Communication interfaces for TMC51x0 stepper motor driver using SPI and UART. More...

#include <algorithm>
#include <array>
#include <cstdarg>
#include <cstdint>
#include <cstdio>
#include "tmc51x0_result.hpp"

Include dependency graph for tmc51x0_comm_interface.hpp:

This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Classes
struct	tmc51x0::PinActiveLevels
	Pin active level configuration structure. More...

struct	tmc51x0::TMC51x0PinConfig
	TMC51x0 GPIO pin configuration structure. More...

struct	tmc51x0::SpiStatus
	SPI_STATUS structure - status flags returned with each SPI datagram. More...

struct	tmc51x0::SpiCommand
	TMC5160 SPI command structure with union-based frame representation. More...

union	tmc51x0::SpiCommand::Frame
	Union for accessing the 40-bit SPI frame in different ways. More...

struct	tmc51x0::SpiResponse
	TMC5160 SPI response structure. More...

struct	tmc51x0::UartFrame
	TMC5160 UART command/response frame structure with built-in CRC8. More...

union	tmc51x0::UartFrame::Frame
	Union for accessing UART frames in different ways. More...

class	tmc51x0::CommInterface< Derived >
	CRTP-based communication interface for register read/write operations. More...

class	tmc51x0::SpiCommInterface< Derived >
	CRTP-based SPI implementation of TMC5160CommInterface. More...

class	tmc51x0::UartCommInterface< Derived >
	CRTP-based UART implementation of TMC5160CommInterface. More...

Namespaces
namespace	tmc51x0

Macros
#define	TMC51X0_LOG_LEVEL 4
	Compile-time debug logging control for TMC51x0 library.

#define	TMC51X0_LOGE(comm_obj, tag, ...) (comm_obj).LogDebug(::tmc51x0::LogLevel::Error, tag, __VA_ARGS__)

#define	TMC51X0_LOGW(comm_obj, tag, ...) (comm_obj).LogDebug(::tmc51x0::LogLevel::Warn, tag, __VA_ARGS__)

#define	TMC51X0_LOGI(comm_obj, tag, ...) (comm_obj).LogDebug(::tmc51x0::LogLevel::Info, tag, __VA_ARGS__)

#define	TMC51X0_LOGD(comm_obj, tag, ...) (comm_obj).LogDebug(::tmc51x0::LogLevel::Debug, tag, __VA_ARGS__)

#define	TMC51X0_LOGV(comm_obj, tag, ...) (comm_obj).LogDebug(::tmc51x0::LogLevel::Verbose, tag, __VA_ARGS__)

#define	TMC51X0_LOG_DEBUG(comm_obj, level, tag, ...)

#define	TMC51X0_SPI_MAX_CHAIN_DEVICES 8

Enumerations
enum class	tmc51x0::LogLevel : uint8_t { tmc51x0::Error = 0 , tmc51x0::Warn = 1 , tmc51x0::Info = 2 , tmc51x0::Debug = 3 , tmc51x0::Verbose = 4 }
	Driver-native log levels for debug output. More...

enum class	tmc51x0::CommMode : uint8_t { tmc51x0::SPI , tmc51x0::UART }
	Supported physical communication modes for TMC51x0. More...

enum class	tmc51x0::TMC51x0CtrlPin : uint8_t { tmc51x0::EN , tmc51x0::DIR , tmc51x0::STEP , tmc51x0::REFL_STEP , tmc51x0::REFR_DIR , tmc51x0::DIAG0 , tmc51x0::DIAG1 , tmc51x0::ENCA , tmc51x0::ENCB , tmc51x0::ENCN , tmc51x0::DCEN , tmc51x0::DCIN , tmc51x0::DCO , tmc51x0::CLK , tmc51x0::SPI_MODE , tmc51x0::SD_MODE }
	TMC51x0 control pin identifiers with board-agnostic naming. More...

enum class	tmc51x0::GpioSignal : uint8_t { tmc51x0::INACTIVE = 0 , tmc51x0::ACTIVE = 1 }
	GPIO signal states with board-agnostic naming. More...

enum class	tmc51x0::UartFrameType : uint8_t { tmc51x0::WriteAccess , tmc51x0::ReadRequest , tmc51x0::ReadReply }
	TMC5160 UART frame types. More...

Functions
static constexpr uint8_t	tmc51x0::calculateCrc8 (const uint8_t *data, size_t length) noexcept
	Calculate CRC8 checksum for UART communication.

Detailed Description

Communication interfaces for TMC51x0 stepper motor driver using SPI and UART.

Copyright: Copyright (c) 2024-2025 HardFOC. All rights reserved.

This file provides comprehensive communication interfaces for the TMC51x0 motor driver, supporting both SPI and UART protocols with register read/write operations. It includes GPIO control interfaces and board-agnostic pin management for different hardware implementations. Supports both TMC5130 and TMC5160 chips.

Compile-Time Configuration

TMC51X0_DISABLE_DEBUG_LOGGING: Define this macro to completely disable all debug logging throughout the TMC51x0 library. This removes all logging code from the binary at compile time, saving code size and improving performance.

Example usage:

#define TMC51X0_DISABLE_DEBUG_LOGGING

#include "tmc51x0_comm_interface.hpp"

tmc51x0_comm_interface.hpp

Communication interfaces for TMC51x0 stepper motor driver using SPI and UART.

Macro Definition Documentation

◆ TMC51X0_LOG_DEBUG

#define TMC51X0_LOG_DEBUG	(	comm_obj,
		level,
		tag,
		... )

Value:

  do {                                                                         \
    const int _lvl = static_cast<int>(level);                                  \
    if (_lvl <= 0) {                                                           \
      TMC51X0_LOGE(comm_obj, tag, __VA_ARGS__);                                \
    } else if (_lvl == 1) {                                                    \
      TMC51X0_LOGW(comm_obj, tag, __VA_ARGS__);                                \
    } else if (_lvl == 2) {                                                    \
      TMC51X0_LOGI(comm_obj, tag, __VA_ARGS__);                                \
    } else if (_lvl == 3) {                                                    \
      TMC51X0_LOGD(comm_obj, tag, __VA_ARGS__);                                \
    } else {                                                                   \
      TMC51X0_LOGV(comm_obj, tag, __VA_ARGS__);                                \
    }                                                                          \
  } while (0)

◆ TMC51X0_LOG_LEVEL

#define TMC51X0_LOG_LEVEL 4

Compile-time debug logging control for TMC51x0 library.

Define TMC51X0_DISABLE_DEBUG_LOGGING before including this header to completely disable all debug logging. When disabled, all logDebug() calls are optimized out at compile time, including argument evaluation.

◆ TMC51X0_LOGD

#define TMC51X0_LOGD	(	comm_obj,
		tag,
		... ) (comm_obj).LogDebug(::tmc51x0::LogLevel::Debug, tag, __VA_ARGS__)

◆ TMC51X0_LOGE

#define TMC51X0_LOGE	(	comm_obj,
		tag,
		... ) (comm_obj).LogDebug(::tmc51x0::LogLevel::Error, tag, __VA_ARGS__)

◆ TMC51X0_LOGI

#define TMC51X0_LOGI	(	comm_obj,
		tag,
		... ) (comm_obj).LogDebug(::tmc51x0::LogLevel::Info, tag, __VA_ARGS__)

◆ TMC51X0_LOGV

#define TMC51X0_LOGV	(	comm_obj,
		tag,
		... ) (comm_obj).LogDebug(::tmc51x0::LogLevel::Verbose, tag, __VA_ARGS__)

◆ TMC51X0_LOGW

#define TMC51X0_LOGW	(	comm_obj,
		tag,
		... ) (comm_obj).LogDebug(::tmc51x0::LogLevel::Warn, tag, __VA_ARGS__)

◆ TMC51X0_SPI_MAX_CHAIN_DEVICES

#define TMC51X0_SPI_MAX_CHAIN_DEVICES 8

Classes

Namespaces

Macros

Enumerations

Functions