tmc9660 Namespace Reference

Namespaces
namespace	bootaddr
	Bootloader configuration register addresses.
namespace	bootcfg
	Bootloader configuration namespace containing all configuration structures and enums.
namespace	register_mode
namespace	tmcl
	TMCL command interface namespace for TMC9660.

Classes
struct	ABN1Config
	ABN encoder 1 configuration for incremental encoder feedback. More...
struct	ABN2Config
	ABN encoder 2 configuration for second incremental encoder. More...
struct	BootConfig
	Bootloader behavior configuration structure. More...
struct	BootloaderCommandSPI
	Bootloader command structure for SPI (40-bit / 5-byte protocol). More...
struct	BootloaderCommandUART
	Bootloader command structure for UART (64-bit / 8-byte protocol). More...
struct	BootloaderConfig
	Complete bootloader configuration structure. More...
struct	BootloaderFeatures
	Feature flags indicating available bootloader capabilities. More...
struct	BootloaderReplySPI
	Bootloader reply structure for SPI (40-bit / 5-byte protocol). More...
struct	BootloaderReplyUART
	Bootloader reply structure for UART (64-bit / 8-byte protocol). More...
struct	BootloaderVersion
	Bootloader version information structure. More...
struct	BrakeChopperConfig
	Brake chopper configuration for dynamic braking. More...
struct	ClockConfig
	System clock configuration structure. More...
class	CommInterface
	SPI status codes as per TMC9660 Parameter Mode. More...
struct	GitInfo
	Git version control information from bootloader firmware. More...
struct	GPIOConfig
	GPIO configuration structure for bootloader operation. More...
struct	HallConfig
	Hall encoder configuration for BLDC motor feedback. More...
struct	I2CConfig
	External I2C EEPROM configuration structure. More...
struct	LDOConfig
	Configuration structure for on-chip LDO regulators. More...
struct	MechBrakeConfig
	Mechanical brake configuration for holding motor position. More...
struct	MemStorageConfig
	External memory storage configuration for TMCL scripts and parameters. More...
struct	OtpBurnResult
	OTP burn operation result information. More...
struct	OtpLoadResult
	OTP load operation result information. More...
struct	PartitionVersion
	External memory partition version information. More...
struct	RefConfig
	Reference switches configuration for limit detection and homing. More...
struct	RS485Config
	RS485 transceiver configuration structure. More...
struct	SPIBootConfig
	SPI interface configuration for bootloader commands. More...
class	SpiCommInterface
	CRTP-based SPI implementation of TMC9660CommInterface. More...
struct	SPIEncConfig
	SPI encoder configuration for SPI-based position sensors. More...
struct	SPIFlashConfig
	External SPI flash memory configuration structure. More...
struct	StepDirConfig
	Step/Direction interface configuration for stepper motor control. More...
class	TMC9660
	Main class representing a TMC9660 motor driver in Parameter Mode. More...
class	TMC9660Bootloader
	Main TMC9660 bootloader interface class. More...
struct	TMCLFrame
	Frame structure for TMCL commands. More...
struct	TMCLReply
	Reply structure returned by TMCL command operations. More...
class	UartCommInterface
	CRTP-based UART implementation of TMC9660CommInterface. More...
struct	UARTConfig
	UART communication configuration structure. More...

Enumerations
enum class	BootloaderStatus : uint8_t {   OK = 0 , CMD_NOT_FOUND = 1 , INVALID_ADDR = 3 , INVALID_VALUE = 4 ,   INVALID_BANK = 14 , BUSY = 15 , MEM_UNCONFIGURED = 17 , OTP_ERROR = 18 ,   SESSION_START = 19 , CMD_NOT_AVAILABLE = 20 , BOOTLOADER_RESUMED }
	Bootloader status codes returned by command replies. More...
enum class	BootloaderCommand : uint8_t {   GET_INFO = 0 , GET_BANK = 8 , SET_BANK = 9 , GET_ADDRESS = 10 ,   SET_ADDRESS = 11 , READ_32 = 12 , READ_32_INC = 13 , READ_16 = 14 ,   READ_16_INC = 15 , READ_8 = 16 , READ_8_INC = 17 , WRITE_32 = 18 ,   WRITE_32_INC = 19 , WRITE_16 = 20 , WRITE_16_INC = 21 , WRITE_8 = 22 ,   WRITE_8_INC = 23 , NO_OP = 29 , OTP_LOAD = 30 , OTP_BURN = 31 ,   MEM_IS_CONFIGURED = 32 , MEM_IS_CONNECTED = 33 , FLASH_SEND_CMD = 36 , FLASH_ERASE_SECTOR = 37 ,   MEM_IS_BUSY = 40 , BOOTSTRAP_RS485 = 255 }
	Bootloader command codes for memory and configuration operations. More...
enum class	MemoryBank : uint8_t {   RAM = 0 , OTP = 1 , SPI_FLASH = 2 , I2C_EEPROM = 3 ,   RESERVED = 4 , CONFIG = 5 }
	Memory bank identifiers for bootloader operations. More...
enum class	InfoQuery : uint32_t {   CHIP_TYPE = 0 , BL_VERSION = 1 , FEATURES = 2 , GIT_INFO = 12 ,   CHIP_VERSION = 13 , CHIP_FREQUENCY = 14 , CONFIG_MEM_START = 17 , CONFIG_MEM_SIZE = 18 ,   OTP_MEM_SIZE = 19 , I2C_MEM_SIZE = 20 , SPI_MEM_SIZE = 21 , PARTITION_VERSION = 22 ,   SPI_MEM_PARTITIONS = 25 , I2C_MEM_PARTITIONS = 26 , CHIP_VARIANT = 28 }
	GET_INFO query types for retrieving system information. More...
enum class	OtpBurnError : int8_t {   INVALID_PAGE = -1 , NO_MORE_BURNS = -2 , CHARGE_PUMP_FAILED = -3 , BURN_PROCEDURE_FAILED = -4 ,   CLOCK_SETUP_FAILED = -5 , CLOCK_RESTORE_FAILED = -6 }
	OTP burn operation error codes. More...
enum class	CommMode { SPI , UART }
	Supported physical communication modes for TMC9660. More...
enum class	TMC9660CtrlPin { RST , DRV_EN , FAULTN , WAKE }
	TMC9660 control pin identifiers with board-agnostic naming. More...
enum class	GpioSignal { INACTIVE = 0 , ACTIVE = 1 }
	GPIO signal states with board-agnostic naming. More...
enum class	SPIStatus : uint8_t { OK = 0xFF , CHECKSUM_ERROR = 0x00 , FIRST_CMD = 0x0C , NOT_READY = 0xF0 }
	SPI status codes as per TMC9660 Parameter Mode specification. More...

Functions
static constexpr uint8_t	reverseByte (uint8_t b) noexcept
	Helper function for CRC-8 calculation (UART only).
static constexpr uint8_t	crc8Bootloader (const uint8_t *data, size_t len) noexcept
	CRC-8 calculation for UART protocol (TMC9660 datasheet method).
const char *	GetDriverVersion () noexcept
	Get the TMC9660 driver version string (namespace-level).
static constexpr uint8_t	tmclChecksum (const uint8_t *bytes, size_t n, uint8_t start=0) noexcept
	Calculate 8-bit checksum using sum of bytes method.

Enumeration Type Documentation

BootloaderCommand

enum class tmc9660::BootloaderCommand : uint8_t

strong

Bootloader command codes for memory and configuration operations.

These commands allow reading and writing to memory banks, configuring external devices, and querying system information. Each command may be followed by command-specific parameters in the 32-bit value field.

Note

Per TMC9660 datasheet Table 23

Enumerator
GET_INFO	Get various basic information about the connected TMC9660.
GET_BANK	Get the currently selected memory bank.
SET_BANK	Set the memory bank.
GET_ADDRESS	Get the current memory address.
SET_ADDRESS	Set the memory address.
READ_32	Read 32-bit data from selected memory bank/address.
READ_32_INC	Read 32-bit data and increment address.
READ_16	Read 16-bit data from selected memory bank/address.
READ_16_INC	Read 16-bit data and increment address.
READ_8	Read 8-bit data from selected memory bank/address.
READ_8_INC	Read 8-bit data and increment address.
WRITE_32	Write 32-bit data to selected memory bank/address.
WRITE_32_INC	Write 32-bit data and increment address.
WRITE_16	Write 16-bit data to selected memory bank/address.
WRITE_16_INC	Write 16-bit data and increment address.
WRITE_8	Write 8-bit data to selected memory bank/address.
WRITE_8_INC	Write 8-bit data and increment address.
NO_OP	No operation (for retrieving previous reply in SPI)
OTP_LOAD	Read a programmed OTP page.
OTP_BURN	Burn an OTP page.
MEM_IS_CONFIGURED	Check whether an external memory bank is configured.
MEM_IS_CONNECTED	Check whether an external memory is connected.
FLASH_SEND_CMD	Send arbitrary commands to an external flash.
FLASH_ERASE_SECTOR	Send a sector erase command to an external flash.
MEM_IS_BUSY	Check whether an external memory is busy.
BOOTSTRAP_RS485	Set up RS485 settings.

BootloaderStatus

enum class tmc9660::BootloaderStatus : uint8_t

strong

Bootloader status codes returned by command replies.

These status codes are returned by the bootloader to indicate the result of each command. Status OK (0) indicates successful command execution. Other status codes indicate various error conditions or special states.

Note

Per TMC9660 datasheet Table 23

Enumerator
OK	Command executed successfully.
CMD_NOT_FOUND	The request has an invalid command number.
INVALID_ADDR	The memory address is not valid for the requested command.
INVALID_VALUE	The request has an invalid value.
INVALID_BANK	The memory bank is not valid for the requested command.
BUSY	Bootloader has not yet finished processing the last command (SPI only)
MEM_UNCONFIGURED	The external memory is not configured.
OTP_ERROR	The OTP command has failed.
SESSION_START	First SPI datagram after power-on (SPI only)
CMD_NOT_AVAILABLE	The command is currently not available.
BOOTLOADER_RESUMED	First SPI datagram after returning to bootloader from motor control (SPI only)

CommMode

enum class tmc9660::CommMode

strong

Supported physical communication modes for TMC9660.

Defines the available communication interfaces that can be used to communicate with the TMC9660 motor driver.

Enumerator
SPI	SPI (Serial Peripheral Interface) mode - 4-wire synchronous communication.
UART	UART (Universal Asynchronous Receiver-Transmitter) mode - 2-wire asynchronous communication

GpioSignal

enum class tmc9660::GpioSignal

strong

GPIO signal states with board-agnostic naming.

These signal states abstract the physical voltage levels to provide a consistent interface regardless of board implementation (active-high or active-low signals, inverters, etc.).

Enumerator
INACTIVE	Inactive signal state (logical low)
ACTIVE	Active signal state (logical high)

InfoQuery

enum class tmc9660::InfoQuery : uint32_t

strong

GET_INFO query types for retrieving system information.

These query types retrieve various system information including chip type, bootloader version, available features, memory sizes, and hardware capabilities. Use TMC9660Bootloader::getInfo() to query these values.

Note

Per TMC9660 datasheet Table 24

Enumerator
CHIP_TYPE	Get the Chip type (returns 0x544D0001)
BL_VERSION	Get bootloader version (major in upper 16 bits, minor in lower 16 bits)
FEATURES	Get available feature groups (bit flags)
GIT_INFO	Get Git version control information.
CHIP_VERSION	Get silicon revision (TMC9660 reports revision 1)
CHIP_FREQUENCY	Get system frequency in MHz.
CONFIG_MEM_START	Get starting address of CONFIG memory.
CONFIG_MEM_SIZE	Get size of CONFIG memory.
OTP_MEM_SIZE	Get size of one OTP memory page.
I2C_MEM_SIZE	Get memory size of connected I2C memory.
SPI_MEM_SIZE	Get memory size of connected SPI memory.
PARTITION_VERSION	Get version of external memory partition format.
SPI_MEM_PARTITIONS	Get number of SPI memory partitions.
I2C_MEM_PARTITIONS	Get number of I2C memory partitions.
CHIP_VARIANT	Get chip variant (TMC9660 reports value 2)

MemoryBank

enum class tmc9660::MemoryBank : uint8_t

strong

Memory bank identifiers for bootloader operations.

The TMC9660 organizes memory into several banks for different purposes. The bootloader allows reading from and writing to these memory banks for configuration and program storage.

Enumerator
RAM	Internal RAM.
OTP	OTP memory.
SPI_FLASH	External SPI Flash.
I2C_EEPROM	External I2C EEPROM.
RESERVED	Reserved.
CONFIG	Configuration memory (runtime reconfiguration)

OtpBurnError

enum class tmc9660::OtpBurnError : int8_t

strong

OTP burn operation error codes.

These error codes are returned when an OTP burn operation fails. Negative values indicate specific failure modes during the programming process. Positive values (0 or greater) indicate successful operations.

Note

Per TMC9660 datasheet

Enumerator
INVALID_PAGE	The OTP page number is invalid.
NO_MORE_BURNS	Last OTP page burnt, no more burns possible.
CHARGE_PUMP_FAILED	Setting up internal OTP charge pump failed.
BURN_PROCEDURE_FAILED	The burn procedure failed.
CLOCK_SETUP_FAILED	Internal clock setup for OTP operation failed.
CLOCK_RESTORE_FAILED	Restoring original clock setup after OTP operation failed.

SPIStatus

enum class tmc9660::SPIStatus : uint8_t

strong

SPI status codes as per TMC9660 Parameter Mode specification.

These status codes are returned in the first byte of SPI replies to indicate the communication status and any errors that occurred.

Enumerator
OK	Operation successful.
CHECKSUM_ERROR	Checksum verification failed.
FIRST_CMD	First command after initialization.
NOT_READY	System busy, resend datagram.

TMC9660CtrlPin

enum class tmc9660::TMC9660CtrlPin

strong

TMC9660 control pin identifiers with board-agnostic naming.

These pin identifiers abstract the physical pin assignments to provide a consistent interface regardless of board implementation (direct connection, inverters, level shifters, etc.).

Enumerator
RST	External System Reset Input (pin 22) - Active high reset signal.
DRV_EN	Driver enable input (pin 21) - Enables motor driver outputs.
FAULTN	FAULT output signal (pin 20) - Open drain fault indication.
WAKE	Wake input (pin 19) - Wake from hibernation mode.

Function Documentation

crc8Bootloader()

static constexpr uint8_t tmc9660::crc8Bootloader ( const uint8_t * data, size_t len )

staticconstexprnoexcept

CRC-8 calculation for UART protocol (TMC9660 datasheet method).

Calculates CRC-8 checksum using the TMC9660-specific algorithm. This is NOT a standard CRC-8 implementation - each input byte is bit-reversed before processing through the polynomial division.

Polynomial: x^8 + x^2 + x^1 + x^0 (9-bit: 0b100000111) Algorithm: Bit-reverse each input byte, perform polynomial division, return MSB-first result

Parameters

data	Pointer to data bytes to calculate CRC over
len	Number of data bytes

Returns

Calculated CRC-8 value

Note

This is NOT a standard CRC-8! Each byte is bit-reversed before processing.

Here is the call graph for this function:

Here is the caller graph for this function:

GetDriverVersion()

const char * tmc9660::GetDriverVersion ( )

inlinenoexcept

Get the TMC9660 driver version string (namespace-level).

Here is the caller graph for this function:

reverseByte()

static constexpr uint8_t tmc9660::reverseByte ( uint8_t b )

staticconstexprnoexcept

Helper function for CRC-8 calculation (UART only).

These functions are used by the UART bootloader protocol for checksum calculation. They are automatically called by the ::BootloaderCommandUART serialization methods.

Bit-reverse a byte (LSB ↔ MSB).

Helper function used by the bootloader CRC-8 calculation to reverse the bit order of each input byte before polynomial division.

Parameters

b	Input byte to reverse

Returns

Bit-reversed byte

Here is the caller graph for this function:

tmclChecksum()

static constexpr uint8_t tmc9660::tmclChecksum ( const uint8_t * bytes, size_t n, uint8_t start = 0 )

staticconstexprnoexcept

Calculate 8-bit checksum using sum of bytes method.

This function implements the TMCL checksum algorithm which is simply the sum of all bytes in the datagram. The checksum is used to verify data integrity during communication.

Parameters

bytes	Pointer to the data bytes to checksum
n	Number of bytes to include in the checksum calculation
start	Starting byte offset for checksum calculation (default: 0)

Returns

8-bit checksum value

Here is the caller graph for this function: