TMCStepperBase.h

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#pragma once
 
class TMCStepper {
    public:
        uint16_t cs2rms(uint8_t CS);
        void rms_current(uint16_t mA);
        void rms_current(uint16_t mA, float mult);
        uint16_t rms_current();
        void hold_multiplier(float val) { holdMultiplier = val; }
        float hold_multiplier() { return holdMultiplier; }
        uint8_t test_connection();
 
        // 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();
 
        // R+WC: GSTAT
        void    GSTAT(                          uint8_t input);
        uint8_t GSTAT();
        bool    reset();
        bool    drv_err();
        bool    uv_cp();
 
        // W: IHOLD_IRUN
        void IHOLD_IRUN(                    uint32_t input);
        uint32_t IHOLD_IRUN();
        void    ihold(                          uint8_t B);
        void    irun(                               uint8_t B);
        void    iholddelay(                 uint8_t B);
        uint8_t ihold();
        uint8_t irun();
        uint8_t iholddelay();
 
        // W: TPOWERDOWN
        uint8_t TPOWERDOWN();
        void TPOWERDOWN(                    uint8_t input);
 
        // R: TSTEP
        uint32_t TSTEP();
 
        // W: TPWMTHRS
        uint32_t TPWMTHRS();
        void TPWMTHRS(                      uint32_t input);
 
        // R: MSCNT
        uint16_t MSCNT();
 
    protected:
        TMCStepper(float RS) : Rsense(RS) {};
        virtual ~TMCStepper() = default;
 
        INIT_REGISTER(IHOLD_IRUN);  // 32b
        INIT_REGISTER(TPOWERDOWN);  // 8b
        INIT_REGISTER(TPWMTHRS);    // 32b
 
        static constexpr uint8_t TMC_READ = 0x00, TMC_WRITE = 0x80;
 
        struct TSTEP_t { constexpr static uint8_t address = 0x12; };
        struct MSCNT_t { constexpr static uint8_t address = 0x6A; };
 
        virtual void write(uint8_t, uint32_t) = 0;
        virtual uint32_t read(uint8_t) = 0;
        virtual void vsense(bool) = 0;
        virtual bool vsense(void) = 0;
        virtual uint32_t DRV_STATUS() = 0;
        virtual void hend(uint8_t) = 0;
        virtual uint8_t hend() = 0;
        virtual void hstrt(uint8_t) = 0;
        virtual uint8_t hstrt() = 0;
        virtual void mres(uint8_t) = 0;
        virtual uint8_t mres() = 0;
        virtual void tbl(uint8_t) = 0;
        virtual uint8_t tbl() = 0;
 
        const float Rsense;
        float holdMultiplier = 0.5;
};