Prototype of class for the TMC5130 Driver. More...

#include <uStepperDriver.h>

Collaboration diagram for uStepperDriver:

Public Member Functions
	uStepperDriver (void)
	Constructor. More...

void	init (uStepperS *_pointer)
	Initiation of the motor driver. More...

void	setPosition (int32_t position)
	Set the motor position. More...

void	setVelocity (uint32_t velocity)
	Set motor velocity. More...

void	setAcceleration (uint32_t acceleration)
	Set motor acceleration. More...

void	setDeceleration (uint32_t deceleration)
	Set motor deceleration. More...

void	setCurrent (uint8_t current)
	Set motor driver current. More...

void	setHoldCurrent (uint8_t current)
	Set motor driver hold current. More...

void	setShaftDirection (bool direction)
	Set motor driver direction. More...

void	stop (void)
	Stops any ongoing movement with deceleration. More...

int32_t	getVelocity (void)
	Returns the current speed of the motor driver. More...

int32_t	getPosition (void)
	Returns the current position of the motor driver. More...

void	setHome (int32_t initialSteps=0)
	Resets the internal position counter of the motor driver. More...

int32_t	writeRegister (uint8_t address, uint32_t datagram)
	Write a register of the motor driver. More...

int32_t	readRegister (uint8_t address)
	Reads a register from the motor driver. More...

uint16_t	getStallValue (void)
	Returns the load measurement used for Stall detection. More...

Public Attributes
volatile int32_t	xTarget = 0

volatile int32_t	xActual = 0

Protected Member Functions
void	chipSelect (bool state)

void	updateCurrent (void)
	Writes the current setting registers of the motor driver More...

void	setRampMode (uint8_t mode)
	Set motor driver to position mode or velocity mode. More...

void	setDirection (bool direction)

void	reset (void)

void	enableStealth (void)

void	enableStallguard (int8_t threshold, bool stopOnStall)

void	disableStallguard (void)

void	clearStall (void)

void	readMotorStatus (void)

Protected Attributes
uint8_t	status

uint8_t	mode = DRIVER_STOP

uStepperS *	pointer

uint8_t	current = 16

uint8_t	holdCurrent = 0

uint8_t	holdDelay = 0

uint32_t	VSTART = 0

uint32_t	V1 = 0

uint32_t	VMAX = 200000

uint32_t	VSTOP = 10

uint16_t	A1 = 600

uint16_t	AMAX = 100

uint16_t	DMAX = 600

uint16_t	D1 = 600

Friends
class	uStepperS

Detailed Description

Prototype of class for the TMC5130 Driver.

        This class enables the user of the library to access the TMC5130
        Driver on the uStepper S board.

Definition at line 149 of file uStepperDriver.h.

Constructor & Destructor Documentation

◆ uStepperDriver()

uStepperDriver::uStepperDriver ( void )

Constructor.

        This is the constructor of the uStepperDriver class.

Definition at line 35 of file uStepperDriver.cpp.

Member Function Documentation

◆ chipSelect()

void uStepperDriver::chipSelect ( bool state )

protected

Definition at line 344 of file uStepperDriver.cpp.

Here is the caller graph for this function:

◆ clearStall()

void uStepperDriver::clearStall ( void )

protected

Definition at line 393 of file uStepperDriver.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

◆ disableStallguard()

void uStepperDriver::disableStallguard ( void )

protected

Definition at line 381 of file uStepperDriver.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

◆ enableStallguard()

void uStepperDriver::enableStallguard	(	int8_t	threshold,
		bool	stopOnStall
	)

protected

Definition at line 352 of file uStepperDriver.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

◆ enableStealth()

void uStepperDriver::enableStealth ( void )

protected

Definition at line 220 of file uStepperDriver.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

◆ getPosition()

int32_t uStepperDriver::getPosition ( void )

Returns the current position of the motor driver.

        This function returns the position of the motor
        drivers internal position counter.
        unit is in microsteps (default 1/256th).

Returns: microsteps (default 1/256th).

Definition at line 237 of file uStepperDriver.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

◆ getStallValue()

uint16_t uStepperDriver::getStallValue ( void )

Returns the load measurement used for Stall detection.

Definition at line 399 of file uStepperDriver.cpp.

Here is the call graph for this function:

◆ getVelocity()

int32_t uStepperDriver::getVelocity ( void )

Returns the current speed of the motor driver.

        This function returns the current speed of the 
        internal ramp generator of the motor driver.
        unit is in ((microsteps/s)/8MHz)/2^23. 
        See page 74 of datasheet for more information

Returns: see description for unit

Definition at line 232 of file uStepperDriver.cpp.

Here is the call graph for this function:

◆ init()

void uStepperDriver::init ( uStepperS * _pointer )

Initiation of the motor driver.

        This function initiates all the registers of the motor driver.

Parameters

[in] _pointer - reference to the uStepper S object

Definition at line 68 of file uStepperDriver.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

◆ readMotorStatus()

void uStepperDriver::readMotorStatus ( void )

protected

Definition at line 99 of file uStepperDriver.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

◆ readRegister()

int32_t uStepperDriver::readRegister ( uint8_t address )

Reads a register from the motor driver.

        This function is used to read the content of
        a register in the TMC5130 motor driver. Please
        refer to datasheet for details.

Returns: Return data of the read register

Parameters

[in] address - Register to read

Definition at line 306 of file uStepperDriver.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

◆ reset()

void uStepperDriver::reset ( void )

protected

Definition at line 39 of file uStepperDriver.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

◆ setAcceleration()

void uStepperDriver::setAcceleration ( uint32_t acceleration )

Set motor acceleration.

        This function tells the motor driver to use a specific acceleration while ramping up the velocity.
        input unit is in (microsteps/s^2)/116.42. See page 74 of datasheet for more information

Parameters

[in] acceleration - see description for unit

Definition at line 117 of file uStepperDriver.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

◆ setCurrent()

void uStepperDriver::setCurrent ( uint8_t current )

Set motor driver current.

Parameters

[in] current - sets the current to use during movements in percent (0-100)

Definition at line 141 of file uStepperDriver.cpp.

Here is the call graph for this function:

◆ setDeceleration()

void uStepperDriver::setDeceleration ( uint32_t deceleration )

Set motor deceleration.

        This function tells the motor driver to use a specific deceleration while ramping down the velocity.
        input unit is in (microsteps/s^2)/116.42. See page 74 of datasheet for more information

Parameters

[in] deceleration - see description for unit

Definition at line 129 of file uStepperDriver.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

◆ setDirection()

void uStepperDriver::setDirection ( bool direction )

protected

Definition at line 179 of file uStepperDriver.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

◆ setHoldCurrent()

void uStepperDriver::setHoldCurrent ( uint8_t current )

Set motor driver hold current.

Parameters

[in] current - sets the current to use during standstill in percent (0-100)

Definition at line 147 of file uStepperDriver.cpp.

Here is the call graph for this function:

◆ setHome()

void uStepperDriver::setHome ( int32_t initialSteps = 0 )

Resets the internal position counter of the motor driver.

Parameters

[in] initialSteps - Home step offset from zero

Definition at line 248 of file uStepperDriver.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

◆ setPosition()

void uStepperDriver::setPosition ( int32_t position )

Set the motor position.

        This function tells the motor to go to an absolute position.

Parameters

[in] position - position the motor should move to, in micro steps (1/256th default)

Definition at line 158 of file uStepperDriver.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

◆ setRampMode()

void uStepperDriver::setRampMode ( uint8_t mode )

protected

Set motor driver to position mode or velocity mode.

Parameters

[in] mode - can be either POSITIONING_MODE or VELOCITY_MODE_POS

Definition at line 189 of file uStepperDriver.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

◆ setShaftDirection()

void uStepperDriver::setShaftDirection ( bool direction )

Set motor driver direction.

        This function is used to set the direction of the motor driver
        to either normal or inverted. In normal mode, a positiv target
        position corresponds to a CW movement, while a negative target
        position corresponds to a CCW movement.

Parameters

[in] direction - 0 = normal direction, 1 = inverted direction

Definition at line 166 of file uStepperDriver.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

◆ setVelocity()

void uStepperDriver::setVelocity ( uint32_t velocity )

Set motor velocity.

        This function tells the motor driver to make the motor spin at a specific velocity.
        input unit is in ((microsteps/s)/8MHz)/2^23. See page 74 of datasheet for more information

Parameters

[in] velocity - see description for unit

Definition at line 105 of file uStepperDriver.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

◆ stop()

void uStepperDriver::stop ( void )

Stops any ongoing movement with deceleration.

Definition at line 242 of file uStepperDriver.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

◆ updateCurrent()

void uStepperDriver::updateCurrent ( void )

protected

Writes the current setting registers of the motor driver

Definition at line 153 of file uStepperDriver.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

◆ writeRegister()

int32_t uStepperDriver::writeRegister	(	uint8_t	address,
		uint32_t	datagram
	)

Write a register of the motor driver.

        This function is used to write a value into
        a register in the TMC5130 motor driver. Please
        refer to datasheet for details.

        When using this function you are on your own and expect you know what you are doing !

Returns: Return data associated with last SPI command

Parameters

[in]	address	- Register to write
[in]	datagram	- data to write into the register

Definition at line 274 of file uStepperDriver.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

Friends And Related Function Documentation

◆ uStepperS

friend class uStepperS

friend

Definition at line 151 of file uStepperDriver.h.

Member Data Documentation

◆ A1

uint16_t uStepperDriver::A1 = 600

protected

Definition at line 327 of file uStepperDriver.h.

◆ AMAX

uint16_t uStepperDriver::AMAX = 100

protected

Definition at line 328 of file uStepperDriver.h.

◆ current

uint8_t uStepperDriver::current = 16

protected

Definition at line 318 of file uStepperDriver.h.

◆ D1

uint16_t uStepperDriver::D1 = 600

protected

Definition at line 330 of file uStepperDriver.h.

◆ DMAX

uint16_t uStepperDriver::DMAX = 600

protected

Definition at line 329 of file uStepperDriver.h.

◆ holdCurrent

uint8_t uStepperDriver::holdCurrent = 0

protected

Definition at line 319 of file uStepperDriver.h.

◆ holdDelay

uint8_t uStepperDriver::holdDelay = 0

protected

Definition at line 320 of file uStepperDriver.h.

◆ mode

uint8_t uStepperDriver::mode = DRIVER_STOP

protected

STOP, VELOCITY, POSITION

Definition at line 314 of file uStepperDriver.h.

◆ pointer

uStepperS* uStepperDriver::pointer

protected

Definition at line 316 of file uStepperDriver.h.

◆ status

uint8_t uStepperDriver::status

protected

Status bits from the driver

Definition at line 311 of file uStepperDriver.h.

◆ V1

uint32_t uStepperDriver::V1 = 0

protected

Definition at line 324 of file uStepperDriver.h.

◆ VMAX

uint32_t uStepperDriver::VMAX = 200000

protected

Definition at line 325 of file uStepperDriver.h.

◆ VSTART

uint32_t uStepperDriver::VSTART = 0

protected

Default acceleration profile for positioning mode

Definition at line 323 of file uStepperDriver.h.

◆ VSTOP

uint32_t uStepperDriver::VSTOP = 10

protected

Definition at line 326 of file uStepperDriver.h.

◆ xActual

volatile int32_t uStepperDriver::xActual = 0

current position in microsteps

Definition at line 306 of file uStepperDriver.h.

◆ xTarget

volatile int32_t uStepperDriver::xTarget = 0

target position in microsteps

Definition at line 303 of file uStepperDriver.h.

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

/home/thomas/Arduino/libraries/uStepperS/src/uStepperDriver.h
/home/thomas/Arduino/libraries/uStepperS/src/uStepperDriver.cpp

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

◆ uStepperDriver()

Member Function Documentation

◆ chipSelect()

◆ clearStall()

◆ disableStallguard()

◆ enableStallguard()

◆ enableStealth()

◆ getPosition()

◆ getStallValue()

◆ getVelocity()

◆ init()

◆ readMotorStatus()

◆ readRegister()

◆ reset()

◆ setAcceleration()

◆ setCurrent()

◆ setDeceleration()

◆ setDirection()

◆ setHoldCurrent()

◆ setHome()

◆ setPosition()

◆ setRampMode()

◆ setShaftDirection()

◆ setVelocity()

◆ stop()

◆ updateCurrent()

◆ writeRegister()

Friends And Related Function Documentation

◆ uStepperS

Member Data Documentation

◆ A1

◆ AMAX

◆ current

◆ D1

◆ DMAX

◆ holdCurrent

◆ holdDelay

◆ mode

◆ pointer

◆ status

◆ V1

◆ VMAX

◆ VSTART

◆ VSTOP

◆ xActual

◆ xTarget