TMC2130Stepper.h

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#pragma once
 
#define INIT2130_REGISTER(REG) TMC2130_n::REG##_t REG##_register{}
 
class TMC2130Stepper : public TMCStepper {
    public:
        TMC2130Stepper(uint16_t pinCS, float RS = default_RS, int8_t link_index = -1);
        TMC2130Stepper(uint16_t pinCS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link_index = -1);
        TMC2130Stepper(uint16_t pinCS, float RS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link_index = -1);
        ~TMC2130Stepper();
        void begin();
        void defaults();
        void setSPISpeed(uint32_t speed);
        void switchCSpin(bool state);
        bool isEnabled();
        void push();
 
        // Helper functions
        void sg_current_decrease(uint8_t value);
        uint8_t sg_current_decrease();
 
        // RW: GCONF
        uint32_t GCONF();
        void GCONF(                             uint32_t value);
        void I_scale_analog(            bool B);
        void internal_Rsense(           bool B);
        void en_pwm_mode(                   bool B);
        void enc_commutation(           bool B);
        void shaft(                             bool B);
        void diag0_error(                   bool B);
        void diag0_otpw(                    bool B);
        void diag0_stall(                   bool B);
        void diag1_stall(                   bool B);
        void diag1_index(                   bool B);
        void diag1_onstate(             bool B);
        void diag1_steps_skipped(   bool B);
        void diag0_int_pushpull(    bool B);
        void diag1_pushpull(            bool B);
        void small_hysteresis(      bool B);
        void stop_enable(                   bool B);
        void direct_mode(                   bool B);
        bool I_scale_analog();
        bool internal_Rsense();
        bool en_pwm_mode();
        bool enc_commutation();
        bool shaft();
        bool diag0_error();
        bool diag0_otpw();
        bool diag0_stall();
        bool diag1_stall();
        bool diag1_index();
        bool diag1_onstate();
        bool diag1_steps_skipped();
        bool diag0_int_pushpull();
        bool diag1_pushpull();
        bool small_hysteresis();
        bool stop_enable();
        bool direct_mode();
 
        // R: IOIN
        uint32_t IOIN();
        bool step();
        bool dir();
        bool dcen_cfg4();
        bool dcin_cfg5();
        bool drv_enn_cfg6();
        bool dco();
        uint8_t version();
 
        // W: TCOOLTHRS
        uint32_t TCOOLTHRS();
        void TCOOLTHRS(                     uint32_t input);
 
        // W: THIGH
        uint32_t THIGH();
        void THIGH(                             uint32_t input);
 
        // RW: XDRIRECT
        uint32_t XDIRECT();
        void XDIRECT(                           uint32_t input);
        void coil_A(                            int16_t     B);
        void coil_B(                            int16_t     B);
        int16_t coil_A();
        int16_t coil_B();
 
        // W: VDCMIN
        uint32_t VDCMIN();
        void VDCMIN(                            uint32_t input);
 
        // RW: CHOPCONF
        uint32_t CHOPCONF();
        void CHOPCONF(                      uint32_t value);
        void toff(                              uint8_t B);
        void hstrt(                             uint8_t B);
        void hend(                              uint8_t B);
        //void fd(                                  uint8_t B);
        void disfdcc(                           bool        B);
        void rndtf(                             bool        B);
        void chm(                                   bool        B);
        void tbl(                                   uint8_t B);
        void vsense(                            bool        B);
        void vhighfs(                           bool        B);
        void vhighchm(                      bool        B);
        void sync(                              uint8_t B);
        void mres(                              uint8_t B);
        void intpol(                            bool        B);
        void dedge(                             bool        B);
        void diss2g(                            bool        B);
        uint8_t toff();
        uint8_t hstrt();
        uint8_t hend();
        //uint8_t fd();
        bool    disfdcc();
        bool    rndtf();
        bool    chm();
        uint8_t tbl();
        bool    vsense();
        bool    vhighfs();
        bool    vhighchm();
        uint8_t sync();
        uint8_t mres();
        bool    intpol();
        bool    dedge();
        bool    diss2g();
 
        // W: COOLCONF
        void COOLCONF(uint32_t value);
        uint32_t COOLCONF();
        void semin(                             uint8_t B);
        void seup(                              uint8_t B);
        void semax(                             uint8_t B);
        void sedn(                              uint8_t B);
        void seimin(                            bool        B);
        void sgt(                                   int8_t  B);
        void sfilt(                             bool        B);
        uint8_t semin();
        uint8_t seup();
        uint8_t semax();
        uint8_t sedn();
        bool seimin();
        int8_t sgt();
        bool sfilt();
 
        // W: DCCTRL
        void DCCTRL(uint32_t input);
        void dc_time(uint16_t input);
        void dc_sg(uint8_t input);
        uint32_t DCCTRL();
        uint16_t dc_time();
        uint8_t dc_sg();
 
        // R: DRV_STATUS
        uint32_t DRV_STATUS();
        uint16_t sg_result();
        bool fsactive();
        uint8_t cs_actual();
        bool stallguard();
        bool ot();
        bool otpw();
        bool s2ga();
        bool s2gb();
        bool ola();
        bool olb();
        bool stst();
 
        // W: PWMCONF
        void PWMCONF(                           uint32_t value);
        uint32_t PWMCONF();
        void pwm_ampl(                      uint8_t B);
        void pwm_grad(                      uint8_t B);
        void pwm_freq(                      uint8_t B);
        void pwm_autoscale(             bool        B);
        void pwm_symmetric(             bool        B);
        void freewheel(                     uint8_t B);
        uint8_t pwm_ampl();
        uint8_t pwm_grad();
        uint8_t pwm_freq();
        bool    pwm_autoscale();
        bool    pwm_symmetric();
        uint8_t freewheel();
 
        // R: PWM_SCALE
        uint8_t PWM_SCALE();
 
        // W: ENCM_CTRL
        uint8_t ENCM_CTRL();
        void ENCM_CTRL(                     uint8_t input);
        void inv(                                   bool B);
        void maxspeed(                      bool B);
        bool inv();
        bool maxspeed();
 
        // R: LOST_STEPS
        uint32_t LOST_STEPS();
 
        // Function aliases
 
        uint8_t status_response;
 
    protected:
        void beginTransaction();
        void endTransaction();
        uint8_t transfer(const uint8_t data);
        void transferEmptyBytes(const uint8_t n);
        void write(uint8_t addressByte, uint32_t config);
        uint32_t read(uint8_t addressByte);
 
        INIT_REGISTER(GCONF);           // 32b
        INIT_REGISTER(TCOOLTHRS);   // 32b
        INIT_REGISTER(THIGH);           // 32b
        INIT_REGISTER(XDIRECT);     // 32b
        INIT_REGISTER(VDCMIN);      // 32b
        INIT_REGISTER(CHOPCONF);    // 32b
        INIT_REGISTER(COOLCONF);    // 32b
        INIT_REGISTER(DCCTRL);      // 32b
        INIT_REGISTER(PWMCONF);     // 32b
        INIT_REGISTER(ENCM_CTRL);   //  8b
 
        struct IOINT_t          { constexpr static uint8_t address = 0x04; };
        struct PWM_SCALE_t  { constexpr static uint8_t address = 0x71; };
        struct LOST_STEPS_t { constexpr static uint8_t address = 0x73; };
        struct DRV_STATUS_t { constexpr static uint8_t address = 0X6F; };
 
        static uint32_t spi_speed; // Default 2MHz
        const uint16_t _pinCS;
        SW_SPIClass * TMC_SW_SPI = nullptr;
        static constexpr float default_RS = 0.11;
 
        int8_t link_index;
        static int8_t chain_length;
};