tmc9660::TMC9660< CommType >::Heartbeat Struct Reference

Subsystem for configuring the communication watchdog (heartbeat). More...

#include <tmc9660.hpp>

Collaboration diagram for tmc9660::TMC9660< CommType >::Heartbeat:

Classes
struct	HeartbeatConfig
	Configuration structure for heartbeat auto-configuration. More...

Public Member Functions
bool	configure (tmc9660::tmcl::HeartbeatMonitoringConfig mode, uint32_t timeout_ms) noexcept
	Enable the heartbeat monitor and set timeout.
bool	configureAuto (const HeartbeatConfig &config) noexcept
	Auto-configure heartbeat parameters.

Private Member Functions
	Heartbeat (TMC9660 &parent) noexcept

Private Attributes
TMC9660 &	driver

Friends
class	TMC9660

Detailed Description

template<typename CommType>
struct tmc9660::TMC9660< CommType >::Heartbeat

Subsystem for configuring the communication watchdog (heartbeat).

If enabled, the TMC9660 monitors the time since the last command. If no communication occurs before timeout expires, the chip faults or disables motor outputs.

Refer to Parameters #10 & #11 in Global Bank 0 (Table 43). See datasheet page 89 for details.

Constructor & Destructor Documentation

Heartbeat()

template<typename CommType >

tmc9660::TMC9660< CommType >::Heartbeat::Heartbeat ( TMC9660 & parent )

inlineexplicitprivatenoexcept

Member Function Documentation

configure()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::Heartbeat::configure ( tmc9660::tmcl::HeartbeatMonitoringConfig mode, uint32_t timeout_ms )

noexcept

Enable the heartbeat monitor and set timeout.

Parameters

mode	ENABLE or DISABLE the watchdog
timeout_ms	Timeout in milliseconds

Returns

true if both values written successfully

• Parameters:
  • HEARTBEAT_MONITORING_CONFIG
  • HEARTBEAT_MONITORING_TIMEOUT

configureAuto()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::Heartbeat::configureAuto ( const HeartbeatConfig & config )

noexcept

Auto-configure heartbeat parameters.

Configures heartbeat monitoring based on high-level requirements.

Parameters

config

Heartbeat configuration (see HeartbeatConfig)

Returns

true if configuration succeeded, false otherwise

Friends And Related Symbol Documentation

TMC9660

template<typename CommType >

friend class TMC9660

friend

Member Data Documentation

driver

template<typename CommType >

TMC9660& tmc9660::TMC9660< CommType >::Heartbeat::driver

private

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

• tmc9660.hpp