Permissions descrepency
riggs opened this issue · comments
https://github.com/trinamic/TMC-API/blob/077adb2820f6f907878ef65ccd4ba6ca35489dd2/tmc/ic/TMC5160/TMC5160.h#L75 shows 0x3D as reserved, but that's actually write-only ENC_DEVIATION. I'm guessing this is an error.
I'm also noticing that a number of buffers (GSTAT, RAMPSTAT, & ENC_STAT) are marked with 0x21: read, flag register (read to clear), when they're in fact write to clear flags. I would think these should be 0x23, possibly even with the clear bits set in the tmc5160_defaultRegisterResetState so the flags are cleared on reset.
The register permissions are fixed in 3f5aa4c
As for clearing bits on reset - we don't do that on purpose. We want the API to have as few side effects as possible, including not clearing flags automatically.