adi,tmc5041 (on spi bus)

Vendor: Analog Devices, Inc.

Note

An implementation of a driver matching this compatible is available in drivers/stepper/adi_tmc/adi_tmc5041_stepper_controller.c.

Description

Analog Devices TMC5041 Stepper Motor Controller

Example:

  #include <zephyr/dt-bindings/stepper/adi/tmc5041_reg.h>

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

      /* Dual controller/driver for up to two 2-phase bipolar stepper motors */
      tmc5041: tmc5041@0 {
          compatible = "adi,tmc5041";
          reg = <0>;
          spi-max-frequency = <DT_FREQ_M(24)>; /* Maximum SPI bus frequency */

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

          poscmp_enable; test_mode; lock_gconf; /* ADI TMC Global configuration flags */
          clock-frequency = <DT_FREQ_M(16)>; /* Internal/External Clock frequency */

          motor: motor@0 {
              status = "okay";
              reg = <0>;

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

              /* ADI TMC stallguard settings specific to TMC5041 */
              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>;
              vhigh = <90>;
              vcoolthrs = <100>;
              ihold = <1>;
              irun = <2>;
              iholddelay = <3>;
          };
      };
  };

Properties

Top level properties

These property descriptions apply to “adi,tmc5041” nodes themselves. This page also describes child node properties in the following sections.

Properties not inherited from the base binding file.

Name

Type

Details

clock-frequency

int

 
The frequency of the clock signal provided to the TMC5041.
This is used for real world conversion.

Hint: µstep velocity v[Hz] µsteps / s v[Hz] = v[5041] * ( fCLK[Hz]/2 / 2^23 )
      where v[5041] is the value written to the TMC5041.

This property is required.

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.

poscmp_enable

boolean

 
Enable position compare feature
0: Outputs INT and PP are tristated.
1: Position compare pulse (PP) and interrupt output (INT) are available

Attention – do not leave the outputs floating in tristate condition, provide an external
pull-up or set poscmp_enable=1

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!

lock_gconf

boolean

 
1: GCONF is locked against further write access.

Child node properties

Name

Type

Details

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.

reg

array

 
register space

See Important properties for more information.

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

vcoolthrs

int

 
This is the lower threshold velocity for switching on smart energy CoolStep and StallGuard
feature. Further it is the upper operation velocity for StealthChop. (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)
becomes enabled when exceeding this velocity. It becomes disabled again once the velocity
falls below this threshold. This allows for homing procedures with StallGuard by blanking out
the StallGuard signal at low velocities (will not work in combination with StealthChop).
VHIGH ≥ |VACT| ≥ VCOOLTHRS:
  - CoolStep and stop on stall are enabled, if configured
  - Voltage PWM mode StealthChop is switched off, if configured

vhigh

int

 
This velocity setting allows velocity dependent switching into a different chopper mode and
fullstepping to maximize torque.(unsigned)
|VACT| ≥ VHIGH:
  - CoolStep is disabled (motor runs with normal current scale)
  - 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.
  - Voltage PWM mode StealthChop is switched off, if configured

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