TMC5160Stepper.h

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#pragma once
 
#define INIT5160_REGISTER(REG) TMC5160_n::REG##_t REG##_register{}
 
class TMC5160Stepper : public TMC5130Stepper {
    public:
        TMC5160Stepper(uint16_t pinCS, float RS = default_RS, int8_t link_index = -1);
        TMC5160Stepper(uint16_t pinCS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link_index = -1);
        TMC5160Stepper(uint16_t pinCS, float RS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link_index = -1);
 
        void rms_current(uint16_t mA) { TMC2160Stepper::rms_current(mA); }
        void rms_current(uint16_t mA, float mult) { TMC2160Stepper::rms_current(mA, mult); }
        uint16_t rms_current() { return TMC2160Stepper::rms_current(); }
        void defaults();
        void push();
 
        // RW: GCONF
        void recalibrate(bool);
        void faststandstill(bool);
        void multistep_filt(bool);
        bool recalibrate();
        bool faststandstill();
        bool multistep_filt();
 
        // R: IOIN
        bool drv_enn() { return drv_enn_cfg6(); }
        bool enc_n_dco_cfg6() { return enc_n_dco(); }
 
        // W: SHORT_CONF
        using TMC2160Stepper::SHORT_CONF;
        using TMC2160Stepper::s2vs_level;
        using TMC2160Stepper::s2g_level;
        using TMC2160Stepper::shortfilter;
        using TMC2160Stepper::shortdelay;
 
        // W: DRV_CONF
        using TMC2160Stepper::DRV_CONF;
        using TMC2160Stepper::bbmtime;
        using TMC2160Stepper::bbmclks;
        using TMC2160Stepper::otselect;
        using TMC2160Stepper::drvstrength;
        using TMC2160Stepper::filt_isense;
 
        // W: GLOBAL_SCALER
        using TMC2160Stepper::GLOBAL_SCALER;
 
        // R: OFFSET_READ
        using TMC2160Stepper::OFFSET_READ;
 
        // R+WC: ENC_STATUS
        void ENC_STATUS(uint8_t);
        uint8_t ENC_STATUS();
 
        // W: ENC_DEVIATION
        void ENC_DEVIATION(uint32_t);
        uint32_t ENC_DEVIATION();
 
        // R: PWM_AUTO
        uint32_t PWM_AUTO();
        uint8_t pwm_ofs_auto();
        uint8_t pwm_grad_auto();
 
        // RW: CHOPCONF
        void diss2vs(bool);
        void tpfd(uint8_t);
        bool diss2vs();
        uint8_t tpfd();
 
        // W: PWM_CONF
        using TMC2160Stepper::PWMCONF;
        using TMC2160Stepper::pwm_ofs;
        using TMC2160Stepper::pwm_grad;
        using TMC2160Stepper::pwm_freq;
        using TMC2160Stepper::pwm_autoscale;
        using TMC2160Stepper::pwm_autograd;
        using TMC2160Stepper::freewheel;
        using TMC2160Stepper::pwm_reg;
        using TMC2160Stepper::pwm_lim;
 
        using TMC2160Stepper::PWM_SCALE;
        using TMC2160Stepper::pwm_scale_sum;
        using TMC2160Stepper::pwm_scale_auto;
 
    protected:
        using TMC5130Stepper::I_scale_analog;
        using TMC5130Stepper::internal_Rsense;
        using TMC5130Stepper::enc_commutation;
        using TMC5130Stepper::drv_enn_cfg6;
        using TMC5130Stepper::enc_n_dco;
        using TMC5130Stepper::ENCM_CTRL;
        using TMC5130Stepper::vsense;
        using TMC5130Stepper::rndtf;
 
        INIT_REGISTER(ENC_DEVIATION);
 
        static constexpr float default_RS = 0.075;
};