HF-TMC9660 Driver

C++20 hardware-agnostic driver for Trinamic TMC9660 motor controller with FOC control, telemetry, and TMCL scripting

📚 Table of Contents

Overview
Features
Quick Start
Installation
API Reference
Examples
Documentation
Contributing
License

📦 Overview

📖 📚🌐 Live Complete Documentation - Interactive guides, examples, and step-by-step tutorials

HF-TMC9660 is a portable C++20 driver for the Trinamic TMC9660 motor controller IC. The TMC9660 is a sophisticated motor driver supporting BLDC, stepper, and DC motors with advanced Field-Oriented Control (FOC), comprehensive telemetry, and TMCL scripting capabilities. The driver provides hardware-agnostic communication interfaces, allowing it to run on any platform (ESP32, STM32, etc.) with SPI or UART.

The driver exposes the full parameter mode interface, providing access to all 300+ TMC9660 parameters through an intuitive C++ API. It supports bootloader initialization, motor configuration, sensor integration (Hall sensors, encoders), FOC control loops, real-time telemetry, and protection systems.

✨ Features

✅ Multiple Motor Types: BLDC/PMSM, Stepper, and DC motor support
✅ FOC Control: Advanced Field-Oriented Control with torque, velocity, and position loops
✅ Sensor Integration: Hall sensors, incremental encoders, SPI encoders
✅ Comprehensive Telemetry: Real-time temperature, current, voltage, and position monitoring
✅ Protection Systems: Overcurrent, overtemperature, overvoltage protection
✅ TMCL Scripting: Execute custom scripts on device microcontroller
✅ Hardware Agnostic: SPI or UART interface for platform independence
✅ Modern C++20: Type-safe API with RAII principles
✅ Parameter Mode: Full access to 300+ TMC9660 parameters

🚀 Quick Start

#include "inc/tmc9660.hpp"

// 1. Implement the communication interface (see platform_integration.md)
class MySPI : public tmc9660::SpiCommInterface {
    // ... implement required methods
};

// 2. Create driver instance
MySPI spi;
tmc9660::TMC9660 driver(spi);

// 3. CRITICAL: Initialize bootloader for Parameter Mode
tmc9660::BootloaderConfig cfg{};
cfg.boot.boot_mode = tmc9660::bootcfg::BootMode::Parameter;
cfg.boot.start_motor_control = true;

if (driver.bootloaderInit(&cfg) != tmc9660::TMC9660::BootloaderInitResult::Success) {
    // Handle error
    return;
}

// 4. Configure and start motor
driver.motorConfig.setType(tmc9660::tmcl::MotorType::BLDC_MOTOR, 7); // 7 pole pairs
driver.focControl.setTargetVelocity(1000);

For detailed setup, see Installation and Quick Start Guide.

🔧 Installation

Clone or copy the driver files into your project
Implement the communication interface for your platform (see Platform Integration)

Include the header in your code:

#include "inc/tmc9660.hpp"

Compile with a C++20 or newer compiler

For detailed installation instructions, see docs/installation.md.

📖 API Reference

Method	Description
`bootloaderInit()`	Initialize bootloader for Parameter Mode (CRITICAL)
`motorConfig.setType()`	Set motor type and pole pairs
`focControl.setTargetVelocity()`	Set target velocity for FOC control
`telemetry.getTemperature()`	Read motor temperature
`telemetry.getCurrent()`	Read motor current

For complete API documentation, see docs/api_reference.md.

📊 Examples

For ESP32 examples, see the examples/esp32 directory.

Detailed example walkthroughs are available in docs/examples.md.

📚 Documentation

For complete documentation, see the docs directory.

Special Features

Bootloader Initialization - Critical bootloader setup guide

🤝 Contributing

Pull requests and suggestions are welcome! Please follow the existing code style and include tests for new features.

📄 License

This project is licensed under the GNU General Public License v3.0. See the LICENSE file for details.

📚 Documentation