Quick Start

This guide will get you up and running with the TMC9660 driver in just a few steps.

Prerequisites

Minimal Example

Here’s a complete working example:

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#include "inc/tmc9660.hpp"

// 1. Implement your communication interface (see platform_integration.md)
class MySPI : public tmc9660::SpiCommInterface {
    // ... implement spiTransfer() method
};

int main() {
    // 2. Create communication interface
    MySPI spi;
    
    // 3. Create driver instance
    tmc9660::TMC9660 driver(spi);
    
    // 4. CRITICAL: Initialize bootloader for Parameter Mode
    tmc9660::BootloaderConfig cfg{};
    cfg.boot.boot_mode = tmc9660::bootcfg::BootMode::Parameter;
    cfg.boot.start_motor_control = true;
    
    auto result = driver.bootloaderInit(&cfg);
    if (result != tmc9660::TMC9660::BootloaderInitResult::Success) {
        // Handle initialization failure
        return -1;
    }
    
    // 5. Configure motor type
    driver.motorConfig.setType(tmc9660::tmcl::MotorType::BLDC_MOTOR, 7); // 7 pole pairs
    
    // 6. Start motor control
    driver.focControl.setTargetVelocity(1000); // 1000 RPM
    
    return 0;
}

Step-by-Step Explanation

Step 1: Implement Communication Interface

You must implement either SpiCommInterface or UartCommInterface for your platform. See Platform Integration for detailed examples.

Step 2: Create Driver Instance 

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tmc9660::TMC9660 driver(spi);

The driver takes a reference to your communication interface.

Step 3: Initialize Bootloader

This step is CRITICAL! The TMC9660 must be configured for Parameter Mode before any motor control will work.

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tmc9660::BootloaderConfig cfg{};
cfg.boot.boot_mode = tmc9660::bootcfg::BootMode::Parameter;
cfg.boot.start_motor_control = true;

auto result = driver.bootloaderInit(&cfg);

See Bootloader Initialization for complete details.

Step 4: Configure Motor 

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driver.motorConfig.setType(tmc9660::tmcl::MotorType::BLDC_MOTOR, 7);

Set the motor type and pole pairs. Supported types:

  • BLDC_MOTOR - Brushless DC motor
  • STEPPER_MOTOR - Stepper motor
  • DC_MOTOR - Brushed DC motor

Step 5: Control Motor 

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driver.focControl.setTargetVelocity(1000); // Set target velocity

Next Steps