Unified, non-templated handler for a single TMC9660 motor controller device. More...

#include <Tmc9660Handler.h>

Classes
class	Adc
	BaseAdc adapter for all TMC9660 ADC channels. More...

class	Gpio
	BaseGpio adapter for a single TMC9660 internal GPIO channel. More...

class	Temperature
	BaseTemperature adapter for the TMC9660 internal chip temperature sensor. More...

Public Types
Type Aliases
using	SpiDriver = tmc9660::TMC9660< HalSpiTmc9660Comm >
	TMC9660 driver instantiated with SPI communication.

using	UartDriver = tmc9660::TMC9660< HalUartTmc9660Comm >
	TMC9660 driver instantiated with UART communication.

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
Construction and Destruction
	Tmc9660Handler (BaseSpi &spi, BaseGpio &rst, BaseGpio &drv_en, BaseGpio &faultn, BaseGpio &wake, uint8_t address=0, const tmc9660::BootloaderConfig *bootCfg=&kDefaultBootConfig)
	Construct a handler for a TMC9660 connected via SPI.

	Tmc9660Handler (BaseUart &uart, BaseGpio &rst, BaseGpio &drv_en, BaseGpio &faultn, BaseGpio &wake, uint8_t address=0, const tmc9660::BootloaderConfig *bootCfg=&kDefaultBootConfig)
	Construct a handler for a TMC9660 connected via UART.

	~Tmc9660Handler () noexcept
	Destructor. Releases the driver, communication adapter, and all wrappers.

	Tmc9660Handler (const Tmc9660Handler &)=delete
	Non-copyable.

Tmc9660Handler &	operator= (const Tmc9660Handler &)=delete
	Non-copyable.

	Tmc9660Handler (Tmc9660Handler &&)=delete
	Non-movable.

Tmc9660Handler &	operator= (Tmc9660Handler &&)=delete
	Non-movable.

Initialization
bool	Initialize (bool performReset=true, bool retrieveBootloaderInfo=true, bool failOnVerifyError=false)
	Initialize the TMC9660 device.

bool	EnsureInitialized () noexcept
	Ensure driver is initialized (lazy init entrypoint).

bool	IsDriverReady () const noexcept
	Check if the TMC9660 driver has been initialized and is ready.

void	SetTmclReplyTimeoutMs (uint32_t ms) noexcept
	TMCL reply window for UART transfers (HalUartTmc9660Comm::setReplyTimeoutMs).

Peripheral Accessors
Retrieve references to the handler's internal peripheral wrappers.
Gpio *	gpio (uint8_t gpioNumber) noexcept
	Get the GPIO wrapper for a TMC9660 internal GPIO pin.

Adc *	adc () noexcept
	Get the ADC wrapper.

Temperature *	temperature () noexcept
	Get the Temperature wrapper.

Communication Info
tmc9660::CommMode	GetCommMode () const noexcept
	Get the communication mode in use (SPI or UART).

const tmc9660::BootloaderConfig *	bootConfig () const noexcept
	Get the bootloader configuration in use.

Diagnostics
void	DumpDiagnostics () noexcept
	Dump comprehensive diagnostics to the system log.

const char *	GetDescription () const noexcept
	Get a human-readable description of the handler.

Typed Driver Access
Direct access to the underlying typed TMC9660 driver instance.
SpiDriver *	driverViaSpi () noexcept
	Get the TMC9660 driver instance connected via SPI (nullptr if using UART).

const SpiDriver *	driverViaSpi () const noexcept
	Const version of driverViaSpi().

UartDriver *	driverViaUart () noexcept
	Get the TMC9660 driver instance connected via UART (nullptr if using SPI).

const UartDriver *	driverViaUart () const noexcept
	Const version of driverViaUart().

DriverVariant	GetDriver () noexcept
	Get the active driver pointer without requiring visitor usage.

ConstDriverVariant	GetDriver () const noexcept
	Const overload of GetDriver().

Driver Visitor Pattern
Generic access when comm mode is not known at the call site.
template<typename Func >
auto	visitDriver (Func &&func) noexcept
	Execute a function on the underlying typed TMC9660 driver.

template<typename Func >
auto	visitDriver (Func &&func) const noexcept
	Const overload of visitDriver().

Static Public Attributes
Default Configuration
static const tmc9660::BootloaderConfig	kDefaultBootConfig
	Default bootloader configuration based on TMC9660-3PH-EVAL board settings.

Private Member Functions
Adc &	AdcInstance () noexcept
	The always-present Adc instance, without the bring-up attempt adc() makes.

bool	EnsureInitializedLocked () noexcept
	Ensure initialized while handler_mutex_ is already held.

template<typename Func >
auto	visitDriverInternal (Func &&func) noexcept
	Internal no-lock visitDriver for use from already-locked contexts.

Private Attributes
bool	use_spi_
	true = SPI communication active, false = UART.

char	description_ [64] {}
	Human-readable handler description.

Communication Adapters
One of these is created at construction time; the other remains null.
std::unique_ptr< HalSpiTmc9660Comm >	spi_comm_
	SPI communication adapter (or nullptr).

std::unique_ptr< HalUartTmc9660Comm >	uart_comm_
	UART communication adapter (or nullptr).

Typed Driver Instances
Created during Initialize(); one is active, the other remains null.
std::unique_ptr< SpiDriver >	spi_driver_
	TMC9660 driver for SPI mode (or nullptr).

std::unique_ptr< UartDriver >	uart_driver_
	TMC9660 driver for UART mode (or nullptr).

Peripheral Wrappers
Created during Initialize().
std::array< std::unique_ptr< Gpio >, 2 >	gpioWrappers_
	GPIO17 [0] and GPIO18 [1].

std::unique_ptr< Adc >	adcWrapper_
	Multi-channel ADC wrapper.

std::unique_ptr< Temperature >	temperatureWrapper_
	Chip temperature wrapper.

Configuration
const tmc9660::BootloaderConfig *	bootCfg_
	Bootloader config (not owned; must outlive handler).

uint8_t	device_address_
	7-bit TMCL device address.

bool	boot_ok_ {false}
	true only after bootloaderInit Success.

Thread Safety
RtosMutex	handler_mutex_
	Recursive mutex for thread-safe access.

Friends
class	Tmc9660AdcWrapper
	Tmc9660AdcWrapper delegates to the Adc instance directly (see AdcInstance()).

Detailed Description

Unified, non-templated handler for a single TMC9660 motor controller device.

Tmc9660Handler is the primary interface that application and host-HAL code uses to interact with a TMC9660 motor driver. It hides the template complexity of tmc9660::TMC9660<CommType> behind a clean, polymorphism-free API.

Design Decisions

Non-templated: The handler uses visitDriver() to route calls to the correct typed driver (SPI or UART). This prevents template propagation through the codebase and allows a host to store handlers in a plain std::unique_ptr<Tmc9660Handler>.
Control pins required: The TMC9660 bootloader initialization sequence requires host-side GPIO control of four pins (RST, DRV_EN, FAULTN, WAKE). These must be provided at construction time.
Lazy driver creation: The typed TMC9660 driver instance is created during Initialize(), not in the constructor. This saves memory until initialization is actually needed.
Peripheral wrappers: Inner classes Gpio, Adc, and Temperature implement the HardFOC base interfaces, making TMC9660 peripherals available to the host as BaseGpio / BaseAdc / BaseTemperature.

Usage Example

// Construction (SPI mode, address 1, default boot config)
Tmc9660Handler handler(spi_bus, rst_pin, drv_en_pin, faultn_pin, wake_pin, 0x01);
 
// Initialize (performs hardware reset and bootloader configuration)
if (!handler.Initialize()) {
    Logger::GetInstance().Error("App", "TMC9660 init failed!");
    return;
}
 
// Motor control via typed driver pointer
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 via driver
float supply_v = drv->telemetry.getSupplyVoltage();
float chip_temp = drv->telemetry.getChipTemperature();
 
// GPIO (TMC9660 internal GPIO17); nullptr if the chip did not come up
if (auto* gpio17 = handler.gpio(17)) {
    gpio17->SetPinLevel(hf_gpio_level_t::HF_GPIO_LEVEL_HIGH);
}
 
// ADC (read AIN channel 0)
float voltage;
if (auto* adc = handler.adc()) {
    adc->ReadChannelV(0, voltage);
}
 
// Generic driver access via visitor
handler.visitDriver([](auto& driver) {
    driver.feedbackSense.configureHallSensor(1, 2, 3);
    driver.protection.setOvertemperatureLimit(120.0f);
});

See also: HalSpiTmc9660Comm SPI communication adapter; HalUartTmc9660Comm UART communication adapter; Tmc9660AdcWrapper Thin BaseAdc adapter for host ownership

Member Typedef Documentation

◆ ConstDriverVariant

using Tmc9660Handler::ConstDriverVariant = std::variant<std::monostate, const SpiDriver*, const UartDriver*>

Const version of DriverVariant.

◆ DriverVariant

using Tmc9660Handler::DriverVariant = std::variant<std::monostate, SpiDriver*, UartDriver*>

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

◆ SpiDriver

using Tmc9660Handler::SpiDriver = tmc9660::TMC9660<HalSpiTmc9660Comm>

TMC9660 driver instantiated with SPI communication.

◆ UartDriver

using Tmc9660Handler::UartDriver = tmc9660::TMC9660<HalUartTmc9660Comm>

TMC9660 driver instantiated with UART communication.

Constructor & Destructor Documentation

◆ Tmc9660Handler() [1/4]

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

Construct a handler for a TMC9660 connected via SPI.

The communication adapter (HalSpiTmc9660Comm) is created immediately, but the typed TMC9660 driver instance is deferred until Initialize() is called.

Parameters

spi	Reference to an initialized BaseSpi bus connected to the TMC9660. Must use SPI Mode 3 (CPOL=1, CPHA=1), MSB-first.
rst	BaseGpio for the TMC9660 RST control pin (host-side output). Must be pre-configured with correct pin number and output direction.
drv_en	BaseGpio for the TMC9660 DRV_EN control pin (host-side output).
faultn	BaseGpio for the TMC9660 FAULTN status pin (host-side input).
wake	BaseGpio for the TMC9660 WAKE control pin (host-side output).
address	7-bit device address used in TMCL communication (default: 0).
bootCfg	Pointer to bootloader configuration. The pointed-to struct must remain valid for the handler's lifetime. Pass nullptr or omit to use kDefaultBootConfig.

Warning: All GPIO and SPI references must outlive this handler.

◆ Tmc9660Handler() [2/4]

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

Construct a handler for a TMC9660 connected via UART.

Parameters

uart	Reference to an initialized BaseUart interface connected to the TMC9660.
rst	BaseGpio for the TMC9660 RST control pin (host-side output).
drv_en	BaseGpio for the TMC9660 DRV_EN control pin (host-side output).
faultn	BaseGpio for the TMC9660 FAULTN status pin (host-side input).
wake	BaseGpio for the TMC9660 WAKE control pin (host-side output).
address	7-bit device address used in TMCL communication (default: 0).
bootCfg	Pointer to bootloader configuration (default: kDefaultBootConfig).

Warning: All GPIO and UART references must outlive this handler.

◆ ~Tmc9660Handler()

Tmc9660Handler::~Tmc9660Handler ( )

defaultnoexcept

Destructor. Releases the driver, communication adapter, and all wrappers.

◆ Tmc9660Handler() [3/4]

Tmc9660Handler::Tmc9660Handler ( const Tmc9660Handler & )

delete

Non-copyable.

◆ Tmc9660Handler() [4/4]

Tmc9660Handler::Tmc9660Handler ( Tmc9660Handler && )

delete

Non-movable.

Member Function Documentation

◆ adc()

Tmc9660Handler::Adc * Tmc9660Handler::adc ( )

noexcept

Get the ADC wrapper.

Returns: Pointer to the internal Adc instance, or nullptr when the TMC9660 bring-up has failed.

Warning: The returned pointer is valid only as long as this handler exists.

◆ AdcInstance()

Adc & Tmc9660Handler::AdcInstance ( )

inlineprivatenoexcept

The always-present Adc instance, without the bring-up attempt adc() makes.

The Adc methods guard on the driver themselves, so Tmc9660AdcWrapper can delegate here and report errors instead of handling a nullptr.

◆ bootConfig()

const tmc9660::BootloaderConfig * Tmc9660Handler::bootConfig ( ) const

inlinenoexcept

Get the bootloader configuration in use.

Returns: The BootloaderConfig passed at construction, or nullptr if none was given.

◆ driverViaSpi() [1/2]

const Tmc9660Handler::SpiDriver * Tmc9660Handler::driverViaSpi ( ) const

noexcept

Const version of driverViaSpi().

◆ driverViaSpi() [2/2]

Tmc9660Handler::SpiDriver * Tmc9660Handler::driverViaSpi ( )

noexcept

Get the TMC9660 driver instance connected via SPI (nullptr if using UART).

Returns a direct pointer to the typed TMC9660<HalSpiTmc9660Comm> driver, giving full access to all 22+ subsystems (motorConfig, feedbackSense, velocityControl, protection, gateDriver, etc.) without lambda wrappers.

The user always knows which comm mode they chose at construction time, so they can safely call the matching accessor.

Returns: Pointer to the TMC9660 driver (SPI comm), or nullptr if using UART mode or Initialize() has not been called.

// Direct subsystem access after Initialize()
auto* drv = handler->driverViaSpi();
drv->feedbackSense.configureHall();
drv->motorConfig.setType(tmcl::MotorType::BLDC_MOTOR, 7);
drv->velocityControl.setTargetVelocity(1000);
drv->protection.configureVoltage(48000, 10000);

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

◆ driverViaUart() [1/2]

const Tmc9660Handler::UartDriver * Tmc9660Handler::driverViaUart ( ) const

noexcept

Const version of driverViaUart().

◆ driverViaUart() [2/2]

Tmc9660Handler::UartDriver * Tmc9660Handler::driverViaUart ( )

noexcept

Get the TMC9660 driver instance connected via UART (nullptr if using SPI).

Returns: Pointer to the TMC9660 driver (UART comm), or nullptr if using SPI mode or Initialize() has not been called.

auto* drv = handler->driverViaUart();

drv->feedbackSense.configureABNEncoder(1024);

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

◆ DumpDiagnostics()

void Tmc9660Handler::DumpDiagnostics ( )

noexcept

Dump comprehensive diagnostics to the system log.

Logs device status, communication mode, supply voltage, chip temperature, status/error flags, GPIO wrapper count, ADC status, and bootloader config summary at INFO level.

Note: Non-const because telemetry reads require I2C transactions.

◆ EnsureInitialized()

bool Tmc9660Handler::EnsureInitialized ( )

noexcept

Ensure driver is initialized (lazy init entrypoint).

Returns: true if initialized and ready.

◆ EnsureInitializedLocked()

bool Tmc9660Handler::EnsureInitializedLocked ( )

privatenoexcept

Ensure initialized while handler_mutex_ is already held.

◆ GetCommMode()

tmc9660::CommMode Tmc9660Handler::GetCommMode ( ) const

noexcept

Get the communication mode in use (SPI or UART).

Returns: tmc9660::CommMode::SPI or tmc9660::CommMode::UART.

◆ GetDescription()

const char * Tmc9660Handler::GetDescription ( ) const

noexcept

Get a human-readable description of the handler.

Returns: String e.g. "TMC9660 Motor Driver (SPI @0x01)"

◆ GetDriver() [1/2]

ConstDriverVariant Tmc9660Handler::GetDriver ( ) const

inlinenoexcept

Const overload of GetDriver().

◆ GetDriver() [2/2]

DriverVariant Tmc9660Handler::GetDriver ( )

inlinenoexcept

Get the active driver pointer without requiring visitor usage.

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

◆ gpio()

Tmc9660Handler::Gpio * Tmc9660Handler::gpio ( uint8_t gpioNumber )

noexcept

Get the GPIO wrapper for a TMC9660 internal GPIO pin.

Runs the lazy bring-up (EnsureInitialized()) like the other accessors.

Parameters

gpioNumber TMC9660 internal GPIO pin number. Supported: 17, 18.

Returns: Pointer to the Gpio wrapper, or nullptr when gpioNumber is not 17 or 18, or when the TMC9660 bring-up has failed.

Warning: The returned pointer is valid only as long as this handler exists.

◆ Initialize()

bool Tmc9660Handler::Initialize	(	bool	performReset = `true`,
		bool	retrieveBootloaderInfo = `true`,
		bool	failOnVerifyError = `false`
	)

Initialize the TMC9660 device.

Performs the following sequence:

Creates the typed TMC9660 driver instance (SpiDriver or UartDriver).
Executes the bootloader initialization sequence via the driver's bootloaderInit() method, which:
- Optionally performs a hardware reset via the RST pin
- Writes the bootloader configuration words
- Optionally verifies each configuration word readback
- Enters parameter mode for TMCL operation
Creates the GPIO, ADC, and Temperature peripheral wrappers.

Parameters

performReset	If true, assert RST pin to perform a hardware reset before configuration (default: true).
retrieveBootloaderInfo	If true, read the bootloader firmware version and log it (default: true).
failOnVerifyError	If true, return false if any bootloader config word fails readback verification. If false, log a warning but continue (default: false).

Returns: true if initialization completed successfully, false on any failure.

Note: Can be called multiple times; subsequent calls skip driver creation if already initialized.

Warning: This method must be called before any motor control, telemetry, or peripheral access methods.

◆ IsDriverReady()

bool Tmc9660Handler::IsDriverReady ( ) const

noexcept

Check if the TMC9660 driver has been initialized and is ready.

Returns: true if Initialize() has completed successfully and the driver instance exists, false otherwise.

◆ operator=() [1/2]

Tmc9660Handler & Tmc9660Handler::operator= ( const Tmc9660Handler & )

delete

Non-copyable.

◆ operator=() [2/2]

Tmc9660Handler & Tmc9660Handler::operator= ( Tmc9660Handler && )

delete

Non-movable.

◆ SetTmclReplyTimeoutMs()

void Tmc9660Handler::SetTmclReplyTimeoutMs ( uint32_t ms )

inlinenoexcept

TMCL reply window for UART transfers (HalUartTmc9660Comm::setReplyTimeoutMs).

Callers on a real-time thread use a short window (~10 ms) and widen it (80 ms) for discovery / configuration they run below the real-time band. No effect on an SPI link.

◆ temperature()

Tmc9660Handler::Temperature * Tmc9660Handler::temperature ( )

noexcept

Get the Temperature wrapper.

Returns: Pointer to the internal Temperature instance, or nullptr when the TMC9660 bring-up has failed.

Warning: The returned pointer is valid only as long as this handler exists.

◆ visitDriver() [1/2]

template<typename Func >

auto Tmc9660Handler::visitDriver ( Func && func ) const

inlinenoexcept

Const overload of visitDriver().

◆ visitDriver() [2/2]

template<typename Func >

auto Tmc9660Handler::visitDriver ( Func && func )

inlinenoexcept

Execute a function on the underlying typed TMC9660 driver.

For most use cases, prefer driverViaSpi() or driverViaUart() for direct typed access. Use visitDriver() only when writing generic code that must work with either communication mode (e.g., in manager-level code that doesn't know the comm type).

Template Parameters

Func	Callable type with signature `ReturnType(auto& driver)`.

Parameters

func	The visitor function to execute.

Returns: The return value of func, or a default-constructed value if the driver is not ready.

◆ visitDriverInternal()

template<typename Func >

auto Tmc9660Handler::visitDriverInternal ( Func && func )

inlineprivatenoexcept

Internal no-lock visitDriver for use from already-locked contexts.

Friends And Related Symbol Documentation

◆ Tmc9660AdcWrapper

friend class Tmc9660AdcWrapper

friend

Tmc9660AdcWrapper delegates to the Adc instance directly (see AdcInstance()).

Member Data Documentation

◆ adcWrapper_

std::unique_ptr<Adc> Tmc9660Handler::adcWrapper_

private

Multi-channel ADC wrapper.

◆ boot_ok_

bool Tmc9660Handler::boot_ok_ {false}

private

true only after bootloaderInit Success.

◆ bootCfg_

const tmc9660::BootloaderConfig* Tmc9660Handler::bootCfg_

private

Bootloader config (not owned; must outlive handler).

◆ description_

char Tmc9660Handler::description_[64] {}

private

Human-readable handler description.

◆ device_address_

uint8_t Tmc9660Handler::device_address_

private

7-bit TMCL device address.

◆ gpioWrappers_

std::array<std::unique_ptr<Gpio>, 2> Tmc9660Handler::gpioWrappers_

private

GPIO17 [0] and GPIO18 [1].

◆ handler_mutex_

RtosMutex Tmc9660Handler::handler_mutex_

mutableprivate

Recursive mutex for thread-safe access.

◆ kDefaultBootConfig

const tmc9660::BootloaderConfig Tmc9660Handler::kDefaultBootConfig

static

Default bootloader configuration based on TMC9660-3PH-EVAL board settings.

Default TMC9660 bootloader configuration based on TMC9660-3PH-EVAL board settings.

Configures:

LDO: VEXT1=5.0V, VEXT2=3.3V, 3ms slope
Boot mode: Parameter mode with motor control start
UART: Auto16x baud rate, GPIO6/7, address 1
External clock: 16MHz crystal with PLL (40MHz system)
SPI Flash: Enabled on SPI0 (GPIO11/12) at 10MHz
GPIO: GPIO5 analog, GPIO17/18 digital pull-down
Hall, ABN encoders, step/dir, etc.: disabled (safe defaults)

Override by passing a custom tmc9660::BootloaderConfig* to the constructor.

Configuration highlights:

LDO: VEXT1=5.0V, VEXT2=3.3V with 3ms slope control
Boot Mode: Parameter mode for TMCL parameter-based control
UART: BR115200, GPIO6/7 pins, device address 1
Host SPI TMCL disabled (disable_spi); on-module SPI flash enabled
External Clock: 16MHz crystal with PLL for stable 40MHz system clock
SPI Flash: Enabled on SPI0 (GPIO11 SCK, GPIO12 CS) at 10MHz
GPIO: GPIO5 analog input, GPIO17/18 digital inputs with pull-down
New sections (hall, abn1, abn2, ref, stepDir, spiEnc, mechBrake, brakeChopper, memStorage) use safe defaults (disabled)

◆ spi_comm_

std::unique_ptr<HalSpiTmc9660Comm> Tmc9660Handler::spi_comm_

private

SPI communication adapter (or nullptr).

◆ spi_driver_

std::unique_ptr<SpiDriver> Tmc9660Handler::spi_driver_

private

TMC9660 driver for SPI mode (or nullptr).

◆ temperatureWrapper_

std::unique_ptr<Temperature> Tmc9660Handler::temperatureWrapper_

private

Chip temperature wrapper.

◆ uart_comm_

std::unique_ptr<HalUartTmc9660Comm> Tmc9660Handler::uart_comm_

private

UART communication adapter (or nullptr).

◆ uart_driver_

std::unique_ptr<UartDriver> Tmc9660Handler::uart_driver_

private

TMC9660 driver for UART mode (or nullptr).

◆ use_spi_

bool Tmc9660Handler::use_spi_

private

true = SPI communication active, false = UART.

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

Friends

Detailed Description

Design Decisions

Usage Example

Member Typedef Documentation

◆ ConstDriverVariant

◆ DriverVariant

◆ SpiDriver

◆ UartDriver

Constructor & Destructor Documentation

◆ Tmc9660Handler() [1/4]

◆ Tmc9660Handler() [2/4]

◆ ~Tmc9660Handler()

◆ Tmc9660Handler() [3/4]

◆ Tmc9660Handler() [4/4]

Member Function Documentation

◆ adc()

◆ AdcInstance()

◆ bootConfig()

◆ driverViaSpi() [1/2]

◆ driverViaSpi() [2/2]

◆ driverViaUart() [1/2]

◆ driverViaUart() [2/2]

◆ DumpDiagnostics()

◆ EnsureInitialized()

◆ EnsureInitializedLocked()

◆ GetCommMode()

◆ GetDescription()

◆ GetDriver() [1/2]

◆ GetDriver() [2/2]

◆ gpio()

◆ Initialize()

◆ IsDriverReady()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ SetTmclReplyTimeoutMs()

◆ temperature()

◆ visitDriver() [1/2]

◆ visitDriver() [2/2]

◆ visitDriverInternal()

Friends And Related Symbol Documentation

◆ Tmc9660AdcWrapper

Member Data Documentation

◆ adcWrapper_

◆ boot_ok_

◆ bootCfg_

◆ description_

◆ device_address_

◆ gpioWrappers_

◆ handler_mutex_

◆ kDefaultBootConfig

◆ spi_comm_

◆ spi_driver_

◆ temperatureWrapper_

◆ uart_comm_

◆ uart_driver_

◆ use_spi_