Started Implementing UART Register interface

motor-control/firmware/include/tmc2209/registers_map.hpp

@@ -382,10 +382,93 @@ struct REG_MSCURACT {
 
 struct REG_CHOPCONF {
     /**
-     * (Reset default: OTP)
-     * Chopper control register
+     * @brief off time and driver enable
+     * Off time setting controls duration of slow decay phase 
+     * NCLK= 24 + 32*TOFF 
+     * %0000: Driver disable, all bridges off 
+     * %0001: 1 – use only with TBL ≥ 2 
+     * %0010 ... %1111: 2 ... 15 
+     * (Default: OTP, resp. 3 in StealthChop mode)
      */
-    unsigned int chopconf: 32;
+    unsigned int toff: 4;
+
+    /**
+     * @brief hysteresis start value added to HEND
+     * %000 ... %111:
+     * Add 1, 2, ..., 8 to hysteresis low value HEND
+     * (1/512 of this setting adds to current setting)
+     * Attention: Effective HEND+HSTRT ≤ 16.
+     * Hint: Hysteresis decrement is done each 16 clocks
+     */
+    unsigned int hstrt: 3;
+
+    /**
+     * @brief HEND hysteresis low value OFFSET sine wave offset
+     * %0000 ... %1111:
+     * Hysteresis is -3, -2, -1, 0, 1, ..., 12
+     * (1/512 of this setting adds to current setting)
+     * This is the hysteresis value which becomes used for the hysteresis chopper.
+     * (Default: OTP, resp. 0 in StealthChop mode)
+     */
+    unsigned int hend: 4;
+
+    unsigned int :1;
+
+    /**
+     * @brief TBL blank time select
+     * %00 ... %11:
+     * Set comparator blank time to 16, 24, 32 or 40 clocks
+     * Hint: %00 or %01 is recommended for most applications
+     * (Default: OTP)
+     */
+    unsigned int tbl: 2;
+
+    /**
+     * @brief sense resistor voltage based current scaling
+     * 0: Low sensitivity, high sense resistor voltage
+     * 1: High sensitivity, low sense resistor voltage
+     */
+    unsigned int vsense: 1;
+
+    unsigned int :6;
+
+    /**
+     * @brief micro step resolution
+     * %0000: Native 256 microstep setting.
+     * %0001 ... %1000:
+     * 128, 64, 32, 16, 8, 4, 2, FULLSTEP
+     * Reduced microstep resolution.
+     * The resolution gives the number of microstep entries per sine quarter wave.
+     * When choosing a lower microstep resolution, the driver automatically uses microstep positions which result in a symmetrical wave.
+     * Number of microsteps per step pulse = 2^MRES (Selection by pins unless disabled by GCONF. mstep_reg_select)
+     */
+    unsigned int mres: 4;
+
+    /**
+     * @brief interpolation to 256 microsteps
+     * 1: The actual microstep resolution (MRES) becomes extrapolated to 256 microsteps for smoothest motor operation. (Default: 1)
+     */
+    unsigned int intpol: 1;
+
+    /**
+     * @brief enable double edge step pulses
+     * 1: Enable step impulse at each step edge to reduce step frequency requirement. This mode is not compatible with the step filtering function (multistep_filt)
+     */
+    unsigned int dedge: 1;
+
+    /**
+     * @brief short to GND protection disable
+     * 0: Short to GND protection is on 
+     * 1: Short to GND protection is disabled
+     */
+    unsigned int diss2g: 1;
+
+    /**
+     * @brief Low side short protection disable
+     * 0: Short protection low side is on 
+     * 1: Short protection low side is disabled
+     */
+    unsigned int diss2vs: 1;
 };
 
 struct DRV_STATUS {