tmc51x0::UartFrame Struct Reference

TMC5160 UART command/response frame structure with built-in CRC8. More...

#include <tmc51x0_comm_interface.hpp>

Collaboration diagram for tmc51x0::UartFrame:

Classes
union	Frame
	Union for accessing UART frames in different ways. More...

Public Member Functions
size_t	GetSize () const noexcept
	Get frame size in bytes based on type.
uint8_t	GetAddress () const noexcept
	Get register address from frame.
bool	IsWrite () const noexcept
	Check if this is a write frame.
uint32_t	GetValue () const noexcept
	Get 32-bit data value from frame.
void	CalculateCrc () noexcept
	Calculate and set CRC8 checksum for the frame CRC8 is calculated over all bytes except the CRC byte itself.
bool	VerifyCrc () const noexcept
	Verify CRC8 checksum of the frame.
void	SetFrame (const uint8_t *bytes, UartFrameType frame_type) noexcept
	Set the frame from raw bytes.
void	GetFrame (uint8_t *bytes) const noexcept
	Get the frame as raw bytes.
bool	IsValid () const noexcept
	Check if frame is valid.

Static Public Member Functions
static UartFrame	Write (uint8_t node_addr, uint8_t reg_addr, uint32_t value) noexcept
	Construct a write access frame (8 bytes)
static UartFrame	ReadRequest (uint8_t node_addr, uint8_t reg_addr) noexcept
	Construct a read request frame (4 bytes)
static UartFrame	ReadReply (const uint8_t *bytes) noexcept
	Construct a read reply frame from received bytes (8 bytes)

Public Attributes
union tmc51x0::UartFrame::Frame	frame
UartFrameType	type
	Frame type.

Detailed Description

TMC5160 UART command/response frame structure with built-in CRC8.

Represents a TMC5160 UART frame per datasheet section 5.1. Supports write access (8 bytes), read request (4 bytes), and read reply (8 bytes). Automatically calculates and verifies CRC8 checksum.

Frame Structure (per datasheet section 5.1):

• Write Access: Byte 0 (sync+rsv), Byte 1 (nodeaddr), Byte 2 (RW+addr), Bytes 3-6 (data), Byte 7 (CRC)
• Read Request: Byte 0 (sync+rsv), Byte 1 (nodeaddr), Byte 2 (RW+addr), Byte 3 (CRC)
• Read Reply: Byte 0 (sync+rsv), Byte 1 (0xFF), Byte 2 (addr=0), Bytes 3-6 (data), Byte 7 (CRC)

Sync nibble: 0x05 (Bits 0-3 = 1,0,1,0 transmitted LSB first)

Member Function Documentation

CalculateCrc()

void tmc51x0::UartFrame::CalculateCrc ( )

inlinenoexcept

Calculate and set CRC8 checksum for the frame CRC8 is calculated over all bytes except the CRC byte itself.

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GetAddress()

uint8_t tmc51x0::UartFrame::GetAddress ( ) const

inlinenoexcept

Get register address from frame.

Returns

Register address (0x00-0x73) or 0xFF if invalid

GetFrame()

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

inlinenoexcept

Get the frame as raw bytes.

Parameters

bytes

Output buffer (must be at least GetSize() bytes)

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GetSize()

size_t tmc51x0::UartFrame::GetSize ( ) const

inlinenoexcept

Get frame size in bytes based on type.

Returns

Frame size: 8 bytes for Write/Reply, 4 bytes for ReadRequest

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GetValue()

uint32_t tmc51x0::UartFrame::GetValue ( ) const

inlinenoexcept

Get 32-bit data value from frame.

Returns

32-bit value (MSB-first) or 0 if ReadRequest

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IsValid()

bool tmc51x0::UartFrame::IsValid ( ) const

inlinenoexcept

Check if frame is valid.

Returns

true if valid

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IsWrite()

bool tmc51x0::UartFrame::IsWrite ( ) const

inlinenoexcept

Check if this is a write frame.

Returns

true if write frame

ReadReply()

static UartFrame tmc51x0::UartFrame::ReadReply ( const uint8_t * bytes )

inlinestaticnoexcept

Construct a read reply frame from received bytes (8 bytes)

Parameters

bytes

Pointer to received frame bytes

Returns

UartFrame parsed from bytes

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ReadRequest()

static UartFrame tmc51x0::UartFrame::ReadRequest ( uint8_t node_addr, uint8_t reg_addr )

inlinestaticnoexcept

Construct a read request frame (4 bytes)

Parameters

node_addr	8-bit node address (0-127)
reg_addr	Register address to read (0x00-0x73)

Returns

UartFrame with CRC8 automatically calculated

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SetFrame()

void tmc51x0::UartFrame::SetFrame ( const uint8_t * bytes, UartFrameType frame_type )

inlinenoexcept

Set the frame from raw bytes.

Parameters

bytes	Pointer to frame bytes
frame_type	Type of frame (determines size)

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VerifyCrc()

bool tmc51x0::UartFrame::VerifyCrc ( ) const

inlinenoexcept

Verify CRC8 checksum of the frame.

Returns

true if CRC is valid, false otherwise

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Write()

static UartFrame tmc51x0::UartFrame::Write ( uint8_t node_addr, uint8_t reg_addr, uint32_t value )

inlinestaticnoexcept

Construct a write access frame (8 bytes)

Parameters

node_addr	8-bit node address (0-127)
reg_addr	Register address to write (0x00-0x73)
value	32-bit value to write

Returns

UartFrame with CRC8 automatically calculated

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Member Data Documentation

frame

union tmc51x0::UartFrame::Frame tmc51x0::UartFrame::frame

type

UartFrameType tmc51x0::UartFrame::type

Frame type.

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

• tmc51x0_comm_interface.hpp