silent_stepper_brick

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 Go to latest Published: Feb 27, 2024 License: CC0-1.0 Imports: 5 Imported by: 0

Documentation

Overview

Silently drives one bipolar stepper motor with up to 46V and 1.6A per phase.

See also the documentation here: https://www.tinkerforge.com/en/doc/Software/Bricks/SilentStepper_Brick_Go.html.

Index

Constants

View Source 
const DeviceDisplayName = "Silent Stepper Brick"
View Source 
const DeviceIdentifier = 19

Variables

This section is empty.

Functions

This section is empty.

Types

type ChopperMode 

type ChopperMode = uint8
const (
	ChopperModeSpreadCycle ChopperMode = 0
	ChopperModeFastDecay   ChopperMode = 1
)

type CommunicationMethod 

type CommunicationMethod = uint8
const (
	CommunicationMethodNone     CommunicationMethod = 0
	CommunicationMethodUSB      CommunicationMethod = 1
	CommunicationMethodSPIStack CommunicationMethod = 2
	CommunicationMethodChibi    CommunicationMethod = 3
	CommunicationMethodRS485    CommunicationMethod = 4
	CommunicationMethodWIFI     CommunicationMethod = 5
	CommunicationMethodEthernet CommunicationMethod = 6
	CommunicationMethodWIFIV2   CommunicationMethod = 7
)

type CurrentDownStepDecrement 

type CurrentDownStepDecrement = uint8
const (
	CurrentDownStepDecrement1  CurrentDownStepDecrement = 0
	CurrentDownStepDecrement2  CurrentDownStepDecrement = 1
	CurrentDownStepDecrement8  CurrentDownStepDecrement = 2
	CurrentDownStepDecrement32 CurrentDownStepDecrement = 3
)

type CurrentUpStepIncrement 

type CurrentUpStepIncrement = uint8
const (
	CurrentUpStepIncrement1 CurrentUpStepIncrement = 0
	CurrentUpStepIncrement2 CurrentUpStepIncrement = 1
	CurrentUpStepIncrement4 CurrentUpStepIncrement = 2
	CurrentUpStepIncrement8 CurrentUpStepIncrement = 3
)

type FreewheelMode 

type FreewheelMode = uint8
const (
	FreewheelModeNormal       FreewheelMode = 0
	FreewheelModeFreewheeling FreewheelMode = 1
	FreewheelModeCoilShortLS  FreewheelMode = 2
	FreewheelModeCoilShortHS  FreewheelMode = 3
)

type Function 

type Function = uint8
const (
	FunctionSetMaxVelocity              Function = 1
	FunctionGetMaxVelocity              Function = 2
	FunctionGetCurrentVelocity          Function = 3
	FunctionSetSpeedRamping             Function = 4
	FunctionGetSpeedRamping             Function = 5
	FunctionFullBrake                   Function = 6
	FunctionSetCurrentPosition          Function = 7
	FunctionGetCurrentPosition          Function = 8
	FunctionSetTargetPosition           Function = 9
	FunctionGetTargetPosition           Function = 10
	FunctionSetSteps                    Function = 11
	FunctionGetSteps                    Function = 12
	FunctionGetRemainingSteps           Function = 13
	FunctionSetStepConfiguration        Function = 14
	FunctionGetStepConfiguration        Function = 15
	FunctionDriveForward                Function = 16
	FunctionDriveBackward               Function = 17
	FunctionStop                        Function = 18
	FunctionGetStackInputVoltage        Function = 19
	FunctionGetExternalInputVoltage     Function = 20
	FunctionSetMotorCurrent             Function = 22
	FunctionGetMotorCurrent             Function = 23
	FunctionEnable                      Function = 24
	FunctionDisable                     Function = 25
	FunctionIsEnabled                   Function = 26
	FunctionSetBasicConfiguration       Function = 27
	FunctionGetBasicConfiguration       Function = 28
	FunctionSetSpreadcycleConfiguration Function = 29
	FunctionGetSpreadcycleConfiguration Function = 30
	FunctionSetStealthConfiguration     Function = 31
	FunctionGetStealthConfiguration     Function = 32
	FunctionSetCoolstepConfiguration    Function = 33
	FunctionGetCoolstepConfiguration    Function = 34
	FunctionSetMiscConfiguration        Function = 35
	FunctionGetMiscConfiguration        Function = 36
	FunctionGetDriverStatus             Function = 37
	FunctionSetMinimumVoltage           Function = 38
	FunctionGetMinimumVoltage           Function = 39
	FunctionSetTimeBase                 Function = 42
	FunctionGetTimeBase                 Function = 43
	FunctionGetAllData                  Function = 44
	FunctionSetAllDataPeriod            Function = 45
	FunctionGetAllDataPeriod            Function = 46
	FunctionSetSPITFPBaudrateConfig     Function = 231
	FunctionGetSPITFPBaudrateConfig     Function = 232
	FunctionGetSendTimeoutCount         Function = 233
	FunctionSetSPITFPBaudrate           Function = 234
	FunctionGetSPITFPBaudrate           Function = 235
	FunctionGetSPITFPErrorCount         Function = 237
	FunctionEnableStatusLED             Function = 238
	FunctionDisableStatusLED            Function = 239
	FunctionIsStatusLEDEnabled          Function = 240
	FunctionGetProtocol1BrickletName    Function = 241
	FunctionGetChipTemperature          Function = 242
	FunctionReset                       Function = 243
	FunctionWriteBrickletPlugin         Function = 246
	FunctionReadBrickletPlugin          Function = 247
	FunctionGetIdentity                 Function = 255
	FunctionCallbackUnderVoltage        Function = 40
	FunctionCallbackPositionReached     Function = 41
	FunctionCallbackAllData             Function = 47
	FunctionCallbackNewState            Function = 48
)

type MinimumCurrent 

type MinimumCurrent = uint8
const (
	MinimumCurrentHalf    MinimumCurrent = 0
	MinimumCurrentQuarter MinimumCurrent = 1
)

type OpenLoad 

type OpenLoad = uint8
const (
	OpenLoadNone    OpenLoad = 0
	OpenLoadPhaseA  OpenLoad = 1
	OpenLoadPhaseB  OpenLoad = 2
	OpenLoadPhaseAB OpenLoad = 3
)

type OverTemperature 

type OverTemperature = uint8
const (
	OverTemperatureNone    OverTemperature = 0
	OverTemperatureWarning OverTemperature = 1
	OverTemperatureLimit   OverTemperature = 2
)

type ShortToGround 

type ShortToGround = uint8
const (
	ShortToGroundNone    ShortToGround = 0
	ShortToGroundPhaseA  ShortToGround = 1
	ShortToGroundPhaseB  ShortToGround = 2
	ShortToGroundPhaseAB ShortToGround = 3
)

type SilentStepperBrick 

type SilentStepperBrick struct {
	// contains filtered or unexported fields
}

func New 

func New(uid string, ipcon *ipconnection.IPConnection) (SilentStepperBrick, error)

Creates an object with the unique device ID `uid`. This object can then be used after the IP Connection `ipcon` is connected.

func (*SilentStepperBrick) DeregisterAllDataCallback 

func (device *SilentStepperBrick) DeregisterAllDataCallback(registrationId uint64)

Remove a registered All Data callback.

func (*SilentStepperBrick) DeregisterNewStateCallback 

func (device *SilentStepperBrick) DeregisterNewStateCallback(registrationId uint64)

Remove a registered New State callback.

func (*SilentStepperBrick) DeregisterPositionReachedCallback 

func (device *SilentStepperBrick) DeregisterPositionReachedCallback(registrationId uint64)

Remove a registered Position Reached callback.

func (*SilentStepperBrick) DeregisterUnderVoltageCallback 

func (device *SilentStepperBrick) DeregisterUnderVoltageCallback(registrationId uint64)

Remove a registered Under Voltage callback.

func (*SilentStepperBrick) Disable 

func (device *SilentStepperBrick) Disable() (err error)

Disables the driver chip. The configurations are kept (maximum velocity, acceleration, etc) but the motor is not driven until it is enabled again.

Warning 

Disabling the driver chip while the motor is still turning can damage the
driver chip. The motor should be stopped calling Stop function
before disabling the motor power. The Stop function will **not**
wait until the motor is actually stopped. You have to explicitly wait for the
appropriate time after calling the Stop function before calling
the Disable function.

func (*SilentStepperBrick) DisableStatusLED 

func (device *SilentStepperBrick) DisableStatusLED() (err error)

Disables the status LED.

The status LED is the blue LED next to the USB connector. If enabled is is on and it flickers if data is transfered. If disabled it is always off.

The default state is enabled.

func (*SilentStepperBrick) DriveBackward 

func (device *SilentStepperBrick) DriveBackward() (err error)

Drives the stepper motor backward until DriveForward or Stop is triggered. The velocity, acceleration and deacceleration as set by SetMaxVelocity and SetSpeedRamping will be used.

func (*SilentStepperBrick) DriveForward 

func (device *SilentStepperBrick) DriveForward() (err error)

Drives the stepper motor forward until DriveBackward or Stop is called. The velocity, acceleration and deacceleration as set by SetMaxVelocity and SetSpeedRamping will be used.

func (*SilentStepperBrick) Enable 

func (device *SilentStepperBrick) Enable() (err error)

Enables the driver chip. The driver parameters can be configured (maximum velocity, acceleration, etc) before it is enabled.

func (*SilentStepperBrick) EnableStatusLED 

func (device *SilentStepperBrick) EnableStatusLED() (err error)

Enables the status LED.

The status LED is the blue LED next to the USB connector. If enabled is is on and it flickers if data is transfered. If disabled it is always off.

The default state is enabled.

func (*SilentStepperBrick) FullBrake 

func (device *SilentStepperBrick) FullBrake() (err error)

Executes an active full brake.

Warning 

This function is for emergency purposes,
where an immediate brake is necessary. Depending on the current velocity and
the strength of the motor, a full brake can be quite violent.

Call Stop if you just want to stop the motor.

func (*SilentStepperBrick) GetAPIVersion 

func (device *SilentStepperBrick) GetAPIVersion() [3]uint8

Returns the version of the API definition (major, minor, revision) implemented by this API bindings. This is neither the release version of this API bindings nor does it tell you anything about the represented Brick or Bricklet.

func (*SilentStepperBrick) GetAllData 

func (device *SilentStepperBrick) GetAllData() (currentVelocity uint16, currentPosition int32, remainingSteps int32, stackVoltage uint16, externalVoltage uint16, currentConsumption uint16, err error)

Returns the following parameters: The current velocity, the current position, the remaining steps, the stack voltage, the external voltage and the current consumption of the stepper motor.

The current consumption is calculated by multiplying the “Actual Motor Current“ value (see SetBasicConfiguration) with the “Motor Run Current“ (see GetDriverStatus). This is an internal calculation of the driver, not an independent external measurement.

The current consumption calculation was broken up to firmware 2.0.1, it is fixed since firmware 2.0.2.

There is also a callback for this function, see RegisterAllDataCallback callback.

func (*SilentStepperBrick) GetAllDataPeriod 

func (device *SilentStepperBrick) GetAllDataPeriod() (period uint32, err error)

Returns the period as set by SetAllDataPeriod.

func (*SilentStepperBrick) GetBasicConfiguration 

func (device *SilentStepperBrick) GetBasicConfiguration() (standstillCurrent uint16, motorRunCurrent uint16, standstillDelayTime uint16, powerDownTime uint16, stealthThreshold uint16, coolstepThreshold uint16, classicThreshold uint16, highVelocityChopperMode bool, err error)

Returns the configuration as set by SetBasicConfiguration.

func (*SilentStepperBrick) GetChipTemperature 

func (device *SilentStepperBrick) GetChipTemperature() (temperature int16, err error)

Returns the temperature as measured inside the microcontroller. The value returned is not the ambient temperature!

The temperature is only proportional to the real temperature and it has an accuracy of ±15%. Practically it is only useful as an indicator for temperature changes.

func (*SilentStepperBrick) GetCoolstepConfiguration 

func (device *SilentStepperBrick) GetCoolstepConfiguration() (minimumStallguardValue uint8, maximumStallguardValue uint8, currentUpStepWidth CurrentUpStepIncrement, currentDownStepWidth CurrentDownStepDecrement, minimumCurrent MinimumCurrent, stallguardThresholdValue int8, stallguardMode StallguardMode, err error)

Returns the configuration as set by SetCoolstepConfiguration.

Associated constants:

  • CurrentUpStepIncrement1
  • CurrentUpStepIncrement2
  • CurrentUpStepIncrement4
  • CurrentUpStepIncrement8
  • CurrentDownStepDecrement1
  • CurrentDownStepDecrement2
  • CurrentDownStepDecrement8
  • CurrentDownStepDecrement32
  • MinimumCurrentHalf
  • MinimumCurrentQuarter
  • StallguardModeStandard
  • StallguardModeFiltered

func (*SilentStepperBrick) GetCurrentPosition 

func (device *SilentStepperBrick) GetCurrentPosition() (position int32, err error)

Returns the current position of the stepper motor in steps. On startup the position is 0. The steps are counted with all possible driving functions (SetTargetPosition, SetSteps, DriveForward or DriveBackward). It also is possible to reset the steps to 0 or set them to any other desired value with SetCurrentPosition.

func (*SilentStepperBrick) GetCurrentVelocity 

func (device *SilentStepperBrick) GetCurrentVelocity() (velocity uint16, err error)

Returns the *current* velocity of the stepper motor.

func (*SilentStepperBrick) GetDriverStatus 

func (device *SilentStepperBrick) GetDriverStatus() (openLoad OpenLoad, shortToGround ShortToGround, overTemperature OverTemperature, motorStalled bool, actualMotorCurrent uint8, fullStepActive bool, stallguardResult uint8, stealthVoltageAmplitude uint8, err error)

Returns the current driver status.

  • Open Load: Indicates if an open load is present on phase A, B or both. This could mean that there is a problem with the wiring of the motor. False detection can occur in fast motion as well as during stand still.
  • Short To Ground: Indicates if a short to ground is present on phase A, B or both. If this is detected the driver automatically becomes disabled and stays disabled until it is enabled again manually.
  • Over Temperature: The over temperature indicator switches to Warning if the driver IC warms up. The warning flag is expected during long duration stepper uses. If the temperature limit is reached the indicator switches to Limit. In this case the driver becomes disabled until it cools down again.

* Motor Stalled: Is true if a motor stall was detected.

  • Actual Motor Current: Indicates the actual current control scaling as used in Coolstep mode. It represents a multiplier of 1/32 to 32/32 of the “Motor Run Current“ as set by SetBasicConfiguration. Example: If a “Motor Run Current“ of 1000mA was set and the returned value is 15, the “Actual Motor Current“ is 16/32*1000mA = 500mA.
  • Stallguard Result: Indicates the load of the motor. A lower value signals a higher load. Per trial and error you can find out which value corresponds to a suitable torque for the velocity used in your application. After that you can use this threshold value to find out if a motor stall becomes probable and react on it (e.g. decrease velocity). During stand still this value can not be used for stall detection, it shows the chopper on-time for motor coil A.
  • Stealth Voltage Amplitude: Shows the actual PWM scaling. In Stealth mode it can be used to detect motor load and stall if autoscale is enabled (see SetStealthConfiguration).

Associated constants:

  • OpenLoadNone
  • OpenLoadPhaseA
  • OpenLoadPhaseB
  • OpenLoadPhaseAB
  • ShortToGroundNone
  • ShortToGroundPhaseA
  • ShortToGroundPhaseB
  • ShortToGroundPhaseAB
  • OverTemperatureNone
  • OverTemperatureWarning
  • OverTemperatureLimit

func (*SilentStepperBrick) GetExternalInputVoltage 

func (device *SilentStepperBrick) GetExternalInputVoltage() (voltage uint16, err error)

Returns the external input voltage. The external input voltage is given via the black power input connector on the Silent Stepper Brick.

If there is an external input voltage and a stack input voltage, the motor will be driven by the external input voltage. If there is only a stack voltage present, the motor will be driven by this voltage.

Warning 

This means, if you have a high stack voltage and a low external voltage,
the motor will be driven with the low external voltage. If you then remove
the external connection, it will immediately be driven by the high
stack voltage

func (*SilentStepperBrick) GetIdentity 

func (device *SilentStepperBrick) GetIdentity() (uid string, connectedUid string, position rune, hardwareVersion [3]uint8, firmwareVersion [3]uint8, deviceIdentifier uint16, err error)

Returns the UID, the UID where the Brick is connected to, the position, the hardware and firmware version as well as the device identifier.

The position is the position in the stack from '0' (bottom) to '8' (top).

The device identifier numbers can be found `here <device_identifier>`. |device_identifier_constant|

func (*SilentStepperBrick) GetMaxVelocity 

func (device *SilentStepperBrick) GetMaxVelocity() (velocity uint16, err error)

Returns the velocity as set by SetMaxVelocity.

func (*SilentStepperBrick) GetMinimumVoltage 

func (device *SilentStepperBrick) GetMinimumVoltage() (voltage uint16, err error)

Returns the minimum voltage as set by SetMinimumVoltage.

func (*SilentStepperBrick) GetMiscConfiguration 

func (device *SilentStepperBrick) GetMiscConfiguration() (disableShortToGroundProtection bool, synchronizePhaseFrequency uint8, err error)

Returns the configuration as set by SetMiscConfiguration.

func (*SilentStepperBrick) GetMotorCurrent 

func (device *SilentStepperBrick) GetMotorCurrent() (current uint16, err error)

Returns the current as set by SetMotorCurrent.

func (*SilentStepperBrick) GetProtocol1BrickletName 

func (device *SilentStepperBrick) GetProtocol1BrickletName(port rune) (protocolVersion uint8, firmwareVersion [3]uint8, name string, err error)

Returns the firmware and protocol version and the name of the Bricklet for a given port.

This functions sole purpose is to allow automatic flashing of v1.x.y Bricklet plugins.

func (*SilentStepperBrick) GetRemainingSteps 

func (device *SilentStepperBrick) GetRemainingSteps() (steps int32, err error)

Returns the remaining steps of the last call of SetSteps. For example, if SetSteps is called with 2000 and GetRemainingSteps is called after the motor has run for 500 steps, it will return 1500.

func (*SilentStepperBrick) GetResponseExpected 

func (device *SilentStepperBrick) GetResponseExpected(functionID Function) (bool, error)

Returns the response expected flag for the function specified by the function ID parameter. It is true if the function is expected to send a response, false otherwise.

For getter functions this is enabled by default and cannot be disabled, because those functions will always send a response. For callback configuration functions it is enabled by default too, but can be disabled by SetResponseExpected. For setter functions it is disabled by default and can be enabled.

Enabling the response expected flag for a setter function allows to detect timeouts and other error conditions calls of this setter as well. The device will then send a response for this purpose. If this flag is disabled for a setter function then no response is sent and errors are silently ignored, because they cannot be detected.

See SetResponseExpected for the list of function ID constants available for this function.

func (*SilentStepperBrick) GetSPITFPBaudrate 

func (device *SilentStepperBrick) GetSPITFPBaudrate(brickletPort rune) (baudrate uint32, err error)

Returns the baudrate for a given Bricklet port, see SetSPITFPBaudrate.

func (*SilentStepperBrick) GetSPITFPBaudrateConfig 

func (device *SilentStepperBrick) GetSPITFPBaudrateConfig() (enableDynamicBaudrate bool, minimumDynamicBaudrate uint32, err error)

Returns the baudrate config, see SetSPITFPBaudrateConfig.

.. versionadded:: 2.0.4$nbsp;(Firmware)

func (*SilentStepperBrick) GetSPITFPErrorCount 

func (device *SilentStepperBrick) GetSPITFPErrorCount(brickletPort rune) (errorCountACKChecksum uint32, errorCountMessageChecksum uint32, errorCountFrame uint32, errorCountOverflow uint32, err error)

Returns the error count for the communication between Brick and Bricklet.

The errors are divided into

* ACK checksum errors, * message checksum errors, * framing errors and * overflow errors.

The errors counts are for errors that occur on the Brick side. All Bricklets have a similar function that returns the errors on the Bricklet side.

func (*SilentStepperBrick) GetSendTimeoutCount 

func (device *SilentStepperBrick) GetSendTimeoutCount(communicationMethod CommunicationMethod) (timeoutCount uint32, err error)

Returns the timeout count for the different communication methods.

The methods 0-2 are available for all Bricks, 3-7 only for Master Bricks.

This function is mostly used for debugging during development, in normal operation the counters should nearly always stay at 0.

Associated constants:

  • CommunicationMethodNone
  • CommunicationMethodUSB
  • CommunicationMethodSPIStack
  • CommunicationMethodChibi
  • CommunicationMethodRS485
  • CommunicationMethodWIFI
  • CommunicationMethodEthernet
  • CommunicationMethodWIFIV2

func (*SilentStepperBrick) GetSpeedRamping 

func (device *SilentStepperBrick) GetSpeedRamping() (acceleration uint16, deacceleration uint16, err error)

Returns the acceleration and deacceleration as set by SetSpeedRamping.

func (*SilentStepperBrick) GetSpreadcycleConfiguration 

func (device *SilentStepperBrick) GetSpreadcycleConfiguration() (slowDecayDuration uint8, enableRandomSlowDecay bool, fastDecayDuration uint8, hysteresisStartValue uint8, hysteresisEndValue int8, sineWaveOffset int8, chopperMode ChopperMode, comparatorBlankTime uint8, fastDecayWithoutComparator bool, err error)

Returns the configuration as set by SetBasicConfiguration.

Associated constants:

  • ChopperModeSpreadCycle
  • ChopperModeFastDecay

func (*SilentStepperBrick) GetStackInputVoltage 

func (device *SilentStepperBrick) GetStackInputVoltage() (voltage uint16, err error)

Returns the stack input voltage. The stack input voltage is the voltage that is supplied via the stack, i.e. it is given by a Step-Down or Step-Up Power Supply.

func (*SilentStepperBrick) GetStealthConfiguration 

func (device *SilentStepperBrick) GetStealthConfiguration() (enableStealth bool, amplitude uint8, gradient uint8, enableAutoscale bool, forceSymmetric bool, freewheelMode FreewheelMode, err error)

Returns the configuration as set by SetStealthConfiguration.

Associated constants:

  • FreewheelModeNormal
  • FreewheelModeFreewheeling
  • FreewheelModeCoilShortLS
  • FreewheelModeCoilShortHS

func (*SilentStepperBrick) GetStepConfiguration 

func (device *SilentStepperBrick) GetStepConfiguration() (stepResolution StepResolution, interpolation bool, err error)

Returns the step mode as set by SetStepConfiguration.

Associated constants:

  • StepResolution1
  • StepResolution2
  • StepResolution4
  • StepResolution8
  • StepResolution16
  • StepResolution32
  • StepResolution64
  • StepResolution128
  • StepResolution256

func (*SilentStepperBrick) GetSteps 

func (device *SilentStepperBrick) GetSteps() (steps int32, err error)

Returns the last steps as set by SetSteps.

func (*SilentStepperBrick) GetTargetPosition 

func (device *SilentStepperBrick) GetTargetPosition() (position int32, err error)

Returns the last target position as set by SetTargetPosition.

func (*SilentStepperBrick) GetTimeBase 

func (device *SilentStepperBrick) GetTimeBase() (timeBase uint32, err error)

Returns the time base as set by SetTimeBase.

func (*SilentStepperBrick) IsEnabled 

func (device *SilentStepperBrick) IsEnabled() (enabled bool, err error)

Returns *true* if the driver chip is enabled, *false* otherwise.

func (*SilentStepperBrick) IsStatusLEDEnabled 

func (device *SilentStepperBrick) IsStatusLEDEnabled() (enabled bool, err error)

Returns *true* if the status LED is enabled, *false* otherwise.

func (*SilentStepperBrick) ReadBrickletPlugin 

func (device *SilentStepperBrick) ReadBrickletPlugin(port rune, offset uint8) (chunk [32]uint8, err error)

Reads 32 bytes of firmware from the bricklet attached at the given port. The bytes are read starting at the position offset * 32.

This function is used by Brick Viewer during flashing. It should not be necessary to call it in a normal user program.

func (*SilentStepperBrick) RegisterAllDataCallback 

func (device *SilentStepperBrick) RegisterAllDataCallback(fn func(uint16, int32, int32, uint16, uint16, uint16)) uint64

This callback is triggered periodically with the period that is set by SetAllDataPeriod. The parameters are: the current velocity, the current position, the remaining steps, the stack voltage, the external voltage and the current consumption of the stepper motor.

func (*SilentStepperBrick) RegisterNewStateCallback 

func (device *SilentStepperBrick) RegisterNewStateCallback(fn func(State, State)) uint64

This callback is triggered whenever the Silent Stepper Brick enters a new state. It returns the new state as well as the previous state.

func (*SilentStepperBrick) RegisterPositionReachedCallback 

func (device *SilentStepperBrick) RegisterPositionReachedCallback(fn func(int32)) uint64

This callback is triggered when a position set by SetSteps or SetTargetPosition is reached.

Note 

Since we can't get any feedback from the stepper motor, this only works if the
acceleration (see SetSpeedRamping) is set smaller or equal to the
maximum acceleration of the motor. Otherwise the motor will lag behind the
control value and the callback will be triggered too early.

func (*SilentStepperBrick) RegisterUnderVoltageCallback 

func (device *SilentStepperBrick) RegisterUnderVoltageCallback(fn func(uint16)) uint64

This callback is triggered when the input voltage drops below the value set by SetMinimumVoltage. The parameter is the current voltage.

func (*SilentStepperBrick) Reset 

func (device *SilentStepperBrick) Reset() (err error)

Calling this function will reset the Brick. Calling this function on a Brick inside of a stack will reset the whole stack.

After a reset you have to create new device objects, calling functions on the existing ones will result in undefined behavior!

func (*SilentStepperBrick) SetAllDataPeriod 

func (device *SilentStepperBrick) SetAllDataPeriod(period uint32) (err error)

Sets the period with which the RegisterAllDataCallback callback is triggered periodically. A value of 0 turns the callback off.

func (*SilentStepperBrick) SetBasicConfiguration 

func (device *SilentStepperBrick) SetBasicConfiguration(standstillCurrent uint16, motorRunCurrent uint16, standstillDelayTime uint16, powerDownTime uint16, stealthThreshold uint16, coolstepThreshold uint16, classicThreshold uint16, highVelocityChopperMode bool) (err error)

Sets the basic configuration parameters for the different modes (Stealth, Coolstep, Classic).

  • Standstill Current: This value can be used to lower the current during stand still. This might be reasonable to reduce the heating of the motor and the Brick. When the motor is in standstill the configured motor phase current will be driven until the configured Power Down Time is elapsed. After that the phase current will be reduced to the standstill current. The elapsed time for this reduction can be configured with the Standstill Delay Time. The maximum allowed value is the configured maximum motor current (see SetMotorCurrent).
  • Motor Run Current: The value sets the motor current when the motor is running. Use a value of at least one half of the global maximum motor current for a good microstep performance. The maximum allowed value is the current motor current. The API maps the entered value to 1/32 ... 32/32 of the maximum motor current. This value should be used to change the motor current during motor movement, whereas the global maximum motor current should not be changed while the motor is moving (see SetMotorCurrent).
  • Standstill Delay Time: Controls the duration for motor power down after a motion as soon as standstill is detected and the Power Down Time is expired. A high Standstill Delay Time results in a smooth transition that avoids motor jerk during power down.

* Power Down Time: Sets the delay time after a stand still.

  • Stealth Threshold: Sets the upper threshold for Stealth mode. If the velocity of the motor goes above this value, Stealth mode is turned off. Otherwise it is turned on. In Stealth mode the torque declines with high speed.
  • Coolstep Threshold: Sets the lower threshold for Coolstep mode. The Coolstep Threshold needs to be above the Stealth Threshold.
  • Classic Threshold: Sets the lower threshold for classic mode. In classic mode the stepper becomes more noisy, but the torque is maximized.
  • High Velocity Chopper Mode: If High Velocity Chopper Mode is enabled, the stepper control is optimized to run the stepper motors at high velocities.

If you want to use all three thresholds make sure that Stealth Threshold < Coolstep Threshold < Classic Threshold.

func (*SilentStepperBrick) SetCoolstepConfiguration 

func (device *SilentStepperBrick) SetCoolstepConfiguration(minimumStallguardValue uint8, maximumStallguardValue uint8, currentUpStepWidth CurrentUpStepIncrement, currentDownStepWidth CurrentDownStepDecrement, minimumCurrent MinimumCurrent, stallguardThresholdValue int8, stallguardMode StallguardMode) (err error)

Note: If you don't know what any of this means you can very likely keep all of the values as default!

Sets the configuration relevant for Coolstep.

  • Minimum Stallguard Value: If the Stallguard result falls below this value*32, the motor current is increased to reduce motor load angle. A value of 0 turns Coolstep off.
  • Maximum Stallguard Value: If the Stallguard result goes above (Min Stallguard Value + Max Stallguard Value + 1) * 32, the motor current is decreased to save energy.
  • Current Up Step Width: Sets the up step increment per Stallguard value. The value range is 0-3, corresponding to the increments 1, 2, 4 and 8.
  • Current Down Step Width: Sets the down step decrement per Stallguard value. The value range is 0-3, corresponding to the decrements 1, 2, 8 and 16.
  • Minimum Current: Sets the minimum current for Coolstep current control. You can choose between half and quarter of the run current.
  • Stallguard Threshold Value: Sets the level for stall output (see GetDriverStatus). A lower value gives a higher sensitivity. You have to find a suitable value for your motor by trial and error, 0 works for most motors.
  • Stallguard Mode: Set to 0 for standard resolution or 1 for filtered mode. In filtered mode the Stallguard signal will be updated every four full-steps.

Associated constants:

  • CurrentUpStepIncrement1
  • CurrentUpStepIncrement2
  • CurrentUpStepIncrement4
  • CurrentUpStepIncrement8
  • CurrentDownStepDecrement1
  • CurrentDownStepDecrement2
  • CurrentDownStepDecrement8
  • CurrentDownStepDecrement32
  • MinimumCurrentHalf
  • MinimumCurrentQuarter
  • StallguardModeStandard
  • StallguardModeFiltered

func (*SilentStepperBrick) SetCurrentPosition 

func (device *SilentStepperBrick) SetCurrentPosition(position int32) (err error)

Sets the current steps of the internal step counter. This can be used to set the current position to 0 when some kind of starting position is reached (e.g. when a CNC machine reaches a corner).

func (*SilentStepperBrick) SetMaxVelocity 

func (device *SilentStepperBrick) SetMaxVelocity(velocity uint16) (err error)

Sets the maximum velocity of the stepper motor. This function does *not* start the motor, it merely sets the maximum velocity the stepper motor is accelerated to. To get the motor running use either SetTargetPosition, SetSteps, DriveForward or DriveBackward.

func (*SilentStepperBrick) SetMinimumVoltage 

func (device *SilentStepperBrick) SetMinimumVoltage(voltage uint16) (err error)

Sets the minimum voltage, below which the RegisterUnderVoltageCallback callback is triggered. The minimum possible value that works with the Silent Stepper Brick is 8V. You can use this function to detect the discharge of a battery that is used to drive the stepper motor. If you have a fixed power supply, you likely do not need this functionality.

func (*SilentStepperBrick) SetMiscConfiguration 

func (device *SilentStepperBrick) SetMiscConfiguration(disableShortToGroundProtection bool, synchronizePhaseFrequency uint8) (err error)

Note: If you don't know what any of this means you can very likely keep all of the values as default!

Sets miscellaneous configuration parameters.

  • Disable Short To Ground Protection: Set to false to enable short to ground protection, otherwise it is disabled.
  • Synchronize Phase Frequency: With this parameter you can synchronize the chopper for both phases of a two phase motor to avoid the occurrence of a beat. The value range is 0-15. If set to 0, the synchronization is turned off. Otherwise the synchronization is done through the formula f_sync = f_clk/(value*64). In Classic Mode the synchronization is automatically switched off. f_clk is 12.8MHz.

func (*SilentStepperBrick) SetMotorCurrent 

func (device *SilentStepperBrick) SetMotorCurrent(current uint16) (err error)

Sets the current with which the motor will be driven.

Warning 

Do not set this value above the specifications of your stepper motor.
Otherwise it may damage your motor.

func (*SilentStepperBrick) SetResponseExpected 

func (device *SilentStepperBrick) SetResponseExpected(functionID Function, responseExpected bool) error

Changes the response expected flag of the function specified by the function ID parameter. This flag can only be changed for setter (default value: false) and callback configuration functions (default value: true). For getter functions it is always enabled.

Enabling the response expected flag for a setter function allows to detect timeouts and other error conditions calls of this setter as well. The device will then send a response for this purpose. If this flag is disabled for a setter function then no response is sent and errors are silently ignored, because they cannot be detected.

func (*SilentStepperBrick) SetResponseExpectedAll 

func (device *SilentStepperBrick) SetResponseExpectedAll(responseExpected bool)

Changes the response expected flag for all setter and callback configuration functions of this device at once.

func (*SilentStepperBrick) SetSPITFPBaudrate 

func (device *SilentStepperBrick) SetSPITFPBaudrate(brickletPort rune, baudrate uint32) (err error)

Sets the baudrate for a specific Bricklet port.

If you want to increase the throughput of Bricklets you can increase the baudrate. If you get a high error count because of high interference (see GetSPITFPErrorCount) you can decrease the baudrate.

If the dynamic baudrate feature is enabled, the baudrate set by this function corresponds to the maximum baudrate (see SetSPITFPBaudrateConfig).

Regulatory testing is done with the default baudrate. If CE compatibility or similar is necessary in your applications we recommend to not change the baudrate.

func (*SilentStepperBrick) SetSPITFPBaudrateConfig 

func (device *SilentStepperBrick) SetSPITFPBaudrateConfig(enableDynamicBaudrate bool, minimumDynamicBaudrate uint32) (err error)

The SPITF protocol can be used with a dynamic baudrate. If the dynamic baudrate is enabled, the Brick will try to adapt the baudrate for the communication between Bricks and Bricklets according to the amount of data that is transferred.

The baudrate will be increased exponentially if lots of data is sent/received and decreased linearly if little data is sent/received.

This lowers the baudrate in applications where little data is transferred (e.g. a weather station) and increases the robustness. If there is lots of data to transfer (e.g. Thermal Imaging Bricklet) it automatically increases the baudrate as needed.

In cases where some data has to transferred as fast as possible every few seconds (e.g. RS485 Bricklet with a high baudrate but small payload) you may want to turn the dynamic baudrate off to get the highest possible performance.

The maximum value of the baudrate can be set per port with the function SetSPITFPBaudrate. If the dynamic baudrate is disabled, the baudrate as set by SetSPITFPBaudrate will be used statically.

.. versionadded:: 2.0.4$nbsp;(Firmware)

func (*SilentStepperBrick) SetSpeedRamping 

func (device *SilentStepperBrick) SetSpeedRamping(acceleration uint16, deacceleration uint16) (err error)

Sets the acceleration and deacceleration of the stepper motor. An acceleration of 1000 means, that every second the velocity is increased by 1000 *steps/s*.

For example: If the current velocity is 0 and you want to accelerate to a velocity of 8000 *steps/s* in 10 seconds, you should set an acceleration of 800 *steps/s²*.

An acceleration/deacceleration of 0 means instantaneous acceleration/deacceleration (not recommended)

func (*SilentStepperBrick) SetSpreadcycleConfiguration 

func (device *SilentStepperBrick) SetSpreadcycleConfiguration(slowDecayDuration uint8, enableRandomSlowDecay bool, fastDecayDuration uint8, hysteresisStartValue uint8, hysteresisEndValue int8, sineWaveOffset int8, chopperMode ChopperMode, comparatorBlankTime uint8, fastDecayWithoutComparator bool) (err error)

Note: If you don't know what any of this means you can very likely keep all of the values as default!

Sets the Spreadcycle configuration parameters. Spreadcycle is a chopper algorithm which actively controls the motor current flow. More information can be found in the TMC2130 datasheet on page 47 (7 spreadCycle and Classic Chopper).

  • Slow Decay Duration: Controls duration of off time setting of slow decay phase. 0 = driver disabled, all bridges off. Use 1 only with Comparator Blank time >= 2.
  • Enable Random Slow Decay: Set to false to fix chopper off time as set by Slow Decay Duration. If you set it to true, Decay Duration is randomly modulated.
  • Fast Decay Duration: Sets the fast decay duration. This parameters is only used if the Chopper Mode is set to Fast Decay.
  • Hysteresis Start Value: Sets the hysteresis start value. This parameter is only used if the Chopper Mode is set to Spread Cycle.
  • Hysteresis End Value: Sets the hysteresis end value. This parameter is only used if the Chopper Mode is set to Spread Cycle.
  • Sine Wave Offset: Sets the sine wave offset. This parameters is only used if the Chopper Mode is set to Fast Decay. 1/512 of the value becomes added to the absolute value of the sine wave.

* Chopper Mode: 0 = Spread Cycle, 1 = Fast Decay.

* Comparator Blank Time: Sets the blank time of the comparator. Available values are

  • 0 = 16 clocks,

  • 1 = 24 clocks,

  • 2 = 36 clocks and

  • 3 = 54 clocks.

    A value of 1 or 2 is recommended for most applications.

  • Fast Decay Without Comparator: If set to true the current comparator usage for termination of the fast decay cycle is disabled.

Associated constants:

  • ChopperModeSpreadCycle
  • ChopperModeFastDecay

func (*SilentStepperBrick) SetStealthConfiguration 

func (device *SilentStepperBrick) SetStealthConfiguration(enableStealth bool, amplitude uint8, gradient uint8, enableAutoscale bool, forceSymmetric bool, freewheelMode FreewheelMode) (err error)

Note: If you don't know what any of this means you can very likely keep all of the values as default!

Sets the configuration relevant for Stealth mode.

  • Enable Stealth: If set to true the stealth mode is enabled, if set to false the stealth mode is disabled, even if the speed is below the threshold set in SetBasicConfiguration.
  • Amplitude: If autoscale is disabled, the PWM amplitude is scaled by this value. If autoscale is enabled, this value defines the maximum PWM amplitude change per half wave.
  • Gradient: If autoscale is disabled, the PWM gradient is scaled by this value. If autoscale is enabled, this value defines the maximum PWM gradient. With autoscale a value above 64 is recommended, otherwise the regulation might not be able to measure the current.
  • Enable Autoscale: If set to true, automatic current control is used. Otherwise the user defined amplitude and gradient are used.
  • Force Symmetric: If true, A symmetric PWM cycle is enforced. Otherwise the PWM value may change within each PWM cycle.
  • Freewheel Mode: The freewheel mode defines the behavior in stand still if the Standstill Current (see SetBasicConfiguration) is set to 0.

Associated constants:

  • FreewheelModeNormal
  • FreewheelModeFreewheeling
  • FreewheelModeCoilShortLS
  • FreewheelModeCoilShortHS

func (*SilentStepperBrick) SetStepConfiguration 

func (device *SilentStepperBrick) SetStepConfiguration(stepResolution StepResolution, interpolation bool) (err error)

Sets the step resolution from full-step up to 1/256-step.

If interpolation is turned on, the Silent Stepper Brick will always interpolate your step inputs as 1/256-step. If you use full-step mode with interpolation, each step will generate 256 1/256 steps.

For maximum torque use full-step without interpolation. For maximum resolution use 1/256-step. Turn interpolation on to make the Stepper driving less noisy.

If you often change the speed with high acceleration you should turn the interpolation off.

Associated constants:

  • StepResolution1
  • StepResolution2
  • StepResolution4
  • StepResolution8
  • StepResolution16
  • StepResolution32
  • StepResolution64
  • StepResolution128
  • StepResolution256

func (*SilentStepperBrick) SetSteps 

func (device *SilentStepperBrick) SetSteps(steps int32) (err error)

Sets the number of steps the stepper motor should run. Positive values will drive the motor forward and negative values backward. The velocity, acceleration and deacceleration as set by SetMaxVelocity and SetSpeedRamping will be used.

func (*SilentStepperBrick) SetTargetPosition 

func (device *SilentStepperBrick) SetTargetPosition(position int32) (err error)

Sets the target position of the stepper motor in steps. For example, if the current position of the motor is 500 and SetTargetPosition is called with 1000, the stepper motor will drive 500 steps forward. It will use the velocity, acceleration and deacceleration as set by SetMaxVelocity and SetSpeedRamping.

A call of SetTargetPosition with the parameter *x* is equivalent to a call of SetSteps with the parameter (*x* - GetCurrentPosition).

func (*SilentStepperBrick) SetTimeBase 

func (device *SilentStepperBrick) SetTimeBase(timeBase uint32) (err error)

Sets the time base of the velocity and the acceleration of the Silent Stepper Brick.

For example, if you want to make one step every 1.5 seconds, you can set the time base to 15 and the velocity to 10. Now the velocity is 10steps/15s = 1steps/1.5s.

func (*SilentStepperBrick) Stop 

func (device *SilentStepperBrick) Stop() (err error)

Stops the stepper motor with the deacceleration as set by SetSpeedRamping.

func (*SilentStepperBrick) WriteBrickletPlugin 

func (device *SilentStepperBrick) WriteBrickletPlugin(port rune, offset uint8, chunk [32]uint8) (err error)

Writes 32 bytes of firmware to the bricklet attached at the given port. The bytes are written to the position offset * 32.

This function is used by Brick Viewer during flashing. It should not be necessary to call it in a normal user program.

type StallguardMode 

type StallguardMode = uint8
const (
	StallguardModeStandard StallguardMode = 0
	StallguardModeFiltered StallguardMode = 1
)

type State 

type State = uint8
const (
	StateStop                      State = 1
	StateAcceleration              State = 2
	StateRun                       State = 3
	StateDeacceleration            State = 4
	StateDirectionChangeToForward  State = 5
	StateDirectionChangeToBackward State = 6
)

type StepResolution 

type StepResolution = uint8
const (
	StepResolution1   StepResolution = 8
	StepResolution2   StepResolution = 7
	StepResolution4   StepResolution = 6
	StepResolution8   StepResolution = 5
	StepResolution16  StepResolution = 4
	StepResolution32  StepResolution = 3
	StepResolution64  StepResolution = 2
	StepResolution128 StepResolution = 1
	StepResolution256 StepResolution = 0
)

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