esp32_tmc9660_test_config.hpp

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#pragma once
 
#include <cstdint>
 
//==============================================================================
// COMPILE-TIME CONFIGURATION FLAGS
//==============================================================================
 
#ifndef ESP32_TMC9660_ENABLE_DETAILED_LOGGING
#define ESP32_TMC9660_ENABLE_DETAILED_LOGGING 0
#endif
 
namespace TMC9660_TestConfig {
 
struct SPIPins {
    static constexpr uint8_t MISO = 2;          
    static constexpr uint8_t MOSI = 7;          
    static constexpr uint8_t SCLK = 6;          
    static constexpr uint8_t CS   = 18;         
};
 
struct UARTPins {
    static constexpr uint8_t TX = 5;            
    static constexpr uint8_t RX = 4;            
};
 
struct ControlPins {
    static constexpr uint8_t RST     = 22;      
    static constexpr uint8_t DRV_EN  = 20;      
    static constexpr uint8_t FAULTN  = 19;      
    static constexpr uint8_t WAKE    = 21;      
};
 
struct SPIParams {
    static constexpr uint32_t FREQUENCY = 1000000;    
    static constexpr uint8_t MODE = 3;                
    static constexpr uint8_t QUEUE_SIZE = 1;          
    static constexpr uint8_t SPI_HOST_ID = 2;         
};
 
struct UARTParams {
    static constexpr uint32_t BAUD_RATE = 115200;    
    static constexpr uint8_t ADDRESS = 0;            
    static constexpr uint8_t UART_PORT = 1;          
};
 
struct ControllerSpecs {
    static constexpr float MAX_SUPPLY_VOLTAGE = 60.0f;   
    static constexpr float MAX_CURRENT_A = 3.0f;         
    static constexpr uint32_t PWM_FREQUENCY_HZ = 25000;  
};
 
struct SupplyVoltage {
    static constexpr float VS_MIN = 8.0f;      
    static constexpr float VS_NOM = 24.0f;     
    static constexpr float VS_MAX = 60.0f;     
    static constexpr float VDD_NOM = 3.3f;     
};
 
struct Temperature {
    static constexpr int16_t OPERATING_MIN = -40;    
    static constexpr int16_t OPERATING_MAX = 125;    
    static constexpr int16_t JUNCTION_MAX = 150;     
    static constexpr int16_t WARNING_THRESHOLD = 110; 
};
 
struct Timing {
    static constexpr uint16_t POWER_ON_DELAY_MS = 100;      
    static constexpr uint16_t RESET_DELAY_MS = 50;          
    static constexpr uint16_t BOOT_DELAY_MS = 500;          
    static constexpr uint16_t INTER_FRAME_US = 10;          
};
 
struct Diagnostics {
    static constexpr uint16_t POLL_INTERVAL_MS = 100;      
    static constexpr uint8_t MAX_RETRY_COUNT = 3;          
    static constexpr uint8_t MAX_FAULT_COUNT = 5;          
};
 
struct TestConfig {
    static constexpr uint16_t TEST_DURATION_MS = 5000;       
    static constexpr uint16_t RAMP_STEP_DELAY_MS = 100;     
    static constexpr int32_t DEFAULT_VELOCITY = 1000;        
    static constexpr uint16_t REGISTER_READ_COUNT = 100;     
};
 
struct AppConfig {
    // Logging
    static constexpr bool ENABLE_DEBUG_LOGGING = true;     
    static constexpr bool ENABLE_BUS_LOGGING = false;      
 
    // Performance
    static constexpr bool ENABLE_PERFORMANCE_MONITORING = true;  
    static constexpr uint16_t STATS_REPORT_INTERVAL_MS = 10000;  
 
    // Error handling
    static constexpr bool ENABLE_AUTO_RECOVERY = true;     
    static constexpr uint8_t MAX_ERROR_COUNT = 10;         
};
 
} // namespace TMC9660_TestConfig
 
static_assert(TMC9660_TestConfig::SPIParams::FREQUENCY <= 10000000,
              "SPI frequency exceeds TMC9660 maximum of 10MHz");
 
static_assert(TMC9660_TestConfig::SPIParams::MODE == 3,
              "TMC9660 requires SPI Mode 3 (CPOL=1, CPHA=1)");
 
static_assert(TMC9660_TestConfig::UARTParams::BAUD_RATE >= 9600 &&
              TMC9660_TestConfig::UARTParams::BAUD_RATE <= 921600,
              "UART baud rate must be between 9600 and 921600");
 
#define TMC9660_VALIDATE_GPIO(pin) \
    static_assert((pin) >= 0 && (pin) < 30, "Invalid GPIO pin number for ESP32-C6")