TMCStepper
Library supporting Trinamic Stepper Drivers for Arduino platforms
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TMC2160Stepper Class Reference

#include <TMC2160Stepper.h>

Inheritance diagram for TMC2160Stepper:
Collaboration diagram for TMC2160Stepper:

Public Member Functions

 TMC2160Stepper (uint16_t pinCS, float RS=default_RS, int8_t link_index=-1)
 TMC2160Stepper (uint16_t pinCS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link_index=-1)
 TMC2160Stepper (uint16_t pinCS, float RS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link_index=-1)
void begin ()
void defaults ()
void push ()
uint16_t cs2rms (uint8_t CS)
void rms_current (uint16_t mA)
void rms_current (uint16_t mA, float mult)
uint16_t rms_current ()
uint32_t IOIN ()
bool refl_step ()
bool refr_dir ()
bool encb_dcen_cfg4 ()
bool enca_dcin_cfg5 ()
bool drv_enn ()
bool dco_cfg6 ()
uint8_t version ()
void SHORT_CONF (uint32_t)
void s2vs_level (uint8_t)
void s2g_level (uint8_t)
void shortfilter (uint8_t)
void shortdelay (bool)
uint32_t SHORT_CONF ()
uint8_t s2vs_level ()
uint8_t s2g_level ()
uint8_t shortfilter ()
bool shortdelay ()
void DRV_CONF (uint32_t)
void bbmtime (uint8_t)
void bbmclks (uint8_t)
void otselect (uint8_t)
void drvstrength (uint8_t)
void filt_isense (uint8_t)
uint32_t DRV_CONF ()
uint8_t bbmtime ()
uint8_t bbmclks ()
uint8_t otselect ()
uint8_t drvstrength ()
uint8_t filt_isense ()
void GLOBAL_SCALER (uint8_t)
uint8_t GLOBAL_SCALER ()
uint16_t OFFSET_READ ()
void PWMCONF (uint32_t input)
void pwm_ofs (uint8_t B)
void pwm_grad (uint8_t B)
void pwm_freq (uint8_t B)
void pwm_autoscale (bool B)
void pwm_autograd (bool B)
void freewheel (uint8_t B)
void pwm_reg (uint8_t B)
void pwm_lim (uint8_t B)
uint32_t PWMCONF ()
uint8_t pwm_ofs ()
uint8_t pwm_grad ()
uint8_t pwm_freq ()
bool pwm_autoscale ()
bool pwm_autograd ()
uint8_t freewheel ()
uint8_t pwm_reg ()
uint8_t pwm_lim ()
uint32_t PWM_SCALE ()
uint8_t pwm_scale_sum ()
uint16_t pwm_scale_auto ()
Public Member Functions inherited from TMC2130Stepper
 TMC2130Stepper (uint16_t pinCS, float RS=default_RS, int8_t link_index=-1)
 TMC2130Stepper (uint16_t pinCS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link_index=-1)
 TMC2130Stepper (uint16_t pinCS, float RS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link_index=-1)
 ~TMC2130Stepper ()
void begin ()
void defaults ()
void setSPISpeed (uint32_t speed)
void switchCSpin (bool state)
bool isEnabled ()
void push ()
void sg_current_decrease (uint8_t value)
uint8_t sg_current_decrease ()
uint32_t GCONF ()
void GCONF (uint32_t value)
void I_scale_analog (bool B)
void internal_Rsense (bool B)
void en_pwm_mode (bool B)
void enc_commutation (bool B)
void shaft (bool B)
void diag0_error (bool B)
void diag0_otpw (bool B)
void diag0_stall (bool B)
void diag1_stall (bool B)
void diag1_index (bool B)
void diag1_onstate (bool B)
void diag1_steps_skipped (bool B)
void diag0_int_pushpull (bool B)
void diag1_pushpull (bool B)
void small_hysteresis (bool B)
void stop_enable (bool B)
void direct_mode (bool B)
bool I_scale_analog ()
bool internal_Rsense ()
bool en_pwm_mode ()
bool enc_commutation ()
bool shaft ()
bool diag0_error ()
bool diag0_otpw ()
bool diag0_stall ()
bool diag1_stall ()
bool diag1_index ()
bool diag1_onstate ()
bool diag1_steps_skipped ()
bool diag0_int_pushpull ()
bool diag1_pushpull ()
bool small_hysteresis ()
bool stop_enable ()
bool direct_mode ()
uint32_t IOIN ()
bool step ()
bool dir ()
bool dcen_cfg4 ()
bool dcin_cfg5 ()
bool drv_enn_cfg6 ()
bool dco ()
uint8_t version ()
uint32_t TCOOLTHRS ()
void TCOOLTHRS (uint32_t input)
uint32_t THIGH ()
void THIGH (uint32_t input)
uint32_t XDIRECT ()
void XDIRECT (uint32_t input)
void coil_A (int16_t B)
void coil_B (int16_t B)
int16_t coil_A ()
int16_t coil_B ()
uint32_t VDCMIN ()
void VDCMIN (uint32_t input)
uint32_t CHOPCONF ()
void CHOPCONF (uint32_t value)
void toff (uint8_t B)
void hstrt (uint8_t B)
void hend (uint8_t B)
void disfdcc (bool B)
void rndtf (bool B)
void chm (bool B)
void tbl (uint8_t B)
void vsense (bool B)
void vhighfs (bool B)
void vhighchm (bool B)
void sync (uint8_t B)
void mres (uint8_t B)
void intpol (bool B)
void dedge (bool B)
void diss2g (bool B)
uint8_t toff ()
uint8_t hstrt ()
uint8_t hend ()
bool disfdcc ()
bool rndtf ()
bool chm ()
uint8_t tbl ()
bool vsense ()
bool vhighfs ()
bool vhighchm ()
uint8_t sync ()
uint8_t mres ()
bool intpol ()
bool dedge ()
bool diss2g ()
void COOLCONF (uint32_t value)
uint32_t COOLCONF ()
void semin (uint8_t B)
void seup (uint8_t B)
void semax (uint8_t B)
void sedn (uint8_t B)
void seimin (bool B)
void sgt (int8_t B)
void sfilt (bool B)
uint8_t semin ()
uint8_t seup ()
uint8_t semax ()
uint8_t sedn ()
bool seimin ()
int8_t sgt ()
bool sfilt ()
void DCCTRL (uint32_t input)
void dc_time (uint16_t input)
void dc_sg (uint8_t input)
uint32_t DCCTRL ()
uint16_t dc_time ()
uint8_t dc_sg ()
uint32_t DRV_STATUS ()
uint16_t sg_result ()
bool fsactive ()
uint8_t cs_actual ()
bool stallguard ()
bool ot ()
bool otpw ()
bool s2ga ()
bool s2gb ()
bool ola ()
bool olb ()
bool stst ()
void PWMCONF (uint32_t value)
uint32_t PWMCONF ()
void pwm_ampl (uint8_t B)
void pwm_grad (uint8_t B)
void pwm_freq (uint8_t B)
void pwm_autoscale (bool B)
void pwm_symmetric (bool B)
void freewheel (uint8_t B)
uint8_t pwm_ampl ()
uint8_t pwm_grad ()
uint8_t pwm_freq ()
bool pwm_autoscale ()
bool pwm_symmetric ()
uint8_t freewheel ()
uint8_t PWM_SCALE ()
uint8_t ENCM_CTRL ()
void ENCM_CTRL (uint8_t input)
void inv (bool B)
void maxspeed (bool B)
bool inv ()
bool maxspeed ()
uint32_t LOST_STEPS ()
Public Member Functions inherited from TMCStepper
uint16_t cs2rms (uint8_t CS)
void rms_current (uint16_t mA)
void rms_current (uint16_t mA, float mult)
uint16_t rms_current ()
void hold_multiplier (float val)
float hold_multiplier ()
uint8_t test_connection ()
void microsteps (uint16_t ms)
uint16_t microsteps ()
void blank_time (uint8_t value)
uint8_t blank_time ()
void hysteresis_end (int8_t value)
int8_t hysteresis_end ()
void hysteresis_start (uint8_t value)
uint8_t hysteresis_start ()
void GSTAT (uint8_t input)
uint8_t GSTAT ()
bool reset ()
bool drv_err ()
bool uv_cp ()
void IHOLD_IRUN (uint32_t input)
uint32_t IHOLD_IRUN ()
void ihold (uint8_t B)
void irun (uint8_t B)
void iholddelay (uint8_t B)
uint8_t ihold ()
uint8_t irun ()
uint8_t iholddelay ()
uint8_t TPOWERDOWN ()
void TPOWERDOWN (uint8_t input)
uint32_t TSTEP ()
uint32_t TPWMTHRS ()
void TPWMTHRS (uint32_t input)
uint16_t MSCNT ()

Protected Member Functions

 INIT_REGISTER (SHORT_CONF)
 INIT_REGISTER (DRV_CONF)
 INIT_REGISTER (GLOBAL_SCALER)
 INIT2160_REGISTER (PWMCONF)
uint8_t ENCM_CTRL ()
void ENCM_CTRL (uint8_t input)
void pwm_ampl (uint8_t B)
uint8_t pwm_ampl ()
void pwm_symmetric (bool B)
bool pwm_symmetric ()
Protected Member Functions inherited from TMC2130Stepper
void beginTransaction ()
void endTransaction ()
uint8_t transfer (const uint8_t data)
void transferEmptyBytes (const uint8_t n)
void write (uint8_t addressByte, uint32_t config)
uint32_t read (uint8_t addressByte)
 INIT_REGISTER (GCONF)
 INIT_REGISTER (TCOOLTHRS)
 INIT_REGISTER (THIGH)
 INIT_REGISTER (XDIRECT)
 INIT_REGISTER (VDCMIN)
 INIT_REGISTER (CHOPCONF)
 INIT_REGISTER (COOLCONF)
 INIT_REGISTER (DCCTRL)
 INIT_REGISTER (PWMCONF)
 INIT_REGISTER (ENCM_CTRL)
Protected Member Functions inherited from TMCStepper
 TMCStepper (float RS)
virtual ~TMCStepper ()=default
 INIT_REGISTER (IHOLD_IRUN)
 INIT_REGISTER (TPOWERDOWN)
 INIT_REGISTER (TPWMTHRS)

Static Protected Attributes

static constexpr float default_RS = 0.075
Static Protected Attributes inherited from TMC2130Stepper
static uint32_t spi_speed = 16000000/8
static constexpr float default_RS = 0.11
static int8_t chain_length = 0
Static Protected Attributes inherited from TMCStepper
static constexpr uint8_t TMC_READ = 0x00
static constexpr uint8_t TMC_WRITE = 0x80

Additional Inherited Members

Public Attributes inherited from TMC2130Stepper
uint8_t status_response
Protected Attributes inherited from TMC2130Stepper
const uint16_t _pinCS
SW_SPIClass * TMC_SW_SPI = nullptr
int8_t link_index
Protected Attributes inherited from TMCStepper
const float Rsense
float holdMultiplier = 0.5

Detailed Description

Definition at line 11 of file TMC2160Stepper.h.

Constructor & Destructor Documentation

◆ TMC2160Stepper() [1/3]

TMC2160Stepper::TMC2160Stepper ( uint16_t pinCS,
float RS = default_RS,
int8_t link = -1 )

TMCStepper library by @teemuatlut TMC2160Stepper.cpp Implementing methods for TMC2160 (TMC5130, TMC5160, TMC5161)

Definition at line 9 of file TMC2160Stepper.cpp.

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◆ TMC2160Stepper() [2/3]

TMC2160Stepper::TMC2160Stepper ( uint16_t pinCS,
uint16_t pinMOSI,
uint16_t pinMISO,
uint16_t pinSCK,
int8_t link_index = -1 )

Definition at line 14 of file TMC2160Stepper.cpp.

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◆ TMC2160Stepper() [3/3]

TMC2160Stepper::TMC2160Stepper ( uint16_t pinCS,
float RS,
uint16_t pinMOSI,
uint16_t pinMISO,
uint16_t pinSCK,
int8_t link_index = -1 )

Definition at line 11 of file TMC2160Stepper.cpp.

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Member Function Documentation

◆ bbmclks() [1/2]

uint8_t TMC2160Stepper::bbmclks ( )

Definition at line 28 of file DRV_CONF.cpp.

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◆ bbmclks() [2/2]

void TMC2160Stepper::bbmclks ( uint8_t B)

Definition at line 23 of file DRV_CONF.cpp.

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◆ bbmtime() [1/2]

uint8_t TMC2160Stepper::bbmtime ( )

Definition at line 27 of file DRV_CONF.cpp.

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◆ bbmtime() [2/2]

void TMC2160Stepper::bbmtime ( uint8_t B)

Definition at line 22 of file DRV_CONF.cpp.

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◆ begin()

void TMC2160Stepper::begin ( )

Definition at line 18 of file TMC2160Stepper.cpp.

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◆ cs2rms()

uint16_t TMC2160Stepper::cs2rms ( uint8_t CS)

Definition at line 134 of file TMC2160Stepper.cpp.

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◆ dco_cfg6()

bool TMC2160Stepper::dco_cfg6 ( )

Definition at line 36 of file IOIN.cpp.

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◆ defaults()

void TMC2160Stepper::defaults ( )

Definition at line 35 of file TMC2160Stepper.cpp.

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◆ DRV_CONF() [1/2]

uint32_t TMC2160Stepper::DRV_CONF ( )

Definition at line 16 of file DRV_CONF.cpp.

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◆ DRV_CONF() [2/2]

void TMC2160Stepper::DRV_CONF ( uint32_t input)

Definition at line 17 of file DRV_CONF.cpp.

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◆ drv_enn()

bool TMC2160Stepper::drv_enn ( )

Definition at line 35 of file IOIN.cpp.

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◆ drvstrength() [1/2]

uint8_t TMC2160Stepper::drvstrength ( )

Definition at line 30 of file DRV_CONF.cpp.

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◆ drvstrength() [2/2]

void TMC2160Stepper::drvstrength ( uint8_t B)

Definition at line 25 of file DRV_CONF.cpp.

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◆ enca_dcin_cfg5()

bool TMC2160Stepper::enca_dcin_cfg5 ( )

Definition at line 34 of file IOIN.cpp.

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◆ encb_dcen_cfg4()

bool TMC2160Stepper::encb_dcen_cfg4 ( )

Definition at line 33 of file IOIN.cpp.

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◆ ENCM_CTRL() [1/2]

uint8_t TMC2130Stepper::ENCM_CTRL ( )
protected

Definition at line 192 of file TMC2130Stepper.cpp.

◆ ENCM_CTRL() [2/2]

void TMC2130Stepper::ENCM_CTRL ( uint8_t input)
protected

Definition at line 193 of file TMC2130Stepper.cpp.

◆ filt_isense() [1/2]

uint8_t TMC2160Stepper::filt_isense ( )

Definition at line 31 of file DRV_CONF.cpp.

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◆ filt_isense() [2/2]

void TMC2160Stepper::filt_isense ( uint8_t B)

Definition at line 26 of file DRV_CONF.cpp.

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◆ freewheel() [1/2]

uint8_t TMC2160Stepper::freewheel ( )

Definition at line 62 of file PWMCONF.cpp.

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◆ freewheel() [2/2]

void TMC2160Stepper::freewheel ( uint8_t B)

Definition at line 53 of file PWMCONF.cpp.

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◆ GLOBAL_SCALER() [1/2]

uint8_t TMC2160Stepper::GLOBAL_SCALER ( )

TMCStepper library by @teemuatlut GLOBAL_SCALER.cpp TMC2160, TMC2240

Definition at line 13 of file GLOBAL_SCALER.cpp.

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◆ GLOBAL_SCALER() [2/2]

void TMC2160Stepper::GLOBAL_SCALER ( uint8_t input)

Definition at line 14 of file GLOBAL_SCALER.cpp.

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◆ INIT2160_REGISTER()

TMC2160Stepper::INIT2160_REGISTER ( PWMCONF )
protected
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◆ INIT_REGISTER() [1/3]

TMC2160Stepper::INIT_REGISTER ( DRV_CONF )
protected
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◆ INIT_REGISTER() [2/3]

TMC2160Stepper::INIT_REGISTER ( GLOBAL_SCALER )
protected
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◆ INIT_REGISTER() [3/3]

TMC2160Stepper::INIT_REGISTER ( SHORT_CONF )
protected
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◆ IOIN()

uint32_t TMC2160Stepper::IOIN ( )

Definition at line 30 of file IOIN.cpp.

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◆ OFFSET_READ()

uint16_t TMC2160Stepper::OFFSET_READ ( )

Definition at line 167 of file TMC2160Stepper.cpp.

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◆ otselect() [1/2]

uint8_t TMC2160Stepper::otselect ( )

Definition at line 29 of file DRV_CONF.cpp.

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◆ otselect() [2/2]

void TMC2160Stepper::otselect ( uint8_t B)

Definition at line 24 of file DRV_CONF.cpp.

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◆ push()

void TMC2160Stepper::push ( )

Definition at line 148 of file TMC2160Stepper.cpp.

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◆ pwm_ampl() [1/2]

uint8_t TMC2130Stepper::pwm_ampl ( )
protected

Definition at line 181 of file PWMCONF.cpp.

◆ pwm_ampl() [2/2]

void TMC2130Stepper::pwm_ampl ( uint8_t B)
protected

Definition at line 175 of file PWMCONF.cpp.

◆ pwm_autograd() [1/2]

bool TMC2160Stepper::pwm_autograd ( )

Definition at line 61 of file PWMCONF.cpp.

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◆ pwm_autograd() [2/2]

void TMC2160Stepper::pwm_autograd ( bool B)

Definition at line 52 of file PWMCONF.cpp.

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◆ pwm_autoscale() [1/2]

bool TMC2160Stepper::pwm_autoscale ( )

Definition at line 60 of file PWMCONF.cpp.

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◆ pwm_autoscale() [2/2]

void TMC2160Stepper::pwm_autoscale ( bool B)

Definition at line 51 of file PWMCONF.cpp.

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◆ pwm_freq() [1/2]

uint8_t TMC2160Stepper::pwm_freq ( )

Definition at line 59 of file PWMCONF.cpp.

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◆ pwm_freq() [2/2]

void TMC2160Stepper::pwm_freq ( uint8_t B)

Definition at line 50 of file PWMCONF.cpp.

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◆ pwm_grad() [1/2]

uint8_t TMC2160Stepper::pwm_grad ( )

Definition at line 58 of file PWMCONF.cpp.

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◆ pwm_grad() [2/2]

void TMC2160Stepper::pwm_grad ( uint8_t B)

Definition at line 49 of file PWMCONF.cpp.

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◆ pwm_lim() [1/2]

uint8_t TMC2160Stepper::pwm_lim ( )

Definition at line 64 of file PWMCONF.cpp.

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◆ pwm_lim() [2/2]

void TMC2160Stepper::pwm_lim ( uint8_t B)

Definition at line 55 of file PWMCONF.cpp.

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◆ pwm_ofs() [1/2]

uint8_t TMC2160Stepper::pwm_ofs ( )

Definition at line 57 of file PWMCONF.cpp.

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◆ pwm_ofs() [2/2]

void TMC2160Stepper::pwm_ofs ( uint8_t B)

Definition at line 48 of file PWMCONF.cpp.

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◆ pwm_reg() [1/2]

uint8_t TMC2160Stepper::pwm_reg ( )

Definition at line 63 of file PWMCONF.cpp.

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◆ pwm_reg() [2/2]

void TMC2160Stepper::pwm_reg ( uint8_t B)

Definition at line 54 of file PWMCONF.cpp.

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◆ PWM_SCALE()

uint32_t TMC2160Stepper::PWM_SCALE ( )

Definition at line 170 of file TMC2160Stepper.cpp.

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◆ pwm_scale_auto()

uint16_t TMC2160Stepper::pwm_scale_auto ( )

Definition at line 174 of file TMC2160Stepper.cpp.

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◆ pwm_scale_sum()

uint8_t TMC2160Stepper::pwm_scale_sum ( )

Definition at line 173 of file TMC2160Stepper.cpp.

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◆ pwm_symmetric() [1/2]

bool TMC2130Stepper::pwm_symmetric ( )
protected

Definition at line 185 of file PWMCONF.cpp.

◆ pwm_symmetric() [2/2]

void TMC2130Stepper::pwm_symmetric ( bool B)
protected

Definition at line 179 of file PWMCONF.cpp.

◆ PWMCONF() [1/2]

uint32_t TMC2160Stepper::PWMCONF ( )

Definition at line 40 of file PWMCONF.cpp.

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◆ PWMCONF() [2/2]

void TMC2160Stepper::PWMCONF ( uint32_t input)

Definition at line 43 of file PWMCONF.cpp.

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◆ refl_step()

bool TMC2160Stepper::refl_step ( )

Definition at line 31 of file IOIN.cpp.

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◆ refr_dir()

bool TMC2160Stepper::refr_dir ( )

Definition at line 32 of file IOIN.cpp.

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◆ rms_current() [1/3]

uint16_t TMC2160Stepper::rms_current ( )

Definition at line 146 of file TMC2160Stepper.cpp.

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◆ rms_current() [2/3]

void TMC2160Stepper::rms_current ( uint16_t mA)

Definition at line 102 of file TMC2160Stepper.cpp.

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◆ rms_current() [3/3]

void TMC2160Stepper::rms_current ( uint16_t mA,
float mult )

Definition at line 130 of file TMC2160Stepper.cpp.

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◆ s2g_level() [1/2]

uint8_t TMC2160Stepper::s2g_level ( )

Definition at line 23 of file SHORT_CONF.cpp.

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◆ s2g_level() [2/2]

void TMC2160Stepper::s2g_level ( uint8_t B)

Definition at line 19 of file SHORT_CONF.cpp.

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◆ s2vs_level() [1/2]

uint8_t TMC2160Stepper::s2vs_level ( )

Definition at line 22 of file SHORT_CONF.cpp.

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◆ s2vs_level() [2/2]

void TMC2160Stepper::s2vs_level ( uint8_t B)

Definition at line 18 of file SHORT_CONF.cpp.

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◆ SHORT_CONF() [1/2]

uint32_t TMC2160Stepper::SHORT_CONF ( )

Definition at line 12 of file SHORT_CONF.cpp.

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◆ SHORT_CONF() [2/2]

void TMC2160Stepper::SHORT_CONF ( uint32_t input)

Definition at line 13 of file SHORT_CONF.cpp.

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◆ shortdelay() [1/2]

bool TMC2160Stepper::shortdelay ( )

Definition at line 25 of file SHORT_CONF.cpp.

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◆ shortdelay() [2/2]

void TMC2160Stepper::shortdelay ( bool B)

Definition at line 21 of file SHORT_CONF.cpp.

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◆ shortfilter() [1/2]

uint8_t TMC2160Stepper::shortfilter ( )

Definition at line 24 of file SHORT_CONF.cpp.

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◆ shortfilter() [2/2]

void TMC2160Stepper::shortfilter ( uint8_t B)

Definition at line 20 of file SHORT_CONF.cpp.

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◆ version()

uint8_t TMC2160Stepper::version ( )

Definition at line 37 of file IOIN.cpp.

Member Data Documentation

◆ default_RS

float TMC2160Stepper::default_RS = 0.075
staticconstexprprotected

Definition at line 107 of file TMC2160Stepper.h.

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