Diff: source/TMC5130_bitfields.h

Revision:

0:3f4cfbeda9d3

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/source/TMC5130_bitfields.h	Thu Feb 04 19:46:56 2021 +0000
@@ -0,0 +1,238 @@
+#pragma once
+#pragma pack(push, 1)
+
+struct SLAVECONF_t {
+  constexpr static uint8_t address = 0x03;
+  union {
+    uint16_t sr : 12;
+    struct {
+      uint8_t slaveaddr : 8;
+      uint8_t senddelay : 4;
+    };
+  };
+};
+
+namespace TMC5130_n {
+  struct IOIN_t {
+    constexpr static uint8_t address = 0x04;
+    union {
+      uint32_t sr;
+      struct {
+        bool  refl_step : 1,
+              refr_dir : 1,
+              encb_dcen_cfg4 : 1,
+              enca_dcin_cfg5 : 1,
+              drv_enn_cfg6 : 1,
+              enc_n_dco : 1,
+              sd_mode : 1,
+              swcomp_in : 1;
+        uint16_t : 16;
+        uint8_t version : 8;
+      };
+    };
+  };
+}
+
+struct OUTPUT_t {
+  constexpr static uint8_t address = 0x04;
+  bool sr : 1;
+};
+
+struct X_COMPARE_t {
+  constexpr static uint8_t address = 0x05;
+  uint32_t sr;
+};
+
+struct RAMPMODE_t {
+  constexpr static uint8_t address = 0x20;
+  uint8_t sr : 2;
+};
+
+struct XACTUAL_t {
+  constexpr static uint8_t address = 0x21;
+  uint32_t sr;
+};
+
+struct VSTART_t {
+  constexpr static uint8_t address = 0x23;
+  uint32_t sr : 18;
+};
+
+struct A1_t {
+  constexpr static uint8_t address = 0x24;
+  uint16_t sr : 16;
+};
+
+struct V1_t {
+  constexpr static uint8_t address = 0x25;
+  uint32_t sr : 20;
+};
+
+struct AMAX_t {
+  constexpr static uint8_t address = 0x26;
+  uint16_t sr : 16;
+};
+
+struct VMAX_t {
+  constexpr static uint8_t address = 0x27;
+  uint32_t sr : 23;
+};
+
+struct DMAX_t {
+  constexpr static uint8_t address = 0x28;
+  uint16_t sr : 16;
+};
+
+struct D1_t {
+  constexpr static uint8_t address = 0x2A;
+  uint16_t sr : 16;
+};
+
+struct VSTOP_t {
+  constexpr static uint8_t address = 0x2B;
+  uint32_t sr : 18;
+};
+
+struct TZEROWAIT_t {
+  constexpr static uint8_t address = 0x2C;
+  uint16_t sr : 16;
+};
+
+struct SW_MODE_t {
+  constexpr static uint8_t address = 0x34;
+  union {
+    uint16_t sr : 12;
+    struct {
+      bool  stop_l_enable : 1,
+            stop_r_enable : 1,
+            pol_stop_l : 1,
+            pol_stop_r : 1,
+            swap_lr : 1,
+            latch_l_active : 1,
+            latch_l_inactive : 1,
+            latch_r_active : 1,
+            latch_r_inactive : 1,
+            en_latch_encoder : 1,
+            sg_stop : 1,
+            en_softstop : 1;
+    };
+  };
+};
+
+struct RAMP_STAT_t {
+  constexpr static uint8_t address = 0x35;
+  union {
+    uint16_t sr : 14;
+    struct {
+      bool  status_stop_l : 1,
+            status_stop_r : 1,
+            status_latch_l : 1,
+            status_latch_r : 1,
+            event_stop_l : 1,
+            event_stop_r : 1,
+            event_stop_sg : 1,
+            event_pos_reached : 1,
+            velocity_reached : 1,
+            position_reached : 1,
+            vzero : 1,
+            t_zerowait_active : 1,
+            second_move : 1,
+            status_sg : 1;
+    };
+  };
+};
+
+struct ENCMODE_t {
+  constexpr static uint8_t address = 0x38;
+  union {
+    uint16_t sr : 11;
+    struct {
+      bool  pol_a : 1,
+            pol_b : 1,
+            pol_n : 1,
+            ignore_ab : 1,
+            clr_cont : 1,
+            clr_once : 1,
+            pos_edge : 1,
+            neg_edge : 1,
+            clr_enc_x : 1,
+            latch_x_act : 1,
+            enc_sel_decimal : 1;
+    };
+  };
+};
+
+struct ENC_CONST_t {
+  constexpr static uint8_t address = 0x3A;
+  uint32_t sr;
+};
+
+struct MSLUT0_t {
+  constexpr static uint8_t address = 0x60;
+  uint32_t sr;
+};
+
+struct MSLUT1_t {
+  constexpr static uint8_t address = 0x61;
+  uint32_t sr;
+};
+
+struct MSLUT2_t {
+  constexpr static uint8_t address = 0x62;
+  uint32_t sr;
+};
+
+struct MSLUT3_t {
+  constexpr static uint8_t address = 0x63;
+  uint32_t sr;
+};
+
+struct MSLUT4_t {
+  constexpr static uint8_t address = 0x64;
+  uint32_t sr;
+};
+
+struct MSLUT5_t {
+  constexpr static uint8_t address = 0x65;
+  uint32_t sr;
+};
+
+struct MSLUT6_t {
+  constexpr static uint8_t address = 0x66;
+  uint32_t sr;
+};
+
+struct MSLUT7_t {
+  constexpr static uint8_t address = 0x67;
+  uint32_t sr;
+};
+
+struct MSLUTSEL_t {
+  constexpr static uint8_t address = 0x68;
+  union {
+    uint32_t sr;
+    struct {
+      uint8_t w0 : 2,
+              w1 : 2,
+              w2 : 2,
+              w3 : 2,
+              x1 : 8,
+              x2 : 8,
+              x3 : 8;
+    };
+  };
+};
+
+struct MSLUTSTART_t {
+  constexpr static uint8_t address = 0x69;
+  union {
+    uint32_t sr : 24;
+    struct {
+      uint8_t start_sin : 8,
+                        : 8,
+              start_sin90 : 8;
+    };
+  };
+};
+
+#pragma pack(pop)
\ No newline at end of file