ESP32 UART implementation of TMC9660CommInterface. More...

#include <esp32_tmc9660_bus.hpp>

Inheritance diagram for Esp32Tmc9660UartBus:

Collaboration diagram for Esp32Tmc9660UartBus:

Public Member Functions
	Esp32Tmc9660UartBus (uart_port_t uart_num, gpio_num_t tx_pin, gpio_num_t rx_pin, gpio_num_t rst_pin, gpio_num_t drv_en_pin, gpio_num_t faultn_pin, gpio_num_t wake_pin, uint32_t baud_rate=115200, uint8_t address=0) noexcept
	Construct ESP32 UART communication interface.

	~Esp32Tmc9660UartBus () noexcept
	Destructor - cleans up UART resources.

bool	initialize () noexcept
	Initialize the UART interface.

bool	deinitialize () noexcept
	Deinitialize the UART interface.

bool	uartSendTMCL (const std::array< uint8_t, 9 > &data) noexcept
	Send raw 9-byte UART TMCL datagram for parameter mode communication.

bool	uartReceiveTMCL (std::array< uint8_t, 9 > &data) noexcept
	Receive raw 9-byte UART TMCL datagram for parameter mode communication.

bool	transferTMCL (const TMCLFrame &tx, TMCLReply &reply, uint8_t address, TMCLReply firstReply, const TMCLFrame secondCommand) noexcept
	Transfer TMCL frame over UART for parameter mode communication.

bool	uartTransferBootloader (const std::array< uint8_t, 8 > &tx, std::array< uint8_t, 8 > &rx) noexcept
	Transfer 8-byte UART bootloader datagram (send and receive)

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::UartCommInterface< Esp32Tmc9660UartBus >
	UartCommInterface (bool rst_active_level, bool drv_en_active_level, bool wake_active_level, bool faultn_active_level) noexcept
	Construct UART communication interface with pin active level configuration.

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

bool	uartSendTMCL (const std::array< uint8_t, 9 > &data) noexcept
	Send raw 9-byte UART TMCL datagram for parameter mode communication.

bool	uartReceiveTMCL (std::array< uint8_t, 9 > &data) noexcept
	Receive raw 9-byte UART TMCL datagram for parameter mode communication.

bool	uartTransferBootloader (const std::array< uint8_t, 8 > &tx, std::array< uint8_t, 8 > &rx) noexcept
	Transfer 8-byte UART bootloader datagram (send and receive).

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

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

bool	transferTMCL (const TMCLFrame &tx, TMCLReply &reply, uint8_t address, 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.

Private Attributes
uart_port_t	uart_num_

gpio_num_t	tx_pin_

gpio_num_t	rx_pin_

gpio_num_t	rst_pin_

gpio_num_t	drv_en_pin_

gpio_num_t	faultn_pin_

gpio_num_t	wake_pin_

uint32_t	baud_rate_

uint8_t	address_

bool	initialized_

Additional Inherited Members
Protected Member Functions inherited from tmc9660::UartCommInterface< Esp32Tmc9660UartBus >
	UartCommInterface (const UartCommInterface &)=delete

	UartCommInterface (UartCommInterface &&)=default

	~UartCommInterface ()=default
	Protected destructor.

UartCommInterface &	operator= (const UartCommInterface &)=delete

UartCommInterface &	operator= (UartCommInterface &&)=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 UART implementation of TMC9660CommInterface.

This class provides UART communication for the TMC9660 using ESP-IDF UART driver. It handles the TMCL protocol over UART as specified in the TMC9660 documentation.

Constructor & Destructor Documentation

◆ Esp32Tmc9660UartBus()

Esp32Tmc9660UartBus::Esp32Tmc9660UartBus	(	uart_port_t	uart_num,
		gpio_num_t	tx_pin,
		gpio_num_t	rx_pin,
		gpio_num_t	rst_pin,
		gpio_num_t	drv_en_pin,
		gpio_num_t	faultn_pin,
		gpio_num_t	wake_pin,
		uint32_t	baud_rate = 115200,
		uint8_t	address = 0 )

inlinenoexcept

Construct ESP32 UART communication interface.

Parameters

uart_num	UART port number (e.g., UART_NUM_1)
tx_pin	TX GPIO pin
rx_pin	RX GPIO pin
rst_pin	RST control pin
drv_en_pin	DRV_EN control pin
faultn_pin	FAULTN status pin
wake_pin	WAKE control pin
baud_rate	UART baud rate
address	TMC9660 module address

◆ ~Esp32Tmc9660UartBus()

Esp32Tmc9660UartBus::~Esp32Tmc9660UartBus ( )

inlinenoexcept

Destructor - cleans up UART resources.

Here is the call graph for this function:

Member Function Documentation

◆ configureGpioPins()

bool Esp32Tmc9660UartBus::configureGpioPins ( )

inlineprivatenoexcept

Configure GPIO pins for TMC9660 control and status.

Returns: true if successful, false otherwise

Here is the caller graph for this function:

◆ debugLog()

void Esp32Tmc9660UartBus::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 Esp32Tmc9660UartBus::deinitialize ( )

inlinenoexcept

Deinitialize the UART interface.

Returns: true if successful, false otherwise

Here is the caller graph for this function:

◆ delayMs()

void Esp32Tmc9660UartBus::delayMs ( uint32_t ms )

inlinenoexcept

◆ delayUs()

void Esp32Tmc9660UartBus::delayUs ( uint32_t us )

inlinenoexcept

◆ getGpioPin()

gpio_num_t Esp32Tmc9660UartBus::getGpioPin ( TMC9660CtrlPin pin ) const

inlineprivatenoexcept

Map TMC9660 control pins to ESP32 GPIO pins.

Parameters

pin	TMC9660 control pin

Returns: Corresponding ESP32 GPIO pin number

Here is the caller graph for this function:

◆ gpioRead()

bool Esp32Tmc9660UartBus::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

Here is the call graph for this function:

◆ gpioSet()

bool Esp32Tmc9660UartBus::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

Here is the call graph for this function:

◆ initialize()

bool Esp32Tmc9660UartBus::initialize ( )

inlinenoexcept

Initialize the UART interface.

Returns: true if successful, false otherwise

Here is the call graph for this function:

◆ mode()

CommMode Esp32Tmc9660UartBus::mode ( ) const

inlinenoexcept

Get communication mode.

Returns: CommMode::UART

◆ transferTMCL()

bool Esp32Tmc9660UartBus::transferTMCL	(	const TMCLFrame &	tx,
		TMCLReply &	reply,
		uint8_t	address,
		TMCLReply *	firstReply,
		const TMCLFrame *	secondCommand )

inlinenoexcept

Transfer TMCL frame over UART for parameter mode communication.

Parameters

tx	TMCL command frame to transmit
reply	TMCL reply frame to receive
address	TMC9660 module address
firstReply	Optional pointer to capture first reply (ignored for UART)
secondCommand	Optional second command (ignored for UART)

Returns: true if transfer succeeded

Here is the call graph for this function:

◆ uartReceiveTMCL()

bool Esp32Tmc9660UartBus::uartReceiveTMCL ( std::array< uint8_t, 9 > & data )

inlinenoexcept

Receive raw 9-byte UART TMCL datagram for parameter mode communication.

Parameters

data	Array to store 9 received bytes (TMCL format)

Returns: true if reception succeeded

◆ uartSendTMCL()

bool Esp32Tmc9660UartBus::uartSendTMCL ( const std::array< uint8_t, 9 > & data )

inlinenoexcept

Send raw 9-byte UART TMCL datagram for parameter mode communication.

Parameters

data	Array of 9 bytes including sync, fields, and checksum (TMCL format)

Returns: true if transmission succeeded

◆ uartTransferBootloader()

bool Esp32Tmc9660UartBus::uartTransferBootloader	(	const std::array< uint8_t, 8 > &	tx,
		std::array< uint8_t, 8 > &	rx )

inlinenoexcept

Transfer 8-byte UART bootloader datagram (send and receive)

Parameters

tx	Buffer containing 8 bytes to transmit (bootloader format)
rx	Buffer to receive 8 bytes from device (bootloader format)

Returns: true if transfer succeeded

Member Data Documentation

◆ address_

uint8_t Esp32Tmc9660UartBus::address_

private

◆ baud_rate_

uint32_t Esp32Tmc9660UartBus::baud_rate_

private

◆ drv_en_pin_

gpio_num_t Esp32Tmc9660UartBus::drv_en_pin_

private

◆ faultn_pin_

gpio_num_t Esp32Tmc9660UartBus::faultn_pin_

private

◆ initialized_

bool Esp32Tmc9660UartBus::initialized_

private

◆ rst_pin_

gpio_num_t Esp32Tmc9660UartBus::rst_pin_

private

◆ rx_pin_

gpio_num_t Esp32Tmc9660UartBus::rx_pin_

private

◆ tx_pin_

gpio_num_t Esp32Tmc9660UartBus::tx_pin_

private

◆ uart_num_

uart_port_t Esp32Tmc9660UartBus::uart_num_

private

◆ wake_pin_

gpio_num_t Esp32Tmc9660UartBus::wake_pin_

private

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

esp32_tmc9660_bus.hpp

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Esp32Tmc9660UartBus()

◆ ~Esp32Tmc9660UartBus()

Member Function Documentation

◆ configureGpioPins()

◆ debugLog()

◆ deinitialize()

◆ delayMs()

◆ delayUs()

◆ getGpioPin()

◆ gpioRead()

◆ gpioSet()

◆ initialize()

◆ mode()

◆ transferTMCL()

◆ uartReceiveTMCL()

◆ uartSendTMCL()

◆ uartTransferBootloader()

Member Data Documentation

◆ address_

◆ baud_rate_

◆ drv_en_pin_

◆ faultn_pin_

◆ initialized_

◆ rst_pin_

◆ rx_pin_

◆ tx_pin_

◆ uart_num_

◆ wake_pin_