3# Using MKR wifi 1010 as TMC5272 Control board
Table of Contents
1 MKR WIFI 1010
he MKR WiFi 1010 is using popular Arm® Cortex®-M0 32-bit SAMD21 processor, it also features the and the ECC508 crypto-chip for security.
The MKR wifi 1010 uses 3.3V as GPIO and provides 5V from USB as output. This can drive TMC5272.
2 Interface Connectors
Here is the interface connector for TMC5272, The SPI interface 30,31,32,33 is key pins for stepper driver control,
Here is block diagram for function blocks,
Pin 20 USEL shall be put to GND for SPI selection and CLK to GND using internal clock.
Wiring the stepper motors
3 Arduino Library
The 735 lines arduino libray configurates the register for SPI to access
#define TMC5272_REGISTER_COUNT 128
#define TMC5272_MOTORS 2
#define TMC_WRITE_BIT 0x80
#define TMC_ADDRESS_MASK 0x7F
#define TMC5272_MAX_VELOCITY 8388096
#define TMC5272_MAX_ACCELERATION UINTN_MAX
// ramp modes (Register TMC5272_RAMPMODE)
#define TMC5272_MODE_POSITION 0
#define TMC5272_MODE_VELPOS 1
#define TMC5272_MODE_VELNEG 2
#define TMC5272_MODE_HOLD 3
// Registers in TMC5272
#define MOTOR_ADDR(m) (0x35 * m)
#define TMC5272_GCONF 0x00
#define TMC5272_GSTAT 0x01
#define TMC5272_IFCNT 0x02
#define TMC5272_SLAVECONF 0x03
#define TMC5272_IOIN 0x04
#define TMC5272_DRV_CONF 0x05
#define TMC5272_GLOBAL_SCALER 0x06
#define TMC5272_RAMPMODE 0x07
#define TMC5272_MSLUT_ADDR 0x08
#define TMC5272_MSLUT_SEL_START 0x09
// motor = 0 motor = 1
#define TMC5272_X_COMPARE(motor) (0x10 + MOTOR_ADDR(motor)) // 0x10 0x45
#define TMC5272_X_COMPARE_REPEAT(motor) (0x11 + MOTOR_ADDR(motor)) // 0x11 0x46
#define TMC5272_IHOLD_IRUN(motor) (0x12 + MOTOR_ADDR(motor)) // 0x12 0x47
#define TMC5272_TPOWERDOWN(motor) (0x13 + MOTOR_ADDR(motor)) // 0x13 0x48
#define TMC5272_TSTEP(motor) (0x14 + MOTOR_ADDR(motor)) // 0x14 0x49
#define TMC5272_TPWMTHRS(motor) (0x15 + MOTOR_ADDR(motor)) // 0x15 0x4A
#define TMC5272_TCOOLTHRS(motor) (0x16 + MOTOR_ADDR(motor)) // 0x16 0x4B
#define TMC5272_THIGH(motor) (0x17 + MOTOR_ADDR(motor)) // 0x17 0x4C
#define TMC5272_XACTUAL(motor) (0x18 + MOTOR_ADDR(motor)) // 0x18 0x4D
#define TMC5272_VACTUAL(motor) (0x19 + MOTOR_ADDR(motor)) // 0x19 0x4E
#define TMC5272_AACTUAL(motor) (0x1A + MOTOR_ADDR(motor)) // 0x1A 0x4F
#define TMC5272_VSTART(motor) (0x1B + MOTOR_ADDR(motor)) // 0x1B 0x50
#define TMC5272_A1(motor) (0x1C + MOTOR_ADDR(motor)) // 0x1C 0x51
#define TMC5272_V1(motor) (0x1D + MOTOR_ADDR(motor)) // 0x1D 0x52
#define TMC5272_A2(motor) (0x1E + MOTOR_ADDR(motor)) // 0x1E 0x53
#define TMC5272_V2(motor) (0x1F + MOTOR_ADDR(motor)) // 0x1F 0x54
#define TMC5272_AMAX(motor) (0x20 + MOTOR_ADDR(motor)) // 0x20 0x55
#define TMC5272_VMAX(motor) (0x21 + MOTOR_ADDR(motor)) // 0x21 0x56
#define TMC5272_DMAX(motor) (0x22 + MOTOR_ADDR(motor)) // 0x22 0x57
#define TMC5272_D2(motor) (0x23 + MOTOR_ADDR(motor)) // 0x23 0x58
#define TMC5272_D1(motor) (0x24 + MOTOR_ADDR(motor)) // 0x24 0x59
#define TMC5272_VSTOP(motor) (0x25 + MOTOR_ADDR(motor)) // 0x25 0x5A
#define TMC5272_TVMAX(motor) (0x26 + MOTOR_ADDR(motor)) // 0x26 0x5B
#define TMC5272_TZEROWAIT(motor) (0x27 + MOTOR_ADDR(motor)) // 0x27 0x5C
#define TMC5272_XTARGET(motor) (0x28 + MOTOR_ADDR(motor)) // 0x28 0x5D
#define TMC5272_VDCMIN(motor) (0x29 + MOTOR_ADDR(motor)) // 0x29 0x5E
#define TMC5272_SW_MODE(motor) (0x2A + MOTOR_ADDR(motor)) // 0x2A 0x5F
#define TMC5272_RAMP_STAT(motor) (0x2B + MOTOR_ADDR(motor)) // 0x2B 0x60
#define TMC5272_XLATCH(motor) (0x2C + MOTOR_ADDR(motor)) // 0x2C 0x61
#define TMC5272_POSITION_PI_CTRL(motor) (0x2D + MOTOR_ADDR(motor)) // 0x2D 0x62
#define TMC5272_X_ENC(motor) (0x2E + MOTOR_ADDR(motor)) // 0x2E 0x63
#define TMC5272_ENCMODE(motor) (0x2F + MOTOR_ADDR(motor)) // 0x2F 0x64
#define TMC5272_ENC_CONST(motor) (0x30 + MOTOR_ADDR(motor)) // 0x30 0x65
#define TMC5272_ENC_STATUS(motor) (0x31 + MOTOR_ADDR(motor)) // 0x31 0x66
#define TMC5272_ENC_LATCH(motor) (0x32 + MOTOR_ADDR(motor)) // 0x32 0x67
#define TMC5272_ENC_DEVIATION(motor) (0x33 + MOTOR_ADDR(motor)) // 0x33 0x68
#define TMC5272_VIRTUAL_STOP_L(motor) (0x34 + MOTOR_ADDR(motor)) // 0x34 0x69
#define TMC5272_VIRTUAL_STOP_R(motor) (0x35 + MOTOR_ADDR(motor)) // 0x35 0x6A
#define TMC5272_MSCNT(motor) (0x36 + MOTOR_ADDR(motor)) // 0x36 0x6B
#define TMC5272_MSCURACT(motor) (0x37 + MOTOR_ADDR(motor)) // 0x37 0x6C
#define TMC5272_CHOPCONF(motor) (0x38 + MOTOR_ADDR(motor)) // 0x38 0x6D
#define TMC5272_COOLCONF(motor) (0x39 + MOTOR_ADDR(motor)) // 0x39 0x6E
#define TMC5272_DCCTRL(motor) (0x3A + MOTOR_ADDR(motor)) // 0x3A 0x6F
#define TMC5272_DRV_STATUS(motor) (0x3B + MOTOR_ADDR(motor)) // 0x3B 0x70
#define TMC5272_PWMCONF(motor) (0x3C + MOTOR_ADDR(motor)) // 0x3C 0x71
#define TMC5272_PWM_SCALE(motor) (0x3D + MOTOR_ADDR(motor)) // 0x3D 0x72
#define TMC5272_PWM_AUTO(motor) (0x3E + MOTOR_ADDR(motor)) // 0x3E 0x73
#define TMC5272_SG4_THRS(motor) (0x3F + MOTOR_ADDR(motor)) // 0x3F 0x74
#define TMC5272_SG4_RESULT(motor) (0x40 + MOTOR_ADDR(motor)) // 0x40 0x75
#define TMC5272_SG4_IND(motor) (0x41 + MOTOR_ADDR(motor)) // 0x41 0x76
// Register fields in TMC5272
#define TMC5272_GCONF_M0_EN_PWM_MODE_MASK 0x00000001
#define TMC5272_GCONF_M0_EN_PWM_MODE_SHIFT 0
#define TMC5272_GCONF_M0_EN_PWM_MODE_FIELD ((RegisterField) { TMC5272_GCONF_M0_EN_PWM_MODE_MASK, TMC5272_GCONF_M0_EN_PWM_MODE_SHIFT, TMC5272_GCONF, false })
#define TMC5272_GCONF_M0_MULTISTEP_FILT_MASK 0x00000002
#define TMC5272_GCONF_M0_MULTISTEP_FILT_SHIFT 1
#define TMC5272_GCONF_M0_MULTISTEP_FILT_FIELD ((RegisterField) { TMC5272_GCONF_M0_MULTISTEP_FILT_MASK, TMC5272_GCONF_M0_MULTISTEP_FILT_SHIFT, TMC5272_GCONF, false })
#define TMC5272_GCONF_M0_SHAFT_MASK 0x00000004
#define TMC5272_GCONF_M0_SHAFT_SHIFT 2
#define TMC5272_GCONF_M0_SHAFT_FIELD(motor) (RegisterField) { TMC5272_GCONF_M0_SHAFT_MASK, TMC5272_GCONF_M0_SHAFT_SHIFT, TMC5272_GCONF, false })
#define TMC5272_GCONF_M0_DIAG0_ERROR_MASK 0x00000008
#define TMC5272_GCONF_M0_DIAG0_ERROR_SHIFT 3
#define TMC5272_GCONF_M0_DIAG0_ERROR_FIELD ((RegisterField) { TMC5272_GCONF_M0_DIAG0_ERROR_MASK, TMC5272_GCONF_M0_DIAG0_ERROR_FIELD, TMC5272_GCONF, false })
#define TMC5272_GCONF_DIAG0_OTPW_MASK 0x00000010
#define TMC5272_GCONF_DIAG0_OTPW_SHIFT 4
#define TMC5272_GCONF_DIAG0_OTPW_FIELD ((RegisterField) { TMC5272_GCONF_DIAG0_OTPW_MASK, TMC5272_GCONF_DIAG0_OTPW_SHIFT, TMC5272_GCONF, false })
#define TMC5272_GCONF_DIAG0_STALL_STEP_MASK 0x00000020
#define TMC5272_GCONF_DIAG0_STALL_STEP_SHIFT 5
#define TMC5272_GCONF_DIAG0_STALL_STEP_SHIF ((RegisterField) { TMC5272_GCONF_DIAG0_OTPW_MASK, TMC5272_GCONF_DIAG0_OTPW_SHIFT, TMC5272_GCONF, false })
#define TMC5272_GCONF_DIAG1_STALL_DIR_MASK 0x00000040
#define TMC5272_GCONF_DIAG1_STALL_DIR_SHIFT 6
#define TMC5272_GCONF_DIAG1_STALL_DIR_FIELD ((RegisterField) { TMC5272_GCONF_DIAG1_STALL_DIR_MASK, TMC5272_GCONF_DIAG1_STALL_DIR_SHIFT, TMC5272_GCONF, false })
#define TMC5272_GCONF_M0_DIAG1_INDEX_MASK 0x00000080
#define TMC5272_GCONF_M0_DIAG1_INDEX_SHIFT 7
#define TMC5272_GCONF_M0_DIAG1_INDEX_FIELD ((RegisterField) { TMC5272_GCONF_M0_DIAG1_INDEX_MASK, TMC5272_GCONF_M0_DIAG1_INDEX_SHIFT, TMC5272_GCONF, false })
#define TMC5272_GCONF_DIAG0_INT_PUSHPULL_MASK 0x00000100
#define TMC5272_GCONF_DIAG0_INT_PUSHPULL_SHIFT 8
#define TMC5272_GCONF_DIAG0_INT_PUSHPULL_FIELD ((RegisterField) { TMC5272_GCONF_M0_DIAG1_INDEX_MASK, TMC5272_GCONF_M0_DIAG1_INDEX_SHIFT, TMC5272_GCONF, false })
#define TMC5272_GCONF_DIAG1_POSCOMP_PUSHPULL_MASK 0x00000200
#define TMC5272_GCONF_DIAG1_POSCOMP_PUSHPULL_SHIFT 9
#define TMC5272_GCONF_DIAG1_POSCOMP_PUSHPULL_FIELD ((RegisterField) { TMC5272_GCONF_DIAG1_POSCOMP_PUSHPULL_MASK, TMC5272_GCONF_DIAG1_POSCOMP_PUSHPULL_SHIFT, TMC5272_GCONF, false })
#define TMC5272_GCONF_M0_SMALL_HYSTERESIS_MASK 0x00000400
#define TMC5272_GCONF_M0_SMALL_HYSTERESIS_SHIFT 10
#define TMC5272_GCONF_M0_SMALL_HYSTERESIS_FIELD ((RegisterField) { TMC5272_GCONF_M0_SMALL_HYSTERESIS_MASK, TMC5272_GCONF_M0_SMALL_HYSTERESIS_SHIFT, TMC5272_GCONF, false })
#define TMC5272_GCONF_M0_STOP_ENABLE_MASK 0x00000800
#define TMC5272_GCONF_M0_STOP_ENABLE_SHIFT 11
#define TMC5272_GCONF_M0_STOP_ENABLE_FIELD ((RegisterField) { TMC5272_GCONF_M0_STOP_ENABLE_MASK, TMC5272_GCONF_M0_STOP_ENABLE_SHIFT, TMC5272_GCONF, false })
#define TMC5272_GCONF_M0_DIRECT_MODE_MASK 0x00001000
#define TMC5272_GCONF_M0_DIRECT_MODE_SHIFT 12
#define TMC5272_GCONF_M0_DIRECT_MODE_FIELD ((RegisterField) { TMC5272_GCONF_M0_DIRECT_MODE_MASK, TMC5272_GCONF_M0_DIRECT_MODE_SHIFT, TMC5272_GCONF, false })
#define TMC5272_GCONF_M0_SD_MASK 0x00002000
#define TMC5272_GCONF_M0_SD_SHIFT 13
#define TMC5272_GCONF_M0_SD_FIELD ((RegisterField) { TMC5272_GCONF_M0_SD_MASK, TMC5272_GCONF_M0_SD_SHIFT, TMC5272_GCONF, false })
#define TMC5272_GCONF_M0_DRV_ENN_MASK 0x00004000
#define TMC5272_GCONF_M0_DRV_ENN_SHIFT 14
#define TMC5272_GCONF_M0_DRV_ENN_FIELD ((RegisterField) { TMC5272_GCONF_M0_DRV_ENN_MASK, TMC5272_GCONF_M0_DRV_ENN_SHIFT, TMC5272_GCONF, false })
#define TMC5272_GCONF_M1_EN_PWM_MODE_MASK 0x00010000
#define TMC5272_GCONF_M1_EN_PWM_MODE_SHIFT 16
#define TMC5272_GCONF_M1_EN_PWM_MODE_FIELD ((RegisterField) { TMC5272_GCONF_M1_EN_PWM_MODE_MASK, TMC5272_GCONF_M1_EN_PWM_MODE_SHIFT, TMC5272_GCONF, false })
#define TMC5272_GCONF_M1_MULTISTEP_FILT_MASK 0x00020000
#define TMC5272_GCONF_M1_MULTISTEP_FILT_SHIFT 17
#define TMC5272_GCONF_M1_MULTISTEP_FILT_FIELD ((RegisterField) { TMC5272_GCONF_M1_MULTISTEP_FILT_MASK, TMC5272_GCONF_M1_MULTISTEP_FILT_SHIFT, TMC5272_GCONF, false })
#define TMC5272_GCONF_M1_SHAFT_MASK 0x00040000
#define TMC5272_GCONF_M1_SHAFT_SHIFT 18
#define TMC5272_GCONF_M1_SHAFT_FIELD ((RegisterField) { TMC5272_GCONF_M1_SHAFT_MASK, TMC5272_GCONF_M1_SHAFT_SHIFT, TMC5272_GCONF, false })
#define TMC5272_GCONF_DIAG0_INTOUT_SEL_MASK 0x00180000
#define TMC5272_GCONF_DIAG0_INTOUT_SEL_SHIFT 19
#define TMC5272_GCONF_DIAG0_INTOUT_SEL_FIELD ((RegisterField) { TMC5272_GCONF_DIAG0_INTOUT_SEL_MASK, TMC5272_GCONF_DIAG0_INTOUT_SEL_SHIFT, TMC5272_GCONF, false })
#define TMC5272_GCONF_DIAG1_X_COMP_SEL_MASK 0x00600000
#define TMC5272_GCONF_DIAG1_X_COMP_SEL_SHIFT 21
#define TMC5272_GCONF_DIAG1_X_COMP_SEL_FIELD ((RegisterField) { TMC5272_GCONF_DIAG1_X_COMP_SEL_MASK, TMC5272_GCONF_DIAG1_X_COMP_SEL_SHIFT, TMC5272_GCONF, false })
#define TMC5272_GCONF_M1_DIAG1_INDEX_MASK 0x00800000
#define TMC5272_GCONF_M1_DIAG1_INDEX_SHIFT 23
#define TMC5272_GCONF_M1_DIAG1_INDEX_FIELD ((RegisterField) { TMC5272_GCONF_M1_DIAG1_INDEX_MASK, TMC5272_GCONF_M1_DIAG1_INDEX_SHIFT, TMC5272_GCONF, false })
#define TMC5272_GCONF_M1_SMALL_HYSTERESIS_MASK 0x01000000
#define TMC5272_GCONF_M1_SMALL_HYSTERESIS_SHIFT 24
#define TMC5272_GCONF_M1_SMALL_HYSTERESIS_FIELD ((RegisterField) { TMC5272_GCONF_M1_DIAG1_INDEX_MASK, TMC5272_GCONF_M1_DIAG1_INDEX_SHIFT, TMC5272_GCONF, false })
#define TMC5272_GCONF_M1_STOP_ENABLE_MASK 0x02000000
#define TMC5272_GCONF_M1_STOP_ENABLE_SHIFT 25
#define TMC5272_GCONF_M1_STOP_ENABLE_FIELD ((RegisterField) { TMC5272_GCONF_M1_STOP_ENABLE_MASK, TMC5272_GCONF_M1_STOP_ENABLE_SHIFT, TMC5272_GCONF, false })
#define TMC5272_GCONF_M1_DIRECT_MODE_MASK 0x04000000
#define TMC5272_GCONF_M1_DIRECT_MODE_SHIFT 26
#define TMC5272_GCONF_M1_DIRECT_MODE_FIELD ((RegisterField) { TMC5272_GCONF_M1_DIRECT_MODE_MASK, TMC5272_GCONF_M1_DIRECT_MODE_SHIFT, TMC5272_GCONF, false })
#define TMC5272_GCONF_M1_SD_MASK 0x08000000
#define TMC5272_GCONF_M1_SD_SHIFT 27
#define TMC5272_GCONF_M1_SD_FIELD ((RegisterField) { TMC5272_GCONF_M1_SD_MASK, TMC5272_GCONF_M1_SD_SHIFT, TMC5272_GCONF, false })
#define TMC5272_GCONF_M1_DRV_ENN_MASK 0x10000000
#define TMC5272_GCONF_M1_DRV_ENN_SHIFT 28
#define TMC5272_GCONF_M1_DRV_ENN_FIELD ((RegisterField) { TMC5272_GCONF_M1_DRV_ENN_MASK, TMC5272_GCONF_M1_DRV_ENN_SHIFT, TMC5272_GCONF, false })
#define TMC5272_GSTAT_RESET_MASK 0x00000001
#define TMC5272_GSTAT_RESET_SHIFT 0
#define TMC5272_GSTAT_RESET_FIELD ((RegisterField) { TMC5272_GSTAT_RESET_MASK, TMC5272_GSTAT_RESET_SHIFT, TMC5272_GSTAT, false })
#define TMC5272_GSTAT_M0_DRV_ERR_MASK 0x00000002
#define TMC5272_GSTAT_M0_DRV_ERR_SHIFT 1
#define TMC5272_GSTAT_M0_DRV_ERR_FIELD ((RegisterField) { TMC5272_GSTAT_M0_DRV_ERR_MASK, TMC5272_GSTAT_M0_DRV_ERR_SHIFT, TMC5272_GSTAT, false })
#define TMC5272_GSTAT_UV_CP_MASK 0x00000004
#define TMC5272_GSTAT_UV_CP_SHIFT 2
#define TMC5272_GSTAT_UV_CP_FIELD ((RegisterField) { TMC5272_GSTAT_UV_CP_MASK, TMC5272_GSTAT_UV_CP_SHIFT, TMC5272_GSTAT, false })
#define TMC5272_GSTAT_REGISTER_RESET_MASK 0x00000008
#define TMC5272_GSTAT_REGISTER_RESET_SHIFT 3
#define TMC5272_GSTAT_REGISTER_RESET_FIELD ((RegisterField) { TMC5272_GSTAT_REGISTER_RESET_MASK, TMC5272_GSTAT_REGISTER_RESET_SHIFT, TMC5272_GSTAT, false })
#define TMC5272_GSTAT_VM_UVLO_MASK 0x00000010
#define TMC5272_GSTAT_VM_UVLO_SHIFT 4
#define TMC5272_GSTAT_VM_UVLO_FIELD ((RegisterField) { TMC5272_GSTAT_VM_UVLO_MASK, TMC5272_GSTAT_VM_UVLO_SHIFT, TMC5272_GSTAT, false })
#define TMC5272_GSTAT_M1_DRV_ERR_MASK 0x00000020
#define TMC5272_GSTAT_M1_DRV_ERR_SHIFT 5
#define TMC5272_GSTAT_M1_DRV_ERR_FIELD ((RegisterField) { TMC5272_GSTAT_M1_DRV_ERR_MASK, TMC5272_GSTAT_M1_DRV_ERR_SHIFT, TMC5272_GSTAT, false })
#define TMC5272_IFCNT_MASK 0x000000FF
#define TMC5272_IFCNT_SHIFT 0
#define TMC5272_IFCNT_FIELD ((RegisterField) { TMC5272_IFCNT_MASK, TMC5272_IFCNT_SHIFT, TMC5272_IFCNT, false })
#define TMC5272_SLAVECONF_SLAVEADDR_MASK 0x000000FF
#define TMC5272_SLAVECONF_SLAVEADDR_SHIFT 0
#define TMC5272_SLAVECONF_SLAVEADDR_FIELD ((RegisterField) { TMC5272_SLAVECONF_SLAVEADDR_MASK, TMC5272_SLAVECONF_SLAVEADDR_SHIFT, TMC5272_SLAVECONF, false })
#define TMC5272_SLAVECONF_SENDDELAY_MASK 0x00000F00
#define TMC5272_SLAVECONF_SENDDELAY_SHIFT 8
#define TMC5272_SLAVECONF_SENDDELAY_FIELD ((RegisterField) { TMC5272_SLAVECONF_SENDDELAY_MASK, TMC5272_SLAVECONF_SENDDELAY_SHIFT, TMC5272_SLAVECONF, false })
#define TMC5272_IOIN_ADC_TEMPERATURE_MASK 0x000001FE
#define TMC5272_IOIN_ADC_TEMPERATURE_SHIFT 1
#define TMC5272_IOIN_ADC_TEMPERATURE_FIELD ((RegisterField) { TMC5272_IOIN_ADC_TEMPERATURE_MASK, TMC5272_IOIN_ADC_TEMPERATURE_SHIFT, TMC5272_IOIN, false })
#define TMC5272_IOIN_ADC_EN_MASK 0x00000200
#define TMC5272_IOIN_ADC_EN_SHIFT 9
#define TMC5272_IOIN_ADC_EN_FIELD ((RegisterField) { TMC5272_IOIN_ADC_EN_MASK, TMC5272_IOIN_ADC_EN_SHIFT, TMC5272_IOIN, false })
#define TMC5272_IOIN_SEL_OSCILLATOR_MASK 0x00000800
#define TMC5272_IOIN_SEL_OSCILLATOR_SHIFT 11
#define TMC5272_IOIN_SEL_OSCILLATOR_FIELD ((RegisterField) { TMC5272_IOIN_SEL_OSCILLATOR_MASK, TMC5272_IOIN_SEL_OSCILLATOR_SHIFT, TMC5272_IOIN, false })
#define TMC5272_IOIN_EXT_RES_DET_MASK 0x00001000
#define TMC5272_IOIN_EXT_RES_DET_SHIFT 12
#define TMC5272_IOIN_EXT_RES_DET_FIELD ((RegisterField) { TMC5272_IOIN_EXT_RES_DET_MASK, TMC5272_IOIN_EXT_RES_DET_SHIFT, TMC5272_IOIN, false })
#define TMC5272_IOIN_OUTPUT_MASK 0x00002000
#define TMC5272_IOIN_OUTPUT_SHIFT 13
#define TMC5272_IOIN_OUTPUT_FIELD ((RegisterField) { TMC5272_IOIN_EXT_RES_DET_MASK, TMC5272_IOIN_EXT_RES_DET_SHIFT, TMC5272_IOIN, false })
#define TMC5272_IOIN_QSC_STATUS_MASK 0x00008000
#define TMC5272_IOIN_QSC_STATUS_SHIFT 15
#define TMC5272_IOIN_QSC_STATUS_FIELD ((RegisterField) { TMC5272_IOIN_QSC_STATUS_MASK, TMC5272_IOIN_QSC_STATUS_SHIFT, TMC5272_IOIN, false })
#define TMC5272_IOIN_SILICON_RV_MASK 0x00070000
#define TMC5272_IOIN_SILICON_RV_SHIFT 16
#define TMC5272_IOIN_SILICON_RV_FIELD ((RegisterField) { TMC5272_IOIN_SILICON_RV_MASK, TMC5272_IOIN_SILICON_RV_SHIFT, TMC5272_IOIN, false })
#define TMC5272_IOIN_VERSION_MASK 0xFF000000
#define TMC5272_IOIN_VERSION_SHIFT 24
#define TMC5272_IOIN_VERSION_FIELD ((RegisterField) { TMC5272_IOIN_VERSION_MASK, TMC5272_IOIN_VERSION_SHIFT, TMC5272_IOIN, false })
#define TMC5272_DRV_CONF_FSR_M0_MASK 0x00000003
#define TMC5272_DRV_CONF_FSR_M0_SHIFT 0
#define TMC5272_DRV_CONF_FSR_M0_FIELD ((RegisterField) { TMC5272_DRV_CONF_FSR_M0_MASK, TMC5272_DRV_CONF_FSR_M0_SHIFT, TMC5272_DRV_CONF, false })
#define TMC5272_DRV_CONF_FSR_IREF_M0_MASK 0x0000000C
#define TMC5272_DRV_CONF_FSR_IREF_M0_SHIFT 2
#define TMC5272_DRV_CONF_FSR_IREF_M0_FIELD ((RegisterField) { TMC5272_DRV_CONF_FSR_IREF_M0_MASK, TMC5272_DRV_CONF_FSR_IREF_M0_SHIFT, TMC5272_DRV_CONF, false })
#define TMC5272_DRV_CONF_M0_EN_EMERGENCY_DISABLE_MASK 0x00000010
#define TMC5272_DRV_CONF_M0_EN_EMERGENCY_DISABLE_SHIFT 4
#define TMC5272_DRV_CONF_M0_EN_EMERGENCY_DISABLE_FIELD ((RegisterField) { TMC5272_DRV_CONF_M0_EN_EMERGENCY_DISABLE_MASK, TMC5272_DRV_CONF_M0_EN_EMERGENCY_DISABLE_SHIFT, TMC5272_DRV_CONF, false })
#define TMC5272_DRV_CONF_M0_SEL_EM_STOP_SRC_MASK 0x00000020
#define TMC5272_DRV_CONF_M0_SEL_EM_STOP_SRC_SHIFT 5
#define TMC5272_DRV_CONF_M0_SEL_EM_STOP_SRC_FIELD ((RegisterField) { TMC5272_DRV_CONF_M0_SEL_EM_STOP_SRC_MASK, TMC5272_DRV_CONF_M0_SEL_EM_STOP_SRC_SHIFT, TMC5272_DRV_CONF, false })
#define TMC5272_DRV_CONF_FSR_M1_MASK 0x000000C0
#define TMC5272_DRV_CONF_FSR_M1_SHIFT 6
#define TMC5272_DRV_CONF_FSR_M1_FIELD ((RegisterField) { TMC5272_DRV_CONF_FSR_M1_MASK, TMC5272_DRV_CONF_FSR_M1_SHIFT, TMC5272_DRV_CONF, false })
#define TMC5272_DRV_CONF_FSR_IREF_M1_MASK 0x00000300
#define TMC5272_DRV_CONF_FSR_IREF_M1_SHIFT 8
#define TMC5272_DRV_CONF_FSR_IREF_M1_FIELD ((RegisterField) { TMC5272_DRV_CONF_FSR_IREF_M1_MASK, TMC5272_DRV_CONF_FSR_IREF_M1_SHIFT, TMC5272_DRV_CONF, false })
#define TMC5272_DRV_CONF_M1_EN_EMERGENCY_DISABLE_MASK 0x00000400
#define TMC5272_DRV_CONF_M1_EN_EMERGENCY_DISABLE_SHIFT 10
#define TMC5272_DRV_CONF_M1_EN_EMERGENCY_DISABLE1_FIELD ((RegisterField) { TMC5272_DRV_CONF_M1_EN_EMERGENCY_DISABLE_MASK, TMC5272_DRV_CONF_M1_EN_EMERGENCY_DISABLE_SHIFT, TMC5272_DRV_CONF, false })
#define TMC5272_DRV_CONF_M1_SEL_EM_STOP_SRC_MASK 0x00000800
#define TMC5272_DRV_CONF_M1_SEL_EM_STOP_SRC_SHIFT 11
#define TMC5272_DRV_CONF_M1_SEL_EM_STOP_SRC_FIELD ((RegisterField) { TMC5272_DRV_CONF_M1_SEL_EM_STOP_SRC_MASK, TMC5272_DRV_CONF_M1_SEL_EM_STOP_SRC_SHIFT, TMC5272_DRV_CONF, false })
#define TMC5272_DRV_CONF_M0_STANDSTILL_TIME_MASK 0x00070000
#define TMC5272_DRV_CONF_M0_STANDSTILL_TIME_SHIFT 16
#define TMC5272_DRV_CONF_M0_STANDSTILL_TIME_FIELD ((RegisterField) { TMC5272_DRV_CONF_M0_STANDSTILL_TIME_MASK, TMC5272_DRV_CONF_M0_STANDSTILL_TIME_SHIFT, TMC5272_DRV_CONF, false })
#define TMC5272_DRV_CONF_M1_STANDSTILL_TIME_MASK 0x00700000
#define TMC5272_DRV_CONF_M1_STANDSTILL_TIME_SHIFT 20
#define TMC5272_DRV_CONF_M1_STANDSTILL_TIME_FIELD ((RegisterField) { TMC5272_DRV_CONF_M1_STANDSTILL_TIME_MASK, TMC5272_DRV_CONF_M1_STANDSTILL_TIME_SHIFT, TMC5272_DRV_CONF, false })
#define TMC5272_GLOBAL_SCALER_GLOBALSCALER_M0_A_MASK 0x000000FF
#define TMC5272_GLOBAL_SCALER_GLOBALSCALER_M0_A_SHIFT 0
#define TMC5272_GLOBAL_SCALER_GLOBALSCALER_M0_A_FIELD ((RegisterField) { TMC5272_GLOBAL_SCALER_GLOBALSCALER_M0_A_MASK, TMC5272_GLOBAL_SCALER_GLOBALSCALER_M0_A_SHIFT, TMC5272_GLOBAL_SCALER, false })
#define TMC5272_GLOBAL_SCALER_GLOBALSCALER_M0_B_MASK 0x0000FF00
#define TMC5272_GLOBAL_SCALER_GLOBALSCALER_M0_B_SHIFT 8
#define TMC5272_GLOBAL_SCALER_GLOBALSCALER_M0_B_FIELD ((RegisterField) { TMC5272_GLOBAL_SCALER_GLOBALSCALER_M0_B_MASK, TMC5272_GLOBAL_SCALER_GLOBALSCALER_M0_B_SHIFT, TMC5272_GLOBAL_SCALER, false })
#define TMC5272_GLOBAL_SCALER_GLOBALSCALER_M1_A_MASK 0x00FF0000
#define TMC5272_GLOBAL_SCALER_GLOBALSCALER_M1_A_SHIFT 16
#define TMC5272_GLOBAL_SCALER_GLOBALSCALER_M1_A_FIELD ((RegisterField) { TMC5272_GLOBAL_SCALER_GLOBALSCALER_M1_A_MASK, TMC5272_GLOBAL_SCALER_GLOBALSCALER_M1_A_SHIFT, TMC5272_GLOBAL_SCALER, false })
#define TMC5272_GLOBAL_SCALER_GLOBALSCALER_M1_B_MASK 0xFF000000
#define TMC5272_GLOBAL_SCALER_GLOBALSCALER_M1_B_SHIFT 24
#define TMC5272_GLOBAL_SCALER_GLOBALSCALER_M1_B_FIELD ((RegisterField) { TMC5272_GLOBAL_SCALER_GLOBALSCALER_M1_B_MASK, TMC5272_GLOBAL_SCALER_GLOBALSCALER_M1_B_SHIFT, TMC5272_GLOBAL_SCALER, false })
#define TMC5272_RAMPMODE_M0_RAMPMODE_MASK 0x00000003
#define TMC5272_RAMPMODE_M0_RAMPMODE_SHIFT 0
#define TMC5272_RAMPMODE_M0_RAMPMODE_FIELD ((RegisterField) { TMC5272_RAMPMODE_M0_RAMPMODE_MASK, TMC5272_RAMPMODE_M0_RAMPMODE_SHIFT, TMC5272_RAMPMODE, false })
#define TMC5272_RAMPMODE_M1_RAMPMODE_MASK 0x0000000C
#define TMC5272_RAMPMODE_M1_RAMPMODE_SHIFT 2
#define TMC5272_RAMPMODE_M1_RAMPMODE_FIELD ((RegisterField) { TMC5272_RAMPMODE_M1_RAMPMODE_MASK, TMC5272_RAMPMODE_M1_RAMPMODE_SHIFT, TMC5272_RAMPMODE, false })
#define TMC5272_RAMPMODE_SHIFT(motor) (2 * (motor))
#define TMC5272_RAMPMODE_MASK(motor) (TMC5272_RAMPMODE_M0_RAMPMODE_MASK << TMC5272_RAMPMODE_SHIFT(motor))
#define TMC5272_RAMPMODE_FIELD(motor) ((RegisterField) { TMC5272_RAMPMODE_MASK(motor), TMC5272_RAMPMODE_SHIFT(motor), TMC5272_RAMPMODE, false })
#define TMC5272_RAMPMODE_RAMP0_HOLD_MASK 0x00000100
#define TMC5272_RAMPMODE_RAMP0_HOLD_SHIFT 8
#define TMC5272_RAMPMODE_RAMP0_HOLD_FIELD ((RegisterField) { TMC5272_RAMPMODE_RAMP0_HOLD_MASK, TMC5272_RAMPMODE_RAMP0_HOLD_SHIFT, TMC5272_RAMPMODE, false })
#define TMC5272_RAMPMODE_RAMP1_HOLD_MASK 0x00000200
#define TMC5272_RAMPMODE_RAMP1_HOLD_SHIFT 9
#define TMC5272_RAMPMODE_RAMP1_HOLD_FIELD ((RegisterField) { TMC5272_RAMPMODE_RAMP1_HOLD_MASK, TMC5272_RAMPMODE_RAMP1_HOLD_SHIFT, TMC5272_RAMPMODE, false })
#define TMC5272_MSLUT_ADDR_MASK 0x0000001F
#define TMC5272_MSLUT_ADDR_SHIFT 0
#define TMC5272_MSLUT_ADDR_FIELD ((RegisterField) { TMC5272_MSLUT_ADDR_MASK, TMC5272_MSLUT_ADDR_SHIFT, TMC5272_MSLUT_ADDR, false })
#define TMC5272_MSLUT_START_START_SIN_MASK 0xFF
#define TMC5272_MSLUT_START_START_SIN_SHIFT 0
#define TMC5272_MSLUT_START_START_SIN_FIELD ((RegisterField) { TMC5272_MSLUT_START_START_SIN_MASK, TMC5272_MSLUT_START_START_SIN_SHIFT, TMC5272_MSLUT_SEL_START, false })
#define TMC5272_MSLUT_START_START_SIN90_MASK 0xFF0000
#define TMC5272_MSLUT_START_START_SIN90_SHIFT 16
#define TMC5272_MSLUT_START_START_SIN90_FIELD ((RegisterField) { TMC5272_MSLUT_START_START_SIN90_MASK, TMC5272_MSLUT_START_START_SIN90_SHIFT, TMC5272_MSLUT_SEL_START, false })
#define TMC5272_MSLUT_START_OFFSET_SIN90_MASK 0xFF000000
#define TMC5272_MSLUT_START_OFFSET_SIN90_SHIFT 24
#define TMC5272_MSLUT_START_OFFSET_SIN90_FIELD ((RegisterField) { TMC5272_MSLUT_START_OFFSET_SIN90_MASK, TMC5272_MSLUT_START_OFFSET_SIN90_SHIFT, TMC5272_MSLUT_SEL_START, false })
#define TMC5272_X_COMPARE_MASK 0xFFFFFFFF
#define TMC5272_X_COMPARE_SHIFT 0
#define TMC5272_X_COMPARE_FIELD(motor) ((RegisterField) { TMC5272_X_COMPARE_MASK, TMC5272_X_COMPARE_SHIFT, TMC5272_X_COMPARE(motor), false })
#define TMC5272_X_COMPARE_REPEAT_MASK 0x00FFFFFF
#define TMC5272_X_COMPARE_REPEAT_SHIFT 0
#define TMC5272_X_COMPARE_REPEAT_FIELD(motor) ((RegisterField) { TMC5272_X_COMPARE_REPEAT_MASK, TMC5272_X_COMPARE_REPEAT_SHIFT, TMC5272_X_COMPARE_REPEAT(motor), false })
#define TMC5272_IHOLD_IRUN_IHOLD_MASK 0x0000001F
#define TMC5272_IHOLD_IRUN_IHOLD_SHIFT 0
#define TMC5272_IHOLD_IRUN_IHOLD_FIELD(motor) ((RegisterField) { TMC5272_IHOLD_IRUN_IHOLD_MASK, TMC5272_IHOLD_IRUN_IHOLD_SHIFT, TMC5272_IHOLD_IRUN(motor), false })
#define TMC5272_IHOLD_IRUN_IRUN_MASK 0x00001F00
#define TMC5272_IHOLD_IRUN_IRUN_SHIFT 8
#define TMC5272_IHOLD_IRUN_IRUN_FIELD(motor) ((RegisterField) { TMC5272_IHOLD_IRUN_IRUN_MASK, TMC5272_IHOLD_IRUN_IRUN_SHIFT, TMC5272_IHOLD_IRUN(motor), false })
#define TMC5272_IHOLD_IRUN_IHOLDDELAY_MASK 0x000F0000
#define TMC5272_IHOLD_IRUN_IHOLDDELAY_SHIFT 16
#define TMC5272_IHOLD_IRUN_IHOLDDELAY_FIELD(motor) ((RegisterField) { TMC5272_IHOLD_IRUN_IHOLDDELAY_MASK, TMC5272_IHOLD_IRUN_IHOLDDELAY_SHIFT, TMC5272_IHOLD_IRUN(motor), false })
#define TMC5272_IHOLD_IRUN_IRUNDELAY_MASK 0x0F000000
#define TMC5272_IHOLD_IRUN_IRUNDELAY_SHIFT 24
#define TMC5272_IHOLD_IRUN_IRUNDELAY_FIELD(motor) ((RegisterField) { TMC5272_IHOLD_IRUN_IRUNDELAY_MASK, TMC5272_IHOLD_IRUN_IRUNDELAY_SHIFT, TMC5272_IHOLD_IRUN(motor), false })
#define TMC5272_TPOWERDOWN_MASK 0x000000FF
#define TMC5272_TPOWERDOWN_SHIFT 0
#define TMC5272_TPOWERDOWN_FIELD(motor) ((RegisterField) { TMC5272_TPOWERDOWN_MASK, TMC5272_TPOWERDOWN_SHIFT, TMC5272_TPOWERDOWN(motor), false })
#define TMC5272_TSTEP_MASK 0x000FFFFF
#define TMC5272_TSTEP_SHIFT 0
#define TMC5272_TSTEP_FIELD(motor) ((RegisterField) { TMC5272_TSTEP_MASK, TMC5272_TSTEP_SHIFT, TMC5272_TSTEP(motor), false })
#define TMC5272_TPWMTHRS_MASK 0x000FFFFF
#define TMC5272_TPWMTHRS_SHIFT 0
#define TMC5272_TPWMTHRS_FIELD(motor) ((RegisterField) { TMC5272_TPWMTHRS_MASK, TMC5272_TPWMTHRS_SHIFT, TMC5272_TPWMTHRS(motor), false })
#define TMC5272_TCOOLTHRS_MASK 0x000FFFFF
#define TMC5272_TCOOLTHRS_SHIFT 0
#define TMC5272_TCOOLTHRS_FIELD(motor) ((RegisterField) { TMC5272_TCOOLTHRS_MASK, TMC5272_TCOOLTHRS_SHIFT, TMC5272_TCOOLTHRS(motor), false })
#define TMC5272_THIGH_MASK 0x000FFFFF
#define TMC5272_THIGH_SHIFT 0
#define TMC5272_THIGH_FIELD(motor) ((RegisterField) { TMC5272_THIGH_MASK, TMC5272_THIGH_SHIFT, TMC5272_THIGH(motor), false })
#define TMC5272_XACTUAL_MASK 0xFFFFFFFF
#define TMC5272_XACTUAL_SHIFT 0
#define TMC5272_XACTUAL_FIELD(motor) ((RegisterField) { TMC5272_XACTUAL_MASK, TMC5272_XACTUAL_SHIFT, TMC5272_XACTUAL(motor), false })
#define TMC5272_VACTUAL_MASK 0x00FFFFFF
#define TMC5272_VACTUAL_SHIFT 0
#define TMC5272_VACTUAL_FIELD(motor) ((RegisterField) { TMC5272_VACTUAL_MASK, TMC5272_VACTUAL_SHIFT, TMC5272_VACTUAL(motor), false })
#define TMC5272_AACTUAL_MASK 0x00FFFFFF
#define TMC5272_AACTUAL_SHIFT 0
#define TMC5272_AACTUAL_FIELD(motor) ((RegisterField) { TMC5272_AACTUAL_MASK, TMC5272_AACTUAL_SHIFT, TMC5272_AACTUAL(motor), false })
#define TMC5272_VSTART_MASK 0x0003FFFF
#define TMC5272_VSTART_SHIFT 0
#define TMC5272_VSTART_FIELD(motor) ((RegisterField) { TMC5272_VSTART_MASK, TMC5272_VSTART_SHIFT, TMC5272_VSTART(motor), false })
#define TMC5272_A1_MASK 0x0003FFFF
#define TMC5272_A1_SHIFT 0
#define TMC5272_A1_FIELD(motor) ((RegisterField) { TMC5272_A1_MASK, TMC5272_A1_SHIFT, TMC5272_A1(motor), false })
#define TMC5272_V1_MASK 0x000FFFFF
#define TMC5272_V1_SHIFT 0
#define TMC5272_V1_FIELD(motor) ((RegisterField) { TMC5272_V1_MASK, TMC5272_V1_SHIFT, TMC5272_V1(motor), false })
#define TMC5272_A2_MASK 0x0003FFFF
#define TMC5272_A2_SHIFT 0
#define TMC5272_A2_FIELD(motor) ((RegisterField) { TMC5272_A2_MASK, TMC5272_A2_SHIFT, TMC5272_A2(motor), false })
#define TMC5272_V2_MASK 0x000FFFFF
#define TMC5272_V2_SHIFT 0
#define TMC5272_V2_FIELD(motor) ((RegisterField) { TMC5272_V2_MASK, TMC5272_V2_SHIFT, TMC5272_V2(motor), false })
#define TMC5272_AMAX_MASK 0x0003FFFF
#define TMC5272_AMAX_SHIFT 0
#define TMC5272_AMAX_FIELD(motor) ((RegisterField) { TMC5272_AMAX_MASK, TMC5272_AMAX_SHIFT, TMC5272_AMAX(motor), false })
#define TMC5272_VMAX_MASK 0x007FFFFF
#define TMC5272_VMAX_SHIFT 0
#define TMC5272_VMAX_FIELD(motor) ((RegisterField) { TMC5272_VMAX_MASK, TMC5272_VMAX_SHIFT, TMC5272_VMAX(motor), false })
#define TMC5272_DMAX_MASK 0x0003FFFF
#define TMC5272_DMAX_SHIFT 0
#define TMC5272_DMAX_FIELD(motor) ((RegisterField) { TMC5272_DMAX_MASK, TMC5272_DMAX_SHIFT, TMC5272_DMAX(motor), false })
#define TMC5272_D2_MASK 0x0003FFFF
#define TMC5272_D2_SHIFT 0
#define TMC5272_D2_FIELD(motor) ((RegisterField) { TMC5272_D2_MASK, TMC5272_D2_SHIFT, TMC5272_D2(motor), false })
#define TMC5272_D1_MASK 0x0003FFFF
#define TMC5272_D1_SHIFT 0
#define TMC5272_D1_FIELD(motor) ((RegisterField) { TMC5272_D1_MASK, TMC5272_D1_SHIFT, TMC5272_D1(motor), false })
#define TMC5272_VSTOP_MASK 0x0003FFFF
#define TMC5272_VSTOP_SHIFT 0
#define TMC5272_VSTOP_FIELD(motor) ((RegisterField) { TMC5272_VSTOP_MASK, TMC5272_VSTOP_SHIFT, TMC5272_VSTOP(motor), false })
#define TMC5272_TVMAX_MASK 0x0000FFFF
#define TMC5272_TVMAX_SHIFT 0
#define TMC5272_TVMAX_FIELD(motor) ((RegisterField) { TMC5272_TVMAX_MASK, TMC5272_TVMAX_SHIFT, TMC5272_TVMAX(motor), false })
#define TMC5272_TZEROWAIT_MASK 0x0000FFFF
#define TMC5272_TZEROWAIT_SHIFT 0
#define TMC5272_TZEROWAIT_FIELD(motor) ((RegisterField) { TMC5272_TZEROWAIT_MASK, TMC5272_TZEROWAIT_SHIFT, TMC5272_TZEROWAIT(motor), false })
#define TMC5272_XTARGET_MASK 0xFFFFFFFF
#define TMC5272_XTARGET_SHIFT 0
#define TMC5272_XTARGET_FIELD(motor) ((RegisterField) { TMC5272_XTARGET_MASK, TMC5272_XTARGET_SHIFT, TMC5272_XTARGET(motor), false })
#define TMC5272_VDCMIN_RESERVED_MASK 0x000000FF
#define TMC5272_VDCMIN_RESERVED_SHIFT 0
#define TMC5272_VDCMIN_RESERVED_FIELD(motor) ((RegisterField) { TMC5272_VDCMIN_RESERVED_MASK, TMC5272_VDCMIN_RESERVED_SHIFT, TMC5272_VDCMIN(motor), false })
#define TMC5272_VDCMIN_VDCMIN_MASK 0x007FFF00
#define TMC5272_VDCMIN_VDCMIN_SHIFT 8
#define TMC5272_VDCMIN_VDCMIN_FIELD(motor) ((RegisterField) { TMC5272_VDCMIN_VDCMIN_MASK, TMC5272_VDCMIN_VDCMIN_SHIFT, TMC5272_VDCMIN(motor), false })
#define TMC5272_SW_MODE_STOP_L_ENABLE_MASK 0x00000001
#define TMC5272_SW_MODE_STOP_L_ENABLE_SHIFT 0
#define TMC5272_SW_MODE_STOP_L_ENABLE_FIELD(motor) ((RegisterField) { TMC5272_SW_MODE_STOP_L_ENABLE_MASK, TMC5272_SW_MODE_STOP_L_ENABLE_SHIFT, TMC5272_SW_MODE(motor), false })
#define TMC5272_SW_MODE_STOP_R_ENABLE_MASK 0x00000002
#define TMC5272_SW_MODE_STOP_R_ENABLE_SHIFT 1
#define TMC5272_SW_MODE_STOP_R_ENABLE_FIELD(motor) ((RegisterField) { TMC5272_SW_MODE_STOP_R_ENABLE_MASK, TMC5272_SW_MODE_STOP_R_ENABLE_SHIFT, TMC5272_SW_MODE(motor), false })
#define TMC5272_SW_MODE_POL_STOP_L_MASK 0x00000004
#define TMC5272_SW_MODE_POL_STOP_L_SHIFT 2
#define TMC5272_SW_MODE_POL_STOP_L_FIELD(motor) ((RegisterField) { TMC5272_SW_MODE_POL_STOP_L_MASK, TMC5272_SW_MODE_POL_STOP_L_SHIFT, TMC5272_SW_MODE(motor), false })
#define TMC5272_SW_MODE_POL_STOP_R_MASK 0x00000008
#define TMC5272_SW_MODE_POL_STOP_R_SHIFT 3
#define TMC5272_SW_MODE_POL_STOP_R_FIELD(motor) ((RegisterField) { TMC5272_SW_MODE_POL_STOP_R_MASK, TMC5272_SW_MODE_POL_STOP_R_SHIFT, TMC5272_SW_MODE(motor), false })
#define TMC5272_SW_MODE_SWAP_LR_MASK 0x00000010
#define TMC5272_SW_MODE_SWAP_LR_SHIFT 4
#define TMC5272_SW_MODE_SWAP_LR_FIELD(motor) ((RegisterField) { TMC5272_SW_MODE_SWAP_LR_MASK, TMC5272_SW_MODE_SWAP_LR_SHIFT, TMC5272_SW_MODE(motor), false })
#define TMC5272_SW_MODE_LATCH_L_ACTIVE_MASK 0x00000020
#define TMC5272_SW_MODE_LATCH_L_ACTIVE_SHIFT 5
#define TMC5272_SW_MODE_LATCH_L_ACTIVE_FIELD(motor) ((RegisterField) { TMC5272_SW_MODE_LATCH_L_ACTIVE_MASK, TMC5272_SW_MODE_LATCH_L_ACTIVE_SHIFT, TMC5272_SW_MODE(motor), false })
#define TMC5272_SW_MODE_LATCH_L_INACTIVE_MASK 0x00000040
#define TMC5272_SW_MODE_LATCH_L_INACTIVE_SHIFT 6
#define TMC5272_SW_MODE_LATCH_L_INACTIVE_FIELD(motor) ((RegisterField) { TMC5272_SW_MODE_LATCH_L_INACTIVE_MASK, TMC5272_SW_MODE_LATCH_L_ACTIVE_SHIFT, TMC5272_SW_MODE(motor), false })
#define TMC5272_SW_MODE_LATCH_R_ACTIVE_MASK 0x00000080
#define TMC5272_SW_MODE_LATCH_R_ACTIVE_SHIFT 7
#define TMC5272_SW_MODE_LATCH_R_ACTIVE_FIELD(motor) ((RegisterField) { TMC5272_SW_MODE_LATCH_R_ACTIVE_MASK, TMC5272_SW_MODE_LATCH_R_ACTIVE_SHIFT, TMC5272_SW_MODE(motor), false })
#define TMC5272_SW_MODE_LATCH_R_INACTIVE_MASK 0x00000100
#define TMC5272_SW_MODE_LATCH_R_INACTIVE_SHIFT 8
#define TMC5272_SW_MODE_LATCH_R_INACTIVE_FIELD(motor) ((RegisterField) { TMC5272_SW_MODE_LATCH_R_INACTIVE_MASK, TMC5272_SW_MODE_LATCH_R_INACTIVE_SHIFT, TMC5272_SW_MODE(motor), false })
#define TMC5272_SW_MODE_EN_LATCH_ENCODER_MASK 0x00000200
#define TMC5272_SW_MODE_EN_LATCH_ENCODER_SHIFT 9
#define TMC5272_SW_MODE_EN_LATCH_ENCODER_FIELD(motor) ((RegisterField) { TMC5272_SW_MODE_EN_LATCH_ENCODER_MASK, TMC5272_SW_MODE_EN_LATCH_ENCODER_SHIFT, TMC5272_SW_MODE(motor), false })
#define TMC5272_SW_MODE_SG_STOP_MASK 0x00000400
#define TMC5272_SW_MODE_SG_STOP_SHIFT 10
#define TMC5272_SW_MODE_SG_STOP_FIELD(motor) ((RegisterField) { TMC5272_SW_MODE_SG_STOP_MASK, TMC5272_SW_MODE_SG_STOP_SHIFT, TMC5272_SW_MODE(motor), false })
#define TMC5272_SW_MODE_EN_SOFTSTOP_MASK 0x00000800
#define TMC5272_SW_MODE_EN_SOFTSTOP_SHIFT 11
#define TMC5272_SW_MODE_EN_SOFTSTOP_FIELD(motor) ((RegisterField) { TMC5272_SW_MODE_EN_SOFTSTOP_MASK, TMC5272_SW_MODE_EN_SOFTSTOP_SHIFT, TMC5272_SW_MODE(motor), false })
#define TMC5272_SW_MODE_EN_VIRTUAL_STOP_L_MASK 0x00001000
#define TMC5272_SW_MODE_EN_VIRTUAL_STOP_L_SHIFT 12
#define TMC5272_SW_MODE_EN_VIRTUAL_STOP_L_FIELD(motor) ((RegisterField) { TMC5272_SW_MODE_EN_SOFTSTOP_MASK, TMC5272_SW_MODE_EN_SOFTSTOP_SHIFT, TMC5272_SW_MODE(motor), false })
#define TMC5272_SW_MODE_EN_VIRTUAL_STOP_R_MASK 0x00002000
#define TMC5272_SW_MODE_EN_VIRTUAL_STOP_R_SHIFT 13
#define TMC5272_SW_MODE_EN_VIRTUAL_STOP_R_FIELD(motor) ((RegisterField) { TMC5272_SW_MODE_EN_VIRTUAL_STOP_R_MASK, TMC5272_SW_MODE_EN_VIRTUAL_STOP_R_SHIFT, TMC5272_SW_MODE(motor), false })
#define TMC5272_SW_MODE_VIRTUAL_STEP_ENC_MASK 0x00004000
#define TMC5272_SW_MODE_VIRTUAL_STEP_ENC_SHIFT 14
#define TMC5272_SW_MODE_VIRTUAL_STEP_ENC_FIELD(motor) ((RegisterField) { TMC5272_SW_MODE_VIRTUAL_STEP_ENC_MASK, TMC5272_SW_MODE_VIRTUAL_STEP_ENC_SHIFT, TMC5272_SW_MODE(motor), false })
#define TMC5272_RAMP_STAT_STATUS_STOP_L_MASK 0x00000001
#define TMC5272_RAMP_STAT_STATUS_STOP_L_SHIFT 0
#define TMC5272_RAMP_STAT_STATUS_STOP_L_FIELD(motor) ((RegisterField) { TMC5272_RAMP_STAT_STATUS_STOP_L_MASK, TMC5272_RAMP_STAT_STATUS_STOP_L_SHIFT, TMC5272_RAMP_STAT(motor), false })
#define TMC5272_RAMP_STAT_STATUS_STOP_R_MASK 0x00000002
#define TMC5272_RAMP_STAT_STATUS_STOP_R_SHIFT 1
#define TMC5272_RAMP_STAT_STATUS_STOP_R_FIELD(motor) ((RegisterField) { TMC5272_RAMP_STAT_STATUS_STOP_R_MASK, TMC5272_RAMP_STAT_STATUS_STOP_R_SHIFT, TMC5272_RAMP_STAT(motor), false })
#define TMC5272_RAMP_STAT_STATUS_LATCH_L_MASK 0x00000004
#define TMC5272_RAMP_STAT_STATUS_LATCH_L_SHIFT 2
#define TMC5272_RAMP_STAT_STATUS_LATCH_L_FIELD(motor) ((RegisterField) { TMC5272_RAMP_STAT_STATUS_LATCH_L_MASK, TMC5272_RAMP_STAT_STATUS_LATCH_L_FIELD(motor), TMC5272_RAMP_STAT(motor), false })
#define TMC5272_RAMP_STAT_STATUS_LATCH_R_MASK 0x00000008
#define TMC5272_RAMP_STAT_STATUS_LATCH_R_SHIFT 3
#define TMC5272_RAMP_STAT_STATUS_LATCH_R_FIELD(motor) ((RegisterField) { TMC5272_RAMP_STAT_STATUS_LATCH_R_MASK, TMC5272_RAMP_STAT_STATUS_LATCH_R_SHIFT, TMC5272_RAMP_STAT(motor), false })
#define TMC5272_RAMP_STAT_EVENT_STOP_L_MASK 0x00000010
#define TMC5272_RAMP_STAT_EVENT_STOP_L_SHIFT 4
#define TMC5272_RAMP_STAT_EVENT_STOP_L_FIELD(motor) ((RegisterField) { TMC5272_RAMP_STAT_EVENT_STOP_L_MASK, TMC5272_RAMP_STAT_EVENT_STOP_L_SHIFT, TMC5272_RAMP_STAT(motor), false })
#define TMC5272_RAMP_STAT_EVENT_STOP_R_MASK 0x00000020
#define TMC5272_RAMP_STAT_EVENT_STOP_R_SHIFT 5
#define TMC5272_RAMP_STAT_EVENT_STOP_R_FIELD(motor) ((RegisterField) { TMC5272_RAMP_STAT_EVENT_STOP_R_MASK, TMC5272_RAMP_STAT_EVENT_STOP_R_SHIFT, TMC5272_RAMP_STAT(motor), false })
#define TMC5272_RAMP_STAT_EVENT_STOP_SG_MASK 0x00000040
#define TMC5272_RAMP_STAT_EVENT_STOP_SG_SHIFT 6
#define TMC5272_RAMP_STAT_EVENT_STOP_SG_FIELD(motor) ((RegisterField) { TMC5272_RAMP_STAT_EVENT_STOP_SG_MASK, TMC5272_RAMP_STAT_EVENT_STOP_SG_SHIFT, TMC5272_RAMP_STAT(motor), false })
#define TMC5272_RAMP_STAT_EVENT_POS_REACHED_MASK 0x00000080
#define TMC5272_RAMP_STAT_EVENT_POS_REACHED_SHIFT 7
#define TMC5272_RAMP_STAT_EVENT_POS_REACHED_FIELD(motor) ((RegisterField) { TMC5272_RAMP_STAT_EVENT_POS_REACHED_MASK, TMC5272_RAMP_STAT_EVENT_POS_REACHED_SHIFT, TMC5272_RAMP_STAT(motor), false })
#define TMC5272_RAMP_STAT_VELOCITY_REACHED_MASK 0x00000100
#define TMC5272_RAMP_STAT_VELOCITY_REACHED_SHIFT 8
#define TMC5272_RAMP_STAT_VELOCITY_REACHED_FIELD(motor) ((RegisterField) { TMC5272_RAMP_STAT_VELOCITY_REACHED_MASK, TMC5272_RAMP_STAT_VELOCITY_REACHED_SHIFT, TMC5272_RAMP_STAT(motor), false })
#define TMC5272_RAMP_STAT_POSITION_REACHED_MASK 0x00000200
#define TMC5272_RAMP_STAT_POSITION_REACHED_SHIFT 9
#define TMC5272_RAMP_STAT_POSITION_REACHED_FIELD(motor) ((RegisterField) { TMC5272_RAMP_STAT_POSITION_REACHED_MASK, TMC5272_RAMP_STAT_POSITION_REACHED_SHIFT, TMC5272_RAMP_STAT(motor), false })
#define TMC5272_RAMP_STAT_VZERO_MASK 0x00000400
#define TMC5272_RAMP_STAT_VZERO_SHIFT 10
#define TMC5272_RAMP_STAT_VZERO_FIELD(motor) ((RegisterField) { TMC5272_RAMP_STAT_VZERO_MASK, TMC5272_RAMP_STAT_VZERO_SHIFT, TMC5272_RAMP_STAT(motor), false })
#define TMC5272_RAMP_STAT_T_ZEROWAIT_ACTIVE_MASK 0x00000800
#define TMC5272_RAMP_STAT_T_ZEROWAIT_ACTIVE_SHIFT 11
#define TMC5272_RAMP_STAT_T_ZEROWAIT_ACTIVE_FIELD(motor) ((RegisterField) { TMC5272_RAMP_STAT_T_ZEROWAIT_ACTIVE_MASK, TMC5272_RAMP_STAT_T_ZEROWAIT_ACTIVE_SHIFT, TMC5272_RAMP_STAT(motor), false })
#define TMC5272_RAMP_STAT_SECOND_MOVE_MASK 0x00001000
#define TMC5272_RAMP_STAT_SECOND_MOVE_SHIFT 12
#define TMC5272_RAMP_STAT_SECOND_MOVE_FIELD(motor) ((RegisterField) { TMC5272_RAMP_STAT_SECOND_MOVE_MASK, TMC5272_RAMP_STAT_SECOND_MOVE_SHIFT, TMC5272_RAMP_STAT(motor), false })
#define TMC5272_RAMP_STAT_STATUS_SG_MASK 0x00002000
#define TMC5272_RAMP_STAT_STATUS_SG_SHIFT 13
#define TMC5272_RAMP_STAT_STATUS_SG_FIELD(motor) ((RegisterField) { TMC5272_RAMP_STAT_STATUS_SG_MASK, TMC5272_RAMP_STAT_STATUS_SG_SHIFT, TMC5272_RAMP_STAT(motor), false })
#define TMC5272_RAMP_STAT_STATUS_VIRTUAL_STOP_L_MASK 0x00004000
#define TMC5272_RAMP_STAT_STATUS_VIRTUAL_STOP_L_SHIFT 14
#define TMC5272_RAMP_STAT_STATUS_VIRTUAL_STOP_L_FIELD(motor) ((RegisterField) { TMC5272_RAMP_STAT_STATUS_VIRTUAL_STOP_L_MASK, TMC5272_RAMP_STAT_STATUS_VIRTUAL_STOP_L_SHIFT, TMC5272_RAMP_STAT(motor), false })
#define TMC5272_RAMP_STAT_STATUS_VIRTUAL_STOP_R_MASK 0x00008000
#define TMC5272_RAMP_STAT_STATUS_VIRTUAL_STOP_R_SHIFT 15
#define TMC5272_RAMP_STAT_STATUS_VIRTUAL_STOP_R_FIELD(motor) ((RegisterField) { TMC5272_RAMP_STAT_STATUS_VIRTUAL_STOP_R_MASK, TMC5272_RAMP_STAT_STATUS_VIRTUAL_STOP_R_SHIFT, TMC5272_RAMP_STAT(motor), false })
#define TMC5272_XLATCH_MASK 0xFFFFFFFF
#define TMC5272_XLATCH_SHIFT 0
#define TMC5272_XLATCH_FIELD(motor) ((RegisterField) { TMC5272_XLATCH_MASK, TMC5272_XLATCH_SHIFT, TMC5272_XLATCH(motor), false })
#define TMC5272_POSITION_PI_CTRL_POSITION_PI_CTRL_REGS_MASK 0xFFFFFFFF
#define TMC5272_POSITION_PI_CTRL_POSITION_PI_CTRL_REGS_SHIFT 0
#define TMC5272_POSITION_PI_CTRL_POSITION_PI_CTRL_REGS_FIELD(motor) ((RegisterField) { TMC5272_POSITION_PI_CTRL_POSITION_PI_CTRL_REGS_MASK, TMC5272_POSITION_PI_CTRL_POSITION_PI_CTRL_REGS_SHIFT, TMC5272_POSITION_PI_CTRL(motor), false })
#define TMC5272_X_ENC_MASK 0xFFFFFFFF
#define TMC5272_X_ENC_SHIFT 0
#define TMC5272_X_ENC_FIELD(motor) ((RegisterField) { TMC5272_X_ENC_MASK, TMC5272_X_ENC_SHIFT, TMC5272_X_ENC(motor), false })
#define TMC5272_ENCMODE_POL_A_MASK 0x00000001
#define TMC5272_ENCMODE_POL_A_SHIFT 0
#define TMC5272_ENCMODE_POL_A_FIELD(motor) ((RegisterField) { TMC5272_ENCMODE_POL_A_MASK, TMC5272_ENCMODE_POL_A_SHIFT, TMC5272_ENCMODE(motor), false })
#define TMC5272_ENCMODE_POL_B_MASK 0x00000002
#define TMC5272_ENCMODE_POL_B_SHIFT 1
#define TMC5272_ENCMODE_POL_B_FIELD(motor) ((RegisterField) { TMC5272_ENCMODE_POL_B_MASK, TMC5272_ENCMODE_POL_B_SHIFT, TMC5272_ENCMODE(motor), false })
#define TMC5272_ENCMODE_POL_N_MASK 0x00000004
#define TMC5272_ENCMODE_POL_N_SHIFT 2
#define TMC5272_ENCMODE_POL_N_FIELD(motor) ((RegisterField) { TMC5272_ENCMODE_POL_N_MASK, TMC5272_ENCMODE_POL_N_SHIFT, TMC5272_ENCMODE(motor), false })
#define TMC5272_ENCMODE_IGNORE_AB_MASK 0x00000008
#define TMC5272_ENCMODE_IGNORE_AB_SHIFT 3
#define TMC5272_ENCMODE_IGNORE_AB_FIELD(motor) ((RegisterField) { TMC5272_ENCMODE_IGNORE_AB_MASK, TMC5272_ENCMODE_IGNORE_AB_SHIFT, TMC5272_ENCMODE(motor), false })
#define TMC5272_ENCMODE_CLR_CONT_MASK 0x00000010
#define TMC5272_ENCMODE_CLR_CONT_SHIFT 4
#define TMC5272_ENCMODE_CLR_CONT_FIELD(motor) ((RegisterField) { TMC5272_ENCMODE_CLR_CONT_MASK, TMC5272_ENCMODE_CLR_CONT_SHIFT, TMC5272_ENCMODE(motor), false })
#define TMC5272_ENCMODE_CLR_ONCE_MASK 0x00000020
#define TMC5272_ENCMODE_CLR_ONCE_SHIFT 5
#define TMC5272_ENCMODE_CLR_ONCE_FIELD(motor) ((RegisterField) { TMC5272_ENCMODE_CLR_ONCE_MASK, TMC5272_ENCMODE_CLR_ONCE_SHIFT, TMC5272_ENCMODE(motor), false })
#define TMC5272_ENCMODE_POS_NEG_EDGE_MASK 0x000000C0
#define TMC5272_ENCMODE_POS_NEG_EDGE_SHIFT 6
#define TMC5272_ENCMODE_POS_NEG_EDGE_FIELD(motor) ((RegisterField) { TMC5272_ENCMODE_POS_NEG_EDGE_MASK, TMC5272_ENCMODE_POS_NEG_EDGE_SHIFT, TMC5272_ENCMODE(motor), false })
#define TMC5272_ENCMODE_CLR_ENC_X_MASK 0x00000100
#define TMC5272_ENCMODE_CLR_ENC_X_SHIFT 8
#define TMC5272_ENCMODE_CLR_ENC_X_FIELD(motor) ((RegisterField) { TMC5272_ENCMODE_CLR_ENC_X_MASK, TMC5272_ENCMODE_CLR_ENC_X_SHIFT, TMC5272_ENCMODE(motor), false })
#define TMC5272_ENCMODE_LATCH_X_ACT_MASK 0x00000200
#define TMC5272_ENCMODE_LATCH_X_ACT_SHIFT 9
#define TMC5272_ENCMODE_LATCH_X_ACT_FIELD(motor) ((RegisterField) { TMC5272_ENCMODE_LATCH_X_ACT_MASK, TMC5272_ENCMODE_LATCH_X_ACT_SHIFT, TMC5272_ENCMODE(motor), false })
#define TMC5272_ENCMODE_ENC_SEL_DECIMAL_MASK 0x00000400
#define TMC5272_ENCMODE_ENC_SEL_DECIMAL_SHIFT 10
#define TMC5272_ENCMODE_ENC_SEL_DECIMAL_FIELD(motor) ((RegisterField) { TMC5272_ENCMODE_ENC_SEL_DECIMAL_MASK, TMC5272_ENCMODE_ENC_SEL_DECIMAL_SHIFT, TMC5272_ENCMODE(motor), false })
#define TMC5272_ENCMODE_NBEMF_ABN_SEL_MASK 0x00000800
#define TMC5272_ENCMODE_NBEMF_ABN_SEL_SHIFT 11
#define TMC5272_ENCMODE_NBEMF_ABN_SEL_FIELD(motor) ((RegisterField) { TMC5272_ENCMODE_NBEMF_ABN_SEL_MASK, TMC5272_ENCMODE_NBEMF_ABN_SEL_SHIFT, TMC5272_ENCMODE(motor), false })
#define TMC5272_ENCMODE_BEMF_HYST_MASK 0x00007000
#define TMC5272_ENCMODE_BEMF_HYST_SHIFT 12
#define TMC5272_ENCMODE_BEMF_HYST_FIELD(motor) ((RegisterField) { TMC5272_ENCMODE_BEMF_HYST_MASK, TMC5272_ENCMODE_BEMF_HYST_SHIFT, TMC5272_ENCMODE(motor), false })
#define TMC5272_ENCMODE_BEMF_BLANK_TIME_MASK 0x00FF0000
#define TMC5272_ENCMODE_BEMF_BLANK_TIME_SHIFT 16
#define TMC5272_ENCMODE_BEMF_BLANK_TIME_FIELD(motor) ((RegisterField) { TMC5272_ENCMODE_BEMF_BLANK_TIME_MASK, TMC5272_ENCMODE_BEMF_BLANK_TIME_SHIFT, TMC5272_ENCMODE(motor), false })
#define TMC5272_ENC_CONST_MASK 0xFFFFFFFF
#define TMC5272_ENC_CONST_SHIFT 0
#define TMC5272_ENC_CONST_FIELD(motor) ((RegisterField) { TMC5272_ENC_CONST_MASK, TMC5272_ENC_CONST_SHIFT, TMC5272_ENC_CONST(motor), false })
#define TMC5272_ENC_STATUS_N_EVENT_MASK 0x00000001
#define TMC5272_ENC_STATUS_N_EVENT_SHIFT 0
#define TMC5272_ENC_STATUS_N_EVENT_FIELD(motor) ((RegisterField) { TMC5272_ENC_STATUS_N_EVENT_MASK, TMC5272_ENC_STATUS_N_EVENT_SHIFT, TMC5272_ENC_STATUS(motor), false })
#define TMC5272_ENC_STATUS_DEVIATION_WARN_MASK 0x00000002
#define TMC5272_ENC_STATUS_DEVIATION_WARN_SHIFT 1
#define TMC5272_ENC_STATUS_DEVIATION_WARN_FIELD(motor) ((RegisterField) { TMC5272_ENC_STATUS_DEVIATION_WARN_MASK, TMC5272_ENC_STATUS_DEVIATION_WARN_SHIFT, TMC5272_ENC_STATUS(motor), false })
#define TMC5272_ENC_LATCH_MASK 0xFFFFFFFF
#define TMC5272_ENC_LATCH_SHIFT 0
#define TMC5272_ENC_LATCH_FIELD(motor) ((RegisterField) { TMC5272_ENC_LATCH_MASK, TMC5272_ENC_LATCH_SHIFT, TMC5272_ENC_LATCH(motor), false })
#define TMC5272_ENC_DEVIATION_MASK 0x000FFFFF
#define TMC5272_ENC_DEVIATION_SHIFT 0
#define TMC5272_ENC_DEVIATION_FIELD(motor) ((RegisterField) { TMC5272_ENC_DEVIATION_MASK, TMC5272_ENC_DEVIATION_SHIFT, TMC5272_ENC_DEVIATION(motor), false })
#define TMC5272_VIRTUAL_STOP_L_MASK 0xFFFFFFFF
#define TMC5272_VIRTUAL_STOP_L_SHIFT 0
#define TMC5272_VIRTUAL_STOP_L_FIELD(motor) ((RegisterField) { TMC5272_VIRTUAL_STOP_L_MASK, TMC5272_VIRTUAL_STOP_L_SHIFT, TMC5272_VIRTUAL_STOP_L(motor), false })
#define TMC5272_VIRTUAL_STOP_R_MASK 0xFFFFFFFF
#define TMC5272_VIRTUAL_STOP_R_SHIFT 0
#define TMC5272_VIRTUAL_STOP_R_FIELD(motor) ((RegisterField) { TMC5272_VIRTUAL_STOP_R_MASK, TMC5272_VIRTUAL_STOP_R_SHIFT, TMC5272_VIRTUAL_STOP_R(motor), false })
#define TMC5272_MSCNT_MASK 0x000003FF
#define TMC5272_MSCNT_SHIFT 0
#define TMC5272_MSCNT_FIELD(motor) ((RegisterField) { TMC5272_MSCNT_MASK, TMC5272_MSCNT_SHIFT, TMC5272_MSCNT(motor), false })
#define TMC5272_MSCURACT_CUR_A_MASK 0x000001FF
#define TMC5272_MSCURACT_CUR_A_SHIFT 0
#define TMC5272_MSCURACT_CUR_A_FIELD(motor) ((RegisterField) { TMC5272_MSCURACT_CUR_A_MASK, TMC5272_MSCURACT_CUR_A_SHIFT, TMC5272_MSCURACT(motor), false })
#define TMC5272_MSCURACT_CUR_B_MASK 0x01FF0000
#define TMC5272_MSCURACT_CUR_B_SHIFT 16
#define TMC5272_MSCURACT_CUR_B_FIELD(motor) ((RegisterField) { TMC5272_MSCURACT_CUR_B_MASK, TMC5272_MSCURACT_CUR_B_SHIFT, TMC5272_MSCURACT(motor), false })
#define TMC5272_CHOPCONF_TOFF_MASK 0x0000000F
#define TMC5272_CHOPCONF_TOFF_SHIFT 0
#define TMC5272_CHOPCONF_TOFF_FIELD(motor) ((RegisterField) { TMC5272_CHOPCONF_TOFF_MASK, TMC5272_CHOPCONF_TOFF_SHIFT, TMC5272_CHOPCONF(motor), false })
#define TMC5272_CHOPCONF_HSTRT_TFD210_MASK 0x00000070
#define TMC5272_CHOPCONF_HSTRT_TFD210_SHIFT 4
#define TMC5272_CHOPCONF_HSTRT_TFD210_FIELD(motor) ((RegisterField) { TMC5272_CHOPCONF_HSTRT_TFD210_MASK, TMC5272_CHOPCONF_HSTRT_TFD210_SHIFT, TMC5272_CHOPCONF(motor), false })
#define TMC5272_CHOPCONF_HEND_OFFSET_MASK 0x00000780
#define TMC5272_CHOPCONF_HEND_OFFSET_SHIFT 7
#define TMC5272_CHOPCONF_HEND_OFFSET_FIELD(motor) ((RegisterField) { TMC5272_CHOPCONF_HEND_OFFSET_MASK, TMC5272_CHOPCONF_HEND_OFFSET_SHIFT, TMC5272_CHOPCONF(motor), false })
#define TMC5272_CHOPCONF_FD3_MASK 0x00000800
#define TMC5272_CHOPCONF_FD3_SHIFT 11
#define TMC5272_CHOPCONF_FD3_FIELD(motor) ((RegisterField) { TMC5272_CHOPCONF_FD3_MASK, TMC5272_CHOPCONF_FD3_SHIFT, TMC5272_CHOPCONF(motor), false })
#define TMC5272_CHOPCONF_DISFDCC_MASK 0x00001000
#define TMC5272_CHOPCONF_DISFDCC_SHIFT 12
#define TMC5272_CHOPCONF_DISFDCC_FIELD(motor) ((RegisterField) { TMC5272_CHOPCONF_DISFDCC_MASK, TMC5272_CHOPCONF_DISFDCC_SHIFT, TMC5272_CHOPCONF(motor), false })
#define TMC5272_CHOPCONF_CHM_MASK 0x00004000
#define TMC5272_CHOPCONF_CHM_SHIFT 14
#define TMC5272_CHOPCONF_CHM_FIELD(motor) ((RegisterField) { TMC5272_CHOPCONF_CHM_MASK, TMC5272_CHOPCONF_CHM_SHIFT, TMC5272_CHOPCONF(motor), false })
#define TMC5272_CHOPCONF_TBL_MASK 0x00018000
#define TMC5272_CHOPCONF_TBL_SHIFT 15
#define TMC5272_CHOPCONF_TBL_FIELD(motor) ((RegisterField) { TMC5272_CHOPCONF_TBL_MASK, TMC5272_CHOPCONF_TBL_SHIFT, TMC5272_CHOPCONF(motor), false })
#define TMC5272_CHOPCONF_VHIGHFS_MASK 0x00040000
#define TMC5272_CHOPCONF_VHIGHFS_SHIFT 18
#define TMC5272_CHOPCONF_VHIGHFS_FIELD(motor) ((RegisterField) { TMC5272_CHOPCONF_VHIGHFS_MASK, TMC5272_CHOPCONF_VHIGHFS_SHIFT, TMC5272_CHOPCONF(motor), false })
#define TMC5272_CHOPCONF_VHIGHCHM_MASK 0x00080000
#define TMC5272_CHOPCONF_VHIGHCHM_SHIFT 19
#define TMC5272_CHOPCONF_VHIGHCHM_FIELD(motor) ((RegisterField) { TMC5272_CHOPCONF_VHIGHCHM_MASK, TMC5272_CHOPCONF_VHIGHCHM_SHIFT, TMC5272_CHOPCONF(motor), false })
#define TMC5272_CHOPCONF_TPFD_MASK 0x00F00000
#define TMC5272_CHOPCONF_TPFD_SHIFT 20
#define TMC5272_CHOPCONF_TPFD_FIELD(motor) ((RegisterField) { TMC5272_CHOPCONF_TPFD_MASK, TMC5272_CHOPCONF_TPFD_SHIFT, TMC5272_CHOPCONF(motor), false })
#define TMC5272_CHOPCONF_MRES_MASK 0x0F000000
#define TMC5272_CHOPCONF_MRES_SHIFT 24
#define TMC5272_CHOPCONF_MRES_FIELD(motor) ((RegisterField) { TMC5272_CHOPCONF_MRES_MASK, TMC5272_CHOPCONF_MRES_SHIFT, TMC5272_CHOPCONF(motor), false })
#define TMC5272_CHOPCONF_INTPOL_MASK 0x10000000
#define TMC5272_CHOPCONF_INTPOL_SHIFT 28
#define TMC5272_CHOPCONF_INTPOL_FIELD(motor) ((RegisterField) { TMC5272_CHOPCONF_INTPOL_MASK, TMC5272_CHOPCONF_INTPOL_SHIFT, TMC5272_CHOPCONF(motor), false })
#define TMC5272_CHOPCONF_DEDGE_MASK 0x20000000
#define TMC5272_CHOPCONF_DEDGE_SHIFT 29
#define TMC5272_CHOPCONF_DEDGE_FIELD(motor) ((RegisterField) { TMC5272_CHOPCONF_DEDGE_MASK, TMC5272_CHOPCONF_DEDGE_SHIFT, TMC5272_CHOPCONF(motor), false })
#define TMC5272_CHOPCONF_DISS2G_MASK 0x40000000
#define TMC5272_CHOPCONF_DISS2G_SHIFT 30
#define TMC5272_CHOPCONF_DISS2G_FIELD(motor) ((RegisterField) { TMC5272_CHOPCONF_DISS2G_MASK, TMC5272_CHOPCONF_DISS2G_SHIFT, TMC5272_CHOPCONF(motor), false })
#define TMC5272_CHOPCONF_DISS2VS_MASK 0x80000000
#define TMC5272_CHOPCONF_DISS2VS_SHIFT 31
#define TMC5272_CHOPCONF_DISS2VS_FIELD(motor) ((RegisterField) { TMC5272_CHOPCONF_DISS2VS_MASK, TMC5272_CHOPCONF_DISS2VS_SHIFT, TMC5272_CHOPCONF(motor), false })
#define TMC5272_COOLCONF_SEMIN_MASK 0x0000000F
#define TMC5272_COOLCONF_SEMIN_SHIFT 0
#define TMC5272_COOLCONF_SEMIN_FIELD(motor) ((RegisterField) { TMC5272_COOLCONF_SEMIN_MASK, TMC5272_COOLCONF_SEMIN_SHIFT, TMC5272_COOLCONF(motor), false })
#define TMC5272_COOLCONF_SEUP_MASK 0x00000060
#define TMC5272_COOLCONF_SEUP_SHIFT 5
#define TMC5272_COOLCONF_SEUP_FIELD(motor) ((RegisterField) { TMC5272_COOLCONF_SEUP_MASK, TMC5272_COOLCONF_SEUP_SHIFT, TMC5272_COOLCONF(motor), false })
#define TMC5272_COOLCONF_SEMAX_MASK 0x00000F00
#define TMC5272_COOLCONF_SEMAX_SHIFT 8
#define TMC5272_COOLCONF_SEMAX_FIELD(motor) ((RegisterField) { TMC5272_COOLCONF_SEMAX_MASK, TMC5272_COOLCONF_SEMAX_SHIFT, TMC5272_COOLCONF(motor), false })
#define TMC5272_COOLCONF_SEDN_MASK 0x00006000
#define TMC5272_COOLCONF_SEDN_SHIFT 13
#define TMC5272_COOLCONF_SEDN_FIELD(motor) ((RegisterField) { TMC5272_COOLCONF_SEDN_MASK, TMC5272_COOLCONF_SEDN_SHIFT, TMC5272_COOLCONF(motor), false })
#define TMC5272_COOLCONF_SEIMIN_MASK 0x00008000
#define TMC5272_COOLCONF_SEIMIN_SHIFT 15
#define TMC5272_COOLCONF_SEIMIN_FIELD(motor) ((RegisterField) { TMC5272_COOLCONF_SEIMIN_MASK, TMC5272_COOLCONF_SEIMIN_SHIFT, TMC5272_COOLCONF(motor), false })
#define TMC5272_COOLCONF_SGT_MASK 0x007F0000
#define TMC5272_COOLCONF_SGT_SHIFT 16
#define TMC5272_COOLCONF_SGT_FIELD(motor) ((RegisterField) { TMC5272_COOLCONF_SGT_MASK, TMC5272_COOLCONF_SGT_SHIFT, TMC5272_COOLCONF(motor), false })
#define TMC5272_COOLCONF_SFILT_MASK 0x01000000
#define TMC5272_COOLCONF_SFILT_SHIFT 24
#define TMC5272_COOLCONF_SFILT_FIELD(motor) ((RegisterField) { TMC5272_COOLCONF_SFILT_MASK, TMC5272_COOLCONF_SFILT_SHIFT, TMC5272_COOLCONF(motor), false })
#define TMC5272_DCCTRL_DC_TIME_MASK 0x000003FF
#define TMC5272_DCCTRL_DC_TIME_SHIFT 0
#define TMC5272_DCCTRL_DC_TIME_FIELD(motor) ((RegisterField) { TMC5272_DCCTRL_DC_TIME_MASK, TMC5272_DCCTRL_DC_TIME_SHIFT, TMC5272_DCCTRL(motor), false })
#define TMC5272_DCCTRL_DC_SG_MASK 0x00FFFC00
#define TMC5272_DCCTRL_DC_SG_SHIFT 10
#define TMC5272_DCCTRL_DC_SG_FIELD(motor) ((RegisterField) { TMC5272_DCCTRL_DC_SG_MASK, TMC5272_DCCTRL_DC_SG_SHIFT, TMC5272_DCCTRL(motor), false })
#define TMC5272_DRV_STATUS_SG_RESULT_MASK 0x000003FF
#define TMC5272_DRV_STATUS_SG_RESULT_SHIFT 0
#define TMC5272_DRV_STATUS_SG_RESULT_FIELD(motor) ((RegisterField) { TMC5272_DRV_STATUS_SG_RESULT_MASK, TMC5272_DRV_STATUS_SG_RESULT_SHIFT, TMC5272_DRV_STATUS(motor), false })
#define TMC5272_DRV_STATUS_S2VSA_MASK 0x00001000
#define TMC5272_DRV_STATUS_S2VSA_SHIFT 12
#define TMC5272_DRV_STATUS_S2VSA_FIELD(motor) ((RegisterField) { TMC5272_DRV_STATUS_S2VSA_MASK, TMC5272_DRV_STATUS_S2VSA_SHIFT, TMC5272_DRV_STATUS(motor), false })
#define TMC5272_DRV_STATUS_S2VSB_MASK 0x00002000
#define TMC5272_DRV_STATUS_S2VSB_SHIFT 13
#define TMC5272_DRV_STATUS_S2VSB_FIELD(motor) ((RegisterField) { TMC5272_DRV_STATUS_S2VSB_MASK, TMC5272_DRV_STATUS_S2VSB_SHIFT, TMC5272_DRV_STATUS(motor), false })
#define TMC5272_DRV_STATUS_STEALTH_MASK 0x00004000
#define TMC5272_DRV_STATUS_STEALTH_SHIFT 14
#define TMC5272_DRV_STATUS_STEALTH_FIELD(motor) ((RegisterField) { TMC5272_DRV_STATUS_STEALTH_MASK, TMC5272_DRV_STATUS_STEALTH_SHIFT, TMC5272_DRV_STATUS(motor), false })
#define TMC5272_DRV_STATUS_FSACTIVE_MASK 0x00008000
#define TMC5272_DRV_STATUS_FSACTIVE_SHIFT 15
#define TMC5272_DRV_STATUS_FSACTIVE_FIELD(motor) ((RegisterField) { TMC5272_DRV_STATUS_FSACTIVE_MASK, TMC5272_DRV_STATUS_FSACTIVE_SHIFT, TMC5272_DRV_STATUS(motor), false })
#define TMC5272_DRV_STATUS_CS_ACTUAL_MASK 0x001F0000
#define TMC5272_DRV_STATUS_CS_ACTUAL_SHIFT 16
#define TMC5272_DRV_STATUS_CS_ACTUAL_FIELD(motor) ((RegisterField) { TMC5272_DRV_STATUS_CS_ACTUAL_MASK, TMC5272_DRV_STATUS_CS_ACTUAL_SHIFT, TMC5272_DRV_STATUS(motor), false })
#define TMC5272_DRV_STATUS_STALLGUARD_MASK 0x01000000
#define TMC5272_DRV_STATUS_STALLGUARD_SHIFT 24
#define TMC5272_DRV_STATUS_STALLGUARD_FIELD(motor) ((RegisterField) { TMC5272_DRV_STATUS_STALLGUARD_MASK, TMC5272_DRV_STATUS_STALLGUARD_SHIFT, TMC5272_DRV_STATUS(motor), false })
#define TMC5272_DRV_STATUS_OT_MASK 0x02000000
#define TMC5272_DRV_STATUS_OT_SHIFT 25
#define TMC5272_DRV_STATUS_OT_FIELD(motor) ((RegisterField) { TMC5272_DRV_STATUS_OT_MASK, TMC5272_DRV_STATUS_OT_SHIFT, TMC5272_DRV_STATUS(motor), false })
#define TMC5272_DRV_STATUS_OTPW_MASK 0x04000000
#define TMC5272_DRV_STATUS_OTPW_SHIFT 26
#define TMC5272_DRV_STATUS_OTPW_FIELD(motor) ((RegisterField) { TMC5272_DRV_STATUS_OTPW_MASK, TMC5272_DRV_STATUS_OTPW_SHIFT, TMC5272_DRV_STATUS(motor), false })
#define TMC5272_DRV_STATUS_S2GA_MASK 0x08000000
#define TMC5272_DRV_STATUS_S2GA_SHIFT 27
#define TMC5272_DRV_STATUS_S2GA_FIELD(motor) ((RegisterField) { TMC5272_DRV_STATUS_S2GA_MASK, TMC5272_DRV_STATUS_S2GA_SHIFT, TMC5272_DRV_STATUS(motor), false })
#define TMC5272_DRV_STATUS_S2GB_MASK 0x10000000
#define TMC5272_DRV_STATUS_S2GB_SHIFT 28
#define TMC5272_DRV_STATUS_S2GB_FIELD(motor) ((RegisterField) { TMC5272_DRV_STATUS_S2GB_MASK, TMC5272_DRV_STATUS_S2GB_SHIFT, TMC5272_DRV_STATUS(motor), false })
#define TMC5272_DRV_STATUS_OLA_MASK 0x20000000
#define TMC5272_DRV_STATUS_OLA_SHIFT 29
#define TMC5272_DRV_STATUS_OLA_FIELD(motor) ((RegisterField) { TMC5272_DRV_STATUS_OLA_MASK, TMC5272_DRV_STATUS_OLA_SHIFT, TMC5272_DRV_STATUS(motor), false })
#define TMC5272_DRV_STATUS_OLB_MASK 0x40000000
#define TMC5272_DRV_STATUS_OLB_SHIFT 30
#define TMC5272_DRV_STATUS_OLB_FIELD(motor) ((RegisterField) { TMC5272_DRV_STATUS_OLB_MASK, TMC5272_DRV_STATUS_OLB_SHIFT, TMC5272_DRV_STATUS(motor), false })
#define TMC5272_DRV_STATUS_STST_MASK 0x80000000
#define TMC5272_DRV_STATUS_STST_SHIFT 31
#define TMC5272_DRV_STATUS_STST_FIELD(motor) ((RegisterField) { TMC5272_DRV_STATUS_STST_MASK, TMC5272_DRV_STATUS_STST_SHIFT, TMC5272_DRV_STATUS(motor), false })
#define TMC5272_PWMCONF_PWM_OFS_MASK 0x000000FF
#define TMC5272_PWMCONF_PWM_OFS_SHIFT 0
#define TMC5272_PWMCONF_PWM_OFS_FIELD(motor) ((RegisterField) { TMC5272_PWMCONF_PWM_OFS_MASK, TMC5272_PWMCONF_PWM_OFS_SHIFT, TMC5272_PWMCONF(motor), false })
#define TMC5272_PWMCONF_PWM_GRAD_MASK 0x0000FF00
#define TMC5272_PWMCONF_PWM_GRAD_SHIFT 8
#define TMC5272_PWMCONF_PWM_GRAD_FIELD(motor) ((RegisterField) { TMC5272_PWMCONF_PWM_GRAD_MASK, TMC5272_PWMCONF_PWM_GRAD_SHIFT, TMC5272_PWMCONF(motor), false })
#define TMC5272_PWMCONF_PWM_FREQ_MASK 0x00030000
#define TMC5272_PWMCONF_PWM_FREQ_SHIFT 16
#define TMC5272_PWMCONF_PWM_FREQ_FIELD(motor) ((RegisterField) { TMC5272_PWMCONF_PWM_FREQ_MASK, TMC5272_PWMCONF_PWM_FREQ_SHIFT, TMC5272_PWMCONF(motor), false })
#define TMC5272_PWMCONF_PWM_AUTOSCALE_MASK 0x00040000
#define TMC5272_PWMCONF_PWM_AUTOSCALE_SHIFT 18
#define TMC5272_PWMCONF_PWM_AUTOSCALE_FIELD(motor) ((RegisterField) { TMC5272_PWMCONF_PWM_AUTOSCALE_MASK, TMC5272_PWMCONF_PWM_AUTOSCALE_SHIFT, TMC5272_PWMCONF(motor), false })
#define TMC5272_PWMCONF_PWM_AUTOGRAD_MASK 0x00080000
#define TMC5272_PWMCONF_PWM_AUTOGRAD_SHIFT 19
#define TMC5272_PWMCONF_PWM_AUTOGRAD_FIELD(motor) ((RegisterField) { TMC5272_PWMCONF_PWM_AUTOGRAD_MASK, TMC5272_PWMCONF_PWM_AUTOGRAD_SHIFT, TMC5272_PWMCONF(motor), false })
#define TMC5272_PWMCONF_FREEWHEEL_MASK 0x00300000
#define TMC5272_PWMCONF_FREEWHEEL_SHIFT 20
#define TMC5272_PWMCONF_FREEWHEEL_FIELD(motor) ((RegisterField) { TMC5272_PWMCONF_FREEWHEEL_MASK, TMC5272_PWMCONF_FREEWHEEL_SHIFT, TMC5272_PWMCONF(motor), false })
#define TMC5272_PWMCONF_PWM_MEAS_SD_ENABLE_MASK 0x00400000
#define TMC5272_PWMCONF_PWM_MEAS_SD_ENABLE_SHIFT 22
#define TMC5272_PWMCONF_PWM_MEAS_SD_ENABLE_FIELD(motor) ((RegisterField) { TMC5272_PWMCONF_PWM_MEAS_SD_ENABLE_MASK, TMC5272_PWMCONF_PWM_MEAS_SD_ENABLE_SHIFT, TMC5272_PWMCONF(motor), false })
#define TMC5272_PWMCONF_PWM_DIS_REG_STST_MASK 0x00800000
#define TMC5272_PWMCONF_PWM_DIS_REG_STST_SHIFT 23
#define TMC5272_PWMCONF_PWM_DIS_REG_STST_FIELD(motor) ((RegisterField) { TMC5272_PWMCONF_PWM_DIS_REG_STST_MASK, TMC5272_PWMCONF_PWM_DIS_REG_STST_SHIFT, TMC5272_PWMCONF(motor), false })
#define TMC5272_PWMCONF_PWM_REG_MASK 0x0F000000
#define TMC5272_PWMCONF_PWM_REG_SHIFT 24
#define TMC5272_PWMCONF_PWM_REG_FIELD(motor) ((RegisterField) { TMC5272_PWMCONF_PWM_REG_MASK, TMC5272_PWMCONF_PWM_REG_SHIFT, TMC5272_PWMCONF(motor), false })
#define TMC5272_PWMCONF_PWM_LIM_MASK 0xF0000000
#define TMC5272_PWMCONF_PWM_LIM_SHIFT 28
#define TMC5272_PWMCONF_PWM_LIM_FIELD(motor) ((RegisterField) { TMC5272_PWMCONF_PWM_LIM_MASK, TMC5272_PWMCONF_PWM_LIM_SHIFT, TMC5272_PWMCONF(motor), false })
#define TMC5272_PWM_SCALE_PWM_SCALE_SUM_MASK 0x000003FF
#define TMC5272_PWM_SCALE_PWM_SCALE_SUM_SHIFT 0
#define TMC5272_PWM_SCALE_PWM_SCALE_SUM_FIELD(motor) ((RegisterField) { TMC5272_PWM_SCALE_PWM_SCALE_SUM_MASK, TMC5272_PWM_SCALE_PWM_SCALE_SUM_SHIFT, TMC5272_PWM_SCALE(motor), false })
#define TMC5272_PWM_SCALE_PWM_SCALE_AUTO_MASK 0x01FF0000
#define TMC5272_PWM_SCALE_PWM_SCALE_AUTO_SHIFT 16
#define TMC5272_PWM_SCALE_PWM_SCALE_AUTO_FIELD(motor) ((RegisterField) { TMC5272_PWM_SCALE_PWM_SCALE_AUTO_MASK, TMC5272_PWM_SCALE_PWM_SCALE_AUTO_SHIFT, TMC5272_PWM_SCALE(motor), false })
#define TMC5272_PWM_AUTO_PWM_OFS_AUTO_MASK 0x000000FF
#define TMC5272_PWM_AUTO_PWM_OFS_AUTO_SHIFT 0
#define TMC5272_PWM_AUTO_PWM_OFS_AUTO_FIELD(motor) ((RegisterField) { TMC5272_PWM_AUTO_PWM_OFS_AUTO_MASK, TMC5272_PWM_AUTO_PWM_OFS_AUTO_SHIFT, TMC5272_PWM_AUTO(motor), false })
#define TMC5272_PWM_AUTO_PWM_GRAD_AUTO_MASK 0x00FF0000
#define TMC5272_PWM_AUTO_PWM_GRAD_AUTO_SHIFT 16
#define TMC5272_PWM_AUTO_PWM_GRAD_AUTO_FIELD(motor) ((RegisterField) { TMC5272_PWM_AUTO_PWM_GRAD_AUTO_MASK, TMC5272_PWM_AUTO_PWM_GRAD_AUTO_SHIFT, TMC5272_PWM_AUTO(motor), false })
#define TMC5272_SG4_THRS_SG4_THRS_MASK 0x000000FF
#define TMC5272_SG4_THRS_SG4_THRS_SHIFT 0
#define TMC5272_SG4_THRS_SG4_THRS_FIELD(motor) ((RegisterField) { TMC5272_SG4_THRS_SG4_THRS_MASK, TMC5272_SG4_THRS_SG4_THRS_SHIFT, TMC5272_SG4_THRS(motor), false })
#define TMC5272_SG4_THRS_SG4_FILT_EN_MASK 0x00000100
#define TMC5272_SG4_THRS_SG4_FILT_EN_SHIFT 8
#define TMC5272_SG4_THRS_SG4_FILT_EN_FIELD(motor) ((RegisterField) { TMC5272_SG4_THRS_SG4_FILT_EN_MASK, TMC5272_SG4_THRS_SG4_FILT_EN_SHIFT, TMC5272_SG4_THRS(motor), false })
#define TMC5272_SG4_THRS_SG_ANGLE_OFFSET_MASK 0x00000200
#define TMC5272_SG4_THRS_SG_ANGLE_OFFSET_SHIFT 9
#define TMC5272_SG4_THRS_SG_ANGLE_OFFSET_FIELD(motor) ((RegisterField) { TMC5272_SG4_THRS_SG_ANGLE_OFFSET_MASK, TMC5272_SG4_THRS_SG_ANGLE_OFFSET_SHIFT, TMC5272_SG4_THRS(motor), false })
#define TMC5272_SG4_RESULT_SG_RESULT_MASK 0x000003FF
#define TMC5272_SG4_RESULT_SG_RESULT_SHIFT 0
#define TMC5272_SG4_RESULT_SG_RESULT_FIELD(motor) ((RegisterField) { TMC5272_SG4_RESULT_SG_RESULT_MASK, TMC5272_SG4_RESULT_SG_RESULT_SHIFT, TMC5272_SG4_RESULT(motor), false })
#define TMC5272_SG4_IND_SG4_IND_0_MASK 0x000000FF
#define TMC5272_SG4_IND_SG4_IND_0_SHIFT 0
#define TMC5272_SG4_IND_SG4_IND_0_FIELD(motor) ((RegisterField) { TMC5272_SG4_IND_SG4_IND_0_MASK, TMC5272_SG4_IND_SG4_IND_0_SHIFT, TMC5272_SG4_IND(motor), false })
#define TMC5272_SG4_IND_SG4_IND_1_MASK 0x0000FF00
#define TMC5272_SG4_IND_SG4_IND_1_SHIFT 8
#define TMC5272_SG4_IND_SG4_IND_1_FIELD(motor) ((RegisterField) { TMC5272_SG4_IND_SG4_IND_1_MASK, TMC5272_SG4_IND_SG4_IND_1_SHIFT, TMC5272_SG4_IND(motor), false })
#define TMC5272_SG4_IND_SG4_IND_2_MASK 0x00FF0000
#define TMC5272_SG4_IND_SG4_IND_2_SHIFT 16
#define TMC5272_SG4_IND_SG4_IND_2_FIELD(motor) ((RegisterField) { TMC5272_SG4_IND_SG4_IND_2_MASK, TMC5272_SG4_IND_SG4_IND_2_SHIFT, TMC5272_SG4_IND(motor), false })
#define TMC5272_SG4_IND_SG4_IND_3_MASK 0xFF000000
#define TMC5272_SG4_IND_SG4_IND_3_SHIFT 24
#define TMC5272_SG4_IND_SG4_IND_3_FIELD(motor) ((RegisterField) { TMC5272_SG4_IND_SG4_IND_3_MASK, TMC5272_SG4_IND_SG4_IND_3_SHIFT, TMC5272_SG4_IND(motor), false })
Then the normal function for register read/write with SPI interface
void initAllMotors(uint16_t icID)
{
// Set IREF_R2 and IREF_R3 to High for setting the REF resistor to 10k.
// Run Current = 0.2A rms
// Hold Current = 0.14A rms
// Chopper Mode = SpreadCycle
// For Motor 0 & 1
tmc5272_writeRegister(icID, TMC5272_GCONF, 0x10024002); // writing value 0x10024002 = 268582914 = 0.0 to address 0 = 0x00(GCONF)
tmc5272_writeRegister(icID, TMC5272_DRV_CONF, 0x0000034D); // writing value 0x0000034D = 845 = 0.0 to address 3 = 0x05(DRV_CONF)
tmc5272_writeRegister(icID, TMC5272_GLOBAL_SCALER, 0xFBFBFBFB); // writing value 0xFBFBFBFB = 0 = 0.0 to address 4 = 0x06(GLOBAL_SCALER)
// For Motor 0
tmc5272_writeRegister(icID, TMC5272_IHOLD_IRUN(0), 0x04010F0A); // writing value 0x04011F0A = 67182346 = 0.0 to address 10 = 0x12(M0_IHOLD_IRUN)
tmc5272_writeRegister(icID, TMC5272_CHOPCONF(0), 0x10410153); // writing value 0x10410153 = 272695635 = 0.0 to address 39 = 0x38(M0_CHOPCONF)
tmc5272_writeRegister(icID, TMC5272_AMAX(0), 51200); // writing value to address 21 = 0x20(M0_AMAX)
// For Motor 1
tmc5272_writeRegister(icID, TMC5272_IHOLD_IRUN(1), 0x04010F0A); // writing value 0x04011F0A = 67182346 = 0.0 to address 10 = 0x12(M0_IHOLD_IRUN)
tmc5272_writeRegister(icID, TMC5272_CHOPCONF(1), 0x10410153); // writing value 0x10410153 = 272695635 = 0.0 to address 39 = 0x38(M0_CHOPCONF)
tmc5272_writeRegister(icID, TMC5272_AMAX(1), 51200); // writing value to address 21 = 0x20(M0_AMAX)
// Enable Motor 0 & 1
tmc5272_writeRegister(icID, TMC5272_GCONF, 0x00020002); // writing value 0x00020002 = 131074 = 0.0 to address 0 = 0x00(GCONF)
}
4 Coding
Here is the code put the stepper motor in velocity mode
#define IC_ID 0
static TMC5272BusType activeBus = IC_BUS_SPI;
static uint8_t nodeAddress = 0;
const uint8_t tmcCRCTable_Poly7Reflected[256] = {
0x00, 0x91, 0xE3, 0x72, 0x07, 0x96, 0xE4, 0x75, 0x0E, 0x9F, 0xED, 0x7C, 0x09, 0x98, 0xEA, 0x7B,
0x1C, 0x8D, 0xFF, 0x6E, 0x1B, 0x8A, 0xF8, 0x69, 0x12, 0x83, 0xF1, 0x60, 0x15, 0x84, 0xF6, 0x67,
0x38, 0xA9, 0xDB, 0x4A, 0x3F, 0xAE, 0xDC, 0x4D, 0x36, 0xA7, 0xD5, 0x44, 0x31, 0xA0, 0xD2, 0x43,
0x24, 0xB5, 0xC7, 0x56, 0x23, 0xB2, 0xC0, 0x51, 0x2A, 0xBB, 0xC9, 0x58, 0x2D, 0xBC, 0xCE, 0x5F,
0x70, 0xE1, 0x93, 0x02, 0x77, 0xE6, 0x94, 0x05, 0x7E, 0xEF, 0x9D, 0x0C, 0x79, 0xE8, 0x9A, 0x0B,
0x6C, 0xFD, 0x8F, 0x1E, 0x6B, 0xFA, 0x88, 0x19, 0x62, 0xF3, 0x81, 0x10, 0x65, 0xF4, 0x86, 0x17,
0x48, 0xD9, 0xAB, 0x3A, 0x4F, 0xDE, 0xAC, 0x3D, 0x46, 0xD7, 0xA5, 0x34, 0x41, 0xD0, 0xA2, 0x33,
0x54, 0xC5, 0xB7, 0x26, 0x53, 0xC2, 0xB0, 0x21, 0x5A, 0xCB, 0xB9, 0x28, 0x5D, 0xCC, 0xBE, 0x2F,
0xE0, 0x71, 0x03, 0x92, 0xE7, 0x76, 0x04, 0x95, 0xEE, 0x7F, 0x0D, 0x9C, 0xE9, 0x78, 0x0A, 0x9B,
0xFC, 0x6D, 0x1F, 0x8E, 0xFB, 0x6A, 0x18, 0x89, 0xF2, 0x63, 0x11, 0x80, 0xF5, 0x64, 0x16, 0x87,
0xD8, 0x49, 0x3B, 0xAA, 0xDF, 0x4E, 0x3C, 0xAD, 0xD6, 0x47, 0x35, 0xA4, 0xD1, 0x40, 0x32, 0xA3,
0xC4, 0x55, 0x27, 0xB6, 0xC3, 0x52, 0x20, 0xB1, 0xCA, 0x5B, 0x29, 0xB8, 0xCD, 0x5C, 0x2E, 0xBF,
0x90, 0x01, 0x73, 0xE2, 0x97, 0x06, 0x74, 0xE5, 0x9E, 0x0F, 0x7D, 0xEC, 0x99, 0x08, 0x7A, 0xEB,
0x8C, 0x1D, 0x6F, 0xFE, 0x8B, 0x1A, 0x68, 0xF9, 0x82, 0x13, 0x61, 0xF0, 0x85, 0x14, 0x66, 0xF7,
0xA8, 0x39, 0x4B, 0xDA, 0xAF, 0x3E, 0x4C, 0xDD, 0xA6, 0x37, 0x45, 0xD4, 0xA1, 0x30, 0x42, 0xD3,
0xB4, 0x25, 0x57, 0xC6, 0xB3, 0x22, 0x50, 0xC1, 0xBA, 0x2B, 0x59, 0xC8, 0xBD, 0x2C, 0x5E, 0xCF,
};
int nSleep = 23;
int iRefR2 = 27;
int iRefR3 = 29;
int uartMode = 31;
uint8_t tmc5272_getNodeAddress(uint16_t icID) {
return nodeAddress;
}
TMC5272BusType tmc5272_getBusType(uint16_t icID) {
return activeBus;
}
void tmc5272_readWriteSPI(uint16_t icID, uint8_t *data, size_t dataLength) {
digitalWrite(PIN_SPI_SS, LOW);
delayMicroseconds(10);
for (uint32_t i = 0; i < dataLength; i++) {
data[i] = SPI.transfer(data[i]);
Serial.println(data[i]);
}
delayMicroseconds(10);
digitalWrite(PIN_SPI_SS, HIGH);
}
void setup() {
Serial.begin(115200);
// put your setup code here, to run once:
pinMode(PIN_SPI_SS, OUTPUT);
pinMode(nSleep, OUTPUT);
pinMode(iRefR2, OUTPUT);
pinMode(iRefR3, OUTPUT);
pinMode(uartMode, OUTPUT);
digitalWrite(PIN_SPI_SS, HIGH);
digitalWrite(nSleep, LOW); // Disabling standby
digitalWrite(iRefR2, LOW);
digitalWrite(iRefR3, LOW);
if (activeBus == IC_BUS_SPI) {
digitalWrite(uartMode, LOW);
SPI.begin();
SPI.beginTransaction(SPISettings(500000, MSBFIRST, SPI_MODE3));
} else if (activeBus == IC_BUS_UART) {
digitalWrite(uartMode, HIGH);
//Serial3.begin(115200);
pinMode(PIN_SPI_MOSI, OUTPUT);
pinMode(PIN_SPI_SCK, OUTPUT);
digitalWrite(PIN_SPI_MOSI, LOW);
digitalWrite(PIN_SPI_SS, LOW);
digitalWrite(PIN_SPI_SCK, LOW);
}
delay(10);
digitalWrite(iRefR2, HIGH);
digitalWrite(iRefR3, HIGH);
initAllMotors(IC_ID);
tmc5272_rotateMotor(IC_ID, 0, 0x00002710);
tmc5272_rotateMotor(IC_ID, 1, 0x00002710);
}
void loop() {
int32_t value = tmc5272_readRegister(IC_ID, TMC5272_VMAX(0));
Serial.print("Received Data: ");
Serial.println(value);
Serial.print(" from register: ");
Serial.println(TMC5272_VMAX(0), HEX);
delay(1000);
}
Build and download the code
The motor turns in one direction in setting velocity,
5 Summary
The MKR board can work with range detect sensors and control the stepper motor as same time. Then build the rover platform for this project.
