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289 lines
10 KiB
289 lines
10 KiB
#ifndef TMC2130Stepper_REGDEFS_h
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#define TMC2130Stepper_REGDEFS_h
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constexpr uint8_t TMC2130_READ = 0x00;
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constexpr uint8_t TMC2130_WRITE = 0x80;
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// Register memory positions
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constexpr uint8_t REG_GCONF = 0x00;
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constexpr uint8_t REG_GSTAT = 0x01;
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constexpr uint8_t REG_IOIN = 0x04;
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constexpr uint8_t REG_IHOLD_IRUN = 0x10;
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constexpr uint8_t REG_TPOWERDOWN = 0x11;
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constexpr uint8_t REG_TSTEP = 0x12;
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constexpr uint8_t REG_TPWMTHRS = 0x13;
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constexpr uint8_t REG_TCOOLTHRS = 0x14;
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constexpr uint8_t REG_THIGH = 0x15;
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constexpr uint8_t REG_XDIRECT = 0x2D;
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constexpr uint8_t REG_VDCMIN = 0x33;
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constexpr uint8_t REG_MSLUT0 = 0x60;
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constexpr uint8_t REG_MSLUT1 = 0x61;
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constexpr uint8_t REG_MSLUT2 = 0x62;
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constexpr uint8_t REG_MSLUT3 = 0x63;
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constexpr uint8_t REG_MSLUT4 = 0x64;
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constexpr uint8_t REG_MSLUT5 = 0x65;
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constexpr uint8_t REG_MSLUT6 = 0x66;
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constexpr uint8_t REG_MSLUT7 = 0x67;
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constexpr uint8_t REG_MSLUTSEL = 0x68;
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constexpr uint8_t REG_MSLUTSTART = 0x69;
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constexpr uint8_t REG_MSCNT = 0x6A;
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constexpr uint8_t REG_MSCURACT = 0x6B;
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constexpr uint8_t REG_CHOPCONF = 0x6C;
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constexpr uint8_t REG_COOLCONF = 0x6D;
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constexpr uint8_t REG_DCCTRL = 0x6E;
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constexpr uint8_t REG_DRV_STATUS = 0x6F;
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constexpr uint8_t REG_PWMCONF = 0x70;
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constexpr uint8_t REG_PWM_SCALE = 0x71;
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constexpr uint8_t REG_ENCM_CTRL = 0x72;
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constexpr uint8_t REG_LOST_STEPS = 0x73;
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// SPI_STATUS
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constexpr uint8_t RESET_FLAG_bp = 0;
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constexpr uint8_t DRIVER_ERROR_bp = 1;
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constexpr uint8_t SG2_bp = 2;
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constexpr uint8_t STANDSTILL_bp = 3;
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constexpr uint32_t RESET_FLAG_bm = 0x1UL;
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constexpr uint32_t DRIVER_ERROR_bm = 0x2UL;
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constexpr uint32_t SG2_bm = 0x4UL;
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constexpr uint32_t STANDSTILL_bm = 0x8UL;
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// GCONF
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constexpr uint8_t I_SCALE_ANALOG_bp = 0;
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constexpr uint8_t INTERNAL_RSENSE_bp = 1;
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constexpr uint8_t EN_PWM_MODE_bp = 2;
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constexpr uint8_t ENC_COMMUTATION_bp = 3;
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constexpr uint8_t SHAFT_bp = 4;
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constexpr uint8_t DIAG0_ERROR_bp = 5;
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constexpr uint8_t DIAG0_OTPW_bp = 6;
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constexpr uint8_t DIAG0_STALL_bp = 7;
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constexpr uint8_t DIAG1_STALL_bp = 8;
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constexpr uint8_t DIAG1_INDEX_bp = 9;
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constexpr uint8_t DIAG1_ONSTATE_bp = 10;
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constexpr uint8_t DIAG1_STEPS_SKIPPED_bp = 11;
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constexpr uint8_t DIAG0_INT_PUSHPULL_bp = 12;
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constexpr uint8_t DIAG1_PUSHPULL_bp = 13;
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constexpr uint8_t SMALL_HYSTERISIS_bp = 14;
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constexpr uint8_t STOP_ENABLE_bp = 15;
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constexpr uint8_t DIRECT_MODE_bp = 16;
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constexpr uint32_t GCONF_bm = 0x3FFFFUL;
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constexpr uint32_t I_SCALE_ANALOG_bm = 0x1UL;
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constexpr uint32_t INTERNAL_RSENSE_bm = 0x2UL;
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constexpr uint32_t EN_PWM_MODE_bm = 0x4UL;
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constexpr uint32_t ENC_COMMUTATION_bm = 0x8UL;
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constexpr uint32_t SHAFT_bm = 0x10UL;
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constexpr uint32_t DIAG0_ERROR_bm = 0x20UL;
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constexpr uint32_t DIAG0_OTPW_bm = 0x40UL;
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constexpr uint32_t DIAG0_STALL_bm = 0x80UL;
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constexpr uint32_t DIAG1_STALL_bm = 0x100UL;
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constexpr uint32_t DIAG1_INDEX_bm = 0x200UL;
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constexpr uint32_t DIAG1_ONSTATE_bm = 0x400UL;
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constexpr uint32_t DIAG1_STEPS_SKIPPED_bm = 0x800UL;
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constexpr uint32_t DIAG0_INT_PUSHPULL_bm = 0x1000UL;
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constexpr uint32_t DIAG1_PUSHPULL_bm = 0x2000UL;
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constexpr uint32_t SMALL_HYSTERISIS_bm = 0x4000UL;
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constexpr uint32_t STOP_ENABLE_bm = 0x8000UL;
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constexpr uint32_t DIRECT_MODE_bm = 0x10000UL;
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// GSTAT
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constexpr uint8_t RESET_bp = 0;
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constexpr uint8_t DRV_ERR_bp = 1;
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constexpr uint8_t UV_CP_bp = 2;
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constexpr uint32_t GSTAT_bm = 0x7UL;
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constexpr uint32_t RESET_bm = 0b1UL;
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constexpr uint32_t DRV_ERR_bm = 0b10UL;
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constexpr uint32_t UV_CP_bm = 0b100UL;
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// IOIN
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constexpr uint8_t STEP_bp = 0;
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constexpr uint8_t DIR_bp = 1;
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constexpr uint8_t DCEN_CFG4_bp = 2;
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constexpr uint8_t DCIN_CFG5_bp = 3;
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constexpr uint8_t DRV_ENN_CFG6_bp = 4;
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constexpr uint8_t DCO_bp = 5;
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constexpr uint8_t VERSION_bp = 24;
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constexpr uint32_t IOIN_bm = 0xFF00003FUL;
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constexpr uint32_t STEP_bm = 0x1UL;
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constexpr uint32_t DIR_bm = 0x2UL;
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constexpr uint32_t DCEN_CFG4_bm = 0x4UL;
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constexpr uint32_t DCIN_CFG5_bm = 0x8UL;
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constexpr uint32_t DRV_ENN_CFG6_bm = 0x10UL;
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constexpr uint32_t DCO_bm = 0x20UL;
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constexpr uint32_t VERSION_bm = 0xFF000000UL;
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// IHOLD_IRUN
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constexpr uint8_t IHOLD_bp = 0;
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constexpr uint8_t IRUN_bp = 8;
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constexpr uint8_t IHOLDDELAY_bp = 16;
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constexpr uint32_t IHOLD_IRUN_bm = 0xF1F1FUL;
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constexpr uint32_t IHOLD_bm = 0x1FUL;
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constexpr uint32_t IRUN_bm = 0x1F00UL;
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constexpr uint32_t IHOLDDELAY_bm = 0xF0000UL;
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// TPOWERDOWN
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constexpr uint8_t TPOWERDOWN_bp = 0;
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constexpr uint32_t TPOWERDOWN_bm = 0xFFUL;
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// TSTEP
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constexpr uint8_t TSTEP_bp = 0;
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constexpr uint32_t TSTEP_bm = 0xFFFFFUL;
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// TPWMTHRS
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constexpr uint8_t TPWMTHRS_bp = 0;
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constexpr uint32_t TPWMTHRS_bm = 0xFFFFFUL;
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// TCOOLTHRS
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constexpr uint8_t TCOOLTHRS_bp = 0;
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constexpr uint32_t TCOOLTHRS_bm = 0xFFFFFUL;
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// THIGH
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constexpr uint8_t THIGH_bp = 0;
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constexpr uint32_t THIGH_bm = 0xFFFFFUL;
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// XDIRECT
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constexpr uint8_t XDIRECT_bp = 0;
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constexpr uint32_t XDIRECT_bm = 0xFFFFFFFFUL;
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constexpr uint8_t COIL_A_bp = 0;
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constexpr uint8_t COIL_B_bp = 16;
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constexpr uint32_t COIL_A_bm = 0x1FFUL;
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constexpr uint32_t COIL_B_bm = 0x1FF0000UL;
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// VDCMIN
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constexpr uint8_t VDCMIN_bp = 0;
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constexpr uint32_t VDCMIN_bm = 0x7FFFFFUL;
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// MSLUT0
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constexpr uint8_t MSLUT0_bp = 0;
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constexpr uint32_t MSLUT0_bm = 0xFFFFFFFFUL;
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// MSLUT1
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constexpr uint8_t MSLUT1_bp = 0;
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constexpr uint32_t MSLUT1_bm = 0xFFFFFFFFUL;
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// MSLUT2
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constexpr uint8_t MSLUT2_bp = 0;
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constexpr uint32_t MSLUT2_bm = 0xFFFFFFFFUL;
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// MSLUT3
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constexpr uint8_t MSLUT3_bp = 0;
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constexpr uint32_t MSLUT3_bm = 0xFFFFFFFFUL;
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// MSLUT4
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constexpr uint8_t MSLUT4_bp = 0;
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constexpr uint32_t MSLUT4_bm = 0xFFFFFFFFUL;
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// MSLUT5
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constexpr uint8_t MSLUT5_bp = 0;
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constexpr uint32_t MSLUT5_bm = 0xFFFFFFFFUL;
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// MSLUT6
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constexpr uint8_t MSLUT6_bp = 0;
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constexpr uint32_t MSLUT6_bm = 0xFFFFFFFFUL;
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// MSLUT7
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constexpr uint8_t MSLUT7_bp = 0;
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constexpr uint32_t MSLUT7_bm = 0xFFFFFFFFUL;
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// MSLUTSEL
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constexpr uint8_t MSLUTSEL_bp = 0;
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constexpr uint32_t MSLUTSEL_bm = 0xFFFFFFFFUL;
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// MSLUTSTART
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constexpr uint8_t START_SIN_bp = 0;
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constexpr uint8_t START_SIN90_bp = 16;
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constexpr uint32_t START_SIN_bm = 0xFFUL;
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constexpr uint32_t START_SIN90_bm = 0xFF0000UL;
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// MSCNT
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constexpr uint8_t MSCNT_bp = 0;
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constexpr uint32_t MSCNT_bm = 0x3FFUL;
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// MSCURACT
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constexpr uint8_t CUR_A_bp = 0;
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constexpr uint8_t CUR_B_bp = 16;
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constexpr uint32_t CUR_A_bm = 0x1FFUL;
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constexpr uint32_t CUR_B_bm = 0x1FF0000UL;
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// CHOPCONF
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constexpr uint8_t TOFF_bp = 0;
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constexpr uint8_t HSTRT_bp = 4;
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constexpr uint8_t FD_bp = 4;
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constexpr uint8_t HEND_bp = 7;
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constexpr uint8_t DISFDCC_bp = 12;
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constexpr uint8_t RNDTF_bp = 13;
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constexpr uint8_t CHM_bp = 14;
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constexpr uint8_t TBL_bp = 15;
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constexpr uint8_t VSENSE_bp = 17;
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constexpr uint8_t VHIGHFS_bp = 18;
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constexpr uint8_t VHIGHCHM_bp = 19;
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constexpr uint8_t SYNC_bp = 20;
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constexpr uint8_t MRES_bp = 24;
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constexpr uint8_t INTPOL_bp = 28;
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constexpr uint8_t DEDGE_bp = 29;
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constexpr uint8_t DISS2G_bp = 30;
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constexpr uint32_t CHOPCONF_bm = 0xFFFFFFFFUL;
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constexpr uint32_t TOFF_bm = 0xFUL;
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constexpr uint32_t HSTRT_bm = 0x70UL;
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constexpr uint32_t FD_bm = 0x830UL;
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constexpr uint32_t HEND_bm = 0x780UL;
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constexpr uint32_t DISFDCC_bm = 0x1000UL;
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constexpr uint32_t RNDTF_bm = 0x2000UL;
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constexpr uint32_t CHM_bm = 0x4000UL;
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constexpr uint32_t TBL_bm = 0x18000UL;
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constexpr uint32_t VSENSE_bm = 0x20000UL;
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constexpr uint32_t VHIGHFS_bm = 0x40000UL;
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constexpr uint32_t VHIGHCHM_bm = 0x80000UL;
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constexpr uint32_t SYNC_bm = 0xF00000UL;
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constexpr uint32_t MRES_bm = 0xF000000UL;
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constexpr uint32_t INTPOL_bm = 0x10000000UL;
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constexpr uint32_t DEDGE_bm = 0x20000000UL;
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constexpr uint32_t DISS2G_bm = 0x40000000UL;
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// COOLCONF
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constexpr uint8_t SEMIN_bp = 0;
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constexpr uint8_t SEUP_bp = 5;
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constexpr uint8_t SEMAX_bp = 8;
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constexpr uint8_t SEDN_bp = 13;
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constexpr uint8_t SEIMIN_bp = 15;
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constexpr uint8_t SGT_bp = 16;
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constexpr uint8_t SFILT_bp = 24;
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constexpr uint32_t COOLCONF_bm = 0x3FFFFFFUL;
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constexpr uint32_t SEMIN_bm = 0xFUL;
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constexpr uint32_t SEUP_bm = 0x60UL;
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constexpr uint32_t SEMAX_bm = 0xF00UL;
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constexpr uint32_t SEDN_bm = 0x6000UL;
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constexpr uint32_t SEIMIN_bm = 0x8000UL;
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constexpr uint32_t SGT_bm = 0x7F0000UL;
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constexpr uint32_t SFILT_bm = 0x1000000UL;
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// DCCTRL
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constexpr uint8_t DC_TIME_bp = 0;
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constexpr uint8_t DC_SG_bp = 16;
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constexpr uint32_t DC_TIME_bm = 0x3FFUL;
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constexpr uint32_t DC_SG_bm = 0xFF0000UL;
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// DRV_STATUS
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constexpr uint8_t SG_RESULT_bp = 0;
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constexpr uint8_t FSACTIVE_bp = 15;
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constexpr uint8_t CS_ACTUAL_bp = 16;
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constexpr uint8_t STALLGUARD_bp = 24;
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constexpr uint8_t OT_bp = 25;
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constexpr uint8_t OTPW_bp = 26;
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constexpr uint8_t S2GA_bp = 27;
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constexpr uint8_t S2GB_bp = 28;
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constexpr uint8_t OLA_bp = 29;
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constexpr uint8_t OLB_bp = 30;
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constexpr uint8_t STST_bp = 31;
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constexpr uint32_t DRV_STATUS_bm = 0xFFFFFFFFUL;
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constexpr uint32_t SG_RESULT_bm = 0x3FFUL;
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constexpr uint32_t FSACTIVE_bm = 0x8000UL;
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constexpr uint32_t CS_ACTUAL_bm = 0x1F0000UL;
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constexpr uint32_t STALLGUARD_bm = 0x1000000UL;
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constexpr uint32_t OT_bm = 0x2000000UL;
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constexpr uint32_t OTPW_bm = 0x4000000UL;
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constexpr uint32_t S2GA_bm = 0x8000000UL;
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constexpr uint32_t S2GB_bm = 0x10000000UL;
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constexpr uint32_t OLA_bm = 0x20000000UL;
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constexpr uint32_t OLB_bm = 0x40000000UL;
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constexpr uint32_t STST_bm = 0x80000000UL;
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// PWMCONF
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constexpr uint8_t PWM_AMPL_bp = 0;
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constexpr uint8_t PWM_GRAD_bp = 8;
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constexpr uint8_t PWM_FREQ_bp = 16;
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constexpr uint8_t PWM_AUTOSCALE_bp = 18;
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constexpr uint8_t PWM_SYMMETRIC_bp = 19;
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constexpr uint8_t FREEWHEEL_bp = 20;
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constexpr uint32_t PWMCONF_bm = 0x7FFFFFUL;
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constexpr uint32_t PWM_AMPL_bm = 0xFFUL;
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constexpr uint32_t PWM_GRAD_bm = 0xFF00UL;
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constexpr uint32_t PWM_FREQ_bm = 0x30000UL;
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constexpr uint32_t PWM_AUTOSCALE_bm = 0x40000UL;
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constexpr uint32_t PWM_SYMMETRIC_bm = 0x80000UL;
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constexpr uint32_t FREEWHEEL_bm = 0x300000UL;
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// PWM_SCALE
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constexpr uint8_t PWM_SCALE_bp = 0;
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constexpr uint32_t PWM_SCALE_bm = 0xFFUL;
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// ENCM_CTRL
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constexpr uint8_t INV_bp = 0;
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constexpr uint8_t MAXSPEED_bp = 1;
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constexpr uint32_t INV_bm = 0x1UL;
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constexpr uint32_t MAXSPEED_bm = 0x2UL;
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// LOST_STEPS
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constexpr uint8_t LOST_STEPS_bp = 0;
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constexpr uint32_t LOST_STEPS_bm = 0xFFFFFUL;
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#endif
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