tmc51x0::SpiCommand Struct Reference

TMC5160 SPI command structure with union-based frame representation. More...

#include <tmc51x0_comm_interface.hpp>

Collaboration diagram for tmc51x0::SpiCommand:

Classes
union	Frame
	Union for accessing the 40-bit SPI frame in different ways. More...

Public Member Functions
uint8_t	GetAddress () const noexcept
	Get register address (bits 6-0 of address byte)
bool	IsWrite () const noexcept
	Check if this is a write command.
uint32_t	GetValue () const noexcept
	Get 32-bit data value (for writes) or dummy data (for reads)
void	SetFrame (const uint8_t *bytes) noexcept
	Set the 5-byte frame from raw bytes.
void	GetFrame (uint8_t *bytes) const noexcept
	Get the 5-byte frame as raw bytes.

Static Public Member Functions
static SpiCommand	Read (uint8_t addr) noexcept
	Construct a read command.
static SpiCommand	Write (uint8_t addr, uint32_t val) noexcept
	Construct a write command.

Public Attributes
union tmc51x0::SpiCommand::Frame	frame
	The 40-bit SPI frame.

Detailed Description

TMC5160 SPI command structure with union-based frame representation.

Represents a standard TMC5160 SPI command (40 bits: 8-bit address + 32-bit data). Used for both single-chip and multi-chip (daisy-chain) communication. In daisy-chain mode, multiple commands are sent in one SPI transfer.

The frame is structured as:

• Byte 0: Address byte (bit 7 = write bit, bits 6-0 = register address)
• Bytes 1-4: 32-bit data value (MSB-first, big-endian)

Member Function Documentation

GetAddress()

uint8_t tmc51x0::SpiCommand::GetAddress ( ) const

inlinenoexcept

Get register address (bits 6-0 of address byte)

Returns

Register address (0x00-0x73)

GetFrame()

void tmc51x0::SpiCommand::GetFrame ( uint8_t * bytes ) const

inlinenoexcept

Get the 5-byte frame as raw bytes.

Parameters

bytes

Output buffer (must be at least 5 bytes)

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GetValue()

uint32_t tmc51x0::SpiCommand::GetValue ( ) const

inlinenoexcept

Get 32-bit data value (for writes) or dummy data (for reads)

Returns

32-bit value (MSB-first from bytes 1-4)

IsWrite()

bool tmc51x0::SpiCommand::IsWrite ( ) const

inlinenoexcept

Check if this is a write command.

Returns

true if write command (bit 7 of address byte is set)

Read()

static SpiCommand tmc51x0::SpiCommand::Read ( uint8_t addr )

inlinestaticnoexcept

Construct a read command.

Parameters

addr	Register address to read (0x00-0x73)

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SetFrame()

void tmc51x0::SpiCommand::SetFrame ( const uint8_t * bytes )

inlinenoexcept

Set the 5-byte frame from raw bytes.

Parameters

bytes

Pointer to 5 bytes (MSB-first)

Write()

static SpiCommand tmc51x0::SpiCommand::Write ( uint8_t addr, uint32_t val )

inlinestaticnoexcept

Construct a write command.

Parameters

addr	Register address to write (0x00-0x73)
val	32-bit value to write

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Member Data Documentation

frame

union tmc51x0::SpiCommand::Frame tmc51x0::SpiCommand::frame

The 40-bit SPI frame.

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

• tmc51x0_comm_interface.hpp