tmc51x0::TMC51x0< CommType >::Io Struct Reference

Chip IO / mode pins / IOIN helpers. More...

#include <tmc51x0.hpp>

Collaboration diagram for tmc51x0::TMC51x0< CommType >::Io:

Public Member Functions
	Io (TMC51x0 &driver) noexcept
Result< void >	SetOperatingMode (ChipCommMode mode) noexcept
	Set the chip operating mode via SPI_MODE and SD_MODE pins.
Result< ChipCommMode >	GetOperatingMode () const noexcept
	Read the current mode-pin state (SPI_MODE/SD_MODE)
Result< InputStatus >	ReadInputStatus () noexcept
	Read GPIO input pins (parsed) from IOIN.
Result< uint8_t >	ReadIcVersion () noexcept
	Read IC version from IOIN.
Result< uint32_t >	ReadGpioPins () noexcept
	Read GPIO input pins (raw) from IOIN.
Result< void >	SetSdoCfg0Polarity (bool polarity) noexcept
	Set SDO_CFG0 pin polarity (UART/Single Wire mode)

Private Attributes
TMC51x0 &	driver_

Detailed Description

template<typename CommType>
struct tmc51x0::TMC51x0< CommType >::Io

Chip IO / mode pins / IOIN helpers.

Groups "pin-state / IOIN / mode pins" operations so they don't get mixed into status monitoring or communication addressing.

Constructor & Destructor Documentation

Io()

template<typename CommType >

tmc51x0::TMC51x0< CommType >::Io::Io ( TMC51x0 & driver )

inlineexplicitnoexcept

Member Function Documentation

GetOperatingMode()

template<typename CommType >

Result< ChipCommMode > tmc51x0::TMC51x0< CommType >::Io::GetOperatingMode ( ) const

noexcept

Read the current mode-pin state (SPI_MODE/SD_MODE)

Returns

Result<ChipCommMode> containing the value or error

This method reads the current state of SPI_MODE (pin 22) and SD_MODE (pin 21) pins if they are connected to GPIO inputs/outputs.

Note

This reads the current pin state, which may not reflect the actual chip mode if the chip hasn't been reset since the pins were changed.

ReadGpioPins()

template<typename CommType >

Result< uint32_t > tmc51x0::TMC51x0< CommType >::Io::ReadGpioPins ( )

noexcept

Read GPIO input pins (raw) from IOIN.

Returns

Result<uint32_t> containing the value or error

ReadIcVersion()

template<typename CommType >

Result< uint8_t > tmc51x0::TMC51x0< CommType >::Io::ReadIcVersion ( )

noexcept

Read IC version from IOIN.

Returns

Result<uint8_t> containing the value or error

ReadInputStatus()

template<typename CommType >

Result< InputStatus > tmc51x0::TMC51x0< CommType >::Io::ReadInputStatus ( )

noexcept

Read GPIO input pins (parsed) from IOIN.

Returns

Result<InputStatus> containing the value or error

SetOperatingMode()

template<typename CommType >

Result< void > tmc51x0::TMC51x0< CommType >::Io::SetOperatingMode ( ChipCommMode mode )

noexcept

Set the chip operating mode via SPI_MODE and SD_MODE pins.

Parameters

mode	Operating mode (SPI_INTERNAL_RAMP, SPI_EXTERNAL_STEPDIR, UART_INTERNAL_RAMP, STANDALONE_EXTERNAL_STEPDIR)

Returns

Result<void> indicating success or error

This method controls the SPI_MODE (pin 22) and SD_MODE (pin 21) pins if they are connected to GPIO outputs. These pins determine both the communication interface (SPI/UART/Standalone) and the motion control method (Internal ramp generator vs External step/dir).

CRITICAL WARNINGS:

• These pins are typically hardwired and read at startup
• Only use this method if SPI_MODE and SD_MODE pins are connected to GPIO outputs
• Changing the mode requires a chip reset (power cycle) to take effect
• The mode pins are read at startup, so changes won't be effective until reset
• Ensure pins are configured in TMC51x0PinConfig (spi_mode_pin and sd_mode_pin)

Note

After calling this method, you must reset the chip for the new mode to take effect. The driver does not automatically reset the chip - you must handle this externally.

Operating mode pin mapping:

• SPI_INTERNAL_RAMP: SPI_MODE=HIGH, SD_MODE=LOW (SPI interface + internal ramp generator)
• SPI_EXTERNAL_STEPDIR: SPI_MODE=HIGH, SD_MODE=HIGH (SPI interface + external step/dir inputs)
• UART_INTERNAL_RAMP: SPI_MODE=LOW, SD_MODE=LOW (UART interface + internal ramp generator)
• STANDALONE_EXTERNAL_STEPDIR: SPI_MODE=LOW, SD_MODE=HIGH (Standalone + external step/dir, CFG pins configure driver)

SetSdoCfg0Polarity()

template<typename CommType >

Result< void > tmc51x0::TMC51x0< CommType >::Io::SetSdoCfg0Polarity ( bool polarity )

noexcept

Set SDO_CFG0 pin polarity (UART/Single Wire mode)

Parameters

polarity

Output pin polarity (false=normal/active high, true=inverted/active low)

Returns

Result<void> indicating success or error

Member Data Documentation

driver_

template<typename CommType >

TMC51x0& tmc51x0::TMC51x0< CommType >::Io::driver_

private

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

• tmc51x0.hpp