adi,tmc5041 (on spi bus)
Vendor: Analog Devices, Inc.
Note
An implementation of a driver matching this compatible is available in drivers/stepper/adi_tmc/adi_tmc5041_stepper_controller.c.
Description
Analog Devices TMC5041 Stepper Motor Controller
Example:
#include <zephyr/dt-bindings/stepper/adi/tmc5041_reg.h>
&spi0 {
/* SPI bus options here, not shown */
/* Dual controller/driver for up to two 2-phase bipolar stepper motors */
tmc5041: tmc5041@0 {
compatible = "adi,tmc5041";
reg = <0>;
spi-max-frequency = <DT_FREQ_M(24)>; /* Maximum SPI bus frequency */
#address-cells = <1>;
#size-cells = <0>;
poscmp_enable; test_mode; lock_gconf; /* ADI TMC Global configuration flags */
clock-frequency = <DT_FREQ_M(16)>; /* 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 TMC5041 */
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,tmc5041” nodes themselves. This page also describes child node properties in the following sections.
Node specific properties
Properties not inherited from the base binding file.
Name |
Type |
Details |
|---|---|---|
|
|
The frequency of the clock signal provided to the TMC5041.
This is used for real world conversion.
Hint: µstep velocity v[Hz] µsteps / s v[Hz] = v[5041] * ( fCLK[Hz]/2 / 2^23 )
where v[5041] is the value written to the TMC5041.
This property is required. |
|
|
Maximum clock frequency of device's SPI interface in Hz
This property is required. |
|
|
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: |
|
|
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: |
|
|
SPI clock polarity which indicates the clock idle state.
If it is used, the clock idle state is logic high; otherwise, low.
|
|
|
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.
|
|
|
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.
|
|
|
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.
|
|
|
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.
|
|
|
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
|
|
|
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!
|
|
|
1: GCONF is locked against further write access.
|
Deprecated node specific properties
Deprecated properties not inherited from the base binding file.
(None)
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,tmc5041” compatible.
Name |
Type |
Details |
|---|---|---|
|
|
number of address cells in reg property
Default value: Constant value: |
|
|
number of size cells in reg property
|
|
|
register space
This property is required. See Important properties for more information. |
|
|
indicates the operational status of a device
Legal values: See Important properties for more information. |
|
|
compatible strings
This property is required. See Important properties for more information. |
|
|
name of each register space
|
|
|
interrupts for device
See Important properties for more information. |
|
|
extended interrupt specifier for device
|
|
|
name of each interrupt
|
|
|
phandle to interrupt controller node
|
|
|
Human readable string describing the device (used as device_get_binding() argument)
See Important properties for more information. This property is deprecated. |
|
|
Clock gate information
|
|
|
name of each clock
|
|
|
DMA channels specifiers
|
|
|
Provided names of DMA channel specifiers
|
|
|
IO channels specifiers
|
|
|
Provided names of IO channel specifiers
|
|
|
mailbox / IPM channels specifiers
|
|
|
Provided names of mailbox / IPM channel specifiers
|
|
|
Power domain specifiers
|
|
|
Provided names of power domain specifiers
|
|
|
Number of cells in power-domains property
|
|
|
Do not initialize device automatically on boot. Device should be manually
initialized using device_init().
|
|
|
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.
|
|
|
Automatically configure the device for runtime power management after the
init function runs.
|
|
|
List of power states that will disable this device power.
|
Child node properties
Name |
Type |
Details |
|---|---|---|
|
|
register space
See Important properties for more information. |
|
|
Invert motor direction.
|
|
|
micro-step resolution to be set while initializing the device driver.
Default value: Legal values: |
|
|
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: |
|
|
First acceleration between VSTART and V1 in [µsteps/ta²](unsigned)
|
|
|
First acceleration / deceleration phase threshold velocity in [µsteps/t] (unsigned)
0: Disables A1 and D1 phase, use AMAX, DMAX only
|
|
|
Second acceleration between V1 and VMAX in [µsteps/ta²](unsigned)
This is the acceleration and deceleration value
for velocity mode.
|
|
|
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.
|
|
|
Deceleration between VMAX and V1 in [µsteps/ta²](unsigned)
|
|
|
Deceleration between V1 and VSTOP in [µsteps/ta²](unsigned)
Attention: Do not set 0 in positioning mode,
even if V1=0!
Default value: |
|
|
Motor stop velocity in [µsteps/t] (unsigned)
Attention: Set VSTOP ≥ VSTART!
Attention: Do not set 0 in positioning mode,
minimum 10 recommended!
Default value: |
|
|
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.
|
|
|
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
|
|
|
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.
|
|
|
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
|
|
|
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
|
|
|
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
|
|
|
Enable StallGuard2 feature, if the driver supports it.
|
|
|
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.
|
|
|
Threshold velocity for StallGuard2 to detect a stall event.
This value should be greater than zero.
Default value: |
|
|
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: |