Trinamic Stepper Ramp Generator data. More...

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

Data Fields
uint32_t	vstart
	Motor start velocity.
uint32_t	v1
	First acceleration/deceleration phase threshold velocity.
uint32_t	vmax
	Motion ramp target velocity.
uint16_t	a1
	First acceleration between VSTART and V1.
uint16_t	amax
	Second acceleration between V1 and VMAX.
uint16_t	d1
	Deceleration between V1 and VSTOP.
uint16_t	dmax
	Deceleration between VMAX and V1.
uint32_t	vstop
	Motor stop velocity.
uint16_t	tzerowait
	Waiting time after ramping down to zero velocity before next movement.
uint32_t	iholdrun
	Hold and run current settings (combined IHOLD_IRUN register value).
union {
struct {
uint32_t vcoolthrs
	Lower threshold velocity for switching on CoolStep and StallGuard. More...
uint32_t vhigh
	Velocity threshold for switching to a different chopper mode. More...
}
	TMC50XX specific ramp parameters.
struct {
uint32_t tpowerdown
	Delay time from stand still to motor current power down. More...
uint32_t tpwmthrs
	Upper velocity threshold for StealthChop voltage PWM mode. More...
uint32_t tcoolthrs
	Lower threshold velocity for switching on CoolStep and StallGuard. More...
uint32_t thigh
	Velocity threshold for switching to a different chopper mode. More...
}
	TMC51XX specific ramp parameters.
};
	Controller family specific ramp parameters.

Detailed Description

Trinamic Stepper Ramp Generator data.

Field Documentation

◆ [union]

union { ... } tmc_ramp_generator_data

Controller family specific ramp parameters.

◆ a1

uint16_t tmc_ramp_generator_data::a1

First acceleration between VSTART and V1.

◆ amax

uint16_t tmc_ramp_generator_data::amax

Second acceleration between V1 and VMAX.

◆ d1

uint16_t tmc_ramp_generator_data::d1

Deceleration between V1 and VSTOP.

◆ dmax

uint16_t tmc_ramp_generator_data::dmax

Deceleration between VMAX and V1.

◆ iholdrun

uint32_t tmc_ramp_generator_data::iholdrun

Hold and run current settings (combined IHOLD_IRUN register value).

◆ tcoolthrs

uint32_t tmc_ramp_generator_data::tcoolthrs

Lower threshold velocity for switching on CoolStep and StallGuard.

◆ thigh

uint32_t tmc_ramp_generator_data::thigh

Velocity threshold for switching to a different chopper mode.

◆ tpowerdown

uint32_t tmc_ramp_generator_data::tpowerdown

Delay time from stand still to motor current power down.

◆ tpwmthrs

uint32_t tmc_ramp_generator_data::tpwmthrs

Upper velocity threshold for StealthChop voltage PWM mode.

◆ tzerowait

uint16_t tmc_ramp_generator_data::tzerowait

Waiting time after ramping down to zero velocity before next movement.

◆ v1

uint32_t tmc_ramp_generator_data::v1

First acceleration/deceleration phase threshold velocity.

◆ vcoolthrs

uint32_t tmc_ramp_generator_data::vcoolthrs

Lower threshold velocity for switching on CoolStep and StallGuard.

◆ vhigh

uint32_t tmc_ramp_generator_data::vhigh

Velocity threshold for switching to a different chopper mode.

◆ vmax

uint32_t tmc_ramp_generator_data::vmax

Motion ramp target velocity.

◆ vstart

uint32_t tmc_ramp_generator_data::vstart

Motor start velocity.

◆ vstop

uint32_t tmc_ramp_generator_data::vstop

Motor stop velocity.

The documentation for this struct was generated from the following file:

zephyr/drivers/stepper/stepper_trinamic.h

Data Fields