I0_INVERTED,            30, ) \
    X(ADC_I1_INVERTED,            31, ) \
    X(ADC_I2_INVERTED,            32, ) \
    X(ADC_I3_INVERTED,            33, ) \
    X(ADC_I0_OFFSET,              34, ) \
    X(ADC_I1_OFFSET,              35, ) \
    X(ADC_I2_OFFSET,              36, ) \
    X(ADC_I3_OFFSET,              37, ) \
    X(ADC_I0,                     38, ) \
    X(ADC_I1,                     39, ) \
    X(ADC_I2,                     40, ) \
    X(ADC_I3,                     41, )

Parameters for configuring ADCs for motor current measurement.

Table — ADC Configuration Parameters:

NUMBER	NAME	DESCRIPTION
12	ADC_SHUNT_TYPE	Shunt type for ADC measurements. See AdcShuntType enum. Default: 4 (BOTTOM_SHUNTS).
13	ADC_I0_RAW	Raw ADC measurement for I0 shunt [-32768, 32767]. Read-only.
14	ADC_I1_RAW	Raw ADC measurement for I1 shunt [-32768, 32767]. Read-only.
15	ADC_I2_RAW	Raw ADC measurement for I2 shunt [-32768, 32767]. Read-only.
16	ADC_I3_RAW	Raw ADC measurement for I3 shunt [-32768, 32767]. Read-only.
17	CSA_GAIN_ADC_I0_TO_ADC_I2	Current sense amplifier gain for ADC I0, I1 and I2. See CsaGain enum. Default: 1 (GAIN_10X).
18	CSA_GAIN_ADC_I3	Current sense amplifier gain for ADC I3. See CsaGain enum. Default: 1 (GAIN_10X).
19	CSA_FILTER_ADC_I0_TO_ADC_I2	Current sense amplifier filter for ADC I0, I1 and I2. See CsaFilter enum. Default: 0 (T_0_55_MICROSEC).
20	CSA_FILTER_ADC_I3	Current sense amplifier filter for ADC I3. See CsaFilter enum. Default: 0 (T_0_55_MICROSEC).
21	CURRENT_SCALING_FACTOR	Current scaling factor converting internal units to real-world units [1, 65535]. Default: 520.
22	PHASE_UX1_ADC_MAPPING	Mapping ADC to UX1. See AdcMapping enum. Default: 0 (ADC_I0).
23	PHASE_VX2_ADC_MAPPING	Mapping ADC to VX2. See AdcMapping enum. Default: 1 (ADC_I1).
24	PHASE_WY1_ADC_MAPPING	Mapping ADC to WY1. See AdcMapping enum. Default: 2 (ADC_I2).
25	PHASE_Y2_ADC_MAPPING	Mapping ADC to Y2. See AdcMapping enum. Default: 3 (ADC_I3).
26	ADC_I0_SCALE	Scaling applied to ADC I0 [1, 32767]. Default: 1024.
27	ADC_I1_SCALE	Scaling applied to ADC I1 [1, 32767]. Default: 1024.
28	ADC_I2_SCALE	Scaling applied to ADC I2 [1, 32767]. Default: 1024.
29	ADC_I3_SCALE	Scaling applied to ADC I3 [1, 32767]. Default: 1024.
30	ADC_I0_INVERTED	Invert the reading of ADC I0. 0: NOT_INVERTED, 1: INVERTED. Default: 1.
31	ADC_I1_INVERTED	Invert the reading of ADC I1. 0: NOT_INVERTED, 1: INVERTED. Default: 1.
32	ADC_I2_INVERTED	Invert the reading of ADC I2. 0: NOT_INVERTED, 1: INVERTED. Default: 1.
33	ADC_I3_INVERTED	Invert the reading of ADC I3. 0: NOT_INVERTED, 1: INVERTED. Default: 1.
34	ADC_I0_OFFSET	Offset applied to ADC I0 measurement [-32768, 32767]. Default: 0.
35	ADC_I1_OFFSET	Offset applied to ADC I1 measurement [-32768, 32767]. Default: 0.
36	ADC_I2_OFFSET	Offset applied to ADC I2 measurement [-32768, 32767]. Default: 0.
37	ADC_I3_OFFSET	Offset applied to ADC I3 measurement [-32768, 32767]. Default: 0.
38	ADC_I0	Scaled and offset compensated ADC I0 measurement [-32768, 32767]. Read-only.
39	ADC_I1	Scaled and offset compensated ADC I1 measurement [-32768, 32767]. Read-only.
40	ADC_I2	Scaled and offset compensated ADC I2 measurement [-32768, 32767]. Read-only.
41	ADC_I3	Scaled and offset compensated ADC I3 measurement [-32768, 32767]. Read-only.

◆ ADC_INVERSION_LIST

#define ADC_INVERSION_LIST ( X )

Value:

X(NOT_INVERTED, 0, ) \

X(INVERTED, 1, )

Enumerates ADC inversion settings.

Table — ADC Inversion Settings:

NUMBER	NAME	DESCRIPTION
0	NOT_INVERTED	Normal reading (not inverted)
1	INVERTED	Inverted reading

◆ ADC_MAPPING_LIST

#define ADC_MAPPING_LIST ( X )

Value:

    X(ADC_I0, 0, ) \
    X(ADC_I1, 1, ) \
    X(ADC_I2, 2, ) \
    X(ADC_I3, 3, )

Enumerates ADC mapping options for motor phases.

Table — ADC Mapping:

NUMBER	NAME	DESCRIPTION
0	ADC_I0	Map to ADC I0
1	ADC_I1	Map to ADC I1
2	ADC_I2	Map to ADC I2
3	ADC_I3	Map to ADC I3

◆ ADC_SHUNT_TYPE_LIST

#define ADC_SHUNT_TYPE_LIST ( X )

Value:

    X(INLINE_UVW,    0, ) \
    X(INLINE_VW,     1, ) \
    X(INLINE_UW,     2, ) \
    X(INLINE_UV,     3, ) \
    X(BOTTOM_SHUNTS, 4, )

Enumerates shunt types for ADC measurements.

Table — ADC Shunt Types:

NUMBER	NAME	DESCRIPTION
0	INLINE_UVW	Inline shunts for U, V, W phases
1	INLINE_VW	Inline shunts for V, W phases
2	INLINE_UW	Inline shunts for U, W phases
3	INLINE_UV	Inline shunts for U, V phases
4	BOTTOM_SHUNTS	Bottom shunts

◆ ADC_STATUS_FLAGS_LIST

#define ADC_STATUS_FLAGS_LIST ( X )

Value:

    X(I0_CLIPPED,   0x00000001, ) \
    X(I1_CLIPPED,   0x00000002, ) \
    X(I2_CLIPPED,   0x00000004, ) \
    X(I3_CLIPPED,   0x00000008, ) \
    X(U0_CLIPPED,   0x00000010, ) \
    X(U1_CLIPPED,   0x00000020, ) \
    X(U2_CLIPPED,   0x00000040, ) \
    X(U3_CLIPPED,   0x00000080, ) \
    X(AIN0_CLIPPED, 0x00000100, ) \
    X(AIN1_CLIPPED, 0x00000200, ) \
    X(AIN2_CLIPPED, 0x00000400, ) \
    X(AIN3_CLIPPED, 0x00000800, ) \
    X(VM_CLIPPED,   0x00001000, ) \
    X(TEMP_CLIPPED, 0x00002000, )

Bit flags reported via parameter ADC_STATUS_FLAGS.

NUMBER	NAME	DESCRIPTION
0x00000001	I0_CLIPPED	No description provided.
0x00000002	I1_CLIPPED	No description provided.
0x00000004	I2_CLIPPED	No description provided.
0x00000008	I3_CLIPPED	No description provided.
0x00000010	U0_CLIPPED	No description provided.
0x00000020	U1_CLIPPED	No description provided.
0x00000040	U2_CLIPPED	No description provided.
0x00000080	U3_CLIPPED	No description provided.
0x00000100	AIN0_CLIPPED	No description provided.
0x00000200	AIN1_CLIPPED	No description provided.
0x00000400	AIN2_CLIPPED	No description provided.
0x00000800	AIN3_CLIPPED	No description provided.
0x00001000	VM_CLIPPED	No description provided.
0x00002000	TEMP_CLIPPED	No description provided.

◆ BIQUAD_FILTER_ENABLE_LIST

#define BIQUAD_FILTER_ENABLE_LIST ( X )

Value:

X(DISABLED, 0, ) \

X(ENABLED, 1, )

Enumerates enable/disable options for biquad filters.

Table — Biquad Filter Enable/Disable:

NUMBER	NAME	DESCRIPTION
0	DISABLED	Filter disabled.
1	ENABLED	Filter enabled.

◆ BIQUAD_FILTER_LIST

#define BIQUAD_FILTER_LIST ( X )

Value:

    X(TARGET_TORQUE_BIQUAD_FILTER_ENABLE,     318, ) \
    X(TARGET_TORQUE_BIQUAD_FILTER_ACOEFF_1,   319, ) \
    X(TARGET_TORQUE_BIQUAD_FILTER_ACOEFF_2,   320, ) \
    X(TARGET_TORQUE_BIQUAD_FILTER_BCOEFF_0,   321, ) \
    X(TARGET_TORQUE_BIQUAD_FILTER_BCOEFF_1,   322, ) \
    X(TARGET_TORQUE_BIQUAD_FILTER_BCOEFF_2,   323, ) \
    X(ACTUAL_VELOCITY_BIQUAD_FILTER_ENABLE,   324, ) \
    X(ACTUAL_VELOCITY_BIQUAD_FILTER_ACOEFF_1, 325, ) \
    X(ACTUAL_VELOCITY_BIQUAD_FILTER_ACOEFF_2, 326, ) \
    X(ACTUAL_VELOCITY_BIQUAD_FILTER_BCOEFF_0, 327, ) \
    X(ACTUAL_VELOCITY_BIQUAD_FILTER_BCOEFF_1, 328, ) \
    X(ACTUAL_VELOCITY_BIQUAD_FILTER_BCOEFF_2, 329,  )

Parameters for configuring biquad filters for torque and velocity control loops.

The TMC9660 Parameter Mode includes biquad filters to enhance the performance of its velocity and torque control loops. The biquad filter is a second-order digital filter, operating on current and past input/output samples using configurable coefficients.

The filter output Y(n) is calculated as: Y(n) = X(n)*b0 + X(n-1)*b1 + X(n-2)*b2 + Y(n-1)*a1 + Y(n-2)*a2 where:

X(n): current input sample
X(n-1), X(n-2): previous input samples
Y(n-1), Y(n-2): previous output samples
a1, a2, b0, b1, b2: filter coefficients (Q4.20 format, 24-bit)

The velocity biquad filter (enabled by default) filters the actual velocity used as input for the velocity controller. The torque biquad filter can be enabled to filter the target torque value.

NUMBER	NAME	DESCRIPTION
318	TARGET_TORQUE_BIQUAD_FILTER_ENABLE	Enable target torque biquad filter. 0: DISABLED, 1: ENABLED. Default: 0. RWE
319	TARGET_TORQUE_BIQUAD_FILTER_ACOEFF_1	Target torque biquad filter aCoeff_1 [-2147483648, 2147483647]. Default: 0. RWE
320	TARGET_TORQUE_BIQUAD_FILTER_ACOEFF_2	Target torque biquad filter aCoeff_2 [-2147483648, 2147483647]. Default: 0. RWE
321	TARGET_TORQUE_BIQUAD_FILTER_BCOEFF_0	Target torque biquad filter bCoeff_0 [-2147483648, 2147483647]. Default: 1048576. RWE
322	TARGET_TORQUE_BIQUAD_FILTER_BCOEFF_1	Target torque biquad filter bCoeff_1 [-2147483648, 2147483647]. Default: 0. RWE
323	TARGET_TORQUE_BIQUAD_FILTER_BCOEFF_2	Target torque biquad filter bCoeff_2 [-2147483648, 2147483647]. Default: 0. RWE
324	ACTUAL_VELOCITY_BIQUAD_FILTER_ENABLE	Enable actual velocity biquad filter. 0: DISABLED, 1: ENABLED. Default: 1. RWE
325	ACTUAL_VELOCITY_BIQUAD_FILTER_ACOEFF_1	Actual velocity biquad filter aCoeff_1 [-2147483648, 2147483647]. Default: 1849195. RWE
326	ACTUAL_VELOCITY_BIQUAD_FILTER_ACOEFF_2	Actual velocity biquad filter aCoeff_2 [-2147483648, 2147483647]. Default: 15961938. RWE
327	ACTUAL_VELOCITY_BIQUAD_FILTER_BCOEFF_0	Actual velocity biquad filter bCoeff_0 [-2147483648, 2147483647]. Default: 3665. RWE
328	ACTUAL_VELOCITY_BIQUAD_FILTER_BCOEFF_1	Actual velocity biquad filter bCoeff_1 [-2147483648, 2147483647]. Default: 7329. RWE
329	ACTUAL_VELOCITY_BIQUAD_FILTER_BCOEFF_2	Actual velocity biquad filter bCoeff_2 [-2147483648, 2147483647]. Default: 3665. RWE

◆ BOOTSTRAP_CURRENT_LIMIT_LIST

#define BOOTSTRAP_CURRENT_LIMIT_LIST ( X )

Value:

    X(CUR_45_MA,   0,  ) \
    X(CUR_91_MA,   1,  ) \
    X(CUR_141_MA,  2,  ) \
    X(CUR_191_MA,  3,  ) \
    X(CUR_267_MA,  4,  ) \
    X(CUR_292_MA,  5,  ) \
    X(CUR_341_MA,  6,  ) \
    X(CUR_391_MA,  7,  )

Enumerates possible values for BOOTSTRAP_CURRENT_LIMIT (45–391mA).

Table — Bootstrap Current Limit:

NUMBER	NAME	DESCRIPTION
0	CUR_45_MA	45 mA
1	CUR_91_MA	91 mA
2	CUR_141_MA	141 mA
3	CUR_191_MA	191 mA
4	CUR_267_MA	267 mA
5	CUR_292_MA	292 mA
6	CUR_341_MA	341 mA
7	CUR_391_MA	391 mA

◆ BRAKE_CHOPPER_LIST

#define BRAKE_CHOPPER_LIST ( X )

Value:

    X(BRAKE_CHOPPER_ENABLE,        212, ) \
    X(BRAKE_CHOPPER_VOLTAGE_LIMIT, 213, ) \
    X(BRAKE_CHOPPER_HYSTERESIS,    214, )

Parameters for configuring the brake chopper functionality.

The brake chopper dissipates excess energy via an external brake resistor and MOSFET when supply voltage exceeds a set limit.

Enable with BRAKE_CHOPPER_ENABLE.
When supply voltage exceeds BRAKE_CHOPPER_VOLTAGE_LIMIT, the brake chopper MOSFET is activated.
The MOSFET is deactivated when voltage drops below (limit - hysteresis).

Table — Brake Chopper Parameters:

NUMBER	NAME	DESCRIPTION
212	BRAKE_CHOPPER_ENABLE	Enable brake chopper. 0: DISABLED, 1: ENABLED. Default: 0. RWE
213	BRAKE_CHOPPER_VOLTAGE_LIMIT	Voltage limit [0.1V] to activate brake chopper. 50...1000. Default: 260. RWE
214	BRAKE_CHOPPER_HYSTERESIS	Hysteresis [0.1V] for deactivation. 0...50. Default: 5. RWE

◆ CALC_OPERATION_LIST

#define CALC_OPERATION_LIST ( X )

Value:

    X(CALC_ADD, 0, ) \
    X(CALC_SUB, 1, ) \
    X(CALC_MUL, 2, ) \
    X(CALC_DIV, 3, ) \
    X(CALC_MOD, 4, ) \
    X(CALC_AND, 5, ) \
    X(CALC_OR,  6, ) \
    X(CALC_XOR, 7, ) \
    X(CALC_NOT, 8, ) \
    X(CALC_LOAD,9, )

◆ COMBINED_DIAGNOSTIC_VALUES_LIST

#define COMBINED_DIAGNOSTIC_VALUES_LIST ( X )

Value:

    X(TORQUE_FLUX_COMBINED_TARGET_VALUES, 330, ) \
    X(TORQUE_FLUX_COMBINED_ACTUAL_VALUES, 331, ) \
    X(VOLTAGE_D_Q_COMBINED_ACTUAL_VALUES, 332, ) \
    X(INTEGRATED_ACTUAL_TORQUE_VALUE, 333, ) \
    X(INTEGRATED_ACTUAL_VELOCITY_VALUE, 334, )

Simplified combined measurement registers used during tuning.

These parameters provide compact diagnostic values primarily used during motor tuning operations. They combine multiple measurements into single 32-bit values or provide integrated measurements to facilitate data collection at lower sampling rates.

NUMBER	NAME	DESCRIPTION
330	TORQUE_FLUX_COMBINED_TARGET_VALUES	Raw (unscaled) torque and flux target values combined into one 32-bit value. Used for simplified compact measurement during tuning. [0...4294967295]. Read-only.
331	TORQUE_FLUX_COMBINED_ACTUAL_VALUES	Raw (unscaled) torque and flux actual values combined into one 32-bit value. Used for simplified compact measurement during tuning. [0...4294967295]. Read-only.
332	VOLTAGE_D_Q_COMBINED_ACTUAL_VALUES	Raw (unscaled) voltage actual values combined into one 32-bit value. Used for simplified compact measurement during tuning. [0...4294967295]. Read-only.
333	INTEGRATED_ACTUAL_TORQUE_VALUE	Periodically summed up actual torque value. Used for simplified measurement with low measurement frequency during tuning operations. [0...4294967295]. Read-only.
334	INTEGRATED_ACTUAL_VELOCITY_VALUE	Periodically summed up actual velocity value. Used for simplified measurement with low measurement frequency during tuning operations. [0...4294967295]. Read-only.

◆ COMMUTATION_MODE_LIST

#define COMMUTATION_MODE_LIST ( X )

Value:

    X(SYSTEM_OFF,                  0, ) \
    X(SYSTEM_OFF_LOW_SIDE_FETS_ON, 1, ) \
    X(SYSTEM_OFF_HIGH_SIDE_FETS_ON,2, ) \
    X(FOC_OPENLOOP_VOLTAGE_MODE,   3, ) \
    X(FOC_OPENLOOP_CURRENT_MODE,   4, ) \
    X(FOC_ABN,                     5, ) \
    X(FOC_HALL_SENSOR,             6, ) \
    X(RESERVED,                    7, ) \
    X(FOC_SPI_ENC,                 8, )

Commutation modes define how the motor shaft angle is determined and the system's state.

To turn a motor, the commutation mode must be selected using the parameter COMMUTATION_MODE. This specifies the feedback system used to determine the motor's shaft angle. It is also used to enable/disable the system or switch to a state with shorted motor coils.

Commutation Modes and Their Behavior:

System Off

Default state after power-on and reset events.
Certain operations like changing the motor type require this mode to be active.
PWM behavior is determined by the IDLE_MOTOR_PWM_BEHAVIOR parameter:
- 1: PWM signals are switched off, leaving the motor electrically floating (default).
- 0: PWM signals remain active.
Note: This mode must be manually selected when exiting from parameter mode to the bootloader.

System Off, Low-Side FETs On

Charges all low-side motor FETs, shorting the motor coils to ground.
Not used during normal operation.

System Off, High-Side FETs On

Charges all high-side motor FETs, shorting the motor coils to the supply voltage.
Not used during normal operation.

FOC (Openloop, Voltage Mode)

Applies a constant duty cycle to the motor.
Voltage is defined by the OPENLOOP_VOLTAGE parameter (PWM duty cycle relative to supply voltage).
Intended for initial setup purposes only.
Current is not limited, so configure the OPENLOOP_VOLTAGE parameter with care.

FOC (Openloop, Current Mode)

Applies a constant current to the motor.
Current is defined by the OPENLOOP_CURRENT parameter and regulated by the flux control loop.
For stepper/BLDC motors:
- Commutation angle is calculated by the internal hardware ramper block.
- Maximum current is limited by the MAX_FLUX parameter.
- Requires setting a velocity target using the TARGET_VELOCITY parameter.
For DC motors:
- No velocity input is needed.
- Maximum current is limited by the MAX_TORQUE parameter.

FOC (ABN), FOC (Hall Sensor), FOC (SPI Encoder)

Uses sensor feedback to calculate the motor shaft position.
Feedback source must be configured before activating this mode.
For stepper/BLDC motors:
- Commutation angle is calculated from the selected feedback method.
- Supports torque, velocity, and position control.
- Torque is applied to the motor, and the flux value is assumed zero unless field weakening is active.
- Maximum torque is limited by the MAX_TORQUE parameter.
For DC motors:
- Supports velocity or position control.
- Maximum torque is limited by the MAX_TORQUE parameter.

Parameters to Set Up Commutation Mode:

COMMUTATION_MODE (Parameter ID: 4)
- 0: SYSTEM_OFF
- 1: SYSTEM_OFF_LOW_SIDE_FETS_ON
- 2: SYSTEM_OFF_HIGH_SIDE_FETS_ON
- 3: FOC_OPENLOOP_VOLTAGE_MODE
- 4: FOC_OPENLOOP_CURRENT_MODE
- 5: FOC_ABN
- 6: FOC_HALL_SENSOR
- 7: RESERVED
- 8: FOC_SPI_ENC
IDLE_MOTOR_PWM_BEHAVIOR (Parameter ID: 9)
- 0: PWM_ON_WHEN_MOTOR_IDLE
- 1: PWM_OFF_WHEN_MOTOR_IDLE (default)

Commutation modes define how the motor shaft angle is determined and the system's state.

Table — Commutation Modes:

NUMBER	NAME	DESCRIPTION
0	SYSTEM_OFF	System off (default after power-on/reset).
1	SYSTEM_OFF_LOW_SIDE_FETS_ON	All low-side FETs on (coils shorted to ground).
2	SYSTEM_OFF_HIGH_SIDE_FETS_ON	All high-side FETs on (coils shorted to supply).
3	FOC_OPENLOOP_VOLTAGE_MODE	Open-loop voltage mode (constant duty cycle).
4	FOC_OPENLOOP_CURRENT_MODE	Open-loop current mode (constant current).
5	FOC_ABN	FOC with ABN encoder feedback.
6	FOC_HALL_SENSOR	FOC with Hall sensor feedback.
7	RESERVED	Reserved.
8	FOC_SPI_ENC	FOC with SPI encoder feedback.
9	IDLE_MOTOR_PWM_BEHAVIOR	Idle motor PWM behavior.

◆ CSA_FILTER_LIST

#define CSA_FILTER_LIST ( X )

Value:

    X(T_0_55_MICROSEC, 0, ) \
    X(T_0_75_MICROSEC, 1, ) \
    X(T_1_0_MICROSEC,  2, ) \
    X(T_1_35_MICROSEC, 3, )

Enumerates current sense amplifier filter settings.

Table — Current Sense Amplifier Filter:

NUMBER	NAME	DESCRIPTION
0	T_0_55_MICROSEC	0.55 μs filter time
1	T_0_75_MICROSEC	0.75 μs filter time
2	T_1_0_MICROSEC	1.0 μs filter time
3	T_1_35_MICROSEC	1.35 μs filter time

◆ CSA_GAIN_LIST

#define CSA_GAIN_LIST ( X )

Value:

    X(GAIN_5X,           0, ) \
    X(GAIN_10X,          1, ) \
    X(GAIN_20X,          2, ) \
    X(GAIN_40X,          3, ) \
    X(GAIN_1X_BYPASS_CSA, 4, )

Enumerates current sense amplifier gain settings.

Table — Current Sense Amplifier Gain:

NUMBER	NAME	DESCRIPTION
0	GAIN_5X	5x gain
1	GAIN_10X	10x gain
2	GAIN_20X	20x gain
3	GAIN_40X	40x gain
4	GAIN_1X_BYPASS_CSA	1x gain (bypass CSA)

◆ CURRENT_PI_NORMALIZATION_LIST

#define CURRENT_PI_NORMALIZATION_LIST ( X )

Value:

X(SHIFT_8_BIT, 0, ) \

X(SHIFT_16_BIT, 1, )

Normalization format for current PI controller output.

Table — Current PI Normalization Format:

NUMBER	NAME	DESCRIPTION
0	SHIFT_8_BIT	Output shifted right by 8 bits.
1	SHIFT_16_BIT	Output shifted right by 16 bits.

◆ DIRECTION_LIST

#define DIRECTION_LIST ( X )

Value:

X(NOT_INVERTED, 0, ) \

X(INVERTED, 1, )

Direction settings used by various encoder parameters.

Table — Direction Settings:

NUMBER	NAME	DESCRIPTION
0	NOT_INVERTED	Normal direction.
1	INVERTED	Inverted direction.

◆ DRIVE_FAULT_BEHAVIOUR_LIST

#define DRIVE_FAULT_BEHAVIOUR_LIST ( X )

Value:

    X(OPEN_CIRCUIT,                       0, ) \
    X(ELECTRICAL_BRAKING,                 1, ) \
    X(MECHANICAL_BRAKING_AND_OPEN_CIRCUIT,2, ) \
    X(MECHANICAL_AND_ELECTRICAL_BRAKING,  3, )

System state after all retries fail following a fault.

Table — Drive Fault Behaviour:

NUMBER	NAME	DESCRIPTION
0	OPEN_CIRCUIT	Switch off and discharge LS/HS gates; motor spins freely.
1	ELECTRICAL_BRAKING	Switch off and, if possible, enable LS/HS gates for electrical braking.
2	MECHANICAL_BRAKING_AND_OPEN_CIRCUIT	Switch off, discharge LS/HS gates, and engage mechanical brake if configured.
3	MECHANICAL_AND_ELECTRICAL_BRAKING	Switch off, enable LS/HS gates if possible, and engage mechanical brake if configured.

◆ ENABLE_DISABLE_LIST

#define ENABLE_DISABLE_LIST ( X )

Value:

X(DISABLED, 0, ) \

X(ENABLED, 1, )

Generic enable/disable settings used by various parameters.

Table — Enable/Disable Settings:

NUMBER	NAME	DESCRIPTION
0	DISABLED	Feature disabled.
1	ENABLED	Feature enabled.

◆ ERRORS_AND_FLAGS_LIST

#define ERRORS_AND_FLAGS_LIST ( X )

Value:

    X(GENERAL_STATUS_FLAGS, 289, ) \
    /* Temperature parameters defined in TEMPERATURE_PROTECTION_LIST */ \
    X(GENERAL_ERROR_FLAGS, 299, ) \
    X(GDRV_ERROR_FLAGS, 300, ) \
    X(ADC_STATUS_FLAGS, 301, )

Parameters for temperature monitoring and error flags.

NUMBER	NAME	DESCRIPTION
289	GENERAL_STATUS_FLAGS	General status flags. See GeneralStatusFlags enum. Read-only.
293	EXTERNAL_TEMPERATURE	External temperature sensor reading [0-65535]. Read-only.
294	EXTERNAL_TEMPERATURE_SHUTDOWN_THRESHOLD	Shutdown threshold for external temperature [0-65535]. Default: 65535.
295	EXTERNAL_TEMPERATURE_WARNING_THRESHOLD	Warning threshold for external temperature [0-65535]. Default: 65535.
296	CHIP_TEMPERATURE	Chip temperature reading [0-65535]. Read-only.
297	CHIP_TEMPERATURE_SHUTDOWN_THRESHOLD	Shutdown threshold for chip temperature [0-65535]. Default: 65535.
298	CHIP_TEMPERATURE_WARNING_THRESHOLD	Warning threshold for chip temperature [0-65535]. Default: 65535.
299	GENERAL_ERROR_FLAGS	General error flags. See GeneralErrorFlags enum. Read-only.
300	GDRV_ERROR_FLAGS	Gate driver error flags. See GateDriverErrorFlags enum. Read-only.
301	ADC_STATUS_FLAGS	ADC status flags. See AdcStatusFlags enum. Write-to-clear.

◆ EVENT_STOP_SETTINGS_LIST

#define EVENT_STOP_SETTINGS_LIST ( X )

Value:

    X(DO_HARD_STOP,                      0, ) \
    X(DO_SOFT_STOP,                      1, ) \
    X(STOP_ON_POS_DEVIATION,             2, ) \
    X(STOP_ON_POS_DEVIATION_SOFT_STOP,   3, ) \
    X(STOP_ON_VEL_DEVIATION,             4, ) \
    X(STOP_ON_VEL_DEVIATION_SOFT_STOP,   5, ) \
    X(STOP_ON_POS_VEL_DEVIATION,         6, ) \
    X(STOP_ON_POS_VEL_DEVIATION_SOFT_STOP, 7, )

Bitwise configuration for stop conditions.

Table — Event Stop Settings:

NUMBER	NAME	DESCRIPTION
0	DO_HARD_STOP	Hard stop on event.
1	DO_SOFT_STOP	Soft stop (ramp down) on event.
2	STOP_ON_POS_DEVIATION	Stop on position deviation.
3	STOP_ON_POS_DEVIATION_SOFT_STOP	Stop on position deviation, soft stop.
4	STOP_ON_VEL_DEVIATION	Stop on velocity deviation.
5	STOP_ON_VEL_DEVIATION_SOFT_STOP	Stop on velocity deviation, soft stop.
6	STOP_ON_POS_VEL_DEVIATION	Stop on position or velocity deviation.
7	STOP_ON_POS_VEL_DEVIATION_SOFT_STOP	Stop on position or velocity deviation, soft stop.

◆ FAULT_HANDLING_LIST

#define FAULT_HANDLING_LIST ( X )

Value:

    X(GDRV_RETRY_BEHAVIOUR, 286,         ) \
    X(DRIVE_FAULT_BEHAVIOUR, 287,        ) \
    X(FAULT_HANDLER_NUMBER_OF_RETRIES, 288, )

Parameters for configuring system behavior on fault conditions.

The TMC9660 supports advanced fault handling for overtemperature, I²T, and gate driver faults. The system can be configured to react with open-circuit, electrical braking, and/or mechanical braking. For gate driver faults, a retry mechanism is available. The number of retries and retry behavior are configurable. If all retries fail, the standard drive fault behavior is applied.

Table — Fault Handling Parameters:

NUMBER	NAME	DESCRIPTION
286	GDRV_RETRY_BEHAVIOUR	State after a gate driver fault. See GdrvRetryBehaviour. Default: 0 (OPEN_CIRCUIT). RWE
287	DRIVE_FAULT_BEHAVIOUR	State after all retries fail. See DriveFaultBehaviour. Default: 0 (OPEN_CIRCUIT). RWE
288	FAULT_HANDLER_NUMBER_OF_RETRIES	Max number of retries per detected fault [0...255]. Default: 5. RWE

◆ FEEDBACK_SENSOR_CONFIG_LIST

#define FEEDBACK_SENSOR_CONFIG_LIST ( X )

Parameters for configuring feedback sensors (ABN, Hall, SPI encoders).

Table — Feedback Sensor Configuration Parameters:

NUMBER	NAME	DESCRIPTION
89	ABN_1_PHI_E	Phi_e calculated from ABN feedback [-32768, 32767]. Read-only.
90	ABN_1_STEPS	ABN encoder steps per rotation (CPR) [0, 16777215]. Default: 65536.
91	ABN_1_DIRECTION	ABN encoder rotation direction. 0: NOT_INVERTED, 1: INVERTED. Default: 0.
92	ABN_1_INIT_METHOD	ABN initialization method. See AbnInitMethod enum. Default: 0.
93	ABN_1_INIT_STATE	ABN initialization state. See AbnInitState enum. Read-only.
94	ABN_1_INIT_DELAY	Delay for forced phi_e initialization [1000, 10000 ms]. Default: 1000.
95	ABN_1_INIT_VELOCITY	Init velocity for N-channel offset [-200000, 200000]. Default: 5.
96	ABN_1_N_CHANNEL_PHI_E_OFFSET	Offset between phi_e zero and ABN index pulse [-32768, 32767]. Default: 0.
97	ABN_1_N_CHANNEL_INVERTED	ABN N-channel inversion. 0: ACTIVE_HIGH, 1: ACTIVE_LOW. Default: 0.
98	ABN_1_N_CHANNEL_FILTERING	ABN N-channel filtering. See AbnNChannelFiltering enum. Default: 0.
99	ABN_1_CLEAR_ON_NEXT_NULL	Clear position on next N-channel event. 0: DISABLED, 1: ENABLED. Default: 0.
100	ABN_1_VALUE	Raw ABN encoder counter value [0, 16777215]. Read-only.
74	HALL_PHI_E	Phi_e calculated from Hall feedback [-32768, 32767]. Read-only.
75	HALL_SECTOR_OFFSET	Hall sector offset. See HallSectorOffset enum. Default: 0.
76	HALL_FILTER_LENGTH	Hall signal filter length [0, 255]. Default: 0.
77	HALL_POSITION_0_OFFSET	Hall offset for 0-degree position [-32768, 32767]. Default: 0.
78	HALL_POSITION_60_OFFSET	Hall offset for 60-degree position [-32768, 32767]. Default: 10922.
79	HALL_POSITION_120_OFFSET	Hall offset for 120-degree position [-32768, 32767]. Default: 21845.
80	HALL_POSITION_180_OFFSET	Hall offset for 180-degree position [-32768, 32767]. Default: -32768.
81	HALL_POSITION_240_OFFSET	Hall offset for 240-degree position [-32768, 32767]. Default: -21846.
82	HALL_POSITION_300_OFFSET	Hall offset for 300-degree position [-32768, 32767]. Default: -10923.
83	HALL_INVERT_DIRECTION	Invert Hall angle direction. 0: NOT_INVERTED, 1: INVERTED. Default: 0.
84	HALL_EXTRAPOLATION_ENABLE	Enable Hall extrapolation. 0: DISABLED, 1: ENABLED. Default: 0.
85	HALL_PHI_E_OFFSET	Hall sensor mounting tolerance compensation [-32768, 32767]. Default: 0.
181	SPI_ENCODER_CS_SETTLE_DELAY_TIME	CS settle delay time [0, 6375 ns]. Default: 0.
182	SPI_ENCODER_CS_IDLE_DELAY_TIME	CS idle delay time between frames [0, 102 us]. Default: 0.
183	SPI_ENCODER_MAIN_TRANSFER_CMD_SIZE	Size of first SPI transfer frame [1, 16]. Default: 1.
184	SPI_ENCODER_SECONDARY_TRANSFER_CMD_SIZE	Size of optional secondary SPI transfer [0, 15]. Default: 0.
185	SPI_ENCODER_TRANSFER_DATA_3_0	Transmit data and read received data (bytes 0-3). Default: 0.
186	SPI_ENCODER_TRANSFER_DATA_7_4	Transmit data and read received data (bytes 4-7). Default: 0.
187	SPI_ENCODER_TRANSFER_DATA_11_8	Transmit data and read received data (bytes 8-11). Default: 0.
188	SPI_ENCODER_TRANSFER_DATA_15_12	Transmit data and read received data (bytes 12-15). Default: 0.
189	SPI_ENCODER_TRANSFER	SPI interface control. See SpiEncoderTransfer enum. Default: 0.
190	SPI_ENCODER_POSITION_COUNTER_MASK	Mask to extract position from received data [0, 4294967295]. Default: 0.
191	SPI_ENCODER_POSITION_COUNTER_SHIFT	Right bit shift for position value before mask [0, 127]. Default: 0.
192	SPI_ENCODER_POSITION_COUNTER_VALUE	Actual SPI encoder position value [0, 4294967295]. Read-only.
193	SPI_ENCODER_COMMUTATION_ANGLE	Actual absolute encoder angle value [-32768, 32767]. Read-only.
194	SPI_ENCODER_INITIALIZATION_METHOD	Encoder initialization method. See SpiInitMethod enum. Default: 0.
195	SPI_ENCODER_DIRECTION	SPI encoder direction. 0: NOT_INVERTED, 1: INVERTED. Default: 0.
196	SPI_ENCODER_OFFSET	Internal commutation offset [0, 4294967295]. Default: 0.
197	SPI_LUT_CORRECTION_ENABLE	Enable lookup table correction. 0: DISABLED, 1: ENABLED. Default: 0.
198	SPI_LUT_ADDRESS_SELECT	Address to read/write in lookup table [0, 255]. Default: 0.
199	SPI_LUT_DATA	Data to read/write to lookup table address [-128, 127]. Default: 0.
201	SPI_LUT_COMMON_SHIFT_FACTOR	LUT entries are multiplied with 2^SHIFT_FACTOR [-128, 127]. Default: 0.
174	ABN_2_STEPS	ABN 2 encoder steps per rotation (CPR) [0, 16777215]. Default: 1024.
175	ABN_2_DIRECTION	ABN 2 encoder rotation direction. 0: NORMAL, 1: INVERTED. Default: 0.
176	ABN_2_GEAR_RATIO	ABN 2 encoder gear ratio [1, 255]. Default: 1.
177	ABN_2_ENABLE	Enable ABN 2 encoder. 0: DISABLED, 1: ENABLED. Default: 0.
178	ABN_2_VALUE	Raw ABN 2 encoder counter value [0, 4294967295]. Read-only.

◆ FLAG

#define FLAG ( bit ) (1u << (bit)) /** Bit flag macro */

◆ GATE_CURRENT_SINK_LIST

#define GATE_CURRENT_SINK_LIST ( X )

Value:

    X(CUR_50_MA,    0,  ) \
    X(CUR_100_MA,   1,  ) \
    X(CUR_160_MA,   2,  ) \
    X(CUR_210_MA,   3,  ) \
    X(CUR_270_MA,   4,  ) \
    X(CUR_320_MA,   5,  ) \
    X(CUR_380_MA,   6,  ) \
    X(CUR_430_MA,   7,  ) \
    X(CUR_580_MA,   8,  ) \
    X(CUR_720_MA,   9,  ) \
    X(CUR_860_MA,   10, ) \
    X(CUR_1000_MA,  11, ) \
    X(CUR_1250_MA,  12, ) \
    X(CUR_1510_MA,  13, ) \
    X(CUR_1770_MA,  14, ) \
    X(CUR_2000_MA,  15, )

Enumerates possible values for UVW_SINK_CURRENT and Y2_SINK_CURRENT (50–2000mA).

Table — Gate Current Sink:

NUMBER	NAME	DESCRIPTION
0	CUR_50_MA	50 mA
1	CUR_100_MA	100 mA
2	CUR_160_MA	160 mA
3	CUR_210_MA	210 mA
4	CUR_270_MA	270 mA
5	CUR_320_MA	320 mA
6	CUR_380_MA	380 mA
7	CUR_430_MA	430 mA
8	CUR_580_MA	580 mA
9	CUR_720_MA	720 mA
10	CUR_860_MA	860 mA
11	CUR_1000_MA	1000 mA
12	CUR_1250_MA	1250 mA
13	CUR_1510_MA	1510 mA
14	CUR_1770_MA	1770 mA
15	CUR_2000_MA	2000 mA

◆ GATE_CURRENT_SOURCE_LIST

#define GATE_CURRENT_SOURCE_LIST ( X )

Value:

    X(CUR_25_MA,    0,  ) \
    X(CUR_50_MA,    1,  ) \
    X(CUR_80_MA,    2,  ) \
    X(CUR_105_MA,   3,  ) \
    X(CUR_135_MA,   4,  ) \
    X(CUR_160_MA,   5,  ) \
    X(CUR_190_MA,   6,  ) \
    X(CUR_215_MA,   7,  ) \
    X(CUR_290_MA,   8,  ) \
    X(CUR_360_MA,   9,  ) \
    X(CUR_430_MA,   10, ) \
    X(CUR_500_MA,   11, ) \
    X(CUR_625_MA,   12, ) \
    X(CUR_755_MA,   13, ) \
    X(CUR_855_MA,   14, ) \
    X(CUR_1000_MA,  15, )

Enumerates possible values for UVW_SOURCE_CURRENT and Y2_SOURCE_CURRENT (25–1000mA).

Table — Gate Current Source:

NUMBER	NAME	DESCRIPTION
0	CUR_25_MA	25 mA
1	CUR_50_MA	50 mA
2	CUR_80_MA	80 mA
3	CUR_105_MA	105 mA
4	CUR_135_MA	135 mA
5	CUR_160_MA	160 mA
6	CUR_190_MA	190 mA
7	CUR_215_MA	215 mA
8	CUR_290_MA	290 mA
9	CUR_360_MA	360 mA
10	CUR_430_MA	430 mA
11	CUR_500_MA	500 mA
12	CUR_625_MA	625 mA
13	CUR_755_MA	755 mA
14	CUR_855_MA	855 mA
15	CUR_1000_MA	1000 mA

◆ GATE_DRIVER_ERROR_FLAGS_LIST

#define GATE_DRIVER_ERROR_FLAGS_LIST ( X )

Enumerates gate driver error flags for GDRV_ERROR_FLAGS.

NUMBER	NAME	DESCRIPTION
FLAG(0)	U_LOW_SIDE_OVERCURRENT	U low side overcurrent.
FLAG(1)	V_LOW_SIDE_OVERCURRENT	V low side overcurrent.
FLAG(2)	W_LOW_SIDE_OVERCURRENT	W low side overcurrent.
FLAG(3)	Y2_LOW_SIDE_OVERCURRENT	Y2 low side overcurrent.
FLAG(4)	U_LOW_SIDE_DISCHARGE_SHORT	U low side discharge short.
FLAG(5)	V_LOW_SIDE_DISCHARGE_SHORT	V low side discharge short.
FLAG(6)	W_LOW_SIDE_DISCHARGE_SHORT	W low side discharge short.
FLAG(7)	Y2_LOW_SIDE_DISCHARGE_SHORT	Y2 low side discharge short.
FLAG(8)	U_LOW_SIDE_CHARGE_SHORT	U low side charge short.
FLAG(9)	V_LOW_SIDE_CHARGE_SHORT	V low side charge short.
FLAG(10)	W_LOW_SIDE_CHARGE_SHORT	W low side charge short.
FLAG(11)	Y2_LOW_SIDE_CHARGE_SHORT	Y2 low side charge short.
FLAG(12)	U_BOOTSTRAP_UNDERVOLTAGE	U bootstrap undervoltage.
FLAG(13)	V_BOOTSTRAP_UNDERVOLTAGE	V bootstrap undervoltage.
FLAG(14)	W_BOOTSTRAP_UNDERVOLTAGE	W bootstrap undervoltage.
FLAG(15)	Y2_BOOTSTRAP_UNDERVOLTAGE	Y2 bootstrap undervoltage.
FLAG(16)	U_HIGH_SIDE_OVERCURRENT	U high side overcurrent.
FLAG(17)	V_HIGH_SIDE_OVERCURRENT	V high side overcurrent.
FLAG(18)	W_HIGH_SIDE_OVERCURRENT	W high side overcurrent.
FLAG(19)	Y2_HIGH_SIDE_OVERCURRENT	Y2 high side overcurrent.
FLAG(20)	U_HIGH_SIDE_DISCHARGE_SHORT	U high side discharge short.
FLAG(21)	V_HIGH_SIDE_DISCHARGE_SHORT	V high side discharge short.
FLAG(22)	W_HIGH_SIDE_DISCHARGE_SHORT	W high side discharge short.
FLAG(23)	Y2_HIGH_SIDE_DISCHARGE_SHORT	Y2 high side discharge short.
FLAG(24)	U_HIGH_SIDE_CHARGE_SHORT	U high side charge short.
FLAG(25)	V_HIGH_SIDE_CHARGE_SHORT	V high side charge short.
FLAG(26)	W_HIGH_SIDE_CHARGE_SHORT	W high side charge short.
FLAG(27)	Y2_HIGH_SIDE_CHARGE_SHORT	Y2 high side charge short.
FLAG(29)	GDRV_UNDERVOLTAGE	Gate driver undervoltage.
FLAG(30)	GDRV_LOW_VOLTAGE	Gate driver low voltage.
FLAG(31)	GDRV_SUPPLY_UNDERVOLTAGE	Gate driver supply undervoltage.

◆ GATE_DRIVER_LIST

#define GATE_DRIVER_LIST ( X )

Value:

    X(PWM_L_OUTPUT_POLARITY,           233, ) \
    X(PWM_H_OUTPUT_POLARITY,           234, ) \
    X(BREAK_BEFORE_MAKE_TIME_LOW_UVW,  235, ) \
    X(BREAK_BEFORE_MAKE_TIME_HIGH_UVW, 236, ) \
    X(BREAK_BEFORE_MAKE_TIME_LOW_Y2,   237, ) \
    X(BREAK_BEFORE_MAKE_TIME_HIGH_Y2,  238, ) \
    X(USE_ADAPTIVE_DRIVE_TIME_UVW,     239, ) \
    X(USE_ADAPTIVE_DRIVE_TIME_Y2,      240, ) \
    X(DRIVE_TIME_SINK_UVW,             241, ) \
    X(DRIVE_TIME_SOURCE_UVW,           242, ) \
    X(DRIVE_TIME_SINK_Y2,              243, ) \
    X(DRIVE_TIME_SOURCE_Y2,            244, ) \
    X(UVW_SINK_CURRENT,                245, ) \
    X(UVW_SOURCE_CURRENT,              246, ) \
    X(Y2_SINK_CURRENT,                 247, ) \
    X(Y2_SOURCE_CURRENT,               248, ) \
    X(BOOTSTRAP_CURRENT_LIMIT,         249, )

Parameters for gate driver timer and current settings (Table 20).

These parameters configure the MOSFET gate driver for the TMC9660, including output polarity, break-before-make timing, adaptive drive time, drive times, current limits, and bootstrap current limit.

Table 20 — Gate driver timer and current settings:

NR	PARAMETER	DESCRIPTION
233	PWM_L_OUTPUT_POLARITY	PWM_L output polarity. 0: ACTIVE_HIGH, 1: ACTIVE_LOW
234	PWM_H_OUTPUT_POLARITY	PWM_H output polarity. 0: ACTIVE_HIGH, 1: ACTIVE_LOW
235	BREAK_BEFORE_MAKE_TIME_LOW_UVW	Break-before-make time for low side UVW [8.33ns units] 0...255
236	BREAK_BEFORE_MAKE_TIME_HIGH_UVW	Break-before-make time for high side UVW [8.33ns units] 0...255
237	BREAK_BEFORE_MAKE_TIME_LOW_Y2	Break-before-make time for low side Y2 [8.33ns units] 0...255
238	BREAK_BEFORE_MAKE_TIME_HIGH_Y2	Break-before-make time for high side Y2 [8.33ns units] 0...255
239	USE_ADAPTIVE_DRIVE_TIME_UVW	Adaptive drive time UVW. 0: DISABLED, 1: ENABLED
240	USE_ADAPTIVE_DRIVE_TIME_Y2	Adaptive drive time Y2. 0: DISABLED, 1: ENABLED
241	DRIVE_TIME_SINK_UVW	Discharge time UVW [0...255] (1s/120MHz) × (2×value+3)
242	DRIVE_TIME_SOURCE_UVW	Charge time UVW [0...255] (1s/120MHz) × (2×value+3)
243	DRIVE_TIME_SINK_Y2	Discharge time Y2 [0...255] (1s/120MHz) × (2×value+3)
244	DRIVE_TIME_SOURCE_Y2	Charge time Y2 [0...255] (1s/120MHz) × (2×value+3)
245	UVW_SINK_CURRENT	See tmc9660::tmcl::GateCurrentSink
246	UVW_SOURCE_CURRENT	See tmc9660::tmcl::GateCurrentSource
247	Y2_SINK_CURRENT	See tmc9660::tmcl::GateCurrentSink
248	Y2_SOURCE_CURRENT	See tmc9660::tmcl::GateCurrentSource
249	BOOTSTRAP_CURRENT_LIMIT	See tmc9660::tmcl::BootstrapCurrentLimit

◆ GDRV_RETRY_BEHAVIOUR_LIST

#define GDRV_RETRY_BEHAVIOUR_LIST ( X )

Value:

X(OPEN_CIRCUIT, 0, ) \

X(ELECTRICAL_BRAKING, 1, )

System state after a gate driver fault occurs.

Table — Gate Driver Retry Behaviour:

NUMBER	NAME	DESCRIPTION
0	OPEN_CIRCUIT	Switch off and discharge gates; motor spins freely.
1	ELECTRICAL_BRAKING	Switch off and, if possible, enable LS or HS gates for electrical braking.

◆ GENERAL_ERROR_FLAGS_LIST

#define GENERAL_ERROR_FLAGS_LIST ( X )

Value:

    X(CONFIG_ERROR,                 FLAG(0),  ) \
    X(TMCL_SCRIPT_ERROR,            FLAG(1),  ) \
    X(HOMESWITCH_NOT_FOUND,         FLAG(2),  ) \
    X(HALL_ERROR,                   FLAG(5),  ) \
    X(WATCHDOG_EVENT,               FLAG(9),  ) \
    X(EXT_TEMP_EXCEEDED,            FLAG(13), ) \
    X(CHIP_TEMP_EXCEEDED,           FLAG(14), ) \
    X(I2T_1_EXCEEDED,               FLAG(16), ) \
    X(I2T_2_EXCEEDED,               FLAG(17), ) \
    X(EXT_TEMP_WARNING,             FLAG(18), ) \
    X(SUPPLY_OVERVOLTAGE_WARNING,   FLAG(19), ) \
    X(SUPPLY_UNDERVOLTAGE_WARNING,  FLAG(20), ) \
    X(ADC_IN_OVERVOLTAGE,           FLAG(21), ) \
    X(FAULT_RETRY_HAPPENED,         FLAG(22), ) \
    X(FAULT_RETRIES_FAILED,         FLAG(23), ) \
    X(CHIP_TEMP_WARNING,            FLAG(24), ) \
    X(HEARTBEAT_STOPPED,            FLAG(26), )

Enumerates general error flags for GENERAL_ERROR_FLAGS.

These flags indicate various error conditions in the system. Most of these flags are Read-Write-Clear (RWC), meaning they can be cleared by writing a 1 to the corresponding bit position.

NUMBER	NAME	DESCRIPTION
FLAG(0)	CONFIG_ERROR	Verification of config storage failed. Read-only.
FLAG(1)	TMCL_SCRIPT_ERROR	TMCL Script not available. Read-only.
FLAG(2)	HOMESWITCH_NOT_FOUND	Reference search for home switch failed. Read-only.
FLAG(5)	HALL_ERROR	Signals an invalid hall state. Read-write-clear.
FLAG(9)	WATCHDOG_EVENT	Watchdog reset indication. Read-write-clear.
FLAG(13)	EXT_TEMP_EXCEEDED	External temperature exceeded. Read-write-clear.
FLAG(14)	CHIP_TEMP_EXCEEDED	Chip temperature threshold exceeded. Read-write-clear.
FLAG(16)	I2T_1_EXCEEDED	Signals that I²t limit 1 was exceeded. Read-write-clear.
FLAG(17)	I2T_2_EXCEEDED	Signals that I²t limit 2 was exceeded. Read-write-clear.
FLAG(18)	EXT_TEMP_WARNING	External temperature warning threshold exceeded. Read-write-clear.
FLAG(19)	SUPPLY_OVERVOLTAGE_WARNING	Supply overvoltage warning threshold exceeded. Read-write-clear.
FLAG(20)	SUPPLY_UNDERVOLTAGE_WARNING	Supply voltage below undervoltage warning threshold. Read-write-clear.
FLAG(21)	ADC_IN_OVERVOLTAGE	ADC IN over 2V while ADC enabled. Read-write-clear.
FLAG(22)	FAULT_RETRY_HAPPENED	The set number of max. retries was exceeded without recovering. Read-write-clear.
FLAG(23)	FAULT_RETRIES_FAILED	All retries of a detected fault failed. Read-write-clear.
FLAG(24)	CHIP_TEMP_WARNING	Chip temperature warning threshold exceeded. Read-write-clear.
FLAG(26)	HEARTBEAT_STOPPED	Heartbeat stopped. Read-write-clear.

◆ GENERAL_STATUS_FLAGS_LIST

#define GENERAL_STATUS_FLAGS_LIST ( X )

General status flags indicating system state, events, and hardware availability.

This 32-bit status register contains flags that provide information about the current system state, regulation modes, configuration status, hardware events, and available peripherals.

Most flags are read-only (R), while some can be read, written, and cleared (RWC). Flags marked as RWC can be cleared by writing a 1 to the corresponding bit.

NUMBER	NAME	DESCRIPTION
FLAG(0)	REGULATION_STOPPED	System does not regulate motion. Read-only.
FLAG(1)	REGULATION_TORQUE	System is regulating mode torque. Read-only.
FLAG(2)	REGULATION_VELOCITY	System is regulating mode velocity. Read-only.
FLAG(3)	REGULATION_POSITION	System is regulating mode position. Read-only.
FLAG(4)	CONFIG_STORED	Config was stored successfully. Read-write-clear.
FLAG(5)	CONFIG_LOADED	Config was loaded successfully. Read-write-clear.
FLAG(6)	CONFIG_READ_ONLY	Memory for config is read only. Read-only.
FLAG(7)	TMCL_SCRIPT_READ_ONLY	Memory for TMCL script is read only. Read-only.
FLAG(8)	BRAKE_CHOPPER_ACTIVE	Brake chopper is active. Read-only.
FLAG(9)	POSITION_REACHED	Actual velocity and target velocity are below POSITION_REACHED_THRESHOLD. Read-only.
FLAG(10)	VELOCITY_REACHED	Actual velocity and target velocity are below VELOCITY_REACHED_THRESHOLD. Read-only.
FLAG(11)	ADC_OFFSET_CALIBRATED	The ADC offset was calibrated automatically (clear to recalibrate). Read-write-clear.
FLAG(12)	RAMPER_LATCHED	The ramper latched a position. Read-write-clear.
FLAG(13)	RAMPER_EVENT_STOP_SWITCH	Ramper had a switch stop event. Read-only.
FLAG(14)	RAMPER_EVENT_STOP_DEVIATION	Ramper had a deviation stop event. Read-write-clear.
FLAG(15)	RAMPER_VELOCITY_REACHED	The ramper reached its velocity target. Read-only.
FLAG(16)	RAMPER_POSITION_REACHED	The ramper reached its position target. Read-only.
FLAG(17)	RAMPER_SECOND_MOVE	The ramper needed a second move to reach target. Read-write-clear.
FLAG(18)	IIT_1_ACTIVE	IIT 1 active. Read-only.
FLAG(19)	IIT_2_ACTIVE	IIT 2 active. Read-only.
FLAG(20)	REFSEARCH_FINISHED	Reference search finished. Read-only.
FLAG(21)	Y2_USED_FOR_BRAKING	Fourth phase used for braking. Read-only.
FLAG(23)	STEPDIR_INPUT_AVAILABLE	Signals that StepDir is available. Read-only.
FLAG(24)	RIGHT_REF_SWITCH_AVAILABLE	Signals that REF_R is available. Read-only.
FLAG(25)	HOME_REF_SWITCH_AVAILABLE	Signals that REF_H is available. Read-only.
FLAG(26)	LEFT_REF_SWITCH_AVAILABLE	Signals that REF_L is available. Read-only.
FLAG(27)	ABN2_FEEDBACK_AVAILABLE	Signals that ABN2 feedback is available. Read-only.
FLAG(28)	HALL_FEEDBACK_AVAILABLE	Signals that hall feedback is available. Read-only.
FLAG(29)	ABN1_FEEDBACK_AVAILABLE	Signals that ABN1 feedback is available. Read-only.
FLAG(30)	SPI_FLASH_AVAILABLE	Signals that an external SPI flash is available. Read-only.
FLAG(31)	I2C_EEPROM_AVAILABLE	Signals that an external I2C EEPROM is available. Read-only.

◆ GLOBAL_PARAM_BANK0_LIST

#define GLOBAL_PARAM_BANK0_LIST ( X )

Value:

    X(SERIAL_ADDRESS,                          1,  ) \
    X(SERIAL_HOST_ADDRESS,                     2,  ) \
    X(HEARTBEAT_MONITORING_CONFIG,             3,  ) \
    X(HEARTBEAT_MONITORING_TIMEOUT,            4,  ) \
    X(IO_DIRECTION_MASK,                       5,  ) \
    X(IO_INPUT_PULLUP_PULLDOWN_ENABLE_MASK,    6,  ) \
    X(IO_INPUT_PULLUP_PULLDOWN_DIRECTION_MASK, 7,  ) \
    X(WAKE_PIN_CONTROL_ENABLE,                10,  ) \
    X(GO_TO_TIMEOUT_POWER_DOWN_STATE,         11,  ) \
    X(MAIN_LOOPS,                             12,  ) \
    X(TORQUE_LOOPS,                           13,  ) \
    X(VELOCITY_LOOPS,                         14,  ) \
    X(AUTO_START_ENABLE,                      77,  ) \
    X(CLEAR_USER_VARIABLES,                   85,  )

Non-motion parameters in bank 0: communication, I/O, heartbeat, hibernation, loops, auto-start, etc.

To persist changes, use STAP after setting RWE parameters.

◆ GLOBAL_PARAM_BANK2_LIST

#define GLOBAL_PARAM_BANK2_LIST ( X )

Value:

    X(USER_VARIABLE_0,  0,  ) \
    X(USER_VARIABLE_1,  1,  ) \
    X(USER_VARIABLE_2,  2,  ) \
    X(USER_VARIABLE_3,  3,  ) \
    X(USER_VARIABLE_4,  4,  ) \
    X(USER_VARIABLE_5,  5,  ) \
    X(USER_VARIABLE_6,  6,  ) \
    X(USER_VARIABLE_7,  7,  ) \
    X(USER_VARIABLE_8,  8,  ) \
    X(USER_VARIABLE_9,  9,  ) \
    X(USER_VARIABLE_10, 10, ) \
    X(USER_VARIABLE_11, 11, ) \
    X(USER_VARIABLE_12, 12, ) \
    X(USER_VARIABLE_13, 13, ) \
    X(USER_VARIABLE_14, 14, ) \
    X(USER_VARIABLE_15, 15, )

User-script variables 0…15. RWE.

◆ GLOBAL_PARAM_BANK3_LIST

#define GLOBAL_PARAM_BANK3_LIST ( X )

Value:

    X(TIMER_0_PERIOD, 0,   ) \
    X(TIMER_1_PERIOD, 1,   ) \
    X(TIMER_2_PERIOD, 2,   ) \
    X(STOP_LEFT_TRIGGER_TRANSITION, 10,  ) \
    X(STOP_RIGHT_TRIGGER_TRANSITION, 11, ) \
    X(HOME_TRIGGER_TRANSITION, 12,       ) \
    X(INPUT_0_TRIGGER_TRANSITION, 13,  ) \
    X(INPUT_1_TRIGGER_TRANSITION, 14,  ) \
    X(INPUT_2_TRIGGER_TRANSITION, 15,  ) \
    X(INPUT_3_TRIGGER_TRANSITION, 16,  ) \
    X(INPUT_4_TRIGGER_TRANSITION, 17,  ) \
    X(INPUT_5_TRIGGER_TRANSITION, 18,  ) \
    X(INPUT_6_TRIGGER_TRANSITION, 19,  ) \
    X(INPUT_7_TRIGGER_TRANSITION, 20,  ) \
    X(INPUT_8_TRIGGER_TRANSITION, 21,  ) \
    X(INPUT_9_TRIGGER_TRANSITION, 22,  ) \
    X(INPUT_10_TRIGGER_TRANSITION, 23, ) \
    X(INPUT_11_TRIGGER_TRANSITION, 24, ) \
    X(INPUT_12_TRIGGER_TRANSITION, 25, ) \
    X(INPUT_13_TRIGGER_TRANSITION, 26, ) \
    X(INPUT_14_TRIGGER_TRANSITION, 27, ) \
    X(INPUT_15_TRIGGER_TRANSITION, 28, ) \
    X(INPUT_16_TRIGGER_TRANSITION, 29, ) \
    X(INPUT_17_TRIGGER_TRANSITION, 30, ) \
    X(INPUT_18_TRIGGER_TRANSITION, 31, )

Timer periods and input-trigger transitions for scripting interrupts.

◆ HALL_SECTOR_OFFSET_LIST

#define HALL_SECTOR_OFFSET_LIST ( X )

Value:

    X(DEG_0,   0, ) \
    X(DEG_60,  1, ) \
    X(DEG_120, 2, ) \
    X(DEG_180, 3, ) \
    X(DEG_240, 4, ) \
    X(DEG_300, 5, )

Enumerates Hall sector offsets.

Table — Hall Sector Offsets:

NUMBER	NAME	DESCRIPTION
0	DEG_0	0 degrees.
1	DEG_60	60 degrees.
2	DEG_120	120 degrees.
3	DEG_180	180 degrees.
4	DEG_240	240 degrees.
5	DEG_300	300 degrees.

◆ HEARTBEAT_MONITORING_CONFIG_LIST

#define HEARTBEAT_MONITORING_CONFIG_LIST ( X )

Value:

    X(DISABLED,                    0, ) \
    X(TMCL_UART_INTERFACE,         1, ) \
    X(SPI_INTERFACE,               2, ) \
    X(TMCL_UART_AND_SPI_INTERFACE, 3, )

Enumerates heartbeat monitoring interface selection.

Table — Heartbeat Monitoring Config:

NUMBER	NAME	DESCRIPTION
0	DISABLED	Heartbeat monitoring disabled.
1	TMCL_UART_INTERFACE	Monitor TMCL UART interface.
2	SPI_INTERFACE	Monitor SPI interface.
3	TMCL_UART_AND_SPI_INTERFACE	Monitor both UART and SPI.

◆ HEARTBEAT_MONITORING_LIST

#define HEARTBEAT_MONITORING_LIST ( X )

Value:

X(HEARTBEAT_MONITORING_CONFIG, 3, ) \

X(HEARTBEAT_MONITORING_TIMEOUT, 4, )

Parameters for configuring heartbeat monitoring.

The heartbeat monitor checks for regular communication on UART and/or SPI. If no datagram is received within the configured timeout, the system initiates a motor shutdown (behavior defined by DRIVE_FAULT_BEHAVIOUR). The status flag HEARTBEAT_STOPPED is raised.

Table — Heartbeat Monitoring Parameters:

NUMBER	NAME	DESCRIPTION
3	HEARTBEAT_MONITORING_CONFIG	Heartbeat monitoring config. 0: DISABLED, 1: UART, 2: SPI, 3: UART+SPI.
4	HEARTBEAT_MONITORING_TIMEOUT	Heartbeat timeout in ms [1...4294967295]. Default: 100.

◆ HIBERNATION_WAKEUP_LIST

#define HIBERNATION_WAKEUP_LIST ( X )

Value:

X(WAKE_PIN_CONTROL_ENABLE, 10, ) \

X(GO_TO_TIMEOUT_POWER_DOWN_STATE, 11, )

Parameters for configuring hibernation (low-power) and wakeup behavior.

The TMC9660 can be sent to a low-power hibernation state using WAKE_PIN_CONTROL_ENABLE or GO_TO_TIMEOUT_POWER_DOWN_STATE.

WAKE_PIN_CONTROL_ENABLE enables the WAKE pin for entering/exiting power-down state.
GO_TO_TIMEOUT_POWER_DOWN_STATE puts the device into hibernation for a predefined time. If the WAKE pin is configured, pulling it low powers down the device; pulling it high wakes it up.

Table — Hibernation and Wakeup Parameters:

NUMBER	NAME	DESCRIPTION
10	WAKE_PIN_CONTROL_ENABLE	Enable WAKE pin control. 0: DISABLED, 1: ENABLED. Default: 0. RWE
11	GO_TO_TIMEOUT_POWER_DOWN_STATE	Enter power-down for a predefined time. See PowerDownTimeout. Default: 0. W

◆ IDLE_MOTOR_PWM_BEHAVIOR_LIST

#define IDLE_MOTOR_PWM_BEHAVIOR_LIST ( X )

Value:

X(PWM_ON_WHEN_MOTOR_IDLE, 0, ) \

X(PWM_OFF_WHEN_MOTOR_IDLE, 1, )

PWM behavior in commutation mode "System Off" (Parameter ID: 9).

Table — Idle Motor PWM Behavior:

NUMBER	NAME	DESCRIPTION
0	PWM_ON_WHEN_MOTOR_IDLE	PWM stays on when motor is idle (all phases same voltage).
1	PWM_OFF_WHEN_MOTOR_IDLE	PWM off (high-Z, motor floating) [default].

◆ IIT_MONITOR_LIST

#define IIT_MONITOR_LIST ( X )

Value:

    X(THERMAL_WINDING_TIME_CONSTANT_1, 224, ) \
    X(IIT_LIMIT_1,                     225, ) \
    X(IIT_SUM_1,                       226, ) \
    X(THERMAL_WINDING_TIME_CONSTANT_2, 227, ) \
    X(IIT_LIMIT_2,                     228, ) \
    X(IIT_SUM_2,                       229, ) \
    X(RESET_IIT_SUMS,                  230, ) \
    X(ACTUAL_TOTAL_MOTOR_CURRENT,      231, )

Parameters for configuring IIT (I²t) monitoring and protection.

The IIT monitor protects against overtemperature in sustained load conditions by monitoring the total current flowing into the motor (torque and flux). Two independent IIT monitoring windows are supported, each with its own time constant and limit. If the squared current sum exceeds the limit, an emergency stop is triggered. The behavior is defined by DRIVE_FAULT_BEHAVIOUR. Status flags indicate active protection and limit exceeded.

The total motor current is available via ACTUAL_TOTAL_MOTOR_CURRENT.
Each window accumulates squared current over a time set by THERMAL_WINDING_TIME_CONSTANT_1/2.
The sum for each window is available via IIT_SUM_1/2.
Limits are set by IIT_LIMIT_1/2. If not set to max, protection is active.
If the sum exceeds the limit, the corresponding IIT_EXCEEDED flag is set and the motor is stopped.
Both sums can be reset with RESET_IIT_SUMS.
The update rate depends on MOTOR_PWM_FREQUENCY.

Table — IIT Monitor Parameters:

NUMBER	NAME	DESCRIPTION
224	THERMAL_WINDING_TIME_CONSTANT_1	Time constant for IIT window 1 [ms]. Default: 3000.
225	IIT_LIMIT_1	IIT limit for window 1 [A^2 x ms]. Default: 4294967295.
226	IIT_SUM_1	Actual IIT sum for window 1 [A^2 x ms]. Default: 0.
227	THERMAL_WINDING_TIME_CONSTANT_2	Time constant for IIT window 2 [ms]. Default: 6000.
228	IIT_LIMIT_2	IIT limit for window 2 [A^2 x ms]. Default: 4294967295.
229	IIT_SUM_2	Actual IIT sum for window 2 [A^2 x ms]. Default: 0.
230	RESET_IIT_SUMS	Write to reset both IIT sums. Default: 0.
231	ACTUAL_TOTAL_MOTOR_CURRENT	Total current through motor windings [mA]. Default: 0.

◆ INTERNAL_MEASUREMENT_LIST

#define INTERNAL_MEASUREMENT_LIST ( X )

Value:

    X(MCC_INPUTS_RAW, 304, ) \
    X(FOC_VOLTAGE_UX, 305, ) \
    X(FOC_VOLTAGE_WY, 306, ) \
    X(FOC_VOLTAGE_V, 307, ) \
    /* FIELDWEAKENING_I and FIELDWEAKENING_VOLTAGE_THRESHOLD defined in TORQUE_FLUX_CONTROL_LIST */ \
    X(FOC_CURRENT_UX, 311, ) \
    X(FOC_CURRENT_V, 312, ) \
    X(FOC_CURRENT_WY, 313, ) \
    X(FOC_VOLTAGE_UQ, 314, ) \
    X(FOC_CURRENT_IQ, 315, )

Raw diagnostic values and FOC internal measurements.

These parameters provide access to interim results and measurements from the Field-Oriented Control (FOC) algorithm, as well as raw input states. They are useful for debugging and diagnostics.

NUMBER	NAME	DESCRIPTION
304	MCC_INPUTS_RAW	Raw inputs for ABN, hall, reference switches, driver enabled, hall filtered and ABN2 or Step/Dir [0...32767]. Read-only.
305	FOC_VOLTAGE_UX	Interim result of the FOC for phase U (X in case of stepper motor) [-32768...32767]. Read-only.
306	FOC_VOLTAGE_WY	Interim result of the FOC for phase W (Y in case of stepper motor) [-32768...32767]. Read-only.
307	FOC_VOLTAGE_V	Interim result of the FOC for phase V (BLDC motor only) [-32768...32767]. Read-only.
308	FIELDWEAKENING_I	I parameter for field weakening controller [0...32767]. Default: 0. RWE
310	FIELDWEAKENING_VOLTAGE_THRESHOLD	Maximum motor voltage allowed for field weakening [0...32767]. Default: 32767. RWE
311	FOC_CURRENT_UX	Interim measurement of the FOC for phase UX [-32768...32767]. Read-only.
312	FOC_CURRENT_V	Interim measurement of the FOC for phase V [-32768...32767]. Read-only.
313	FOC_CURRENT_WY	Interim measurement of the FOC for phase WY [-32768...32767]. Read-only.
314	FOC_VOLTAGE_UQ	Interim measurement of the FOC for Uq [-32768...32767]. Read-only.
315	FOC_CURRENT_IQ	Interim measurement of the FOC for Iq [-32768...32767]. Read-only.

◆ JUMP_CONDITION_LIST

#define JUMP_CONDITION_LIST ( X )

Value:

    X(JC_ZERO, 0, ) \
    X(JC_NOT_ZERO, 1, ) \
    X(JC_EQUAL, 2, ) \
    X(JC_NOT_EQUAL, 3, ) \
    X(JC_GREATER, 4, ) \
    X(JC_GREATER_EQ, 5, ) \
    X(JC_LOWER, 6, ) \
    X(JC_LOWER_EQ, 7, ) \
    X(JC_TIMEOUT, 8, )

◆ MECHANICAL_BRAKE_LIST

#define MECHANICAL_BRAKE_LIST ( X )

Value:

    X(RELEASE_BRAKE,             216, ) \
    X(BRAKE_RELEASING_DUTY_CYCLE, 217, ) \
    X(BRAKE_HOLDING_DUTY_CYCLE,   218, ) \
    X(BRAKE_RELEASING_DURATION,   219, ) \
    X(INVERT_BRAKE_OUTPUT,        221, )

Parameters for controlling an external mechanical brake.

The mechanical brake is controlled by a PWM output. Release is triggered by setting RELEASE_BRAKE.

BRAKE_RELEASING_DUTY_CYCLE: PWM duty cycle during release phase [%].
BRAKE_HOLDING_DUTY_CYCLE: PWM duty cycle during holding phase [%].
BRAKE_RELEASING_DURATION: Duration of release phase [ms].
INVERT_BRAKE_OUTPUT: Invert brake output polarity (0: NORMAL, 1: INVERTED).

Table — Mechanical Brake Parameters:

NUMBER	NAME	DESCRIPTION
216	RELEASE_BRAKE	Release brake (apply PWM). 0: DEACTIVATED, 1: ACTIVATED. Default: 0.
217	BRAKE_RELEASING_DUTY_CYCLE	Duty cycle [%] for releasing phase. 0...99. Default: 75.
218	BRAKE_HOLDING_DUTY_CYCLE	Duty cycle [%] for holding phase. 0...99. Default: 11.
219	BRAKE_RELEASING_DURATION	Duration [ms] for releasing phase. 0...65535. Default: 80.
221	INVERT_BRAKE_OUTPUT	Invert brake output. 0: NORMAL, 1: INVERTED. Default: 0.

◆ MOTOR_CONFIG_LIST

#define MOTOR_CONFIG_LIST ( X )

Value:

    X(MOTOR_TYPE,            0, ) \
    X(MOTOR_POLE_PAIRS,      1, ) \
    X(MOTOR_DIRECTION,       2, ) \
    X(MOTOR_PWM_FREQUENCY,   3, ) \
    X(COMMUTATION_MODE,      4, ) \
    X(OUTPUT_VOLTAGE_LIMIT,  5, ) \
    X(PWM_SWITCHING_SCHEME,  8, ) \
    X(IDLE_MOTOR_PWM_BEHAVIOR, 9, )

Parameters for configuring motor characteristics and drive settings.

Table — Motor Configuration Parameters:

NUMBER	NAME	DESCRIPTION
0	MOTOR_TYPE	Motor type selection. See MotorType enum. Default: 0 (NO_MOTOR). RWE
1	MOTOR_POLE_PAIRS	Number of pole pairs for motor [0-127]. Default: 1. RWE
2	MOTOR_DIRECTION	Motor direction. 0: NOT_INVERTED, 1: INVERTED. Default: 0. RWE
3	MOTOR_PWM_FREQUENCY	PWM frequency in Hz [10000-100000]. Default: 25000. RWE
4	COMMUTATION_MODE	Motor commutation mode. See CommutationMode enum. Default: 0 (SYSTEM_OFF). RW
5	OUTPUT_VOLTAGE_LIMIT	PID UQ/UD output limit for circular limiter [0-32767]. Default: 8000. RWE
8	PWM_SWITCHING_SCHEME	PWM switching scheme. See PwmSwitchingScheme enum. Default: 1 (SVPWM). RWE

◆ MOTOR_DIRECTION_LIST

#define MOTOR_DIRECTION_LIST ( X )

Value:

X(FORWARD, 0, ) \

X(REVERSE, 1, )

Enumerates motor rotation directions.

Table — Motor Direction:

NUMBER	NAME	DESCRIPTION
0	FORWARD	Forward rotation
1	REVERSE	Reverse rotation

◆ MOTOR_TYPE_LIST

#define MOTOR_TYPE_LIST ( X )

Value:

    X(NO_MOTOR,      0, ) \
    X(DC_MOTOR,      1, ) \
    X(STEPPER_MOTOR, 2, ) \
    X(BLDC_MOTOR,    3, )

Enumerates supported motor types.

Table — Motor Types:

NUMBER	NAME	DESCRIPTION
0	NO_MOTOR	No motor selected
1	DC_MOTOR	DC motor
2	STEPPER_MOTOR	Stepper motor
3	BLDC_MOTOR	Brushless DC motor

◆ OP_LIST

#define OP_LIST ( X )

Operation codes accepted by the TMC9660 Parameter Mode (Table 18).

Table 18 — TMCL commands:

NUMBER	OPERATION	TYPE	MOTOR/BANK	VALUE	DESCRIPTION
3	MST	-	-	-	Stops motor movement
5	SAP	parameter	0	value	Sets axis parameter (motion control specific settings)
6	GAP	parameter	0	-	Gets axis parameter (read out motion control specific settings)
7	STAP	0xFFF	0xF	0xFFFFFFFF	Stores all storable parameters to external memory
9	SGP	parameter	0,2,3	value	Sets global parameter (module/user settings)
10	GGP	parameter	-	-	Gets global parameter (module/user settings)

13 | RFS | START|STOP|STATUS | 0 | - | Reference search 14 | SIO | port number | 0 | 0,1 | Sets digital output to specified value 15 | GIO | port number | 0: digital, 1: ana | - | Gets value of analog/digital input 19 | CALC | operation | - | value | Arithmetic operation (accumulator and value) 20 | COMP | - | - | value | Compares accumulator with value 21 | JC | condition | - | address | Jump conditional 22 | JA | - | - | address | Jump absolute 23 | CSUB | - | - | address | Calls subroutine 24 | RSUB | - | - | - | Returns from subroutine 25 | EI | - | - | interrupt number | Enables interrupt 26 | DI | - | - | interrupt number | Disables interrupt 27 | WAIT | condition | - | ticks | Waits with further program execution 28 | STOP | - | - | - | Stops program execution 33 | CALCX | type | - | - | Arithmetic operation (accumulator and X-register) 34 | AAP | parameter | 0 | - | Accumulator to axis parameter 35 | AGP | parameter | 0,2,3 | - | Accumulator to global parameter 36 | CLE | flag | - | - | Clears an error flag 37 | VECT | interrupt number | - | address | Defines interrupt vector 38 | RETI | - | - | - | Returns from interrupt 40 | CALCVV | type | user var 1 | user var 2 | Arithmetic: user variable and user variable 41 | CALCVA | type | user variable | - | Arithmetic: user variable and accumulator 42 | CALCAV | type | user variable | - | Arithmetic: accumulator and user variable 43 | CALCVX | type | user variable | - | Arithmetic: user variable and X register 44 | CALCXV | type | user variable | - | Arithmetic: X register and user variable 45 | CALCV | type | - | value | Arithmetic: user variable and direct value 48 | RST | - | - | address | Restarts the program from the given address 49 | DJNZ | user variable | - | address | Decrement and jump if not zero 55 | SIV | - | - | value | Sets indexed variable 56 | GIV | - | - | - | Gets indexed variable 57 | AIV | - | - | - | Accumulator to indexed variable 128 | ApplStop | - | - | - | Stops a running TMCL program 129 | ApplRun | 0: current, 1: addr| - | address | Starts/continues TMCL program 130 | ApplStep | - | - | - | Executes only the next TMCL command 131 | ApplReset | - | - | - | Stops and resets program counter 132 | DownloadStart | - | - | - | Enter download mode (store script) 133 | DownloadEnd | - | - | - | End download mode 134 | ReadMem | - | - | address | Returns script command at address 135 | GetStatusScript | - | - | - | Gets status of script 136 | GetVersion | - | - | - | Gets version of system 137 | FactoryDefault | - | - | - | Clears settings stored in external memory 141 | Breakpoint | 0:add,1:del,2:all,3:max| - | address | Manage breakpoints 142 | RamDebug | see Table 16 | see Table 16 | see Table 16 | Access to RAMDebug control 157 | GetInfo | 0:ID, 1:Version | - | - | Gets ID and version info 242 | Boot | 0x81 | 0x92 | 0xA3B4C5D6 | Returns the system to the bootloader

Each command lists the TYPE, MOTOR/BANK, and VALUE fields as per Table 18. For scripting-related commands, see the manual for further details.

◆ OVERCURRENT_ENABLE_LIST

#define OVERCURRENT_ENABLE_LIST ( X )

Value:

X(DISABLED, 0, ) \

X(ENABLED, 1, )

Enumerates options for enabling or disabling overcurrent protection.

Table — Overcurrent Protection Enable/Disable:

NUMBER	NAME	DESCRIPTION
0	DISABLED	Protection disabled.
1	ENABLED	Protection enabled.

◆ OVERCURRENT_PROTECTION_LIST

#define OVERCURRENT_PROTECTION_LIST ( X )

Value:

    X(UVW_LOW_SIDE_ENABLE,     254, ) \
    X(UVW_HIGH_SIDE_ENABLE,    255, ) \
    X(Y2_LOW_SIDE_ENABLE,      256, ) \
    X(Y2_HIGH_SIDE_ENABLE,     257, ) \
    X(UVW_LOW_SIDE_THRESHOLD,  258, ) \
    X(UVW_HIGH_SIDE_THRESHOLD, 259, ) \
    X(Y2_LOW_SIDE_THRESHOLD,   260, ) \
    X(Y2_HIGH_SIDE_THRESHOLD,  261, ) \
    X(UVW_LOW_SIDE_BLANKING,   262, ) \
    X(UVW_HIGH_SIDE_BLANKING,  263, ) \
    X(Y2_LOW_SIDE_BLANKING,    264, ) \
    X(Y2_HIGH_SIDE_BLANKING,   265, ) \
    X(UVW_LOW_SIDE_DEGLITCH,   266, ) \
    X(UVW_HIGH_SIDE_DEGLITCH,  267, ) \
    X(Y2_LOW_SIDE_DEGLITCH,    268, ) \
    X(Y2_HIGH_SIDE_DEGLITCH,   269, ) \
    X(UVW_LOW_SIDE_USE_VDS,    270, ) \
    X(Y2_LOW_SIDE_USE_VDS,     271, )

Parameters for configuring gate driver overcurrent protection.

These parameters configure the overcurrent protection thresholds, blanking times, deglitch times, and enable/disable settings for the UVW and Y2 phases of the TMC9660 gate driver.

Table — Gate Driver Overcurrent Protection:

NUMBER	NAME	DESCRIPTION
254	UVW_LOW_SIDE_ENABLE	Enable overcurrent protection for UVW phases low side. 0: DISABLED, 1: ENABLED. Default: 1.
255	UVW_HIGH_SIDE_ENABLE	Enable overcurrent protection for UVW phases high side. 0: DISABLED, 1: ENABLED. Default: 1.
256	Y2_LOW_SIDE_ENABLE	Enable overcurrent protection for Y2 phase low side. 0: DISABLED, 1: ENABLED. Default: 1.
257	Y2_HIGH_SIDE_ENABLE	Enable overcurrent protection for Y2 phase high side. 0: DISABLED, 1: ENABLED. Default: 1.
258	UVW_LOW_SIDE_THRESHOLD	Threshold for UVW phases low side [0-15]. Default: 0.
259	UVW_HIGH_SIDE_THRESHOLD	Threshold for UVW phases high side [0-15]. Default: 0.
260	Y2_LOW_SIDE_THRESHOLD	Threshold for Y2 phase low side [0-15]. Default: 0.
261	Y2_HIGH_SIDE_THRESHOLD	Threshold for Y2 phase high side [0-15]. Default: 0.
262	UVW_LOW_SIDE_BLANKING	Blanking time for UVW phases low side [0-7]. Default: 2.
263	UVW_HIGH_SIDE_BLANKING	Blanking time for UVW phases high side [0-7]. Default: 2.
264	Y2_LOW_SIDE_BLANKING	Blanking time for Y2 phase low side [0-7]. Default: 2.
265	Y2_HIGH_SIDE_BLANKING	Blanking time for Y2 phase high side [0-7]. Default: 2.
266	UVW_LOW_SIDE_DEGLITCH	Deglitch time for UVW phases low side [0-7]. Default: 6.
267	UVW_HIGH_SIDE_DEGLITCH	Deglitch time for UVW phases high side [0-7]. Default: 6.
268	Y2_LOW_SIDE_DEGLITCH	Deglitch time for Y2 phase low side [0-7]. Default: 6.
269	Y2_HIGH_SIDE_DEGLITCH	Deglitch time for Y2 phase high side [0-7]. Default: 6.
270	UVW_LOW_SIDE_USE_VDS	Use VDS measurement for UVW phases low side. 0: DISABLED, 1: ENABLED. Default: 1.
271	Y2_LOW_SIDE_USE_VDS	Use VDS measurement for Y2 phase low side. 0: DISABLED, 1: ENABLED. Default: 1.

◆ OVERCURRENT_THRESHOLD_LIST

#define OVERCURRENT_THRESHOLD_LIST ( X )

Value:

    X(V_63_MILLIVOLT,    0, ) \
    X(V_125_MILLIVOLT,   1, ) \
    X(V_187_MILLIVOLT,   2, ) \
    X(V_248_MILLIVOLT,   3, ) \
    X(V_312_MILLIVOLT,   4, ) \
    X(V_374_MILLIVOLT,   5, ) \
    X(V_434_MILLIVOLT,   6, ) \
    X(V_504_MILLIVOLT,   7, ) \
    X(V_705_MILLIVOLT,   8, ) \
    X(V_940_MILLIVOLT,   9, ) \
    X(V_1180_MILLIVOLT, 10, ) \
    X(V_1410_MILLIVOLT, 11, ) \
    X(V_1650_MILLIVOLT, 12, ) \
    X(V_1880_MILLIVOLT, 13, ) \
    X(V_2110_MILLIVOLT, 14, ) \
    X(V_2350_MILLIVOLT, 15, )

Enumerates possible threshold values for overcurrent protection.

Table — Overcurrent Protection Thresholds:

NUMBER	NAME	DESCRIPTION
0	V_63_MILLIVOLT	63 mV
1	V_125_MILLIVOLT	125 mV
2	V_187_MILLIVOLT	187 mV
3	V_248_MILLIVOLT	248 mV
4	V_312_MILLIVOLT	312 mV
5	V_374_MILLIVOLT	374 mV
6	V_434_MILLIVOLT	434 mV
7	V_504_MILLIVOLT	504 mV
8	V_705_MILLIVOLT	705 mV
9	V_940_MILLIVOLT	940 mV
10	V_1180_MILLIVOLT	1180 mV
11	V_1410_MILLIVOLT	1410 mV
12	V_1650_MILLIVOLT	1650 mV
13	V_1880_MILLIVOLT	1880 mV
14	V_2110_MILLIVOLT	2110 mV
15	V_2350_MILLIVOLT	2350 mV

◆ OVERCURRENT_TIMING_LIST

#define OVERCURRENT_TIMING_LIST ( X )

Value:

    X(OFF,              0, ) \
    X(T_0_25_MICROSEC,  1, ) \
    X(T_0_5_MICROSEC,   2, ) \
    X(T_1_MICROSEC,     3, ) \
    X(T_2_MICROSEC,     4, ) \
    X(T_4_MICROSEC,     5, ) \
    X(T_6_MICROSEC,     6, ) \
    X(T_8_MICROSEC,     7, )

Enumerates possible blanking and deglitch times for overcurrent protection.

Table — Overcurrent Protection Timing:

NUMBER	NAME	DESCRIPTION
0	OFF	No blanking or deglitching
1	T_0_25_MICROSEC	0.25 µs
2	T_0_5_MICROSEC	0.5 µs
3	T_1_MICROSEC	1.0 µs
4	T_2_MICROSEC	2.0 µs
5	T_4_MICROSEC	4.0 µs
6	T_6_MICROSEC	6.0 µs
7	T_8_MICROSEC	8.0 µs

◆ POSITION_CONTROL_LIST

#define POSITION_CONTROL_LIST ( X )

Value:

    X(POSITION_SENSOR_SELECTION, 142, ) \
    X(TARGET_POSITION,           143, ) \
    X(ACTUAL_POSITION,           144, ) \
    X(POSITION_SCALING_FACTOR,   145, ) \
    X(POSITION_P,                146, ) \
    X(POSITION_I,                147, ) \
    X(POSITION_NORM_P,           148, ) \
    X(POSITION_NORM_I,           149, ) \
    X(POSITION_PI_INTEGRATOR,    150, ) \
    X(POSITION_PI_ERROR,         151, ) \
    X(POSITION_LOOP_DOWNSAMPLING,153, ) \
    X(LATCH_POSITION,            154, ) \
    X(POSITION_LIMIT_LOW,        155, ) \
    X(POSITION_LIMIT_HIGH,       156, ) \
    X(POSITION_REACHED_THRESHOLD,157, )

Parameters for configuring position control and ramping.

Table — Position Control Parameters:

NUMBER	NAME	DESCRIPTION
142	POSITION_SENSOR_SELECTION	Feedback source for position PI regulator. See PositionSensorSelection. Default: 0 (SAME_AS_COMMUTATION). RWE
143	TARGET_POSITION	Target position value. Write to activate position regulation. -2147483648...2147483647. Default: 0. RW
144	ACTUAL_POSITION	Actual position value. -2147483648...2147483647. Default: 0. RW
145	POSITION_SCALING_FACTOR	Scaling factor for position to real-world units. 1024...65535. Default: 1024. RWE
146	POSITION_P	P parameter for position PI regulator. 0...32767. Default: 5. RWE
147	POSITION_I	I parameter for position PI regulator. 0...32767. Default: 0. RWE
148	POSITION_NORM_P	P normalization for position PI. See PositionPiNorm. Default: 1. RWE
149	POSITION_NORM_I	I normalization for position PI. See PositionPiNorm. Default: 1. RWE
150	POSITION_PI_INTEGRATOR	Integrated error of position PI regulator. -2147483648...2147483647. Default: 0. R
151	POSITION_PI_ERROR	Error of position PI regulator. -2147483648...2147483647. Default: 0. R
153	POSITION_LOOP_DOWNSAMPLING	Downsampling factor for position controller. 0...127. Default: 0. RWE
154	LATCH_POSITION	Position switch latched. -2147483648...2147483647. Default: 0. R
155	POSITION_LIMIT_LOW	Position limit low. -2147483648...2147483647. Default: -2147483648. RWE
156	POSITION_LIMIT_HIGH	Position limit high. -2147483648...2147483647. Default: 2147483647. RWE
157	POSITION_REACHED_THRESHOLD	Deviation between target and actual position below which the position reached flag goes active and latches. If a new target position is set the flag is reset. 0...2147483647. Default: 0. RWE

◆ POSITION_PI_NORM_LIST

#define POSITION_PI_NORM_LIST ( X )

Value:

    X(NO_SHIFT,     0, ) \
    X(SHIFT_8_BIT,  1, ) \
    X(SHIFT_16_BIT, 2, ) \
    X(SHIFT_24_BIT, 3, )

Enumerates normalization formats for position PI controller.

Table — Position PI Normalization:

NUMBER	NAME	DESCRIPTION
0	NO_SHIFT	No shift.
1	SHIFT_8_BIT	Shift right by 8 bits.
2	SHIFT_16_BIT	Shift right by 16 bits.
3	SHIFT_24_BIT	Shift right by 24 bits.

◆ POSITION_SENSOR_SELECTION_LIST

#define POSITION_SENSOR_SELECTION_LIST ( X )

Value:

    X(SAME_AS_COMMUTATION, 0, ) \
    X(DIGITAL_HALL,        1, ) \
    X(ABN1_ENCODER,        2, ) \
    X(ABN2_ENCODER,        3, ) \
    X(SPI_ENCODER,         4, )

Enumerates feedback sources for position PI regulator.

Table — Position Sensor Selection:

NUMBER	NAME	DESCRIPTION
0	SAME_AS_COMMUTATION	Use same feedback as commutation mode.
1	DIGITAL_HALL	Use digital Hall sensors.
2	ABN1_ENCODER	Use ABN1 encoder.
3	ABN2_ENCODER	Use ABN2 encoder.
4	SPI_ENCODER	Use SPI encoder.

◆ POWER_DOWN_TIMEOUT_LIST

#define POWER_DOWN_TIMEOUT_LIST ( X )

Value:

    X(T_250_MILLISEC, 0, ) \
    X(T_500_MILLISEC, 1, ) \
    X(T_1_SEC, 2, ) \
    X(T_2_SEC, 3, ) \
    X(T_4_SEC, 4, ) \
    X(T_8_SEC, 5, ) \
    X(T_16_SEC, 6, ) \
    X(T_32_SEC, 7, )

Enumerates timeout durations for power-down state.

Table — Power Down Timeout:

NUMBER	NAME	DESCRIPTION
0	T_250_MILLISEC	250 ms
1	T_500_MILLISEC	500 ms
2	T_1_SEC	1 second
3	T_2_SEC	2 seconds
4	T_4_SEC	4 seconds
5	T_8_SEC	8 seconds
6	T_16_SEC	16 seconds
7	T_32_SEC	32 seconds

◆ PWM_FREQUENCY_LIST

#define PWM_FREQUENCY_LIST ( X )

Value:

    X(STANDARD_BLDC,      25000,  ) \
    X(STANDARD_STEPPER,   20000,  ) \
    X(FAST_BLDC,          50000,  ) \
    X(ULTRA_FAST_BLDC,   100000,  ) \
    X(MINIMUM_SILENT,     20001,  )

Enumerates recommended PWM frequencies for different motor types.

Table — PWM Frequency Configuration:

NUMBER	NAME	DESCRIPTION
25000	STANDARD_BLDC	Standard frequency for typical BLDC motors
20000	STANDARD_STEPPER	Standard frequency for high-inductance stepper motors
50000	FAST_BLDC	For fast-spinning BLDC motors (>10,000 RPM)
100000	ULTRA_FAST_BLDC	For very high-speed or low-inductance BLDC motors
20000	MINIMUM_SILENT	Minimum frequency to avoid audible switching noise

◆ PWM_OUTPUT_POLARITY_LIST

#define PWM_OUTPUT_POLARITY_LIST ( X )

Value:

X(ACTIVE_HIGH, 0, ) \

X(ACTIVE_LOW, 1, )

Table — PWM Output Polarity:

NUMBER	NAME	DESCRIPTION
0	ACTIVE_HIGH	PWM output is active high.
1	ACTIVE_LOW	PWM output is active low.

◆ PWM_SWITCHING_SCHEME_LIST

#define PWM_SWITCHING_SCHEME_LIST ( X )

Value:

    X(STANDARD,    0, ) \
    X(SVPWM,       1, ) \
    X(FLAT_BOTTOM, 2, )

Enumerates PWM switching schemes.

Table — PWM Switching Schemes:

NUMBER	NAME	DESCRIPTION
0	STANDARD	Standard modulation
1	SVPWM	Space Vector PWM
2	FLAT_BOTTOM	Flat bottom modulation

◆ RAMDEBUG_STATE_LIST

#define RAMDEBUG_STATE_LIST ( X )

Value:

    X(IDLE, 0,       ) \
    X(TRIGGER, 1,    ) \
    X(CAPTURE, 2,    ) \
    X(COMPLETE, 3,   ) \
    X(PRETRIGGER, 4, )

Values returned by ::RamDebugType::GET_STATE.

Table 17 — List of RAMDebug states:

NUMBER	NAME	DESCRIPTION
0	Idle	RAMDebug is not running and can be configured. Use type code 0 to enter this state.
1	Trigger	RAMDebug is waiting for the trigger event to happen. When updating a value that RAMDebug

◆ RAMDEBUG_TYPE_LIST

#define RAMDEBUG_TYPE_LIST ( X )

Value:

    X(INITIALISE_RESET,        0,  ) \
    X(SET_SAMPLE_COUNT,        1,  ) \
    X(SET_PRESCALER,           3,  ) \
    X(SET_CHANNEL,             4,  ) \
    X(SET_TRIGGER_CHANNEL,     5,  ) \
    X(SET_TRIGGER_MASK_SHIFT,  6,  ) \
    X(ENABLE_TRIGGER,          7,  ) \
    X(GET_STATE,               8,  ) \
    X(READ_SAMPLE,             9,  ) \
    X(GET_INFO,               10,  ) \
    X(GET_CHANNEL_TYPE,       11,  ) \
    X(GET_CHANNEL_ADDRESS,    12,  ) \
    X(SET_PRETRIGGER_COUNT,   13,  ) \
    X(GET_PRETRIGGER_COUNT,   14,  )

TYPE field values when Operation::RamDebug is issued.

Table 16 — RAMDebug type commands:

NUMBER	TYPE (subcode)	MOTOR/BANK	VALUE	DESCRIPTION
0	INITIALISE_RESET	-	-	Initialize and reset RAMDebug configuration & buffers.
1	SET_SAMPLE_COUNT	-	Number	Set total number of samples to collect (not per-channel).
3	SET_PRESCALER	-	Prescale	Set divider for sampling rate (divider = VALUE+1).
4	SET_CHANNEL	Type: 0=Disabled, 1=Parameter, 3=Global param	Motor/Bank: 0xFF000000, AP/GP number: 0x00000FFF	Configure capture channel.
5	SET_TRIGGER_CHANNEL	Type: 0=Disabled, 1=Parameter, 3=Global param	Motor/Bank: 0xFF000000, AP/GP number: 0x00000FFF	Specify source of trigger data.
6	SET_TRIGGER_MASK_SHIFT	Shift	Mask	Specify mask and shift for trigger value.
7	ENABLE_TRIGGER	Type: 0=Uncond, 1=RiseS, 2=FallS, 3=DualS,	Threshold	Start measurement by enabling trigger.

◆ RAMPER_STOP_CONFIG_LIST

#define RAMPER_STOP_CONFIG_LIST ( X )

Value:

    X(STOP_ON_VELOCITY_DEVIATION,        134, ) \
    X(STOP_ON_POSITION_DEVIATION,        152, ) \
    /* LATCH_POSITION handled in POSITION_CONTROL_LIST */ \
    X(REFERENCE_SWITCH_ENABLE,           161, ) \
    X(REFERENCE_SWITCH_POLARITY_AND_SWAP,162, ) \
    X(REFERENCE_SWITCH_LATCH_SETTINGS,   163, ) \
    X(EVENT_STOP_SETTINGS,               164, )

Parameters for configuring ramper stop conditions and reference switch behavior.

Table — Ramper Stop Conditions and Reference Switches:

NUMBER	NAME	DESCRIPTION
134	STOP_ON_VELOCITY_DEVIATION	Max velocity deviation before stop event [0...200000]. Default: 0. RW
152	STOP_ON_POSITION_DEVIATION	Max position deviation before stop event [0...2147483647]. Default: 0. RWE
154	LATCH_POSITION	Latched position at switch event [-2147483648...2147483647]. Default: 0. R
161	REFERENCE_SWITCH_ENABLE	Bitwise enable for stopping on reference switch. See ReferenceSwitchEnable. Default: 0. RWE
162	REFERENCE_SWITCH_POLARITY_AND_SWAP	Bitwise config for switch polarity/swap. See ReferenceSwitchPolaritySwap. Default: 0. RWE
163	REFERENCE_SWITCH_LATCH_SETTINGS	Bitwise config for latch behavior. See ReferenceSwitchLatchSettings. Default: 0. RWE
164	EVENT_STOP_SETTINGS	Bitwise config for stop conditions. See EventStopSettings. Default: 0. RWE

◆ REFERENCE_SEARCH_COMMAND_LIST

#define REFERENCE_SEARCH_COMMAND_LIST ( X )

Value:

    X(START,  0, ) \
    X(STOP,   1, ) \
    X(STATUS, 2, )

Enumerates TMCL RFS (13) command types for reference search.

Table — Reference Search TMCL Command Types:

NUMBER	NAME	DESCRIPTION
0	START	Start reference search.
1	STOP	Stop reference search.
2	STATUS	Return reference search status.

◆ REFERENCE_SEARCH_LIST

#define REFERENCE_SEARCH_LIST ( X )

Value:

    X(REFERENCE_SWITCH_SEARCH_MODE,  165, ) \
    X(REFERENCE_SWITCH_SEARCH_SPEED, 166, ) \
    X(REFERENCE_SWITCH_SPEED,        167, ) \
    X(RIGHT_LIMIT_SWITCH_POSITION,   168, ) \
    X(HOME_SWITCH_POSITION,          169, ) \
    X(LAST_REFERENCE_POSITION,       170, )

Parameters for configuring automatic homing/reference search routines.

The TMC9660 supports eight different reference search patterns, configurable via REFERENCE_SWITCH_SEARCH_MODE. Two speeds can be set: REFERENCE_SWITCH_SEARCH_SPEED (fast search) and REFERENCE_SWITCH_SPEED (slow, for accuracy). Switch positions can be read out after search. The TMCL command RFS (13) is used to start/stop/query the search.

Table — Reference Search (Automatic Homing) Parameters:

NUMBER	NAME	DESCRIPTION
165	REFERENCE_SWITCH_SEARCH_MODE	Reference search mode. See ReferenceSearchMode. Default: 0.
166	REFERENCE_SWITCH_SEARCH_SPEED	Speed for reference search [-134217728...134217727]. Default: 0.
167	REFERENCE_SWITCH_SPEED	Lower speed for accurate switch positioning [-134217728...134217727]. Default: 0.
168	RIGHT_LIMIT_SWITCH_POSITION	Position of right limit switch [-2147483648...2147483647]. Default: 0.
169	HOME_SWITCH_POSITION	Position of home switch [-2147483648...2147483647]. Default: 0.
170	LAST_REFERENCE_POSITION	Last reference position [-2147483648...2147483647]. Default: 0.

◆ REFERENCE_SEARCH_MODE_LIST

#define REFERENCE_SEARCH_MODE_LIST ( X )

Value:

    X(LEFT_SWITCH,                           1, ) \
    X(RIGHT_SWITCH_LEFT_SWITCH,              2, ) \
    X(RIGHT_SWITCH_LEFT_SWITCH_BOTH_SIDES,   3, ) \
    X(LEFT_SWITCH_BOTH_SIDES,                4, ) \
    X(HOME_SWITCH_NEG_DIR_LEFT_END_SWITCH,   5, ) \
    X(HOME_SWITCH_POS_DIR_RIGHT_END_SWITCH,  6, ) \
    X(HOME_SWITCH_NEG_DIR_IGNORE_END_SWITCH, 7, ) \
    X(HOME_SWITCH_POS_DIR_IGNORE_END_SWITCH, 8, )

Enumerates reference search (homing) patterns.

Table — Reference Search Modes:

NUMBER	NAME	DESCRIPTION
1	LEFT_SWITCH	Search for left limit switch.
2	RIGHT_SWITCH_LEFT_SWITCH	Search right limit, then left limit switch.
3	RIGHT_SWITCH_LEFT_SWITCH_BOTH_SIDES	Right limit, then approach left limit from both sides.
4	LEFT_SWITCH_BOTH_SIDES	Approach left limit from both sides.
5	HOME_SWITCH_NEG_DIR_LEFT_END_SWITCH	Search home switch in negative direction, turn if left end detected.
6	HOME_SWITCH_POS_DIR_RIGHT_END_SWITCH	Search home switch in positive direction, turn if right end detected.
7	HOME_SWITCH_NEG_DIR_IGNORE_END_SWITCH	Search home switch in negative direction, ignore end switch.
8	HOME_SWITCH_POS_DIR_IGNORE_END_SWITCH	Search home switch in positive direction, ignore end switch.

◆ REFERENCE_SEARCH_STATUS_LIST

#define REFERENCE_SEARCH_STATUS_LIST ( X )

Value:

    X(IDLE,                                  0, ) \
    X(START_REFERENCE_DRIVE,                 1, ) \
    X(START_DRIVE_TO_RIGHT_LIMIT_FAST,       2, ) \
    X(WAIT_UNTIL_RIGHT_SWITCH_REACHED,       3, ) \
    X(START_DRIVE_TO_LEFT_LIMIT_FAST,        4, ) \
    X(WAIT_UNTIL_LEFT_SWITCH_REACHED,        5, ) \
    X(DRIVE_OUT_OF_LEFT_SWITCH_SLOWLY,       6, ) \
    X(WAIT_UNTIL_LEFT_SWITCH_EXITED_DRIVE_IN_AGAIN, 7, ) \
    X(WAIT_UNTIL_LEFT_SWITCH_REACHED_AGAIN_DRIVE_TO_POSITION, 8, ) \
    X(WAIT_UNTIL_POSITION_REACHED_SET_ZERO,  9, ) \
    X(WAIT_UNTIL_SWITCH_PUSHED_AGAIN,        10, ) \
    X(WAIT_UNTIL_OTHER_SIDE_SWITCH_REACHED,  11, ) \
    X(RESERVED,                              12, ) \
    X(WAIT_UNTIL_CENTER_SWITCH_REACHED,      13, ) \
    X(REFERENCE_DRIVE_FINISHED_RESTORE_SETTINGS, 14, ) \
    X(STOP_REFERENCE_DRIVE,                  15, )

Enumerates status codes for reference search state machine.

Table — Reference Search Status Codes:

NUMBER	NAME	DESCRIPTION
0	IDLE	No description provided.
1	START_REFERENCE_DRIVE	No description provided.
2	START_DRIVE_TO_RIGHT_LIMIT_FAST	No description provided.
3	WAIT_UNTIL_RIGHT_SWITCH_REACHED	No description provided.
4	START_DRIVE_TO_LEFT_LIMIT_FAST	No description provided.
5	WAIT_UNTIL_LEFT_SWITCH_REACHED	No description provided.
6	DRIVE_OUT_OF_LEFT_SWITCH_SLOWLY	No description provided.
7	WAIT_UNTIL_LEFT_SWITCH_EXITED_DRIVE_IN_AGAIN	No description provided.
8	WAIT_UNTIL_LEFT_SWITCH_REACHED_AGAIN_DRIVE_TO_POSITION	No description provided.
9	WAIT_UNTIL_POSITION_REACHED_SET_ZERO	No description provided.
10	WAIT_UNTIL_SWITCH_PUSHED_AGAIN	No description provided.
11	WAIT_UNTIL_OTHER_SIDE_SWITCH_REACHED	No description provided.
12	RESERVED	No description provided.
13	WAIT_UNTIL_CENTER_SWITCH_REACHED	No description provided.
14	REFERENCE_DRIVE_FINISHED_RESTORE_SETTINGS	No description provided.
15	STOP_REFERENCE_DRIVE	No description provided.

◆ REFERENCE_SWITCH_ENABLE_LIST

#define REFERENCE_SWITCH_ENABLE_LIST ( X )

Value:

    X(NO_STOP_ON_SWITCH_TRIGGERED, 0, ) \
    X(STOP_ON_L,                   1, ) \
    X(STOP_ON_R,                   2, ) \
    X(STOP_ON_R_AND_L,             3, ) \
    X(STOP_ON_H,                   4, ) \
    X(STOP_ON_H_AND_L,             5, ) \
    X(STOP_ON_H_AND_R,             6, ) \
    X(STOP_ON_H_R_AND_L,           7, )

Bitwise enable for stopping when reference switch input is triggered.

Table — Reference Switch Enable:

NUMBER	NAME	DESCRIPTION
0	NO_STOP_ON_SWITCH_TRIGGERED	No stop on switch.
1	STOP_ON_L	Stop on left switch.
2	STOP_ON_R	Stop on right switch.
3	STOP_ON_R_AND_L	Stop on right and left switches.
4	STOP_ON_H	Stop on home switch.
5	STOP_ON_H_AND_L	Stop on home and left switches.
6	STOP_ON_H_AND_R	Stop on home and right switches.
7	STOP_ON_H_R_AND_L	Stop on home, right, and left switches.

◆ REFERENCE_SWITCH_LATCH_SETTINGS_LIST

#define REFERENCE_SWITCH_LATCH_SETTINGS_LIST ( X )

Value:

    X(NO_TRIGGER,                  0,  ) \
    X(L_R_RISING_EDGE,             1,  ) \
    X(L_R_FALLING_EDGE,            2,  ) \
    X(L_R_BOTH_EDGES,              3,  ) \
    X(H_RISING_EDGE,               4,  ) \
    X(H_L_R_RISING_EDGE,           5,  ) \
    X(H_RISING_L_R_FALLING_EDGE,   6,  ) \
    X(H_RISING_L_R_BOTH_EDGES,     7,  ) \
    X(H_FALLING_EDGE,              8,  ) \
    X(H_FALLING_L_R_RISING_EDGE,   9,  ) \
    X(H_L_R_FALLING_EDGE,          10, ) \
    X(H_FALLING_L_R_BOTH_EDGES,    11, ) \
    X(H_BOTH_EDGES,                12, ) \
    X(H_BOTH_L_R_RISING_EDGE,      13, ) \
    X(H_BOTH_L_R_FALLING_EDGE,     14, ) \
    X(H_L_R_BOTH_EDGES,            15, )

Bitwise configuration for reference switch latch behavior.

Table — Reference Switch Latch Settings:

NUMBER	NAME	DESCRIPTION
0	NO_TRIGGER	No latch triggered.
1	L_R_RISING_EDGE	Latch on rising edge of left/right switch.
2	L_R_FALLING_EDGE	Latch on falling edge of left/right switch.
3	L_R_BOTH_EDGES	Latch on both edges of left/right switch.
4	H_RISING_EDGE	Latch on rising edge of home switch.
5	H_L_R_RISING_EDGE	Latch on rising edge of home and left/right switches.
6	H_RISING_L_R_FALLING_EDGE	Latch on rising edge of home and falling edge of left/right switches.
7	H_RISING_L_R_BOTH_EDGES	Latch on rising edge of home and both edges of left/right switches.
8	H_FALLING_EDGE	Latch on falling edge of home switch.
9	H_FALLING_L_R_RISING_EDGE	Latch on falling edge of home and rising edge of left/right switches.
10	H_L_R_FALLING_EDGE	Latch on falling edge of home and left/right switches.
11	H_FALLING_L_R_BOTH_EDGES	Latch on falling edge of home and both edges of left/right switches.
12	H_BOTH_EDGES	Latch on both edges of home switch.
13	H_BOTH_L_R_RISING_EDGE	Latch on both edges of home and rising edge of left/right switches.
14	H_BOTH_L_R_FALLING_EDGE	Latch on both edges of home and falling edge of left/right switches.
15	H_L_R_BOTH_EDGES	Latch on both edges of home and left/right switches.

◆ REFERENCE_SWITCH_POLARITY_SWAP_LIST

#define REFERENCE_SWITCH_POLARITY_SWAP_LIST ( X )

Value:

    X(NOT_SWAPPED_NOT_INVERTED,       0,  ) \
    X(L_INVERTED,                     1,  ) \
    X(R_INVERTED,                     2,  ) \
    X(R_AND_L_INVERTED,               3,  ) \
    X(H_INVERTED,                     4,  ) \
    X(H_AND_L_INVERTED,               5,  ) \
    X(H_AND_R_INVERTED,               6,  ) \
    X(H_R_AND_L_INVERTED,             7,  ) \
    X(L_R_SWAPPED_L_INVERTED,         8,  ) \
    X(L_R_SWAPPED_R_INVERTED,         9,  ) \
    X(L_R_SWAPPED_R_AND_L_INVERTED,  10,  ) \
    X(L_R_SWAPPED_H_INVERTED,        11,  ) \
    X(L_R_SWAPPED_H_AND_L_INVERTED,  12,  ) \
    X(L_R_SWAPPED,                   13,  ) \
    X(L_R_SWAPPED_H_AND_R_INVERTED,  14,  ) \
    X(L_R_SWAPPED_H_R_AND_L_INVERTED,15,  )

Bitwise configuration for reference switch polarity and swapping.

Table — Reference Switch Polarity and Swap:

NUMBER	NAME	DESCRIPTION
0	NOT_SWAPPED_NOT_INVERTED	No swapping or inversion.
1	L_INVERTED	Left switch inverted.
2	R_INVERTED	Right switch inverted.
3	R_AND_L_INVERTED	Right and left switches inverted.
4	H_INVERTED	Home switch inverted.
5	H_AND_L_INVERTED	Home and left switches inverted.
6	H_AND_R_INVERTED	Home and right switches inverted.
7	H_R_AND_L_INVERTED	Home, right, and left switches inverted.
8	L_R_SWAPPED_L_INVERTED	Left and right switches swapped, left inverted.
9	L_R_SWAPPED_R_INVERTED	Left and right switches swapped, right inverted.
10	L_R_SWAPPED_R_AND_L_INVERTED	Left and right switches swapped, both inverted.
11	L_R_SWAPPED_H_INVERTED	Left and right switches swapped, home inverted.
12	L_R_SWAPPED_H_AND_L_INVERTED	Left and right switches swapped, home and left inverted.
13	L_R_SWAPPED	Left and right switches swapped.
14	L_R_SWAPPED_H_AND_R_INVERTED	Left and right switches swapped, home and right inverted.
15	L_R_SWAPPED_H_R_AND_L_INVERTED	Left and right switches swapped, home, right, and left inverted.

◆ REPLY_CODE_LIST

#define REPLY_CODE_LIST ( X )

Value:

    X(REPLY_OK,                     100, ) \
    X(REPLY_CMD_LOADED,             101, ) \
    X(REPLY_CHKERR,                   1, ) \
    X(REPLY_INVALID_CMD,              2, ) \
    X(REPLY_WRONG_TYPE,               3, ) \
    X(REPLY_INVALID_VALUE,            4, ) \
    X(REPLY_CMD_NOT_AVAILABLE,        6, ) \
    X(REPLY_CMD_LOAD_ERROR,           7, ) \
    X(REPLY_MAX_EXCEEDED,             9, ) \
    X(REPLY_DOWNLOAD_NOT_POSSIBLE,   10, )

Status codes returned in the status byte of every TMCL reply.

Table 19 — TMCL status codes:

NUMBER	NAME	DESCRIPTION
100	REPLY_OK	Command executed successfully.
101	REPLY_CMD_LOADED	Command loaded successfully.
1	REPLY_CHKERR	Check error occurred (e.g., checksum error).
2	REPLY_INVALID_CMD	Invalid command received (unknown command number).
3	REPLY_WRONG_TYPE	Wrong type of data received (TYPE field invalid).
4	REPLY_INVALID_VALUE	Invalid value received (VALUE field out of range).
6	REPLY_CMD_NOT_AVAILABLE	Command not available (not supported in this mode).
7	REPLY_CMD_LOAD_ERROR	Error occurred while loading command (storage error).
9	REPLY_MAX_EXCEEDED	Maximum limit exceeded (e.g., too many breakpoints).
10	REPLY_DOWNLOAD_NOT_POSSIBLE	Download operation not possible (misuse or memory full).

◆ SPI_ENCODER_TRANSFER_LIST

#define SPI_ENCODER_TRANSFER_LIST ( X )

Value:

    X(OFF,                             0, ) \
    X(TRIGGER_SINGLE_TRANSFER,         1, ) \
    X(CONTINUOUS_POSITION_COUNTER_READ, 2, )

Enumerates SPI encoder transfer modes.

Table — SPI Encoder Transfer Modes:

NUMBER	NAME	DESCRIPTION
0	OFF	SPI encoder interface off.
1	TRIGGER_SINGLE_TRANSFER	Trigger a single SPI transfer.
2	CONTINUOUS_POSITION_COUNTER_READ	Continuously read position counter.

◆ SPI_INIT_METHOD_LIST

#define SPI_INIT_METHOD_LIST ( X )

Value:

    X(FORCED_PHI_E_ZERO_WITH_ACTIVE_SWING, 0, ) \
    X(FORCED_PHI_E_90_ZERO,                1, ) \
    X(USE_OFFSET,                          2, )

Enumerates SPI encoder initialization methods.

Table — SPI Encoder Initialization Methods:

NUMBER	NAME	DESCRIPTION
0	FORCED_PHI_E_ZERO_WITH_ACTIVE_SWING	Force rotor into PHI_E zero with active swing.
1	FORCED_PHI_E_90_ZERO	Force rotor into PHI_E 90° then 0° position.
2	USE_OFFSET	Use the offset value stored in SPI_ENCODER_OFFSET.

◆ STEP_DIR_LIST

#define STEP_DIR_LIST ( X )

Value:

    /* VELOCITY_FEEDFORWARD_ENABLE defined in VELOCITY_CONTROL_LIST */ \
    X(STEP_DIR_STEP_DIVIDER_SHIFT, 205, ) \
    X(STEP_DIR_ENABLE, 206, ) \
    X(STEP_DIR_EXTRAPOLATION_ENABLE, 207, ) \
    X(STEP_DIR_STEP_SIGNAL_TIMEOUT_LIMIT, 208, ) \
    X(STEP_DIR_MAXIMUM_EXTRAPOLATION_VELOCITY, 209, )

Parameters for configuring the STEP/DIR target movement interface.

The STEP/DIR interface allows position control via step and direction signals. Supports micro-stepping, extrapolation, and velocity feedforward. Micro-stepping is set by STEP_DIR_STEP_DIVIDER_SHIFT (1/1 to 1/1024). Extrapolation smooths movement between steps and can be limited by velocity. Timeout and correction are configurable.

NUMBER	NAME	DESCRIPTION
68	VELOCITY_FEEDFORWARD_ENABLE	Enable velocity feedforward. 0: DISABLED, 1: ENABLED. Default: 0. RWE
205	STEP_DIR_STEP_DIVIDER_SHIFT	Micro-step divider shift (see StepDirStepDividerShift). Default: 0 (full step). RWE
206	STEP_DIR_ENABLE	Enable STEP/DIR input. 0: DISABLED, 1: ENABLED. Default: 0. RW
207	STEP_DIR_EXTRAPOLATION_ENABLE	Enable extrapolation. 0: DISABLED, 1: ENABLED. Default: 0. RW
208	STEP_DIR_STEP_SIGNAL_TIMEOUT_LIMIT	Step signal timeout limit [ms]. 1...2000. Default: 1000. RW
209	STEP_DIR_MAXIMUM_EXTRAPOLATION_VELOCITY	Max velocity for extrapolation [eRPM]. 0...2147483647. Default: 2147483647. RW

◆ STEP_DIR_STEP_DIVIDER_SHIFT_LIST

#define STEP_DIR_STEP_DIVIDER_SHIFT_LIST ( X )

Value:

    X(STEP_MODE_FULL, 0, ) \
    X(STEP_MODE_HALF, 1, ) \
    X(STEP_MODE_QUARTER, 2, ) \
    X(STEP_MODE_1_8TH, 3, ) \
    X(STEP_MODE_1_16TH, 4, ) \
    X(STEP_MODE_1_32ND, 5, ) \
    X(STEP_MODE_1_64TH, 6, ) \
    X(STEP_MODE_1_128TH, 7, ) \
    X(STEP_MODE_1_256TH, 8, ) \
    X(STEP_MODE_1_512TH, 9, ) \
    X(STEP_MODE_1_1024TH, 10, )

Enumerates micro-step divider shift settings for STEP/DIR interface.

Determines the number of micro-steps per full step (1/1 to 1/1024).

NUMBER	NAME	DESCRIPTION
0	STEP_MODE_FULL	Full step (1/1)
1	STEP_MODE_HALF	Half step (1/2)
2	STEP_MODE_QUARTER	Quarter step (1/4)
3	STEP_MODE_1_8TH	1/8 step
4	STEP_MODE_1_16TH	1/16 step
5	STEP_MODE_1_32ND	1/32 step
6	STEP_MODE_1_64TH	1/64 step
7	STEP_MODE_1_128TH	1/128 step
8	STEP_MODE_1_256TH	1/256 step
9	STEP_MODE_1_512TH	1/512 step
10	STEP_MODE_1_1024TH	1/1024 step

◆ SYSTEM_STATUS_SUPPLY_LIST

#define SYSTEM_STATUS_SUPPLY_LIST ( X )

Value:

    X(SUPPLY_VOLTAGE, 290, ) \
    X(SUPPLY_OVERVOLTAGE_WARNING_THRESHOLD, 291, ) \
    X(SUPPLY_UNDERVOLTAGE_WARNING_THRESHOLD, 292, )

Parameters for supply voltage warnings.

NUMBER	NAME	DESCRIPTION
290	SUPPLY_VOLTAGE	Actual supply voltage in 0.1 V units. Read-only.
291	SUPPLY_OVERVOLTAGE_WARNING_THRESHOLD	Supply overvoltage warning threshold [0…1000]. RWE
292	SUPPLY_UNDERVOLTAGE_WARNING_THRESHOLD	Supply undervoltage warning threshold [0…1000]. RWE

◆ TEMPERATURE_PROTECTION_LIST

#define TEMPERATURE_PROTECTION_LIST ( X )

Value:

    X(EXTERNAL_TEMPERATURE,                    293, ) \
    X(EXTERNAL_TEMPERATURE_SHUTDOWN_THRESHOLD, 294, ) \
    X(EXTERNAL_TEMPERATURE_WARNING_THRESHOLD,  295, ) \
    X(CHIP_TEMPERATURE,                        296, ) \
    X(CHIP_TEMPERATURE_SHUTDOWN_THRESHOLD,     297, ) \
    X(CHIP_TEMPERATURE_WARNING_THRESHOLD,      298, )

Parameters for configuring temperature protection using external and internal sensors.

The TMC9660 integrates protections using both an external analog temperature sensor (AIN3) and an internal chip sensor.

EXTERNAL_TEMPERATURE can be converted to voltage: Voltage[V] = par(EXTERNAL_TEMPERATURE) × 2.5V / (2^16 - 1)
CHIP_TEMPERATURE can be converted to °C: Temperature[°C] = par(CHIP_TEMPERATURE) × 0.01615 - 268.15
Warning and shutdown thresholds can be set for both sensors. Exceeding a warning threshold sets a warning flag. Exceeding a shutdown threshold initiates a motor shutdown, as defined by DRIVE_FAULT_BEHAVIOUR.
To restart after shutdown, clear the corresponding error flag.

Table — Temperature Protection Parameters:

NUMBER	NAME	DESCRIPTION
293	EXTERNAL_TEMPERATURE	External temperature sensor value [0...65535].
294	EXTERNAL_TEMPERATURE_SHUTDOWN_THRESHOLD	Shutdown threshold for external temperature [0...65535]. Default: 65535.
295	EXTERNAL_TEMPERATURE_WARNING_THRESHOLD	Warning threshold for external temperature [0...65535]. Default: 65535.
296	CHIP_TEMPERATURE	Internal chip temperature value [0...65535].
297	CHIP_TEMPERATURE_SHUTDOWN_THRESHOLD	Shutdown threshold for chip temperature [0...65535]. Default: 65535.
298	CHIP_TEMPERATURE_WARNING_THRESHOLD	Warning threshold for chip temperature [0...65535]. Default: 65535.

◆ TORQUE_FLUX_CONTROL_LIST

#define TORQUE_FLUX_CONTROL_LIST ( X )

Value:

    X(MAX_TORQUE,                        6,   ) \
    X(MAX_FLUX,                          7,   ) \
    X(TARGET_TORQUE,                    104,  ) \
    X(ACTUAL_TORQUE,                    105,  ) \
    X(TARGET_FLUX,                      106,  ) \
    X(ACTUAL_FLUX,                      107,  ) \
    X(TORQUE_OFFSET,                    108,  ) \
    X(TORQUE_P,                         109,  ) \
    X(TORQUE_I,                         110,  ) \
    X(FLUX_P,                           111,  ) \
    X(FLUX_I,                           112,  ) \
    X(SEPARATE_TORQUE_FLUX_PI_PARAMETERS,113, ) \
    X(CURRENT_NORM_P,                   114,  ) \
    X(CURRENT_NORM_I,                   115,  ) \
    X(TORQUE_PI_ERROR,                  116,  ) \
    X(FLUX_PI_ERROR,                    117,  ) \
    X(TORQUE_PI_INTEGRATOR,             118,  ) \
    X(FLUX_PI_INTEGRATOR,               119,  ) \
    X(FLUX_OFFSET,                      120,  ) \
    X(FIELDWEAKENING_I,                 308,  ) \
    X(FIELDWEAKENING_VOLTAGE_THRESHOLD, 310,  )

Parameters for configuring torque and flux control loops.

Table — Torque and Flux Control Parameters:

NUMBER	NAME	DESCRIPTION
6	MAX_TORQUE	Maximum motor torque [mA]. 0...65535. Default: 2000. RWE
7	MAX_FLUX	Maximum motor flux [mA]. 0...65535. Default: 2000. RWE
104	TARGET_TORQUE	Target torque [mA]. Write to activate torque regulation. -32768...32767. Default: 0. RW
105	ACTUAL_TORQUE	Actual motor torque [mA]. -32767...32768. Default: 0. R
106	TARGET_FLUX	Target flux [mA]. -10000...10000. Default: 0. RW
107	ACTUAL_FLUX	Actual motor flux [mA]. -2147483648...2147483647. Default: 0. R
108	TORQUE_OFFSET	Offset applied to torque value [mA]. -4700...4700. Default: 0. RW
109	TORQUE_P	P parameter for torque PI regulator. 0...32767. Default: 50. RWE
110	TORQUE_I	I parameter for torque PI regulator. 0...32767. Default: 100. RWE
111	FLUX_P	P parameter for flux PI regulator (if separated). 0...32767. Default: 50. RWE
112	FLUX_I	I parameter for flux PI regulator (if separated). 0...32767. Default: 100. RWE
113	SEPARATE_TORQUE_FLUX_PI_PARAMETERS	Enable separate PI values for torque/flux. 0: COMBINED, 1: SEPARATED. Default: 0. RWE
114	CURRENT_NORM_P	P normalization format for current PI. 0: SHIFT_8_BIT, 1: SHIFT_16_BIT. Default: 0. RWE
115	CURRENT_NORM_I	I normalization format for current PI. 0: SHIFT_8_BIT, 1: SHIFT_16_BIT. Default: 1. RWE
116	TORQUE_PI_ERROR	Torque PI regulator error. -2147483648...2147483647. Default: 0. R
117	FLUX_PI_ERROR	Flux PI regulator error. -2147483648...2147483647. Default: 0. R
118	TORQUE_PI_INTEGRATOR	Integrated error of torque PI. -2147483648...2147483647. Default: 0. R
119	FLUX_PI_INTEGRATOR	Integrated error of flux PI. -2147483648...2147483647. Default: 0. R
120	FLUX_OFFSET	Offset applied to flux value [mA]. -4700...4700. Default: 0. RW
308	FIELDWEAKENING_I	I parameter for field weakening controller. 0...32767. Default: 0. RWE
310	FIELDWEAKENING_VOLTAGE_THRESHOLD	Max voltage for field weakening. 0...32767. Default: 32767. RWE

◆ TORQUE_FLUX_PI_SEPARATION_LIST

#define TORQUE_FLUX_PI_SEPARATION_LIST ( X )

Value:

X(TORQUE_FLUX_PI_COMBINED, 0, ) \

X(TORQUE_FLUX_PI_SEPARATED, 1, )

Selects if torque and flux PI controllers use separate parameters.

Table — Torque/Flux PI Separation:

NUMBER	NAME	DESCRIPTION
0	TORQUE_FLUX_PI_COMBINED	Use same PI parameters for torque and flux.
1	TORQUE_FLUX_PI_SEPARATED	Use separate PI parameters for torque and flux.

◆ TRIGGER_TRANSITION_LIST

#define TRIGGER_TRANSITION_LIST ( X )

Value:

    X(OFF,     0, ) \
    X(RISING,  1, ) \
    X(FALLING, 2, ) \
    X(BOTH,    3, )

For all "_TRIGGER_TRANSITION" params: 0=OFF, 1=RISING, 2=FALLING, 3=BOTH.

NUMBER	NAME	DESCRIPTION
0	OFF	No trigger transition.
1	RISING	Trigger on rising edge.
2	FALLING	Trigger on falling edge.
3	BOTH	Trigger on both rising and falling edges.

◆ UNDERVOLTAGE_ENABLE_LIST

#define UNDERVOLTAGE_ENABLE_LIST ( X )

Value:

X(DISABLED, 0, ) \

X(ENABLED, 1, )

Enumerates options for enabling or disabling undervoltage protection.

Table — Undervoltage Protection Enable/Disable:

NUMBER	NAME	DESCRIPTION
0	DISABLED	Protection disabled.
1	ENABLED	Protection enabled.

◆ UNDERVOLTAGE_LEVEL_LIST

#define UNDERVOLTAGE_LEVEL_LIST ( X )

Value:

    X(DISABLED, 0,  ) \
    X(LEVEL_0,  1,  ) \
    X(LEVEL_1,  2,  ) \
    X(LEVEL_2,  3,  ) \
    X(LEVEL_3,  4,  ) \
    X(LEVEL_4,  5,  ) \
    X(LEVEL_5,  6,  ) \
    X(LEVEL_6,  7,  ) \
    X(LEVEL_7,  8,  ) \
    X(LEVEL_8,  9,  ) \
    X(LEVEL_9,  10, ) \
    X(LEVEL_10, 11, ) \
    X(LEVEL_11, 12, ) \
    X(LEVEL_12, 13, ) \
    X(LEVEL_13, 14, ) \
    X(LEVEL_14, 15, ) \
    X(LEVEL_15, 16, )

Enumerates possible levels for undervoltage protection.

Used with the SUPPLY_LEVEL parameter to configure the VS undervoltage threshold.

Table — Undervoltage Protection Levels:

NUMBER	NAME	DESCRIPTION
0	DISABLED	Comparator disabled.
1	LEVEL_0	Hardware level 0.
2	LEVEL_1	Hardware level 1.
3	LEVEL_2	Hardware level 2.
4	LEVEL_3	Hardware level 3.
5	LEVEL_4	Hardware level 4.
6	LEVEL_5	Hardware level 5.
7	LEVEL_6	Hardware level 6.
8	LEVEL_7	Hardware level 7.
9	LEVEL_8	Hardware level 8.
10	LEVEL_9	Hardware level 9.
11	LEVEL_10	Hardware level 10.
12	LEVEL_11	Hardware level 11.
13	LEVEL_12	Hardware level 12.
14	LEVEL_13	Hardware level 13.
15	LEVEL_14	Hardware level 14.
16	LEVEL_15	Hardware level 15.

◆ UNDERVOLTAGE_PROTECTION_LIST

#define UNDERVOLTAGE_PROTECTION_LIST ( X )

Value:

    X(SUPPLY_LEVEL,     250, ) \
    X(VDRV_ENABLE,      251, ) \
    X(BST_UVW_ENABLE,   252, ) \
    X(BST_Y2_ENABLE,    253, )

Parameters for configuring undervoltage lockout (UVLO) protection.

These parameters configure the undervoltage protection for the supply voltage (VS), driver voltage (VDRV), and bootstrap capacitors for UVW and Y2 phases.

Table — Undervoltage Protection Parameters:

NUMBER	NAME	DESCRIPTION
250	SUPPLY_LEVEL	Protection level for VS (Supply voltage) [0-16]. Default: 0.
251	VDRV_ENABLE	Enable protection for VDRV (Driver voltage) [0, 1]. Default: 1.
252	BST_UVW_ENABLE	Enable protection for UVW bootstrap capacitors [0, 1]. Default: 1.
253	BST_Y2_ENABLE	Enable protection for Y2 bootstrap capacitor [0, 1]. Default: 1.

◆ VDS_USAGE_LIST

#define VDS_USAGE_LIST ( X )

Value:

X(DISABLED, 0, ) \

X(ENABLED, 1, )

Enumerates options for VDS measurement usage in overcurrent protection.

Table — VDS Measurement Enable/Disable:

NUMBER	NAME	DESCRIPTION
0	DISABLED	VDS measurement disabled
1	ENABLED	VDS measurement enabled

◆ VELOCITY_CONTROL_LIST

#define VELOCITY_CONTROL_LIST ( X )

Parameters for configuring velocity control and ramping.

Table — Velocity Control Parameters:

NUMBER	NAME	DESCRIPTION
123	VELOCITY_SENSOR_SELECTION	Feedback source for velocity PI regulator. See VelocitySensorSelection. Default: 0 (SAME_AS_COMMUTATION). RWE
124	TARGET_VELOCITY	Target velocity value. Write to activate velocity regulation. -134217728...134217727. Default: 0. RW
125	ACTUAL_VELOCITY	Actual velocity value. -2147483648...2147483647. Default: 0. R
126	VELOCITY_OFFSET	Offset applied to velocity value. -200000...200000. Default: 0. RW
127	VELOCITY_P	P parameter for velocity PI regulator. 0...32767. Default: 800. RWE
128	VELOCITY_I	I parameter for velocity PI regulator. 0...32767. Default: 1. RWE
129	VELOCITY_NORM_P	P normalization for velocity PI. See VelocityPiNorm. Default: 2. RWE
130	VELOCITY_NORM_I	I normalization for velocity PI. See VelocityPiNorm. Default: 2. RWE
131	VELOCITY_PI_INTEGRATOR	Integrated error of velocity PI regulator. -2147483648...2147483647. Default: 0. R
132	VELOCITY_PI_ERROR	Velocity PI regulator error. -2147483648...2147483647. Default: 0. R
133	VELOCITY_SCALING_FACTOR	Scaling factor for velocity to real-world units. 1...2047. Default: 1. RWE
135	VELOCITY_LOOP_DOWNSAMPLING	Downsampling factor for velocity controller. 0...127. Default: 5. RWE
137	VELOCITY_METER_SWITCH_THRESHOLD	Threshold for switching from period to frequency velocity meter. 0...134217727. Default: 2000. RWE
138	VELOCITY_METER_SWITCH_HYSTERESIS	Hysteresis for switching back to period meter. 0...65535. Default: 500. RWE
139	VELOCITY_METER_MODE	Currently used velocity meter mode. See VelocityMeterMode. Default: 0. R
45	OPENLOOP_ANGLE	Phi_e calculated by ramper hardware (openloop modes). -32768...32767. Default: 0. R
46	OPENLOOP_CURRENT	Openloop current applied in openloop, current mode [mA]. 0...65535. Default: 1000. RWE
47	OPENLOOP_VOLTAGE	Openloop voltage applied in openloop, voltage mode. 0...16383. Default: 0. RWE
50	ACCELERATION_FF_GAIN	Gain for acceleration feedforward. 0...65535. Default: 8. RWE
51	ACCELERATION_FF_SHIFT	Shift for acceleration feedforward. See AccelerationFfShift. Default: 4. RWE
52	RAMP_ENABLE	Enable acceleration/deceleration ramps. 0: DISABLED, 1: ENABLED. Default: 0. RWE
53	DIRECT_VELOCITY_MODE	Direct velocity control mode. 0: DISABLED, 1: ENABLED. Default: 1. RWE
54	RAMP_AMAX	Max acceleration (top part of ramp). 1...8388607. Default: 1000. RWE
55	RAMP_A1	First acceleration in ramp. 1...8388607. Default: 8000. RWE
56	RAMP_A2	Second acceleration in ramp. 1...8388607. Default: 4000. RWE
57	RAMP_DMAX	Max deceleration (top part of ramp). 1...8388607. Default: 1000. RWE
58	RAMP_D1	Second deceleration in ramp. 1...8388607. Default: 8000. RWE
59	RAMP_D2	First deceleration in ramp. 1...8388607. Default: 8000. RWE
60	RAMP_VMAX	Max velocity of ramp. 0...134217727. Default: 134217727. RWE
61	RAMP_V1	Velocity threshold for A1/D1 to A2/D2. 0...134217727. Default: 0. RWE
62	RAMP_V2	Velocity threshold for A2/D2 to AMAX/DMAX. 0...134217727. Default: 0. RWE
63	RAMP_VSTART	Start velocity of ramp. 0...8388607. Default: 0. RWE
64	RAMP_VSTOP	Stop velocity of ramp. 1...8388607. Default: 1. RWE
65	RAMP_TVMAX	Min time at VMAX before deceleration. 0...65535. Default: 0. RWE
66	RAMP_TZEROWAIT	Wait time at end of ramp. 0...65535. Default: 0. RWE
67	ACCELERATION_FEEDFORWARD_ENABLE	Enable acceleration feedforward. 0: DISABLED, 1: ENABLED. Default: 0. RWE
68	VELOCITY_FEEDFORWARD_ENABLE	Enable velocity feedforward. 0: DISABLED, 1: ENABLED. Default: 0. RWE
69	RAMP_VELOCITY	Target velocity calculated by ramp controller. -134217727...134217727. Default: 0. R
70	RAMP_VELOCITY_ERROR	Error of ramp velocity controller. -134217727...134217727. Default: 0. R

◆ VELOCITY_METER_MODE_LIST

#define VELOCITY_METER_MODE_LIST ( X )

Value:

    X(PERIOD_METER,    0, ) \
    X(FREQUENCY_METER, 1, ) \
    X(SOFTWARE_METER,  2, )

Enumerates velocity meter modes.

Table — Velocity Meter Modes:

NUMBER	NAME	DESCRIPTION
0	PERIOD_METER	Period-based measurement.
1	FREQUENCY_METER	Frequency-based measurement.
2	SOFTWARE_METER	Software-based measurement.

◆ VELOCITY_PI_NORM_LIST

#define VELOCITY_PI_NORM_LIST ( X )

Value:

    X(NO_SHIFT,    0, ) \
    X(SHIFT_8_BIT, 1, ) \
    X(SHIFT_16_BIT,2, ) \
    X(SHIFT_24_BIT,3, )

Enumerates normalization formats for velocity PI controller.

Table — Velocity PI Normalization:

NUMBER	NAME	DESCRIPTION
0	NO_SHIFT	No shift.
1	SHIFT_8_BIT	Shift right by 8 bits.
2	SHIFT_16_BIT	Shift right by 16 bits.
3	SHIFT_24_BIT	Shift right by 24 bits.

◆ VELOCITY_SENSOR_SELECTION_LIST

#define VELOCITY_SENSOR_SELECTION_LIST ( X )

Value:

    X(SAME_AS_COMMUTATION, 0, ) \
    X(DIGITAL_HALL,        1, ) \
    X(ABN1_ENCODER,        2, ) \
    X(ABN2_ENCODER,        3, ) \
    X(SPI_ENCODER,         4, )

Enumerates feedback sources for velocity PI regulator.

Table — Velocity Sensor Selection:

NUMBER	NAME	DESCRIPTION
0	SAME_AS_COMMUTATION	Use same feedback as commutation mode.
1	DIGITAL_HALL	Use digital Hall sensors.
2	ABN1_ENCODER	Use ABN1 encoder.
3	ABN2_ENCODER	Use ABN2 encoder.
4	SPI_ENCODER	Use SPI encoder.

◆ VGS_BLANKING_TIME_LIST

#define VGS_BLANKING_TIME_LIST ( X )

Value:

    X(OFF,              0, ) \
    X(T_0_25_MICROSEC,  1, ) \
    X(T_0_5_MICROSEC,   2, ) \
    X(T_1_MICROSEC,     3, )

Enumerates possible blanking times for VGS short protection.

Table — VGS Protection Blanking Time:

NUMBER	NAME	DESCRIPTION
0	OFF	No blanking.
1	T_0_25_MICROSEC	0.25 µs blanking time.
2	T_0_5_MICROSEC	0.5 µs blanking time.
3	T_1_MICROSEC	1.0 µs blanking time.

◆ VGS_DEGLITCH_TIME_LIST

#define VGS_DEGLITCH_TIME_LIST ( X )

Value:

    X(OFF,              0, ) \
    X(T_0_25_MICROSEC,  1, ) \
    X(T_0_5_MICROSEC,   2, ) \
    X(T_1_MICROSEC,     3, ) \
    X(T_2_MICROSEC,     4, ) \
    X(T_4_MICROSEC,     5, ) \
    X(T_6_MICROSEC,     6, ) \
    X(T_8_MICROSEC,     7, )

Enumerates possible deglitch times for VGS short protection.

Table — VGS Protection Deglitch Time:

NUMBER	NAME	DESCRIPTION
0	OFF	No deglitching.
1	T_0_25_MICROSEC	0.25 µs deglitch time.
2	T_0_5_MICROSEC	0.5 µs deglitch time.
3	T_1_MICROSEC	1.0 µs deglitch time.
4	T_2_MICROSEC	2.0 µs deglitch time.
5	T_4_MICROSEC	4.0 µs deglitch time.
6	T_6_MICROSEC	6.0 µs deglitch time.
7	T_8_MICROSEC	8.0 µs deglitch time.

◆ VGS_SHORT_ENABLE_LIST

#define VGS_SHORT_ENABLE_LIST ( X )

Value:

X(DISABLED, 0, ) \

X(ENABLED, 1, )

Enumerates options for enabling or disabling VGS short protection.

Table — VGS Protection Enable/Disable:

NUMBER	NAME	DESCRIPTION
0	DISABLED	Protection disabled.
1	ENABLED	Protection enabled.

◆ VGS_SHORT_PROTECTION_LIST

#define VGS_SHORT_PROTECTION_LIST ( X )

Value:

    X(UVW_LOW_SIDE_ON_ENABLE,  272, ) \
    X(UVW_LOW_SIDE_OFF_ENABLE, 273, ) \
    X(UVW_HIGH_SIDE_ON_ENABLE, 274, ) \
    X(UVW_HIGH_SIDE_OFF_ENABLE,275, ) \
    X(Y2_LOW_SIDE_ON_ENABLE,   276, ) \
    X(Y2_LOW_SIDE_OFF_ENABLE,  277, ) \
    X(Y2_HIGH_SIDE_ON_ENABLE,  278, ) \
    X(Y2_HIGH_SIDE_OFF_ENABLE, 279, ) \
    X(UVW_BLANKING,            280, ) \
    X(Y2_BLANKING,             281, ) \
    X(UVW_DEGLITCH,            282, ) \
    X(Y2_DEGLITCH,             283, )

Parameters for configuring gate-to-source (VGS) short circuit protection.

These parameters enable/disable protection against gate-to-source voltage shorts for different phases (UVW, Y2) and transitions (ON, OFF) of both low and high side drivers. The protection includes configurable blanking and deglitch times.

◆ WAIT_CONDITION_LIST

#define WAIT_CONDITION_LIST ( X )

Value:

    X(WAIT_TIME, 0, ) \
    X(WAIT_RFS, 4, ) \
    X(WAIT_LATCH, 5, ) \
    X(WAIT_VEL_REACHED, 6, ) \
    X(WAIT_POS_REACHED, 7, ) \
    X(WAIT_STOP_LEFT, 8, ) \
    X(WAIT_STOP_RIGHT, 9, ) \
    X(WAIT_STOP_HOME, 10, )

◆ X [1/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	NAME = VALUE DOC,

◆ X [2/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	case Op::NAME: return #NAME;

◆ X [3/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	NAME = VALUE,

◆ X [4/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	case CalcOperation::NAME: return #NAME;

◆ X [5/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	NAME = VALUE,

◆ X [6/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	case JumpCondition::NAME: return #NAME;

◆ X [7/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	NAME = VALUE,

◆ X [8/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	case WaitCondition::NAME: return #NAME;

◆ X [9/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	NAME = VALUE DOC,

◆ X [10/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	case ReplyCode::NAME: return #NAME;

◆ X [11/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	NAME = VALUE DOC,

◆ X [12/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	case RamDebugType::NAME: return #NAME;

◆ X [13/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	NAME = VALUE DOC,

◆ X [14/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	case RamDebugState::NAME: return #NAME;

◆ X [15/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	NAME = VALUE DOC,

◆ X [16/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	case GlobalParamBank0::NAME: return #NAME;

◆ X [17/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	NAME = VALUE DOC,

◆ X [18/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	case GlobalParamBank2::NAME: return #NAME;

◆ X [19/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	NAME = VALUE DOC,

◆ X [20/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	case GlobalParamBank3::NAME: return #NAME;

◆ X [21/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	NAME = VALUE DOC,

◆ X [22/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	case TriggerTransition::NAME: return #NAME;

◆ X [23/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	NAME = VALUE DOC,

◆ X [24/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	case GateDriver::NAME: return #NAME;

◆ X [25/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	NAME = VALUE DOC,

◆ X [26/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	case PwmOutputPolarity::NAME: return #NAME;

◆ X [27/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	NAME = VALUE DOC,

◆ X [28/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	case GateCurrentSink::NAME: return #NAME;

◆ X [29/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	NAME = VALUE DOC,

◆ X [30/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	case GateCurrentSource::NAME: return #NAME;

◆ X [31/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	NAME = VALUE DOC,

◆ X [32/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	case BootstrapCurrentLimit::NAME: return #NAME;

◆ X [33/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	NAME = VALUE DOC,

◆ X [34/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	case OvercurrentProtection::NAME: return #NAME;

◆ X [35/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	NAME = VALUE DOC,

◆ X [36/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	case OvercurrentEnable::NAME: return #NAME;

◆ X [37/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	NAME = VALUE DOC,

◆ X [38/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	case OvercurrentThreshold::NAME: return #NAME;

◆ X [39/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	NAME = VALUE DOC,

◆ X [40/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	case OvercurrentTiming::NAME: return #NAME;

◆ X [41/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	NAME = VALUE DOC,

◆ X [42/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	case VdsUsage::NAME: return #NAME;

◆ X [43/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	NAME = VALUE DOC,

◆ X [44/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	case UndervoltageProtection::NAME: return #NAME;

◆ X [45/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	NAME = VALUE DOC,

◆ X [46/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	case UndervoltageLevel::NAME: return #NAME;

◆ X [47/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	NAME = VALUE DOC,

◆ X [48/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	case UndervoltageEnable::NAME: return #NAME;

◆ X [49/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	NAME = VALUE DOC,

◆ X [50/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	case VgsShortProtection::NAME: return #NAME;

◆ X [51/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	NAME = VALUE DOC,

◆ X [52/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	case VgsShortEnable::NAME: return #NAME;

◆ X [53/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	NAME = VALUE DOC,

◆ X [54/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	case VgsBlankingTime::NAME: return #NAME;

◆ X [55/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	NAME = VALUE DOC,

◆ X [56/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	case VgsDeglitchTime::NAME: return #NAME;

◆ X [57/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	NAME = VALUE DOC,

◆ X [58/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	case MotorConfig::NAME: return #NAME;

◆ X [59/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	NAME = VALUE DOC,

◆ X [60/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	case MotorType::NAME: return #NAME;

◆ X [61/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	NAME = VALUE DOC,

◆ X [62/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	case MotorDirection::NAME: return #NAME;

◆ X [63/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	NAME = VALUE DOC,

◆ X [64/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	case PwmSwitchingScheme::NAME: return #NAME;

◆ X [65/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	NAME = VALUE DOC,

◆ X [66/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	case CommutationMode::NAME: return #NAME;

◆ X [67/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	NAME = VALUE DOC,

◆ X [68/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	case IdleMotorPwmBehavior::NAME: return #NAME;

◆ X [69/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	NAME = VALUE DOC,

◆ X [70/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	case AdcConfig::NAME: return #NAME;

◆ X [71/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	NAME = VALUE DOC,

◆ X [72/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	case AdcShuntType::NAME: return #NAME;

◆ X [73/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	NAME = VALUE DOC,

◆ X [74/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	case CsaGain::NAME: return #NAME;

◆ X [75/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	NAME = VALUE DOC,

◆ X [76/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	case CsaFilter::NAME: return #NAME;

◆ X [77/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	NAME = VALUE DOC,

◆ X [78/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	case AdcMapping::NAME: return #NAME;

◆ X [79/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	NAME = VALUE DOC,

◆ X [80/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	case AdcInversion::NAME: return #NAME;

◆ X [81/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	NAME = VALUE DOC,

◆ X [82/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	case PwmFrequency::NAME: return #NAME;

◆ X [83/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	NAME = VALUE DOC,

◆ X [84/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	case FeedbackSensorConfig::NAME: return #NAME;

◆ X [85/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	NAME = VALUE DOC,

◆ X [86/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	case AbnInitMethod::NAME: return #NAME;

◆ X [87/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	NAME = VALUE DOC,

◆ X [88/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	case AbnInitState::NAME: return #NAME;

◆ X [89/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	NAME = VALUE DOC,

◆ X [90/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	case AbnNChannelFiltering::NAME: return #NAME;

◆ X [91/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	NAME = VALUE DOC,

◆ X [92/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	case HallSectorOffset::NAME: return #NAME;

◆ X [93/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	NAME = VALUE DOC,

◆ X [94/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	case SpiEncoderTransfer::NAME: return #NAME;

◆ X [95/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	NAME = VALUE DOC,

◆ X [96/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	case SpiInitMethod::NAME: return #NAME;

◆ X [97/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	NAME = VALUE DOC,

◆ X [98/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	case EnableDisable::NAME: return #NAME;

◆ X [99/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	NAME = VALUE DOC,

◆ X [100/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	case Direction::NAME: return #NAME;

◆ X [101/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	NAME = VALUE DOC,

◆ X [102/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	case TorqueFluxControl::NAME: return #NAME;

◆ X [103/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	NAME = VALUE DOC,

◆ X [104/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	case TorqueFluxPiSeparation::NAME: return #NAME;

◆ X [105/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	NAME = VALUE DOC,

◆ X [106/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	case CurrentPiNormalization::NAME: return #NAME;

◆ X [107/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	NAME = VALUE DOC,

◆ X [108/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	case VelocityControl::NAME: return #NAME;

◆ X [109/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	NAME = VALUE DOC,

◆ X [110/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	case VelocitySensorSelection::NAME: return #NAME;

◆ X [111/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	NAME = VALUE DOC,

◆ X [112/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	case VelocityPiNorm::NAME: return #NAME;

◆ X [113/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	NAME = VALUE DOC,

◆ X [114/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	case VelocityMeterMode::NAME: return #NAME;

◆ X [115/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	NAME = VALUE DOC,

◆ X [116/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	case AccelerationFFShift::NAME: return #NAME;

◆ X [117/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	NAME = VALUE DOC,

◆ X [118/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	case PositionControl::NAME: return #NAME;

◆ X [119/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	NAME = VALUE DOC,

◆ X [120/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	case PositionSensorSelection::NAME: return #NAME;

◆ X [121/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	NAME = VALUE DOC,

◆ X [122/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	case PositionPiNorm::NAME: return #NAME;

◆ X [123/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	NAME = VALUE DOC,

◆ X [124/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	case RamperStopConfig::NAME: return #NAME;

◆ X [125/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	NAME = VALUE DOC,

◆ X [126/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	case ReferenceSwitchEnable::NAME: return #NAME;

◆ X [127/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	NAME = VALUE DOC,

◆ X [128/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	case ReferenceSwitchPolaritySwap::NAME: return #NAME;

◆ X [129/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	NAME = VALUE DOC,

◆ X [130/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	case ReferenceSwitchLatchSettings::NAME: return #NAME;

◆ X [131/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	NAME = VALUE DOC,

◆ X [132/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	case EventStopSettings::NAME: return #NAME;

◆ X [133/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	NAME = VALUE DOC,

◆ X [134/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	case BiquadFilter::NAME: return #NAME;

◆ X [135/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	NAME = VALUE DOC,

◆ X [136/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	case BiquadFilterEnable::NAME: return #NAME;

◆ X [137/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	NAME = VALUE DOC,

◆ X [138/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	case FaultHandling::NAME: return #NAME;

◆ X [139/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	NAME = VALUE DOC,

◆ X [140/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	case GdrvRetryBehaviour::NAME: return #NAME;

◆ X [141/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	NAME = VALUE DOC,

◆ X [142/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	case DriveFaultBehaviour::NAME: return #NAME;

◆ X [143/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	NAME = VALUE DOC,

◆ X [144/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	case IitMonitor::NAME: return #NAME;

◆ X [145/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	NAME = VALUE DOC,

◆ X [146/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	case TemperatureProtection::NAME: return #NAME;

◆ X [147/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	NAME = VALUE DOC,

◆ X [148/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	case HeartbeatMonitoring::NAME: return #NAME;

◆ X [149/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	NAME = VALUE DOC,

◆ X [150/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	case HeartbeatMonitoringConfig::NAME: return #NAME;

◆ X [151/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	NAME = VALUE DOC,

◆ X [152/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	case BrakeChopper::NAME: return #NAME;

◆ X [153/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	NAME = VALUE DOC,

◆ X [154/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	case MechanicalBrake::NAME: return #NAME;

◆ X [155/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	NAME = VALUE DOC,

◆ X [156/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	case ReferenceSearch::NAME: return #NAME;

◆ X [157/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	NAME = VALUE DOC,

◆ X [158/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	case ReferenceSwitchSearchMode::NAME: return #NAME;

◆ X [159/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	NAME = VALUE DOC,

◆ X [160/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	case ReferenceSearchCommand::NAME: return #NAME;

◆ X [161/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	NAME = VALUE DOC,

◆ X [162/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	case ReferenceSearchStatus::NAME: return #NAME;

◆ X [163/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	NAME = VALUE DOC,

◆ X [164/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	case StepDir::NAME: return #NAME;

◆ X [165/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	NAME = VALUE DOC,

◆ X [166/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	case StepDirStepDividerShift::NAME: return #NAME;

◆ X [167/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	NAME = VALUE DOC,

◆ X [168/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	case HibernationWakeup::NAME: return #NAME;

◆ X [169/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	NAME = VALUE DOC,

◆ X [170/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	case PowerDownTimeout::NAME: return #NAME;

◆ X [171/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	NAME = VALUE DOC,

◆ X [172/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	case SystemStatusSupply::NAME: return #NAME;

◆ X [173/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	NAME = VALUE DOC,

◆ X [174/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	case InternalMeasurement::NAME: return #NAME;

◆ X [175/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	NAME = VALUE DOC,

◆ X [176/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	case CombinedDiagnosticValues::NAME: return #NAME;

◆ X [177/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	NAME = VALUE DOC,

◆ X [178/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	case ErrorsAndFlags::NAME: return #NAME;

◆ X [179/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	NAME = VALUE DOC,

◆ X [180/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	case GeneralStatusFlags::NAME: return #NAME;

◆ X [181/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	NAME = VALUE DOC,

◆ X [182/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	case GeneralErrorFlags::NAME: return #NAME;

◆ X [183/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	NAME = VALUE DOC,

◆ X [184/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	case GateDriverErrorFlags::NAME: return #NAME;

◆ X [185/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	NAME = VALUE DOC,

◆ X [186/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	case AdcStatusFlags::NAME: return #NAME;

◆ X [187/187]

#define X	(	NAME,
		VALUE,
		DOC
	)	NAME = VALUE DOC,

Namespaces

Macros

Enumerations

Functions

Trigger Transition Options

Idle Motor PWM Behavior

Torque and Flux Control Parameters

Torque/Flux PI Separation

Current PI Normalization Format

Velocity Mode Parameters

Velocity Sensor Selection

Velocity PI Normalization

Velocity Meter Modes

Acceleration Feedforward Shift

Position Mode Parameters

Position Sensor Selection

Position PI Normalization

Ramper Stop Condition and Reference Switch Parameters

Reference Switch Enable

Reference Switch Polarity and Swap

Reference Switch Latch Settings

Event Stop Settings

Biquad Filter Parameters

Biquad Filter Enable/Disable

Fault Handling Parameters

Gate Driver Retry Behaviour

Drive Fault Behaviour

IIT Monitor Parameters

Temperature Protection Parameters

Heartbeat Monitoring Parameters

Heartbeat Monitoring Config

Brake Chopper Parameters

Mechanical Brake Parameters

Reference Search (Automatic Homing) Parameters

Reference Search Modes

Reference Search TMCL Command Types

Reference Search Status Codes

Step/Dir Interface Parameters

Step/Dir Microstep Divider Shift

Hibernation and Wakeup Parameters

Power Down Timeout

System Supply Parameters

@{

System Supply Parameters

Internal Measurement Parameters

@{

Internal Measurement Parameters

Combined Diagnostic Values

@{

Combined Diagnostic Values

Temperature and Error Flags Parameters

General Status Flags

General Error Flags

Gate Driver Error Flags

ADC Status Flags

@{

Macro Definition Documentation

◆ ABN_INIT_METHOD_LIST

◆ ABN_INIT_STATE_LIST

◆ ABN_N_CHANNEL_FILTERING_LIST

◆ ACCELERATION_FF_SHIFT_LIST

◆ ADC_CONFIG_LIST

◆ ADC_INVERSION_LIST

◆ ADC_MAPPING_LIST

◆ ADC_SHUNT_TYPE_LIST

◆ ADC_STATUS_FLAGS_LIST

◆ BIQUAD_FILTER_ENABLE_LIST

◆ BIQUAD_FILTER_LIST

◆ BOOTSTRAP_CURRENT_LIMIT_LIST

◆ BRAKE_CHOPPER_LIST

◆ CALC_OPERATION_LIST

◆ COMBINED_DIAGNOSTIC_VALUES_LIST

◆ COMMUTATION_MODE_LIST

Commutation Modes and Their Behavior:

System Off

System Off, Low-Side FETs On

System Off, High-Side FETs On

FOC (Openloop, Voltage Mode)

FOC (Openloop, Current Mode)

FOC (ABN), FOC (Hall Sensor), FOC (SPI Encoder)