ESP32 SPI implementation of TMC9660CommInterface. More...

#include <esp32_tmc9660_bus.hpp>

Inheritance diagram for Esp32Tmc9660SpiBus:

Collaboration diagram for Esp32Tmc9660SpiBus:

Public Member Functions
	Esp32Tmc9660SpiBus (spi_host_device_t host, gpio_num_t mosi_pin, gpio_num_t miso_pin, gpio_num_t sclk_pin, gpio_num_t cs_pin, gpio_num_t rst_pin, gpio_num_t drv_en_pin, gpio_num_t faultn_pin, gpio_num_t wake_pin, uint32_t clock_speed_hz=10000000, uint8_t mode=0) noexcept
	Construct ESP32 SPI communication interface.

	~Esp32Tmc9660SpiBus () noexcept
	Destructor - cleans up SPI resources.

bool	initialize () noexcept
	Initialize the SPI interface.

bool	deinitialize () noexcept
	Deinitialize the SPI interface.

bool	spiTransferTMCL (std::array< uint8_t, 8 > &tx, std::array< uint8_t, 8 > &rx) noexcept
	Perform SPI transfer for TMC9660 TMCL parameter mode communication.

bool	spiTransferBootloader (std::array< uint8_t, 5 > &tx, std::array< uint8_t, 5 > &rx) noexcept

CommMode	mode () const noexcept
	Get communication mode.

bool	gpioSet (TMC9660CtrlPin pin, GpioSignal signal) noexcept
	Set GPIO pin signal state for TMC9660 control pins.

bool	gpioRead (TMC9660CtrlPin pin, GpioSignal &signal) noexcept
	Read GPIO pin level for TMC9660 status pins.

void	debugLog (int level, const char tag, const char format, va_list args) noexcept
	Debug logging function that routes logs through ESP-IDF logging system.

void	delayMs (uint32_t ms) noexcept

void	delayUs (uint32_t us) noexcept

Public Member Functions inherited from tmc9660::SpiCommInterface< Esp32Tmc9660SpiBus >
	SpiCommInterface (bool rst_active_level, bool drv_en_active_level, bool wake_active_level, bool faultn_active_level) noexcept
	Construct SPI communication interface with pin active level configuration.

CommMode	mode () const noexcept
	Get communication mode (always SPI for this interface)

bool	spiTransferTMCL (std::array< uint8_t, 8 > &tx, std::array< uint8_t, 8 > &rx) noexcept
	Low-level SPI transfer for TMCL parameter mode communication.

bool	spiTransferBootloader (std::array< uint8_t, 5 > &tx, std::array< uint8_t, 5 > &rx) noexcept
	Low-level SPI transfer for bootloader communication.

bool	gpioSet (TMC9660CtrlPin pin, GpioSignal signal) noexcept
	Set GPIO pin signal state for SPI interface.

bool	gpioRead (TMC9660CtrlPin pin, GpioSignal &signal) noexcept
	Read GPIO pin signal state for SPI interface.

bool	transferTMCL (const TMCLFrame &tx, TMCLReply &reply, uint8_t, TMCLReply first_reply, const TMCLFrame second_command) noexcept

Public Member Functions inherited from tmc9660::CommInterface< Derived >
	CommInterface (bool rst_active_level, bool drv_en_active_level, bool wake_active_level, bool faultn_active_level) noexcept
	Construct communication interface with pin active level configuration.

CommMode	mode () const noexcept
	Get the underlying communication mode used by this interface.

bool	transferTMCL (const TMCLFrame &tx, TMCLReply &reply, uint8_t address, TMCLReply first_reply=nullptr, const TMCLFrame second_command=nullptr) noexcept
	Perform a full duplex TMCL transfer for parameter mode communication.

bool	gpioSet (TMC9660CtrlPin pin, GpioSignal signal) noexcept
	Set GPIO pin signal state (output control).

bool	gpioRead (TMC9660CtrlPin pin, GpioSignal &signal) noexcept
	Read GPIO pin signal state (input state).

bool	signalToGpioLevel (TMC9660CtrlPin pin, GpioSignal signal) const noexcept
	Convert signal state to physical GPIO level.

GpioSignal	gpioLevelToSignal (TMC9660CtrlPin pin, bool gpio_level) const noexcept
	Convert physical GPIO level to signal state.

bool	gpioSetActive (TMC9660CtrlPin pin) noexcept
	Set GPIO pin to active state (convenience method).

bool	gpioSetInactive (TMC9660CtrlPin pin) noexcept
	Set GPIO pin to inactive state (convenience method).

bool	set_pin_active_level (TMC9660CtrlPin pin, bool active_level) noexcept
	Configure the active level for a specific pin.

void	setSpiRetryMaxCount (uint8_t max_retries) noexcept
	Set maximum number of retries for SPI_STATUS_NOT_READY responses.

uint8_t	getSpiRetryMaxCount () const noexcept
	Get current maximum retry count for SPI_STATUS_NOT_READY.

void	setSpiRetryInterval (uint32_t interval_us) noexcept
	Set delay interval between retry attempts for SPI_STATUS_NOT_READY.

uint32_t	getSpiRetryInterval () const noexcept
	Get current retry interval for SPI_STATUS_NOT_READY.

void	delayMs (uint32_t ms) noexcept
	Delay execution for specified milliseconds.

void	delayUs (uint32_t us) noexcept
	Delay execution for specified microseconds.

void	logDebug (int level, const char tag, const char format,...) noexcept
	Public debug logging wrapper for external classes.

Private Member Functions
bool	configureGpioPins () noexcept
	Configure GPIO pins for TMC9660 control and status.

gpio_num_t	getGpioPin (TMC9660CtrlPin pin) const noexcept
	Map TMC9660 control pins to ESP32 GPIO pins.

Additional Inherited Members
Protected Member Functions inherited from tmc9660::SpiCommInterface< Esp32Tmc9660SpiBus >
	SpiCommInterface (const SpiCommInterface &)=delete

	SpiCommInterface (SpiCommInterface &&)=default

	~SpiCommInterface ()=default
	Protected destructor.

SpiCommInterface &	operator= (const SpiCommInterface &)=delete

SpiCommInterface &	operator= (SpiCommInterface &&)=default

Protected Member Functions inherited from tmc9660::CommInterface< Derived >
void	debugLog (int level, const char tag, const char format, va_list args) noexcept
	Debug logging function for detailed debugging information.

	~CommInterface ()=default
	Protected destructor.

	CommInterface (const CommInterface &)=delete

CommInterface &	operator= (const CommInterface &)=delete

	CommInterface (CommInterface &&)=default

CommInterface &	operator= (CommInterface &&)=default

Protected Attributes inherited from tmc9660::CommInterface< Derived >
bool	pinActiveLevels_ [4]
	Pin active level configuration storage.

uint8_t	spiRetryMaxCount_ = 3
	Maximum number of retries for SPI_STATUS_NOT_READY responses.

uint32_t	spiRetryIntervalUs_ = 100
	Delay interval in microseconds between retry attempts.

Detailed Description

ESP32 SPI implementation of TMC9660CommInterface.

This class provides SPI communication for the TMC9660 using ESP-IDF SPI driver. It handles the 8-byte SPI transfers required by the TMC9660 parameter mode.

Constructor & Destructor Documentation

◆ Esp32Tmc9660SpiBus()

Esp32Tmc9660SpiBus::Esp32Tmc9660SpiBus	(	spi_host_device_t	host,
		gpio_num_t	mosi_pin,
		gpio_num_t	miso_pin,
		gpio_num_t	sclk_pin,
		gpio_num_t	cs_pin,
		gpio_num_t	rst_pin,
		gpio_num_t	drv_en_pin,
		gpio_num_t	faultn_pin,
		gpio_num_t	wake_pin,
		uint32_t	clock_speed_hz = 10000000,
		uint8_t	mode = 0 )

inlinenoexcept

Construct ESP32 SPI communication interface.

Parameters

host	SPI host device (e.g., SPI2_HOST)
mosi_pin	MOSI GPIO pin
miso_pin	MISO GPIO pin
sclk_pin	SCLK GPIO pin
cs_pin	CS GPIO pin
rst_pin	RST control pin
drv_en_pin	DRV_EN control pin
faultn_pin	FAULTN status pin
wake_pin	WAKE control pin
clock_speed_hz	SPI clock speed in Hz
mode	SPI mode (0-3)

◆ ~Esp32Tmc9660SpiBus()

Esp32Tmc9660SpiBus::~Esp32Tmc9660SpiBus ( )

inlinenoexcept

Destructor - cleans up SPI resources.

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Member Function Documentation

◆ configureGpioPins()

bool Esp32Tmc9660SpiBus::configureGpioPins ( )

inlineprivatenoexcept

Configure GPIO pins for TMC9660 control and status.

Returns: true if successful, false otherwise

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◆ debugLog()

void Esp32Tmc9660SpiBus::debugLog	(	int	level,
		const char *	tag,
		const char *	format,
		va_list	args )

inlinenoexcept

Debug logging function that routes logs through ESP-IDF logging system.

Parameters

level	Log level (0=Error, 1=Warning, 2=Info, 3=Debug, 4=Verbose)
tag	Log tag for categorization
format	printf-style format string
...	Variable arguments for format string

◆ deinitialize()

bool Esp32Tmc9660SpiBus::deinitialize ( )

inlinenoexcept

Deinitialize the SPI interface.

Returns: true if successful, false otherwise

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◆ delayMs()

void Esp32Tmc9660SpiBus::delayMs ( uint32_t ms )

inlinenoexcept

◆ delayUs()

void Esp32Tmc9660SpiBus::delayUs ( uint32_t us )

inlinenoexcept

◆ getGpioPin()

gpio_num_t Esp32Tmc9660SpiBus::getGpioPin ( TMC9660CtrlPin pin ) const

inlineprivatenoexcept

Map TMC9660 control pins to ESP32 GPIO pins.

Parameters

pin	TMC9660 control pin

Returns: Corresponding ESP32 GPIO pin number

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◆ gpioRead()

bool Esp32Tmc9660SpiBus::gpioRead	(	TMC9660CtrlPin	pin,
		GpioSignal &	signal )

inlinenoexcept

Read GPIO pin level for TMC9660 status pins.

Parameters

pin	The TMC9660 control pin to read
level	Reference to store the current GPIO level

Returns: true if the GPIO was read successfully

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◆ gpioSet()

bool Esp32Tmc9660SpiBus::gpioSet	(	TMC9660CtrlPin	pin,
		GpioSignal	signal )

inlinenoexcept

Set GPIO pin signal state for TMC9660 control pins.

Parameters

pin	The TMC9660 control pin to control
signal	The desired signal state

Returns: true if the GPIO was set successfully

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◆ initialize()

bool Esp32Tmc9660SpiBus::initialize ( )

inlinenoexcept

Initialize the SPI interface.

Returns: true if successful, false otherwise

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◆ mode()

CommMode Esp32Tmc9660SpiBus::mode ( ) const

inlinenoexcept

Get communication mode.

Returns: CommMode::SPI

◆ spiTransferBootloader()

bool Esp32Tmc9660SpiBus::spiTransferBootloader	(	std::array< uint8_t, 5 > &	tx,
		std::array< uint8_t, 5 > &	rx )

inlinenoexcept

◆ spiTransferTMCL()

bool Esp32Tmc9660SpiBus::spiTransferTMCL	(	std::array< uint8_t, 8 > &	tx,
		std::array< uint8_t, 8 > &	rx )

inlinenoexcept

Perform SPI transfer for TMC9660 TMCL parameter mode communication.

Parameters

tx	Transmit buffer (8 bytes, TMCL format)
rx	Receive buffer (8 bytes, TMCL format)

Returns: true if successful, false otherwise

Member Data Documentation

◆ clock_speed_hz_

uint32_t Esp32Tmc9660SpiBus::clock_speed_hz_

private

◆ cs_pin_

gpio_num_t Esp32Tmc9660SpiBus::cs_pin_

private

◆ device_handle_

spi_device_handle_t Esp32Tmc9660SpiBus::device_handle_

private

◆ drv_en_pin_

gpio_num_t Esp32Tmc9660SpiBus::drv_en_pin_

private

◆ faultn_pin_

gpio_num_t Esp32Tmc9660SpiBus::faultn_pin_

private

◆ host_

spi_host_device_t Esp32Tmc9660SpiBus::host_

private

◆ initialized_

bool Esp32Tmc9660SpiBus::initialized_

private

◆ miso_pin_

gpio_num_t Esp32Tmc9660SpiBus::miso_pin_

private

◆ mode_

uint8_t Esp32Tmc9660SpiBus::mode_

private

◆ mosi_pin_

gpio_num_t Esp32Tmc9660SpiBus::mosi_pin_

private

◆ rst_pin_

gpio_num_t Esp32Tmc9660SpiBus::rst_pin_

private

◆ sclk_pin_

gpio_num_t Esp32Tmc9660SpiBus::sclk_pin_

private

◆ wake_pin_

gpio_num_t Esp32Tmc9660SpiBus::wake_pin_

private

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

esp32_tmc9660_bus.hpp

Private Attributes
spi_host_device_t	host_

gpio_num_t	mosi_pin_

gpio_num_t	miso_pin_

gpio_num_t	sclk_pin_

gpio_num_t	cs_pin_

gpio_num_t	rst_pin_

gpio_num_t	drv_en_pin_

gpio_num_t	faultn_pin_

gpio_num_t	wake_pin_

uint32_t	clock_speed_hz_

uint8_t	mode_

spi_device_handle_t	device_handle_

bool	initialized_

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Esp32Tmc9660SpiBus()

◆ ~Esp32Tmc9660SpiBus()

Member Function Documentation

◆ configureGpioPins()

◆ debugLog()

◆ deinitialize()

◆ delayMs()

◆ delayUs()

◆ getGpioPin()

◆ gpioRead()

◆ gpioSet()

◆ initialize()

◆ mode()

◆ spiTransferBootloader()

◆ spiTransferTMCL()

Member Data Documentation

◆ clock_speed_hz_

◆ cs_pin_

◆ device_handle_

◆ drv_en_pin_

◆ faultn_pin_

◆ host_

◆ initialized_

◆ miso_pin_

◆ mode_

◆ mosi_pin_

◆ rst_pin_

◆ sclk_pin_

◆ wake_pin_