text: /*
   * MAX22216_Constants.h
   *
   *  Created on: 23.04.2020
   *      Author: LK
   */
  
  #ifndef TMC_API_DEV_TMC_IC_MAX22216_MAX22216_CONSTANTS_H_
  #define TMC_API_DEV_TMC_IC_MAX22216_MAX22216_CONSTANTS_H_
  
  #define MAX22216_SYNC_BYTE       0x55
  #define MAX22216_MASTER_ADDRESS  0xFF
  
  // motion modes
  #define MAX22216_MOTION_MODE_STOPPED    0
  #define MAX22216_MOTION_MODE_TORQUE     1
  #define MAX22216_MOTION_MODE_VELOCITY   2
  #define MAX22216_MOTION_MODE_POSITION   3
  #define MAX22216_MOTION_MODE_UQ_UD_EXT  8
  
  // PHI_E selections
  #define MAX22216_PHI_E_EXTERNAL   1
  #define MAX22216_PHI_E_OPEN_LOOP  2
  #define MAX22216_PHI_E_ABN        3
  #define MAX22216_PHI_E_HALL       5
  #define MAX22216_PHI_E_AENC       6
  #define MAX22216_PHI_A_AENC       7
  
  #define MAX22216_STATE_NOTHING_TO_DO    0
  #define MAX22216_STATE_START_INIT       1
  #define MAX22216_STATE_WAIT_INIT_TIME   2
  #define MAX22216_STATE_ESTIMATE_OFFSET  3
  
  #define MAX22216_CHIPINFO_ADDR_SI_TYPE     0
  #define MAX22216_CHIPINFO_ADDR_SI_VERSION  1
  #define MAX22216_CHIPINFO_ADDR_SI_DATE     2
  #define MAX22216_CHIPINFO_ADDR_SI_TIME     3
  #define MAX22216_CHIPINFO_ADDR_SI_VARIANT  4
  #define MAX22216_CHIPINFO_ADDR_SI_BUILD    5
  
  #endif /* TMC_API_DEV_TMC_IC_MAX22216_MAX22216_CONSTANTS_H_ */
  