#include <TMCStepper.h>

Inheritance diagram for TMC5161Stepper:

Collaboration diagram for TMC5161Stepper:

Public Member Functions
	TMC5161Stepper (uint16_t pinCS, float RS=default_RS, int8_t link_index=-1)

	TMC5161Stepper (uint16_t pinCS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link_index=-1)

	TMC5161Stepper (uint16_t pinCS, float RS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link_index=-1)

Public Member Functions inherited from TMC5160Stepper
	TMC5160Stepper (uint16_t pinCS, float RS=default_RS, int8_t link_index=-1)

	TMC5160Stepper (uint16_t pinCS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link_index=-1)

	TMC5160Stepper (uint16_t pinCS, float RS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link_index=-1)

void	rms_current (uint16_t mA)

void	rms_current (uint16_t mA, float mult)

uint16_t	rms_current ()

void	defaults ()

void	push ()

void	recalibrate (bool)

void	faststandstill (bool)

void	multistep_filt (bool)

bool	recalibrate ()

bool	faststandstill ()

bool	multistep_filt ()

bool	drv_enn ()

bool	enc_n_dco_cfg6 ()

void	ENC_STATUS (uint8_t)

uint8_t	ENC_STATUS ()

void	ENC_DEVIATION (uint32_t)

uint32_t	ENC_DEVIATION ()

uint32_t	PWM_AUTO ()

uint8_t	pwm_ofs_auto ()

uint8_t	pwm_grad_auto ()

void	diss2vs (bool)

void	tpfd (uint8_t)

bool	diss2vs ()

uint8_t	tpfd ()

void	SHORT_CONF (uint32_t)

uint32_t	SHORT_CONF ()

void	s2vs_level (uint8_t)

uint8_t	s2vs_level ()

void	s2g_level (uint8_t)

uint8_t	s2g_level ()

void	shortfilter (uint8_t)

uint8_t	shortfilter ()

void	shortdelay (bool)

bool	shortdelay ()

void	DRV_CONF (uint32_t)

uint32_t	DRV_CONF ()

void	bbmtime (uint8_t)

uint8_t	bbmtime ()

void	bbmclks (uint8_t)

uint8_t	bbmclks ()

void	otselect (uint8_t)

uint8_t	otselect ()

void	drvstrength (uint8_t)

uint8_t	drvstrength ()

void	filt_isense (uint8_t)

uint8_t	filt_isense ()

void	GLOBAL_SCALER (uint8_t)

uint8_t	GLOBAL_SCALER ()

uint16_t	OFFSET_READ ()

void	PWMCONF (uint32_t input)

uint32_t	PWMCONF ()

void	pwm_ofs (uint8_t B)

uint8_t	pwm_ofs ()

void	pwm_grad (uint8_t B)

uint8_t	pwm_grad ()

void	pwm_freq (uint8_t B)

uint8_t	pwm_freq ()

void	pwm_autoscale (bool B)

bool	pwm_autoscale ()

void	pwm_autograd (bool B)

bool	pwm_autograd ()

void	freewheel (uint8_t B)

uint8_t	freewheel ()

void	pwm_reg (uint8_t B)

uint8_t	pwm_reg ()

void	pwm_lim (uint8_t B)

uint8_t	pwm_lim ()

uint32_t	PWM_SCALE ()

uint8_t	pwm_scale_sum ()

uint16_t	pwm_scale_auto ()

Public Member Functions inherited from TMC5130Stepper
	TMC5130Stepper (uint16_t pinCS, float RS=default_RS, int8_t link_index=-1)

	TMC5130Stepper (uint16_t pinCS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link_index=-1)

	TMC5130Stepper (uint16_t pinCS, float RS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link_index=-1)

void	begin ()

void	defaults ()

void	push ()

void	rms_current (uint16_t mA)

void	rms_current (uint16_t mA, float mult)

uint16_t	rms_current ()

uint8_t	IFCNT ()

uint16_t	SLAVECONF ()

void	SLAVECONF (uint16_t input)

uint32_t	IOIN ()

bool	refl_step ()

bool	refr_dir ()

bool	encb_dcen_cfg4 ()

bool	enca_dcin_cfg5 ()

bool	drv_enn_cfg6 ()

bool	enc_n_dco ()

bool	sd_mode ()

bool	swcomp_in ()

uint8_t	version ()

void	diag1_poscomp_pushpull (bool B)

bool	diag1_poscomp_pushpull ()

uint32_t	SW_MODE ()

void	SW_MODE (uint32_t input)

void	stop_l_enable (bool B)

void	stop_r_enable (bool B)

void	pol_stop_l (bool B)

void	pol_stop_r (bool B)

void	swap_lr (bool B)

void	latch_l_active (bool B)

void	latch_l_inactive (bool B)

void	latch_r_active (bool B)

void	latch_r_inactive (bool B)

void	en_latch_encoder (bool B)

void	sg_stop (bool B)

void	en_softstop (bool B)

bool	stop_r_enable ()

bool	pol_stop_l ()

bool	pol_stop_r ()

bool	swap_lr ()

bool	latch_l_active ()

bool	latch_l_inactive ()

bool	latch_r_active ()

bool	latch_r_inactive ()

bool	en_latch_encoder ()

bool	sg_stop ()

bool	en_softstop ()

uint32_t	RAMP_STAT ()

bool	status_stop_l ()

bool	status_stop_r ()

bool	status_latch_l ()

bool	status_latch_r ()

bool	event_stop_l ()

bool	event_stop_r ()

bool	event_stop_sg ()

bool	event_pos_reached ()

bool	velocity_reached ()

bool	position_reached ()

bool	vzero ()

bool	t_zerowait_active ()

bool	second_move ()

bool	status_sg ()

uint32_t	ENCMODE ()

void	ENCMODE (uint32_t input)

void	pol_a (bool B)

void	pol_b (bool B)

void	pol_n (bool B)

void	ignore_ab (bool B)

void	clr_cont (bool B)

void	clr_once (bool B)

void	pos_edge (bool B)

void	neg_edge (bool B)

void	clr_enc_x (bool B)

void	latch_x_act (bool B)

void	enc_sel_decimal (bool B)

bool	pol_a ()

bool	pol_b ()

bool	pol_n ()

bool	ignore_ab ()

bool	clr_cont ()

bool	clr_once ()

bool	pos_edge ()

bool	neg_edge ()

bool	clr_enc_x ()

bool	latch_x_act ()

bool	enc_sel_decimal ()

bool	TMC_OUTPUT ()

void	TMC_OUTPUT (bool input)

uint32_t	X_COMPARE ()

void	X_COMPARE (uint32_t input)

uint8_t	RAMPMODE ()

void	RAMPMODE (uint8_t input)

int32_t	XACTUAL ()

void	XACTUAL (int32_t input)

int32_t	VACTUAL ()

uint32_t	VSTART ()

void	VSTART (uint32_t input)

uint16_t	A1 ()

void	A1 (uint16_t input)

uint32_t	V1 ()

void	V1 (uint32_t input)

uint16_t	AMAX ()

void	AMAX (uint16_t input)

uint32_t	VMAX ()

void	VMAX (uint32_t input)

uint16_t	DMAX ()

void	DMAX (uint16_t input)

uint16_t	D1 ()

void	D1 (uint16_t input)

uint32_t	VSTOP ()

void	VSTOP (uint32_t input)

uint16_t	TZEROWAIT ()

void	TZEROWAIT (uint16_t input)

int32_t	XTARGET ()

void	XTARGET (int32_t input)

uint32_t	XLATCH ()

int32_t	X_ENC ()

void	X_ENC (int32_t input)

uint32_t	ENC_CONST ()

void	ENC_CONST (uint32_t input)

bool	ENC_STATUS ()

uint32_t	ENC_LATCH ()

uint8_t	ENCM_CTRL ()

void	ENCM_CTRL (uint8_t input)

void	PWMCONF (uint32_t value)

uint32_t	PWMCONF ()

void	pwm_ampl (uint8_t B)

uint8_t	pwm_ampl ()

void	pwm_grad (uint8_t B)

uint8_t	pwm_grad ()

void	pwm_freq (uint8_t B)

uint8_t	pwm_freq ()

void	pwm_autoscale (bool B)

bool	pwm_autoscale ()

void	pwm_symmetric (bool B)

bool	pwm_symmetric ()

void	freewheel (uint8_t B)

uint8_t	freewheel ()

uint8_t	PWM_SCALE ()

Public Member Functions inherited from TMC2160Stepper
	TMC2160Stepper (uint16_t pinCS, float RS=default_RS, int8_t link_index=-1)

	TMC2160Stepper (uint16_t pinCS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link_index=-1)

	TMC2160Stepper (uint16_t pinCS, float RS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link_index=-1)

void	begin ()

void	defaults ()

void	push ()

uint16_t	cs2rms (uint8_t CS)

void	rms_current (uint16_t mA)

void	rms_current (uint16_t mA, float mult)

uint16_t	rms_current ()

uint32_t	IOIN ()

bool	refl_step ()

bool	refr_dir ()

bool	encb_dcen_cfg4 ()

bool	enca_dcin_cfg5 ()

bool	drv_enn ()

bool	dco_cfg6 ()

uint8_t	version ()

void	SHORT_CONF (uint32_t)

void	s2vs_level (uint8_t)

void	s2g_level (uint8_t)

void	shortfilter (uint8_t)

void	shortdelay (bool)

uint32_t	SHORT_CONF ()

uint8_t	s2vs_level ()

uint8_t	s2g_level ()

uint8_t	shortfilter ()

bool	shortdelay ()

void	DRV_CONF (uint32_t)

void	bbmtime (uint8_t)

void	bbmclks (uint8_t)

void	otselect (uint8_t)

void	drvstrength (uint8_t)

void	filt_isense (uint8_t)

uint32_t	DRV_CONF ()

uint8_t	bbmtime ()

uint8_t	bbmclks ()

uint8_t	otselect ()

uint8_t	drvstrength ()

uint8_t	filt_isense ()

void	GLOBAL_SCALER (uint8_t)

uint8_t	GLOBAL_SCALER ()

uint16_t	OFFSET_READ ()

void	PWMCONF (uint32_t input)

void	pwm_ofs (uint8_t B)

void	pwm_grad (uint8_t B)

void	pwm_freq (uint8_t B)

void	pwm_autoscale (bool B)

void	pwm_autograd (bool B)

void	freewheel (uint8_t B)

void	pwm_reg (uint8_t B)

void	pwm_lim (uint8_t B)

uint32_t	PWMCONF ()

uint8_t	pwm_ofs ()

uint8_t	pwm_grad ()

uint8_t	pwm_freq ()

bool	pwm_autoscale ()

bool	pwm_autograd ()

uint8_t	freewheel ()

uint8_t	pwm_reg ()

uint8_t	pwm_lim ()

uint32_t	PWM_SCALE ()

uint8_t	pwm_scale_sum ()

uint16_t	pwm_scale_auto ()

Public Member Functions inherited from TMC2130Stepper
	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 ()

Additional Inherited Members
Public Attributes inherited from TMC2130Stepper
uint8_t	status_response

Protected Member Functions inherited from TMC5160Stepper
	INIT_REGISTER (ENC_DEVIATION)

bool	drv_enn_cfg6 ()

bool	enc_n_dco ()

uint8_t	ENCM_CTRL ()

void	ENCM_CTRL (uint8_t input)

Protected Member Functions inherited from TMC5130Stepper
	INIT_REGISTER (SLAVECONF)

	INIT_REGISTER (OUTPUT)

	INIT_REGISTER (X_COMPARE)

	INIT_REGISTER (RAMPMODE)

	INIT_REGISTER (XACTUAL)

	INIT_REGISTER (VSTART)

	INIT_REGISTER (A1)

	INIT_REGISTER (V1)

	INIT_REGISTER (AMAX)

	INIT_REGISTER (VMAX)

	INIT_REGISTER (DMAX)

	INIT_REGISTER (D1)

	INIT_REGISTER (VSTOP)

	INIT_REGISTER (TZEROWAIT)

	INIT_REGISTER (SW_MODE)

	INIT_REGISTER (ENCMODE)

	INIT_REGISTER (ENC_CONST)

void	SHORT_CONF (uint32_t)

uint32_t	SHORT_CONF ()

void	s2vs_level (uint8_t)

uint8_t	s2vs_level ()

void	s2g_level (uint8_t)

uint8_t	s2g_level ()

void	shortfilter (uint8_t)

uint8_t	shortfilter ()

void	shortdelay (bool)

bool	shortdelay ()

void	DRV_CONF (uint32_t)

uint32_t	DRV_CONF ()

void	bbmtime (uint8_t)

uint8_t	bbmtime ()

void	bbmclks (uint8_t)

uint8_t	bbmclks ()

void	otselect (uint8_t)

uint8_t	otselect ()

void	drvstrength (uint8_t)

uint8_t	drvstrength ()

void	filt_isense (uint8_t)

uint8_t	filt_isense ()

void	GLOBAL_SCALER (uint8_t)

uint8_t	GLOBAL_SCALER ()

uint16_t	OFFSET_READ ()

void	pwm_ofs (uint8_t B)

uint8_t	pwm_ofs ()

void	pwm_autograd (bool B)

bool	pwm_autograd ()

void	pwm_reg (uint8_t B)

uint8_t	pwm_reg ()

void	pwm_lim (uint8_t B)

uint8_t	pwm_lim ()

uint8_t	pwm_scale_sum ()

uint16_t	pwm_scale_auto ()

Protected Member Functions inherited from TMC2160Stepper
	INIT_REGISTER (SHORT_CONF)

	INIT_REGISTER (DRV_CONF)

	INIT_REGISTER (GLOBAL_SCALER)

	INIT2160_REGISTER (PWMCONF)

uint8_t	ENCM_CTRL ()

void	ENCM_CTRL (uint8_t input)

void	pwm_ampl (uint8_t B)

uint8_t	pwm_ampl ()

void	pwm_symmetric (bool B)

bool	pwm_symmetric ()

Protected Member Functions inherited from TMC2130Stepper
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 inherited from TMC2130Stepper
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 inherited from TMC5160Stepper
static constexpr float	default_RS = 0.075

Static Protected Attributes inherited from TMC5130Stepper
static constexpr float	default_RS = 0.15

Static Protected Attributes inherited from TMC2160Stepper
static constexpr float	default_RS = 0.075

Static Protected Attributes inherited from TMC2130Stepper
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 797 of file TMCStepper.h.

Constructor & Destructor Documentation

◆ TMC5161Stepper() [1/3]

TMC5161Stepper::TMC5161Stepper	(	uint16_t	pinCS,
		float	RS = `default_RS`,
		int8_t	link_index = `-1`
	)

inline

Definition at line 799 of file TMCStepper.h.

◆ TMC5161Stepper() [2/3]

TMC5161Stepper::TMC5161Stepper	(	uint16_t	pinCS,
		uint16_t	pinMOSI,
		uint16_t	pinMISO,
		uint16_t	pinSCK,
		int8_t	link_index = `-1`
	)

inline

Definition at line 800 of file TMCStepper.h.

◆ TMC5161Stepper() [3/3]

TMC5161Stepper::TMC5161Stepper	(	uint16_t	pinCS,
		float	RS,
		uint16_t	pinMOSI,
		uint16_t	pinMISO,
		uint16_t	pinSCK,
		int8_t	link_index = `-1`
	)

inline

Definition at line 802 of file TMCStepper.h.

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

src/TMCStepper.h

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ TMC5161Stepper() [1/3]

◆ TMC5161Stepper() [2/3]

◆ TMC5161Stepper() [3/3]