tmc9660.hpp File Reference

Main TMC9660 motor driver interface and subsystem classes. More...

#include <array>
#include <cmath>
#include <cstdint>
#include <cstdlib>
#include <limits>
#include <memory>
#include <optional>
#include <span>
#include <variant>
#include <vector>
#include "tmc9660_comm_interface.hpp"
#include "tmc9660_version.h"
#include "bootloader/tmc9660_bootloader.hpp"
#include "parameter_mode/tmc9660_param_mode_tmcl.hpp"
#include "../src/tmc9660.ipp"

Include dependency graph for tmc9660.hpp:

This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Classes
class	tmc9660::TMC9660< CommType >
	Main class representing a TMC9660 motor driver in Parameter Mode. More...
struct	tmc9660::TMC9660< CommType >::MotorConfig
	Motor configuration and control subsystem. More...
struct	tmc9660::TMC9660< CommType >::MotorConfig::MotorProfile
	Configuration structure for auto-configuring motor parameters. More...
struct	tmc9660::TMC9660< CommType >::CurrentSensing
	Subsystem for configuring ADC-based current measurement. More...
struct	tmc9660::TMC9660< CommType >::CurrentSensing::AutoConfig
	Configuration structure for auto-configuring current sensing. More...
struct	tmc9660::TMC9660< CommType >::GateDriver
	Subsystem for configuring the MOSFET gate driver. More...
struct	tmc9660::TMC9660< CommType >::GateDriver::PowerStageProfile
	Configuration structure for auto-configuring power stage protection. More...
struct	tmc9660::TMC9660< CommType >::FeedbackSense
	Subsystem for feedback sensor configuration. More...
struct	tmc9660::TMC9660< CommType >::FeedbackSense::HallConfig
	Configuration structure for Hall sensor auto-configuration. More...
struct	tmc9660::TMC9660< CommType >::FeedbackSense::AbnConfig
	Configuration structure for ABN encoder auto-configuration. More...
struct	tmc9660::TMC9660< CommType >::FeedbackSense::Abn2Config
	Configuration structure for ABN2 (secondary) encoder auto-configuration. More...
struct	tmc9660::TMC9660< CommType >::FeedbackSense::SpiEncoderConfig
	Configuration structure for SPI encoder auto-configuration. More...
struct	tmc9660::TMC9660< CommType >::TorqueFluxControl
	Subsystem for torque and flux current control (FOC inner loop). More...
struct	tmc9660::TMC9660< CommType >::TorqueFluxControl::TorqueFluxConfig
	Configuration structure for torque/flux control auto-configuration. More...
struct	tmc9660::TMC9660< CommType >::VelocityControl
	Subsystem for velocity control (FOC middle loop). More...
struct	tmc9660::TMC9660< CommType >::VelocityControl::VelocityConfig
	Configuration structure for velocity control auto-configuration. More...
struct	tmc9660::TMC9660< CommType >::PositionControl
	Subsystem for position control (FOC outer loop). More...
struct	tmc9660::TMC9660< CommType >::PositionControl::PositionConfig
	Configuration structure for position control auto-configuration. More...
struct	tmc9660::TMC9660< CommType >::Ramp
	Hardware 8-segment acceleration/dec-acc profile controller. More...
struct	tmc9660::TMC9660< CommType >::Ramp::RampConfig
	Configuration structure for ramp auto-configuration. More...
struct	tmc9660::TMC9660< CommType >::StepDir
	Subsystem for controlling the STEP/DIR pulse input interface. More...
struct	tmc9660::TMC9660< CommType >::ReferenceSearch
	Subsystem for executing a reference search (homing) routine. More...
struct	tmc9660::TMC9660< CommType >::Brake
	Subsystem controlling the brake chopper and mechanical brake features. More...
struct	tmc9660::TMC9660< CommType >::Brake::BrakeConfig
	Configuration structure for brake auto-configuration. More...
struct	tmc9660::TMC9660< CommType >::IIT
	Subsystem for motor thermal overload protection via I²t integration. More...
struct	tmc9660::TMC9660< CommType >::Telemetry
	Subsystem for reading various telemetry and status information from the driver. More...
struct	tmc9660::TMC9660< CommType >::StopEvents
	Configure automatic stop/latch behaviour for deviation, switches. More...
struct	tmc9660::TMC9660< CommType >::StopEvents::StopEventsConfig
	Configuration structure for stop events auto-configuration. More...
struct	tmc9660::TMC9660< CommType >::Protection
	Subsystem for motor protection features. More...
struct	tmc9660::TMC9660< CommType >::Protection::ProtectionConfig
	Configuration structure for protection auto-configuration. More...
struct	tmc9660::TMC9660< CommType >::Script
	Subsystem for TMCL script execution control. More...
struct	tmc9660::TMC9660< CommType >::RamDebug
	Subsystem for debug and data logging features. More...
struct	tmc9660::TMC9660< CommType >::NvmStorage
	Subsystem for storing and recalling parameters from nonvolatile flash. More...
struct	tmc9660::TMC9660< CommType >::Heartbeat
	Subsystem for configuring the communication watchdog (heartbeat). More...
struct	tmc9660::TMC9660< CommType >::Heartbeat::HeartbeatConfig
	Configuration structure for heartbeat auto-configuration. More...
struct	tmc9660::TMC9660< CommType >::Globals
	Convenience helpers for reading and writing global parameters. More...
struct	tmc9660::TMC9660< CommType >::GPIO
	Subsystem for configuring general-purpose IOs (GPIOs). More...
struct	tmc9660::TMC9660< CommType >::Power
	Subsystem for entering low-power hibernation mode and configuring wake. More...
struct	tmc9660::TMC9660< CommType >::Power::PowerConfig
	Configuration structure for power management auto-configuration. More...

Namespaces
namespace	tmc9660

Macros
#define	TMC9660_HEADER_INCLUDED

Functions
const char *	tmc9660::GetDriverVersion () noexcept
	Get the TMC9660 driver version string (namespace-level).

Detailed Description

Main TMC9660 motor driver interface and subsystem classes.

Copyright

Copyright (c) 2024-2025 HardFOC. All rights reserved.

Macro Definition Documentation

TMC9660_HEADER_INCLUDED

#define TMC9660_HEADER_INCLUDED