#include <TMCStepper.h>

Inheritance diagram for TMC2130Stepper:

Collaboration diagram for TMC2130Stepper:

Classes
struct	DRV_STATUS_t

struct	IOINT_t

struct	LOST_STEPS_t

struct	PWM_SCALE_t

Public Member Functions
	TMC2130Stepper (uint16_t pinCS, float RS=default_RS, int8_t link_index=-1)

	TMC2130Stepper (uint16_t pinCS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link_index=-1)

	TMC2130Stepper (uint16_t pinCS, float RS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link_index=-1)

void	begin ()

void	defaults ()

void	setSPISpeed (uint32_t speed)

void	switchCSpin (bool state)

bool	isEnabled ()

void	push ()

void	sg_current_decrease (uint8_t value)

uint8_t	sg_current_decrease ()

uint32_t	GCONF ()

void	GCONF (uint32_t value)

void	I_scale_analog (bool B)

void	internal_Rsense (bool B)

void	en_pwm_mode (bool B)

void	enc_commutation (bool B)

void	shaft (bool B)

void	diag0_error (bool B)

void	diag0_otpw (bool B)

void	diag0_stall (bool B)

void	diag1_stall (bool B)

void	diag1_index (bool B)

void	diag1_onstate (bool B)

void	diag1_steps_skipped (bool B)

void	diag0_int_pushpull (bool B)

void	diag1_pushpull (bool B)

void	small_hysteresis (bool B)

void	stop_enable (bool B)

void	direct_mode (bool B)

bool	I_scale_analog ()

bool	internal_Rsense ()

bool	en_pwm_mode ()

bool	enc_commutation ()

bool	shaft ()

bool	diag0_error ()

bool	diag0_otpw ()

bool	diag0_stall ()

bool	diag1_stall ()

bool	diag1_index ()

bool	diag1_onstate ()

bool	diag1_steps_skipped ()

bool	diag0_int_pushpull ()

bool	diag1_pushpull ()

bool	small_hysteresis ()

bool	stop_enable ()

bool	direct_mode ()

uint32_t	IOIN ()

bool	step ()

bool	dir ()

bool	dcen_cfg4 ()

bool	dcin_cfg5 ()

bool	drv_enn_cfg6 ()

bool	dco ()

uint8_t	version ()

uint32_t	TCOOLTHRS ()

void	TCOOLTHRS (uint32_t input)

uint32_t	THIGH ()

void	THIGH (uint32_t input)

uint32_t	XDIRECT ()

void	XDIRECT (uint32_t input)

void	coil_A (int16_t B)

void	coil_B (int16_t B)

int16_t	coil_A ()

int16_t	coil_B ()

uint32_t	VDCMIN ()

void	VDCMIN (uint32_t input)

uint32_t	CHOPCONF ()

void	CHOPCONF (uint32_t value)

void	toff (uint8_t B)

void	hstrt (uint8_t B)

void	hend (uint8_t B)

void	disfdcc (bool B)

void	rndtf (bool B)

void	chm (bool B)

void	tbl (uint8_t B)

void	vsense (bool B)

void	vhighfs (bool B)

void	vhighchm (bool B)

void	sync (uint8_t B)

void	mres (uint8_t B)

void	intpol (bool B)

void	dedge (bool B)

void	diss2g (bool B)

uint8_t	toff ()

uint8_t	hstrt ()

uint8_t	hend ()

bool	disfdcc ()

bool	rndtf ()

bool	chm ()

uint8_t	tbl ()

bool	vsense ()

bool	vhighfs ()

bool	vhighchm ()

uint8_t	sync ()

uint8_t	mres ()

bool	intpol ()

bool	dedge ()

bool	diss2g ()

void	COOLCONF (uint32_t value)

uint32_t	COOLCONF ()

void	semin (uint8_t B)

void	seup (uint8_t B)

void	semax (uint8_t B)

void	sedn (uint8_t B)

void	seimin (bool B)

void	sgt (int8_t B)

void	sfilt (bool B)

uint8_t	semin ()

uint8_t	seup ()

uint8_t	semax ()

uint8_t	sedn ()

bool	seimin ()

int8_t	sgt ()

bool	sfilt ()

void	DCCTRL (uint32_t input)

void	dc_time (uint16_t input)

void	dc_sg (uint8_t input)

uint32_t	DCCTRL ()

uint16_t	dc_time ()

uint8_t	dc_sg ()

uint32_t	DRV_STATUS ()

uint16_t	sg_result ()

bool	fsactive ()

uint8_t	cs_actual ()

bool	stallguard ()

bool	ot ()

bool	otpw ()

bool	s2ga ()

bool	s2gb ()

bool	ola ()

bool	olb ()

bool	stst ()

void	PWMCONF (uint32_t value)

uint32_t	PWMCONF ()

void	pwm_ampl (uint8_t B)

void	pwm_grad (uint8_t B)

void	pwm_freq (uint8_t B)

void	pwm_autoscale (bool B)

void	pwm_symmetric (bool B)

void	freewheel (uint8_t B)

uint8_t	pwm_ampl ()

uint8_t	pwm_grad ()

uint8_t	pwm_freq ()

bool	pwm_autoscale ()

bool	pwm_symmetric ()

uint8_t	freewheel ()

uint8_t	PWM_SCALE ()

uint8_t	ENCM_CTRL ()

void	ENCM_CTRL (uint8_t input)

void	inv (bool B)

void	maxspeed (bool B)

bool	inv ()

bool	maxspeed ()

uint32_t	LOST_STEPS ()

Public Member Functions inherited from TMCStepper
uint16_t	cs2rms (uint8_t CS)

void	rms_current (uint16_t mA)

void	rms_current (uint16_t mA, float mult)

uint16_t	rms_current ()

void	hold_multiplier (float val)

float	hold_multiplier ()

uint8_t	test_connection ()

void	microsteps (uint16_t ms)

uint16_t	microsteps ()

void	blank_time (uint8_t value)

uint8_t	blank_time ()

void	hysteresis_end (int8_t value)

int8_t	hysteresis_end ()

void	hysteresis_start (uint8_t value)

uint8_t	hysteresis_start ()

void	GSTAT (uint8_t input)

uint8_t	GSTAT ()

bool	reset ()

bool	drv_err ()

bool	uv_cp ()

void	IHOLD_IRUN (uint32_t input)

uint32_t	IHOLD_IRUN ()

void	ihold (uint8_t B)

void	irun (uint8_t B)

void	iholddelay (uint8_t B)

uint8_t	ihold ()

uint8_t	irun ()

uint8_t	iholddelay ()

uint8_t	TPOWERDOWN ()

void	TPOWERDOWN (uint8_t input)

uint32_t	TSTEP ()

uint32_t	TPWMTHRS ()

void	TPWMTHRS (uint32_t input)

uint16_t	MSCNT ()

uint32_t	MSCURACT ()

int16_t	cur_a ()

int16_t	cur_b ()

Public Attributes
uint8_t	status_response

Protected Member Functions
void	write (uint8_t addressByte, uint32_t config)

uint32_t	read (uint8_t addressByte)

	INIT_REGISTER (GCONF)

	INIT_REGISTER (TCOOLTHRS)

	INIT_REGISTER (THIGH)

	INIT_REGISTER (XDIRECT)

	INIT_REGISTER (VDCMIN)

	INIT_REGISTER (CHOPCONF)

	INIT_REGISTER (COOLCONF)

	INIT_REGISTER (DCCTRL)

	INIT_REGISTER (PWMCONF)

	INIT_REGISTER (ENCM_CTRL)

Protected Member Functions inherited from TMCStepper
	TMCStepper (float RS)

	INIT_REGISTER (IHOLD_IRUN)

	INIT_REGISTER (TPOWERDOWN)

	INIT_REGISTER (TPWMTHRS)

Protected Attributes
const uint16_t	_pinCS

SW_SPIClass *	TMC_SW_SPI = nullptr

int8_t	link_index

Protected Attributes inherited from TMCStepper
const float	Rsense

float	holdMultiplier = 0.5

Static Protected Attributes
static uint32_t	spi_speed = 16000000/8

static constexpr float	default_RS = 0.11

static int8_t	chain_length = 0

Static Protected Attributes inherited from TMCStepper
static constexpr uint8_t	TMC_READ = 0x00

static constexpr uint8_t	TMC_WRITE = 0x80

Detailed Description

Definition at line 137 of file TMCStepper.h.

Constructor & Destructor Documentation

◆ TMC2130Stepper() [1/3]

TMC2130Stepper::TMC2130Stepper	(	uint16_t	pinCS,
		float	RS = `default_RS`,
		int8_t	link_index = `-1`
	)

Definition at line 7 of file TMC2130Stepper.cpp.

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◆ TMC2130Stepper() [2/3]

TMC2130Stepper::TMC2130Stepper	(	uint16_t	pinCS,
		uint16_t	pinMOSI,
		uint16_t	pinMISO,
		uint16_t	pinSCK,
		int8_t	link_index = `-1`
	)

Definition at line 18 of file TMC2130Stepper.cpp.

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◆ TMC2130Stepper() [3/3]

TMC2130Stepper::TMC2130Stepper	(	uint16_t	pinCS,
		float	RS,
		uint16_t	pinMOSI,
		uint16_t	pinMISO,
		uint16_t	pinSCK,
		int8_t	link_index = `-1`
	)

Definition at line 31 of file TMC2130Stepper.cpp.

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Member Function Documentation

◆ begin()

void TMC2130Stepper::begin ( )

Definition at line 186 of file TMC2130Stepper.cpp.

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◆ chm() [1/2]

bool TMC2130Stepper::chm ( )

Definition at line 38 of file CHOPCONF.cpp.

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◆ chm() [2/2]

void TMC2130Stepper::chm ( bool B )

Definition at line 21 of file CHOPCONF.cpp.

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◆ CHOPCONF() [1/2]

uint32_t TMC2130Stepper::CHOPCONF ( )

Definition at line 7 of file CHOPCONF.cpp.

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◆ CHOPCONF() [2/2]

void TMC2130Stepper::CHOPCONF ( uint32_t value )

Definition at line 10 of file CHOPCONF.cpp.

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◆ coil_A() [1/2]

int16_t TMC2130Stepper::coil_A ( )

Definition at line 260 of file TMC2130Stepper.cpp.

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◆ coil_A() [2/2]

void TMC2130Stepper::coil_A ( int16_t B )

Definition at line 258 of file TMC2130Stepper.cpp.

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◆ coil_B() [1/2]

int16_t TMC2130Stepper::coil_B ( )

Definition at line 261 of file TMC2130Stepper.cpp.

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◆ coil_B() [2/2]

void TMC2130Stepper::coil_B ( int16_t B )

Definition at line 259 of file TMC2130Stepper.cpp.

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◆ COOLCONF() [1/2]

uint32_t TMC2130Stepper::COOLCONF ( )

Definition at line 8 of file COOLCONF.cpp.

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◆ COOLCONF() [2/2]

void TMC2130Stepper::COOLCONF ( uint32_t value )

Definition at line 9 of file COOLCONF.cpp.

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◆ cs_actual()

uint8_t TMC2130Stepper::cs_actual ( )

Definition at line 10 of file DRV_STATUS.cpp.

◆ dc_sg() [1/2]

uint8_t TMC2130Stepper::dc_sg ( )

Definition at line 292 of file TMC2130Stepper.cpp.

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◆ dc_sg() [2/2]

void TMC2130Stepper::dc_sg ( uint8_t input )

Definition at line 279 of file TMC2130Stepper.cpp.

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◆ dc_time() [1/2]

uint16_t TMC2130Stepper::dc_time ( )

Definition at line 287 of file TMC2130Stepper.cpp.

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◆ dc_time() [2/2]

void TMC2130Stepper::dc_time ( uint16_t input )

Definition at line 275 of file TMC2130Stepper.cpp.

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◆ DCCTRL() [1/2]

uint32_t TMC2130Stepper::DCCTRL ( )

Definition at line 284 of file TMC2130Stepper.cpp.

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◆ DCCTRL() [2/2]

void TMC2130Stepper::DCCTRL ( uint32_t input )

Definition at line 271 of file TMC2130Stepper.cpp.

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◆ dcen_cfg4()

bool TMC2130Stepper::dcen_cfg4 ( )

Definition at line 230 of file TMC2130Stepper.cpp.

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◆ dcin_cfg5()

bool TMC2130Stepper::dcin_cfg5 ( )

Definition at line 231 of file TMC2130Stepper.cpp.

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◆ dco()

bool TMC2130Stepper::dco ( )

Definition at line 233 of file TMC2130Stepper.cpp.

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◆ dedge() [1/2]

bool TMC2130Stepper::dedge ( )

Definition at line 46 of file CHOPCONF.cpp.

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◆ dedge() [2/2]

void TMC2130Stepper::dedge ( bool B )

Definition at line 29 of file CHOPCONF.cpp.

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◆ defaults()

void TMC2130Stepper::defaults ( )

Definition at line 44 of file TMC2130Stepper.cpp.

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◆ diag0_error() [1/2]

bool TMC2130Stepper::diag0_error ( )

Definition at line 38 of file GCONF.cpp.

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◆ diag0_error() [2/2]

void TMC2130Stepper::diag0_error ( bool B )

Definition at line 20 of file GCONF.cpp.

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◆ diag0_int_pushpull() [1/2]

bool TMC2130Stepper::diag0_int_pushpull ( )

Definition at line 45 of file GCONF.cpp.

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◆ diag0_int_pushpull() [2/2]

void TMC2130Stepper::diag0_int_pushpull ( bool B )

Definition at line 27 of file GCONF.cpp.

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◆ diag0_otpw() [1/2]

bool TMC2130Stepper::diag0_otpw ( )

Definition at line 39 of file GCONF.cpp.

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◆ diag0_otpw() [2/2]

void TMC2130Stepper::diag0_otpw ( bool B )

Definition at line 21 of file GCONF.cpp.

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◆ diag0_stall() [1/2]

bool TMC2130Stepper::diag0_stall ( )

Definition at line 40 of file GCONF.cpp.

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◆ diag0_stall() [2/2]

void TMC2130Stepper::diag0_stall ( bool B )

Definition at line 22 of file GCONF.cpp.

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◆ diag1_index() [1/2]

bool TMC2130Stepper::diag1_index ( )

Definition at line 42 of file GCONF.cpp.

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◆ diag1_index() [2/2]

void TMC2130Stepper::diag1_index ( bool B )

Definition at line 24 of file GCONF.cpp.

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◆ diag1_onstate() [1/2]

bool TMC2130Stepper::diag1_onstate ( )

Definition at line 43 of file GCONF.cpp.

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◆ diag1_onstate() [2/2]

void TMC2130Stepper::diag1_onstate ( bool B )

Definition at line 25 of file GCONF.cpp.

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◆ diag1_pushpull() [1/2]

bool TMC2130Stepper::diag1_pushpull ( )

Definition at line 46 of file GCONF.cpp.

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◆ diag1_pushpull() [2/2]

void TMC2130Stepper::diag1_pushpull ( bool B )

Definition at line 28 of file GCONF.cpp.

◆ diag1_stall() [1/2]

bool TMC2130Stepper::diag1_stall ( )

Definition at line 41 of file GCONF.cpp.

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◆ diag1_stall() [2/2]

void TMC2130Stepper::diag1_stall ( bool B )

Definition at line 23 of file GCONF.cpp.

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◆ diag1_steps_skipped() [1/2]

bool TMC2130Stepper::diag1_steps_skipped ( )

Definition at line 44 of file GCONF.cpp.

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◆ diag1_steps_skipped() [2/2]

void TMC2130Stepper::diag1_steps_skipped ( bool B )

Definition at line 26 of file GCONF.cpp.

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◆ dir()

bool TMC2130Stepper::dir ( )

Definition at line 229 of file TMC2130Stepper.cpp.

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◆ direct_mode() [1/2]

bool TMC2130Stepper::direct_mode ( )

Definition at line 49 of file GCONF.cpp.

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◆ direct_mode() [2/2]

void TMC2130Stepper::direct_mode ( bool B )

Definition at line 31 of file GCONF.cpp.

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◆ disfdcc() [1/2]

bool TMC2130Stepper::disfdcc ( )

Definition at line 36 of file CHOPCONF.cpp.

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◆ disfdcc() [2/2]

void TMC2130Stepper::disfdcc ( bool B )

Definition at line 19 of file CHOPCONF.cpp.

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◆ diss2g() [1/2]

bool TMC2130Stepper::diss2g ( )

Definition at line 47 of file CHOPCONF.cpp.

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◆ diss2g() [2/2]

void TMC2130Stepper::diss2g ( bool B )

Definition at line 30 of file CHOPCONF.cpp.

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◆ drv_enn_cfg6()

bool TMC2130Stepper::drv_enn_cfg6 ( )

Definition at line 232 of file TMC2130Stepper.cpp.

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◆ DRV_STATUS()

uint32_t TMC2130Stepper::DRV_STATUS ( )

virtual

Implements TMCStepper.

Definition at line 6 of file DRV_STATUS.cpp.

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◆ en_pwm_mode() [1/2]

bool TMC2130Stepper::en_pwm_mode ( )

Definition at line 35 of file GCONF.cpp.

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◆ en_pwm_mode() [2/2]

void TMC2130Stepper::en_pwm_mode ( bool B )

Definition at line 17 of file GCONF.cpp.

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◆ enc_commutation() [1/2]

bool TMC2130Stepper::enc_commutation ( )

Definition at line 36 of file GCONF.cpp.

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◆ enc_commutation() [2/2]

void TMC2130Stepper::enc_commutation ( bool B )

Definition at line 18 of file GCONF.cpp.

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◆ ENCM_CTRL() [1/2]

uint8_t TMC2130Stepper::ENCM_CTRL ( )

Definition at line 302 of file TMC2130Stepper.cpp.

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◆ ENCM_CTRL() [2/2]

void TMC2130Stepper::ENCM_CTRL ( uint8_t input )

Definition at line 303 of file TMC2130Stepper.cpp.

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◆ freewheel() [1/2]

uint8_t TMC2130Stepper::freewheel ( )

Definition at line 26 of file PWMCONF.cpp.

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◆ freewheel() [2/2]

void TMC2130Stepper::freewheel ( uint8_t B )

Definition at line 19 of file PWMCONF.cpp.

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◆ fsactive()

bool TMC2130Stepper::fsactive ( )

Definition at line 9 of file DRV_STATUS.cpp.

◆ GCONF() [1/2]

uint32_t TMC2130Stepper::GCONF ( )

Definition at line 7 of file GCONF.cpp.

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◆ GCONF() [2/2]

void TMC2130Stepper::GCONF ( uint32_t value )

Definition at line 10 of file GCONF.cpp.

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◆ hend() [1/2]

uint8_t TMC2130Stepper::hend ( )

virtual

Implements TMCStepper.

Definition at line 34 of file CHOPCONF.cpp.

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◆ hend() [2/2]

void TMC2130Stepper::hend ( uint8_t B )

virtual

Implements TMCStepper.

Definition at line 17 of file CHOPCONF.cpp.

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◆ hstrt() [1/2]

uint8_t TMC2130Stepper::hstrt ( )

virtual

Implements TMCStepper.

Definition at line 33 of file CHOPCONF.cpp.

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◆ hstrt() [2/2]

void TMC2130Stepper::hstrt ( uint8_t B )

virtual

Implements TMCStepper.

Definition at line 16 of file CHOPCONF.cpp.

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◆ I_scale_analog() [1/2]

bool TMC2130Stepper::I_scale_analog ( )

Definition at line 33 of file GCONF.cpp.

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◆ I_scale_analog() [2/2]

void TMC2130Stepper::I_scale_analog ( bool B )

Definition at line 15 of file GCONF.cpp.

◆ INIT_REGISTER() [1/10]

TMC2130Stepper::INIT_REGISTER ( CHOPCONF )

inlineprotected

Definition at line 340 of file TMCStepper.h.

◆ INIT_REGISTER() [2/10]

TMC2130Stepper::INIT_REGISTER ( COOLCONF )

inlineprotected

Definition at line 341 of file TMCStepper.h.

◆ INIT_REGISTER() [3/10]

TMC2130Stepper::INIT_REGISTER ( DCCTRL )

inlineprotected

Definition at line 342 of file TMCStepper.h.

◆ INIT_REGISTER() [4/10]

TMC2130Stepper::INIT_REGISTER ( ENCM_CTRL )

inlineprotected

Definition at line 344 of file TMCStepper.h.

◆ INIT_REGISTER() [5/10]

TMC2130Stepper::INIT_REGISTER ( GCONF )

inlineprotected

Definition at line 335 of file TMCStepper.h.

◆ INIT_REGISTER() [6/10]

TMC2130Stepper::INIT_REGISTER ( PWMCONF )

inlineprotected

Definition at line 343 of file TMCStepper.h.

◆ INIT_REGISTER() [7/10]

TMC2130Stepper::INIT_REGISTER ( TCOOLTHRS )

inlineprotected

Definition at line 336 of file TMCStepper.h.

◆ INIT_REGISTER() [8/10]

TMC2130Stepper::INIT_REGISTER ( THIGH )

inlineprotected

Definition at line 337 of file TMCStepper.h.

◆ INIT_REGISTER() [9/10]

TMC2130Stepper::INIT_REGISTER ( VDCMIN )

inlineprotected

Definition at line 339 of file TMCStepper.h.

◆ INIT_REGISTER() [10/10]

TMC2130Stepper::INIT_REGISTER ( XDIRECT )

inlineprotected

Definition at line 338 of file TMCStepper.h.

◆ internal_Rsense() [1/2]

bool TMC2130Stepper::internal_Rsense ( )

Definition at line 34 of file GCONF.cpp.

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◆ internal_Rsense() [2/2]

void TMC2130Stepper::internal_Rsense ( bool B )

Definition at line 16 of file GCONF.cpp.

◆ intpol() [1/2]

bool TMC2130Stepper::intpol ( )

Definition at line 45 of file CHOPCONF.cpp.

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◆ intpol() [2/2]

void TMC2130Stepper::intpol ( bool B )

Definition at line 28 of file CHOPCONF.cpp.

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◆ inv() [1/2]

bool TMC2130Stepper::inv ( )

Definition at line 309 of file TMC2130Stepper.cpp.

◆ inv() [2/2]

void TMC2130Stepper::inv ( bool B )

Definition at line 307 of file TMC2130Stepper.cpp.

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◆ IOIN()

uint32_t TMC2130Stepper::IOIN ( )

Definition at line 227 of file TMC2130Stepper.cpp.

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◆ isEnabled()

bool TMC2130Stepper::isEnabled ( )

Helper functions

Definition at line 207 of file TMC2130Stepper.cpp.

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◆ LOST_STEPS()

uint32_t TMC2130Stepper::LOST_STEPS ( )

Definition at line 313 of file TMC2130Stepper.cpp.

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◆ maxspeed() [1/2]

bool TMC2130Stepper::maxspeed ( )

Definition at line 310 of file TMC2130Stepper.cpp.

◆ maxspeed() [2/2]

void TMC2130Stepper::maxspeed ( bool B )

Definition at line 308 of file TMC2130Stepper.cpp.

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◆ mres() [1/2]

uint8_t TMC2130Stepper::mres ( )

virtual

Implements TMCStepper.

Definition at line 44 of file CHOPCONF.cpp.

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◆ mres() [2/2]

void TMC2130Stepper::mres ( uint8_t B )

virtual

Implements TMCStepper.

Definition at line 27 of file CHOPCONF.cpp.

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◆ ola()

bool TMC2130Stepper::ola ( )

Definition at line 16 of file DRV_STATUS.cpp.

◆ olb()

bool TMC2130Stepper::olb ( )

Definition at line 17 of file DRV_STATUS.cpp.

◆ ot()

bool TMC2130Stepper::ot ( )

Definition at line 12 of file DRV_STATUS.cpp.

◆ otpw()

bool TMC2130Stepper::otpw ( )

Definition at line 13 of file DRV_STATUS.cpp.

◆ push()

void TMC2130Stepper::push ( )

Definition at line 209 of file TMC2130Stepper.cpp.

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◆ pwm_ampl() [1/2]

uint8_t TMC2130Stepper::pwm_ampl ( )

Definition at line 21 of file PWMCONF.cpp.

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◆ pwm_ampl() [2/2]

void TMC2130Stepper::pwm_ampl ( uint8_t B )

Definition at line 14 of file PWMCONF.cpp.

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◆ pwm_autoscale() [1/2]

bool TMC2130Stepper::pwm_autoscale ( )

Definition at line 24 of file PWMCONF.cpp.

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◆ pwm_autoscale() [2/2]

void TMC2130Stepper::pwm_autoscale ( bool B )

Definition at line 17 of file PWMCONF.cpp.

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◆ pwm_freq() [1/2]

uint8_t TMC2130Stepper::pwm_freq ( )

Definition at line 23 of file PWMCONF.cpp.

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◆ pwm_freq() [2/2]

void TMC2130Stepper::pwm_freq ( uint8_t B )

Definition at line 16 of file PWMCONF.cpp.

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◆ pwm_grad() [1/2]

uint8_t TMC2130Stepper::pwm_grad ( )

Definition at line 22 of file PWMCONF.cpp.

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◆ pwm_grad() [2/2]

void TMC2130Stepper::pwm_grad ( uint8_t B )

Definition at line 15 of file PWMCONF.cpp.

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◆ PWM_SCALE()

uint8_t TMC2130Stepper::PWM_SCALE ( )

Definition at line 299 of file TMC2130Stepper.cpp.

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◆ pwm_symmetric() [1/2]

bool TMC2130Stepper::pwm_symmetric ( )

Definition at line 25 of file PWMCONF.cpp.

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◆ pwm_symmetric() [2/2]

void TMC2130Stepper::pwm_symmetric ( bool B )

Definition at line 18 of file PWMCONF.cpp.

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◆ PWMCONF() [1/2]

uint32_t TMC2130Stepper::PWMCONF ( )

Definition at line 8 of file PWMCONF.cpp.

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◆ PWMCONF() [2/2]

void TMC2130Stepper::PWMCONF ( uint32_t value )

Definition at line 9 of file PWMCONF.cpp.

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◆ read()

uint32_t TMC2130Stepper::read ( uint8_t addressByte )

protectedvirtual

Implements TMCStepper.

Definition at line 65 of file TMC2130Stepper.cpp.

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◆ rndtf() [1/2]

bool TMC2130Stepper::rndtf ( )

Definition at line 37 of file CHOPCONF.cpp.

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◆ rndtf() [2/2]

void TMC2130Stepper::rndtf ( bool B )

Definition at line 20 of file CHOPCONF.cpp.

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◆ s2ga()

bool TMC2130Stepper::s2ga ( )

Definition at line 14 of file DRV_STATUS.cpp.

◆ s2gb()

bool TMC2130Stepper::s2gb ( )

Definition at line 15 of file DRV_STATUS.cpp.

◆ sedn() [1/2]

uint8_t TMC2130Stepper::sedn ( )

Definition at line 25 of file COOLCONF.cpp.

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◆ sedn() [2/2]

void TMC2130Stepper::sedn ( uint8_t B )

Definition at line 17 of file COOLCONF.cpp.

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◆ seimin() [1/2]

bool TMC2130Stepper::seimin ( )

Definition at line 26 of file COOLCONF.cpp.

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◆ seimin() [2/2]

void TMC2130Stepper::seimin ( bool B )

Definition at line 18 of file COOLCONF.cpp.

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◆ semax() [1/2]

uint8_t TMC2130Stepper::semax ( )

Definition at line 24 of file COOLCONF.cpp.

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◆ semax() [2/2]

void TMC2130Stepper::semax ( uint8_t B )

Definition at line 16 of file COOLCONF.cpp.

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◆ semin() [1/2]

uint8_t TMC2130Stepper::semin ( )

Definition at line 22 of file COOLCONF.cpp.

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◆ semin() [2/2]

void TMC2130Stepper::semin ( uint8_t B )

Definition at line 14 of file COOLCONF.cpp.

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◆ setSPISpeed()

void TMC2130Stepper::setSPISpeed ( uint32_t speed )

Definition at line 57 of file TMC2130Stepper.cpp.

◆ seup() [1/2]

uint8_t TMC2130Stepper::seup ( )

Definition at line 23 of file COOLCONF.cpp.

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◆ seup() [2/2]

void TMC2130Stepper::seup ( uint8_t B )

Definition at line 15 of file COOLCONF.cpp.

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◆ sfilt() [1/2]

bool TMC2130Stepper::sfilt ( )

Definition at line 27 of file COOLCONF.cpp.

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◆ sfilt() [2/2]

void TMC2130Stepper::sfilt ( bool B )

Definition at line 20 of file COOLCONF.cpp.

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◆ sg_current_decrease() [1/2]

uint8_t TMC2130Stepper::sg_current_decrease ( )

Definition at line 323 of file TMC2130Stepper.cpp.

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◆ sg_current_decrease() [2/2]

void TMC2130Stepper::sg_current_decrease ( uint8_t value )

Definition at line 315 of file TMC2130Stepper.cpp.

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◆ sg_result()

uint16_t TMC2130Stepper::sg_result ( )

Definition at line 8 of file DRV_STATUS.cpp.

◆ sgt() [1/2]

int8_t TMC2130Stepper::sgt ( )

Definition at line 29 of file COOLCONF.cpp.

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◆ sgt() [2/2]

void TMC2130Stepper::sgt ( int8_t B )

Definition at line 19 of file COOLCONF.cpp.

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◆ shaft() [1/2]

bool TMC2130Stepper::shaft ( )

Definition at line 37 of file GCONF.cpp.

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◆ shaft() [2/2]

void TMC2130Stepper::shaft ( bool B )

Definition at line 19 of file GCONF.cpp.

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◆ small_hysteresis() [1/2]

bool TMC2130Stepper::small_hysteresis ( )

Definition at line 47 of file GCONF.cpp.

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◆ small_hysteresis() [2/2]

void TMC2130Stepper::small_hysteresis ( bool B )

Definition at line 29 of file GCONF.cpp.

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◆ stallguard()

bool TMC2130Stepper::stallguard ( )

Definition at line 11 of file DRV_STATUS.cpp.

◆ step()

bool TMC2130Stepper::step ( )

Definition at line 228 of file TMC2130Stepper.cpp.

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◆ stop_enable() [1/2]

bool TMC2130Stepper::stop_enable ( )

Definition at line 48 of file GCONF.cpp.

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◆ stop_enable() [2/2]

void TMC2130Stepper::stop_enable ( bool B )

Definition at line 30 of file GCONF.cpp.

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◆ stst()

bool TMC2130Stepper::stst ( )

Definition at line 18 of file DRV_STATUS.cpp.

◆ switchCSpin()

void TMC2130Stepper::switchCSpin ( bool state )

Definition at line 61 of file TMC2130Stepper.cpp.

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◆ sync() [1/2]

uint8_t TMC2130Stepper::sync ( )

Definition at line 43 of file CHOPCONF.cpp.

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◆ sync() [2/2]

void TMC2130Stepper::sync ( uint8_t B )

Definition at line 26 of file CHOPCONF.cpp.

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◆ tbl() [1/2]

uint8_t TMC2130Stepper::tbl ( )

virtual

Implements TMCStepper.

Definition at line 39 of file CHOPCONF.cpp.

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◆ tbl() [2/2]

void TMC2130Stepper::tbl ( uint8_t B )

virtual

Implements TMCStepper.

Definition at line 22 of file CHOPCONF.cpp.

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◆ TCOOLTHRS() [1/2]

uint32_t TMC2130Stepper::TCOOLTHRS ( )

Definition at line 237 of file TMC2130Stepper.cpp.

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◆ TCOOLTHRS() [2/2]

void TMC2130Stepper::TCOOLTHRS ( uint32_t input )

Definition at line 238 of file TMC2130Stepper.cpp.

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◆ THIGH() [1/2]

uint32_t TMC2130Stepper::THIGH ( )

Definition at line 244 of file TMC2130Stepper.cpp.

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◆ THIGH() [2/2]

void TMC2130Stepper::THIGH ( uint32_t input )

Definition at line 245 of file TMC2130Stepper.cpp.

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◆ toff() [1/2]

uint8_t TMC2130Stepper::toff ( )

Definition at line 32 of file CHOPCONF.cpp.

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◆ toff() [2/2]

void TMC2130Stepper::toff ( uint8_t B )

Definition at line 15 of file CHOPCONF.cpp.

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◆ VDCMIN() [1/2]

uint32_t TMC2130Stepper::VDCMIN ( )

Definition at line 264 of file TMC2130Stepper.cpp.

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◆ VDCMIN() [2/2]

void TMC2130Stepper::VDCMIN ( uint32_t input )

Definition at line 265 of file TMC2130Stepper.cpp.

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◆ version()

uint8_t TMC2130Stepper::version ( )

Definition at line 234 of file TMC2130Stepper.cpp.

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◆ vhighchm() [1/2]

bool TMC2130Stepper::vhighchm ( )

Definition at line 42 of file CHOPCONF.cpp.

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◆ vhighchm() [2/2]

void TMC2130Stepper::vhighchm ( bool B )

Definition at line 25 of file CHOPCONF.cpp.

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◆ vhighfs() [1/2]

bool TMC2130Stepper::vhighfs ( )

Definition at line 41 of file CHOPCONF.cpp.

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◆ vhighfs() [2/2]

void TMC2130Stepper::vhighfs ( bool B )

Definition at line 24 of file CHOPCONF.cpp.

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◆ vsense() [1/2]

bool TMC2130Stepper::vsense ( )

virtual

Implements TMCStepper.

Definition at line 40 of file CHOPCONF.cpp.

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◆ vsense() [2/2]

void TMC2130Stepper::vsense ( bool B )

virtual

Implements TMCStepper.

Definition at line 23 of file CHOPCONF.cpp.

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◆ write()

void TMC2130Stepper::write	(	uint8_t	addressByte,
		uint32_t	config
	)

protectedvirtual

Implements TMCStepper.

Definition at line 148 of file TMC2130Stepper.cpp.

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◆ XDIRECT() [1/2]

uint32_t TMC2130Stepper::XDIRECT ( )

Definition at line 251 of file TMC2130Stepper.cpp.

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◆ XDIRECT() [2/2]

void TMC2130Stepper::XDIRECT ( uint32_t input )

Definition at line 254 of file TMC2130Stepper.cpp.

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Member Data Documentation

◆ _pinCS

const uint16_t TMC2130Stepper::_pinCS

protected

Definition at line 352 of file TMCStepper.h.

◆ chain_length

int8_t TMC2130Stepper::chain_length = 0

staticprotected

Definition at line 357 of file TMCStepper.h.

◆ default_RS

constexpr float TMC2130Stepper::default_RS = 0.11

staticconstexprprotected

Definition at line 354 of file TMCStepper.h.

◆ link_index

int8_t TMC2130Stepper::link_index

protected

Definition at line 356 of file TMCStepper.h.

◆ spi_speed

uint32_t TMC2130Stepper::spi_speed = 16000000/8

staticprotected

Definition at line 351 of file TMCStepper.h.

◆ status_response

uint8_t TMC2130Stepper::status_response

Definition at line 329 of file TMCStepper.h.

◆ TMC_SW_SPI

SW_SPIClass* TMC2130Stepper::TMC_SW_SPI = nullptr

protected

Definition at line 353 of file TMCStepper.h.

The documentation for this class was generated from the following files:

src/TMCStepper.h
src/source/CHOPCONF.cpp
src/source/COOLCONF.cpp
src/source/DRV_STATUS.cpp
src/source/GCONF.cpp
src/source/PWMCONF.cpp
src/source/TMC2130Stepper.cpp

Classes

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Static Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ TMC2130Stepper() [1/3]

◆ TMC2130Stepper() [2/3]

◆ TMC2130Stepper() [3/3]

Member Function Documentation

◆ begin()

◆ chm() [1/2]

◆ chm() [2/2]

◆ CHOPCONF() [1/2]

◆ CHOPCONF() [2/2]

◆ coil_A() [1/2]

◆ coil_A() [2/2]

◆ coil_B() [1/2]

◆ coil_B() [2/2]

◆ COOLCONF() [1/2]

◆ COOLCONF() [2/2]

◆ cs_actual()

◆ dc_sg() [1/2]

◆ dc_sg() [2/2]

◆ dc_time() [1/2]

◆ dc_time() [2/2]

◆ DCCTRL() [1/2]

◆ DCCTRL() [2/2]

◆ dcen_cfg4()

◆ dcin_cfg5()

◆ dco()

◆ dedge() [1/2]

◆ dedge() [2/2]

◆ defaults()

◆ diag0_error() [1/2]

◆ diag0_error() [2/2]

◆ diag0_int_pushpull() [1/2]

◆ diag0_int_pushpull() [2/2]

◆ diag0_otpw() [1/2]

◆ diag0_otpw() [2/2]

◆ diag0_stall() [1/2]

◆ diag0_stall() [2/2]

◆ diag1_index() [1/2]

◆ diag1_index() [2/2]

◆ diag1_onstate() [1/2]

◆ diag1_onstate() [2/2]

◆ diag1_pushpull() [1/2]

◆ diag1_pushpull() [2/2]

◆ diag1_stall() [1/2]

◆ diag1_stall() [2/2]

◆ diag1_steps_skipped() [1/2]

◆ diag1_steps_skipped() [2/2]

◆ dir()

◆ direct_mode() [1/2]

◆ direct_mode() [2/2]

◆ disfdcc() [1/2]

◆ disfdcc() [2/2]

◆ diss2g() [1/2]

◆ diss2g() [2/2]

◆ drv_enn_cfg6()

◆ DRV_STATUS()

◆ en_pwm_mode() [1/2]

◆ en_pwm_mode() [2/2]

◆ enc_commutation() [1/2]

◆ enc_commutation() [2/2]

◆ ENCM_CTRL() [1/2]

◆ ENCM_CTRL() [2/2]

◆ freewheel() [1/2]

◆ freewheel() [2/2]

◆ fsactive()

◆ GCONF() [1/2]

◆ GCONF() [2/2]

◆ hend() [1/2]

◆ hend() [2/2]

◆ hstrt() [1/2]

◆ hstrt() [2/2]

◆ I_scale_analog() [1/2]

◆ I_scale_analog() [2/2]