tmc9660::TMC9660< CommType > Class Template Reference

Main class representing a TMC9660 motor driver in Parameter Mode. More...

#include <tmc9660.hpp>

Collaboration diagram for tmc9660::TMC9660< CommType >:

Classes
struct	Brake
	Subsystem controlling the brake chopper and mechanical brake features. More...
struct	CurrentSensing
	Subsystem for configuring ADC-based current measurement. More...
struct	FeedbackSense
	Subsystem for feedback sensor configuration. More...
struct	GateDriver
	Subsystem for configuring the MOSFET gate driver. More...
struct	Globals
	Convenience helpers for reading and writing global parameters. More...
struct	GPIO
	Subsystem for configuring general-purpose IOs (GPIOs). More...
struct	Heartbeat
	Subsystem for configuring the communication watchdog (heartbeat). More...
struct	IIT
	Subsystem for motor thermal overload protection via I²t integration. More...
struct	MotorConfig
	Motor configuration and control subsystem. More...
struct	NvmStorage
	Subsystem for storing and recalling parameters from nonvolatile flash. More...
struct	PositionControl
	Subsystem for position control (FOC outer loop). More...
struct	Power
	Subsystem for entering low-power hibernation mode and configuring wake. More...
struct	Protection
	Subsystem for motor protection features. More...
struct	RamDebug
	Subsystem for debug and data logging features. More...
struct	Ramp
	Hardware 8-segment acceleration/dec-acc profile controller. More...
struct	ReferenceSearch
	Subsystem for executing a reference search (homing) routine. More...
struct	Script
	Subsystem for TMCL script execution control. More...
struct	StepDir
	Subsystem for controlling the STEP/DIR pulse input interface. More...
struct	StopEvents
	Configure automatic stop/latch behaviour for deviation, switches. More...
struct	Telemetry
	Subsystem for reading various telemetry and status information from the driver. More...
struct	TorqueFluxControl
	Subsystem for torque and flux current control (FOC inner loop). More...
struct	VelocityControl
	Subsystem for velocity control (FOC middle loop). More...

Public Types
enum class	BootloaderInitResult { Success , NoConfig , Failure }
	Bootloader initialization result codes. More...
using	GlobalParamBankVariant

Public Member Functions
	TMC9660 (CommType &comm, uint8_t address=0, const tmc9660::BootloaderConfig *bootCfg=nullptr) noexcept
	Construct a TMC9660 driver instance.
	~TMC9660 () noexcept
	Destructor for TMC9660, cleans up resources.
CommType &	comm () noexcept
	Get the communication interface used by this TMC9660 instance.
bool	GpioSet (TMC9660CtrlPin pin, GpioSignal signal) noexcept
bool	GpioRead (TMC9660CtrlPin pin, GpioSignal &signal) noexcept
bool	GpioSetActive (TMC9660CtrlPin pin) noexcept
bool	GpioSetInactive (TMC9660CtrlPin pin) noexcept
TMC9660::BootloaderInitResult	bootloaderInit (const tmc9660::BootloaderConfig *cfg=nullptr, bool performReset=true, bool retrieveBootloaderInfo=false, bool failOnVerifyError=true) noexcept
	Complete bootloader initialization and transition to parameter mode.
tmc9660::TMC9660Bootloader< CommType > *	getBootloader () noexcept
	Get direct access to the bootloader instance.
bool	enterBootloaderMode () noexcept
	Exit parameter mode and return to bootloader mode.
bool	writeParameter (tmc9660::tmcl::Parameters id, uint32_t value, uint8_t motorIndex=0) noexcept
	Set (write) an axis (motor-specific) parameter on the TMC9660.
bool	readParameter (tmc9660::tmcl::Parameters id, uint32_t &value, uint8_t motorIndex=0) noexcept
	Read an axis (motor-specific) parameter from the TMC9660.
bool	writeGlobalParameter (GlobalParamBankVariant id, uint8_t bank, uint32_t value) noexcept
	Set (write) a global parameter on the TMC9660.
bool	readGlobalParameter (GlobalParamBankVariant id, uint8_t bank, uint32_t &value) noexcept
	Read a global parameter from the TMC9660.
bool	sendCommand (tmc9660::tmcl::Op opcode, uint16_t type=0, uint8_t motor=0, uint32_t value=0, uint32_t *reply=nullptr) noexcept
	Send a TMCL command. Optionally return the 32-bit reply value.

Static Public Member Functions
static constexpr const char *	GetDriverVersion () noexcept
	Get the compiled driver version string.
static constexpr uint8_t	GetDriverVersionMajor () noexcept
	Get the compiled driver major version number.
static constexpr uint8_t	GetDriverVersionMinor () noexcept
	Get the compiled driver minor version number.
static constexpr uint8_t	GetDriverVersionPatch () noexcept
	Get the compiled driver patch version number.

Public Attributes
struct tmc9660::TMC9660::MotorConfig *	this
struct tmc9660::TMC9660::CurrentSensing *	this
struct tmc9660::TMC9660::GateDriver *	this
struct tmc9660::TMC9660::FeedbackSense *	this
struct tmc9660::TMC9660::TorqueFluxControl *	this
struct tmc9660::TMC9660::VelocityControl *	this
struct tmc9660::TMC9660::PositionControl *	this
struct tmc9660::TMC9660::Ramp *	this
struct tmc9660::TMC9660::StepDir *	this
struct tmc9660::TMC9660::ReferenceSearch *	this
struct tmc9660::TMC9660::Brake *	this
struct tmc9660::TMC9660::IIT *	this
struct tmc9660::TMC9660::Telemetry *	this
struct tmc9660::TMC9660::StopEvents *	this
struct tmc9660::TMC9660::Protection *	this
struct tmc9660::TMC9660::Script *	this
struct tmc9660::TMC9660::RamDebug *	this
struct tmc9660::TMC9660::NvmStorage *	this
struct tmc9660::TMC9660::Heartbeat *	this
struct tmc9660::TMC9660::Globals *	this
struct tmc9660::TMC9660::GPIO *	this
struct tmc9660::TMC9660::Power *	this

Private Attributes
CommType &	comm_
	sending/receiving data.
uint8_t	address_
std::unique_ptr< tmc9660::TMC9660Bootloader< CommType > >	bootloader_
	Bootloader helper.
const tmc9660::BootloaderConfig *	bootCfg_
const uint8_t	tmcCRCTable_Poly7Reflected [256]

Detailed Description

template<typename CommType>
class tmc9660::TMC9660< CommType >

Main class representing a TMC9660 motor driver in Parameter Mode.

The TMC9660 class provides a comprehensive high-level interface for configuring and controlling the TMC9660 motor driver chip. This class abstracts the complex low-level register operations into intuitive, easy-to-use methods for motor control applications.

Key Features

The TMC9660 class supports a wide range of motor control features:

• Motor Type Support: DC, BLDC/PMSM, and Stepper motors
• Control Algorithms: Field-Oriented Control (FOC), open-loop, and closed-loop control
• Sensor Integration: Hall sensors, incremental encoders, SPI encoders
• Protection Systems: Overcurrent, overtemperature, overvoltage protection
• Communication: TMCL command-based parameter access
• Scripting: Execute custom scripts on the device's microcontroller
• Telemetry: Real-time monitoring of temperature, current, voltage, and position

Communication Interface

The class uses a CRTP-based communication interface for communication, making it completely agnostic to the physical communication layer. This allows the same code to work with SPI, UART, or other communication methods by simply providing the appropriate communication interface implementation.

The driver is a template class that takes the communication interface type as a template parameter, providing compile-time polymorphism with zero runtime overhead.

Parameter Mode Operation

All configuration and control is performed by sending TMCL (Trinamic Motion Control Language) commands to read and write parameter values. This provides a standardized interface that is consistent across different Trinamic motor drivers.

Initialization Requirements

Warning

CRITICAL: Before using any motor control functions, you MUST initialize the bootloader for parameter mode operation:

tmc9660::BootloaderConfig cfg{};
cfg.boot.boot_mode = tmc9660::bootcfg::BootMode::Parameter;  // Essential!
cfg.boot.startMotorControl = true;
auto result = driver.bootloaderInit(&cfg);
if (result != TMC9660::BootloaderInitResult::Success) {
    // Handle initialization failure
}

Without proper bootloader initialization, the TMC9660 will not respond to TMCL commands and motor control will not function.

Usage Example

// Create communication interface (SPI example)
class MySPI : public tmc9660::SpiCommInterface<MySPI> {
  // ... implement required methods
};
 
MySPI spiComm;
 
// Create TMC9660 driver with template parameter
tmc9660::TMC9660<MySPI> driver(spi_comm);
 
// Initialize bootloader
tmc9660::BootloaderConfig cfg{};
cfg.boot.boot_mode = tmc9660::bootcfg::BootMode::Parameter;
cfg.boot.startMotorControl = true;
driver.bootloaderInit(&cfg);
 
// Configure motor
driver.motor.setType(tmc9660::tmcl::MotorType::BLDC, 7);  // 7 pole pairs
driver.motor.setPWMFrequency(20000);  // 20 kHz PWM
 
// Start motor control
driver.motor.setCommutationMode(tmc9660::tmcl::CommutationMode::FOC_HALL);
driver.motor.enable();

Template Parameters

CommType

The communication interface type (must inherit from SpiCommInterface<CommType> or UartCommInterface<CommType>)

Member Typedef Documentation

GlobalParamBankVariant

template<typename CommType >

using tmc9660::TMC9660< CommType >::GlobalParamBankVariant

Initial value:

 
      std::variant<uint8_t, tmc9660::tmcl::GlobalParamBank0, tmc9660::tmcl::GlobalParamBank2,
                   tmc9660::tmcl::GlobalParamBank3>

Member Enumeration Documentation

BootloaderInitResult

template<typename CommType >

enum class tmc9660::TMC9660::BootloaderInitResult

strong

Bootloader initialization result codes.

These indicate the outcome of the bootloaderInit() method.

Enumerator
Success	Successfully initialized the bootloader.
NoConfig	No bootloader configuration provided.
Failure	Failed to initialize the bootloader.

Constructor & Destructor Documentation

TMC9660()

template<typename CommType >

tmc9660::TMC9660< CommType >::TMC9660 ( CommType & comm, uint8_t address = 0, const tmc9660::BootloaderConfig * bootCfg = nullptr )

noexcept

Construct a TMC9660 driver instance.

Parameters

comm	Reference to a user-implemented communication interface (SPI, UART, etc).
address	(Optional) Module address if multiple TMC9660 devices are on one bus. For SPI, this is typically 0.

~TMC9660()

template<typename CommType >

tmc9660::TMC9660< CommType >::~TMC9660 ( )

noexcept

Destructor for TMC9660, cleans up resources.

Member Function Documentation

bootloaderInit()

template<typename CommType >

TMC9660::BootloaderInitResult tmc9660::TMC9660< CommType >::bootloaderInit ( const tmc9660::BootloaderConfig * cfg = nullptr, bool performReset = true, bool retrieveBootloaderInfo = false, bool failOnVerifyError = true )

noexcept

Complete bootloader initialization and transition to parameter mode.

This method performs the complete initialization sequence:

1. Hardware reset (if performReset =true)
2. Mode detection (bootloader vs parameter)
3. Bootloader configuration (if needed)
4. Motor control startup (if startMotorControl =true)
5. SESSION_START consumption (if startMotorControl =true)
6. TMCL communication verification (if startMotorControl =true)

Parameters

cfg	Bootloader configuration. MUST set cfg.boot.boot_mode = BootMode::Parameter for motor control functionality. If nullptr, uses configuration provided during construction.
perform_reset	If true (default), performs hardware reset sequence (RST pin toggle FAULTN monitoring) to ensure chip enters bootloader mode. Set to false if you've already performed reset externally.
retrieveBootloaderInfo	If true, retrieves and logs all available bootloader information (version, features, git info, etc) for debugging.
failOnVerifyError	If true (default), initialization fails on read-back verification errors. If false, logs warnings but continues despite verification failures (useful for debugging or when some configs are expected to fail).

Returns

BootloaderInitResult indicating success, no config, or failure.

Warning

This method MUST be called successfully before any motor control operations.

Note

Complete Initialization (Recommended): Set cfg.boot.startMotorControl=true for a fully initialized, communication-verified chip ready for motor control commands.

Bootloader-Only Initialization: Set cfg.boot.startMotorControl=false if you need to stay in bootloader mode (e.g., for firmware flashing or custom configuration).

Typical usage:

tmc9660::BootloaderConfig cfg{};
cfg.boot.boot_mode = tmc9660::bootcfg::BootMode::Parameter;
cfg.boot.startMotorControl = true;  // Start motor control after configuration
 
// Complete initialization (recommended)
if (driver.bootloaderInit(&cfg) != TMC9660::BootloaderInitResult::Success) {
    // Handle initialization failure
}
// Driver is now ready for motor control commands!
 
// Bootloader-only initialization
cfg.boot.startMotorControl = false;  // Stay in bootloader mode
if (driver.bootloaderInit(&cfg) != TMC9660::BootloaderInitResult::Success) {
    // Handle initialization failure
}
// Chip is in bootloader mode, call bootloader_->startMotorControl() later

comm()

template<typename CommType >

CommType & tmc9660::TMC9660< CommType >::comm ( )

inlinenoexcept

Get the communication interface used by this TMC9660 instance.

Returns

Reference to the communication interface (SPI, UART, etc).

enterBootloaderMode()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::enterBootloaderMode ( )

inlinenoexcept

Exit parameter mode and return to bootloader mode.

This sends the special Boot command (0xF2 / 242) with magic values to trigger the motor control system to exit and return to bootloader mode.

Returns

true if command sent successfully

Note

After this command, wait 100-200ms for transition to complete

The chip will be in bootloader mode after transition

You can then use bootloader commands for reconfiguration

// Return to bootloader from parameter mode
driver.enterBootloaderMode();
vTaskDelay(pdMS_TO_TICKS(150));  // Wait for transition
 
// Now use bootloader commands
auto* bootloader = driver.getBootloader();
bootloader->setBank(5);
bootloader->setAddress(0x00020018);
bootloader->write32(new_clock_config);
bootloader->startMotorControl();  // Return to motor control

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getBootloader()

template<typename CommType >

tmc9660::TMC9660Bootloader< CommType > * tmc9660::TMC9660< CommType >::getBootloader ( )

inlinenoexcept

Get direct access to the bootloader instance.

Allows advanced users to send custom bootloader commands after using applyConfiguration() with startMotorControl =false.

Returns

Pointer to bootloader instance, or nullptr if not initialized or interface mode doesn't support bootloader (e.g., not SPI/UART).

Note

Typical usage pattern:

// 1. Apply configuration without starting motor control
tmc9660::BootloaderConfig cfg{};
cfg.boot.startMotorControl = false;  // Stay in bootloader
driver.bootloaderInit(&cfg);
 
// 2. Get bootloader access for custom operations
auto* bootloader = driver.getBootloader();
if (bootloader) {
    // Program OTP
    bootloader->setBank(1);
    bootloader->write32Inc(otp_data);
    bootloader->otpBurn(0, 4);
 
    // When done, start motor control
    bootloader->startMotorControl();
}

Warning

Only call bootloader methods BEFORE calling start_motor_control(). After start_motor_control(), the bootloader exits and commands will fail.

GetDriverVersion()

template<typename CommType >

static constexpr const char * tmc9660::TMC9660< CommType >::GetDriverVersion ( )

inlinestaticconstexprnoexcept

Get the compiled driver version string.

GetDriverVersionMajor()

template<typename CommType >

static constexpr uint8_t tmc9660::TMC9660< CommType >::GetDriverVersionMajor ( )

inlinestaticconstexprnoexcept

Get the compiled driver major version number.

GetDriverVersionMinor()

template<typename CommType >

static constexpr uint8_t tmc9660::TMC9660< CommType >::GetDriverVersionMinor ( )

inlinestaticconstexprnoexcept

Get the compiled driver minor version number.

GetDriverVersionPatch()

template<typename CommType >

static constexpr uint8_t tmc9660::TMC9660< CommType >::GetDriverVersionPatch ( )

inlinestaticconstexprnoexcept

Get the compiled driver patch version number.

GpioRead()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::GpioRead ( TMC9660CtrlPin pin, GpioSignal & signal )

noexcept

GpioSet()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::GpioSet ( TMC9660CtrlPin pin, GpioSignal signal )

noexcept

GpioSetActive()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::GpioSetActive ( TMC9660CtrlPin pin )

noexcept

GpioSetInactive()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::GpioSetInactive ( TMC9660CtrlPin pin )

noexcept

readGlobalParameter()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::readGlobalParameter ( GlobalParamBankVariant id, uint8_t bank, uint32_t & value )

noexcept

Read a global parameter from the TMC9660.

Parameters

	id	Global parameter ID number.
	bank	Bank number or index associated with the parameter (can be Bank1, Bank2, or Bank3 enum).
[out]	value	Reference to store the read 32-bit value.

Returns

true if read successfully, false on error.

readParameter()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::readParameter ( tmc9660::tmcl::Parameters id, uint32_t & value, uint8_t motorIndex = 0 )

noexcept

Read an axis (motor-specific) parameter from the TMC9660.

Parameters

	id	Parameter ID number to read.
[out]	value	Reference to store the 32-bit parameter value read.
	motor_index	Index of the motor/axis (0 or 1).

Returns

true if the parameter was successfully read (device responded), false on error.

sendCommand()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::sendCommand ( tmc9660::tmcl::Op opcode, uint16_t type = 0, uint8_t motor = 0, uint32_t value = 0, uint32_t * reply = nullptr )

noexcept

Send a TMCL command. Optionally return the 32-bit reply value.

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writeGlobalParameter()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::writeGlobalParameter ( GlobalParamBankVariant id, uint8_t bank, uint32_t value )

noexcept

Set (write) a global parameter on the TMC9660.

Parameters

id	Global parameter ID number.
bank	Bank number for global parameter (can be Bank1, Bank2, or Bank3 enum).
value	32-bit value to write.

Returns

true if successfully written, false if an error occurred.

writeParameter()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::writeParameter ( tmc9660::tmcl::Parameters id, uint32_t value, uint8_t motorIndex = 0 )

noexcept

Set (write) an axis (motor-specific) parameter on the TMC9660.

Parameters

id	Parameter ID number (see TMC9660 documentation for the full list).
value	32-bit value to write to the parameter.
motor_index	Index of the motor/axis (0 or 1). Typically 0 unless the device controls multiple axes.

Returns

true if the parameter was successfully written (acknowledged by the device), false if an error occurred.

Member Data Documentation

address_

template<typename CommType >

uint8_t tmc9660::TMC9660< CommType >::address_

private

Module address (0-127). Used primarily for UART multi-drop addressing.

bootCfg_

template<typename CommType >

const tmc9660::BootloaderConfig* tmc9660::TMC9660< CommType >::bootCfg_

private

bootloader_

template<typename CommType >

std::unique_ptr<tmc9660::TMC9660Bootloader<CommType> > tmc9660::TMC9660< CommType >::bootloader_

private

Bootloader helper.

comm_

template<typename CommType >

CommType& tmc9660::TMC9660< CommType >::comm_

private

sending/receiving data.

Communication interface (transport) for

this [1/21]

template<typename CommType >

struct tmc9660::TMC9660::CurrentSensing* tmc9660::TMC9660< CommType >::this

this [2/21]

template<typename CommType >

struct tmc9660::TMC9660::GateDriver* tmc9660::TMC9660< CommType >::this

this [3/21]

template<typename CommType >

struct tmc9660::TMC9660::FeedbackSense* tmc9660::TMC9660< CommType >::this

this [4/21]

template<typename CommType >

struct tmc9660::TMC9660::TorqueFluxControl* tmc9660::TMC9660< CommType >::this

this [5/21]

template<typename CommType >

struct tmc9660::TMC9660::VelocityControl* tmc9660::TMC9660< CommType >::this

this [6/21]

template<typename CommType >

struct tmc9660::TMC9660::PositionControl* tmc9660::TMC9660< CommType >::this

this [7/21]

template<typename CommType >

struct tmc9660::TMC9660::Ramp* tmc9660::TMC9660< CommType >::this

this [8/21]

template<typename CommType >

struct tmc9660::TMC9660::StepDir* tmc9660::TMC9660< CommType >::this

this [9/21]

template<typename CommType >

struct tmc9660::TMC9660::ReferenceSearch* tmc9660::TMC9660< CommType >::this

this [10/21]

template<typename CommType >

struct tmc9660::TMC9660::Brake* tmc9660::TMC9660< CommType >::this

this [11/21]

template<typename CommType >

struct tmc9660::TMC9660::IIT* tmc9660::TMC9660< CommType >::this

this [12/21]

template<typename CommType >

struct tmc9660::TMC9660::Telemetry* tmc9660::TMC9660< CommType >::this

this [13/21]

template<typename CommType >

struct tmc9660::TMC9660::StopEvents* tmc9660::TMC9660< CommType >::this

this [14/21]

template<typename CommType >

struct tmc9660::TMC9660::Protection* tmc9660::TMC9660< CommType >::this

this [15/21]

template<typename CommType >

struct tmc9660::TMC9660::Script* tmc9660::TMC9660< CommType >::this

this [16/21]

template<typename CommType >

struct tmc9660::TMC9660::RamDebug* tmc9660::TMC9660< CommType >::this

this [17/21]

template<typename CommType >

struct tmc9660::TMC9660::NvmStorage* tmc9660::TMC9660< CommType >::this

this [18/21]

template<typename CommType >

struct tmc9660::TMC9660::Heartbeat* tmc9660::TMC9660< CommType >::this

this [19/21]

template<typename CommType >

struct tmc9660::TMC9660::Globals* tmc9660::TMC9660< CommType >::this

this [20/21]

template<typename CommType >

struct tmc9660::TMC9660::GPIO* tmc9660::TMC9660< CommType >::this

this [21/21]

template<typename CommType >

struct tmc9660::TMC9660::Power* tmc9660::TMC9660< CommType >::this

tmcCRCTable_Poly7Reflected

template<typename CommType >

const uint8_t tmc9660::TMC9660< CommType >::tmcCRCTable_Poly7Reflected[256]

private

Initial value:

= {
      0x00, 0x91, 0xE3, 0x72, 0x07, 0x96, 0xE4, 0x75, 0x0E, 0x9F, 0xED, 0x7C, 0x09, 0x98, 0xEA,
      0x7B, 0x1C, 0x8D, 0xFF, 0x6E, 0x1B, 0x8A, 0xF8, 0x69, 0x12, 0x83, 0xF1, 0x60, 0x15, 0x84,
      0xF6, 0x67, 0x38, 0xA9, 0xDB, 0x4A, 0x3F, 0xAE, 0xDC, 0x4D, 0x36, 0xA7, 0xD5, 0x44, 0x31,
      0xA0, 0xD2, 0x43, 0x24, 0xB5, 0xC7, 0x56, 0x23, 0xB2, 0xC0, 0x51, 0x2A, 0xBB, 0xC9, 0x58,
      0x2D, 0xBC, 0xCE, 0x5F, 0x70, 0xE1, 0x93, 0x02, 0x77, 0xE6, 0x94, 0x05, 0x7E, 0xEF, 0x9D,
      0x0C, 0x79, 0xE8, 0x9A, 0x0B, 0x6C, 0xFD, 0x8F, 0x1E, 0x6B, 0xFA, 0x88, 0x19, 0x62, 0xF3,
      0x81, 0x10, 0x65, 0xF4, 0x86, 0x17, 0x48, 0xD9, 0xAB, 0x3A, 0x4F, 0xDE, 0xAC, 0x3D, 0x46,
      0xD7, 0xA5, 0x34, 0x41, 0xD0, 0xA2, 0x33, 0x54, 0xC5, 0xB7, 0x26, 0x53, 0xC2, 0xB0, 0x21,
      0x5A, 0xCB, 0xB9, 0x28, 0x5D, 0xCC, 0xBE, 0x2F, 0xE0, 0x71, 0x03, 0x92, 0xE7, 0x76, 0x04,
      0x95, 0xEE, 0x7F, 0x0D, 0x9C, 0xE9, 0x78, 0x0A, 0x9B, 0xFC, 0x6D, 0x1F, 0x8E, 0xFB, 0x6A,
      0x18, 0x89, 0xF2, 0x63, 0x11, 0x80, 0xF5, 0x64, 0x16, 0x87, 0xD8, 0x49, 0x3B, 0xAA, 0xDF,
      0x4E, 0x3C, 0xAD, 0xD6, 0x47, 0x35, 0xA4, 0xD1, 0x40, 0x32, 0xA3, 0xC4, 0x55, 0x27, 0xB6,
      0xC3, 0x52, 0x20, 0xB1, 0xCA, 0x5B, 0x29, 0xB8, 0xCD, 0x5C, 0x2E, 0xBF, 0x90, 0x01, 0x73,
      0xE2, 0x97, 0x06, 0x74, 0xE5, 0x9E, 0x0F, 0x7D, 0xEC, 0x99, 0x08, 0x7A, 0xEB, 0x8C, 0x1D,
      0x6F, 0xFE, 0x8B, 0x1A, 0x68, 0xF9, 0x82, 0x13, 0x61, 0xF0, 0x85, 0x14, 0x66, 0xF7, 0xA8,
      0x39, 0x4B, 0xDA, 0xAF, 0x3E, 0x4C, 0xDD, 0xA6, 0x37, 0x45, 0xD4, 0xA1, 0x30, 0x42, 0xD3,
      0xB4, 0x25, 0x57, 0xC6, 0xB3, 0x22, 0x50, 0xC1, 0xBA, 0x2B, 0x59, 0xC8, 0xBD, 0x2C, 0x5E,
      0xCF,
  }

---

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

• tmc9660.hpp