Unified handler for TLE92466ED six-channel solenoid driver. More...

#include <Tle92466edHandler.h>

Classes
struct	is_driver_result
	Type trait to detect tle92466ed::DriverResult<T> types. More...

struct	is_driver_result< tle92466ed::DriverResult< T > >

Public Types
using	DriverType = tle92466ed::Driver< HalSpiTle92466edComm >
	Driver type alias (`tle92466ed::Driver` bound to HalSpiTle92466edComm).

Public Member Functions
	Tle92466edHandler (BaseSpi &spi, BaseGpio &resn, BaseGpio &en, BaseGpio *faultn=nullptr) noexcept
	Construct TLE92466ED handler.

	~Tle92466edHandler () noexcept
	Best-effort Deinitialize when the handler was initialized.

	Tle92466edHandler (const Tle92466edHandler &)=delete

Tle92466edHandler &	operator= (const Tle92466edHandler &)=delete

	Tle92466edHandler (Tle92466edHandler &&)=delete

Tle92466edHandler &	operator= (Tle92466edHandler &&)=delete

tle92466ed::DriverResult< void >	Initialize (bool perform_hardware_reset=true) noexcept
	Initialize driver (hardware reset + SPI init + config mode).

bool	EnsureInitialized () noexcept
	Lazy-init entrypoint: initialize on first use if needed.

tle92466ed::DriverResult< void >	Initialize (const tle92466ed::GlobalConfig &config) noexcept
	Initialize, then apply `config` before mission mode.

tle92466ed::DriverResult< void >	Deinitialize () noexcept
	Disable all channels and tear down driver_.

bool	IsInitialized () const noexcept
	`true` after a successful Initialize or lazy EnsureInitialized.

tle92466ed::DriverResult< void >	ConfigureChannel (uint8_t channel, const tle92466ed::ChannelConfig &config) noexcept
	Configure a channel (PWM, dither, current limit, …).

tle92466ed::DriverResult< void >	EnableChannel (uint8_t channel) noexcept
	Enable a channel in CH_CTRL (requires EnableOutputStage for load current).

tle92466ed::DriverResult< void >	DisableChannel (uint8_t channel) noexcept
	Disable a channel in CH_CTRL.

tle92466ed::DriverResult< void >	EnableAllChannels () noexcept
	Set CH_CTRL enable for every channel.

tle92466ed::DriverResult< void >	DisableAllChannels () noexcept
	Clear CH_CTRL enable for every channel.

tle92466ed::DriverResult< void >	SetChannelCurrent (uint8_t channel, uint16_t current_ma) noexcept
	Set channel current setpoint.

tle92466ed::DriverResult< void >	SetChannelCurrentUa (uint8_t channel, uint32_t current_ua) noexcept
	Set channel ICC setpoint in microamperes (15-bit TARGET resolution, ~61 µA LSB).

tle92466ed::DriverResult< uint16_t >	GetChannelCurrentSetpoint (uint8_t channel, bool parallel_mode=false) noexcept
	Read back programmed current setpoint for SW-HAL-01 verification.

tle92466ed::DriverResult< void >	ConfigurePwmRaw (uint8_t channel, uint8_t mantissa, uint8_t exponent, bool low_freq_range=false) noexcept
	Configure raw TP_MANT / TP_EXP PWM period fields.

tle92466ed::DriverResult< void >	EnterMissionMode () noexcept
	Enter mission mode after configuration (required before driving loads).

tle92466ed::DriverResult< void >	EnterConfigMode () noexcept
	Enter config mode so register writes are accepted.

bool	IsMissionMode () noexcept
	`true` when the device is in mission (non-config) mode.

tle92466ed::DriverResult< void >	EnableOutputStage () noexcept
	Drive the chip's hardware EN pin HIGH so the output stage can deliver current to the load.

tle92466ed::DriverResult< void >	DisableOutputStage () noexcept
	Drive the chip's EN pin LOW to gate off the output stage. SPI access remains functional; only the low-side driver outputs are disabled. Useful as an emergency stop.

tle92466ed::DriverResult< void >	EnableFeedbackUpdates () noexcept
	Clear the FB_FRZ register so the chip updates FB_DC / FB_I_AVG / FB_VBAT on every channel.

tle92466ed::DriverResult< void >	GetStatus (tle92466ed::DeviceStatus &status) noexcept
	Read global device status (mode, rail voltages, OT flags, …).

tle92466ed::DriverResult< void >	GetChannelDiagnostics (uint8_t channel, tle92466ed::ChannelDiagnostics &diag) noexcept
	Read per-channel diagnostics (faults, FB_I_AVG, duty cycle, …).

tle92466ed::DriverResult< void >	GetFaultReport (tle92466ed::FaultReport &report) noexcept
	Aggregate fault snapshot across device and all channels.

tle92466ed::DriverResult< void >	ClearFaults () noexcept
	Clear latched fault registers after the fault condition is removed.

bool	HasFault () noexcept
	Check if any fault is present.

tle92466ed::DriverResult< void >	KickWatchdog (uint16_t reload_value=1000) noexcept
	Reload the SPI watchdog (must be kicked periodically in mission mode).

uint32_t	GetChipId () noexcept
	Read combined chip ID words for identity checks.

uint32_t	GetIcVersion () noexcept
	Read IC version register (ICVID).

uint32_t	LastSpiRxWord () const noexcept
	Last SPI RX word from HalSpiTle92466edComm (init / WrongDeviceID diag).

uint32_t	LastSpiRxWordFirst () const noexcept
	RX word from the first frame of the last pipelined SPI chain.

bool	RawSpiChain (std::span< const uint32_t > tx, std::span< uint32_t > rx, uint32_t gap_us=0U) noexcept
	Clock `tx` out as one bus-ownership chain and capture every reply.

template<typename Fn >
auto	WithLock (Fn &&fn) noexcept
	Run `fn` (no arguments) while mutex_ is held.

template<typename Fn >
auto	WithDriver (Fn &&fn) noexcept
	Run `fn` against the raw driver with mutex_ held.

DriverType *	GetDriver () noexcept
	Get the underlying driver for advanced operations.

const DriverType *	GetDriver () const noexcept

void	DumpDiagnostics () noexcept
	Log device status, per-channel diagnostics, and chip ID to Logger.

Static Public Attributes
static constexpr uint8_t	kNumChannels = 6
	Number of solenoid channels (0–5); only CH5 is populated on this board.

Private Member Functions
tle92466ed::DriverResult< void >	InitializeLocked (bool perform_hardware_reset) noexcept
	Initialize while mutex_ is already held.

bool	EnsureInitializedLocked () noexcept

template<typename Fn >
auto	withDriver (Fn &&fn) noexcept
	Execute a lambda with a locked, initialized driver.

Private Attributes
bool	initialized_ {false}

RtosMutex	mutex_

std::unique_ptr< HalSpiTle92466edComm >	comm_

std::unique_ptr< DriverType >	driver_

Detailed Description

Unified handler for TLE92466ED six-channel solenoid driver.

Provides thread-safe access to all TLE92466ED driver features:

Channel enable/disable and current control
PWM configuration per channel
Fault monitoring and diagnostics
Watchdog management
Device status: supply rails (VBAT/VIO/VDD) and over-temperature flags. The chip exposes an OT indication, not a temperature value — there is no degrees-Celsius register to read.

Member Typedef Documentation

◆ DriverType

using Tle92466edHandler::DriverType = tle92466ed::Driver<HalSpiTle92466edComm>

Driver type alias (tle92466ed::Driver bound to HalSpiTle92466edComm).

Constructor & Destructor Documentation

◆ Tle92466edHandler() [1/3]

Tle92466edHandler::Tle92466edHandler	(	BaseSpi &	spi,
		BaseGpio &	resn,
		BaseGpio &	en,
		BaseGpio *	faultn = `nullptr`
	)

noexcept

Construct TLE92466ED handler.

Parameters

spi	Reference to pre-configured BaseSpi.
resn	BaseGpio for RESN pin (active LOW reset).
en	BaseGpio for EN pin (active HIGH enable).
faultn	Optional BaseGpio for FAULTN (active LOW fault indicator).

◆ ~Tle92466edHandler()

Tle92466edHandler::~Tle92466edHandler ( )

noexcept

Best-effort Deinitialize when the handler was initialized.

◆ Tle92466edHandler() [2/3]

Tle92466edHandler::Tle92466edHandler ( const Tle92466edHandler & )

delete

◆ Tle92466edHandler() [3/3]

Tle92466edHandler::Tle92466edHandler ( Tle92466edHandler && )

delete

Member Function Documentation

◆ ClearFaults()

tle92466ed::DriverResult< void > Tle92466edHandler::ClearFaults ( )

noexcept

Clear latched fault registers after the fault condition is removed.

◆ ConfigureChannel()

tle92466ed::DriverResult< void > Tle92466edHandler::ConfigureChannel	(	uint8_t	channel,
		const tle92466ed::ChannelConfig &	config
	)

noexcept

Configure a channel (PWM, dither, current limit, …).

Parameters

channel	Channel index 0–5 (kNumChannels).
config	Per-channel register image.

Return values

InvalidChannel when channel >= kNumChannels.

◆ ConfigurePwmRaw()

tle92466ed::DriverResult< void > Tle92466edHandler::ConfigurePwmRaw	(	uint8_t	channel,
		uint8_t	mantissa,
		uint8_t	exponent,
		bool	low_freq_range = `false`
	)

noexcept

Configure raw TP_MANT / TP_EXP PWM period fields.

Parameters

channel	Channel index 0–5.
mantissa	PWM period mantissa (datasheet TP_MANT).
exponent	PWM period exponent (datasheet TP_EXP).
low_freq_range	Select low-frequency PWM range when `true`.

◆ Deinitialize()

tle92466ed::DriverResult< void > Tle92466edHandler::Deinitialize ( )

noexcept

Disable all channels and tear down driver_.

Returns: Empty (always succeeds at handler layer).

Note: Acquires mutex_; does not pulse RESN or change EN parking.

◆ DisableAllChannels()

tle92466ed::DriverResult< void > Tle92466edHandler::DisableAllChannels ( )

noexcept

Clear CH_CTRL enable for every channel.

◆ DisableChannel()

tle92466ed::DriverResult< void > Tle92466edHandler::DisableChannel ( uint8_t channel )

noexcept

Disable a channel in CH_CTRL.

Parameters

channel Channel index 0–5.

◆ DisableOutputStage()

tle92466ed::DriverResult< void > Tle92466edHandler::DisableOutputStage ( )

noexcept

Drive the chip's EN pin LOW to gate off the output stage. SPI access remains functional; only the low-side driver outputs are disabled. Useful as an emergency stop.

◆ DumpDiagnostics()

void Tle92466edHandler::DumpDiagnostics ( )

noexcept

Log device status, per-channel diagnostics, and chip ID to Logger.

Note: Acquires mutex_ for the duration of the dump.

◆ EnableAllChannels()

tle92466ed::DriverResult< void > Tle92466edHandler::EnableAllChannels ( )

noexcept

Set CH_CTRL enable for every channel.

◆ EnableChannel()

tle92466ed::DriverResult< void > Tle92466edHandler::EnableChannel ( uint8_t channel )

noexcept

Enable a channel in CH_CTRL (requires EnableOutputStage for load current).

Parameters

channel Channel index 0–5.

◆ EnableFeedbackUpdates()

tle92466ed::DriverResult< void > Tle92466edHandler::EnableFeedbackUpdates ( )

noexcept

Clear the FB_FRZ register so the chip updates FB_DC / FB_I_AVG / FB_VBAT on every channel.

Per the TLE92466ED datasheet §4.10 and the FB_FRZ register description (offset 0x0007): "Setting the <CH> bit in FB_FRZ to 0 enables the update of the feedback values; setting it to 1 freezes the values." The chip's POR default leaves all six channel bits set (frozen), which is why FB_DC / FB_I_AVG read back as 0 even when the chip is actively driving a coil. Writing 0x0000 unfreezes every channel. Averaged current feedback also requires non-zero DITHER_CLK_DIV. Safe to call multiple times; idempotent.

◆ EnableOutputStage()

tle92466ed::DriverResult< void > Tle92466edHandler::EnableOutputStage ( )

noexcept

Drive the chip's hardware EN pin HIGH so the output stage can deliver current to the load.

The TLE92466ED's EN input gates the entire output stage. While EN is LOW (the state the driver puts it in during reset), no current is delivered regardless of the per-channel EnableChannel bits or SetChannelCurrent setpoints. This method just calls Driver::Enable() which writes GpioSignal::ACTIVE to the configured EN GPIO.

Returns: Empty result on success or the underlying driver error.

◆ EnsureInitialized()

bool Tle92466edHandler::EnsureInitialized ( )

noexcept

Lazy-init entrypoint: initialize on first use if needed.

Returns: true when driver_ is ready after this call.

Note: Acquires mutex_. Lazy path always performs a hardware reset.

◆ EnsureInitializedLocked()

bool Tle92466edHandler::EnsureInitializedLocked ( )

privatenoexcept

◆ EnterConfigMode()

tle92466ed::DriverResult< void > Tle92466edHandler::EnterConfigMode ( )

noexcept

Enter config mode so register writes are accepted.

◆ EnterMissionMode()

tle92466ed::DriverResult< void > Tle92466edHandler::EnterMissionMode ( )

noexcept

Enter mission mode after configuration (required before driving loads).

Note: Does not assert EN; call EnableOutputStage separately.

◆ GetChannelCurrentSetpoint()

tle92466ed::DriverResult< uint16_t > Tle92466edHandler::GetChannelCurrentSetpoint	(	uint8_t	channel,
		bool	parallel_mode = `false`
	)

noexcept

Read back programmed current setpoint for SW-HAL-01 verification.

Parameters

channel	Channel index 0–5.
parallel_mode	When `true`, read parallel-setpoint register path.

Returns: Setpoint in milliamps.

◆ GetChannelDiagnostics()

tle92466ed::DriverResult< void > Tle92466edHandler::GetChannelDiagnostics	(	uint8_t	channel,
		tle92466ed::ChannelDiagnostics &	diag
	)

noexcept

Read per-channel diagnostics (faults, FB_I_AVG, duty cycle, …).

Parameters

	channel	Channel index 0–5.
[out]	diag	Populated on success.

Note: FB_I_AVG stays 0 when FB_FRZ freezes the channel or DITHER_CLK_DIV is 0.

◆ GetChipId()

uint32_t Tle92466edHandler::GetChipId ( )

noexcept

Read combined chip ID words for identity checks.

Returns: 32-bit ID or 0 when uninitialized / SPI failure.

◆ GetDriver() [1/2]

const Tle92466edHandler::DriverType * Tle92466edHandler::GetDriver ( ) const

noexcept

◆ GetDriver() [2/2]

Tle92466edHandler::DriverType * Tle92466edHandler::GetDriver ( )

noexcept

Get the underlying driver for advanced operations.

Returns: Pointer to driver, or nullptr if not initialized.

Warning: The returned pointer is not protected: the mutex is released when this call returns. Using it from more than one thread corrupts the chip's pipelined reply sequence. Production code must use WithDriver instead; this accessor remains for single-threaded bring-up and bench example programs.

◆ GetFaultReport()

tle92466ed::DriverResult< void > Tle92466edHandler::GetFaultReport ( tle92466ed::FaultReport & report )

noexcept

Aggregate fault snapshot across device and all channels.

Parameters

[out] report Populated on success.

◆ GetIcVersion()

uint32_t Tle92466edHandler::GetIcVersion ( )

noexcept

Read IC version register (ICVID).

Returns: Version field or 0 when uninitialized / SPI failure.

◆ GetStatus()

tle92466ed::DriverResult< void > Tle92466edHandler::GetStatus ( tle92466ed::DeviceStatus & status )

noexcept

Read global device status (mode, rail voltages, OT flags, …).

Parameters

[out] status Populated on success.

◆ HasFault()

bool Tle92466edHandler::HasFault ( )

noexcept

Check if any fault is present.

Returns: false when the driver is unavailable or the query fails.

◆ Initialize() [1/2]

tle92466ed::DriverResult< void > Tle92466edHandler::Initialize ( bool perform_hardware_reset = true )

noexcept

Initialize driver (hardware reset + SPI init + config mode).

Parameters

perform_hardware_reset Pulse RESN on first bring-up; false keeps RESN released for SPI-only retries (see Driver::Init).

Returns: Empty on success; tle92466ed::DriverError on failure.

Note: Acquires mutex_; blocks concurrent handler callers.

◆ Initialize() [2/2]

tle92466ed::DriverResult< void > Tle92466edHandler::Initialize ( const tle92466ed::GlobalConfig & config )

noexcept

Initialize, then apply config before mission mode.

tle92466ed::GlobalConfig{} is now the configuration Driver::Init() itself writes: CRC check and SPI watchdog off, VBAT UV / OV at 7 V / 40 V. Set crc_enabled / spi_watchdog_enabled explicitly to turn them on; a default-constructed config no longer arms the watchdog.

Parameters

config Global device configuration (watchdog, dither clock, …).

Returns: Empty on success; rolls back driver_ on configure failure.

Note: Acquires mutex_; always performs hardware reset via Driver::Init().

◆ InitializeLocked()

tle92466ed::DriverResult< void > Tle92466edHandler::InitializeLocked ( bool perform_hardware_reset )

privatenoexcept

Initialize while mutex_ is already held.

◆ IsInitialized()

bool Tle92466edHandler::IsInitialized ( ) const

inlinenoexcept

true after a successful Initialize or lazy EnsureInitialized.

◆ IsMissionMode()

bool Tle92466edHandler::IsMissionMode ( )

noexcept

true when the device is in mission (non-config) mode.

◆ KickWatchdog()

tle92466ed::DriverResult< void > Tle92466edHandler::KickWatchdog ( uint16_t reload_value = 1000 )

noexcept

Reload the SPI watchdog (must be kicked periodically in mission mode).

Parameters

reload_value Watchdog reload counter written to the device (default 1000).

◆ LastSpiRxWord()

uint32_t Tle92466edHandler::LastSpiRxWord ( ) const

inlinenoexcept

Last SPI RX word from HalSpiTle92466edComm (init / WrongDeviceID diag).

Note: Does not acquire mutex_; safe for read-only post-mortem logging.

◆ LastSpiRxWordFirst()

uint32_t Tle92466edHandler::LastSpiRxWordFirst ( ) const

inlinenoexcept

RX word from the first frame of the last pipelined SPI chain.

See also: HalSpiTle92466edComm::LastRxWordFirst

◆ operator=() [1/2]

Tle92466edHandler & Tle92466edHandler::operator= ( const Tle92466edHandler & )

delete

◆ operator=() [2/2]

Tle92466edHandler & Tle92466edHandler::operator= ( Tle92466edHandler && )

delete

◆ RawSpiChain()

bool Tle92466edHandler::RawSpiChain	(	std::span< const uint32_t >	tx,
		std::span< uint32_t >	rx,
		uint32_t	gap_us = `0U`
	)

inlinenoexcept

Clock tx out as one bus-ownership chain and capture every reply.

Parameters

tx	Frames to send (CRC must already be set by the caller).
rx	Receives one MISO word per frame; same size as `tx`.

Returns: true when the chain completed on the wire.

The driver's own read path decodes only the slot it expects the reply in, so a register that reads back zero cannot be told apart from a reply that arrived one slot early or late. This hands back the untouched words for exactly that comparison.

Note: Holds mutex_ across the whole chain, so it cannot interleave with control-loop writes inside the device's reply pipeline.

Warning: Bench diagnostic (tle reg raw). Arbitrary frames can change device state — not for production paths.

◆ SetChannelCurrent()

tle92466ed::DriverResult< void > Tle92466edHandler::SetChannelCurrent	(	uint8_t	channel,
		uint16_t	current_ma
	)

noexcept

Set channel current setpoint.

Parameters

channel	Channel index 0–5.
current_ma	Target coil current in milliamps (e.g. 115 mA at full flow on CH5).

◆ SetChannelCurrentUa()

tle92466ed::DriverResult< void > Tle92466edHandler::SetChannelCurrentUa	(	uint8_t	channel,
		uint32_t	current_ua
	)

noexcept

Set channel ICC setpoint in microamperes (15-bit TARGET resolution, ~61 µA LSB).

Parameters

channel	Channel index.
current_ua	Target current in µA.

◆ WithDriver()

template<typename Fn >

auto Tle92466edHandler::WithDriver ( Fn && fn )

inlinenoexcept

Run fn against the raw driver with mutex_ held.

This is the only safe way to reach advanced driver APIs (ConfigureDither, GetAverageCurrent, ReadPinStatus, rail reads, …) from production code. The TLE92466ED answers a read on the next CS window, so two threads interleaving driver calls consume each other's pipeline slots — which surfaced as sticky-zero register readback and impossible FB_I_AVG ratios. Holding the handler mutex for the whole sequence keeps a multi-register operation coherent across host control (~500 Hz) and diagnostic threads; HalSpiTle92466edComm::TransferMulti additionally keeps the SPI2 bus lock across the frames of a single pipelined access.

Template Parameters

Fn	Callable taking `DriverType&`.

Returns: fn's result, or a NotInitialized error / value-initialized result when the driver is unavailable. When fn returns void, this returns bool (true when fn actually ran).

◆ withDriver()

template<typename Fn >

auto Tle92466edHandler::withDriver ( Fn && fn )

inlineprivatenoexcept

Execute a lambda with a locked, initialized driver.

Acquires the mutex, ensures initialization, and invokes fn(*driver_). Returns a default-constructed R on failure, or for DriverResult types, returns an error indicating the driver is not initialized.

◆ WithLock()

template<typename Fn >

auto Tle92466edHandler::WithLock ( Fn && fn )

inlinenoexcept

Run fn (no arguments) while mutex_ is held.

WithDriver keeps a single driver call coherent, but a snapshot built from several handler calls (probe: PIN_STAT + FB_STAT + FB_FRZ + CH_CTRL + …) can still interleave with other host SPI users between those calls, so the fields describe different instants. mutex_ is recursive, so fn may freely call WithDriver and any other handler method; the outer hold makes the whole composition atomic with respect to every other TLE user.

Warning: Everything in fn runs with the TLE pipeline blocked for other threads — keep sleeps inside to a few milliseconds.

Member Data Documentation

◆ comm_

std::unique_ptr<HalSpiTle92466edComm> Tle92466edHandler::comm_

private

◆ driver_

std::unique_ptr<DriverType> Tle92466edHandler::driver_

private

◆ initialized_

bool Tle92466edHandler::initialized_ {false}

private

◆ kNumChannels

constexpr uint8_t Tle92466edHandler::kNumChannels = 6

staticconstexpr

Number of solenoid channels (0–5); only CH5 is populated on this board.

◆ mutex_

RtosMutex Tle92466edHandler::mutex_

mutableprivate

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

Classes

Public Types

Public Member Functions

Static Public Attributes

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

◆ DriverType

Constructor & Destructor Documentation

◆ Tle92466edHandler() [1/3]

◆ ~Tle92466edHandler()

◆ Tle92466edHandler() [2/3]

◆ Tle92466edHandler() [3/3]

Member Function Documentation

◆ ClearFaults()

◆ ConfigureChannel()

◆ ConfigurePwmRaw()

◆ Deinitialize()

◆ DisableAllChannels()

◆ DisableChannel()

◆ DisableOutputStage()

◆ DumpDiagnostics()

◆ EnableAllChannels()

◆ EnableChannel()

◆ EnableFeedbackUpdates()

◆ EnableOutputStage()

◆ EnsureInitialized()

◆ EnsureInitializedLocked()

◆ EnterConfigMode()

◆ EnterMissionMode()

◆ GetChannelCurrentSetpoint()

◆ GetChannelDiagnostics()

◆ GetChipId()

◆ GetDriver() [1/2]

◆ GetDriver() [2/2]

◆ GetFaultReport()

◆ GetIcVersion()

◆ GetStatus()

◆ HasFault()

◆ Initialize() [1/2]

◆ Initialize() [2/2]

◆ InitializeLocked()

◆ IsInitialized()

◆ IsMissionMode()

◆ KickWatchdog()

◆ LastSpiRxWord()

◆ LastSpiRxWordFirst()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ RawSpiChain()

◆ SetChannelCurrent()

◆ SetChannelCurrentUa()

◆ WithDriver()

◆ withDriver()

◆ WithLock()

Member Data Documentation

◆ comm_

◆ driver_

◆ initialized_

◆ kNumChannels

◆ mutex_