Hello,
I would like to confirm that it is possible to read motor current on the TMC5160
chip. From what I can tell, there are two ways to calculate current, but neither
of them, from what I understand, give the actual motor current.
One calculation is I_RMS on page 74 of the TMC5160 datasheet, but this seems to
be the calculation for the max current that is allowed using the IRUN, IHOLD,
and GLOBALSCALER registers. There is another section is the datasheet on page 47
which talks about MSCURACT, but this only seems to be reflecting the values from
the internal look-up table and not representative of the actual motor current.
I would appreciate if someone can tell me whether it is possible to read motor
current, and if so tell me what registers to read and formulas I should be
using. Thanks!
