Examples

This guide provides complete, working examples demonstrating various use cases for the TLE92466ED driver.

Example 1: Basic Solenoid Control

This example shows basic solenoid control with current regulation.

```cpp #include “tle92466ed.hpp” #include “esp32_tle_comm_interface.hpp”

void app_main() { // 1. Create SPI interface auto hal = CreateEsp32TleCommInterface(); if (!hal || hal->Init().has_value() == false) { printf(“HAL initialization failed\n”); return; }

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// 2. Create driver
tle92466ed::Driver driver(*hal);

// 3. Initialize
if (auto result = driver.Init(); !result) {
    printf("Initialization failed\n");
    return;
}

// 4. Configure channel 0 for 1.5A current control
driver.SetChannelMode(tle92466ed::Channel::CH0, tle92466ed::ChannelMode::ICC);
driver.SetCurrentSetpoint(tle92466ed::Channel::CH0, 1500); // 1.5A

// 5. Enter Mission Mode
driver.EnterMissionMode();

// 6. Enable channel
driver.EnableChannel(tle92466ed::Channel::CH0, true);

// 7. Monitor current
while (true) {
    if (auto current = driver.GetAverageCurrent(tle92466ed::Channel::CH0); current) {
        printf("Channel 0 current: %u mA\n", *current);
    }
    vTaskDelay(pdMS_TO_TICKS(100));
} } ```cpp

Example 2: Parallel Operation (High Current)

This example demonstrates parallel channel operation for higher current capability.

```cpp void configure_high_current_solenoid() { auto hal = CreateEsp32TleCommInterface(); tle92466ed::Driver driver(*hal); driver.Init();

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// Enter Config Mode
driver.EnterConfigMode();

// Enable parallel operation CH0+CH3
driver.SetParallelOperation(tle92466ed::ParallelPair::CH0_CH3, true);

// Configure both channels identically
tle92466ed::ChannelConfig config;
config.mode = tle92466ed::ChannelMode::ICC;
config.current_setpoint_ma = 3500;  // 3.5A total (parallel mode)
config.slew_rate = tle92466ed::SlewRate::MEDIUM_2V5_US;

driver.ConfigureChannel(tle92466ed::Channel::CH0, config);
driver.ConfigureChannel(tle92466ed::Channel::CH3, config);

// Enter Mission Mode and enable
driver.EnterMissionMode();
driver.EnableChannel(tle92466ed::Channel::CH0, true);
driver.EnableChannel(tle92466ed::Channel::CH3, true);

printf("High-current mode active: 3.5A\n"); } ```cpp

Example 3: Fault Monitoring

This example shows how to monitor and handle faults.

```cpp void monitor_faults() { tle92466ed::Driver driver(*hal); driver.Init(); driver.EnterMissionMode();

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// Enable channel
driver.EnableChannel(tle92466ed::Channel::CH0, true);

while (true) {
    // Check for faults
    if (auto has_fault = driver.HasAnyFault(); has_fault && *has_fault) {
        // Get detailed fault report
        if (auto faults = driver.GetAllFaults(); faults) {
            auto& report = *faults;
            
            if (report.vbat_uv) {
                printf("VBAT undervoltage detected!\n");
            }
            
            if (report.channels[0].overcurrent) {
                printf("Channel 0 overcurrent!\n");
                driver.DisableAllChannels();
            }
            
            // Clear faults after handling
            driver.ClearFaults();
        }
    }
    
    vTaskDelay(pdMS_TO_TICKS(100));
} } ```cpp

Example 4: Multi-Channel Control

This example demonstrates controlling multiple channels independently.

```cpp void multi_channel_control() { tle92466ed::Driver driver(*hal); driver.Init(); driver.EnterMissionMode();

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// Configure multiple channels with different currents
driver.SetChannelMode(tle92466ed::Channel::CH0, tle92466ed::ChannelMode::ICC);
driver.SetChannelMode(tle92466ed::Channel::CH1, tle92466ed::ChannelMode::ICC);
driver.SetChannelMode(tle92466ed::Channel::CH2, tle92466ed::ChannelMode::ICC);

driver.SetCurrentSetpoint(tle92466ed::Channel::CH0, 1000); // 1A
driver.SetCurrentSetpoint(tle92466ed::Channel::CH1, 1500); // 1.5A
driver.SetCurrentSetpoint(tle92466ed::Channel::CH2, 800);  // 0.8A

// Enable all channels
driver.EnableChannels(0x07); // Bits 0,1,2 = CH0, CH1, CH2

// Monitor all channels
while (true) {
    for (uint8_t ch = 0; ch < 3; ch++) {
        if (auto current = driver.GetAverageCurrent(static_cast<tle92466ed::Channel>(ch)); current) {
            printf("CH%d: %u mA\n", ch, *current);
        }
    }
    vTaskDelay(pdMS_TO_TICKS(100));
} } ```text

Example 5: PWM and Dither Configuration

This example shows advanced PWM and dither configuration.

```cpp void advanced_current_control() { tle92466ed::Driver driver(*hal); driver.Init(); driver.EnterConfigMode();

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// Configure channel 0
driver.SetChannelMode(tle92466ed::Channel::CH0, tle92466ed::ChannelMode::ICC);

// Set PWM period to 100 µs
driver.ConfigurePwmPeriod(tle92466ed::Channel::CH0, 100.0f);

// Configure dither: 50mA amplitude, 1000Hz frequency
driver.ConfigureDither(tle92466ed::Channel::CH0, 50.0f, 1000.0f);

// Set current
driver.SetCurrentSetpoint(tle92466ed::Channel::CH0, 1500);

driver.EnterMissionMode();
driver.EnableChannel(tle92466ed::Channel::CH0, true); } ```text

Example 6: Complete Channel Configuration

This example shows complete channel configuration using ChannelConfig structure.

```cpp void complete_channel_setup() { tle92466ed::Driver driver(*hal); driver.Init(); driver.EnterConfigMode();

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// Complete channel configuration
tle92466ed::ChannelConfig config;
config.mode = tle92466ed::ChannelMode::ICC;
config.current_setpoint_ma = 1500;
config.slew_rate = tle92466ed::SlewRate::MEDIUM_2V5_US;
config.diag_current = tle92466ed::DiagCurrent::I_80UA;
config.open_load_threshold = 3;  // 3/8 threshold
config.pwm_period_mantissa = 100;
config.pwm_period_exponent = 3;
config.deep_dither_enabled = false;
config.dither_step_size = 50;
config.dither_steps = 10;
config.dither_flat = 5;

driver.ConfigureChannel(tle92466ed::Channel::CH0, config);

driver.EnterMissionMode();
driver.EnableChannel(tle92466ed::Channel::CH0, true); } ```cpp

Example 7: Voltage Monitoring

This example demonstrates monitoring supply voltages.

```cpp void monitor_voltages() { tle92466ed::Driver driver(*hal); driver.Init();

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while (true) {
    // Read voltages
    if (auto vbat = driver.GetVbatVoltage(); vbat) {
        printf("VBAT: %u mV\n", *vbat);
    }
    
    if (auto vio = driver.GetVioVoltage(); vio) {
        printf("VIO: %u mV\n", *vio);
    }
    
    if (auto vdd = driver.GetVddVoltage(); vdd) {
        printf("VDD: %u mV\n", *vdd);
    }
    
    vTaskDelay(pdMS_TO_TICKS(1000));
} } ```cpp

Next Steps

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