Datasheet

TMC2590 DATASHEET (V1.0 / 2019-FEB-22) 32
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8.2 Microstep Table
The internal microstep table maps the sine function from 0° to 90°, and symmetries allow mapping
the sine and cosine functions from 0° to 360° with this table. The angle is encoded as a 10-bit
unsigned integer MSTEP provided by the microstep counter. The size of the increment applied to the
counter while microstepping through this table is controlled by the microstep resolution setting MRES
in the DRVCTRL register. Depending on the DIR input, the microstep counter is increased (DIR=0) or
decreased (DIR=1) by the step size with each STEP active edge. Despite many entries in the last
quarter of the table being equal, the electrical angle continuously changes, because either the sine
wave or cosine wave is in an area, where the current vector changes monotonically from position to
position. Figure 8.2 shows the table. The largest values are 248, which leaves headroom used for
adding an offset.
Entry
0-31
32-63
64-95
96-127
128-159
160-191
192-223
224-255
0
1
49
96
138
176
207
229
243
1
2
51
97
140
177
207
230
244
2
4
52
98
141
178
208
231
244
3
5
54
100
142
179
209
231
244
4
7
55
101
143
180
210
232
244
5
8
57
103
145
181
211
232
245
6
10
58
104
146
182
212
233
245
7
11
60
105
147
183
212
233
245
8
13
61
107
148
184
213
234
245
9
14
62
108
150
185
214
234
246
10
16
64
109
151
186
215
235
246
11
17
65
111
152
187
215
235
246
12
19
67
112
153
188
216
236
246
13
21
68
114
154
189
217
236
246
14
22
70
115
156
190
218
237
247
15
24
71
116
157
191
218
237
247
16
25
73
118
158
192
219
238
247
17
27
74
119
159
193
220
238
247
18
28
76
120
160
194
220
238
247
19
30
77
122
161
195
221
239
247
20
31
79
123
163
196
222
239
247
21
33
80
124
164
197
223
240
247
22
34
81
126
165
198
223
240
248
23
36
83
127
166
199
224
240
248
24
37
84
128
167
200
225
241
248
25
39
86
129
168
201
225
241
248
26
40
87
131
169
201
226
241
248
27
42
89
132
170
202
226
242
248
28
43
90
133
172
203
227
242
248
29
45
91
135
173
204
228
242
248
30
46
93
136
174
205
228
243
248
31
48
94
137
175
206
229
243
248
Figure 8.2 Internal microstep table showing the first quarter of the sine wave