Main TLE92466ED driver class. More...

#include <tle92466ed.hpp>

Public Member Functions
	Driver (CommType &comm) noexcept
	Construct driver with communication interface.

	~Driver () noexcept
	Destructor - ensures clean shutdown.

	Driver (const Driver &)=delete

Driver &	operator= (const Driver &)=delete

	Driver (Driver &&) noexcept=delete

Driver &	operator= (Driver &&) noexcept=delete

DriverResult< void >	Init (bool perform_hardware_reset=true) noexcept
	Initialize the driver and hardware.

DriverResult< void >	EnterMissionMode () noexcept
	Enter Mission Mode (enables channel control)

DriverResult< void >	EnterConfigMode () noexcept
	Enter Config Mode (allows configuration changes)

bool	IsMissionMode () const noexcept
	Check if in mission mode.

bool	IsConfigMode () const noexcept
	Check if in config mode.

DriverResult< void >	ConfigureGlobal (const GlobalConfig &config) noexcept
	Configure global device settings.

DriverResult< void >	SetCrcEnabled (bool enabled) noexcept
	Enable/disable CRC checking.

DriverResult< void >	SetVbatThresholds (float uv_voltage, float ov_voltage) noexcept
	Set VBAT under/overvoltage thresholds from voltage values (High-Level API)

DriverResult< void >	SetVbatThresholdsRaw (uint8_t uv_threshold, uint8_t ov_threshold) noexcept
	Set VBAT under/overvoltage thresholds (Low-Level API)

DriverResult< void >	EnableChannel (Channel channel, bool enabled) noexcept
	Enable or disable a channel.

DriverResult< void >	EnableChannels (uint8_t channel_mask) noexcept
	Enable or disable multiple channels.

DriverResult< void >	EnableAllChannels () noexcept
	Enable all channels.

DriverResult< void >	DisableAllChannels () noexcept
	Disable all channels.

DriverResult< void >	SetChannelMode (Channel channel, ChannelMode mode) noexcept
	Set channel operation mode.

DriverResult< void >	SetParallelOperation (ParallelPair pair, bool enabled) noexcept
	Configure channel for parallel operation.

DriverResult< void >	SetCurrentSetpoint (Channel channel, uint16_t current_ma, bool parallel_mode=false) noexcept
	Set current setpoint for channel.

DriverResult< void >	SetCurrentSetpointUa (Channel channel, uint32_t current_ua, bool parallel_mode=false) noexcept
	Set the ICC current setpoint in microamperes (full 15-bit TARGET resolution).

DriverResult< uint16_t >	GetCurrentSetpoint (Channel channel, bool parallel_mode=false) noexcept
	Get current setpoint for channel.

DriverResult< void >	ConfigurePwmPeriod (Channel channel, float period_us) noexcept
	Configure PWM period from desired period in microseconds (High-Level API)

DriverResult< void >	ConfigurePwmPeriodRaw (Channel channel, uint8_t period_mantissa, uint8_t period_exponent, bool low_freq_range=false) noexcept
	Configure PWM parameters for ICC (Low-Level API)

DriverResult< void >	ConfigureDither (Channel channel, float amplitude_ma, float frequency_hz, bool parallel_mode=false) noexcept
	Configure dither from amplitude and frequency (High-Level API)

DriverResult< void >	ConfigureDitherRaw (Channel channel, uint16_t step_size, uint8_t num_steps, uint8_t flat_steps) noexcept
	Configure dither parameters (Low-Level API)

DriverResult< void >	ConfigureDitherClock (Channel channel, float t_ref_clk_us, bool dither_pwm_sync=false, bool dither_setpoint_sync=false) noexcept
	Configure the per-channel dither reference clock (DITHER_CLK_DIV).

DriverResult< void >	ConfigureChannel (Channel channel, const ChannelConfig &config) noexcept
	Configure channel slew rate and diagnostics.

DriverResult< DeviceStatus >	GetDeviceStatus () noexcept
	Get global device status.

DriverResult< ChannelDiagnostics >	GetChannelDiagnostics (Channel channel) noexcept
	Get channel diagnostic information.

DriverResult< uint16_t >	GetAverageCurrent (Channel channel, bool parallel_mode=false) noexcept
	Get average load current for a channel, in milliamps.

DriverResult< uint16_t >	GetDutyCycle (Channel channel) noexcept
	Get PWM duty cycle for a channel, in permyriad (0..10000).

DriverResult< uint16_t >	GetVbatVoltage () noexcept
	Get VBAT voltage.

DriverResult< uint16_t >	GetVioVoltage () noexcept
	Get VIO voltage.

DriverResult< uint16_t >	GetVddVoltage () noexcept
	Get VDD voltage.

DriverResult< void >	GetVbatThresholds (uint16_t &uv_threshold, uint16_t &ov_threshold) noexcept
	Get VBAT thresholds.

DriverResult< void >	ClearFaults () noexcept
	Clear all fault flags.

DriverResult< bool >	HasAnyFault () noexcept
	Check if any fault exists.

DriverResult< FaultReport >	GetAllFaults () noexcept
	Get comprehensive fault report.

DriverResult< void >	PrintAllFaults () noexcept
	Print all detected faults to log.

DriverResult< void >	SoftwareReset () noexcept
	Software reset of the device.

DriverResult< void >	ReloadSpiWatchdog (uint16_t reload_value) noexcept
	Reload SPI watchdog counter.

DriverResult< uint16_t >	GetIcVersion () noexcept
	Read IC version and ID.

DriverResult< std::array< uint16_t, 3 > >	GetChipId () noexcept
	Read unique chip ID.

DriverResult< bool >	VerifyDevice () noexcept
	Verify device ID matches expected value.

bool	IsInitialized () const noexcept
	Check if driver is initialized.

DriverResult< void >	SetReset (bool reset) noexcept
	Hold device in reset or release reset.

DriverResult< void >	HoldReset () noexcept
	Hold device in reset.

DriverResult< void >	ReleaseReset () noexcept
	Release device from reset.

DriverResult< void >	SetEnable (bool enable) noexcept
	Enable or disable output channels.

DriverResult< void >	Enable () noexcept
	Enable output channels.

DriverResult< void >	Disable () noexcept
	Disable output channels.

DriverResult< bool >	IsFault (bool print_faults=false) noexcept
	Check if device fault is detected.

DriverResult< void >	ConfigureClockSource (ClockSource source, uint32_t f_clk_Hz=0) noexcept
	Configure the device clock source (internal osc vs external+PLL).

DriverResult< SupplyVoltages >	ReadAllSupplyVoltages () noexcept
	Atomic readout of VBAT, VIO, VDD and die temperature.

DriverResult< float >	GetCentralTemperatureCelsius () noexcept
	Read only the central die temperature in \u00b0C.

DriverResult< void >	SetVioLevel (VioLevel level) noexcept
	Select VIO voltage level (3.3 V or 5.0 V).

DriverResult< OperationState >	GetOperationState () noexcept
	Read the coarse operational state.

DriverResult< void >	EnterMissionModeChecked (uint32_t timeout_ms=10U) noexcept
	Enter Mission Mode and verify by polling FB_STAT.INIT_DONE.

DriverResult< SupplyMonitorSelfTestResult >	RunSupplyMonitorSelfTest () noexcept
	Run the built-in supply-monitor self-test sequence.

DriverResult< void >	SetIntegratorLimits (Channel channel, uint16_t lim_value_abs, uint8_t auto_lim_value_abs) noexcept
	Set ICC integrator clamp limits (INTEGRATOR_LIMIT, offset 0x03).

DriverResult< void >	SetPwmControllerKi (Channel channel, uint8_t ki) noexcept
	Set the PWM controller proportional gain (KI, PERIOD.PWM_CTRL_PARAM).

DriverResult< void >	SetMinIntegratorThreshold (Channel channel, int8_t min_int_thresh) noexcept
	Set the minimum integrator threshold (CTRL.MIN_INT_THRESH).

DriverResult< void >	SetManualOnTimeMode (Channel channel, float on_time_us) noexcept
	Switch to manual on-time mode (DIRECT_DRIVE_SPI) with fixed TON.

DriverResult< void >	SeedIntegratorThresholdFromFeedback (Channel channel) noexcept
	Seed the ICC integrator from the current feedback reading.

DriverResult< void >	SetDitherAdvanced (Channel channel, const DitherSetup &setup, bool parallel_mode=false) noexcept
	High-level dither configuration (superset of ConfigureDither).

DriverResult< void >	SetOlsgTimeout (Channel channel, uint8_t olsg_timeout_code) noexcept
	Configure open-load/short-to-ground watchdog timeout.

DriverResult< void >	SetOffStateDiagnostics (Channel channel, bool oc_diag_enabled, uint8_t ol_th_fixed) noexcept
	Enable / disable per-channel off-state OC diagnosis and fixed OL threshold.

DriverResult< BistResult >	RunSffBist (uint32_t timeout_ms=10U) noexcept
	Run the safe-state logic-BIST (SFF_BIST).

DriverResult< PinStatus >	ReadPinStatus () noexcept
	Read the input pin status register (PIN_STAT).

DriverResult< void >	SetFaultMask (MaskableFault fault, bool enable) noexcept
	Enable or mask a specific fault source from asserting FAULTN.

DriverResult< ChannelFeedback >	ReadChannelFeedback (Channel channel, uint32_t timeout_ms=10U) noexcept
	Read a coherent feedback snapshot for one channel.

DriverResult< std::array< ChannelFeedback, 6 > >	ReadAllChannelFeedback (uint32_t timeout_ms=20U) noexcept
	Read coherent feedback for all six channels in a single freeze window.

DriverResult< int32_t >	GetCalibrationAvgCurrent_mA (Channel channel) noexcept
	Calibration-grade signed average current from `FB_I_AVG_s16`.

DriverResult< uint8_t >	GetFeedbackUpdateMask () noexcept
	Read FB_UPD — bit N set when channel N has a completed window.

DriverResult< void >	FreezeFeedback (uint8_t channel_mask) noexcept
	Set FB_FRZ to `channel_mask` (bit N freezes channel N).

DriverResult< void >	ReleaseFeedbackFreeze () noexcept
	Clear FB_FRZ for every channel, resuming feedback updates.

DriverResult< CurrentFeedbackBatch >	SampleChannelCurrents (uint8_t channel_mask) noexcept
	Average current for several channels in one pipelined burst.

DriverResult< void >	ReadAllChannelErrorFlags (std::array< ChannelErrorFlags, 6 > &out) noexcept
	Latched error bits for all six channels.

DriverResult< bool >	IsMeasurementClockRunning (Channel channel) noexcept
	True when DITHER_CLK_DIV encodes a running measurement clock.

DriverResult< bool >	EnsureDitherRunning (Channel channel, float amplitude_ma, float frequency_hz, uint8_t max_attempts=3U) noexcept
	Configure dither and confirm the measurement clock took.

uint16_t	GetChannelControlShadow () const noexcept
	Last CH_CTRL value this driver wrote (OP_MODE + EN_CHx).

DriverResult< void >	SetFaultContributionMask (uint8_t channel_mask) noexcept
	Choose which channels may pull FAULTN via FAULT_MASK0/1.

DriverResult< uint32_t >	ReadRegister (uint16_t address, bool verify_crc=false) noexcept
	Read 16-bit register.

DriverResult< void >	ReadRegisterMulti (std::span< const uint16_t > addresses, std::span< uint32_t > values, uint16_t &valid_mask) noexcept
	Read several registers in one pipelined chain.

DriverResult< void >	WriteRegister (uint16_t address, uint16_t value, bool verify_crc=false, bool verify_write=true) noexcept
	Write 16-bit register.

DriverResult< void >	ModifyRegister (uint16_t address, uint16_t mask, uint16_t value) noexcept
	Modify register bits.

Static Public Member Functions
static constexpr uint32_t	GetSystemClockHz () noexcept
	Get the nominal system clock (always 28 MHz after PLL lock).

static constexpr const char *	GetDriverVersion () noexcept
	Get the compiled driver version string.

static constexpr uint8_t	GetDriverVersionMajor () noexcept
	Get the compiled driver major version number.

static constexpr uint8_t	GetDriverVersionMinor () noexcept
	Get the compiled driver minor version number.

static constexpr uint8_t	GetDriverVersionPatch () noexcept
	Get the compiled driver patch version number.

Private Member Functions
DriverResult< SPIFrame >	transferFrame (const SPIFrame &tx_frame, bool verify_crc=true) noexcept
	Transfer SPI frame with CRC calculation and verification.

constexpr bool	isValidChannelInternal (Channel channel) const noexcept
	Validate channel number.

DriverResult< void >	checkInitialized () const noexcept
	Check if driver is initialized.

DriverResult< void >	checkMissionMode () const noexcept
	Check if in mission mode.

DriverResult< void >	checkConfigMode () const noexcept
	Check if in config mode.

DriverResult< void >	applyDefaultConfig () noexcept
	Apply default configuration after initialization.

DriverResult< void >	clearFaultsInternal () noexcept
	Clear faults without checking initialization status (used during Init)

DriverResult< void >	setVbatThresholdsInternal (float uv_voltage, float ov_voltage) noexcept
	Set VBAT thresholds without checking initialization status (used during Init)

DriverResult< void >	checkSpiStatus (const SPIFrame &rx_frame) noexcept
	Parse SPI status from reply frame.

DriverResult< bool >	isChannelParallel (Channel channel) noexcept
	Check if channel is currently in parallel mode.

DriverResult< bool >	isSlaveChannel (Channel channel) noexcept
	Check if a channel is the slave half of an enabled parallel pair. Slave channels are CH2, CH3, CH5 when their pair is parallelized; most per-channel writes are rejected on the slave.

void	diagnoseClockConfiguration () noexcept
	Diagnose clock configuration by reading CLK_DIV register.

Private Attributes
CommType &	comm_
	Communication interface.

bool	initialized_ {false}
	Initialization status.

bool	mission_mode_ {false}
	Mission mode flag (vs config mode)

bool	crc_enabled_ {false}
	CRC enable state (tracks GLOBAL_CONFIG::CRC_EN)

bool	vio_5v_mode_ {false}
	VIO mode state (tracks GLOBAL_CONFIG::VIO_SEL, false=3.3V, true=5V)

uint16_t	ch_ctrl_cache_ {0U}
	Cached CH_CTRL register value (reads return 0x0000)

uint16_t	channel_enable_cache_ {0U}
	Cached channel enable state.

uint16_t	cached_icvid_ {0U}
	ICVID latched at VerifyDevice (live re-read may flake)

std::array< uint16_t, 6 >	channel_setpoints_
	Cached current setpoints.

Detailed Description

template<typename CommType>
class tle92466ed::Driver< CommType >

Main TLE92466ED driver class.

This is the primary driver class that provides complete control over the TLE92466ED IC. It manages SPI communication (32-bit with CRC), configuration, current control, monitoring, and diagnostics for all six output channels.

Thread Safety: This class is NOT thread-safe by default. External synchronization is required for multi-threaded access.

Resource Management: Uses RAII principles - init() must be called explicitly but cleanup is automatic.

Error Handling: Uses std::expected for robust error handling without exceptions.

Initialization Sequence:

Construct driver with CommInterface reference
Call init() to initialize hardware and verify device
Call enter_mission_mode() to enable channel control
Configure channels with set_channel_mode() and configure_channel()
Set current with set_current_setpoint()
Enable outputs with enable_channel()
Monitor with get diagnostics functions

Constructor & Destructor Documentation

◆ Driver() [1/3]

template<typename CommType >

tle92466ed::Driver< CommType >::Driver ( CommType & comm )

inlineexplicitnoexcept

Construct driver with communication interface.

Parameters

comm	Reference to communication interface

Precondition: CommInterface must remain valid for the lifetime of the Driver

Postcondition: Driver is constructed but not initialized

◆ ~Driver()

template<typename CommType >

tle92466ed::Driver< CommType >::~Driver ( )

inlinenoexcept

Destructor - ensures clean shutdown.

◆ Driver() [2/3]

template<typename CommType >

tle92466ed::Driver< CommType >::Driver ( const Driver< CommType > & )

delete

◆ Driver() [3/3]

template<typename CommType >

tle92466ed::Driver< CommType >::Driver ( Driver< CommType > && )

deletenoexcept

Member Function Documentation

◆ applyDefaultConfig()

template<typename CommType >

DriverResult< void > tle92466ed::Driver< CommType >::applyDefaultConfig ( )

privatenoexcept

Apply default configuration after initialization.

◆ checkConfigMode()

template<typename CommType >

DriverResult< void > tle92466ed::Driver< CommType >::checkConfigMode ( ) const

inlineprivatenoexcept

Check if in config mode.

◆ checkInitialized()

template<typename CommType >

DriverResult< void > tle92466ed::Driver< CommType >::checkInitialized ( ) const

inlineprivatenoexcept

Check if driver is initialized.

◆ checkMissionMode()

template<typename CommType >

DriverResult< void > tle92466ed::Driver< CommType >::checkMissionMode ( ) const

inlineprivatenoexcept

Check if in mission mode.

◆ checkSpiStatus()

template<typename CommType >

DriverResult< void > tle92466ed::Driver< CommType >::checkSpiStatus ( const SPIFrame & rx_frame )

privatenoexcept

Parse SPI status from reply frame.

◆ ClearFaults()

template<typename CommType >

DriverResult< void > tle92466ed::Driver< CommType >::ClearFaults ( )

noexcept

Clear all fault flags.

Clears latched fault conditions. Does not clear active faults.

Returns: DriverResult<void> Success or error

◆ clearFaultsInternal()

template<typename CommType >

DriverResult< void > tle92466ed::Driver< CommType >::clearFaultsInternal ( )

privatenoexcept

Clear faults without checking initialization status (used during Init)

◆ ConfigureChannel()

template<typename CommType >

DriverResult< void > tle92466ed::Driver< CommType >::ConfigureChannel	(	Channel	channel,
		const ChannelConfig &	config
	)

noexcept

Configure channel slew rate and diagnostics.

Parameters

channel	Channel to configure
config	Channel configuration

Returns: DriverResult<void> Success or error

◆ ConfigureClockSource()

template<typename CommType >

DriverResult< void > tle92466ed::Driver< CommType >::ConfigureClockSource	(	ClockSource	source,
		uint32_t	f_clk_Hz = `0`
	)

noexcept

Configure the device clock source (internal osc vs external+PLL).

Parameters

source	Desired clock source.
f_clk_Hz	External clock rate in Hz (required if source is ExternalClockPll; ignored otherwise). Supported range is 1\u20138 MHz per datasheet \u00a74.1.

Returns: DriverResult<void> Success or error.

Writes CLK_DIV (0x0019) in Config Mode. Caller is responsible for waiting the datasheet-specified PLL lock time (\u2248500 \u00b5s).

◆ ConfigureDither()

template<typename CommType >

DriverResult< void > tle92466ed::Driver< CommType >::ConfigureDither	(	Channel	channel,
		float	amplitude_ma,
		float	frequency_hz,
		bool	parallel_mode = `false`
	)

noexcept

Configure dither from amplitude and frequency (High-Level API)

Parameters

channel	Channel to configure
amplitude_ma	Desired dither amplitude in milliamperes
frequency_hz	Desired dither frequency in Hz
parallel_mode	true if channel is in parallel mode (affects max current)

Returns: DriverResult<void> Success or error

Automatically calculates step_size, num_steps, and flat_steps to achieve the desired amplitude and frequency.

Formulas:

I_dither = STEPS × STEP_SIZE × 2A / 32767
T_dither = [4×STEPS + 2×FLAT] × t_ref_clk

Note: This is the recommended API for most users. Use ConfigureDitherRaw() only if you need direct control over register values.

◆ ConfigureDitherClock()

template<typename CommType >

DriverResult< void > tle92466ed::Driver< CommType >::ConfigureDitherClock	(	Channel	channel,
		float	t_ref_clk_us,
		bool	dither_pwm_sync = `false`,
		bool	dither_setpoint_sync = `false`
	)

noexcept

Configure the per-channel dither reference clock (DITHER_CLK_DIV).

Per datasheet §5.3.3.7, DITHER_CLK_DIV (offset 0x0004 within each channel bank) sets the dither reference clock used by both the dither generator and the averaged-feedback engine:

tref_clk = MANT × 2^EXP / fSYS

POR reset value is 0x0000 which makes tref_clk = 0, the dither period TDither = 0, and (in ICC mode) the measurement period Tmeas = TDither = 0 — so FB_DC / FB_I_AVG / FB_VBAT NEVER update. The high-level ConfigureDither() API calls this function automatically with values derived from the requested dither frequency. Use this API directly if you need a specific tref_clk (e.g. to control the FB update rate independently from the dither amplitude/period).

Parameters

channel	Channel to configure
t_ref_clk_us	Desired reference clock period in microseconds. The driver picks the closest representable MANT/EXP and logs the actual value used. Must be > 0; minimum 0.125 µs (1/fSYS).
dither_pwm_sync	If true, synchronise dither period start with PWM rising edge (DITHER_PWM_SYNC_EN).
dither_setpoint_sync	If true, restart dither period on every setpoint change (DITHER_SETPOINT_SYNC_EN); required for the lockstep-feedback mode described in datasheet §4.7.5.

Returns: DriverResult<void> Success or error

◆ ConfigureDitherRaw()

template<typename CommType >

DriverResult< void > tle92466ed::Driver< CommType >::ConfigureDitherRaw	(	Channel	channel,
		uint16_t	step_size,
		uint8_t	num_steps,
		uint8_t	flat_steps
	)

noexcept

Configure dither parameters (Low-Level API)

Parameters

channel	Channel to configure
step_size	Dither step size (0-4095)
num_steps	Number of steps in quarter period (0-255)
flat_steps	Number of flat clock cycles at top/bottom (0-255)

Returns: DriverResult<void> Success or error

Formulas:

I_dither = STEPS × STEP_SIZE × 2A / 32767
T_dither = [4×STEPS + 2×FLAT] × t_ref_clk

Note: For most users, prefer ConfigureDither(amplitude_ma, frequency_hz) which automatically calculates these values from user-friendly parameters.

◆ ConfigureGlobal()

template<typename CommType >

DriverResult< void > tle92466ed::Driver< CommType >::ConfigureGlobal ( const GlobalConfig & config )

noexcept

Configure global device settings.

Parameters

config Global configuration structure

Returns: DriverResult<void> Success or error

Return values

DriverError::NotInitialized	Driver not initialized
DriverError::WrongMode	Must be in Config Mode

◆ ConfigurePwmPeriod()

template<typename CommType >

DriverResult< void > tle92466ed::Driver< CommType >::ConfigurePwmPeriod	(	Channel	channel,
		float	period_us
	)

noexcept

Configure PWM period from desired period in microseconds (High-Level API)

Parameters

channel	Channel to configure
period_us	Desired PWM period in microseconds

Returns: DriverResult<void> Success or DriverError::InvalidParameter

The TLE92466ED's PWM frequency controller is specified to operate between 110 Hz and 4 kHz (datasheet Electrical Characteristics). In period_us terms that is a usable range of:

Standard range (LOW_FREQ_RANGE_EN = 0): 250 µs ≤ period_us ≤ 9090 µs (= 4 kHz .. 110 Hz)
Low-frequency range (LOW_FREQ_RANGE_EN = 1): 2000 µs ≤ period_us ≤ 72727 µs (= 500 Hz .. 13.75 Hz)

The driver auto-selects the appropriate range. Periods outside the combined min/max (250 µs – 72.7 ms) return InvalidParameter. Periods that fall in the gap between the two ranges (9.1 – 2 ms, i.e. 110 Hz – 500 Hz) are accepted but logged as a warning since the PWM-control loop is not specified there.

Formulas: T_pwm = PERIOD_MANT × 2^PERIOD_EXP × (1/f_sys) Low-range: T_pwm = PERIOD_MANT × 8 × 2^PERIOD_EXP × (1/f_sys) f_sys ≈ 8 MHz

Note: Reaching the ultrasonic range (>20 kHz) is not possible with this chip family — 4 kHz is the hardware ceiling.; This is the recommended API for most users. Use ConfigurePwmPeriodRaw() only if you need direct control over register values.

See also: PERIOD::kSpecMinPeriod_us, PERIOD::kSpecMaxPeriod_us, PERIOD::kSpecLowRangeMinPeriod_us, PERIOD::kSpecLowRangeMaxPeriod_us

◆ ConfigurePwmPeriodRaw()

template<typename CommType >

DriverResult< void > tle92466ed::Driver< CommType >::ConfigurePwmPeriodRaw	(	Channel	channel,
		uint8_t	period_mantissa,
		uint8_t	period_exponent,
		bool	low_freq_range = `false`
	)

noexcept

Configure PWM parameters for ICC (Low-Level API)

Parameters

channel	Channel to configure
period_mantissa	PWM period mantissa (0-255)
period_exponent	PWM period exponent (0-7; larger returns InvalidParameter)
low_freq_range	Enable low frequency range (8x multiplier)

Returns: DriverResult<void> Success or error

PWM period: t_PWM = mantissa * 2^exponent * (1/f_sys) If low_freq_range: t_PWM = mantissa * 8 * 2^exponent * (1/f_sys)

Note: For most users, prefer ConfigurePwmPeriod(period_us) which automatically calculates these values from a desired period.

◆ diagnoseClockConfiguration()

template<typename CommType >

void tle92466ed::Driver< CommType >::diagnoseClockConfiguration ( )

privatenoexcept

Diagnose clock configuration by reading CLK_DIV register.

Reads and logs the CLK_DIV register to help diagnose clock-related critical faults. This is called during initialization.

◆ Disable()

template<typename CommType >

DriverResult< void > tle92466ed::Driver< CommType >::Disable ( )

inlinenoexcept

Disable output channels.

Convenience function to disable outputs. Equivalent to SetEnable(false).

Returns: DriverResult<void> Success or error

◆ DisableAllChannels()

template<typename CommType >

DriverResult< void > tle92466ed::Driver< CommType >::DisableAllChannels ( )

noexcept

Disable all channels.

◆ Enable()

template<typename CommType >

DriverResult< void > tle92466ed::Driver< CommType >::Enable ( )

inlinenoexcept

Enable output channels.

Convenience function to enable outputs. Equivalent to SetEnable(true).

Returns: DriverResult<void> Success or error

◆ EnableAllChannels()

template<typename CommType >

DriverResult< void > tle92466ed::Driver< CommType >::EnableAllChannels ( )

noexcept

Enable all channels.

◆ EnableChannel()

template<typename CommType >

DriverResult< void > tle92466ed::Driver< CommType >::EnableChannel	(	Channel	channel,
		bool	enabled
	)

noexcept

Enable or disable a channel.

Parameters

channel	Channel to control
enabled	true to enable, false to disable

Returns: DriverResult<void> Success or error

Return values

DriverError::WrongMode Must be in Mission Mode

◆ EnableChannels()

template<typename CommType >

DriverResult< void > tle92466ed::Driver< CommType >::EnableChannels ( uint8_t channel_mask )

noexcept

Enable or disable multiple channels.

Parameters

channel_mask Bitmask where bit N enables channel N

Returns: DriverResult<void> Success or error

◆ EnsureDitherRunning()

template<typename CommType >

DriverResult< bool > tle92466ed::Driver< CommType >::EnsureDitherRunning	(	Channel	channel,
		float	amplitude_ma,
		float	frequency_hz,
		uint8_t	max_attempts = `3U`
	)

noexcept

Configure dither and confirm the measurement clock took.

Parameters

channel	Channel to configure.
amplitude_ma	Dither amplitude; 0 skips dither programming.
frequency_hz	Dither frequency.
max_attempts	Configure/read-back attempts before giving up.

Returns: true when DITHER_CLK_DIV read back as running; false when it never confirmed (the caller decides whether to proceed anyway — the clock may still be running from a POR or an earlier write that this device's SPI read cannot confirm).

◆ EnterConfigMode()

template<typename CommType >

DriverResult< void > tle92466ed::Driver< CommType >::EnterConfigMode ( )

noexcept

Enter Config Mode (allows configuration changes)

Transitions from Mission Mode to Config Mode. All channel outputs are automatically disabled when entering Config Mode.

Returns: DriverResult<void> Success or error

◆ EnterMissionMode()

template<typename CommType >

DriverResult< void > tle92466ed::Driver< CommType >::EnterMissionMode ( )

noexcept

Enter Mission Mode (enables channel control)

Transitions from Config Mode to Mission Mode. Channel outputs can only be enabled in Mission Mode. Most configuration registers can only be written in Config Mode.

Returns: DriverResult<void> Success or error

Return values

DriverError::NotInitialized Driver not initialized

◆ EnterMissionModeChecked()

template<typename CommType >

DriverResult< void > tle92466ed::Driver< CommType >::EnterMissionModeChecked ( uint32_t timeout_ms = 10U )

noexcept

Enter Mission Mode and verify by polling FB_STAT.INIT_DONE.

Parameters

timeout_ms Maximum time to wait for INIT_DONE.

◆ FreezeFeedback()

template<typename CommType >

DriverResult< void > tle92466ed::Driver< CommType >::FreezeFeedback ( uint8_t channel_mask )

noexcept

Set FB_FRZ to channel_mask (bit N freezes channel N).

Note: Freezing holds FB_DC, FB_VBAT, FB_I_AVG, FB_PERIOD_MIN_MAX and FB_IMIN_IMAX. FB_I_AVG_s16 is free-running and unaffected (§4.10.5).

◆ GetAllFaults()

template<typename CommType >

DriverResult< FaultReport > tle92466ed::Driver< CommType >::GetAllFaults ( )

noexcept

Get comprehensive fault report.

Reads all fault registers (GLOBAL_DIAG0, GLOBAL_DIAG1, GLOBAL_DIAG2) and all channel fault registers to provide a complete fault report.

Returns: DriverResult<FaultReport> Complete fault report or error

◆ GetAverageCurrent()

template<typename CommType >

DriverResult< uint16_t > tle92466ed::Driver< CommType >::GetAverageCurrent	(	Channel	channel,
		bool	parallel_mode = `false`
	)

noexcept

Get average load current for a channel, in milliamps.

Reads the compressed mantissa/exponent feedback path (FB_I_AVG and FB_DC, both 22-bit reply frames) and decodes Iavg = 4 A × <I_AVG_MANT> / <TP_MANT> per datasheet §4.10.2. Issues two pipelined SPI reads per register (four frames total).

Before decoding, validates the measurement window via FB_FEEDBACK::HasValidMeasurementWindow() (minimum FB_FEEDBACK::kMinValidTpMant in TP_MANT from FB_DC).

Parameters

channel	Channel to query
parallel_mode	Currently unused — the mantissa-ratio formula is identical for parallel-paired channels; kept for API stability.

Returns: Average load current in mA on success.

Return values

DriverError::FeedbackNotReady	`TP_MANT` too small for a trustworthy mantissa ratio (averaging window not established, feedback frozen, or corrupted pipelined reply).
DriverError::InvalidChannel	Channel out of range.
DriverError::NotInitialized	Driver not initialized.

Note: Uses FB_I_AVG (mantissa ratio with TP_MANT from FB_DC), not FB_I_AVG_s16. For calibration-grade signed current see GetCalibrationAvgCurrent_mA().; Negative load current (recirculation) is clamped to 0 in this legacy unsigned return type.

Warning: This path freezes the channel and polls FB_UPD with Delay() for up to ~8 ms. It is a diagnostic / console helper. Real-time control must use SampleChannelCurrents, which never blocks.

See also: FB_FEEDBACK::kMinValidTpMant, FB_FEEDBACK::HasValidMeasurementWindow; SampleChannelCurrents

◆ GetCalibrationAvgCurrent_mA()

template<typename CommType >

DriverResult< int32_t > tle92466ed::Driver< CommType >::GetCalibrationAvgCurrent_mA ( Channel channel )

noexcept

Calibration-grade signed average current from FB_I_AVG_s16.

Reads the per-channel FB_I_AVG_s16 register (offset 0x0204) and decodes the 17-bit signed field via FB_I_AVG_s16::ToMilliamps(). This path is distinct from GetAverageCurrent(), which uses the compressed FB_I_AVG mantissa ratio with TP_MANT from FB_DC.

Parameters

channel Channel to query.

Returns: Signed average current in mA, or error.

Note: FB_I_AVG_s16 is intended for calibration workflows. The datasheet notes the frame may not be valid while the channel is still settling, so this returns DriverError::FeedbackNotReady when the register still holds the mid-scale placeholder (FB_I_AVG_s16::IsSettlingFrame).

Warning: That placeholder check is the only validity gate here. Unlike GetAverageCurrent() this accessor does not confirm the channel has an established measurement window, so prefer GetAverageCurrent() for control and telemetry and keep this one for calibration.

See also: FB_I_AVG_s16, GetAverageCurrent()

◆ GetCentralTemperatureCelsius()

template<typename CommType >

DriverResult< float > tle92466ed::Driver< CommType >::GetCentralTemperatureCelsius ( )

noexcept

Read only the central die temperature in \u00b0C.

◆ GetChannelControlShadow()

template<typename CommType >

uint16_t tle92466ed::Driver< CommType >::GetChannelControlShadow ( ) const

inlinenoexcept

Last CH_CTRL value this driver wrote (OP_MODE + EN_CHx).

CH_CTRL reads back as 0x0000 on some parts/buses, so the driver keeps an authoritative shadow. Callers must use this instead of keeping a second shadow of their own.

◆ GetChannelDiagnostics()

template<typename CommType >

DriverResult< ChannelDiagnostics > tle92466ed::Driver< CommType >::GetChannelDiagnostics ( Channel channel )

noexcept

Get channel diagnostic information.

Parameters

channel Channel to query

Returns: DriverResult<ChannelDiagnostics> Diagnostics or error

◆ GetChipId()

template<typename CommType >

DriverResult< std::array< uint16_t, 3 > > tle92466ed::Driver< CommType >::GetChipId ( )

noexcept

Read unique chip ID.

Returns: DriverResult<std::array<uint16_t, 3>> Three 16-bit ID registers

◆ GetCurrentSetpoint()

template<typename CommType >

DriverResult< uint16_t > tle92466ed::Driver< CommType >::GetCurrentSetpoint	(	Channel	channel,
		bool	parallel_mode = `false`
	)

noexcept

Get current setpoint for channel.

Parameters

channel	Channel to query
parallel_mode	true if channel is in parallel mode

Returns: DriverResult<uint16_t> Current in mA or error

◆ GetDeviceStatus()

template<typename CommType >

DriverResult< DeviceStatus > tle92466ed::Driver< CommType >::GetDeviceStatus ( )

noexcept

Get global device status.

Returns: DriverResult<DeviceStatus> Device status or error

◆ GetDriverVersion()

template<typename CommType >

static constexpr const char * tle92466ed::Driver< CommType >::GetDriverVersion ( )

inlinestaticconstexprnoexcept

Get the compiled driver version string.

◆ GetDriverVersionMajor()

template<typename CommType >

static constexpr uint8_t tle92466ed::Driver< CommType >::GetDriverVersionMajor ( )

inlinestaticconstexprnoexcept

Get the compiled driver major version number.

◆ GetDriverVersionMinor()

template<typename CommType >

static constexpr uint8_t tle92466ed::Driver< CommType >::GetDriverVersionMinor ( )

inlinestaticconstexprnoexcept

Get the compiled driver minor version number.

◆ GetDriverVersionPatch()

template<typename CommType >

static constexpr uint8_t tle92466ed::Driver< CommType >::GetDriverVersionPatch ( )

inlinestaticconstexprnoexcept

Get the compiled driver patch version number.

◆ GetDutyCycle()

template<typename CommType >

DriverResult< uint16_t > tle92466ed::Driver< CommType >::GetDutyCycle ( Channel channel )

noexcept

Get PWM duty cycle for a channel, in permyriad (0..10000).

Reads FB_DC (22-bit reply) and decodes DC = <TO_MANT> / <TP_MANT> per datasheet §4.10.2, then scales to permyriad so the legacy uint16_t return type retains 0.01 % precision.

Parameters

channel Channel to query

Returns: Duty cycle in permyriad (0 = 0.00 %, 10000 = 100.00 %).

Note: Does not return DriverError::FeedbackNotReady. When TP_MANT is 0 or the window is invalid, the decoded duty is 0 permyriad. Use GetAverageCurrent() or ReadChannelFeedback() when an explicit not-ready indication is required.

◆ GetFeedbackUpdateMask()

template<typename CommType >

DriverResult< uint8_t > tle92466ed::Driver< CommType >::GetFeedbackUpdateMask ( )

noexcept

Read FB_UPD — bit N set when channel N has a completed window.

One central 16-bit read covers all six channels (datasheet §5.3.2.10). This is the chip's own "is the data fresh" signal and the first step of the Figure 22 readout; polling it beats guessing at Tmeas with a wall clock, and it costs one register access for the whole device.

◆ GetIcVersion()

template<typename CommType >

DriverResult< uint16_t > tle92466ed::Driver< CommType >::GetIcVersion ( )

noexcept

Read IC version and ID.

Returns: DriverResult<uint16_t> ICVID register value

◆ GetOperationState()

template<typename CommType >

DriverResult< OperationState > tle92466ed::Driver< CommType >::GetOperationState ( )

noexcept

Read the coarse operational state.

◆ GetSystemClockHz()

template<typename CommType >

static constexpr uint32_t tle92466ed::Driver< CommType >::GetSystemClockHz ( )

inlinestaticconstexprnoexcept

Get the nominal system clock (always 28 MHz after PLL lock).

◆ GetVbatThresholds()

template<typename CommType >

DriverResult< void > tle92466ed::Driver< CommType >::GetVbatThresholds	(	uint16_t &	uv_threshold,
		uint16_t &	ov_threshold
	)

noexcept

Get VBAT thresholds.

Parameters

uv_threshold	Output parameter for UV threshold in millivolts
ov_threshold	Output parameter for OV threshold in millivolts

Returns: DriverResult<void> Success or error

◆ GetVbatVoltage()

template<typename CommType >

DriverResult< uint16_t > tle92466ed::Driver< CommType >::GetVbatVoltage ( )

noexcept

Get VBAT voltage.

Returns: DriverResult<uint16_t> VBAT in millivolts or error

◆ GetVddVoltage()

template<typename CommType >

DriverResult< uint16_t > tle92466ed::Driver< CommType >::GetVddVoltage ( )

noexcept

Get VDD voltage.

Returns: DriverResult<uint16_t> VDD in millivolts or error

◆ GetVioVoltage()

template<typename CommType >

DriverResult< uint16_t > tle92466ed::Driver< CommType >::GetVioVoltage ( )

noexcept

Get VIO voltage.

Returns: DriverResult<uint16_t> VIO in millivolts or error

◆ HasAnyFault()

template<typename CommType >

DriverResult< bool > tle92466ed::Driver< CommType >::HasAnyFault ( )

noexcept

Check if any fault exists.

Returns: DriverResult<bool> true if any fault exists

◆ HoldReset()

template<typename CommType >

DriverResult< void > tle92466ed::Driver< CommType >::HoldReset ( )

inlinenoexcept

Hold device in reset.

Convenience function to hold device in reset state. Equivalent to SetReset(true).

Returns: DriverResult<void> Success or error

◆ Init()

template<typename CommType >

DriverResult< void > tle92466ed::Driver< CommType >::Init ( bool perform_hardware_reset = true )

noexcept

Initialize the driver and hardware.

Performs complete initialization sequence:

Initialize CommInterface (SPI peripheral)
Verify device communication
Read and verify device ID
Apply default configuration (in Config Mode)
Clear any power-on faults

After init(), device is in Config Mode. Call enter_mission_mode() to enable outputs.

Parameters

perform_hardware_reset When true (default), pulse RESN low then release before SPI identity. When false, leave RESN released (HIGH) and only re-run EN settle + SPI verify — used by shared-bus retries so the eval RESET LED is not hammered every few hundred ms.

Returns: DriverResult<void> Success or error code

Return values

DriverError::HardwareError	CommInterface initialization failed
DriverError::DeviceNotResponding	No SPI response
DriverError::WrongDeviceID	Device ID mismatch

◆ isChannelParallel()

template<typename CommType >

DriverResult< bool > tle92466ed::Driver< CommType >::isChannelParallel ( Channel channel )

privatenoexcept

Check if channel is currently in parallel mode.

Parameters

channel Channel to check

Returns: DriverResult<bool> true if channel is paralleled, false otherwise

◆ IsConfigMode()

template<typename CommType >

bool tle92466ed::Driver< CommType >::IsConfigMode ( ) const

inlinenoexcept

Check if in config mode.

Returns: true if in config mode, false if in mission mode

◆ IsFault()

template<typename CommType >

DriverResult< bool > tle92466ed::Driver< CommType >::IsFault ( bool print_faults = false )

noexcept

Check if device fault is detected.

Reads the FAULTN pin to check if a fault condition is present. FAULTN is an active-low signal, so LOW = fault detected.

Parameters

print_faults If true and fault is detected, automatically calls PrintAllFaults() to display detailed fault information. Default: false (no automatic printing)

Returns: DriverResult<bool> true if fault detected, false if no fault, or error

Return values

DriverError::HardwareError GPIO read failed

Note: This reads the hardware FAULTN pin. When a fault is detected, print_faults is true, and the driver is initialized, detailed fault information is automatically printed via PrintAllFaults().

◆ IsInitialized()

template<typename CommType >

bool tle92466ed::Driver< CommType >::IsInitialized ( ) const

inlinenoexcept

Check if driver is initialized.

Returns: true if initialized and ready

◆ IsMeasurementClockRunning()

template<typename CommType >

DriverResult< bool > tle92466ed::Driver< CommType >::IsMeasurementClockRunning ( Channel channel )

noexcept

True when DITHER_CLK_DIV encodes a running measurement clock.

The POR value is 0, which makes tref_clk — and therefore Tmeas — zero, so FB_DC / FB_I_AVG / FB_VBAT never update. Confirming this before trusting feedback is a chip invariant, not caller policy.

◆ IsMissionMode()

template<typename CommType >

bool tle92466ed::Driver< CommType >::IsMissionMode ( ) const

inlinenoexcept

Check if in mission mode.

Returns: true if in mission mode, false if in config mode

◆ isSlaveChannel()

template<typename CommType >

DriverResult< bool > tle92466ed::Driver< CommType >::isSlaveChannel ( Channel channel )

privatenoexcept

Check if a channel is the slave half of an enabled parallel pair. Slave channels are CH2, CH3, CH5 when their pair is parallelized; most per-channel writes are rejected on the slave.

◆ isValidChannelInternal()

template<typename CommType >

constexpr bool tle92466ed::Driver< CommType >::isValidChannelInternal ( Channel channel ) const

inlineconstexprprivatenoexcept

Validate channel number.

◆ ModifyRegister()

template<typename CommType >

DriverResult< void > tle92466ed::Driver< CommType >::ModifyRegister	(	uint16_t	address,
		uint16_t	mask,
		uint16_t	value
	)

noexcept

Modify register bits.

Parameters

address	Register address
mask	Bit mask for modification
value	New bit values

Returns: DriverResult<void> Success or error

◆ operator=() [1/2]

template<typename CommType >

Driver & tle92466ed::Driver< CommType >::operator= ( const Driver< CommType > & )

delete

◆ operator=() [2/2]

template<typename CommType >

Driver & tle92466ed::Driver< CommType >::operator= ( Driver< CommType > && )

deletenoexcept

◆ PrintAllFaults()

template<typename CommType >

DriverResult< void > tle92466ed::Driver< CommType >::PrintAllFaults ( )

noexcept

Print all detected faults to log.

Reads all faults and prints them in a formatted, easy-to-read format. Only prints faults that are actually detected.

Returns: DriverResult<void> Success or error

◆ ReadAllChannelErrorFlags()

template<typename CommType >

DriverResult< void > tle92466ed::Driver< CommType >::ReadAllChannelErrorFlags ( std::array< ChannelErrorFlags, 6 > & out )

noexcept

Latched error bits for all six channels.

DIAG_ERR_CHGR0..2 each cover a channel pair, so this is one pipelined burst of three reads for the whole device.

Warning: Do not merge this into the same chain as the 22-bit feedback registers. These are 16-bit replies; interleaving widths in one pipeline desynchronised the reply slots on the bench and left every isolated coil misclassified.

◆ ReadAllChannelFeedback()

template<typename CommType >

DriverResult< std::array< ChannelFeedback, 6 > > tle92466ed::Driver< CommType >::ReadAllChannelFeedback ( uint32_t timeout_ms = 20U )

noexcept

Read coherent feedback for all six channels in a single freeze window.

Parameters

timeout_ms Maximum time to wait for each channel's FB_UPD poll.

Returns: Array of six ChannelFeedback structures or error.

◆ ReadAllSupplyVoltages()

template<typename CommType >

DriverResult< SupplyVoltages > tle92466ed::Driver< CommType >::ReadAllSupplyVoltages ( )

noexcept

Atomic readout of VBAT, VIO, VDD and die temperature.

Reads FB_VOLTAGE1 and FB_VOLTAGE2 and decodes them via the VOLTAGE_FEEDBACK namespace helpers. Result is stable even while the device is operating in Mission Mode.

◆ ReadChannelFeedback()

template<typename CommType >

DriverResult< ChannelFeedback > tle92466ed::Driver< CommType >::ReadChannelFeedback	(	Channel	channel,
		uint32_t	timeout_ms = `10U`
	)

noexcept

Read a coherent feedback snapshot for one channel.

Workflow (datasheet §4.10.5):

Freeze feedback for this channel (FB_FRZ).
Poll FB_UPD for the update bit for this channel.
Read FB_DC / FB_VBAT / FB_I_AVG / FB_IMIN_IMAX / FB_PERIOD_MIN_MAX / FB_INT_THRESH.
Release the freeze.

avg_current_mA is decoded from FB_I_AVG + FB_DC via the mantissa ratio (FB_FEEDBACK::ComputeAverageCurrent_mA). It does not gate on HasValidMeasurementWindow() — callers must interpret near-zero TP_MANT themselves or prefer GetAverageCurrent() for explicit FeedbackNotReady handling.

Parameters

channel	Channel to read.
timeout_ms	Maximum time to wait for `FB_UPD`.

Returns: Coherent ChannelFeedback snapshot or error.

Return values

DriverError::TimeoutError Update bit did not assert in time.

◆ ReadPinStatus()

template<typename CommType >

DriverResult< PinStatus > tle92466ed::Driver< CommType >::ReadPinStatus ( )

noexcept

Read the input pin status register (PIN_STAT).

◆ ReadRegister()

template<typename CommType >

DriverResult< uint32_t > tle92466ed::Driver< CommType >::ReadRegister	(	uint16_t	address,
		bool	verify_crc = `false`
	)

noexcept

Read 16-bit register.

Parameters

address	Register address (10-bit)
verify_crc	Override CRC verification (default: uses internal CRC enable state)

Returns: DriverResult<uint32_t> Register value (16-bit or 22-bit depending on reply mode) or error

Note: If verify_crc is not explicitly provided, uses internal CRC enable state which tracks GLOBAL_CONFIG::CRC_EN. Set to false to override (e.g., during init).

◆ ReadRegisterMulti()

template<typename CommType >

DriverResult< void > tle92466ed::Driver< CommType >::ReadRegisterMulti	(	std::span< const uint16_t >	addresses,
		std::span< uint32_t >	values,
		uint16_t &	valid_mask
	)

noexcept

Read several registers in one pipelined chain.

Parameters

[in]	addresses	Register addresses (at most `CommType::kMaxPipelinedReads`).
[out]	values	Decoded values; entries that failed validation are 0.
[out]	valid_mask	Bit `i` set when `values`[i] is trustworthy.

N reads cost N+2 SPI frames here instead of 3N, because the pipeline is opened once for the whole burst. Individual replies are still validated independently, so a single corrupt frame costs one entry rather than the batch.

Warning: Every address in one call must answer with the same reply width. Mixing 16-bit and 22-bit registers in a single chain desynchronised reply slots on the bench.

◆ ReleaseFeedbackFreeze()

template<typename CommType >

DriverResult< void > tle92466ed::Driver< CommType >::ReleaseFeedbackFreeze ( )

noexcept

Clear FB_FRZ for every channel, resuming feedback updates.

Note: Also clears the corresponding FB_UPD bits (§4.10.5).

◆ ReleaseReset()

template<typename CommType >

DriverResult< void > tle92466ed::Driver< CommType >::ReleaseReset ( )

inlinenoexcept

Release device from reset.

Convenience function to release device from reset state. Equivalent to SetReset(false).

Returns: DriverResult<void> Success or error

◆ ReloadSpiWatchdog()

template<typename CommType >

DriverResult< void > tle92466ed::Driver< CommType >::ReloadSpiWatchdog ( uint16_t reload_value )

noexcept

Reload SPI watchdog counter.

Must be called periodically when SPI watchdog is enabled to prevent watchdog timeout.

Parameters

reload_value Reload value (watchdog period)

Returns: DriverResult<void> Success or error

◆ RunSffBist()

template<typename CommType >

DriverResult< BistResult > tle92466ed::Driver< CommType >::RunSffBist ( uint32_t timeout_ms = 10U )

noexcept

Run the safe-state logic-BIST (SFF_BIST).

◆ RunSupplyMonitorSelfTest()

template<typename CommType >

DriverResult< SupplyMonitorSelfTestResult > tle92466ed::Driver< CommType >::RunSupplyMonitorSelfTest ( )

noexcept

Run the built-in supply-monitor self-test sequence.

Exercises the UV/OV swap, the 1.5 V monitor UV/OV trips and the over-temperature test logic. Restores the original GLOBAL_CONFIG on exit. Device must be in Config Mode.

◆ SampleChannelCurrents()

template<typename CommType >

DriverResult< CurrentFeedbackBatch > tle92466ed::Driver< CommType >::SampleChannelCurrents ( uint8_t channel_mask )

noexcept

Average current for several channels in one pipelined burst.

Parameters

channel_mask Bit N requests channel N (bits above 5 ignored).

Returns: Batch with per-channel current and the masks describing what was actually usable. Never blocks and never polls.

Figure 22 wants a freeze around the FB_DC / FB_I_AVG pair. On the desk Mid eval FB_FRZ is unreadable (and an un-acked freeze sticks, aborting Tmeas for the rest of the session). This path therefore:

writes FB_FRZ=0 (clear a stuck freeze),
reads FB_UPD for telemetry only,
one anchored pipelined burst (ICVID / FB_I_AVG / FB_DC per channel) for every requested channel; TP_MANT gates decode,
writes FB_FRZ=0 again.

A chain whose ICVID anchors do not verify is discarded whole — a spliced neighbour current is never published as this channel's. Host: tests/host/test_tle_anchored_chain.cpp.

Warning: Unlike ReadChannelFeedback this does not wait for FB_UPD. It is meant to be called at the control-loop rate: whatever is ready is sampled, the rest is picked up next tick. That is what makes it usable from a 2 ms thread that also owns actuator writes.

◆ SeedIntegratorThresholdFromFeedback()

template<typename CommType >

DriverResult< void > tle92466ed::Driver< CommType >::SeedIntegratorThresholdFromFeedback ( Channel channel )

noexcept

Seed the ICC integrator from the current feedback reading.

Reads FB_INT_THRESH and writes it back to CTRL_INT_THRESH.INT_THRESH so that a subsequent setpoint change doesn't wind up the integrator.

◆ SetChannelMode()

template<typename CommType >

DriverResult< void > tle92466ed::Driver< CommType >::SetChannelMode	(	Channel	channel,
		ChannelMode	mode
	)

noexcept

Set channel operation mode.

Parameters

channel	Channel to configure
mode	Operation mode (ICC, Direct Drive, etc.)

Returns: DriverResult<void> Success or error

Return values

DriverError::WrongMode Must be in Config Mode

◆ SetCrcEnabled()

template<typename CommType >

DriverResult< void > tle92466ed::Driver< CommType >::SetCrcEnabled ( bool enabled )

noexcept

Enable/disable CRC checking.

Parameters

enabled true to enable CRC

Returns: DriverResult<void> Success or error

◆ SetCurrentSetpoint()

template<typename CommType >

DriverResult< void > tle92466ed::Driver< CommType >::SetCurrentSetpoint	(	Channel	channel,
		uint16_t	current_ma,
		bool	parallel_mode = `false`
	)

noexcept

Set current setpoint for channel.

Parameters

channel	Channel to configure
current_ma	Desired current in milliamperes (0-2000 single, 0-4000 parallel)
parallel_mode	Set true if channel is in parallel mode

Returns: DriverResult<void> Success or error

Note: Current is regulated by the Integrated Current Controller (ICC); Resolution: 15-bit (0.061mA per LSB in single mode)

Current Limits (from datasheet):

Single channel: 1.5A typical continuous, 2.0A absolute maximum
Parallel channels: 2.7A typical continuous, 4.0A absolute maximum

Warning: Setting currents above typical continuous ratings may result in thermal limiting, reduced accuracy, or current regulation at the device's natural limit rather than the requested setpoint.

◆ SetCurrentSetpointUa()

template<typename CommType >

DriverResult< void > tle92466ed::Driver< CommType >::SetCurrentSetpointUa	(	Channel	channel,
		uint32_t	current_ua,
		bool	parallel_mode = `false`
	)

noexcept

Set the ICC current setpoint in microamperes (full 15-bit TARGET resolution).

Parameters

channel	Channel.
current_ua	Target in µA (≤ 2 000 000 single / 4 000 000 parallel).
parallel_mode	Parallel-channel scaling.

Same write/verify path as SetCurrentSetpoint, which now delegates here with current_ma * 1000.

◆ SetDitherAdvanced()

template<typename CommType >

DriverResult< void > tle92466ed::Driver< CommType >::SetDitherAdvanced	(	Channel	channel,
		const DitherSetup &	setup,
		bool	parallel_mode = `false`
	)

noexcept

High-level dither configuration (superset of ConfigureDither).

Programs DITHER_CLK_DIV + DITHER_STEP + DITHER_CTRL atomically to realize the requested amplitude/frequency and sync/fast-measure options. Clears any residual deep-dither / fast-meas flags.

◆ SetEnable()

template<typename CommType >

DriverResult< void > tle92466ed::Driver< CommType >::SetEnable ( bool enable )

noexcept

Enable or disable output channels.

Controls the EN (enable) pin. When disabled, all output channels are disabled regardless of channel enable register settings.

Parameters

enable If true, enable outputs (EN HIGH). If false, disable outputs (EN LOW).

Returns: DriverResult<void> Success or error

Return values

DriverError::HardwareError GPIO control failed

Note: This affects all channels. Individual channel control is via EnableChannel().; EN only affects output channels, not SPI communication.

◆ SetFaultContributionMask()

template<typename CommType >

DriverResult< void > tle92466ed::Driver< CommType >::SetFaultContributionMask ( uint8_t channel_mask )

noexcept

Choose which channels may pull FAULTN via FAULT_MASK0/1.

Parameters

channel_mask Bit N = channel N contributes to FAULTN.

Which channels are populated is product wiring, so the mask is an argument; how that maps onto FAULT_MASK0/1 bit positions is chip protocol and stays here.

◆ SetFaultMask()

template<typename CommType >

DriverResult< void > tle92466ed::Driver< CommType >::SetFaultMask	(	MaskableFault	fault,
		bool	enable
	)

noexcept

Enable or mask a specific fault source from asserting FAULTN.

◆ SetIntegratorLimits()

template<typename CommType >

DriverResult< void > tle92466ed::Driver< CommType >::SetIntegratorLimits	(	Channel	channel,
		uint16_t	lim_value_abs,
		uint8_t	auto_lim_value_abs
	)

noexcept

Set ICC integrator clamp limits (INTEGRATOR_LIMIT, offset 0x03).

Parameters

channel	Channel to configure.
lim_value_abs	Primary integrator limit magnitude (0\u20131023).
auto_lim_value_abs	Auto-limit setpoint delta magnitude (0\u201331).

The driver enforces the datasheet constraint that auto_lim_value_abs must be greater than MIN_INT_THRESH+3 (as currently cached in the channel's CTRL register).

◆ SetManualOnTimeMode()

template<typename CommType >

DriverResult< void > tle92466ed::Driver< CommType >::SetManualOnTimeMode	(	Channel	channel,
		float	on_time_us
	)

noexcept

Switch to manual on-time mode (DIRECT_DRIVE_SPI) with fixed TON.

Parameters

channel	Channel to configure.
on_time_us	Desired constant on-time in microseconds.

Writes TON.TON_MANT and sets CTRL_INT_THRESH.PERIOD_MANT=0 which disables the ICC integrator update path.

◆ SetMinIntegratorThreshold()

template<typename CommType >

DriverResult< void > tle92466ed::Driver< CommType >::SetMinIntegratorThreshold	(	Channel	channel,
		int8_t	min_int_thresh
	)

noexcept

Set the minimum integrator threshold (CTRL.MIN_INT_THRESH).

Parameters

channel	Channel to configure.
min_int_thresh	Signed 8-bit minimum integrator threshold.

◆ SetOffStateDiagnostics()

template<typename CommType >

DriverResult< void > tle92466ed::Driver< CommType >::SetOffStateDiagnostics	(	Channel	channel,
		bool	oc_diag_enabled,
		uint8_t	ol_th_fixed
	)

noexcept

Enable / disable per-channel off-state OC diagnosis and fixed OL threshold.

Parameters

channel	Channel to configure.
oc_diag_enabled	true to enable OC diagnosis while channel is OFF
ol_th_fixed	Fixed open-load threshold (0\u201363; 0 = disabled)

◆ SetOlsgTimeout()

template<typename CommType >

DriverResult< void > tle92466ed::Driver< CommType >::SetOlsgTimeout	(	Channel	channel,
		uint8_t	olsg_timeout_code
	)

noexcept

Configure open-load/short-to-ground watchdog timeout.

Parameters

channel	Channel to configure.
olsg_timeout_code	6-bit OLSG timeout value (0\u201363).

◆ SetParallelOperation()

template<typename CommType >

DriverResult< void > tle92466ed::Driver< CommType >::SetParallelOperation	(	ParallelPair	pair,
		bool	enabled
	)

noexcept

Configure channel for parallel operation.

Parameters

pair	Parallel pair to configure (0/3, 1/2, or 4/5)
enabled	true to enable parallel operation

Returns: DriverResult<void> Success or error

Return values

DriverError::WrongMode Must be in Config Mode

◆ SetPwmControllerKi()

template<typename CommType >

DriverResult< void > tle92466ed::Driver< CommType >::SetPwmControllerKi	(	Channel	channel,
		uint8_t	ki
	)

noexcept

Set the PWM controller proportional gain (KI, PERIOD.PWM_CTRL_PARAM).

Parameters

channel	Channel to configure.
ki	4-bit PWM controller parameter (0\u201315).

◆ SetReset()

template<typename CommType >

DriverResult< void > tle92466ed::Driver< CommType >::SetReset ( bool reset )

noexcept

Hold device in reset or release reset.

Controls the RESN (reset) pin. When in reset, the device is held in a reset state and all registers are reset to default values.

Parameters

reset If true, hold device in reset (RESN LOW). If false, release reset (RESN HIGH).

Returns: DriverResult<void> Success or error

Return values

DriverError::HardwareError GPIO control failed

Note: RESN must be released (reset=false) for SPI communication to work.; Holding device in reset will disable all channels and reset registers.

◆ SetVbatThresholds()

template<typename CommType >

DriverResult< void > tle92466ed::Driver< CommType >::SetVbatThresholds	(	float	uv_voltage,
		float	ov_voltage
	)

noexcept

Set VBAT under/overvoltage thresholds from voltage values (High-Level API)

Parameters

uv_voltage	UV threshold voltage in volts (0V to ~41.4V)
ov_voltage	OV threshold voltage in volts (0V to ~41.4V)

Returns: DriverResult<void> Success or error

Automatically calculates register values from voltage. Formula: register_value = voltage / 0.16208V

Note: This is the recommended API for most users. Use SetVbatThresholdsRaw() only if you need direct control over register values.

◆ setVbatThresholdsInternal()

template<typename CommType >

DriverResult< void > tle92466ed::Driver< CommType >::setVbatThresholdsInternal	(	float	uv_voltage,
		float	ov_voltage
	)

privatenoexcept

Set VBAT thresholds without checking initialization status (used during Init)

Parameters

uv_voltage	Under-voltage threshold in volts
ov_voltage	Over-voltage threshold in volts

Returns: DriverResult<void> Success or error

◆ SetVbatThresholdsRaw()

template<typename CommType >

DriverResult< void > tle92466ed::Driver< CommType >::SetVbatThresholdsRaw	(	uint8_t	uv_threshold,
		uint8_t	ov_threshold
	)

noexcept

Set VBAT under/overvoltage thresholds (Low-Level API)

Parameters

uv_threshold	UV threshold register value (0-255, V_BAT_UV = value * 0.16208V)
ov_threshold	OV threshold register value (0-255, V_BAT_OV = value * 0.16208V)

Returns: DriverResult<void> Success or error

Note: For most users, prefer SetVbatThresholds(uv_voltage, ov_voltage) which automatically calculates these values from voltage.

◆ SetVioLevel()

template<typename CommType >

DriverResult< void > tle92466ed::Driver< CommType >::SetVioLevel ( VioLevel level )

noexcept

Select VIO voltage level (3.3 V or 5.0 V).

Updates GLOBAL_CONFIG.VIO_SEL and caches the selection so that subsequent supply-voltage decodes pick the correct LSB. Must be called in Config Mode.

◆ SoftwareReset()

template<typename CommType >

DriverResult< void > tle92466ed::Driver< CommType >::SoftwareReset ( )

noexcept

Software reset of the device.

Resets all registers to default values. init() must be called again.

Returns: DriverResult<void> Success or error

◆ transferFrame()

template<typename CommType >

DriverResult< SPIFrame > tle92466ed::Driver< CommType >::transferFrame	(	const SPIFrame &	tx_frame,
		bool	verify_crc = `true`
	)

privatenoexcept

Transfer SPI frame with CRC calculation and verification.

Delegates to comm_.Read() / comm_.Write(), each of which performs the chip's two-frame pipelined transaction via TransferMulti().

◆ VerifyDevice()

template<typename CommType >

DriverResult< bool > tle92466ed::Driver< CommType >::VerifyDevice ( )

noexcept

Verify device ID matches expected value.

Returns: DriverResult<bool> true if ID matches

◆ WriteRegister()

template<typename CommType >

DriverResult< void > tle92466ed::Driver< CommType >::WriteRegister	(	uint16_t	address,
		uint16_t	value,
		bool	verify_crc = `false`,
		bool	verify_write = `true`
	)

noexcept

Write 16-bit register.

Parameters

address	Register address (10-bit)
value	Value to write (16-bit)
verify_crc	Override CRC verification (default: uses internal CRC enable state)
verify_write	If true, read back register to verify write succeeded (default: true)

Returns: DriverResult<void> Success or error

Note: If verify_crc is not explicitly provided, uses internal CRC enable state which tracks GLOBAL_CONFIG::CRC_EN. Set to false to override (e.g., during init).; If verify_write is true, reads back the register after write and logs a warning if the read value doesn't match. Some registers may be write-only (e.g., GLOBAL_CONFIG), in which case verification will fail gracefully.

Member Data Documentation

◆ cached_icvid_

template<typename CommType >

uint16_t tle92466ed::Driver< CommType >::cached_icvid_ {0U}

private

ICVID latched at VerifyDevice (live re-read may flake)

◆ ch_ctrl_cache_

template<typename CommType >

uint16_t tle92466ed::Driver< CommType >::ch_ctrl_cache_ {0U}

private

Cached CH_CTRL register value (reads return 0x0000)

◆ channel_enable_cache_

template<typename CommType >

uint16_t tle92466ed::Driver< CommType >::channel_enable_cache_ {0U}

private

Cached channel enable state.

◆ channel_setpoints_

template<typename CommType >

std::array<uint16_t, 6> tle92466ed::Driver< CommType >::channel_setpoints_

private

Cached current setpoints.

◆ comm_

template<typename CommType >

CommType& tle92466ed::Driver< CommType >::comm_

private

Communication interface.

◆ crc_enabled_

template<typename CommType >

bool tle92466ed::Driver< CommType >::crc_enabled_ {false}

private

CRC enable state (tracks GLOBAL_CONFIG::CRC_EN)

◆ initialized_

template<typename CommType >

bool tle92466ed::Driver< CommType >::initialized_ {false}

private

Initialization status.

◆ mission_mode_

template<typename CommType >

bool tle92466ed::Driver< CommType >::mission_mode_ {false}

private

Mission mode flag (vs config mode)

◆ vio_5v_mode_

template<typename CommType >

bool tle92466ed::Driver< CommType >::vio_5v_mode_ {false}

private

VIO mode state (tracks GLOBAL_CONFIG::VIO_SEL, false=3.3V, true=5V)

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

inc/tle92466ed.hpp

Public Member Functions

Static Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Driver() [1/3]

◆ ~Driver()

◆ Driver() [2/3]

◆ Driver() [3/3]

Member Function Documentation

◆ applyDefaultConfig()

◆ checkConfigMode()

◆ checkInitialized()

◆ checkMissionMode()

◆ checkSpiStatus()

◆ ClearFaults()

◆ clearFaultsInternal()

◆ ConfigureChannel()

◆ ConfigureClockSource()

◆ ConfigureDither()

◆ ConfigureDitherClock()

◆ ConfigureDitherRaw()

◆ ConfigureGlobal()

◆ ConfigurePwmPeriod()

◆ ConfigurePwmPeriodRaw()

◆ diagnoseClockConfiguration()

◆ Disable()

◆ DisableAllChannels()

◆ Enable()

◆ EnableAllChannels()

◆ EnableChannel()

◆ EnableChannels()

◆ EnsureDitherRunning()

◆ EnterConfigMode()

◆ EnterMissionMode()

◆ EnterMissionModeChecked()

◆ FreezeFeedback()

◆ GetAllFaults()

◆ GetAverageCurrent()

◆ GetCalibrationAvgCurrent_mA()

◆ GetCentralTemperatureCelsius()

◆ GetChannelControlShadow()

◆ GetChannelDiagnostics()

◆ GetChipId()

◆ GetCurrentSetpoint()

◆ GetDeviceStatus()

◆ GetDriverVersion()

◆ GetDriverVersionMajor()

◆ GetDriverVersionMinor()

◆ GetDriverVersionPatch()

◆ GetDutyCycle()

◆ GetFeedbackUpdateMask()

◆ GetIcVersion()

◆ GetOperationState()

◆ GetSystemClockHz()

◆ GetVbatThresholds()

◆ GetVbatVoltage()

◆ GetVddVoltage()

◆ GetVioVoltage()

◆ HasAnyFault()

◆ HoldReset()

◆ Init()

◆ isChannelParallel()

◆ IsConfigMode()

◆ IsFault()

◆ IsInitialized()

◆ IsMeasurementClockRunning()

◆ IsMissionMode()

◆ isSlaveChannel()

◆ isValidChannelInternal()

◆ ModifyRegister()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ PrintAllFaults()

◆ ReadAllChannelErrorFlags()

◆ ReadAllChannelFeedback()

◆ ReadAllSupplyVoltages()

◆ ReadChannelFeedback()

◆ ReadPinStatus()