esp32_tmc51x0_bus.hpp File Reference

ESP32-specific communication interfaces for TMC51x0 using SPI and UART (TMC5130 & TMC51x0) More...

#include "tmc51x0_comm_interface.hpp"
#include "driver/gpio.h"
#include "driver/ledc.h"
#include "driver/spi_master.h"
#include "driver/uart.h"
#include "esp_log.h"
#include "esp_rom_sys.h"
#include "freertos/FreeRTOS.h"
#include "freertos/semphr.h"
#include "freertos/task.h"
#include <cstdarg>
#include <cstddef>
#include <cstdint>
#include <cstdio>
#include <cstring>

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Classes
struct	Esp32SpiPinConfig
	Complete ESP32 SPI bus and TMC51x0 pin configuration structure. More...
class	Esp32SPI
	ESP32 SPI implementation of TMC51x0 communication interface. More...
struct	Esp32UartPinConfig
	ESP32 UART pin configuration structure. More...
class	Esp32UART
	ESP32 UART implementation of TMC51x0 communication interface. More...

Variables
static const char *	BUS_TAG = "TMC51x0_Bus"

Detailed Description

ESP32-specific communication interfaces for TMC51x0 using SPI and UART (TMC5130 & TMC51x0)

This file provides ESP32-specific implementations of the TMC51x0 communication interfaces using ESP-IDF SPI and UART drivers. Supports both TMC5130 and TMC51x0 chips.

Pin Configuration Support:

• Supports all TMC51x0 control pins (EN, DIR, STEP, REFL_STEP, REFR_DIR, DIAG0, DIAG1, ENCA, ENCB, ENCN, CLK)
• Supports user-defined GPIO pins for custom board configurations
• Diagnostic pins (DIAG0, DIAG1) can be read via GpioRead()
• Reference switch pins (REFL_STEP, REFR_DIR) can be read/written depending on mode
• Encoder pins (ENCA, ENCB, ENCN) can be read depending on mode
• CLK pin can be configured for external clock input (PWM support via user implementation)

Author

Nebiyu Tadesse

Date

2025

Copyright

HardFOC

Variable Documentation

BUS_TAG

const char* BUS_TAG = "TMC51x0_Bus"

static