Crate tmc2209[−][src]

Modules

Declaration of the TMC2209 registers and their implementations.

Structs

The read access request datagram.

The read access response datagram.

A serial reader, for reading responses via the TMC2209’s UART interface.

The write access request datagram.

Enums

For observing the current state of the reader.

Constants

INTERNAL_CLOCK_HZ

The frequency of the clock that is internal to the TMC2209.

Responses are always addressed to the master with this value.

SYNC_AND_RESERVED

The first four bits for synchronisation, the last four are zeroed reserved bytes.

Traits

ReadableRegister

Implemented for all registers that can be read from.

Implemented for all register types.

WritableRegister

Implemented for all registers that can be written to.

Functions

Blocks and attempts to read a register from the given UART receiver.

await_read_response

Blocks and attempts to read a response from the given UART receiver.

chopper_hz_to_toff

Convert the given frequency to the closest TOFF value.

Cyclic redundancy check.

Construct a new read access datagram for register R of the slave at the given address.

rms_current_to_vsense_cs

Use the selected sense resistor value (in ohms) and the motor’s rated current (in mA) to determine the recommended vsense and “current scale” (for IRUN) values.

send_read_request

Construct a read access datagram for register R of the slave at the given address and send it via UART.

send_write_request

Construct a write access datagram for register R of the slave at the given address and send it via UART.

toff_to_chopper_hz

Convert the given TOFF value to the associated chopper frequency.

vsense_cs_to_rms_current

Use the selected sense resistor value (in ohms) and the current vsense setting to convert the given “current scale” value to an RMS current in mA.

Construct a new write access datagram for register R of the slave at the given address.