TMC4671.h

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/*
 * TMC4671.h
 *
 *  Created on: Feb 1, 2020
 *      Author: Yannick
 */
 
#ifndef TMC4671_H_
#define TMC4671_H_
#include "constants.h"
#ifdef TMC4671DRIVER
#include <vector>
#include "cppmain.h"
#include "MotorDriver.h"
#include "Encoder.h"
#include "ChoosableClass.h"
#include "PersistentStorage.h"
#include "CommandHandler.h"
#include "SpiHandler.h"
#include "thread.hpp"
#include "ExtiHandler.h"
#include "SPI.h"
#include "TimerHandler.h"
 
#include "semaphore.hpp"
#include <GPIOPin.h>
#include "cpp_target_config.h"
#include "Filters.h"
 
#define SPITIMEOUT 500
#define TMC_THREAD_MEM 256
#define TMC_THREAD_PRIO 25 // Must be higher than main thread
#define TMC_ADCOFFSETFAIL 5000 // How much offset from 0x7fff to allow before a calibration is failed
 
extern SPI_HandleTypeDef HSPIDRV;
 
#ifdef TIM_TMC
extern TIM_HandleTypeDef TIM_TMC;
#endif
 
enum class TMC_ControlState : uint32_t {uninitialized,waitPower,Shutdown,Running,EncoderInit,EncoderFinished,HardError,OverTemp,IndexSearch,FullCalibration,ExternalEncoderInit,Pidautotune};
 
enum class TMC_PwmMode : uint8_t {off = 0,HSlow_LShigh = 1, HShigh_LSlow = 2, res2 = 3, res3 = 4, PWM_LS = 5, PWM_HS = 6, PWM_FOC = 7};
 
enum class TMC_StartupType{NONE,coldStart,warmStart};
 
enum class TMC_GpioMode{DebugSpi,DSAdcClkOut,DSAdcClkIn,Aout_Bin,Ain_Bout,Aout_Bout,Ain_Bin};
 
enum class MotorType : uint8_t {NONE=0,DC=1,STEPPER=2,BLDC=3,ERR};
enum class PhiE : uint8_t {ext=1,openloop=2,abn=3,hall=5,aenc=6,aencE=7,NONE,extEncoder};
enum class MotionMode : uint8_t {stop=0,torque=1,velocity=2,position=3,prbsflux=4,prbstorque=5,prbsvelocity=6,uqudext=8,encminimove=9,NONE};
enum class FFMode : uint8_t {none=0,velocity=1,torque=2};
enum class PosSelection : uint8_t {PhiE=0, PhiE_ext=1, PhiE_openloop=2, PhiE_abn=3, res1=4, PhiE_hal=5, PhiE_aenc=6, PhiA_aenc=7, res2=8, PhiM_abn=9, PhiM_abn2=10, PhiM_aenc=11, PhiM_hal=12};
enum class VelSelection : uint8_t {PhiE=0, PhiE_ext=1, PhiE_openloop=2, PhiE_abn=3, res1=4, PhiE_hal=5, PhiE_aenc=6, PhiA_aenc=7, res2=8, PhiM_abn=9, PhiM_abn2=10, PhiM_aenc=11, PhiM_hal=12};
enum class EncoderType_TMC : uint8_t {NONE=0,abn=1,sincos=2,uvw=3,hall=4,ext=5}; // max 7
 
// Hardware versions for identifying different types. 31 versions valid
enum class TMC_HW_Ver : uint8_t {NONE=0,v1_0,v1_2,v1_2_2,v1_2_2_LEM20,v1_2_2_100mv,v1_3_66mv};
// Selectable version names to be listed in commands
const std::vector<std::pair<TMC_HW_Ver,std::string>> tmcHwVersionNames{
            std::make_pair(TMC_HW_Ver::NONE,"Undefined"), // Do not select. Default but disables some safety features
            std::make_pair(TMC_HW_Ver::v1_0,"v1.0 AD8417"),
            std::make_pair(TMC_HW_Ver::v1_2,"v1.2 AD8417"),
            std::make_pair(TMC_HW_Ver::v1_2_2,"v1.2.2 LEM GO 10 (80mV/A)"),
            std::make_pair(TMC_HW_Ver::v1_2_2_LEM20,"v1.2.2 LEM GO 20 (40mV/A)"),
            std::make_pair(TMC_HW_Ver::v1_2_2_100mv,"v1.2/3 100mV/A"),
            std::make_pair(TMC_HW_Ver::v1_3_66mv,"v1.3 ACS724 30A (66mV/A)")
};
 
struct TMC4671MotConf{
    MotorType motor_type = MotorType::NONE; //saved
    EncoderType_TMC enctype = EncoderType_TMC::NONE; //saved
    PhiE phiEsource     = PhiE::ext;
    uint16_t pole_pairs = 4; //saved
    PosSelection pos_sel = PosSelection::PhiE;
    VelSelection vel_sel = VelSelection::PhiE;
    bool svpwm = true; // enable space vector PWM for 3 phase motors
};
 
struct TMC4671HardwareTypeConf{
    TMC_HW_Ver hwVersion = TMC_HW_Ver::NONE;
    int adcOffset = 0;
    float thermistor_R2 = 1500;
    float thermistor_R = 22000;
    float thermistor_Beta = 4300;
    bool temperatureEnabled = false; // Enables temperature readings
    float temp_limit = 90;
    float currentScaler = 2.5 / (0x7fff * 60.0 * 0.0015); // Converts from adc counts to current in Amps
    uint16_t brakeLimLow = 50700;
    uint16_t brakeLimHigh = 50900;
    float vmScaler = (2.5 / 0x7fff) * ((1.5+71.5)/1.5);
    float vSenseMult = VOLTAGE_MULT_DEFAULT;
    float clockfreq = 25e6;
    uint8_t bbm = 20;
    float fluxDissipationScaler = 0.5;
    bool allowFluxDissipationDeactivation = true;
    // Todo restrict allowed motor and encoder types
};
 
 
// Mapping of bits in status flag register and mask
union StatusFlags {
    struct StatusFlags_s {
        uint32_t pid_x_target_limit : 1,
        pid_x_target_ddt_limit : 1,
        pid_x_errsum_limit : 1,
        pid_x_output_limit : 1,
        pid_v_target_limit : 1,
        pid_v_target_ddt_limit : 1,
        pid_v_errsum_limit : 1,
        pid_v_output_limit : 1,
        pid_id_target_limit : 1,
        pid_id_target_ddt_limit : 1,
        pid_id_errsum_limit : 1,
        pid_id_output_limit : 1,
        pid_iq_target_limit : 1,
        pid_iq_target_ddt_limit : 1,
        pid_iq_errsum_limit : 1,
        pid_iq_output_limit : 1,
        ipark_cirlim_limit_u_d : 1,
        ipark_cirlim_limit_u_q : 1,
        ipark_cirlim_limit_u_r : 1,
        not_PLL_locked : 1,
        ref_sw_r : 1,
        ref_sw_h : 1,
        ref_sw_l : 1,
        res1:1,
        pwm_min : 1,
        pwm_max : 1,
        adc_i_clipped : 1,
        adc_aenc_clipped : 1,
        ENC_N : 1,
        ENC2_N : 1,
        AENC_N : 1,
        wd_err : 1;
    };
    uint32_t asInt;
    StatusFlags_s flags;
};
 
 
// Basic failsafe hardware boot config for inits
struct TMC4671MainConfig{
    TMC4671HardwareTypeConf hwconf;
    TMC4671MotConf motconf;
    uint16_t pwmcnt         = 4095; // PWM resolution is 12 bit internally
    uint8_t bbmL            = 50;
    uint8_t bbmH            = 50;
    uint16_t mdecA          = 660; // 334 default. 331 recommended by datasheet,662 double. 660 lowest noise
    uint16_t mdecB          = 331; // Encoder ADC fast rate recommended
    uint32_t mclkA          = 0x20000000; //0x20000000 default
    uint32_t mclkB          = 0x20000000; // For AENC
    uint16_t adc_I0_offset  = 33415;
    uint16_t adc_I1_offset  = 33415;
    uint16_t adc_I0_scale   = 256;
    uint16_t adc_I1_scale   = 256;
    bool canChangeHwType    = true; // Allows changing the hardware version by commands
    bool encoderReversed    = false;
    bool combineEncoder     = false;
    bool invertForce        = false;
    bool enableFluxDissipation = false;
};
 
struct TMC4671PIDConf{
    uint16_t fluxI      = 800;
    uint16_t fluxP      = 700;
    uint16_t torqueI    = 800;
    uint16_t torqueP    = 700;
    uint16_t velocityI  = 0;
    uint16_t velocityP  = 256;
    uint16_t positionI  = 0;
    uint16_t positionP  = 128;
    bool sequentialPI   = true; // Advanced pid
};
 
struct TMC4671Limits{
    uint16_t pid_torque_flux_ddt    = 32767;
    uint16_t pid_uq_ud              = 30000;
    uint16_t pid_torque_flux        = 32767;
    uint32_t pid_acc_lim            = 2147483647;
    uint32_t pid_vel_lim            = 2147483647;
    int32_t pid_pos_low             = -2147483647;
    int32_t pid_pos_high            = 2147483647;
};
 
struct TMC4671PidPrecision{ // Switch between Q8.8 (false) and Q4.12 (true) precision for pid controller
    bool current_I  = false;
    bool current_P  = false;
    bool velocity_I = false;
    bool velocity_P = false;
    bool position_I = false;
    bool position_P = false;
};
 
struct TMC4671FlashAddrs{
    uint16_t mconf = ADR_TMC1_MOTCONF;
    uint16_t cpr = ADR_TMC1_CPR;
    uint16_t encA = ADR_TMC1_ENCA;
    uint16_t offsetFlux = ADR_TMC1_OFFSETFLUX;
    uint16_t torque_p = ADR_TMC1_TORQUE_P;
    uint16_t torque_i = ADR_TMC1_TORQUE_I;
    uint16_t flux_p = ADR_TMC1_FLUX_P;
    uint16_t flux_i = ADR_TMC1_FLUX_I;
    uint16_t ADC_i0_ofs = ADR_TMC1_ADC_I0_OFS;
    uint16_t ADC_i1_ofs = ADR_TMC1_ADC_I1_OFS;
    uint16_t encOffset = ADR_TMC1_ENC_OFFSET;
    uint16_t phieOffset = ADR_TMC1_PHIE_OFS;
    uint16_t torqueFilter = ADR_TMC1_TRQ_FILT;
};
 
struct TMC4671ABNConf{
    uint32_t cpr = 10000;
    bool apol   = true;
    bool bpol   = true;
    bool npol   = true;
    bool rdir   = false;
    bool ab_as_n = false;
    bool latch_on_N = false; // Restore ABN_DECODER_COUNT_N into encoder count if true on pulse. otherwise store encoder count in ABN_DECODER_COUNT_N
    int16_t phiEoffset = 0; // Depends on phiM!
    int16_t phiMoffset = 0;
    int16_t posOffsetFromIndex = 0; // offset position to load after homing
    bool useIndex = false;
 
};
 
struct TMC4671AENCConf{
    uint32_t cpr = 1; //0x40
    int16_t phiAoffset = 0; // Main offset. 0x3e
 
    int16_t phiEoffset = 0; // 0x45&0xffff
    int16_t phiMoffset = 0; // 0x45&0xffff0000
 
    uint16_t AENC0_offset = 0x7fff;
    int16_t AENC0_scale = 256;
    uint16_t AENC1_offset = 0x7fff;
    int16_t AENC1_scale = 256;
    uint16_t AENC2_offset = 20000;
    int16_t AENC2_scale = 256;
 
    int16_t nMask = 0; // 0x3c & 0xffff0000
    int16_t nThreshold = 0; // 0x3c & 0xffff
    // 0x3b
    bool uvwmode = false; // 0 = sincos, 1 = uvw
    bool rdir = false;
 
};
 
struct TMC4671HALLConf{
    bool hallEnabled = false;
    bool polarity = true;
    bool interpolation = true;
    bool direction = false;
    bool filter = true;
    uint16_t blank = 100;
    int16_t pos0 = 0;
    int16_t pos60 = 10922;
    int16_t pos120 = 21845;
    int16_t pos180 = -32768;
    int16_t pos240 = -21846;
    int16_t pos300 = -10923;
    int16_t phiEoffset = 0;
    int16_t phiMoffset = 0;
    uint16_t dPhiMax = 10922;
};
 
enum class TMCbiquadpreset : uint8_t {none=0,lowpass=1,notch=2,peak=3};
// Use TMCL IDE with TMC4671 devkit to generate values
struct TMC4671Biquad_t{
    int32_t a1 = 0;
    int32_t a2 = 0;
    int32_t b0 = 0;
    int32_t b1 = 0;
    int32_t b2 = 0;
    bool enable = false;
};
struct TMC4671Biquad_conf{
    TMCbiquadpreset mode = TMCbiquadpreset::none;
    biquad_constant_t params = {1000,50}; // Q = 1/100 for lowpass and 1/10 for notch and peak mode
    float gain = 10.0; // Gain for peak mode
};
 
class TMC4671Biquad{
public:
    TMC4671Biquad(bool enable = false){
        params.enable = enable;
    }
    TMC4671Biquad(const TMC4671Biquad_t bq) : params(bq){}
    TMC4671Biquad(const Biquad& bq,bool enable = true){
        // Note: trinamic swapped the naming of b and a from the regular convention in the datasheet and a and b are possibly inverse to b in our filter class
        this->params.a1 = -(int32_t)(bq.b1 * (float)(1 << 29));
        this->params.a2 = -(int32_t)(bq.b2 * (float)(1 << 29));
        this->params.b0 = (int32_t)(bq.a0 * (float)(1 << 29));
        this->params.b1 = (int32_t)(bq.a1 * (float)(1 << 29));
        this->params.b2 = (int32_t)(bq.a2 * (float)(1 << 29));
        this->params.enable = bq.getFc() > 0 ? enable : false;
    }
    void enable(bool enable){
        params.enable = enable;
    }
 
    TMC4671Biquad_t params;
};
 
// Stores currently active filters
struct TMC4671BiquadFilters{
    TMC4671Biquad torque;
    TMC4671Biquad flux;
    TMC4671Biquad pos;
    TMC4671Biquad vel;
};
 
 
 
class TMC4671 :
        public MotorDriver, public PersistentStorage, public Encoder,
        public CommandHandler, public SPIDevice, public ExtiHandler, public cpp_freertos::Thread,ErrorHandler
#ifdef TIM_TMC
        ,public TimerHandler
#endif
{
 
    enum class TMC4671_commands : uint32_t{
        cpr,mtype,encsrc,tmcHwType,encalign,poles,acttrq,pwmlim,
        torqueP,torqueI,fluxP,fluxI,velocityP,velocityI,posP,posI,
        tmctype,pidPrec,phiesrc,fluxoffset,seqpi,tmcIscale,encdir,temp,reg,
        svpwm,fullCalibration,calibrated,abnindexenabled,findIndex,getState,encpol,combineEncoder,invertForce,vmTmc,
        extphie,torqueFilter_mode,torqueFilter_f,torqueFilter_q,pidautotune,fluxbrake,pwmfreq
    };
 
#ifdef TMCDEBUG
friend class TMCDebugBridge;
#endif
 
public:
 
    static ClassIdentifier info;
    const ClassIdentifier getInfo();
    const ClassType getClassType() override {return ClassType::Motordriver;};
 
    static TMC4671MotConf decodeMotFromInt(uint16_t val);
    static uint16_t encodeMotToInt(TMC4671MotConf mconf);
 
 
    TMC4671(SPIPort& spiport,OutputPin cspin,uint8_t address=1);
 
    void setHwType(TMC_HW_Ver type);
 
    void setAddress(uint8_t address);
 
    uint8_t getSpiAddr();
    bool setSpiAddr(uint8_t chan);
    virtual ~TMC4671();
 
    TMC4671MainConfig conf;
 
    bool initialize();
    void initializeWithPower();
 
    void Run();
    bool motorReady();
 
    bool hasPower();
    int32_t getTmcVM();
    bool isSetUp();
 
    uint32_t readReg(uint8_t reg);
    void writeReg(uint8_t reg,uint32_t dat);
    void writeRegAsync(uint8_t reg,uint32_t dat);
    void updateReg(uint8_t reg,uint32_t dat,uint32_t mask,uint8_t shift);
    //void SpiTxCplt(SPI_HandleTypeDef *hspi);
 
    void setMotorType(MotorType motor,uint16_t poles);
 
    void runOpenLoop(uint16_t ud,uint16_t uq,int32_t speed,int32_t accel,bool torqueMode = false);
    void setOpenLoopSpeedAccel(int32_t speed,uint32_t accel);
 
    // Setup routines
    bool calibrateAdcOffset(uint16_t time = 500);
    void setup_ABN_Enc(TMC4671ABNConf encconf);
    void setup_AENC(TMC4671AENCConf encconf);
    void setup_HALL(TMC4671HALLConf hallconf);
    void bangInitEnc(int16_t power);
    void estimateABNparams();
    void estimateExtEnc();
    bool checkEncoder();
    void calibrateAenc();
    void calibrateEncoder();
 
    void setEncoderType(EncoderType_TMC type);
    uint32_t getEncCpr();
 
    void setAdcOffset(uint32_t adc_I0_offset,uint32_t adc_I1_offset);
    void setAdcScale(uint32_t adc_I0_scale,uint32_t adc_I1_scale);
 
    void setupFeedForwardTorque(int32_t gain, int32_t constant);
    void setupFeedForwardVelocity(int32_t gain, int32_t constant);
    void setFFMode(FFMode mode);
    void setSequentialPI(bool sequential);
 
    void setBiquadFlux(const TMC4671Biquad &filter);
    void setBiquadTorque(const TMC4671Biquad &filter);
    void setBiquadPos(const TMC4671Biquad &filter);
    void setBiquadVel(const TMC4671Biquad &filter);;
    void setTorqueFilter(TMC4671Biquad_conf& conf);
 
    bool pingDriver();
    std::pair<uint32_t,std::string> getTmcType();
 
    void changeState(TMC_ControlState newState,bool force = false);
 
    bool externalEncoderAllowed();
    void setExternalEncoderAllowed(bool allow);
 
    float getPwmFreq();
    void setPwmFreq(float freq);
 
    void setBBM(uint8_t bbml,uint8_t bbmh);
 
 
#ifdef TIM_TMC
    void timerElapsed(TIM_HandleTypeDef* htim);
#endif
 
    void setPositionExt(int32_t pos); // External position register (For external encoders. Choose external phiE).
 
    void stopMotor();
    void startMotor();
 
    void emergencyStop(bool reset);
    bool emergency = false;
    bool estopTriggered = false;
    void turn(int16_t power);
    int16_t nextFlux = 0;
    int16_t idleFlux = 0;
    uint16_t maxOffsetFlux = 0;
 
    int16_t bangInitPower = 5000; // Default current in setup routines
 
    int16_t controlFluxDissipate();
    const float fluxDissipationLimit = 1000;
 
    void setTorque(int16_t torque);
 
    void setTargetPos(int32_t pos);
    int32_t getTargetPos();
    void setTargetVelocity(int32_t vel);
    int32_t getTargetVelocity();
    int32_t getVelocity();
    int16_t getTorque();
    void setFlux(int16_t flux);
    int16_t getFlux();
    void setFluxTorque(int16_t flux, int16_t torque);
    void setFluxTorqueFF(int16_t flux, int16_t torque);
    std::pair<int32_t,int32_t> getActualTorqueFlux();
    int32_t getActualFlux();
    int32_t getActualTorque();
 
    void rampFlux(uint16_t target,uint16_t time_ms);
 
    bool checkAdc();
 
    float getTemp();
    TMC_ControlState getState();
 
    void setPhiEtype(PhiE type);
    PhiE getPhiEtype();
    void setPhiE_ext(int16_t phiE);
    int16_t getPhiE();
    int16_t getPhiEfromExternalEncoder();
    int16_t getPhiE_Enc();
 
    void setGpioMode(TMC_GpioMode mode);
    uint8_t getGpioPins();
    void setGpioPins(uint8_t pins);
 
    void setPosSel(PosSelection psel);
    void setVelSel(VelSelection vsel,uint8_t mode = 0);
 
    void setMotionMode(MotionMode mode,bool force = false); // force true sets it immediately. use false to change mode when tmc is ready on startMotor
    MotionMode getMotionMode();
 
    void setUdUq(int16_t ud,int16_t uq);
    void setBrakeLimits(uint16_t low, uint16_t high); // Raw brake resistor limits (see tmc reg 0x75)
 
    bool reachedPosition(uint16_t tolerance);
 
    // Pids
    void setPids(TMC4671PIDConf pids);
    TMC4671PIDConf getPids();
    TMC4671PIDConf curPids;
 
    TMC4671Limits curLimits;
    void setLimits(TMC4671Limits limits);
    TMC4671Limits getLimits();
 
    void setUqUdLimit(uint16_t limit);
    void setTorqueLimit(uint16_t limit);
 
    void setPidPrecision(TMC4671PidPrecision setting);
    TMC4671PidPrecision pidPrecision;
 
    TMC4671ABNConf abnconf;
    TMC4671HALLConf hallconf;
    TMC4671AENCConf aencconf;
 
    //Encoder
    Encoder* getEncoder() override;
    void setEncoder(std::shared_ptr<Encoder>& encoder) override;
    bool hasIntegratedEncoder() override;
    inline bool usingExternalEncoder(){return conf.motconf.enctype == EncoderType_TMC::ext && drvEncoder != nullptr && drvEncoder->getEncoderType() != EncoderType::NONE;}
    int32_t getPos() override;
    int32_t getPosAbs() override;
    void setPos(int32_t pos) override;
    void setTmcPos(int32_t pos);
    //uint32_t getPosCpr();
    uint32_t getCpr();
    void setCpr(uint32_t cpr);
    EncoderType getEncoderType() override;
    uint32_t posToEnc(uint32_t pos);
    uint32_t encToPos(uint32_t enc);
 
    void exti(uint16_t GPIO_Pin);
 
 
    bool findEncoderIndex(int32_t speed=10, uint16_t power=2500,bool offsetPhiM=false,bool zeroCount=false);
    bool autohome();
    void zeroAbnUsingPhiM(bool offsetPhiE=false);
 
    StatusFlags readFlags(bool maskedOnly = true);
    void setStatusMask(StatusFlags mask);
    void setStatusMask(uint32_t mask); // Mask for status pin.
    void setStatusFlags(uint32_t flags);
    void setStatusFlags(StatusFlags flags);
    void setEncoderIndexFlagEnabled(bool enabled,bool zeroEncoder = false);
    void statusCheck();
    bool flagCheckInProgress = false;
    StatusFlags statusFlags = {0};
    StatusFlags statusMask = {0};
 
    void saveFlash() override;
    void restoreFlash() override;
    TMC4671FlashAddrs flashAddrs;
 
    uint16_t encodeEncHallMisc();
    void restoreEncHallMisc(uint16_t val);
 
    bool allowSlowSPI = true; // For engineering sample
 
    void beginSpiTransfer(SPIPort* port);
    void endSpiTransfer(SPIPort* port);
    //void spiTxCompleted(SPIPort* port);
 
    CommandStatus command(const ParsedCommand& cmd,std::vector<CommandReply>& replies);
    void registerCommands();
 
    virtual std::string getHelpstring(){return "TMC4671 interface";}
 
protected:
    class TMC_ExternalEncoderUpdateThread : public cpp_freertos::Thread{
    public:
        TMC_ExternalEncoderUpdateThread(TMC4671* tmc);
        //~TMC_ExternalEncoderUpdateThread();
        void Run();
        void updateFromIsr();
 
    private:
        TMC4671* tmc;
    };
 
private:
    OutputPin enablePin = OutputPin(*DRV_ENABLE_GPIO_Port,DRV_ENABLE_Pin);
    const Error indexNotHitError = Error(ErrorCode::encoderIndexMissed,ErrorType::critical,"Encoder index missed");
    const Error lowVoltageError = Error(ErrorCode::undervoltage,ErrorType::warning,"Low motor voltage");
    const Error communicationError = Error(ErrorCode::tmcCommunicationError, ErrorType::warning, "TMC not responding");
    const Error estopError = Error(ErrorCode::emergencyStop, ErrorType::critical, "TMC emergency stop triggered");
 
    TMC_ControlState state = TMC_ControlState::uninitialized;
    TMC_ControlState laststate = TMC_ControlState::uninitialized;
    TMC_ControlState requestedState = TMC_ControlState::Shutdown;
    MotionMode curMotionMode = MotionMode::stop;
    MotionMode lastMotionMode = MotionMode::stop;
    MotionMode nextMotionMode = MotionMode::stop;
 
    TMC_StartupType startupType = TMC_StartupType::NONE;
 
    bool ES_TMCdetected = false; // ES versions are not made anymore and have some critical issues
 
    bool encoderAligned = false;
    //bool encoderIndexFound = false;
    bool initialized = false; // Init ran once
    bool powerInitialized = false;
    bool adcCalibrated = false;
    bool adcSettingsStored = false;
    bool motorEnabledRequested = false;
    volatile bool encoderIndexHitFlag = false;
    bool zeroEncoderOnIndexHit = false;
    bool fullCalibrationInProgress = false;
    bool phiErestored = false;
    bool encHallRestored = false;
    //int32_t phiEOffsetRestored = 0; //-0x8000 to 0x7fff
    uint8_t calibrationFailCount = 2;
 
    int16_t externalEncoderPhieOffset = 0; // PhiE offset for external encoders
    bool allowExternalEncoder = false;
 
    bool allowStateChange = false;
    bool recalibrationRequired = false;
 
    uint8_t enc_retry = 0;
    uint8_t enc_retry_max = 3;
 
    uint32_t lastStatTime = 0;
 
    uint8_t spi_buf[5] = {0};
 
    void initAdc(uint16_t mdecA, uint16_t mdecB,uint32_t mclkA,uint32_t mclkB);
    void setPwm(uint8_t val,uint16_t maxcnt,uint8_t bbmL,uint8_t bbmH);// 100MHz/maxcnt+1
    void setPwm(TMC_PwmMode val);// pwm mode
    void setPwmMaxCnt(uint16_t maxcnt);
    void setSvPwm(bool enable);
    void encInit();
    void encoderIndexHit();
    void saveAdcParams();
    void calibFailCb();
 
 
// state machine
//  void ABN_init();
//  void AENC_init();
 
    void encoderInit();
    void errorCallback(const Error &error, bool cleared);
    bool pidAutoTune();
 
    uint32_t initTime = 0;
    bool manualEncAlign = false;
    bool spiActive = false; // Flag for tx interrupt that the transfer was started by this instance
 
 
    TMC4671Biquad_conf torqueFilterConf;
    TMC4671BiquadFilters curFilters;
    const float fluxFilterFreq = 350.0;
 
    // External encoder timer fires interrupts to trigger a new commutation position update
#ifdef TIM_TMC
 
    TIM_HandleTypeDef* externalEncoderTimer = &TIM_TMC;
    std::unique_ptr<TMC_ExternalEncoderUpdateThread> extEncUpdater = nullptr;
#else
    TIM_HandleTypeDef* externalEncoderTimer = nullptr;
#endif
    void setUpExtEncTimer();
};
 
 
 
class TMC_1 : public TMC4671 {
public:
    TMC_1() : TMC4671{motor_spi,*motor_spi.getCsPin(0),1} {}
 
    //const ClassIdentifier getInfo() override;
    static bool isCreatable();
    static ClassIdentifier info;
};
 
class TMC_2 : public TMC4671 {
public:
    TMC_2() : TMC4671{motor_spi,*motor_spi.getCsPin(1),2} {}
 
    //const ClassIdentifier getInfo() override;
    static bool isCreatable();
    static ClassIdentifier info;
};
#endif
#endif /* TMC4671_H_ */