Motor and motion control¶

Handlers for the TMC9660 motor controller, the TMC5160 stepper driver and Dynamixel Protocol 2.0 servos.

Tmc9660Handler¶

Unified handler for TMC9660 motor controller with GPIO, ADC, and temperature integration.

Header: handlers/tmc9660/Tmc9660Handler.h
Switch: HF_CORE_ENABLE_TMC9660 (default OFF)
Driver: hf-tmc9660-driver
Host test: tests/host/test_tmc9660.cpp

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

Group	Public methods
Initialization	`Initialize()`, `EnsureInitialized()`, `IsDriverReady()`, `SetTmclReplyTimeoutMs()`
Peripheral Accessors	`gpio()`, `adc()`, `temperature()`
Communication Info	`GetCommMode()`, `bootConfig()`
Diagnostics	`DumpDiagnostics()`, `GetDescription()`
Typed Driver Access	`driverViaSpi()`, `driverViaUart()`, `GetDriver()`
Driver Visitor Pattern	`visitDriver()`

visitDriver() locks the handler and initialises it before calling you; driverViaSpi() and driverViaUart() return the typed driver without locking, so synchronise yourself when several tasks use them. gpio(), adc() and temperature() present the chip's GPIOs, ADC and temperature sensor as BaseGpio, BaseAdc and BaseTemperature. Like the typed driver accessors they run the lazy bring-up and return nullptr when it fails; gpio() also returns nullptr for any pin other than 17 or 18. bootConfig() returns nullptr when the handler was built without a bootloader configuration. The driver itself is documented on the TMC9660 driver site.

Tmc5160Handler¶

Unified handler for TMC5160/TMC5130 stepper motor driver with SPI/UART integration.

Header: handlers/tmc5160/Tmc5160Handler.h
Switch: HF_CORE_ENABLE_TMC5160 (default OFF)
Driver: hf-tmc5160-driver

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

Group	Public methods
All	`Initialize()`, `EnsureInitialized()`, `Deinitialize()`, `IsInitialized()`, `IsSpi()`, `visitDriver()`, `driverViaSpi()`, `driverViaUart()`, `GetDriver()`, `DumpDiagnostics()`, `GetDescription()`, `GetDefaultConfig()`, `GetDriverConfig()`

DynamixelHandler¶

HAL-level handler for Protocol 2.0 Dynamixel servos on BaseUart.

Header: handlers/dynamixel/DynamixelHandler.h
Switch: HF_CORE_ENABLE_DYNAMIXEL (default OFF)
Driver: hf-dynamixel-driver

DynamixelHandler(
    BaseUart& uart,
    const DynamixelHandlerConfig& config = DynamixelHandlerConfig{},
    RtosMutex* bus_mutex = nullptr);

Group	Public methods
All	`EnsureInitialized()`, `IsPresent()`, `Identity()`, `Model()`, `BindModel()`, `BindXSeriesFallback()`, `Ping()`, `Scan()`, `Reboot()`, `SetTorqueEnabled()`, `SetOperatingMode()`, `SetMotionProfile()`, `SetGoalPosition()`, `SetGoalVelocity()`, `ReadPosition()`, `ReadTelemetry()`, `bus()`, `device()`, `visitDevice()`