BaseAdc adapter for all TMC9660 ADC channels. More...

#include <Tmc9660Handler.h>

Inheritance diagram for Tmc9660Handler::Adc:

Collaboration diagram for Tmc9660Handler::Adc:

Public Member Functions
	Adc (Tmc9660Handler &parent)
	Construct the ADC wrapper.

	~Adc () noexcept override=default
	Default destructor.

BaseAdc Interface Implementation
bool	Initialize () noexcept override
	Initialize ADC wrapper (no-op; TMC9660 ADC is always available).

bool	Deinitialize () noexcept override
	Deinitialize ADC wrapper (no-op).

hf_u8_t	GetMaxChannels () const noexcept override
	Returns the total number of readable channels (15).

bool	IsChannelAvailable (hf_channel_id_t channel_id) const noexcept override
	Check if a channel ID is valid per the TMC9660 channel scheme.

hf_adc_err_t	ReadChannelV (hf_channel_id_t channel_id, float &channel_reading_v, hf_u8_t numOfSamplesToAvg=1, hf_time_t timeBetweenSamples=0) noexcept override
	Read a channel and return the voltage.

hf_adc_err_t	ReadChannelCount (hf_channel_id_t channel_id, hf_u32_t &channel_reading_count, hf_u8_t numOfSamplesToAvg=1, hf_time_t timeBetweenSamples=0) noexcept override
	Read a channel and return the raw count.

hf_adc_err_t	ReadChannel (hf_channel_id_t channel_id, hf_u32_t &channel_reading_count, float &channel_reading_v, hf_u8_t numOfSamplesToAvg=1, hf_time_t timeBetweenSamples=0) noexcept override
	Read a channel and return both raw count and voltage.

hf_adc_err_t	ReadMultipleChannels (const hf_channel_id_t channel_ids, hf_u8_t num_channels, hf_u32_t readings, float *voltages) noexcept override
	Read multiple channels in a batch.

hf_adc_err_t	GetStatistics (hf_adc_statistics_t &statistics) noexcept override
	Get accumulated ADC statistics (conversion counts, timing).

hf_adc_err_t	GetDiagnostics (hf_adc_diagnostics_t &diagnostics) noexcept override
	Get ADC health diagnostics (error counts, health status).

hf_adc_err_t	ResetStatistics () noexcept override
	Reset all accumulated statistics to zero.

hf_adc_err_t	ResetDiagnostics () noexcept override
	Reset diagnostics counters and health flags.

TMC9660-Specific Channel Methods
Direct accessors for specific TMC9660 ADC channel types.
hf_adc_err_t	ReadAinChannel (uint8_t ain_channel, hf_u32_t &raw_value, float &voltage) noexcept
	Read an external analog input (AIN) channel.

hf_adc_err_t	ReadCurrentSenseChannel (uint8_t current_channel, hf_u32_t &raw_value, float &voltage) noexcept
	Read a phase current sense channel.

hf_adc_err_t	ReadVoltageChannel (uint8_t voltage_channel, hf_u32_t &raw_value, float &voltage) noexcept
	Read a voltage monitoring channel.

hf_adc_err_t	ReadTemperatureChannel (uint8_t temp_channel, hf_u32_t &raw_value, float &voltage) noexcept
	Read a temperature channel.

hf_adc_err_t	ReadMotorDataChannel (uint8_t motor_channel, hf_u32_t &raw_value, float &voltage) noexcept
	Read a motor data channel.

Private Member Functions
hf_adc_err_t	ValidateChannelId (hf_channel_id_t channel_id) const noexcept
	Validate a channel ID against all valid ranges.

hf_adc_err_t	ReadChannelLocked (hf_channel_id_t channel_id, hf_u32_t &raw, float &voltage) noexcept
	Internal channel read that returns both raw count and correct voltage.

hf_adc_err_t	UpdateStatistics (hf_adc_err_t result, uint64_t start_time_us) noexcept
	Update conversion timing statistics.

uint64_t	GetCurrentTimeUs () const noexcept
	Get current time in microseconds from RTOS tick counter.

void	UpdateDiagnostics (hf_adc_err_t error) noexcept
	Update error diagnostics (consecutive error tracking, health flag).

const char *	GetChannelTypeString (hf_channel_id_t channel_id) const noexcept
	Get a human-readable string for a channel type (for logging).

Private Attributes
Tmc9660Handler &	parent_
	Owning handler.

RtosMutex	mutex_
	Thread-safety for statistics.

hf_adc_statistics_t	statistics_
	Accumulated conversion statistics.

hf_adc_diagnostics_t	diagnostics_
	Health and error diagnostics.

std::atomic< hf_adc_err_t >	last_error_
	Most recent error code.

Detailed Description

BaseAdc adapter for all TMC9660 ADC channels.

Provides a unified BaseAdc interface for reading the TMC9660's various analog and telemetry data channels. Channels are identified by a numeric ID scheme:

Channel ID Range	Type	Description
0 - 3	AIN channels	External analog inputs (GPIO5)
10 - 13	Current sense	Phase current ADC (I0-I3)
20 - 21	Voltage monitor	20=supply, 21=driver voltage
30 - 31	Temperature	30=chip, 31=external NTC
40 - 42	Motor data	40=current, 41=velocity, 42=pos

The wrapper includes thread-safe statistics and diagnostics tracking via RtosMutex. Voltage conversions use a default 3.3V / 16-bit scale; for temperature and motor data channels, the "voltage" field contains the physical value directly (degrees Celsius, mA, etc.).

Note: This inner class is owned by the handler. For manager-layer ownership, use Tmc9660AdcWrapper which delegates to this instance.

See also: Tmc9660AdcWrapper Thin delegation wrapper for AdcManager ownership

Constructor & Destructor Documentation

◆ Adc()

Tmc9660Handler::Adc::Adc ( Tmc9660Handler & parent )

Construct the ADC wrapper.

Parameters

parent Reference to the owning Tmc9660Handler.

◆ ~Adc()

Tmc9660Handler::Adc::~Adc ( )

overridedefaultnoexcept

Default destructor.

Member Function Documentation

◆ Deinitialize()

bool Tmc9660Handler::Adc::Deinitialize ( )

overridenoexcept

Deinitialize ADC wrapper (no-op).

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◆ GetChannelTypeString()

const char * Tmc9660Handler::Adc::GetChannelTypeString ( hf_channel_id_t channel_id ) const

privatenoexcept

Get a human-readable string for a channel type (for logging).

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◆ GetCurrentTimeUs()

uint64_t Tmc9660Handler::Adc::GetCurrentTimeUs ( ) const

privatenoexcept

Get current time in microseconds from RTOS tick counter.

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◆ GetDiagnostics()

hf_adc_err_t Tmc9660Handler::Adc::GetDiagnostics ( hf_adc_diagnostics_t & diagnostics )

overridenoexcept

Get ADC health diagnostics (error counts, health status).

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◆ GetMaxChannels()

hf_u8_t Tmc9660Handler::Adc::GetMaxChannels ( ) const

overridenoexcept

Returns the total number of readable channels (15).

The TMC9660 uses a non-contiguous channel ID scheme (0-3, 10-13, 20-21, 30-31, 40-42). Since IDs are sparse, callers should use IsChannelAvailable(channel_id) to validate specific channel IDs rather than iterating 0..GetMaxChannels()-1.

Returns: 15 (the count of all valid channel IDs across all ranges).

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◆ GetStatistics()

hf_adc_err_t Tmc9660Handler::Adc::GetStatistics ( hf_adc_statistics_t & statistics )

overridenoexcept

Get accumulated ADC statistics (conversion counts, timing).

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◆ Initialize()

bool Tmc9660Handler::Adc::Initialize ( )

overridenoexcept

Initialize ADC wrapper (no-op; TMC9660 ADC is always available).

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◆ IsChannelAvailable()

bool Tmc9660Handler::Adc::IsChannelAvailable ( hf_channel_id_t channel_id ) const

overridenoexcept

Check if a channel ID is valid per the TMC9660 channel scheme.

Parameters

channel_id Channel ID to validate.

Returns: true if the channel ID is within any valid range.

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◆ ReadAinChannel()

hf_adc_err_t Tmc9660Handler::Adc::ReadAinChannel	(	uint8_t	ain_channel,
		hf_u32_t &	raw_value,
		float &	voltage )

noexcept

Read an external analog input (AIN) channel.

Parameters

	ain_channel	AIN channel number (0-3).
[out]	raw_value	Raw 16-bit ADC count.
[out]	voltage	Converted voltage (3.3V / 65535 scale).

Returns: ADC_SUCCESS or ADC_ERR_CHANNEL_READ_ERR.

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◆ ReadChannel()

hf_adc_err_t Tmc9660Handler::Adc::ReadChannel	(	hf_channel_id_t	channel_id,
		hf_u32_t &	channel_reading_count,
		float &	channel_reading_v,
		hf_u8_t	numOfSamplesToAvg = 1,
		hf_time_t	timeBetweenSamples = 0 )

overridenoexcept

Read a channel and return both raw count and voltage.

Parameters

	channel_id	Channel ID.
[out]	channel_reading_count	Raw count.
[out]	channel_reading_v	Voltage / physical value.
	numOfSamplesToAvg	Number of samples to average.
	timeBetweenSamples	Delay between samples in ms.

Returns: ADC_SUCCESS or error code.

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◆ ReadChannelCount()

hf_adc_err_t Tmc9660Handler::Adc::ReadChannelCount	(	hf_channel_id_t	channel_id,
		hf_u32_t &	channel_reading_count,
		hf_u8_t	numOfSamplesToAvg = 1,
		hf_time_t	timeBetweenSamples = 0 )

overridenoexcept

Read a channel and return the raw count.

Parameters

	channel_id	Channel ID.
[out]	channel_reading_count	Raw ADC count or integer value.
	numOfSamplesToAvg	Number of samples to average.
	timeBetweenSamples	Delay between samples in ms.

Returns: ADC_SUCCESS or error code.

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◆ ReadChannelLocked()

hf_adc_err_t Tmc9660Handler::Adc::ReadChannelLocked	(	hf_channel_id_t	channel_id,
		hf_u32_t &	raw,
		float &	voltage )

privatenoexcept

Internal channel read that returns both raw count and correct voltage.

Dispatches to the appropriate sub-reader (AIN, current, voltage, temperature, motor data) and returns both the raw count and the correctly-converted voltage. Caller must hold mutex_.

Parameters

	channel_id	Channel ID per the TMC9660 channel scheme.
[out]	raw	Raw ADC count or integer value.
[out]	voltage	Correctly-converted voltage or physical value.

Returns: ADC_SUCCESS or error code.

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◆ ReadChannelV()

hf_adc_err_t Tmc9660Handler::Adc::ReadChannelV	(	hf_channel_id_t	channel_id,
		float &	channel_reading_v,
		hf_u8_t	numOfSamplesToAvg = 1,
		hf_time_t	timeBetweenSamples = 0 )

overridenoexcept

Read a channel and return the voltage.

Parameters

	channel_id	Channel ID per the scheme above.
[out]	channel_reading_v	Voltage reading (or physical value for temp/motor channels).
	numOfSamplesToAvg	Number of samples to average (currently unused).
	timeBetweenSamples	Delay between samples in ms (currently unused).

Returns: ADC_SUCCESS or an appropriate error code.

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◆ ReadCurrentSenseChannel()

hf_adc_err_t Tmc9660Handler::Adc::ReadCurrentSenseChannel	(	uint8_t	current_channel,
		hf_u32_t &	raw_value,
		float &	voltage )

noexcept

Read a phase current sense channel.

Parameters

	current_channel	Current channel number (0=I0, 1=I1, 2=I2, 3=I3).
[out]	raw_value	Raw ADC count.
[out]	voltage	Converted voltage.

Returns: ADC_SUCCESS or error code.

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◆ ReadMotorDataChannel()

hf_adc_err_t Tmc9660Handler::Adc::ReadMotorDataChannel	(	uint8_t	motor_channel,
		hf_u32_t &	raw_value,
		float &	voltage )

noexcept

Read a motor data channel.

Parameters

	motor_channel	0=current (mA), 1=velocity (internal), 2=position (counts).
[out]	raw_value	Raw integer value.
[out]	voltage	Float representation of the same value.

Returns: ADC_SUCCESS or ADC_ERR_INVALID_CHANNEL.

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◆ ReadMultipleChannels()

hf_adc_err_t Tmc9660Handler::Adc::ReadMultipleChannels	(	const hf_channel_id_t *	channel_ids,
		hf_u8_t	num_channels,
		hf_u32_t *	readings,
		float *	voltages )

overridenoexcept

Read multiple channels in a batch.

Parameters

	channel_ids	Array of channel IDs to read.
	num_channels	Number of channels.
[out]	readings	Array to store raw counts.
[out]	voltages	Array to store voltages.

Returns: ADC_SUCCESS if all channels read successfully.

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◆ ReadTemperatureChannel()

hf_adc_err_t Tmc9660Handler::Adc::ReadTemperatureChannel	(	uint8_t	temp_channel,
		hf_u32_t &	raw_value,
		float &	voltage )

noexcept

Read a temperature channel.

Parameters

	temp_channel	0=chip temperature (Celsius), 1=external NTC raw.
[out]	raw_value	Raw value (temp*100 for chip, raw ADC for external).
[out]	voltage	Temperature in Celsius (chip) or voltage (external).

Returns: ADC_SUCCESS or ADC_ERR_INVALID_CHANNEL.

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◆ ReadVoltageChannel()

hf_adc_err_t Tmc9660Handler::Adc::ReadVoltageChannel	(	uint8_t	voltage_channel,
		hf_u32_t &	raw_value,
		float &	voltage )

noexcept

Read a voltage monitoring channel.

Parameters

	voltage_channel	0=supply voltage, 1=driver voltage.
[out]	raw_value	Raw value (voltage * 1000 as integer mV).
[out]	voltage	Voltage in volts.

Returns: ADC_SUCCESS or ADC_ERR_INVALID_CHANNEL.

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◆ ResetDiagnostics()

hf_adc_err_t Tmc9660Handler::Adc::ResetDiagnostics ( )

overridenoexcept

Reset diagnostics counters and health flags.

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◆ ResetStatistics()

hf_adc_err_t Tmc9660Handler::Adc::ResetStatistics ( )

overridenoexcept

Reset all accumulated statistics to zero.

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◆ UpdateDiagnostics()

void Tmc9660Handler::Adc::UpdateDiagnostics ( hf_adc_err_t error )

privatenoexcept

Update error diagnostics (consecutive error tracking, health flag).

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◆ UpdateStatistics()

hf_adc_err_t Tmc9660Handler::Adc::UpdateStatistics	(	hf_adc_err_t	result,
		uint64_t	start_time_us )

privatenoexcept

Update conversion timing statistics.

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◆ ValidateChannelId()

hf_adc_err_t Tmc9660Handler::Adc::ValidateChannelId ( hf_channel_id_t channel_id ) const

privatenoexcept

Validate a channel ID against all valid ranges.

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Member Data Documentation

◆ diagnostics_

hf_adc_diagnostics_t Tmc9660Handler::Adc::diagnostics_

mutableprivate

Health and error diagnostics.

◆ last_error_

std::atomic<hf_adc_err_t> Tmc9660Handler::Adc::last_error_

private

Most recent error code.

◆ mutex_

RtosMutex Tmc9660Handler::Adc::mutex_

mutableprivate

Thread-safety for statistics.

◆ parent_

Tmc9660Handler& Tmc9660Handler::Adc::parent_

private

Owning handler.

◆ statistics_

hf_adc_statistics_t Tmc9660Handler::Adc::statistics_

mutableprivate

Accumulated conversion statistics.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Adc()

◆ ~Adc()

Member Function Documentation

◆ Deinitialize()

◆ GetChannelTypeString()

◆ GetCurrentTimeUs()

◆ GetDiagnostics()

◆ GetMaxChannels()

◆ GetStatistics()

◆ Initialize()

◆ IsChannelAvailable()

◆ ReadAinChannel()

◆ ReadChannel()

◆ ReadChannelCount()

◆ ReadChannelLocked()

◆ ReadChannelV()

◆ ReadCurrentSenseChannel()

◆ ReadMotorDataChannel()

◆ ReadMultipleChannels()

◆ ReadTemperatureChannel()

◆ ReadVoltageChannel()

◆ ResetDiagnostics()

◆ ResetStatistics()

◆ UpdateDiagnostics()

◆ UpdateStatistics()

◆ ValidateChannelId()

Member Data Documentation

◆ diagnostics_

◆ last_error_

◆ mutex_

◆ parent_

◆ statistics_