From bf5f5f44ccbe9e91697a0f84b5992e137471cb0e Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Mon, 7 Nov 2016 14:35:14 -0600 Subject: [PATCH] Make TMC2130 init code auto-configure Simply apply enabled settings instead of requiring users to edit stepper_indirection.cpp --- Marlin/Configuration_adv.h | 7 +- .../Cartesio/Configuration_adv.h | 7 +- .../Felix/Configuration_adv.h | 7 +- .../Hephestos/Configuration_adv.h | 7 +- .../Hephestos_2/Configuration_adv.h | 7 +- .../K8200/Configuration_adv.h | 7 +- .../K8400/Configuration_adv.h | 7 +- .../RigidBot/Configuration_adv.h | 7 +- .../SCARA/Configuration_adv.h | 7 +- .../TAZ4/Configuration_adv.h | 7 +- .../WITBOX/Configuration_adv.h | 7 +- .../delta/biv2.5/Configuration_adv.h | 7 +- .../delta/generic/Configuration_adv.h | 7 +- .../delta/kossel_mini/Configuration_adv.h | 7 +- .../delta/kossel_pro/Configuration_adv.h | 7 +- .../delta/kossel_xl/Configuration_adv.h | 7 +- .../makibox/Configuration_adv.h | 7 +- .../tvrrug/Round2/Configuration_adv.h | 7 +- Marlin/stepper_indirection.cpp | 658 +++++++++++------- 19 files changed, 443 insertions(+), 341 deletions(-) diff --git a/Marlin/Configuration_adv.h b/Marlin/Configuration_adv.h index 293b207df1..ad65b72bf3 100644 --- a/Marlin/Configuration_adv.h +++ b/Marlin/Configuration_adv.h @@ -790,11 +790,8 @@ #if ENABLED(TMC2130_ADVANCED_CONFIGURATION) - // If you have enabled TMC2130_ADVANCED_CONFIGURATION, - // you can define global settings here, but you still need - // to configure the tmc2130.init() method manually in the file - // - // stepper_indirection.cpp + // If you've enabled TMC2130_ADVANCED_CONFIGURATION, define global settings below. + // Enabled settings will be automatically applied to all axes specified above. // // Please read the TMC2130 datasheet: // http://www.trinamic.com/_articles/products/integrated-circuits/tmc2130/_datasheet/TMC2130_datasheet.pdf diff --git a/Marlin/example_configurations/Cartesio/Configuration_adv.h b/Marlin/example_configurations/Cartesio/Configuration_adv.h index b5ae2551cf..d766086a8f 100644 --- a/Marlin/example_configurations/Cartesio/Configuration_adv.h +++ b/Marlin/example_configurations/Cartesio/Configuration_adv.h @@ -790,11 +790,8 @@ #if ENABLED(TMC2130_ADVANCED_CONFIGURATION) - // If you have enabled TMC2130_ADVANCED_CONFIGURATION, - // you can define global settings here, but you still need - // to configure the tmc2130.init() method manually in the file - // - // stepper_indirection.cpp + // If you've enabled TMC2130_ADVANCED_CONFIGURATION, define global settings below. + // Enabled settings will be automatically applied to all axes specified above. // // Please read the TMC2130 datasheet: // http://www.trinamic.com/_articles/products/integrated-circuits/tmc2130/_datasheet/TMC2130_datasheet.pdf diff --git a/Marlin/example_configurations/Felix/Configuration_adv.h b/Marlin/example_configurations/Felix/Configuration_adv.h index 887219f67b..3a259d7997 100644 --- a/Marlin/example_configurations/Felix/Configuration_adv.h +++ b/Marlin/example_configurations/Felix/Configuration_adv.h @@ -790,11 +790,8 @@ #if ENABLED(TMC2130_ADVANCED_CONFIGURATION) - // If you have enabled TMC2130_ADVANCED_CONFIGURATION, - // you can define global settings here, but you still need - // to configure the tmc2130.init() method manually in the file - // - // stepper_indirection.cpp + // If you've enabled TMC2130_ADVANCED_CONFIGURATION, define global settings below. + // Enabled settings will be automatically applied to all axes specified above. // // Please read the TMC2130 datasheet: // http://www.trinamic.com/_articles/products/integrated-circuits/tmc2130/_datasheet/TMC2130_datasheet.pdf diff --git a/Marlin/example_configurations/Hephestos/Configuration_adv.h b/Marlin/example_configurations/Hephestos/Configuration_adv.h index 02fbe6f5a0..bbf896c4bd 100644 --- a/Marlin/example_configurations/Hephestos/Configuration_adv.h +++ b/Marlin/example_configurations/Hephestos/Configuration_adv.h @@ -790,11 +790,8 @@ #if ENABLED(TMC2130_ADVANCED_CONFIGURATION) - // If you have enabled TMC2130_ADVANCED_CONFIGURATION, - // you can define global settings here, but you still need - // to configure the tmc2130.init() method manually in the file - // - // stepper_indirection.cpp + // If you've enabled TMC2130_ADVANCED_CONFIGURATION, define global settings below. + // Enabled settings will be automatically applied to all axes specified above. // // Please read the TMC2130 datasheet: // http://www.trinamic.com/_articles/products/integrated-circuits/tmc2130/_datasheet/TMC2130_datasheet.pdf diff --git a/Marlin/example_configurations/Hephestos_2/Configuration_adv.h b/Marlin/example_configurations/Hephestos_2/Configuration_adv.h index 333c5978fc..1ca2be0a07 100644 --- a/Marlin/example_configurations/Hephestos_2/Configuration_adv.h +++ b/Marlin/example_configurations/Hephestos_2/Configuration_adv.h @@ -790,11 +790,8 @@ #if ENABLED(TMC2130_ADVANCED_CONFIGURATION) - // If you have enabled TMC2130_ADVANCED_CONFIGURATION, - // you can define global settings here, but you still need - // to configure the tmc2130.init() method manually in the file - // - // stepper_indirection.cpp + // If you've enabled TMC2130_ADVANCED_CONFIGURATION, define global settings below. + // Enabled settings will be automatically applied to all axes specified above. // // Please read the TMC2130 datasheet: // http://www.trinamic.com/_articles/products/integrated-circuits/tmc2130/_datasheet/TMC2130_datasheet.pdf diff --git a/Marlin/example_configurations/K8200/Configuration_adv.h b/Marlin/example_configurations/K8200/Configuration_adv.h index ea8a90781e..dd3341af36 100644 --- a/Marlin/example_configurations/K8200/Configuration_adv.h +++ b/Marlin/example_configurations/K8200/Configuration_adv.h @@ -803,11 +803,8 @@ #if ENABLED(TMC2130_ADVANCED_CONFIGURATION) - // If you have enabled TMC2130_ADVANCED_CONFIGURATION, - // you can define global settings here, but you still need - // to configure the tmc2130.init() method manually in the file - // - // stepper_indirection.cpp + // If you've enabled TMC2130_ADVANCED_CONFIGURATION, define global settings below. + // Enabled settings will be automatically applied to all axes specified above. // // Please read the TMC2130 datasheet: // http://www.trinamic.com/_articles/products/integrated-circuits/tmc2130/_datasheet/TMC2130_datasheet.pdf diff --git a/Marlin/example_configurations/K8400/Configuration_adv.h b/Marlin/example_configurations/K8400/Configuration_adv.h index fc4665c0d9..eb319f3c4c 100644 --- a/Marlin/example_configurations/K8400/Configuration_adv.h +++ b/Marlin/example_configurations/K8400/Configuration_adv.h @@ -790,11 +790,8 @@ #if ENABLED(TMC2130_ADVANCED_CONFIGURATION) - // If you have enabled TMC2130_ADVANCED_CONFIGURATION, - // you can define global settings here, but you still need - // to configure the tmc2130.init() method manually in the file - // - // stepper_indirection.cpp + // If you've enabled TMC2130_ADVANCED_CONFIGURATION, define global settings below. + // Enabled settings will be automatically applied to all axes specified above. // // Please read the TMC2130 datasheet: // http://www.trinamic.com/_articles/products/integrated-circuits/tmc2130/_datasheet/TMC2130_datasheet.pdf diff --git a/Marlin/example_configurations/RigidBot/Configuration_adv.h b/Marlin/example_configurations/RigidBot/Configuration_adv.h index 5de93ce42a..192485dd8e 100644 --- a/Marlin/example_configurations/RigidBot/Configuration_adv.h +++ b/Marlin/example_configurations/RigidBot/Configuration_adv.h @@ -790,11 +790,8 @@ #if ENABLED(TMC2130_ADVANCED_CONFIGURATION) - // If you have enabled TMC2130_ADVANCED_CONFIGURATION, - // you can define global settings here, but you still need - // to configure the tmc2130.init() method manually in the file - // - // stepper_indirection.cpp + // If you've enabled TMC2130_ADVANCED_CONFIGURATION, define global settings below. + // Enabled settings will be automatically applied to all axes specified above. // // Please read the TMC2130 datasheet: // http://www.trinamic.com/_articles/products/integrated-circuits/tmc2130/_datasheet/TMC2130_datasheet.pdf diff --git a/Marlin/example_configurations/SCARA/Configuration_adv.h b/Marlin/example_configurations/SCARA/Configuration_adv.h index 22eb1e9e64..a6b9c04215 100644 --- a/Marlin/example_configurations/SCARA/Configuration_adv.h +++ b/Marlin/example_configurations/SCARA/Configuration_adv.h @@ -790,11 +790,8 @@ #if ENABLED(TMC2130_ADVANCED_CONFIGURATION) - // If you have enabled TMC2130_ADVANCED_CONFIGURATION, - // you can define global settings here, but you still need - // to configure the tmc2130.init() method manually in the file - // - // stepper_indirection.cpp + // If you've enabled TMC2130_ADVANCED_CONFIGURATION, define global settings below. + // Enabled settings will be automatically applied to all axes specified above. // // Please read the TMC2130 datasheet: // http://www.trinamic.com/_articles/products/integrated-circuits/tmc2130/_datasheet/TMC2130_datasheet.pdf diff --git a/Marlin/example_configurations/TAZ4/Configuration_adv.h b/Marlin/example_configurations/TAZ4/Configuration_adv.h index f10355a008..55644d41b3 100644 --- a/Marlin/example_configurations/TAZ4/Configuration_adv.h +++ b/Marlin/example_configurations/TAZ4/Configuration_adv.h @@ -798,11 +798,8 @@ #if ENABLED(TMC2130_ADVANCED_CONFIGURATION) - // If you have enabled TMC2130_ADVANCED_CONFIGURATION, - // you can define global settings here, but you still need - // to configure the tmc2130.init() method manually in the file - // - // stepper_indirection.cpp + // If you've enabled TMC2130_ADVANCED_CONFIGURATION, define global settings below. + // Enabled settings will be automatically applied to all axes specified above. // // Please read the TMC2130 datasheet: // http://www.trinamic.com/_articles/products/integrated-circuits/tmc2130/_datasheet/TMC2130_datasheet.pdf diff --git a/Marlin/example_configurations/WITBOX/Configuration_adv.h b/Marlin/example_configurations/WITBOX/Configuration_adv.h index 475508b191..8210cf1b5a 100644 --- a/Marlin/example_configurations/WITBOX/Configuration_adv.h +++ b/Marlin/example_configurations/WITBOX/Configuration_adv.h @@ -789,11 +789,8 @@ #if ENABLED(TMC2130_ADVANCED_CONFIGURATION) - // If you have enabled TMC2130_ADVANCED_CONFIGURATION, - // you can define global settings here, but you still need - // to configure the tmc2130.init() method manually in the file - // - // stepper_indirection.cpp + // If you've enabled TMC2130_ADVANCED_CONFIGURATION, define global settings below. + // Enabled settings will be automatically applied to all axes specified above. // // Please read the TMC2130 datasheet: // http://www.trinamic.com/_articles/products/integrated-circuits/tmc2130/_datasheet/TMC2130_datasheet.pdf diff --git a/Marlin/example_configurations/delta/biv2.5/Configuration_adv.h b/Marlin/example_configurations/delta/biv2.5/Configuration_adv.h index 7348140d8f..ba56623951 100644 --- a/Marlin/example_configurations/delta/biv2.5/Configuration_adv.h +++ b/Marlin/example_configurations/delta/biv2.5/Configuration_adv.h @@ -792,11 +792,8 @@ #if ENABLED(TMC2130_ADVANCED_CONFIGURATION) - // If you have enabled TMC2130_ADVANCED_CONFIGURATION, - // you can define global settings here, but you still need - // to configure the tmc2130.init() method manually in the file - // - // stepper_indirection.cpp + // If you've enabled TMC2130_ADVANCED_CONFIGURATION, define global settings below. + // Enabled settings will be automatically applied to all axes specified above. // // Please read the TMC2130 datasheet: // http://www.trinamic.com/_articles/products/integrated-circuits/tmc2130/_datasheet/TMC2130_datasheet.pdf diff --git a/Marlin/example_configurations/delta/generic/Configuration_adv.h b/Marlin/example_configurations/delta/generic/Configuration_adv.h index 20e3c250e7..008e4ae13a 100644 --- a/Marlin/example_configurations/delta/generic/Configuration_adv.h +++ b/Marlin/example_configurations/delta/generic/Configuration_adv.h @@ -792,11 +792,8 @@ #if ENABLED(TMC2130_ADVANCED_CONFIGURATION) - // If you have enabled TMC2130_ADVANCED_CONFIGURATION, - // you can define global settings here, but you still need - // to configure the tmc2130.init() method manually in the file - // - // stepper_indirection.cpp + // If you've enabled TMC2130_ADVANCED_CONFIGURATION, define global settings below. + // Enabled settings will be automatically applied to all axes specified above. // // Please read the TMC2130 datasheet: // http://www.trinamic.com/_articles/products/integrated-circuits/tmc2130/_datasheet/TMC2130_datasheet.pdf diff --git a/Marlin/example_configurations/delta/kossel_mini/Configuration_adv.h b/Marlin/example_configurations/delta/kossel_mini/Configuration_adv.h index 20e3c250e7..008e4ae13a 100644 --- a/Marlin/example_configurations/delta/kossel_mini/Configuration_adv.h +++ b/Marlin/example_configurations/delta/kossel_mini/Configuration_adv.h @@ -792,11 +792,8 @@ #if ENABLED(TMC2130_ADVANCED_CONFIGURATION) - // If you have enabled TMC2130_ADVANCED_CONFIGURATION, - // you can define global settings here, but you still need - // to configure the tmc2130.init() method manually in the file - // - // stepper_indirection.cpp + // If you've enabled TMC2130_ADVANCED_CONFIGURATION, define global settings below. + // Enabled settings will be automatically applied to all axes specified above. // // Please read the TMC2130 datasheet: // http://www.trinamic.com/_articles/products/integrated-circuits/tmc2130/_datasheet/TMC2130_datasheet.pdf diff --git a/Marlin/example_configurations/delta/kossel_pro/Configuration_adv.h b/Marlin/example_configurations/delta/kossel_pro/Configuration_adv.h index ff34a99f12..3e2c5a0d5d 100644 --- a/Marlin/example_configurations/delta/kossel_pro/Configuration_adv.h +++ b/Marlin/example_configurations/delta/kossel_pro/Configuration_adv.h @@ -797,11 +797,8 @@ #if ENABLED(TMC2130_ADVANCED_CONFIGURATION) - // If you have enabled TMC2130_ADVANCED_CONFIGURATION, - // you can define global settings here, but you still need - // to configure the tmc2130.init() method manually in the file - // - // stepper_indirection.cpp + // If you've enabled TMC2130_ADVANCED_CONFIGURATION, define global settings below. + // Enabled settings will be automatically applied to all axes specified above. // // Please read the TMC2130 datasheet: // http://www.trinamic.com/_articles/products/integrated-circuits/tmc2130/_datasheet/TMC2130_datasheet.pdf diff --git a/Marlin/example_configurations/delta/kossel_xl/Configuration_adv.h b/Marlin/example_configurations/delta/kossel_xl/Configuration_adv.h index b44f5fad42..6c17168b15 100644 --- a/Marlin/example_configurations/delta/kossel_xl/Configuration_adv.h +++ b/Marlin/example_configurations/delta/kossel_xl/Configuration_adv.h @@ -792,11 +792,8 @@ #if ENABLED(TMC2130_ADVANCED_CONFIGURATION) - // If you have enabled TMC2130_ADVANCED_CONFIGURATION, - // you can define global settings here, but you still need - // to configure the tmc2130.init() method manually in the file - // - // stepper_indirection.cpp + // If you've enabled TMC2130_ADVANCED_CONFIGURATION, define global settings below. + // Enabled settings will be automatically applied to all axes specified above. // // Please read the TMC2130 datasheet: // http://www.trinamic.com/_articles/products/integrated-circuits/tmc2130/_datasheet/TMC2130_datasheet.pdf diff --git a/Marlin/example_configurations/makibox/Configuration_adv.h b/Marlin/example_configurations/makibox/Configuration_adv.h index f4b217fe20..f10feb799d 100644 --- a/Marlin/example_configurations/makibox/Configuration_adv.h +++ b/Marlin/example_configurations/makibox/Configuration_adv.h @@ -790,11 +790,8 @@ #if ENABLED(TMC2130_ADVANCED_CONFIGURATION) - // If you have enabled TMC2130_ADVANCED_CONFIGURATION, - // you can define global settings here, but you still need - // to configure the tmc2130.init() method manually in the file - // - // stepper_indirection.cpp + // If you've enabled TMC2130_ADVANCED_CONFIGURATION, define global settings below. + // Enabled settings will be automatically applied to all axes specified above. // // Please read the TMC2130 datasheet: // http://www.trinamic.com/_articles/products/integrated-circuits/tmc2130/_datasheet/TMC2130_datasheet.pdf diff --git a/Marlin/example_configurations/tvrrug/Round2/Configuration_adv.h b/Marlin/example_configurations/tvrrug/Round2/Configuration_adv.h index acb0297b9d..817690a7c1 100644 --- a/Marlin/example_configurations/tvrrug/Round2/Configuration_adv.h +++ b/Marlin/example_configurations/tvrrug/Round2/Configuration_adv.h @@ -790,11 +790,8 @@ #if ENABLED(TMC2130_ADVANCED_CONFIGURATION) - // If you have enabled TMC2130_ADVANCED_CONFIGURATION, - // you can define global settings here, but you still need - // to configure the tmc2130.init() method manually in the file - // - // stepper_indirection.cpp + // If you've enabled TMC2130_ADVANCED_CONFIGURATION, define global settings below. + // Enabled settings will be automatically applied to all axes specified above. // // Please read the TMC2130 datasheet: // http://www.trinamic.com/_articles/products/integrated-circuits/tmc2130/_datasheet/TMC2130_datasheet.pdf diff --git a/Marlin/stepper_indirection.cpp b/Marlin/stepper_indirection.cpp index 2300197f72..9cea0ac35b 100644 --- a/Marlin/stepper_indirection.cpp +++ b/Marlin/stepper_indirection.cpp @@ -128,269 +128,425 @@ void tmc_init() { #endif #if ENABLED(HAVE_TMC2130DRIVER) + #include #include -#endif - -// Stepper objects of TMC2310 steppers used -#if ENABLED(X_IS_TMC2130) - Trinamic_TMC2130 stepperX(X_CS_PIN); -#endif -#if ENABLED(X2_IS_TMC2130) - Trinamic_TMC2130 stepperX2(X2_CS_PIN); -#endif -#if ENABLED(Y_IS_TMC2130) - Trinamic_TMC2130 stepperY(Y_CS_PIN); -#endif -#if ENABLED(Y2_IS_TMC2130) - Trinamic_TMC2130 stepperY2(Y2_CS_PINR); -#endif -#if ENABLED(Z_IS_TMC2130) - Trinamic_TMC2130 stepperZ(Z_CS_PIN); -#endif -#if ENABLED(Z2_IS_TMC2130) - Trinamic_TMC2130 stepperZ2(Z2_CS_PIN); -#endif -#if ENABLED(E0_IS_TMC2130) - Trinamic_TMC2130 stepperE0(E0_CS_PIN); -#endif -#if ENABLED(E1_IS_TMC2130) - Trinamic_TMC2130 stepperE1(E1_CS_PIN); -#endif -#if ENABLED(E2_IS_TMC2130) - Trinamic_TMC2130 stepperE2(E2_CS_PIN); -#endif -#if ENABLED(E3_IS_TMC2130) - Trinamic_TMC2130 stepperE3(E3_CS_PIN); -#endif - -#if ENABLED(HAVE_TMC2130DRIVER) #if ENABLED(TMC2130_ADVANCED_CONFIGURATION) - void tmc2130_init() { + #ifdef GLOBAL_I_SCALE_ANALOG + #define _2130_set_I_scale_analog(A) stepper##A.set_I_scale_analog(GLOBAL_I_SCALE_ANALOG) + #else + #define _2130_set_I_scale_analog(A) NOOP + #endif + #ifdef GLOBAL_INTERNAL_RSENSE + #define _2130_set_internal_Rsense(A) stepper##A.set_internal_Rsense(GLOBAL_INTERNAL_RSENSE) + #else + #define _2130_set_internal_Rsense(A) NOOP + #endif + #ifdef GLOBAL_EN_PWM_MODE + #define _2130_set_en_pwm_mode(A) stepper##A.set_en_pwm_mode(GLOBAL_EN_PWM_MODE) + #else + #define _2130_set_en_pwm_mode(A) NOOP + #endif + #ifdef GLOBAL_ENC_COMMUTATION + #define _2130_set_enc_commutation(A) stepper##A.set_enc_commutation(GLOBAL_ENC_COMMUTATION) + #else + #define _2130_set_enc_commutation(A) NOOP + #endif + #ifdef GLOBAL_SHAFT + #define _2130_set_shaft(A) stepper##A.set_shaft(GLOBAL_SHAFT) + #else + #define _2130_set_shaft(A) NOOP + #endif + #ifdef GLOBAL_DIAG0_ERROR + #define _2130_set_diag0_error(A) stepper##A.set_diag0_error(GLOBAL_DIAG0_ERROR) + #else + #define _2130_set_diag0_error(A) NOOP + #endif + #ifdef GLOBAL_DIAG0_OTPW + #define _2130_set_diag0_otpw(A) stepper##A.set_diag0_otpw(GLOBAL_DIAG0_OTPW) + #else + #define _2130_set_diag0_otpw(A) NOOP + #endif + #ifdef GLOBAL_DIAG0_STALL + #define _2130_set_diag0_stall(A) stepper##A.set_diag0_stall(GLOBAL_DIAG0_STALL) + #else + #define _2130_set_diag0_stall(A) NOOP + #endif + #ifdef GLOBAL_DIAG1_STALL + #define _2130_set_diag1_stall(A) stepper##A.set_diag1_stall(GLOBAL_DIAG1_STALL) + #else + #define _2130_set_diag1_stall(A) NOOP + #endif + #ifdef GLOBAL_DIAG1_INDEX + #define _2130_set_diag1_index(A) stepper##A.set_diag1_index(GLOBAL_DIAG1_INDEX) + #else + #define _2130_set_diag1_index(A) NOOP + #endif + #ifdef GLOBAL_DIAG1_ONSTATE + #define _2130_set_diag1_onstate(A) stepper##A.set_diag1_onstate(GLOBAL_DIAG1_ONSTATE) + #else + #define _2130_set_diag1_onstate(A) NOOP + #endif + #ifdef GLOBAL_DIAG1_ONSTATE + #define _2130_set_diag1_steps_skipped(A) stepper##A.set_diag1_steps_skipped(GLOBAL_DIAG1_ONSTATE) + #else + #define _2130_set_diag1_steps_skipped(A) NOOP + #endif + #ifdef GLOBAL_DIAG0_INT_PUSHPULL + #define _2130_set_diag0_int_pushpull(A) stepper##A.set_diag0_int_pushpull(GLOBAL_DIAG0_INT_PUSHPULL) + #else + #define _2130_set_diag0_int_pushpull(A) NOOP + #endif + #ifdef GLOBAL_DIAG1_INT_PUSHPULL + #define _2130_set_diag1_int_pushpull(A) stepper##A.set_diag1_int_pushpull(GLOBAL_DIAG1_INT_PUSHPULL) + #else + #define _2130_set_diag1_int_pushpull(A) NOOP + #endif + #ifdef GLOBAL_SMALL_HYSTERESIS + #define _2130_set_small_hysteresis(A) stepper##A.set_small_hysteresis(GLOBAL_SMALL_HYSTERESIS) + #else + #define _2130_set_small_hysteresis(A) NOOP + #endif + #ifdef GLOBAL_STOP_ENABLE + #define _2130_set_stop_enable(A) stepper##A.set_stop_enable(GLOBAL_STOP_ENABLE) + #else + #define _2130_set_stop_enable(A) NOOP + #endif + #ifdef GLOBAL_DIRECT_MODE + #define _2130_set_direct_mode(A) stepper##A.set_direct_mode(GLOBAL_DIRECT_MODE) + #else + #define _2130_set_direct_mode(A) NOOP + #endif + #if defined(GLOBAL_IHOLD) && defined(GLOBAL_IRUN) && defined(GLOBAL_IHOLDDELAY) + #define _2130_set_IHOLD_IRUN(A) stepper##A.set_IHOLD_IRUN(GLOBAL_IHOLD, GLOBAL_IRUN, GLOBAL_IHOLDDELAY) + #else + #define _2130_set_IHOLD_IRUN(A) NOOP + #endif + #ifdef GLOBAL_TPOWERDOWN + #define _2130_set_TPOWERDOWN(A) stepper##A.set_TPOWERDOWN(GLOBAL_TPOWERDOWN) + #else + #define _2130_set_TPOWERDOWN(A) NOOP + #endif + #ifdef GLOBAL_TPWMTHRS + #define _2130_set_TPWMTHRS(A) stepper##A.set_TPWMTHRS(GLOBAL_TPWMTHRS) + #else + #define _2130_set_TPWMTHRS(A) NOOP + #endif + #ifdef GLOBAL_TCOOLTHRS + #define _2130_set_TCOOLTHRS(A) stepper##A.set_TCOOLTHRS(GLOBAL_TCOOLTHRS) + #else + #define _2130_set_TCOOLTHRS(A) NOOP + #endif + #ifdef GLOBAL_THIGH + #define _2130_set_THIGH(A) stepper##A.set_THIGH(GLOBAL_THIGH) + #else + #define _2130_set_THIGH(A) NOOP + #endif + #ifdef GLOBAL_XDIRECT + #define _2130_set_XDIRECT(A) stepper##A.set_XDIRECT(GLOBAL_XDIRECT) + #else + #define _2130_set_XDIRECT(A) NOOP + #endif + #ifdef GLOBAL_VDCMIN + #define _2130_set_VDCMIN(A) stepper##A.set_VDCMIN(GLOBAL_VDCMIN) + #else + #define _2130_set_VDCMIN(A) NOOP + #endif + #ifdef GLOBAL_DEDGE + #define _2130_set_dedge(A) stepper##A.set_dedge(GLOBAL_DEDGE) + #else + #define _2130_set_dedge(A) NOOP + #endif + #ifdef GLOBAL_DISS2G + #define _2130_set_diss2g(A) stepper##A.set_diss2g(GLOBAL_DISS2G) + #else + #define _2130_set_diss2g(A) NOOP + #endif + #ifdef GLOBAL_INTPOL + #define _2130_set_intpol(A) stepper##A.set_intpol(GLOBAL_INTPOL) + #else + #define _2130_set_intpol(A) NOOP + #endif + #ifdef GLOBAL_MRES + #define _2130_set_mres(A) stepper##A.set_mres(GLOBAL_MRES) + #else + #define _2130_set_mres(A) NOOP + #endif + #ifdef GLOBAL_SYNC + #define _2130_set_sync(A) stepper##A.set_sync(GLOBAL_SYNC) + #else + #define _2130_set_sync(A) NOOP + #endif + #ifdef GLOBAL_VHIGHCHM + #define _2130_set_vhighchm(A) stepper##A.set_vhighchm(GLOBAL_VHIGHCHM) + #else + #define _2130_set_vhighchm(A) NOOP + #endif + #ifdef GLOBAL_VHIGHFS + #define _2130_set_vhighfs(A) stepper##A.set_vhighfs(GLOBAL_VHIGHFS) + #else + #define _2130_set_vhighfs(A) NOOP + #endif + #ifdef GLOBAL_VSENSE + #define _2130_set_vsense(A) stepper##A.set_vsense(GLOBAL_VSENSE) + #else + #define _2130_set_vsense(A) NOOP + #endif + #ifdef GLOBAL_TBL + #define _2130_set_tbl(A) stepper##A.set_tbl(GLOBAL_TBL) + #else + #define _2130_set_tbl(A) NOOP + #endif + #ifdef GLOBAL_CHM + #define _2130_set_chm(A) stepper##A.set_chm(GLOBAL_CHM) + #else + #define _2130_set_chm(A) NOOP + #endif + #ifdef GLOBAL_RNDTF + #define _2130_set_rndtf(A) stepper##A.set_rndtf(GLOBAL_RNDTF) + #else + #define _2130_set_rndtf(A) NOOP + #endif + #ifdef GLOBAL_DISFDCC + #define _2130_set_disfdcc(A) stepper##A.set_disfdcc(GLOBAL_DISFDCC) + #else + #define _2130_set_disfdcc(A) NOOP + #endif + #ifdef GLOBAL_FD + #define _2130_set_fd(A) stepper##A.set_fd(GLOBAL_FD) + #else + #define _2130_set_fd(A) NOOP + #endif + #ifdef GLOBAL_HEND + #define _2130_set_hend(A) stepper##A.set_hend(GLOBAL_HEND) + #else + #define _2130_set_hend(A) NOOP + #endif + #ifdef GLOBAL_HSTRT + #define _2130_set_hstrt(A) stepper##A.set_hstrt(GLOBAL_HSTRT) + #else + #define _2130_set_hstrt(A) NOOP + #endif + #ifdef GLOBAL_TOFF + #define _2130_set_toff(A) stepper##A.set_toff(GLOBAL_TOFF) + #else + #define _2130_set_toff(A) NOOP + #endif + #ifdef GLOBAL_SFILT + #define _2130_set_sfilt(A) stepper##A.set_sfilt(GLOBAL_SFILT) + #else + #define _2130_set_sfilt(A) NOOP + #endif + #ifdef GLOBAL_SGT + #define _2130_set_sgt(A) stepper##A.set_sgt(GLOBAL_SGT) + #else + #define _2130_set_sgt(A) NOOP + #endif + #ifdef GLOBAL_SEIMIN + #define _2130_set_seimin(A) stepper##A.set_seimin(GLOBAL_SEIMIN) + #else + #define _2130_set_seimin(A) NOOP + #endif + #ifdef GLOBAL_SEDN + #define _2130_set_sedn(A) stepper##A.set_sedn(GLOBAL_SEDN) + #else + #define _2130_set_sedn(A) NOOP + #endif + #ifdef GLOBAL_SEMAX + #define _2130_set_semax(A) stepper##A.set_semax(GLOBAL_SEMAX) + #else + #define _2130_set_semax(A) NOOP + #endif + #ifdef GLOBAL_SEUP + #define _2130_set_seup(A) stepper##A.set_seup(GLOBAL_SEUP) + #else + #define _2130_set_seup(A) NOOP + #endif + #ifdef GLOBAL_SEMIN + #define _2130_set_semin(A) stepper##A.set_semin(GLOBAL_SEMIN) + #else + #define _2130_set_semin(A) NOOP + #endif + #if defined(GLOBAL_DC_TIME) && defined(GLOBAL_DC_SG) + #define _2130_set_DCCTRL(A) stepper##A.set_DCCTRL(GLOBAL_DC_TIME, GLOBAL_DC_SG) + #else + #define _2130_set_DCCTRL(A) NOOP + #endif + #ifdef GLOBAL_FREEWHEEL + #define _2130_set_freewheel(A) stepper##A.set_freewheel(GLOBAL_FREEWHEEL) + #else + #define _2130_set_freewheel(A) NOOP + #endif + #ifdef GLOBAL_PWM_SYMMETRIC + #define _2130_set_pwm_symmetric(A) stepper##A.set_pwm_symmetric(GLOBAL_PWM_SYMMETRIC) + #else + #define _2130_set_pwm_symmetric(A) NOOP + #endif + #ifdef GLOBAL_PWM_AUTOSCALE + #define _2130_set_pwm_autoscale(A) stepper##A.set_pwm_autoscale(GLOBAL_PWM_AUTOSCALE) + #else + #define _2130_set_pwm_autoscale(A) NOOP + #endif + #ifdef GLOBAL_PWM_FREQ + #define _2130_set_pwm_freq(A) stepper##A.set_pwm_freq(GLOBAL_PWM_FREQ) + #else + #define _2130_set_pwm_freq(A) NOOP + #endif + #ifdef GLOBAL_PWM_GRAD + #define _2130_set_PWM_GRAD(A) stepper##A.set_PWM_GRAD(GLOBAL_PWM_GRAD) + #else + #define _2130_set_PWM_GRAD(A) NOOP + #endif + #ifdef GLOBAL_PWM_AMPL + #define _2130_set_PWM_AMPL(A) stepper##A.set_PWM_AMPL(GLOBAL_PWM_AMPL) + #else + #define _2130_set_PWM_AMPL(A) NOOP + #endif + #ifdef GLOBAL_ENCM_CTRL + #define _2130_set_ENCM_CTRL(A) stepper##A.set_ENCM_CTRL(GLOBAL_ENCM_CTRL) + #else + #define _2130_set_ENCM_CTRL(A) NOOP + #endif - // If you've enabled TMC2130_ADVANCED_CONFIGURATION configure your - // steppers manually here. The ENABLED(XYZ_IS_TMC2130) is optional, - - #if ENABLED(X_IS_TMC2130) - stepperX.init(); - stepperX.set_I_scale_analog(GLOBAL_I_SCALE_ANALOG); - //stepperX.set_internal_Rsense(GLOBAL_INTERNAL_RSENSE); - stepperX.set_en_pwm_mode(GLOBAL_EN_PWM_MODE); - //stepperX.set_enc_commutation(GLOBAL_ENC_COMMUTATION); - stepperX.set_shaft(GLOBAL_SHAFT); - //stepperX.set_diag0_error(GLOBAL_DIAG0_ERROR); - //stepperX.set_diag0_otpw(GLOBAL_DIAG0_OTPW); - //stepperX.set_diag0_stall(GLOBAL_DIAG0_STALL); - //stepperX.set_diag1_stall(GLOBAL_DIAG1_STALL); - //stepperX.set_diag1_index(GLOBAL_DIAG1_INDEX); - //stepperX.set_diag1_onstate(GLOBAL_DIAG1_ONSTATE); - //stepperX.set_diag1_steps_skipped(GLOBAL_DIAG1_ONSTATE); - //stepperX.set_diag0_int_pushpull(GLOBAL_DIAG0_INT_PUSHPULL); - //stepperX.set_diag1_int_pushpull(GLOBAL_DIAG1_INT_PUSHPULL); - //stepperX.set_small_hysteresis(GLOBAL_SMALL_HYSTERESIS); - //stepperX.set_stop_enable(GLOBAL_STOP_ENABLE); - //stepperX.set_direct_mode(GLOBAL_DIRECT_MODE); - - stepperX.set_IHOLD_IRUN(GLOBAL_IHOLD,GLOBAL_IRUN,GLOBAL_IHOLDDELAY); - //stepperX.set_TPOWERDOWN(GLOBAL_TPOWERDOWN); - //stepperX.set_TPWMTHRS(GLOBAL_TPWMTHRS); - //stepperX.set_TCOOLTHRS(GLOBAL_TCOOLTHRS); - stepperX.set_THIGH(GLOBAL_THIGH); - //stepperX.set_XDIRECT(GLOBAL_XDIRECT); - //stepperX.set_VDCMIN(GLOBAL_VDCMIN); - - //stepperX.set_dedge(GLOBAL_DEDGE); - //stepperX.set_diss2g(GLOBAL_DISS2G); - stepperX.set_intpol(GLOBAL_INTPOL); - stepperX.set_mres(GLOBAL_MRES); - stepperX.set_sync(GLOBAL_SYNC); - stepperX.set_vhighchm(GLOBAL_VHIGHCHM); - stepperX.set_vhighfs(GLOBAL_VHIGHFS); - //stepperX.set_vsense(GLOBAL_VSENSE); - stepperX.set_tbl(GLOBAL_TBL); - stepperX.set_chm(GLOBAL_CHM); - //stepperX.set_rndtf(GLOBAL_RNDTF); - //stepperX.set_disfdcc(GLOBAL_DISFDCC); - //stepperX.set_fd(GLOBAL_FD); - //stepperX.set_hend(GLOBAL_HEND); - //stepperX.set_hstrt(GLOBAL_HSTRT); - stepperX.set_toff(GLOBAL_TOFF); - - //stepperX.set_sfilt(GLOBAL_SFILT); - //stepperX.set_sgt(GLOBAL_SGT); - //stepperX.set_seimin(GLOBAL_SEIMIN); - //stepperX.set_sedn(GLOBAL_SEDN); - //stepperX.set_semax(GLOBAL_SEMAX); - //stepperX.set_seup(GLOBAL_SEUP); - //stepperX.set_semin(GLOBAL_SEMIN); - - //stepperX.set_DCCTRL(GLOBAL_DC_TIME, GLOBAL_DC_SG); - - //stepperX.set_freewheel(GLOBAL_FREEWHEEL); - //stepperX.set_pwm_symmetric(GLOBAL_PWM_SYMMETRIC); - //stepperX.set_pwm_autoscale(GLOBAL_PWM_AUTOSCALE); - //stepperX.set_pwm_freq(GLOBAL_PWM_FREQ); - //stepperX.set_PWM_GRAD(GLOBAL_PWM_GRAD); - //stepperX.set_PWM_AMPL(GLOBAL_PWM_AMPL); - - //stepperX.set_ENCM_CTRL(GLOBAL_ENCM_CTRL); - #endif - - #if ENABLED(Y_IS_TMC2130) - stepperY.init(); - stepperY.set_I_scale_analog(GLOBAL_I_SCALE_ANALOG); - //stepperY.set_internal_Rsense(GLOBAL_INTERNAL_RSENSE); - stepperY.set_en_pwm_mode(GLOBAL_EN_PWM_MODE); - //stepperY.set_enc_commutation(GLOBAL_ENC_COMMUTATION); - stepperY.set_shaft(GLOBAL_SHAFT); - //stepperY.set_diag0_error(GLOBAL_DIAG0_ERROR); - //stepperY.set_diag0_otpw(GLOBAL_DIAG0_OTPW); - //stepperY.set_diag0_stall(GLOBAL_DIAG0_STALL); - //stepperY.set_diag1_stall(GLOBAL_DIAG1_STALL); - //stepperY.set_diag1_index(GLOBAL_DIAG1_INDEX); - //stepperY.set_diag1_onstate(GLOBAL_DIAG1_ONSTATE); - //stepperY.set_diag1_steps_skipped(GLOBAL_DIAG1_ONSTATE); - //stepperY.set_diag0_int_pushpull(GLOBAL_DIAG0_INT_PUSHPULL); - //stepperY.set_diag1_int_pushpull(GLOBAL_DIAG1_INT_PUSHPULL); - //stepperY.set_small_hysteresis(GLOBAL_SMALL_HYSTERESIS); - //stepperY.set_stop_enable(GLOBAL_STOP_ENABLE); - //stepperY.set_direct_mode(GLOBAL_DIRECT_MODE); - - stepperY.set_IHOLD_IRUN(GLOBAL_IHOLD,GLOBAL_IRUN,GLOBAL_IHOLDDELAY); - //stepperY.set_TPOWERDOWN(GLOBAL_TPOWERDOWN); - //stepperY.set_TPWMTHRS(GLOBAL_TPWMTHRS); - //stepperY.set_TCOOLTHRS(GLOBAL_TCOOLTHRS); - stepperY.set_THIGH(GLOBAL_THIGH); - //stepperY.set_XDIRECT(GLOBAL_XDIRECT); - //stepperY.set_VDCMIN(GLOBAL_VDCMIN); - - //stepperY.set_dedge(GLOBAL_DEDGE); - //stepperY.set_diss2g(GLOBAL_DISS2G); - stepperY.set_intpol(GLOBAL_INTPOL); - stepperY.set_mres(GLOBAL_MRES); - stepperY.set_sync(GLOBAL_SYNC); - stepperY.set_vhighchm(GLOBAL_VHIGHCHM); - stepperY.set_vhighfs(GLOBAL_VHIGHFS); - //stepperY.set_vsense(GLOBAL_VSENSE); - stepperY.set_tbl(GLOBAL_TBL); - stepperY.set_chm(GLOBAL_CHM); - //stepperY.set_rndtf(GLOBAL_RNDTF); - //stepperY.set_disfdcc(GLOBAL_DISFDCC); - //stepperY.set_fd(GLOBAL_FD); - //stepperY.set_hend(GLOBAL_HEND); - //stepperY.set_hstrt(GLOBAL_HSTRT); - stepperY.set_toff(GLOBAL_TOFF); - - //stepperY.set_sfilt(GLOBAL_SFILT); - //stepperY.set_sgt(GLOBAL_SGT); - //stepperY.set_seimin(GLOBAL_SEIMIN); - //stepperY.set_sedn(GLOBAL_SEDN); - //stepperY.set_semax(GLOBAL_SEMAX); - //stepperY.set_seup(GLOBAL_SEUP); - //stepperY.set_semin(GLOBAL_SEMIN); - - //stepperY.set_DCCTRL(GLOBAL_DC_TIME, GLOBAL_DC_SG); - - //stepperY.set_freewheel(GLOBAL_FREEWHEEL); - //stepperY.set_pwm_symmetric(GLOBAL_PWM_SYMMETRIC); - //stepperY.set_pwm_autoscale(GLOBAL_PWM_AUTOSCALE); - //stepperY.set_pwm_freq(GLOBAL_PWM_FREQ); - //stepperY.set_PWM_GRAD(GLOBAL_PWM_GRAD); - //stepperY.set_PWM_AMPL(GLOBAL_PWM_AMPL); - - //stepperY.set_ENCM_CTRL(GLOBAL_ENCM_CTRL); - #endif - } + #define _TMC2130_INIT(A) do{ \ + stepper##A.init(); \ + _2130_set_I_scale_analog(A); \ + _2130_set_internal_Rsense(A); \ + _2130_set_en_pwm_mode(A); \ + _2130_set_enc_commutation(A); \ + _2130_set_shaft(A); \ + _2130_set_diag0_error(A); \ + _2130_set_diag0_otpw(A); \ + _2130_set_diag0_stall(A); \ + _2130_set_diag1_stall(A); \ + _2130_set_diag1_index(A); \ + _2130_set_diag1_onstate(A); \ + _2130_set_diag1_steps_skipped(A); \ + _2130_set_diag0_int_pushpull(A); \ + _2130_set_diag1_int_pushpull(A); \ + _2130_set_small_hysteresis(A); \ + _2130_set_stop_enable(A); \ + _2130_set_direct_mode(A); \ + _2130_set_IHOLD_IRUN(A); \ + _2130_set_TPOWERDOWN(A); \ + _2130_set_TPWMTHRS(A); \ + _2130_set_TCOOLTHRS(A); \ + _2130_set_THIGH(A); \ + _2130_set_XDIRECT(A); \ + _2130_set_VDCMIN(A); \ + _2130_set_dedge(A); \ + _2130_set_diss2g(A); \ + _2130_set_intpol(A); \ + _2130_set_mres(A); \ + _2130_set_sync(A); \ + _2130_set_vhighchm(A); \ + _2130_set_vhighfs(A); \ + _2130_set_vsense(A); \ + _2130_set_tbl(A); \ + _2130_set_chm(A); \ + _2130_set_rndtf(A); \ + _2130_set_disfdcc(A); \ + _2130_set_fd(A); \ + _2130_set_hend(A); \ + _2130_set_hstrt(A); \ + _2130_set_toff(A); \ + _2130_set_sfilt(A); \ + _2130_set_sgt(A); \ + _2130_set_seimin(A); \ + _2130_set_sedn(A); \ + _2130_set_semax(A); \ + _2130_set_seup(A); \ + _2130_set_semin(A); \ + _2130_set_DCCTRL(A); \ + _2130_set_freewheel(A); \ + _2130_set_pwm_symmetric(A); \ + _2130_set_pwm_autoscale(A); \ + _2130_set_pwm_freq(A); \ + _2130_set_PWM_GRAD(A); \ + _2130_set_PWM_AMPL(A); \ + _2130_set_ENCM_CTRL(A); \ + } while(0) #else // !TMC2130_ADVANCED_CONFIGURATION - void tmc2130_init() { - #if ENABLED(X_IS_TMC2130) - stepperX.init(); - stepperX.set_mres(X_MRES); - stepperX.set_IHOLD_IRUN(X_IHOLD,X_IRUN,X_IHOLDDELAY); - stepperX.set_I_scale_analog(X_ISCALE); - stepperX.set_tbl(X_TBL); - stepperX.set_toff(X_TOFF); - #endif - #if ENABLED(X2_IS_TMC2130) - stepperX2.init(); - stepperX2.set_mres(X2_MRES); - stepperX2.set_IHOLD_IRUN(X2_IHOLD,X2_IRUN,X2_IHOLDDELAY); - stepperX2.set_I_scale_analog(X2_ISCALE); - stepperX2.set_tbl(X2_TBL); - stepperX2.set_toff(X2_TOFF); - #endif - #if ENABLED(Y_IS_TMC2130) - stepperY.init(); - stepperY.set_mres(Y_MRES); - stepperY.set_IHOLD_IRUN(Y_IHOLD,Y_IRUN,Y_IHOLDDELAY); - stepperY.set_I_scale_analog(Y_ISCALE); - stepperY.set_tbl(Y_TBL); - stepperY.set_toff(Y_TOFF); - #endif - #if ENABLED(Y2_IS_TMC2130) - stepperY2.init(); - stepperY2.set_mres(Y2_MRES); - stepperY2.set_IHOLD_IRUN(Y2_IHOLD,Y2_IRUN,Y2_IHOLDDELAY); - stepperY2.set_I_scale_analog(Y2_ISCALE); - stepperY2.set_tbl(Y2_TBL); - stepperY2.set_toff(Y2_TOFF); - #endif - #if ENABLED(Z_IS_TMC2130) - stepperZ.init(); - stepperZ.set_mres(Z_MRES); - stepperZ.set_IHOLD_IRUN(Z_IHOLD,Z_IRUN,Z_IHOLDDELAY); - stepperZ.set_I_scale_analog(Z_ISCALE); - stepperZ.set_tbl(Z_TBL); - stepperZ.set_toff(Z_TOFF); - #endif - #if ENABLED(Z2_IS_TMC2130) - stepperZ2.init(); - stepperZ2.set_mres(Z2_MRES); - stepperZ2.set_IHOLD_IRUN(Z2_IHOLD,Z2_IRUN,Z2_IHOLDDELAY); - stepperZ2.set_I_scale_analog(Z2_ISCALE); - stepperZ2.set_tbl(Z2_TBL); - stepperZ2.set_toff(Z2_TOFF); - #endif - #if ENABLED(E0_IS_TMC2130) - stepperE0.init(); - stepperE0.set_mres(E0_MRES); - stepperE0.set_IHOLD_IRUN(E0_IHOLD,E0_IRUN,E0_IHOLDDELAY); - stepperE0.set_I_scale_analog(E0_ISCALE); - stepperE0.set_tbl(E0_TBL); - stepperE0.set_toff(E0_TOFF); - #endif - #if ENABLED(E1_IS_TMC2130) - stepperE1.init(); - stepperE1.set_mres(E1_MRES); - stepperE1.set_IHOLD_IRUN(E1_IHOLD,E1_IRUN,E1_IHOLDDELAY); - stepperE1.set_I_scale_analog(E1_ISCALE); - stepperE1.set_tbl(E1_TBL); - stepperE1.set_toff(E1_TOFF); - #endif - #if ENABLED(E2_IS_TMC2130) - stepperE2.init(); - stepperE2.set_mres(E2_MRES); - stepperE2.set_IHOLD_IRUN(E2_IHOLD,E2_IRUN,E2_IHOLDDELAY); - stepperE2.set_I_scale_analog(E2_ISCALE); - stepperE2.set_tbl(E2_TBL); - stepperE2.set_toff(E2_TOFF); - #endif - #if ENABLED(E3_IS_TMC2130) - stepperE3.init(); - stepperE3.set_mres(E3_MRES); - stepperE3.set_IHOLD_IRUN(E3_IHOLD,E3_IRUN,E3_IHOLDDELAY); - stepperE3.set_I_scale_analog(E3_ISCALE); - stepperE3.set_tbl(E3_TBL); - stepperE3.set_toff(E3_TOFF); - #endif - } + #define _TMC2130_INIT(A) do{ \ + stepper##A.init(); \ + stepper##A.set_mres(A##_MRES); \ + stepper##A.set_IHOLD_IRUN(A##_IHOLD, A##_IRUN, A##_IHOLDDELAY); \ + stepper##A.set_I_scale_analog(A##_I_SCALE_ANALOG); \ + stepper##A.set_tbl(A##_TBL); \ + stepper##A.set_toff(A##_TOFF); \ + } while(0) #endif // TMC2130_ADVANCED_CONFIGURATION + // Stepper objects of TMC2310 steppers used + #if ENABLED(X_IS_TMC2130) + Trinamic_TMC2130 stepperX(X_CS_PIN); + #endif + #if ENABLED(X2_IS_TMC2130) + Trinamic_TMC2130 stepperX2(X2_CS_PIN); + #endif + #if ENABLED(Y_IS_TMC2130) + Trinamic_TMC2130 stepperY(Y_CS_PIN); + #endif + #if ENABLED(Y2_IS_TMC2130) + Trinamic_TMC2130 stepperY2(Y2_CS_PINR); + #endif + #if ENABLED(Z_IS_TMC2130) + Trinamic_TMC2130 stepperZ(Z_CS_PIN); + #endif + #if ENABLED(Z2_IS_TMC2130) + Trinamic_TMC2130 stepperZ2(Z2_CS_PIN); + #endif + #if ENABLED(E0_IS_TMC2130) + Trinamic_TMC2130 stepperE0(E0_CS_PIN); + #endif + #if ENABLED(E1_IS_TMC2130) + Trinamic_TMC2130 stepperE1(E1_CS_PIN); + #endif + #if ENABLED(E2_IS_TMC2130) + Trinamic_TMC2130 stepperE2(E2_CS_PIN); + #endif + #if ENABLED(E3_IS_TMC2130) + Trinamic_TMC2130 stepperE3(E3_CS_PIN); + #endif + + void tmc2130_init() { + #if ENABLED(X_IS_TMC2130) + _TMC2130_INIT(X); + #endif + #if ENABLED(X2_IS_TMC2130) + _TMC2130_INIT(X2); + #endif + #if ENABLED(Y_IS_TMC2130) + _TMC2130_INIT(Y); + #endif + #if ENABLED(Y2_IS_TMC2130) + _TMC2130_INIT(Y2); + #endif + #if ENABLED(Z_IS_TMC2130) + _TMC2130_INIT(Z); + #endif + #if ENABLED(Z2_IS_TMC2130) + _TMC2130_INIT(Z2); + #endif + #if ENABLED(E0_IS_TMC2130) + _TMC2130_INIT(E0); + #endif + #if ENABLED(E1_IS_TMC2130) + _TMC2130_INIT(E1); + #endif + #if ENABLED(E2_IS_TMC2130) + _TMC2130_INIT(E2); + #endif + #if ENABLED(E3_IS_TMC2130) + _TMC2130_INIT(E3); + #endif + } + #endif // HAVE_TMC2130DRIVER // L6470 Driver objects and inits