hal::tmc2130 Namespace Reference

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

Enumerations
enum	MotorMode : uint8_t { Stealth , Normal }

Functions
bool	__attribute__ ((noinline)) TMC2130
struct	__attribute__ ((packed)) ErrorFlags

Variables
static constexpr uint8_t	TOFF_DEFAULT = 3U
static constexpr uint8_t	TOFF_MASK = 0xFU

Detailed Description

TMC2130 interface There are multiple TMC2130 on our board, so there will be multiple instances of this class

Function Documentation

__attribute__() [1/2]

bool hal::tmc2130::__attribute__

(

(noinline)

)

check for compatible tmc driver (IOIN version field)

clear reset_flag as we are (re)initializing

apply chopper parameters

apply currents

instant powerdown ramp

Stallguard parameters

Write stealth mode config and setup diag0 output

stealthChop parameters

TPWMTHRS: switching velocity between stealthChop and spreadCycle. Stallguard is also disabled if the velocity falls below this. Should be set as high as possible when homing.

__attribute__() [2/2]

struct hal::tmc2130::__attribute__

(

(packed)

)

< driver restarted

< undervoltage on charge pump

< short to ground

< over temperature pre-warning

< over temperature hard