Karl Zweimüller / Mbed OS TMC2209-Test2

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   TMCStepper mRotaryEncoder-os

source/TMC5130_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 SLAVECONF_t {
charly 0:3f4cfbeda9d3 5 constexpr static uint8_t address = 0x03;
charly 0:3f4cfbeda9d3 6 union {
charly 0:3f4cfbeda9d3 7 uint16_t sr : 12;
charly 0:3f4cfbeda9d3 8 struct {
charly 0:3f4cfbeda9d3 9 uint8_t slaveaddr : 8;
charly 0:3f4cfbeda9d3 10 uint8_t senddelay : 4;
charly 0:3f4cfbeda9d3 11 };
charly 0:3f4cfbeda9d3 12 };
charly 0:3f4cfbeda9d3 13 };
charly 0:3f4cfbeda9d3 14
charly 0:3f4cfbeda9d3 15 namespace TMC5130_n {
charly 0:3f4cfbeda9d3 16 struct IOIN_t {
charly 0:3f4cfbeda9d3 17 constexpr static uint8_t address = 0x04;
charly 0:3f4cfbeda9d3 18 union {
charly 0:3f4cfbeda9d3 19 uint32_t sr;
charly 0:3f4cfbeda9d3 20 struct {
charly 0:3f4cfbeda9d3 21 bool refl_step : 1,
charly 0:3f4cfbeda9d3 22 refr_dir : 1,
charly 0:3f4cfbeda9d3 23 encb_dcen_cfg4 : 1,
charly 0:3f4cfbeda9d3 24 enca_dcin_cfg5 : 1,
charly 0:3f4cfbeda9d3 25 drv_enn_cfg6 : 1,
charly 0:3f4cfbeda9d3 26 enc_n_dco : 1,
charly 0:3f4cfbeda9d3 27 sd_mode : 1,
charly 0:3f4cfbeda9d3 28 swcomp_in : 1;
charly 0:3f4cfbeda9d3 29 uint16_t : 16;
charly 0:3f4cfbeda9d3 30 uint8_t version : 8;
charly 0:3f4cfbeda9d3 31 };
charly 0:3f4cfbeda9d3 32 };
charly 0:3f4cfbeda9d3 33 };
charly 0:3f4cfbeda9d3 34 }
charly 0:3f4cfbeda9d3 35
charly 0:3f4cfbeda9d3 36 struct OUTPUT_t {
charly 0:3f4cfbeda9d3 37 constexpr static uint8_t address = 0x04;
charly 0:3f4cfbeda9d3 38 bool sr : 1;
charly 0:3f4cfbeda9d3 39 };
charly 0:3f4cfbeda9d3 40
charly 0:3f4cfbeda9d3 41 struct X_COMPARE_t {
charly 0:3f4cfbeda9d3 42 constexpr static uint8_t address = 0x05;
charly 0:3f4cfbeda9d3 43 uint32_t sr;
charly 0:3f4cfbeda9d3 44 };
charly 0:3f4cfbeda9d3 45
charly 0:3f4cfbeda9d3 46 struct RAMPMODE_t {
charly 0:3f4cfbeda9d3 47 constexpr static uint8_t address = 0x20;
charly 0:3f4cfbeda9d3 48 uint8_t sr : 2;
charly 0:3f4cfbeda9d3 49 };
charly 0:3f4cfbeda9d3 50
charly 0:3f4cfbeda9d3 51 struct XACTUAL_t {
charly 0:3f4cfbeda9d3 52 constexpr static uint8_t address = 0x21;
charly 0:3f4cfbeda9d3 53 uint32_t sr;
charly 0:3f4cfbeda9d3 54 };
charly 0:3f4cfbeda9d3 55
charly 0:3f4cfbeda9d3 56 struct VSTART_t {
charly 0:3f4cfbeda9d3 57 constexpr static uint8_t address = 0x23;
charly 0:3f4cfbeda9d3 58 uint32_t sr : 18;
charly 0:3f4cfbeda9d3 59 };
charly 0:3f4cfbeda9d3 60
charly 0:3f4cfbeda9d3 61 struct A1_t {
charly 0:3f4cfbeda9d3 62 constexpr static uint8_t address = 0x24;
charly 0:3f4cfbeda9d3 63 uint16_t sr : 16;
charly 0:3f4cfbeda9d3 64 };
charly 0:3f4cfbeda9d3 65
charly 0:3f4cfbeda9d3 66 struct V1_t {
charly 0:3f4cfbeda9d3 67 constexpr static uint8_t address = 0x25;
charly 0:3f4cfbeda9d3 68 uint32_t sr : 20;
charly 0:3f4cfbeda9d3 69 };
charly 0:3f4cfbeda9d3 70
charly 0:3f4cfbeda9d3 71 struct AMAX_t {
charly 0:3f4cfbeda9d3 72 constexpr static uint8_t address = 0x26;
charly 0:3f4cfbeda9d3 73 uint16_t sr : 16;
charly 0:3f4cfbeda9d3 74 };
charly 0:3f4cfbeda9d3 75
charly 0:3f4cfbeda9d3 76 struct VMAX_t {
charly 0:3f4cfbeda9d3 77 constexpr static uint8_t address = 0x27;
charly 0:3f4cfbeda9d3 78 uint32_t sr : 23;
charly 0:3f4cfbeda9d3 79 };
charly 0:3f4cfbeda9d3 80
charly 0:3f4cfbeda9d3 81 struct DMAX_t {
charly 0:3f4cfbeda9d3 82 constexpr static uint8_t address = 0x28;
charly 0:3f4cfbeda9d3 83 uint16_t sr : 16;
charly 0:3f4cfbeda9d3 84 };
charly 0:3f4cfbeda9d3 85
charly 0:3f4cfbeda9d3 86 struct D1_t {
charly 0:3f4cfbeda9d3 87 constexpr static uint8_t address = 0x2A;
charly 0:3f4cfbeda9d3 88 uint16_t sr : 16;
charly 0:3f4cfbeda9d3 89 };
charly 0:3f4cfbeda9d3 90
charly 0:3f4cfbeda9d3 91 struct VSTOP_t {
charly 0:3f4cfbeda9d3 92 constexpr static uint8_t address = 0x2B;
charly 0:3f4cfbeda9d3 93 uint32_t sr : 18;
charly 0:3f4cfbeda9d3 94 };
charly 0:3f4cfbeda9d3 95
charly 0:3f4cfbeda9d3 96 struct TZEROWAIT_t {
charly 0:3f4cfbeda9d3 97 constexpr static uint8_t address = 0x2C;
charly 0:3f4cfbeda9d3 98 uint16_t sr : 16;
charly 0:3f4cfbeda9d3 99 };
charly 0:3f4cfbeda9d3 100
charly 0:3f4cfbeda9d3 101 struct SW_MODE_t {
charly 0:3f4cfbeda9d3 102 constexpr static uint8_t address = 0x34;
charly 0:3f4cfbeda9d3 103 union {
charly 0:3f4cfbeda9d3 104 uint16_t sr : 12;
charly 0:3f4cfbeda9d3 105 struct {
charly 0:3f4cfbeda9d3 106 bool stop_l_enable : 1,
charly 0:3f4cfbeda9d3 107 stop_r_enable : 1,
charly 0:3f4cfbeda9d3 108 pol_stop_l : 1,
charly 0:3f4cfbeda9d3 109 pol_stop_r : 1,
charly 0:3f4cfbeda9d3 110 swap_lr : 1,
charly 0:3f4cfbeda9d3 111 latch_l_active : 1,
charly 0:3f4cfbeda9d3 112 latch_l_inactive : 1,
charly 0:3f4cfbeda9d3 113 latch_r_active : 1,
charly 0:3f4cfbeda9d3 114 latch_r_inactive : 1,
charly 0:3f4cfbeda9d3 115 en_latch_encoder : 1,
charly 0:3f4cfbeda9d3 116 sg_stop : 1,
charly 0:3f4cfbeda9d3 117 en_softstop : 1;
charly 0:3f4cfbeda9d3 118 };
charly 0:3f4cfbeda9d3 119 };
charly 0:3f4cfbeda9d3 120 };
charly 0:3f4cfbeda9d3 121
charly 0:3f4cfbeda9d3 122 struct RAMP_STAT_t {
charly 0:3f4cfbeda9d3 123 constexpr static uint8_t address = 0x35;
charly 0:3f4cfbeda9d3 124 union {
charly 0:3f4cfbeda9d3 125 uint16_t sr : 14;
charly 0:3f4cfbeda9d3 126 struct {
charly 0:3f4cfbeda9d3 127 bool status_stop_l : 1,
charly 0:3f4cfbeda9d3 128 status_stop_r : 1,
charly 0:3f4cfbeda9d3 129 status_latch_l : 1,
charly 0:3f4cfbeda9d3 130 status_latch_r : 1,
charly 0:3f4cfbeda9d3 131 event_stop_l : 1,
charly 0:3f4cfbeda9d3 132 event_stop_r : 1,
charly 0:3f4cfbeda9d3 133 event_stop_sg : 1,
charly 0:3f4cfbeda9d3 134 event_pos_reached : 1,
charly 0:3f4cfbeda9d3 135 velocity_reached : 1,
charly 0:3f4cfbeda9d3 136 position_reached : 1,
charly 0:3f4cfbeda9d3 137 vzero : 1,
charly 0:3f4cfbeda9d3 138 t_zerowait_active : 1,
charly 0:3f4cfbeda9d3 139 second_move : 1,
charly 0:3f4cfbeda9d3 140 status_sg : 1;
charly 0:3f4cfbeda9d3 141 };
charly 0:3f4cfbeda9d3 142 };
charly 0:3f4cfbeda9d3 143 };
charly 0:3f4cfbeda9d3 144
charly 0:3f4cfbeda9d3 145 struct ENCMODE_t {
charly 0:3f4cfbeda9d3 146 constexpr static uint8_t address = 0x38;
charly 0:3f4cfbeda9d3 147 union {
charly 0:3f4cfbeda9d3 148 uint16_t sr : 11;
charly 0:3f4cfbeda9d3 149 struct {
charly 0:3f4cfbeda9d3 150 bool pol_a : 1,
charly 0:3f4cfbeda9d3 151 pol_b : 1,
charly 0:3f4cfbeda9d3 152 pol_n : 1,
charly 0:3f4cfbeda9d3 153 ignore_ab : 1,
charly 0:3f4cfbeda9d3 154 clr_cont : 1,
charly 0:3f4cfbeda9d3 155 clr_once : 1,
charly 0:3f4cfbeda9d3 156 pos_edge : 1,
charly 0:3f4cfbeda9d3 157 neg_edge : 1,
charly 0:3f4cfbeda9d3 158 clr_enc_x : 1,
charly 0:3f4cfbeda9d3 159 latch_x_act : 1,
charly 0:3f4cfbeda9d3 160 enc_sel_decimal : 1;
charly 0:3f4cfbeda9d3 161 };
charly 0:3f4cfbeda9d3 162 };
charly 0:3f4cfbeda9d3 163 };
charly 0:3f4cfbeda9d3 164
charly 0:3f4cfbeda9d3 165 struct ENC_CONST_t {
charly 0:3f4cfbeda9d3 166 constexpr static uint8_t address = 0x3A;
charly 0:3f4cfbeda9d3 167 uint32_t sr;
charly 0:3f4cfbeda9d3 168 };
charly 0:3f4cfbeda9d3 169
charly 0:3f4cfbeda9d3 170 struct MSLUT0_t {
charly 0:3f4cfbeda9d3 171 constexpr static uint8_t address = 0x60;
charly 0:3f4cfbeda9d3 172 uint32_t sr;
charly 0:3f4cfbeda9d3 173 };
charly 0:3f4cfbeda9d3 174
charly 0:3f4cfbeda9d3 175 struct MSLUT1_t {
charly 0:3f4cfbeda9d3 176 constexpr static uint8_t address = 0x61;
charly 0:3f4cfbeda9d3 177 uint32_t sr;
charly 0:3f4cfbeda9d3 178 };
charly 0:3f4cfbeda9d3 179
charly 0:3f4cfbeda9d3 180 struct MSLUT2_t {
charly 0:3f4cfbeda9d3 181 constexpr static uint8_t address = 0x62;
charly 0:3f4cfbeda9d3 182 uint32_t sr;
charly 0:3f4cfbeda9d3 183 };
charly 0:3f4cfbeda9d3 184
charly 0:3f4cfbeda9d3 185 struct MSLUT3_t {
charly 0:3f4cfbeda9d3 186 constexpr static uint8_t address = 0x63;
charly 0:3f4cfbeda9d3 187 uint32_t sr;
charly 0:3f4cfbeda9d3 188 };
charly 0:3f4cfbeda9d3 189
charly 0:3f4cfbeda9d3 190 struct MSLUT4_t {
charly 0:3f4cfbeda9d3 191 constexpr static uint8_t address = 0x64;
charly 0:3f4cfbeda9d3 192 uint32_t sr;
charly 0:3f4cfbeda9d3 193 };
charly 0:3f4cfbeda9d3 194
charly 0:3f4cfbeda9d3 195 struct MSLUT5_t {
charly 0:3f4cfbeda9d3 196 constexpr static uint8_t address = 0x65;
charly 0:3f4cfbeda9d3 197 uint32_t sr;
charly 0:3f4cfbeda9d3 198 };
charly 0:3f4cfbeda9d3 199
charly 0:3f4cfbeda9d3 200 struct MSLUT6_t {
charly 0:3f4cfbeda9d3 201 constexpr static uint8_t address = 0x66;
charly 0:3f4cfbeda9d3 202 uint32_t sr;
charly 0:3f4cfbeda9d3 203 };
charly 0:3f4cfbeda9d3 204
charly 0:3f4cfbeda9d3 205 struct MSLUT7_t {
charly 0:3f4cfbeda9d3 206 constexpr static uint8_t address = 0x67;
charly 0:3f4cfbeda9d3 207 uint32_t sr;
charly 0:3f4cfbeda9d3 208 };
charly 0:3f4cfbeda9d3 209
charly 0:3f4cfbeda9d3 210 struct MSLUTSEL_t {
charly 0:3f4cfbeda9d3 211 constexpr static uint8_t address = 0x68;
charly 0:3f4cfbeda9d3 212 union {
charly 0:3f4cfbeda9d3 213 uint32_t sr;
charly 0:3f4cfbeda9d3 214 struct {
charly 0:3f4cfbeda9d3 215 uint8_t w0 : 2,
charly 0:3f4cfbeda9d3 216 w1 : 2,
charly 0:3f4cfbeda9d3 217 w2 : 2,
charly 0:3f4cfbeda9d3 218 w3 : 2,
charly 0:3f4cfbeda9d3 219 x1 : 8,
charly 0:3f4cfbeda9d3 220 x2 : 8,
charly 0:3f4cfbeda9d3 221 x3 : 8;
charly 0:3f4cfbeda9d3 222 };
charly 0:3f4cfbeda9d3 223 };
charly 0:3f4cfbeda9d3 224 };
charly 0:3f4cfbeda9d3 225
charly 0:3f4cfbeda9d3 226 struct MSLUTSTART_t {
charly 0:3f4cfbeda9d3 227 constexpr static uint8_t address = 0x69;
charly 0:3f4cfbeda9d3 228 union {
charly 0:3f4cfbeda9d3 229 uint32_t sr : 24;
charly 0:3f4cfbeda9d3 230 struct {
charly 0:3f4cfbeda9d3 231 uint8_t start_sin : 8,
charly 0:3f4cfbeda9d3 232 : 8,
charly 0:3f4cfbeda9d3 233 start_sin90 : 8;
charly 0:3f4cfbeda9d3 234 };
charly 0:3f4cfbeda9d3 235 };
charly 0:3f4cfbeda9d3 236 };
charly 0:3f4cfbeda9d3 237
charly 0:3f4cfbeda9d3 238 #pragma pack(pop)