CRTP-based UART implementation of TMC9660CommInterface. More...

#include <tmc9660_comm_interface.hpp>

Inheritance diagram for tmc9660::UartCommInterface< Derived >:

Collaboration diagram for tmc9660::UartCommInterface< Derived >:

Public Member Functions
	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.

Protected Member Functions
	~UartCommInterface ()=default
	Protected destructor.

	UartCommInterface (const UartCommInterface &)=delete

UartCommInterface &	operator= (const UartCommInterface &)=delete

	UartCommInterface (UartCommInterface &&)=default

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

Additional Inherited Members
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

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

CRTP-based UART implementation of TMC9660CommInterface.

Uses UART_TXD and UART_RXD signals; supports external transceivers via UART_TXEN. Frames consist of 9 bytes: sync+address, command, type, motor, 4-byte data, checksum. LSB-first transmission; checksum is 8-bit sum of first 8 bytes.

This template class uses CRTP for compile-time polymorphism, providing zero runtime overhead.

Example usage:

class MyUART : public tmc9660::UartCommInterface<MyUART> {
public:
  CommMode mode() const noexcept { return CommMode::UART; }
  bool uartSendTMCL(...) { ... }
  bool uartReceiveTMCL(...) { ... }
  bool uartTransferBootloader(...) { ... }
  bool gpioSet(...) { ... }
  bool gpioRead(...) { ... }
  void debugLog(...) { ... }
  void delayMs(...) { ... }
  void delayUs(...) { ... }
};

Template Parameters

Derived The derived class type (CRTP pattern)

Constructor & Destructor Documentation

◆ UartCommInterface() [1/3]

template<typename Derived >

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

inlinenoexcept

Construct UART 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)

◆ ~UartCommInterface()

template<typename Derived >

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

protecteddefault

Protected destructor.

Note: Derived classes can have public destructors

◆ UartCommInterface() [2/3]

template<typename Derived >

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

protecteddelete

◆ UartCommInterface() [3/3]

template<typename Derived >

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

protecteddefault

Member Function Documentation

◆ gpioRead()

template<typename Derived >

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

inlinenoexcept

Read GPIO pin signal state for UART interface.

Parameters

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

Returns: true if the GPIO was read successfully

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◆ gpioSet()

template<typename Derived >

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

inlinenoexcept

Set GPIO pin signal state for UART interface.

Parameters

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

Returns: true if the GPIO was set successfully

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◆ mode()

template<typename Derived >

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

inlinenoexcept

Get communication mode (always UART for this interface)

Returns: CommMode::UART

◆ operator=() [1/2]

template<typename Derived >

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

protecteddelete

◆ operator=() [2/2]

template<typename Derived >

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

protecteddefault

◆ transferTMCL()

template<typename Derived >

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

inlinenoexcept

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◆ uartReceiveTMCL()

template<typename Derived >

bool tmc9660::UartCommInterface< Derived >::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.

Note: This is for TMCL parameter mode (9-byte frames)

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◆ uartSendTMCL()

template<typename Derived >

bool tmc9660::UartCommInterface< Derived >::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.

Note: This is for TMCL parameter mode (9-byte frames)

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◆ uartTransferBootloader()

template<typename Derived >

bool tmc9660::UartCommInterface< Derived >::uartTransferBootloader	(	const std::array< uint8_t, 8 > &	tx,
		std::array< uint8_t, 8 > &	rx )

inlinenoexcept

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

The bootloader uses a different 8-byte protocol:

TX: [SYNC(0x55)] [DEVICE_ADDR] [COMMAND] [VALUE(32)] [CRC8]
RX: [SYNC(0x55)] [HOST_ADDR] [STATUS] [VALUE(32)] [CRC8]

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.

Note: This is for bootloader mode (8-byte frames)

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

tmc9660_comm_interface.hpp

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ UartCommInterface() [1/3]

◆ ~UartCommInterface()

◆ UartCommInterface() [2/3]

◆ UartCommInterface() [3/3]

Member Function Documentation

◆ gpioRead()

◆ gpioSet()

◆ mode()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ transferTMCL()

◆ uartReceiveTMCL()

◆ uartSendTMCL()

◆ uartTransferBootloader()