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/*
* TMC5130_Constants.h * * Created on: 13.06.2018 * Author: LK */
#ifndef TMC_IC_TMC5130_TMC5130_CONSTANTS_H_
#define TMC_IC_TMC5130_TMC5130_CONSTANTS_H_
#define TMC5130_REGISTER_COUNT 128
#define TMC5130_MOTORS 1
#define TMC5130_WRITE_BIT 0x80
#define TMC5130_ADDRESS_MASK 0x7F
#define TMC5130_MAX_VELOCITY 8388096
#define TMC5130_MAX_ACCELERATION 65535
// ramp modes (Register TMC5161_RAMPMODE)
#define TMC5130_MODE_POSITION 0
#define TMC5130_MODE_VELPOS 1
#define TMC5130_MODE_VELNEG 2
#define TMC5130_MODE_HOLD 3
// limit switch mode bits (Register TMC5130_SWMODE)
#define TMC5130_SW_STOPL_ENABLE 0x0001
#define TMC5130_SW_STOPR_ENABLE 0x0002
#define TMC5130_SW_STOPL_POLARITY 0x0004
#define TMC5130_SW_STOPR_POLARITY 0x0008
#define TMC5130_SW_SWAP_LR 0x0010
#define TMC5130_SW_LATCH_L_ACT 0x0020
#define TMC5130_SW_LATCH_L_INACT 0x0040
#define TMC5130_SW_LATCH_R_ACT 0x0080
#define TMC5130_SW_LATCH_R_INACT 0x0100
#define TMC5130_SW_LATCH_ENC 0x0200
#define TMC5130_SW_SG_STOP 0x0400
#define TMC5130_SW_SOFTSTOP 0x0800
// Status bits (Register TMC5130_RAMPSTAT)
#define TMC5130_RS_STOPL 0x0001
#define TMC5130_RS_STOPR 0x0002
#define TMC5130_RS_LATCHL 0x0004
#define TMC5130_RS_LATCHR 0x0008
#define TMC5130_RS_EV_STOPL 0x0010
#define TMC5130_RS_EV_STOPR 0x0020
#define TMC5130_RS_EV_STOP_SG 0x0040
#define TMC5130_RS_EV_POSREACHED 0x0080
#define TMC5130_RS_VELREACHED 0x0100
#define TMC5130_RS_POSREACHED 0x0200
#define TMC5130_RS_VZERO 0x0400
#define TMC5130_RS_ZEROWAIT 0x0800
#define TMC5130_RS_SECONDMOVE 0x1000
#define TMC5130_RS_SG 0x2000
// Encoderbits (Register TMC5130_ENCMODE)
#define TMC5130_EM_DECIMAL 0x0400
#define TMC5130_EM_LATCH_XACT 0x0200
#define TMC5130_EM_CLR_XENC 0x0100
#define TMC5130_EM_NEG_EDGE 0x0080
#define TMC5130_EM_POS_EDGE 0x0040
#define TMC5130_EM_CLR_ONCE 0x0020
#define TMC5130_EM_CLR_CONT 0x0010
#define TMC5130_EM_IGNORE_AB 0x0008
#define TMC5130_EM_POL_N 0x0004
#define TMC5130_EM_POL_B 0x0002
#define TMC5130_EM_POL_A 0x0001
#endif /* TMC_IC_TMC5130_TMC5130_CONSTANTS_H_ */
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