TMCLFrame Struct Reference

Frame structure for TMCL commands and replies. More...

#include <TMC9660CommInterface.hpp>

Public Member Functions
void	toSpi (std::span< uint8_t, 8 > out) const noexcept
	Serialize frame into 8-byte SPI buffer.
void	toUart (uint8_t addr, std::span< uint8_t, 9 > out) const noexcept
	Serialize frame into 9-byte UART buffer, including sync bit and checksum.

Static Public Member Functions
static TMCLFrame	fromSpi (std::span< const uint8_t, 8 > in) noexcept
	Deserialize an SPI buffer into a TMCLFrame without status check.
static bool	fromSpiChecked (std::span< const uint8_t, 8 > in, TMCLFrame &outFrame) noexcept
	Deserialize an SPI buffer with status and checksum validation.
static bool	fromUart (std::span< const uint8_t, 9 > in, uint8_t expectedAddr, TMCLFrame &outFrame) noexcept
	Deserialize a UART buffer with address and checksum validation.
static constexpr uint8_t	calculateChecksum (const uint8_t *bytes, size_t n) noexcept
	Calculate 8-bit checksum (sum of bytes).

Public Attributes
uint8_t	opcode = 0
	Operation code field (BYTE 0, bits 0-7).
uint16_t	type = 0
	Parameter or command type (BYTE 1-2, bits 8-19).
uint8_t	motor = 0
	Motor or bank identifier (BYTE 3, bits 20-23).
uint32_t	value = 0
	32-bit data value (BYTE 4-7, bits 24-55).

Detailed Description

Frame structure for TMCL commands and replies.

Supports conversion to/from SPI (8 bytes) and UART (9 bytes) formats.

Member Function Documentation

calculateChecksum()

static constexpr uint8_t TMCLFrame::calculateChecksum ( const uint8_t *  bytes, size_t  n  )

inlinestaticconstexprnoexcept

Calculate 8-bit checksum (sum of bytes).

Parameters

bytes	Pointer to data bytes to sum.
n	Number of bytes to include in sum.

Returns

8-bit checksum value.

fromSpi()

static TMCLFrame TMCLFrame::fromSpi ( std::span< const uint8_t, 8 >  in )

inlinestaticnoexcept

Deserialize an SPI buffer into a TMCLFrame without status check.

Parameters

in	Span of 8 received bytes.

Returns

Populated TMCLFrame.

fromSpiChecked()

static bool TMCLFrame::fromSpiChecked ( std::span< const uint8_t, 8 >  in, TMCLFrame &  outFrame  )

inlinestaticnoexcept

Deserialize an SPI buffer with status and checksum validation.

Parameters

in	Span of 8 received bytes.
outFrame	Reference to store the valid frame.

Returns

false if NOT_READY or CHECKSUM_ERROR or invalid status; true otherwise.

fromUart()

static bool TMCLFrame::fromUart ( std::span< const uint8_t, 9 >  in, uint8_t  expectedAddr, TMCLFrame &  outFrame  )

inlinestaticnoexcept

Deserialize a UART buffer with address and checksum validation.

Parameters

in	Span of 9 received bytes.
expectedAddr	7-bit expected address of host.
outFrame	Reference to store the valid frame.

Returns

true if address and checksum match.

toSpi()

void TMCLFrame::toSpi ( std::span< uint8_t, 8 >  out ) const

inlinenoexcept

Serialize frame into 8-byte SPI buffer.

Parameters

out	Span of 8 bytes to fill: opcode, type (2), motor, value (4).

toUart()

void TMCLFrame::toUart ( uint8_t  addr, std::span< uint8_t, 9 >  out  ) const

inlinenoexcept

Serialize frame into 9-byte UART buffer, including sync bit and checksum.

Parameters

addr	7-bit module address; MSB (sync bit) set automatically.
out	Span of 9 bytes to fill: sync+addr, fields, checksum.

Member Data Documentation

motor

uint8_t TMCLFrame::motor = 0

Motor or bank identifier (BYTE 3, bits 20-23).

opcode

uint8_t TMCLFrame::opcode = 0

Operation code field (BYTE 0, bits 0-7).

type

uint16_t TMCLFrame::type = 0

Parameter or command type (BYTE 1-2, bits 8-19).

value

uint32_t TMCLFrame::value = 0

32-bit data value (BYTE 4-7, bits 24-55).

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

• TMC9660CommInterface.hpp