Karl Zweimüller / Mbed OS TMC2209-Test2

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Dependencies:   TMCStepper mRotaryEncoder-os

source/TMC2130_bitfields.h@1:60419aa0c030, 2021-02-04 (annotated)

Committer:
charly
Date:
Thu Feb 04 21:35:45 2021 +0000
Revision:
1:60419aa0c030
Parent:
0:3f4cfbeda9d3 
Fast version with ca. 2,5rpm

Who changed what in which revision?

UserRevisionLine numberNew contents of line
charly 0:3f4cfbeda9d3 1 #pragma once
charly 0:3f4cfbeda9d3 2 #pragma pack(push, 1)
charly 0:3f4cfbeda9d3 3
charly 0:3f4cfbeda9d3 4 struct GCONF_t {
charly 0:3f4cfbeda9d3 5 constexpr static uint8_t address = 0x00;
charly 0:3f4cfbeda9d3 6 union {
charly 0:3f4cfbeda9d3 7 uint32_t sr : 18;
charly 0:3f4cfbeda9d3 8 struct {
charly 0:3f4cfbeda9d3 9 bool i_scale_analog : 1, // 2130, 5130
charly 0:3f4cfbeda9d3 10 internal_rsense : 1, // 2130, 5130
charly 0:3f4cfbeda9d3 11 en_pwm_mode : 1,
charly 0:3f4cfbeda9d3 12 enc_commutation : 1, // 2130, 5130
charly 0:3f4cfbeda9d3 13 shaft : 1,
charly 0:3f4cfbeda9d3 14 diag0_error : 1,
charly 0:3f4cfbeda9d3 15 diag0_otpw : 1,
charly 0:3f4cfbeda9d3 16 diag0_stall : 1,
charly 0:3f4cfbeda9d3 17 diag1_stall : 1,
charly 0:3f4cfbeda9d3 18 diag1_index : 1,
charly 0:3f4cfbeda9d3 19 diag1_onstate : 1,
charly 0:3f4cfbeda9d3 20 diag1_steps_skipped : 1,
charly 0:3f4cfbeda9d3 21 diag0_int_pushpull : 1,
charly 0:3f4cfbeda9d3 22 diag1_pushpull : 1,
charly 0:3f4cfbeda9d3 23 small_hysteresis : 1,
charly 0:3f4cfbeda9d3 24 stop_enable : 1,
charly 0:3f4cfbeda9d3 25 direct_mode : 1;
charly 0:3f4cfbeda9d3 26 };
charly 0:3f4cfbeda9d3 27 struct { // TMC5160
charly 0:3f4cfbeda9d3 28 bool recalibrate : 1,
charly 0:3f4cfbeda9d3 29 faststandstill : 1,
charly 0:3f4cfbeda9d3 30 : 1,
charly 0:3f4cfbeda9d3 31 multistep_filt : 1,
charly 0:3f4cfbeda9d3 32 : 3,
charly 0:3f4cfbeda9d3 33 diag0_step : 1,
charly 0:3f4cfbeda9d3 34 diag1_dir : 1,
charly 0:3f4cfbeda9d3 35 : 4,
charly 0:3f4cfbeda9d3 36 diag1_poscomp_pushpull : 1;
charly 0:3f4cfbeda9d3 37 };
charly 0:3f4cfbeda9d3 38 };
charly 0:3f4cfbeda9d3 39 };
charly 0:3f4cfbeda9d3 40
charly 0:3f4cfbeda9d3 41 struct IHOLD_IRUN_t {
charly 0:3f4cfbeda9d3 42 constexpr static uint8_t address = 0x10;
charly 0:3f4cfbeda9d3 43 union {
charly 0:3f4cfbeda9d3 44 uint32_t sr : 20;
charly 0:3f4cfbeda9d3 45 struct {
charly 0:3f4cfbeda9d3 46 uint8_t ihold : 5,
charly 0:3f4cfbeda9d3 47 : 3,
charly 0:3f4cfbeda9d3 48 irun : 5,
charly 0:3f4cfbeda9d3 49 : 3,
charly 0:3f4cfbeda9d3 50 iholddelay : 4;
charly 0:3f4cfbeda9d3 51 };
charly 0:3f4cfbeda9d3 52 };
charly 0:3f4cfbeda9d3 53 };
charly 0:3f4cfbeda9d3 54
charly 0:3f4cfbeda9d3 55 struct GSTAT_t {
charly 0:3f4cfbeda9d3 56 constexpr static uint8_t address = 0x01;
charly 0:3f4cfbeda9d3 57 union {
charly 0:3f4cfbeda9d3 58 uint8_t sr : 3;
charly 0:3f4cfbeda9d3 59 struct {
charly 0:3f4cfbeda9d3 60 bool reset : 1,
charly 0:3f4cfbeda9d3 61 drv_err : 1,
charly 0:3f4cfbeda9d3 62 uv_cp : 1;
charly 0:3f4cfbeda9d3 63 };
charly 0:3f4cfbeda9d3 64 };
charly 0:3f4cfbeda9d3 65 };
charly 0:3f4cfbeda9d3 66
charly 0:3f4cfbeda9d3 67 struct IOIN_t {
charly 0:3f4cfbeda9d3 68 constexpr static uint8_t address = 0x04;
charly 0:3f4cfbeda9d3 69 union {
charly 0:3f4cfbeda9d3 70 uint32_t sr;
charly 0:3f4cfbeda9d3 71 struct {
charly 0:3f4cfbeda9d3 72 bool step : 1,
charly 0:3f4cfbeda9d3 73 dir : 1,
charly 0:3f4cfbeda9d3 74 dcen_cfg4 : 1,
charly 0:3f4cfbeda9d3 75 dcin_cfg5 : 1,
charly 0:3f4cfbeda9d3 76 drv_enn_cfg6 : 1,
charly 0:3f4cfbeda9d3 77 dco : 1,
charly 0:3f4cfbeda9d3 78 : 2;
charly 0:3f4cfbeda9d3 79 uint16_t : 16;
charly 0:3f4cfbeda9d3 80 uint8_t version : 8;
charly 0:3f4cfbeda9d3 81 };
charly 0:3f4cfbeda9d3 82 };
charly 0:3f4cfbeda9d3 83 };
charly 0:3f4cfbeda9d3 84
charly 0:3f4cfbeda9d3 85 struct TPOWERDOWN_t {
charly 0:3f4cfbeda9d3 86 constexpr static uint8_t address = 0x11;
charly 0:3f4cfbeda9d3 87 uint8_t sr : 8;
charly 0:3f4cfbeda9d3 88 };
charly 0:3f4cfbeda9d3 89
charly 0:3f4cfbeda9d3 90 struct TPWMTHRS_t {
charly 0:3f4cfbeda9d3 91 constexpr static uint8_t address = 0x13;
charly 0:3f4cfbeda9d3 92 uint32_t sr : 20;
charly 0:3f4cfbeda9d3 93 };
charly 0:3f4cfbeda9d3 94
charly 0:3f4cfbeda9d3 95 struct TCOOLTHRS_t {
charly 0:3f4cfbeda9d3 96 constexpr static uint8_t address = 0x14;
charly 0:3f4cfbeda9d3 97 uint32_t sr : 20;
charly 0:3f4cfbeda9d3 98 };
charly 0:3f4cfbeda9d3 99
charly 0:3f4cfbeda9d3 100 struct THIGH_t {
charly 0:3f4cfbeda9d3 101 constexpr static uint8_t address = 0x15;
charly 0:3f4cfbeda9d3 102 uint32_t sr : 20;
charly 0:3f4cfbeda9d3 103 };
charly 0:3f4cfbeda9d3 104
charly 0:3f4cfbeda9d3 105 struct XDIRECT_t {
charly 0:3f4cfbeda9d3 106 constexpr static uint8_t address = 0x2D;
charly 0:3f4cfbeda9d3 107 union {
charly 0:3f4cfbeda9d3 108 uint32_t sr : 25;
charly 0:3f4cfbeda9d3 109 struct {
charly 0:3f4cfbeda9d3 110 int16_t coil_A : 9;
charly 0:3f4cfbeda9d3 111 int8_t : 7;
charly 0:3f4cfbeda9d3 112 int16_t coil_B : 9;
charly 0:3f4cfbeda9d3 113 };
charly 0:3f4cfbeda9d3 114 };
charly 0:3f4cfbeda9d3 115 };
charly 0:3f4cfbeda9d3 116
charly 0:3f4cfbeda9d3 117 struct VDCMIN_t {
charly 0:3f4cfbeda9d3 118 constexpr static uint8_t address = 0x33;
charly 0:3f4cfbeda9d3 119 uint32_t sr : 23;
charly 0:3f4cfbeda9d3 120 };
charly 0:3f4cfbeda9d3 121
charly 0:3f4cfbeda9d3 122 struct CHOPCONF_t {
charly 0:3f4cfbeda9d3 123 constexpr static uint8_t address = 0x6C;
charly 0:3f4cfbeda9d3 124 union {
charly 0:3f4cfbeda9d3 125 uint32_t sr : 32;
charly 0:3f4cfbeda9d3 126 struct {
charly 0:3f4cfbeda9d3 127 uint8_t toff : 4,
charly 0:3f4cfbeda9d3 128 hstrt : 3,
charly 0:3f4cfbeda9d3 129 hend : 4,
charly 0:3f4cfbeda9d3 130 : 1;
charly 0:3f4cfbeda9d3 131 bool disfdcc : 1,
charly 0:3f4cfbeda9d3 132 rndtf : 1,
charly 0:3f4cfbeda9d3 133 chm : 1;
charly 0:3f4cfbeda9d3 134 uint8_t tbl : 2;
charly 0:3f4cfbeda9d3 135 bool vsense : 1,
charly 0:3f4cfbeda9d3 136 vhighfs : 1,
charly 0:3f4cfbeda9d3 137 vhighchm : 1;
charly 0:3f4cfbeda9d3 138 uint8_t sync : 4, // 2130, 5130
charly 0:3f4cfbeda9d3 139 mres : 4;
charly 0:3f4cfbeda9d3 140 bool intpol : 1,
charly 0:3f4cfbeda9d3 141 dedge : 1,
charly 0:3f4cfbeda9d3 142 diss2g : 1;
charly 0:3f4cfbeda9d3 143 };
charly 0:3f4cfbeda9d3 144 struct { // TMC5160
charly 0:3f4cfbeda9d3 145 uint32_t : 20;
charly 0:3f4cfbeda9d3 146 uint8_t tpfd : 4; // 5160
charly 0:3f4cfbeda9d3 147 uint16_t : 7;
charly 0:3f4cfbeda9d3 148 bool diss2vs : 1; // TMC5160 only
charly 0:3f4cfbeda9d3 149 };
charly 0:3f4cfbeda9d3 150 };
charly 0:3f4cfbeda9d3 151 };
charly 0:3f4cfbeda9d3 152
charly 0:3f4cfbeda9d3 153 struct COOLCONF_t {
charly 0:3f4cfbeda9d3 154 constexpr static uint8_t address = 0x6D;
charly 0:3f4cfbeda9d3 155 union {
charly 0:3f4cfbeda9d3 156 uint32_t sr : 25;
charly 0:3f4cfbeda9d3 157 struct {
charly 0:3f4cfbeda9d3 158 uint8_t semin : 4,
charly 0:3f4cfbeda9d3 159 : 1,
charly 0:3f4cfbeda9d3 160 seup : 2,
charly 0:3f4cfbeda9d3 161 : 1,
charly 0:3f4cfbeda9d3 162 semax : 4,
charly 0:3f4cfbeda9d3 163 : 1,
charly 0:3f4cfbeda9d3 164 sedn : 2;
charly 0:3f4cfbeda9d3 165 bool seimin : 1;
charly 0:3f4cfbeda9d3 166 int8_t sgt : 7,
charly 0:3f4cfbeda9d3 167 : 1;
charly 0:3f4cfbeda9d3 168 bool sfilt : 1;
charly 0:3f4cfbeda9d3 169 };
charly 0:3f4cfbeda9d3 170 };
charly 0:3f4cfbeda9d3 171 };
charly 0:3f4cfbeda9d3 172
charly 0:3f4cfbeda9d3 173 struct DCCTRL_t {
charly 0:3f4cfbeda9d3 174 constexpr static uint8_t address = 0x6E;
charly 0:3f4cfbeda9d3 175 union {
charly 0:3f4cfbeda9d3 176 uint32_t sr : 24;
charly 0:3f4cfbeda9d3 177 struct {
charly 0:3f4cfbeda9d3 178 uint16_t dc_time : 10,
charly 0:3f4cfbeda9d3 179 : 6;
charly 0:3f4cfbeda9d3 180 uint8_t dc_sg : 8;
charly 0:3f4cfbeda9d3 181 };
charly 0:3f4cfbeda9d3 182 };
charly 0:3f4cfbeda9d3 183 };
charly 0:3f4cfbeda9d3 184
charly 0:3f4cfbeda9d3 185 namespace TMC2130_n {
charly 0:3f4cfbeda9d3 186 struct DRV_STATUS_t {
charly 0:3f4cfbeda9d3 187 constexpr static uint8_t address = 0x6F;
charly 0:3f4cfbeda9d3 188 union {
charly 0:3f4cfbeda9d3 189 uint32_t sr;
charly 0:3f4cfbeda9d3 190 struct {
charly 0:3f4cfbeda9d3 191 uint16_t sg_result : 10;
charly 0:3f4cfbeda9d3 192 uint8_t : 5;
charly 0:3f4cfbeda9d3 193 bool fsactive : 1;
charly 0:3f4cfbeda9d3 194 uint8_t cs_actual : 5,
charly 0:3f4cfbeda9d3 195 : 3;
charly 0:3f4cfbeda9d3 196 bool stallGuard : 1,
charly 0:3f4cfbeda9d3 197 ot : 1,
charly 0:3f4cfbeda9d3 198 otpw : 1,
charly 0:3f4cfbeda9d3 199 s2ga : 1,
charly 0:3f4cfbeda9d3 200 s2gb : 1,
charly 0:3f4cfbeda9d3 201 ola : 1,
charly 0:3f4cfbeda9d3 202 olb : 1,
charly 0:3f4cfbeda9d3 203 stst : 1;
charly 0:3f4cfbeda9d3 204 };
charly 0:3f4cfbeda9d3 205 };
charly 0:3f4cfbeda9d3 206 };
charly 0:3f4cfbeda9d3 207 }
charly 0:3f4cfbeda9d3 208
charly 0:3f4cfbeda9d3 209 struct PWMCONF_t {
charly 0:3f4cfbeda9d3 210 constexpr static uint8_t address = 0x70;
charly 0:3f4cfbeda9d3 211 union {
charly 0:3f4cfbeda9d3 212 uint32_t sr : 22;
charly 0:3f4cfbeda9d3 213 struct {
charly 0:3f4cfbeda9d3 214 uint8_t pwm_ampl : 8,
charly 0:3f4cfbeda9d3 215 pwm_grad : 8,
charly 0:3f4cfbeda9d3 216 pwm_freq : 2;
charly 0:3f4cfbeda9d3 217 bool pwm_autoscale : 1,
charly 0:3f4cfbeda9d3 218 pwm_symmetric : 1;
charly 0:3f4cfbeda9d3 219 uint8_t freewheel : 2;
charly 0:3f4cfbeda9d3 220 };
charly 0:3f4cfbeda9d3 221 };
charly 0:3f4cfbeda9d3 222 };
charly 0:3f4cfbeda9d3 223
charly 0:3f4cfbeda9d3 224 struct ENCM_CTRL_t {
charly 0:3f4cfbeda9d3 225 constexpr static uint8_t address = 0x72;
charly 0:3f4cfbeda9d3 226 union {
charly 0:3f4cfbeda9d3 227 uint8_t sr : 2;
charly 0:3f4cfbeda9d3 228 struct {
charly 0:3f4cfbeda9d3 229 bool inv : 1,
charly 0:3f4cfbeda9d3 230 maxspeed : 1;
charly 0:3f4cfbeda9d3 231 };
charly 0:3f4cfbeda9d3 232 };
charly 0:3f4cfbeda9d3 233 };
charly 0:3f4cfbeda9d3 234
charly 0:3f4cfbeda9d3 235 #pragma pack(pop)