Tmc5160Handler.h File Reference

Unified handler for TMC5160/TMC5130 stepper motor driver with SPI/UART integration. More...

#include <cstdint>
#include <memory>
#include <type_traits>
#include <cstdarg>
#include <variant>
#include "core/hf-core-drivers/external/hf-tmc5160-driver/inc/tmc51x0.hpp"
#include "core/hf-core-drivers/external/hf-tmc5160-driver/inc/tmc51x0_comm_interface.hpp"
#include "core/hf-core-drivers/external/hf-tmc5160-driver/inc/tmc51x0_types.hpp"
#include "core/hf-core-drivers/external/hf-tmc5160-driver/inc/tmc51x0_result.hpp"
#include "base/BaseSpi.h"
#include "base/BaseUart.h"
#include "base/BaseGpio.h"
#include "RtosMutex.h"

Include dependency graph for Tmc5160Handler.h:

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Classes
struct	Tmc5160CtrlPins
	Shared helper holding TMC5160 host-side control pin references. More...
class	HalSpiTmc5160Comm
	Concrete SPI communication adapter for TMC5160 using BaseSpi and BaseGpio. More...
class	HalUartTmc5160Comm
	Concrete UART communication adapter for TMC5160 using BaseUart and BaseGpio. More...
class	Tmc5160Handler
	Unified handler for TMC5160/TMC5130 stepper motor driver. More...

Detailed Description

Unified handler for TMC5160/TMC5130 stepper motor driver with SPI/UART integration.

This file provides the complete HAL-level integration for a single TMC5160 stepper motor driver device. It bridges the HardFOC base interfaces (BaseSpi, BaseUart, BaseGpio) with the templated tmc51x0::TMC51x0<CommType> driver from the hf-tmc5160-driver library.

Architecture Overview

The file contains three layers:

1. CRTP Communication Adapters (HalSpiTmc5160Comm, HalUartTmc5160Comm): Bridge HardFOC BaseSpi/BaseUart/BaseGpio to the TMC5160 driver's CRTP-based communication interfaces (tmc51x0::SpiCommInterface, tmc51x0::UartCommInterface).
2. Tmc5160Handler (main class): Non-templated facade that owns one typed driver instance (SpiDriver or UartDriver). Uses driverViaSpi()/driverViaUart() typed pointers or the visitDriver() template to route calls to the active driver, keeping the public API free of template parameters. Provides:
   • Full driver initialization with DriverConfig or ConfigBuilder
   • Direct access to all 15 driver subsystems (rampControl, motorControl, etc.)
   • Convenience methods for common operations
   • Thread-safe operations with RtosMutex protection
   • Lazy initialization pattern
3. Subsystem Access: All TMC5160 subsystems are accessible through typed driver pointers (driverViaSpi() / driverViaUart()) or the visitDriver() template.

Supported Subsystems

Subsystem	Access via driver.	Description
rampControl	driver.rampControl	Motion profile control
motorControl	driver.motorControl	Current/chopper/stealthChop
thresholds	driver.thresholds	Velocity threshold config
switches	driver.switches	Reference switch control
encoder	driver.encoder	ABN encoder interface
stallGuard	driver.stallGuard	StallGuard2 detection
tuning	driver.tuning	Auto-tuning routines
homing	driver.homing	Sensorless/switch/encoder homing
status	driver.status	Status/diagnostics
powerStage	driver.powerStage	Short/overcurrent protection
communication	driver.communication	Register read/write
io	driver.io	Pin/mode helpers
events	driver.events	XCompare / ramp events
printer	driver.printer	Debug printing
uartConfig	driver.uartConfig	UART node addressing

Usage Example

// 1. Obtain SPI interface and EN GPIO
Tmc5160Handler handler(spi, enable_gpio);
 
// 2. Build configuration
auto config = tmc51x0::Tmc5160ConfigBuilder()
    .WithMotorMa(1500)
    .WithRunCurrentMa(1200)
    .WithHoldCurrentMa(400)
    .WithStealthChop(true)
    .Build();
 
// 3. Initialize
if (handler.Initialize(config)) {
    // 4. Use motor control
    if (auto* drv = handler.driverViaSpi()) {
        drv->rampControl.SetRampMode(tmc51x0::RampMode::POSITIONING);
        drv->rampControl.SetMaxSpeed(tmc51x0::Speed::FromRPM(100));
        drv->rampControl.SetAcceleration(tmc51x0::Acceleration::FromRPMS2(50));
        drv->rampControl.SetTargetPosition(51200); // 1 revolution at 256 usteps
    }
}

Author

HardFOC Team

Date

2025

Copyright

HardFOC