diff --git a/Marlin/stepper_indirection.cpp b/Marlin/stepper_indirection.cpp index 9cea0ac35b..778f448937 100644 --- a/Marlin/stepper_indirection.cpp +++ b/Marlin/stepper_indirection.cpp @@ -45,88 +45,88 @@ #include "MarlinConfig.h" +// +// TMC26X Driver objects and inits +// #if ENABLED(HAVE_TMCDRIVER) + #include #include -#endif -// Stepper objects of TMC steppers used -#if ENABLED(X_IS_TMC) - TMC26XStepper stepperX(200, X_ENABLE_PIN, X_STEP_PIN, X_DIR_PIN, X_MAX_CURRENT, X_SENSE_RESISTOR); -#endif -#if ENABLED(X2_IS_TMC) - TMC26XStepper stepperX2(200, X2_ENABLE_PIN, X2_STEP_PIN, X2_DIR_PIN, X2_MAX_CURRENT, X2_SENSE_RESISTOR); -#endif -#if ENABLED(Y_IS_TMC) - TMC26XStepper stepperY(200, Y_ENABLE_PIN, Y_STEP_PIN, Y_DIR_PIN, Y_MAX_CURRENT, Y_SENSE_RESISTOR); -#endif -#if ENABLED(Y2_IS_TMC) - TMC26XStepper stepperY2(200, Y2_ENABLE_PIN, Y2_STEP_PIN, Y2_DIR_PIN, Y2_MAX_CURRENT, Y2_SENSE_RESISTOR); -#endif -#if ENABLED(Z_IS_TMC) - TMC26XStepper stepperZ(200, Z_ENABLE_PIN, Z_STEP_PIN, Z_DIR_PIN, Z_MAX_CURRENT, Z_SENSE_RESISTOR); -#endif -#if ENABLED(Z2_IS_TMC) - TMC26XStepper stepperZ2(200, Z2_ENABLE_PIN, Z2_STEP_PIN, Z2_DIR_PIN, Z2_MAX_CURRENT, Z2_SENSE_RESISTOR); -#endif -#if ENABLED(E0_IS_TMC) - TMC26XStepper stepperE0(200, E0_ENABLE_PIN, E0_STEP_PIN, E0_DIR_PIN, E0_MAX_CURRENT, E0_SENSE_RESISTOR); -#endif -#if ENABLED(E1_IS_TMC) - TMC26XStepper stepperE1(200, E1_ENABLE_PIN, E1_STEP_PIN, E1_DIR_PIN, E1_MAX_CURRENT, E1_SENSE_RESISTOR); -#endif -#if ENABLED(E2_IS_TMC) - TMC26XStepper stepperE2(200, E2_ENABLE_PIN, E2_STEP_PIN, E2_DIR_PIN, E2_MAX_CURRENT, E2_SENSE_RESISTOR); -#endif -#if ENABLED(E3_IS_TMC) - TMC26XStepper stepperE3(200, E3_ENABLE_PIN, E3_STEP_PIN, E3_DIR_PIN, E3_MAX_CURRENT, E3_SENSE_RESISTOR); -#endif - -#if ENABLED(HAVE_TMCDRIVER) -void tmc_init() { #if ENABLED(X_IS_TMC) - stepperX.setMicrosteps(X_MICROSTEPS); - stepperX.start(); + TMC26XStepper stepperX(200, X_ENABLE_PIN, X_STEP_PIN, X_DIR_PIN, X_MAX_CURRENT, X_SENSE_RESISTOR); #endif #if ENABLED(X2_IS_TMC) - stepperX2.setMicrosteps(X2_MICROSTEPS); - stepperX2.start(); + TMC26XStepper stepperX2(200, X2_ENABLE_PIN, X2_STEP_PIN, X2_DIR_PIN, X2_MAX_CURRENT, X2_SENSE_RESISTOR); #endif #if ENABLED(Y_IS_TMC) - stepperY.setMicrosteps(Y_MICROSTEPS); - stepperY.start(); + TMC26XStepper stepperY(200, Y_ENABLE_PIN, Y_STEP_PIN, Y_DIR_PIN, Y_MAX_CURRENT, Y_SENSE_RESISTOR); #endif #if ENABLED(Y2_IS_TMC) - stepperY2.setMicrosteps(Y2_MICROSTEPS); - stepperY2.start(); + TMC26XStepper stepperY2(200, Y2_ENABLE_PIN, Y2_STEP_PIN, Y2_DIR_PIN, Y2_MAX_CURRENT, Y2_SENSE_RESISTOR); #endif #if ENABLED(Z_IS_TMC) - stepperZ.setMicrosteps(Z_MICROSTEPS); - stepperZ.start(); + TMC26XStepper stepperZ(200, Z_ENABLE_PIN, Z_STEP_PIN, Z_DIR_PIN, Z_MAX_CURRENT, Z_SENSE_RESISTOR); #endif #if ENABLED(Z2_IS_TMC) - stepperZ2.setMicrosteps(Z2_MICROSTEPS); - stepperZ2.start(); + TMC26XStepper stepperZ2(200, Z2_ENABLE_PIN, Z2_STEP_PIN, Z2_DIR_PIN, Z2_MAX_CURRENT, Z2_SENSE_RESISTOR); #endif #if ENABLED(E0_IS_TMC) - stepperE0.setMicrosteps(E0_MICROSTEPS); - stepperE0.start(); + TMC26XStepper stepperE0(200, E0_ENABLE_PIN, E0_STEP_PIN, E0_DIR_PIN, E0_MAX_CURRENT, E0_SENSE_RESISTOR); #endif #if ENABLED(E1_IS_TMC) - stepperE1.setMicrosteps(E1_MICROSTEPS); - stepperE1.start(); + TMC26XStepper stepperE1(200, E1_ENABLE_PIN, E1_STEP_PIN, E1_DIR_PIN, E1_MAX_CURRENT, E1_SENSE_RESISTOR); #endif #if ENABLED(E2_IS_TMC) - stepperE2.setMicrosteps(E2_MICROSTEPS); - stepperE2.start(); + TMC26XStepper stepperE2(200, E2_ENABLE_PIN, E2_STEP_PIN, E2_DIR_PIN, E2_MAX_CURRENT, E2_SENSE_RESISTOR); #endif #if ENABLED(E3_IS_TMC) - stepperE3.setMicrosteps(E3_MICROSTEPS); - stepperE3.start(); + TMC26XStepper stepperE3(200, E3_ENABLE_PIN, E3_STEP_PIN, E3_DIR_PIN, E3_MAX_CURRENT, E3_SENSE_RESISTOR); #endif -} -#endif + #define _TMC_INIT(A) do{ \ + stepper##A.setMicrosteps(A##_MICROSTEPS); + stepper##A.start(); + } while(0) + + void tmc_init() { + #if ENABLED(X_IS_TMC) + _TMC_INIT(X); + #endif + #if ENABLED(X2_IS_TMC) + _TMC_INIT(X2); + #endif + #if ENABLED(Y_IS_TMC) + _TMC_INIT(Y); + #endif + #if ENABLED(Y2_IS_TMC) + _TMC_INIT(Y2); + #endif + #if ENABLED(Z_IS_TMC) + _TMC_INIT(Z); + #endif + #if ENABLED(Z2_IS_TMC) + _TMC_INIT(Z2); + #endif + #if ENABLED(E0_IS_TMC) + _TMC_INIT(E0); + #endif + #if ENABLED(E1_IS_TMC) + _TMC_INIT(E1); + #endif + #if ENABLED(E2_IS_TMC) + _TMC_INIT(E2); + #endif + #if ENABLED(E3_IS_TMC) + _TMC_INIT(E3); + #endif + } + +#endif // HAVE_TMCDRIVER + +// +// TMC2130 Driver objects and inits +// #if ENABLED(HAVE_TMC2130DRIVER) #include @@ -549,119 +549,86 @@ void tmc_init() { #endif // HAVE_TMC2130DRIVER +// // L6470 Driver objects and inits - +// #if ENABLED(HAVE_L6470DRIVER) + #include #include -#endif -// L6470 Stepper objects -#if ENABLED(X_IS_L6470) - L6470 stepperX(X_ENABLE_PIN); -#endif -#if ENABLED(X2_IS_L6470) - L6470 stepperX2(X2_ENABLE_PIN); -#endif -#if ENABLED(Y_IS_L6470) - L6470 stepperY(Y_ENABLE_PIN); -#endif -#if ENABLED(Y2_IS_L6470) - L6470 stepperY2(Y2_ENABLE_PIN); -#endif -#if ENABLED(Z_IS_L6470) - L6470 stepperZ(Z_ENABLE_PIN); -#endif -#if ENABLED(Z2_IS_L6470) - L6470 stepperZ2(Z2_ENABLE_PIN); -#endif -#if ENABLED(E0_IS_L6470) - L6470 stepperE0(E0_ENABLE_PIN); -#endif -#if ENABLED(E1_IS_L6470) - L6470 stepperE1(E1_ENABLE_PIN); -#endif -#if ENABLED(E2_IS_L6470) - L6470 stepperE2(E2_ENABLE_PIN); -#endif -#if ENABLED(E3_IS_L6470) - L6470 stepperE3(E3_ENABLE_PIN); -#endif - - -// init routine -#if ENABLED(HAVE_L6470DRIVER) -void L6470_init() { + // L6470 Stepper objects #if ENABLED(X_IS_L6470) - stepperX.init(X_K_VAL); - stepperX.softFree(); - stepperX.setMicroSteps(X_MICROSTEPS); - stepperX.setOverCurrent(X_OVERCURRENT); //set overcurrent protection - stepperX.setStallCurrent(X_STALLCURRENT); + L6470 stepperX(X_ENABLE_PIN); #endif #if ENABLED(X2_IS_L6470) - stepperX2.init(X2_K_VAL); - stepperX2.softFree(); - stepperX2.setMicroSteps(X2_MICROSTEPS); - stepperX2.setOverCurrent(X2_OVERCURRENT); //set overcurrent protection - stepperX2.setStallCurrent(X2_STALLCURRENT); + L6470 stepperX2(X2_ENABLE_PIN); #endif #if ENABLED(Y_IS_L6470) - stepperY.init(Y_K_VAL); - stepperY.softFree(); - stepperY.setMicroSteps(Y_MICROSTEPS); - stepperY.setOverCurrent(Y_OVERCURRENT); //set overcurrent protection - stepperY.setStallCurrent(Y_STALLCURRENT); + L6470 stepperY(Y_ENABLE_PIN); #endif #if ENABLED(Y2_IS_L6470) - stepperY2.init(Y2_K_VAL); - stepperY2.softFree(); - stepperY2.setMicroSteps(Y2_MICROSTEPS); - stepperY2.setOverCurrent(Y2_OVERCURRENT); //set overcurrent protection - stepperY2.setStallCurrent(Y2_STALLCURRENT); + L6470 stepperY2(Y2_ENABLE_PIN); #endif #if ENABLED(Z_IS_L6470) - stepperZ.init(Z_K_VAL); - stepperZ.softFree(); - stepperZ.setMicroSteps(Z_MICROSTEPS); - stepperZ.setOverCurrent(Z_OVERCURRENT); //set overcurrent protection - stepperZ.setStallCurrent(Z_STALLCURRENT); + L6470 stepperZ(Z_ENABLE_PIN); #endif #if ENABLED(Z2_IS_L6470) - stepperZ2.init(Z2_K_VAL); - stepperZ2.softFree(); - stepperZ2.setMicroSteps(Z2_MICROSTEPS); - stepperZ2.setOverCurrent(Z2_OVERCURRENT); //set overcurrent protection - stepperZ2.setStallCurrent(Z2_STALLCURRENT); + L6470 stepperZ2(Z2_ENABLE_PIN); #endif #if ENABLED(E0_IS_L6470) - stepperE0.init(E0_K_VAL); - stepperE0.softFree(); - stepperE0.setMicroSteps(E0_MICROSTEPS); - stepperE0.setOverCurrent(E0_OVERCURRENT); //set overcurrent protection - stepperE0.setStallCurrent(E0_STALLCURRENT); + L6470 stepperE0(E0_ENABLE_PIN); #endif #if ENABLED(E1_IS_L6470) - stepperE1.init(E1_K_VAL); - stepperE1.softFree(); - stepperE1.setMicroSteps(E1_MICROSTEPS); - stepperE1.setOverCurrent(E1_OVERCURRENT); //set overcurrent protection - stepperE1.setStallCurrent(E1_STALLCURRENT); + L6470 stepperE1(E1_ENABLE_PIN); #endif #if ENABLED(E2_IS_L6470) - stepperE2.init(E2_K_VAL); - stepperE2.softFree(); - stepperE2.setMicroSteps(E2_MICROSTEPS); - stepperE2.setOverCurrent(E2_OVERCURRENT); //set overcurrent protection - stepperE2.setStallCurrent(E2_STALLCURRENT); + L6470 stepperE2(E2_ENABLE_PIN); #endif #if ENABLED(E3_IS_L6470) - stepperE3.init(E3_K_VAL); - stepperE3.softFree(); - stepperE3.setMicroSteps(E3_MICROSTEPS); - stepperE3.setOverCurrent(E3_OVERCURRENT); //set overcurrent protection - stepperE3.setStallCurrent(E3_STALLCURRENT); + L6470 stepperE3(E3_ENABLE_PIN); #endif -} -#endif + + #define _L6470_INIT(A) do{ \ + stepper##A.init(A##_K_VAL); \ + stepper##A.softFree(); \ + stepper##A.setMicroSteps(A##_MICROSTEPS); \ + stepper##A.setOverCurrent(A##_OVERCURRENT); \ + stepper##A.setStallCurrent(A##_STALLCURRENT); \ + } while(0) + + void L6470_init() { + #if ENABLED(X_IS_L6470) + _L6470_INIT(X); + #endif + #if ENABLED(X2_IS_L6470) + _L6470_INIT(X2); + #endif + #if ENABLED(Y_IS_L6470) + _L6470_INIT(Y); + #endif + #if ENABLED(Y2_IS_L6470) + _L6470_INIT(Y2); + #endif + #if ENABLED(Z_IS_L6470) + _L6470_INIT(Z); + #endif + #if ENABLED(Z2_IS_L6470) + _L6470_INIT(Z2); + #endif + #if ENABLED(E0_IS_L6470) + _L6470_INIT(E0); + #endif + #if ENABLED(E1_IS_L6470) + _L6470_INIT(E1); + #endif + #if ENABLED(E2_IS_L6470) + _L6470_INIT(E2); + #endif + #if ENABLED(E3_IS_L6470) + _L6470_INIT(E3); + #endif + } + +#endif // HAVE_L6470DRIVER