Subsystem for configuring the communication watchdog (heartbeat). More...

#include <TMC9660.hpp>

Collaboration diagram for TMC9660::Heartbeat:

[legend]

Public Member Functions
bool	configure (tmc9660::tmcl::HeartbeatMonitoringConfig mode, uint32_t timeout_ms) noexcept
	Enable the heartbeat monitor and set timeout.

Private Member Functions
	Heartbeat (TMC9660 &parent) noexcept

Private Attributes
TMC9660 &	driver

Friends
class	TMC9660

Detailed Description

Subsystem for configuring the communication watchdog (heartbeat).

If enabled, the TMC9660 monitors the time since the last command. If no communication occurs before timeout expires, the chip faults or disables motor outputs.

Refer to Parameters #10 & #11 in Global Bank 0 (Table 43). See datasheet page 89 for details.

Constructor & Destructor Documentation

◆ Heartbeat()

TMC9660::Heartbeat::Heartbeat ( TMC9660 & parent )

inlineexplicitprivatenoexcept

Member Function Documentation

◆ configure()

bool TMC9660::Heartbeat::configure	(	tmc9660::tmcl::HeartbeatMonitoringConfig	mode,
		uint32_t	timeout_ms
	)

noexcept

Enable the heartbeat monitor and set timeout.

Parameters

mode	ENABLE or DISABLE the watchdog
timeout_ms	Timeout in milliseconds

Returns: true if both values written successfully

Parameters:
- HEARTBEAT_MONITORING_CONFIG
- HEARTBEAT_MONITORING_TIMEOUT

Friends And Related Symbol Documentation

◆ TMC9660

friend class TMC9660

friend

Member Data Documentation

◆ driver

TMC9660& TMC9660::Heartbeat::driver

private

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

Public Member Functions

Private Member Functions

Private Attributes

Friends