Tmc5160Handler Class Reference

Unified handler for TMC5160/TMC5130 stepper motor driver. More...

#include <Tmc5160Handler.h>

Collaboration diagram for Tmc5160Handler:

Public Types
using	SpiDriver = tmc51x0::TMC51x0<HalSpiTmc5160Comm>
	SPI driver type alias.
using	UartDriver = tmc51x0::TMC51x0<HalUartTmc5160Comm>
	UART driver type alias.
using	DriverVariant = std::variant<std::monostate, SpiDriver*, UartDriver*>
	Non-owning variant holding either driver type or empty (monostate).
using	ConstDriverVariant = std::variant<std::monostate, const SpiDriver*, const UartDriver*>
	Const version of DriverVariant.

Public Member Functions
	Tmc5160Handler (BaseSpi &spi, BaseGpio &enable, BaseGpio *diag0=nullptr, BaseGpio *diag1=nullptr, uint8_t daisy_chain_position=0, const tmc51x0::PinActiveLevels &active_levels={}) noexcept
	Construct a TMC5160 handler with SPI communication.
	Tmc5160Handler (BaseUart &uart, BaseGpio &enable, BaseGpio *diag0=nullptr, BaseGpio *diag1=nullptr, uint8_t uart_node_address=0, const tmc51x0::PinActiveLevels &active_levels={}) noexcept
	Construct a TMC5160 handler with UART communication.
	~Tmc5160Handler () noexcept
	Destructor.
	Tmc5160Handler (const Tmc5160Handler &)=delete
Tmc5160Handler &	operator= (const Tmc5160Handler &)=delete
	Tmc5160Handler (Tmc5160Handler &&)=delete
Tmc5160Handler &	operator= (Tmc5160Handler &&)=delete
tmc51x0::ErrorCode	Initialize (const tmc51x0::DriverConfig &config, bool verbose=true) noexcept
	Initialize the TMC5160 driver with full configuration.
bool	EnsureInitialized () noexcept
	Ensure driver is initialized (lazy init entrypoint).
bool	Deinitialize () noexcept
	Deinitialize — disable motor and release resources.
bool	IsInitialized () const noexcept
	Check if the handler is initialized.
bool	IsSpi () const noexcept
	Check if SPI is being used.
template<typename Fn >
auto	visitDriver (Fn &&fn) noexcept -> decltype(fn(std::declval< SpiDriver & >()))
	Visit the typed driver with a callable.
SpiDriver *	driverViaSpi () noexcept
	Get typed SPI driver pointer (null if UART mode or not initialized).
const SpiDriver *	driverViaSpi () const noexcept
UartDriver *	driverViaUart () noexcept
	Get typed UART driver pointer (null if SPI mode or not initialized).
const UartDriver *	driverViaUart () const noexcept
DriverVariant	GetDriver () noexcept
	Get the active driver pointer without requiring visitor usage.
ConstDriverVariant	GetDriver () const noexcept
	Const overload of GetDriver().
void	DumpDiagnostics () noexcept
	Dump diagnostic information to logger.
const char *	GetDescription () const noexcept
	Get a human-readable description of the handler.
const tmc51x0::DriverConfig &	GetDriverConfig () const noexcept
	Get the driver configuration used during initialization.

Static Public Member Functions
static tmc51x0::DriverConfig	GetDefaultConfig () noexcept
	Get a sensible default DriverConfig.

Private Member Functions
bool	EnsureInitializedLocked () noexcept
template<typename Fn >
auto	visitDriverInternal (Fn &&fn) noexcept -> decltype(fn(std::declval< SpiDriver & >()))
	Helper: execute a visitor on the active driver (no lock, internal use)

Private Attributes
bool	is_spi_ {true}
	Communication mode flag.
bool	initialized_ {false}
	Initialization state.
RtosMutex	mutex_
	Thread safety mutex.
std::unique_ptr< HalSpiTmc5160Comm >	spi_comm_
	SPI communication adapter (owned, null if UART)
std::unique_ptr< HalUartTmc5160Comm >	uart_comm_
	UART communication adapter (owned, null if SPI)
std::unique_ptr< SpiDriver >	spi_driver_
	SPI driver instance (owned, null if UART)
std::unique_ptr< UartDriver >	uart_driver_
	UART driver instance (owned, null if SPI)
uint8_t	address_ {0}
	Daisy chain position (SPI) or node address (UART)
tmc51x0::DriverConfig	config_ {}
	Configuration snapshot.
char	description_ [64] {}
	Human-readable handler description.

Detailed Description

Unified handler for TMC5160/TMC5130 stepper motor driver.

Non-templated facade that owns one typed driver instance (SPI or UART). Provides convenience methods for common operations and direct access to all driver subsystems through visitDriver().

Member Typedef Documentation

ConstDriverVariant

using Tmc5160Handler::ConstDriverVariant = std::variant<std::monostate, const SpiDriver*, const UartDriver*>

Const version of DriverVariant.

DriverVariant

using Tmc5160Handler::DriverVariant = std::variant<std::monostate, SpiDriver*, UartDriver*>

Non-owning variant holding either driver type or empty (monostate).

SpiDriver

using Tmc5160Handler::SpiDriver = tmc51x0::TMC51x0<HalSpiTmc5160Comm>

SPI driver type alias.

UartDriver

using Tmc5160Handler::UartDriver = tmc51x0::TMC51x0<HalUartTmc5160Comm>

UART driver type alias.

Constructor & Destructor Documentation

Tmc5160Handler() [1/4]

Tmc5160Handler::Tmc5160Handler ( BaseSpi & spi, BaseGpio & enable, BaseGpio * diag0 = nullptr, BaseGpio * diag1 = nullptr, uint8_t daisy_chain_position = 0, const tmc51x0::PinActiveLevels & active_levels = {} )

noexcept

Construct a TMC5160 handler with SPI communication.

Parameters

spi	Reference to pre-configured BaseSpi (Mode 3, MSB first).
enable	BaseGpio connected to DRV_ENN (active LOW).
diag0	Optional DIAG0 pin.
diag1	Optional DIAG1 pin.
daisy_chain_position	Position in SPI daisy chain (0 = single/first).
active_levels	Pin polarity configuration.

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Tmc5160Handler() [2/4]

Tmc5160Handler::Tmc5160Handler ( BaseUart & uart, BaseGpio & enable, BaseGpio * diag0 = nullptr, BaseGpio * diag1 = nullptr, uint8_t uart_node_address = 0, const tmc51x0::PinActiveLevels & active_levels = {} )

noexcept

Construct a TMC5160 handler with UART communication.

Parameters

uart	Reference to pre-configured BaseUart.
enable	BaseGpio connected to DRV_ENN (active LOW).
diag0	Optional DIAG0 pin.
diag1	Optional DIAG1 pin.
uart_node_address	UART node address (0-254).
active_levels	Pin polarity configuration.

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~Tmc5160Handler()

Tmc5160Handler::~Tmc5160Handler ( )

noexcept

Destructor.

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Tmc5160Handler() [3/4]

Tmc5160Handler::Tmc5160Handler ( const Tmc5160Handler & )

delete

Tmc5160Handler() [4/4]

Tmc5160Handler::Tmc5160Handler ( Tmc5160Handler && )

delete

Member Function Documentation

Deinitialize()

bool Tmc5160Handler::Deinitialize ( )

noexcept

Deinitialize — disable motor and release resources.

Returns

true if deinitialization succeeded.

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driverViaSpi() [1/2]

const Tmc5160Handler::SpiDriver * Tmc5160Handler::driverViaSpi ( ) const

noexcept

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driverViaSpi() [2/2]

Tmc5160Handler::SpiDriver * Tmc5160Handler::driverViaSpi ( )

noexcept

Get typed SPI driver pointer (null if UART mode or not initialized).

Warning

Raw pointer — NOT mutex-protected. Caller is responsible for external synchronization in multi-task environments. Prefer visitDriver() for thread-safe access.

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driverViaUart() [1/2]

const Tmc5160Handler::UartDriver * Tmc5160Handler::driverViaUart ( ) const

noexcept

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driverViaUart() [2/2]

Tmc5160Handler::UartDriver * Tmc5160Handler::driverViaUart ( )

noexcept

Get typed UART driver pointer (null if SPI mode or not initialized).

Warning

Raw pointer — NOT mutex-protected. Prefer visitDriver().

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DumpDiagnostics()

void Tmc5160Handler::DumpDiagnostics ( )

noexcept

Dump diagnostic information to logger.

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EnsureInitialized()

bool Tmc5160Handler::EnsureInitialized ( )

noexcept

Ensure driver is initialized (lazy init entrypoint).

Returns

true if initialized and ready.

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EnsureInitializedLocked()

bool Tmc5160Handler::EnsureInitializedLocked ( )

privatenoexcept

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GetDefaultConfig()

static tmc51x0::DriverConfig Tmc5160Handler::GetDefaultConfig ( )

inlinestaticnoexcept

Get a sensible default DriverConfig.

Returns

Default tmc51x0::DriverConfig structure.

GetDescription()

const char * Tmc5160Handler::GetDescription ( ) const

noexcept

Get a human-readable description of the handler.

Returns

String e.g. "TMC5160 Stepper Driver (SPI @0)"

GetDriver() [1/2]

ConstDriverVariant Tmc5160Handler::GetDriver ( ) const

inlinenoexcept

Const overload of GetDriver().

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GetDriver() [2/2]

DriverVariant Tmc5160Handler::GetDriver ( )

inlinenoexcept

Get the active driver pointer without requiring visitor usage.

Returns

SpiDriver* or UartDriver* wrapped in std::variant, or monostate if unavailable.

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GetDriverConfig()

const tmc51x0::DriverConfig & Tmc5160Handler::GetDriverConfig ( ) const

inlinenoexcept

Get the driver configuration used during initialization.

Initialize()

tmc51x0::ErrorCode Tmc5160Handler::Initialize ( const tmc51x0::DriverConfig & config, bool verbose = true )

noexcept

Initialize the TMC5160 driver with full configuration.

Parameters

config	Driver configuration (motor, chopper, ramp, etc.).
verbose	Print config summary if true.

Returns

tmc51x0::ErrorCode::OK on success, or a specific error code.

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IsInitialized()

bool Tmc5160Handler::IsInitialized ( ) const

inlinenoexcept

Check if the handler is initialized.

IsSpi()

bool Tmc5160Handler::IsSpi ( ) const

inlinenoexcept

Check if SPI is being used.

operator=() [1/2]

Tmc5160Handler & Tmc5160Handler::operator= ( const Tmc5160Handler & )

delete

operator=() [2/2]

Tmc5160Handler & Tmc5160Handler::operator= ( Tmc5160Handler && )

delete

visitDriver()

template<typename Fn >

auto Tmc5160Handler::visitDriver ( Fn && fn ) -> decltype(fn(std::declval<SpiDriver&>()))

inlinenoexcept

Visit the typed driver with a callable.

This is the primary way to access all 15 subsystems of the TMC5160 driver. The callable receives a reference to either SpiDriver or UartDriver.

Template Parameters

Fn	Callable type accepting auto& (SpiDriver& or UartDriver&)

Parameters

fn	Callable to execute with the driver reference

Returns

The return value of fn, or a default-constructed value if not initialized

handler.visitDriver([](auto& drv) {
    drv.motorControl.Enable();
    drv.rampControl.SetTargetPosition(51200);
});
 
auto pos = handler.visitDriver([](auto& drv) -> int32_t {
    auto result = drv.rampControl.GetCurrentPosition();
    return result ? result.Value() : 0;
});

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visitDriverInternal()

template<typename Fn >

auto Tmc5160Handler::visitDriverInternal ( Fn && fn ) -> decltype(fn(std::declval<SpiDriver&>()))

inlineprivatenoexcept

Helper: execute a visitor on the active driver (no lock, internal use)

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Member Data Documentation

address_

uint8_t Tmc5160Handler::address_ {0}

private

Daisy chain position (SPI) or node address (UART)

config_

tmc51x0::DriverConfig Tmc5160Handler::config_ {}

private

Configuration snapshot.

description_

char Tmc5160Handler::description_[64] {}

private

Human-readable handler description.

initialized_

bool Tmc5160Handler::initialized_ {false}

private

Initialization state.

is_spi_

bool Tmc5160Handler::is_spi_ {true}

private

Communication mode flag.

mutex_

RtosMutex Tmc5160Handler::mutex_

mutableprivate

Thread safety mutex.

spi_comm_

std::unique_ptr<HalSpiTmc5160Comm> Tmc5160Handler::spi_comm_

private

SPI communication adapter (owned, null if UART)

spi_driver_

std::unique_ptr<SpiDriver> Tmc5160Handler::spi_driver_

private

SPI driver instance (owned, null if UART)

uart_comm_

std::unique_ptr<HalUartTmc5160Comm> Tmc5160Handler::uart_comm_

private

UART communication adapter (owned, null if SPI)

uart_driver_

std::unique_ptr<UartDriver> Tmc5160Handler::uart_driver_

private

UART driver instance (owned, null if SPI)

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

• Tmc5160Handler.h
• Tmc5160Handler.cpp