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//! SG_RESULT - StallGuard result register (0x41)
use super::{Address, ReadableRegister, Register};
/// StallGuard result register.
///
/// Read-only register containing the StallGuard measurement result.
/// The value indicates the mechanical load on the motor.
///
/// - High values indicate low load (motor running freely)
/// - Low values indicate high load (motor stalling)
/// - When SG_RESULT < SGTHRS*2, stall is detected
#[derive(Debug, Clone, Copy, PartialEq, Eq)]
#[cfg_attr(feature = "defmt", derive(defmt::Format))]
pub struct SgResult(u32);
impl SgResult {
/// Create with default value (0).
pub fn new() -> Self {
Self(0)
}
/// Get the StallGuard result value (0-510).
///
/// This is a 10-bit value representing mechanical load:
/// - 0-510: Load indicator (higher = less load)
/// - Values near 0 indicate stall condition
pub fn result(&self) -> u16 {
(self.0 & 0x3FF) as u16
}
/// Get the raw register value.
pub fn raw(&self) -> u32 {
self.0
}
/// Create from raw value.
pub fn from_raw(value: u32) -> Self {
Self(value)
}
}
impl Default for SgResult {
fn default() -> Self {
Self::new()
}
}
impl Register for SgResult {
const ADDRESS: Address = Address::SgResult;
}
impl ReadableRegister for SgResult {}
impl From<u32> for SgResult {
fn from(value: u32) -> Self {
Self(value)
}
}
impl From<SgResult> for u32 {
fn from(reg: SgResult) -> u32 {
reg.0
}
}