UART implementation of TMC9660CommInterface. More...

#include <TMC9660CommInterface.hpp>

Inheritance diagram for UARTTMC9660CommInterface:

Collaboration diagram for UARTTMC9660CommInterface:

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

virtual bool	sendUartDatagram (const std::array< uint8_t, 9 > &data) noexcept=0
	Send raw 9-byte UART TMCL datagram.

virtual bool	receiveUartDatagram (std::array< uint8_t, 9 > &data) noexcept=0
	Receive raw 9-byte UART TMCL datagram.

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

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

Detailed Description

UART implementation of TMC9660CommInterface.

Uses UART_TXD and UART_RXD signals; supports external transceivers via UART_TXEN. Frames consist of 9 bytes: sync+address, command, type, motor, 4-byte data, checksum. LSB-first transmission; checksum is 8-bit sum of first 8 bytes.

Member Function Documentation

◆ mode()

CommMode UARTTMC9660CommInterface::mode ( ) const

inlineoverridevirtualnoexcept

Return underlying communication mode.

Implements TMC9660CommInterface.

◆ receiveUartDatagram()

virtual bool UARTTMC9660CommInterface::receiveUartDatagram ( std::array< uint8_t, 9 > & data )

pure virtualnoexcept

Receive raw 9-byte UART TMCL datagram.

Parameters

data	Array to store 9 received bytes.

Returns: true if reception succeeded.

◆ sendUartDatagram()

virtual bool UARTTMC9660CommInterface::sendUartDatagram ( const std::array< uint8_t, 9 > & data )

pure virtualnoexcept

Send raw 9-byte UART TMCL datagram.

Parameters

data	Array of 9 bytes including sync, fields, and checksum.

Returns: true if transmission succeeded.

◆ transfer()

bool UARTTMC9660CommInterface::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.