TMC2130 interface - instances of this class are hidden in modules::motion::Motion::AxisData. More...

#include <tmc2130.h>

Public Types
enum class	Registers : uint8_t { GCONF = 0x00 , GSTAT = 0x01 , IOIN = 0x04 , IHOLD_IRUN = 0x10 , TPOWERDOWN = 0x11 , TSTEP = 0x12 , TPWMTHRS = 0x13 , TCOOLTHRS = 0x14 , THIGH = 0x15 , MSCNT = 0x6A , CHOPCONF = 0x6C , COOLCONF = 0x6D , DRV_STATUS = 0x6F , PWMCONF = 0x70 }
	TMC2130 register addresses. More...

Public Member Functions
	TMC2130 ()=default
	Constructor.

bool	Init (const MotorParams &params, const MotorCurrents &currents, MotorMode mode)

void	SetMode (const MotorParams &params, MotorMode mode)
	Set the current motor mode. More...

void	SetBridgeOutput (const MotorParams &params, bool on)
	Disables the output by setting or clearing CHOPCONF's TOFF.

void	SetCurrents (const MotorParams &params, const MotorCurrents &currents)
	Set the current motor currents.

void	SetSGTHRS (const MotorParams &params)

const bool	Enabled () const
	Return enabled state.

void	SetEnabled (const MotorParams &params, bool enabled)
	Enable/Disable the motor.

bool	Stalled () const

void	ClearStallguard ()

bool	CheckForErrors (const MotorParams &params)
	Should be called periodically. Maybe not all the time. Once every 10 ms is probably enough.

ErrorFlags	GetErrorFlags () const

uint32_t	ReadRegister (const MotorParams &params, Registers reg)
	Reads a driver register and updates the status flags.

void	WriteRegister (const MotorParams &params, Registers reg, uint32_t data)
	Writes a driver register and updates the status flags.

void	Isr (const MotorParams &params)
	Used for polling the DIAG pin. Should be called from the stepper isr periodically when moving.

Static Public Member Functions
static void	SetDir (const MotorParams &params, bool dir)
	Set direction.

static void	SetRawDir (const MotorParams &params, bool dir)
	Set direction, raw value (i.e. ignore Params).

static void	Step (const MotorParams &params)
	Step the motor.

static void	SetStep (const MotorParams &params, bool state)
	Set step to an explicit state.

static bool	SampleDiag (const MotorParams &params)
	Return SG state.

Detailed Description

TMC2130 interface - instances of this class are hidden in modules::motion::Motion::AxisData.

Member Enumeration Documentation

◆ Registers

enum hal::tmc2130::TMC2130::Registers : uint8_t

strong

TMC2130 register addresses.

Enumerator
GCONF	General Configuration Registers.
IHOLD_IRUN	Velocity Dependent Driver Feature Control Register Set.
MSCNT	Motor Driver Registers.

Member Function Documentation

◆ Init()

bool hal::tmc2130::TMC2130::Init	(	const MotorParams &	params,
		const MotorCurrents &	currents,
		MotorMode	mode
	)

(re)initialization of the chip - please note this is necessary due to some HW flaws in the original MMU boards. And yes, the TMC may not get correctly initialized.

Returns: true if the TMC2130 was inited correctly

◆ SetMode()

void hal::tmc2130::TMC2130::SetMode	(	const MotorParams &	params,
		MotorMode	mode
	)

Set the current motor mode.

0xFFFF0 is used as a "Normal" mode threshold since stealthchop will be used at standstill.

◆ SetSGTHRS()

void hal::tmc2130::TMC2130::SetSGTHRS ( const MotorParams & params )

Set StallGuard threshold New SGTHRS must be already set in params Beware - there are no checks, new value is written into the TMC register immediately. It is advised to prefer setting the SGTHRS via the Init() method.

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

src/hal/tmc2130.h
src/hal/tmc2130.cpp

Public Types

Public Member Functions