Tmc9660Handler

Unified handler for the TMC9660 3-phase BLDC motor controller with SPI/UART communication and GPIO, ADC, and temperature peripheral wrappers.

All motor control, telemetry, and feedback operations are accessed through the typed driver pointers or visitDriver(). The handler provides lifecycle management, peripheral wrapping (GPIO/ADC/Temperature via inner classes), and driver routing.

Construction 

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// SPI mode
Tmc9660Handler(BaseSpi& spi, BaseGpio& rst, BaseGpio& drv_en,
               BaseGpio& faultn, BaseGpio& wake,
               uint8_t address = 0,
               const tmc9660::BootloaderConfig* bootCfg = &kDefaultBootConfig);

// UART mode
Tmc9660Handler(BaseUart& uart, BaseGpio& rst, BaseGpio& drv_en,
               BaseGpio& faultn, BaseGpio& wake,
               uint8_t address = 0,
               const tmc9660::BootloaderConfig* bootCfg = &kDefaultBootConfig);

Key Methods

Lifecycle

Method Description
Initialize(reset, bootInfo, failOnVerify) Reset → bootloader config → parameter mode. Returns bool.
EnsureInitialized() Lazy init helper
IsDriverReady() Check if driver instance exists and is initialized

Communication Info

Method Description
GetCommMode() tmc9660::CommMode::SPI or ::UART
bootConfig() Const reference to the active BootloaderConfig

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 (non-mutex)

Peripheral Wrappers

The handler owns three inner-class adapters that implement HardFOC base interfaces, enabling manager-level integration:

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handler.gpio(17).SetPinLevel(HF_GPIO_LEVEL_HIGH);  // TMC9660 GPIO17
handler.adc().ReadChannelV(20, voltage);            // Supply voltage ADC
handler.temperature().ReadTemperatureCelsius(&temp); // Chip temperature
Accessor Type Description
gpio(uint8_t) Gpio& (BaseGpio) TMC9660 internal GPIO (17, 18)
adc() Adc& (BaseAdc) Multi-channel: AIN, current, voltage, temp, motor
temperature() Temperature& (BaseTemperature) Chip temperature sensor

Diagnostics

Method Description
DumpDiagnostics() Log comm mode, voltage, temperature, flags, GPIO/ADC status

Motor Control & Telemetry via Driver Subsystems

Motor control and telemetry are accessed through the driver’s subsystems, not through handler-level wrapper methods:

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// SPI mode — direct subsystem access
auto* drv = handler.driverViaSpi();
drv->motorConfig.setType(tmcl::MotorType::BLDC_MOTOR, 7);
drv->commutation.setMode(tmcl::CommutationMode::FOC);
drv->motorControl.enable();
drv->velocityControl.setTargetVelocity(1000);

// Telemetry
float supply_v = drv->telemetry.getSupplyVoltage();
float chip_t   = drv->telemetry.getChipTemperature();

Generic Access via visitDriver() 

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handler.visitDriver([](auto& driver) {
    driver.feedbackSense.configureHallSensor(1, 2, 3);
    driver.protection.setOvertemperatureLimit(120.0f);
});

Variant Access via GetDriver() 

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

Thread Safety

Individual handler methods are NOT thread-safe by themselves. If multiple threads access the same handler, external synchronization is required. The Adc and Temperature inner classes use their own RtosMutex for internal statistics tracking.

Test Coverage

See examples/esp32/main/handler_tests/tmc9660_handler_comprehensive_test.cpp — 10 test sections covering construction state, initialization, parameters, motor control, telemetry, GPIO/ADC/Temperature wrappers, driver enable, and error handling.