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TMC262.h File Reference

TMC262 library. More...

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Macros

#define TMC262_RB_MSTEP   0
 
#define TMC262_RB_STALL_GUARD   1
 
#define TMC262_RB_SMART_ENERGY   2
 
#define TMC262_RB_ENCODER   3
 
#define TMC262_FLAG_STST   0x80
 
#define TMC262_FLAG_OLB   0x40
 
#define TMC262_FLAG_OLA   0x20
 
#define TMC262_FLAG_S2GB   0x10
 
#define TMC262_FLAG_S2GA   0x08
 
#define TMC262_FLAG_OTPW   0x04
 
#define TMC262_FLAG_OT   0x02
 
#define TMC262_FLAG_SG   0x01
 

Functions

void InitMotorDrivers (void)
 Initialise all motor drivers. More...
 
void Set262StepDirMStepRes (UCHAR Which262, UCHAR MicrostepResolution)
 Set the microstep resolution. More...
 
void Set262StepDirInterpolation (UCHAR Which262, UCHAR Interpolation)
 Turn interpolation mode on or off. More...
 
void Set262StepDirDoubleEdge (UCHAR Which262, UCHAR DoubleEdge)
 Set double step mode. More...
 
UCHAR Get262StepDirMStepRes (UCHAR Which262)
 Get microstep resolution. More...
 
UCHAR Get262StepDirInterpolation (UCHAR Which262)
 Get interpolation mode. More...
 
UCHAR Get262StepDirDoubleEdge (UCHAR Which262)
 Get microstep resolution. More...
 
void Set262ChopperBlankTime (UCHAR Which262, UCHAR BlankTime)
 Set chopper blank time. More...
 
void Set262ChopperMode (UCHAR Which262, UCHAR Mode)
 Set chopper mode. More...
 
void Set262ChopperRandomTOff (UCHAR Which262, UCHAR RandomTOff)
 Set random TOff mode. More...
 
void Set262ChopperHysteresisDecay (UCHAR Which262, UCHAR HysteresisDecay)
 Set chopper hysteresis decay parameter (HDEC) More...
 
void Set262ChopperHysteresisEnd (UCHAR Which262, UCHAR HysteresisEnd)
 Set chopper hysteresis end parameter (HEND) More...
 
void Set262ChopperHysteresisStart (UCHAR Which262, UCHAR HysteresisStart)
 Set chopper hysteresis start parameter (HSTART) More...
 
void Set262ChopperTOff (UCHAR Which262, UCHAR TOff)
 Set chopper off time (TOff) More...
 
UCHAR Get262ChopperBlankTime (UCHAR Which262)
 Get chopper blank time. More...
 
UCHAR Get262ChopperMode (UCHAR Which262)
 Get chopper mode. More...
 
UCHAR Get262ChopperRandomTOff (UCHAR Which262)
 Get random TOff mode. More...
 
UCHAR Get262ChopperHysteresisDecay (UCHAR Which262)
 Get chopper hysteresis decay (HDEC) More...
 
UCHAR Get262ChopperHysteresisEnd (UCHAR Which262)
 Get chopper hysteresis end (HEND) More...
 
UCHAR Get262ChopperHysteresisStart (UCHAR Which262)
 Get chopper hysteresis start (HSTART) More...
 
UCHAR Get262ChopperTOff (UCHAR Which262)
 Get chopper off time value. More...
 
void Set262SmartEnergyIMin (UCHAR Which262, UCHAR SmartIMin)
 Set smart energy minimum current. More...
 
void Set262SmartEnergyDownStep (UCHAR Which262, UCHAR SmartDownStep)
 Set smart energy down step. More...
 
void Set262SmartEnergyStallLevelMax (UCHAR Which262, UCHAR StallLevelMax)
 Set smart enery hysteresis width. More...
 
void Set262SmartEnergyUpStep (UCHAR Which262, UCHAR SmartUpStep)
 Set smart energy up step. More...
 
void Set262SmartEnergyStallLevelMin (UCHAR Which262, UCHAR StallLevelMin)
 Set smart energy hysteresis start. More...
 
UCHAR Get262SmartEnergyIMin (UCHAR Which262)
 Get minimum current. More...
 
UCHAR Get262SmartEnergyDownStep (UCHAR Which262)
 Get current down step speed. More...
 
UCHAR Get262SmartEnergyStallLevelMax (UCHAR Which262)
 Get hystersis width. More...
 
UCHAR Get262SmartEnergyUpStep (UCHAR Which262)
 Get current up step width. More...
 
UCHAR Get262SmartEnergyStallLevelMin (UCHAR Which262)
 Get hysteresis start. More...
 
void Set262StallGuardFilter (UCHAR Which262, UCHAR Enable)
 Set stallGuard filter. More...
 
void Set262StallGuardThreshold (UCHAR Which262, signed char Threshold)
 Set stallGuard threshold value. More...
 
void Set262StallGuardCurrentScale (UCHAR Which262, UCHAR CurrentScale)
 Set current scale value. More...
 
UCHAR Get262StallGuardFilter (UCHAR Which262)
 Get stallGuard filter. More...
 
signed char Get262StallGuardThreshold (UCHAR Which262)
 Get stallGuard threshold setting. More...
 
UCHAR Get262StallGuardCurrentScale (UCHAR Which262)
 Get motor current setting. More...
 
void Set262DriverSlopeHighSide (UCHAR Which262, UCHAR SlopeHighSide)
 Set slope high side value (SLPH) More...
 
void Set262DriverSlopeLowSide (UCHAR Which262, UCHAR SlopeLowSide)
 Set slope low side value (SLPL) More...
 
void Set262DriverDisableProtection (UCHAR Which262, UCHAR DisableProtection)
 Disable short to GND protection. More...
 
void Set262DriverProtectionTimer (UCHAR Which262, UCHAR ProtectionTimer)
 Set protection timer value. More...
 
void Set262DriverStepDirectionOff (UCHAR Which262, UCHAR SDOff)
 Disable/enable step direction input. More...
 
void Set262DriverVSenseScale (UCHAR Which262, UCHAR Scale)
 Sets the sense voltage. More...
 
void Set262DriverReadSelect (UCHAR Which262, UCHAR ReadSelect)
 Selects the values to be read. More...
 
UCHAR Get262DriverSlopeHighSide (UCHAR Which262)
 Get slope high side value (SLPH) More...
 
UCHAR Get262DriverSlopeLowSide (UCHAR Which262)
 Get slope high side value (SLPL) More...
 
UCHAR Get262DriverDisableProtection (UCHAR Which262)
 Get driver protection disable setting. More...
 
UCHAR Get262DriverProtectionTimer (UCHAR Which262)
 Get protection timer setting. More...
 
UCHAR Get262DriverStepDirectionOff (UCHAR Which262)
 Get step direction input enable setting. More...
 
UCHAR Get262DriverVSenseScale (UCHAR Which262)
 Get VSense scale setting. More...
 
UCHAR Get262DriverReadSelect (UCHAR Which262)
 Get selected read back mode. More...
 
void Disable262 (UCHAR Which262)
 Disable a motor driver. More...
 
void Enable262 (UCHAR Which262)
 Enable a motor driver. More...
 
void Read262State (UCHAR Which262, UCHAR *Phases, UCHAR *MStep, UINT *StallGuard, UCHAR *SmartEnergy, UCHAR *Flags)
 Read the status register of a TMC26x. More...
 

Detailed Description

TMC262 library.

Author
Trinamic Motion Control GmbH & Co KG
Version
2.20

This file contains all macro and function definitions of the TMC26x library.

Function Documentation

void Disable262 ( UCHAR  Which262)

Disable a motor driver.

Parameters
Which262Axis number (always 0 on stepRocker)

Completely switch off a motor driver (by setting its TOff value to zero).

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void Enable262 ( UCHAR  Which262)

Enable a motor driver.

Parameters
Which262Axis number (always 0 on stepRocker)

Re-enable a motor driver (by setting its TOff value back to the original value).

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UCHAR Get262ChopperBlankTime ( UCHAR  Which262)

Get chopper blank time.

Parameters
Which262Axis number (with stepRocker always 0)
Returns
chopper blank time

This function reads back the chopper blank time from the software copy of the TMC26x registers.

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UCHAR Get262ChopperHysteresisDecay ( UCHAR  Which262)

Get chopper hysteresis decay (HDEC)

Parameters
Which262Axis number (with stepRocker always 0)
Returns
HDEC value

This function reads back the chopper hysteresis decay value from the software copy of the TMC26x registers.

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UCHAR Get262ChopperHysteresisEnd ( UCHAR  Which262)

Get chopper hysteresis end (HEND)

Parameters
Which262Axis number (with stepRocker always 0)
Returns
HEND value

This function reads back the chopper hysteresis end value from the software copy of the TMC26x registers.

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UCHAR Get262ChopperHysteresisStart ( UCHAR  Which262)

Get chopper hysteresis start (HSTART)

Parameters
Which262Axis number (with stepRocker always 0)
Returns
HSTART value

This function reads back the chopper hysteresis start value from the software copy of the TMC26x registers.

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UCHAR Get262ChopperMode ( UCHAR  Which262)

Get chopper mode.

Parameters
Which262Axis number (with stepRocker always 0)
Returns
Chopper mode

This function reads back the chopper mode from the software copy of the TMC26x registers.

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UCHAR Get262ChopperRandomTOff ( UCHAR  Which262)

Get random TOff mode.

Parameters
Which262Axis number (with stepRocker always 0)
Returns
Random TOff mode

This function reads back the random TOff mode from the software copy of the TMC26x registers.

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UCHAR Get262ChopperTOff ( UCHAR  Which262)

Get chopper off time value.

Parameters
Which262Axis number (with stepRocker always 0)
Returns
TOff value

This function reads back the TOff value from the software copy of the TMC26x registers.

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UCHAR Get262DriverDisableProtection ( UCHAR  Which262)

Get driver protection disable setting.

Parameters
Which262Axis number (with stepRocker always 0)
Returns
0=protection enabled, 1=protection disables

This function reads back the protection disable setting value from the software copy of the TMC26x registers.

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UCHAR Get262DriverProtectionTimer ( UCHAR  Which262)

Get protection timer setting.

Parameters
Which262Axis number (with stepRocker always 0)
Returns
Protetion timer setting

This function reads back the protection timer setting from the software copy of the TMC26x registers.

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UCHAR Get262DriverReadSelect ( UCHAR  Which262)

Get selected read back mode.

Parameters
Which262Axis number (with stepRocker always 0)
Returns
Read back mode

This function reads back the read back mode setting from the software copy of the TMC26x registers.

UCHAR Get262DriverSlopeHighSide ( UCHAR  Which262)

Get slope high side value (SLPH)

Parameters
Which262Axis number (with stepRocker always 0)
Returns
SLPH value

This function reads back the SLPH value from the software copy of the TMC26x registers.

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UCHAR Get262DriverSlopeLowSide ( UCHAR  Which262)

Get slope high side value (SLPL)

Parameters
Which262Axis number (with stepRocker always 0)
Returns
SLPL value

This function reads back the SLPL value from the software copy of the TMC26x registers.

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UCHAR Get262DriverStepDirectionOff ( UCHAR  Which262)

Get step direction input enable setting.

Parameters
Which262Axis number (with stepRocker always 0)
Returns
0=enabled, 1=disabled

This function reads back the step direction input setting from the software copy of the TMC26x registers.

UCHAR Get262DriverVSenseScale ( UCHAR  Which262)

Get VSense scale setting.

Parameters
Which262Axis number (with stepRocker always 0)
Returns
VSense scale setting (0 or 1)

This function reads back the VSense scale setting from the software copy of the TMC26x registers.

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UCHAR Get262SmartEnergyDownStep ( UCHAR  Which262)

Get current down step speed.

Parameters
Which262Axis number (with stepRocker always 0)
Returns
Current down step speed

This function reads back the smart energy current down step speed setting from the software copy of the TMC26x registers.

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UCHAR Get262SmartEnergyIMin ( UCHAR  Which262)

Get minimum current.

Parameters
Which262Axis number (with stepRocker always 0)
Returns
Minimum currrent

This function reads back the smart energy minimum current setting from the software copy of the TMC26x registers.

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UCHAR Get262SmartEnergyStallLevelMax ( UCHAR  Which262)

Get hystersis width.

Parameters
Which262Axis number (with stepRocker always 0)
Returns
SEMAX value

This function reads back the stall level maximum value (which is the coolStep hysteresis width9 from the software copy of the TMC26x registers.

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UCHAR Get262SmartEnergyStallLevelMin ( UCHAR  Which262)

Get hysteresis start.

Parameters
Which262Axis number (with stepRocker always 0)
Returns
hysteresis start

This function reads back the smart energy minimum stall level (which is the start of the coolStep hystetesis) from the software copy of the TMC26x registers.

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UCHAR Get262SmartEnergyUpStep ( UCHAR  Which262)

Get current up step width.

Parameters
Which262Axis number (with stepRocker always 0)
Returns
SEUP value

This function reads back the current up step setting from the software copy of the TMC26x registers.

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UCHAR Get262StallGuardCurrentScale ( UCHAR  Which262)

Get motor current setting.

Parameters
Which262Axis number (with stepRocker always 0)
Returns
Motor current setting

This function reads back the motor current setting from the software copy of the TMC26x registers.

UCHAR Get262StallGuardFilter ( UCHAR  Which262)

Get stallGuard filter.

Parameters
Which262Axis number (with stepRocker always 0)
Returns
stallGuard filter (0=off, 1=on)

This function reads back the stallGuard filter settings from the software copy of the TMC26x registers.

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signed char Get262StallGuardThreshold ( UCHAR  Which262)

Get stallGuard threshold setting.

Parameters
Which262Axis number (with stepRocker always 0)
Returns
stallGuard threshold value

This function reads back the stallGuard thresholg value from the software copy of the TMC26x registers.

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UCHAR Get262StepDirDoubleEdge ( UCHAR  Which262)

Get microstep resolution.

Parameters
Which262Axis number (with stepRocker always 0)
Returns
Double step mode

This function reads back the double step mode from the software copy of the TMC26x registers.

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UCHAR Get262StepDirInterpolation ( UCHAR  Which262)

Get interpolation mode.

Parameters
Which262Axis number (with stepRocker always 0)
Returns
Interpolation mode

This function reads back the microstep interpolation mode from the software copy of the TMC26x registers.

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UCHAR Get262StepDirMStepRes ( UCHAR  Which262)

Get microstep resolution.

Parameters
Which262Axis number (with stepRocker always 0)
Returns
Microstep resolution

This function reads back the microstep resolution value from the software copy of the TMC26x registers.

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void InitMotorDrivers ( void  )

Initialise all motor drivers.

This function initalizes the software copies of all TMC26x registers and sends this basic initialization data to all TMC26x ICs.

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void Read262State ( UCHAR  Which262,
UCHAR Phases,
UCHAR MStep,
UINT StallGuard,
UCHAR SmartEnergy,
UCHAR Flags 
)

Read the status register of a TMC26x.

Parameters
Which262axis number (always 0 on stepRocker)
Phasespointer at variable for phase bits
MSteppointer at variable for microstep position
StallGuardpointer at variable for stallGuard load value
SmartEnergypointer at variable for smartEnergy actual current
Flagspointer at variable for driver error flags

This function reads out the actual status information of a TMC26x. The data will be decoded according to the read back mode that has been set using Set262DriverReadSelect(). For values that are not needed NULL pointers can be specified.

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void Set262ChopperBlankTime ( UCHAR  Which262,
UCHAR  BlankTime 
)

Set chopper blank time.

Parameters
Which262Axis number (with stepRocker always 0)
BlankTimechopper blank time

This function sets the chopper blank time.

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void Set262ChopperHysteresisDecay ( UCHAR  Which262,
UCHAR  HysteresisDecay 
)

Set chopper hysteresis decay parameter (HDEC)

Parameters
Which262Axis number (with stepRocker always 0)
HysteresisDecayHDEC parameter

This function sets the chopper hysteresis decrement parameter (HDEC).

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void Set262ChopperHysteresisEnd ( UCHAR  Which262,
UCHAR  HysteresisEnd 
)

Set chopper hysteresis end parameter (HEND)

Parameters
Which262Axis number (with stepRocker always 0)
HysteresisEndHEND parameter

This function sets the chopper hysteresis end parameter (HEND).

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void Set262ChopperHysteresisStart ( UCHAR  Which262,
UCHAR  HysteresisStart 
)

Set chopper hysteresis start parameter (HSTART)

Parameters
Which262Axis number (with stepRocker always 0)
HysteresisStartHSTART parameter

This function sets the chopper hysteresis start parameter (HSTART).

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void Set262ChopperMode ( UCHAR  Which262,
UCHAR  Mode 
)

Set chopper mode.

Parameters
Which262Axis number (with stepRocker always 0)
Modechopper mode (0=spread cycle mode, 1=classic mode)

This function sets the chopper mode.

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void Set262ChopperRandomTOff ( UCHAR  Which262,
UCHAR  RandomTOff 
)

Set random TOff mode.

Parameters
Which262Axis number (with stepRocker always 0)
RandomTOffRandom TOff mode (0=off, 1=on)

This function turns random TOff mode on or off.

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void Set262ChopperTOff ( UCHAR  Which262,
UCHAR  TOff 
)

Set chopper off time (TOff)

Parameters
Which262Axis number (with stepRocker always 0)
TOffTOff parameter

This function sets the chopper off time parameter (TOff).

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void Set262DriverDisableProtection ( UCHAR  Which262,
UCHAR  DisableProtection 
)

Disable short to GND protection.

Parameters
Which262Axis number (with stepRocker always 0)
DisableProtection0=protection enabled
1=protection disabled

This function disables or enables the short to ground protection.

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void Set262DriverProtectionTimer ( UCHAR  Which262,
UCHAR  ProtectionTimer 
)

Set protection timer value.

Parameters
Which262Axis number (with stepRocker always 0)
ProtectionTimerProtection time (0..3)

This function sets the short to ground protection timer value.

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void Set262DriverReadSelect ( UCHAR  Which262,
UCHAR  ReadSelect 
)

Selects the values to be read.

Parameters
Which262Axis number (with stepRocker always 0)
ReadSelectreadback mode (TMC262_RB_MSTEP, TMC262_RB_STALL_GUARD, TMC262_RB_SMART_ENERGY)

This selects which values are to be read back from the TMC26x with every SPI datagram (important for the Read262State() function).

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void Set262DriverSlopeHighSide ( UCHAR  Which262,
UCHAR  SlopeHighSide 
)

Set slope high side value (SLPH)

Parameters
Which262Axis number (with stepRocker always 0)
SlopeHighSideSlope high side value

This function sets the slope control high side value (SLPH).

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void Set262DriverSlopeLowSide ( UCHAR  Which262,
UCHAR  SlopeLowSide 
)

Set slope low side value (SLPL)

Parameters
Which262Axis number (with stepRocker always 0)
SlopeLowSideSlope low side value

This function sets the slope control low side value (SLPL).

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void Set262DriverStepDirectionOff ( UCHAR  Which262,
UCHAR  SDOff 
)

Disable/enable step direction input.

Parameters
Which262Axis number (with stepRocker always 0)
SDOff0=step direction input enable
1=step direction input disable

This function turns the step direction input on or off.

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void Set262DriverVSenseScale ( UCHAR  Which262,
UCHAR  Scale 
)

Sets the sense voltage.

Parameters
Which262Axis number (with stepRocker always 0)
Scale0=300mV
1=160mV

This function sets the sense voltage.

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void Set262SmartEnergyDownStep ( UCHAR  Which262,
UCHAR  SmartDownStep 
)

Set smart energy down step.

Parameters
Which262Axis number (with stepRocker always 0)
SmartDownStepdown step speed (0..3)

This function sets the current down step speed used with coolStep, where 0 ist the highest and 3 is the lowest speed.

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void Set262SmartEnergyIMin ( UCHAR  Which262,
UCHAR  SmartIMin 
)

Set smart energy minimum current.

Parameters
Which262Axis number (with stepRocker always 0)
SmartIMinMinimum current (0=1/2, 1=1/4 of current setting)

This function sets the minimum current used with coolStep, which can be either 1/2 or 1/4 of the normal current setting.

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void Set262SmartEnergyStallLevelMax ( UCHAR  Which262,
UCHAR  StallLevelMax 
)

Set smart enery hysteresis width.

Parameters
Which262Axis number (with stepRocker always 0)
StallLevelMaxhysteresis width (0..15)

This function sets the SEMAX parameter which defines the width of the smart energy stall level hysteresis.

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void Set262SmartEnergyStallLevelMin ( UCHAR  Which262,
UCHAR  StallLevelMin 
)

Set smart energy hysteresis start.

Parameters
Which262Axis number (with stepRocker always 0)
StallLevelMinminimum stall level (0..15)

This function sets the start point of the hysteresis used for coolStep. A value of 0 completely turns off coolStep.

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void Set262SmartEnergyUpStep ( UCHAR  Which262,
UCHAR  SmartUpStep 
)

Set smart energy up step.

Parameters
Which262Axis number (with stepRocker always 0)
SmartUpStepup step width (0..3)

This function sets the current up step width used with coolStep, where 0 ist the lowest and 3 is the highest up step width.

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void Set262StallGuardCurrentScale ( UCHAR  Which262,
UCHAR  CurrentScale 
)

Set current scale value.

Parameters
Which262Axis number (with stepRocker always 0)
CurrentScaleCurrent scale value (0..31)

This function sets the maximum motor current.

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void Set262StallGuardFilter ( UCHAR  Which262,
UCHAR  Enable 
)

Set stallGuard filter.

Parameters
Which262Axis number (with stepRocker always 0)
EnablestallGuard filter (0=off, 1=on)

This function turns the stallGuard filter on or off.

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void Set262StallGuardThreshold ( UCHAR  Which262,
signed char  Threshold 
)

Set stallGuard threshold value.

Parameters
Which262Axis number (with stepRocker always 0)
ThresholdstallGuard threshold (-63..+63)

This function sets the stallGuard threshold value.

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void Set262StepDirDoubleEdge ( UCHAR  Which262,
UCHAR  DoubleEdge 
)

Set double step mode.

Parameters
Which262Axis number (with stepRocker always 0)
DoubleEdge0=double step off, 1=double step on

This function sets the double step mode, so that with every step pulse two microsteps will be executed (one with the rising edge end one with the falling edge of every pulse).

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void Set262StepDirInterpolation ( UCHAR  Which262,
UCHAR  Interpolation 
)

Turn interpolation mode on or off.

Parameters
Which262Axis number (with stepRocker always 0)
InterpolationInterpolation mode (0=off, 1=on)

This function turns interpolation mode on or off. Interpolation mode only works with microstep resolution set to 16 microsteps.

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void Set262StepDirMStepRes ( UCHAR  Which262,
UCHAR  MicrostepResolution 
)

Set the microstep resolution.

Parameters
Which262Axis number (with stepRocker always 0)
MicrostepResolutionmicrstep resolution (0..8)

This function sets the microstep resolution, where 0 selects the highest resolution (256 microsteps) and 8 the lowest (full step).

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