tmc51x0::SpiStatus Struct Reference

SPI_STATUS structure - status flags returned with each SPI datagram. More...

#include <tmc51x0_comm_interface.hpp>

Public Member Functions
bool	HasError () const noexcept
	Check if any error flags are set.
bool	ResetFlag () const noexcept
	Get reset flag (bit 0)
bool	DriverError () const noexcept
	Get driver error flag (bit 1)
bool	StallGuard2 () const noexcept
	Get StallGuard2 flag (bit 2)
bool	Standstill () const noexcept
	Get standstill flag (bit 3)
bool	VelocityReached () const noexcept
	Get velocity reached flag (bit 4)
bool	PositionReached () const noexcept
	Get position reached flag (bit 5)
bool	StopLeft () const noexcept
	Get stop left switch flag (bit 6)
bool	StopRight () const noexcept
	Get stop right switch flag (bit 7)
void	FormatStatusBits (char *out, size_t cap) const noexcept
	Format status bits as compact string (bit names and values)
const char *	ToString () const noexcept
	Format status flags as human-readable string.

Static Public Member Functions
static SpiStatus	FromByte (uint8_t status_byte) noexcept
	Extract SPI_STATUS from response byte.

Public Attributes
uint8_t	value
	Raw SPI_STATUS byte value.

Detailed Description

SPI_STATUS structure - status flags returned with each SPI datagram.

Per datasheet section 4.1.2, SPI_STATUS is transmitted with each SPI access in bits 39 to 32 (byte 0 of response). New status information becomes latched at the end of each access and is available with the next SPI transfer.

Member Function Documentation

DriverError()

bool tmc51x0::SpiStatus::DriverError ( ) const

inlinenoexcept

Get driver error flag (bit 1)

Returns

true if driver error occurred

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FormatStatusBits()

void tmc51x0::SpiStatus::FormatStatusBits ( char * out, size_t cap ) const

inlinenoexcept

Format status bits as compact string (bit names and values)

Parameters

out	Destination buffer
cap	Destination capacity in bytes

Output format: "RST:0 STST:0 VEL:0 POS:0 STOP_L:0 STOP_R:0 SG2:0 DRV_ERR:0"

Note

No heap allocation (embedded-friendly).

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FromByte()

static SpiStatus tmc51x0::SpiStatus::FromByte ( uint8_t status_byte )

inlinestaticnoexcept

Extract SPI_STATUS from response byte.

Parameters

status_byte

Byte 0 from SPI response (bits 39-32)

Returns

SpiStatus structure with parsed bits

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HasError()

bool tmc51x0::SpiStatus::HasError ( ) const

inlinenoexcept

Check if any error flags are set.

Returns

true if driver_error is set (reset_flag is informational, not an error)

Note: Reset flag indicates the chip was reset (normal on power-up) and is cleared when read. Only driver_error indicates an actual error condition.

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PositionReached()

bool tmc51x0::SpiStatus::PositionReached ( ) const

inlinenoexcept

Get position reached flag (bit 5)

Returns

true if target position reached (motion controller only)

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ResetFlag()

bool tmc51x0::SpiStatus::ResetFlag ( ) const

inlinenoexcept

Get reset flag (bit 0)

Returns

true if reset has occurred

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StallGuard2()

bool tmc51x0::SpiStatus::StallGuard2 ( ) const

inlinenoexcept

Get StallGuard2 flag (bit 2)

Returns

true if StallGuard flag is active

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Standstill()

bool tmc51x0::SpiStatus::Standstill ( ) const

inlinenoexcept

Get standstill flag (bit 3)

Returns

true if motor is in standstill

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StopLeft()

bool tmc51x0::SpiStatus::StopLeft ( ) const

inlinenoexcept

Get stop left switch flag (bit 6)

Returns

true if stop left switch is active (motion controller only)

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StopRight()

bool tmc51x0::SpiStatus::StopRight ( ) const

inlinenoexcept

Get stop right switch flag (bit 7)

Returns

true if stop right switch is active (motion controller only)

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ToString()

const char * tmc51x0::SpiStatus::ToString ( ) const

inlinenoexcept

Format status flags as human-readable string.

Returns

String describing active flags (for debug logging)

Note: Reset flag is informational (normal on power-up), not an error

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VelocityReached()

bool tmc51x0::SpiStatus::VelocityReached ( ) const

inlinenoexcept

Get velocity reached flag (bit 4)

Returns

true if target velocity reached (motion controller only)

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Member Data Documentation

value

uint8_t tmc51x0::SpiStatus::value

Raw SPI_STATUS byte value.

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

• tmc51x0_comm_interface.hpp