// Dateiname: Kurz_und_knapp_Jahr_Monat_Tag_lfd Buchstabe 
// 
// Arduino UNO SMD R3 und QHV5160 Version 1.0 E (TMC5160) über Spi-Schnittstelle
// Letzte Änderung: 11.11.25 22:25 Uhr
// Strom fliesst; keine Drehzahl

//#include <arduino.h>
#include <SPI.h>

// Konstanten definieren
// SPI Pins
#define sck      13     //SPI clock
#define mosi     11     //master transmit out slave receive input
#define miso     12     //master receive input slave transmit out
const int PIN_CS = 10;  // Chip Select
const int PIN_EN = 9;   // Drive-Enable Lowaktiv

// Variablen definieren
uint32_t result;


// Funktion: 32-Bit Register schreiben
void writeTMC5160Register(uint8_t address, uint32_t data) {
  digitalWrite(PIN_CS, LOW);
  delay(5);
  SPI.transfer(address | 0x80); // Write command
  SPI.transfer((data >> 24) & 0xFF);
  SPI.transfer((data >> 16) & 0xFF);
  SPI.transfer((data >> 8) & 0xFF);
  SPI.transfer(data & 0xFF);
  digitalWrite(PIN_CS, HIGH);
  delay(5);
}


uint32_t tmc5160_readRegister(uint8_t address) {
  uint8_t response[5];

  // 1. Dummy-Write zum Einleiten des Lesevorgangs
  digitalWrite(PIN_CS, LOW);
  delayMicroseconds(10); 
  SPI.transfer(address & 0x7F); // MSB = 0 für Read
  for (int i = 0; i < 4; i++) SPI.transfer(0x00);
  digitalWrite(PIN_CS, HIGH);

 // delayMicroseconds(10); // kurze Pause zwischen Transaktionen

  // 2. Antwort abholen
  digitalWrite(PIN_CS, LOW);
  SPI.transfer(address & 0x7F); // gleiche Adresse nochmal senden
  for (int i = 0; i < 4; i++) {
    response[i] = SPI.transfer(0x00);
  }
  digitalWrite(PIN_CS, HIGH);

  // 3. Antwort zusammensetzen
  uint32_t value = ((uint32_t)response[0] << 24) |
                   ((uint32_t)response[1] << 16) |
                   ((uint32_t)response[2] << 8) |
                   (uint32_t)response[3];
  return value;
}

void setup() {
  Serial.begin(9600);

  SPI.begin();
  pinMode(sck, OUTPUT);   //set sck pin as output for spi clock  
  SPI.beginTransaction(SPISettings(1000000, MSBFIRST, SPI_MODE3)); // 0,04 MHz Takt

  pinMode(PIN_CS, OUTPUT);
  digitalWrite(PIN_CS, HIGH);
  pinMode(PIN_EN, OUTPUT);
  digitalWrite(PIN_EN, HIGH);


// Schreiben der Einstellungen
// Adressen aufsteigend
// *******************************
  // Set General Configuration Register
  writeTMC5160Register(0x00, 0x00000004);  // GCONF 
 
  // Set IHOLD_IRUN Register (W)
  writeTMC5160Register(0x10, 0x00010101);  // IHOLD Bits 0-4, IRUN Bits 8-12, IHOLDDELAY Bits 16-19; 
 
  // Set TPOWERDOWN (W)
  writeTMC5160Register(0x11, 0x0000000A);  // TPOWERDOWN = 10 Delay before power down in stand still
 
  // Set TPWM_THRS (W)
  writeTMC5160Register(0x13, 0x000001F4);  // TPWM_THRS = 500-yields a switching velocity about 35000 ca. 30RPM

  // Set RAMPMODE (RW)
  writeTMC5160Register(0x20, 0x00000001);  //  RAMPMODE = 0 (Positioning Mode)  RAMPMODE = 1 (Velocity Mode)

  // Set Target Velocity
  writeTMC5160Register(0x22, 0x00005050);  // VACTUAL = 50000 (positive velocity)

  // Set VSTART
  writeTMC5160Register(0x23, 0x0000000A);  // VSTART = 10

  // Set A1
  writeTMC5160Register(0x24, 0x00000010);  // A1 = 1000 First accelaration

  // Set V1
  writeTMC5160Register(0x25, 0x000000ff);  // V1 = 50000

  // Set AMAX
  writeTMC5160Register(0x26, 0x00000005);  // AMAX = 50

  // Set VMAX
  writeTMC5160Register(0x27, 0x00030D40);  // VMAX = 200 000

  // Set DMAX
  writeTMC5160Register(0x28, 0x00000005);  // DMAX = 700 Deceleration above V1

  // Set D1
  writeTMC5160Register(0x2A, 0x00000010);  // D1 = 1400

  // Set VSTOP
  writeTMC5160Register(0x2B, 0x00000014);  // VSTOP = 10

  // Set XTARGET
  writeTMC5160Register(0x2D, 0x00000000);  // XTARGET = 0
 
  // Set Chopper
  writeTMC5160Register(0x6C, 0x000101D5);  // CHOPCONF

  // Set PWMCONF
  writeTMC5160Register(0x70, 0x000401C8);  // PWMCONF (W)

} // Setup Ende!


void loop() {
digitalWrite(PIN_EN,LOW); // Drive Enable (Low-Aktiv)
delay(100);

//Für Diagnose und Inbetriebnahme
 // Lese GCONF Register (0x00)
uint32_t gconf_Status = tmc5160_readRegister(0x00);
Serial.print("GCONF_STATUS: 0x");
Serial.println(gconf_Status, HEX);

 // Lese General Motion Control Register Register (0x20)
uint32_t gmconf_Status = tmc5160_readRegister(0x20);
Serial.print("GMCONF_STATUS: 0x");
Serial.println(gmconf_Status, HEX);

 // Lese XTARGET (0x2D)
uint32_t xtarget_Status = tmc5160_readRegister(0x2D);
Serial.print("XTARGET_STATUS: 0x");
Serial.println(xtarget_Status, HEX);


 // Lese RAMP_STAT (0x35) (R; R+WC)
uint32_t RAMP_Status = tmc5160_readRegister(0x35);
Serial.print("RAMP_STATUS: 0x");
Serial.println(RAMP_Status, HEX);

 // Lese DRV_STATUS Register (0x6F;32;R)
uint32_t drvStatus = tmc5160_readRegister(0x6F);
Serial.print("DRV_STATUS: 0x");
Serial.println(drvStatus, BIN);
Serial.println(drvStatus, HEX);


Serial.println("");
   delay(500);  // Pause vor nächstem Auslesen

// Set XTARGET
  writeTMC5160Register(0x2D, 0x00FFFFFF);  // XTARGET
 // writeTMC5160Register(0x21, 0x00000FFF);  // XACTUAL (RW)
  delay(5000);
  writeTMC5160Register(0x2D, 0x00000000);  // XTARGET = 0


} // Loop Ende!