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HardFOC driver

TMC9660 Driver

A C++20 driver for the Analog Devices (Trinamic) TMC9660 smart motor controller. It boots the chip into parameter mode, configures BLDC, stepper and DC motors, runs field-oriented control and reads telemetry, on any MCU with SPI or UART.

Quickstart API guide Source on GitHub

The driver has no platform code. You give it a small class that moves bytes over SPI or UART and toggles four pins; it does the rest: the bootloader handshake, TMCL framing, retries, unit conversion and fault decoding.

Smart gate driver with on-chip FOC TMC9660 Analog Devices (Trinamic)
Motors
3-phase BLDC / PMSM, 2-phase stepper, brushed DC
Control
Field-oriented control on chip: torque / flux, velocity and position loops, ramps
Feedback
Digital Hall, ABN incremental encoder (two), SPI absolute encoder
Host interface
SPI mode 3 up to 10 MHz (64-bit TMCL datagrams) or UART (72-bit frames)
Control pins
RST, DRV_EN, WAKE (inputs), FAULTN (open-drain output)
Driver modes
Parameter mode (TMCL), which this driver uses; register-mode headers are included

Datasheet · Parameter-mode reference · Register-mode reference · Configuration and bootstrapping

What you get

  • One object per chip. TMC9660<YourPort> exposes the chip as named subsystems: motorConfig, feedbackSense, velocityControl, positionControl, torqueFluxControl, telemetry, protection, diagnostics and more.
  • Boot handled. bootloaderInit() resets the chip, writes the bootloader configuration and starts motor control in parameter mode. See Bootloader.
  • Engineering units. RPM, degrees, rad/s and amperes in and out, converted with the motor's real pole pairs and sensor settings. See Units and diagnostics.
  • A fast, correct SPI transport. NOT_READY polling instead of fixed delays, and pipelined batches: N parameter reads cost N + 1 datagrams. See Timing and throughput.
  • Zero-overhead portability. The port is a CRTP class: no virtual calls, no heap, no RTOS dependency. See Porting.
  • Tested without hardware. Host unit tests run the driver against a model of the chip's SPI and UART behaviour. See Testing and CI.

Where to go next

  • Quickstart

    Wire the chip, write the port, spin a motor in about 15 lines.

  • Hardware

    Pins, bus settings, control-pin levels and the evaluation kits.

  • Architecture

    The three layers and what each one owns.

  • API guide

    Configure, command, read and handle errors, task by task.

  • Porting

    Implement the communication interface for your MCU.

  • API reference

    Every class and member, generated from the headers.