MotorController.h File Reference

Singleton class for managing multiple TMC9660 motor controllers and their interfaces. More...

#include "handlers/tmc9660/Tmc9660Handler.h"
#include "CommChannelsManager.h"
#include "RtosMutex.h"
#include "api_helpers/Tmc9660DriveObservability.h"
#include <span>
#include <array>
#include <atomic>
#include <optional>

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Classes
struct	Tmc9660ControlPins
	Bundle of host-side GPIO references for TMC9660 control pins. More...
struct	MotorMechanics
	Mechanical mapping between the motor (rotor) frame and the load (output-shaft) frame. More...
struct	MotorAccessStats
	TMCL access accounting per device (every batch MotorController sends on the device's behalf). More...
struct	MotorSystemDiagnostics
	System-level diagnostics snapshot for motor controller health monitoring. More...
struct	MotorSystemDiagnostics::DeviceSnapshot
	Per-device snapshot (indexed 0..MAX_TMC9660_DEVICES-1) More...
class	MotorController
	Singleton managing multiple TMC9660 motor controllers on Vortex V1. More...

Typedefs
using	MotorParameterAccess = vortex::motor::ParamAccess
	One element of a batch read / write.
using	MotorParameterWrite = vortex::motor::ParamWrite
	One entry of a parameter image.
using	MotorTelemetrySet = vortex::motor::TelemetrySet
	Which signals a telemetry read fetches.
using	MotorTelemetryField = vortex::motor::TelemetryField
using	MotorTelemetrySnapshot = vortex::motor::MotorTelemetrySnapshot
using	MotorDriveDiagnostics = vortex::motor::MotorDriveDiagnostics
using	MotorApplyOptions = vortex::motor::ApplyOptions
using	MotorApplyResult = vortex::motor::ApplyResult

Enumerations
enum class	MotorError : uint8_t {   SUCCESS = 0 , NOT_INITIALIZED , INITIALIZATION_FAILED , DEVICE_ALREADY_EXISTS ,   DEVICE_NOT_FOUND , INVALID_DEVICE_INDEX , CANNOT_DELETE_ONBOARD , DEPENDENCY_NOT_READY ,   COMMUNICATION_FAILED , INVALID_PARAMETER , HANDLER_CREATION_FAILED , MUTEX_LOCK_FAILED }
	Motor controller manager error codes for consistent error reporting. More...
enum class	Tmc9660HostSpiGateMode : uint8_t { Disabled = 0 , EnabledForHostSpiMotor = 1 }
	Vortex-style host SPI steering to the onboard TMC9660 (PCAL95555 outputs). More...

Functions
constexpr const char *	MotorErrorToString (MotorError error) noexcept
	Convert MotorError to a human-readable string.
MotorController &	GetMotorController () noexcept
	Convenience accessor — equivalent to MotorController::GetInstance().

Detailed Description

Singleton class for managing multiple TMC9660 motor controllers and their interfaces.

This class provides a global singleton for managing TMC9660 motor controllers, including:

• Always creates and manages the onboard TMC9660 device (device index 0)
• Allows dynamic creation/deletion of external TMC9660 devices (indices 2-3)
• Array-based access to Tmc9660Handler instances by device index
• Access to individual TMC9660 drivers, GPIO, and ADC by device index
• Thread-safe device registration and access
• Board-aware device management with predefined CS pin assignments

Note

Since the TMC9660 driver update, handler construction requires host-side GPIO control pins (RST, DRV_EN, FAULTN, WAKE). These must be provided when creating TMC9660 devices via the Tmc9660ControlPins struct.

Typedef Documentation

MotorApplyOptions

using MotorApplyOptions = vortex::motor::ApplyOptions

MotorApplyResult

using MotorApplyResult = vortex::motor::ApplyResult

MotorDriveDiagnostics

using MotorDriveDiagnostics = vortex::motor::MotorDriveDiagnostics

MotorParameterAccess

using MotorParameterAccess = vortex::motor::ParamAccess

One element of a batch read / write.

MotorParameterWrite

using MotorParameterWrite = vortex::motor::ParamWrite

One entry of a parameter image.

MotorTelemetryField

using MotorTelemetryField = vortex::motor::TelemetryField

MotorTelemetrySet

using MotorTelemetrySet = vortex::motor::TelemetrySet

Which signals a telemetry read fetches.

MotorTelemetrySnapshot

using MotorTelemetrySnapshot = vortex::motor::MotorTelemetrySnapshot

Enumeration Type Documentation

MotorError

enum class MotorError : uint8_t

strong

Motor controller manager error codes for consistent error reporting.

Manager-layer errors for TMC9660 device lifecycle operations (create, delete, initialize). Driver-level TMC9660 errors are handled internally by the handler.

Enumerator
SUCCESS	Operation completed successfully.
NOT_INITIALIZED	Manager not yet initialised.
INITIALIZATION_FAILED	Device initialisation failed.
DEVICE_ALREADY_EXISTS	A device already occupies this slot.
DEVICE_NOT_FOUND	No active device at the given index.
INVALID_DEVICE_INDEX	Device index out of valid range.
CANNOT_DELETE_ONBOARD	Onboard device (index 0) cannot be deleted.
DEPENDENCY_NOT_READY	Required dependency not initialised.
COMMUNICATION_FAILED	A bus-level transfer failed.
INVALID_PARAMETER	Null pointer or out-of-range argument.
HANDLER_CREATION_FAILED	Heap allocation or handler init failed.
MUTEX_LOCK_FAILED	RTOS mutex acquire timed out.

Tmc9660HostSpiGateMode

enum class Tmc9660HostSpiGateMode : uint8_t

strong

Vortex-style host SPI steering to the onboard TMC9660 (PCAL95555 outputs).

On Vortex, PCAL_TMC_SPI_COMM_EN (TMC_COMM_ENn, active-low) steers the shared SPI segment: asserted (SetActive) connects the ESP32 SPI master to the TMC9660; deasserted releases that path (e.g. host UART to TMC, or TMC-local SPI) per schematic.

Enumerator
Disabled	SPI mux released (UART motor path / idle).
EnabledForHostSpiMotor	Host SPI to TMC9660 (PCAL_TMC_SPI_COMM_EN asserted).

Function Documentation

GetMotorController()

MotorController & GetMotorController ( )

inlinenoexcept

Convenience accessor — equivalent to MotorController::GetInstance().

Returns

Reference to the singleton MotorController.

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MotorErrorToString()

constexpr const char * MotorErrorToString ( MotorError  error )

constexprnoexcept

Convert MotorError to a human-readable string.

Parameters

error

Error code to convert.

Returns

Null-terminated string representation.

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