Installation¶

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

Requirements¶

A C++20 compiler: GCC 10+, Clang 12+ or a current MSVC.
No RTOS, heap or exceptions: every call is noexcept and returns bool or a result enum.

Get the source¶

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

git submodule add https://github.com/hardfoc/hf-tmc9660-driver.git external/hf-tmc9660-driver
git submodule update --init external/hf-tmc9660-driver

Only inc/, src/, cmake/ and CMakeLists.txt are needed to build. The examples have their own submodule (examples/esp32/scripts); you do not need it to use the driver.

CMake¶

add_subdirectory(external/hf-tmc9660-driver)
target_link_libraries(my_app PRIVATE hf_tmc9660)

The hf_tmc9660 target carries the include directories and requires C++20 (cxx_std_20), so your target does not need to set either.

Option	Default	Effect
`HF_TMC9660_ENABLE_WARNINGS`	`OFF`	`-Wall -Wextra -Wpedantic` on the driver sources
`HF_TMC9660_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_tmc9660/. Copy that folder into your project's components/ (or point EXTRA_COMPONENT_DIRS at it) and set the HF_TMC9660_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_tmc9660.

How the build is organised¶

Layer	File	Role
Settings	`cmake/hf_tmc9660_build_settings.cmake`	Sources, include directories, version: the single source of truth
Library	`CMakeLists.txt`	Static library for host builds and CI
ESP-IDF	`examples/esp32/components/hf_tmc9660/CMakeLists.txt`	IDF component wrapper over the same settings

The version is set once in the settings file and written into tmc9660_version.h at configure time. Read it at run time:

const char* v = tmc9660::TMC9660<MySpi>::GetDriverVersion();   // "1.0.0"

Compile-time switches¶

Define	Effect
`TMC9660_DISABLE_DEBUG_LOGGING`	Removes every `logDebug()` call and the parameter-name lookup behind it
`TMC9660_LOG_TMCL_RAW_FRAMES=1`	Logs every raw SPI TMCL datagram (bring-up only; slow)

Next¶

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