Tweak STM32F7 TMC2660 class

Marlin/src/HAL/HAL_STM32F7/TMC2660.cpp

@@ -87,7 +87,7 @@
 #define SE_CURRENT_STEP_WIDTH_PATTERN 0x60ul
 #define SE_MIN_PATTERN 0xFul
 
-//definitions for stall guard2 current register
+//definitions for StallGuard2 current register
 #define STALL_GUARD_FILTER_ENABLED 0x10000ul
 #define STALL_GUARD_TRESHHOLD_VALUE_PATTERN 0x17F00ul
 #define CURRENT_SCALING_PATTERN 0x1Ful
@@ -118,7 +118,7 @@ SPIClass SPI_6(SPI6, SPI6_MOSI_PIN, SPI6_MISO_PIN, SPI6_SCK_PIN);
 
 //#define TMC_DEBUG1
 
-unsigned char current_scaling = 0;
+uint8_t current_scaling = 0;
 
 /**
  * Constructor
@@ -127,7 +127,7 @@ unsigned char current_scaling = 0;
  * dir_pin - the pin where the direction pin is connected
  * step_pin - the pin where the step pin is connected
  */
-TMC26XStepper::TMC26XStepper(int number_of_steps, int cs_pin, int dir_pin, int step_pin, unsigned int current, unsigned int resistor) {
+TMC26XStepper::TMC26XStepper(int16_t number_of_steps, int16_t cs_pin, int16_t dir_pin, int16_t step_pin, uint16_t current, uint16_t resistor) {
   // We are not started yet
   started = false;
 
@@ -155,7 +155,7 @@ TMC26XStepper::TMC26XStepper(int number_of_steps, int cs_pin, int dir_pin, int s
   microsteps = _BV(INITIAL_MICROSTEPPING);
   chopper_config_register = CHOPPER_CONFIG_REGISTER;
   cool_step_register_value = COOL_STEP_REGISTER;
-  stall_guard2_current_register_value = STALL_GUARD2_LOAD_MEASURE_REGISTER;
+  stallguard2_current_register_value = STALL_GUARD2_LOAD_MEASURE_REGISTER;
   driver_configuration_register_value = DRIVER_CONFIG_REGISTER | READ_STALL_GUARD_READING;
 
   // Set the current
@@ -202,7 +202,7 @@ void TMC26XStepper::start() {
   send262(driver_control_register_value);
   send262(chopper_config_register);
   send262(cool_step_register_value);
-  send262(stall_guard2_current_register_value);
+  send262(stallguard2_current_register_value);
   send262(driver_configuration_register_value);
 
   //save that we are in running mode
@@ -218,9 +218,9 @@ void TMC26XStepper::un_start() { started = false; }
 /**
  * Sets the speed in revs per minute
  */
-void TMC26XStepper::setSpeed(unsigned int whatSpeed) {
+void TMC26XStepper::setSpeed(uint16_t whatSpeed) {
   this->speed = whatSpeed;
-  this->step_delay = 60UL * sq(1000UL) / ((unsigned long)this->number_of_steps * (unsigned long)whatSpeed * (unsigned long)this->microsteps);
+  this->step_delay = 60UL * sq(1000UL) / ((uint32_t)this->number_of_steps * (uint32_t)whatSpeed * (uint32_t)this->microsteps);
   #ifdef TMC_DEBUG0 // crashes
     //SERIAL_PRINTF("Step delay in micros: ");
     SERIAL_ECHOPAIR("\nStep delay in micros: ", this->step_delay);
@@ -229,13 +229,13 @@ void TMC26XStepper::setSpeed(unsigned int whatSpeed) {
   this->next_step_time = this->last_step_time + this->step_delay;
 }
 
-unsigned int TMC26XStepper::getSpeed(void) { return this->speed; }
+uint16_t TMC26XStepper::getSpeed(void) { return this->speed; }
 
 /**
  * Moves the motor steps_to_move steps.
  * Negative indicates the reverse direction.
  */
-char TMC26XStepper::step(int steps_to_move) {
+char TMC26XStepper::step(int16_t steps_to_move) {
   if (this->steps_left == 0) {
     this->steps_left = ABS(steps_to_move);  // how many steps to take
 
@@ -252,7 +252,7 @@ char TMC26XStepper::step(int steps_to_move) {
 char TMC26XStepper::move(void) {
   // decrement the number of steps, moving one step each time:
   if (this->steps_left > 0) {
-    unsigned long time = micros();
+    uint32_t time = micros();
     // move only if the appropriate delay has passed:
 
     // rem if (time >= this->next_step_time) {
@@ -282,7 +282,7 @@ char TMC26XStepper::move(void) {
 
 char TMC26XStepper::isMoving(void) { return this->steps_left > 0; }
 
-unsigned int TMC26XStepper::getStepsLeft(void) { return this->steps_left; }
+uint16_t TMC26XStepper::getStepsLeft(void) { return this->steps_left; }
 
 char TMC26XStepper::stop(void) {
   //note to self if the motor is currently moving
@@ -294,8 +294,8 @@ char TMC26XStepper::stop(void) {
   return state;
 }
 
-void TMC26XStepper::setCurrent(unsigned int current) {
-  unsigned char current_scaling = 0;
+void TMC26XStepper::setCurrent(uint16_t current) {
+  uint8_t current_scaling = 0;
   //calculate the current scaling from the max current setting (in mA)
   float mASetting = (float)current,
          resistor_value = (float)this->resistor;
@@ -327,49 +327,49 @@ void TMC26XStepper::setCurrent(unsigned int current) {
   NOMORE(current_scaling, 31);
 
   // delete the old value
-  stall_guard2_current_register_value &= ~(CURRENT_SCALING_PATTERN);
+  stallguard2_current_register_value &= ~(CURRENT_SCALING_PATTERN);
   // set the new current scaling
-  stall_guard2_current_register_value |= current_scaling;
+  stallguard2_current_register_value |= current_scaling;
   // if started we directly send it to the motor
   if (started) {
     send262(driver_configuration_register_value);
-    send262(stall_guard2_current_register_value);
+    send262(stallguard2_current_register_value);
   }
 }
 
-unsigned int TMC26XStepper::getCurrent(void) {
+uint16_t TMC26XStepper::getCurrent(void) {
   // Calculate the current according to the datasheet to be on the safe side.
   // This is not the fastest but the most accurate and illustrative way.
-  float result = (float)(stall_guard2_current_register_value & CURRENT_SCALING_PATTERN),
+  float result = (float)(stallguard2_current_register_value & CURRENT_SCALING_PATTERN),
          resistor_value = (float)this->resistor,
          voltage = (driver_configuration_register_value & VSENSE) ? 0.165 : 0.31;
   result = (result + 1.0) / 32.0 * voltage / resistor_value * sq(1000.0);
-  return (unsigned int)result;
+  return (uint16_t)result;
 }
 
-void TMC26XStepper::setStallGuardThreshold(char stall_guard_threshold, char stall_guard_filter_enabled) {
+void TMC26XStepper::setStallGuardThreshold(char stallguard_threshold, char stallguard_filter_enabled) {
   // We just have 5 bits
-  LIMIT(stall_guard_threshold, -64, 63);
+  LIMIT(stallguard_threshold, -64, 63);
 
   // Add trim down to 7 bits
-  stall_guard_threshold &= 0x7F;
-  // Delete old stall guard settings
-  stall_guard2_current_register_value &= ~(STALL_GUARD_CONFIG_PATTERN);
-  if (stall_guard_filter_enabled)
-    stall_guard2_current_register_value |= STALL_GUARD_FILTER_ENABLED;
-
-  // Set the new stall guard threshold
-  stall_guard2_current_register_value |= (((unsigned long)stall_guard_threshold << 8) & STALL_GUARD_CONFIG_PATTERN);
+  stallguard_threshold &= 0x7F;
+  // Delete old StallGuard settings
+  stallguard2_current_register_value &= ~(STALL_GUARD_CONFIG_PATTERN);
+  if (stallguard_filter_enabled)
+    stallguard2_current_register_value |= STALL_GUARD_FILTER_ENABLED;
+
+  // Set the new StallGuard threshold
+  stallguard2_current_register_value |= (((uint32_t)stallguard_threshold << 8) & STALL_GUARD_CONFIG_PATTERN);
   // If started we directly send it to the motor
-  if (started) send262(stall_guard2_current_register_value);
+  if (started) send262(stallguard2_current_register_value);
 }
 
 char TMC26XStepper::getStallGuardThreshold(void) {
-  unsigned long stall_guard_threshold = stall_guard2_current_register_value & STALL_GUARD_VALUE_PATTERN;
+  uint32_t stallguard_threshold = stallguard2_current_register_value & STALL_GUARD_VALUE_PATTERN;
   //shift it down to bit 0
-  stall_guard_threshold >>= 8;
-  //convert the value to an int to correctly handle the negative numbers
-  char result = stall_guard_threshold;
+  stallguard_threshold >>= 8;
+  //convert the value to an int16_t to correctly handle the negative numbers
+  char result = stallguard_threshold;
   //check if it is negative and fill it up with leading 1 for proper negative number representation
   //rem if (result & _BV(6)) {
 
@@ -378,7 +378,7 @@ char TMC26XStepper::getStallGuardThreshold(void) {
 }
 
 char TMC26XStepper::getStallGuardFilter(void) {
-  if (stall_guard2_current_register_value & STALL_GUARD_FILTER_ENABLED)
+  if (stallguard2_current_register_value & STALL_GUARD_FILTER_ENABLED)
     return -1;
   return 0;
 }
@@ -389,7 +389,7 @@ char TMC26XStepper::getStallGuardFilter(void) {
  * any value in between will be mapped to the next smaller value
  * 0 and 1 set the motor in full step mode
  */
-void TMC26XStepper::setMicrosteps(int number_of_steps) {
+void TMC26XStepper::setMicrosteps(int16_t number_of_steps) {
   long setting_pattern;
   //poor mans log
   if (number_of_steps >= 256) {
@@ -448,7 +448,7 @@ void TMC26XStepper::setMicrosteps(int number_of_steps) {
 /**
  * returns the effective number of microsteps at the moment
  */
-int TMC26XStepper::getMicrosteps(void) { return microsteps; }
+int16_t TMC26XStepper::getMicrosteps(void) { return microsteps; }
 
 /**
  * constant_off_time: The off time setting controls the minimum chopper frequency.
@@ -473,7 +473,7 @@ int TMC26XStepper::getMicrosteps(void) { return microsteps; }
  *    1: enable comparator termination of fast decay cycle
  *    0: end by time only
  */
-void TMC26XStepper::setConstantOffTimeChopper(char constant_off_time, char blank_time, char fast_decay_time_setting, char sine_wave_offset, unsigned char use_current_comparator) {
+void TMC26XStepper::setConstantOffTimeChopper(char constant_off_time, char blank_time, char fast_decay_time_setting, char sine_wave_offset, uint8_t use_current_comparator) {
   // Perform some sanity checks
   LIMIT(constant_off_time, 2, 15);
 
@@ -497,16 +497,16 @@ void TMC26XStepper::setConstantOffTimeChopper(char constant_off_time, char blank
   // Set the constant off pattern
   chopper_config_register |= CHOPPER_MODE_T_OFF_FAST_DECAY;
   // Set the blank timing value
-  chopper_config_register |= ((unsigned long)blank_value) << BLANK_TIMING_SHIFT;
+  chopper_config_register |= ((uint32_t)blank_value) << BLANK_TIMING_SHIFT;
   // Setting the constant off time
   chopper_config_register |= constant_off_time;
   // Set the fast decay time
   // Set msb
-  chopper_config_register |= (((unsigned long)(fast_decay_time_setting & 0x8)) << HYSTERESIS_DECREMENT_SHIFT);
+  chopper_config_register |= (((uint32_t)(fast_decay_time_setting & 0x8)) << HYSTERESIS_DECREMENT_SHIFT);
   // Other bits
-  chopper_config_register |= (((unsigned long)(fast_decay_time_setting & 0x7)) << HYSTERESIS_START_VALUE_SHIFT);
+  chopper_config_register |= (((uint32_t)(fast_decay_time_setting & 0x7)) << HYSTERESIS_START_VALUE_SHIFT);
   // Set the sine wave offset
-  chopper_config_register |= (unsigned long)sine_wave_offset << HYSTERESIS_LOW_SHIFT;
+  chopper_config_register |= (uint32_t)sine_wave_offset << HYSTERESIS_LOW_SHIFT;
   // Using the current comparator?
   if (!use_current_comparator)
     chopper_config_register |= _BV(12);
@@ -564,15 +564,15 @@ void TMC26XStepper::setSpreadCycleChopper(char constant_off_time, char blank_tim
   chopper_config_register &= ~(CHOPPER_MODE_T_OFF_FAST_DECAY | BLANK_TIMING_PATTERN | HYSTERESIS_DECREMENT_PATTERN | HYSTERESIS_LOW_VALUE_PATTERN | HYSTERESIS_START_VALUE_PATTERN | T_OFF_TIMING_PATERN);
 
   //set the blank timing value
-  chopper_config_register |= ((unsigned long)blank_value) << BLANK_TIMING_SHIFT;
+  chopper_config_register |= ((uint32_t)blank_value) << BLANK_TIMING_SHIFT;
   //setting the constant off time
   chopper_config_register |= constant_off_time;
   //set the hysteresis_start
-  chopper_config_register |= ((unsigned long)hysteresis_start) << HYSTERESIS_START_VALUE_SHIFT;
+  chopper_config_register |= ((uint32_t)hysteresis_start) << HYSTERESIS_START_VALUE_SHIFT;
   //set the hysteresis end
-  chopper_config_register |= ((unsigned long)hysteresis_end) << HYSTERESIS_LOW_SHIFT;
+  chopper_config_register |= ((uint32_t)hysteresis_end) << HYSTERESIS_LOW_SHIFT;
   //set the hystereis decrement
-  chopper_config_register |= ((unsigned long)blank_value) << BLANK_TIMING_SHIFT;
+  chopper_config_register |= ((uint32_t)blank_value) << BLANK_TIMING_SHIFT;
   //if started we directly send it to the motor
   if (started) {
     //rem send262(driver_control_register_value);
@@ -605,12 +605,12 @@ void TMC26XStepper::setRandomOffTime(char value) {
 }
 
 void TMC26XStepper::setCoolStepConfiguration(
-  unsigned int lower_SG_threshold,
-  unsigned int SG_hysteresis,
-  unsigned char current_decrement_step_size,
-  unsigned char current_increment_step_size,
-  unsigned char lower_current_limit)
-{
+  uint16_t lower_SG_threshold,
+  uint16_t SG_hysteresis,
+  uint8_t current_decrement_step_size,
+  uint8_t current_increment_step_size,
+  uint8_t lower_current_limit
+) {
   // Sanitize the input values
   NOMORE(lower_SG_threshold, 480);
   // Divide by 32
@@ -628,11 +628,11 @@ void TMC26XStepper::setCoolStepConfiguration(
   if (!this->cool_step_enabled) lower_SG_threshold = 0;
   // The good news is that we can start with a complete new cool step register value
   // And simply set the values in the register
-  cool_step_register_value = ((unsigned long)lower_SG_threshold)
-                          | (((unsigned long)SG_hysteresis) << 8)
-                          | (((unsigned long)current_decrement_step_size) << 5)
-                          | (((unsigned long)current_increment_step_size) << 13)
-                          | (((unsigned long)lower_current_limit) << 15)
+  cool_step_register_value = ((uint32_t)lower_SG_threshold)
+                          | (((uint32_t)SG_hysteresis) << 8)
+                          | (((uint32_t)current_decrement_step_size) << 5)
+                          | (((uint32_t)current_increment_step_size) << 13)
+                          | (((uint32_t)lower_current_limit) << 15)
                           | COOL_STEP_REGISTER; // Register signature
 
   //SERIAL_PRINTFln(cool_step_register_value,HEX);
@@ -653,25 +653,25 @@ void TMC26XStepper::setCoolStepEnabled(boolean enabled) {
 
 boolean TMC26XStepper::isCoolStepEnabled(void) { return this->cool_step_enabled; }
 
-unsigned int TMC26XStepper::getCoolStepLowerSgThreshold() {
+uint16_t TMC26XStepper::getCoolStepLowerSgThreshold() {
   // We return our internally stored value - in order to provide the correct setting even if cool step is not enabled
   return this->cool_step_lower_threshold<<5;
 }
 
-unsigned int TMC26XStepper::getCoolStepUpperSgThreshold() {
-  return (unsigned char)((cool_step_register_value & SE_MAX_PATTERN) >> 8) << 5;
+uint16_t TMC26XStepper::getCoolStepUpperSgThreshold() {
+  return (uint8_t)((cool_step_register_value & SE_MAX_PATTERN) >> 8) << 5;
 }
 
-unsigned char TMC26XStepper::getCoolStepCurrentIncrementSize() {
-  return (unsigned char)((cool_step_register_value & CURRENT_DOWN_STEP_SPEED_PATTERN) >> 13);
+uint8_t TMC26XStepper::getCoolStepCurrentIncrementSize() {
+  return (uint8_t)((cool_step_register_value & CURRENT_DOWN_STEP_SPEED_PATTERN) >> 13);
 }
 
-unsigned char TMC26XStepper::getCoolStepNumberOfSGReadings() {
-  return (unsigned char)((cool_step_register_value & SE_CURRENT_STEP_WIDTH_PATTERN) >> 5);
+uint8_t TMC26XStepper::getCoolStepNumberOfSGReadings() {
+  return (uint8_t)((cool_step_register_value & SE_CURRENT_STEP_WIDTH_PATTERN) >> 5);
 }
 
-unsigned char TMC26XStepper::getCoolStepLowerCurrentLimit() {
-  return (unsigned char)((cool_step_register_value & MINIMUM_CURRENT_FOURTH) >> 15);
+uint8_t TMC26XStepper::getCoolStepLowerCurrentLimit() {
+  return (uint8_t)((cool_step_register_value & MINIMUM_CURRENT_FOURTH) >> 15);
 }
 
 void TMC26XStepper::setEnabled(boolean enabled) {
@@ -693,7 +693,7 @@ boolean TMC26XStepper::isEnabled() { return !!(chopper_config_register & T_OFF_P
  *
  */
 void TMC26XStepper::readStatus(char read_value) {
-  unsigned long old_driver_configuration_register_value = driver_configuration_register_value;
+  uint32_t old_driver_configuration_register_value = driver_configuration_register_value;
   //reset the readout configuration
   driver_configuration_register_value &= ~(READ_SELECTION_PATTERN);
   //this now equals TMC26X_READOUT_POSITION - so we just have to check the other two options
@@ -712,42 +712,42 @@ void TMC26XStepper::readStatus(char read_value) {
   send262(driver_configuration_register_value);
 }
 
-int TMC26XStepper::getMotorPosition(void) {
+int16_t TMC26XStepper::getMotorPosition(void) {
   //we read it out even if we are not started yet - perhaps it is useful information for somebody
   readStatus(TMC26X_READOUT_POSITION);
   return getReadoutValue();
 }
 
-//reads the stall guard setting from last status
-//returns -1 if stallguard information is not present
-int TMC26XStepper::getCurrentStallGuardReading(void) {
-  //if we don't yet started there cannot be a stall guard value
+//reads the StallGuard setting from last status
+//returns -1 if StallGuard information is not present
+int16_t TMC26XStepper::getCurrentStallGuardReading(void) {
+  //if we don't yet started there cannot be a StallGuard value
   if (!started) return -1;
   //not time optimal, but solution optiomal:
-  //first read out the stall guard value
+  //first read out the StallGuard value
   readStatus(TMC26X_READOUT_STALLGUARD);
   return getReadoutValue();
 }
 
-unsigned char TMC26XStepper::getCurrentCSReading(void) {
-  //if we don't yet started there cannot be a stall guard value
+uint8_t TMC26XStepper::getCurrentCSReading(void) {
+  //if we don't yet started there cannot be a StallGuard value
   if (!started) return 0;
   //not time optimal, but solution optiomal:
-  //first read out the stall guard value
+  //first read out the StallGuard value
   readStatus(TMC26X_READOUT_CURRENT);
   return (getReadoutValue() & 0x1F);
 }
 
-unsigned int TMC26XStepper::getCurrentCurrent(void) {
+uint16_t TMC26XStepper::getCurrentCurrent(void) {
     float result = (float)getCurrentCSReading(),
            resistor_value = (float)this->resistor,
            voltage = (driver_configuration_register_value & VSENSE)? 0.165 : 0.31;
     result = (result + 1.0) / 32.0 * voltage / resistor_value * sq(1000.0);
-    return (unsigned int)result;
+    return (uint16_t)result;
 }
 
 /**
- * Return true if the stallguard threshold has been reached
+ * Return true if the StallGuard threshold has been reached
  */
 boolean TMC26XStepper::isStallGuardOverThreshold(void) {
   if (!this->started) return false;
@@ -808,13 +808,13 @@ boolean TMC26XStepper::isStallGuardReached(void) {
   return (driver_status_result & STATUS_STALL_GUARD_STATUS);
 }
 
-//reads the stall guard setting from last status
-//returns -1 if stallguard inforamtion is not present
-int TMC26XStepper::getReadoutValue(void) {
+//reads the StallGuard setting from last status
+//returns -1 if StallGuard information is not present
+int16_t TMC26XStepper::getReadoutValue(void) {
   return (int)(driver_status_result >> 10);
 }
 
-int TMC26XStepper::getResistor() { return this->resistor; }
+int16_t TMC26XStepper::getResistor() { return this->resistor; }
 
 boolean TMC26XStepper::isCurrentScalingHalfed() {
   return !!(this->driver_configuration_register_value & VSENSE);
@@ -822,7 +822,7 @@ boolean TMC26XStepper::isCurrentScalingHalfed() {
 /**
  * version() returns the version of the library:
  */
-int TMC26XStepper::version(void) { return 1; }
+int16_t TMC26XStepper::version(void) { return 1; }
 
 void TMC26XStepper::debugLastStatus() {
   #ifdef TMC_DEBUG1
@@ -850,8 +850,8 @@ void TMC26XStepper::debugLastStatus() {
       if (this->isStandStill())
         SERIAL_ECHOLNPGM("\n  INFO: Motor is standing still.");
 
-      unsigned long readout_config = driver_configuration_register_value & READ_SELECTION_PATTERN;
-      const int value = getReadoutValue();
+      uint32_t readout_config = driver_configuration_register_value & READ_SELECTION_PATTERN;
+      const int16_t value = getReadoutValue();
       if (readout_config == READ_MICROSTEP_POSTION) {
         //SERIAL_PRINTF("Microstep postion phase A: ");
         SERIAL_ECHOPAIR("\n  Microstep postion phase A: ", value);
@@ -861,7 +861,7 @@ void TMC26XStepper::debugLastStatus() {
         SERIAL_ECHOPAIR("\n  Stall Guard value:", value);
       }
       else if (readout_config == READ_STALL_GUARD_AND_COOL_STEP) {
-        int stallGuard = value & 0xF, current = value & 0x1F0;
+        int16_t stallGuard = value & 0xF, current = value & 0x1F0;
         //SERIAL_PRINTF("Approx Stall Guard: ");
         SERIAL_ECHOPAIR("\n  Approx Stall Guard: ", stallGuard);
         //SERIAL_PRINTF("Current level");
@@ -875,11 +875,11 @@ void TMC26XStepper::debugLastStatus() {
  * send register settings to the stepper driver via SPI
  * returns the current status
  */
-inline void TMC26XStepper::send262(unsigned long datagram) {
-  unsigned long i_datagram;
+inline void TMC26XStepper::send262(uint32_t datagram) {
+  uint32_t i_datagram;
 
   //preserver the previous spi mode
-  //unsigned char oldMode =  SPCR & SPI_MODE_MASK;
+  //uint8_t oldMode =  SPCR & SPI_MODE_MASK;
 
   //if the mode is not correct set it to mode 3
   //if (oldMode != SPI_MODE3) {

Marlin/src/HAL/HAL_STM32F7/TMC2660.h

@@ -83,7 +83,7 @@
  * \code
  * TMC26XStepper stepper = TMC26XStepper(200,1,2,3,500);
  * \endcode
- * see TMC26XStepper(int number_of_steps, int cs_pin, int dir_pin, int step_pin, unsigned int rms_current)
+ * see TMC26XStepper(int16_t number_of_steps, int16_t cs_pin, int16_t dir_pin, int16_t step_pin, uint16_t rms_current)
  *
  * Keep in mind that you need to start the driver with start() in order to get the TMC26X configured.
  *
@@ -122,7 +122,7 @@ class TMC26XStepper {
      * You can select a different stepping with setMicrosteps() to aa different value.
      * \sa start(), setMicrosteps()
      */
-    TMC26XStepper(int number_of_steps, int cs_pin, int dir_pin, int step_pin, unsigned int current, unsigned int resistor=100); //resistor=150
+    TMC26XStepper(int16_t number_of_steps, int16_t cs_pin, int16_t dir_pin, int16_t step_pin, uint16_t current, uint16_t resistor=100); //resistor=150
 
     /*!
      * \brief configures and starts the TMC26X stepper driver. Before you called this function the stepper driver is in nonfunctional mode.
@@ -150,13 +150,13 @@ class TMC26XStepper {
      * \brief Sets the rotation speed in revolutions per minute.
      * \param whatSpeed the desired speed in rotations per minute.
      */
-    void setSpeed(unsigned int whatSpeed);
+    void setSpeed(uint16_t whatSpeed);
 
     /*!
      * \brief reads out the currently selected speed in revolutions per minute.
      * \sa setSpeed()
      */
-    unsigned int getSpeed(void);
+    uint16_t getSpeed(void);
 
     /*!
      * \brief Set the number of microsteps in 2^i values (rounded) up to 256
@@ -166,7 +166,7 @@ class TMC26XStepper {
      * If you give any other value it will be rounded to the next smaller number (3 would give a microstepping of 2).
      * You can always check the current microstepping with getMicrosteps().
      */
-    void setMicrosteps(int number_of_steps);
+    void setMicrosteps(int16_t number_of_steps);
 
     /*!
      * \brief returns the effective current number of microsteps selected.
@@ -176,7 +176,7 @@ class TMC26XStepper {
      *
      * \sa setMicrosteps()
      */
-    int getMicrosteps(void);
+    int16_t getMicrosteps(void);
 
     /*!
      * \brief Initiate a movement for the given number of steps. Positive numbers move in one, negative numbers in the other direction.
@@ -193,7 +193,7 @@ class TMC26XStepper {
      * You can always verify with isMoving() or even use stop() to stop the motor before giving it new step directions.
      * \sa isMoving(), getStepsLeft(), stop()
      */
-    char step(int number_of_steps);
+    char step(int16_t number_of_steps);
 
     /*!
      * \brief Central movement method, must be called as often as possible in the lopp function and is very fast.
@@ -228,7 +228,7 @@ class TMC26XStepper {
      * \brief Get the number of steps left in the current movement.
      * \return The number of steps left in the movement. This number is always positive.
      */
-    unsigned int getStepsLeft(void);
+    uint16_t getStepsLeft(void);
 
     /*!
      * \brief Stops the motor regardless if it moves or not.
@@ -262,7 +262,7 @@ class TMC26XStepper {
      * \sa setSpreadCycleChoper() for other alternatives.
      * \sa setRandomOffTime() for spreading the noise over a wider spectrum
      */
-    void setConstantOffTimeChopper(char constant_off_time, char blank_time, char fast_decay_time_setting, char sine_wave_offset, unsigned char use_current_comparator);
+    void setConstantOffTimeChopper(char constant_off_time, char blank_time, char fast_decay_time_setting, char sine_wave_offset, uint8_t use_current_comparator);
 
     /*!
      * \brief Sets and configures with spread cycle chopper.
@@ -310,7 +310,7 @@ class TMC26XStepper {
      * \param current the maximum motor current in mA
      * \sa getCurrent(), getCurrentCurrent()
      */
-    void setCurrent(unsigned int current);
+    void setCurrent(uint16_t current);
 
     /*!
      * \brief readout the motor maximum current in mA (1000 is an Amp)
@@ -318,12 +318,12 @@ class TMC26XStepper {
      * \return the maximum motor current in milli amps
      * \sa getCurrentCurrent()
      */
-    unsigned int getCurrent(void);
+    uint16_t getCurrent(void);
 
     /*!
      * \brief set the StallGuard threshold in order to get sensible StallGuard readings.
-     * \param stall_guard_threshold -64 … 63 the StallGuard threshold
-     * \param stall_guard_filter_enabled 0 if the filter is disabled, -1 if it is enabled
+     * \param stallguard_threshold -64 … 63 the StallGuard threshold
+     * \param stallguard_filter_enabled 0 if the filter is disabled, -1 if it is enabled
      *
      * The StallGuard threshold is used to optimize the StallGuard reading to sensible values. It should be at 0 at
      * the maximum allowable load on the otor (but not before). = is a good starting point (and the default)
@@ -335,7 +335,7 @@ class TMC26XStepper {
      *
      * \sa getCurrentStallGuardReading() to read out the current value.
      */
-    void setStallGuardThreshold(char stall_guard_threshold, char stall_guard_filter_enabled);
+    void setStallGuardThreshold(char stallguard_threshold, char stallguard_filter_enabled);
 
     /*!
      * \brief reads out the StallGuard threshold
@@ -366,8 +366,8 @@ class TMC26XStepper {
      * (1/2 or 1/4th otf the configured current).
      * \sa COOL_STEP_HALF_CS_LIMIT, COOL_STEP_QUARTER_CS_LIMIT
      */
-    void setCoolStepConfiguration(unsigned int lower_SG_threshold, unsigned int SG_hysteresis, unsigned char current_decrement_step_size,
-                                  unsigned char current_increment_step_size, unsigned char lower_current_limit);
+    void setCoolStepConfiguration(uint16_t lower_SG_threshold, uint16_t SG_hysteresis, uint8_t current_decrement_step_size,
+                                  uint8_t current_increment_step_size, uint8_t lower_current_limit);
 
     /*!
      * \brief enables or disables the CoolStep smart energy operation feature. It must be configured before enabling it.
@@ -387,32 +387,32 @@ class TMC26XStepper {
      * \brief returns the lower StallGuard threshold for the CoolStep operation
      * \sa setCoolStepConfiguration()
      */
-    unsigned int getCoolStepLowerSgThreshold();
+    uint16_t getCoolStepLowerSgThreshold();
 
     /*!
      * \brief returns the upper StallGuard threshold for the CoolStep operation
      * \sa setCoolStepConfiguration()
      */
-    unsigned int getCoolStepUpperSgThreshold();
+    uint16_t getCoolStepUpperSgThreshold();
 
     /*!
      * \brief returns the number of StallGuard readings befor CoolStep adjusts the motor current.
      * \sa setCoolStepConfiguration()
      */
-    unsigned char getCoolStepNumberOfSGReadings();
+    uint8_t getCoolStepNumberOfSGReadings();
 
     /*!
      * \brief returns the increment steps for the current for the CoolStep operation
      * \sa setCoolStepConfiguration()
      */
-    unsigned char getCoolStepCurrentIncrementSize();
+    uint8_t getCoolStepCurrentIncrementSize();
 
     /*!
      * \brief returns the absolut minium current for the CoolStep operation
      * \sa setCoolStepConfiguration()
      * \sa COOL_STEP_HALF_CS_LIMIT, COOL_STEP_QUARTER_CS_LIMIT
      */
-    unsigned char getCoolStepLowerCurrentLimit();
+    uint8_t getCoolStepLowerCurrentLimit();
 
     /*!
      * \brief Get the current microstep position for phase A
@@ -420,7 +420,7 @@ class TMC26XStepper {
      *
      * Keep in mind that this routine reads and writes a value via SPI - so this may take a bit time.
      */
-    int getMotorPosition(void);
+    int16_t getMotorPosition(void);
 
     /*!
      * \brief Reads the current StallGuard value.
@@ -428,14 +428,14 @@ class TMC26XStepper {
      * Keep in mind that this routine reads and writes a value via SPI - so this may take a bit time.
      * \sa setStallGuardThreshold() for tuning the readout to sensible ranges.
      */
-    int getCurrentStallGuardReading(void);
+    int16_t getCurrentStallGuardReading(void);
 
     /*!
      * \brief Reads the current current setting value as fraction of the maximum current
      * Returns values between 0 and 31, representing 1/32 to 32/32 (=1)
      * \sa setCoolStepConfiguration()
      */
-    unsigned char getCurrentCSReading(void);
+    uint8_t getCurrentCSReading(void);
 
 
     /*!
@@ -451,7 +451,7 @@ class TMC26XStepper {
      * may not be the fastest.
      * \sa getCurrentCSReading(), getResistor(), isCurrentScalingHalfed(), getCurrent()
      */
-    unsigned int getCurrentCurrent(void);
+    uint16_t getCurrentCurrent(void);
 
     /*!
      * \brief checks if there is a StallGuard warning in the last status
@@ -552,56 +552,54 @@ class TMC26XStepper {
      * \brief Returns the current sense resistor value in milliohm.
      * The default value of ,15 Ohm will return 150.
      */
-    int getResistor();
+    int16_t getResistor();
 
     /*!
      * \brief Prints out all the information that can be found in the last status read out - it does not force a status readout.
      * The result is printed via Serial
      */
     void debugLastStatus(void);
+
     /*!
      * \brief library version
      * \return the version number as int.
      */
-    int version(void);
+    int16_t version(void);
 
   private:
-    unsigned int steps_left;    // The steps the motor has to do to complete the movement
-    int direction;              // Direction of rotation
-    unsigned long step_delay;   // Delay between steps, in ms, based on speed
-    int number_of_steps;        // Total number of steps this motor can take
-    unsigned int speed;         // Store the current speed in order to change the speed after changing microstepping
-    unsigned int resistor;      // Current sense resitor value in milliohm
+    uint16_t steps_left;      // The steps the motor has to do to complete the movement
+    int16_t direction;        // Direction of rotation
+    uint32_t step_delay;      // Delay between steps, in ms, based on speed
+    int16_t number_of_steps;  // Total number of steps this motor can take
+    uint16_t speed;           // Store the current speed in order to change the speed after changing microstepping
+    uint16_t resistor;        // Current sense resitor value in milliohm
 
-    unsigned long last_step_time;   // Time stamp in ms of when the last step was taken
-    unsigned long next_step_time;   // Time stamp in ms of when the last step was taken
+    uint32_t last_step_time,  // Timestamp (ms) of the last step
+             next_step_time;  // Timestamp (ms) of the next step
 
     // Driver control register copies to easily set & modify the registers
-    unsigned long driver_control_register_value;
-    unsigned long chopper_config_register;
-    unsigned long cool_step_register_value;
-    unsigned long stall_guard2_current_register_value;
-    unsigned long driver_configuration_register_value;
-    // The driver status result
-    unsigned long driver_status_result;
+    uint32_t driver_control_register_value,
+             chopper_config_register,
+             cool_step_register_value,
+             stallguard2_current_register_value,
+             driver_configuration_register_value,
+             driver_status_result; // The driver status result
 
     // Helper routione to get the top 10 bit of the readout
-    inline int getReadoutValue();
+    inline int16_t getReadoutValue();
 
     // The pins for the stepper driver
-    unsigned char cs_pin;
-    unsigned char step_pin;
-    unsigned char dir_pin;
+    uint8_t cs_pin, step_pin, dir_pin;
 
     // Status values
     boolean started; // If the stepper has been started yet
-    int microsteps; // The current number of micro steps
+    int16_t microsteps; // The current number of micro steps
     char constant_off_time; // We need to remember this value in order to enable and disable the motor
-    unsigned char cool_step_lower_threshold; //  we need to remember the threshold to enable and disable the CoolStep feature
+    uint8_t cool_step_lower_threshold; //  we need to remember the threshold to enable and disable the CoolStep feature
     boolean cool_step_enabled; // We need to remember this to configure the coolstep if it si enabled
 
     // SPI sender
-    inline void send262(unsigned long datagram);
+    inline void send262(uint32_t datagram);
 };
 
 #endif // _TMC26XSTEPPER_H_