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## TMC4210 Datasheet(PDF) 26 Page - TRINAMIC Motion Control GmbH & Co. KG.

 Part # TMC4210 Description MOTION CONTROLLER FOR STEPPER MOTORS Download 48 Pages Scroll/Zoom 100% Manufacturer TRINAMIC [TRINAMIC Motion Control GmbH & Co. KG.] Direct Link http://www.trinamic.com Logo

## TMC4210 Datasheet(HTML) 26 Page - TRINAMIC Motion Control GmbH & Co. KG.

 26 / 48 pageTMC4210 DATASHEET (Rev. 1.03 / 2015-JUN-03)26www.trinamic.com6.1.9.2.3 Calculation Example: PMUL and PDIV/* PROGRAM EXAMPLE ‘pmulpdiv.c’ : How to Calculate p_mul & p_div for the TMC4210 */#include #include #include #include void CalcPMulPDiv(int a_max, int ramp_div, int pulse_div, float p_reduction,int *p_mul, int *p_div, double *PIdeal, double *PBest, double *PRedu ){intpdiv, pmul, pm, pd ;double p_ideal, p_best, p, p_reduced;pm=-1; pd=-1; // -1 indicates : no valid pair foundp_ideal= a_max /(pow(2, ramp_div-pulse_div)*128.0);p= a_max / ( 128.0 * pow(2, ramp_div-pulse_div) );p_reduced = p * ( 1.0 – p_reduction );for (pdiv=0; pdiv<=13; pdiv++){pmul = (int)(p_reduced * 8.0 * pow(2, pdiv)) – 128;if ( (0 <= pmul) && (pmul <= 127) ){pm = pmul + 128;pd = pdiv;}}*p_mul = pm;*p_div = pd;p_best = ((double)(pm)) / ((double)pow(2,pd+3));*PIdeal = p_ideal;*PBest= p_best;*PRedu= p_reduced;}int main(int argc, char **argv){inta_max=0, ramp_div=0, pulse_div=0, p_mul, p_div,a_max_lower_limit=0, a_max_upper_limit=0;double pideal, pbest, predu;floatp_reduction=0.0;char **argp;if (argc>1){while (argv++, argc--){argp = argv + 1;if (*argp==NULL) break;if ((!strcmp(*argv,”-a”)) ) sscanf(*argp,”%d”,&a_max);else if ( (!strcmp(*argv,”-r”)) ) sscanf(*argp,”%d”,&ramp_div);else if ( (!strcmp(*argv,”-p”)) ) sscanf(*argp,”%d”,&pulse_div);else if ( (!strcmp(*argv,”-pr”))) sscanf(*argp,”%f”,&p_reduction);}}else{fprintf(stderr,”\nUSAGE : pmulpdiv –a -r -p -pr <0.00 .. 0.10>\n”“EXAMPLE : pmulpdiv –a 10 –r 3 –p 3 –pr 0.05\n”);return 1;}printf(“\n\na_max=%d\tramp_div=%d\tpulse_div=%d\tp_reduction=%f\n\n”,a_max, ramp_div, pulse_div, p_reduction);CalcPMulPDiv(a_max, ramp_div, pulse_div, p_reduction, &p_mul, &p_div, &pideal, &pbest, &predu );printf(“p_mul = %3.3d\np_div = %3d\n\n p_ideal = %f\np_best = %f\np_redu = %f\n\n”,p_mul, p_div, pideal, pbest, predu);a_max_lower_limit = (int)pow(2,(ramp_div-pulse_div-1));printf(“\n a_max_lower_limit = %d”,a_max_lower_limit);if (a_max < a_max_lower_limit) printf(“[WARNING: a_max < a_max_lower_limit]”);a_max_upper_limit = ((int)pow(2,(12+(ramp_div-pulse_div)))) -1;printf(“\n a_max_upper_limit = %d”,a_max_upper_limit);if (a_max > a_max_upper_limit) printf(“[WARNING: a_max > a_max_upper_limit]”);printf(“\n\n”);return 0;}/* -------------------------------------------------------------------------- */

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