#include <TMC4671.h>

Inheritance diagram for TMC4671:

Classes
class	TMC_ExternalEncoderUpdateThread

Public Member Functions
const ClassIdentifier	getInfo ()
	Command handlers always have class infos. Works well with ChoosableClass. More...

const ClassType	getClassType () override

	TMC4671 (SPIPort &spiport, OutputPin cspin, uint8_t address=1)

void	setHwType (TMC_HW_Ver type)

void	setAddress (uint8_t address)

uint8_t	getSpiAddr ()

bool	setSpiAddr (uint8_t chan)

virtual	~TMC4671 ()

bool	initialize ()

void	initializeWithPower ()

void	Run ()

bool	motorReady ()

bool	hasPower ()

int32_t	getTmcVM ()

bool	isSetUp ()

uint32_t	readReg (uint8_t reg)

void	writeReg (uint8_t reg, uint32_t dat)

void	writeRegAsync (uint8_t reg, uint32_t dat)

void	updateReg (uint8_t reg, uint32_t dat, uint32_t mask, uint8_t shift)

void	setMotorType (MotorType motor, uint16_t poles)

void	runOpenLoop (uint16_t ud, uint16_t uq, int32_t speed, int32_t accel, bool torqueMode=false)

void	setOpenLoopSpeedAccel (int32_t speed, uint32_t accel)

bool	calibrateAdcOffset (uint16_t time=500)

void	setup_ABN_Enc (TMC4671ABNConf encconf)

void	setup_AENC (TMC4671AENCConf encconf)

void	setup_HALL (TMC4671HALLConf hallconf)

void	bangInitEnc (int16_t power)

void	estimateABNparams ()

void	estimateExtEnc ()

bool	checkEncoder ()

void	calibrateAenc ()

void	calibrateEncoder ()

void	setEncoderType (EncoderType_TMC type)

uint32_t	getEncCpr ()

void	setAdcOffset (uint32_t adc_I0_offset, uint32_t adc_I1_offset)

void	setAdcScale (uint32_t adc_I0_scale, uint32_t adc_I1_scale)

void	setupFeedForwardTorque (int32_t gain, int32_t constant)

void	setupFeedForwardVelocity (int32_t gain, int32_t constant)

void	setFFMode (FFMode mode)

void	setSequentialPI (bool sequential)

void	setBiquadFlux (const TMC4671Biquad &filter)

void	setBiquadTorque (const TMC4671Biquad &filter)

void	setBiquadPos (const TMC4671Biquad &filter)

void	setBiquadVel (const TMC4671Biquad &filter)

void	setTorqueFilter (TMC4671Biquad_conf &conf)

bool	pingDriver ()

std::pair< uint32_t, std::string >	getTmcType ()

void	changeState (TMC_ControlState newState, bool force=false)

bool	externalEncoderAllowed ()

void	setExternalEncoderAllowed (bool allow)

float	getPwmFreq ()

void	setPwmFreq (float freq)

void	setBBM (uint8_t bbml, uint8_t bbmh)

void	timerElapsed (TIM_HandleTypeDef *htim)

void	setPositionExt (int32_t pos)

void	stopMotor ()

void	startMotor ()

void	emergencyStop (bool reset)

void	turn (int16_t power)

int16_t	controlFluxDissipate ()

void	setTorque (int16_t torque)

void	setTargetPos (int32_t pos)

int32_t	getTargetPos ()

void	setTargetVelocity (int32_t vel)

int32_t	getTargetVelocity ()

int32_t	getVelocity ()

int16_t	getTorque ()

void	setFlux (int16_t flux)

int16_t	getFlux ()

void	setFluxTorque (int16_t flux, int16_t torque)

void	setFluxTorqueFF (int16_t flux, int16_t torque)

std::pair< int32_t, int32_t >	getActualTorqueFlux ()

int32_t	getActualFlux ()

int32_t	getActualTorque ()

void	rampFlux (uint16_t target, uint16_t time_ms)

bool	checkAdc ()

float	getTemp ()

TMC_ControlState	getState ()

void	setPhiEtype (PhiE type)

PhiE	getPhiEtype ()

void	setPhiE_ext (int16_t phiE)

int16_t	getPhiE ()

int16_t	getPhiEfromExternalEncoder ()

int16_t	getPhiE_Enc ()

void	setGpioMode (TMC_GpioMode mode)

uint8_t	getGpioPins ()

void	setGpioPins (uint8_t pins)

void	setPosSel (PosSelection psel)

void	setVelSel (VelSelection vsel, uint8_t mode=0)

void	setMotionMode (MotionMode mode, bool force=false)

MotionMode	getMotionMode ()

void	setUdUq (int16_t ud, int16_t uq)

void	setBrakeLimits (uint16_t low, uint16_t high)

bool	reachedPosition (uint16_t tolerance)

void	setPids (TMC4671PIDConf pids)

TMC4671PIDConf	getPids ()

void	setLimits (TMC4671Limits limits)

TMC4671Limits	getLimits ()

void	setUqUdLimit (uint16_t limit)

void	setTorqueLimit (uint16_t limit)

void	setPidPrecision (TMC4671PidPrecision setting)

Encoder *	getEncoder () override

void	setEncoder (std::shared_ptr< Encoder > &encoder) override

bool	hasIntegratedEncoder () override

bool	usingExternalEncoder ()

int32_t	getPos () override

int32_t	getPosAbs () override

void	setPos (int32_t pos) override

void	setTmcPos (int32_t pos)

uint32_t	getCpr ()

void	setCpr (uint32_t cpr)

EncoderType	getEncoderType () override

uint32_t	posToEnc (uint32_t pos)

uint32_t	encToPos (uint32_t enc)

void	exti (uint16_t GPIO_Pin)

bool	findEncoderIndex (int32_t speed=10, uint16_t power=2500, bool offsetPhiM=false, bool zeroCount=false)

bool	autohome ()

void	zeroAbnUsingPhiM (bool offsetPhiE=false)

StatusFlags	readFlags (bool maskedOnly=true)

void	setStatusMask (StatusFlags mask)

void	setStatusMask (uint32_t mask)

void	setStatusFlags (uint32_t flags)

void	setStatusFlags (StatusFlags flags)

void	setEncoderIndexFlagEnabled (bool enabled, bool zeroEncoder=false)

void	statusCheck ()

void	saveFlash () override

void	restoreFlash () override

uint16_t	encodeEncHallMisc ()

void	restoreEncHallMisc (uint16_t val)

void	beginSpiTransfer (SPIPort *port)

void	endSpiTransfer (SPIPort *port)

CommandStatus	command (const ParsedCommand &cmd, std::vector< CommandReply > &replies)

void	registerCommands ()

virtual std::string	getHelpstring ()

Public Member Functions inherited from MotorDriver
	MotorDriver ()

virtual	~MotorDriver ()

Public Member Functions inherited from ChoosableClass
virtual	~ChoosableClass ()

uint16_t	getSelectionID ()

Public Member Functions inherited from PersistentStorage
	PersistentStorage ()

virtual	~PersistentStorage ()

void	restoreFlashDelayed ()

Public Member Functions inherited from Encoder
	Encoder ()

virtual	~Encoder ()

virtual float	getPos_f ()

virtual float	getPosAbs_f ()

Public Member Functions inherited from CommandHandler
	CommandHandler (const char *clsname, uint16_t clsid, uint8_t instance=0)

virtual	~CommandHandler ()

virtual bool	hasCommands ()

virtual void	setCommandsEnabled (bool enable)

void	registerCommands ()

virtual CommandStatus	internalCommand (const ParsedCommand &cmd, std::vector< CommandReply > &replies)

virtual std::string	getCommandsHelpstring ()

virtual std::string	getCsvHelpstring ()

virtual uint8_t	getCommandHandlerInstance ()

void	broadcastCommandReply (CommandReply reply, uint32_t cmdId, CMDtype type)

void	sendCommandReplyAsync (CommandReply reply, uint32_t cmdId, CMDtype type, CommandInterface *interface=nullptr)

virtual uint16_t	getCommandHandlerID ()

virtual CmdHandlerInfo *	getCommandHandlerInfo ()

virtual bool	isValidCommandId (uint32_t cmdid, uint32_t ignoredFlags=0, uint32_t requiredFlag=0)

virtual CmdHandlerCommanddef *	getCommandFromName (const std::string &cmd, uint32_t ignoredFlags=0)

virtual CmdHandlerCommanddef *	getCommandFromId (const uint32_t id, uint32_t ignoredFlags=0)

template<typename ID >
void	registerCommand (const char cmd, const ID cmdid, const char help=nullptr, uint32_t flags=0)

Public Member Functions inherited from SPIDevice
	SPIDevice (SPIPort &port, OutputPin csPin)

	SPIDevice (SPIPort &port, SPIConfig &spiConfig)

virtual	~SPIDevice ()

void	assertChipSelect ()

void	clearChipSelect ()

virtual bool	updateCSPin (OutputPin &csPin)

virtual void	spiTxCompleted (SPIPort *port)

virtual void	spiRxCompleted (SPIPort *port)

virtual void	spiTxRxCompleted (SPIPort *port)

virtual void	spiRequestError (SPIPort *port)

virtual SPIConfig *	getSpiConfig ()

Public Member Functions inherited from ExtiHandler
	ExtiHandler ()

virtual	~ExtiHandler ()

Public Member Functions inherited from cpp_freertos::Thread
	Thread (const std::string Name, uint16_t StackDepth, UBaseType_t Priority)

	Thread (const char *Name, uint16_t StackDepth, UBaseType_t Priority)

	Thread (uint16_t StackDepth, UBaseType_t Priority)

bool	Start ()

virtual	~Thread ()

TaskHandle_t	GetHandle ()

void	Suspend ()

void	Resume ()

void	ResumeFromISR ()

void	Notify ()

void	NotifyFromISR ()

uint32_t	WaitForNotification (TickType_t Timeout=portMAX_DELAY)

UBaseType_t	GetPriority ()

UBaseType_t	GetPriorityFromISR ()

void	SetPriority (UBaseType_t NewPriority)

std::string	GetName ()

char *	GetName ()

Static Public Member Functions
static TMC4671MotConf	decodeMotFromInt (uint16_t val)

static uint16_t	encodeMotToInt (TMC4671MotConf mconf)

Static Public Member Functions inherited from ChoosableClass
static bool	isCreatable ()

Static Public Member Functions inherited from PersistentStorage
static std::vector< PersistentStorage * > &	getFlashHandlers ()

static void	restoreFlashStartupCb ()

Static Public Member Functions inherited from CommandHandler
static void	logSerial (std::string string)
	Send a log formatted sequence. More...

static void	logSerialDebug (std::string string)
	Send a log formatted sequence if debug is on. More...

static bool	logsEnabled ()

static void	setLogsEnabled (bool enabled)

static uint32_t	getClassIdFromName (const char *name)

static const char *	getClassNameFromId (const uint32_t id)

static CommandHandler *	getHandlerFromHandlerId (const uint16_t cmdhandlerID)

static CommandHandler *	getHandlerFromId (const uint16_t id, const uint8_t instance=0xFF)

static CommandHandler *	getHandlerFromClassName (const char *name, const uint8_t instance=0xFF)

static std::vector< CommandHandler * >	getHandlersFromClassName (const char *name)

static std::vector< CommandHandler * >	getHandlersFromId (const uint16_t id)

static bool	isInHandlerList (CommandHandler *handler)

static std::string	getAllHelpstrings ()

static std::vector< CommandHandler * > &	getCommandHandlers ()

template<typename TVal >
static CommandStatus	handleGetSet (const ParsedCommand &cmd, std::vector< CommandReply > &replies, TVal &value)

template<typename TVal , class cls , class cls1 >
static CommandStatus	handleGetSetFunc (const ParsedCommand &cmd, std::vector< CommandReply > &replies, TVal &value, void(cls1::setfunc)(TVal), cls obj)

template<typename TVal , class cls , class cls1 , class cls2 >
static CommandStatus	handleGetFuncSetFunc (const ParsedCommand &cmd, std::vector< CommandReply > &replies, TVal(cls1::getfunc)(), void(cls2::setfunc)(TVal), cls *obj)

template<typename TVal , class cls , class cls1 >
static CommandStatus	handleGetFuncSet (const ParsedCommand &cmd, std::vector< CommandReply > &replies, TVal &value, TVal(cls1::getfunc)(), cls obj)

Static Public Member Functions inherited from cpp_freertos::Thread
static void	Yield ()

static void	StartScheduler ()

static void	EndScheduler ()

Public Attributes
TMC4671MainConfig	conf

bool	emergency = false

bool	estopTriggered = false

int16_t	nextFlux = 0

int16_t	idleFlux = 0

uint16_t	maxOffsetFlux = 0

int16_t	bangInitPower = 5000

const float	fluxDissipationLimit = 1000

TMC4671PIDConf	curPids

TMC4671Limits	curLimits

TMC4671PidPrecision	pidPrecision

TMC4671ABNConf	abnconf

TMC4671HALLConf	hallconf

TMC4671AENCConf	aencconf

bool	flagCheckInProgress = false

StatusFlags	statusFlags = {0}

StatusFlags	statusMask = {0}

TMC4671FlashAddrs	flashAddrs

bool	allowSlowSPI = true

Static Public Attributes
static ClassIdentifier	info

Static Public Attributes inherited from MotorDriver
static ClassIdentifier	info ={.name = "None" , .id=CLSID_MOT_NONE, .visibility = ClassVisibility::visible}

static const std::vector< class_entry< MotorDriver > >	all_drivers

Static Public Attributes inherited from ChoosableClass
static ClassIdentifier	info

Static Public Attributes inherited from Encoder
static ClassIdentifier	info ={.name = "None" , .id=CLSID_ENCODER_NONE, .visibility = ClassVisibility::visible}

static const std::vector< class_entry< Encoder > >	all_encoders

Static Public Attributes inherited from CommandHandler
static bool	logEnabled = true

Static Public Attributes inherited from ExtiHandler
static std::vector< ExtiHandler * >	extiHandlers

Private Types
enum class	TMC4671_commands : uint32_t { cpr , mtype , encsrc , tmcHwType , encalign , poles , acttrq , pwmlim , torqueP , torqueI , fluxP , fluxI , velocityP , velocityI , posP , posI , tmctype , pidPrec , phiesrc , fluxoffset , seqpi , tmcIscale , encdir , temp , reg , svpwm , fullCalibration , calibrated , abnindexenabled , findIndex , getState , encpol , combineEncoder , invertForce , vmTmc , extphie , torqueFilter_mode , torqueFilter_f , torqueFilter_q , pidautotune , fluxbrake , pwmfreq }

Private Member Functions
void	initAdc (uint16_t mdecA, uint16_t mdecB, uint32_t mclkA, uint32_t mclkB)

void	setPwm (uint8_t val, uint16_t maxcnt, uint8_t bbmL, uint8_t bbmH)

void	setPwm (TMC_PwmMode val)

void	setPwmMaxCnt (uint16_t maxcnt)

void	setSvPwm (bool enable)

void	encInit ()

void	encoderIndexHit ()

void	saveAdcParams ()

void	calibFailCb ()

void	encoderInit ()

void	errorCallback (const Error &error, bool cleared)

bool	pidAutoTune ()

void	setUpExtEncTimer ()

Private Attributes
OutputPin	enablePin = OutputPin(*DRV_ENABLE_GPIO_Port,DRV_ENABLE_Pin)

const Error	indexNotHitError = Error(ErrorCode::encoderIndexMissed,ErrorType::critical,"Encoder index missed")

const Error	lowVoltageError = Error(ErrorCode::undervoltage,ErrorType::warning,"Low motor voltage")

const Error	communicationError = Error(ErrorCode::tmcCommunicationError, ErrorType::warning, "TMC not responding")

const Error	estopError = Error(ErrorCode::emergencyStop, ErrorType::critical, "TMC emergency stop triggered")

TMC_ControlState	state = TMC_ControlState::uninitialized

TMC_ControlState	laststate = TMC_ControlState::uninitialized

TMC_ControlState	requestedState = TMC_ControlState::Shutdown

MotionMode	curMotionMode = MotionMode::stop

MotionMode	lastMotionMode = MotionMode::stop

MotionMode	nextMotionMode = MotionMode::stop

TMC_StartupType	startupType = TMC_StartupType::NONE

bool	ES_TMCdetected = false

bool	encoderAligned = false

bool	initialized = false

bool	powerInitialized = false

bool	adcCalibrated = false

bool	adcSettingsStored = false

bool	motorEnabledRequested = false

volatile bool	encoderIndexHitFlag = false

bool	zeroEncoderOnIndexHit = false

bool	fullCalibrationInProgress = false

bool	phiErestored = false

bool	encHallRestored = false

uint8_t	calibrationFailCount = 2

int16_t	externalEncoderPhieOffset = 0

bool	allowExternalEncoder = false

bool	allowStateChange = false

bool	recalibrationRequired = false

uint8_t	enc_retry = 0

uint8_t	enc_retry_max = 3

uint32_t	lastStatTime = 0

uint8_t	spi_buf [5] = {0}

uint32_t	initTime = 0

bool	manualEncAlign = false

bool	spiActive = false

TMC4671Biquad_conf	torqueFilterConf

TMC4671BiquadFilters	curFilters

const float	fluxFilterFreq = 350.0

TIM_HandleTypeDef *	externalEncoderTimer = &TIM_TMC

std::unique_ptr< TMC_ExternalEncoderUpdateThread >	extEncUpdater = nullptr

Friends
class	TMCDebugBridge

Additional Inherited Members
Protected Member Functions inherited from CommandHandler
void	setInstance (uint8_t instance)

virtual void	addCommandHandler ()

virtual void	removeCommandHandler ()

Protected Member Functions inherited from SPIDevice
virtual void	setSpiConfig (SPIConfig config)

Protected Member Functions inherited from cpp_freertos::Thread
virtual void	Cleanup ()

void	Delay (const TickType_t Delay)

void	DelayUntil (const TickType_t Period)

void	ResetDelayUntil ()

bool	Wait (ConditionVariable &Cv, Mutex &CvLock, TickType_t Timeout=portMAX_DELAY)

Static Protected Member Functions inherited from CommandHandler
static std::vector< uint16_t > &	getCommandHandlerIds ()

Protected Attributes inherited from MotorDriver
std::shared_ptr< Encoder >	drvEncoder = std::make_shared<Encoder>()

Protected Attributes inherited from ChoosableClass
uint16_t	selectionId
	Should only be written by ClassChooser during creation. More...

Protected Attributes inherited from PersistentStorage
bool	restoreDelayedFlag = false

Protected Attributes inherited from Encoder
uint32_t	cpr = 0

Protected Attributes inherited from CommandHandler
bool	commandsEnabled = true

std::vector< CmdHandlerCommanddef >	registeredCommands

CmdHandlerInfo	cmdHandlerInfo

Protected Attributes inherited from SPIDevice
SPIPort &	spiPort

SPIConfig	spiConfig

Static Protected Attributes inherited from PersistentStorage
static bool	startupComplete = false

Detailed Description

Definition at line 317 of file TMC4671.h.

Member Enumeration Documentation

◆ TMC4671_commands

enum class TMC4671::TMC4671_commands : uint32_t

strongprivate

Enumerator
cpr
mtype
encsrc
tmcHwType
encalign
poles
acttrq
pwmlim
torqueP
torqueI
fluxP
fluxI
velocityP
velocityI
posP
posI
tmctype
pidPrec
phiesrc
fluxoffset
seqpi
tmcIscale
encdir
temp
reg
svpwm
fullCalibration
calibrated
abnindexenabled
findIndex
getState
encpol
combineEncoder
invertForce
vmTmc
extphie
torqueFilter_mode
torqueFilter_f
torqueFilter_q
pidautotune
fluxbrake
pwmfreq

Definition at line 325 of file TMC4671.h.

Constructor & Destructor Documentation

◆ TMC4671()

TMC4671::TMC4671	(	SPIPort &	spiport,
		OutputPin	cspin,
		uint8_t	address = `1`
	)

Definition at line 49 of file TMC4671.cpp.

◆ ~TMC4671()

TMC4671::~TMC4671 ( )

virtual

Definition at line 81 of file TMC4671.cpp.

Member Function Documentation

◆ autohome()

bool TMC4671::autohome ( )

Definition at line 762 of file TMC4671.cpp.

◆ bangInitEnc()

void TMC4671::bangInitEnc ( int16_t power )

Aligns ABN encoders by forcing an angle with high current and calculating the offset Will start at the current phiE to minimize any extra movements (useful if motor was turned in openloop mode before already)

Parameters

power Maximum current reached during flux ramp

Definition at line 957 of file TMC4671.cpp.

◆ beginSpiTransfer()

void TMC4671::beginSpiTransfer ( SPIPort * port )

virtual

Reimplemented from SPIDevice.

Definition at line 2537 of file TMC4671.cpp.

◆ calibFailCb()

void TMC4671::calibFailCb ( )

private

Definition at line 1420 of file TMC4671.cpp.

◆ calibrateAdcOffset()

bool TMC4671::calibrateAdcOffset ( uint16_t time = 500 )

Calibrates the ADC by disabling the power stage and sampling a mean value. Takes time!

Definition at line 1359 of file TMC4671.cpp.

◆ calibrateAenc()

void TMC4671::calibrateAenc ( )

Moves the motor to find out analog encoder scalings and offsets

Definition at line 1046 of file TMC4671.cpp.

◆ calibrateEncoder()

void TMC4671::calibrateEncoder ( )

Definition at line 648 of file TMC4671.cpp.

◆ changeState()

void TMC4671::changeState	(	TMC_ControlState	newState,
		bool	force = `false`
	)

inline

Definition at line 780 of file TMC4671.cpp.

◆ checkAdc()

bool TMC4671::checkAdc ( )

Samples the adc and checks if it returns a neutral value

Definition at line 374 of file TMC4671.cpp.

◆ checkEncoder()

bool TMC4671::checkEncoder ( )

Steps the motor a few times to check if the encoder follows correctly

Definition at line 1167 of file TMC4671.cpp.

◆ command()

CommandStatus TMC4671::command	(	const ParsedCommand &	cmd,
		std::vector< CommandReply > &	replies
	)

virtual

Parameters

[in]	cmd	The parsed command to be executed.
[out]	replies	A vector to return one or multiple reply objects into. Replies to the interface will be generated based on the reply objects. A string reply may not contain start, end and separation markers: [,],\| Other characters are allowed.

Reimplemented from CommandHandler.

Definition at line 2890 of file TMC4671.cpp.

◆ controlFluxDissipate()

int16_t TMC4671::controlFluxDissipate ( )

Calculates a flux value based on the internal and external voltage difference to dissipate energy without a brake resistor

Definition at line 1710 of file TMC4671.cpp.

◆ decodeMotFromInt()

TMC4671MotConf TMC4671::decodeMotFromInt ( uint16_t val )

static

Definition at line 2614 of file TMC4671.cpp.

◆ emergencyStop()

void TMC4671::emergencyStop ( bool reset )

virtual

Request an emergency stop if something critical happened or the emergency button is triggered Should stop the motor immediately in a safe way.

Reimplemented from MotorDriver.

Definition at line 1680 of file TMC4671.cpp.

◆ encInit()

void TMC4671::encInit ( )

private

◆ encodeEncHallMisc()

uint16_t TMC4671::encodeEncHallMisc ( )

Definition at line 2631 of file TMC4671.cpp.

◆ encodeMotToInt()

uint16_t TMC4671::encodeMotToInt ( TMC4671MotConf mconf )

static

Definition at line 2623 of file TMC4671.cpp.

◆ encoderIndexHit()

void TMC4671::encoderIndexHit ( )

private

Definition at line 2605 of file TMC4671.cpp.

◆ encoderInit()

void TMC4671::encoderInit ( )

private

Definition at line 1429 of file TMC4671.cpp.

◆ encToPos()

uint32_t TMC4671::encToPos ( uint32_t enc )

Converts encoder counts to phiM

Definition at line 1935 of file TMC4671.cpp.

◆ endSpiTransfer()

void TMC4671::endSpiTransfer ( SPIPort * port )

virtual

Reimplemented from SPIDevice.

Definition at line 2540 of file TMC4671.cpp.

◆ errorCallback()

void TMC4671::errorCallback	(	const Error &	error,
		bool	cleared
	)

private

Definition at line 3252 of file TMC4671.cpp.

◆ estimateABNparams()

void TMC4671::estimateABNparams ( )

Moves the rotor and estimates polarity and direction of the encoder Polarity is found by measuring the n pulse. If polarity was found to be reversed during the test direction will be reversed again to account for that

Definition at line 2277 of file TMC4671.cpp.

◆ estimateExtEnc()

void TMC4671::estimateExtEnc ( )

Similar to the ABN calibration this moved the motor and measures the encoder direction

Definition at line 2330 of file TMC4671.cpp.

◆ externalEncoderAllowed()

bool TMC4671::externalEncoderAllowed ( )

Definition at line 2006 of file TMC4671.cpp.

◆ exti()

void TMC4671::exti ( uint16_t GPIO_Pin )

virtual

Reimplemented from ExtiHandler.

Definition at line 2599 of file TMC4671.cpp.

◆ findEncoderIndex()

bool TMC4671::findEncoderIndex	(	int32_t	speed = `10`,
		uint16_t	power = `2500`,
		bool	offsetPhiM = `false`,
		bool	zeroCount = `false`
	)

Rotates motor until the ABN index is found

Definition at line 823 of file TMC4671.cpp.

◆ getActualFlux()

int32_t TMC4671::getActualFlux ( )

Returns measured flux

Definition at line 2471 of file TMC4671.cpp.

◆ getActualTorque()

int32_t TMC4671::getActualTorque ( )

Returns measured torque

Definition at line 2480 of file TMC4671.cpp.

◆ getActualTorqueFlux()

std::pair< int32_t, int32_t > TMC4671::getActualTorqueFlux ( )

Returns measured flux and torque as a pair Flux is first, torque second item

Definition at line 2461 of file TMC4671.cpp.

◆ getClassType()

const ClassType TMC4671::getClassType ( )

inlineoverridevirtual

Type of this class. Mainclass, motordriver... Should be implemented by the parent class so it is not in the info struct

Reimplemented from CommandHandler.

Definition at line 341 of file TMC4671.h.

◆ getCpr()

uint32_t TMC4671::getCpr ( )

virtual

Gets the amount of counts per full rotation of the encoder

Reimplemented from Encoder.

Definition at line 1909 of file TMC4671.cpp.

◆ getEncCpr()

uint32_t TMC4671::getEncCpr ( )

Definition at line 1573 of file TMC4671.cpp.

◆ getEncoder()

Encoder * TMC4671::getEncoder ( )

overridevirtual

Returns the encoder of this motor driver. Either the integrated encoder or an external encoder assigned to this motor driver passed externally

Reimplemented from MotorDriver.

Definition at line 1840 of file TMC4671.cpp.

◆ getEncoderType()

EncoderType TMC4671::getEncoderType ( )

overridevirtual

Returns the type of the encoder. Must override this and NOT return NONE in other classes

Reimplemented from Encoder.

Definition at line 1942 of file TMC4671.cpp.

◆ getFlux()

int16_t TMC4671::getFlux ( )

Definition at line 2046 of file TMC4671.cpp.

◆ getGpioPins()

uint8_t TMC4671::getGpioPins ( )

Reads the state of the 8 gpio pins

Definition at line 1800 of file TMC4671.cpp.

◆ getHelpstring()

virtual std::string TMC4671::getHelpstring ( )

inlinevirtual

Returns a description of this class

Reimplemented from CommandHandler.

Definition at line 559 of file TMC4671.h.

◆ getInfo()

const ClassIdentifier TMC4671::getInfo ( )

virtual

Command handlers always have class infos. Works well with ChoosableClass.

Implements CommandHandler.

Definition at line 87 of file TMC4671.cpp.

◆ getLimits()

TMC4671Limits TMC4671::getLimits ( )

Definition at line 2137 of file TMC4671.cpp.

◆ getMotionMode()

MotionMode TMC4671::getMotionMode ( )

Definition at line 1614 of file TMC4671.cpp.

◆ getPhiE()

int16_t TMC4671::getPhiE ( )

Definition at line 946 of file TMC4671.cpp.

◆ getPhiE_Enc()

int16_t TMC4671::getPhiE_Enc ( )

Reads phiE directly from the encoder selection instead of the current phiE selection

Definition at line 1150 of file TMC4671.cpp.

◆ getPhiEfromExternalEncoder()

int16_t TMC4671::getPhiEfromExternalEncoder ( )

Definition at line 934 of file TMC4671.cpp.

◆ getPhiEtype()

PhiE TMC4671::getPhiEtype ( )

Definition at line 1595 of file TMC4671.cpp.

◆ getPids()

TMC4671PIDConf TMC4671::getPids ( )

Definition at line 2089 of file TMC4671.cpp.

◆ getPos()

int32_t TMC4671::getPos ( )

overridevirtual

Returns the encoder position as raw counts

Reimplemented from Encoder.

Definition at line 1887 of file TMC4671.cpp.

◆ getPosAbs()

int32_t TMC4671::getPosAbs ( )

overridevirtual

Returns absolute positions without offsets for absolute encoders. Otherwise it returns getPos

Reimplemented from Encoder.

Definition at line 1893 of file TMC4671.cpp.

◆ getPwmFreq()

float TMC4671::getPwmFreq ( )

Returns the PWM loop frequency in Hz Depends on hardware clock and pwm counter setting. Default 25kHz

Definition at line 2416 of file TMC4671.cpp.

◆ getSpiAddr()

uint8_t TMC4671::getSpiAddr ( )

◆ getState()

TMC_ControlState TMC4671::getState ( )

Definition at line 776 of file TMC4671.cpp.

◆ getTargetPos()

int32_t TMC4671::getTargetPos ( )

Definition at line 903 of file TMC4671.cpp.

◆ getTargetVelocity()

int32_t TMC4671::getTargetVelocity ( )

Definition at line 919 of file TMC4671.cpp.

◆ getTemp()

float TMC4671::getTemp ( )

Reads a temperature from a thermistor connected to AGPI_B Not calibrated perfectly!

Definition at line 349 of file TMC4671.cpp.

◆ getTmcType()

std::pair< uint32_t, std::string > TMC4671::getTmcType ( )

Returns a string with the name and version of the chip

Definition at line 1817 of file TMC4671.cpp.

◆ getTmcVM()

int32_t TMC4671::getTmcVM ( )

Returns estimated VM in mV measured by TMC

Definition at line 231 of file TMC4671.cpp.

◆ getTorque()

int16_t TMC4671::getTorque ( )

Definition at line 2036 of file TMC4671.cpp.

◆ getVelocity()

int32_t TMC4671::getVelocity ( )

Definition at line 922 of file TMC4671.cpp.

◆ hasIntegratedEncoder()

bool TMC4671::hasIntegratedEncoder ( )

overridevirtual

If returned true it signals that this motor driver contains its own encoder and does not require an external encoder

Reimplemented from MotorDriver.

Definition at line 1856 of file TMC4671.cpp.

◆ hasPower()

bool TMC4671::hasPower ( )

Definition at line 192 of file TMC4671.cpp.

◆ initAdc()

void TMC4671::initAdc	(	uint16_t	mdecA,
		uint16_t	mdecB,
		uint32_t	mclkA,
		uint32_t	mclkB
	)

private

Definition at line 2444 of file TMC4671.cpp.

◆ initialize()

bool TMC4671::initialize ( )

Sets all parameters of the driver at startup. Only has to be called once when the driver is detected restoreFlash() should be called before this to restore settings!

Definition at line 244 of file TMC4671.cpp.

◆ initializeWithPower()

void TMC4671::initializeWithPower ( )

Definition at line 385 of file TMC4671.cpp.

◆ isSetUp()

bool TMC4671::isSetUp ( )

Definition at line 198 of file TMC4671.cpp.

◆ motorReady()

bool TMC4671::motorReady ( )

virtual

Reimplemented from MotorDriver.

Definition at line 423 of file TMC4671.cpp.

◆ pidAutoTune()

bool TMC4671::pidAutoTune ( )

private

Iterative tuning function for tuning the torque mode PI values

Enter phieExt & torque mode Zero I, default P Ramp up flux P until 50% of target, then lower increments until targetflux_p is reached Increase I until oscillation is found. Back off a bit

Definition at line 666 of file TMC4671.cpp.

◆ pingDriver()

bool TMC4671::pingDriver ( )

Check if driver is responding

Definition at line 223 of file TMC4671.cpp.

◆ posToEnc()

uint32_t TMC4671::posToEnc ( uint32_t pos )

Definition at line 1938 of file TMC4671.cpp.

◆ rampFlux()

void TMC4671::rampFlux	(	uint16_t	target,
		uint16_t	time_ms
	)

Ramps flux from current value to a target value over a specified duration

Definition at line 2066 of file TMC4671.cpp.

◆ reachedPosition()

bool TMC4671::reachedPosition ( uint16_t tolerance )

Definition at line 792 of file TMC4671.cpp.

◆ readFlags()

StatusFlags TMC4671::readFlags ( bool maskedOnly = true )

Reads status flags

Parameters

maskedOnly Masks flags by previously set flag mask that would trigger an interrupt. False to read all flags

Definition at line 2549 of file TMC4671.cpp.

◆ readReg()

uint32_t TMC4671::readReg ( uint8_t reg )

Definition at line 2488 of file TMC4671.cpp.

◆ registerCommands()

void TMC4671::registerCommands ( )

Definition at line 2842 of file TMC4671.cpp.

◆ restoreEncHallMisc()

void TMC4671::restoreEncHallMisc ( uint16_t val )

Definition at line 2657 of file TMC4671.cpp.

◆ restoreFlash()

void TMC4671::restoreFlash ( )

overridevirtual

Restores saved parameters Call initialize() to apply some of the settings

Reimplemented from PersistentStorage.

Definition at line 145 of file TMC4671.cpp.

◆ Run()

void TMC4671::Run ( )

virtual

Implementation of your actual thread code. You must override this function.

Note: If INCLUDE_vTaskDelete is defined, then you may return from your Run method. This will cause the task to be deleted from FreeRTOS, however you are still responsible to delete the task object. If this is not defined, then retuning from your Run() method will result in an assert.

Implements cpp_freertos::Thread.

Definition at line 427 of file TMC4671.cpp.

◆ runOpenLoop()

void TMC4671::runOpenLoop	(	uint16_t	ud,
		uint16_t	uq,
		int32_t	speed,
		int32_t	accel,
		bool	torqueMode = `false`
	)

Definition at line 1625 of file TMC4671.cpp.

◆ saveAdcParams()

void TMC4671::saveAdcParams ( )

private

Writes ADC offsets into flash

Definition at line 135 of file TMC4671.cpp.

◆ saveFlash()

void TMC4671::saveFlash ( )

overridevirtual

Called when the user uses the "save" command and presses the save button in the configurator Automatically called by the command parser thread for every class that inherits from PersistentStorage

Reimplemented from PersistentStorage.

Definition at line 107 of file TMC4671.cpp.

◆ setAdcOffset()

void TMC4671::setAdcOffset	(	uint32_t	adc_I0_offset,
		uint32_t	adc_I1_offset
	)

Definition at line 1951 of file TMC4671.cpp.

◆ setAdcScale()

void TMC4671::setAdcScale	(	uint32_t	adc_I0_scale,
		uint32_t	adc_I1_scale
	)

Definition at line 1959 of file TMC4671.cpp.

◆ setAddress()

void TMC4671::setAddress ( uint8_t address )

Definition at line 93 of file TMC4671.cpp.

◆ setBBM()

void TMC4671::setBBM	(	uint8_t	bbml,
		uint8_t	bbmh
	)

Definition at line 2385 of file TMC4671.cpp.

◆ setBiquadFlux()

void TMC4671::setBiquadFlux ( const TMC4671Biquad & filter )

Applies a biquad filter to the flux target Set nullptr to disable

Definition at line 2152 of file TMC4671.cpp.

◆ setBiquadPos()

void TMC4671::setBiquadPos ( const TMC4671Biquad & filter )

Applies a biquad filter to the pos target Set nullptr to disable

Definition at line 2173 of file TMC4671.cpp.

◆ setBiquadTorque()

void TMC4671::setBiquadTorque ( const TMC4671Biquad & filter )

Applies a biquad filter to the torque target Set nullptr to disable

Definition at line 2215 of file TMC4671.cpp.

◆ setBiquadVel()

void TMC4671::setBiquadVel ( const TMC4671Biquad & filter )

Applies a biquad filter to the actual measured velocity Set nullptr to disable

Definition at line 2194 of file TMC4671.cpp.

◆ setBrakeLimits()

void TMC4671::setBrakeLimits	(	uint16_t	low,
		uint16_t	high
	)

Sets the raw brake resistor limits. Centered at 0x7fff Set both 0 to deactivate

Definition at line 2267 of file TMC4671.cpp.

◆ setCpr()

void TMC4671::setCpr ( uint32_t cpr )

Definition at line 1920 of file TMC4671.cpp.

◆ setEncoder()

void TMC4671::setEncoder ( std::shared_ptr< Encoder > & encoder )

overridevirtual

Can pass an external encoder if driver has no integrated encoder This allows a driver to get an external encoder assigned if it requires one and has the capability of using external encoders

Reimplemented from MotorDriver.

Definition at line 1848 of file TMC4671.cpp.

◆ setEncoderIndexFlagEnabled()

void TMC4671::setEncoderIndexFlagEnabled	(	bool	enabled,
		bool	zeroEncoder = `false`
	)

Enables or disables the encoder index interruption on the flag pin depending on the selected encoder

Definition at line 877 of file TMC4671.cpp.

◆ setEncoderType()

void TMC4671::setEncoderType ( EncoderType_TMC type )

Changes the encoder type and calls init methods for the encoder types. Setup the specific parameters (abnconf, aencconf...) first.

Definition at line 1513 of file TMC4671.cpp.

◆ setExternalEncoderAllowed()

void TMC4671::setExternalEncoderAllowed ( bool allow )

Definition at line 1993 of file TMC4671.cpp.

◆ setFFMode()

void TMC4671::setFFMode ( FFMode mode )

Definition at line 1980 of file TMC4671.cpp.

◆ setFlux()

void TMC4671::setFlux ( int16_t flux )

Definition at line 2040 of file TMC4671.cpp.

◆ setFluxTorque()

void TMC4671::setFluxTorque	(	int16_t	flux,
		int16_t	torque
	)

Definition at line 2049 of file TMC4671.cpp.

◆ setFluxTorqueFF()

void TMC4671::setFluxTorqueFF	(	int16_t	flux,
		int16_t	torque
	)

Definition at line 2056 of file TMC4671.cpp.

◆ setGpioMode()

void TMC4671::setGpioMode ( TMC_GpioMode mode )

Changes the mode of the 8 GPIO pins Banks A and B can be mapped independently to inputs or outputs, as a DS adc interface or by default as a secondary debug SPI port

Definition at line 1774 of file TMC4671.cpp.

◆ setGpioPins()

void TMC4671::setGpioPins ( uint8_t pins )

Changes the state of gpio pins that are mapped as output lower 4 bits bank A, upper 4 bits bank B

Definition at line 1808 of file TMC4671.cpp.

◆ setHwType()

void TMC4671::setHwType ( TMC_HW_Ver type )

Sets some constants and features depending on the hardware version of the driver

Definition at line 2692 of file TMC4671.cpp.

◆ setLimits()

void TMC4671::setLimits ( TMC4671Limits limits )

Definition at line 2126 of file TMC4671.cpp.

◆ setMotionMode()

void TMC4671::setMotionMode	(	MotionMode	mode,
		bool	force = `false`
	)

Definition at line 1603 of file TMC4671.cpp.

◆ setMotorType()

void TMC4671::setMotorType	(	MotorType	motor,
		uint16_t	poles
	)

Definition at line 2014 of file TMC4671.cpp.

◆ setOpenLoopSpeedAccel()

void TMC4671::setOpenLoopSpeedAccel	(	int32_t	speed,
		uint32_t	accel
	)

Definition at line 1619 of file TMC4671.cpp.

◆ setPhiE_ext()

void TMC4671::setPhiE_ext ( int16_t phiE )

Definition at line 930 of file TMC4671.cpp.

◆ setPhiEtype()

void TMC4671::setPhiEtype ( PhiE type )

Definition at line 1585 of file TMC4671.cpp.

◆ setPidPrecision()

void TMC4671::setPidPrecision ( TMC4671PidPrecision setting )

Definition at line 2113 of file TMC4671.cpp.

◆ setPids()

void TMC4671::setPids ( TMC4671PIDConf pids )

Definition at line 2080 of file TMC4671.cpp.

◆ setPos()

void TMC4671::setPos ( int32_t pos )

overridevirtual

Changes position using offset from index

Reimplemented from Encoder.

Definition at line 1864 of file TMC4671.cpp.

◆ setPositionExt()

void TMC4671::setPositionExt ( int32_t pos )

Definition at line 926 of file TMC4671.cpp.

◆ setPosSel()

void TMC4671::setPosSel ( PosSelection psel )

Changes the position sensor source

Definition at line 1755 of file TMC4671.cpp.

◆ setPwm() [1/2]

void TMC4671::setPwm ( TMC_PwmMode val )

private

Sets pwm mode:
0 = pwm off
1 = pwm off, HS low, LS high
2 = pwm off, HS high, LS low
3 = pwm off
4 = pwm off
5 = pwm LS only
6 = pwm HS only
7 = pwm on centered, FOC mode

Definition at line 2381 of file TMC4671.cpp.

◆ setPwm() [2/2]

void TMC4671::setPwm	(	uint8_t	val,
		uint16_t	maxcnt,
		uint8_t	bbmL,
		uint8_t	bbmH
	)

private

Definition at line 2392 of file TMC4671.cpp.

◆ setPwmFreq()

void TMC4671::setPwmFreq ( float freq )

Changes the PWM frequency to a desired frequency Possible values depend on the hwclock. At 25MHz the lowest possible frequency is 24.1kHz

Definition at line 2436 of file TMC4671.cpp.

◆ setPwmMaxCnt()

void TMC4671::setPwmMaxCnt ( uint16_t maxcnt )

private

Changes PWM frequency Max value 4095, minimum 255

Definition at line 2425 of file TMC4671.cpp.

◆ setSequentialPI()

void TMC4671::setSequentialPI ( bool sequential )

Definition at line 1988 of file TMC4671.cpp.

◆ setSpiAddr()

bool TMC4671::setSpiAddr ( uint8_t chan )

◆ setStatusFlags() [1/2]

void TMC4671::setStatusFlags ( StatusFlags flags )

Definition at line 2570 of file TMC4671.cpp.

◆ setStatusFlags() [2/2]

void TMC4671::setStatusFlags ( uint32_t flags )

Definition at line 2566 of file TMC4671.cpp.

◆ setStatusMask() [1/2]

void TMC4671::setStatusMask ( StatusFlags mask )

Definition at line 2558 of file TMC4671.cpp.

◆ setStatusMask() [2/2]

void TMC4671::setStatusMask ( uint32_t mask )

Definition at line 2562 of file TMC4671.cpp.

◆ setSvPwm()

void TMC4671::setSvPwm ( bool enable )

private

Enable or disable space vector pwm for 3 phase motors Normally active but should be disabled if the motor has no isolated star point

Definition at line 2403 of file TMC4671.cpp.

◆ setTargetPos()

void TMC4671::setTargetPos ( int32_t pos )

Enables position mode and sets a target position

Definition at line 896 of file TMC4671.cpp.

◆ setTargetVelocity()

void TMC4671::setTargetVelocity ( int32_t vel )

Enables velocity mode and sets a velocity target

Definition at line 912 of file TMC4671.cpp.

◆ setTmcPos()

void TMC4671::setTmcPos ( int32_t pos )

Changes position in tmc register

Definition at line 1882 of file TMC4671.cpp.

◆ setTorque()

void TMC4671::setTorque ( int16_t torque )

Definition at line 2030 of file TMC4671.cpp.

◆ setTorqueFilter()

void TMC4671::setTorqueFilter ( TMC4671Biquad_conf & conf )

Changes the torque biquad filter

Definition at line 2236 of file TMC4671.cpp.

◆ setTorqueLimit()

void TMC4671::setTorqueLimit ( uint16_t limit )

Definition at line 2107 of file TMC4671.cpp.

◆ setUdUq()

void TMC4671::setUdUq	(	int16_t	ud,
		int16_t	uq
	)

Definition at line 1646 of file TMC4671.cpp.

◆ setup_ABN_Enc()

void TMC4671::setup_ABN_Enc ( TMC4671ABNConf encconf )

Definition at line 1289 of file TMC4671.cpp.

◆ setup_AENC()

void TMC4671::setup_AENC ( TMC4671AENCConf encconf )

Definition at line 1313 of file TMC4671.cpp.

◆ setup_HALL()

void TMC4671::setup_HALL ( TMC4671HALLConf hallconf )

Definition at line 1330 of file TMC4671.cpp.

◆ setUpExtEncTimer()

void TMC4671::setUpExtEncTimer ( )

private

Definition at line 3218 of file TMC4671.cpp.

◆ setupFeedForwardTorque()

void TMC4671::setupFeedForwardTorque	(	int32_t	gain,
		int32_t	constant
	)

Definition at line 1967 of file TMC4671.cpp.

◆ setupFeedForwardVelocity()

void TMC4671::setupFeedForwardVelocity	(	int32_t	gain,
		int32_t	constant
	)

Definition at line 1973 of file TMC4671.cpp.

◆ setUqUdLimit()

void TMC4671::setUqUdLimit ( uint16_t limit )

Limits the PWM value

Definition at line 2102 of file TMC4671.cpp.

◆ setVelSel()

void TMC4671::setVelSel	(	VelSelection	vsel,
		uint8_t	mode = `0`
	)

Changes the velocity sensor source (RPM if PhiM source used)

Parameters

mode	0 = fixed frequency sampling (~4369.067Hz), 1 = PWM sync time difference measurement

Definition at line 1764 of file TMC4671.cpp.

◆ startMotor()

void TMC4671::startMotor ( )

virtual

Enable the motor driver

Reimplemented from MotorDriver.

Definition at line 1661 of file TMC4671.cpp.

◆ statusCheck()

void TMC4671::statusCheck ( )

Reads and resets all status flags and executes depending on status flags

Definition at line 2577 of file TMC4671.cpp.

◆ stopMotor()

void TMC4671::stopMotor ( )

virtual

Disable the motor driver

Reimplemented from MotorDriver.

Definition at line 1650 of file TMC4671.cpp.

◆ timerElapsed()

void TMC4671::timerElapsed ( TIM_HandleTypeDef * htim )

Definition at line 3205 of file TMC4671.cpp.

◆ turn()

void TMC4671::turn ( int16_t power )

virtual

Sets a torque in positive or negative direction For ADC linearity reasons under 25000 is recommended

Reimplemented from MotorDriver.

Definition at line 1724 of file TMC4671.cpp.

◆ updateReg()

void TMC4671::updateReg	(	uint8_t	reg,
		uint32_t	dat,
		uint32_t	mask,
		uint8_t	shift
	)

Definition at line 2530 of file TMC4671.cpp.

◆ usingExternalEncoder()

bool TMC4671::usingExternalEncoder ( )

inline

Definition at line 513 of file TMC4671.h.

◆ writeReg()

void TMC4671::writeReg	(	uint8_t	reg,
		uint32_t	dat
	)

Definition at line 2502 of file TMC4671.cpp.

◆ writeRegAsync()

void TMC4671::writeRegAsync	(	uint8_t	reg,
		uint32_t	dat
	)

Definition at line 2514 of file TMC4671.cpp.

◆ zeroAbnUsingPhiM()

void TMC4671::zeroAbnUsingPhiM ( bool offsetPhiE = false )

Definition at line 802 of file TMC4671.cpp.

Friends And Related Function Documentation

◆ TMCDebugBridge

friend class TMCDebugBridge

friend

Definition at line 334 of file TMC4671.h.

Member Data Documentation

◆ abnconf

TMC4671ABNConf TMC4671::abnconf

Definition at line 505 of file TMC4671.h.

◆ adcCalibrated

bool TMC4671::adcCalibrated = false

private

Definition at line 595 of file TMC4671.h.

◆ adcSettingsStored

bool TMC4671::adcSettingsStored = false

private

Definition at line 596 of file TMC4671.h.

◆ aencconf

TMC4671AENCConf TMC4671::aencconf

Definition at line 507 of file TMC4671.h.

◆ allowExternalEncoder

bool TMC4671::allowExternalEncoder = false

private

Definition at line 607 of file TMC4671.h.

◆ allowSlowSPI

bool TMC4671::allowSlowSPI = true

Definition at line 550 of file TMC4671.h.

◆ allowStateChange

bool TMC4671::allowStateChange = false

private

Definition at line 609 of file TMC4671.h.

◆ bangInitPower

int16_t TMC4671::bangInitPower = 5000

Definition at line 440 of file TMC4671.h.

◆ calibrationFailCount

uint8_t TMC4671::calibrationFailCount = 2

private

Definition at line 604 of file TMC4671.h.

◆ communicationError

const Error TMC4671::communicationError = Error(ErrorCode::tmcCommunicationError, ErrorType::warning, "TMC not responding")

private

Definition at line 577 of file TMC4671.h.

◆ conf

TMC4671MainConfig TMC4671::conf

Definition at line 357 of file TMC4671.h.

◆ curFilters

TMC4671BiquadFilters TMC4671::curFilters

private

Definition at line 644 of file TMC4671.h.

◆ curLimits

TMC4671Limits TMC4671::curLimits

Definition at line 495 of file TMC4671.h.

◆ curMotionMode

MotionMode TMC4671::curMotionMode = MotionMode::stop

private

Definition at line 583 of file TMC4671.h.

◆ curPids

TMC4671PIDConf TMC4671::curPids

Definition at line 493 of file TMC4671.h.

◆ emergency

bool TMC4671::emergency = false

Definition at line 433 of file TMC4671.h.

◆ enablePin

OutputPin TMC4671::enablePin = OutputPin(*DRV_ENABLE_GPIO_Port,DRV_ENABLE_Pin)

private

Definition at line 574 of file TMC4671.h.

◆ enc_retry

uint8_t TMC4671::enc_retry = 0

private

Definition at line 612 of file TMC4671.h.

◆ enc_retry_max

uint8_t TMC4671::enc_retry_max = 3

private

Definition at line 613 of file TMC4671.h.

◆ encHallRestored

bool TMC4671::encHallRestored = false

private

Definition at line 602 of file TMC4671.h.

◆ encoderAligned

bool TMC4671::encoderAligned = false

private

Definition at line 591 of file TMC4671.h.

◆ encoderIndexHitFlag

volatile bool TMC4671::encoderIndexHitFlag = false

private

Definition at line 598 of file TMC4671.h.

◆ ES_TMCdetected

bool TMC4671::ES_TMCdetected = false

private

Definition at line 589 of file TMC4671.h.

◆ estopError

const Error TMC4671::estopError = Error(ErrorCode::emergencyStop, ErrorType::critical, "TMC emergency stop triggered")

private

Definition at line 578 of file TMC4671.h.

◆ estopTriggered

bool TMC4671::estopTriggered = false

Definition at line 434 of file TMC4671.h.

◆ extEncUpdater

std::unique_ptr<TMC_ExternalEncoderUpdateThread> TMC4671::extEncUpdater = nullptr

private

Definition at line 651 of file TMC4671.h.

◆ externalEncoderPhieOffset

int16_t TMC4671::externalEncoderPhieOffset = 0

private

Definition at line 606 of file TMC4671.h.

◆ externalEncoderTimer

TIM_HandleTypeDef * TMC4671::externalEncoderTimer = &TIM_TMC

private

Definition at line 650 of file TMC4671.h.

◆ flagCheckInProgress

bool TMC4671::flagCheckInProgress = false

Definition at line 539 of file TMC4671.h.

◆ flashAddrs

TMC4671FlashAddrs TMC4671::flashAddrs

Definition at line 545 of file TMC4671.h.

◆ fluxDissipationLimit

const float TMC4671::fluxDissipationLimit = 1000

Definition at line 443 of file TMC4671.h.

◆ fluxFilterFreq

const float TMC4671::fluxFilterFreq = 350.0

private

Definition at line 645 of file TMC4671.h.

◆ fullCalibrationInProgress

bool TMC4671::fullCalibrationInProgress = false

private

Definition at line 600 of file TMC4671.h.

◆ hallconf

TMC4671HALLConf TMC4671::hallconf

Definition at line 506 of file TMC4671.h.

◆ idleFlux

int16_t TMC4671::idleFlux = 0

Definition at line 437 of file TMC4671.h.

◆ indexNotHitError

const Error TMC4671::indexNotHitError = Error(ErrorCode::encoderIndexMissed,ErrorType::critical,"Encoder index missed")

private

Definition at line 575 of file TMC4671.h.

◆ info

ClassIdentifier TMC4671::info

static

Initial value:

= {
    .name = "TMC4671" ,
    .id=CLSID_MOT_TMC0,
}

Definition at line 339 of file TMC4671.h.

◆ initialized

bool TMC4671::initialized = false

private

Definition at line 593 of file TMC4671.h.

◆ initTime

uint32_t TMC4671::initTime = 0

private

Definition at line 638 of file TMC4671.h.

◆ lastMotionMode

MotionMode TMC4671::lastMotionMode = MotionMode::stop

private

Definition at line 584 of file TMC4671.h.

◆ laststate

TMC_ControlState TMC4671::laststate = TMC_ControlState::uninitialized

private

Definition at line 581 of file TMC4671.h.

◆ lastStatTime

uint32_t TMC4671::lastStatTime = 0

private

Definition at line 615 of file TMC4671.h.

◆ lowVoltageError

const Error TMC4671::lowVoltageError = Error(ErrorCode::undervoltage,ErrorType::warning,"Low motor voltage")

private

Definition at line 576 of file TMC4671.h.

◆ manualEncAlign

bool TMC4671::manualEncAlign = false

private

Definition at line 639 of file TMC4671.h.

◆ maxOffsetFlux

uint16_t TMC4671::maxOffsetFlux = 0

Definition at line 438 of file TMC4671.h.

◆ motorEnabledRequested

bool TMC4671::motorEnabledRequested = false

private

Definition at line 597 of file TMC4671.h.

◆ nextFlux

int16_t TMC4671::nextFlux = 0

Definition at line 436 of file TMC4671.h.

◆ nextMotionMode

MotionMode TMC4671::nextMotionMode = MotionMode::stop

private

Definition at line 585 of file TMC4671.h.

◆ phiErestored

bool TMC4671::phiErestored = false

private

Definition at line 601 of file TMC4671.h.

◆ pidPrecision

TMC4671PidPrecision TMC4671::pidPrecision

Definition at line 503 of file TMC4671.h.

◆ powerInitialized

bool TMC4671::powerInitialized = false

private

Definition at line 594 of file TMC4671.h.

◆ recalibrationRequired

bool TMC4671::recalibrationRequired = false

private

Definition at line 610 of file TMC4671.h.

◆ requestedState

TMC_ControlState TMC4671::requestedState = TMC_ControlState::Shutdown

private

Definition at line 582 of file TMC4671.h.

◆ spi_buf

uint8_t TMC4671::spi_buf[5] = {0}

private

Definition at line 617 of file TMC4671.h.

◆ spiActive

bool TMC4671::spiActive = false

private

Definition at line 640 of file TMC4671.h.

◆ startupType

TMC_StartupType TMC4671::startupType = TMC_StartupType::NONE

private

Definition at line 587 of file TMC4671.h.

◆ state

TMC_ControlState TMC4671::state = TMC_ControlState::uninitialized

private

Definition at line 580 of file TMC4671.h.

◆ statusFlags

StatusFlags TMC4671::statusFlags = {0}

Definition at line 540 of file TMC4671.h.

◆ statusMask

StatusFlags TMC4671::statusMask = {0}

Definition at line 541 of file TMC4671.h.

◆ torqueFilterConf

TMC4671Biquad_conf TMC4671::torqueFilterConf

private

Definition at line 643 of file TMC4671.h.

◆ zeroEncoderOnIndexHit

bool TMC4671::zeroEncoderOnIndexHit = false

private

Definition at line 599 of file TMC4671.h.

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

Classes

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Private Types

Private Member Functions

Private Attributes

Friends

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ TMC4671_commands

Constructor & Destructor Documentation

◆ TMC4671()

◆ ~TMC4671()

Member Function Documentation

◆ autohome()

◆ bangInitEnc()

◆ beginSpiTransfer()

◆ calibFailCb()

◆ calibrateAdcOffset()

◆ calibrateAenc()

◆ calibrateEncoder()

◆ changeState()

◆ checkAdc()

◆ checkEncoder()

◆ command()

◆ controlFluxDissipate()

◆ decodeMotFromInt()

◆ emergencyStop()

◆ encInit()

◆ encodeEncHallMisc()

◆ encodeMotToInt()

◆ encoderIndexHit()

◆ encoderInit()

◆ encToPos()

◆ endSpiTransfer()

◆ errorCallback()

◆ estimateABNparams()

◆ estimateExtEnc()

◆ externalEncoderAllowed()

◆ exti()

◆ findEncoderIndex()

◆ getActualFlux()

◆ getActualTorque()

◆ getActualTorqueFlux()

◆ getClassType()

◆ getCpr()

◆ getEncCpr()

◆ getEncoder()

◆ getEncoderType()

◆ getFlux()

◆ getGpioPins()

◆ getHelpstring()

◆ getInfo()

◆ getLimits()

◆ getMotionMode()

◆ getPhiE()

◆ getPhiE_Enc()

◆ getPhiEfromExternalEncoder()

◆ getPhiEtype()

◆ getPids()

◆ getPos()

◆ getPosAbs()

◆ getPwmFreq()

◆ getSpiAddr()

◆ getState()

◆ getTargetPos()

◆ getTargetVelocity()

◆ getTemp()

◆ getTmcType()

◆ getTmcVM()

◆ getTorque()

◆ getVelocity()

◆ hasIntegratedEncoder()

◆ hasPower()

◆ initAdc()

◆ initialize()

◆ initializeWithPower()