DRVSTATUS.cpp

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#include "TMCStepper.h"
#include "TMC_MACROS.h"
 
#define GET_REG00(SETTING) DRVSTATUS(); return READ_RDSEL00_register.SETTING
#define GET_REG01(SETTING) DRVSTATUS(); return READ_RDSEL01_register.SETTING
#define GET_REG10(SETTING) DRVSTATUS(); return READ_RDSEL10_register.SETTING
 
uint32_t TMC2660Stepper::DRVSTATUS() {
    uint32_t response = read()&0xFFCFF;
    READ_RDSEL00_register.sr = response & 0xFF;
    READ_RDSEL01_register.sr = response & 0xFF;
    READ_RDSEL10_register.sr = response & 0xFF;
    switch(rdsel()) {
        case 0b00: READ_RDSEL00_register.sr |= response & 0xFFC00; break;
        case 0b01: READ_RDSEL01_register.sr |= response & 0xFFC00; break;
        case 0b10: READ_RDSEL10_register.sr |= response & 0xFFC00; break;
        default: return 0;
    }
    return response;
}
 
uint16_t TMC2660Stepper::mstep()    { if(rdsel() != 0b00) rdsel(0b00); GET_REG00(mstep);    }
uint8_t TMC2660Stepper::se()        { if(rdsel() != 0b10) rdsel(0b10); GET_REG10(se);       }
bool TMC2660Stepper::stst()         { GET_REG00(stst); }
bool TMC2660Stepper::olb()          { GET_REG00(olb);    }
bool TMC2660Stepper::ola()          { GET_REG00(ola);    }
bool TMC2660Stepper::s2gb()         { GET_REG00(s2gb); }
bool TMC2660Stepper::s2ga()         { GET_REG00(s2ga); }
bool TMC2660Stepper::otpw()         { GET_REG00(otpw); }
bool TMC2660Stepper::ot()           { GET_REG00(ot);     }
bool TMC2660Stepper::sg()           { GET_REG00(sg_value);   }
 
uint16_t TMC2660Stepper::sg_result(){
    uint16_t out = 0;
    if (rdsel() == 0b00) rdsel(0b01);
    DRVSTATUS();
    switch(rdsel()) {
        case 0b01: out = READ_RDSEL01_register.sg_result; break;
        case 0b10: out = READ_RDSEL10_register.sg_result; break;
        default: break;
    }
    return out;
}