#ifndef TMC2130Stepper_REGDEFS_h
#define TMC2130Stepper_REGDEFS_h

constexpr uint8_t TMC2130_READ		= 0x00;
constexpr uint8_t TMC2130_WRITE		= 0x80;

// Register memory positions
constexpr uint8_t REG_GCONF			= 0x00;
constexpr uint8_t REG_GSTAT			= 0x01;
constexpr uint8_t REG_IOIN			= 0x04;
constexpr uint8_t REG_IHOLD_IRUN	= 0x10;
constexpr uint8_t REG_TPOWERDOWN	= 0x11;
constexpr uint8_t REG_TSTEP			= 0x12;
constexpr uint8_t REG_TPWMTHRS		= 0x13;
constexpr uint8_t REG_TCOOLTHRS		= 0x14;
constexpr uint8_t REG_THIGH			= 0x15;
constexpr uint8_t REG_XDIRECT		= 0x2D;
constexpr uint8_t REG_VDCMIN		= 0x33;
constexpr uint8_t REG_MSLUT0		= 0x60;
constexpr uint8_t REG_MSLUT1		= 0x61;
constexpr uint8_t REG_MSLUT2		= 0x62;
constexpr uint8_t REG_MSLUT3		= 0x63;
constexpr uint8_t REG_MSLUT4		= 0x64;
constexpr uint8_t REG_MSLUT5		= 0x65;
constexpr uint8_t REG_MSLUT6		= 0x66;
constexpr uint8_t REG_MSLUT7		= 0x67;
constexpr uint8_t REG_MSLUTSEL		= 0x68;
constexpr uint8_t REG_MSLUTSTART	= 0x69;
constexpr uint8_t REG_MSCNT			= 0x6A;
constexpr uint8_t REG_MSCURACT		= 0x6B;
constexpr uint8_t REG_CHOPCONF		= 0x6C;
constexpr uint8_t REG_COOLCONF		= 0x6D;
constexpr uint8_t REG_DCCTRL		= 0x6E;
constexpr uint8_t REG_DRV_STATUS	= 0x6F;
constexpr uint8_t REG_PWMCONF		= 0x70;
constexpr uint8_t REG_PWM_SCALE		= 0x71;
constexpr uint8_t REG_ENCM_CTRL		= 0x72;
constexpr uint8_t REG_LOST_STEPS	= 0x73;

// SPI_STATUS
constexpr uint8_t RESET_FLAG_bp		= 0;
constexpr uint8_t DRIVER_ERROR_bp	= 1;
constexpr uint8_t SG2_bp 			= 2;
constexpr uint8_t STANDSTILL_bp		= 3;
constexpr uint32_t RESET_FLAG_bm	= 0x1UL;
constexpr uint32_t DRIVER_ERROR_bm	= 0x2UL;
constexpr uint32_t SG2_bm 			= 0x4UL;
constexpr uint32_t STANDSTILL_bm	= 0x8UL;

// GCONF
constexpr uint8_t I_SCALE_ANALOG_bp			= 0;
constexpr uint8_t INTERNAL_RSENSE_bp		= 1;
constexpr uint8_t EN_PWM_MODE_bp			= 2;
constexpr uint8_t ENC_COMMUTATION_bp		= 3;
constexpr uint8_t SHAFT_bp					= 4;
constexpr uint8_t DIAG0_ERROR_bp			= 5;
constexpr uint8_t DIAG0_OTPW_bp				= 6;
constexpr uint8_t DIAG0_STALL_bp			= 7;
constexpr uint8_t DIAG1_STALL_bp			= 8;
constexpr uint8_t DIAG1_INDEX_bp			= 9;
constexpr uint8_t DIAG1_ONSTATE_bp	   		= 10;
constexpr uint8_t DIAG1_STEPS_SKIPPED_bp 	= 11;
constexpr uint8_t DIAG0_INT_PUSHPULL_bp  	= 12;
constexpr uint8_t DIAG1_PUSHPULL_bp	   		= 13;
constexpr uint8_t SMALL_HYSTERISIS_bp    	= 14;
constexpr uint8_t STOP_ENABLE_bp		   	= 15;
constexpr uint8_t DIRECT_MODE_bp		   	= 16;
constexpr uint32_t GCONF_bm					= 0x3FFFFUL;
constexpr uint32_t I_SCALE_ANALOG_bm		= 0x1UL;
constexpr uint32_t INTERNAL_RSENSE_bm		= 0x2UL;
constexpr uint32_t EN_PWM_MODE_bm			= 0x4UL;
constexpr uint32_t ENC_COMMUTATION_bm		= 0x8UL;
constexpr uint32_t SHAFT_bm					= 0x10UL;
constexpr uint32_t DIAG0_ERROR_bm			= 0x20UL;
constexpr uint32_t DIAG0_OTPW_bm			= 0x40UL;
constexpr uint32_t DIAG0_STALL_bm			= 0x80UL;
constexpr uint32_t DIAG1_STALL_bm			= 0x100UL;
constexpr uint32_t DIAG1_INDEX_bm			= 0x200UL;
constexpr uint32_t DIAG1_ONSTATE_bm			= 0x400UL;
constexpr uint32_t DIAG1_STEPS_SKIPPED_bm	= 0x800UL;
constexpr uint32_t DIAG0_INT_PUSHPULL_bm	= 0x1000UL;
constexpr uint32_t DIAG1_PUSHPULL_bm		= 0x2000UL;
constexpr uint32_t SMALL_HYSTERISIS_bm		= 0x4000UL;
constexpr uint32_t STOP_ENABLE_bm			= 0x8000UL;
constexpr uint32_t DIRECT_MODE_bm			= 0x10000UL;
// GSTAT
constexpr uint8_t RESET_bp 			= 0;
constexpr uint8_t DRV_ERR_bp		= 1;
constexpr uint8_t UV_CP_bp			= 2;
constexpr uint32_t GSTAT_bm			= 0x7UL;
constexpr uint32_t RESET_bm 		= 0b1UL;
constexpr uint32_t DRV_ERR_bm		= 0b10UL;
constexpr uint32_t UV_CP_bm			= 0b100UL;
// IOIN
constexpr uint8_t STEP_bp 			= 0;
constexpr uint8_t DIR_bp			= 1;
constexpr uint8_t DCEN_CFG4_bp		= 2;
constexpr uint8_t DCIN_CFG5_bp		= 3;
constexpr uint8_t DRV_ENN_CFG6_bp	= 4;
constexpr uint8_t DCO_bp 			= 5;
constexpr uint8_t VERSION_bp		= 24;
constexpr uint32_t IOIN_bm			= 0xFF00003FUL;
constexpr uint32_t STEP_bm 			= 0x1UL;
constexpr uint32_t DIR_bm			= 0x2UL;
constexpr uint32_t DCEN_CFG4_bm		= 0x4UL;
constexpr uint32_t DCIN_CFG5_bm		= 0x8UL;
constexpr uint32_t DRV_ENN_CFG6_bm	= 0x10UL;
constexpr uint32_t DCO_bm 			= 0x20UL;
constexpr uint32_t VERSION_bm		= 0xFF000000UL;
// IHOLD_IRUN
constexpr uint8_t IHOLD_bp 			= 0;
constexpr uint8_t IRUN_bp			= 8;
constexpr uint8_t IHOLDDELAY_bp	    = 16;
constexpr uint32_t IHOLD_IRUN_bm	= 0xF1F1FUL;
constexpr uint32_t IHOLD_bm 		= 0x1FUL;
constexpr uint32_t IRUN_bm			= 0x1F00UL;
constexpr uint32_t IHOLDDELAY_bm	= 0xF0000UL;
// TPOWERDOWN
constexpr uint8_t TPOWERDOWN_bp		= 0;
constexpr uint32_t TPOWERDOWN_bm	= 0xFFUL;
// TSTEP
constexpr uint8_t TSTEP_bp			= 0;
constexpr uint32_t TSTEP_bm			= 0xFFFFFUL;
// TPWMTHRS
constexpr uint8_t TPWMTHRS_bp 		= 0;
constexpr uint32_t TPWMTHRS_bm		= 0xFFFFFUL;
// TCOOLTHRS
constexpr uint8_t TCOOLTHRS_bp		= 0;
constexpr uint32_t TCOOLTHRS_bm		= 0xFFFFFUL;
// THIGH
constexpr uint8_t THIGH_bp 			= 0;
constexpr uint32_t THIGH_bm			= 0xFFFFFUL;
// XDIRECT
constexpr uint8_t XDIRECT_bp		= 0;
constexpr uint32_t XDIRECT_bm		= 0xFFFFFFFFUL;
constexpr uint8_t COIL_A_bp			= 0;
constexpr uint8_t COIL_B_bp			= 16;
constexpr uint32_t COIL_A_bm		= 0x1FFUL;
constexpr uint32_t COIL_B_bm		= 0x1FF0000UL;
// VDCMIN
constexpr uint8_t VDCMIN_bp			= 0;
constexpr uint32_t VDCMIN_bm		= 0x7FFFFFUL;
// MSLUT0
constexpr uint8_t MSLUT0_bp			= 0;
constexpr uint32_t MSLUT0_bm		= 0xFFFFFFFFUL;
// MSLUT1
constexpr uint8_t MSLUT1_bp			= 0;
constexpr uint32_t MSLUT1_bm		= 0xFFFFFFFFUL;
// MSLUT2
constexpr uint8_t MSLUT2_bp			= 0;
constexpr uint32_t MSLUT2_bm		= 0xFFFFFFFFUL;
// MSLUT3
constexpr uint8_t MSLUT3_bp			= 0;
constexpr uint32_t MSLUT3_bm		= 0xFFFFFFFFUL;
// MSLUT4
constexpr uint8_t MSLUT4_bp			= 0;
constexpr uint32_t MSLUT4_bm		= 0xFFFFFFFFUL;
// MSLUT5
constexpr uint8_t MSLUT5_bp			= 0;
constexpr uint32_t MSLUT5_bm		= 0xFFFFFFFFUL;
// MSLUT6
constexpr uint8_t MSLUT6_bp			= 0;
constexpr uint32_t MSLUT6_bm		= 0xFFFFFFFFUL;
// MSLUT7
constexpr uint8_t MSLUT7_bp			= 0;
constexpr uint32_t MSLUT7_bm		= 0xFFFFFFFFUL;
// MSLUTSEL
constexpr uint8_t MSLUTSEL_bp		= 0;
constexpr uint32_t MSLUTSEL_bm		= 0xFFFFFFFFUL;
// MSLUTSTART
constexpr uint8_t START_SIN_bp		= 0;
constexpr uint8_t START_SIN90_bp	= 16;
constexpr uint32_t START_SIN_bm 	= 0xFFUL;
constexpr uint32_t START_SIN90_bm 	= 0xFF0000UL;
// MSCNT
constexpr uint8_t MSCNT_bp			= 0;
constexpr uint32_t MSCNT_bm			= 0x3FFUL;
// MSCURACT
constexpr uint8_t CUR_A_bp			= 0;
constexpr uint8_t CUR_B_bp		    = 16;
constexpr uint32_t CUR_A_bm			= 0x1FFUL;
constexpr uint32_t CUR_B_bm			= 0x1FF0000UL;
// CHOPCONF
constexpr uint8_t TOFF_bp			= 0;
constexpr uint8_t HSTRT_bp			= 4;
constexpr uint8_t FD_bp				= 4;
constexpr uint8_t HEND_bp			= 7;
constexpr uint8_t DISFDCC_bp		= 12;
constexpr uint8_t RNDTF_bp			= 13;
constexpr uint8_t CHM_bp			= 14;
constexpr uint8_t TBL_bp			= 15;
constexpr uint8_t VSENSE_bp			= 17;
constexpr uint8_t VHIGHFS_bp		= 18;
constexpr uint8_t VHIGHCHM_bp		= 19;
constexpr uint8_t SYNC_bp			= 20;
constexpr uint8_t MRES_bp			= 24;
constexpr uint8_t INTPOL_bp			= 28;
constexpr uint8_t DEDGE_bp			= 29;
constexpr uint8_t DISS2G_bp			= 30;
constexpr uint32_t CHOPCONF_bm		= 0xFFFFFFFFUL;
constexpr uint32_t TOFF_bm			= 0xFUL;
constexpr uint32_t HSTRT_bm		 	= 0x70UL;
constexpr uint32_t FD_bm			= 0x830UL;
constexpr uint32_t HEND_bm			= 0x780UL;
constexpr uint32_t DISFDCC_bm		= 0x1000UL;
constexpr uint32_t RNDTF_bm			= 0x2000UL;
constexpr uint32_t CHM_bm			= 0x4000UL;
constexpr uint32_t TBL_bm		  	= 0x18000UL;
constexpr uint32_t VSENSE_bm	  	= 0x20000UL;
constexpr uint32_t VHIGHFS_bm		= 0x40000UL;
constexpr uint32_t VHIGHCHM_bm		= 0x80000UL;
constexpr uint32_t SYNC_bm			= 0xF00000UL;
constexpr uint32_t MRES_bm			= 0xF000000UL;
constexpr uint32_t INTPOL_bm  		= 0x10000000UL;
constexpr uint32_t DEDGE_bm   		= 0x20000000UL;
constexpr uint32_t DISS2G_bm  		= 0x40000000UL;
// COOLCONF
constexpr uint8_t SEMIN_bp			= 0;
constexpr uint8_t SEUP_bp			= 5;
constexpr uint8_t SEMAX_bp			= 8;
constexpr uint8_t SEDN_bp			= 13;
constexpr uint8_t SEIMIN_bp			= 15;
constexpr uint8_t SGT_bp			= 16;
constexpr uint8_t SFILT_bp			= 24;
constexpr uint32_t COOLCONF_bm		= 0x3FFFFFFUL;
constexpr uint32_t SEMIN_bm			= 0xFUL;
constexpr uint32_t SEUP_bm			= 0x60UL;
constexpr uint32_t SEMAX_bm			= 0xF00UL;
constexpr uint32_t SEDN_bm			= 0x6000UL;
constexpr uint32_t SEIMIN_bm		= 0x8000UL;
constexpr uint32_t SGT_bm			= 0x7F0000UL;
constexpr uint32_t SFILT_bm			= 0x1000000UL;
// DCCTRL
constexpr uint8_t DC_TIME_bp		= 0;
constexpr uint8_t DC_SG_bp			= 16;
constexpr uint32_t DC_TIME_bm		= 0x3FFUL;
constexpr uint32_t DC_SG_bm			= 0xFF0000UL;
// DRV_STATUS
constexpr uint8_t SG_RESULT_bp		= 0;
constexpr uint8_t FSACTIVE_bp		= 15;
constexpr uint8_t CS_ACTUAL_bp		= 16;
constexpr uint8_t STALLGUARD_bp		= 24;
constexpr uint8_t OT_bp				= 25;
constexpr uint8_t OTPW_bp			= 26;
constexpr uint8_t S2GA_bp			= 27;
constexpr uint8_t S2GB_bp			= 28;
constexpr uint8_t OLA_bp			= 29;
constexpr uint8_t OLB_bp			= 30;
constexpr uint8_t STST_bp			= 31;
constexpr uint32_t DRV_STATUS_bm	= 0xFFFFFFFFUL;
constexpr uint32_t SG_RESULT_bm		= 0x3FFUL;
constexpr uint32_t FSACTIVE_bm		= 0x8000UL;
constexpr uint32_t CS_ACTUAL_bm		= 0x1F0000UL;
constexpr uint32_t STALLGUARD_bm	= 0x1000000UL;
constexpr uint32_t OT_bm			= 0x2000000UL;
constexpr uint32_t OTPW_bm			= 0x4000000UL;
constexpr uint32_t S2GA_bm			= 0x8000000UL;
constexpr uint32_t S2GB_bm			= 0x10000000UL;
constexpr uint32_t OLA_bm			= 0x20000000UL;
constexpr uint32_t OLB_bm			= 0x40000000UL;
constexpr uint32_t STST_bm			= 0x80000000UL;
// PWMCONF
constexpr uint8_t PWM_AMPL_bp 		= 0;
constexpr uint8_t PWM_GRAD_bp 		= 8;
constexpr uint8_t PWM_FREQ_bp 		= 16;
constexpr uint8_t PWM_AUTOSCALE_bp  = 18;
constexpr uint8_t PWM_SYMMETRIC_bp  = 19;
constexpr uint8_t FREEWHEEL_bp 		= 20;
constexpr uint32_t PWMCONF_bm		= 0x7FFFFFUL;
constexpr uint32_t PWM_AMPL_bm 		= 0xFFUL;
constexpr uint32_t PWM_GRAD_bm 		= 0xFF00UL;
constexpr uint32_t PWM_FREQ_bm 		= 0x30000UL;
constexpr uint32_t PWM_AUTOSCALE_bm	= 0x40000UL;
constexpr uint32_t PWM_SYMMETRIC_bm	= 0x80000UL;
constexpr uint32_t FREEWHEEL_bm 	= 0x300000UL;
// PWM_SCALE
constexpr uint8_t PWM_SCALE_bp		= 0;
constexpr uint32_t PWM_SCALE_bm		= 0xFFUL;
// ENCM_CTRL
constexpr uint8_t INV_bp			= 0;
constexpr uint8_t MAXSPEED_bp		= 1;
constexpr uint32_t INV_bm			= 0x1UL;
constexpr uint32_t MAXSPEED_bm		= 0x2UL;
// LOST_STEPS
constexpr uint8_t LOST_STEPS_bp		= 0;
constexpr uint32_t LOST_STEPS_bm	= 0xFFFFFUL;

#endif