adi,tmc51xx (on spi bus)

Vendor: Analog Devices, Inc.

Note

An implementation of a driver matching this compatible is available in drivers/stepper/adi_tmc/tmc51xx.c.

Description

Analog Devices TMC51XX Stepper Motor Controller

Example:

  &spi0 {
      /* SPI bus options here, not shown */

      /* Controller/driver for one 2-phase bipolar stepper motor */
      tmc51xx: tmc51xx@0 {
          compatible = "adi,tmc51xx";
          reg = <0>;
          spi-max-frequency = <DT_FREQ_M(8)>; /* Maximum SPI bus frequency */
          diag0-gpios = <&gpio0 0 (GPIO_ACTIVE_HIGH | GPIO_PULL_UP)>; /* Diag0 pin */

          #address-cells = <1>;
          #size-cells = <0>;

          en-pwm-mode; test-mode; /* ADI TMC Global configuration flags */
          clock-frequency = <DT_FREQ_M(16)>; /* Internal/External Clock frequency */

          /* common stepper controller settings */
          invert-direction;
          micro-step-res = <256>;

          /* ADI TMC stallguard settings specific to TMC51XX */
          activate-stallguard2;
          stallguard-velocity-check-interval-ms=<100>;
          stallguard2-threshold=<9>;
          stallguard-threshold-velocity=<500000>;

          /* ADI TMC ramp generator as well as current settings */
          vstart = <10>;
          a1 = <20>;
          v1 = <30>;
          d1 = <40>;
          vmax = <50>;
          amax = <60>;
          dmax = <70>;
          tzerowait = <80>;
          thigh = <90>;
          tcoolthrs = <100>;
          tpwmthrs = <110>;
          tpowerdown = <120>;
          ihold = <1>;
          irun = <2>;
          iholddelay = <3>;
      };
  };

Properties

Node specific propertiesDeprecated node specific propertiesBase properties

Properties not inherited from the base binding file.

Name	Type	Details
clock-frequency	int	The frequency of the clock signal provided to the TMC51XX. This is used for real world conversion. Hint: µstep velocity v[Hz] µsteps / s v[Hz] = v[51xx] * ( fCLK[Hz]/2 / 2^23 ) where v[51xx] is the value written to the TMC51XX. This property is required.
diag0-gpios	phandle-array	Diagnostics output DIAG0 pin. This pin enables interrupt-based rampstat handling, allowing the driver to respond to motor events like position reached or stall detection without polling. Should be configured as push-pull output (active high).
spi-max-frequency	int	Maximum clock frequency of device's SPI interface in Hz This property is required.
duplex	int	Duplex mode, full or half. By default it's always full duplex thus 0 as this is, by far, the most common mode. Use the macros not the actual enum value, here is the concordance list (see dt-bindings/spi/spi.h) 0 SPI_FULL_DUPLEX 2048 SPI_HALF_DUPLEX Legal values: 0, 2048
frame-format	int	Motorola or TI frame format. By default it's always Motorola's, thus 0 as this is, by far, the most common format. Use the macros not the actual enum value, here is the concordance list (see dt-bindings/spi/spi.h) 0 SPI_FRAME_FORMAT_MOTOROLA 32768 SPI_FRAME_FORMAT_TI Legal values: 0, 32768
spi-cpol	boolean	SPI clock polarity which indicates the clock idle state. If it is used, the clock idle state is logic high; otherwise, low.
spi-cpha	boolean	SPI clock phase that indicates on which edge data is sampled. If it is used, data is sampled on the second edge; otherwise, on the first edge.
spi-hold-cs	boolean	In some cases, it is necessary for the master to manage SPI chip select under software control, so that multiple spi transactions can be performed without releasing it. A typical use case is variable length SPI packets where the first spi transaction reads the length and the second spi transaction reads length bytes.
supply-gpios	phandle-array	GPIO specifier that controls power to the device. This property should be provided when the device has a dedicated switch that controls power to the device. The supply state is entirely the responsibility of the device driver. Contrast with vin-supply.
vin-supply	phandle	Reference to the regulator that controls power to the device. The referenced devicetree node must have a regulator compatible. This property should be provided when device power is supplied by a shared regulator. The supply state is dependent on the request status of all devices fed by the regulator. Contrast with supply-gpios. If both properties are provided then the regulator must be requested before the supply GPIOS is set to an active state, and the supply GPIOS must be set to an inactive state before releasing the regulator.
test-mode	boolean	Enable test mode 0: Normal operation 1: Enable analog test output on pin REFR2 TEST_SEL selects the function of REFR2: 0…4: T120, DAC1, VDDH1, DAC2, VDDH2 Attention: Not for user, set to 0 for normal operation!
en-pwm-mode	boolean	1: StealthChop voltage PWM mode enabled (depending on velocity thresholds). Switch from off to on state while in stand-still and at IHOLD= nominal IRUN current, only.
invert-direction	boolean	Invert motor direction.
micro-step-res	int	micro-step resolution to be set while initializing the device driver. Default value: 1 Legal values: 1, 2, 4, 8, 16, 32, 64, 128, 256
en-gpios	phandle-array	GPIO pins used to control the enable signal of the motor driver.
step-gpios	phandle-array	The GPIO pins used to send step signals to the stepper motor.
dir-gpios	phandle-array	The GPIO pins used to send direction signals to the stepper motor. Pin will be driven high for forward direction and low for reverse direction.
counter	phandle	Counter used for generating step-accurate pulse signals.
vstart	int	Motor start velocity in [µsteps/t](unsigned) Normally, set VSTOP ≥ VSTART! VSTART may be set to a higher value, when motion distance is sufficient to allow deceleration to VSTOP. Default value: 1
a1	int	First acceleration between VSTART and V1 in [µsteps/ta²](unsigned)
v1	int	First acceleration / deceleration phase threshold velocity in [µsteps/t] (unsigned) 0: Disables A1 and D1 phase, use AMAX, DMAX only
amax	int	Second acceleration between V1 and VMAX in [µsteps/ta²](unsigned) This is the acceleration and deceleration value for velocity mode.
vmax	int	Motion ramp target velocity in [µsteps/t] (for positioning ensure VMAX ≥ VSTART) (unsigned) This is the target velocity in velocity mode. It can be changed any time during a motion.
dmax	int	Deceleration between VMAX and V1 in [µsteps/ta²](unsigned)
d1	int	Deceleration between V1 and VSTOP in [µsteps/ta²](unsigned) Attention: Do not set 0 in positioning mode, even if V1=0! Default value: 1
vstop	int	Motor stop velocity in [µsteps/t] (unsigned) Attention: Set VSTOP ≥ VSTART! Attention: Do not set 0 in positioning mode, minimum 10 recommended! Default value: 10
tzerowait	int	Waiting time after ramping down to zero velocity before next movement or direction inversion can start and before motor power down starts. Time range is about 0 to 2 seconds. This setting avoids excess acceleration e.g. from VSTOP to -VSTART.
ihold	int	Hold current in % of run current (0-100) Standstill current (0=1/32…31=32/32) In combination with StealthChop mode, setting IHOLD=0 allows to choose freewheeling or coil short circuit for motor stand still
irun	int	Motor run current (0=1/32…31=32/32) Hint: Choose sense resistors in a way, that normal IRUN is 16 to 31 for best microstep performance.
iholddelay	int	Controls the number of clock cycles for motor power down after a motion as soon as TZEROWAIT has expired. The smooth transition avoids a motor jerk upon power down. 0: instant power down 1..15: Delay per current reduction step in multiple of 2^18 clocks
tcoolthrs	int	This is the lower threshold velocity for switching on smart energy CoolStep and StallGuard feature. (unsigned) Set this parameter to disable CoolStep at low speeds, where it cannot work reliably. The stop on stall function (enable with sg_stop when using internal motion controller) and the stall output signal become enabled when exceeding this velocity. In non-DcStep mode, it becomes disabled again once the velocity falls below this threshold. TCOOLTHRS ≥ TSTEP ≥ THIGH: - CoolStep is enabled, if configured - StealthChop voltage PWM mode is disabled TCOOLTHRS ≥ TSTEP - Stop on stall is enabled, if configured - Stall output signal (DIAG0/1) is enabled, if configured
thigh	int	This velocity setting allows velocity dependent switching into a different chopper mode and fullstepping to maximize torque. (unsigned) The stall detection feature becomes switched off for 2-3 electrical periods whenever passing THIGH threshold to compensate for the effect of switching modes. TSTEP ≤ THIGH: - CoolStep is disabled (motor runs with normal current scale) - StealthChop voltage PWM mode is disabled - If vhighchm is set, the chopper switches to chm=1 with TFD=0 (constant off time with slow decay, only). - If vhighfs is set, the motor operates in fullstep mode, and the stall detection becomes switched over to DcStep stall detection.
tpwmthrs	int	This is the upper velocity for StealthChop voltage PWM mode. TSTEP ≥ TPWMTHRS - StealthChop PWM mode is enabled, if configured - DcStep is disabled
tpowerdown	int	TPOWERDOWN sets the delay time after stand still (stst) of the motor to motor current power down. Time range is about 0 to 4 seconds. Attention: A minimum setting of 2 is required to allow automatic tuning of StealthChop PWM_OFS_AUTO. Reset Default = 10 0…((2^8)-1) * 2^18 tCLK Default value: 10
activate-stallguard2	boolean	Enable StallGuard2 feature, if the driver supports it.
stallguard2-threshold	int	This signed value controls StallGuard2 level for stall output and sets the optimum measurement range for readout. A lower value gives a higher sensitivity. Zero is the starting value working with most motors. -64 to +63: A higher value makes StallGuard2 less sensitive and requires more torque to indicate a stall.
stallguard-threshold-velocity	int	Threshold velocity for StallGuard2 to detect a stall event. This value should be greater than zero. Default value: 1
stallguard-velocity-check-interval-ms	int	Stallguard should not be enabled during motor spin-up. This delay is used to check if the actual stepper velocity is greater than stallguard-threshold-velocity before enabling stallguard. Default value: 100