Trinamic Stepper Controller

Trinamic Stepper Controller . More...

Data Structures
struct	tmc_stallguard_settings
	Trinamic Stepper StallGuard Settings. More...
struct	tmc_ramp_generator_data
	Trinamic Stepper Ramp Generator data. More...

Macros
#define	TMC_RAMP_VACTUAL_SHIFT   22
#define	TMC_RAMP_XACTUAL_SHIFT   31
#define	TMC_RAMP_DT_SPEC_GET_COMMON(node)
	Get Trinamic Stepper Ramp Generator data from DT.
#define	TMC_RAMP_DT_SPEC_GET_TMC50XX(node)
#define	TMC_RAMP_DT_SPEC_GET_TMC51XX(node)

Functions
int	tmc50xx_stepper_ctrl_set_ramp (const struct device *dev, const struct tmc_ramp_generator_data *ramp_data)
	Configure Trinamic Stepper Ramp Generator.
int	tmc50xx_stepper_ctrl_set_max_velocity (const struct device *dev, uint32_t velocity)
	Set the maximum velocity of the stepper motor.
void	tmc50xx_stepper_ctrl_configure_stallguard (const struct device *dev, const struct tmc_stallguard_settings *sg_settings)
	Configure TMC50XX Stepper StallGuard settings.
void	tmc51xx_stepper_ctrl_configure_stallguard (const struct device *dev, const struct tmc_stallguard_settings *sg_settings)
	Configure TMC51XX Stepper StallGuard settings.
int	tmc51xx_stepper_ctrl_set_max_velocity (const struct device *dev, uint32_t velocity)
	Set the maximum velocity of the stepper motor.

Detailed Description

Trinamic Stepper Controller .

Since

4.0

Version

0.9.0

Macro Definition Documentation

TMC_RAMP_DT_SPEC_GET_COMMON

#define TMC_RAMP_DT_SPEC_GET_COMMON

(

node

)

#include <zephyr/drivers/stepper/stepper_trinamic.h>

Value:

                .vstart = DT_PROP(node, vstart),                                \
                .v1 = DT_PROP(node, v1),                                        \
                .vmax = DT_PROP(node, vmax),                                    \
                .a1 = DT_PROP(node, a1),                                        \
                .amax = DT_PROP(node, amax),                                    \
                .d1 = DT_PROP(node, d1),                                        \
                .dmax = DT_PROP(node, dmax),                                    \
                .vstop = DT_PROP(node, vstop),                                  \
                .tzerowait = DT_PROP(node, tzerowait),                          \
                .iholdrun = (TMC5XXX_IRUN(DT_PROP(node, irun)) |                \
                             TMC5XXX_IHOLD(DT_PROP(node, ihold)) |              \
                             TMC5XXX_IHOLDDELAY(DT_PROP(node, iholddelay))),

Get Trinamic Stepper Ramp Generator data from DT.

Parameters

node	DT node identifier

Returns

struct tmc_ramp_generator_data

TMC_RAMP_DT_SPEC_GET_TMC50XX

#define TMC_RAMP_DT_SPEC_GET_TMC50XX

(

node

)

#include <zephyr/drivers/stepper/stepper_trinamic.h>

Value:

        {                                                                       \
                TMC_RAMP_DT_SPEC_GET_COMMON(node)                               \
                .vhigh = DT_PROP(node, vhigh),                                  \
                .vcoolthrs = DT_PROP(node, vcoolthrs),                          \
        }

TMC_RAMP_DT_SPEC_GET_TMC51XX

#define TMC_RAMP_DT_SPEC_GET_TMC51XX

(

node

)

#include <zephyr/drivers/stepper/stepper_trinamic.h>

Value:

        {                                                                       \
                TMC_RAMP_DT_SPEC_GET_COMMON(DT_DRV_INST(node))                  \
                .tpowerdown = DT_INST_PROP(node, tpowerdown),                   \
                .tpwmthrs = DT_INST_PROP(node, tpwmthrs),                       \
                .tcoolthrs = DT_INST_PROP(node, tcoolthrs),                     \
                .thigh = DT_INST_PROP(node, thigh),                             \
        }

TMC_RAMP_VACTUAL_SHIFT

#define TMC_RAMP_VACTUAL_SHIFT   22

#include <zephyr/drivers/stepper/stepper_trinamic.h>

TMC_RAMP_XACTUAL_SHIFT

#define TMC_RAMP_XACTUAL_SHIFT   31

#include <zephyr/drivers/stepper/stepper_trinamic.h>

Function Documentation

tmc50xx_stepper_ctrl_configure_stallguard()

void tmc50xx_stepper_ctrl_configure_stallguard	(	const struct device *	dev,
		const struct tmc_stallguard_settings *	sg_settings )

#include <zephyr/drivers/stepper/stepper_trinamic.h>

Configure TMC50XX Stepper StallGuard settings.

Parameters

dev	Pointer to the stepper motor controller instance
sg_settings	Pointer to a struct containing the required StallGuard parameters

tmc50xx_stepper_ctrl_set_max_velocity()

int tmc50xx_stepper_ctrl_set_max_velocity	(	const struct device *	dev,
		uint32_t	velocity )

#include <zephyr/drivers/stepper/stepper_trinamic.h>

Set the maximum velocity of the stepper motor.

Parameters

dev	Pointer to the stepper driver instance
velocity	Maximum velocity in microsteps per second.

Return values

-EIO	General input / output error
0	Success

tmc50xx_stepper_ctrl_set_ramp()

int tmc50xx_stepper_ctrl_set_ramp	(	const struct device *	dev,
		const struct tmc_ramp_generator_data *	ramp_data )

#include <zephyr/drivers/stepper/stepper_trinamic.h>

Configure Trinamic Stepper Ramp Generator.

Parameters

dev	Pointer to the stepper motor controller instance
ramp_data	Pointer to a struct containing the required ramp parameters

Return values

-EIO	General input / output error
-ENOSYS	If not implemented by device driver
0	Success

tmc51xx_stepper_ctrl_configure_stallguard()

void tmc51xx_stepper_ctrl_configure_stallguard	(	const struct device *	dev,
		const struct tmc_stallguard_settings *	sg_settings )

#include <zephyr/drivers/stepper/stepper_trinamic.h>

Configure TMC51XX Stepper StallGuard settings.

Parameters

dev	Pointer to the stepper motor controller instance
sg_settings	Pointer to a struct containing the required StallGuard parameters

tmc51xx_stepper_ctrl_set_max_velocity()

int tmc51xx_stepper_ctrl_set_max_velocity	(	const struct device *	dev,
		uint32_t	velocity )

#include <zephyr/drivers/stepper/stepper_trinamic.h>

Set the maximum velocity of the stepper motor.

Parameters

dev	Pointer to the stepper driver instance
velocity	Maximum velocity in microsteps per second.

Return values

-EIO	General input / output error
0	Success