HalSpiTmc5160Comm Class Reference

Concrete SPI communication adapter for TMC5160 using BaseSpi and BaseGpio. More...

#include <Tmc5160Handler.h>

Inheritance diagram for HalSpiTmc5160Comm:

Collaboration diagram for HalSpiTmc5160Comm:

Public Member Functions
	HalSpiTmc5160Comm (BaseSpi &spi, BaseGpio &enable, BaseGpio *diag0=nullptr, BaseGpio *diag1=nullptr, const tmc51x0::PinActiveLevels &active_levels={}) noexcept
	Construct the SPI communication adapter.
CRTP-Required Methods
tmc51x0::Result< void >	SpiTransfer (const uint8_t *tx, uint8_t *rx, size_t length) noexcept
	Low-level SPI transfer (5 bytes per TMC5160 datagram).
tmc51x0::Result< void >	GpioSet (tmc51x0::TMC51x0CtrlPin pin, tmc51x0::GpioSignal signal) noexcept
	Set a TMC5160 control pin to a given logical signal state.
tmc51x0::Result< tmc51x0::GpioSignal >	GpioRead (tmc51x0::TMC51x0CtrlPin pin) noexcept
	Read a TMC5160 control pin's current logical signal state.
void	DebugLog (int level, const char *tag, const char *format, va_list args) noexcept
	Debug logging — routes to HardFOC Logger.
void	DelayMs (uint32_t ms) noexcept
	Delay in milliseconds.
void	DelayUs (uint32_t us) noexcept
	Delay in microseconds.
tmc51x0::CommMode	GetMode () const noexcept
	Get communication mode (always SPI).

Private Attributes
BaseSpi &	spi_
Tmc5160CtrlPins	ctrl_pins_
tmc51x0::PinActiveLevels	active_levels_

Detailed Description

Concrete SPI communication adapter for TMC5160 using BaseSpi and BaseGpio.

Implements all methods required by tmc51x0::SpiCommInterface<HalSpiTmc5160Comm> through the CRTP pattern. This class bridges BaseSpi to the TMC5160 driver's SPI protocol (40-bit datagrams, Mode 3).

Constructor & Destructor Documentation

HalSpiTmc5160Comm()

HalSpiTmc5160Comm::HalSpiTmc5160Comm ( BaseSpi & spi, BaseGpio & enable, BaseGpio * diag0 = nullptr, BaseGpio * diag1 = nullptr, const tmc51x0::PinActiveLevels & active_levels = {} )

noexcept

Construct the SPI communication adapter.

Parameters

spi	Reference to a pre-configured BaseSpi implementation.
enable	BaseGpio connected to TMC5160 DRV_ENN (pin 28, active LOW).
diag0	Optional BaseGpio connected to DIAG0 (pin 26).
diag1	Optional BaseGpio connected to DIAG1 (pin 27).
active_levels	Pin active level configuration.

Member Function Documentation

DebugLog()

void HalSpiTmc5160Comm::DebugLog ( int level, const char * tag, const char * format, va_list args )

noexcept

Debug logging — routes to HardFOC Logger.

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DelayMs()

void HalSpiTmc5160Comm::DelayMs ( uint32_t ms )

noexcept

Delay in milliseconds.

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DelayUs()

void HalSpiTmc5160Comm::DelayUs ( uint32_t us )

noexcept

Delay in microseconds.

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GetMode()

tmc51x0::CommMode HalSpiTmc5160Comm::GetMode ( ) const

inlinenoexcept

Get communication mode (always SPI).

GpioRead()

tmc51x0::Result< tmc51x0::GpioSignal > HalSpiTmc5160Comm::GpioRead ( tmc51x0::TMC51x0CtrlPin pin )

noexcept

Read a TMC5160 control pin's current logical signal state.

GpioSet()

tmc51x0::Result< void > HalSpiTmc5160Comm::GpioSet ( tmc51x0::TMC51x0CtrlPin pin, tmc51x0::GpioSignal signal )

noexcept

Set a TMC5160 control pin to a given logical signal state.

SpiTransfer()

tmc51x0::Result< void > HalSpiTmc5160Comm::SpiTransfer ( const uint8_t * tx, uint8_t * rx, size_t length )

noexcept

Low-level SPI transfer (5 bytes per TMC5160 datagram).

Member Data Documentation

active_levels_

tmc51x0::PinActiveLevels HalSpiTmc5160Comm::active_levels_

private

ctrl_pins_

Tmc5160CtrlPins HalSpiTmc5160Comm::ctrl_pins_

private

spi_

BaseSpi& HalSpiTmc5160Comm::spi_

private

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

• Tmc5160Handler.h
• Tmc5160Handler.cpp