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.. raw:: html
.. _dtbinding_adi_tmc51xx_uart:
adi,tmc51xx (on uart bus)
#########################
Vendor: :ref:`Analog Devices, Inc. `
.. note::
An implementation of a driver matching this compatible is available in
:zephyr_file:`drivers/stepper/adi_tmc/tmc51xx`.
Description
***********
.. code-block:: none
Analog Devices TMC51XX Stepper Motor Controller (UART single-wire mode)
This binding supports the single-wire UART mode where:
- SWIOP is connected to the MCU's UART TX/RX pin
- SWION should be connected to half the IO level voltage (1.65V for 3.3V systems)
- SW_SEL must be HIGH (either via GPIO control or hardwired)
Example:
&uart2 {
current-speed = <115200>;
status = "okay";
tmc51xx: tmc51xx {
compatible = "adi,tmc51xx";
sw-sel-gpios = <&gpiob 0x01 GPIO_ACTIVE_HIGH>;
/* Common settings from base binding */
clock-frequency = ;
en-pwm-mode;
invert-direction;
micro-step-res = <256>;
/* ADI TMC ramp generator as well as current settings */
vstart = <0>;
vstop = <10>;
a1 = <1000>;
v1 = <50000>;
d1 = <1400>;
vmax = <200000>;
amax = <50000>;
dmax = <700>;
tzerowait = <100>;
ihold = <10>;
irun = <31>;
iholddelay = <6>;
};
};
Properties
**********
.. tabs::
.. group-tab:: Node specific properties
Properties not inherited from the base binding file.
.. list-table::
:widths: 1 1 4
:header-rows: 1
* - Name
- Type
- Details
* - ``sw-sel-gpios``
- ``phandle-array``
- .. code-block:: none
GPIO connected to the SW_SEL pin of TMC51XX.
Must be set HIGH for UART mode operation.
If not provided, it's assumed SW_SEL is hardwired to VCC/HIGH.
* - ``uart-device-addr``
- ``int``
- .. code-block:: none
UART device address for TMC51XX in UART mode.
Valid range: 0 - 253
* - ``clock-frequency``
- ``int``
- .. code-block:: none
The frequency of the clock signal provided to the TMC51XX.
This is used for real world conversion.
Hint: µstep velocity v[Hz] µsteps / s v[Hz] = v[51xx] * ( fCLK[Hz]/2 / 2^23 )
where v[51xx] is the value written to the TMC51XX.
This property is **required**.
* - ``test-mode``
- ``boolean``
- .. code-block:: none
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!
* - ``en-pwm-mode``
- ``boolean``
- .. code-block:: none
1: StealthChop voltage PWM mode enabled
(depending on velocity thresholds). Switch from
off to on state while in stand-still and at IHOLD=
nominal IRUN current, only.
* - ``invert-direction``
- ``boolean``
- .. code-block:: none
Invert motor direction.
* - ``micro-step-res``
- ``int``
- .. code-block:: none
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``
- .. code-block:: none
GPIO pins used to control the enable signal of the motor driver.
* - ``step-gpios``
- ``phandle-array``
- .. code-block:: none
The GPIO pins used to send step signals to the stepper motor.
* - ``dir-gpios``
- ``phandle-array``
- .. code-block:: none
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.
* - ``counter``
- ``phandle``
- .. code-block:: none
Counter used for generating step-accurate pulse signals.
* - ``vstart``
- ``int``
- .. code-block:: none
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``
- .. code-block:: none
First acceleration between VSTART and V1 in [µsteps/ta²](unsigned)
* - ``v1``
- ``int``
- .. code-block:: none
First acceleration / deceleration phase threshold velocity in [µsteps/t] (unsigned)
0: Disables A1 and D1 phase, use AMAX, DMAX only
* - ``amax``
- ``int``
- .. code-block:: none
Second acceleration between V1 and VMAX in [µsteps/ta²](unsigned)
This is the acceleration and deceleration value
for velocity mode.
* - ``vmax``
- ``int``
- .. code-block:: none
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``
- .. code-block:: none
Deceleration between VMAX and V1 in [µsteps/ta²](unsigned)
* - ``d1``
- ``int``
- .. code-block:: none
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``
- .. code-block:: none
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``
- .. code-block:: none
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``
- .. code-block:: none
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``
- .. code-block:: none
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``
- .. code-block:: none
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
* - ``tcoolthrs``
- ``int``
- .. code-block:: none
This is the lower threshold velocity for switching on smart
energy CoolStep and StallGuard feature. (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) and the stall
output signal become enabled when exceeding this velocity. In
non-DcStep mode, it becomes disabled again once the velocity
falls below this threshold.
TCOOLTHRS ≥ TSTEP ≥ THIGH:
- CoolStep is enabled, if configured
- StealthChop voltage PWM mode is disabled
TCOOLTHRS ≥ TSTEP
- Stop on stall is enabled, if configured
- Stall output signal (DIAG0/1) is enabled, if configured
* - ``thigh``
- ``int``
- .. code-block:: none
This velocity setting allows velocity dependent switching into
a different chopper mode and fullstepping to maximize torque.
(unsigned)
The stall detection feature becomes switched off for 2-3
electrical periods whenever passing THIGH threshold to
compensate for the effect of switching modes.
TSTEP ≤ THIGH:
- CoolStep is disabled (motor runs with normal current
scale)
- StealthChop voltage PWM mode is disabled
- 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,
and the stall detection becomes switched over to
DcStep stall detection.
* - ``tpwmthrs``
- ``int``
- .. code-block:: none
This is the upper velocity for StealthChop voltage PWM mode.
TSTEP ≥ TPWMTHRS
- StealthChop PWM mode is enabled, if configured
- DcStep is disabled
* - ``tpowerdown``
- ``int``
- .. code-block:: none
TPOWERDOWN sets the delay time after stand still (stst) of the
motor to motor current power down. Time range is about 0 to
4 seconds.
Attention: A minimum setting of 2 is required to allow
automatic tuning of StealthChop PWM_OFS_AUTO.
Reset Default = 10
0…((2^8)-1) * 2^18 tCLK
Default value: ``10``
* - ``activate-stallguard2``
- ``boolean``
- .. code-block:: none
Enable StallGuard2 feature, if the driver supports it.
* - ``stallguard2-threshold``
- ``int``
- .. code-block:: none
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``
- .. code-block:: none
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``
- .. code-block:: none
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``
.. group-tab:: Deprecated node specific properties
Deprecated properties not inherited from the base binding file.
(None)
.. group-tab:: Base properties
Properties inherited from the base binding file, which defines
common properties that may be set on many nodes. Not all of these
may apply to the "adi,tmc51xx" compatible.
.. list-table::
:widths: 1 1 4
:header-rows: 1
* - Name
- Type
- Details
* - ``status``
- ``string``
- .. code-block:: none
Indicates the operational status of the hardware or other
resource that the node represents. In particular:
- "okay" means the resource is operational and, for example,
can be used by device drivers
- "disabled" means the resource is not operational and the system
should treat it as if it is not present
For details, see "2.3.4 status" in Devicetree Specification v0.4.
Legal values: ``'ok'``, ``'okay'``, ``'disabled'``, ``'reserved'``, ``'fail'``, ``'fail-sss'``
See :ref:`zephyr:dt-important-props` for more information.
* - ``compatible``
- ``string-array``
- .. code-block:: none
This property is a list of strings that essentially define what
type of hardware or other resource this devicetree node
represents. Each device driver checks for specific compatible
property values to find the devicetree nodes that represent
resources that the driver should manage.
The recommended format is "vendor,device", The "vendor" part is
an abbreviated name of the vendor. The "device" is usually from
the datasheet.
The compatible property can have multiple values, ordered from
most- to least-specific. Having additional values is useful when the
device is a specific instance of a more general family, to allow the
system to match the most specific driver available.
For details, see "2.3.1 compatible" in Devicetree Specification v0.4.
This property is **required**.
See :ref:`zephyr:dt-important-props` for more information.
* - ``reg``
- ``array``
- .. code-block:: none
Information used to address the device. The value is specific to
the device (i.e. is different depending on the compatible
property).
The "reg" property is typically a sequence of (address, length) pairs.
Each pair is called a "register block". Values are
conventionally written in hex.
For details, see "2.3.6 reg" in Devicetree Specification v0.4.
See :ref:`zephyr:dt-important-props` for more information.
* - ``reg-names``
- ``string-array``
- .. code-block:: none
Optional names given to each register block in the "reg" property.
For example:
/ {
soc {
#address-cells = <1>;
#size-cells = <1>;
uart@1000 {
reg = <0x1000 0x2000>, <0x3000 0x4000>;
reg-names = "foo", "bar";
};
};
};
The uart@1000 node has two register blocks:
- one with base address 0x1000, size 0x2000, and name "foo"
- another with base address 0x3000, size 0x4000, and name "bar"
* - ``interrupts``
- ``array``
- .. code-block:: none
Information about interrupts generated by the device, encoded as an array
of one or more interrupt specifiers. The format of the data in this property
varies by where the device appears in the interrupt tree. Devices with the same
"interrupt-parent" will use the same format in their interrupts properties.
For details, see "2.4 Interrupts and Interrupt Mapping" in
Devicetree Specification v0.4.
See :ref:`zephyr:dt-important-props` for more information.
* - ``interrupts-extended``
- ``compound``
- .. code-block:: none
Extended interrupt specifier for device, used as an alternative to
the "interrupts" property.
For details, see "2.4 Interrupts and Interrupt Mapping" in
Devicetree Specification v0.4.
* - ``interrupt-names``
- ``string-array``
- .. code-block:: none
Optional names given to each interrupt generated by a device.
The interrupts themselves are defined in either "interrupts" or
"interrupts-extended" properties.
For details, see "2.4 Interrupts and Interrupt Mapping" in
Devicetree Specification v0.4.
* - ``interrupt-parent``
- ``phandle``
- .. code-block:: none
If present, this refers to the node which handles interrupts generated
by this device.
For details, see "2.4 Interrupts and Interrupt Mapping" in
Devicetree Specification v0.4.
* - ``label``
- ``string``
- .. code-block:: none
Human readable string describing the device. Use of this property is
deprecated except as needed on a case-by-case basis.
For details, see "4.1.2 Miscellaneous Properties" in Devicetree
Specification v0.4.
See :ref:`zephyr:dt-important-props` for more information.
* - ``clocks``
- ``phandle-array``
- .. code-block:: none
Information about the device's clock providers. In general, this property
should follow conventions established in the dt-schema binding:
https://github.com/devicetree-org/dt-schema/blob/main/dtschema/schemas/clock/clock.yaml
* - ``clock-names``
- ``string-array``
- .. code-block:: none
Optional names given to each clock provider in the "clocks" property.
* - ``#address-cells``
- ``int``
- .. code-block:: none
This property encodes the number of cells used by address fields
in "reg" properties in this node's children.
For details, see "2.3.5 #address-cells and #size-cells" in Devicetree
Specification v0.4.
Default value: ``1``
Constant value: ``1``
* - ``#size-cells``
- ``int``
- .. code-block:: none
This property encodes the number of cells used by size fields in
"reg" properties in this node's children.
For details, see "2.3.5 #address-cells and #size-cells" in Devicetree
Specification v0.4.
* - ``dmas``
- ``phandle-array``
- .. code-block:: none
DMA channel specifiers relevant to the device.
* - ``dma-names``
- ``string-array``
- .. code-block:: none
Optional names given to the DMA channel specifiers in the "dmas" property.
* - ``io-channels``
- ``phandle-array``
- .. code-block:: none
IO channel specifiers relevant to the device.
* - ``io-channel-names``
- ``string-array``
- .. code-block:: none
Optional names given to the IO channel specifiers in the "io-channels" property.
* - ``mboxes``
- ``phandle-array``
- .. code-block:: none
Mailbox / IPM channel specifiers relevant to the device.
* - ``mbox-names``
- ``string-array``
- .. code-block:: none
Optional names given to the mbox specifiers in the "mboxes" property.
* - ``power-domains``
- ``phandle-array``
- .. code-block:: none
Power domain specifiers relevant to the device.
* - ``power-domain-names``
- ``string-array``
- .. code-block:: none
Optional names given to the power domain specifiers in the "power-domains" property.
* - ``#power-domain-cells``
- ``int``
- .. code-block:: none
Number of cells in power-domains property
* - ``zephyr,deferred-init``
- ``boolean``
- .. code-block:: none
Do not initialize device automatically on boot. Device should be manually
initialized using device_init().
* - ``wakeup-source``
- ``boolean``
- .. code-block:: none
Property to identify that a device can be used as wake up source.
When this property is provided a specific flag is set into the
device that tells the system that the device is capable of
wake up the system.
Wake up capable devices are disabled (interruptions will not wake up
the system) by default but they can be enabled at runtime if necessary.
* - ``zephyr,pm-device-runtime-auto``
- ``boolean``
- .. code-block:: none
Automatically configure the device for runtime power management after the
init function runs.
* - ``zephyr,disabling-power-states``
- ``phandles``
- .. code-block:: none
List of power states that will disable this device power.