Library for Trinamic TMC2209 stepper modules to drive bipolar stepper motors. Ported and adapted from https://github.com/teemuatlut/TMCStepper
TMC2208_bitfields.h@2:b34e91b54373, 2021-12-02 (annotated)
- Committer:
- charly
- Date:
- Thu Dec 02 20:29:39 2021 +0000
- Revision:
- 2:b34e91b54373
- Parent:
- 0:f4343071c8b1
Changes from Original Project for TMC2209 integrated
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
charly | 0:f4343071c8b1 | 1 | #pragma once |
charly | 0:f4343071c8b1 | 2 | #pragma pack(push, 1) |
charly | 0:f4343071c8b1 | 3 | |
charly | 0:f4343071c8b1 | 4 | namespace TMC2208_n { |
charly | 0:f4343071c8b1 | 5 | struct GCONF_t { |
charly | 0:f4343071c8b1 | 6 | constexpr static uint8_t address = 0x00; |
charly | 0:f4343071c8b1 | 7 | union { |
charly | 0:f4343071c8b1 | 8 | uint16_t sr : 10; |
charly | 0:f4343071c8b1 | 9 | struct { |
charly | 0:f4343071c8b1 | 10 | bool i_scale_analog : 1, |
charly | 0:f4343071c8b1 | 11 | internal_rsense : 1, |
charly | 0:f4343071c8b1 | 12 | en_spreadcycle : 1, |
charly | 0:f4343071c8b1 | 13 | shaft : 1, |
charly | 0:f4343071c8b1 | 14 | index_otpw : 1, |
charly | 0:f4343071c8b1 | 15 | index_step : 1, |
charly | 0:f4343071c8b1 | 16 | pdn_disable : 1, |
charly | 0:f4343071c8b1 | 17 | mstep_reg_select : 1, |
charly | 0:f4343071c8b1 | 18 | multistep_filt : 1, |
charly | 0:f4343071c8b1 | 19 | test_mode : 1; |
charly | 0:f4343071c8b1 | 20 | }; |
charly | 0:f4343071c8b1 | 21 | }; |
charly | 0:f4343071c8b1 | 22 | }; |
charly | 0:f4343071c8b1 | 23 | } |
charly | 0:f4343071c8b1 | 24 | |
charly | 0:f4343071c8b1 | 25 | namespace TMC2208_n { |
charly | 0:f4343071c8b1 | 26 | struct IOIN_t { |
charly | 0:f4343071c8b1 | 27 | constexpr static uint8_t address = 0x06; |
charly | 0:f4343071c8b1 | 28 | union { |
charly | 0:f4343071c8b1 | 29 | uint32_t sr; |
charly | 0:f4343071c8b1 | 30 | struct { |
charly | 0:f4343071c8b1 | 31 | bool enn : 1, |
charly | 0:f4343071c8b1 | 32 | : 1, |
charly | 0:f4343071c8b1 | 33 | ms1 : 1, |
charly | 0:f4343071c8b1 | 34 | ms2 : 1, |
charly | 0:f4343071c8b1 | 35 | diag : 1, |
charly | 0:f4343071c8b1 | 36 | : 1, |
charly | 0:f4343071c8b1 | 37 | pdn_uart : 1, |
charly | 0:f4343071c8b1 | 38 | step : 1, |
charly | 0:f4343071c8b1 | 39 | sel_a : 1, |
charly | 0:f4343071c8b1 | 40 | dir : 1; |
charly | 0:f4343071c8b1 | 41 | uint16_t : 14; |
charly | 0:f4343071c8b1 | 42 | uint8_t version : 8; |
charly | 0:f4343071c8b1 | 43 | }; |
charly | 0:f4343071c8b1 | 44 | }; |
charly | 0:f4343071c8b1 | 45 | }; |
charly | 0:f4343071c8b1 | 46 | } |
charly | 0:f4343071c8b1 | 47 | |
charly | 0:f4343071c8b1 | 48 | namespace TMC2224_n { |
charly | 0:f4343071c8b1 | 49 | struct IOIN_t { |
charly | 0:f4343071c8b1 | 50 | constexpr static uint8_t address = 0x06; |
charly | 0:f4343071c8b1 | 51 | union { |
charly | 0:f4343071c8b1 | 52 | uint32_t sr; |
charly | 0:f4343071c8b1 | 53 | struct { |
charly | 0:f4343071c8b1 | 54 | bool : 1, |
charly | 0:f4343071c8b1 | 55 | pdn_uart : 1, |
charly | 0:f4343071c8b1 | 56 | spread : 1, |
charly | 0:f4343071c8b1 | 57 | dir : 1, |
charly | 0:f4343071c8b1 | 58 | enn : 1, |
charly | 0:f4343071c8b1 | 59 | step : 1, |
charly | 0:f4343071c8b1 | 60 | ms1 : 1, |
charly | 0:f4343071c8b1 | 61 | ms2 : 1, |
charly | 0:f4343071c8b1 | 62 | sel_a : 1; |
charly | 0:f4343071c8b1 | 63 | uint16_t : 15; |
charly | 0:f4343071c8b1 | 64 | uint8_t version : 8; |
charly | 0:f4343071c8b1 | 65 | }; |
charly | 0:f4343071c8b1 | 66 | }; |
charly | 0:f4343071c8b1 | 67 | }; |
charly | 0:f4343071c8b1 | 68 | } |
charly | 0:f4343071c8b1 | 69 | |
charly | 0:f4343071c8b1 | 70 | struct FACTORY_CONF_t { |
charly | 0:f4343071c8b1 | 71 | constexpr static uint8_t address = 0x07; |
charly | 0:f4343071c8b1 | 72 | union { |
charly | 0:f4343071c8b1 | 73 | uint16_t sr; |
charly | 0:f4343071c8b1 | 74 | struct { |
charly | 0:f4343071c8b1 | 75 | uint8_t fclktrim : 5, |
charly | 0:f4343071c8b1 | 76 | : 3, |
charly | 0:f4343071c8b1 | 77 | ottrim : 2; |
charly | 0:f4343071c8b1 | 78 | }; |
charly | 0:f4343071c8b1 | 79 | }; |
charly | 0:f4343071c8b1 | 80 | }; |
charly | 0:f4343071c8b1 | 81 | |
charly | 0:f4343071c8b1 | 82 | namespace TMC2208_n { |
charly | 0:f4343071c8b1 | 83 | struct VACTUAL_t { |
charly | 0:f4343071c8b1 | 84 | constexpr static uint8_t address = 0x22; |
charly | 0:f4343071c8b1 | 85 | uint32_t sr; |
charly | 0:f4343071c8b1 | 86 | }; |
charly | 0:f4343071c8b1 | 87 | } |
charly | 0:f4343071c8b1 | 88 | |
charly | 0:f4343071c8b1 | 89 | struct MSCURACT_t { |
charly | 0:f4343071c8b1 | 90 | constexpr static uint8_t address = 0x6B; |
charly | 0:f4343071c8b1 | 91 | union { |
charly | 0:f4343071c8b1 | 92 | uint32_t sr : 25; |
charly | 0:f4343071c8b1 | 93 | struct { |
charly | 0:f4343071c8b1 | 94 | int16_t cur_a : 9, |
charly | 0:f4343071c8b1 | 95 | : 7, |
charly | 0:f4343071c8b1 | 96 | cur_b : 9; |
charly | 0:f4343071c8b1 | 97 | }; |
charly | 0:f4343071c8b1 | 98 | }; |
charly | 0:f4343071c8b1 | 99 | }; |
charly | 0:f4343071c8b1 | 100 | |
charly | 0:f4343071c8b1 | 101 | namespace TMC2208_n { |
charly | 0:f4343071c8b1 | 102 | struct CHOPCONF_t { |
charly | 0:f4343071c8b1 | 103 | constexpr static uint8_t address = 0x6C; |
charly | 0:f4343071c8b1 | 104 | union { |
charly | 0:f4343071c8b1 | 105 | uint32_t sr; |
charly | 0:f4343071c8b1 | 106 | struct { |
charly | 0:f4343071c8b1 | 107 | uint8_t toff : 4, |
charly | 0:f4343071c8b1 | 108 | hstrt : 3, |
charly | 0:f4343071c8b1 | 109 | hend : 4, |
charly | 0:f4343071c8b1 | 110 | : 4, |
charly | 0:f4343071c8b1 | 111 | tbl : 2; |
charly | 0:f4343071c8b1 | 112 | bool vsense : 1; |
charly | 0:f4343071c8b1 | 113 | uint8_t : 6, |
charly | 0:f4343071c8b1 | 114 | mres : 4; |
charly | 0:f4343071c8b1 | 115 | bool intpol : 1, |
charly | 0:f4343071c8b1 | 116 | dedge : 1, |
charly | 0:f4343071c8b1 | 117 | diss2g : 1, |
charly | 0:f4343071c8b1 | 118 | diss2vs : 1; |
charly | 0:f4343071c8b1 | 119 | }; |
charly | 0:f4343071c8b1 | 120 | }; |
charly | 0:f4343071c8b1 | 121 | }; |
charly | 0:f4343071c8b1 | 122 | |
charly | 0:f4343071c8b1 | 123 | struct PWMCONF_t { |
charly | 0:f4343071c8b1 | 124 | constexpr static uint8_t address = 0x70; |
charly | 0:f4343071c8b1 | 125 | union { |
charly | 0:f4343071c8b1 | 126 | uint32_t sr; |
charly | 0:f4343071c8b1 | 127 | struct { |
charly | 0:f4343071c8b1 | 128 | uint8_t pwm_ofs : 8, |
charly | 0:f4343071c8b1 | 129 | pwm_grad : 8, |
charly | 0:f4343071c8b1 | 130 | pwm_freq : 2; |
charly | 0:f4343071c8b1 | 131 | bool pwm_autoscale : 1, |
charly | 0:f4343071c8b1 | 132 | pwm_autograd : 1; |
charly | 0:f4343071c8b1 | 133 | uint8_t freewheel : 2, |
charly | 0:f4343071c8b1 | 134 | : 2, |
charly | 0:f4343071c8b1 | 135 | pwm_reg : 4, |
charly | 0:f4343071c8b1 | 136 | pwm_lim : 4; |
charly | 0:f4343071c8b1 | 137 | }; |
charly | 0:f4343071c8b1 | 138 | }; |
charly | 0:f4343071c8b1 | 139 | }; |
charly | 0:f4343071c8b1 | 140 | |
charly | 0:f4343071c8b1 | 141 | struct DRV_STATUS_t { |
charly | 0:f4343071c8b1 | 142 | constexpr static uint8_t address = 0x6F; |
charly | 0:f4343071c8b1 | 143 | union { |
charly | 0:f4343071c8b1 | 144 | uint32_t sr; |
charly | 0:f4343071c8b1 | 145 | struct { |
charly | 0:f4343071c8b1 | 146 | bool otpw : 1, |
charly | 0:f4343071c8b1 | 147 | ot : 1, |
charly | 0:f4343071c8b1 | 148 | s2ga : 1, |
charly | 0:f4343071c8b1 | 149 | s2gb : 1, |
charly | 0:f4343071c8b1 | 150 | s2vsa : 1, |
charly | 0:f4343071c8b1 | 151 | s2vsb : 1, |
charly | 0:f4343071c8b1 | 152 | ola : 1, |
charly | 0:f4343071c8b1 | 153 | olb : 1, |
charly | 0:f4343071c8b1 | 154 | t120 : 1, |
charly | 0:f4343071c8b1 | 155 | t143 : 1, |
charly | 0:f4343071c8b1 | 156 | t150 : 1, |
charly | 0:f4343071c8b1 | 157 | t157 : 1; |
charly | 0:f4343071c8b1 | 158 | uint8_t : 4, |
charly | 0:f4343071c8b1 | 159 | cs_actual : 5, |
charly | 0:f4343071c8b1 | 160 | : 3, |
charly | 0:f4343071c8b1 | 161 | : 6; |
charly | 0:f4343071c8b1 | 162 | bool stealth : 1, |
charly | 0:f4343071c8b1 | 163 | stst : 1; |
charly | 0:f4343071c8b1 | 164 | }; |
charly | 0:f4343071c8b1 | 165 | }; |
charly | 0:f4343071c8b1 | 166 | }; |
charly | 0:f4343071c8b1 | 167 | |
charly | 0:f4343071c8b1 | 168 | struct PWM_SCALE_t { |
charly | 0:f4343071c8b1 | 169 | constexpr static uint8_t address = 0x71; |
charly | 0:f4343071c8b1 | 170 | union { |
charly | 0:f4343071c8b1 | 171 | uint32_t sr; |
charly | 0:f4343071c8b1 | 172 | struct { |
charly | 0:f4343071c8b1 | 173 | uint8_t pwm_scale_sum : 8, |
charly | 0:f4343071c8b1 | 174 | : 8; |
charly | 0:f4343071c8b1 | 175 | int16_t pwm_scale_auto : 9; |
charly | 0:f4343071c8b1 | 176 | }; |
charly | 0:f4343071c8b1 | 177 | }; |
charly | 0:f4343071c8b1 | 178 | }; |
charly | 0:f4343071c8b1 | 179 | } |
charly | 0:f4343071c8b1 | 180 | |
charly | 0:f4343071c8b1 | 181 | #pragma pack(pop) |