TMC5161Stepper Class Reference

#include <TMC5161Stepper.h>

Inheritance diagram for TMC5161Stepper:

Collaboration diagram for TMC5161Stepper:

Public Member Functions
	TMC5161Stepper (uint16_t pinCS, float RS=default_RS, int8_t link_index=-1)
	TMC5161Stepper (uint16_t pinCS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link_index=-1)
	TMC5161Stepper (uint16_t pinCS, float RS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link_index=-1)
Public Member Functions inherited from TMC5160Stepper
	TMC5160Stepper (uint16_t pinCS, float RS=default_RS, int8_t link_index=-1)
	TMC5160Stepper (uint16_t pinCS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link_index=-1)
	TMC5160Stepper (uint16_t pinCS, float RS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link_index=-1)
void	rms_current (uint16_t mA)
void	rms_current (uint16_t mA, float mult)
uint16_t	rms_current ()
void	defaults ()
void	push ()
void	recalibrate (bool)
void	faststandstill (bool)
void	multistep_filt (bool)
bool	recalibrate ()
bool	faststandstill ()
bool	multistep_filt ()
bool	drv_enn ()
bool	enc_n_dco_cfg6 ()
void	ENC_STATUS (uint8_t)
uint8_t	ENC_STATUS ()
void	ENC_DEVIATION (uint32_t)
uint32_t	ENC_DEVIATION ()
uint32_t	PWM_AUTO ()
uint8_t	pwm_ofs_auto ()
uint8_t	pwm_grad_auto ()
void	diss2vs (bool)
void	tpfd (uint8_t)
bool	diss2vs ()
uint8_t	tpfd ()
void	SHORT_CONF (uint32_t)
uint32_t	SHORT_CONF ()
void	s2vs_level (uint8_t)
uint8_t	s2vs_level ()
void	s2g_level (uint8_t)
uint8_t	s2g_level ()
void	shortfilter (uint8_t)
uint8_t	shortfilter ()
void	shortdelay (bool)
bool	shortdelay ()
void	DRV_CONF (uint32_t)
uint32_t	DRV_CONF ()
void	bbmtime (uint8_t)
uint8_t	bbmtime ()
void	bbmclks (uint8_t)
uint8_t	bbmclks ()
void	otselect (uint8_t)
uint8_t	otselect ()
void	drvstrength (uint8_t)
uint8_t	drvstrength ()
void	filt_isense (uint8_t)
uint8_t	filt_isense ()
void	GLOBAL_SCALER (uint8_t)
uint8_t	GLOBAL_SCALER ()
uint16_t	OFFSET_READ ()
void	PWMCONF (uint32_t input)
uint32_t	PWMCONF ()
void	pwm_ofs (uint8_t B)
uint8_t	pwm_ofs ()
void	pwm_grad (uint8_t B)
uint8_t	pwm_grad ()
void	pwm_freq (uint8_t B)
uint8_t	pwm_freq ()
void	pwm_autoscale (bool B)
bool	pwm_autoscale ()
void	pwm_autograd (bool B)
bool	pwm_autograd ()
void	freewheel (uint8_t B)
uint8_t	freewheel ()
void	pwm_reg (uint8_t B)
uint8_t	pwm_reg ()
void	pwm_lim (uint8_t B)
uint8_t	pwm_lim ()
uint32_t	PWM_SCALE ()
uint8_t	pwm_scale_sum ()
uint16_t	pwm_scale_auto ()
Public Member Functions inherited from TMC5130Stepper
	TMC5130Stepper (uint16_t pinCS, float RS=default_RS, int8_t link_index=-1)
	TMC5130Stepper (uint16_t pinCS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link_index=-1)
	TMC5130Stepper (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 ()
void	rms_current (uint16_t mA)
void	rms_current (uint16_t mA, float mult)
uint16_t	rms_current ()
uint8_t	IFCNT ()
uint16_t	SLAVECONF ()
void	SLAVECONF (uint16_t input)
uint32_t	IOIN ()
bool	refl_step ()
bool	refr_dir ()
bool	encb_dcen_cfg4 ()
bool	enca_dcin_cfg5 ()
bool	drv_enn_cfg6 ()
bool	enc_n_dco ()
bool	sd_mode ()
bool	swcomp_in ()
uint8_t	version ()
void	diag1_poscomp_pushpull (bool B)
bool	diag1_poscomp_pushpull ()
uint32_t	SW_MODE ()
void	SW_MODE (uint32_t input)
void	stop_l_enable (bool B)
void	stop_r_enable (bool B)
void	pol_stop_l (bool B)
void	pol_stop_r (bool B)
void	swap_lr (bool B)
void	latch_l_active (bool B)
void	latch_l_inactive (bool B)
void	latch_r_active (bool B)
void	latch_r_inactive (bool B)
void	en_latch_encoder (bool B)
void	sg_stop (bool B)
void	en_softstop (bool B)
bool	stop_r_enable ()
bool	pol_stop_l ()
bool	pol_stop_r ()
bool	swap_lr ()
bool	latch_l_active ()
bool	latch_l_inactive ()
bool	latch_r_active ()
bool	latch_r_inactive ()
bool	en_latch_encoder ()
bool	sg_stop ()
bool	en_softstop ()
uint32_t	RAMP_STAT ()
bool	status_stop_l ()
bool	status_stop_r ()
bool	status_latch_l ()
bool	status_latch_r ()
bool	event_stop_l ()
bool	event_stop_r ()
bool	event_stop_sg ()
bool	event_pos_reached ()
bool	velocity_reached ()
bool	position_reached ()
bool	vzero ()
bool	t_zerowait_active ()
bool	second_move ()
bool	status_sg ()
uint32_t	ENCMODE ()
void	ENCMODE (uint32_t input)
void	pol_a (bool B)
void	pol_b (bool B)
void	pol_n (bool B)
void	ignore_ab (bool B)
void	clr_cont (bool B)
void	clr_once (bool B)
void	pos_edge (bool B)
void	neg_edge (bool B)
void	clr_enc_x (bool B)
void	latch_x_act (bool B)
void	enc_sel_decimal (bool B)
bool	pol_a ()
bool	pol_b ()
bool	pol_n ()
bool	ignore_ab ()
bool	clr_cont ()
bool	clr_once ()
bool	pos_edge ()
bool	neg_edge ()
bool	clr_enc_x ()
bool	latch_x_act ()
bool	enc_sel_decimal ()
bool	TMC_OUTPUT ()
void	TMC_OUTPUT (bool input)
uint32_t	X_COMPARE ()
void	X_COMPARE (uint32_t input)
uint8_t	RAMPMODE ()
void	RAMPMODE (uint8_t input)
int32_t	XACTUAL ()
void	XACTUAL (int32_t input)
int32_t	VACTUAL ()
uint32_t	VSTART ()
void	VSTART (uint32_t input)
uint16_t	a1 ()
void	a1 (uint16_t input)
uint32_t	v1 ()
void	v1 (uint32_t input)
uint16_t	AMAX ()
void	AMAX (uint16_t input)
uint32_t	VMAX ()
void	VMAX (uint32_t input)
uint16_t	DMAX ()
void	DMAX (uint16_t input)
uint16_t	d1 ()
void	d1 (uint16_t input)
uint32_t	VSTOP ()
void	VSTOP (uint32_t input)
uint16_t	TZEROWAIT ()
void	TZEROWAIT (uint16_t input)
int32_t	XTARGET ()
void	XTARGET (int32_t input)
uint32_t	XLATCH ()
int32_t	X_ENC ()
void	X_ENC (int32_t input)
uint32_t	ENC_CONST ()
void	ENC_CONST (uint32_t input)
bool	ENC_STATUS ()
uint32_t	ENC_LATCH ()
uint8_t	ENCM_CTRL ()
void	ENCM_CTRL (uint8_t input)
void	PWMCONF (uint32_t value)
uint32_t	PWMCONF ()
void	pwm_ampl (uint8_t B)
uint8_t	pwm_ampl ()
void	pwm_grad (uint8_t B)
uint8_t	pwm_grad ()
void	pwm_freq (uint8_t B)
uint8_t	pwm_freq ()
void	pwm_autoscale (bool B)
bool	pwm_autoscale ()
void	pwm_symmetric (bool B)
bool	pwm_symmetric ()
void	freewheel (uint8_t B)
uint8_t	freewheel ()
uint8_t	PWM_SCALE ()
Public Member Functions inherited from TMC2160Stepper
	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 ()

Additional Inherited Members
Public Attributes inherited from TMC2130Stepper
uint8_t	status_response
Protected Member Functions inherited from TMC5160Stepper
	INIT_REGISTER (ENC_DEVIATION)
bool	drv_enn_cfg6 ()
bool	enc_n_dco ()
uint8_t	ENCM_CTRL ()
void	ENCM_CTRL (uint8_t input)
Protected Member Functions inherited from TMC5130Stepper
	INIT_REGISTER (SLAVECONF)
	INIT_REGISTER (OUTPUT)
	INIT_REGISTER (X_COMPARE)
	INIT_REGISTER (RAMPMODE)
	INIT_REGISTER (XACTUAL)
	INIT_REGISTER (VSTART)
	INIT_REGISTER (A1)
	INIT_REGISTER (V1)
	INIT_REGISTER (AMAX)
	INIT_REGISTER (VMAX)
	INIT_REGISTER (DMAX)
	INIT_REGISTER (D1)
	INIT_REGISTER (VSTOP)
	INIT_REGISTER (TZEROWAIT)
	INIT_REGISTER (SW_MODE)
	INIT_REGISTER (ENCMODE)
	INIT_REGISTER (ENC_CONST)
void	SHORT_CONF (uint32_t)
uint32_t	SHORT_CONF ()
void	s2vs_level (uint8_t)
uint8_t	s2vs_level ()
void	s2g_level (uint8_t)
uint8_t	s2g_level ()
void	shortfilter (uint8_t)
uint8_t	shortfilter ()
void	shortdelay (bool)
bool	shortdelay ()
void	DRV_CONF (uint32_t)
uint32_t	DRV_CONF ()
void	bbmtime (uint8_t)
uint8_t	bbmtime ()
void	bbmclks (uint8_t)
uint8_t	bbmclks ()
void	otselect (uint8_t)
uint8_t	otselect ()
void	drvstrength (uint8_t)
uint8_t	drvstrength ()
void	filt_isense (uint8_t)
uint8_t	filt_isense ()
void	GLOBAL_SCALER (uint8_t)
uint8_t	GLOBAL_SCALER ()
uint16_t	OFFSET_READ ()
void	pwm_ofs (uint8_t B)
uint8_t	pwm_ofs ()
void	pwm_autograd (bool B)
bool	pwm_autograd ()
void	pwm_reg (uint8_t B)
uint8_t	pwm_reg ()
void	pwm_lim (uint8_t B)
uint8_t	pwm_lim ()
uint8_t	pwm_scale_sum ()
uint16_t	pwm_scale_auto ()
Protected Member Functions inherited from TMC2160Stepper
	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)
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
Static Protected Attributes inherited from TMC5160Stepper
static constexpr float	default_RS = 0.075
Static Protected Attributes inherited from TMC5130Stepper
static constexpr float	default_RS = 0.15
Static Protected Attributes inherited from TMC2160Stepper
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

Detailed Description

TMCStepper library by @teemuatlut

TMC5161Stepper.h Individual header for class TMC5161Stepper

Definition at line 9 of file TMC5161Stepper.h.

Constructor & Destructor Documentation

TMC5161Stepper() [1/3]

TMC5161Stepper::TMC5161Stepper ( uint16_t pinCS, float RS = default_RS, int8_t link_index = -1 )

inline

Definition at line 11 of file TMC5161Stepper.h.

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TMC5161Stepper() [2/3]

TMC5161Stepper::TMC5161Stepper ( uint16_t pinCS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link_index = -1 )

inline

Definition at line 12 of file TMC5161Stepper.h.

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TMC5161Stepper() [3/3]

TMC5161Stepper::TMC5161Stepper ( uint16_t pinCS, float RS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link_index = -1 )

inline

Definition at line 14 of file TMC5161Stepper.h.

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

• src/source/TMC5161Stepper.h