Namespaces
namespace	detail

Classes
struct	ApplyOptions
	How ApplyParameterImage() works. More...

struct	ApplyResult
	What ApplyParameterImage() did. More...

struct	MotorDriveDiagnostics
	The four TMC9660 status words, decoded (design §1.5). Raw words are kept for anything not named. More...

struct	MotorTelemetrySnapshot
	Caller-owned snapshot, refreshed in place by MotorController::ReadTelemetry(). More...

struct	ParamAccess
	One axis-parameter access in a batch (MCU- and transport-neutral copy of the driver's type). More...

struct	ParamWrite
	One entry of a parameter image (design §4.1, the TMC image). More...

Typedefs
using	Param = tmc9660::tmcl::Parameters

using	ReplyCode = tmc9660::tmcl::ReplyCode

Enumerations
enum class	TelemetryField : uint8_t { ActualPosition = 0 , ActualVelocity , TorqueFluxActual , GeneralStatus , GeneralErrors , GateDriverErrors , AdcStatus , SupplyVoltage , ChipTemperature , ExternalTemperature , TotalMotorCurrent , RampVelocity , RampPosition , VoltageDqActual , Iit1Sum , Iit2Sum , Count }
	The telemetry signals a snapshot carries (design §1.3, tiers C/F/S). More...

enum class	TelemetrySet : uint8_t { Cyclic = 0 , Status , Full }
	Which signals one ReadTelemetry() call fetches. More...

enum class	DriveSeverity : uint8_t { Ok = 0 , Warning , Fault }
	How serious the decoded status words are. More...

Functions
template<typename Driver >
size_t	BatchRead (Driver &driver, std::span< ParamAccess > items) noexcept
	Read a batch (GAP, pipelined).

template<typename Driver >
size_t	BatchWrite (Driver &driver, std::span< ParamAccess > items) noexcept
	Write a batch (SAP, pipelined; SAP is idempotent).

constexpr uint32_t	TelemetryRequestMask (TelemetrySet set, uint32_t next_sequence) noexcept
	Fields a set asks for, given the snapshot's next sequence number (Cyclic alternates 299/300).

template<typename Driver >
size_t	ReadTelemetry (Driver &driver, TelemetrySet set, MotorTelemetrySnapshot &snap) noexcept
	Refresh `snap` from one pipelined batch.

MotorDriveDiagnostics	DecodeDriveStatus (uint32_t status, uint32_t gen_err, uint32_t gdrv, uint32_t adc) noexcept
	Decode the four status words into named conditions and a severity.

template<typename Driver >
bool	ReadDriveDiagnostics (Driver &driver, MotorDriveDiagnostics &out) noexcept
	Read the four status words in one batch and decode them.

template<typename Driver >
bool	ClearLatchedFlags (Driver &driver, uint32_t general_errors, uint32_t gate_driver_errors, uint32_t adc_status) noexcept
	Clear latched (write-1-to-clear) bits of the error words in one batch.

template<typename Driver >
ApplyResult	ApplyParameterImage (Driver &driver, std::span< const ParamWrite > image, ApplyOptions opt) noexcept
	Apply a parameter image: MOTOR_TYPE first, then the rest in image order.

Variables
constexpr size_t	kBatchChunk = 16
	Elements per pipelined chunk (bounds the stack buffer; the driver chunks again internally).

constexpr size_t	kTelemetryFieldCount = static_cast<size_t>(TelemetryField::Count)

constexpr std::array< Param, kTelemetryFieldCount >	kTelemetryParam
	TMC9660 parameter behind each telemetry field.

Typedef Documentation

◆ Param

using vortex::motor::Param = typedef tmc9660::tmcl::Parameters

◆ ReplyCode

using vortex::motor::ReplyCode = typedef tmc9660::tmcl::ReplyCode

Enumeration Type Documentation

◆ DriveSeverity

enum class vortex::motor::DriveSeverity : uint8_t

strong

How serious the decoded status words are.

Enumerator
Ok	Nothing set that needs attention.
Warning	Thresholds crossed or events latched; the bridge may still run.
Fault	The chip stopped (or must stop) driving: gate-driver fault, retries failed, overtemperature.

◆ TelemetryField

enum class vortex::motor::TelemetryField : uint8_t

strong

The telemetry signals a snapshot carries (design §1.3, tiers C/F/S).

Enumerator
ActualPosition	A:144, counts.
ActualVelocity	A:125, chip velocity units.
TorqueFluxActual	A:331, packed Iq (high 16) / Id (low 16), unscaled.
GeneralStatus	A:289.
GeneralErrors	A:299 (write-1-to-clear latches)
GateDriverErrors	A:300.
AdcStatus	A:301.
SupplyVoltage	A:290, 0.1 V.
ChipTemperature	A:296, raw (°C = v·0.01615 − 268.15)
ExternalTemperature	A:293, raw AIN3 (NTC curve on the host)
TotalMotorCurrent	A:231, mA.
RampVelocity	A:69.
RampPosition	A:70.
VoltageDqActual	A:332, packed Ud/Uq, unscaled.
Iit1Sum	A:226, A²·ms.
Iit2Sum	A:229, A²·ms.
Count

◆ TelemetrySet

enum class vortex::motor::TelemetrySet : uint8_t

strong

Which signals one ReadTelemetry() call fetches.

Enumerator
Cyclic	The cyclic fixed slots (§2.2): 144, 125, 331, 289, and 299 / 300 on alternate calls (5 accesses).
Status	Status, error and power/thermal words: 289, 299, 300, 301, 290, 296, 293, 231, 226, 229.
Full	Every field.

Function Documentation

◆ ApplyParameterImage()

template<typename Driver >

ApplyResult vortex::motor::ApplyParameterImage	(	Driver &	driver,
		std::span< const ParamWrite >	image,
		ApplyOptions	opt
	)

noexcept

Apply a parameter image: MOTOR_TYPE first, then the rest in image order.

Before MOTOR_TYPE is set, FW051V100 answers most axis parameters with REPLY_WRONG_TYPE (design §1.10), so it is written (and verified) before anything else. The rest goes kBatchChunk entries per pipelined batch. No allocation and a fixed stack footprint, whatever the image size.

Returns: The counts; ApplyResult::ok() when nothing was rejected or mismatched.

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◆ BatchRead()

template<typename Driver >

size_t vortex::motor::BatchRead	(	Driver &	driver,
		std::span< ParamAccess >	items
	)

noexcept

Read a batch (GAP, pipelined).

Returns: number of elements answered REPLY_OK.

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◆ BatchWrite()

template<typename Driver >

size_t vortex::motor::BatchWrite	(	Driver &	driver,
		std::span< ParamAccess >	items
	)

noexcept

Write a batch (SAP, pipelined; SAP is idempotent).

Returns: number of elements answered REPLY_OK.

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◆ ClearLatchedFlags()

template<typename Driver >

bool vortex::motor::ClearLatchedFlags	(	Driver &	driver,
		uint32_t	general_errors,
		uint32_t	gate_driver_errors,
		uint32_t	adc_status
	)

noexcept

Clear latched (write-1-to-clear) bits of the error words in one batch.

Parameters

general_errors	Bits of A:299 to clear (0 = leave the word alone)
gate_driver_errors	Bits of A:300 to clear
adc_status	Bits of A:301 to clear

Returns: true if every write was accepted.

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◆ DecodeDriveStatus()

MotorDriveDiagnostics vortex::motor::DecodeDriveStatus	(	uint32_t	status,
		uint32_t	gen_err,
		uint32_t	gdrv,
		uint32_t	adc
	)

inlinenoexcept

Decode the four status words into named conditions and a severity.

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◆ ReadDriveDiagnostics()

template<typename Driver >

bool vortex::motor::ReadDriveDiagnostics	(	Driver &	driver,
		MotorDriveDiagnostics &	out
	)

noexcept

Read the four status words in one batch and decode them.

Returns: false if a word failed.

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◆ ReadTelemetry()

template<typename Driver >

size_t vortex::motor::ReadTelemetry	(	Driver &	driver,
		TelemetrySet	set,
		MotorTelemetrySnapshot &	snap
	)

noexcept

Refresh snap from one pipelined batch.

Returns: Number of fields read OK.

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◆ TelemetryRequestMask()

constexpr uint32_t vortex::motor::TelemetryRequestMask	(	TelemetrySet	set,
		uint32_t	next_sequence
	)

constexprnoexcept

Fields a set asks for, given the snapshot's next sequence number (Cyclic alternates 299/300).

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Variable Documentation

◆ kBatchChunk

constexpr size_t vortex::motor::kBatchChunk = 16

inlineconstexpr

Elements per pipelined chunk (bounds the stack buffer; the driver chunks again internally).

◆ kTelemetryFieldCount

constexpr size_t vortex::motor::kTelemetryFieldCount = static_cast<size_t>(TelemetryField::Count)

inlineconstexpr

◆ kTelemetryParam

constexpr std::array<Param, kTelemetryFieldCount> vortex::motor::kTelemetryParam

inlineconstexpr

Initial value:

{
    Param::ACTUAL_POSITION,     Param::ACTUAL_VELOCITY,
    Param::TORQUE_FLUX_COMBINED_ACTUAL_VALUES,
    Param::GENERAL_STATUS_FLAGS, Param::GENERAL_ERROR_FLAGS, Param::GDRV_ERROR_FLAGS, Param::ADC_STATUS_FLAGS,
    Param::SUPPLY_VOLTAGE,      Param::CHIP_TEMPERATURE,    Param::EXTERNAL_TEMPERATURE,
    Param::ACTUAL_TOTAL_MOTOR_CURRENT,
    Param::RAMP_VELOCITY,       Param::RAMP_POSITION,
    Param::VOLTAGE_D_Q_COMBINED_ACTUAL_VALUES,
    Param::IIT_SUM_1,           Param::IIT_SUM_2,
}

TMC9660 parameter behind each telemetry field.

Namespaces

Classes

Typedefs

Enumerations

Functions

Variables

Typedef Documentation

◆ Param

◆ ReplyCode

Enumeration Type Documentation

◆ DriveSeverity

◆ TelemetryField

◆ TelemetrySet

Function Documentation

◆ ApplyParameterImage()

◆ BatchRead()

◆ BatchWrite()

◆ ClearLatchedFlags()

◆ DecodeDriveStatus()

◆ ReadDriveDiagnostics()

◆ ReadTelemetry()

◆ TelemetryRequestMask()

Variable Documentation

◆ kBatchChunk

◆ kTelemetryFieldCount

◆ kTelemetryParam