TMC5130Stepper.h

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#pragma once
 
#define INIT5130_REGISTER(REG) TMC5130_n::REG##_t REG##_register{}
 
class TMC5130Stepper : public TMC2160Stepper {
    public:
        TMC5130Stepper(uint16_t pinCS, float RS = default_RS, int8_t link_index = -1);
        TMC5130Stepper(uint16_t pinCS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link_index = -1);
        TMC5130Stepper(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();
 
        void rms_current(uint16_t mA) { TMC2130Stepper::rms_current(mA); }
        void rms_current(uint16_t mA, float mult) { TMC2130Stepper::rms_current(mA, mult); }
        uint16_t rms_current() { return TMC2130Stepper::rms_current(); }
 
        // R: IFCNT
        uint8_t IFCNT();
        // W: SLAVECONF
        uint16_t SLAVECONF();
        void SLAVECONF(uint16_t input);
        // R: IOIN
        uint32_t    IOIN();
        bool            refl_step();
        bool            refr_dir();
        bool            encb_dcen_cfg4();
        bool            enca_dcin_cfg5();
        bool            drv_enn_cfg6();
        bool            enc_n_dco();
        bool            sd_mode();
        bool            swcomp_in();
        uint8_t     version();
 
        // RW: GCONF
        void diag1_poscomp_pushpull(bool B) { diag1_pushpull(B); }
        bool diag1_poscomp_pushpull() { return diag1_pushpull(); }
 
        // RW: SW_MODE
        uint32_t SW_MODE();
        void SW_MODE(uint32_t input);
 
        void stop_l_enable(bool B);
        void stop_r_enable(bool B);
        void pol_stop_l(bool B);
        void pol_stop_r(bool B);
        void swap_lr(bool B);
        void latch_l_active(bool B);
        void latch_l_inactive(bool B);
        void latch_r_active(bool B);
        void latch_r_inactive(bool B);
        void en_latch_encoder(bool B);
        void sg_stop(bool B);
        void en_softstop(bool B);
 
        bool stop_r_enable();
        bool pol_stop_l();
        bool pol_stop_r();
        bool swap_lr();
        bool latch_l_active();
        bool latch_l_inactive();
        bool latch_r_active();
        bool latch_r_inactive();
        bool en_latch_encoder();
        bool sg_stop();
        bool en_softstop();
 
        // R+C: RAMP_STAT
        uint32_t RAMP_STAT();
        bool status_stop_l();
        bool status_stop_r();
        bool status_latch_l();
        bool status_latch_r();
        bool event_stop_l();
        bool event_stop_r();
        bool event_stop_sg();
        bool event_pos_reached();
        bool velocity_reached();
        bool position_reached();
        bool vzero();
        bool t_zerowait_active();
        bool second_move();
        bool status_sg();
 
        // RW: ENCMODE
        uint32_t ENCMODE();
        void ENCMODE(uint32_t input);
        void pol_a(bool B);
        void pol_b(bool B);
        void pol_n(bool B);
        void ignore_ab(bool B);
        void clr_cont(bool B);
        void clr_once(bool B);
        void pos_edge(bool B);
        void neg_edge(bool B);
        void clr_enc_x(bool B);
        void latch_x_act(bool B);
        void enc_sel_decimal(bool B);
        bool pol_a();
        bool pol_b();
        bool pol_n();
        bool ignore_ab();
        bool clr_cont();
        bool clr_once();
        bool pos_edge();
        bool neg_edge();
        bool clr_enc_x();
        bool latch_x_act();
        bool enc_sel_decimal();
 
        // W: OUTPUT
        bool TMC_OUTPUT();
        void TMC_OUTPUT(bool input);
        // W: X_COMPARE
        uint32_t X_COMPARE();
        void X_COMPARE(uint32_t input);
        // RW: RAMPMODE
        uint8_t RAMPMODE();
        void RAMPMODE(uint8_t input);
        // RW: XACTUAL
        int32_t XACTUAL();
        void XACTUAL(int32_t input);
        // R: VACTUAL
        int32_t VACTUAL();
        // W: VSTART
        uint32_t VSTART();
        void VSTART(uint32_t input);
        // W: A1
        uint16_t a1();
        void a1(uint16_t input);
        // W: V1
        uint32_t v1();
        void v1(uint32_t input);
        // W: AMAX
        uint16_t AMAX();
        void AMAX(uint16_t input);
        // W: VMAX
        uint32_t VMAX();
        void VMAX(uint32_t input);
        // W: DMAX
        uint16_t DMAX();
        void DMAX(uint16_t input);
        // W: D1
        uint16_t d1();
        void d1(uint16_t input);
        // W: VSTOP
        uint32_t VSTOP();
        void VSTOP(uint32_t input);
        // W: TZEROWAIT
        uint16_t TZEROWAIT();
        void TZEROWAIT(uint16_t input);
        // RW: XTARGET
        int32_t XTARGET();
        void XTARGET(int32_t input);
        // R: XLATCH
        uint32_t XLATCH();
        // RW: X_ENC
        int32_t X_ENC();
        void X_ENC(int32_t input);
        // W: ENC_CONST
        uint32_t ENC_CONST();
        void ENC_CONST(uint32_t input);
        // R: ENC_STATUS
        bool ENC_STATUS();
        // R: ENC_LATCH
        uint32_t ENC_LATCH();
 
        using TMC2130Stepper::ENCM_CTRL;
 
        using TMC2130Stepper::PWMCONF;
        using TMC2130Stepper::pwm_ampl;
        using TMC2130Stepper::pwm_grad;
        using TMC2130Stepper::pwm_freq;
        using TMC2130Stepper::pwm_autoscale;
        using TMC2130Stepper::pwm_symmetric;
        using TMC2130Stepper::freewheel;
 
        using TMC2130Stepper::PWM_SCALE;
 
    protected:
        INIT_REGISTER(SLAVECONF);
        INIT_REGISTER(OUTPUT);
        INIT_REGISTER(X_COMPARE);
        INIT_REGISTER(RAMPMODE);
        INIT_REGISTER(XACTUAL);
        INIT_REGISTER(VSTART);
        INIT_REGISTER(A1);
        INIT_REGISTER(V1);
        INIT_REGISTER(AMAX);
        INIT_REGISTER(VMAX);
        INIT_REGISTER(DMAX);
        INIT_REGISTER(D1);
        INIT_REGISTER(VSTOP);
        INIT_REGISTER(TZEROWAIT);
        INIT_REGISTER(SW_MODE);
        INIT_REGISTER(ENCMODE);
        INIT_REGISTER(ENC_CONST);
 
        struct IFCNT_t          { constexpr static uint8_t address = 0x02; }; // R
        struct VACTUAL_t        { constexpr static uint8_t address = 0x22; }; // R
        struct XTARGET_t        { constexpr static uint8_t address = 0x2D; }; // RW
        struct XLATCH_t         { constexpr static uint8_t address = 0x36; }; // R
        struct X_ENC_t          { constexpr static uint8_t address = 0x39; }; // RW
        struct ENC_STATUS_t { constexpr static uint8_t address = 0x3B; }; // R+C
        struct ENC_LATCH_t  { constexpr static uint8_t address = 0x3C; }; // R
 
        /*
        INIT_REGISTER(MSLUT0);
        INIT_REGISTER(MSLUT1);
        INIT_REGISTER(MSLUT2);
        INIT_REGISTER(MSLUT3);
        INIT_REGISTER(MSLUT4);
        INIT_REGISTER(MSLUT5);
        INIT_REGISTER(MSLUT6);
        INIT_REGISTER(MSLUT7);
        INIT_REGISTER(MSLUTSEL);
        INIT_REGISTER(MSLUTSTART);
        INIT_REGISTER(MSCNT);
        INIT_REGISTER(MSCURACT);
        */
 
        static constexpr float default_RS = 0.15;
 
    protected:
        using TMC2160Stepper::SHORT_CONF;
        using TMC2160Stepper::s2vs_level;
        using TMC2160Stepper::s2g_level;
        using TMC2160Stepper::shortfilter;
        using TMC2160Stepper::shortdelay;
        using TMC2160Stepper::DRV_CONF;
        using TMC2160Stepper::bbmtime;
        using TMC2160Stepper::bbmclks;
        using TMC2160Stepper::otselect;
        using TMC2160Stepper::drvstrength;
        using TMC2160Stepper::filt_isense;
        using TMC2160Stepper::GLOBAL_SCALER;
        using TMC2160Stepper::OFFSET_READ;
 
        using TMC2160Stepper::pwm_ofs;
        using TMC2160Stepper::pwm_autograd;
        using TMC2160Stepper::pwm_reg;
        using TMC2160Stepper::pwm_lim;
 
        using TMC2160Stepper::pwm_scale_sum;
        using TMC2160Stepper::pwm_scale_auto;
};