SPI implementation of TMC9660CommInterface. More...

#include <TMC9660CommInterface.hpp>

Inheritance diagram for SPITMC9660CommInterface:

Collaboration diagram for SPITMC9660CommInterface:

Public Member Functions
CommMode	mode () const noexcept override
	Return underlying communication mode.

virtual bool	spiTransfer (std::array< uint8_t, 8 > &tx, std::array< uint8_t, 8 > &rx) noexcept=0
	Low-level SPI transfer of 8 bytes.

bool	transfer (const TMCLFrame &tx, TMCLReply &reply, uint8_t) noexcept override
	Perform a full duplex TMCL transfer.

Public Member Functions inherited from TMC9660CommInterface
virtual	~TMC9660CommInterface () noexcept=default

Detailed Description

SPI implementation of TMC9660CommInterface.

Uses a 4-wire SPI bus (mode 3) to exchange 64-bit datagrams (8 bytes). Data is sent MSB-first, big-endian. Replies match the previous command; initial reply uses FIRST_CMD status.

Member Function Documentation

◆ mode()

CommMode SPITMC9660CommInterface::mode ( ) const

inlineoverridevirtualnoexcept

Return underlying communication mode.

Implements TMC9660CommInterface.

◆ spiTransfer()

virtual bool SPITMC9660CommInterface::spiTransfer	(	std::array< uint8_t, 8 > &	tx,
		std::array< uint8_t, 8 > &	rx
	)

pure virtualnoexcept

Low-level SPI transfer of 8 bytes.

Parameters

tx	Buffer containing 8 bytes to transmit.
rx	Buffer to receive 8 bytes from device.

Returns: true if the SPI transfer completed successfully.

◆ transfer()

bool SPITMC9660CommInterface::transfer	(	const TMCLFrame &	tx,
		TMCLReply &	reply,
		uint8_t	address
	)

inlineoverridevirtualnoexcept

Perform a full duplex TMCL transfer.

Implementations encode tx according to the active mode (SPI or UART), transmit it and decode the reply into reply. The address parameter is only used for UART transfers and ignored for SPI.