CRTP-based UART implementation of TMC5160CommInterface. More...

#include <tmc51x0_comm_interface.hpp>

Inheritance diagram for tmc51x0::UartCommInterface< Derived >:

Collaboration diagram for tmc51x0::UartCommInterface< Derived >:

Public Member Functions
	UartCommInterface () noexcept
	Construct UART communication interface with pin active level configuration.

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 (const UartCommInterface &)=delete

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.

Protected Member Functions
	~UartCommInterface ()=default
	Protected destructor.

	UartCommInterface (UartCommInterface &&)=default

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

template<typename Derived>
class tmc51x0::UartCommInterface< Derived >

CRTP-based UART implementation of TMC5160CommInterface.

Uses UART single wire interface per datasheet section 5.1. Uses UART_TXD and UART_RXD signals; supports external transceivers via UART_TXEN. Each byte is transmitted LSB...MSB, highest byte transmitted first.

UART Mode Requirements

For UART operation, the TMC5160 must be configured with:

SD_MODE (pin 21): Must be LOW (0)
SPI_MODE (pin 22): Must be LOW (0)
When both are LOW, UART operation is enabled

Pin Functions in UART Mode

In UART mode (SD_MODE=0, SPI_MODE=0), certain pins take on special functions:

SDI_CFG1 (pin 15) → NAI (Next Address Input): Input for address selection
SDO_CFG0 (pin 16) → NAO (Next Address Output): Output that connects to next chip's NAI
DIAG0_SWN (pin 26) → SWION (Single Wire I/O Negative): UART single wire interface
DIAG1_SWP (pin 27) → SWIOP (Single Wire I/O Positive): UART single wire interface

UART Daisy Chaining

The TMC5160 supports daisy chaining up to 255 nodes in UART mode:

First chip: NAI tied to GND → responds to address 0
Each chip's NAO connects to the next chip's NAI
After programming each chip, its NAO must be LOW to enable the next chip
Program chips sequentially starting from address 0
See datasheet section 5.4 for detailed addressing procedure

UART Write Access Datagram (9 bytes per datasheet section 5.1.1):

Byte 0: Sync nibble (bits 0-3: 1,0,1,0) + Reserved (bits 4-7) + NODEADDR (8 bits)
- Sync pattern enables baud rate synchronization
- Reserved bits are don't cares but included in CRC
Byte 1: RW bit (bit 8 = 1 for write) + 7-bit register address
Bytes 2-5: 32-bit data (high byte to low byte, MSB-first)
Bytes 6-7: Reserved (don't cares but included in CRC)
Byte 8: CRC8 checksum (CRC8-ATM polynomial 0x07, LSB to MSB)

UART Read Access Request (5 bytes per datasheet section 5.1.2):

Byte 0: Sync nibble + Reserved + NODEADDR
Byte 1: RW bit (bit 8 = 0 for read) + 7-bit register address
Bytes 2-3: Reserved (don't cares but included in CRC)
Byte 4: CRC8 checksum

UART Read Access Reply (9 bytes per datasheet section 5.1.2):

Byte 0: Sync nibble + Reserved (0) + 0xFF (address code for master)
Byte 1: Register address (0)
Bytes 2-5: 32-bit data (high byte to low byte, MSB-first)
Bytes 6-7: Reserved (0)
Byte 8: CRC8 checksum

CRC8: CRC8-ATM polynomial (x^8 + x^2 + x^1 + x^0 = 0x07)

Applied LSB to MSB, including sync and addressing byte
Sync nibble is assumed to always be correct

Baud Rate (per datasheet section 5.1.1):

Minimum: 9000 baud (assuming 20 MHz clock)
Maximum: fCLK/16
Automatically detected from sync frame timing
Bit time calculated from start bit (1 to 0 transition) to end of sync frame

Communication Reset (per datasheet section 5.1.1):

Pause time > 63 bit times between start bits resets communication
Minimum 12 bit times bus idle time required after reset
Glitches (< 16 clock cycles) cause 12 bit time timeout

SENDDELAY (per datasheet section 5.1.2):

Programmable delay after read request before reply (multiples of 8 bit times)
Default: 8 bit times
Multi-node systems: Set SENDDELAY to minimum 2 for all nodes

Example usage:

class MyUART : public tmc5160::UartCommInterface<MyUART> {
public:
  CommMode mode() const noexcept { return CommMode::UART; }
  bool uartSend(...) { ... }
  bool uartReceive(...) { ... }
  bool gpioSet(...) { ... }
  bool gpioRead(...) { ... }
  void debugLog(...) { ... }
  void delayMs(...) { ... }
  void delayUs(...) { ... }
};

Template Parameters

Derived The derived class type (CRTP pattern)

Constructor & Destructor Documentation

◆ UartCommInterface() [1/3]

template<typename Derived >

tmc51x0::UartCommInterface< Derived >::UartCommInterface ( )

inlinenoexcept

Construct UART communication interface with pin active level configuration.

Parameters

en_active_level	Physical GPIO level for EN pin when ACTIVE (true=HIGH, false=LOW)
dir_active_level	Physical GPIO level for DIR pin when ACTIVE (true=HIGH, false=LOW)
step_active_level	Physical GPIO level for STEP pin when ACTIVE (true=HIGH, false=LOW)

Note: Multiple TMC5160 instances can share one UartCommInterface on the same UART bus. The node address is passed per transaction via ReadRegister() and WriteRegister() methods.

◆ ~UartCommInterface()

template<typename Derived >

tmc51x0::UartCommInterface< Derived >::~UartCommInterface ( )

protecteddefault

Protected destructor.

◆ UartCommInterface() [2/3]

template<typename Derived >

tmc51x0::UartCommInterface< Derived >::UartCommInterface ( UartCommInterface< Derived > && )

protecteddefault

◆ UartCommInterface() [3/3]

template<typename Derived >

tmc51x0::UartCommInterface< Derived >::UartCommInterface ( const UartCommInterface< Derived > & )

delete

Member Function Documentation

◆ GetMode()

template<typename Derived >

CommMode tmc51x0::UartCommInterface< Derived >::GetMode ( ) const

inlinenoexcept

Get communication mode (always UART for this interface)

Returns: CommMode::UART

◆ GetNaoPin()

template<typename Derived >

Result< bool > tmc51x0::UartCommInterface< Derived >::GetNaoPin ( )

inlinenoexcept

Read NAO (Next Address Output) pin state.

Parameters

active Reference to store NAO pin state

Returns: Result<bool> containing true if NAO is active, false otherwise

NAO is the output from one TMC5160 that connects to the next TMC5160's NAI input in a daisy chain.

NAO is the SDO_CFG0 pin (pin 16) in UART mode
After programming a chip to its target address, NAO must be LOW to enable the next chip in the chain
NAO HIGH: Next chip is not yet accessible
NAO LOW: Next chip is accessible for programming

Default implementation delegates to derived class. Override for hardware-specific NAO pin reading.

Note: In UART mode, SD_MODE=0 and SPI_MODE=0 must be set

Here is the call graph for this function:

Here is the caller graph for this function:

◆ operator=() [1/2]

template<typename Derived >

UartCommInterface & tmc51x0::UartCommInterface< Derived >::operator= ( const UartCommInterface< Derived > & )

delete

◆ operator=() [2/2]

template<typename Derived >

UartCommInterface & tmc51x0::UartCommInterface< Derived >::operator= ( UartCommInterface< Derived > && )

protecteddefault

◆ ReadRegister()

template<typename Derived >

Result< uint32_t > tmc51x0::UartCommInterface< Derived >::ReadRegister	(	uint8_t	address,
		uint8_t	node_address = 0 )

inlinenoexcept

Read a 32-bit register via UART.

Parameters

address	Register address (0x00-0x73)
value	Reference to store the read value
node_address	UART node address (0-127) for multi-node addressing

Returns: Result<uint32_t> containing the value or error

Here is the call graph for this function:

◆ SetNaiPin()

template<typename Derived >

Result< void > tmc51x0::UartCommInterface< Derived >::SetNaiPin ( bool active )

inlinenoexcept

Set NAI (Next Address Input) pin state for daisy chaining.

Parameters

active true to set NAI active (high), false to set inactive (low)

Returns: Result<void> indicating success or error

For UART daisy chaining, NAI controls the addressing sequence.

NAI is the SDI_CFG1 pin (pin 15) in UART mode
When NAI is active (high), the node address increments by one
First chip in chain: NAI should be tied to GND (low) → responds to address 0
Subsequent chips: NAI connected to previous chip's NAO

Default implementation delegates to derived class. Override for hardware-specific NAI pin control.

Note: In UART mode, SD_MODE=0 and SPI_MODE=0 must be set

Here is the call graph for this function:

Here is the caller graph for this function:

◆ UartReceive()

template<typename Derived >

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

inlinenoexcept

Receive raw bytes via UART.

Parameters

data	Pointer to buffer to store received bytes
length	Number of bytes to receive

Returns: Result<void> indicating success or error

Here is the call graph for this function:

Here is the caller graph for this function:

◆ UartSend()

template<typename Derived >

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

inlinenoexcept

Send raw bytes via UART.

Parameters

data	Pointer to data bytes to send
length	Number of bytes to send

Returns: Result<void> indicating success or error

Here is the call graph for this function:

Here is the caller graph for this function:

◆ WriteRegister()

template<typename Derived >

Result< void > tmc51x0::UartCommInterface< Derived >::WriteRegister	(	uint8_t	address,
		uint32_t	value,
		uint8_t	node_address = 0 )

inlinenoexcept

Write a 32-bit register via UART.

Parameters

address	Register address (0x00-0x73)
value	32-bit value to write
node_address	UART node address (0-127) for multi-node addressing

Returns: Result<void> indicating success or error

Here is the call graph for this function:

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

tmc51x0_comm_interface.hpp

Public Member Functions

Protected Member Functions

Detailed Description

UART Mode Requirements

Pin Functions in UART Mode

UART Daisy Chaining

Constructor & Destructor Documentation

◆ UartCommInterface() [1/3]

◆ ~UartCommInterface()

◆ UartCommInterface() [2/3]

◆ UartCommInterface() [3/3]

Member Function Documentation

◆ GetMode()

◆ GetNaoPin()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ ReadRegister()

◆ SetNaiPin()

◆ UartReceive()

◆ UartSend()

◆ WriteRegister()