tmc9660::TMCLFrame Struct Reference

Frame structure for TMCL commands. More...

#include <tmc9660_comm_interface.hpp>

Public Member Functions
void	toSpi (std::span< uint8_t, 8 > out) const noexcept
	Serialize frame into 8-byte SPI buffer.
void	toUart (uint8_t addr, std::span< uint8_t, 9 > out) const noexcept
	Serialize frame into 9-byte UART buffer, including sync bit and checksum.

Static Public Member Functions
static TMCLFrame	fromSpi (std::span< const uint8_t, 8 > in) noexcept
	Deserialize an SPI buffer into a TMCLFrame without status check.
static bool	fromSpiChecked (std::span< const uint8_t, 8 > in, TMCLFrame &out_frame) noexcept
	Deserialize an SPI buffer with status and checksum validation.
static bool	fromUart (std::span< const uint8_t, 9 > in, uint8_t expected_addr, TMCLFrame &out_frame) noexcept
	Deserialize a UART buffer with address and checksum validation.
static constexpr uint8_t	calculateChecksum (const uint8_t *bytes, size_t n) noexcept
	Calculate 8-bit checksum (sum of bytes).

Public Attributes
uint8_t	opcode = 0
	Operation code field (BYTE 0, bits 0-7).
uint16_t	type = 0
	Parameter or command type (BYTE 1-2, bits 8-19).
uint8_t	motor = 0
	Motor or bank identifier (BYTE 2, bits 20-23).
uint32_t	value = 0
	32-bit data value (BYTE 3-6, bits 24-55).

Detailed Description

Frame structure for TMCL commands.

Supports conversion to/from SPI (8 bytes) and UART (9 bytes) formats.

Member Function Documentation

calculateChecksum()

static constexpr uint8_t tmc9660::TMCLFrame::calculateChecksum ( const uint8_t * bytes, size_t n )

inlinestaticconstexprnoexcept

Calculate 8-bit checksum (sum of bytes).

Parameters

bytes	Pointer to data bytes to sum.
n	Number of bytes to include in sum.

Returns

8-bit checksum value.

fromSpi()

static TMCLFrame tmc9660::TMCLFrame::fromSpi ( std::span< const uint8_t, 8 > in )

inlinestaticnoexcept

Deserialize an SPI buffer into a TMCLFrame without status check.

Parameters

in	Span of 8 received bytes.

Returns

Populated TMCLFrame.

fromSpiChecked()

static bool tmc9660::TMCLFrame::fromSpiChecked ( std::span< const uint8_t, 8 > in, TMCLFrame & out_frame )

inlinestaticnoexcept

Deserialize an SPI buffer with status and checksum validation.

Parameters

in	Span of 8 received bytes.
out_frame	Reference to store the valid frame.

Returns

false if NOT_READY or CHECKSUM_ERROR or invalid status; true otherwise.

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fromUart()

static bool tmc9660::TMCLFrame::fromUart ( std::span< const uint8_t, 9 > in, uint8_t expected_addr, TMCLFrame & out_frame )

inlinestaticnoexcept

Deserialize a UART buffer with address and checksum validation.

Parameters

in	Span of 9 received bytes.
expected_addr	7-bit expected address of host.
out_frame	Reference to store the valid frame.

Returns

true if address and checksum match.

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toSpi()

void tmc9660::TMCLFrame::toSpi ( std::span< uint8_t, 8 > out ) const

inlinenoexcept

Serialize frame into 8-byte SPI buffer.

Parameters

out	Span of 8 bytes to fill: opcode, type (2), motor, value (4).

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toUart()

void tmc9660::TMCLFrame::toUart ( uint8_t addr, std::span< uint8_t, 9 > out ) const

inlinenoexcept

Serialize frame into 9-byte UART buffer, including sync bit and checksum.

Parameters

addr	7-bit module address; MSB (sync bit) set automatically.
out	Span of 9 bytes to fill: sync+addr, fields, checksum.

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Member Data Documentation

motor

uint8_t tmc9660::TMCLFrame::motor = 0

Motor or bank identifier (BYTE 2, bits 20-23).

opcode

uint8_t tmc9660::TMCLFrame::opcode = 0

Operation code field (BYTE 0, bits 0-7).

type

uint16_t tmc9660::TMCLFrame::type = 0

Parameter or command type (BYTE 1-2, bits 8-19).

value

uint32_t tmc9660::TMCLFrame::value = 0

32-bit data value (BYTE 3-6, bits 24-55).

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

• tmc9660_comm_interface.hpp