Installation¶

Add the driver to a CMake or ESP-IDF project. It is a header-only C++20 library with no dependencies.

Requirements¶

A C++20 compiler: GCC 10+, Clang 12+ or a current MSVC. The CMake target requires cxx_std_20.
No RTOS and no exceptions: calls are noexcept and return Result<T>. The core allocates nothing on the heap; the string helpers that do (GetDriverConfigString()) disappear with TMC51X0_DISABLE_DEBUG_LOGGING.

Get the source¶

A git submodule keeps the driver pinned to a version you chose:

git submodule add https://github.com/hardfoc/hf-tmc5160-driver.git external/hf-tmc5160-driver
git submodule update --init external/hf-tmc5160-driver

Only inc/, src/, cmake/ and CMakeLists.txt are needed to build. The examples have their own submodules (examples/esp32/scripts and two remote-controller projects); you do not need them to use the driver.

CMake¶

add_subdirectory(external/hf-tmc5160-driver)
target_link_libraries(my_app PRIVATE hf_tmc51x0)     # or the alias hf::tmc51x0

Or install the driver and use the package:

cmake -S external/hf-tmc5160-driver -B build-tmc && cmake --install build-tmc --prefix /opt/hardfoc

find_package(hf_tmc51x0 REQUIRED CONFIG)            # CMAKE_PREFIX_PATH=/opt/hardfoc
target_link_libraries(my_app PRIVATE hf::tmc51x0)

The install tree holds the headers, tmc51x0.ipp (the template implementation, included by tmc51x0.hpp), the generated version header and the package files; a host test builds a consumer against it.

The hf_tmc51x0 target carries the include directories (inc/, inc/features/, inc/registers/, src/ and the generated version header) and requires C++20, so your target does not need to set either.

Option	Default	Effect
`HF_TMC51X0_ENABLE_WARNINGS`	`OFF`	`-Wall -Wextra -Wpedantic` on targets that link the driver
`HF_TMC51X0_BUILD_TESTS`	`OFF`	Builds the host unit tests in `tests/` (Testing and CI)

ESP-IDF¶

The ESP-IDF component wrapper is examples/esp32/components/hf_tmc51x0/. Copy that folder into your project's components/ (or point EXTRA_COMPONENT_DIRS at it) and set the HF_TMC51X0_ROOT cache variable to the driver checkout; the wrapper stops with a clear message when the path is wrong. Your component then declares REQUIRES hf_tmc51x0. The wrapper depends on the IDF driver component.

How the build is organised¶

Layer	File	Role
Settings	`cmake/hf_tmc51x0_build_settings.cmake`	Target name, include directories, version: the single source of truth
Library	`CMakeLists.txt`	Interface library, install rules, tests option
ESP-IDF	`examples/esp32/components/hf_tmc51x0/CMakeLists.txt`	IDF component wrapper over the same settings

The version is set once in the settings file and written into tmc51x0_version.h at configure time, which defines HF_TMC51X0_VERSION_STRING (for example "1.0.0") and the major, minor and patch numbers.

Compile-time switches¶

Define	Effect
`TMC51X0_DISABLE_DEBUG_LOGGING`	Removes every log call, the `Log*Summary()` helpers and `GetDriverConfigString()`
`TMC51X0_LOG_LEVEL=n`	Compiles in log calls up to level n (0 error, 1 warning, 2 info, 3 debug, 4 verbose; default 4)
`TMC51X0_NO_ERROR_STRINGS`	Removes `ErrorMessage()` and its string table
`TMC51X0_SPI_MAX_CHAIN_DEVICES=n`	Longest SPI daisy chain the interface accepts (default 8); sizes its scratch buffers

Next¶

Quickstart wires the chip and moves a motor; Porting writes the communication interface for your MCU.