HalSpiTmc9660Comm Class Reference

Concrete SPI communication adapter for TMC9660 using BaseSpi and BaseGpio. More...

#include <Tmc9660Handler.h>

Inheritance diagram for HalSpiTmc9660Comm:

Collaboration diagram for HalSpiTmc9660Comm:

Public Member Functions
	HalSpiTmc9660Comm (BaseSpi &spi, BaseGpio &rst, BaseGpio &drv_en, BaseGpio &faultn, BaseGpio &wake, bool rst_active_high=true, bool drv_en_active_high=true, bool faultn_active_low=false, bool wake_active_low=false) noexcept
	Construct the SPI communication adapter.
CRTP-Required Methods
These are called by tmc9660::SpiCommInterface<HalSpiTmc9660Comm> via static dispatch.
bool	spiTransferTMCL (std::array< uint8_t, 8 > &tx, std::array< uint8_t, 8 > &rx) noexcept
	Perform an 8-byte full-duplex SPI transfer for TMCL parameter mode.
bool	spiTransferBootloader (std::array< uint8_t, 5 > &tx, std::array< uint8_t, 5 > &rx) noexcept
	Perform a 5-byte full-duplex SPI transfer for bootloader mode.
bool	gpioSet (tmc9660::TMC9660CtrlPin pin, tmc9660::GpioSignal signal) noexcept
	Set a TMC9660 control pin to a given logical signal state.
bool	gpioRead (tmc9660::TMC9660CtrlPin pin, tmc9660::GpioSignal &signal) noexcept
	Read a TMC9660 control pin's current logical signal state.
void	debugLog (int level, const char *tag, const char *format, va_list args) noexcept
	Route TMC9660 driver debug output to the HardFOC Logger.
void	delayMs (uint32_t ms) noexcept
	Delay execution for the specified number of milliseconds.
void	delayUs (uint32_t us) noexcept
	Delay execution for the specified number of microseconds.

Private Attributes
BaseSpi &	spi_
	SPI bus interface (not owned).
Tmc9660CtrlPins	ctrl_pins_
	Host-side control pin references.

Detailed Description

Concrete SPI communication adapter for TMC9660 using BaseSpi and BaseGpio.

Implements all methods required by tmc9660::SpiCommInterface<HalSpiTmc9660Comm> through the CRTP (Curiously Recurring Template Pattern). This class acts as the bridge between the HardFOC BaseSpi abstraction and the TMC9660 driver's SPI protocol, handling:

• TMCL transfers: 8-byte full-duplex SPI exchanges for parameter mode
• Bootloader transfers: 5-byte full-duplex SPI exchanges for bootloader mode
• GPIO control: Maps TMC9660 control pin identifiers (RST, DRV_EN, FAULTN, WAKE) to physical BaseGpio instances with configurable active-level polarity
• Timing: Platform-aware delays (millisecond via RTOS, microsecond via esp_rom_delay_us or busy-wait fallback)
• Logging: Routes TMC9660 driver debug output to the HardFOC Logger

Control Pin Polarity

Each control pin can be configured as active-high or active-low to match the board's electrical design (e.g., inverting buffers). The constructor parameters set the initial polarity; the base class provides set_pin_active_level() for runtime reconfiguration if needed.

Note

This class does NOT own the BaseSpi or BaseGpio instances; they must remain valid for the lifetime of this object.

See also

tmc9660::SpiCommInterface CRTP base class from the TMC9660 driver

HalUartTmc9660Comm UART equivalent of this class

Constructor & Destructor Documentation

HalSpiTmc9660Comm()

HalSpiTmc9660Comm::HalSpiTmc9660Comm ( BaseSpi & spi, BaseGpio & rst, BaseGpio & drv_en, BaseGpio & faultn, BaseGpio & wake, bool rst_active_high = true, bool drv_en_active_high = true, bool faultn_active_low = false, bool wake_active_low = false )

noexcept

Construct the SPI communication adapter.

Parameters

spi	Reference to a pre-configured BaseSpi implementation (SPI mode 3, 8-bit frames, chip select managed externally).
rst	BaseGpio connected to TMC9660 RST (pin 22). Must be pre-configured as output.
drv_en	BaseGpio connected to TMC9660 DRV_EN (pin 21). Must be pre-configured as output.
faultn	BaseGpio connected to TMC9660 FAULTN (pin 20). Must be pre-configured as input.
wake	BaseGpio connected to TMC9660 WAKE (pin 19). Must be pre-configured as output.
rst_active_high	Physical GPIO level when RST is ACTIVE (default: true = HIGH).
drv_en_active_high	Physical GPIO level when DRV_EN is ACTIVE (default: true = HIGH).
faultn_active_low	Physical GPIO level when FAULTN is ACTIVE (default: false = HIGH). Set to true if your board inverts the FAULTN signal.
wake_active_low	Physical GPIO level when WAKE is ACTIVE (default: false = HIGH). Set to true if your board inverts the WAKE signal.

Member Function Documentation

debugLog()

void HalSpiTmc9660Comm::debugLog ( int level, const char * tag, const char * format, va_list args )

noexcept

Route TMC9660 driver debug output to the HardFOC Logger.

Parameters

level	Log level (0=Error, 1=Warning, 2=Info, 3=Debug).
tag	Log tag string for categorization.
format	printf-style format string.
args	Variable argument list.

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delayMs()

void HalSpiTmc9660Comm::delayMs ( uint32_t ms )

noexcept

Delay execution for the specified number of milliseconds.

Parameters

ms	Milliseconds to delay (delegates to os_delay_msec).

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delayUs()

void HalSpiTmc9660Comm::delayUs ( uint32_t us )

noexcept

Delay execution for the specified number of microseconds.

On ESP32, uses esp_rom_delay_us() for accurate sub-millisecond timing. On other platforms, uses a busy-wait loop based on the processor cycle counter.

Parameters

us	Microseconds to delay.

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gpioRead()

bool HalSpiTmc9660Comm::gpioRead ( tmc9660::TMC9660CtrlPin pin, tmc9660::GpioSignal & signal )

noexcept

Read a TMC9660 control pin's current logical signal state.

Reads the physical GPIO level via BaseGpio, then translates to ACTIVE/INACTIVE based on the pin's configured active-level polarity.

Parameters

	pin	Which control pin to read (typically FAULTN for fault status).
[out]	signal	Current logical signal state.

Returns

true if the GPIO read succeeded.

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gpioSet()

bool HalSpiTmc9660Comm::gpioSet ( tmc9660::TMC9660CtrlPin pin, tmc9660::GpioSignal signal )

noexcept

Set a TMC9660 control pin to a given logical signal state.

Translates the logical ACTIVE/INACTIVE signal to a physical HIGH/LOW level based on the pin's configured active-level polarity, then writes via BaseGpio.

Parameters

pin	Which control pin to set (RST, DRV_EN, FAULTN, WAKE).
signal	Desired logical signal state.

Returns

true if the GPIO write succeeded.

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spiTransferBootloader()

bool HalSpiTmc9660Comm::spiTransferBootloader ( std::array< uint8_t, 5 > & tx, std::array< uint8_t, 5 > & rx )

noexcept

Perform a 5-byte full-duplex SPI transfer for bootloader mode.

Parameters

[in,out]	tx	5-byte transmit buffer (bootloader command).
[out]	rx	5-byte receive buffer (bootloader reply).

Returns

true if BaseSpi::Transfer() succeeded.

spiTransferTMCL()

bool HalSpiTmc9660Comm::spiTransferTMCL ( std::array< uint8_t, 8 > & tx, std::array< uint8_t, 8 > & rx )

noexcept

Perform an 8-byte full-duplex SPI transfer for TMCL parameter mode.

Parameters

[in,out]	tx	8-byte transmit buffer (TMCL command frame).
[out]	rx	8-byte receive buffer (TMCL reply frame).

Returns

true if BaseSpi::Transfer() succeeded.

Member Data Documentation

ctrl_pins_

Tmc9660CtrlPins HalSpiTmc9660Comm::ctrl_pins_

private

Host-side control pin references.

spi_

BaseSpi& HalSpiTmc9660Comm::spi_

private

SPI bus interface (not owned).

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

• Tmc9660Handler.h
• Tmc9660Handler.cpp