TMC2160Stepper.h

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#pragma once
 
#define INIT2160_REGISTER(REG) TMC2160_n::REG##_t REG##_register{}
 
class TMC2160Stepper : public TMC2130Stepper {
    public:
        TMC2160Stepper(uint16_t pinCS, float RS = default_RS, int8_t link_index = -1);
        TMC2160Stepper(uint16_t pinCS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link_index = -1);
        TMC2160Stepper(uint16_t pinCS, float RS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link_index = -1);
        void begin();
        void defaults();
        void push();
 
        uint16_t cs2rms(uint8_t CS);
        void rms_current(uint16_t mA);
        void rms_current(uint16_t mA, float mult);
        uint16_t rms_current();
 
        // IOIN
        uint32_t    IOIN();
        bool            refl_step();
        bool            refr_dir();
        bool            encb_dcen_cfg4();
        bool            enca_dcin_cfg5();
        bool            drv_enn();
        bool            dco_cfg6();
        uint8_t     version();
 
        // W: OTP_PROG
        // R: OTP_READ
        // RW: FACTORY_CONF
 
        // W: SHORT_CONF
        void SHORT_CONF(uint32_t);
        void s2vs_level(uint8_t);
        void s2g_level(uint8_t);
        void shortfilter(uint8_t);
        void shortdelay(bool);
        uint32_t SHORT_CONF();
        uint8_t s2vs_level();
        uint8_t s2g_level();
        uint8_t shortfilter();
        bool shortdelay();
 
        // W: DRV_CONF
        void DRV_CONF(uint32_t);
        void bbmtime(uint8_t);
        void bbmclks(uint8_t);
        void otselect(uint8_t);
        void drvstrength(uint8_t);
        void filt_isense(uint8_t);
        uint32_t DRV_CONF();
        uint8_t bbmtime();
        uint8_t bbmclks();
        uint8_t otselect();
        uint8_t drvstrength();
        uint8_t filt_isense();
 
        // W: GLOBAL_SCALER
        void GLOBAL_SCALER(uint8_t);
        uint8_t GLOBAL_SCALER();
 
        // R: OFFSET_READ
        uint16_t OFFSET_READ();
 
        // W: PWMCONF
        void PWMCONF(uint32_t input);
        void pwm_ofs(uint8_t B);
        void pwm_grad(uint8_t B);
        void pwm_freq(uint8_t B);
        void pwm_autoscale(bool B);
        void pwm_autograd(bool B);
        void freewheel(uint8_t B);
        void pwm_reg(uint8_t B);
        void pwm_lim(uint8_t B);
        uint32_t PWMCONF();
        uint8_t pwm_ofs();
        uint8_t pwm_grad();
        uint8_t pwm_freq();
        bool pwm_autoscale();
        bool pwm_autograd();
        uint8_t freewheel();
        uint8_t pwm_reg();
        uint8_t pwm_lim();
 
        // R: PWM_SCALE
        uint32_t PWM_SCALE();
        uint8_t pwm_scale_sum();
        uint16_t pwm_scale_auto();
 
    protected:
        using TMC2130Stepper::ENCM_CTRL;
        using TMC2130Stepper::pwm_ampl;
        using TMC2130Stepper::pwm_symmetric;
 
        INIT_REGISTER(SHORT_CONF);
        INIT_REGISTER(DRV_CONF);
        INIT_REGISTER(GLOBAL_SCALER);
        INIT2160_REGISTER(PWMCONF);
 
        static constexpr float default_RS = 0.075;
};