tmc9660::TMC9660Bootloader< CommType > Class Template Reference

Main TMC9660 bootloader interface class. More...

#include <tmc9660_bootloader.hpp>

Public Member Functions
	TMC9660Bootloader (CommType &comm) noexcept
	Construct a TMC9660Bootloader instance.
bool	setBank (uint8_t bank) noexcept
	Select the target memory bank for subsequent operations.
bool	setBank (MemoryBank bank) noexcept
	Select the target register bank using enum (overloaded).
bool	setAddress (uint32_t addr) noexcept
	Set the address within the current memory bank.
bool	write8 (uint8_t v) noexcept
	Write a single byte to the previously selected address.
bool	write16 (uint16_t v) noexcept
	Write a 16-bit word to the previously selected address.
bool	write32 (uint32_t v) noexcept
	Write a 32-bit word to the previously selected address.
bool	write8Inc (uint8_t v) noexcept
	Write a single byte and increment address by 1.
bool	write16Inc (uint16_t v) noexcept
	Write a 16-bit word and increment address by 2.
bool	write32Inc (uint32_t v) noexcept
	Write a 32-bit word and increment address by 4.
bool	write32IncMultiple (const uint32_t *values, size_t count) noexcept
	Write multiple 32-bit words starting at the current address.
bool	read8 (uint8_t *value) noexcept
	Read a single byte from the previously selected address.
bool	read16 (uint16_t *value) noexcept
	Read a 16-bit word from the previously selected address.
bool	read32 (uint32_t *value) noexcept
	Read a 32-bit word from the previously selected address.
bool	read8Inc (uint8_t *value) noexcept
	Read a single byte and increment address by 1.
bool	read16Inc (uint16_t *value) noexcept
	Read a 16-bit word and increment address by 2.
bool	read32Inc (uint32_t *value) noexcept
	Read a 32-bit word and increment address by 4.
bool	getBank (uint8_t *bank) noexcept
	Get the currently selected memory bank.
bool	getAddress (uint32_t *address) noexcept
	Get the currently selected memory address.
bool	noOp (uint32_t *reply=nullptr) noexcept
	No operation - retrieve reply from previous command (SPI only).
bool	readAndVerify8 (uint8_t expected, const char *config_name) noexcept
	Read back and verify an 8-bit value matches the expected value.
bool	readAndVerify16 (uint16_t expected, const char *config_name) noexcept
	Read back and verify a 16-bit value matches the expected value.
bool	readAndVerify32 (uint32_t expected, const char *config_name) noexcept
	Read back and verify a 32-bit value matches the expected value.
bool	otpLoad (uint8_t page, OtpLoadResult *result) noexcept
	Load an OTP (One-Time Programmable) page into the OTP memory bank.
bool	otpLoad (uint8_t page, uint8_t *error_count=nullptr, uint8_t *page_tag=nullptr) noexcept
	Load an OTP page (legacy method with separate parameters).
bool	otpBurn (uint8_t page, uint8_t page_addr, OtpBurnResult *result) noexcept
	Permanently burn data to OTP (One-Time Programmable) memory.
bool	otpBurn (uint8_t page, uint8_t page_addr=0) noexcept
	Permanently burn OTP page (legacy method without detailed results).
bool	otpBurnWithWorkaround (uint8_t page, uint8_t page_addr, OtpBurnResult *result, uint32_t vdrv_wait_ms=1000) noexcept
	Burn OTP page with Erratum 1 workaround for reliable operation.
bool	checkOtpBurnStatus (bool *result) noexcept
	Check OTP burn status using Erratum 1 workaround verification.
bool	memIsConfigured (MemoryBank bank, bool *is_configured) noexcept
	Check if external memory is configured.
bool	memIsConnected (MemoryBank bank, bool *is_connected) noexcept
	Check if external memory is connected.
bool	memIsBusy (MemoryBank bank, bool *is_busy) noexcept
	Check if external memory is busy.
bool	flashLoadBuffer (uint8_t offset, uint32_t data) noexcept
	Load data into internal 6-byte flash command buffer.
bool	flashReadBuffer (uint8_t offset, uint32_t *data) noexcept
	Read data from internal 6-byte flash command buffer.
bool	flashSendDatagram (uint8_t num_bytes) noexcept
	Send datagram to SPI flash and receive reply.
bool	flashEraseSector (uint32_t address) noexcept
	Erase a sector on external SPI flash.
bool	flashReadJedecId (uint8_t *manufacturer_id) noexcept
	Read JEDEC manufacturer ID from SPI flash.
bool	bootstrapRS485 (uint8_t tx_en_pin, uint8_t pre_delay, uint8_t host_addr, uint8_t device_addr) noexcept
	Configure RS485 communication (must be first command for RS485).
bool	getInfo (InfoQuery query, uint32_t *value) noexcept
	Get bootloader information.
bool	getChipType (uint32_t *chip_type) noexcept
	Get chip type (should return 0x544D0001 for TMC9660).
bool	getBootloaderVersion (BootloaderVersion *version) noexcept
	Get bootloader version information.
bool	getFeatures (BootloaderFeatures *features) noexcept
	Get available feature flags.
bool	getGitInfo (GitInfo *git_info) noexcept
	Get Git version control information.
bool	getChipVersion (uint32_t *version) noexcept
	Get chip version (silicon revision).
bool	getChipFrequency (uint32_t *frequency) noexcept
	Get system frequency in MHz.
bool	getConfigMemStart (uint32_t *address) noexcept
	Get CONFIG memory bank start address.
bool	getConfigMemSize (uint32_t *size) noexcept
	Get CONFIG memory bank size.
bool	getOtpMemSize (uint32_t *size) noexcept
	Get OTP memory page size.
bool	getI2cMemSize (uint32_t *size) noexcept
	Get I2C memory size.
bool	getSpiMemSize (uint32_t *size) noexcept
	Get SPI memory size.
bool	getPartitionVersion (PartitionVersion *version) noexcept
	Get partition version information.
bool	getSpiMemPartitions (uint32_t *count) noexcept
	Get number of SPI memory partitions.
bool	getI2cMemPartitions (uint32_t *count) noexcept
	Get number of I2C memory partitions.
bool	getChipVariant (uint32_t *variant) noexcept
	Get chip variant (TMC9660 reports value 2).
bool	getAllBootloaderInfo () noexcept
	Retrieve and log all available bootloader information.
bool	applyConfiguration (const BootloaderConfig &cfg, bool fail_on_verify_error=true) noexcept
	Apply all fields of a ::BootloaderConfig.
bool	startMotorControl (bootcfg::BootMode boot_mode=bootcfg::BootMode::Parameter) noexcept
	Start the motor control system and exit bootloader mode.

Private Member Functions
bool	sendCommand (uint8_t cmd, uint32_t value, uint32_t *reply=nullptr) noexcept
	Send a bootloader command and optionally receive a reply.
bool	sendCommandSPI (uint8_t cmd, uint32_t value, uint32_t *reply) noexcept
	Send a bootloader command via SPI interface.
bool	sendCommandUART (uint8_t cmd, uint32_t value, uint32_t *reply) noexcept
	Send a bootloader command via UART interface.

Private Attributes
CommType &	comm_
uint8_t	deviceAddr_
	Device address for UART protocol.
uint8_t	hostAddr_
	Host address for UART protocol.

Detailed Description

template<typename CommType>
class tmc9660::TMC9660Bootloader< CommType >

Main TMC9660 bootloader interface class.

This class provides comprehensive bootloader functionality for the TMC9660 including memory operations, configuration management, OTP programming, and system initialization. The bootloader is essential for configuring the TMC9660 before transitioning to parameter mode operation.

Key Features

• Memory Operations: Read/write to RAM, OTP, SPI Flash, I2C EEPROM
• Configuration Management: Complete bootloader configuration application
• OTP Programming: One-time programmable memory burning with workarounds
• System Information: Retrieve bootloader version, features, and capabilities
• Protocol Support: Both SPI and UART communication interfaces
• Error Handling: Comprehensive error reporting and verification

Usage Pattern

// Create bootloader instance
TMC9660Bootloader<MySPI> bootloader(comm_interface);
 
// Configure the system
BootloaderConfig cfg{};
cfg.ldo.vext1_voltage = bootcfg::LDOVoltage::V3_3;
cfg.boot.boot_mode = bootcfg::BootMode::Parameter;
cfg.boot.start_motor_control = true;
 
// Apply configuration and start motor control
bootloader.applyConfiguration(cfg);

Template Parameters

CommType

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

Constructor & Destructor Documentation

TMC9660Bootloader()

template<typename CommType >

TMC9660Bootloader::TMC9660Bootloader ( CommType & comm )

explicitnoexcept

Construct a TMC9660Bootloader instance.

Initializes the bootloader with the specified communication interface and sets default UART addresses as per the TMC9660 specification.

Parameters

comm	Reference to the communication interface for bootloader commands

Member Function Documentation

applyConfiguration()

template<typename CommType >

bool TMC9660Bootloader::applyConfiguration ( const BootloaderConfig & cfg, bool failOnVerifyError = true )

noexcept

Apply all fields of a ::BootloaderConfig.

Apply all fields of a BootloaderConfig to the TMC9660.

This function applies a complete bootloader configuration by writing all configuration structures to their respective registers in the CONFIG memory bank. It provides a convenient single-call interface for comprehensive system configuration.

Parameters

cfg	Configuration to apply
fail_on_verify_error	If true, return false on read-back verification failure; if false, log warning but continue

Returns

true if successful

Note

If cfg.boot.start_motor_control is true, bootloader will exit after this call

This method performs the complete bootloader configuration sequence by writing all configuration registers in the correct order. It handles the complex register dependencies and ensures proper initialization.

The configuration is applied in the following order:

1. LDO configuration
2. Clock configuration (CRITICAL - must be done before motor control)
3. UART addresses and RS485 delays
4. Communication interface selection
5. SPI flash and I2C EEPROM configuration
6. GPIO configuration (output levels, directions, pull settings)
7. Encoder and sensor configuration
8. Brake and mechanical configuration
9. Memory storage configuration
10. Boot configuration (FINAL - may exit bootloader)

Parameters

cfg	Complete bootloader configuration to apply
failOnVerifyError	If true, return false on read-back verification failure; if false, log warning but continue

Returns

true if configuration was applied successfully, false on error

Note

If cfg.boot.start_motor_control is true, bootloader will exit after this call

Warning

Clock reconfiguration takes time and the TMC9660 cannot respond during this process

Apply complete bootloader configuration with proper register sequencing.

This method performs the complete bootloader configuration sequence by writing all configuration registers in the correct order. It handles complex register dependencies and ensures proper initialization of the TMC9660 system.

The configuration is applied in a specific order to handle dependencies:

1. LDO configuration - Power supply settings
2. Clock configuration - CRITICAL timing setup (may cause temporary unresponsiveness)
3. UART addresses and RS485 delays - Communication parameters
4. Communication interface selection - SPI/UART mode
5. SPI flash and I2C EEPROM configuration - External memory settings
6. GPIO configuration - Pin directions, levels, and pull settings
7. Encoder and sensor configuration - Feedback system setup
8. Brake and mechanical configuration - Safety and mechanical systems
9. Memory storage configuration - Data storage parameters
10. Boot configuration - FINAL step (may exit bootloader mode)

Parameters

cfg	Complete bootloader configuration structure to apply
failOnVerifyError	If true, return false on read-back verification failure; if false, log warning but continue with configuration

Returns

true if configuration was applied successfully, false on error

Note

If cfg.boot.start_motor_control is true, bootloader will exit after this call

Warning

Clock reconfiguration takes time and the TMC9660 cannot respond during this process

bootstrapRS485()

template<typename CommType >

bool TMC9660Bootloader::bootstrapRS485 ( uint8_t tx_en_pin, uint8_t pre_delay, uint8_t host_addr, uint8_t device_addr )

noexcept

Configure RS485 communication (must be first command for RS485).

Initializes RS485 half-duplex communication parameters. This command must be sent as the first command when using RS485 communication interface. It configures the transmit enable pin and timing parameters.

Parameters

tx_en_pin	GPIO pin for TX_EN (1=GPIO8, 2=GPIO2)
pre_delay	Delay between TX_EN assertion and TX start
host_addr	Host address
device_addr	Device address

Returns

true if successful

checkOtpBurnStatus()

template<typename CommType >

bool TMC9660Bootloader::checkOtpBurnStatus ( bool * result )

noexcept

Check OTP burn status using Erratum 1 workaround verification.

Verifies the result of an OTP burn operation by checking multiple status indicators. Implements Erratum 1 workaround for reliable status verification.

Parameters

result

Pointer to receive true if burn was successful

Returns

true if status check completed successfully

Note

This method implements the Erratum 1 status check workaround

flashEraseSector()

template<typename CommType >

bool TMC9660Bootloader::flashEraseSector ( uint32_t address )

noexcept

Erase a sector on external SPI flash.

Performs a sector erase operation on the external SPI flash memory at the specified address. This prepares the sector for new data programming.

Parameters

address

24-bit sector address

Returns

true if successful

flashLoadBuffer()

template<typename CommType >

bool TMC9660Bootloader::flashLoadBuffer ( uint8_t offset, uint32_t data )

noexcept

Load data into internal 6-byte flash command buffer.

Loads data into the TMC9660's internal flash command buffer, which is used to prepare SPI flash commands before transmission. The buffer can hold up to 6 bytes of command and address data.

Parameters

offset	Byte offset in buffer (0-5)
data	24-bit data to load (bits 23-0)

Returns

true if successful

flashReadBuffer()

template<typename CommType >

bool TMC9660Bootloader::flashReadBuffer ( uint8_t offset, uint32_t * data )

noexcept

Read data from internal 6-byte flash command buffer.

Reads data from the TMC9660's internal flash command buffer. This can be used to verify buffer contents or read response data from flash operations.

Parameters

offset	Byte offset in buffer (0-5)
data	Returns 24-bit data read (bits 23-0)

Returns

true if successful

flashReadJedecId()

template<typename CommType >

bool TMC9660Bootloader::flashReadJedecId ( uint8_t * manufacturer_id )

noexcept

Read JEDEC manufacturer ID from SPI flash.

Reads the JEDEC manufacturer ID from the external SPI flash device. This can be used to identify the flash chip type and verify connectivity.

Parameters

manufacturer_id

Returns manufacturer ID

Returns

true if successful

flashSendDatagram()

template<typename CommType >

bool TMC9660Bootloader::flashSendDatagram ( uint8_t num_bytes )

noexcept

Send datagram to SPI flash and receive reply.

Transmits the specified number of bytes from the internal flash command buffer to the external SPI flash device and receives the response.

Parameters

num_bytes

Number of bytes to transmit (1-6)

Returns

true if successful

getAddress()

template<typename CommType >

bool TMC9660Bootloader::getAddress ( uint32_t * address )

noexcept

Get the currently selected memory address.

Retrieves the memory address that was last set via setAddress() within the currently selected bank. Useful for tracking address pointer state.

Parameters

address

Pointer to receive the current address

Returns

true if query successful

getAllBootloaderInfo()

template<typename CommType >

bool TMC9660Bootloader::getAllBootloaderInfo ( )

noexcept

Retrieve and log all available bootloader information.

This function queries all GET_INFO commands and logs the results. Useful for debugging and verifying chip configuration.

Information retrieved:

• Chip type, version, variant
• Bootloader version and Git info
• System frequency
• Available features (SRAM, ROM, OTP, SPI flash, I2C EEPROM)
• Memory sizes and partition info

Returns

true if at least basic info was retrieved successfully

Note

Some queries may fail if features are not available (e.g., no SPI flash)

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getBank()

template<typename CommType >

bool TMC9660Bootloader::getBank ( uint8_t * bank )

noexcept

Get the currently selected memory bank.

Retrieves the memory bank number that was last selected via setBank(). Useful for verifying the current bank configuration.

Parameters

bank	Pointer to receive the current bank number (0-5)

Returns

true if query successful

getBootloaderVersion()

template<typename CommType >

bool TMC9660Bootloader::getBootloaderVersion ( BootloaderVersion * version )

noexcept

Get bootloader version information.

Retrieves and parses the bootloader version information from the TMC9660. The version is returned in major.minor format for easy interpretation.

Parameters

version

Returns parsed version information

Returns

true if successful

Retrieves the bootloader version information including major and minor version numbers. This is useful for compatibility checking and debugging.

Parameters

version

Pointer to store the parsed version information

Returns

true if version was retrieved successfully, false on error

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getChipFrequency()

template<typename CommType >

bool tmc9660::TMC9660Bootloader< CommType >::getChipFrequency ( uint32_t * frequency )

inlinenoexcept

Get system frequency in MHz.

Retrieves the current system clock frequency in MHz. This reflects the actual operating frequency after PLL and divider configurations.

Parameters

frequency

Returns frequency in MHz

Returns

true if successful

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getChipType()

template<typename CommType >

bool tmc9660::TMC9660Bootloader< CommType >::getChipType ( uint32_t * chip_type )

inlinenoexcept

Get chip type (should return 0x544D0001 for TMC9660).

Retrieves the chip type identifier. For TMC9660, this should return 0x544D0001, which can be used to verify correct chip identification.

Parameters

chip_type

Returns chip type

Returns

true if successful

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getChipVariant()

template<typename CommType >

bool tmc9660::TMC9660Bootloader< CommType >::getChipVariant ( uint32_t * variant )

inlinenoexcept

Get chip variant (TMC9660 reports value 2).

Retrieves the chip variant identifier. For TMC9660, this should return value 2, which can be used to verify correct chip identification.

Parameters

variant

Returns chip variant

Returns

true if successful

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getChipVersion()

template<typename CommType >

bool tmc9660::TMC9660Bootloader< CommType >::getChipVersion ( uint32_t * version )

inlinenoexcept

Get chip version (silicon revision).

Retrieves the silicon revision number of the TMC9660 chip. This information is useful for identifying chip variants and applying silicon-specific workarounds.

Parameters

version

Returns chip version

Returns

true if successful

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getConfigMemSize()

template<typename CommType >

bool tmc9660::TMC9660Bootloader< CommType >::getConfigMemSize ( uint32_t * size )

inlinenoexcept

Get CONFIG memory bank size.

Retrieves the size of the CONFIG memory bank in bytes. This indicates how much configuration space is available for bootloader settings.

Parameters

size	Returns memory size

Returns

true if successful

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getConfigMemStart()

template<typename CommType >

bool tmc9660::TMC9660Bootloader< CommType >::getConfigMemStart ( uint32_t * address )

inlinenoexcept

Get CONFIG memory bank start address.

Retrieves the starting address of the CONFIG memory bank (bank 5). This is typically 0x00020000 for TMC9660.

Parameters

address

Returns start address

Returns

true if successful

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getFeatures()

template<typename CommType >

bool TMC9660Bootloader::getFeatures ( BootloaderFeatures * features )

noexcept

Get available feature flags.

Retrieves feature flags indicating which capabilities are supported by the bootloader hardware, including available memory types and interfaces.

Parameters

features

Returns parsed feature flags

Returns

true if successful

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getGitInfo()

template<typename CommType >

bool TMC9660Bootloader::getGitInfo ( GitInfo * git_info )

noexcept

Get Git version control information.

Retrieves Git commit hash and dirty bit from the bootloader firmware, indicating the exact firmware build version and development state.

Parameters

git_info

Returns parsed Git information

Returns

true if successful

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getI2cMemPartitions()

template<typename CommType >

bool tmc9660::TMC9660Bootloader< CommType >::getI2cMemPartitions ( uint32_t * count )

inlinenoexcept

Get number of I2C memory partitions.

Retrieves the number of partitions available in the connected I2C EEPROM memory for storing TMCL scripts and configuration data.

Parameters

count

Returns number of partitions

Returns

true if successful

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getI2cMemSize()

template<typename CommType >

bool tmc9660::TMC9660Bootloader< CommType >::getI2cMemSize ( uint32_t * size )

inlinenoexcept

Get I2C memory size.

Retrieves the total size of connected I2C EEPROM memory in bytes. Returns 0 if no I2C EEPROM is configured or connected.

Parameters

size	Returns I2C memory size

Returns

true if successful

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getInfo()

template<typename CommType >

bool TMC9660Bootloader::getInfo ( InfoQuery query, uint32_t * value )

noexcept

Get bootloader information.

Get bootloader information using the specified query type.

Generic function to query various types of system information from the bootloader. Use the specific convenience methods for typed access to parsed information structures.

Parameters

query	Information type to query
value	Returns queried value

Returns

true if successful

Queries various information about the TMC9660 bootloader including version, features, memory sizes, and chip identification. This is useful for debugging and verifying the bootloader configuration.

Parameters

query	Information type to query (see InfoQuery enum)
value	Pointer to store the queried value

Returns

true if query was successful, false on error

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getOtpMemSize()

template<typename CommType >

bool tmc9660::TMC9660Bootloader< CommType >::getOtpMemSize ( uint32_t * size )

inlinenoexcept

Get OTP memory page size.

Retrieves the size of a single OTP (One-Time Programmable) memory page in bytes. This is the unit size for OTP burn operations.

Parameters

size	Returns OTP page size

Returns

true if successful

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getPartitionVersion()

template<typename CommType >

bool TMC9660Bootloader::getPartitionVersion ( PartitionVersion * version )

noexcept

Get partition version information.

Retrieves the version of the external memory partition format used for storing TMCL scripts and parameters in external memory.

Parameters

version

Returns parsed partition version

Returns

true if successful

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getSpiMemPartitions()

template<typename CommType >

bool tmc9660::TMC9660Bootloader< CommType >::getSpiMemPartitions ( uint32_t * count )

inlinenoexcept

Get number of SPI memory partitions.

Retrieves the number of partitions available in the connected SPI flash memory for storing TMCL scripts and configuration data.

Parameters

count

Returns number of partitions

Returns

true if successful

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getSpiMemSize()

template<typename CommType >

bool tmc9660::TMC9660Bootloader< CommType >::getSpiMemSize ( uint32_t * size )

inlinenoexcept

Get SPI memory size.

Retrieves the total size of connected SPI flash memory in bytes. Returns 0 if no SPI flash is configured or connected.

Parameters

size	Returns SPI memory size

Returns

true if successful

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memIsBusy()

template<typename CommType >

bool TMC9660Bootloader::memIsBusy ( MemoryBank bank, bool * is_busy )

noexcept

Check if external memory is busy.

Verifies whether the specified external memory device is currently busy with an operation (e.g., write cycle, erase operation).

Parameters

bank	Memory bank to check
is_busy	Returns true if busy

Returns

true if command successful

memIsConfigured()

template<typename CommType >

bool TMC9660Bootloader::memIsConfigured ( MemoryBank bank, bool * is_configured )

noexcept

Check if external memory is configured.

Verifies whether the specified external memory bank has been properly configured in the bootloader settings. Configuration is required before the memory can be accessed.

Parameters

bank	Memory bank to check
is_configured	Returns true if configured

Returns

true if command successful

memIsConnected()

template<typename CommType >

bool TMC9660Bootloader::memIsConnected ( MemoryBank bank, bool * is_connected )

noexcept

Check if external memory is connected.

Verifies whether the specified external memory device is physically connected and responding to communication attempts.

Parameters

bank	Memory bank to check
is_connected	Returns true if connected

Returns

true if command successful

noOp()

template<typename CommType >

bool TMC9660Bootloader::noOp ( uint32_t * reply = nullptr )

noexcept

No operation - retrieve reply from previous command (SPI only).

Due to SPI protocol, replies are delayed by one transaction. This command sends a NO_OP to retrieve the reply from the previous command. Primarily used internally by the bootloader implementation.

Parameters

reply

Optional pointer to store the 32-bit reply value

Returns

true if command successful

Note

Not needed when using UART protocol

otpBurn() [1/2]

template<typename CommType >

bool TMC9660Bootloader::otpBurn ( uint8_t page, uint8_t pageAddr, OtpBurnResult * result )

noexcept

Permanently burn data to OTP (One-Time Programmable) memory.

Permanently burn the given OTP page.

WARNING: OTP burn operations are IRREVERSIBLE! Once a page is burned, it cannot be modified. The burn operation requires specific voltage conditions and timing to succeed.

Parameters

page	OTP page number to burn (bits 7-0)
page_addr	OTP page address to write (bits 15-8)
result	Pointer to receive detailed burn result with error information

Returns

true if command executed (check result.isSuccess and result.error_code)

Note

⚠️ This operation is PERMANENT and IRREVERSIBLE!

Burns (programs) the specified OTP page with the given page address. This operation is irreversible and can only be performed once per page. The OTP memory is used for storing permanent configuration data.

Parameters

page	OTP page number to burn (0-255)
pageAddr	OTP page address to write (0-255)
result	Pointer to store the detailed burn result with error information

Returns

true if command was sent successfully, false on communication error

Note

Check result.isSuccess and result.error_code for burn operation status

Warning

This operation is irreversible! Use with extreme caution.

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otpBurn() [2/2]

template<typename CommType >

bool TMC9660Bootloader::otpBurn ( uint8_t page, uint8_t page_addr = 0 )

noexcept

Permanently burn OTP page (legacy method without detailed results).

Simplified version that only returns boolean success/failure without error details. Use the overload with OtpBurnResult for detailed error information.

Parameters

page	OTP page number to burn (bits 7-0)
page_addr	OTP page address to write (bits 15-8)

Returns

true if successful

Note

⚠️ This operation is PERMANENT and IRREVERSIBLE!

otpBurnWithWorkaround()

template<typename CommType >

bool TMC9660Bootloader::otpBurnWithWorkaround ( uint8_t page, uint8_t pageAddr, OtpBurnResult * result, uint32_t vdrvWaitMs = 1000 )

noexcept

Burn OTP page with Erratum 1 workaround for reliable operation.

Perform OTP burn operation with Erratum 1 workaround for TMC9660.

Implements a workaround for silicon Erratum 1 that improves reliability of OTP burn operations. The workaround waits for VDRV voltage to stabilize before and after the burn operation.

Parameters

page	OTP page number to burn (bits 7-0)
page_addr	OTP page address to write (bits 15-8)
result	Pointer to receive detailed burn result with error information
vdrv_wait_ms	Wait time for VDRV voltage to drop (default 1000ms for 10uF capacitor)

Returns

true if command executed (check result.isSuccess and result.error_code)

Note

⚠️ This operation is PERMANENT and IRREVERSIBLE!

Recommended method for production OTP burning

This method implements a complex workaround for TMC9660 Erratum 1, which affects OTP (One-Time Programmable) memory burning operations. The workaround involves a specific sequence of register operations to ensure proper OTP programming.

The workaround sequence:

1. Set memory bank to 0
2. Set address to 0x4801B010 (specific register for workaround)
3. Read 32-bit value from the register
4. Clear bit 0 of the read value
5. Write the modified value back
6. Wait for VDRV voltage to drop below 8.4V (critical timing)
7. Perform the actual OTP burn operation
8. Verify the burn operation success

This workaround is essential for reliable OTP programming and must be used instead of the standard OTP burn procedure when working with affected TMC9660 silicon revisions.

Parameters

page	OTP page number to burn
pageAddr	Address within the OTP page
result	Pointer to store burn operation result
vdrvWaitMs	Milliseconds to wait for VDRV voltage drop (typically 100-200ms)

Returns

true if workaround sequence completed successfully, false on error

Note

This method implements TMC9660 Erratum 1 workaround - do not use standard OTP burn

Warning

VDRV voltage timing is critical - incorrect timing may cause burn failure

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otpLoad() [1/2]

template<typename CommType >

bool TMC9660Bootloader::otpLoad ( uint8_t page, OtpLoadResult * result )

noexcept

Load an OTP (One-Time Programmable) page into the OTP memory bank.

Load an OTP page into the OTP memory bank.

Loads a previously programmed OTP page into RAM for reading. Returns information about the loaded page including the page tag and any bit errors detected.

Parameters

page	OTP page number to load (0-based)
result	Pointer to receive parsed OTP load result (error count + page tag)

Returns

true if command executed successfully (check result.error_count for bit errors)

Note

Check result.error_count for bit errors, result.page_tag for page identification

Loads the specified OTP (One-Time Programmable) page into the OTP memory bank for reading or verification. The OTP memory contains factory-programmed data that cannot be modified by the user.

Parameters

page	OTP page number to load (0-255)
result	Pointer to store the OTP load result including error count and page tag

Returns

true if command was sent successfully, false on communication error

Note

Check result.errorCount for bit errors, result.pageTag for page tag

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otpLoad() [2/2]

template<typename CommType >

bool TMC9660Bootloader::otpLoad ( uint8_t page, uint8_t * error_count = nullptr, uint8_t * page_tag = nullptr )

noexcept

Load an OTP page (legacy method with separate parameters).

Legacy overload that returns error count and page tag as separate parameters instead of a structured result object.

Parameters

page	OTP page number to load
error_count	Optional pointer to receive bit error count (bits 15-8)
page_tag	Optional pointer to receive page tag (bits 7-0)

Returns

true if successful

read16()

template<typename CommType >

bool TMC9660Bootloader::read16 ( uint16_t * value )

noexcept

Read a 16-bit word from the previously selected address.

Reads a 16-bit value from the current bank and address without modifying the address pointer. Little-endian byte order.

Parameters

value

Pointer to receive the 16-bit value read

Returns

true if read successful

Reads a 16-bit value from the current address in the selected memory bank. The address pointer is not incremented after the read operation.

Parameters

value

Pointer to store the 16-bit value read

Returns

true if read was successful, false on error

read16Inc()

template<typename CommType >

bool TMC9660Bootloader::read16Inc ( uint16_t * value )

noexcept

Read a 16-bit word and increment address by 2.

Reads a 16-bit value and automatically increments the address pointer by 2. Useful for reading sequential data arrays.

Parameters

value

Pointer to receive the 16-bit value read

Returns

true if read successful

read32()

template<typename CommType >

bool TMC9660Bootloader::read32 ( uint32_t * value )

noexcept

Read a 32-bit word from the previously selected address.

Reads a 32-bit value from the current bank and address without modifying the address pointer. Little-endian byte order.

Parameters

value

Pointer to receive the 32-bit value read

Returns

true if read successful

Reads a 32-bit value from the current address in the selected memory bank. The address pointer is not incremented after the read operation.

Parameters

value

Pointer to store the 32-bit value read

Returns

true if read was successful, false on error

read32Inc()

template<typename CommType >

bool TMC9660Bootloader::read32Inc ( uint32_t * value )

noexcept

Read a 32-bit word and increment address by 4.

Reads a 32-bit value and automatically increments the address pointer by 4. Commonly used for reading configuration registers and data arrays.

Parameters

value

Pointer to receive the 32-bit value read

Returns

true if read successful

read8()

template<typename CommType >

bool TMC9660Bootloader::read8 ( uint8_t * value )

noexcept

Read a single byte from the previously selected address.

Reads an 8-bit value from the current bank and address without modifying the address pointer.

Parameters

value

Pointer to receive the 8-bit value read

Returns

true if read successful

Reads an 8-bit value from the current address in the selected memory bank. The address pointer is not incremented after the read operation.

Parameters

value

Pointer to store the 8-bit value read

Returns

true if read was successful, false on error

read8Inc()

template<typename CommType >

bool TMC9660Bootloader::read8Inc ( uint8_t * value )

noexcept

Read a single byte and increment address by 1.

Reads an 8-bit value and automatically increments the address pointer. Useful for reading sequential data arrays.

Parameters

value

Pointer to receive the 8-bit value read

Returns

true if read successful

readAndVerify16()

template<typename CommType >

bool TMC9660Bootloader::readAndVerify16 ( uint16_t expected, const char * config_name )

noexcept

Read back and verify a 16-bit value matches the expected value.

Performs a read operation and compares the returned value with the expected value. Useful for verification after configuration writes. Logs the result for debugging purposes.

Parameters

expected	The expected 16-bit value to match
config_name	Human-readable configuration name for logging

Returns

true if read successful and value matches

readAndVerify32()

template<typename CommType >

bool TMC9660Bootloader::readAndVerify32 ( uint32_t expected, const char * config_name )

noexcept

Read back and verify a 32-bit value matches the expected value.

Performs a read operation and compares the returned value with the expected value. Useful for verification after configuration writes. Logs the result for debugging purposes.

Parameters

expected	The expected 32-bit value to match
config_name	Human-readable configuration name for logging

Returns

true if read successful and value matches

readAndVerify8()

template<typename CommType >

bool TMC9660Bootloader::readAndVerify8 ( uint8_t expected, const char * config_name )

noexcept

Read back and verify an 8-bit value matches the expected value.

Performs a read operation and compares the returned value with the expected value. Useful for verification after configuration writes. Logs the result for debugging purposes.

Parameters

expected	The expected 8-bit value to match
config_name	Human-readable configuration name for logging

Returns

true if read successful and value matches

sendCommand()

template<typename CommType >

bool TMC9660Bootloader::sendCommand ( uint8_t cmd, uint32_t value, uint32_t * reply = nullptr )

privatenoexcept

Send a bootloader command and optionally receive a reply.

This method dispatches the command to the appropriate protocol handler based on the communication interface type (SPI or UART). It provides a unified interface for all bootloader commands.

Parameters

cmd	Bootloader command code to send
value	32-bit value to send with the command
reply	Optional pointer to store the 32-bit reply value

Returns

true if command was sent successfully, false on error

sendCommandSPI()

template<typename CommType >

bool TMC9660Bootloader::sendCommandSPI ( uint8_t cmd, uint32_t value, uint32_t * reply )

privatenoexcept

Send a bootloader command via SPI interface.

Implements the SPI bootloader protocol which requires two transactions:

1. Send command (receive previous reply, ignored)
2. Send NO_OP command (receive current command's reply)

This is standard SPI behavior where replies are delayed by one transaction.

Parameters

cmd	Bootloader command code to send
value	32-bit value to send with the command
reply	Optional pointer to store the 32-bit reply value

Returns

true if command was sent successfully, false on error

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sendCommandUART()

template<typename CommType >

bool TMC9660Bootloader::sendCommandUART ( uint8_t cmd, uint32_t value, uint32_t * reply )

privatenoexcept

Send a bootloader command via UART interface.

Implements the UART bootloader protocol which uses a single transaction: Send command and receive reply immediately. The UART protocol includes CRC-8 checksum verification for data integrity.

Parameters

cmd	Bootloader command code to send
value	32-bit value to send with the command
reply	Optional pointer to store the 32-bit reply value

Returns

true if command was sent successfully, false on error

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setAddress()

template<typename CommType >

bool TMC9660Bootloader::setAddress ( uint32_t addr )

noexcept

Set the address within the current memory bank.

Sets the memory address for subsequent read/write operations within the currently selected bank. Addresses are bank-relative (offset within bank).

Parameters

addr	Memory address within current bank

Returns

true if command successful

Sets the address pointer for subsequent read/write operations within the currently selected memory bank. The address is bank-specific.

Parameters

addr	32-bit address within the current bank

Returns

true if address was set successfully, false on error

setBank() [1/2]

template<typename CommType >

bool tmc9660::TMC9660Bootloader< CommType >::setBank ( MemoryBank bank )

inlinenoexcept

Select the target register bank using enum (overloaded).

Convenience overload that accepts a MemoryBank enum instead of raw bank number. Automatically converts to the numeric value.

Parameters

bank	Memory bank enum value

Returns

true if command successful

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setBank() [2/2]

template<typename CommType >

bool TMC9660Bootloader::setBank ( uint8_t bank )

noexcept

Select the target memory bank for subsequent operations.

Select the target memory bank for bootloader operations.

Sets which memory bank (RAM, OTP, SPI Flash, I2C EEPROM, or CONFIG) will be accessed by subsequent read/write operations. The bank must be selected before performing any memory access operations.

Parameters

bank	Memory bank number (0-5, see MemoryBank enum)

Returns

true if command successful

Note

Common banks: 0=RAM, 1=OTP, 5=CONFIG

Sets the memory bank that subsequent read/write operations will target. Valid banks include RAM, OTP, SPI Flash, I2C EEPROM, and CONFIG.

Parameters

bank	Memory bank number (0-5)

Returns

true if bank was set successfully, false on error

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startMotorControl()

template<typename CommType >

bool TMC9660Bootloader::startMotorControl ( bootcfg::BootMode bootMode = bootcfg::BootMode::Parameter )

noexcept

Start the motor control system and exit bootloader mode.

This function writes START_MOTOR_CTRL=1 to the BOOT_CONFIG register, causing the bootloader to immediately exit and launch the motor control application based on the current BOOT_MODE setting.

⚠️ CRITICAL: After calling this function, the bootloader will no longer respond to commands. All bootloader configuration must be completed BEFORE calling this function.

Parameters

boot_mode

Motor control mode to start (Register or Parameter mode)

Returns

true if command sent successfully

Note

The bootloader exits immediately after this command

Allow 100-150ms for motor control to fully initialize after calling

// Configure everything first
bootloader.setBank(5);
bootloader.setAddress(0x00020002);
bootloader.write16(uart_config);
// ... more configuration ...
 
// Finally, start motor control (bootloader exits here)
bootloader.startMotorControl(tmc9660::bootcfg::BootMode::Parameter);
 
vTaskDelay(pdMS_TO_TICKS(150));  // Wait for motor control to start
// Now use motor control commands

This function writes START_MOTOR_CTRL=1 to the BOOT_CONFIG register, causing the bootloader to immediately exit and launch the motor control application based on the current BOOT_MODE setting.

Warning

CRITICAL: After calling this function, the bootloader will no longer respond to commands. All bootloader configuration must be completed BEFORE calling this function.

Parameters

bootMode

Motor control mode to start (Register or Parameter mode)

Returns

true if command sent successfully, false on error

Note

The bootloader exits immediately after this command

Allow 100-150ms for motor control to fully initialize after calling

// Configure everything first
bootloader.setBank(5);
bootloader.setAddress(0x00020002);
bootloader.write16(uart_config);
// ... more configuration ...
 
// Finally, start motor control (bootloader exits here)
bootloader.startMotorControl(tmc9660::bootcfg::BootMode::Parameter);
 
vTaskDelay(pdMS_TO_TICKS(150));  // Wait for motor control to start
// Now use motor control commands

write16()

template<typename CommType >

bool TMC9660Bootloader::write16 ( uint16_t v )

noexcept

Write a 16-bit word to the previously selected address.

Writes a 16-bit value to the current bank and address. Little-endian byte order. Does not increment the address pointer.

Parameters

v	16-bit value to write

Returns

true if write successful

Writes a 16-bit value to the current address in the selected memory bank. The address pointer is not incremented after the write operation.

Parameters

v	16-bit value to write

Returns

true if write was successful, false on error

write16Inc()

template<typename CommType >

bool TMC9660Bootloader::write16Inc ( uint16_t v )

noexcept

Write a 16-bit word and increment address by 2.

Writes a 16-bit value and automatically increments the address pointer by 2. Useful for writing sequential data arrays.

Parameters

v	16-bit value to write

Returns

true if write successful

write32()

template<typename CommType >

bool TMC9660Bootloader::write32 ( uint32_t v )

noexcept

Write a 32-bit word to the previously selected address.

Writes a 32-bit value to the current bank and address. Little-endian byte order. Does not increment the address pointer.

Parameters

v	32-bit value to write

Returns

true if write successful

Writes a 32-bit value to the current address in the selected memory bank. The address pointer is not incremented after the write operation.

Parameters

v	32-bit value to write

Returns

true if write was successful, false on error

write32Inc()

template<typename CommType >

bool TMC9660Bootloader::write32Inc ( uint32_t v )

noexcept

Write a 32-bit word and increment address by 4.

Writes a 32-bit value and automatically increments the address pointer by 4. Commonly used for writing configuration registers and data arrays.

Parameters

v	32-bit value to write

Returns

true if write successful

write32IncMultiple()

template<typename CommType >

bool TMC9660Bootloader::write32IncMultiple ( const uint32_t * vals, size_t count )

noexcept

Write multiple 32-bit words starting at the current address.

Writes multiple consecutive 32-bit words using WRITE_32_INC commands. The address pointer is incremented automatically for each word.

Parameters

values	Pointer to array of 32-bit values to write
count	Number of 32-bit words to write

Returns

true if all writes successful

Writes an array of 32-bit values using the WRITE_32_INC command, which automatically increments the address pointer after each write. This is useful for writing configuration blocks or data arrays.

Parameters

vals	Pointer to array of 32-bit values to write
count	Number of 32-bit values to write

Returns

true if all writes were successful, false on error

write8()

template<typename CommType >

bool TMC9660Bootloader::write8 ( uint8_t v )

noexcept

Write a single byte to the previously selected address.

Writes an 8-bit value to the current bank and address. Does not increment the address pointer.

Parameters

v	8-bit value to write

Returns

true if write successful

Writes an 8-bit value to the current address in the selected memory bank. The address pointer is not incremented after the write operation.

Parameters

v	8-bit value to write

Returns

true if write was successful, false on error

write8Inc()

template<typename CommType >

bool TMC9660Bootloader::write8Inc ( uint8_t v )

noexcept

Write a single byte and increment address by 1.

Writes an 8-bit value and automatically increments the address pointer. Useful for writing sequential data arrays.

Parameters

v	8-bit value to write

Returns

true if write successful

Member Data Documentation

comm_

template<typename CommType >

CommType& tmc9660::TMC9660Bootloader< CommType >::comm_

private

deviceAddr_

template<typename CommType >

uint8_t tmc9660::TMC9660Bootloader< CommType >::deviceAddr_

private

Device address for UART protocol.

hostAddr_

template<typename CommType >

uint8_t tmc9660::TMC9660Bootloader< CommType >::hostAddr_

private

Host address for UART protocol.

---

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

• tmc9660_bootloader.hpp
• tmc9660_bootloader.cpp