TMC9660.hpp File Reference

#include <array>
#include <cstdint>
#include <cstdlib>
#include <span>
#include <variant>
#include <vector>
#include "TMC9660Bootloader.hpp"
#include "TMC9660CommInterface.hpp"
#include "parameter_mode/tmc9660_param_mode_tmcl.hpp"

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Classes
class	TMC9660
	Main class representing a TMC9660 motor driver in Parameter Mode. Provides high-level functions to configure and control the TMC9660's features. The class uses a TMC9660CommInterface for communication, making it agnostic to the physical layer. More...
struct	TMC9660::MotorConfig
	Subsystem for configuring motor type and basic settings. More...
struct	TMC9660::CurrentSensing
	Subsystem for configuring ADC-based current measurement. More...
struct	TMC9660::GateDriver
	Subsystem for configuring the MOSFET gate driver. More...
struct	TMC9660::FeedbackSense
	Subsystem for feedback sensor configuration. More...
struct	TMC9660::FOCControl
	Subsystem for FOC control: torque/flux, velocity, position loops, open‐loop support, and reference switch / stop-event parameters. More...
struct	TMC9660::Ramp
	Hardware 8-segment acceleration/dec-acc profile controller. More...
struct	TMC9660::StepDir
	Subsystem for controlling the STEP/DIR pulse input interface. More...
struct	TMC9660::ReferenceSearch
	Subsystem for executing a reference search (homing) routine. More...
struct	TMC9660::Brake
	Subsystem controlling the brake chopper and mechanical brake features. More...
struct	TMC9660::IIT
	Subsystem for motor thermal overload protection via I²t integration. More...
struct	TMC9660::Telemetry
	Subsystem for reading various telemetry and status information from the driver. More...
struct	TMC9660::StopEvents
	Configure automatic stop/latch behaviour for deviation, switches. More...
struct	TMC9660::Protection
	Subsystem for motor protection features. More...
struct	TMC9660::Script
	Subsystem for TMCL script execution control. More...
struct	TMC9660::RamDebug
	Subsystem for debug and data logging features. More...
struct	TMC9660::NvmStorage
	Subsystem for storing and recalling parameters from nonvolatile flash. More...
struct	TMC9660::Heartbeat
	Subsystem for configuring the communication watchdog (heartbeat). More...
struct	TMC9660::Globals
	Convenience helpers for reading and writing global parameters. More...
struct	TMC9660::GPIO
	Subsystem for configuring general-purpose IOs (GPIOs). More...
struct	TMC9660::Power
	Subsystem for entering low-power hibernation mode and configuring wake. More...