ESP32 SPI implementation of TMC51x0 communication interface. More...

#include <esp32_tmc51x0_bus.hpp>

Inheritance diagram for Esp32SPI:

Collaboration diagram for Esp32SPI:

Public Member Functions
	Esp32SPI (spi_host_device_t host, const Esp32SpiPinConfig &pin_config, uint32_t clock_speed_hz=4000000, const tmc51x0::PinActiveLevels &active_levels=tmc51x0::PinActiveLevels{}) noexcept
	Construct ESP32 SPI communication interface with complete pin configuration.

void	ConfigureActiveLevels (const tmc51x0::PinActiveLevels &active_levels) noexcept
	Configure pin active levels from PinActiveLevels struct.

const tmc51x0::PinActiveLevels &	GetActiveLevels () const noexcept
	Get current active level configuration.

	Esp32SPI (spi_host_device_t host, gpio_num_t mosi_pin, gpio_num_t miso_pin, gpio_num_t sclk_pin, gpio_num_t cs_pin, const tmc51x0::TMC51x0PinConfig &pin_config, uint32_t clock_speed_hz=4000000, const tmc51x0::PinActiveLevels &active_levels=tmc51x0::PinActiveLevels{}) noexcept
	Construct ESP32 SPI communication interface with separate SPI pins and TMC51x0 pin config.

	Esp32SPI (spi_host_device_t host, gpio_num_t mosi_pin, gpio_num_t miso_pin, gpio_num_t sclk_pin, gpio_num_t cs_pin, gpio_num_t en_pin, gpio_num_t dir_pin=static_cast< gpio_num_t >(-1), gpio_num_t step_pin=static_cast< gpio_num_t >(-1), uint32_t clock_speed_hz=4000000, const tmc51x0::PinActiveLevels &active_levels=tmc51x0::PinActiveLevels{}) noexcept
	Construct ESP32 SPI communication interface (legacy constructor for backward compatibility)

	~Esp32SPI () noexcept
	Destructor - cleans up SPI resources.

bool	ApplyPinConfig (const tmc51x0::TMC51x0PinConfig &pin_config) noexcept
	Apply pin configuration structure (handles compound pins automatically)

bool	SetPinMapping (tmc51x0::TMC51x0CtrlPin pin, gpio_num_t gpio_pin) noexcept
	Set pin mapping for a TMC51x0 control pin.

gpio_num_t	GetPinMapping (tmc51x0::TMC51x0CtrlPin pin) const noexcept
	Get pin mapping for a TMC51x0 control pin.

tmc51x0::Result< void >	Initialize () noexcept
	Initialize the SPI interface.

tmc51x0::CommMode	GetMode () const noexcept
	Get communication mode (always SPI for this interface)

bool	EnsureInitialized () noexcept
	Ensure SPI interface is initialized, initializing if necessary.

tmc51x0::Result< void >	Deinitialize () noexcept
	Deinitialize the SPI interface.

tmc51x0::Result< void >	SpiTransfer (const uint8_t tx, uint8_t rx, size_t length) noexcept
	Perform SPI transfer.

tmc51x0::Result< void >	GpioSet (tmc51x0::TMC51x0CtrlPin pin, tmc51x0::GpioSignal signal) noexcept
	Set GPIO pin state.

tmc51x0::Result< tmc51x0::GpioSignal >	GpioRead (tmc51x0::TMC51x0CtrlPin pin) noexcept
	Read GPIO pin state.

void	DebugLog (int level, const char tag, const char format, va_list args) noexcept
	Debug logging.

void	DelayMs (uint32_t ms) noexcept
	Delay milliseconds.

void	DelayUs (uint32_t us) noexcept
	Delay microseconds.

tmc51x0::Result< void >	SetClkFreq (uint32_t frequency_hz) noexcept
	Set external clock frequency on CLK pin.

Public Member Functions inherited from tmc51x0::SpiCommInterface< Esp32SPI >
	SpiCommInterface () noexcept
	Construct SPI communication interface.

	SpiCommInterface (const SpiCommInterface &)=delete

void	SetDaisyChainLength (uint8_t total_length) noexcept
	Set the total number of devices in the daisy chain.

uint8_t	GetDaisyChainLength () const noexcept
	Get the total number of devices in the daisy chain.

uint8_t	AutoDetectChainLength (uint8_t max_devices=8) noexcept
	Auto-detect the daisy chain length by sending a unique command that loops back.

CommMode	GetMode () const noexcept
	Get communication mode (always SPI for this interface)

Result< void >	SpiTransfer (const uint8_t tx, uint8_t rx, size_t length) noexcept
	Low-level SPI transfer for register read/write.

Result< uint32_t >	ReadRegister (uint8_t address, uint8_t daisy_chain_position=0) noexcept
	Read a 32-bit register via SPI.

Result< void >	WriteRegister (uint8_t address, uint32_t value, uint8_t daisy_chain_position=0) noexcept
	Write a 32-bit register via SPI.

SpiCommInterface &	operator= (const SpiCommInterface &)=delete

Public Member Functions inherited from tmc51x0::CommInterface< Derived >
	CommInterface () noexcept=default
	Construct communication interface.

CommMode	GetMode () const noexcept
	Get the underlying communication mode used by this interface.

Result< uint32_t >	ReadRegister (uint8_t address, uint8_t address_param=0) noexcept
	Read a 32-bit register from the TMC5160.

Result< void >	WriteRegister (uint8_t address, uint32_t value, uint8_t address_param=0) noexcept
	Write a 32-bit register to the TMC5160.

Result< void >	GpioSet (TMC51x0CtrlPin pin, GpioSignal signal) noexcept
	Set GPIO pin signal state (output control)

Result< GpioSignal >	GpioRead (TMC51x0CtrlPin pin) noexcept
	Read GPIO pin signal state (input state)

Result< void >	GpioSetActive (TMC51x0CtrlPin pin) noexcept
	Set GPIO pin to active state (convenience method)

Result< void >	GpioSetInactive (TMC51x0CtrlPin pin) noexcept
	Set GPIO pin to inactive state (convenience method)

void	DelayMs (uint32_t ms) noexcept
	Delay execution for specified milliseconds.

void	DelayUs (uint32_t us) noexcept
	Delay execution for specified microseconds.

Result< void >	SetPowerEnabled (bool enabled) noexcept
	Enable/disable power to the TMC51x0 (optional)

Result< void >	PowerCycle (uint32_t power_off_ms=20, uint32_t power_on_settle_ms=20) noexcept
	Power-cycle the TMC51x0 (optional)

Result< void >	SetClkFreq (uint32_t frequency_hz) noexcept
	Set external clock frequency on CLK pin (optional)

	CommInterface (const CommInterface &)=delete

CommInterface &	operator= (const CommInterface &)=delete

void	LogDebug (int level, const char tag, const char format,...) noexcept
	Public debug logging wrapper for external classes.

void	LogDebug (LogLevel level, const char tag, const char format,...) noexcept
	LogDebug overload that accepts the driver-native LogLevel enum.

Private Member Functions
bool	SignalToGpioLevel (tmc51x0::TMC51x0CtrlPin pin, tmc51x0::GpioSignal signal) const noexcept
	Convert signal state to physical GPIO level.

tmc51x0::GpioSignal	GpioLevelToSignal (tmc51x0::TMC51x0CtrlPin pin, bool gpio_level) const noexcept
	Convert physical GPIO level to signal state.

bool	configureGpioPins () noexcept

Private Attributes
tmc51x0::PinActiveLevels	active_levels_
	Pin active level configuration storage.

spi_host_device_t	host_

gpio_num_t	mosi_pin_

gpio_num_t	miso_pin_

gpio_num_t	sclk_pin_

gpio_num_t	cs_pin_

gpio_num_t	en_pin_

gpio_num_t	dir_pin_

gpio_num_t	step_pin_

uint32_t	clock_speed_hz_

spi_device_handle_t	device_handle_

SemaphoreHandle_t	spi_mutex_ {nullptr}

bool	initialized_

gpio_num_t	pin_mapping_ [16] {}
	Pin mapping array: maps TMC51x0CtrlPin enum to ESP32 GPIO numbers.

Additional Inherited Members
Static Public Attributes inherited from tmc51x0::SpiCommInterface< Esp32SPI >
static constexpr size_t	kSpiScratchBytes

Protected Member Functions inherited from tmc51x0::SpiCommInterface< Esp32SPI >
	SpiCommInterface (SpiCommInterface &&)=default

	~SpiCommInterface ()=default
	Protected destructor.

SpiCommInterface &	operator= (SpiCommInterface &&)=default

Protected Member Functions inherited from tmc51x0::CommInterface< Derived >
void	DebugLog (int level, const char tag, const char format, va_list args) noexcept
	Debug logging function for detailed debugging information.

	~CommInterface ()=default
	Protected destructor.

	CommInterface (CommInterface &&)=default

CommInterface &	operator= (CommInterface &&)=default

Protected Attributes inherited from tmc51x0::SpiCommInterface< Esp32SPI >
uint8_t	total_chain_length_
	Total number of devices in the daisy chain.

uint8_t	user_specified_chain_length_

bool	chain_length_verified_

Detailed Description

ESP32 SPI implementation of TMC51x0 communication interface.

This class provides SPI communication for the TMC51x0 using ESP-IDF SPI driver with full GPIO pin support.

Pin Configuration Example (ESP32-C6):

Esp32SPI spi(SPI2_HOST,
             GPIO_NUM_6,   // MOSI
             GPIO_NUM_12,  // MISO
             GPIO_NUM_5,   // SCLK
             GPIO_NUM_18,  // CS
             GPIO_NUM_11,  // EN (DRV_EN)
             -1,            // DIR (not used in SPI mode with internal ramp generator)
             -1,            // STEP (not used in SPI mode with internal ramp generator)
             4000000);      // 4 MHz SPI clock
 
// Configure additional pins
spi.SetPinMapping(tmc51x0::TMC51x0CtrlPin::DIAG0, GPIO_NUM_XX); // DIAG0 pin
spi.SetPinMapping(tmc51x0::TMC51x0CtrlPin::DIAG1, GPIO_NUM_XX); // DIAG1 pin
spi.SetPinMapping(tmc51x0::TMC51x0CtrlPin::CLK, GPIO_NUM_10);   // CLK pin (GPIO10)

Constructor & Destructor Documentation

◆ Esp32SPI() [1/3]

Esp32SPI::Esp32SPI	(	spi_host_device_t	host,
		const Esp32SpiPinConfig &	pin_config,
		uint32_t	clock_speed_hz = 4000000,
		const tmc51x0::PinActiveLevels &	active_levels = tmc51x0::PinActiveLevels{} )

inlinenoexcept

Construct ESP32 SPI communication interface with complete pin configuration.

Parameters

host	SPI host device (e.g., SPI2_HOST)
pin_config	Complete pin configuration including SPI pins and TMC51x0 control pins
clock_speed_hz	SPI clock speed in Hz (max 4 MHz recommended)
active_levels	Pin active level configuration (optional, uses datasheet defaults if not provided)

This is the recommended constructor as it allows all GPIO pins (SPI + TMC51x0 control) to be configured in a single structure, making it easier to manage pin assignments.

Note: Compound pins are automatically handled - if you specify dir_pin, ref_right_pin is automatically mapped to the same GPIO (and vice versa). Same for step_pin/ref_left_pin, enc_a_pin/dc_in_pin, enc_b_pin/dc_en_pin, and enc_n_pin/dc_out_pin.; EN pin (DRV_ENN) is active LOW to enable the power stage by default.; Users can override active levels by creating a PinActiveLevels struct, modifying specific pins, and passing it to this constructor.

Example:

// Use defaults
Esp32SPI spi(SPI2_HOST, pin_config);
 
// Override for custom board
tmc51x0::PinActiveLevels levels;
levels.en = true; // Board has inverter on EN pin
Esp32SPI spi(SPI2_HOST, pin_config, 4000000, levels);

◆ Esp32SPI() [2/3]

Esp32SPI::Esp32SPI	(	spi_host_device_t	host,
		gpio_num_t	mosi_pin,
		gpio_num_t	miso_pin,
		gpio_num_t	sclk_pin,
		gpio_num_t	cs_pin,
		const tmc51x0::TMC51x0PinConfig &	pin_config,
		uint32_t	clock_speed_hz = 4000000,
		const tmc51x0::PinActiveLevels &	active_levels = tmc51x0::PinActiveLevels{} )

inlinenoexcept

Construct ESP32 SPI communication interface with separate SPI pins and TMC51x0 pin config.

Parameters

host	SPI host device (e.g., SPI2_HOST)
mosi_pin	MOSI GPIO pin
miso_pin	MISO GPIO pin
sclk_pin	SCLK GPIO pin
cs_pin	CS GPIO pin
pin_config	TMC51x0 pin configuration structure (handles compound pins automatically)
clock_speed_hz	SPI clock speed in Hz (max 4 MHz recommended)
active_levels	Pin active level configuration (optional, uses datasheet defaults if not provided)

Note: Compound pins are automatically handled - if you specify dir_pin, ref_right_pin is automatically mapped to the same GPIO (and vice versa). Same for step_pin/ref_left_pin, enc_a_pin/dc_in_pin, enc_b_pin/dc_en_pin, and enc_n_pin/dc_out_pin.; EN pin (DRV_ENN) is active LOW to enable the power stage by default.; This constructor is provided for backward compatibility. Consider using the constructor with Esp32SpiPinConfig for a more unified configuration.

◆ Esp32SPI() [3/3]

Esp32SPI::Esp32SPI	(	spi_host_device_t	host,
		gpio_num_t	mosi_pin,
		gpio_num_t	miso_pin,
		gpio_num_t	sclk_pin,
		gpio_num_t	cs_pin,
		gpio_num_t	en_pin,
		gpio_num_t	dir_pin = static_cast<gpio_num_t>(-1),
		gpio_num_t	step_pin = static_cast<gpio_num_t>(-1),
		uint32_t	clock_speed_hz = 4000000,
		const tmc51x0::PinActiveLevels &	active_levels = tmc51x0::PinActiveLevels{} )

inlinenoexcept

Construct ESP32 SPI communication interface (legacy constructor for backward compatibility)

Parameters

host	SPI host device (e.g., SPI2_HOST)
mosi_pin	MOSI GPIO pin
miso_pin	MISO GPIO pin
sclk_pin	SCLK GPIO pin
cs_pin	CS GPIO pin
en_pin	EN control pin (DRV_ENN, active LOW enables power stage)
dir_pin	DIR control pin (REFR_DIR, optional - used in external step/dir mode, use -1 if not connected)
step_pin	STEP control pin (REFL_STEP, optional - used in external step/dir mode, use -1 if not connected)
clock_speed_hz	SPI clock speed in Hz (max 4 MHz recommended)
active_levels	Pin active level configuration (optional, uses datasheet defaults if not provided)

Note: For SPI mode with internal ramp generator (SD_MODE=0), DIR and STEP pins are not used. Pass -1 if not connected.; EN pin (DRV_ENN) is active LOW to enable the power stage by default.

Deprecated: Use constructor with TMC51x0PinConfig struct for better pin management

◆ ~Esp32SPI()

Esp32SPI::~Esp32SPI ( )

inlinenoexcept

Destructor - cleans up SPI resources.

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Member Function Documentation

◆ ApplyPinConfig()

bool Esp32SPI::ApplyPinConfig ( const tmc51x0::TMC51x0PinConfig & pin_config )

inlinenoexcept

Apply pin configuration structure (handles compound pins automatically)

Parameters

pin_config Pin configuration structure

Returns: true if configuration was applied successfully

This method automatically handles compound pins (pins that share the same physical GPIO):

If dir_pin is set, ref_right_pin is automatically mapped to the same GPIO
If step_pin is set, ref_left_pin is automatically mapped to the same GPIO
If enc_a_pin is set, dc_in_pin is automatically mapped to the same GPIO
If enc_b_pin is set, dc_en_pin is automatically mapped to the same GPIO
If enc_n_pin is set, dc_out_pin is automatically mapped to the same GPIO

You can override individual mappings using SetPinMapping() if needed.

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◆ ConfigureActiveLevels()

void Esp32SPI::ConfigureActiveLevels ( const tmc51x0::PinActiveLevels & active_levels )

inlinenoexcept

Configure pin active levels from PinActiveLevels struct.

Parameters

active_levels Pin active level configuration structure

Allows users to update active levels after construction, useful for runtime configuration or if board setup changes.

Example:

tmc51x0::PinActiveLevels levels;
levels.en = true; // Override EN pin active level
spi.ConfigureActiveLevels(levels);

◆ configureGpioPins()

bool Esp32SPI::configureGpioPins ( )

inlineprivatenoexcept

◆ DebugLog()

void Esp32SPI::DebugLog	(	int	level,
		const char *	tag,
		const char *	format,
		va_list	args )

inlinenoexcept

Debug logging.

◆ Deinitialize()

tmc51x0::Result< void > Esp32SPI::Deinitialize ( )

inlinenoexcept

Deinitialize the SPI interface.

Returns: Result<void> indicating success or error code

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◆ DelayMs()

void Esp32SPI::DelayMs ( uint32_t ms )

inlinenoexcept

Delay milliseconds.

◆ DelayUs()

void Esp32SPI::DelayUs ( uint32_t us )

inlinenoexcept

Delay microseconds.

◆ EnsureInitialized()

bool Esp32SPI::EnsureInitialized ( )

inlinenoexcept

Ensure SPI interface is initialized, initializing if necessary.

Returns: true if initialized (or successfully initialized), false if initialization failed

This is a convenience method that checks initialization status and calls Initialize() if needed. Useful for lazy initialization patterns.

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◆ GetActiveLevels()

const tmc51x0::PinActiveLevels & Esp32SPI::GetActiveLevels ( ) const

inlinenoexcept

Get current active level configuration.

Returns: PinActiveLevels struct with current active level settings

◆ GetMode()

tmc51x0::CommMode Esp32SPI::GetMode ( ) const

inlinenoexcept

Get communication mode (always SPI for this interface)

Returns: CommMode::SPI

◆ GetPinMapping()

gpio_num_t Esp32SPI::GetPinMapping ( tmc51x0::TMC51x0CtrlPin pin ) const

inlinenoexcept

Get pin mapping for a TMC51x0 control pin.

Parameters

pin	TMC51x0 control pin identifier

Returns: ESP32 GPIO pin number, or -1 if not mapped

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◆ GpioLevelToSignal()

tmc51x0::GpioSignal Esp32SPI::GpioLevelToSignal	(	tmc51x0::TMC51x0CtrlPin	pin,
		bool	gpio_level ) const

inlineprivatenoexcept

Convert physical GPIO level to signal state.

Parameters

pin	The TMC51x0 control pin
gpio_level	Physical GPIO level (true=HIGH, false=LOW)

Returns: Signal state (ACTIVE or INACTIVE)

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◆ GpioRead()

tmc51x0::Result< tmc51x0::GpioSignal > Esp32SPI::GpioRead ( tmc51x0::TMC51x0CtrlPin pin )

inlinenoexcept

Read GPIO pin state.

Parameters

pin	The TMC51x0 control pin to read

Returns: Result<GpioSignal> containing the signal state, or error code

Supports reading diagnostic pins (DIAG0, DIAG1), reference switch pins (REFL_STEP, REFR_DIR), encoder pins (ENCA, ENCB, ENCN), and CLK pin.

Note: Pin must be mapped using SetPinMapping() before use.

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◆ GpioSet()

tmc51x0::Result< void > Esp32SPI::GpioSet	(	tmc51x0::TMC51x0CtrlPin	pin,
		tmc51x0::GpioSignal	signal )

inlinenoexcept

Set GPIO pin state.

Parameters

pin	The TMC51x0 control pin to control
signal	The desired signal state (ACTIVE or INACTIVE)

Returns: true if the GPIO was set successfully, false otherwise

Supports all TMC51x0 control pins: EN, DIR, STEP, REFL_STEP, REFR_DIR, ENCA, ENCB, ENCN, DCEN, DCIN, DCO, CLK.

Note: Diagnostic pins (DIAG0, DIAG1) and DCO are read-only and cannot be set.; Encoder pins (ENCA, ENCB, ENCN) are read-only when used as encoder inputs.; Pin must be mapped using SetPinMapping() before use.

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◆ Initialize()

tmc51x0::Result< void > Esp32SPI::Initialize ( )

inlinenoexcept

Initialize the SPI interface.

Returns: Result<void> indicating success or error code

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◆ SetClkFreq()

tmc51x0::Result< void > Esp32SPI::SetClkFreq ( uint32_t frequency_hz )

inlinenoexcept

Set external clock frequency on CLK pin.

Parameters

frequency_hz Desired clock frequency in Hz (0 = use internal clock, set CLK pin to GND)

Returns: true if clock was configured successfully, false if not supported or failed

Internal Clock Mode (frequency_hz = 0):

Sets CLK pin to OUTPUT mode and drives it LOW (GND)
Enables the internal 12 MHz oscillator
Returns true if CLK pin was successfully configured
Returns false if CLK pin is not mapped

External Clock Mode (frequency_hz > 0):

Currently not implemented (would require PWM generation)
Returns false to indicate external clock must be provided by external hardware
User should provide external clock signal on CLK pin

Note: CLK pin must be mapped using SetPinMapping() before calling this function.; For internal clock, the driver will use 12 MHz for all timing calculations.; For external clock, the actual frequency must match the frequency_hz parameter.

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◆ SetPinMapping()

bool Esp32SPI::SetPinMapping	(	tmc51x0::TMC51x0CtrlPin	pin,
		gpio_num_t	gpio_pin )

inlinenoexcept

Set pin mapping for a TMC51x0 control pin.

Parameters

pin	TMC51x0 control pin identifier
gpio_pin	ESP32 GPIO pin number (or -1 to disable/unmap)

Returns: true if pin mapping was set successfully

Use this method to configure additional pins like DIAG0, DIAG1, CLK, encoder pins, etc.

Example:

spi.SetPinMapping(tmc51x0::TMC51x0CtrlPin::DIAG0, GPIO_NUM_XX);
spi.SetPinMapping(tmc51x0::TMC51x0CtrlPin::DIAG1, GPIO_NUM_XX);
spi.SetPinMapping(tmc51x0::TMC51x0CtrlPin::CLK, GPIO_NUM_10);

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◆ SignalToGpioLevel()

bool Esp32SPI::SignalToGpioLevel	(	tmc51x0::TMC51x0CtrlPin	pin,
		tmc51x0::GpioSignal	signal ) const

inlineprivatenoexcept

Convert signal state to physical GPIO level.

Parameters

pin	The TMC51x0 control pin
signal	The signal state (ACTIVE or INACTIVE)

Returns: Physical GPIO level (true=HIGH, false=LOW)

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◆ SpiTransfer()

tmc51x0::Result< void > Esp32SPI::SpiTransfer	(	const uint8_t *	tx,
		uint8_t *	rx,
		size_t	length )

inlinenoexcept

Perform SPI transfer.

Parameters

tx	Transmit buffer
rx	Receive buffer
length	Number of bytes to transfer

Returns: true if successful, false otherwise

Concurrency / RTOS Notes (Important)

Single-task assumption (current examples): This implementation assumes the driver is accessed from a single task. If you call into the driver from multiple tasks concurrently, you must add a mutex around spi_device_transmit() (or provide external serialization).
Not ISR-safe: spi_device_transmit() may block; do not call this from an ISR.
Why serialization matters: The core SPI comm layer uses per-instance scratch buffers and expects SPI transfers to be serialized.

Member Data Documentation

◆ active_levels_

tmc51x0::PinActiveLevels Esp32SPI::active_levels_

private

Pin active level configuration storage.

Stores the PinActiveLevels struct which defines the physical GPIO level (HIGH or LOW) that corresponds to the ACTIVE state for each TMC51x0 control pin. This struct is initialized from the constructor parameter (or defaults).

◆ clock_speed_hz_

uint32_t Esp32SPI::clock_speed_hz_

private

◆ cs_pin_

gpio_num_t Esp32SPI::cs_pin_

private

◆ device_handle_

spi_device_handle_t Esp32SPI::device_handle_

private

◆ dir_pin_

gpio_num_t Esp32SPI::dir_pin_

private

◆ en_pin_

gpio_num_t Esp32SPI::en_pin_

private

◆ host_

spi_host_device_t Esp32SPI::host_

private

◆ initialized_

bool Esp32SPI::initialized_

private

◆ miso_pin_

gpio_num_t Esp32SPI::miso_pin_

private

◆ mosi_pin_

gpio_num_t Esp32SPI::mosi_pin_

private

◆ pin_mapping_

gpio_num_t Esp32SPI::pin_mapping_[16] {}

private

Pin mapping array: maps TMC51x0CtrlPin enum to ESP32 GPIO numbers.

Array indices correspond to TMC51x0CtrlPin enum values. -1 indicates the pin is not mapped.

◆ sclk_pin_

gpio_num_t Esp32SPI::sclk_pin_

private

◆ spi_mutex_

SemaphoreHandle_t Esp32SPI::spi_mutex_ {nullptr}

private

◆ step_pin_

gpio_num_t Esp32SPI::step_pin_

private

The documentation for this class was generated from the following file:

esp32_tmc51x0_bus.hpp

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Esp32SPI() [1/3]

◆ Esp32SPI() [2/3]

◆ Esp32SPI() [3/3]

◆ ~Esp32SPI()

Member Function Documentation

◆ ApplyPinConfig()

◆ ConfigureActiveLevels()

◆ configureGpioPins()

◆ DebugLog()

◆ Deinitialize()

◆ DelayMs()

◆ DelayUs()

◆ EnsureInitialized()

◆ GetActiveLevels()

◆ GetMode()

◆ GetPinMapping()

◆ GpioLevelToSignal()

◆ GpioRead()

◆ GpioSet()

◆ Initialize()

◆ SetClkFreq()

◆ SetPinMapping()

◆ SignalToGpioLevel()

◆ SpiTransfer()

Concurrency / RTOS Notes (Important)

Member Data Documentation

◆ active_levels_

◆ clock_speed_hz_

◆ cs_pin_

◆ device_handle_

◆ dir_pin_

◆ en_pin_

◆ host_

◆ initialized_

◆ miso_pin_

◆ mosi_pin_

◆ pin_mapping_

◆ sclk_pin_

◆ spi_mutex_

◆ step_pin_