:orphan:
.. raw:: html
.. dtcompatible:: adi,tmc50xx
.. _dtbinding_adi_tmc50xx:
adi,tmc50xx (on spi bus)
########################
Vendor: :ref:`Analog Devices, Inc. `
.. note::
An implementation of a driver matching this compatible is available in
:zephyr_file:`drivers/stepper/adi_tmc/adi_tmc50xx_stepper_controller.c`.
Description
***********
.. code-block:: none
Analog Devices TMC50XX Stepper Motor Controller
Example:
&spi0 {
/* SPI bus options here, not shown */
/* Dual controller/driver for up to two 2-phase bipolar stepper motors */
tmc50xx: tmc50xx@0 {
compatible = "adi,tmc50xx";
reg = <0>;
spi-max-frequency = ; /* Maximum SPI bus frequency */
#address-cells = <1>;
#size-cells = <0>;
poscmp-enable; test-mode; lock-gconf; /* ADI TMC Global configuration flags */
clock-frequency = ; /* Internal/External Clock frequency */
motor: motor@0 {
status = "okay";
reg = <0>;
/* common stepper controller settings */
invert-direction;
micro-step-res = <256>;
/* ADI TMC stallguard settings specific to TMC50XX */
activate-stallguard2;
stallguard-velocity-check-interval-ms=<100>;
stallguard2-threshold=<9>;
stallguard-threshold-velocity=<500000>;
/* ADI TMC ramp generator as well as current settings */
vstart = <10>;
a1 = <20>;
v1 = <30>;
d1 = <40>;
vmax = <50>;
amax = <60>;
dmax = <70>;
tzerowait = <80>;
vhigh = <90>;
vcoolthrs = <100>;
ihold = <1>;
irun = <2>;
iholddelay = <3>;
};
};
};
Properties
**********
Top level properties
====================
These property descriptions apply to "adi,tmc50xx"
nodes themselves. This page also describes child node
properties in the following sections.
.. 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
* - ``clock-frequency``
- ``int``
- .. code-block:: none
The frequency of the clock signal provided to the TMC50XX.
This is used for real world conversion.
Hint: µstep velocity v[Hz] µsteps / s v[Hz] = v[50xx] * ( fCLK[Hz]/2 / 2^23 )
where v[50xx] is the value written to the TMC50XX.
This property is **required**.
* - ``spi-max-frequency``
- ``int``
- .. code-block:: none
Maximum clock frequency of device's SPI interface in Hz
This property is **required**.
* - ``duplex``
- ``int``
- .. code-block:: none
Duplex mode, full or half. By default it's always full duplex thus 0
as this is, by far, the most common mode.
Use the macros not the actual enum value, here is the concordance
list (see dt-bindings/spi/spi.h)
0 SPI_FULL_DUPLEX
2048 SPI_HALF_DUPLEX
Legal values: ``0``, ``2048``
* - ``frame-format``
- ``int``
- .. code-block:: none
Motorola or TI frame format. By default it's always Motorola's,
thus 0 as this is, by far, the most common format.
Use the macros not the actual enum value, here is the concordance
list (see dt-bindings/spi/spi.h)
0 SPI_FRAME_FORMAT_MOTOROLA
32768 SPI_FRAME_FORMAT_TI
Legal values: ``0``, ``32768``
* - ``spi-cpol``
- ``boolean``
- .. code-block:: none
SPI clock polarity which indicates the clock idle state.
If it is used, the clock idle state is logic high; otherwise, low.
* - ``spi-cpha``
- ``boolean``
- .. code-block:: none
SPI clock phase that indicates on which edge data is sampled.
If it is used, data is sampled on the second edge; otherwise, on the first edge.
* - ``spi-hold-cs``
- ``boolean``
- .. code-block:: none
In some cases, it is necessary for the master to manage SPI chip select
under software control, so that multiple spi transactions can be performed
without releasing it. A typical use case is variable length SPI packets
where the first spi transaction reads the length and the second spi transaction
reads length bytes.
* - ``supply-gpios``
- ``phandle-array``
- .. code-block:: none
GPIO specifier that controls power to the device.
This property should be provided when the device has a dedicated
switch that controls power to the device. The supply state is
entirely the responsibility of the device driver.
Contrast with vin-supply.
* - ``vin-supply``
- ``phandle``
- .. code-block:: none
Reference to the regulator that controls power to the device.
The referenced devicetree node must have a regulator compatible.
This property should be provided when device power is supplied
by a shared regulator. The supply state is dependent on the
request status of all devices fed by the regulator.
Contrast with supply-gpios. If both properties are provided
then the regulator must be requested before the supply GPIOS is
set to an active state, and the supply GPIOS must be set to an
inactive state before releasing the regulator.
* - ``poscmp-enable``
- ``boolean``
- .. code-block:: none
Enable position compare feature
0: Outputs INT and PP are tristated.
1: Position compare pulse (PP) and interrupt output (INT) are available
Attention – do not leave the outputs floating in tristate condition, provide an external
pull-up or set poscmp-enable=1
* - ``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!
* - ``lock-gconf``
- ``boolean``
- .. code-block:: none
1: GCONF is locked against further write access.
.. 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,tmc50xx" compatible.
.. list-table::
:widths: 1 1 4
:header-rows: 1
* - Name
- Type
- Details
* - ``#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.
* - ``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.
This property is **required**.
See :ref:`zephyr:dt-important-props` for more information.
* - ``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-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.
* - ``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.
Child node properties
=====================
.. list-table::
:widths: 1 1 4
:header-rows: 1
* - Name
- Type
- Details
* - ``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.
* - ``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.
* - ``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
* - ``vcoolthrs``
- ``int``
- .. code-block:: none
This is the lower threshold velocity for switching on smart energy CoolStep and StallGuard
feature. Further it is the upper operation velocity for StealthChop. (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)
becomes enabled when exceeding this velocity. It becomes disabled again once the velocity
falls below this threshold. This allows for homing procedures with StallGuard by blanking out
the StallGuard signal at low velocities (will not work in combination with StealthChop).
VHIGH ≥ |VACT| ≥ VCOOLTHRS:
- CoolStep and stop on stall are enabled, if configured
- Voltage PWM mode StealthChop is switched off, if configured
* - ``vhigh``
- ``int``
- .. code-block:: none
This velocity setting allows velocity dependent switching into a different chopper mode and
fullstepping to maximize torque.(unsigned)
|VACT| ≥ VHIGH:
- CoolStep is disabled (motor runs with normal current scale)
- 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.
- Voltage PWM mode StealthChop is switched off, if configured
* - ``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``