1# SPDX-FileCopyrightText: Copyright (c) 2024 Carl Zeiss Meditec AG 2# SPDX-License-Identifier: Apache-2.0 3 4description: Stallguard bindings for Trinamic stepper controller. 5 6properties: 7 activate-stallguard2: 8 type: boolean 9 description: | 10 Enable StallGuard2 feature, if the driver supports it. 11 12 stallguard2-threshold: 13 type: int 14 default: 0 15 description: | 16 This signed value controls StallGuard2 level for stall output and sets the 17 optimum measurement range for readout. A lower value gives a higher sensitivity. 18 Zero is the starting value working with most motors. 19 20 -64 to +63: A higher value makes StallGuard2 less sensitive and requires more torque 21 to indicate a stall. 22 23 stallguard-threshold-velocity: 24 type: int 25 default: 1 26 description: | 27 Threshold velocity for StallGuard2 to detect a stall event. 28 This value should be greater than zero. 29 30 stallguard-velocity-check-interval-ms: 31 type: int 32 default: 100 33 description: | 34 Stallguard should not be enabled during motor spin-up. 35 This delay is used to check if the actual stepper velocity is greater than 36 stallguard-threshold-velocity before enabling stallguard. 37
