HalUartTmc9660Comm Class Reference

Concrete UART communication adapter for TMC9660 using BaseUart and BaseGpio. More...

#include <Tmc9660Handler.h>

Inheritance diagram for HalUartTmc9660Comm:

Collaboration diagram for HalUartTmc9660Comm:

Public Member Functions
	HalUartTmc9660Comm (BaseUart &uart, 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 UART communication adapter.
CRTP-Required Methods
bool	uartSendTMCL (const std::array< uint8_t, 9 > &data) noexcept
	Send a 9-byte TMCL datagram over UART.
bool	uartReceiveTMCL (std::array< uint8_t, 9 > &data) noexcept
	Receive a 9-byte TMCL reply datagram over UART.
bool	uartTransferBootloader (const std::array< uint8_t, 8 > &tx, std::array< uint8_t, 8 > &rx) noexcept
	Perform an 8-byte UART bootloader transfer (send + receive).
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
BaseUart &	uart_
	UART bus interface (not owned).
Tmc9660CtrlPins	ctrl_pins_
	Host-side control pin references.

Detailed Description

Concrete UART communication adapter for TMC9660 using BaseUart and BaseGpio.

Implements all methods required by tmc9660::UartCommInterface<HalUartTmc9660Comm> through the CRTP pattern. Handles:

• TMCL transfers: 9-byte send/receive for parameter mode
• Bootloader transfers: 8-byte send/receive for bootloader mode
• GPIO control: Same four control pins as HalSpiTmc9660Comm
• Timing and logging: Same platform-aware implementations

Note

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

See also

tmc9660::UartCommInterface CRTP base class from the TMC9660 driver

HalSpiTmc9660Comm SPI equivalent of this class

Constructor & Destructor Documentation

HalUartTmc9660Comm()

HalUartTmc9660Comm::HalUartTmc9660Comm ( BaseUart & uart, 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 UART communication adapter.

Parameters

uart	Reference to a pre-configured BaseUart implementation.
rst	BaseGpio connected to TMC9660 RST (pin 22, output).
drv_en	BaseGpio connected to TMC9660 DRV_EN (pin 21, output).
faultn	BaseGpio connected to TMC9660 FAULTN (pin 20, input).
wake	BaseGpio connected to TMC9660 WAKE (pin 19, output).
rst_active_high	Physical level for RST ACTIVE state (default: true).
drv_en_active_high	Physical level for DRV_EN ACTIVE state (default: true).
faultn_active_low	Physical level for FAULTN ACTIVE state (default: false).
wake_active_low	Physical level for WAKE ACTIVE state (default: false).

Member Function Documentation

debugLog()

void HalUartTmc9660Comm::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 HalUartTmc9660Comm::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 HalUartTmc9660Comm::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 HalUartTmc9660Comm::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 HalUartTmc9660Comm::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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uartReceiveTMCL()

bool HalUartTmc9660Comm::uartReceiveTMCL ( std::array< uint8_t, 9 > & data )

noexcept

Receive a 9-byte TMCL reply datagram over UART.

Parameters

[out]

data

9-byte array to store the received reply.

Returns

true if BaseUart::Read() succeeded within timeout.

uartSendTMCL()

bool HalUartTmc9660Comm::uartSendTMCL ( const std::array< uint8_t, 9 > & data )

noexcept

Send a 9-byte TMCL datagram over UART.

Parameters

data	9-byte array: [sync+addr, opcode, type, motor, value(4), checksum].

Returns

true if BaseUart::Write() succeeded.

uartTransferBootloader()

bool HalUartTmc9660Comm::uartTransferBootloader ( const std::array< uint8_t, 8 > & tx, std::array< uint8_t, 8 > & rx )

noexcept

Perform an 8-byte UART bootloader transfer (send + receive).

Parameters

	tx	8-byte transmit buffer (bootloader command).
[out]	rx	8-byte receive buffer (bootloader reply).

Returns

true if both write and read succeeded.

Member Data Documentation

ctrl_pins_

Tmc9660CtrlPins HalUartTmc9660Comm::ctrl_pins_

private

Host-side control pin references.

uart_

BaseUart& HalUartTmc9660Comm::uart_

private

UART bus interface (not owned).

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

• Tmc9660Handler.h
• Tmc9660Handler.cpp