Tmc5160Handler

Stepper motor driver handler for TMC5160/TMC5130 with SPI/UART support. All motor control, ramp, chopper, and StallGuard operations are accessed through the typed driver pointers or visitDriver() — the handler itself provides only lifecycle management and driver routing.

Construction 

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

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

Key Methods

Lifecycle

Method Description
Initialize(config, verbose) Full driver initialization with DriverConfig. Returns bool.
EnsureInitialized() Lazy init entrypoint
Deinitialize() Disable motor and release resources
IsInitialized() Check initialization state
IsSpi() Check if SPI mode is active
GetDriverConfig() Get the DriverConfig snapshot used at init

Driver Access

Method Description
driverViaSpi() Typed SpiDriver* (nullptr if UART or not init)
driverViaUart() Typed UartDriver* (nullptr if SPI or not init)
GetDriver() std::variant<monostate, SpiDriver*, UartDriver*>
visitDriver(fn) Execute callable on active driver under mutex

Diagnostics

Method Description
DumpDiagnostics() Log status, registers, and driver info

Driver Subsystem Access

The TMC5160 driver exposes 15 subsystems. You access them through the typed driver pointer or visitDriver() — not through handler-level convenience wrappers:

Subsystem Purpose
rampControl Motion profile: position, velocity, acceleration
motorControl Enable/disable, current setting, chopper config
stallGuard StallGuard2 load detection
encoder ABN encoder interface
homing Sensorless/switch/encoder homing routines
thresholds Velocity threshold configuration
switches Reference switch control
tuning Auto-tuning routines
status Status register and diagnostics
powerStage Over-current / short protection
communication Raw register read/write
io Pin / mode helpers
events XCompare / ramp events
printer Debug printing
uartConfig UART node addressing

When you know the comm mode (you always do — you chose it at construction):

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// SPI mode — direct subsystem access
auto* drv = handler.driverViaSpi();
drv->motorControl.Enable();
drv->rampControl.SetTargetPosition(51200);

// UART mode equivalent
auto* drv = handler.driverViaUart();
drv->rampControl.SetMaxSpeed(50000);

Generic Access via visitDriver()

For code that must work with either comm mode:

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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;
});

Variant Access via GetDriver() 

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auto active = handler.GetDriver();
// std::variant<std::monostate, SpiDriver*, UartDriver*>

Thread Safety

All public methods are protected by an internal RtosMutex. visitDriver() holds the mutex for the duration of the callable.

Test Coverage

See examples/esp32/main/handler_tests/tmc5160_handler_comprehensive_test.cpp.