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...

#include <TMC9660.hpp>

Collaboration diagram for TMC9660:

[legend]

Public Types
enum class	BootloaderInitResult { Success , NoConfig , Failure }
	Bootloader initialization result codes. More...

using	GlobalParamBankVariant = std::variant< uint8_t, tmc9660::tmcl::GlobalParamBank0, tmc9660::tmcl::GlobalParamBank2, tmc9660::tmcl::GlobalParamBank3 >

Public Member Functions
	TMC9660 (TMC9660CommInterface &comm, uint8_t address=0, const tmc9660::BootloaderConfig *bootCfg=nullptr) noexcept
	Construct a TMC9660 driver instance.

	~TMC9660 () noexcept
	Destructor for TMC9660, cleans up resources.

TMC9660CommInterface &	comm () noexcept
	Get the communication interface used by this TMC9660 instance.

TMC9660::BootloaderInitResult	bootloaderInit (const tmc9660::BootloaderConfig *cfg=nullptr) noexcept
	Bootloader initialization.

bool	writeParameter (tmc9660::tmcl::Parameters id, uint32_t value, uint8_t motorIndex=0) noexcept
	Set (write) an axis (motor-specific) parameter on the TMC9660.

bool	readParameter (tmc9660::tmcl::Parameters id, uint32_t &value, uint8_t motorIndex=0) noexcept
	Read an axis (motor-specific) parameter from the TMC9660.

bool	writeGlobalParameter (GlobalParamBankVariant id, uint8_t bank, uint32_t value) noexcept
	Set (write) a global parameter on the TMC9660.

bool	readGlobalParameter (GlobalParamBankVariant id, uint8_t bank, uint32_t &value) noexcept
	Read a global parameter from the TMC9660.

bool	sendCommand (tmc9660::tmcl::Op opcode, uint16_t type=0, uint8_t motor=0, uint32_t value=0, uint32_t *reply=nullptr) noexcept
	Send a TMCL command. Optionally return the 32-bit reply value.

Public Attributes
struct TMC9660::MotorConfig *	this

struct TMC9660::CurrentSensing *	this

struct TMC9660::GateDriver *	this

struct TMC9660::FeedbackSense *	this

struct TMC9660::FOCControl *	this

struct TMC9660::Ramp *	this

struct TMC9660::StepDir *	this

struct TMC9660::ReferenceSearch *	this

struct TMC9660::Brake *	this

struct TMC9660::IIT *	this

struct TMC9660::Telemetry *	this

struct TMC9660::StopEvents *	this

struct TMC9660::Protection *	this

struct TMC9660::Script *	this

struct TMC9660::RamDebug *	this

struct TMC9660::NvmStorage *	this

struct TMC9660::Heartbeat *	this

struct TMC9660::Globals *	this

struct TMC9660::GPIO *	this

struct TMC9660::Power *	this

Private Attributes
TMC9660CommInterface &	comm_

uint8_t	address_

tmc9660::TMC9660Bootloader	bootloader_
	Bootloader helper.

const tmc9660::BootloaderConfig *	bootCfg_

const uint8_t	tmcCRCTable_Poly7Reflected [256]

Detailed Description

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.

All configuration and control is done by sending TMCL commands (Set/Get Parameter, etc.) and reading/writing parameter values. The library covers motor type setup, FOC control tuning, gate driver settings, sensor feedback configuration, protection (voltage, temperature, current) settings, executing scripts on the device's microcontroller, and reading telemetry data like temperature, current, and voltage.

Member Typedef Documentation

◆ GlobalParamBankVariant

using TMC9660::GlobalParamBankVariant = std::variant<uint8_t, tmc9660::tmcl::GlobalParamBank0, tmc9660::tmcl::GlobalParamBank2, tmc9660::tmcl::GlobalParamBank3>

Member Enumeration Documentation

◆ BootloaderInitResult

enum class TMC9660::BootloaderInitResult

strong

Bootloader initialization result codes.

These indicate the outcome of the bootloaderInit() method.

Enumerator
Success
NoConfig
Failure

Constructor & Destructor Documentation

◆ TMC9660()

TMC9660::TMC9660	(	TMC9660CommInterface &	comm,
		uint8_t	address = `0`,
		const tmc9660::BootloaderConfig *	bootCfg = `nullptr`
	)

noexcept

Construct a TMC9660 driver instance.

Parameters

comm	Reference to a user-implemented communication interface (SPI, UART, etc).
address	(Optional) Module address if multiple TMC9660 devices are on one bus. For SPI, this is typically 0.

◆ ~TMC9660()

TMC9660::~TMC9660 ( )

noexcept

Destructor for TMC9660, cleans up resources.

Member Function Documentation

◆ bootloaderInit()

TMC9660::BootloaderInitResult TMC9660::bootloaderInit ( const tmc9660::BootloaderConfig * cfg = nullptr )

noexcept

Bootloader initialization.

This method initializes the bootloader mode of the TMC9660 device, allowing firmware updates or configuration changes.

Parameters

cfg	Optional configuration for the bootloader. If not provided, \ default settings will be used.

Returns: BootloaderInitResult indicating success, no config, or failure.

Note: This method should be called before any other operations.

◆ comm()

TMC9660CommInterface & TMC9660::comm ( )

inlinenoexcept

Get the communication interface used by this TMC9660 instance.

Returns: Reference to the communication interface (SPI, UART, etc).

◆ readGlobalParameter()

bool TMC9660::readGlobalParameter	(	GlobalParamBankVariant	id,
		uint8_t	bank,
		uint32_t &	value
	)

noexcept

Read a global parameter from the TMC9660.

Parameters

	id	Global parameter ID number.
	bank	Bank number or index associated with the parameter (can be Bank1, Bank2, or Bank3 enum).
[out]	value	Reference to store the read 32-bit value.

Returns: true if read successfully, false on error.

◆ readParameter()

bool TMC9660::readParameter	(	tmc9660::tmcl::Parameters	id,
		uint32_t &	value,
		uint8_t	motorIndex = `0`
	)

noexcept

Read an axis (motor-specific) parameter from the TMC9660.

Parameters

	id	Parameter ID number to read.
[out]	value	Reference to store the 32-bit parameter value read.
	motorIndex	Index of the motor/axis (0 or 1).

Returns: true if the parameter was successfully read (device responded), false on error.

◆ sendCommand()

bool TMC9660::sendCommand	(	tmc9660::tmcl::Op	opcode,
		uint16_t	type = `0`,
		uint8_t	motor = `0`,
		uint32_t	value = `0`,
		uint32_t *	reply = `nullptr`
	)

noexcept

Send a TMCL command. Optionally return the 32-bit reply value.

◆ writeGlobalParameter()

bool TMC9660::writeGlobalParameter	(	GlobalParamBankVariant	id,
		uint8_t	bank,
		uint32_t	value
	)

noexcept

Set (write) a global parameter on the TMC9660.

Parameters

id	Global parameter ID number.
bank	Bank number for global parameter (can be Bank1, Bank2, or Bank3 enum).
value	32-bit value to write.

Returns: true if successfully written, false if an error occurred.

◆ writeParameter()

bool TMC9660::writeParameter	(	tmc9660::tmcl::Parameters	id,
		uint32_t	value,
		uint8_t	motorIndex = `0`
	)

noexcept

Set (write) an axis (motor-specific) parameter on the TMC9660.

Parameters

id	Parameter ID number (see TMC9660 documentation for the full list).
value	32-bit value to write to the parameter.
motorIndex	Index of the motor/axis (0 or 1). Typically 0 unless the device controls multiple axes.

Returns: true if the parameter was successfully written (acknowledged by the device), false if an error occurred.

Member Data Documentation

◆ address_

uint8_t TMC9660::address_

private

Module address (0-127). Used primarily for UART multi-drop addressing.

◆ bootCfg_

const tmc9660::BootloaderConfig* TMC9660::bootCfg_

private

◆ bootloader_

tmc9660::TMC9660Bootloader TMC9660::bootloader_

private

Bootloader helper.

◆ comm_

TMC9660CommInterface& TMC9660::comm_

private

Communication interface (transport) for sending/receiving data.

◆ this [1/20]

struct TMC9660::MotorConfig* TMC9660::this

◆ this [2/20]

struct TMC9660::CurrentSensing* TMC9660::this

◆ this [3/20]

struct TMC9660::GateDriver* TMC9660::this

◆ this [4/20]

struct TMC9660::FeedbackSense* TMC9660::this

◆ this [5/20]

struct TMC9660::FOCControl* TMC9660::this

◆ this [6/20]

struct TMC9660::Ramp* TMC9660::this

◆ this [7/20]

struct TMC9660::StepDir* TMC9660::this

◆ this [8/20]

struct TMC9660::ReferenceSearch* TMC9660::this

◆ this [9/20]

struct TMC9660::Brake* TMC9660::this

◆ this [10/20]

struct TMC9660::IIT* TMC9660::this

◆ this [11/20]

struct TMC9660::Telemetry* TMC9660::this

◆ this [12/20]

struct TMC9660::StopEvents* TMC9660::this

◆ this [13/20]

struct TMC9660::Protection* TMC9660::this

◆ this [14/20]

struct TMC9660::Script* TMC9660::this

◆ this [15/20]

struct TMC9660::RamDebug* TMC9660::this

◆ this [16/20]

struct TMC9660::NvmStorage* TMC9660::this

◆ this [17/20]

struct TMC9660::Heartbeat* TMC9660::this

◆ this [18/20]

struct TMC9660::Globals* TMC9660::this

◆ this [19/20]

struct TMC9660::GPIO* TMC9660::this

◆ this [20/20]

struct TMC9660::Power* TMC9660::this

◆ tmcCRCTable_Poly7Reflected

const uint8_t TMC9660::tmcCRCTable_Poly7Reflected[256]

private

Initial value:

= {
      0x00, 0x91, 0xE3, 0x72, 0x07, 0x96, 0xE4, 0x75, 0x0E, 0x9F, 0xED, 0x7C, 0x09, 0x98, 0xEA,
      0x7B, 0x1C, 0x8D, 0xFF, 0x6E, 0x1B, 0x8A, 0xF8, 0x69, 0x12, 0x83, 0xF1, 0x60, 0x15, 0x84,
      0xF6, 0x67, 0x38, 0xA9, 0xDB, 0x4A, 0x3F, 0xAE, 0xDC, 0x4D, 0x36, 0xA7, 0xD5, 0x44, 0x31,
      0xA0, 0xD2, 0x43, 0x24, 0xB5, 0xC7, 0x56, 0x23, 0xB2, 0xC0, 0x51, 0x2A, 0xBB, 0xC9, 0x58,
      0x2D, 0xBC, 0xCE, 0x5F, 0x70, 0xE1, 0x93, 0x02, 0x77, 0xE6, 0x94, 0x05, 0x7E, 0xEF, 0x9D,
      0x0C, 0x79, 0xE8, 0x9A, 0x0B, 0x6C, 0xFD, 0x8F, 0x1E, 0x6B, 0xFA, 0x88, 0x19, 0x62, 0xF3,
      0x81, 0x10, 0x65, 0xF4, 0x86, 0x17, 0x48, 0xD9, 0xAB, 0x3A, 0x4F, 0xDE, 0xAC, 0x3D, 0x46,
      0xD7, 0xA5, 0x34, 0x41, 0xD0, 0xA2, 0x33, 0x54, 0xC5, 0xB7, 0x26, 0x53, 0xC2, 0xB0, 0x21,
      0x5A, 0xCB, 0xB9, 0x28, 0x5D, 0xCC, 0xBE, 0x2F, 0xE0, 0x71, 0x03, 0x92, 0xE7, 0x76, 0x04,
      0x95, 0xEE, 0x7F, 0x0D, 0x9C, 0xE9, 0x78, 0x0A, 0x9B, 0xFC, 0x6D, 0x1F, 0x8E, 0xFB, 0x6A,
      0x18, 0x89, 0xF2, 0x63, 0x11, 0x80, 0xF5, 0x64, 0x16, 0x87, 0xD8, 0x49, 0x3B, 0xAA, 0xDF,
      0x4E, 0x3C, 0xAD, 0xD6, 0x47, 0x35, 0xA4, 0xD1, 0x40, 0x32, 0xA3, 0xC4, 0x55, 0x27, 0xB6,
      0xC3, 0x52, 0x20, 0xB1, 0xCA, 0x5B, 0x29, 0xB8, 0xCD, 0x5C, 0x2E, 0xBF, 0x90, 0x01, 0x73,
      0xE2, 0x97, 0x06, 0x74, 0xE5, 0x9E, 0x0F, 0x7D, 0xEC, 0x99, 0x08, 0x7A, 0xEB, 0x8C, 0x1D,
      0x6F, 0xFE, 0x8B, 0x1A, 0x68, 0xF9, 0x82, 0x13, 0x61, 0xF0, 0x85, 0x14, 0x66, 0xF7, 0xA8,
      0x39, 0x4B, 0xDA, 0xAF, 0x3E, 0x4C, 0xDD, 0xA6, 0x37, 0x45, 0xD4, 0xA1, 0x30, 0x42, 0xD3,
      0xB4, 0x25, 0x57, 0xC6, 0xB3, 0x22, 0x50, 0xC1, 0xBA, 0x2B, 0x59, 0xC8, 0xBD, 0x2C, 0x5E,
      0xCF,
  }

The documentation for this class was generated from the following files:

Public Types

Public Member Functions

Public Attributes

Private Attributes

Detailed Description

Member Typedef Documentation

◆ GlobalParamBankVariant

Member Enumeration Documentation

◆ BootloaderInitResult

Constructor & Destructor Documentation

◆ TMC9660()

◆ ~TMC9660()

Member Function Documentation

◆ bootloaderInit()

◆ comm()

◆ readGlobalParameter()

◆ readParameter()

◆ sendCommand()

◆ writeGlobalParameter()

◆ writeParameter()

Member Data Documentation

◆ address_

◆ bootCfg_

◆ bootloader_

◆ comm_

◆ this [1/20]

◆ this [2/20]

◆ this [3/20]

◆ this [4/20]

◆ this [5/20]

◆ this [6/20]

◆ this [7/20]

◆ this [8/20]

◆ this [9/20]

◆ this [10/20]

◆ this [11/20]

◆ this [12/20]

◆ this [13/20]

◆ this [14/20]

◆ this [15/20]

◆ this [16/20]

◆ this [17/20]

◆ this [18/20]

◆ this [19/20]

◆ this [20/20]

◆ tmcCRCTable_Poly7Reflected