tmc9660::CommInterface< Derived > Class Template Reference

SPI status codes as per TMC9660 Parameter Mode. More...

#include <tmc9660_comm_interface.hpp>

Inheritance diagram for tmc9660::CommInterface< Derived >:

Public Member Functions
	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.

Protected Member Functions
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
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

template<typename Derived>
class tmc9660::CommInterface< Derived >

SPI status codes as per TMC9660 Parameter Mode.

Table 4: SPI status codes:

• 0xFF: OK (operation successful)
• 0x00: CHECKSUM_ERROR
• 0x0C: FIRST_CMD (initial response after initialization)
• 0xF0: NOT_READY (system busy, resend datagram)

CRTP-based communication interface for sending/receiving TMCL datagrams.

Defines the common API for higher-level code to send and receive 64-bit TMCL frames (via SPI) or 72-bit (via UART) without knowledge of the underlying transport. Also provides GPIO control interface for TMC9660 control pins.

This template class uses the CRTP (Curiously Recurring Template Pattern) for compile-time polymorphism, providing zero runtime overhead compared to virtual functions.

Benefits of CRTP:

• Compile-time polymorphism (no virtual function overhead)
• Static dispatch instead of dynamic dispatch
• Better optimization opportunities for the compiler
• No vtable overhead

Example usage:

class MySPI : public tmc9660::SpiCommInterface<MySPI> {
public:
  CommMode mode() const noexcept { return CommMode::SPI; }
  bool spiTransferTMCL(...) { ... }
  bool gpioSet(...) { ... }
  // ... implement other required methods
};

Template Parameters

Derived

The derived class type (CRTP pattern)

Constructor & Destructor Documentation

CommInterface() [1/3]

template<typename Derived >

tmc9660::CommInterface< Derived >::CommInterface ( bool rst_active_level, bool drv_en_active_level, bool wake_active_level, bool faultn_active_level )

inlinenoexcept

Construct communication interface with pin active level configuration.

Parameters

rst_active_level	Physical GPIO level for RST pin when ACTIVE (true=HIGH, false=LOW)
drv_en_active_level	Physical GPIO level for DRV_EN pin when ACTIVE (true=HIGH, false=LOW)
wake_active_level	Physical GPIO level for WAKE pin when ACTIVE (true=HIGH, false=LOW)
faultn_active_level	Physical GPIO level for FAULTN pin when ACTIVE (true=HIGH, false=LOW)

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~CommInterface()

template<typename Derived >

tmc9660::CommInterface< Derived >::~CommInterface ( )

protecteddefault

Protected destructor.

Note

Derived classes can have public destructors

CommInterface() [2/3]

template<typename Derived >

tmc9660::CommInterface< Derived >::CommInterface ( const CommInterface< Derived > & )

protecteddelete

CommInterface() [3/3]

template<typename Derived >

tmc9660::CommInterface< Derived >::CommInterface ( CommInterface< Derived > && )

protecteddefault

Member Function Documentation

debugLog()

template<typename Derived >

void tmc9660::CommInterface< Derived >::debugLog ( int level, const char * tag, const char * format, va_list args )

inlineprotectednoexcept

Debug logging function for detailed debugging information.

This function allows the TMC9660 driver to output debug information through the communication interface, which can be routed to platform-specific logging systems (e.g., ESP-IDF logging for ESP32).

Parameters

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

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delayMs()

template<typename Derived >

void tmc9660::CommInterface< Derived >::delayMs ( uint32_t ms )

inlinenoexcept

Delay execution for specified milliseconds.

Parameters

ms	Milliseconds to delay

Note

This function should be implemented by the user to provide platform-specific delay

Used by bootloader operations that require timing (e.g., VDRV voltage drop wait)

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delayUs()

template<typename Derived >

void tmc9660::CommInterface< Derived >::delayUs ( uint32_t us )

inlinenoexcept

Delay execution for specified microseconds.

Parameters

us	Microseconds to delay

Note

This function should be implemented by the user to provide platform-specific delay

Used for fine-grained retry timing in SPI communication

Default implementation converts to milliseconds (may lose precision for < 1ms)

Platform implementations should provide accurate microsecond delays when possible

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getSpiRetryInterval()

template<typename Derived >

uint32_t tmc9660::CommInterface< Derived >::getSpiRetryInterval ( ) const

inlinenoexcept

Get current retry interval for SPI_STATUS_NOT_READY.

Returns

Current retry interval in microseconds

getSpiRetryMaxCount()

template<typename Derived >

uint8_t tmc9660::CommInterface< Derived >::getSpiRetryMaxCount ( ) const

inlinenoexcept

Get current maximum retry count for SPI_STATUS_NOT_READY.

Returns

Current maximum retry count

gpioLevelToSignal()

template<typename Derived >

GpioSignal tmc9660::CommInterface< Derived >::gpioLevelToSignal ( TMC9660CtrlPin pin, bool gpio_level ) const

inlinenoexcept

Convert physical GPIO level to signal state.

Parameters

pin	The TMC9660 control pin
gpio_level	Physical GPIO level (true=HIGH, false=LOW)

Returns

Signal state (ACTIVE or INACTIVE)

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gpioRead()

template<typename Derived >

bool tmc9660::CommInterface< Derived >::gpioRead ( TMC9660CtrlPin pin, GpioSignal & signal )

inlinenoexcept

Read GPIO pin signal state (input state).

Used for reading TMC9660 status pins like FAULTN. The implementation must handle the specific hardware GPIO configuration and map physical levels to ACTIVE/INACTIVE based on board design.

Parameters

pin	The TMC9660 control pin to read
signal	Reference to store the current signal state

Returns

true if the GPIO was read successfully, false otherwise

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gpioSet()

template<typename Derived >

bool tmc9660::CommInterface< Derived >::gpioSet ( TMC9660CtrlPin pin, GpioSignal signal )

inlinenoexcept

Set GPIO pin signal state (output control).

Used for controlling TMC9660 control pins like RST, DRV_EN, and WAKE. The implementation must handle the specific hardware GPIO configuration and map ACTIVE/INACTIVE to the appropriate physical levels based on board design.

Parameters

pin	The TMC9660 control pin to control
signal	The desired signal state (ACTIVE or INACTIVE)

Returns

true if the GPIO was set successfully, false otherwise

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gpioSetActive()

template<typename Derived >

bool tmc9660::CommInterface< Derived >::gpioSetActive ( TMC9660CtrlPin pin )

inlinenoexcept

Set GPIO pin to active state (convenience method).

Parameters

pin	The TMC9660 control pin to set active

Returns

true if the GPIO was set successfully, false otherwise

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gpioSetInactive()

template<typename Derived >

bool tmc9660::CommInterface< Derived >::gpioSetInactive ( TMC9660CtrlPin pin )

inlinenoexcept

Set GPIO pin to inactive state (convenience method).

Parameters

pin	The TMC9660 control pin to set inactive

Returns

true if the GPIO was set successfully, false otherwise

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logDebug()

template<typename Derived >

void tmc9660::CommInterface< Derived >::logDebug ( int level, const char * tag, const char * format, ... )

inlinenoexcept

Public debug logging wrapper for external classes.

This function allows external classes like TMC9660Bootloader to output debug information through the communication interface. Automatically ensures newlines are present.

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

Note

When TMC9660_DISABLE_DEBUG_LOGGING is defined, this function becomes a no-op and all logging code is optimized out at compile time.

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mode()

template<typename Derived >

CommMode tmc9660::CommInterface< Derived >::mode ( ) const

inlinenoexcept

Get the underlying communication mode used by this interface.

Returns whether this interface uses SPI or UART for communication. This information is useful for protocol-specific optimizations or debugging purposes.

Returns

Communication mode (CommMode::SPI or CommMode::UART)

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operator=() [1/2]

template<typename Derived >

CommInterface & tmc9660::CommInterface< Derived >::operator= ( CommInterface< Derived > && )

protecteddefault

operator=() [2/2]

template<typename Derived >

CommInterface & tmc9660::CommInterface< Derived >::operator= ( const CommInterface< Derived > & )

protecteddelete

set_pin_active_level()

template<typename Derived >

bool tmc9660::CommInterface< Derived >::set_pin_active_level ( TMC9660CtrlPin pin, bool active_level )

inlinenoexcept

Configure the active level for a specific pin.

This method allows the user to configure which physical GPIO level (HIGH or LOW) corresponds to the ACTIVE state for each pin. This accommodates different board implementations (direct connection, inverters, etc.).

Parameters

pin	The TMC9660 control pin to configure
active_level	The physical GPIO level that represents ACTIVE state

Returns

true if the configuration was successful, false otherwise

setSpiRetryInterval()

template<typename Derived >

void tmc9660::CommInterface< Derived >::setSpiRetryInterval ( uint32_t interval_us )

inlinenoexcept

Set delay interval between retry attempts for SPI_STATUS_NOT_READY.

When retrying a command due to SPI_STATUS_NOT_READY, wait this many microseconds before retrying.

Parameters

interval_us

Delay in microseconds between retry attempts

Note

Typical values: 10-1000 microseconds for SPI communication

setSpiRetryMaxCount()

template<typename Derived >

void tmc9660::CommInterface< Derived >::setSpiRetryMaxCount ( uint8_t max_retries )

inlinenoexcept

Set maximum number of retries for SPI_STATUS_NOT_READY responses.

When a command receives SPI_STATUS_NOT_READY (0xF0), the system will automatically retry the command up to the specified number of times.

Parameters

max_retries

Maximum number of retry attempts (0 = no retries, only original attempt)

Note

Setting to 0 disables retry logic entirely

signalToGpioLevel()

template<typename Derived >

bool tmc9660::CommInterface< Derived >::signalToGpioLevel ( TMC9660CtrlPin pin, GpioSignal signal ) const

inlinenoexcept

Convert signal state to physical GPIO level.

Parameters

pin	The TMC9660 control pin
signal	The signal state (ACTIVE or INACTIVE)

Returns

Physical GPIO level (true=HIGH, false=LOW)

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transferTMCL()

template<typename Derived >

bool tmc9660::CommInterface< Derived >::transferTMCL ( const TMCLFrame & tx, TMCLReply & reply, uint8_t address, TMCLReply * first_reply = nullptr, const TMCLFrame * second_command = nullptr )

inlinenoexcept

Perform a full duplex TMCL transfer for parameter mode communication.

For SPI: Performs two transactions - sends command, receives first reply, then sends second command (or NO_OP if not provided), receives second reply.

For UART: Single transaction - sends command, receives reply.

Parameters

tx	TMCL command frame to transmit
reply	Reference to store the final reply
address	TMC9660 module address (UART only, ignored for SPI)
first_reply	Optional pointer to capture first reply (SPI only)
second_command	Optional second command to send (SPI only, defaults to NO_OP)

Returns

true if transfer succeeded

Note

This is for TMCL parameter mode communication (8-byte SPI, 9-byte UART)

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Member Data Documentation

pinActiveLevels_

template<typename Derived >

bool tmc9660::CommInterface< Derived >::pinActiveLevels_[4]

protected

Pin active level configuration storage.

Stores the physical GPIO level (HIGH or LOW) that corresponds to the ACTIVE state for each TMC9660 control pin. This configuration enables board-agnostic pin control by abstracting physical voltage levels.

Array indices: [RST, DRV_EN, WAKE, FAULTN]

See also

set_pin_active_level() for configuration

signalToGpioLevel() for usage

spiRetryIntervalUs_

template<typename Derived >

uint32_t tmc9660::CommInterface< Derived >::spiRetryIntervalUs_ = 100

protected

Delay interval in microseconds between retry attempts.

When retrying a command due to SPI_STATUS_NOT_READY, wait this many microseconds before retrying. Default: 100us (0.1ms) - fine-grained for fast SPI communication

spiRetryMaxCount_

template<typename Derived >

uint8_t tmc9660::CommInterface< Derived >::spiRetryMaxCount_ = 3

protected

Maximum number of retries for SPI_STATUS_NOT_READY responses.

When a command receives SPI_STATUS_NOT_READY (0xF0), the system will automatically retry the command up to this many times. Default: 3 retries

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

• tmc9660_comm_interface.hpp