Firmware2/Marlin/stepper_indirection.h

/*
  stepper_indirection.h - stepper motor driver indirection macros
  to allow some stepper functions to be done via SPI/I2c instead of direct pin manipulation
  Part of Marlin

  Copyright (c) 2015 Dominik Wenger

  Marlin is free software: you can redistribute it and/or modify
  it under the terms of the GNU General Public License as published by
  the Free Software Foundation, either version 3 of the License, or
  (at your option) any later version.

  Marlin is distributed in the hope that it will be useful,
  but WITHOUT ANY WARRANTY; without even the implied warranty of
  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  GNU General Public License for more details.

  You should have received a copy of the GNU General Public License
  along with Marlin.  If not, see <http://www.gnu.org/licenses/>.
*/

#ifndef STEPPER_INDIRECTION_H
#define STEPPER_INDIRECTION_H

#include "macros.h"

// X motor
#define X_STEP_INIT SET_OUTPUT(X_STEP_PIN)
#define X_STEP_WRITE(STATE) WRITE(X_STEP_PIN,STATE)
#define X_STEP_READ READ(X_STEP_PIN)

#define X_DIR_INIT SET_OUTPUT(X_DIR_PIN)
#define X_DIR_WRITE(STATE) WRITE(X_DIR_PIN,STATE)
#define X_DIR_READ READ(X_DIR_PIN)

#define X_ENABLE_INIT SET_OUTPUT(X_ENABLE_PIN)
#define X_ENABLE_WRITE(STATE) WRITE(X_ENABLE_PIN,STATE)
#define X_ENABLE_READ READ(X_ENABLE_PIN)

// X2 motor
#define X2_STEP_INIT SET_OUTPUT(X2_STEP_PIN)
#define X2_STEP_WRITE(STATE) WRITE(X2_STEP_PIN,STATE)
#define X2_STEP_READ READ(X2_STEP_PIN)

#define X2_DIR_INIT SET_OUTPUT(X2_DIR_PIN)
#define X2_DIR_WRITE(STATE) WRITE(X2_DIR_PIN,STATE)
#define X2_DIR_READ READ(X_DIR_PIN)

#define X2_ENABLE_INIT SET_OUTPUT(X2_ENABLE_PIN)
#define X2_ENABLE_WRITE(STATE) WRITE(X2_ENABLE_PIN,STATE)
#define X2_ENABLE_READ READ(X_ENABLE_PIN)

// Y motor
#define Y_STEP_INIT SET_OUTPUT(Y_STEP_PIN)
#define Y_STEP_WRITE(STATE) WRITE(Y_STEP_PIN,STATE)
#define Y_STEP_READ READ(Y_STEP_PIN)

#define Y_DIR_INIT SET_OUTPUT(Y_DIR_PIN)
#define Y_DIR_WRITE(STATE) WRITE(Y_DIR_PIN,STATE)
#define Y_DIR_READ READ(Y_DIR_PIN)

#define Y_ENABLE_INIT SET_OUTPUT(Y_ENABLE_PIN)
#define Y_ENABLE_WRITE(STATE) WRITE(Y_ENABLE_PIN,STATE)
#define Y_ENABLE_READ READ(Y_ENABLE_PIN)

// Y2 motor
#define Y2_STEP_INIT SET_OUTPUT(Y2_STEP_PIN)
#define Y2_STEP_WRITE(STATE) WRITE(Y2_STEP_PIN,STATE)
#define Y2_STEP_READ READ(Y2_STEP_PIN)

#define Y2_DIR_INIT SET_OUTPUT(Y2_DIR_PIN)
#define Y2_DIR_WRITE(STATE) WRITE(Y2_DIR_PIN,STATE)
#define Y2_DIR_READ READ(Y2_DIR_PIN)

#define Y2_ENABLE_INIT SET_OUTPUT(Y2_ENABLE_PIN)
#define Y2_ENABLE_WRITE(STATE) WRITE(Y2_ENABLE_PIN,STATE)
#define Y2_ENABLE_READ READ(Y2_ENABLE_PIN)

// Z motor
#define Z_STEP_INIT SET_OUTPUT(Z_STEP_PIN)
#define Z_STEP_WRITE(STATE) WRITE(Z_STEP_PIN,STATE)
#define Z_STEP_READ READ(Z_STEP_PIN)

#define Z_DIR_INIT SET_OUTPUT(Z_DIR_PIN)
#define Z_DIR_WRITE(STATE) WRITE(Z_DIR_PIN,STATE)
#define Z_DIR_READ READ(Z_DIR_PIN)

#define Z_ENABLE_INIT SET_OUTPUT(Z_ENABLE_PIN)
#define Z_ENABLE_WRITE(STATE) WRITE(Z_ENABLE_PIN,STATE)
#define Z_ENABLE_READ READ(Z_ENABLE_PIN)

// Z2 motor
#define Z2_STEP_INIT SET_OUTPUT(Z2_STEP_PIN)
#define Z2_STEP_WRITE(STATE) WRITE(Z2_STEP_PIN,STATE)
#define Z2_STEP_READ READ(Z2_STEP_PIN)

#define Z2_DIR_INIT SET_OUTPUT(Z2_DIR_PIN)
#define Z2_DIR_WRITE(STATE) WRITE(Z2_DIR_PIN,STATE)
#define Z2_DIR_READ READ(Z2_DIR_PIN)

#define Z2_ENABLE_INIT SET_OUTPUT(Z2_ENABLE_PIN)
#define Z2_ENABLE_WRITE(STATE) WRITE(Z2_ENABLE_PIN,STATE)
#define Z2_ENABLE_READ READ(Z2_ENABLE_PIN)

// E0 motor
#define E0_STEP_INIT SET_OUTPUT(E0_STEP_PIN)
#define E0_STEP_WRITE(STATE) WRITE(E0_STEP_PIN,STATE)
#define E0_STEP_READ READ(E0_STEP_PIN)

#define E0_DIR_INIT SET_OUTPUT(E0_DIR_PIN)
#define E0_DIR_WRITE(STATE) WRITE(E0_DIR_PIN,STATE)
#define E0_DIR_READ READ(E0_DIR_PIN)

#define E0_ENABLE_INIT SET_OUTPUT(E0_ENABLE_PIN)
#define E0_ENABLE_WRITE(STATE) WRITE(E0_ENABLE_PIN,STATE)
#define E0_ENABLE_READ READ(E0_ENABLE_PIN)

// E1 motor
#define E1_STEP_INIT SET_OUTPUT(E1_STEP_PIN)
#define E1_STEP_WRITE(STATE) WRITE(E1_STEP_PIN,STATE)
#define E1_STEP_READ READ(E1_STEP_PIN)

#define E1_DIR_INIT SET_OUTPUT(E1_DIR_PIN)
#define E1_DIR_WRITE(STATE) WRITE(E1_DIR_PIN,STATE)
#define E1_DIR_READ READ(E1_DIR_PIN)

#define E1_ENABLE_INIT SET_OUTPUT(E1_ENABLE_PIN)
#define E1_ENABLE_WRITE(STATE) WRITE(E1_ENABLE_PIN,STATE)
#define E1_ENABLE_READ READ(E1_ENABLE_PIN)

// E2 motor
#define E2_STEP_INIT SET_OUTPUT(E2_STEP_PIN)
#define E2_STEP_WRITE(STATE) WRITE(E2_STEP_PIN,STATE)
#define E2_STEP_READ READ(E2_STEP_PIN)

#define E2_DIR_INIT SET_OUTPUT(E2_DIR_PIN)
#define E2_DIR_WRITE(STATE) WRITE(E2_DIR_PIN,STATE)
#define E2_DIR_READ READ(E2_DIR_PIN)

#define E2_ENABLE_INIT SET_OUTPUT(E2_ENABLE_PIN)
#define E2_ENABLE_WRITE(STATE) WRITE(E2_ENABLE_PIN,STATE)
#define E2_ENABLE_READ READ(E2_ENABLE_PIN)

// E3 motor
#define E3_STEP_INIT SET_OUTPUT(E3_STEP_PIN)
#define E3_STEP_WRITE(STATE) WRITE(E3_STEP_PIN,STATE)
#define E3_STEP_READ READ(E3_STEP_PIN)

#define E3_DIR_INIT SET_OUTPUT(E3_DIR_PIN)
#define E3_DIR_WRITE(STATE) WRITE(E3_DIR_PIN,STATE)
#define E3_DIR_READ READ(E3_DIR_PIN)

#define E3_ENABLE_INIT SET_OUTPUT(E3_ENABLE_PIN)
#define E3_ENABLE_WRITE(STATE) WRITE(E3_ENABLE_PIN,STATE)
#define E3_ENABLE_READ READ(E3_ENABLE_PIN)

//////////////////////////////////
// Pin redefines for TMC drivers. 
// TMC26X drivers have step and dir on normal pins, but everything else via SPI
//////////////////////////////////
#ifdef HAVE_TMCDRIVER
#include <SPI.h>
#include <TMC26XStepper.h>

  void tmc_init();
#ifdef X_IS_TMC
   extern TMC26XStepper stepperX;
   #undef X_ENABLE_INIT 
   #define X_ENABLE_INIT ((void)0)
   
   #undef X_ENABLE_WRITE
   #define X_ENABLE_WRITE(STATE) stepperX.setEnabled(STATE)
   
   #undef X_ENABLE_READ
   #define X_ENABLE_READ stepperX.isEnabled()
   
#endif
#ifdef X2_IS_TMC
   extern TMC26XStepper stepperX2;
   #undef X2_ENABLE_INIT
   #define X2_ENABLE_INIT ((void)0)
   
   #undef X2_ENABLE_WRITE
   #define X2_ENABLE_WRITE(STATE) stepperX2.setEnabled(STATE)
   
   #undef X2_ENABLE_READ
   #define X2_ENABLE_READ stepperX2.isEnabled()   
#endif
#ifdef Y_IS_TMC
   extern TMC26XStepper stepperY;
   #undef Y_ENABLE_INIT
   #define Y_ENABLE_INIT ((void)0)
   
   #undef Y_ENABLE_WRITE
   #define Y_ENABLE_WRITE(STATE) stepperY.setEnabled(STATE)
   
   #undef Y_ENABLE_READ
   #define Y_ENABLE_READ stepperY.isEnabled()   
#endif
#ifdef Y2_IS_TMC
   extern TMC26XStepper stepperY2;
   #undef Y2_ENABLE_INIT
   #define Y2_ENABLE_INIT ((void)0)
   
   #undef Y2_ENABLE_WRITE
   #define Y2_ENABLE_WRITE(STATE) stepperY2.setEnabled(STATE)
   
   #undef Y2_ENABLE_READ
   #define Y2_ENABLE_READ stepperY2.isEnabled()     
#endif
#ifdef Z_IS_TMC
   extern TMC26XStepper stepperZ;
   #undef Z_ENABLE_INIT
   #define Z_ENABLE_INIT ((void)0)
   
   #undef Z_ENABLE_WRITE
   #define Z_ENABLE_WRITE(STATE) stepperZ.setEnabled(STATE)
   
   #undef Z_ENABLE_READ
   #define Z_ENABLE_READ stepperZ.isEnabled()       
#endif
#ifdef Z2_IS_TMC
   extern TMC26XStepper stepperZ2;
   #undef Z2_ENABLE_INIT
   #define Z2_ENABLE_INIT ((void)0)
   
   #undef Z2_ENABLE_WRITE
   #define Z2_ENABLE_WRITE(STATE) stepperZ2.setEnabled(STATE)
   
   #undef Z2_ENABLE_READ
   #define Z2_ENABLE_READ stepperZ2.isEnabled()   
#endif
#ifdef E0_IS_TMC
   extern TMC26XStepper stepperE0;
   #undef E0_ENABLE_INIT
   #define E0_ENABLE_INIT ((void)0)
   
   #undef E0_ENABLE_WRITE
   #define E0_ENABLE_WRITE(STATE) stepperE0.setEnabled(STATE)
   
   #undef E0_ENABLE_READ
   #define E0_ENABLE_READ stepperE0.isEnabled()   
#endif
#ifdef E1_IS_TMC
   extern TMC26XStepper stepperE1;
   #undef E1_ENABLE_INIT
   #define E1_ENABLE_INIT ((void)0)
   
   #undef E1_ENABLE_WRITE
   #define E1_ENABLE_WRITE(STATE) stepperE1.setEnabled(STATE)
   
   #undef E1_ENABLE_READ
   #define E1_ENABLE_READ stepperE1.isEnabled()   
#endif
#ifdef E2_IS_TMC
   extern TMC26XStepper stepperE2;
   #undef E2_ENABLE_INIT
   #define E2_ENABLE_INIT ((void)0)
   
   #undef E2_ENABLE_WRITE
   #define E2_ENABLE_WRITE(STATE) stepperE2.setEnabled(STATE)
   
   #undef E2_ENABLE_READ
   #define E2_ENABLE_READ stepperE2.isEnabled()   
#endif
#ifdef E3_IS_TMC
   extern TMC26XStepper stepperE3;
   #undef E3_ENABLE_INIT
   #define E3_ENABLE_INIT ((void)0)
   
   #undef E3_ENABLE_WRITE
   #define E3_ENABLE_WRITE(STATE) stepperE3.setEnabled(STATE)
   
   #undef E3_ENABLE_READ
   #define E3_ENABLE_READ stepperE3.isEnabled()   
#endif

#endif  // HAVE_TMCDRIVER

//////////////////////////////////
// Pin redefines for L6470 drivers. 
// L640 drivers have step on normal pins, but dir and everything else via SPI
//////////////////////////////////
#ifdef HAVE_L6470DRIVER

#include <SPI.h>
#include <L6470.h>

  void L6470_init();
#ifdef X_IS_L6470
   extern L6470 stepperX;
   #undef X_ENABLE_INIT 
   #define X_ENABLE_INIT ((void)0)
   
   #undef X_ENABLE_WRITE
   #define X_ENABLE_WRITE(STATE) {if(STATE) stepperX.Step_Clock(stepperX.getStatus() & STATUS_HIZ); else stepperX.softFree();}
   
   #undef X_ENABLE_READ
   #define X_ENABLE_READ (stepperX.getStatus() & STATUS_HIZ)
   
   #undef X_DIR_INIT 
   #define X_DIR_INIT ((void)0)
   
   #undef X_DIR_WRITE
   #define X_DIR_WRITE(STATE) stepperX.Step_Clock(STATE)
   
   #undef X_DIR_READ
   #define X_DIR_READ (stepperX.getStatus() & STATUS_DIR)
   
#endif
#ifdef X2_IS_L6470
   extern L6470 stepperX2;
   #undef X2_ENABLE_INIT
   #define X2_ENABLE_INIT ((void)0)
   
   #undef X2_ENABLE_WRITE
   #define X2_ENABLE_WRITE(STATE) (if(STATE) stepperX2.Step_Clock(stepperX2.getStatus() & STATUS_HIZ); else stepperX2.softFree();)
   
   #undef X2_ENABLE_READ
   #define X2_ENABLE_READ (stepperX2.getStatus() & STATUS_HIZ)
   
   #undef X2_DIR_INIT 
   #define X2_DIR_INIT ((void)0)
   
   #undef X2_DIR_WRITE
   #define X2_DIR_WRITE(STATE) stepperX2.Step_Clock(STATE)
   
   #undef X2_DIR_READ
   #define X2_DIR_READ (stepperX2.getStatus() & STATUS_DIR)
#endif
#ifdef Y_IS_L6470
   extern L6470 stepperY;
   #undef Y_ENABLE_INIT
   #define Y_ENABLE_INIT ((void)0)
   
   #undef Y_ENABLE_WRITE
   #define Y_ENABLE_WRITE(STATE) (if(STATE) stepperY.Step_Clock(stepperY.getStatus() & STATUS_HIZ); else stepperY.softFree();)
   
   #undef Y_ENABLE_READ
   #define Y_ENABLE_READ (stepperY.getStatus() & STATUS_HIZ)
   
   #undef Y_DIR_INIT 
   #define Y_DIR_INIT ((void)0)
   
   #undef Y_DIR_WRITE
   #define Y_DIR_WRITE(STATE) stepperY.Step_Clock(STATE)
   
   #undef Y_DIR_READ
   #define Y_DIR_READ (stepperY.getStatus() & STATUS_DIR)  
#endif
#ifdef Y2_IS_L6470
   extern L6470 stepperY2;
   #undef Y2_ENABLE_INIT
   #define Y2_ENABLE_INIT ((void)0)
   
   #undef Y2_ENABLE_WRITE
   #define Y2_ENABLE_WRITE(STATE) (if(STATE) stepperY2.Step_Clock(stepperY2.getStatus() & STATUS_HIZ); else stepperY2.softFree();)
   
   #undef Y2_ENABLE_READ
   #define Y2_ENABLE_READ (stepperY2.getStatus() & STATUS_HIZ)
   
   #undef Y2_DIR_INIT 
   #define Y2_DIR_INIT ((void)0)
   
   #undef Y2_DIR_WRITE
   #define Y2_DIR_WRITE(STATE) stepperY2.Step_Clock(STATE)
   
   #undef Y2_DIR_READ
   #define Y2_DIR_READ (stepperY2.getStatus() & STATUS_DIR)   
#endif
#ifdef Z_IS_L6470
   extern L6470 stepperZ;
   #undef Z_ENABLE_INIT
   #define Z_ENABLE_INIT ((void)0)
   
   #undef Z_ENABLE_WRITE
   #define Z_ENABLE_WRITE(STATE) (if(STATE) stepperZ.Step_Clock(stepperZ.getStatus() & STATUS_HIZ); else stepperZ.softFree();)
   
   #undef Z_ENABLE_READ
   #define Z_ENABLE_READ (stepperZ.getStatus() & STATUS_HIZ)
   
   #undef Z_DIR_INIT 
   #define Z_DIR_INIT ((void)0)
   
   #undef Z_DIR_WRITE
   #define Z_DIR_WRITE(STATE) stepperZ.Step_Clock(STATE)
   
   #undef Y_DIR_READ
   #define Y_DIR_READ (stepperZ.getStatus() & STATUS_DIR)      
#endif
#ifdef Z2_IS_L6470
   extern L6470 stepperZ2;
   #undef Z2_ENABLE_INIT
   #define Z2_ENABLE_INIT ((void)0)
   
   #undef Z2_ENABLE_WRITE
   #define Z2_ENABLE_WRITE(STATE) (if(STATE) stepperZ2.Step_Clock(stepperZ2.getStatus() & STATUS_HIZ); else stepperZ2.softFree();)
   
   #undef Z2_ENABLE_READ
   #define Z2_ENABLE_READ (stepperZ2.getStatus() & STATUS_HIZ)
   
   #undef Z2_DIR_INIT 
   #define Z2_DIR_INIT ((void)0)
   
   #undef Z2_DIR_WRITE
   #define Z2_DIR_WRITE(STATE) stepperZ2.Step_Clock(STATE)
   
   #undef Y2_DIR_READ
   #define Y2_DIR_READ (stepperZ2.getStatus() & STATUS_DIR)       
#endif
#ifdef E0_IS_L6470
   extern L6470 stepperE0;
   #undef E0_ENABLE_INIT
   #define E0_ENABLE_INIT ((void)0)
   
   #undef E0_ENABLE_WRITE
   #define E0_ENABLE_WRITE(STATE) (if(STATE) stepperE0.Step_Clock(stepperE0.getStatus() & STATUS_HIZ); else stepperE0.softFree();)
   
   #undef E0_ENABLE_READ
   #define E0_ENABLE_READ (stepperE0.getStatus() & STATUS_HIZ)
   
   #undef E0_DIR_INIT 
   #define E0_DIR_INIT ((void)0)
   
   #undef E0_DIR_WRITE
   #define E0_DIR_WRITE(STATE) stepperE0.Step_Clock(STATE)
   
   #undef E0_DIR_READ
   #define E0_DIR_READ (stepperE0.getStatus() & STATUS_DIR)    
#endif
#ifdef E1_IS_L6470
   extern L6470 stepperE1;
   #undef E1_ENABLE_INIT
   #define E1_ENABLE_INIT ((void)0)
   
   #undef E1_ENABLE_WRITE
   #define E1_ENABLE_WRITE(STATE) (if(STATE) stepperE1.Step_Clock(stepperE1.getStatus() & STATUS_HIZ); else stepperE1.softFree();)
   
   #undef E1_ENABLE_READ
   #define E1_ENABLE_READ (stepperE1.getStatus() & STATUS_HIZ)
   
   #undef E1_DIR_INIT 
   #define E1_DIR_INIT ((void)0)
   
   #undef E1_DIR_WRITE
   #define E1_DIR_WRITE(STATE) stepperE1.Step_Clock(STATE)
   
   #undef E1_DIR_READ
   #define E1_DIR_READ (stepperE1.getStatus() & STATUS_DIR)  
#endif
#ifdef E2_IS_L6470
   extern L6470 stepperE2;
   #undef E2_ENABLE_INIT
   #define E2_ENABLE_INIT ((void)0)
   
   #undef E2_ENABLE_WRITE
   #define E2_ENABLE_WRITE(STATE) (if(STATE) stepperE2.Step_Clock(stepperE2.getStatus() & STATUS_HIZ); else stepperE2.softFree();)
   
   #undef E2_ENABLE_READ
   #define E2_ENABLE_READ (stepperE2.getStatus() & STATUS_HIZ)
   
   #undef E2_DIR_INIT 
   #define E2_DIR_INIT ((void)0)
   
   #undef E2_DIR_WRITE
   #define E2_DIR_WRITE(STATE) stepperE2.Step_Clock(STATE)
   
   #undef E2_DIR_READ
   #define E2_DIR_READ (stepperE2.getStatus() & STATUS_DIR)  
#endif
#ifdef E3_IS_L6470
   extern L6470 stepperE3;
   #undef E3_ENABLE_INIT
   #define E3_ENABLE_INIT ((void)0)
   
   #undef E3_ENABLE_WRITE
   #define E3_ENABLE_WRITE(STATE) (if(STATE) stepperE3.Step_Clock(stepperE3.getStatus() & STATUS_HIZ); else stepperE3.softFree();)
   
   #undef E3_ENABLE_READ
   #define E3_ENABLE_READ (stepperE3.getStatus() & STATUS_HIZ)
   
   #undef E3_DIR_INIT 
   #define E3_DIR_INIT ((void)0)
   
   #undef E3_DIR_WRITE
   #define E3_DIR_WRITE(STATE) stepperE3.Step_Clock(STATE)
   
   #undef E3_DIR_READ
   #define E3_DIR_READ (stepperE3.getStatus() & STATUS_DIR)  
#endif

#endif  //HAVE_L6470DRIVER

#endif // STEPPER_INDIRECTION_H