TMC2130_bitfields.h

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#pragma once
#pragma pack(push, 1)
 
struct GCONF_t {
  constexpr static uint8_t address = 0x00;
  union {
    uint32_t sr;
    struct {
      bool  i_scale_analog      : 1, // 2130, 5130
            internal_rsense     : 1, // 2130, 5130
            en_pwm_mode         : 1,
            enc_commutation     : 1, // 2130, 5130
            shaft               : 1,
            diag0_error         : 1,
            diag0_otpw          : 1,
            diag0_stall         : 1,
            diag1_stall         : 1,
            diag1_index         : 1,
            diag1_onstate       : 1,
            diag1_steps_skipped : 1,
            diag0_int_pushpull  : 1,
            diag1_pushpull      : 1,
            small_hysteresis    : 1,
            stop_enable         : 1,
            direct_mode         : 1;
      uint16_t                  : 15; // unused
    };
    struct { // TMC5160
      bool recalibrate            : 1,
           faststandstill         : 1,
                                  : 1,
           multistep_filt         : 1,
                                  : 3,
           diag0_step             : 1,
           diag1_dir              : 1,
                                  : 4,
           diag1_poscomp_pushpull : 1;
      uint32_t                    : 18; // unused
    };
  };
};
 
struct IHOLD_IRUN_t {
  constexpr static uint8_t address = 0x10;
  union {
    uint32_t sr;
    struct {
      uint8_t ihold      : 5,
                         : 3,
              irun       : 5,
                         : 3,
              iholddelay : 4;
      uint16_t           : 12; // unused
    };
  };
};
 
struct GSTAT_t {
  constexpr static uint8_t address = 0x01;
  union {
    uint8_t sr;
    struct {
      bool  reset   : 1,
            drv_err : 1,
            uv_cp   : 1,
                    : 5; // unused
    };
  };
};
 
struct IOIN_t {
  constexpr static uint8_t address = 0x04;
  union {
    uint32_t sr;
    struct {
      bool  step         : 1,
            dir          : 1,
            dcen_cfg4    : 1,
            dcin_cfg5    : 1,
            drv_enn_cfg6 : 1,
            dco          : 1,
                         : 2;  // unused
      uint16_t           : 16; // unused
      uint8_t version    : 8;
    };
  };
};
 
struct TPOWERDOWN_t {
  constexpr static uint8_t address = 0x11;
  uint8_t sr;
};
 
struct TPWMTHRS_t {
  constexpr static uint8_t address = 0x13;
  uint32_t sr : 20;
};
 
struct TCOOLTHRS_t {
  constexpr static uint8_t address = 0x14;
  uint32_t sr : 20;
};
 
struct THIGH_t {
  constexpr static uint8_t address = 0x15;
  uint32_t sr : 20;
};
 
struct XDIRECT_t {
  constexpr static uint8_t address = 0x2D;
  union {
    uint32_t sr;
    struct {
      int16_t coil_A : 9,
                     : 7, // unused
              coil_B : 9,
                     : 7; // unused
    };
  };
};
 
struct VDCMIN_t {
  constexpr static uint8_t address = 0x33;
  uint32_t sr : 23;
};
 
struct CHOPCONF_t {
  constexpr static uint8_t address = 0x6C;
  union {
    uint32_t sr;
    struct { // 2130, 5130
      uint8_t toff     : 4,
              hstrt    : 3,
              hend     : 4,
                       : 1; // unused
      bool    disfdcc  : 1,
              rndtf    : 1,
              chm      : 1;
      uint8_t tbl      : 2;
      bool    vsense   : 1,
              vhighfs  : 1,
              vhighchm : 1;
      uint8_t sync     : 4,
              mres     : 4;
      bool    intpol   : 1,
              dedge    : 1,
              diss2g   : 1;
    };
    struct { // TMC5160
      uint32_t         : 20;
      uint8_t tpfd     : 4;
      uint16_t         : 7;
      bool diss2vs     : 1;   // false
    };
  };
};
 
struct COOLCONF_t {
  constexpr static uint8_t address = 0x6D;
  union {
    uint32_t sr;
    struct {
      uint8_t semin  : 4,
                     : 1, // unused
              seup   : 2,
                     : 1, // unused
              semax  : 4,
                     : 1, // unused
              sedn   : 2;
      bool    seimin : 1;
      int8_t  sgt    : 7,
                     : 1; // unused
      bool    sfilt  : 1,
                     : 7; // unused
    };
  };
};
 
struct DCCTRL_t {
    constexpr static uint8_t address = 0x6E;
    union {
        uint32_t sr;
        struct {
            uint16_t dc_time : 10,
                               : 6; // unused
            uint8_t dc_sg    : 8,
                       : 8; // unused
        };
    };
};
 
namespace TMC2130_n {
  struct DRV_STATUS_t {
    constexpr static uint8_t address = 0x6F;
    union {
      uint32_t sr;
      struct {
        uint16_t sg_result : 10;
        uint8_t            : 5; // unused
        bool fsactive      : 1;
        uint8_t cs_actual  : 5,
                           : 3; // unused
        bool  stallGuard   : 1,
              ot           : 1,
              otpw         : 1,
              s2ga         : 1,
              s2gb         : 1,
              ola          : 1,
              olb          : 1,
              stst         : 1;
      };
    };
  };
}
 
struct PWMCONF_t {
  constexpr static uint8_t address = 0x70;
  union {
    uint32_t sr;
    struct {
      uint8_t pwm_ampl   : 8,
              pwm_grad   : 8,
              pwm_freq   : 2;
      bool pwm_autoscale : 1,
           pwm_symmetric : 1;
      uint8_t freewheel  : 2;
      uint16_t           : 10; // unused
    };
  };
};
 
struct ENCM_CTRL_t {
  constexpr static uint8_t address = 0x72;
  union {
    uint8_t sr;
    struct {
      bool  inv      : 1,
            maxspeed : 1,
                     : 6; // unused
    };
  };
};
 
#pragma pack(pop)