/*
 * 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_ */