HF-TMC9660 Documentation

Welcome! This directory contains step-by-step guides for installing, building, and using the HF-TMC9660 library.

📚 Documentation Structure

Getting Started

  1. 🛠️ Installation – Prerequisites and how to obtain the source
  2. ⚡ Quick Start – Minimal working example to get you running
  3. 🔌 Hardware Setup – Wiring diagrams and pin connections

Integration

  1. 🔧 Platform Integration – Implement the SPI/UART interface for your platform
  2. ⚙️ Configuration – Configuration options and settings

Reference

  1. 📖 API Reference – Complete API documentation
  2. 💡 Examples – Detailed example walkthroughs

Advanced Features

  1. 🚀 Bootloader Initialization – Critical bootloader setup guide
  2. 📡 Communication Protocols – Detailed protocol specifications

Troubleshooting

  1. 🐛 Troubleshooting – Common issues and solutions

🚀 Quick Start Path

New to TMC9660? Follow this recommended path:

  1. Start with Installation to prepare your environment
  2. Follow Hardware Setup to wire your hardware
  3. Read Quick Start for a minimal working example
  4. CRITICAL: Review Bootloader Initialization - this is required!
  5. Check Platform Integration to implement the communication interface
  6. Explore Examples for more advanced usage

⚠️ Critical Requirements

BOOTLOADER INITIALIZATION IS MANDATORY

The TMC9660 must be properly configured for Parameter Mode operation via bootloader initialization before any motor control functions will work. This is the #1 source of issues for new users.

Essential Setup Sequence:

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tmc9660::BootloaderConfig cfg{};
cfg.boot.boot_mode = tmc9660::bootcfg::BootMode::Parameter;  // ESSENTIAL!
cfg.boot.start_motor_control = true;
auto result = driver.bootloaderInit(&cfg);

See Bootloader Initialization for complete details.

💡 Need Help?

  • 🐛 Found a bug? Check the Troubleshooting guide
  • ❓ Have questions? Review the API Reference
  • 📝 Want to contribute? See the contributing guidelines in the main README

Navigation ➡️ Installation

Table of contents