uStepper S
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Function prototypes and definitions for the TMC5130 motor driver. More...
Go to the source code of this file.
Classes | |
class | uStepperDriver |
Prototype of class for the TMC5130 Driver. More... | |
Macros | |
#define | GCONF 0x00 |
#define | DIRECTION(n) (((n)&0x1)<<4) |
#define | EN_PWM_MODE(n) (((n)&0x1)<<2) |
#define | I_SCALE_ANALOG(n) (((n)&0x1)<<0) |
#define | GSTAT 0x01 |
#define | X_COMPARE 0x05 |
#define | IHOLD_IRUN 0x10 |
#define | TPOWERDOWN 0x11 |
#define | TPWMTHRS 0x13 |
#define | TCOOLTHRS 0x14 |
#define | THIGH 0x15 |
#define | RAMPMODE 0x20 |
#define | XACTUAL 0x21 |
#define | VACTUAL 0x22 |
#define | VSTART_REG 0x23 |
#define | A1_REG 0x24 |
#define | V1_REG 0x25 |
#define | AMAX_REG 0x26 |
#define | VMAX_REG 0x27 |
#define | DMAX_REG 0x28 |
#define | D1_REG 0x2A |
#define | VSTOP_REG 0x2B |
#define | TZEROWAIT 0x2C |
#define | XTARGET 0x2D |
#define | VDCMIN 0x33 |
#define | SW_MODE 0x34 |
#define | RAMP_STAT 0x35 |
#define | XLATCH 0x36 |
#define | PWMCONF 0x70 |
#define | FREEWHEEL(n) (((n)&0x3UL)<<20) |
#define | PWM_AUTOSCALE(n) (((n)&0x1UL)<<18) |
#define | PWM_FREQ(n) (((n)&0x3UL)<<16) |
#define | PWM_GRAD(n) (((n)&0xFF)<<8) |
#define | PWM_AMPL(n) (((n)&0xFF)<<0) |
#define | CHOPCONF 0x6C |
#define | DISS2G(n) (((n)&0x1UL)<<30) |
#define | DEDGE(n) (((n)&0x1UL)<<29) |
#define | INTPOL(n) (((n)&0x1UL)<<28) |
#define | MRES(n) (((n)&0xFUL)<<24) |
#define | SYNC(n) (((n)&0xFUL)<<20) |
#define | VHIGHCHM(n) (((n)&0x1UL)<<19) |
#define | VHIGHFS(n) (((n)&0x1UL)<<18) |
#define | VSENSE(n) (((n)&0x1UL)<<17) |
#define | TBL(n) (((n)&0x3UL)<<15) |
#define | CHM(n) (((n)&0x1UL)<<14) |
#define | RNDTF(n) (((n)&0x1)<<13) |
#define | DISFDCC(n) (((n)&0x1)<<12) |
#define | TFD3(n) (((n)&0x1)<<11) |
#define | HEND(n) (((n)&0xF)<<7) |
#define | HSTRT_TFD(n) (((n)&0x7)<<4) |
#define | TOFF(n) (((n)&0xF)<<0) |
#define | COOLCONF 0x6D |
#define | SFILT(n) (((n)&0x1UL)<<24) |
#define | SGT(n) (((n)&0x7FUL)<<16) |
#define | SEIMIN(n) (((n)&0x1UL)<<15) |
#define | SEDN(n) (((n)&0x3)<<13) |
#define | SEMAX(n) (((n)&0xF)<<8) |
#define | SEUP(n) (((n)&0x3)<<5) |
#define | SEMIN(n) (((n)&0xF)<<0) |
#define | DCCTRL 0x6E |
#define | DC_SG(n) (((n)&0xFFUL)<<16) |
#define | DC_TIME(n) (((n)&0x3FF)<<0) |
#define | DRV_STATUS 0x6F |
#define | IHOLDDELAY(n) (((n)&0xFUL)<<16) |
#define | IRUN(n) (((n)&0x1F)<<8) |
#define | IHOLD(n) (((n)&0x1F)<<0) |
#define | WRITE_ACCESS 0x80 |
#define | POSITIONING_MODE 0x00 |
#define | VELOCITY_MODE_POS 0x01 |
#define | VELOCITY_MODE_NEG 0x02 |
#define | HOLD_MODE 0x03 |
#define | DRIVER_STOP 0 |
#define | DRIVER_VELOCITY 1 |
#define | DRIVER_POSITION 2 |
#define | ACCELERATIONCONVERSION 1.0/116.415321827 |
#define | VELOCITYCONVERSION 1.0/0.953674316 |
Function prototypes and definitions for the TMC5130 motor driver.
This file contains class and function prototypes for the TMC5130 motor driver, as well as necessary constants and global variables.
Definition in file uStepperDriver.h.
#define A1_REG 0x24 |
First acceleration between VSTART and V1
Definition at line 56 of file uStepperDriver.h.
#define ACCELERATIONCONVERSION 1.0/116.415321827 |
page 74 datasheet
Definition at line 138 of file uStepperDriver.h.
#define AMAX_REG 0x26 |
Second acceleration between V1 and VMAX
Definition at line 58 of file uStepperDriver.h.
#define CHM | ( | n | ) | (((n)&0x1UL)<<14) |
DESCRIPTION PENDING
Definition at line 93 of file uStepperDriver.h.
#define CHOPCONF 0x6C |
Chopper and driver configuration DESCRIPTION PENDING
Definition at line 82 of file uStepperDriver.h.
#define COOLCONF 0x6D |
DESCRIPTION PENDING
Definition at line 104 of file uStepperDriver.h.
#define D1_REG 0x2A |
Deceleration between V1 and VSTOP
Definition at line 61 of file uStepperDriver.h.
#define DC_SG | ( | n | ) | (((n)&0xFFUL)<<16) |
DESCRIPTION PENDING
Definition at line 115 of file uStepperDriver.h.
#define DC_TIME | ( | n | ) | (((n)&0x3FF)<<0) |
DESCRIPTION PENDING
Definition at line 116 of file uStepperDriver.h.
#define DCCTRL 0x6E |
DESCRIPTION PENDING
Definition at line 114 of file uStepperDriver.h.
#define DEDGE | ( | n | ) | (((n)&0x1UL)<<29) |
DESCRIPTION PENDING
Definition at line 85 of file uStepperDriver.h.
#define DIRECTION | ( | n | ) | (((n)&0x1)<<4) |
Set motor direction
Definition at line 39 of file uStepperDriver.h.
#define DISFDCC | ( | n | ) | (((n)&0x1)<<12) |
DESCRIPTION PENDING
Definition at line 95 of file uStepperDriver.h.
#define DISS2G | ( | n | ) | (((n)&0x1UL)<<30) |
DESCRIPTION PENDING
Definition at line 84 of file uStepperDriver.h.
#define DMAX_REG 0x28 |
Deceleration between VMAX and V1
Definition at line 60 of file uStepperDriver.h.
#define DRIVER_POSITION 2 |
DESCRIPTION PENDING
Definition at line 136 of file uStepperDriver.h.
#define DRIVER_STOP 0 |
DESCRIPTION PENDING
Definition at line 134 of file uStepperDriver.h.
#define DRIVER_VELOCITY 1 |
DESCRIPTION PENDING
Definition at line 135 of file uStepperDriver.h.
#define DRV_STATUS 0x6F |
stallGuard2 value and driver error flags
Definition at line 118 of file uStepperDriver.h.
#define EN_PWM_MODE | ( | n | ) | (((n)&0x1)<<2) |
Enable stealthMode
Definition at line 40 of file uStepperDriver.h.
#define FREEWHEEL | ( | n | ) | (((n)&0x3UL)<<20) |
DESCRIPTION PENDING
Definition at line 73 of file uStepperDriver.h.
#define GCONF 0x00 |
Global configuration flags
Definition at line 37 of file uStepperDriver.h.
#define GSTAT 0x01 |
DESCRIPTION PENDING
Definition at line 43 of file uStepperDriver.h.
#define HEND | ( | n | ) | (((n)&0xF)<<7) |
DESCRIPTION PENDING
Definition at line 97 of file uStepperDriver.h.
#define HOLD_MODE 0x03 |
velocity remains unchanged, unless stop event occurs
Definition at line 132 of file uStepperDriver.h.
#define HSTRT_TFD | ( | n | ) | (((n)&0x7)<<4) |
DESCRIPTION PENDING
Definition at line 98 of file uStepperDriver.h.
#define I_SCALE_ANALOG | ( | n | ) | (((n)&0x1)<<0) |
Use external current reference
Definition at line 41 of file uStepperDriver.h.
#define IHOLD | ( | n | ) | (((n)&0x1F)<<0) |
DESCRIPTION PENDING
Definition at line 122 of file uStepperDriver.h.
#define IHOLD_IRUN 0x10 |
Driver current control
Definition at line 45 of file uStepperDriver.h.
#define IHOLDDELAY | ( | n | ) | (((n)&0xFUL)<<16) |
DESCRIPTION PENDING
Definition at line 120 of file uStepperDriver.h.
#define INTPOL | ( | n | ) | (((n)&0x1UL)<<28) |
DESCRIPTION PENDING
Definition at line 86 of file uStepperDriver.h.
#define IRUN | ( | n | ) | (((n)&0x1F)<<8) |
DESCRIPTION PENDING
Definition at line 121 of file uStepperDriver.h.
#define MRES | ( | n | ) | (((n)&0xFUL)<<24) |
DESCRIPTION PENDING
Definition at line 87 of file uStepperDriver.h.
#define POSITIONING_MODE 0x00 |
Modes for RAMPMODE register using all A, D and V parameters)
Definition at line 129 of file uStepperDriver.h.
#define PWM_AMPL | ( | n | ) | (((n)&0xFF)<<0) |
DESCRIPTION PENDING
Definition at line 77 of file uStepperDriver.h.
#define PWM_AUTOSCALE | ( | n | ) | (((n)&0x1UL)<<18) |
DESCRIPTION PENDING
Definition at line 74 of file uStepperDriver.h.
#define PWM_FREQ | ( | n | ) | (((n)&0x3UL)<<16) |
DESCRIPTION PENDING
Definition at line 75 of file uStepperDriver.h.
#define PWM_GRAD | ( | n | ) | (((n)&0xFF)<<8) |
DESCRIPTION PENDING
Definition at line 76 of file uStepperDriver.h.
#define PWMCONF 0x70 |
DESCRIPTION PENDING
Definition at line 71 of file uStepperDriver.h.
#define RAMP_STAT 0x35 |
Ramp status and switch event status
Definition at line 67 of file uStepperDriver.h.
#define RAMPMODE 0x20 |
Driving mode (Velocity, Positioning, Hold)
Definition at line 50 of file uStepperDriver.h.
#define RNDTF | ( | n | ) | (((n)&0x1)<<13) |
DESCRIPTION PENDING
Definition at line 94 of file uStepperDriver.h.
#define SEDN | ( | n | ) | (((n)&0x3)<<13) |
DESCRIPTION PENDING
Definition at line 108 of file uStepperDriver.h.
#define SEIMIN | ( | n | ) | (((n)&0x1UL)<<15) |
DESCRIPTION PENDING
Definition at line 107 of file uStepperDriver.h.
#define SEMAX | ( | n | ) | (((n)&0xF)<<8) |
DESCRIPTION PENDING
Definition at line 109 of file uStepperDriver.h.
#define SEMIN | ( | n | ) | (((n)&0xF)<<0) |
DESCRIPTION PENDING
Definition at line 111 of file uStepperDriver.h.
#define SEUP | ( | n | ) | (((n)&0x3)<<5) |
DESCRIPTION PENDING
Definition at line 110 of file uStepperDriver.h.
#define SFILT | ( | n | ) | (((n)&0x1UL)<<24) |
DESCRIPTION PENDING
Definition at line 105 of file uStepperDriver.h.
#define SGT | ( | n | ) | (((n)&0x7FUL)<<16) |
DESCRIPTION PENDING
Definition at line 106 of file uStepperDriver.h.
#define SW_MODE 0x34 |
Switch mode configuration
Definition at line 66 of file uStepperDriver.h.
#define SYNC | ( | n | ) | (((n)&0xFUL)<<20) |
DESCRIPTION PENDING
Definition at line 88 of file uStepperDriver.h.
#define TBL | ( | n | ) | (((n)&0x3UL)<<15) |
DESCRIPTION PENDING
Definition at line 92 of file uStepperDriver.h.
#define TCOOLTHRS 0x14 |
This is the lower threshold velocity for switching on smart energy coolStep and stallGuard feature.
Definition at line 48 of file uStepperDriver.h.
#define TFD3 | ( | n | ) | (((n)&0x1)<<11) |
DESCRIPTION PENDING
Definition at line 96 of file uStepperDriver.h.
#define THIGH 0x15 |
DESCRIPTION PENDING
Definition at line 49 of file uStepperDriver.h.
#define TOFF | ( | n | ) | (((n)&0xF)<<0) |
DESCRIPTION PENDING
Definition at line 99 of file uStepperDriver.h.
#define TPOWERDOWN 0x11 |
DESCRIPTION PENDING
Definition at line 46 of file uStepperDriver.h.
#define TPWMTHRS 0x13 |
DESCRIPTION PENDING
Definition at line 47 of file uStepperDriver.h.
#define TZEROWAIT 0x2C |
Defines the waiting time after ramping down
Definition at line 63 of file uStepperDriver.h.
#define V1_REG 0x25 |
First acceleration / deceleration phase target velocity
Definition at line 57 of file uStepperDriver.h.
#define VACTUAL 0x22 |
Actual motor velocity from ramp generator
Definition at line 52 of file uStepperDriver.h.
#define VDCMIN 0x33 |
DESCRIPTION PENDING
Definition at line 65 of file uStepperDriver.h.
#define VELOCITY_MODE_NEG 0x02 |
negativ VMAX, using AMAX acceleration
Definition at line 131 of file uStepperDriver.h.
#define VELOCITY_MODE_POS 0x01 |
positiv VMAX, using AMAX acceleration
Definition at line 130 of file uStepperDriver.h.
#define VELOCITYCONVERSION 1.0/0.953674316 |
page 74 datasheet
Definition at line 139 of file uStepperDriver.h.
#define VHIGHCHM | ( | n | ) | (((n)&0x1UL)<<19) |
DESCRIPTION PENDING
Definition at line 89 of file uStepperDriver.h.
#define VHIGHFS | ( | n | ) | (((n)&0x1UL)<<18) |
DESCRIPTION PENDING
Definition at line 90 of file uStepperDriver.h.
#define VMAX_REG 0x27 |
This is the target velocity in velocity mode. It can be changed any time during a motion.
Definition at line 59 of file uStepperDriver.h.
#define VSENSE | ( | n | ) | (((n)&0x1UL)<<17) |
DESCRIPTION PENDING
Definition at line 91 of file uStepperDriver.h.
#define VSTART_REG 0x23 |
Ramp curves Motor start velocity
Definition at line 55 of file uStepperDriver.h.
#define VSTOP_REG 0x2B |
Motor stop velocity (unsigned)
Definition at line 62 of file uStepperDriver.h.
#define WRITE_ACCESS 0x80 |
Write access for spi communication
Definition at line 125 of file uStepperDriver.h.
#define X_COMPARE 0x05 |
Position comparison register
Definition at line 44 of file uStepperDriver.h.
#define XACTUAL 0x21 |
Actual motor position
Definition at line 51 of file uStepperDriver.h.
#define XLATCH 0x36 |
Latches XACTUAL upon a programmable switch event
Definition at line 68 of file uStepperDriver.h.
#define XTARGET 0x2D |
Target position for ramp mode
Definition at line 64 of file uStepperDriver.h.