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Consolidate smart stepper driver initialization

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This commit is contained in:
Scott Lahteine 2018-03-18 18:33:56 -05:00
parent 72776f647b
commit a03502080e
5 changed files with 180 additions and 119 deletions
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17
Marlin/Marlin_main.cpp
View File

@ -8278,19 +8278,14 @@ inline void gcode_M140() {
OUT_WRITE(SUICIDE_PIN, HIGH); OUT_WRITE(SUICIDE_PIN, HIGH);
#endif #endif
#if ENABLED(HAVE_TMC2130) #if DISABLED(AUTO_POWER_CONTROL)
delay(100); delay(100); // Wait for power to settle
tmc2130_init(); // Settings only stick when the driver has power restore_stepper_drivers();
#endif #endif
#if ENABLED(ULTIPANEL) #if ENABLED(ULTIPANEL)
LCD_MESSAGEPGM(WELCOME_MSG); LCD_MESSAGEPGM(WELCOME_MSG);
#endif #endif
#if ENABLED(HAVE_TMC2208)
delay(100);
tmc2208_init();
#endif
} }
#endif // HAS_POWER_SWITCH #endif // HAS_POWER_SWITCH
@ -13667,6 +13662,7 @@ void setup() {
SERIAL_PROTOCOLLNPGM("start"); SERIAL_PROTOCOLLNPGM("start");
SERIAL_ECHO_START(); SERIAL_ECHO_START();
// Prepare communication for TMC drivers
#if ENABLED(HAVE_TMC2130) #if ENABLED(HAVE_TMC2130)
tmc_init_cs_pins(); tmc_init_cs_pins();
#endif #endif
@ -13722,8 +13718,9 @@ void setup() {
print_job_timer.init(); // Initial setup of print job timer print_job_timer.init(); // Initial setup of print job timer
stepper.init(); // Initialize stepper, this enables interrupts! stepper.init(); // Initialize stepper, this enables interrupts!
servo_init();
servo_init(); // Initialize all servos, stow servo probe
#if HAS_PHOTOGRAPH #if HAS_PHOTOGRAPH
OUT_WRITE(PHOTOGRAPH_PIN, LOW); OUT_WRITE(PHOTOGRAPH_PIN, LOW);

5
Marlin/power.cpp
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@ -87,6 +87,11 @@ void Power::check() {
void Power::power_on() { void Power::power_on() {
lastPowerOn = millis(); lastPowerOn = millis();
PSU_PIN_ON(); PSU_PIN_ON();
#if HAS_TRINAMIC
delay(100); // Wait for power to settle
restore_stepper_drivers();
#endif
} }
void Power::power_off() { void Power::power_off() {

25
Marlin/stepper.cpp
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@ -948,31 +948,6 @@ void Stepper::init() {
microstep_init(); microstep_init();
#endif #endif
// Init TMC Steppers
#if ENABLED(HAVE_TMC26X)
tmc_init();
#endif
// Init TMC2130 Steppers
#if ENABLED(HAVE_TMC2130)
tmc2130_init();
#endif
// Init TMC2208 Steppers
#if ENABLED(HAVE_TMC2208)
tmc2208_init();
#endif
// TRAMS, TMC2130 and TMC2208 advanced settings
#if HAS_TRINAMIC
TMC_ADV()
#endif
// Init L6470 Steppers
#if ENABLED(HAVE_L6470DRIVER)
L6470_init();
#endif
// Init Dir Pins // Init Dir Pins
#if HAS_X_DIR #if HAS_X_DIR
X_DIR_INIT; X_DIR_INIT;

153
Marlin/stepper_indirection.cpp
View File

@ -42,83 +42,82 @@
#include <SPI.h> #include <SPI.h>
#include <TMC26XStepper.h> #include <TMC26XStepper.h>
#define _TMC_DEFINE(ST) TMC26XStepper stepper##ST(200, ST##_ENABLE_PIN, ST##_STEP_PIN, ST##_DIR_PIN, ST##_MAX_CURRENT, ST##_SENSE_RESISTOR) #define _TMC26X_DEFINE(ST) TMC26XStepper stepper##ST(200, ST##_ENABLE_PIN, ST##_STEP_PIN, ST##_DIR_PIN, ST##_MAX_CURRENT, ST##_SENSE_RESISTOR)
#if ENABLED(X_IS_TMC26X) #if ENABLED(X_IS_TMC26X)
_TMC_DEFINE(X); _TMC26X_DEFINE(X);
#endif #endif
#if ENABLED(X2_IS_TMC26X) #if ENABLED(X2_IS_TMC26X)
_TMC_DEFINE(X2); _TMC26X_DEFINE(X2);
#endif #endif
#if ENABLED(Y_IS_TMC26X) #if ENABLED(Y_IS_TMC26X)
_TMC_DEFINE(Y); _TMC26X_DEFINE(Y);
#endif #endif
#if ENABLED(Y2_IS_TMC26X) #if ENABLED(Y2_IS_TMC26X)
_TMC_DEFINE(Y2); _TMC26X_DEFINE(Y2);
#endif #endif
#if ENABLED(Z_IS_TMC26X) #if ENABLED(Z_IS_TMC26X)
_TMC_DEFINE(Z); _TMC26X_DEFINE(Z);
#endif #endif
#if ENABLED(Z2_IS_TMC26X) #if ENABLED(Z2_IS_TMC26X)
_TMC_DEFINE(Z2); _TMC26X_DEFINE(Z2);
#endif #endif
#if ENABLED(E0_IS_TMC26X) #if ENABLED(E0_IS_TMC26X)
_TMC_DEFINE(E0); _TMC26X_DEFINE(E0);
#endif #endif
#if ENABLED(E1_IS_TMC26X) #if ENABLED(E1_IS_TMC26X)
_TMC_DEFINE(E1); _TMC26X_DEFINE(E1);
#endif #endif
#if ENABLED(E2_IS_TMC26X) #if ENABLED(E2_IS_TMC26X)
_TMC_DEFINE(E2); _TMC26X_DEFINE(E2);
#endif #endif
#if ENABLED(E3_IS_TMC26X) #if ENABLED(E3_IS_TMC26X)
_TMC_DEFINE(E3); _TMC26X_DEFINE(E3);
#endif #endif
#if ENABLED(E4_IS_TMC26X) #if ENABLED(E4_IS_TMC26X)
_TMC_DEFINE(E4); _TMC26X_DEFINE(E4);
#endif #endif
#define _TMC_INIT(A) do{ \ #define _TMC26X_INIT(A) do{ \
stepper##A.setMicrosteps(A##_MICROSTEPS); \ stepper##A.setMicrosteps(A##_MICROSTEPS); \
stepper##A.start(); \ stepper##A.start(); \
}while(0) }while(0)
void tmc_init() { void tmc26x_init_to_defaults() {
#if ENABLED(X_IS_TMC26X) #if ENABLED(X_IS_TMC26X)
_TMC_INIT(X); _TMC26X_INIT(X);
#endif #endif
#if ENABLED(X2_IS_TMC26X) #if ENABLED(X2_IS_TMC26X)
_TMC_INIT(X2); _TMC26X_INIT(X2);
#endif #endif
#if ENABLED(Y_IS_TMC26X) #if ENABLED(Y_IS_TMC26X)
_TMC_INIT(Y); _TMC26X_INIT(Y);
#endif #endif
#if ENABLED(Y2_IS_TMC26X) #if ENABLED(Y2_IS_TMC26X)
_TMC_INIT(Y2); _TMC26X_INIT(Y2);
#endif #endif
#if ENABLED(Z_IS_TMC26X) #if ENABLED(Z_IS_TMC26X)
_TMC_INIT(Z); _TMC26X_INIT(Z);
#endif #endif
#if ENABLED(Z2_IS_TMC26X) #if ENABLED(Z2_IS_TMC26X)
_TMC_INIT(Z2); _TMC26X_INIT(Z2);
#endif #endif
#if ENABLED(E0_IS_TMC26X) #if ENABLED(E0_IS_TMC26X)
_TMC_INIT(E0); _TMC26X_INIT(E0);
#endif #endif
#if ENABLED(E1_IS_TMC26X) #if ENABLED(E1_IS_TMC26X)
_TMC_INIT(E1); _TMC26X_INIT(E1);
#endif #endif
#if ENABLED(E2_IS_TMC26X) #if ENABLED(E2_IS_TMC26X)
_TMC_INIT(E2); _TMC26X_INIT(E2);
#endif #endif
#if ENABLED(E3_IS_TMC26X) #if ENABLED(E3_IS_TMC26X)
_TMC_INIT(E3); _TMC26X_INIT(E3);
#endif #endif
#if ENABLED(E4_IS_TMC26X) #if ENABLED(E4_IS_TMC26X)
_TMC_INIT(E4); _TMC26X_INIT(E4);
#endif #endif
} }
#endif // HAVE_TMC26X #endif // HAVE_TMC26X
// //
@ -137,7 +136,6 @@
#define _TMC2130_DEFINE(ST) TMC2130Stepper stepper##ST(ST##_ENABLE_PIN, ST##_DIR_PIN, ST##_STEP_PIN, ST##_CS_PIN) #define _TMC2130_DEFINE(ST) TMC2130Stepper stepper##ST(ST##_ENABLE_PIN, ST##_DIR_PIN, ST##_STEP_PIN, ST##_CS_PIN)
#endif #endif
// Stepper objects of TMC2130 steppers used // Stepper objects of TMC2130 steppers used
#if ENABLED(X_IS_TMC2130) #if ENABLED(X_IS_TMC2130)
_TMC2130_DEFINE(X); _TMC2130_DEFINE(X);
@ -176,9 +174,9 @@
// Use internal reference voltage for current calculations. This is the default. // Use internal reference voltage for current calculations. This is the default.
// Following values from Trinamic's spreadsheet with values for a NEMA17 (42BYGHW609) // Following values from Trinamic's spreadsheet with values for a NEMA17 (42BYGHW609)
// https://www.trinamic.com/products/integrated-circuits/details/tmc2130/ // https://www.trinamic.com/products/integrated-circuits/details/tmc2130/
void tmc2130_init(TMC2130Stepper &st, const uint16_t microsteps, const uint32_t thrs, const float spmm) { void tmc2130_init(TMC2130Stepper &st, const uint16_t mA, const uint16_t microsteps, const uint32_t thrs, const float spmm) {
st.begin(); st.begin();
st.setCurrent(st.getCurrent(), R_SENSE, HOLD_MULTIPLIER); st.setCurrent(mA, R_SENSE, HOLD_MULTIPLIER);
st.microsteps(microsteps); st.microsteps(microsteps);
st.blank_time(24); st.blank_time(24);
st.off_time(5); // Only enables the driver if used with stealthChop st.off_time(5); // Only enables the driver if used with stealthChop
@ -205,9 +203,9 @@
st.GSTAT(); // Clear GSTAT st.GSTAT(); // Clear GSTAT
} }
#define _TMC2130_INIT(ST, SPMM) tmc2130_init(stepper##ST, ST##_MICROSTEPS, ST##_HYBRID_THRESHOLD, SPMM) #define _TMC2130_INIT(ST, SPMM) tmc2130_init(stepper##ST, ST##_CURRENT, ST##_MICROSTEPS, ST##_HYBRID_THRESHOLD, SPMM)
void tmc2130_init() { void tmc2130_init_to_defaults() {
#if ENABLED(X_IS_TMC2130) #if ENABLED(X_IS_TMC2130)
_TMC2130_INIT( X, planner.axis_steps_per_mm[X_AXIS]); _TMC2130_INIT( X, planner.axis_steps_per_mm[X_AXIS]);
#endif #endif
@ -242,7 +240,35 @@
{ constexpr int extruder = 4; _TMC2130_INIT(E4, planner.axis_steps_per_mm[E_AXIS_N]); } { constexpr int extruder = 4; _TMC2130_INIT(E4, planner.axis_steps_per_mm[E_AXIS_N]); }
#endif #endif
#if ENABLED(SENSORLESS_HOMING)
#define TMC_INIT_SGT(P,Q) stepper##Q.sgt(P##_HOMING_SENSITIVITY);
#ifdef X_HOMING_SENSITIVITY
#if ENABLED(X_IS_TMC2130) || ENABLED(IS_TRAMS)
stepperX.sgt(X_HOMING_SENSITIVITY);
#endif
#if ENABLED(X2_IS_TMC2130)
stepperX2.sgt(X_HOMING_SENSITIVITY);
#endif
#endif
#ifdef Y_HOMING_SENSITIVITY
#if ENABLED(Y_IS_TMC2130) || ENABLED(IS_TRAMS)
stepperY.sgt(Y_HOMING_SENSITIVITY);
#endif
#if ENABLED(Y2_IS_TMC2130)
stepperY2.sgt(Y_HOMING_SENSITIVITY);
#endif
#endif
#ifdef Z_HOMING_SENSITIVITY
#if ENABLED(Z_IS_TMC2130) || ENABLED(IS_TRAMS)
stepperZ.sgt(Z_HOMING_SENSITIVITY);
#endif
#if ENABLED(Z2_IS_TMC2130)
stepperZ2.sgt(Z_HOMING_SENSITIVITY);
#endif
#endif
#endif
} }
#endif // HAVE_TMC2130 #endif // HAVE_TMC2130
// //
@ -377,11 +403,11 @@
// Use internal reference voltage for current calculations. This is the default. // Use internal reference voltage for current calculations. This is the default.
// Following values from Trinamic's spreadsheet with values for a NEMA17 (42BYGHW609) // Following values from Trinamic's spreadsheet with values for a NEMA17 (42BYGHW609)
void tmc2208_init(TMC2208Stepper &st, const uint16_t microsteps, const uint32_t thrs, const float spmm) { void tmc2208_init(TMC2208Stepper &st, const uint16_t mA, const uint16_t microsteps, const uint32_t thrs, const float spmm) {
st.pdn_disable(true); // Use UART st.pdn_disable(true); // Use UART
st.mstep_reg_select(true); // Select microsteps with UART st.mstep_reg_select(true); // Select microsteps with UART
st.I_scale_analog(false); st.I_scale_analog(false);
st.rms_current(st.getCurrent(), HOLD_MULTIPLIER, R_SENSE); st.rms_current(mA, HOLD_MULTIPLIER, R_SENSE);
st.microsteps(microsteps); st.microsteps(microsteps);
st.blank_time(24); st.blank_time(24);
st.toff(5); st.toff(5);
@ -411,9 +437,9 @@
delay(200); delay(200);
} }
#define _TMC2208_INIT(ST, SPMM) tmc2208_init(stepper##ST, ST##_MICROSTEPS, ST##_HYBRID_THRESHOLD, SPMM) #define _TMC2208_INIT(ST, SPMM) tmc2208_init(stepper##ST, ST##_CURRENT, ST##_MICROSTEPS, ST##_HYBRID_THRESHOLD, SPMM)
void tmc2208_init() { void tmc2208_init_to_defaults() {
#if ENABLED(X_IS_TMC2208) #if ENABLED(X_IS_TMC2208)
_TMC2208_INIT(X, planner.axis_steps_per_mm[X_AXIS]); _TMC2208_INIT(X, planner.axis_steps_per_mm[X_AXIS]);
#endif #endif
@ -448,8 +474,63 @@
{ constexpr int extruder = 4; _TMC2208_INIT(E4, planner.axis_steps_per_mm[E_AXIS_N]); } { constexpr int extruder = 4; _TMC2208_INIT(E4, planner.axis_steps_per_mm[E_AXIS_N]); }
#endif #endif
} }
#endif // HAVE_TMC2208 #endif // HAVE_TMC2208
void restore_stepper_drivers() {
#if X_IS_TRINAMIC
stepperX.push();
#endif
#if X2_IS_TRINAMIC
stepperX2.push();
#endif
#if Y_IS_TRINAMIC
stepperY.push();
#endif
#if Y2_IS_TRINAMIC
stepperY2.push();
#endif
#if Z_IS_TRINAMIC
stepperZ.push();
#endif
#if Z2_IS_TRINAMIC
stepperZ2.push();
#endif
#if E0_IS_TRINAMIC
stepperE0.push();
#endif
#if E1_IS_TRINAMIC
stepperE1.push();
#endif
#if E2_IS_TRINAMIC
stepperE2.push();
#endif
#if E3_IS_TRINAMIC
stepperE3.push();
#endif
#if E4_IS_TRINAMIC
stepperE4.push();
#endif
}
void reset_stepper_drivers() {
#if ENABLED(HAVE_TMC26X)
tmc26x_init_to_defaults();
#endif
#if ENABLED(HAVE_TMC2130)
tmc2130_init_to_defaults();
#endif
#if ENABLED(HAVE_TMC2208)
tmc2208_init_to_defaults();
#endif
#ifdef TMC_ADV
TMC_ADV()
#endif
#if ENABLED(HAVE_L6470DRIVER)
L6470_init_to_defaults();
#endif
}
// //
// L6470 Driver objects and inits // L6470 Driver objects and inits
// //
@ -503,7 +584,7 @@
stepper##A.setStallCurrent(A##_STALLCURRENT); \ stepper##A.setStallCurrent(A##_STALLCURRENT); \
}while(0) }while(0)
void L6470_init() { void L6470_init_to_defaults() {
#if ENABLED(X_IS_L6470) #if ENABLED(X_IS_L6470)
_L6470_INIT(X); _L6470_INIT(X);
#endif #endif

99
Marlin/stepper_indirection.h
View File

@ -50,29 +50,32 @@
#if ENABLED(HAVE_TMC26X) #if ENABLED(HAVE_TMC26X)
#include <SPI.h> #include <SPI.h>
#include <TMC26XStepper.h> #include <TMC26XStepper.h>
void tmc_init(); void tmc26x_init_to_defaults();
#endif #endif
#if ENABLED(HAVE_TMC2130) #if ENABLED(HAVE_TMC2130)
#include <TMC2130Stepper.h> #include <TMC2130Stepper.h>
void tmc2130_init(); void tmc2130_init_to_defaults();
#endif #endif
#if ENABLED(HAVE_TMC2208) #if ENABLED(HAVE_TMC2208)
#include <TMC2208Stepper.h> #include <TMC2208Stepper.h>
void tmc2208_serial_begin(); void tmc2208_serial_begin();
void tmc2208_init(); void tmc2208_init_to_defaults();
#endif #endif
// L6470 has STEP on normal pins, but DIR/ENABLE via SPI // L6470 has STEP on normal pins, but DIR/ENABLE via SPI
#if ENABLED(HAVE_L6470DRIVER) #if ENABLED(HAVE_L6470DRIVER)
#include <SPI.h> #include <SPI.h>
#include <L6470.h> #include <L6470.h>
void L6470_init(); void L6470_init_to_defaults();
#endif #endif
void restore_stepper_drivers(); // Called by PSU_ON
void reset_stepper_drivers(); // Called by settings.load / settings.reset
// X Stepper // X Stepper
#if ENABLED(HAVE_L6470DRIVER) && ENABLED(X_IS_L6470) #if ENABLED(X_IS_L6470)
extern L6470 stepperX; extern L6470 stepperX;
#define X_ENABLE_INIT NOOP #define X_ENABLE_INIT NOOP
#define X_ENABLE_WRITE(STATE) do{ if (STATE) stepperX.Step_Clock(stepperX.getStatus() & STATUS_HIZ); else stepperX.softFree(); }while(0) #define X_ENABLE_WRITE(STATE) do{ if (STATE) stepperX.Step_Clock(stepperX.getStatus() & STATUS_HIZ); else stepperX.softFree(); }while(0)
@ -81,15 +84,15 @@
#define X_DIR_WRITE(STATE) stepperX.Step_Clock(STATE) #define X_DIR_WRITE(STATE) stepperX.Step_Clock(STATE)
#define X_DIR_READ (stepperX.getStatus() & STATUS_DIR) #define X_DIR_READ (stepperX.getStatus() & STATUS_DIR)
#else #else
#if ENABLED(HAVE_TMC26X) && ENABLED(X_IS_TMC26X) #if ENABLED(X_IS_TMC26X)
extern TMC26XStepper stepperX; extern TMC26XStepper stepperX;
#define X_ENABLE_INIT NOOP #define X_ENABLE_INIT NOOP
#define X_ENABLE_WRITE(STATE) stepperX.setEnabled(STATE) #define X_ENABLE_WRITE(STATE) stepperX.setEnabled(STATE)
#define X_ENABLE_READ stepperX.isEnabled() #define X_ENABLE_READ stepperX.isEnabled()
#else #else
#if ENABLED(HAVE_TMC2130) && ENABLED(X_IS_TMC2130) #if ENABLED(X_IS_TMC2130)
extern TMC2130Stepper stepperX; extern TMC2130Stepper stepperX;
#elif ENABLED(HAVE_TMC2208) && ENABLED(X_IS_TMC2208) #elif ENABLED(X_IS_TMC2208)
extern TMC2208Stepper stepperX; extern TMC2208Stepper stepperX;
#endif #endif
#define X_ENABLE_INIT SET_OUTPUT(X_ENABLE_PIN) #define X_ENABLE_INIT SET_OUTPUT(X_ENABLE_PIN)
@ -105,7 +108,7 @@
#define X_STEP_READ READ(X_STEP_PIN) #define X_STEP_READ READ(X_STEP_PIN)
// Y Stepper // Y Stepper
#if ENABLED(HAVE_L6470DRIVER) && ENABLED(Y_IS_L6470) #if ENABLED(Y_IS_L6470)
extern L6470 stepperY; extern L6470 stepperY;
#define Y_ENABLE_INIT NOOP #define Y_ENABLE_INIT NOOP
#define Y_ENABLE_WRITE(STATE) do{ if (STATE) stepperY.Step_Clock(stepperY.getStatus() & STATUS_HIZ); else stepperY.softFree(); }while(0) #define Y_ENABLE_WRITE(STATE) do{ if (STATE) stepperY.Step_Clock(stepperY.getStatus() & STATUS_HIZ); else stepperY.softFree(); }while(0)
@ -114,15 +117,15 @@
#define Y_DIR_WRITE(STATE) stepperY.Step_Clock(STATE) #define Y_DIR_WRITE(STATE) stepperY.Step_Clock(STATE)
#define Y_DIR_READ (stepperY.getStatus() & STATUS_DIR) #define Y_DIR_READ (stepperY.getStatus() & STATUS_DIR)
#else #else
#if ENABLED(HAVE_TMC26X) && ENABLED(Y_IS_TMC26X) #if ENABLED(Y_IS_TMC26X)
extern TMC26XStepper stepperY; extern TMC26XStepper stepperY;
#define Y_ENABLE_INIT NOOP #define Y_ENABLE_INIT NOOP
#define Y_ENABLE_WRITE(STATE) stepperY.setEnabled(STATE) #define Y_ENABLE_WRITE(STATE) stepperY.setEnabled(STATE)
#define Y_ENABLE_READ stepperY.isEnabled() #define Y_ENABLE_READ stepperY.isEnabled()
#else #else
#if ENABLED(HAVE_TMC2130) && ENABLED(Y_IS_TMC2130) #if ENABLED(Y_IS_TMC2130)
extern TMC2130Stepper stepperY; extern TMC2130Stepper stepperY;
#elif ENABLED(HAVE_TMC2208) && ENABLED(Y_IS_TMC2208) #elif ENABLED(Y_IS_TMC2208)
extern TMC2208Stepper stepperY; extern TMC2208Stepper stepperY;
#endif #endif
#define Y_ENABLE_INIT SET_OUTPUT(Y_ENABLE_PIN) #define Y_ENABLE_INIT SET_OUTPUT(Y_ENABLE_PIN)
@ -138,7 +141,7 @@
#define Y_STEP_READ READ(Y_STEP_PIN) #define Y_STEP_READ READ(Y_STEP_PIN)
// Z Stepper // Z Stepper
#if ENABLED(HAVE_L6470DRIVER) && ENABLED(Z_IS_L6470) #if ENABLED(Z_IS_L6470)
extern L6470 stepperZ; extern L6470 stepperZ;
#define Z_ENABLE_INIT NOOP #define Z_ENABLE_INIT NOOP
#define Z_ENABLE_WRITE(STATE) do{ if (STATE) stepperZ.Step_Clock(stepperZ.getStatus() & STATUS_HIZ); else stepperZ.softFree(); }while(0) #define Z_ENABLE_WRITE(STATE) do{ if (STATE) stepperZ.Step_Clock(stepperZ.getStatus() & STATUS_HIZ); else stepperZ.softFree(); }while(0)
@ -147,15 +150,15 @@
#define Z_DIR_WRITE(STATE) stepperZ.Step_Clock(STATE) #define Z_DIR_WRITE(STATE) stepperZ.Step_Clock(STATE)
#define Z_DIR_READ (stepperZ.getStatus() & STATUS_DIR) #define Z_DIR_READ (stepperZ.getStatus() & STATUS_DIR)
#else #else
#if ENABLED(HAVE_TMC26X) && ENABLED(Z_IS_TMC26X) #if ENABLED(Z_IS_TMC26X)
extern TMC26XStepper stepperZ; extern TMC26XStepper stepperZ;
#define Z_ENABLE_INIT NOOP #define Z_ENABLE_INIT NOOP
#define Z_ENABLE_WRITE(STATE) stepperZ.setEnabled(STATE) #define Z_ENABLE_WRITE(STATE) stepperZ.setEnabled(STATE)
#define Z_ENABLE_READ stepperZ.isEnabled() #define Z_ENABLE_READ stepperZ.isEnabled()
#else #else
#if ENABLED(HAVE_TMC2130) && ENABLED(Z_IS_TMC2130) #if ENABLED(Z_IS_TMC2130)
extern TMC2130Stepper stepperZ; extern TMC2130Stepper stepperZ;
#elif ENABLED(HAVE_TMC2208) && ENABLED(Z_IS_TMC2208) #elif ENABLED(Z_IS_TMC2208)
extern TMC2208Stepper stepperZ; extern TMC2208Stepper stepperZ;
#endif #endif
#define Z_ENABLE_INIT SET_OUTPUT(Z_ENABLE_PIN) #define Z_ENABLE_INIT SET_OUTPUT(Z_ENABLE_PIN)
@ -172,7 +175,7 @@
// X2 Stepper // X2 Stepper
#if HAS_X2_ENABLE #if HAS_X2_ENABLE
#if ENABLED(HAVE_L6470DRIVER) && ENABLED(X2_IS_L6470) #if ENABLED(X2_IS_L6470)
extern L6470 stepperX2; extern L6470 stepperX2;
#define X2_ENABLE_INIT NOOP #define X2_ENABLE_INIT NOOP
#define X2_ENABLE_WRITE(STATE) do{ if (STATE) stepperX2.Step_Clock(stepperX2.getStatus() & STATUS_HIZ); else stepperX2.softFree(); }while(0) #define X2_ENABLE_WRITE(STATE) do{ if (STATE) stepperX2.Step_Clock(stepperX2.getStatus() & STATUS_HIZ); else stepperX2.softFree(); }while(0)
@ -181,15 +184,15 @@
#define X2_DIR_WRITE(STATE) stepperX2.Step_Clock(STATE) #define X2_DIR_WRITE(STATE) stepperX2.Step_Clock(STATE)
#define X2_DIR_READ (stepperX2.getStatus() & STATUS_DIR) #define X2_DIR_READ (stepperX2.getStatus() & STATUS_DIR)
#else #else
#if ENABLED(HAVE_TMC26X) && ENABLED(X2_IS_TMC26X) #if ENABLED(X2_IS_TMC26X)
extern TMC26XStepper stepperX2; extern TMC26XStepper stepperX2;
#define X2_ENABLE_INIT NOOP #define X2_ENABLE_INIT NOOP
#define X2_ENABLE_WRITE(STATE) stepperX2.setEnabled(STATE) #define X2_ENABLE_WRITE(STATE) stepperX2.setEnabled(STATE)
#define X2_ENABLE_READ stepperX2.isEnabled() #define X2_ENABLE_READ stepperX2.isEnabled()
#else #else
#if ENABLED(HAVE_TMC2130) && ENABLED(X2_IS_TMC2130) #if ENABLED(X2_IS_TMC2130)
extern TMC2130Stepper stepperX2; extern TMC2130Stepper stepperX2;
#elif ENABLED(HAVE_TMC2208) && ENABLED(X2_IS_TMC2208) #elif ENABLED(X2_IS_TMC2208)
extern TMC2208Stepper stepperX2; extern TMC2208Stepper stepperX2;
#endif #endif
#define X2_ENABLE_INIT SET_OUTPUT(X2_ENABLE_PIN) #define X2_ENABLE_INIT SET_OUTPUT(X2_ENABLE_PIN)
@ -207,7 +210,7 @@
// Y2 Stepper // Y2 Stepper
#if HAS_Y2_ENABLE #if HAS_Y2_ENABLE
#if ENABLED(HAVE_L6470DRIVER) && ENABLED(Y2_IS_L6470) #if ENABLED(Y2_IS_L6470)
extern L6470 stepperY2; extern L6470 stepperY2;
#define Y2_ENABLE_INIT NOOP #define Y2_ENABLE_INIT NOOP
#define Y2_ENABLE_WRITE(STATE) do{ if (STATE) stepperY2.Step_Clock(stepperY2.getStatus() & STATUS_HIZ); else stepperY2.softFree(); }while(0) #define Y2_ENABLE_WRITE(STATE) do{ if (STATE) stepperY2.Step_Clock(stepperY2.getStatus() & STATUS_HIZ); else stepperY2.softFree(); }while(0)
@ -216,15 +219,15 @@
#define Y2_DIR_WRITE(STATE) stepperY2.Step_Clock(STATE) #define Y2_DIR_WRITE(STATE) stepperY2.Step_Clock(STATE)
#define Y2_DIR_READ (stepperY2.getStatus() & STATUS_DIR) #define Y2_DIR_READ (stepperY2.getStatus() & STATUS_DIR)
#else #else
#if ENABLED(HAVE_TMC26X) && ENABLED(Y2_IS_TMC26X) #if ENABLED(Y2_IS_TMC26X)
extern TMC26XStepper stepperY2; extern TMC26XStepper stepperY2;
#define Y2_ENABLE_INIT NOOP #define Y2_ENABLE_INIT NOOP
#define Y2_ENABLE_WRITE(STATE) stepperY2.setEnabled(STATE) #define Y2_ENABLE_WRITE(STATE) stepperY2.setEnabled(STATE)
#define Y2_ENABLE_READ stepperY2.isEnabled() #define Y2_ENABLE_READ stepperY2.isEnabled()
#else #else
#if ENABLED(HAVE_TMC2130) && ENABLED(Y2_IS_TMC2130) #if ENABLED(Y2_IS_TMC2130)
extern TMC2130Stepper stepperY2; extern TMC2130Stepper stepperY2;
#elif ENABLED(HAVE_TMC2208) && ENABLED(Y2_IS_TMC2208) #elif ENABLED(Y2_IS_TMC2208)
extern TMC2208Stepper stepperY2; extern TMC2208Stepper stepperY2;
#endif #endif
#define Y2_ENABLE_INIT SET_OUTPUT(Y2_ENABLE_PIN) #define Y2_ENABLE_INIT SET_OUTPUT(Y2_ENABLE_PIN)
@ -242,7 +245,7 @@
// Z2 Stepper // Z2 Stepper
#if HAS_Z2_ENABLE #if HAS_Z2_ENABLE
#if ENABLED(HAVE_L6470DRIVER) && ENABLED(Z2_IS_L6470) #if ENABLED(Z2_IS_L6470)
extern L6470 stepperZ2; extern L6470 stepperZ2;
#define Z2_ENABLE_INIT NOOP #define Z2_ENABLE_INIT NOOP
#define Z2_ENABLE_WRITE(STATE) do{ if (STATE) stepperZ2.Step_Clock(stepperZ2.getStatus() & STATUS_HIZ); else stepperZ2.softFree(); }while(0) #define Z2_ENABLE_WRITE(STATE) do{ if (STATE) stepperZ2.Step_Clock(stepperZ2.getStatus() & STATUS_HIZ); else stepperZ2.softFree(); }while(0)
@ -251,15 +254,15 @@
#define Z2_DIR_WRITE(STATE) stepperZ2.Step_Clock(STATE) #define Z2_DIR_WRITE(STATE) stepperZ2.Step_Clock(STATE)
#define Z2_DIR_READ (stepperZ2.getStatus() & STATUS_DIR) #define Z2_DIR_READ (stepperZ2.getStatus() & STATUS_DIR)
#else #else
#if ENABLED(HAVE_TMC26X) && ENABLED(Z2_IS_TMC26X) #if ENABLED(Z2_IS_TMC26X)
extern TMC26XStepper stepperZ2; extern TMC26XStepper stepperZ2;
#define Z2_ENABLE_INIT NOOP #define Z2_ENABLE_INIT NOOP
#define Z2_ENABLE_WRITE(STATE) stepperZ2.setEnabled(STATE) #define Z2_ENABLE_WRITE(STATE) stepperZ2.setEnabled(STATE)
#define Z2_ENABLE_READ stepperZ2.isEnabled() #define Z2_ENABLE_READ stepperZ2.isEnabled()
#else #else
#if ENABLED(HAVE_TMC2130) && ENABLED(Z2_IS_TMC2130) #if ENABLED(Z2_IS_TMC2130)
extern TMC2130Stepper stepperZ2; extern TMC2130Stepper stepperZ2;
#elif ENABLED(HAVE_TMC2208) && ENABLED(Z2_IS_TMC2208) #elif ENABLED(Z2_IS_TMC2208)
extern TMC2208Stepper stepperZ2; extern TMC2208Stepper stepperZ2;
#endif #endif
#define Z2_ENABLE_INIT SET_OUTPUT(Z2_ENABLE_PIN) #define Z2_ENABLE_INIT SET_OUTPUT(Z2_ENABLE_PIN)
@ -276,7 +279,7 @@
#endif #endif
// E0 Stepper // E0 Stepper
#if ENABLED(HAVE_L6470DRIVER) && ENABLED(E0_IS_L6470) #if ENABLED(E0_IS_L6470)
extern L6470 stepperE0; extern L6470 stepperE0;
#define E0_ENABLE_INIT NOOP #define E0_ENABLE_INIT NOOP
#define E0_ENABLE_WRITE(STATE) do{ if (STATE) stepperE0.Step_Clock(stepperE0.getStatus() & STATUS_HIZ); else stepperE0.softFree(); }while(0) #define E0_ENABLE_WRITE(STATE) do{ if (STATE) stepperE0.Step_Clock(stepperE0.getStatus() & STATUS_HIZ); else stepperE0.softFree(); }while(0)
@ -285,15 +288,15 @@
#define E0_DIR_WRITE(STATE) stepperE0.Step_Clock(STATE) #define E0_DIR_WRITE(STATE) stepperE0.Step_Clock(STATE)
#define E0_DIR_READ (stepperE0.getStatus() & STATUS_DIR) #define E0_DIR_READ (stepperE0.getStatus() & STATUS_DIR)
#else #else
#if ENABLED(HAVE_TMC26X) && ENABLED(E0_IS_TMC26X) #if ENABLED(E0_IS_TMC26X)
extern TMC26XStepper stepperE0; extern TMC26XStepper stepperE0;
#define E0_ENABLE_INIT NOOP #define E0_ENABLE_INIT NOOP
#define E0_ENABLE_WRITE(STATE) stepperE0.setEnabled(STATE) #define E0_ENABLE_WRITE(STATE) stepperE0.setEnabled(STATE)
#define E0_ENABLE_READ stepperE0.isEnabled() #define E0_ENABLE_READ stepperE0.isEnabled()
#else #else
#if ENABLED(HAVE_TMC2130) && ENABLED(E0_IS_TMC2130) #if ENABLED(E0_IS_TMC2130)
extern TMC2130Stepper stepperE0; extern TMC2130Stepper stepperE0;
#elif ENABLED(HAVE_TMC2208) && ENABLED(E0_IS_TMC2208) #elif ENABLED(E0_IS_TMC2208)
extern TMC2208Stepper stepperE0; extern TMC2208Stepper stepperE0;
#endif #endif
#define E0_ENABLE_INIT SET_OUTPUT(E0_ENABLE_PIN) #define E0_ENABLE_INIT SET_OUTPUT(E0_ENABLE_PIN)
@ -309,7 +312,7 @@
#define E0_STEP_READ READ(E0_STEP_PIN) #define E0_STEP_READ READ(E0_STEP_PIN)
// E1 Stepper // E1 Stepper
#if ENABLED(HAVE_L6470DRIVER) && ENABLED(E1_IS_L6470) #if ENABLED(E1_IS_L6470)
extern L6470 stepperE1; extern L6470 stepperE1;
#define E1_ENABLE_INIT NOOP #define E1_ENABLE_INIT NOOP
#define E1_ENABLE_WRITE(STATE) do{ if (STATE) stepperE1.Step_Clock(stepperE1.getStatus() & STATUS_HIZ); else stepperE1.softFree(); }while(0) #define E1_ENABLE_WRITE(STATE) do{ if (STATE) stepperE1.Step_Clock(stepperE1.getStatus() & STATUS_HIZ); else stepperE1.softFree(); }while(0)
@ -318,15 +321,15 @@
#define E1_DIR_WRITE(STATE) stepperE1.Step_Clock(STATE) #define E1_DIR_WRITE(STATE) stepperE1.Step_Clock(STATE)
#define E1_DIR_READ (stepperE1.getStatus() & STATUS_DIR) #define E1_DIR_READ (stepperE1.getStatus() & STATUS_DIR)
#else #else
#if ENABLED(HAVE_TMC26X) && ENABLED(E1_IS_TMC26X) #if ENABLED(E1_IS_TMC26X)
extern TMC26XStepper stepperE1; extern TMC26XStepper stepperE1;
#define E1_ENABLE_INIT NOOP #define E1_ENABLE_INIT NOOP
#define E1_ENABLE_WRITE(STATE) stepperE1.setEnabled(STATE) #define E1_ENABLE_WRITE(STATE) stepperE1.setEnabled(STATE)
#define E1_ENABLE_READ stepperE1.isEnabled() #define E1_ENABLE_READ stepperE1.isEnabled()
#else #else
#if ENABLED(HAVE_TMC2130) && ENABLED(E1_IS_TMC2130) #if ENABLED(E1_IS_TMC2130)
extern TMC2130Stepper stepperE1; extern TMC2130Stepper stepperE1;
#elif ENABLED(HAVE_TMC2208) && ENABLED(E1_IS_TMC2208) #elif ENABLED(E1_IS_TMC2208)
extern TMC2208Stepper stepperE1; extern TMC2208Stepper stepperE1;
#endif #endif
#define E1_ENABLE_INIT SET_OUTPUT(E1_ENABLE_PIN) #define E1_ENABLE_INIT SET_OUTPUT(E1_ENABLE_PIN)
@ -342,7 +345,7 @@
#define E1_STEP_READ READ(E1_STEP_PIN) #define E1_STEP_READ READ(E1_STEP_PIN)
// E2 Stepper // E2 Stepper
#if ENABLED(HAVE_L6470DRIVER) && ENABLED(E2_IS_L6470) #if ENABLED(E2_IS_L6470)
extern L6470 stepperE2; extern L6470 stepperE2;
#define E2_ENABLE_INIT NOOP #define E2_ENABLE_INIT NOOP
#define E2_ENABLE_WRITE(STATE) do{ if (STATE) stepperE2.Step_Clock(stepperE2.getStatus() & STATUS_HIZ); else stepperE2.softFree(); }while(0) #define E2_ENABLE_WRITE(STATE) do{ if (STATE) stepperE2.Step_Clock(stepperE2.getStatus() & STATUS_HIZ); else stepperE2.softFree(); }while(0)
@ -351,15 +354,15 @@
#define E2_DIR_WRITE(STATE) stepperE2.Step_Clock(STATE) #define E2_DIR_WRITE(STATE) stepperE2.Step_Clock(STATE)
#define E2_DIR_READ (stepperE2.getStatus() & STATUS_DIR) #define E2_DIR_READ (stepperE2.getStatus() & STATUS_DIR)
#else #else
#if ENABLED(HAVE_TMC26X) && ENABLED(E2_IS_TMC26X) #if ENABLED(E2_IS_TMC26X)
extern TMC26XStepper stepperE2; extern TMC26XStepper stepperE2;
#define E2_ENABLE_INIT NOOP #define E2_ENABLE_INIT NOOP
#define E2_ENABLE_WRITE(STATE) stepperE2.setEnabled(STATE) #define E2_ENABLE_WRITE(STATE) stepperE2.setEnabled(STATE)
#define E2_ENABLE_READ stepperE2.isEnabled() #define E2_ENABLE_READ stepperE2.isEnabled()
#else #else
#if ENABLED(HAVE_TMC2130) && ENABLED(E2_IS_TMC2130) #if ENABLED(E2_IS_TMC2130)
extern TMC2130Stepper stepperE2; extern TMC2130Stepper stepperE2;
#elif ENABLED(HAVE_TMC2208) && ENABLED(E2_IS_TMC2208) #elif ENABLED(E2_IS_TMC2208)
extern TMC2208Stepper stepperE2; extern TMC2208Stepper stepperE2;
#endif #endif
#define E2_ENABLE_INIT SET_OUTPUT(E2_ENABLE_PIN) #define E2_ENABLE_INIT SET_OUTPUT(E2_ENABLE_PIN)
@ -375,7 +378,7 @@
#define E2_STEP_READ READ(E2_STEP_PIN) #define E2_STEP_READ READ(E2_STEP_PIN)
// E3 Stepper // E3 Stepper
#if ENABLED(HAVE_L6470DRIVER) && ENABLED(E3_IS_L6470) #if ENABLED(E3_IS_L6470)
extern L6470 stepperE3; extern L6470 stepperE3;
#define E3_ENABLE_INIT NOOP #define E3_ENABLE_INIT NOOP
#define E3_ENABLE_WRITE(STATE) do{ if (STATE) stepperE3.Step_Clock(stepperE3.getStatus() & STATUS_HIZ); else stepperE3.softFree(); }while(0) #define E3_ENABLE_WRITE(STATE) do{ if (STATE) stepperE3.Step_Clock(stepperE3.getStatus() & STATUS_HIZ); else stepperE3.softFree(); }while(0)
@ -384,15 +387,15 @@
#define E3_DIR_WRITE(STATE) stepperE3.Step_Clock(STATE) #define E3_DIR_WRITE(STATE) stepperE3.Step_Clock(STATE)
#define E3_DIR_READ (stepperE3.getStatus() & STATUS_DIR) #define E3_DIR_READ (stepperE3.getStatus() & STATUS_DIR)
#else #else
#if ENABLED(HAVE_TMC26X) && ENABLED(E3_IS_TMC26X) #if ENABLED(E3_IS_TMC26X)
extern TMC26XStepper stepperE3; extern TMC26XStepper stepperE3;
#define E3_ENABLE_INIT NOOP #define E3_ENABLE_INIT NOOP
#define E3_ENABLE_WRITE(STATE) stepperE3.setEnabled(STATE) #define E3_ENABLE_WRITE(STATE) stepperE3.setEnabled(STATE)
#define E3_ENABLE_READ stepperE3.isEnabled() #define E3_ENABLE_READ stepperE3.isEnabled()
#else #else
#if ENABLED(HAVE_TMC2130) && ENABLED(E3_IS_TMC2130) #if ENABLED(E3_IS_TMC2130)
extern TMC2130Stepper stepperE3; extern TMC2130Stepper stepperE3;
#elif ENABLED(HAVE_TMC2208) && ENABLED(E3_IS_TMC2208) #elif ENABLED(E3_IS_TMC2208)
extern TMC2208Stepper stepperE3; extern TMC2208Stepper stepperE3;
#endif #endif
#define E3_ENABLE_INIT SET_OUTPUT(E3_ENABLE_PIN) #define E3_ENABLE_INIT SET_OUTPUT(E3_ENABLE_PIN)
@ -408,7 +411,7 @@
#define E3_STEP_READ READ(E3_STEP_PIN) #define E3_STEP_READ READ(E3_STEP_PIN)
// E4 Stepper // E4 Stepper
#if ENABLED(HAVE_L6470DRIVER) && ENABLED(E4_IS_L6470) #if ENABLED(E4_IS_L6470)
extern L6470 stepperE4; extern L6470 stepperE4;
#define E4_ENABLE_INIT NOOP #define E4_ENABLE_INIT NOOP
#define E4_ENABLE_WRITE(STATE) do{ if (STATE) stepperE4.Step_Clock(stepperE4.getStatus() & STATUS_HIZ); else stepperE4.softFree(); }while(0) #define E4_ENABLE_WRITE(STATE) do{ if (STATE) stepperE4.Step_Clock(stepperE4.getStatus() & STATUS_HIZ); else stepperE4.softFree(); }while(0)
@ -417,15 +420,15 @@
#define E4_DIR_WRITE(STATE) stepperE4.Step_Clock(STATE) #define E4_DIR_WRITE(STATE) stepperE4.Step_Clock(STATE)
#define E4_DIR_READ (stepperE4.getStatus() & STATUS_DIR) #define E4_DIR_READ (stepperE4.getStatus() & STATUS_DIR)
#else #else
#if ENABLED(HAVE_TMC26X) && ENABLED(E4_IS_TMC26X) #if ENABLED(E4_IS_TMC26X)
extern TMC26XStepper stepperE4; extern TMC26XStepper stepperE4;
#define E4_ENABLE_INIT NOOP #define E4_ENABLE_INIT NOOP
#define E4_ENABLE_WRITE(STATE) stepperE4.setEnabled(STATE) #define E4_ENABLE_WRITE(STATE) stepperE4.setEnabled(STATE)
#define E4_ENABLE_READ stepperE4.isEnabled() #define E4_ENABLE_READ stepperE4.isEnabled()
#else #else
#if ENABLED(HAVE_TMC2130) && ENABLED(E4_IS_TMC2130) #if ENABLED(E4_IS_TMC2130)
extern TMC2130Stepper stepperE4; extern TMC2130Stepper stepperE4;
#elif ENABLED(HAVE_TMC2208) && ENABLED(E4_IS_TMC2208) #elif ENABLED(E4_IS_TMC2208)
extern TMC2208Stepper stepperE4; extern TMC2208Stepper stepperE4;
#endif #endif
#define E4_ENABLE_INIT SET_OUTPUT(E4_ENABLE_PIN) #define E4_ENABLE_INIT SET_OUTPUT(E4_ENABLE_PIN)