Communication interfaces for TMC9660 Parameter Mode devices using TMCL protocol over SPI and UART. More...

#include <array>
#include <cstdint>
#include <cstdlib>
#include <span>

Include dependency graph for TMC9660CommInterface.hpp:

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

Classes
struct	TMCLReply
	Reply structure returned by sendCommand() More...

struct	TMCLFrame
	Frame structure for TMCL commands and replies. More...

class	TMC9660CommInterface
	SPI status codes as per TMC9660 Parameter Mode. More...

class	SPITMC9660CommInterface
	SPI implementation of TMC9660CommInterface. More...

class	UARTTMC9660CommInterface
	UART implementation of TMC9660CommInterface. More...

Enumerations
enum class	CommMode { SPI , UART }
	Supported physical communication modes. More...

enum class	SPIStatus : uint8_t { OK = 0xFF , CHECKSUM_ERROR = 0x00 , FIRST_CMD = 0x0C , NOT_READY = 0xF0 }
	SPI status codes as per TMC9660 Parameter Mode. More...

Functions
static constexpr uint8_t	tmclChecksum (const uint8_t *bytes, size_t n) noexcept
	Calculate 8-bit checksum (sum of bytes)

Detailed Description

Communication interfaces for TMC9660 Parameter Mode devices using TMCL protocol over SPI and UART.

For parameter read/write access, either UART or SPI may be used. Both interfaces share the same TMCL command structure and follow a strict command/reply order.

SPI Command Format

Table 3: Command format for parameter read/write access through SPI

BYTE	0	1-2	3	4-6	7
Bits	0-7	8-19	20-23	24-55	56-63
Desc	Operation	Type	Motor/Bank	Data	Checksum

SPI Reply Format

Table 4: Reply format for parameter read/write access through SPI

BYTE	0	1	2	3-6	7
Bits	0-7	8-15	16-23	24-55	56-63
Desc	SPI Status	TMCL Status	Operation	Data	Checksum

UART Command Format

BYTE	0	1	2-3	4	5-8	9
Desc	Sync+Address	Command	Type	Motor/Bank	Data	Checksum

UART Reply Format

BYTE	0	1	2	3	4-7	8
Desc	Host Address	Sync+Address	TMCL Status	Operation	Data	Checksum

Enumeration Type Documentation

◆ CommMode

enum class CommMode

strong

Supported physical communication modes.

Enumerator
SPI
UART

◆ SPIStatus

enum class SPIStatus : uint8_t

strong

SPI status codes as per TMC9660 Parameter Mode.

Enumerator
OK
CHECKSUM_ERROR
FIRST_CMD
NOT_READY

Function Documentation

◆ tmclChecksum()

static constexpr uint8_t tmclChecksum	(	const uint8_t *	bytes,
		size_t	n
	)

staticconstexprnoexcept

Calculate 8-bit checksum (sum of bytes)

Classes

Enumerations

Functions