diff --git a/tmc/ic/TMC4361A/TMC4361A_HW_Abstraction.h b/tmc/ic/TMC4361A/TMC4361A_HW_Abstraction.h
index d649029e..98b0b1ac 100644
--- a/tmc/ic/TMC4361A/TMC4361A_HW_Abstraction.h
+++ b/tmc/ic/TMC4361A/TMC4361A_HW_Abstraction.h
@@ -21,6 +21,9 @@
 
 #define TMC4361A_COVER_DONE (1<<25)
 
+#define TMC4361A_RAMPMODE_OPERATION_MODE_VELOCITY  0
+#define TMC4361A_RAMPMODE_OPERATION_MODE_POSITION  1
+
 #define TMC4361A_RAMP_HOLD      0
 #define TMC4361A_RAMP_TRAPEZ    1
 #define TMC4361A_RAMP_SSHAPE    2
diff --git a/tmc/ic/TMC5072/TMC5072_HW_Abstraction.h b/tmc/ic/TMC5072/TMC5072_HW_Abstraction.h
index 7fc094b5..9c97b365 100644
--- a/tmc/ic/TMC5072/TMC5072_HW_Abstraction.h
+++ b/tmc/ic/TMC5072/TMC5072_HW_Abstraction.h
@@ -134,17 +134,20 @@
 #define TMC5072_DRV_ERR1_MASK            0x00000002
 #define TMC5072_DRV_ERR1_SHIFT           1
 #define TMC5072_DRV_ERR1_FIELD(motor)           ((RegisterField) {TMC5072_DRV_ERR1_MASK, TMC5072_DRV_ERR1_SHIFT, TMC5072_GSTAT, false})
+#define TMC5072_DRV_ERR2_MASK            0x00000004
+#define TMC5072_DRV_ERR2_SHIFT           2
+#define TMC5072_DRV_ERR2_FIELD(motor)           ((RegisterField) {TMC5072_DRV_ERR2_MASK, TMC5072_DRV_ERR2_SHIFT, TMC5072_GSTAT, false})
 #define TMC5072_UV_CP_MASK               0x00000008
 #define TMC5072_UV_CP_SHIFT              3
 #define TMC5072_UV_CP_FIELD(motor)              ((RegisterField) {TMC5072_UV_CP_MASK, TMC5072_UV_CP_SHIFT, TMC5072_GSTAT, false})
 #define TMC5072_IFCNT_MASK               0x000000FF
 #define TMC5072_IFCNT_SHIFT              0
 #define TMC5072_IFCNT_FIELD(motor)              ((RegisterField) {TMC5072_IFCNT_MASK, TMC5072_IFCNT_SHIFT, TMC5072_IFCNT, false})
-#define TMC5072_SLAVEADDR_MASK           0x0000000F
+#define TMC5072_SLAVEADDR_MASK           0x000000FF
 #define TMC5072_SLAVEADDR_SHIFT          0
 #define TMC5072_SLAVEADDR_FIELD(motor)          ((RegisterField) {TMC5072_SLAVEADDR_MASK, TMC5072_SLAVEADDR_SHIFT, TMC5072_SLAVECONF, false})
-#define TMC5072_SENDDELAY_MASK           0x000000F0
-#define TMC5072_SENDDELAY_SHIFT          4
+#define TMC5072_SENDDELAY_MASK           0x00000F00
+#define TMC5072_SENDDELAY_SHIFT          8
 #define TMC5072_SENDDELAY_FIELD(motor)          ((RegisterField) {TMC5072_SENDDELAY_MASK, TMC5072_SENDDELAY_SHIFT, TMC5072_SLAVECONF, false})
 #define TMC5072_TEST_SEL_MASK            0x0000000F
 #define TMC5072_TEST_SEL_SHIFT           0