Motor current calculation functions for TMC51x0 (TMC5130 & TMC5160) More...

#include "../tmc51x0_types.hpp"
#include <algorithm>
#include <array>
#include <cmath>

Include dependency graph for tmc51x0_motor_calc.hpp:

Functions
bool	tmc51x0::CalculateMotorCurrent (const MotorSpec &motor_spec, uint32_t sense_resistor_mohm, uint32_t supply_voltage_mv, uint16_t run_current_ma, uint16_t hold_current_ma, uint8_t &irun, uint8_t &ihold, uint16_t &global_scaler, uint8_t chip_version=ChipVersion::TMC5160) noexcept
	Calculate motor current settings from physical parameters.

uint16_t	tmc51x0::CalculateStealthChopLowerLimit (const MotorSpec &motor_spec, uint32_t supply_voltage_mv, uint8_t tbl, uint8_t pwm_freq, uint32_t f_clk=12000000U) noexcept
	Calculate StealthChop lower current limit.

uint16_t	tmc51x0::CalculateMaxCurrentForSenseResistor (uint32_t sense_resistor_mohm) noexcept
	Calculate maximum RMS current for a given sense resistor.

uint8_t	tmc51x0::CalculateS2VSLevel (uint16_t voltage_mv) noexcept
	Calculate S2VS_LEVEL register value from voltage threshold.

uint8_t	tmc51x0::CalculateS2GLevel (uint16_t voltage_mv, uint32_t supply_voltage_mv=0) noexcept
	Calculate S2G_LEVEL register value from voltage threshold.

uint8_t	tmc51x0::CalculateShortDelay (uint8_t delay_us_x10) noexcept
	Calculate shortdelay register bit from detection delay time.

Variables
constexpr float	tmc51x0::MotorCalcConstants::VFS_MV = 325.0F

constexpr float	tmc51x0::MotorCalcConstants::SQRT2 = 1.41421356237F

constexpr float	tmc51x0::MotorCalcConstants::TMC5130_VFS_MV = 320.0F
	TMC5130 full-scale sense voltage with CHOPCONF.vsense = 0 (TMC5130A datasheet, "Selecting sense resistors").

constexpr float	tmc51x0::MotorCalcConstants::TMC5130_RSENSE_OFFSET_MOHM = 20.0F
	TMC5130 internal resistance added to RSENSE in its current formula (TMC5130A datasheet, same section).

Detailed Description

Motor current calculation functions for TMC51x0 (TMC5130 & TMC5160)

Namespaces