Struct tmc2209::Reader

pub struct Reader { /* fields omitted */ }

A serial reader, for reading responses via the TMC2209’s UART interface.

The Reader is stateful and stores its progress between calls to read.

Implementations

impl Reader

pub fn read_response(&mut self, bytes: &[u8]) -> (usize, Option<ReadResponse>)

Read a ReadResponse from the given slice of bytes.

The Reader will preserve its state between calls to read.

This method is particularly useful when reading from a UART receiver in a non-blocking manner. For example, if the UART receiver does not have the full response buffered (perhaps within a UART interrupt), the Reader retains its progress and allows for other work to be performed before attempting to read the remainder of the message.

Returns the number of bytes read and the ReadResponse if one could be read.

This method works by reading through the bytes for a SYNC_AND_RESERVED byte. Once found, the next byte must be a MASTER_ADDR byte. If found, the rest of the data is read directly into the remainder of the byte slice. Otherwise, the state is rest and the reader goes back to searching for a SYNC_AND_RESERVED byte.

This function does not check the validity of the CRC, the slave address or the register address.

pub fn awaiting(&self) -> ReaderAwaiting

Which byte the reader is currently awaiting.

This method is purely to assist with debugging UART communication issues.

Trait Implementations

impl Default for Reader

fn default() -> Reader

Returns the “default value” for a type.