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