tmc9660::TMCLReply Struct Reference

Reply structure returned by TMCL command operations. More...

#include <tmc9660_comm_interface.hpp>

Public Member Functions
bool	isOK () const noexcept
uint32_t	extractRawValue (size_t offset) const noexcept
	Extract 32-bit value from raw bytes at specified offset (MSB-first)
std::string	getVersionString () const noexcept
	Extract version string from GetVersion reply (Command 136, Type 0)

Static Public Member Functions
static bool	fromSpi (std::span< const uint8_t, 8 > in, TMCLReply &r, uint8_t sent_opcode=0, uint16_t sent_type=0) noexcept
	Decode and validate reply from SPI TMCL datagram.
static bool	fromUart (std::span< const uint8_t, 9 > in, uint8_t addr, TMCLReply &r, uint8_t sent_opcode=0, uint16_t sent_type=0) noexcept
	Decode and validate reply from UART TMCL datagram.

Public Attributes
SPIStatus	spi_status = SPIStatus::OK
	SPI status byte.
uint8_t	status = 0
	TMCL status code (100=OK, 101=LOADED)
uint8_t	opcode = 0
	Echoed operation code.
uint32_t	value = 0
	Optional returned value.
std::array< uint8_t, 8 >	rawBytes
	Raw SPI bytes (8-byte) or UART bytes mapped to 8-byte format.

Detailed Description

Reply structure returned by TMCL command operations.

This structure contains the decoded reply from a TMCL command, including SPI status, TMCL status, operation code, and the returned value. The structure also stores raw bytes for advanced parsing and provides helper methods for extracting version strings and handling protocol mismatches.

Member Function Documentation

extractRawValue()

uint32_t tmc9660::TMCLReply::extractRawValue ( size_t offset ) const

inlinenoexcept

Extract 32-bit value from raw bytes at specified offset (MSB-first)

Parameters

offset

Starting byte offset (0-4 for 32-bit value)

Returns

32-bit value extracted from rawBytes[offset..offset+3]

Useful for extracting misaligned data when protocol mismatch occurs (e.g., bootloader 5-byte SESSION_START parsed as 8-byte TMCL).

fromSpi()

static bool tmc9660::TMCLReply::fromSpi ( std::span< const uint8_t, 8 > in, TMCLReply & r, uint8_t sent_opcode = 0, uint16_t sent_type = 0 )

inlinestaticnoexcept

Decode and validate reply from SPI TMCL datagram.

Parses an 8-byte SPI reply, validates checksum, and handles special reply formats such as SESSION_START and GetVersion string replies. Raw bytes are always stored for advanced parsing even if initial parsing fails.

Parameters

in	Input buffer containing 8 bytes from SPI
r	Output parameter to receive decoded reply
sent_opcode	Optional opcode of command that was sent (for handling special replies)
sent_type	Optional type field of command that was sent (for handling special replies)

Returns

true if reply was successfully decoded and validated

Note

Handles special cases: SESSION_START (0x13), GetVersion string format

Raw bytes are always stored for debugging protocol mismatches

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fromUart()

static bool tmc9660::TMCLReply::fromUart ( std::span< const uint8_t, 9 > in, uint8_t addr, TMCLReply & r, uint8_t sent_opcode = 0, uint16_t sent_type = 0 )

inlinestaticnoexcept

Decode and validate reply from UART TMCL datagram.

Parses a 9-byte UART reply, validates module address and checksum, and handles special reply formats. UART replies include host address and sync bits not present in SPI format.

Parameters

in	Input buffer containing 9 bytes from UART
addr	Expected 7-bit module address for address validation
r	Output parameter to receive decoded reply
sent_opcode	Optional opcode of command that was sent (for handling special replies)
sent_type	Optional type field of command that was sent (for handling special replies)

Returns

true if reply was successfully decoded and validated

Note

UART format: [HOST_ADDR] [SYNC+ADDR] [STATUS] [OPCODE] [VALUE(32)] [CRC8]

Validates module address and checksum before returning success

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getVersionString()

std::string tmc9660::TMCLReply::getVersionString ( ) const

inlinenoexcept

Extract version string from GetVersion reply (Command 136, Type 0)

Returns

Version string (up to 8 characters) or empty string if not a version reply

GetVersion with Type=0 returns: [Host Address][Version String 8 chars] This method extracts the version string portion

isOK()

bool tmc9660::TMCLReply::isOK ( ) const

inlinenoexcept

Member Data Documentation

opcode

uint8_t tmc9660::TMCLReply::opcode = 0

Echoed operation code.

rawBytes

std::array<uint8_t, 8> tmc9660::TMCLReply::rawBytes

Initial value:

=
      {}

Raw SPI bytes (8-byte) or UART bytes mapped to 8-byte format.

spi_status

SPIStatus tmc9660::TMCLReply::spi_status = SPIStatus::OK

SPI status byte.

status

uint8_t tmc9660::TMCLReply::status = 0

TMCL status code (100=OK, 101=LOADED)

value

uint32_t tmc9660::TMCLReply::value = 0

Optional returned value.

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

• tmc9660_comm_interface.hpp