TMC2660Stepper.h

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#pragma once
 
#define INIT2660_REGISTER(REG) TMC2660_n::REG##_t REG##_register{}
 
class TMC2660Stepper {
    public:
        TMC2660Stepper(uint16_t pinCS, float RS = default_RS);
        TMC2660Stepper(uint16_t pinCS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK);
        TMC2660Stepper(uint16_t pinCS, float RS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK);
        void write(uint8_t addressByte, uint32_t config);
        uint32_t read();
        void switchCSpin(bool state);
        void begin();
        bool isEnabled();
        uint8_t test_connection();
        uint16_t cs2rms(uint8_t CS);
        uint16_t rms_current();
        void rms_current(uint16_t mA);
        //uint16_t getMilliamps() {return val_mA;}
        void push();
        uint8_t savedToff() { return _savedToff; }
 
        // Helper functions
        void microsteps(uint16_t ms);
        uint16_t microsteps();
        void blank_time(uint8_t value);
        uint8_t blank_time();
        void hysteresis_end(int8_t value);
        int8_t hysteresis_end();
        void hysteresis_start(uint8_t value);
        uint8_t hysteresis_start();
 
        // W: DRVCONF
        void DRVCONF(uint32_t);
        void tst(bool);
        void slph(uint8_t);
        void slpl(uint8_t);
        void diss2g(bool);
        void ts2g(uint8_t);
        void sdoff(bool);
        void vsense(bool);
        void rdsel(uint8_t);
        uint32_t DRVCONF();
        bool tst();
        uint8_t slph();
        uint8_t slpl();
        bool diss2g();
        uint8_t ts2g();
        bool sdoff();
        bool vsense();
        uint8_t rdsel();
 
        // W: DRVCTRL
        void DRVCTRL(uint32_t);
        void pha(bool B);
        void ca(uint8_t B);
        void phb(bool B);
        void cb(uint8_t B);
        bool pha();
        uint8_t ca();
        bool phb();
        uint8_t cb();
        void intpol(bool);
        void dedge(bool);
        void mres(uint8_t);
        uint32_t DRVCTRL();
        bool intpol();
        bool dedge();
        uint8_t mres();
 
        // W: CHOPCONF
        void CHOPCONF(uint32_t);
        void tbl(uint8_t);
        void chm(bool);
        void rndtf(bool);
        void hdec(uint8_t);
        void hend(uint8_t);
        void hstrt(uint8_t);
        void toff(uint8_t);
        uint32_t CHOPCONF();
        uint8_t tbl();
        bool chm();
        bool rndtf();
        uint8_t hdec();
        uint8_t hend();
        uint8_t hstrt();
        uint8_t toff();
 
        // R: DRVSTATUS
        uint32_t DRV_STATUS() { return DRVSTATUS(); }
        uint32_t DRVSTATUS();
        uint16_t mstep();
        uint8_t se();
        bool stst();
        bool olb();
        bool ola();
        bool s2gb();
        bool s2ga();
        bool otpw();
        bool ot();
        bool sg();
        uint16_t sg_result();
 
        // W: SGCSCONF
        uint32_t SGCSCONF();
        void sfilt(bool);
        void sgt(uint8_t);
        void cs(uint8_t);
        void SGCSCONF(uint32_t);
        bool sfilt();
        uint8_t sgt();
        uint8_t cs();
 
        // W: SMARTEN
        void SMARTEN(uint32_t);
        void seimin(bool B);
        void sedn(uint8_t B);
        void semax(uint8_t B);
        void seup(uint8_t B);
        void semin(uint8_t B);
        uint32_t SMARTEN();
        bool seimin();
        uint8_t sedn();
        uint8_t semax();
        uint8_t seup();
        uint8_t semin();
        /*
        // Alias
        SET_ALIAS(void, polarity_A, bool, pha);
        SET_ALIAS(void, current_A, uint8_t, ca);
        SET_ALIAS(void, polarity_B, bool, phb);
        SET_ALIAS(void, current_b, uint8_t, cb);
        SET_ALIAS(void, interpolate, bool, intpol);
        SET_ALIAS(void, double_edge_step, bool, dedge);
        SET_ALIAS(void, microsteps, uint8_t, mres);
        SET_ALIAS(void, blank_time, uint8_t, tbl);
        SET_ALIAS(void, chopper_mode, bool, chm);
        SET_ALIAS(void, random_off_time, bool, rndtf);
        SET_ALIAS(void, hysteresis_decrement, uint8_t, hdec);
        SET_ALIAS(void, hysteresis_low, uint8_t, hend);
        SET_ALIAS(void, hysteresis_start, uint8_t, hstrt);
        SET_ALIAS(void, off_time, uint8_t, toff);
        */
 
        uint8_t status_response;
 
    private:
        INIT_REGISTER(DRVCTRL_1);
        INIT_REGISTER(DRVCTRL_0);
        INIT2660_REGISTER(CHOPCONF);
        INIT_REGISTER(SMARTEN);
        INIT_REGISTER(SGCSCONF);
        INIT_REGISTER(DRVCONF);
        INIT_REGISTER(READ_RDSEL00);
        INIT_REGISTER(READ_RDSEL01);
        INIT_REGISTER(READ_RDSEL10);
 
        const uint16_t _pinCS;
        const float Rsense;
        static constexpr float default_RS = 0.1;
        float holdMultiplier = 0.5;
        uint32_t spi_speed = 16000000/8; // Default 2MHz
        uint8_t _savedToff = 0;
        SW_SPIClass * TMC_SW_SPI = nullptr;
};