TMC2209_bitfields.h

00001 #pragma once
00002 #pragma pack(push, 1)
00003 
00004 namespace TMC2209_n {
00005   struct IOIN_t {
00006     constexpr static uint8_t address = 0x06;
00007     union {
00008       uint32_t sr;
00009       struct {
00010         bool  enn : 1,
00011                   : 1,
00012               ms1 : 1,
00013               ms2 : 1,
00014               diag : 1,
00015                    : 1,
00016               pdn_uart : 1,
00017               step : 1,
00018               spread_en : 1,
00019               dir : 1;
00020         uint16_t : 14;
00021         uint8_t version : 8;
00022       };
00023     };
00024   };
00025 
00026   struct SGTHRS_t {
00027     constexpr static uint8_t address = 0x40;
00028     uint8_t sr : 8;
00029   };
00030 
00031   struct SG_RESULT_t {
00032     constexpr static uint8_t address = 0x41;
00033     uint16_t sr : 10;
00034   };
00035 
00036   struct COOLCONF_t {
00037     constexpr static uint8_t address = 0x42;
00038     union {
00039       uint16_t sr;
00040       struct {
00041         uint8_t semin : 4,
00042                       : 1,
00043                 seup : 2,
00044                       : 1,
00045                 semax : 4,
00046                       : 1,
00047                 sedn : 2;
00048         bool    seimin : 1;
00049       };
00050     };
00051   };
00052 
00053 } //namespace 
00054 //////////////////////////////////////////////////////
00055 struct SLAVECONF_t {
00056   constexpr static uint8_t address = 0x03;
00057   union {
00058     uint16_t sr : 12;
00059     struct {
00060       uint8_t slaveaddr : 8;
00061       uint8_t senddelay : 4;
00062     };
00063   };
00064 };
00065 
00066 struct PWM_AUTO_t {
00067   constexpr static uint8_t address = 0x72;
00068   union {
00069     uint32_t sr : 24;
00070     struct {
00071       uint8_t pwm_ofs_auto : 8,
00072                            : 8,
00073               pwm_grad_auto : 8;
00074     };
00075   };
00076 };
00077 
00078 struct GCONF_t {
00079   constexpr static uint8_t address = 0x00;
00080   union {
00081     uint32_t sr : 18;
00082     struct {
00083       bool  i_scale_analog : 1, // 2130, 5130
00084             internal_rsense : 1, // 2130, 5130
00085             en_pwm_mode : 1,
00086             enc_commutation : 1, // 2130, 5130
00087             shaft : 1,
00088             diag0_error : 1,
00089             diag0_otpw : 1,
00090             diag0_stall : 1,
00091             diag1_stall : 1,
00092             diag1_index : 1,
00093             diag1_onstate : 1,
00094             diag1_steps_skipped : 1,
00095             diag0_int_pushpull : 1,
00096             diag1_pushpull : 1,
00097             small_hysteresis : 1,
00098             stop_enable : 1,
00099             direct_mode : 1;
00100     };
00101     struct { // TMC5160
00102       bool recalibrate : 1,
00103            faststandstill : 1,
00104                           : 1,
00105            multistep_filt : 1,
00106                     : 3,
00107            diag0_step : 1,
00108            diag1_dir : 1,
00109                  : 4,
00110            diag1_poscomp_pushpull : 1;
00111     };
00112   };
00113 };
00114 
00115 struct IHOLD_IRUN_t {
00116   constexpr static uint8_t address = 0x10;
00117   union {
00118     uint32_t sr : 20;
00119     struct {
00120       uint8_t ihold : 5,
00121                     : 3,
00122               irun : 5,
00123                    : 3,
00124               iholddelay : 4;
00125     };
00126   };
00127 };
00128 
00129 struct GSTAT_t {
00130   constexpr static uint8_t address = 0x01;
00131   union {
00132     uint8_t sr : 3;
00133     struct {
00134       bool  reset : 1,
00135             drv_err : 1,
00136             uv_cp : 1;
00137     };
00138   };
00139 };
00140 
00141 struct TPOWERDOWN_t {
00142   constexpr static uint8_t address = 0x11;
00143   uint8_t sr : 8;
00144 };
00145 
00146 struct TPWMTHRS_t {
00147   constexpr static uint8_t address = 0x13;
00148   uint32_t sr : 20;
00149 };
00150 
00151 struct TCOOLTHRS_t {
00152   constexpr static uint8_t address = 0x14;
00153   uint32_t sr : 20;
00154 };
00155 
00156 struct THIGH_t {
00157   constexpr static uint8_t address = 0x15;
00158   uint32_t sr : 20;
00159 };
00160 
00161 struct XDIRECT_t {
00162   constexpr static uint8_t address = 0x2D;
00163   union {
00164     uint32_t sr : 25;
00165     struct {
00166       int16_t coil_A : 9;
00167       int8_t         : 7;
00168       int16_t coil_B : 9;
00169     };
00170   };
00171 };
00172 
00173 struct VDCMIN_t {
00174   constexpr static uint8_t address = 0x33;
00175   uint32_t sr : 23;
00176 };
00177 
00178 struct CHOPCONF_t {
00179   constexpr static uint8_t address = 0x6C;
00180   union {
00181     uint32_t sr : 32;
00182     struct {
00183       uint8_t toff : 4,
00184               hstrt : 3,
00185               hend : 4,
00186                    : 1;
00187       bool    disfdcc : 1,
00188               rndtf : 1,
00189               chm : 1;
00190       uint8_t tbl : 2;
00191       bool    vsense : 1,
00192               vhighfs : 1,
00193               vhighchm : 1;
00194       uint8_t sync : 4, // 2130, 5130
00195               mres : 4;
00196       bool    intpol : 1,
00197               dedge : 1,
00198               diss2g : 1;
00199     };
00200     struct { // TMC5160
00201       uint32_t     : 20;
00202       uint8_t tpfd : 4; // 5160
00203       uint16_t     : 7;
00204       bool diss2vs : 1; // TMC5160 only
00205     };
00206   };
00207 };
00208 
00209 struct DCCTRL_t {
00210     constexpr static uint8_t address = 0x6E;
00211     union {
00212         uint32_t sr : 24;
00213         struct {
00214             uint16_t dc_time : 10,
00215                 : 6;
00216             uint8_t dc_sg : 8;
00217         };
00218     };
00219 };
00220 
00221 struct PWMCONF_t {
00222   constexpr static uint8_t address = 0x70;
00223   union {
00224     uint32_t sr : 22;
00225     struct {
00226       uint8_t pwm_ampl : 8,
00227               pwm_grad : 8,
00228               pwm_freq : 2;
00229       bool pwm_autoscale : 1,
00230            pwm_symmetric : 1;
00231       uint8_t freewheel : 2;
00232     };
00233   };
00234 };
00235 
00236 struct ENCM_CTRL_t {
00237   constexpr static uint8_t address = 0x72;
00238   union {
00239     uint8_t sr : 2;
00240     struct {
00241       bool  inv : 1,
00242             maxspeed : 1;
00243     };
00244   };
00245 };  
00246   
00247 #pragma pack(pop)