TMC2240 36V 2.1A RMS stepper driver with integrated current sensing (SPI). More...

#include <TMC2240Stepper.h>

Collaboration diagram for TMC2240Stepper:

Classes
struct	IFCNT_t
struct	TSTEP_t
struct	MSCNT_t

Public Member Functions
	TMC2240Stepper (uint16_t pinCS, int8_t link_index=-1)
	TMC2240Stepper (uint16_t pinCS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link_index=-1)
void	begin ()
void	defaults ()
void	setSPISpeed (uint32_t speed)
void	switchCSpin (bool state)
bool	isEnabled ()
void	push ()
void	GCONF (uint32_t input)
void	fast_standstill (bool B)
void	en_pwm_mode (bool B)
void	multistep_filt (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	diag0_pushpull (bool B)
void	diag1_pushpull (bool B)
void	small_hysteresis (bool B)
void	stop_enable (bool B)
void	direct_mode (bool B)
uint32_t	GCONF ()
bool	fast_standstill ()
bool	en_pwm_mode ()
bool	multistep_filt ()
bool	shaft ()
bool	diag0_error ()
bool	diag0_otpw ()
bool	diag0_stall ()
bool	diag1_stall ()
bool	diag1_index ()
bool	diag1_onstate ()
bool	diag0_pushpull ()
bool	diag1_pushpull ()
bool	small_hysteresis ()
bool	stop_enable ()
bool	direct_mode ()
void	GSTAT (uint8_t input)
uint8_t	GSTAT ()
bool	reset ()
bool	drv_err ()
bool	uv_cp ()
bool	register_reset ()
bool	vm_uvlo ()
uint8_t	IFCNT ()
void	NODECONF (uint16_t input)
uint16_t	NODECONF ()
uint16_t	SLAVECONF ()
void	SLAVECONF (uint16_t input)
void	senddelay (uint8_t B)
uint8_t	senddelay ()
void	nodeaddr (uint8_t B)
uint8_t	nodeaddr ()
void	slaveaddr (uint8_t B)
uint8_t	slaveaddr ()
uint32_t	IOIN ()
bool	step ()
bool	dir ()
bool	encb ()
bool	enca ()
bool	drv_enn ()
bool	encn ()
bool	uart_en ()
bool	comp_a ()
bool	comp_b ()
bool	comp_a1_a2 ()
bool	comp_b1_b2 ()
bool	output ()
bool	ext_res_det ()
bool	ext_clk ()
bool	adc_err ()
uint8_t	silicon_rv ()
uint8_t	version ()
void	DRV_CONF (uint32_t input)
void	current_range (uint8_t)
uint8_t	current_range ()
void	slope_control (uint8_t)
uint8_t	slope_control ()
uint32_t	DRV_CONF ()
void	GLOBAL_SCALER (uint8_t input)
uint8_t	GLOBAL_SCALER ()
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)
void	irundelay (uint8_t B)
uint8_t	ihold ()
uint8_t	irun ()
uint8_t	iholddelay ()
uint8_t	irundelay ()
uint32_t	TCOOLTHRS ()
void	TCOOLTHRS (uint32_t input)
uint32_t	THIGH ()
void	THIGH (uint32_t input)
void	CHOPCONF (uint32_t input)
void	toff (uint8_t B)
void	hstrt (uint8_t B)
void	hend (uint8_t B)
void	fd3 (bool B)
void	disfdcc (bool B)
void	chm (bool B)
void	TBL (uint8_t B)
void	vhighfs (bool B)
void	vhighchm (bool B)
void	tpfd (uint8_t B)
void	mres (uint8_t B)
void	intpol (bool B)
void	dedge (bool B)
void	diss2g (bool B)
void	diss2vs (bool B)
uint32_t	CHOPCONF ()
uint8_t	toff ()
uint8_t	hstrt ()
uint8_t	hend ()
bool	fd3 ()
bool	disfdcc ()
bool	chm ()
uint8_t	TBL ()
bool	vhighfs ()
bool	vhighchm ()
uint8_t	tpfd ()
uint8_t	mres ()
bool	intpol ()
bool	dedge ()
bool	diss2g ()
bool	diss2vs ()
void	COOLCONF (uint32_t B)
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	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_meas_sd_enable (bool B)
void	pwm_dis_reg_stst (bool 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 ()
bool	pwm_meas_sd_enable ()
bool	pwm_dis_reg_stst ()
uint8_t	pwm_reg ()
uint8_t	pwm_lim ()
uint32_t	PWM_SCALE ()
uint8_t	pwm_scale_sum ()
int16_t	pwm_scale_auto ()
uint32_t	PWM_AUTO ()
uint8_t	pwm_ofs_auto ()
uint8_t	pwm_grad_auto ()
uint32_t	MSCURACT ()
int16_t	cur_a ()
int16_t	cur_b ()
uint32_t	DRV_STATUS ()
uint32_t	SG_RESULT ()
bool	s2vsa ()
bool	s2vsb ()
bool	stealth ()
bool	fsactive ()
uint16_t	CS_ACTUAL ()
bool	stallguard ()
bool	ot ()
bool	otpw ()
bool	s2ga ()
bool	s2gb ()
bool	ola ()
bool	olb ()
bool	stst ()
void	microsteps (uint16_t ms)
uint16_t	microsteps ()
uint8_t	test_connection ()
uint16_t	MSCNT ()
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	hysteresis_end (int8_t value)
int8_t	hysteresis_end ()
void	hysteresis_start (uint8_t value)
uint8_t	hysteresis_start ()
uint8_t	TPOWERDOWN ()
void	TPOWERDOWN (uint8_t input)
uint32_t	TPWMTHRS ()
void	TPWMTHRS (uint32_t input)
uint32_t	TSTEP ()
uint32_t	SG4_THRS ()
void	SG4_THRS (uint32_t input)
uint8_t	sg4_thrs ()
void	sg4_thrs (uint8_t B)
bool	sg4_filt_en ()
void	sg4_filt_en (bool B)
uint8_t	sg4_angle_offset ()
void	sg4_angle_offset (uint8_t B)
uint32_t	SG4_RESULT ()
uint16_t	sg4_result ()
uint32_t	ADC_VSUPPLY_AIN ()
uint32_t	ADC_TEMP ()
uint32_t	OTW_OV_VTH ()
void	OTW_OV_VTH (uint32_t input)
float	get_ain_voltage ()
float	get_vsupply_voltage ()
float	get_chip_temperature ()
float	get_overtemp_prewarn_celsius ()
void	set_overtemp_prewarn_celsius (float tempC)
float	get_overvoltage_threshold_voltage ()
void	set_overvoltage_threshold_voltage (float volts)

Public Attributes
uint32_t	Rref = 12000
uint16_t	bytesWritten = 0
bool	CRCerror = false
uint8_t	status_response

Protected Member Functions
	INIT2240_REGISTER (GCONF)
	INIT2240_REGISTER (GSTAT)
	INIT2240_REGISTER (NODECONF)
	INIT2240_REGISTER (DRV_CONF)
	INIT2240_REGISTER (GLOBAL_SCALER)
	INIT2240_REGISTER (IHOLD_IRUN)
	INIT2240_REGISTER (TPOWERDOWN)
	INIT2240_REGISTER (TPWMTHRS)
	INIT2240_REGISTER (TCOOLTHRS)
	INIT2240_REGISTER (THIGH)
	INIT2240_REGISTER (CHOPCONF)
	INIT2240_REGISTER (COOLCONF)
	INIT2240_REGISTER (PWMCONF)
	INIT2240_REGISTER (SG4_THRS)
	INIT2240_REGISTER (OTW_OV_VTH)
float	calc_IFS_current_RMS ()
uint32_t	set_globalscaler (float current, float IFS_current_RMS)
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)
uint64_t	_sendDatagram (uint8_t[], const uint8_t, uint16_t)

Protected Attributes
SSwitch *	sswitch = nullptr
float	holdMultiplier = 0.5
const uint16_t	_pinCS
SW_SPIClass *	TMC_SW_SPI = nullptr
int8_t	link_index

Static Protected Attributes
static constexpr uint8_t	TMC_READ = 0x00
static constexpr uint8_t	TMC_WRITE = 0x80
static constexpr uint8_t	TMC2240_SYNC = 0x05
static constexpr uint8_t	replyDelay = 2
static constexpr uint8_t	abort_window = 5
static constexpr uint8_t	max_retries = 2
static uint32_t	spi_speed = 16000000/8
static constexpr float	default_RS = 0.11
static int8_t	chain_length = 0

Detailed Description

TMC2240 36V 2.1A RMS stepper driver with integrated current sensing (SPI).

The TMC2240 chip has SPI and single-wire UART interfaces, selected by its UART_EN pin. This class implements SPI only (40-bit datagrams, SPI mode 3), with optional daisy-chaining. UART is not implemented yet because no UART hardware has been available for testing. examples/TMC2240_UART shows the intended usage and is untested. Driver modules ship configured for SPI, for example:

BIGTREETECH TMC2240 V1.0 (SPI)
Mellow FLY TMC2240 (SPI by default, UART by jumper; RREF = 12.3kΩ)
FYSETC S2240 (SPI by default, UART by moving resistors)
Analog Devices TMC2240-BOB evaluation board (Step/Dir and SPI)

There are no sense resistors. The full-scale current is set by the resistor on the IREF pin (Rref, 12k-60kΩ) and DRV_CONF.current_range: I_FS(peak) = K_IFS / Rref, where K_IFS = 11.75, 24, 36, 36 A·kΩ for current_range 0-3 (1A, 2A, 3A, 3A at 12kΩ).

Motion comes from the STEP/DIR inputs. There is no internal ramp generator or VACTUAL.

StallGuard4 (SG4_THRS, SG4_RESULT) works with StealthChop2. StallGuard2 (COOLCONF.sgt, SG_RESULT) works with SpreadCycle. DRV_STATUS.stallguard reports a stall from either one.

Reference: Analog Devices TMC2240 datasheet, Rev 2 (11/23)

Definition at line 36 of file TMC2240Stepper.h.

Constructor & Destructor Documentation

◆ TMC2240Stepper() [1/2]

TMC2240Stepper::TMC2240Stepper	(	uint16_t	pinCS,
		int8_t	link_index = -1 )

Definition at line 11 of file TMC2240Stepper.cpp.

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◆ TMC2240Stepper() [2/2]

TMC2240Stepper::TMC2240Stepper	(	uint16_t	pinCS,
		uint16_t	pinMOSI,
		uint16_t	pinMISO,
		uint16_t	pinSCK,
		int8_t	link_index = -1 )

Definition at line 21 of file TMC2240Stepper.cpp.

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Member Function Documentation

◆ _sendDatagram()

uint64_t TMC2240Stepper::_sendDatagram	(	uint8_t	[],
		const uint8_t	,
		uint16_t	)

protected

◆ adc_err()

bool TMC2240Stepper::adc_err ( )

Definition at line 107 of file IOIN.cpp.

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◆ ADC_TEMP()

uint32_t TMC2240Stepper::ADC_TEMP ( )

Definition at line 440 of file TMC2240Stepper.cpp.

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◆ ADC_VSUPPLY_AIN()

uint32_t TMC2240Stepper::ADC_VSUPPLY_AIN ( )

Definition at line 435 of file TMC2240Stepper.cpp.

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◆ begin()

void TMC2240Stepper::begin ( )

Definition at line 173 of file TMC2240Stepper.cpp.

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◆ beginTransaction()

void TMC2240Stepper::beginTransaction ( )

protected

◆ calc_IFS_current_RMS()

float TMC2240Stepper::calc_IFS_current_RMS ( )

protected

Definition at line 288 of file TMC2240Stepper.cpp.

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◆ chm() [1/2]

bool TMC2240Stepper::chm ( )

Definition at line 128 of file CHOPCONF.cpp.

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◆ chm() [2/2]

void TMC2240Stepper::chm ( bool B )

Definition at line 112 of file CHOPCONF.cpp.

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◆ CHOPCONF() [1/2]

uint32_t TMC2240Stepper::CHOPCONF ( )

Definition at line 102 of file CHOPCONF.cpp.

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◆ CHOPCONF() [2/2]

void TMC2240Stepper::CHOPCONF ( uint32_t input )

Definition at line 103 of file CHOPCONF.cpp.

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◆ comp_a()

bool TMC2240Stepper::comp_a ( )

Definition at line 100 of file IOIN.cpp.

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◆ comp_a1_a2()

bool TMC2240Stepper::comp_a1_a2 ( )

Definition at line 102 of file IOIN.cpp.

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◆ comp_b()

bool TMC2240Stepper::comp_b ( )

Definition at line 101 of file IOIN.cpp.

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◆ comp_b1_b2()

bool TMC2240Stepper::comp_b1_b2 ( )

Definition at line 103 of file IOIN.cpp.

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◆ COOLCONF() [1/2]

uint32_t TMC2240Stepper::COOLCONF ( )

◆ COOLCONF() [2/2]

void TMC2240Stepper::COOLCONF ( uint32_t B )

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◆ cs2rms()

uint16_t TMC2240Stepper::cs2rms ( uint8_t CS )

0:1A 1:2A 2:3A 3:3A ('rref', 12000, minval=12000, maxval=60000)

Definition at line 282 of file TMC2240Stepper.cpp.

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◆ CS_ACTUAL()

uint16_t TMC2240Stepper::CS_ACTUAL ( )

Definition at line 63 of file DRV_STATUS.cpp.

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◆ cur_a()

int16_t TMC2240Stepper::cur_a ( )

Definition at line 510 of file TMC2240Stepper.cpp.

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◆ cur_b()

int16_t TMC2240Stepper::cur_b ( )

Definition at line 517 of file TMC2240Stepper.cpp.

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◆ current_range() [1/2]

uint8_t TMC2240Stepper::current_range ( )

Definition at line 45 of file DRV_CONF.cpp.

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◆ current_range() [2/2]

void TMC2240Stepper::current_range ( uint8_t B )

Definition at line 43 of file DRV_CONF.cpp.

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◆ dedge() [1/2]

bool TMC2240Stepper::dedge ( )

Definition at line 135 of file CHOPCONF.cpp.

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◆ dedge() [2/2]

void TMC2240Stepper::dedge ( bool B )

Definition at line 119 of file CHOPCONF.cpp.

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◆ defaults()

void TMC2240Stepper::defaults ( )

Definition at line 33 of file TMC2240Stepper.cpp.

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◆ diag0_error() [1/2]

bool TMC2240Stepper::diag0_error ( )

Definition at line 144 of file GCONF.cpp.

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◆ diag0_error() [2/2]

void TMC2240Stepper::diag0_error ( bool B )

Definition at line 128 of file GCONF.cpp.

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◆ diag0_otpw() [1/2]

bool TMC2240Stepper::diag0_otpw ( )

Definition at line 145 of file GCONF.cpp.

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◆ diag0_otpw() [2/2]

void TMC2240Stepper::diag0_otpw ( bool B )

Definition at line 129 of file GCONF.cpp.

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◆ diag0_pushpull() [1/2]

bool TMC2240Stepper::diag0_pushpull ( )

Definition at line 150 of file GCONF.cpp.

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◆ diag0_pushpull() [2/2]

void TMC2240Stepper::diag0_pushpull ( bool B )

Definition at line 134 of file GCONF.cpp.

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◆ diag0_stall() [1/2]

bool TMC2240Stepper::diag0_stall ( )

Definition at line 146 of file GCONF.cpp.

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◆ diag0_stall() [2/2]

void TMC2240Stepper::diag0_stall ( bool B )

Definition at line 130 of file GCONF.cpp.

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◆ diag1_index() [1/2]

bool TMC2240Stepper::diag1_index ( )

Definition at line 148 of file GCONF.cpp.

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◆ diag1_index() [2/2]

void TMC2240Stepper::diag1_index ( bool B )

Definition at line 132 of file GCONF.cpp.

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◆ diag1_onstate() [1/2]

bool TMC2240Stepper::diag1_onstate ( )

Definition at line 149 of file GCONF.cpp.

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◆ diag1_onstate() [2/2]

void TMC2240Stepper::diag1_onstate ( bool B )

Definition at line 133 of file GCONF.cpp.

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◆ diag1_pushpull() [1/2]

bool TMC2240Stepper::diag1_pushpull ( )

Definition at line 151 of file GCONF.cpp.

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◆ diag1_pushpull() [2/2]

void TMC2240Stepper::diag1_pushpull ( bool B )

Definition at line 135 of file GCONF.cpp.

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◆ diag1_stall() [1/2]

bool TMC2240Stepper::diag1_stall ( )

Definition at line 147 of file GCONF.cpp.

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◆ diag1_stall() [2/2]

void TMC2240Stepper::diag1_stall ( bool B )

Definition at line 131 of file GCONF.cpp.

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◆ dir()

bool TMC2240Stepper::dir ( )

Definition at line 94 of file IOIN.cpp.

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◆ direct_mode() [1/2]

bool TMC2240Stepper::direct_mode ( )

Definition at line 154 of file GCONF.cpp.

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◆ direct_mode() [2/2]

void TMC2240Stepper::direct_mode ( bool B )

Definition at line 138 of file GCONF.cpp.

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◆ disfdcc() [1/2]

bool TMC2240Stepper::disfdcc ( )

Definition at line 127 of file CHOPCONF.cpp.

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◆ disfdcc() [2/2]

void TMC2240Stepper::disfdcc ( bool B )

Definition at line 111 of file CHOPCONF.cpp.

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◆ diss2g() [1/2]

bool TMC2240Stepper::diss2g ( )

Definition at line 136 of file CHOPCONF.cpp.

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◆ diss2g() [2/2]

void TMC2240Stepper::diss2g ( bool B )

Definition at line 120 of file CHOPCONF.cpp.

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◆ diss2vs() [1/2]

bool TMC2240Stepper::diss2vs ( )

Definition at line 137 of file CHOPCONF.cpp.

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◆ diss2vs() [2/2]

void TMC2240Stepper::diss2vs ( bool B )

Definition at line 121 of file CHOPCONF.cpp.

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◆ DRV_CONF() [1/2]

uint32_t TMC2240Stepper::DRV_CONF ( )

Definition at line 37 of file DRV_CONF.cpp.

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◆ DRV_CONF() [2/2]

void TMC2240Stepper::DRV_CONF ( uint32_t input )

Definition at line 38 of file DRV_CONF.cpp.

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◆ drv_enn()

bool TMC2240Stepper::drv_enn ( )

Definition at line 97 of file IOIN.cpp.

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◆ drv_err()

bool TMC2240Stepper::drv_err ( )

Definition at line 358 of file TMC2240Stepper.cpp.

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◆ DRV_STATUS()

uint32_t TMC2240Stepper::DRV_STATUS ( )

Definition at line 55 of file DRV_STATUS.cpp.

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◆ en_pwm_mode() [1/2]

bool TMC2240Stepper::en_pwm_mode ( )

Definition at line 141 of file GCONF.cpp.

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◆ en_pwm_mode() [2/2]

void TMC2240Stepper::en_pwm_mode ( bool B )

Definition at line 125 of file GCONF.cpp.

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◆ enca()

bool TMC2240Stepper::enca ( )

Definition at line 96 of file IOIN.cpp.

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◆ encb()

bool TMC2240Stepper::encb ( )

Definition at line 95 of file IOIN.cpp.

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◆ encn()

bool TMC2240Stepper::encn ( )

Definition at line 98 of file IOIN.cpp.

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◆ endTransaction()

void TMC2240Stepper::endTransaction ( )

protected

◆ ext_clk()

bool TMC2240Stepper::ext_clk ( )

Definition at line 106 of file IOIN.cpp.

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◆ ext_res_det()

bool TMC2240Stepper::ext_res_det ( )

Definition at line 105 of file IOIN.cpp.

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◆ fast_standstill() [1/2]

bool TMC2240Stepper::fast_standstill ( )

Definition at line 140 of file GCONF.cpp.

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◆ fast_standstill() [2/2]

void TMC2240Stepper::fast_standstill ( bool B )

Definition at line 124 of file GCONF.cpp.

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◆ fd3() [1/2]

bool TMC2240Stepper::fd3 ( )

Definition at line 126 of file CHOPCONF.cpp.

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◆ fd3() [2/2]

void TMC2240Stepper::fd3 ( bool B )

Definition at line 110 of file CHOPCONF.cpp.

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◆ freewheel() [1/2]

uint8_t TMC2240Stepper::freewheel ( )

Definition at line 124 of file PWMCONF.cpp.

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◆ freewheel() [2/2]

void TMC2240Stepper::freewheel ( uint8_t B )

Definition at line 113 of file PWMCONF.cpp.

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◆ fsactive()

bool TMC2240Stepper::fsactive ( )

Definition at line 62 of file DRV_STATUS.cpp.

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◆ GCONF() [1/2]

uint32_t TMC2240Stepper::GCONF ( )

Definition at line 118 of file GCONF.cpp.

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◆ GCONF() [2/2]

void TMC2240Stepper::GCONF ( uint32_t input )

Definition at line 119 of file GCONF.cpp.

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◆ get_ain_voltage()

float TMC2240Stepper::get_ain_voltage ( )

Definition at line 455 of file TMC2240Stepper.cpp.

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◆ get_chip_temperature()

float TMC2240Stepper::get_chip_temperature ( )

Definition at line 469 of file TMC2240Stepper.cpp.

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◆ get_overtemp_prewarn_celsius()

float TMC2240Stepper::get_overtemp_prewarn_celsius ( )

Definition at line 476 of file TMC2240Stepper.cpp.

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◆ get_overvoltage_threshold_voltage()

float TMC2240Stepper::get_overvoltage_threshold_voltage ( )

Definition at line 491 of file TMC2240Stepper.cpp.

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◆ get_vsupply_voltage()

float TMC2240Stepper::get_vsupply_voltage ( )

Definition at line 462 of file TMC2240Stepper.cpp.

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◆ GLOBAL_SCALER() [1/2]

uint8_t TMC2240Stepper::GLOBAL_SCALER ( )

Definition at line 23 of file GLOBAL_SCALER.cpp.

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◆ GLOBAL_SCALER() [2/2]

void TMC2240Stepper::GLOBAL_SCALER ( uint8_t input )

Definition at line 24 of file GLOBAL_SCALER.cpp.

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◆ GSTAT() [1/2]

uint8_t TMC2240Stepper::GSTAT ( )

Definition at line 355 of file TMC2240Stepper.cpp.

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◆ GSTAT() [2/2]

void TMC2240Stepper::GSTAT ( uint8_t input )

Definition at line 356 of file TMC2240Stepper.cpp.

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◆ hend() [1/2]

uint8_t TMC2240Stepper::hend ( )

Definition at line 125 of file CHOPCONF.cpp.

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◆ hend() [2/2]

void TMC2240Stepper::hend ( uint8_t B )

Definition at line 109 of file CHOPCONF.cpp.

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◆ hstrt() [1/2]

uint8_t TMC2240Stepper::hstrt ( )

Definition at line 124 of file CHOPCONF.cpp.

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◆ hstrt() [2/2]

void TMC2240Stepper::hstrt ( uint8_t B )

Definition at line 108 of file CHOPCONF.cpp.

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◆ hysteresis_end() [1/2]

int8_t TMC2240Stepper::hysteresis_end ( )

Definition at line 389 of file TMC2240Stepper.cpp.

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◆ hysteresis_end() [2/2]

void TMC2240Stepper::hysteresis_end ( int8_t value )

Definition at line 388 of file TMC2240Stepper.cpp.

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◆ hysteresis_start() [1/2]

uint8_t TMC2240Stepper::hysteresis_start ( )

Definition at line 392 of file TMC2240Stepper.cpp.

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◆ hysteresis_start() [2/2]

void TMC2240Stepper::hysteresis_start ( uint8_t value )

Definition at line 391 of file TMC2240Stepper.cpp.

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◆ IFCNT()

uint8_t TMC2240Stepper::IFCNT ( )

Definition at line 222 of file TMC2240Stepper.cpp.

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◆ ihold() [1/2]

uint8_t TMC2240Stepper::ihold ( )

Definition at line 45 of file IHOLD_IRUN.cpp.

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◆ ihold() [2/2]

void TMC2240Stepper::ihold ( uint8_t B )

Definition at line 40 of file IHOLD_IRUN.cpp.

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◆ IHOLD_IRUN() [1/2]

uint32_t TMC2240Stepper::IHOLD_IRUN ( )

Definition at line 34 of file IHOLD_IRUN.cpp.

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◆ IHOLD_IRUN() [2/2]

void TMC2240Stepper::IHOLD_IRUN ( uint32_t input )

Definition at line 35 of file IHOLD_IRUN.cpp.

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◆ iholddelay() [1/2]

uint8_t TMC2240Stepper::iholddelay ( )

Definition at line 47 of file IHOLD_IRUN.cpp.

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◆ iholddelay() [2/2]

void TMC2240Stepper::iholddelay ( uint8_t B )

Definition at line 42 of file IHOLD_IRUN.cpp.

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◆ INIT2240_REGISTER() [1/15]

TMC2240Stepper::INIT2240_REGISTER ( CHOPCONF )

protected

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◆ INIT2240_REGISTER() [2/15]

TMC2240Stepper::INIT2240_REGISTER ( COOLCONF )

protected

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◆ INIT2240_REGISTER() [3/15]

TMC2240Stepper::INIT2240_REGISTER ( DRV_CONF )

protected

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◆ INIT2240_REGISTER() [4/15]

TMC2240Stepper::INIT2240_REGISTER ( GCONF )

protected

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◆ INIT2240_REGISTER() [5/15]

TMC2240Stepper::INIT2240_REGISTER ( GLOBAL_SCALER )

protected

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◆ INIT2240_REGISTER() [6/15]

TMC2240Stepper::INIT2240_REGISTER ( GSTAT )

protected

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◆ INIT2240_REGISTER() [7/15]

TMC2240Stepper::INIT2240_REGISTER ( IHOLD_IRUN )

protected

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◆ INIT2240_REGISTER() [8/15]

TMC2240Stepper::INIT2240_REGISTER ( NODECONF )

protected

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◆ INIT2240_REGISTER() [9/15]

TMC2240Stepper::INIT2240_REGISTER ( OTW_OV_VTH )

protected

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◆ INIT2240_REGISTER() [10/15]

TMC2240Stepper::INIT2240_REGISTER ( PWMCONF )

protected

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◆ INIT2240_REGISTER() [11/15]

TMC2240Stepper::INIT2240_REGISTER ( SG4_THRS )

protected

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◆ INIT2240_REGISTER() [12/15]

TMC2240Stepper::INIT2240_REGISTER ( TCOOLTHRS )

protected

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◆ INIT2240_REGISTER() [13/15]

TMC2240Stepper::INIT2240_REGISTER ( THIGH )

protected

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◆ INIT2240_REGISTER() [14/15]

TMC2240Stepper::INIT2240_REGISTER ( TPOWERDOWN )

protected

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◆ INIT2240_REGISTER() [15/15]

TMC2240Stepper::INIT2240_REGISTER ( TPWMTHRS )

protected

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◆ intpol() [1/2]

bool TMC2240Stepper::intpol ( )

Definition at line 134 of file CHOPCONF.cpp.

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◆ intpol() [2/2]

void TMC2240Stepper::intpol ( bool B )

Definition at line 118 of file CHOPCONF.cpp.

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◆ IOIN()

uint32_t TMC2240Stepper::IOIN ( )

Definition at line 92 of file IOIN.cpp.

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◆ irun() [1/2]

uint8_t TMC2240Stepper::irun ( )

Definition at line 46 of file IHOLD_IRUN.cpp.

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◆ irun() [2/2]

void TMC2240Stepper::irun ( uint8_t B )

Definition at line 41 of file IHOLD_IRUN.cpp.

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◆ irundelay() [1/2]

uint8_t TMC2240Stepper::irundelay ( )

Definition at line 48 of file IHOLD_IRUN.cpp.

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◆ irundelay() [2/2]

void TMC2240Stepper::irundelay ( uint8_t B )

Definition at line 43 of file IHOLD_IRUN.cpp.

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◆ isEnabled()

bool TMC2240Stepper::isEnabled ( )

Definition at line 220 of file TMC2240Stepper.cpp.

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◆ microsteps() [1/2]

uint16_t TMC2240Stepper::microsteps ( )

Definition at line 339 of file TMC2240Stepper.cpp.

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◆ microsteps() [2/2]

void TMC2240Stepper::microsteps ( uint16_t ms )

Definition at line 324 of file TMC2240Stepper.cpp.

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◆ mres() [1/2]

uint8_t TMC2240Stepper::mres ( )

Definition at line 133 of file CHOPCONF.cpp.

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◆ mres() [2/2]

void TMC2240Stepper::mres ( uint8_t B )

Definition at line 117 of file CHOPCONF.cpp.

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◆ MSCNT()

uint16_t TMC2240Stepper::MSCNT ( )

Definition at line 506 of file TMC2240Stepper.cpp.

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◆ MSCURACT()

uint32_t TMC2240Stepper::MSCURACT ( )

Definition at line 509 of file TMC2240Stepper.cpp.

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◆ multistep_filt() [1/2]

bool TMC2240Stepper::multistep_filt ( )

Definition at line 142 of file GCONF.cpp.

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◆ multistep_filt() [2/2]

void TMC2240Stepper::multistep_filt ( bool B )

Definition at line 126 of file GCONF.cpp.

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◆ nodeaddr() [1/2]

uint8_t TMC2240Stepper::nodeaddr ( )

Definition at line 35 of file SLAVECONF.cpp.

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◆ nodeaddr() [2/2]

void TMC2240Stepper::nodeaddr ( uint8_t B )

Definition at line 36 of file SLAVECONF.cpp.

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◆ NODECONF() [1/2]

uint16_t TMC2240Stepper::NODECONF ( )

Definition at line 30 of file SLAVECONF.cpp.

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◆ NODECONF() [2/2]

void TMC2240Stepper::NODECONF ( uint16_t input )

Definition at line 31 of file SLAVECONF.cpp.

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◆ ola()

bool TMC2240Stepper::ola ( )

Definition at line 69 of file DRV_STATUS.cpp.

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◆ olb()

bool TMC2240Stepper::olb ( )

Definition at line 70 of file DRV_STATUS.cpp.

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◆ ot()

bool TMC2240Stepper::ot ( )

Definition at line 65 of file DRV_STATUS.cpp.

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◆ otpw()

bool TMC2240Stepper::otpw ( )

Definition at line 66 of file DRV_STATUS.cpp.

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◆ OTW_OV_VTH() [1/2]

uint32_t TMC2240Stepper::OTW_OV_VTH ( )

Definition at line 445 of file TMC2240Stepper.cpp.

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◆ OTW_OV_VTH() [2/2]

void TMC2240Stepper::OTW_OV_VTH ( uint32_t input )

Definition at line 449 of file TMC2240Stepper.cpp.

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◆ output()

bool TMC2240Stepper::output ( )

Definition at line 104 of file IOIN.cpp.

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◆ push()

void TMC2240Stepper::push ( )

Definition at line 189 of file TMC2240Stepper.cpp.

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◆ PWM_AUTO()

uint32_t TMC2240Stepper::PWM_AUTO ( )

Definition at line 249 of file TMC2240Stepper.cpp.

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◆ pwm_autograd() [1/2]

bool TMC2240Stepper::pwm_autograd ( )

Definition at line 123 of file PWMCONF.cpp.

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◆ pwm_autograd() [2/2]

void TMC2240Stepper::pwm_autograd ( bool B )

Definition at line 112 of file PWMCONF.cpp.

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◆ pwm_autoscale() [1/2]

bool TMC2240Stepper::pwm_autoscale ( )

Definition at line 122 of file PWMCONF.cpp.

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◆ pwm_autoscale() [2/2]

void TMC2240Stepper::pwm_autoscale ( bool B )

Definition at line 111 of file PWMCONF.cpp.

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◆ pwm_dis_reg_stst() [1/2]

bool TMC2240Stepper::pwm_dis_reg_stst ( )

Definition at line 126 of file PWMCONF.cpp.

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◆ pwm_dis_reg_stst() [2/2]

void TMC2240Stepper::pwm_dis_reg_stst ( bool B )

Definition at line 115 of file PWMCONF.cpp.

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◆ pwm_freq() [1/2]

uint8_t TMC2240Stepper::pwm_freq ( )

Definition at line 121 of file PWMCONF.cpp.

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◆ pwm_freq() [2/2]

void TMC2240Stepper::pwm_freq ( uint8_t B )

Definition at line 110 of file PWMCONF.cpp.

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◆ pwm_grad() [1/2]

uint8_t TMC2240Stepper::pwm_grad ( )

Definition at line 120 of file PWMCONF.cpp.

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◆ pwm_grad() [2/2]

void TMC2240Stepper::pwm_grad ( uint8_t B )

Definition at line 109 of file PWMCONF.cpp.

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◆ pwm_grad_auto()

uint8_t TMC2240Stepper::pwm_grad_auto ( )

Definition at line 253 of file TMC2240Stepper.cpp.

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◆ pwm_lim() [1/2]

uint8_t TMC2240Stepper::pwm_lim ( )

Definition at line 128 of file PWMCONF.cpp.

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◆ pwm_lim() [2/2]

void TMC2240Stepper::pwm_lim ( uint8_t B )

Definition at line 117 of file PWMCONF.cpp.

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◆ pwm_meas_sd_enable() [1/2]

bool TMC2240Stepper::pwm_meas_sd_enable ( )

Definition at line 125 of file PWMCONF.cpp.

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◆ pwm_meas_sd_enable() [2/2]

void TMC2240Stepper::pwm_meas_sd_enable ( bool B )

Definition at line 114 of file PWMCONF.cpp.

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◆ pwm_ofs() [1/2]

uint8_t TMC2240Stepper::pwm_ofs ( )

Definition at line 119 of file PWMCONF.cpp.

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◆ pwm_ofs() [2/2]

void TMC2240Stepper::pwm_ofs ( uint8_t B )

Definition at line 108 of file PWMCONF.cpp.

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◆ pwm_ofs_auto()

uint8_t TMC2240Stepper::pwm_ofs_auto ( )

Definition at line 252 of file TMC2240Stepper.cpp.

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◆ pwm_reg() [1/2]

uint8_t TMC2240Stepper::pwm_reg ( )

Definition at line 127 of file PWMCONF.cpp.

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◆ pwm_reg() [2/2]

void TMC2240Stepper::pwm_reg ( uint8_t B )

Definition at line 116 of file PWMCONF.cpp.

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◆ PWM_SCALE()

uint32_t TMC2240Stepper::PWM_SCALE ( )

Definition at line 226 of file TMC2240Stepper.cpp.

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◆ pwm_scale_auto()

int16_t TMC2240Stepper::pwm_scale_auto ( )

Definition at line 235 of file TMC2240Stepper.cpp.

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◆ pwm_scale_sum()

uint8_t TMC2240Stepper::pwm_scale_sum ( )

Definition at line 229 of file TMC2240Stepper.cpp.

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◆ PWMCONF() [1/2]

uint32_t TMC2240Stepper::PWMCONF ( )

Definition at line 102 of file PWMCONF.cpp.

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◆ PWMCONF() [2/2]

void TMC2240Stepper::PWMCONF ( uint32_t input )

Definition at line 103 of file PWMCONF.cpp.

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◆ read()

uint32_t TMC2240Stepper::read ( uint8_t addressByte )

protected

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◆ register_reset()

bool TMC2240Stepper::register_reset ( )

Definition at line 360 of file TMC2240Stepper.cpp.

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◆ reset()

bool TMC2240Stepper::reset ( )

Definition at line 357 of file TMC2240Stepper.cpp.

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◆ rms_current() [1/3]

uint16_t TMC2240Stepper::rms_current ( )

Definition at line 320 of file TMC2240Stepper.cpp.

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◆ rms_current() [2/3]

void TMC2240Stepper::rms_current ( uint16_t mA )

Definition at line 303 of file TMC2240Stepper.cpp.

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◆ rms_current() [3/3]

void TMC2240Stepper::rms_current	(	uint16_t	mA,
		float	mult )

Definition at line 315 of file TMC2240Stepper.cpp.

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◆ s2ga()

bool TMC2240Stepper::s2ga ( )

Definition at line 67 of file DRV_STATUS.cpp.

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◆ s2gb()

bool TMC2240Stepper::s2gb ( )

Definition at line 68 of file DRV_STATUS.cpp.

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◆ s2vsa()

bool TMC2240Stepper::s2vsa ( )

Definition at line 59 of file DRV_STATUS.cpp.

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◆ s2vsb()

bool TMC2240Stepper::s2vsb ( )

Definition at line 60 of file DRV_STATUS.cpp.

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◆ sedn() [1/2]

uint8_t TMC2240Stepper::sedn ( )

◆ sedn() [2/2]

void TMC2240Stepper::sedn ( uint8_t B )

◆ seimin() [1/2]

bool TMC2240Stepper::seimin ( )

◆ seimin() [2/2]

void TMC2240Stepper::seimin ( bool B )

◆ semax() [1/2]

uint8_t TMC2240Stepper::semax ( )

◆ semax() [2/2]

void TMC2240Stepper::semax ( uint8_t B )

◆ semin() [1/2]

uint8_t TMC2240Stepper::semin ( )

◆ semin() [2/2]

void TMC2240Stepper::semin ( uint8_t B )

◆ senddelay() [1/2]

uint8_t TMC2240Stepper::senddelay ( )

Definition at line 37 of file SLAVECONF.cpp.

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◆ senddelay() [2/2]

void TMC2240Stepper::senddelay ( uint8_t B )

Definition at line 38 of file SLAVECONF.cpp.

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◆ set_globalscaler()

uint32_t TMC2240Stepper::set_globalscaler	(	float	current,
		float	IFS_current_RMS )

protected

Definition at line 294 of file TMC2240Stepper.cpp.

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◆ set_overtemp_prewarn_celsius()

void TMC2240Stepper::set_overtemp_prewarn_celsius ( float tempC )

Definition at line 482 of file TMC2240Stepper.cpp.

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◆ set_overvoltage_threshold_voltage()

void TMC2240Stepper::set_overvoltage_threshold_voltage ( float volts )

Definition at line 497 of file TMC2240Stepper.cpp.

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◆ setSPISpeed()

void TMC2240Stepper::setSPISpeed ( uint32_t speed )

◆ seup() [1/2]

uint8_t TMC2240Stepper::seup ( )

◆ seup() [2/2]

void TMC2240Stepper::seup ( uint8_t B )

◆ sfilt() [1/2]

bool TMC2240Stepper::sfilt ( )

◆ sfilt() [2/2]

void TMC2240Stepper::sfilt ( bool B )

◆ sg4_angle_offset() [1/2]

uint8_t TMC2240Stepper::sg4_angle_offset ( )

SG4_THRS[9] sg_angle_offset 1: Use SG4_RESULT to compensate for the phase jump when switching between StealthChop2 and SpreadCycle.

Definition at line 424 of file TMC2240Stepper.cpp.

◆ sg4_angle_offset() [2/2]

void TMC2240Stepper::sg4_angle_offset ( uint8_t B )

Definition at line 425 of file TMC2240Stepper.cpp.

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◆ sg4_filt_en() [1/2]

bool TMC2240Stepper::sg4_filt_en ( )

SG4_THRS[8] sg4_filt_en 0: SG4_RESULT updates with each fullstep. 1: SG4_RESULT is the average of the last four SG4_IND_x measurements.

Definition at line 419 of file TMC2240Stepper.cpp.

◆ sg4_filt_en() [2/2]

void TMC2240Stepper::sg4_filt_en ( bool B )

Definition at line 420 of file TMC2240Stepper.cpp.

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◆ SG4_RESULT()

uint32_t TMC2240Stepper::SG4_RESULT ( )

R: SG4_RESULT (0x75) StallGuard4 load measurement sg4_result() returns 0-510. A lower value means a higher load.

Definition at line 431 of file TMC2240Stepper.cpp.

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◆ sg4_result()

uint16_t TMC2240Stepper::sg4_result ( )

Definition at line 432 of file TMC2240Stepper.cpp.

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◆ SG4_THRS() [1/2]

uint32_t TMC2240Stepper::SG4_THRS ( )

RW: SG4_THRS (0x74) StallGuard4 configuration

StallGuard4 works with StealthChop2 (en_pwm_mode = 1). The stall output (DIAG, DRV_STATUS.stallguard) is active when TCOOLTHRS >= TSTEP.

Definition at line 409 of file TMC2240Stepper.cpp.

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◆ SG4_THRS() [2/2]

void TMC2240Stepper::SG4_THRS ( uint32_t input )

Definition at line 410 of file TMC2240Stepper.cpp.

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◆ sg4_thrs() [1/2]

uint8_t TMC2240Stepper::sg4_thrs ( )

SG4_THRS[7:0] StallGuard4 threshold (0-255). A stall is signaled when SG4_RESULT falls below this value, so a higher value is more sensitive.

Definition at line 414 of file TMC2240Stepper.cpp.

◆ sg4_thrs() [2/2]

void TMC2240Stepper::sg4_thrs ( uint8_t B )

Definition at line 415 of file TMC2240Stepper.cpp.

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◆ SG_RESULT()

uint32_t TMC2240Stepper::SG_RESULT ( )

Definition at line 71 of file DRV_STATUS.cpp.

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◆ sgt() [1/2]

int8_t TMC2240Stepper::sgt ( )

Definition at line 69 of file COOLCONF.cpp.

◆ sgt() [2/2]

void TMC2240Stepper::sgt ( int8_t B )

Definition at line 68 of file COOLCONF.cpp.

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◆ shaft() [1/2]

bool TMC2240Stepper::shaft ( )

Definition at line 143 of file GCONF.cpp.

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◆ shaft() [2/2]

void TMC2240Stepper::shaft ( bool B )

Definition at line 127 of file GCONF.cpp.

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◆ silicon_rv()

uint8_t TMC2240Stepper::silicon_rv ( )

Definition at line 108 of file IOIN.cpp.

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◆ slaveaddr() [1/2]

uint8_t TMC2240Stepper::slaveaddr ( )

inline

Definition at line 110 of file TMC2240Stepper.h.

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◆ slaveaddr() [2/2]

void TMC2240Stepper::slaveaddr ( uint8_t B )

inline

Definition at line 109 of file TMC2240Stepper.h.

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◆ SLAVECONF() [1/2]

uint16_t TMC2240Stepper::SLAVECONF ( )

inline

Definition at line 102 of file TMC2240Stepper.h.

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◆ SLAVECONF() [2/2]

void TMC2240Stepper::SLAVECONF ( uint16_t input )

inline

Definition at line 103 of file TMC2240Stepper.h.

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◆ slope_control() [1/2]

uint8_t TMC2240Stepper::slope_control ( )

Definition at line 46 of file DRV_CONF.cpp.

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◆ slope_control() [2/2]

void TMC2240Stepper::slope_control ( uint8_t B )

Definition at line 44 of file DRV_CONF.cpp.

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◆ small_hysteresis() [1/2]

bool TMC2240Stepper::small_hysteresis ( )

Definition at line 152 of file GCONF.cpp.

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◆ small_hysteresis() [2/2]

void TMC2240Stepper::small_hysteresis ( bool B )

Definition at line 136 of file GCONF.cpp.

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◆ stallguard()

bool TMC2240Stepper::stallguard ( )

Definition at line 64 of file DRV_STATUS.cpp.

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◆ stealth()

bool TMC2240Stepper::stealth ( )

Definition at line 61 of file DRV_STATUS.cpp.

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◆ step()

bool TMC2240Stepper::step ( )

Definition at line 93 of file IOIN.cpp.

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◆ stop_enable() [1/2]

bool TMC2240Stepper::stop_enable ( )

Definition at line 153 of file GCONF.cpp.

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◆ stop_enable() [2/2]

void TMC2240Stepper::stop_enable ( bool B )

Definition at line 137 of file GCONF.cpp.

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◆ stst()

bool TMC2240Stepper::stst ( )

Definition at line 72 of file DRV_STATUS.cpp.

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◆ switchCSpin()

void TMC2240Stepper::switchCSpin ( bool state )

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◆ TBL() [1/2]

uint8_t TMC2240Stepper::TBL ( )

Definition at line 129 of file CHOPCONF.cpp.

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◆ TBL() [2/2]

void TMC2240Stepper::TBL ( uint8_t B )

Definition at line 113 of file CHOPCONF.cpp.

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◆ TCOOLTHRS() [1/2]

uint32_t TMC2240Stepper::TCOOLTHRS ( )

Definition at line 395 of file TMC2240Stepper.cpp.

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◆ TCOOLTHRS() [2/2]

void TMC2240Stepper::TCOOLTHRS ( uint32_t input )

Definition at line 396 of file TMC2240Stepper.cpp.

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◆ test_connection()

uint8_t TMC2240Stepper::test_connection ( )

Definition at line 363 of file TMC2240Stepper.cpp.

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◆ THIGH() [1/2]

uint32_t TMC2240Stepper::THIGH ( )

Definition at line 402 of file TMC2240Stepper.cpp.

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◆ THIGH() [2/2]

void TMC2240Stepper::THIGH ( uint32_t input )

Definition at line 403 of file TMC2240Stepper.cpp.

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◆ toff() [1/2]

uint8_t TMC2240Stepper::toff ( )

Definition at line 123 of file CHOPCONF.cpp.

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◆ toff() [2/2]

void TMC2240Stepper::toff ( uint8_t B )

Definition at line 107 of file CHOPCONF.cpp.

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◆ tpfd() [1/2]

uint8_t TMC2240Stepper::tpfd ( )

Definition at line 132 of file CHOPCONF.cpp.

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◆ tpfd() [2/2]

void TMC2240Stepper::tpfd ( uint8_t B )

Definition at line 116 of file CHOPCONF.cpp.

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◆ TPOWERDOWN() [1/2]

uint8_t TMC2240Stepper::TPOWERDOWN ( )

Definition at line 373 of file TMC2240Stepper.cpp.

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◆ TPOWERDOWN() [2/2]

void TMC2240Stepper::TPOWERDOWN ( uint8_t input )

Definition at line 374 of file TMC2240Stepper.cpp.

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◆ TPWMTHRS() [1/2]

uint32_t TMC2240Stepper::TPWMTHRS ( )

Definition at line 380 of file TMC2240Stepper.cpp.

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◆ TPWMTHRS() [2/2]

void TMC2240Stepper::TPWMTHRS ( uint32_t input )

Definition at line 381 of file TMC2240Stepper.cpp.

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◆ transfer()

uint8_t TMC2240Stepper::transfer ( const uint8_t data )

protected

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◆ transferEmptyBytes()

void TMC2240Stepper::transferEmptyBytes ( const uint8_t n )

protected

Definition at line 104 of file TMC2240Stepper.cpp.

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◆ TSTEP()

uint32_t TMC2240Stepper::TSTEP ( )

Definition at line 386 of file TMC2240Stepper.cpp.

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◆ uart_en()

bool TMC2240Stepper::uart_en ( )

Definition at line 99 of file IOIN.cpp.

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◆ uv_cp()

bool TMC2240Stepper::uv_cp ( )

Definition at line 359 of file TMC2240Stepper.cpp.

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◆ version()

uint8_t TMC2240Stepper::version ( )

Definition at line 109 of file IOIN.cpp.

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◆ vhighchm() [1/2]

bool TMC2240Stepper::vhighchm ( )

Definition at line 131 of file CHOPCONF.cpp.

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◆ vhighchm() [2/2]

void TMC2240Stepper::vhighchm ( bool B )

Definition at line 115 of file CHOPCONF.cpp.

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◆ vhighfs() [1/2]

bool TMC2240Stepper::vhighfs ( )

Definition at line 130 of file CHOPCONF.cpp.

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◆ vhighfs() [2/2]

void TMC2240Stepper::vhighfs ( bool B )

Definition at line 114 of file CHOPCONF.cpp.

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◆ vm_uvlo()

bool TMC2240Stepper::vm_uvlo ( )

Definition at line 361 of file TMC2240Stepper.cpp.

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◆ write()

void TMC2240Stepper::write	(	uint8_t	addressByte,
		uint32_t	config )

protected

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Member Data Documentation

◆ _pinCS

const uint16_t TMC2240Stepper::_pinCS

protected

Definition at line 412 of file TMC2240Stepper.h.

◆ abort_window

uint8_t TMC2240Stepper::abort_window = 5

staticconstexprprotected

Definition at line 405 of file TMC2240Stepper.h.

◆ bytesWritten

uint16_t TMC2240Stepper::bytesWritten = 0

Definition at line 270 of file TMC2240Stepper.h.

◆ chain_length

int8_t TMC2240Stepper::chain_length = 0

staticprotected

TMCStepper library by @teemuatlut TMC2240Stepper.cpp

Definition at line 417 of file TMC2240Stepper.h.

◆ CRCerror

bool TMC2240Stepper::CRCerror = false

Definition at line 271 of file TMC2240Stepper.h.

◆ default_RS

float TMC2240Stepper::default_RS = 0.11

staticconstexprprotected

Definition at line 414 of file TMC2240Stepper.h.

◆ holdMultiplier

float TMC2240Stepper::holdMultiplier = 0.5

protected

Definition at line 409 of file TMC2240Stepper.h.

◆ link_index

int8_t TMC2240Stepper::link_index

protected

Definition at line 416 of file TMC2240Stepper.h.

◆ max_retries

uint8_t TMC2240Stepper::max_retries = 2

staticconstexprprotected

Definition at line 406 of file TMC2240Stepper.h.

◆ replyDelay

uint8_t TMC2240Stepper::replyDelay = 2

staticconstexprprotected

Definition at line 404 of file TMC2240Stepper.h.

◆ Rref

uint32_t TMC2240Stepper::Rref = 12000

('rref', 12000, minval=12000, maxval=60000)

Definition at line 44 of file TMC2240Stepper.h.

◆ spi_speed

uint32_t TMC2240Stepper::spi_speed = 16000000/8

staticprotected

Definition at line 411 of file TMC2240Stepper.h.

◆ sswitch

SSwitch* TMC2240Stepper::sswitch = nullptr

protected

Definition at line 401 of file TMC2240Stepper.h.

◆ status_response

uint8_t TMC2240Stepper::status_response

Definition at line 353 of file TMC2240Stepper.h.

◆ TMC2240_SYNC

uint8_t TMC2240Stepper::TMC2240_SYNC = 0x05

staticconstexprprotected

Definition at line 403 of file TMC2240Stepper.h.

◆ TMC_READ

uint8_t TMC2240Stepper::TMC_READ = 0x00

staticconstexprprotected

Definition at line 399 of file TMC2240Stepper.h.

◆ TMC_SW_SPI

SW_SPIClass* TMC2240Stepper::TMC_SW_SPI = nullptr

protected

Definition at line 413 of file TMC2240Stepper.h.

◆ TMC_WRITE

uint8_t TMC2240Stepper::TMC_WRITE = 0x80

staticprotected

Definition at line 399 of file TMC2240Stepper.h.

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

src/source/TMC2240Stepper.h
src/source/CHOPCONF.cpp
src/source/COOLCONF.cpp
src/source/DRV_CONF.cpp
src/source/DRV_STATUS.cpp
src/source/GCONF.cpp
src/source/GLOBAL_SCALER.cpp
src/source/IHOLD_IRUN.cpp
src/source/IOIN.cpp
src/source/PWMCONF.cpp
src/source/SLAVECONF.cpp
src/source/TMC2240Stepper.cpp

Classes

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Static Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ TMC2240Stepper() [1/2]

◆ TMC2240Stepper() [2/2]

Member Function Documentation

◆ _sendDatagram()

◆ adc_err()

◆ ADC_TEMP()

◆ ADC_VSUPPLY_AIN()

◆ begin()

◆ beginTransaction()

◆ calc_IFS_current_RMS()

◆ chm() [1/2]

◆ chm() [2/2]

◆ CHOPCONF() [1/2]

◆ CHOPCONF() [2/2]

◆ comp_a()

◆ comp_a1_a2()

◆ comp_b()

◆ comp_b1_b2()

◆ COOLCONF() [1/2]

◆ COOLCONF() [2/2]

◆ cs2rms()

◆ CS_ACTUAL()

◆ cur_a()

◆ cur_b()

◆ current_range() [1/2]

◆ current_range() [2/2]

◆ dedge() [1/2]

◆ dedge() [2/2]

◆ defaults()

◆ diag0_error() [1/2]

◆ diag0_error() [2/2]

◆ diag0_otpw() [1/2]

◆ diag0_otpw() [2/2]

◆ diag0_pushpull() [1/2]

◆ diag0_pushpull() [2/2]

◆ diag0_stall() [1/2]

◆ diag0_stall() [2/2]

◆ diag1_index() [1/2]

◆ diag1_index() [2/2]

◆ diag1_onstate() [1/2]

◆ diag1_onstate() [2/2]

◆ diag1_pushpull() [1/2]

◆ diag1_pushpull() [2/2]

◆ diag1_stall() [1/2]

◆ diag1_stall() [2/2]

◆ dir()

◆ direct_mode() [1/2]

◆ direct_mode() [2/2]

◆ disfdcc() [1/2]

◆ disfdcc() [2/2]

◆ diss2g() [1/2]

◆ diss2g() [2/2]

◆ diss2vs() [1/2]

◆ diss2vs() [2/2]

◆ DRV_CONF() [1/2]

◆ DRV_CONF() [2/2]

◆ drv_enn()

◆ drv_err()

◆ DRV_STATUS()

◆ en_pwm_mode() [1/2]

◆ en_pwm_mode() [2/2]

◆ enca()

◆ encb()

◆ encn()

◆ endTransaction()

◆ ext_clk()

◆ ext_res_det()

◆ fast_standstill() [1/2]

◆ fast_standstill() [2/2]

◆ fd3() [1/2]

◆ fd3() [2/2]

◆ freewheel() [1/2]