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

#include <esp32_tmc51x0_bus.hpp>

Inheritance diagram for Esp32UART:

Collaboration diagram for Esp32UART:

Public Member Functions
	Esp32UART (uart_port_t uart_num, const Esp32UartPinConfig &pin_config, uint32_t baud_rate=115200, const tmc51x0::PinActiveLevels &active_levels=tmc51x0::PinActiveLevels{}) noexcept
	Construct ESP32 UART communication interface.

	~Esp32UART () noexcept

bool	ApplyPinConfig (const tmc51x0::TMC51x0PinConfig &pc) noexcept

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

gpio_num_t	GetPinMapping (tmc51x0::TMC51x0CtrlPin pin) const noexcept

tmc51x0::Result< void >	Initialize () noexcept

tmc51x0::Result< void >	Deinitialize () noexcept

tmc51x0::Result< void >	UartSend (const uint8_t *data, size_t length) noexcept

tmc51x0::Result< void >	UartReceive (uint8_t *data, size_t length) noexcept

tmc51x0::Result< void >	SetNaiPin (bool active) noexcept

tmc51x0::Result< bool >	GetNaoPin () noexcept

tmc51x0::CommMode	GetMode () const noexcept

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

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

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

void	DelayMs (uint32_t ms) noexcept

void	DelayUs (uint32_t us) noexcept

Public Member Functions inherited from tmc51x0::UartCommInterface< Esp32UART >
	UartCommInterface () noexcept
	Construct UART communication interface with pin active level configuration.

	UartCommInterface (const UartCommInterface &)=delete

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

Result< void >	SetNaiPin (bool active) noexcept
	Set NAI (Next Address Input) pin state for daisy chaining.

Result< bool >	GetNaoPin () noexcept
	Read NAO (Next Address Output) pin state.

Result< void >	UartSend (const uint8_t *data, size_t length) noexcept
	Send raw bytes via UART.

Result< void >	UartReceive (uint8_t *data, size_t length) noexcept
	Receive raw bytes via UART.

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

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

UartCommInterface &	operator= (const UartCommInterface &)=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 Attributes
tmc51x0::PinActiveLevels	active_levels_

uart_port_t	uart_num_

gpio_num_t	tx_pin_

gpio_num_t	rx_pin_

gpio_num_t	en_pin_

uint32_t	baud_rate_

bool	initialized_

gpio_num_t	pin_mapping_ [16] {}

Additional Inherited Members
Protected Member Functions inherited from tmc51x0::UartCommInterface< Esp32UART >
	UartCommInterface (UartCommInterface &&)=default

	~UartCommInterface ()=default
	Protected destructor.

UartCommInterface &	operator= (UartCommInterface &&)=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

Detailed Description

ESP32 UART implementation of TMC51x0 communication interface.

Provides UART single-wire communication for the TMC51x0 using the ESP-IDF UART driver. Supports single-node and multi-node (daisy-chain) operation.

The TMC5160 uses a single-wire UART interface on pins:

SWN/SWPN (pin 26/DIAG0): UART input (active low)
SWP/SWIOP (pin 27/DIAG1): UART output

For multi-node systems, NAI/NAO pins (SDI_CFG1 / SDO_CFG0) form an addressing chain. See the TMC5160 datasheet section 5.4.

Note: SD_MODE and SPI_MODE must both be LOW (GND) for UART operation.

Constructor & Destructor Documentation

◆ Esp32UART()

Esp32UART::Esp32UART	(	uart_port_t	uart_num,
		const Esp32UartPinConfig &	pin_config,
		uint32_t	baud_rate = 115200,
		const tmc51x0::PinActiveLevels &	active_levels = tmc51x0::PinActiveLevels{} )

inlinenoexcept

Construct ESP32 UART communication interface.

Parameters

uart_num	UART port number (UART_NUM_1 or UART_NUM_2; avoid UART_NUM_0 used for console)
pin_config	Complete pin configuration
baud_rate	UART baud rate (default 115200; TMC5160 auto-detects from sync frame)
active_levels	Pin active level configuration

◆ ~Esp32UART()

Esp32UART::~Esp32UART ( )

inlinenoexcept

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Member Function Documentation

◆ ApplyPinConfig()

bool Esp32UART::ApplyPinConfig ( const tmc51x0::TMC51x0PinConfig & pc )

inlinenoexcept

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◆ DebugLog()

void Esp32UART::DebugLog	(	int	level,
		const char *	tag,
		const char *	format,
		va_list	args )

inlinenoexcept

◆ Deinitialize()

tmc51x0::Result< void > Esp32UART::Deinitialize ( )

inlinenoexcept

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◆ DelayMs()

void Esp32UART::DelayMs ( uint32_t ms )

inlinenoexcept

◆ DelayUs()

void Esp32UART::DelayUs ( uint32_t us )

inlinenoexcept

◆ GetMode()

tmc51x0::CommMode Esp32UART::GetMode ( ) const

inlinenoexcept

◆ GetNaoPin()

tmc51x0::Result< bool > Esp32UART::GetNaoPin ( )

inlinenoexcept

◆ GetPinMapping()

gpio_num_t Esp32UART::GetPinMapping ( tmc51x0::TMC51x0CtrlPin pin ) const

inlinenoexcept

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◆ GpioRead()

tmc51x0::Result< tmc51x0::GpioSignal > Esp32UART::GpioRead ( tmc51x0::TMC51x0CtrlPin pin )

inlinenoexcept

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◆ GpioSet()

tmc51x0::Result< void > Esp32UART::GpioSet	(	tmc51x0::TMC51x0CtrlPin	pin,
		tmc51x0::GpioSignal	signal )

inlinenoexcept

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◆ Initialize()

tmc51x0::Result< void > Esp32UART::Initialize ( )

inlinenoexcept

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◆ SetNaiPin()

tmc51x0::Result< void > Esp32UART::SetNaiPin ( bool active )

inlinenoexcept

◆ SetPinMapping()

bool Esp32UART::SetPinMapping	(	tmc51x0::TMC51x0CtrlPin	pin,
		gpio_num_t	gpio_pin )

inlinenoexcept

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◆ UartReceive()

tmc51x0::Result< void > Esp32UART::UartReceive	(	uint8_t *	data,
		size_t	length )

inlinenoexcept

◆ UartSend()

tmc51x0::Result< void > Esp32UART::UartSend	(	const uint8_t *	data,
		size_t	length )

inlinenoexcept

Member Data Documentation

◆ active_levels_

tmc51x0::PinActiveLevels Esp32UART::active_levels_

private

◆ baud_rate_

uint32_t Esp32UART::baud_rate_

private

◆ en_pin_

gpio_num_t Esp32UART::en_pin_

private

◆ initialized_

bool Esp32UART::initialized_

private

◆ pin_mapping_

gpio_num_t Esp32UART::pin_mapping_[16] {}

private

◆ rx_pin_

gpio_num_t Esp32UART::rx_pin_

private

◆ tx_pin_

gpio_num_t Esp32UART::tx_pin_

private

◆ uart_num_

uart_port_t Esp32UART::uart_num_

private

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

esp32_tmc51x0_bus.hpp

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Esp32UART()

◆ ~Esp32UART()

Member Function Documentation

◆ ApplyPinConfig()

◆ DebugLog()

◆ Deinitialize()

◆ DelayMs()

◆ DelayUs()

◆ GetMode()

◆ GetNaoPin()

◆ GetPinMapping()

◆ GpioRead()

◆ GpioSet()

◆ Initialize()

◆ SetNaiPin()

◆ SetPinMapping()

◆ UartReceive()

◆ UartSend()

Member Data Documentation

◆ active_levels_

◆ baud_rate_

◆ en_pin_

◆ initialized_

◆ pin_mapping_

◆ rx_pin_

◆ tx_pin_

◆ uart_num_