:orphan: .. raw:: html .. dtcompatible:: adi,tmc51xx-stepper .. _dtbinding_adi_tmc51xx_stepper: adi,tmc51xx-stepper ################### .. sidebar:: Overview :Name: ``adi,tmc51xx-stepper`` :Vendor: :ref:`Analog Devices, Inc. ` :Used in: :zephyr:board-catalog:`List of boards <#compatibles=adi,tmc51xx-stepper>` using this compatible :Driver: :zephyr_file:`drivers/stepper/adi_tmc/tmc51xx/tmc51xx_stepper.c` Description *********** .. code-block:: none Stallguard bindings for Trinamic stepper controller. 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 * - ``activate-stallguard2`` - ``boolean`` - .. code-block:: none Enable StallGuard2 feature, if the driver supports it. * - ``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`` * - ``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`` .. 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-stepper" compatible. (None)