HF-TMC9660 Driver

C++20 hardware-agnostic driver for Trinamic TMC9660 motor controller with FOC control, telemetry, and TMCL scripting

📚 Table of Contents

1. Overview
2. Features
3. Quick Start
4. Installation
5. API Reference
6. Examples
7. Documentation
8. Contributing
9. License

📦 Overview

‍📖 📚🌐 Live Complete Documentation - Interactive guides, examples, and step-by-step tutorials

HF-TMC9660 is a portable C++20 driver for the Trinamic TMC9660 motor controller IC. The TMC9660 is a sophisticated motor driver supporting BLDC, stepper, and DC motors with advanced Field-Oriented Control (FOC), comprehensive telemetry, and TMCL scripting capabilities. The driver provides hardware-agnostic communication interfaces, allowing it to run on any platform (ESP32, STM32, etc.) with SPI or UART.

The driver exposes the full parameter mode interface, providing access to all 300+ TMC9660 parameters through an intuitive C++ API. It supports bootloader initialization, motor configuration, sensor integration (Hall sensors, encoders), FOC control loops, real-time telemetry, and protection systems.

✨ Features

• ✅ Multiple Motor Types: BLDC/PMSM, Stepper, and DC motor support
• ✅ FOC Control: Advanced Field-Oriented Control with torque, velocity, and position loops
• ✅ Sensor Integration: Hall sensors, incremental encoders, SPI encoders
• ✅ Comprehensive Telemetry: Real-time temperature, current, voltage, and position monitoring
• ✅ Protection Systems: Overcurrent, overtemperature, overvoltage protection
• ✅ TMCL Scripting: Execute custom scripts on device microcontroller
• ✅ Hardware Agnostic: SPI or UART interface for platform independence
• ✅ Modern C++20: Type-safe API with RAII principles
• ✅ Parameter Mode: Full access to 300+ TMC9660 parameters

🚀 Quick Start

#include "inc/tmc9660.hpp"
 
// 1. Implement the communication interface (see platform_integration.md)
class MySPI : public tmc9660::SpiCommInterface {
    // ... implement required methods
};
 
// 2. Create driver instance
MySPI spi;
tmc9660::TMC9660 driver(spi);
 
// 3. CRITICAL: Initialize bootloader for Parameter Mode
tmc9660::BootloaderConfig cfg{};
cfg.boot.boot_mode = tmc9660::bootcfg::BootMode::Parameter;
cfg.boot.start_motor_control = true;
 
if (driver.bootloaderInit(&cfg) != tmc9660::TMC9660::BootloaderInitResult::Success) {
    // Handle error
    return;
}
 
// 4. Configure and start motor
driver.motorConfig.setType(tmc9660::tmcl::MotorType::BLDC_MOTOR, 7); // 7 pole pairs
driver.focControl.setTargetVelocity(1000);

For detailed setup, see Installation and Quick Start Guide.

🔧 Installation

1. Clone or copy the driver files into your project
2. Implement the communication interface for your platform (see Platform Integration)
3. Include the header in your code:

   #include "inc/tmc9660.hpp"

4. Compile with a C++20 or newer compiler

For detailed installation instructions, see docs/installation.md.

📖 API Reference

Method	Description
bootloaderInit()	Initialize bootloader for Parameter Mode (CRITICAL)
motorConfig.setType()	Set motor type and pole pairs
focControl.setTargetVelocity()	Set target velocity for FOC control
telemetry.getTemperature()	Read motor temperature
telemetry.getCurrent()	Read motor current

For complete API documentation, see docs/api_reference.md.

📊 Examples

For ESP32 examples, see the examples/esp32 directory.

Detailed example walkthroughs are available in docs/examples.md.

📚 Documentation

For complete documentation, see the docs directory.

Special Features

• Bootloader Initialization - Critical bootloader setup guide

🤝 Contributing

Pull requests and suggestions are welcome! Please follow the existing code style and include tests for new features.

📄 License

This project is licensed under the GNU General Public License v3.0. See the [LICENSE](LICENSE) file for details.