#include <TMC4671.h>

Inheritance diagram for TMC_2:

Public Member Functions
	TMC_2 ()

Public Member Functions inherited from TMC4671
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 bool	isCreatable ()

Static Public Member Functions inherited from TMC4671
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 ()

Static Public Attributes
static ClassIdentifier	info

Static Public Attributes inherited from TMC4671
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

Additional Inherited Members
Public Attributes inherited from TMC4671
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

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 669 of file TMC4671.h.

Constructor & Destructor Documentation

◆ TMC_2()

TMC_2::TMC_2 ( )

inline

Definition at line 671 of file TMC4671.h.

Member Function Documentation

◆ isCreatable()

bool TMC_2::isCreatable ( )

static

Definition at line 36 of file TMC4671.cpp.

Member Data Documentation

◆ info

ClassIdentifier TMC_2::info

static

Initial value:

= {
    .name = "TMC4671 (CS 2)" ,
    .id=CLSID_MOT_TMC1,
}

Definition at line 675 of file TMC4671.h.

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

Public Member Functions

Static Public Member Functions

Static Public Attributes