andrey
/
Marlin_FB4S
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

Split up stepper indirection (#15111)

pull/1/head
Scott Lahteine 5 years ago
committed by GitHub
parent
87b16ed5f6
commit
586b334c2a
No known key found for this signature in database GPG Key ID: 4AEE18F83AFDEB23
29 changed files with 1391 additions and 1088 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 2
      Marlin/src/HAL/HAL_STM32_F4_F7/STM32F7/TMC2660.cpp
  2. 2
      Marlin/src/Marlin.cpp
  3. 2
      Marlin/src/feature/controllerfan.cpp
  4. 2
      Marlin/src/feature/power.cpp
  5. 2
      Marlin/src/feature/prusa_MMU2/mmu2.cpp
  6. 2
      Marlin/src/feature/tmc_util.cpp
  7. 2
      Marlin/src/gcode/feature/L6470/M122.cpp
  8. 2
      Marlin/src/gcode/feature/L6470/M906.cpp
  9. 2
      Marlin/src/gcode/feature/L6470/M916-918.cpp
  10. 2
      Marlin/src/gcode/feature/trinamic/M569.cpp
  11. 2
      Marlin/src/gcode/feature/trinamic/M906.cpp
  12. 2
      Marlin/src/gcode/feature/trinamic/M911-M914.cpp
  13. 2
      Marlin/src/gcode/host/M114.cpp
  14. 2
      Marlin/src/lcd/extensible_ui/ui_api.cpp
  15. 2
      Marlin/src/lcd/menu/menu_tmc.cpp
  16. 6
      Marlin/src/libs/L6470/L6470_Marlin.cpp
  17. 2
      Marlin/src/module/configuration_store.cpp
  18. 2
      Marlin/src/module/delta.cpp
  19. 2
      Marlin/src/module/probe.cpp
  20. 2
      Marlin/src/module/stepper.h
  21. 143
      Marlin/src/module/stepper/L6470.cpp
  22. 176
      Marlin/src/module/stepper/L6470.h
  23. 126
      Marlin/src/module/stepper/TMC26X.cpp
  24. 144
      Marlin/src/module/stepper/TMC26X.h
  25. 53
      Marlin/src/module/stepper/indirection.cpp
  26. 399
      Marlin/src/module/stepper/indirection.h
  27. 435
      Marlin/src/module/stepper/trinamic.cpp
  28. 232
      Marlin/src/module/stepper/trinamic.h
  29. 727
      Marlin/src/module/stepper_indirection.h

2
Marlin/src/HAL/HAL_STM32_F4_F7/STM32F7/TMC2660.cpp
View File

@ -37,7 +37,7 @@
#include "../../../inc/MarlinConfig.h"
#include "../../../Marlin.h"
#include "../../../module/stepper_indirection.h"
#include "../../../module/stepper/indirection.h"
#include "../../../module/printcounter.h"
#include "../../../libs/duration_t.h"
#include "../../../libs/hex_print_routines.h"

2
Marlin/src/Marlin.cpp
View File

@ -45,7 +45,7 @@
#include "HAL/shared/Delay.h"
#include "module/stepper_indirection.h"
#include "module/stepper/indirection.h"
#ifdef ARDUINO
#include <pins_arduino.h>

2
Marlin/src/feature/controllerfan.cpp
View File

@ -24,7 +24,7 @@
#if ENABLED(USE_CONTROLLER_FAN)
#include "../module/stepper_indirection.h"
#include "../module/stepper/indirection.h"
#include "../module/temperature.h"
uint8_t controllerfan_speed;

2
Marlin/src/feature/power.cpp
View File

@ -30,7 +30,7 @@
#include "power.h"
#include "../module/temperature.h"
#include "../module/stepper_indirection.h"
#include "../module/stepper/indirection.h"
#include "../Marlin.h"
Power powerManager;

2
Marlin/src/feature/prusa_MMU2/mmu2.cpp
View File

@ -35,7 +35,7 @@ MMU2 mmu2;
#include "../../libs/nozzle.h"
#include "../../module/temperature.h"
#include "../../module/planner.h"
#include "../../module/stepper_indirection.h"
#include "../../module/stepper/indirection.h"
#include "../../Marlin.h"
#if ENABLED(HOST_PROMPT_SUPPORT)

2
Marlin/src/feature/tmc_util.cpp
View File

@ -27,7 +27,7 @@
#include "tmc_util.h"
#include "../Marlin.h"
#include "../module/stepper_indirection.h"
#include "../module/stepper/indirection.h"
#include "../module/printcounter.h"
#include "../libs/duration_t.h"
#include "../gcode/gcode.h"

2
Marlin/src/gcode/feature/L6470/M122.cpp
View File

@ -26,7 +26,7 @@
#include "../../gcode.h"
#include "../../../libs/L6470/L6470_Marlin.h"
#include "../../../module/stepper_indirection.h"
#include "../../../module/stepper/indirection.h"
inline void echo_yes_no(const bool yes) { serialprintPGM(yes ? PSTR(" YES") : PSTR(" NO ")); }

2
Marlin/src/gcode/feature/L6470/M906.cpp
View File

@ -26,7 +26,7 @@
#include "../../gcode.h"
#include "../../../libs/L6470/L6470_Marlin.h"
#include "../../../module/stepper_indirection.h"
#include "../../../module/stepper/indirection.h"
#include "../../../module/planner.h"
#define DEBUG_OUT ENABLED(L6470_CHITCHAT)

2
Marlin/src/gcode/feature/L6470/M916-918.cpp
View File

@ -25,7 +25,7 @@
#if HAS_DRIVER(L6470)
#include "../../gcode.h"
#include "../../../module/stepper_indirection.h"
#include "../../../module/stepper/indirection.h"
#include "../../../module/planner.h"
#include "../../../libs/L6470/L6470_Marlin.h"

2
Marlin/src/gcode/feature/trinamic/M569.cpp
View File

@ -26,7 +26,7 @@
#include "../../gcode.h"
#include "../../../feature/tmc_util.h"
#include "../../../module/stepper_indirection.h"
#include "../../../module/stepper/indirection.h"
template<typename TMC>
void tmc_say_stealth_status(TMC &st) {

2
Marlin/src/gcode/feature/trinamic/M906.cpp
View File

@ -26,7 +26,7 @@
#include "../../gcode.h"
#include "../../../feature/tmc_util.h"
#include "../../../module/stepper_indirection.h"
#include "../../../module/stepper/indirection.h"
/**
* M906: Set motor current in milliamps.

2
Marlin/src/gcode/feature/trinamic/M911-M914.cpp
View File

@ -26,7 +26,7 @@
#include "../../gcode.h"
#include "../../../feature/tmc_util.h"
#include "../../../module/stepper_indirection.h"
#include "../../../module/stepper/indirection.h"
#include "../../../module/planner.h"
#include "../../queue.h"

2
Marlin/src/gcode/host/M114.cpp
View File

@ -31,7 +31,7 @@
#if HAS_DRIVER(L6470)
//C:\Users\bobku\Documents\GitHub\Marlin-Bob-2\Marlin\src\gcode\host\M114.cpp
//C:\Users\bobku\Documents\GitHub\Marlin-Bob-2\Marlin\src\module\bob_L6470.cpp
#include "../../module/L6470/L6470_Marlin.h"
#include "../../libs/L6470/L6470_Marlin.h"
#define DEBUG_OUT ENABLED(L6470_CHITCHAT)
#include "../../core/debug_out.h"
#endif

2
Marlin/src/lcd/extensible_ui/ui_api.cpp
View File

@ -77,7 +77,7 @@
#if HAS_TRINAMIC
#include "../../feature/tmc_util.h"
#include "../../module/stepper_indirection.h"
#include "../../module/stepper/indirection.h"
#endif
#include "ui_api.h"

2
Marlin/src/lcd/menu/menu_tmc.cpp
View File

@ -29,7 +29,7 @@
#if HAS_TRINAMIC && HAS_LCD_MENU
#include "menu.h"
#include "../../module/stepper_indirection.h"
#include "../../module/stepper/indirection.h"
#include "../../feature/tmc_util.h"
#define TMC_EDIT_STORED_I_RMS(ST,MSG) MENU_ITEM_EDIT_CALLBACK(uint16_4, MSG, &stepper##ST.val_mA, 100, 3000, refresh_stepper_current_##ST)

6
Marlin/src/libs/L6470/L6470_Marlin.cpp
View File

@ -21,7 +21,7 @@
*/
/**
* The monitor_driver routines are a close copy of the TMC code
* The monitor_driver routines are a close copy of the TMC code
*/
#include "../../inc/MarlinConfig.h"
@ -32,9 +32,9 @@
L6470_Marlin L6470;
#include "../stepper_indirection.h"
#include "../../module/stepper/indirection.h"
#include "../../module/planner.h"
#include "../../gcode/gcode.h"
#include "../planner.h"
#define DEBUG_OUT ENABLED(L6470_CHITCHAT)
#include "../../core/debug_out.h"

2
Marlin/src/module/configuration_store.cpp
View File

@ -112,7 +112,7 @@
#endif
#if HAS_TRINAMIC
#include "stepper_indirection.h"
#include "stepper/indirection.h"
#include "../feature/tmc_util.h"
#endif

2
Marlin/src/module/delta.cpp
View File

@ -43,7 +43,7 @@
#if ENABLED(SENSORLESS_HOMING)
#include "../feature/tmc_util.h"
#include "stepper_indirection.h"
#include "stepper/indirection.h"
#endif
#define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE)

2
Marlin/src/module/probe.cpp
View File

@ -76,7 +76,7 @@ float zprobe_zoffset; // Initialized by settings.load()
#endif
#if QUIET_PROBING
#include "stepper_indirection.h"
#include "stepper/indirection.h"
#endif
#if ENABLED(EXTENSIBLE_UI)

2
Marlin/src/module/stepper.h
View File

@ -218,7 +218,7 @@
// Stepper class definition
//
#include "stepper_indirection.h"
#include "stepper/indirection.h"
#ifdef __AVR__
#include "speed_lookuptable.h"

143
Marlin/src/module/stepper/L6470.cpp
View File

@ -0,0 +1,143 @@
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program 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.
*
* This program 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 this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
/**
* stepper/L6470.cpp
* Stepper driver indirection for L6470 drivers
*/
#include "../../inc/MarlinConfig.h"
#if HAS_DRIVER(L6470)
#include "L6470.h"
#define _L6470_DEFINE(ST) L6470 stepper##ST((const int)L6470_CHAIN_SS_PIN)
// L6470 Stepper objects
#if AXIS_DRIVER_TYPE_X(L6470)
_L6470_DEFINE(X);
#endif
#if AXIS_DRIVER_TYPE_X2(L6470)
_L6470_DEFINE(X2);
#endif
#if AXIS_DRIVER_TYPE_Y(L6470)
_L6470_DEFINE(Y);
#endif
#if AXIS_DRIVER_TYPE_Y2(L6470)
_L6470_DEFINE(Y2);
#endif
#if AXIS_DRIVER_TYPE_Z(L6470)
_L6470_DEFINE(Z);
#endif
#if AXIS_DRIVER_TYPE_Z2(L6470)
_L6470_DEFINE(Z2);
#endif
#if AXIS_DRIVER_TYPE_Z3(L6470)
_L6470_DEFINE(Z3);
#endif
#if AXIS_DRIVER_TYPE_E0(L6470)
_L6470_DEFINE(E0);
#endif
#if AXIS_DRIVER_TYPE_E1(L6470)
_L6470_DEFINE(E1);
#endif
#if AXIS_DRIVER_TYPE_E2(L6470)
_L6470_DEFINE(E2);
#endif
#if AXIS_DRIVER_TYPE_E3(L6470)
_L6470_DEFINE(E3);
#endif
#if AXIS_DRIVER_TYPE_E4(L6470)
_L6470_DEFINE(E4);
#endif
#if AXIS_DRIVER_TYPE_E5(L6470)
_L6470_DEFINE(E5);
#endif
// not using L6470 library's init command because it
// briefly sends power to the steppers
#define _L6470_INIT_CHIP(Q) do{ \
stepper##Q.resetDev(); \
stepper##Q.softFree(); \
stepper##Q.SetParam(L6470_CONFIG, CONFIG_PWM_DIV_1 \
| CONFIG_PWM_MUL_2 \
| CONFIG_SR_290V_us \
| CONFIG_OC_SD_DISABLE \
| CONFIG_VS_COMP_DISABLE \
| CONFIG_SW_HARD_STOP \
| CONFIG_INT_16MHZ); \
stepper##Q.SetParam(L6470_KVAL_RUN, 0xFF); \
stepper##Q.SetParam(L6470_KVAL_ACC, 0xFF); \
stepper##Q.SetParam(L6470_KVAL_DEC, 0xFF); \
stepper##Q.setMicroSteps(Q##_MICROSTEPS); \
stepper##Q.setOverCurrent(Q##_OVERCURRENT); \
stepper##Q.setStallCurrent(Q##_STALLCURRENT); \
stepper##Q.SetParam(L6470_KVAL_HOLD, Q##_MAX_VOLTAGE); \
stepper##Q.SetParam(L6470_ABS_POS, 0); \
stepper##Q.getStatus(); \
}while(0)
void L6470_Marlin::init_to_defaults() {
#if AXIS_DRIVER_TYPE_X(L6470)
_L6470_INIT_CHIP(X);
#endif
#if AXIS_DRIVER_TYPE_X2(L6470)
_L6470_INIT_CHIP(X2);
#endif
#if AXIS_DRIVER_TYPE_Y(L6470)
_L6470_INIT_CHIP(Y);
#endif
#if AXIS_DRIVER_TYPE_Y2(L6470)
_L6470_INIT_CHIP(Y2);
#endif
#if AXIS_DRIVER_TYPE_Z(L6470)
_L6470_INIT_CHIP(Z);
#endif
#if AXIS_DRIVER_TYPE_Z2(L6470)
_L6470_INIT_CHIP(Z2);
#endif
#if AXIS_DRIVER_TYPE_Z3(L6470)
_L6470_INIT_CHIP(Z3);
#endif
#if AXIS_DRIVER_TYPE_E0(L6470)
_L6470_INIT_CHIP(E0);
#endif
#if AXIS_DRIVER_TYPE_E1(L6470)
_L6470_INIT_CHIP(E1);
#endif
#if AXIS_DRIVER_TYPE_E2(L6470)
_L6470_INIT_CHIP(E2);
#endif
#if AXIS_DRIVER_TYPE_E3(L6470)
_L6470_INIT_CHIP(E3);
#endif
#if AXIS_DRIVER_TYPE_E4(L6470)
_L6470_INIT_CHIP(E4);
#endif
#if AXIS_DRIVER_TYPE_E5(L6470)
_L6470_INIT_CHIP(E5);
#endif
}
#endif // L6470

176
Marlin/src/module/stepper/L6470.h
View File

@ -0,0 +1,176 @@
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program 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.
*
* This program 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 this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
#pragma once
/**
* stepper/L6470.h
* Stepper driver indirection for L6470 drivers
*/
#include "../../inc/MarlinConfig.h"
#include "../../libs/L6470/L6470_Marlin.h"
// L6470 has STEP on normal pins, but DIR/ENABLE via SPI
#define L6470_WRITE_DIR_COMMAND(STATE,Q) do{ L6470_dir_commands[Q] = (STATE ? dSPIN_STEP_CLOCK_REV : dSPIN_STEP_CLOCK_FWD); }while(0)
// X Stepper
#if AXIS_DRIVER_TYPE_X(L6470)
extern L6470 stepperX;
#define X_ENABLE_INIT NOOP
#define X_ENABLE_WRITE(STATE) NOOP
#define X_ENABLE_READ() (stepperX.getStatus() & STATUS_HIZ)
#define X_DIR_INIT NOOP
#define X_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,X)
#define X_DIR_READ() (stepperX.getStatus() & STATUS_DIR)
#endif
// Y Stepper
#if AXIS_DRIVER_TYPE_Y(L6470)
extern L6470 stepperY;
#define Y_ENABLE_INIT NOOP
#define Y_ENABLE_WRITE(STATE) NOOP
#define Y_ENABLE_READ() (stepperY.getStatus() & STATUS_HIZ)
#define Y_DIR_INIT NOOP
#define Y_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,Y)
#define Y_DIR_READ() (stepperY.getStatus() & STATUS_DIR)
#endif
// Z Stepper
#if AXIS_DRIVER_TYPE_Z(L6470)
extern L6470 stepperZ;
#define Z_ENABLE_INIT NOOP
#define Z_ENABLE_WRITE(STATE) NOOP
#define Z_ENABLE_READ() (stepperZ.getStatus() & STATUS_HIZ)
#define Z_DIR_INIT NOOP
#define Z_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,Z)
#define Z_DIR_READ() (stepperZ.getStatus() & STATUS_DIR)
#endif
// X2 Stepper
#if HAS_X2_ENABLE && AXIS_DRIVER_TYPE_X2(L6470)
extern L6470 stepperX2;
#define X2_ENABLE_INIT NOOP
#define X2_ENABLE_WRITE(STATE) NOOP
#define X2_ENABLE_READ() (stepperX2.getStatus() & STATUS_HIZ)
#define X2_DIR_INIT NOOP
#define X2_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,X2)
#define X2_DIR_READ() (stepperX2.getStatus() & STATUS_DIR)
#endif
// Y2 Stepper
#if HAS_Y2_ENABLE && AXIS_DRIVER_TYPE_Y2(L6470)
extern L6470 stepperY2;
#define Y2_ENABLE_INIT NOOP
#define Y2_ENABLE_WRITE(STATE) NOOP
#define Y2_ENABLE_READ() (stepperY2.getStatus() & STATUS_HIZ)
#define Y2_DIR_INIT NOOP
#define Y2_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,Y2)
#define Y2_DIR_READ() (stepperY2.getStatus() & STATUS_DIR)
#endif
// Z2 Stepper
#if HAS_Z2_ENABLE && AXIS_DRIVER_TYPE_Z2(L6470)
extern L6470 stepperZ2;
#define Z2_ENABLE_INIT NOOP
#define Z2_ENABLE_WRITE(STATE) NOOP
#define Z2_ENABLE_READ() (stepperZ2.getStatus() & STATUS_HIZ)
#define Z2_DIR_INIT NOOP
#define Z2_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,Z2)
#define Z2_DIR_READ() (stepperZ2.getStatus() & STATUS_DIR)
#endif
// Z3 Stepper
#if HAS_Z3_ENABLE && AXIS_DRIVER_TYPE_Z3(L6470)
extern L6470 stepperZ3;
#define Z3_ENABLE_INIT NOOP
#define Z3_ENABLE_WRITE(STATE) NOOP
#define Z3_ENABLE_READ() (stepperZ3.getStatus() & STATUS_HIZ)
#define Z3_DIR_INIT NOOP
#define Z3_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,Z3)
#define Z3_DIR_READ() (stepperZ3.getStatus() & STATUS_DIR)
#endif
// E0 Stepper
#if AXIS_DRIVER_TYPE_E0(L6470)
extern L6470 stepperE0;
#define E0_ENABLE_INIT NOOP
#define E0_ENABLE_WRITE(STATE) NOOP
#define E0_ENABLE_READ() (stepperE0.getStatus() & STATUS_HIZ)
#define E0_DIR_INIT NOOP
#define E0_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,E0)
#define E0_DIR_READ() (stepperE0.getStatus() & STATUS_DIR)
#endif
// E1 Stepper
#if AXIS_DRIVER_TYPE_E1(L6470)
extern L6470 stepperE1;
#define E1_ENABLE_INIT NOOP
#define E1_ENABLE_WRITE(STATE) NOOP
#define E1_ENABLE_READ() (stepperE1.getStatus() & STATUS_HIZ)
#define E1_DIR_INIT NOOP
#define E1_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,E1)
#define E1_DIR_READ() (stepperE1.getStatus() & STATUS_DIR)
#endif
// E2 Stepper
#if AXIS_DRIVER_TYPE_E2(L6470)
extern L6470 stepperE2;
#define E2_ENABLE_INIT NOOP
#define E2_ENABLE_WRITE(STATE) NOOP
#define E2_ENABLE_READ() (stepperE2.getStatus() & STATUS_HIZ)
#define E2_DIR_INIT NOOP
#define E2_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,E2)
#define E2_DIR_READ() (stepperE2.getStatus() & STATUS_DIR)
#endif
// E3 Stepper
#if AXIS_DRIVER_TYPE_E3(L6470)
extern L6470 stepperE3;
#define E3_ENABLE_INIT NOOP
#define E3_ENABLE_WRITE(STATE) NOOP
#define E3_ENABLE_READ() (stepperE3.getStatus() & STATUS_HIZ)
#define E3_DIR_INIT NOOP
#define E3_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,E3)
#define E3_DIR_READ() (stepperE3.getStatus() & STATUS_DIR)
#endif
// E4 Stepper
#if AXIS_DRIVER_TYPE_E4(L6470)
extern L6470 stepperE4;
#define E4_ENABLE_INIT NOOP
#define E4_ENABLE_WRITE(STATE) NOOP
#define E4_ENABLE_READ() (stepperE4.getStatus() & STATUS_HIZ)
#define E4_DIR_INIT NOOP
#define E4_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,E4)
#define E4_DIR_READ() (stepperE4.getStatus() & STATUS_DIR)
#endif
// E5 Stepper
#if AXIS_DRIVER_TYPE_E5(L6470)
extern L6470 stepperE5;
#define E5_ENABLE_INIT NOOP
#define E5_ENABLE_WRITE(STATE) NOOP
#define E5_ENABLE_READ() (stepperE5.getStatus() & STATUS_HIZ)
#define E5_DIR_INIT NOOP
#define E5_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,E5)
#define E5_DIR_READ() (stepperE5.getStatus() & STATUS_DIR)
#endif

126
Marlin/src/module/stepper/TMC26X.cpp
View File

@ -0,0 +1,126 @@
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program 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.
*
* This program 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 this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
/**
* stepper/TMC26X.cpp
* Stepper driver indirection for TMC26X drivers
*/
#include "../../inc/MarlinConfig.h"
//
// TMC26X Driver objects and inits
//
#if HAS_DRIVER(TMC26X)
#include "TMC26X.h"
#define _TMC26X_DEFINE(ST) TMC26XStepper stepper##ST(200, ST##_CS_PIN, ST##_STEP_PIN, ST##_DIR_PIN, ST##_MAX_CURRENT, ST##_SENSE_RESISTOR)
#if AXIS_DRIVER_TYPE_X(TMC26X)
_TMC26X_DEFINE(X);
#endif
#if AXIS_DRIVER_TYPE_X2(TMC26X)
_TMC26X_DEFINE(X2);
#endif
#if AXIS_DRIVER_TYPE_Y(TMC26X)
_TMC26X_DEFINE(Y);
#endif
#if AXIS_DRIVER_TYPE_Y2(TMC26X)
_TMC26X_DEFINE(Y2);
#endif
#if AXIS_DRIVER_TYPE_Z(TMC26X)
_TMC26X_DEFINE(Z);
#endif
#if AXIS_DRIVER_TYPE_Z2(TMC26X)
_TMC26X_DEFINE(Z2);
#endif
#if AXIS_DRIVER_TYPE_Z3(TMC26X)
_TMC26X_DEFINE(Z3);
#endif
#if AXIS_DRIVER_TYPE_E0(TMC26X)
_TMC26X_DEFINE(E0);
#endif
#if AXIS_DRIVER_TYPE_E1(TMC26X)
_TMC26X_DEFINE(E1);
#endif
#if AXIS_DRIVER_TYPE_E2(TMC26X)
_TMC26X_DEFINE(E2);
#endif
#if AXIS_DRIVER_TYPE_E3(TMC26X)
_TMC26X_DEFINE(E3);
#endif
#if AXIS_DRIVER_TYPE_E4(TMC26X)
_TMC26X_DEFINE(E4);
#endif
#if AXIS_DRIVER_TYPE_E5(TMC26X)
_TMC26X_DEFINE(E5);
#endif
#define _TMC26X_INIT(A) do{ \
stepper##A.setMicrosteps(A##_MICROSTEPS); \
stepper##A.start(); \
}while(0)
void tmc26x_init_to_defaults() {
#if AXIS_DRIVER_TYPE_X(TMC26X)
_TMC26X_INIT(X);
#endif
#if AXIS_DRIVER_TYPE_X2(TMC26X)
_TMC26X_INIT(X2);
#endif
#if AXIS_DRIVER_TYPE_Y(TMC26X)
_TMC26X_INIT(Y);
#endif
#if AXIS_DRIVER_TYPE_Y2(TMC26X)
_TMC26X_INIT(Y2);
#endif
#if AXIS_DRIVER_TYPE_Z(TMC26X)
_TMC26X_INIT(Z);
#endif
#if AXIS_DRIVER_TYPE_Z2(TMC26X)
_TMC26X_INIT(Z2);
#endif
#if AXIS_DRIVER_TYPE_Z3(TMC26X)
_TMC26X_INIT(Z3);
#endif
#if AXIS_DRIVER_TYPE_E0(TMC26X)
_TMC26X_INIT(E0);
#endif
#if AXIS_DRIVER_TYPE_E1(TMC26X)
_TMC26X_INIT(E1);
#endif
#if AXIS_DRIVER_TYPE_E2(TMC26X)
_TMC26X_INIT(E2);
#endif
#if AXIS_DRIVER_TYPE_E3(TMC26X)
_TMC26X_INIT(E3);
#endif
#if AXIS_DRIVER_TYPE_E4(TMC26X)
_TMC26X_INIT(E4);
#endif
#if AXIS_DRIVER_TYPE_E5(TMC26X)
_TMC26X_INIT(E5);
#endif
}
#endif // TMC26X

144
Marlin/src/module/stepper/TMC26X.h
View File

@ -0,0 +1,144 @@
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program 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.
*
* This program 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 this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
#pragma once
/**
* stepper/TMC26X.h
* Stepper driver indirection for TMC26X drivers
*/
#include "../../inc/MarlinConfig.h"
// TMC26X drivers have STEP/DIR on normal pins, but ENABLE via SPI
#include <SPI.h>
#if defined(STM32GENERIC) && defined(STM32F7)
#include "../../HAL/HAL_STM32_F4_F7/STM32F7/TMC2660.h"
#else
#include <TMC26XStepper.h>
#endif
void tmc26x_init_to_defaults();
// X Stepper
#if AXIS_DRIVER_TYPE_X(TMC26X)
extern TMC26XStepper stepperX;
#define X_ENABLE_INIT NOOP
#define X_ENABLE_WRITE(STATE) stepperX.setEnabled(STATE)
#define X_ENABLE_READ() stepperX.isEnabled()
#endif
// Y Stepper
#if AXIS_DRIVER_TYPE_Y(TMC26X)
extern TMC26XStepper stepperY;
#define Y_ENABLE_INIT NOOP
#define Y_ENABLE_WRITE(STATE) stepperY.setEnabled(STATE)
#define Y_ENABLE_READ() stepperY.isEnabled()
#endif
// Z Stepper
#if AXIS_DRIVER_TYPE_Z(TMC26X)
extern TMC26XStepper stepperZ;
#define Z_ENABLE_INIT NOOP
#define Z_ENABLE_WRITE(STATE) stepperZ.setEnabled(STATE)
#define Z_ENABLE_READ() stepperZ.isEnabled()
#endif
// X2 Stepper
#if HAS_X2_ENABLE && AXIS_DRIVER_TYPE_X2(TMC26X)
extern TMC26XStepper stepperX2;
#define X2_ENABLE_INIT NOOP
#define X2_ENABLE_WRITE(STATE) stepperX2.setEnabled(STATE)
#define X2_ENABLE_READ() stepperX2.isEnabled()
#endif
// Y2 Stepper
#if HAS_Y2_ENABLE && AXIS_DRIVER_TYPE_Y2(TMC26X)
extern TMC26XStepper stepperY2;
#define Y2_ENABLE_INIT NOOP
#define Y2_ENABLE_WRITE(STATE) stepperY2.setEnabled(STATE)
#define Y2_ENABLE_READ() stepperY2.isEnabled()
#endif
// Z2 Stepper
#if HAS_Z2_ENABLE && AXIS_DRIVER_TYPE_Z2(TMC26X)
extern TMC26XStepper stepperZ2;
#define Z2_ENABLE_INIT NOOP
#define Z2_ENABLE_WRITE(STATE) stepperZ2.setEnabled(STATE)
#define Z2_ENABLE_READ() stepperZ2.isEnabled()
#endif
// Z3 Stepper
#if HAS_Z3_ENABLE && ENABLED(Z3_IS_TMC26X)
extern TMC26XStepper stepperZ3;
#define Z3_ENABLE_INIT NOOP
#define Z3_ENABLE_WRITE(STATE) stepperZ3.setEnabled(STATE)
#define Z3_ENABLE_READ() stepperZ3.isEnabled()
#endif
// E0 Stepper
#if AXIS_DRIVER_TYPE_E0(TMC26X)
extern TMC26XStepper stepperE0;
#define E0_ENABLE_INIT NOOP
#define E0_ENABLE_WRITE(STATE) stepperE0.setEnabled(STATE)
#define E0_ENABLE_READ() stepperE0.isEnabled()
#endif
// E1 Stepper
#if AXIS_DRIVER_TYPE_E1(TMC26X)
extern TMC26XStepper stepperE1;
#define E1_ENABLE_INIT NOOP
#define E1_ENABLE_WRITE(STATE) stepperE1.setEnabled(STATE)
#define E1_ENABLE_READ() stepperE1.isEnabled()
#endif
// E2 Stepper
#if AXIS_DRIVER_TYPE_E2(TMC26X)
extern TMC26XStepper stepperE2;
#define E2_ENABLE_INIT NOOP
#define E2_ENABLE_WRITE(STATE) stepperE2.setEnabled(STATE)
#define E2_ENABLE_READ() stepperE2.isEnabled()
#endif
// E3 Stepper
#if AXIS_DRIVER_TYPE_E3(TMC26X)
extern TMC26XStepper stepperE3;
#define E3_ENABLE_INIT NOOP
#define E3_ENABLE_WRITE(STATE) stepperE3.setEnabled(STATE)
#define E3_ENABLE_READ() stepperE3.isEnabled()
#endif
// E4 Stepper
#if AXIS_DRIVER_TYPE_E4(TMC26X)
extern TMC26XStepper stepperE4;
#define E4_ENABLE_INIT NOOP
#define E4_ENABLE_WRITE(STATE) stepperE4.setEnabled(STATE)
#define E4_ENABLE_READ() stepperE4.isEnabled()
#endif
// E5 Stepper
#if AXIS_DRIVER_TYPE_E5(TMC26X)
extern TMC26XStepper stepperE5;
#define E5_ENABLE_INIT NOOP
#define E5_ENABLE_WRITE(STATE) stepperE5.setEnabled(STATE)
#define E5_ENABLE_READ() stepperE5.isEnabled()
#endif

53
Marlin/src/module/stepper/indirection.cpp
View File

@ -0,0 +1,53 @@
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program 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.
*
* This program 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 this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
/**
* stepper/indirection.cpp
*
* Stepper motor driver indirection to allow some stepper functions to
* be done via SPI/I2c instead of direct pin manipulation.
*
* Copyright (c) 2015 Dominik Wenger
*/
#include "../../inc/MarlinConfig.h"
#include "indirection.h"
void restore_stepper_drivers() {
#if HAS_TRINAMIC
restore_trinamic_drivers();
#endif
}
void reset_stepper_drivers() {
#if HAS_DRIVER(TMC26X)
tmc26x_init_to_defaults();
#endif
#if HAS_DRIVER(L6470)
L6470.init_to_defaults();
#endif
#if HAS_TRINAMIC
reset_trinamic_drivers();
#endif
}

399
Marlin/src/module/stepper/indirection.h
View File

@ -0,0 +1,399 @@
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program 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.
*
* This program 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 this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
#pragma once
/**
* stepper/indirection.h
*
* Stepper motor driver indirection to allow some stepper functions to
* be done via SPI/I2c instead of direct pin manipulation.
*
* Copyright (c) 2015 Dominik Wenger
*/
#include "../../inc/MarlinConfig.h"
#if HAS_DRIVER(L6470)
#include "L6470.h"
#endif
#if HAS_DRIVER(TMC26X)
#include "TMC26X.h"
#endif
#if HAS_TRINAMIC
#include "trinamic.h"
#endif
void restore_stepper_drivers(); // Called by PSU_ON
void reset_stepper_drivers(); // Called by settings.load / settings.reset
// X Stepper
#ifndef X_ENABLE_INIT
#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)
#endif
#ifndef X_DIR_INIT
#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)
#endif
#define X_STEP_INIT SET_OUTPUT(X_STEP_PIN)
#ifndef X_STEP_WRITE
#define X_STEP_WRITE(STATE) WRITE(X_STEP_PIN,STATE)
#endif
#define X_STEP_READ READ(X_STEP_PIN)
// Y Stepper
#ifndef Y_ENABLE_INIT
#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)
#endif
#ifndef Y_DIR_INIT
#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)
#endif
#define Y_STEP_INIT SET_OUTPUT(Y_STEP_PIN)
#ifndef Y_STEP_WRITE
#define Y_STEP_WRITE(STATE) WRITE(Y_STEP_PIN,STATE)
#endif
#define Y_STEP_READ READ(Y_STEP_PIN)
// Z Stepper
#ifndef Z_ENABLE_INIT
#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)
#endif
#ifndef Z_DIR_INIT
#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)
#endif
#define Z_STEP_INIT SET_OUTPUT(Z_STEP_PIN)
#ifndef Z_STEP_WRITE
#define Z_STEP_WRITE(STATE) WRITE(Z_STEP_PIN,STATE)
#endif
#define Z_STEP_READ READ(Z_STEP_PIN)
// X2 Stepper
#if HAS_X2_ENABLE
#ifndef X2_ENABLE_INIT
#define X2_ENABLE_INIT SET_OUTPUT(X2_ENABLE_PIN)
#define X2_ENABLE_WRITE(STATE) WRITE(X2_ENABLE_PIN,STATE)
#define X2_ENABLE_READ() READ(X2_ENABLE_PIN)
#endif
#ifndef X2_DIR_INIT
#define X2_DIR_INIT SET_OUTPUT(X2_DIR_PIN)
#define X2_DIR_WRITE(STATE) WRITE(X2_DIR_PIN,STATE)
#define X2_DIR_READ() READ(X2_DIR_PIN)
#endif
#define X2_STEP_INIT SET_OUTPUT(X2_STEP_PIN)
#ifndef X2_STEP_WRITE
#define X2_STEP_WRITE(STATE) WRITE(X2_STEP_PIN,STATE)
#endif
#define X2_STEP_READ READ(X2_STEP_PIN)
#endif
// Y2 Stepper
#if HAS_Y2_ENABLE
#ifndef Y2_ENABLE_INIT
#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)
#endif
#ifndef Y2_DIR_INIT
#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)
#endif
#define Y2_STEP_INIT SET_OUTPUT(Y2_STEP_PIN)
#ifndef Y2_STEP_WRITE
#define Y2_STEP_WRITE(STATE) WRITE(Y2_STEP_PIN,STATE)
#endif
#define Y2_STEP_READ READ(Y2_STEP_PIN)
#else
#define Y2_DIR_WRITE(STATE) NOOP
#endif
// Z2 Stepper
#if HAS_Z2_ENABLE
#ifndef Z2_ENABLE_INIT
#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)
#endif
#ifndef Z2_DIR_INIT
#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)
#endif
#define Z2_STEP_INIT SET_OUTPUT(Z2_STEP_PIN)
#ifndef Z2_STEP_WRITE
#define Z2_STEP_WRITE(STATE) WRITE(Z2_STEP_PIN,STATE)
#endif
#define Z2_STEP_READ READ(Z2_STEP_PIN)
#else
#define Z2_DIR_WRITE(STATE) NOOP
#endif
// Z3 Stepper
#if HAS_Z3_ENABLE
#ifndef Z3_ENABLE_INIT
#define Z3_ENABLE_INIT SET_OUTPUT(Z3_ENABLE_PIN)
#define Z3_ENABLE_WRITE(STATE) WRITE(Z3_ENABLE_PIN,STATE)
#define Z3_ENABLE_READ() READ(Z3_ENABLE_PIN)
#endif
#ifndef Z3_DIR_INIT
#define Z3_DIR_INIT SET_OUTPUT(Z3_DIR_PIN)
#define Z3_DIR_WRITE(STATE) WRITE(Z3_DIR_PIN,STATE)
#define Z3_DIR_READ() READ(Z3_DIR_PIN)
#endif
#define Z3_STEP_INIT SET_OUTPUT(Z3_STEP_PIN)
#ifndef Z3_STEP_WRITE
#define Z3_STEP_WRITE(STATE) WRITE(Z3_STEP_PIN,STATE)
#endif
#define Z3_STEP_READ READ(Z3_STEP_PIN)
#else
#define Z3_DIR_WRITE(STATE) NOOP
#endif
// E0 Stepper
#ifndef E0_ENABLE_INIT
#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)
#endif
#ifndef E0_DIR_INIT
#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)
#endif
#define E0_STEP_INIT SET_OUTPUT(E0_STEP_PIN)
#ifndef E0_STEP_WRITE
#define E0_STEP_WRITE(STATE) WRITE(E0_STEP_PIN,STATE)
#endif
#define E0_STEP_READ READ(E0_STEP_PIN)
// E1 Stepper
#ifndef E1_ENABLE_INIT
#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)
#endif
#ifndef E1_DIR_INIT
#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)
#endif
#define E1_STEP_INIT SET_OUTPUT(E1_STEP_PIN)
#ifndef E1_STEP_WRITE
#define E1_STEP_WRITE(STATE) WRITE(E1_STEP_PIN,STATE)
#endif
#define E1_STEP_READ READ(E1_STEP_PIN)
// E2 Stepper
#ifndef E2_ENABLE_INIT
#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)
#endif
#ifndef E2_DIR_INIT
#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)
#endif
#define E2_STEP_INIT SET_OUTPUT(E2_STEP_PIN)
#ifndef E2_STEP_WRITE
#define E2_STEP_WRITE(STATE) WRITE(E2_STEP_PIN,STATE)
#endif
#define E2_STEP_READ READ(E2_STEP_PIN)
// E3 Stepper
#ifndef E3_ENABLE_INIT
#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)
#endif
#ifndef E3_DIR_INIT
#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)
#endif
#define E3_STEP_INIT SET_OUTPUT(E3_STEP_PIN)
#ifndef E3_STEP_WRITE
#define E3_STEP_WRITE(STATE) WRITE(E3_STEP_PIN,STATE)
#endif
#define E3_STEP_READ READ(E3_STEP_PIN)
// E4 Stepper
#ifndef E4_ENABLE_INIT
#define E4_ENABLE_INIT SET_OUTPUT(E4_ENABLE_PIN)
#define E4_ENABLE_WRITE(STATE) WRITE(E4_ENABLE_PIN,STATE)
#define E4_ENABLE_READ() READ(E4_ENABLE_PIN)
#endif
#ifndef E4_DIR_INIT
#define E4_DIR_INIT SET_OUTPUT(E4_DIR_PIN)
#define E4_DIR_WRITE(STATE) WRITE(E4_DIR_PIN,STATE)
#define E4_DIR_READ() READ(E4_DIR_PIN)
#endif
#define E4_STEP_INIT SET_OUTPUT(E4_STEP_PIN)
#ifndef E4_STEP_WRITE
#define E4_STEP_WRITE(STATE) WRITE(E4_STEP_PIN,STATE)
#endif
#define E4_STEP_READ READ(E4_STEP_PIN)
// E5 Stepper
#ifndef E5_ENABLE_INIT
#define E5_ENABLE_INIT SET_OUTPUT(E5_ENABLE_PIN)
#define E5_ENABLE_WRITE(STATE) WRITE(E5_ENABLE_PIN,STATE)
#define E5_ENABLE_READ() READ(E5_ENABLE_PIN)
#endif
#ifndef E5_DIR_INIT
#define E5_DIR_INIT SET_OUTPUT(E5_DIR_PIN)
#define E5_DIR_WRITE(STATE) WRITE(E5_DIR_PIN,STATE)
#define E5_DIR_READ() READ(E5_DIR_PIN)
#endif
#define E5_STEP_INIT SET_OUTPUT(E5_STEP_PIN)
#ifndef E5_STEP_WRITE
#define E5_STEP_WRITE(STATE) WRITE(E5_STEP_PIN,STATE)
#endif
#define E5_STEP_READ READ(E5_STEP_PIN)
/**
* Extruder indirection for the single E axis
*/
#if ENABLED(SWITCHING_EXTRUDER) // One stepper driver per two extruders, reversed on odd index
#if EXTRUDERS > 5
#define E_STEP_WRITE(E,V) do{ if (E < 2) { E0_STEP_WRITE(V); } else if (E < 4) { E1_STEP_WRITE(V); } else { E2_STEP_WRITE(V); } }while(0)
#define NORM_E_DIR(E) do{ switch (E) { case 0: E0_DIR_WRITE(!INVERT_E0_DIR); break; case 1: E0_DIR_WRITE( INVERT_E0_DIR); break; case 2: E1_DIR_WRITE(!INVERT_E1_DIR); break; case 3: E1_DIR_WRITE( INVERT_E1_DIR); break; case 4: E2_DIR_WRITE(!INVERT_E2_DIR); case 5: E2_DIR_WRITE( INVERT_E2_DIR); } }while(0)
#define REV_E_DIR(E) do{ switch (E) { case 0: E0_DIR_WRITE( INVERT_E0_DIR); break; case 1: E0_DIR_WRITE(!INVERT_E0_DIR); break; case 2: E1_DIR_WRITE( INVERT_E1_DIR); break; case 3: E1_DIR_WRITE(!INVERT_E1_DIR); break; case 4: E2_DIR_WRITE( INVERT_E2_DIR); case 5: E2_DIR_WRITE(!INVERT_E2_DIR); } }while(0)
#elif EXTRUDERS > 4
#define E_STEP_WRITE(E,V) do{ if (E < 2) { E0_STEP_WRITE(V); } else if (E < 4) { E1_STEP_WRITE(V); } else { E2_STEP_WRITE(V); } }while(0)
#define NORM_E_DIR(E) do{ switch (E) { case 0: E0_DIR_WRITE(!INVERT_E0_DIR); break; case 1: E0_DIR_WRITE( INVERT_E0_DIR); break; case 2: E1_DIR_WRITE(!INVERT_E1_DIR); break; case 3: E1_DIR_WRITE( INVERT_E1_DIR); break; case 4: E2_DIR_WRITE(!INVERT_E2_DIR); } }while(0)
#define REV_E_DIR(E) do{ switch (E) { case 0: E0_DIR_WRITE( INVERT_E0_DIR); break; case 1: E0_DIR_WRITE(!INVERT_E0_DIR); break; case 2: E1_DIR_WRITE( INVERT_E1_DIR); break; case 3: E1_DIR_WRITE(!INVERT_E1_DIR); break; case 4: E2_DIR_WRITE( INVERT_E2_DIR); } }while(0)
#elif EXTRUDERS > 3
#define E_STEP_WRITE(E,V) do{ if (E < 2) { E0_STEP_WRITE(V); } else { E1_STEP_WRITE(V); } }while(0)
#define NORM_E_DIR(E) do{ switch (E) { case 0: E0_DIR_WRITE(!INVERT_E0_DIR); break; case 1: E0_DIR_WRITE( INVERT_E0_DIR); break; case 2: E1_DIR_WRITE(!INVERT_E1_DIR); break; case 3: E1_DIR_WRITE( INVERT_E1_DIR); } }while(0)
#define REV_E_DIR(E) do{ switch (E) { case 0: E0_DIR_WRITE( INVERT_E0_DIR); break; case 1: E0_DIR_WRITE(!INVERT_E0_DIR); break; case 2: E1_DIR_WRITE( INVERT_E1_DIR); break; case 3: E1_DIR_WRITE(!INVERT_E1_DIR); } }while(0)
#elif EXTRUDERS > 2
#define E_STEP_WRITE(E,V) do{ if (E < 2) { E0_STEP_WRITE(V); } else { E1_STEP_WRITE(V); } }while(0)
#define NORM_E_DIR(E) do{ switch (E) { case 0: E0_DIR_WRITE(!INVERT_E0_DIR); break; case 1: E0_DIR_WRITE( INVERT_E0_DIR); break; case 2: E1_DIR_WRITE(!INVERT_E1_DIR); } }while(0)
#define REV_E_DIR(E) do{ switch (E) { case 0: E0_DIR_WRITE( INVERT_E0_DIR); break; case 1: E0_DIR_WRITE(!INVERT_E0_DIR); break; case 2: E1_DIR_WRITE( INVERT_E1_DIR); } }while(0)
#else
#define E_STEP_WRITE(E,V) E0_STEP_WRITE(V)
#define NORM_E_DIR(E) do{ E0_DIR_WRITE(E ? INVERT_E0_DIR : !INVERT_E0_DIR); }while(0)
#define REV_E_DIR(E) do{ E0_DIR_WRITE(E ? !INVERT_E0_DIR : INVERT_E0_DIR); }while(0)
#endif
#elif ENABLED(PRUSA_MMU2)
#define E_STEP_WRITE(E,V) E0_STEP_WRITE(V)
#define NORM_E_DIR(E) E0_DIR_WRITE(!INVERT_E0_DIR)
#define REV_E_DIR(E) E0_DIR_WRITE( INVERT_E0_DIR)
#elif ENABLED(MK2_MULTIPLEXER) // One multiplexed stepper driver, reversed on odd index
#define E_STEP_WRITE(E,V) E0_STEP_WRITE(V)
#define NORM_E_DIR(E) do{ E0_DIR_WRITE(TEST(E, 0) ? !INVERT_E0_DIR: INVERT_E0_DIR); }while(0)
#define REV_E_DIR(E) do{ E0_DIR_WRITE(TEST(E, 0) ? INVERT_E0_DIR: !INVERT_E0_DIR); }while(0)
#elif E_STEPPERS > 1
#if E_STEPPERS > 5
#define _E_STEP_WRITE(E,V) do{ switch (E) { case 0: E0_STEP_WRITE(V); break; case 1: E1_STEP_WRITE(V); break; case 2: E2_STEP_WRITE(V); break; case 3: E3_STEP_WRITE(V); break; case 4: E4_STEP_WRITE(V); case 5: E5_STEP_WRITE(V); } }while(0)
#define _NORM_E_DIR(E) do{ switch (E) { case 0: E0_DIR_WRITE(!INVERT_E0_DIR); break; case 1: E1_DIR_WRITE(!INVERT_E1_DIR); break; case 2: E2_DIR_WRITE(!INVERT_E2_DIR); break; case 3: E3_DIR_WRITE(!INVERT_E3_DIR); break; case 4: E4_DIR_WRITE(!INVERT_E4_DIR); case 5: E5_DIR_WRITE(!INVERT_E5_DIR); } }while(0)
#define _REV_E_DIR(E) do{ switch (E) { case 0: E0_DIR_WRITE( INVERT_E0_DIR); break; case 1: E1_DIR_WRITE( INVERT_E1_DIR); break; case 2: E2_DIR_WRITE( INVERT_E2_DIR); break; case 3: E3_DIR_WRITE( INVERT_E3_DIR); break; case 4: E4_DIR_WRITE( INVERT_E4_DIR); case 5: E5_DIR_WRITE( INVERT_E5_DIR); } }while(0)
#elif E_STEPPERS > 4
#define _E_STEP_WRITE(E,V) do{ switch (E) { case 0: E0_STEP_WRITE(V); break; case 1: E1_STEP_WRITE(V); break; case 2: E2_STEP_WRITE(V); break; case 3: E3_STEP_WRITE(V); break; case 4: E4_STEP_WRITE(V); } }while(0)
#define _NORM_E_DIR(E) do{ switch (E) { case 0: E0_DIR_WRITE(!INVERT_E0_DIR); break; case 1: E1_DIR_WRITE(!INVERT_E1_DIR); break; case 2: E2_DIR_WRITE(!INVERT_E2_DIR); break; case 3: E3_DIR_WRITE(!INVERT_E3_DIR); break; case 4: E4_DIR_WRITE(!INVERT_E4_DIR); } }while(0)
#define _REV_E_DIR(E) do{ switch (E) { case 0: E0_DIR_WRITE( INVERT_E0_DIR); break; case 1: E1_DIR_WRITE( INVERT_E1_DIR); break; case 2: E2_DIR_WRITE( INVERT_E2_DIR); break; case 3: E3_DIR_WRITE( INVERT_E3_DIR); break; case 4: E4_DIR_WRITE( INVERT_E4_DIR); } }while(0)
#elif E_STEPPERS > 3
#define _E_STEP_WRITE(E,V) do{ switch (E) { case 0: E0_STEP_WRITE(V); break; case 1: E1_STEP_WRITE(V); break; case 2: E2_STEP_WRITE(V); break; case 3: E3_STEP_WRITE(V); } }while(0)
#define _NORM_E_DIR(E) do{ switch (E) { case 0: E0_DIR_WRITE(!INVERT_E0_DIR); break; case 1: E1_DIR_WRITE(!INVERT_E1_DIR); break; case 2: E2_DIR_WRITE(!INVERT_E2_DIR); break; case 3: E3_DIR_WRITE(!INVERT_E3_DIR); } }while(0)
#define _REV_E_DIR(E) do{ switch (E) { case 0: E0_DIR_WRITE( INVERT_E0_DIR); break; case 1: E1_DIR_WRITE( INVERT_E1_DIR); break; case 2: E2_DIR_WRITE( INVERT_E2_DIR); break; case 3: E3_DIR_WRITE( INVERT_E3_DIR); } }while(0)
#elif E_STEPPERS > 2
#define _E_STEP_WRITE(E,V) do{ switch (E) { case 0: E0_STEP_WRITE(V); break; case 1: E1_STEP_WRITE(V); break; case 2: E2_STEP_WRITE(V); } }while(0)
#define _NORM_E_DIR(E) do{ switch (E) { case 0: E0_DIR_WRITE(!INVERT_E0_DIR); break; case 1: E1_DIR_WRITE(!INVERT_E1_DIR); break; case 2: E2_DIR_WRITE(!INVERT_E2_DIR); } }while(0)
#define _REV_E_DIR(E) do{ switch (E) { case 0: E0_DIR_WRITE( INVERT_E0_DIR); break; case 1: E1_DIR_WRITE( INVERT_E1_DIR); break; case 2: E2_DIR_WRITE( INVERT_E2_DIR); } }while(0)
#else
#define _E_STEP_WRITE(E,V) do{ if (E == 0) { E0_STEP_WRITE(V); } else { E1_STEP_WRITE(V); } }while(0)
#define _NORM_E_DIR(E) do{ if (E == 0) { E0_DIR_WRITE(!INVERT_E0_DIR); } else { E1_DIR_WRITE(!INVERT_E1_DIR); } }while(0)
#define _REV_E_DIR(E) do{ if (E == 0) { E0_DIR_WRITE( INVERT_E0_DIR); } else { E1_DIR_WRITE( INVERT_E1_DIR); } }while(0)
#endif
#if HAS_DUPLICATION_MODE
#if ENABLED(MULTI_NOZZLE_DUPLICATION)
#define _DUPE(N,T,V) do{ if (TEST(duplication_e_mask, N)) E##N##_##T##_WRITE(V); }while(0)
#else
#define _DUPE(N,T,V) E##N##_##T##_WRITE(V)
#endif
#define NDIR(N) _DUPE(N,DIR,!INVERT_E##N##_DIR)
#define RDIR(N) _DUPE(N,DIR, INVERT_E##N##_DIR)
#define E_STEP_WRITE(E,V) do{ if (extruder_duplication_enabled) { DUPE(STEP,V); } else _E_STEP_WRITE(E,V); }while(0)
#if E_STEPPERS > 2
#if E_STEPPERS > 5
#define DUPE(T,V) do{ _DUPE(0,T,V); _DUPE(1,T,V); _DUPE(2,T,V); _DUPE(3,T,V); _DUPE(4,T,V); _DUPE(5,T,V); }while(0)
#define NORM_E_DIR(E) do{ if (extruder_duplication_enabled) { NDIR(0); NDIR(1); NDIR(2); NDIR(3); NDIR(4); NDIR(5); } else _NORM_E_DIR(E); }while(0)
#define REV_E_DIR(E) do{ if (extruder_duplication_enabled) { RDIR(0); RDIR(1); RDIR(2); RDIR(3); RDIR(4); RDIR(5); } else _REV_E_DIR(E); }while(0)
#elif E_STEPPERS > 4
#define DUPE(T,V) do{ _DUPE(0,T,V); _DUPE(1,T,V); _DUPE(2,T,V); _DUPE(3,T,V); _DUPE(4,T,V); }while(0)
#define NORM_E_DIR(E) do{ if (extruder_duplication_enabled) { NDIR(0); NDIR(1); NDIR(2); NDIR(3); NDIR(4); } else _NORM_E_DIR(E); }while(0)
#define REV_E_DIR(E) do{ if (extruder_duplication_enabled) { RDIR(0); RDIR(1); RDIR(2); RDIR(3); RDIR(4); } else _REV_E_DIR(E); }while(0)
#elif E_STEPPERS > 3
#define DUPE(T,V) do{ _DUPE(0,T,V); _DUPE(1,T,V); _DUPE(2,T,V); _DUPE(3,T,V); }while(0)
#define NORM_E_DIR(E) do{ if (extruder_duplication_enabled) { NDIR(0); NDIR(1); NDIR(2); NDIR(3); } else _NORM_E_DIR(E); }while(0)
#define REV_E_DIR(E) do{ if (extruder_duplication_enabled) { RDIR(0); RDIR(1); RDIR(2); RDIR(3); } else _REV_E_DIR(E); }while(0)
#else
#define DUPE(T,V) do{ _DUPE(0,T,V); _DUPE(1,T,V); _DUPE(2,T,V); }while(0)
#define NORM_E_DIR(E) do{ if (extruder_duplication_enabled) { NDIR(0); NDIR(1); NDIR(2); } else _NORM_E_DIR(E); }while(0)
#define REV_E_DIR(E) do{ if (extruder_duplication_enabled) { RDIR(0); RDIR(1); RDIR(2); } else _REV_E_DIR(E); }while(0)
#endif
#else
#define DUPE(T,V) do{ _DUPE(0,T,V); _DUPE(1,T,V); }while(0)
#define NORM_E_DIR(E) do{ if (extruder_duplication_enabled) { NDIR(0); NDIR(1); } else _NORM_E_DIR(E); }while(0)
#define REV_E_DIR(E) do{ if (extruder_duplication_enabled) { RDIR(0); RDIR(1); } else _REV_E_DIR(E); }while(0)
#endif
#else
#define E_STEP_WRITE(E,V) _E_STEP_WRITE(E,V)
#define NORM_E_DIR(E) _NORM_E_DIR(E)
#define REV_E_DIR(E) _REV_E_DIR(E)
#endif
#elif E_STEPPERS
#define E_STEP_WRITE(E,V) E0_STEP_WRITE(V)
#define NORM_E_DIR(E) E0_DIR_WRITE(!INVERT_E0_DIR)
#define REV_E_DIR(E) E0_DIR_WRITE( INVERT_E0_DIR)
#else
#define E_STEP_WRITE(E,V) NOOP
#define NORM_E_DIR(E) NOOP
#define REV_E_DIR(E) NOOP
#endif

435
Marlin/src/module/stepper_indirection.cpp → Marlin/src/module/stepper/trinamic.cpp
View File

@ -21,204 +21,90 @@
*/
/**
* stepper_indirection.cpp
*
* Stepper motor driver indirection to allow some stepper functions to
* be done via SPI/I2c instead of direct pin manipulation.
*
* Copyright (c) 2015 Dominik Wenger
* stepper/trinamic.cpp
* Stepper driver indirection for Trinamic
*/
#include "stepper_indirection.h"
#include "../inc/MarlinConfig.h"
#include "stepper.h"
#if HAS_DRIVER(L6470)
#include "L6470/L6470_Marlin.h"
#endif
//
// TMC26X Driver objects and inits
//
#if HAS_DRIVER(TMC26X)
#include <SPI.h>
#include "../../inc/MarlinConfig.h"
#if defined(STM32GENERIC) && defined(STM32F7)
#include "../HAL/HAL_STM32_F4_F7/STM32F7/TMC2660.h"
#else
#include <TMC26XStepper.h>
#endif
#if HAS_TRINAMIC
#define _TMC26X_DEFINE(ST) TMC26XStepper stepper##ST(200, ST##_CS_PIN, ST##_STEP_PIN, ST##_DIR_PIN, ST##_MAX_CURRENT, ST##_SENSE_RESISTOR)
#include "trinamic.h"
#include "../stepper.h"
#if AXIS_DRIVER_TYPE_X(TMC26X)
_TMC26X_DEFINE(X);
#endif
#if AXIS_DRIVER_TYPE_X2(TMC26X)
_TMC26X_DEFINE(X2);
#endif
#if AXIS_DRIVER_TYPE_Y(TMC26X)
_TMC26X_DEFINE(Y);
#endif
#if AXIS_DRIVER_TYPE_Y2(TMC26X)
_TMC26X_DEFINE(Y2);
#endif
#if AXIS_DRIVER_TYPE_Z(TMC26X)
_TMC26X_DEFINE(Z);
#endif
#if AXIS_DRIVER_TYPE_Z2(TMC26X)
_TMC26X_DEFINE(Z2);
#endif
#if AXIS_DRIVER_TYPE_Z3(TMC26X)
_TMC26X_DEFINE(Z3);
#endif
#if AXIS_DRIVER_TYPE_E0(TMC26X)
_TMC26X_DEFINE(E0);
#endif
#if AXIS_DRIVER_TYPE_E1(TMC26X)
_TMC26X_DEFINE(E1);
#endif
#if AXIS_DRIVER_TYPE_E2(TMC26X)
_TMC26X_DEFINE(E2);
#endif
#if AXIS_DRIVER_TYPE_E3(TMC26X)
_TMC26X_DEFINE(E3);
#endif
#if AXIS_DRIVER_TYPE_E4(TMC26X)
_TMC26X_DEFINE(E4);
#endif
#if AXIS_DRIVER_TYPE_E5(TMC26X)
_TMC26X_DEFINE(E5);
#endif
#include <HardwareSerial.h>
#include <SPI.h>
#define _TMC26X_INIT(A) do{ \
stepper##A.setMicrosteps(A##_MICROSTEPS); \
stepper##A.start(); \
}while(0)
enum StealthIndex : uint8_t { STEALTH_AXIS_XY, STEALTH_AXIS_Z, STEALTH_AXIS_E };
#define _TMC_INIT(ST, STEALTH_INDEX) tmc_init(stepper##ST, ST##_CURRENT, ST##_MICROSTEPS, ST##_HYBRID_THRESHOLD, stealthchop_by_axis[STEALTH_INDEX])
void tmc26x_init_to_defaults() {
#if AXIS_DRIVER_TYPE_X(TMC26X)
_TMC26X_INIT(X);
#endif
#if AXIS_DRIVER_TYPE_X2(TMC26X)
_TMC26X_INIT(X2);
#endif
#if AXIS_DRIVER_TYPE_Y(TMC26X)
_TMC26X_INIT(Y);
#endif
#if AXIS_DRIVER_TYPE_Y2(TMC26X)
_TMC26X_INIT(Y2);
#endif
#if AXIS_DRIVER_TYPE_Z(TMC26X)
_TMC26X_INIT(Z);
#endif
#if AXIS_DRIVER_TYPE_Z2(TMC26X)
_TMC26X_INIT(Z2);
#endif
#if AXIS_DRIVER_TYPE_Z3(TMC26X)
_TMC26X_INIT(Z3);
#endif
#if AXIS_DRIVER_TYPE_E0(TMC26X)
_TMC26X_INIT(E0);
#endif
#if AXIS_DRIVER_TYPE_E1(TMC26X)
_TMC26X_INIT(E1);
#endif
#if AXIS_DRIVER_TYPE_E2(TMC26X)
_TMC26X_INIT(E2);
#endif
#if AXIS_DRIVER_TYPE_E3(TMC26X)
_TMC26X_INIT(E3);
#endif
#if AXIS_DRIVER_TYPE_E4(TMC26X)
_TMC26X_INIT(E4);
#endif
#if AXIS_DRIVER_TYPE_E5(TMC26X)
_TMC26X_INIT(E5);
#endif
}
#endif // TMC26X
#if HAS_TRINAMIC
#include <HardwareSerial.h>
#include <SPI.h>
#include "planner.h"
#include "../core/enum.h"
enum StealthIndex : uint8_t { STEALTH_AXIS_XY, STEALTH_AXIS_Z, STEALTH_AXIS_E };
#define _TMC_INIT(ST, STEALTH_INDEX) tmc_init(stepper##ST, ST##_CURRENT, ST##_MICROSTEPS, ST##_HYBRID_THRESHOLD, stealthchop_by_axis[STEALTH_INDEX])
// IC = TMC model number
// ST = Stepper object letter
// L = Label characters
// AI = Axis Enum Index
// SWHW = SW/SH UART selection
#if ENABLED(TMC_USE_SW_SPI)
#define __TMC_SPI_DEFINE(IC, ST, L, AI) TMCMarlin<IC##Stepper, L, AI> stepper##ST(ST##_CS_PIN, ST##_RSENSE, TMC_SW_MOSI, TMC_SW_MISO, TMC_SW_SCK)
#else
#define __TMC_SPI_DEFINE(IC, ST, L, AI) TMCMarlin<IC##Stepper, L, AI> stepper##ST(ST##_CS_PIN, ST##_RSENSE)
#endif
#define TMC_UART_HW_DEFINE(IC, ST, L, AI) TMCMarlin<IC##Stepper, L, AI> stepper##ST(&ST##_HARDWARE_SERIAL, ST##_RSENSE, ST##_SLAVE_ADDRESS)
#define TMC_UART_SW_DEFINE(IC, ST, L, AI) TMCMarlin<IC##Stepper, L, AI> stepper##ST(ST##_SERIAL_RX_PIN, ST##_SERIAL_TX_PIN, ST##_RSENSE, ST##_SLAVE_ADDRESS, ST##_SERIAL_RX_PIN > -1)
// IC = TMC model number
// ST = Stepper object letter
// L = Label characters
// AI = Axis Enum Index
// SWHW = SW/SH UART selection
#if ENABLED(TMC_USE_SW_SPI)
#define __TMC_SPI_DEFINE(IC, ST, L, AI) TMCMarlin<IC##Stepper, L, AI> stepper##ST(ST##_CS_PIN, ST##_RSENSE, TMC_SW_MOSI, TMC_SW_MISO, TMC_SW_SCK)
#else
#define __TMC_SPI_DEFINE(IC, ST, L, AI) TMCMarlin<IC##Stepper, L, AI> stepper##ST(ST##_CS_PIN, ST##_RSENSE)
#endif
#define _TMC_SPI_DEFINE(IC, ST, AI) __TMC_SPI_DEFINE(IC, ST, TMC_##ST##_LABEL, AI)
#define TMC_SPI_DEFINE(ST, AI) _TMC_SPI_DEFINE(ST##_DRIVER_TYPE, ST, AI##_AXIS)
#define TMC_UART_HW_DEFINE(IC, ST, L, AI) TMCMarlin<IC##Stepper, L, AI> stepper##ST(&ST##_HARDWARE_SERIAL, ST##_RSENSE, ST##_SLAVE_ADDRESS)
#define TMC_UART_SW_DEFINE(IC, ST, L, AI) TMCMarlin<IC##Stepper, L, AI> stepper##ST(ST##_SERIAL_RX_PIN, ST##_SERIAL_TX_PIN, ST##_RSENSE, ST##_SLAVE_ADDRESS, ST##_SERIAL_RX_PIN > -1)
#define _TMC_UART_DEFINE(SWHW, IC, ST, AI) TMC_UART_##SWHW##_DEFINE(IC, ST, TMC_##ST##_LABEL, AI)
#define TMC_UART_DEFINE(SWHW, ST, AI) _TMC_UART_DEFINE(SWHW, ST##_DRIVER_TYPE, ST, AI##_AXIS)
#define _TMC_SPI_DEFINE(IC, ST, AI) __TMC_SPI_DEFINE(IC, ST, TMC_##ST##_LABEL, AI)
#define TMC_SPI_DEFINE(ST, AI) _TMC_SPI_DEFINE(ST##_DRIVER_TYPE, ST, AI##_AXIS)
#if ENABLED(DISTINCT_E_FACTORS) && E_STEPPERS > 1
#define TMC_SPI_DEFINE_E(AI) TMC_SPI_DEFINE(E##AI, E##AI)
#define TMC_UART_DEFINE_E(SWHW, AI) TMC_UART_DEFINE(SWHW, E##AI, E##AI)
#else
#define TMC_SPI_DEFINE_E(AI) TMC_SPI_DEFINE(E##AI, E)
#define TMC_UART_DEFINE_E(SWHW, AI) TMC_UART_DEFINE(SWHW, E##AI, E)
#endif
#define _TMC_UART_DEFINE(SWHW, IC, ST, AI) TMC_UART_##SWHW##_DEFINE(IC, ST, TMC_##ST##_LABEL, AI)
#define TMC_UART_DEFINE(SWHW, ST, AI) _TMC_UART_DEFINE(SWHW, ST##_DRIVER_TYPE, ST, AI##_AXIS)
// Stepper objects of TMC2130/TMC2160/TMC2660/TMC5130/TMC5160 steppers used
#if AXIS_HAS_SPI(X)
TMC_SPI_DEFINE(X, X);
#endif
#if AXIS_HAS_SPI(X2)
TMC_SPI_DEFINE(X2, X);
#endif
#if AXIS_HAS_SPI(Y)
TMC_SPI_DEFINE(Y, Y);
#endif
#if AXIS_HAS_SPI(Y2)
TMC_SPI_DEFINE(Y2, Y);
#endif
#if AXIS_HAS_SPI(Z)
TMC_SPI_DEFINE(Z, Z);
#endif
#if AXIS_HAS_SPI(Z2)
TMC_SPI_DEFINE(Z2, Z);
#endif
#if AXIS_HAS_SPI(Z3)
TMC_SPI_DEFINE(Z3, Z);
#endif
#if AXIS_HAS_SPI(E0)
TMC_SPI_DEFINE_E(0);
#endif
#if AXIS_HAS_SPI(E1)
TMC_SPI_DEFINE_E(1);
#endif
#if AXIS_HAS_SPI(E2)
TMC_SPI_DEFINE_E(2);
#endif
#if AXIS_HAS_SPI(E3)
TMC_SPI_DEFINE_E(3);
#endif
#if AXIS_HAS_SPI(E4)
TMC_SPI_DEFINE_E(4);
#endif
#if AXIS_HAS_SPI(E5)
TMC_SPI_DEFINE_E(5);
#endif
#if ENABLED(DISTINCT_E_FACTORS) && E_STEPPERS > 1
#define TMC_SPI_DEFINE_E(AI) TMC_SPI_DEFINE(E##AI, E##AI)
#define TMC_UART_DEFINE_E(SWHW, AI) TMC_UART_DEFINE(SWHW, E##AI, E##AI)
#else
#define TMC_SPI_DEFINE_E(AI) TMC_SPI_DEFINE(E##AI, E)
#define TMC_UART_DEFINE_E(SWHW, AI) TMC_UART_DEFINE(SWHW, E##AI, E)
#endif
// Stepper objects of TMC2130/TMC2160/TMC2660/TMC5130/TMC5160 steppers used
#if AXIS_HAS_SPI(X)
TMC_SPI_DEFINE(X, X);
#endif
#if AXIS_HAS_SPI(X2)
TMC_SPI_DEFINE(X2, X);
#endif
#if AXIS_HAS_SPI(Y)
TMC_SPI_DEFINE(Y, Y);
#endif
#if AXIS_HAS_SPI(Y2)
TMC_SPI_DEFINE(Y2, Y);
#endif
#if AXIS_HAS_SPI(Z)
TMC_SPI_DEFINE(Z, Z);
#endif
#if AXIS_HAS_SPI(Z2)
TMC_SPI_DEFINE(Z2, Z);
#endif
#if AXIS_HAS_SPI(Z3)
TMC_SPI_DEFINE(Z3, Z);
#endif
#if AXIS_HAS_SPI(E0)
TMC_SPI_DEFINE_E(0);
#endif
#if AXIS_HAS_SPI(E1)
TMC_SPI_DEFINE_E(1);
#endif
#if AXIS_HAS_SPI(E2)
TMC_SPI_DEFINE_E(2);
#endif
#if AXIS_HAS_SPI(E3)
TMC_SPI_DEFINE_E(3);
#endif
#if AXIS_HAS_SPI(E4)
TMC_SPI_DEFINE_E(4);
#endif
#if AXIS_HAS_SPI(E5)
TMC_SPI_DEFINE_E(5);
#endif
#if HAS_DRIVER(TMC2130)
@ -704,7 +590,7 @@
}
#endif // TMC5160
void restore_stepper_drivers() {
void restore_trinamic_drivers() {
#if AXIS_IS_TMC(X)
stepperX.push();
#endif
@ -746,39 +632,28 @@ void restore_stepper_drivers() {
#endif
}
void reset_stepper_drivers() {
#if HAS_DRIVER(TMC26X)
tmc26x_init_to_defaults();
#endif
#if HAS_DRIVER(L6470)
L6470.init_to_defaults();
#endif
#if HAS_TRINAMIC
static constexpr bool stealthchop_by_axis[] = {
#if ENABLED(STEALTHCHOP_XY)
true
#else
false
#endif
,
#if ENABLED(STEALTHCHOP_Z)
true
#else
false
#endif
,
#if ENABLED(STEALTHCHOP_E)
true
#else
false
#endif
};
#endif
void reset_trinamic_drivers() {
static constexpr bool stealthchop_by_axis[] = {
#if ENABLED(STEALTHCHOP_XY)
true
#else
false
#endif
,
#if ENABLED(STEALTHCHOP_Z)
true
#else
false
#endif
,
#if ENABLED(STEALTHCHOP_E)
true
#else
false
#endif
};
#if TMC_USE_CHAIN
#if TMC_USE_CHAIN
enum TMC_axis_enum : unsigned char { _, X, Y, Z, X2, Y2, Z2, Z3, E0, E1, E2, E3, E4, E5 };
#define __TMC_CHAIN(Q,V) do{ stepper##Q.set_chain_info(Q,V); }while(0)
@ -942,125 +817,7 @@ void reset_stepper_drivers() {
TMC_ADV()
#endif
#if HAS_TRINAMIC
stepper.set_directions();
#endif
stepper.set_directions();
}
//
// L6470 Driver objects and inits
//
#if HAS_DRIVER(L6470)
// create stepper objects
#define _L6470_DEFINE(ST) L6470 stepper##ST((const int)L6470_CHAIN_SS_PIN)
// L6470 Stepper objects
#if AXIS_DRIVER_TYPE_X(L6470)
_L6470_DEFINE(X);
#endif
#if AXIS_DRIVER_TYPE_X2(L6470)
_L6470_DEFINE(X2);
#endif
#if AXIS_DRIVER_TYPE_Y(L6470)
_L6470_DEFINE(Y);
#endif
#if AXIS_DRIVER_TYPE_Y2(L6470)
_L6470_DEFINE(Y2);
#endif
#if AXIS_DRIVER_TYPE_Z(L6470)
_L6470_DEFINE(Z);
#endif
#if AXIS_DRIVER_TYPE_Z2(L6470)
_L6470_DEFINE(Z2);
#endif
#if AXIS_DRIVER_TYPE_Z3(L6470)
_L6470_DEFINE(Z3);
#endif
#if AXIS_DRIVER_TYPE_E0(L6470)
_L6470_DEFINE(E0);
#endif
#if AXIS_DRIVER_TYPE_E1(L6470)
_L6470_DEFINE(E1);
#endif
#if AXIS_DRIVER_TYPE_E2(L6470)
_L6470_DEFINE(E2);
#endif
#if AXIS_DRIVER_TYPE_E3(L6470)
_L6470_DEFINE(E3);
#endif
#if AXIS_DRIVER_TYPE_E4(L6470)
_L6470_DEFINE(E4);
#endif
#if AXIS_DRIVER_TYPE_E5(L6470)
_L6470_DEFINE(E5);
#endif
// not using L6470 library's init command because it
// briefly sends power to the steppers
#define _L6470_INIT_CHIP(Q) do{ \
stepper##Q.resetDev(); \
stepper##Q.softFree(); \
stepper##Q.SetParam(L6470_CONFIG, CONFIG_PWM_DIV_1 \
| CONFIG_PWM_MUL_2 \
| CONFIG_SR_290V_us \
| CONFIG_OC_SD_DISABLE \
| CONFIG_VS_COMP_DISABLE \
| CONFIG_SW_HARD_STOP \
| CONFIG_INT_16MHZ); \
stepper##Q.SetParam(L6470_KVAL_RUN, 0xFF); \
stepper##Q.SetParam(L6470_KVAL_ACC, 0xFF); \
stepper##Q.SetParam(L6470_KVAL_DEC, 0xFF); \
stepper##Q.setMicroSteps(Q##_MICROSTEPS); \
stepper##Q.setOverCurrent(Q##_OVERCURRENT); \
stepper##Q.setStallCurrent(Q##_STALLCURRENT); \
stepper##Q.SetParam(L6470_KVAL_HOLD, Q##_MAX_VOLTAGE); \
stepper##Q.SetParam(L6470_ABS_POS, 0); \
stepper##Q.getStatus(); \
}while(0)
void L6470_Marlin::init_to_defaults() {
#if AXIS_DRIVER_TYPE_X(L6470)
_L6470_INIT_CHIP(X);
#endif
#if AXIS_DRIVER_TYPE_X2(L6470)
_L6470_INIT_CHIP(X2);
#endif
#if AXIS_DRIVER_TYPE_Y(L6470)
_L6470_INIT_CHIP(Y);
#endif
#if AXIS_DRIVER_TYPE_Y2(L6470)
_L6470_INIT_CHIP(Y2);
#endif
#if AXIS_DRIVER_TYPE_Z(L6470)
_L6470_INIT_CHIP(Z);
#endif
#if AXIS_DRIVER_TYPE_Z2(L6470)
_L6470_INIT_CHIP(Z2);
#endif
#if AXIS_DRIVER_TYPE_Z3(L6470)
_L6470_INIT_CHIP(Z3);
#endif
#if AXIS_DRIVER_TYPE_E0(L6470)
_L6470_INIT_CHIP(E0);
#endif
#if AXIS_DRIVER_TYPE_E1(L6470)
_L6470_INIT_CHIP(E1);
#endif
#if AXIS_DRIVER_TYPE_E2(L6470)
_L6470_INIT_CHIP(E2);
#endif
#if AXIS_DRIVER_TYPE_E3(L6470)
_L6470_INIT_CHIP(E3);
#endif
#if AXIS_DRIVER_TYPE_E4(L6470)
_L6470_INIT_CHIP(E4);
#endif
#if AXIS_DRIVER_TYPE_E5(L6470)
_L6470_INIT_CHIP(E5);
#endif
}
#endif // L6470
#endif // HAS_TRINAMIC

232
Marlin/src/module/stepper/trinamic.h
View File

@ -0,0 +1,232 @@
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program 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.
*
* This program 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 this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
#pragma once
/**
* stepper/trinamic.h
* Stepper driver indirection for Trinamic
*/
#include <TMCStepper.h>
#if TMCSTEPPER_VERSION < 0x000405
#error "Update TMCStepper library to 0.4.5 or newer."
#endif
#include "../../inc/MarlinConfig.h"
#include "../../feature/tmc_util.h"
#define ____TMC_CLASS(MODEL, A, I, E) TMCMarlin<TMC##MODEL##Stepper, A, I, E>
#define ___TMC_CLASS(MODEL, A, I, E) ____TMC_CLASS(MODEL, A, I, E)
#define __TMC_CLASS(MODEL, A, I, E) ___TMC_CLASS(_##MODEL, A, I, E)
#define _TMC_CLASS(MODEL, L, E) __TMC_CLASS(MODEL, L, E)
#define TMC_CLASS(ST, A) _TMC_CLASS(ST##_DRIVER_TYPE, TMC_##ST##_LABEL, A##_AXIS)
#if ENABLED(DISTINCT_E_FACTORS)
#define TMC_CLASS_E(I) TMC_CLASS(E##I, E##I)
#else
#define TMC_CLASS_E(I) TMC_CLASS(E##I, E)
#endif
typedef struct {
uint8_t toff;
int8_t hend;
uint8_t hstrt;
} chopper_timing_t;
static constexpr chopper_timing_t chopper_timing = CHOPPER_TIMING;
#if HAS_TMC220x
void tmc_serial_begin();
#endif
void restore_trinamic_drivers();
void reset_trinamic_drivers();
#define AXIS_HAS_SQUARE_WAVE(A) (AXIS_IS_TMC(A) && ENABLED(SQUARE_WAVE_STEPPING))
// X Stepper
#if AXIS_IS_TMC(X)
extern TMC_CLASS(X, X) stepperX;
#if ENABLED(SOFTWARE_DRIVER_ENABLE)
#define X_ENABLE_INIT NOOP
#define X_ENABLE_WRITE(STATE) stepperX.toff((STATE)==X_ENABLE_ON ? chopper_timing.toff : 0)
#define X_ENABLE_READ() stepperX.isEnabled()
#endif
#if AXIS_HAS_SQUARE_WAVE(X)
#define X_STEP_WRITE(STATE) do{ if(STATE) TOGGLE(X_STEP_PIN); }while(0)
#endif
#endif
// Y Stepper
#if AXIS_IS_TMC(Y)
extern TMC_CLASS(Y, Y) stepperY;
#if ENABLED(SOFTWARE_DRIVER_ENABLE)
#define Y_ENABLE_INIT NOOP
#define Y_ENABLE_WRITE(STATE) stepperY.toff((STATE)==Y_ENABLE_ON ? chopper_timing.toff : 0)
#define Y_ENABLE_READ() stepperY.isEnabled()
#endif
#if AXIS_HAS_SQUARE_WAVE(Y)
#define Y_STEP_WRITE(STATE) do{ if (STATE) TOGGLE(Y_STEP_PIN); }while(0)
#endif
#endif
// Z Stepper
#if AXIS_IS_TMC(Z)
extern TMC_CLASS(Z, Z) stepperZ;
#if ENABLED(SOFTWARE_DRIVER_ENABLE)
#define Z_ENABLE_INIT NOOP
#define Z_ENABLE_WRITE(STATE) stepperZ.toff((STATE)==Z_ENABLE_ON ? chopper_timing.toff : 0)
#define Z_ENABLE_READ() stepperZ.isEnabled()
#endif
#if AXIS_HAS_SQUARE_WAVE(Z)
#define Z_STEP_WRITE(STATE) do{ if(STATE) TOGGLE(Z_STEP_PIN); }while(0)
#endif
#endif
// X2 Stepper
#if HAS_X2_ENABLE && AXIS_IS_TMC(X2)
extern TMC_CLASS(X2, X) stepperX2;
#if ENABLED(SOFTWARE_DRIVER_ENABLE)
#define X2_ENABLE_INIT NOOP
#define X2_ENABLE_WRITE(STATE) stepperX2.toff((STATE)==X_ENABLE_ON ? chopper_timing.toff : 0)
#define X2_ENABLE_READ() stepperX2.isEnabled()
#endif
#if AXIS_HAS_SQUARE_WAVE(X2)
#define X2_STEP_WRITE(STATE) do{ if(STATE) TOGGLE(X2_STEP_PIN); }while(0)
#endif
#endif
// Y2 Stepper
#if HAS_Y2_ENABLE && AXIS_IS_TMC(Y2)
extern TMC_CLASS(Y2, Y) stepperY2;
#if ENABLED(SOFTWARE_DRIVER_ENABLE)
#define Y2_ENABLE_INIT NOOP
#define Y2_ENABLE_WRITE(STATE) stepperY2.toff((STATE)==Y_ENABLE_ON ? chopper_timing.toff : 0)
#define Y2_ENABLE_READ() stepperY2.isEnabled()
#endif
#if AXIS_HAS_SQUARE_WAVE(Y2)
#define Y2_STEP_WRITE(STATE) do{ if(STATE) TOGGLE(Y2_STEP_PIN); }while(0)
#endif
#endif
// Z2 Stepper
#if HAS_Z2_ENABLE && AXIS_IS_TMC(Z2)
extern TMC_CLASS(Z2, Z) stepperZ2;
#if ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(Z2)
#define Z2_ENABLE_INIT NOOP
#define Z2_ENABLE_WRITE(STATE) stepperZ2.toff((STATE)==Z_ENABLE_ON ? chopper_timing.toff : 0)
#define Z2_ENABLE_READ() stepperZ2.isEnabled()
#endif
#if AXIS_HAS_SQUARE_WAVE(Z2)
#define Z2_STEP_WRITE(STATE) do{ if(STATE) TOGGLE(Z2_STEP_PIN); }while(0)
#endif
#endif
// Z3 Stepper
#if HAS_Z3_ENABLE && AXIS_IS_TMC(Z3)
extern TMC_CLASS(Z3, Z) stepperZ3;
#if ENABLED(SOFTWARE_DRIVER_ENABLE)
#define Z3_ENABLE_INIT NOOP
#define Z3_ENABLE_WRITE(STATE) stepperZ3.toff((STATE)==Z_ENABLE_ON ? chopper_timing.toff : 0)
#define Z3_ENABLE_READ() stepperZ3.isEnabled()
#endif
#if AXIS_HAS_SQUARE_WAVE(Z3)
#define Z3_STEP_WRITE(STATE) do{ if(STATE) TOGGLE(Z3_STEP_PIN); }while(0)
#endif
#endif
// E0 Stepper
#if AXIS_IS_TMC(E0)
extern TMC_CLASS_E(0) stepperE0;
#if ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(E0)
#define E0_ENABLE_INIT NOOP
#define E0_ENABLE_WRITE(STATE) stepperE0.toff((STATE)==E_ENABLE_ON ? chopper_timing.toff : 0)
#define E0_ENABLE_READ() stepperE0.isEnabled()
#endif
#if AXIS_HAS_SQUARE_WAVE(E0)
#define E0_STEP_WRITE(STATE) do{ if(STATE) TOGGLE(E0_STEP_PIN); }while(0)
#endif
#endif
// E1 Stepper
#if AXIS_IS_TMC(E1)
extern TMC_CLASS_E(1) stepperE1;
#if ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(E1)
#define E1_ENABLE_INIT NOOP
#define E1_ENABLE_WRITE(STATE) stepperE1.toff((STATE)==E_ENABLE_ON ? chopper_timing.toff : 0)
#define E1_ENABLE_READ() stepperE1.isEnabled()
#endif
#if AXIS_HAS_SQUARE_WAVE(E1)
#define E1_STEP_WRITE(STATE) do{ if(STATE) TOGGLE(E1_STEP_PIN); }while(0)
#endif
#endif
// E2 Stepper
#if AXIS_IS_TMC(E2)
extern TMC_CLASS_E(1) stepperE2;
#if ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(E2)
#define E2_ENABLE_INIT NOOP
#define E2_ENABLE_WRITE(STATE) stepperE2.toff((STATE)==E_ENABLE_ON ? chopper_timing.toff : 0)
#define E2_ENABLE_READ() stepperE2.isEnabled()
#endif
#if AXIS_HAS_SQUARE_WAVE(E2)
#define E2_STEP_WRITE(STATE) do{ if(STATE) TOGGLE(E2_STEP_PIN); }while(0)
#endif
#endif
// E3 Stepper
#if AXIS_IS_TMC(E3)
extern TMC_CLASS_E(1) stepperE3;
#if ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(E3)
#define E3_ENABLE_INIT NOOP
#define E3_ENABLE_WRITE(STATE) stepperE3.toff((STATE)==E_ENABLE_ON ? chopper_timing.toff : 0)
#define E3_ENABLE_READ() stepperE3.isEnabled()
#endif
#if AXIS_HAS_SQUARE_WAVE(E3)
#define E3_STEP_WRITE(STATE) do{ if(STATE) TOGGLE(E3_STEP_PIN); }while(0)
#endif
#endif
// E4 Stepper
#if AXIS_IS_TMC(E4)
extern TMC_CLASS_E(1) stepperE4;
#if ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(E4)
#define E4_ENABLE_INIT NOOP
#define E4_ENABLE_WRITE(STATE) stepperE4.toff((STATE)==E_ENABLE_ON ? chopper_timing.toff : 0)
#define E4_ENABLE_READ() stepperE4.isEnabled()
#endif
#if AXIS_HAS_SQUARE_WAVE(E4)
#define E4_STEP_WRITE(STATE) do{ if(STATE) TOGGLE(E4_STEP_PIN); }while(0)
#endif
#endif
// E5 Stepper
#if AXIS_IS_TMC(E5)
extern TMC_CLASS_E(1) stepperE5;
#if ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(E5)
#define E5_ENABLE_INIT NOOP
#define E5_ENABLE_WRITE(STATE) stepperE5.toff((STATE)==E_ENABLE_ON ? chopper_timing.toff : 0)
#define E5_ENABLE_READ() stepperE5.isEnabled()
#endif
#if AXIS_HAS_SQUARE_WAVE(E5)
#define E5_STEP_WRITE(STATE) do{ if(STATE) TOGGLE(E5_STEP_PIN); }while(0)
#endif
#endif

727
Marlin/src/module/stepper_indirection.h
View File

@ -1,727 +0,0 @@
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program 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.
*
* This program 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 this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
#pragma once
/**
* stepper_indirection.h
*
* Stepper motor driver indirection to allow some stepper functions to
* be done via SPI/I2c instead of direct pin manipulation.
*
* Copyright (c) 2015 Dominik Wenger
*/
#include "../inc/MarlinConfig.h"
// TMC26X drivers have STEP/DIR on normal pins, but ENABLE via SPI
#if HAS_DRIVER(TMC26X)
#include <SPI.h>
#if defined(STM32GENERIC) && defined(STM32F7)
#include "../HAL/HAL_STM32_F4_F7/STM32F7/TMC2660.h"
#else
#include <TMC26XStepper.h>
#endif
void tmc26x_init_to_defaults();
#endif
#if HAS_TRINAMIC
#include <TMCStepper.h>
#include "../feature/tmc_util.h"
#if TMCSTEPPER_VERSION < 0x000405
#error "Update TMCStepper library to 0.4.5 or newer."
#endif
#define ____TMC_CLASS(MODEL, A, I, E) TMCMarlin<TMC##MODEL##Stepper, A, I, E>
#define ___TMC_CLASS(MODEL, A, I, E) ____TMC_CLASS(MODEL, A, I, E)
#define __TMC_CLASS(MODEL, A, I, E) ___TMC_CLASS(_##MODEL, A, I, E)
#define _TMC_CLASS(MODEL, L, E) __TMC_CLASS(MODEL, L, E)
#define TMC_CLASS(ST, A) _TMC_CLASS(ST##_DRIVER_TYPE, TMC_##ST##_LABEL, A##_AXIS)
#if ENABLED(DISTINCT_E_FACTORS)
#define TMC_CLASS_E(I) TMC_CLASS(E##I, E##I)
#else
#define TMC_CLASS_E(I) TMC_CLASS(E##I, E)
#endif
typedef struct {
uint8_t toff;
int8_t hend;
uint8_t hstrt;
} chopper_timing_t;
static constexpr chopper_timing_t chopper_timing = CHOPPER_TIMING;
#if HAS_TMC220x
void tmc_serial_begin();
#endif
#endif
// L6470 has STEP on normal pins, but DIR/ENABLE via SPI
#if HAS_DRIVER(L6470)
#include "L6470/L6470_Marlin.h"
#define L6470_WRITE_DIR_COMMAND(STATE,Q) do{ L6470_dir_commands[Q] = (STATE ? dSPIN_STEP_CLOCK_REV : dSPIN_STEP_CLOCK_FWD); }while(0)
#endif
void restore_stepper_drivers(); // Called by PSU_ON
void reset_stepper_drivers(); // Called by settings.load / settings.reset
#define AXIS_HAS_SQUARE_WAVE(A) (AXIS_IS_TMC(A) && ENABLED(SQUARE_WAVE_STEPPING))
// X Stepper
#if AXIS_DRIVER_TYPE_X(L6470)
extern L6470 stepperX;
#define X_ENABLE_INIT NOOP
#define X_ENABLE_WRITE(STATE) NOOP
#define X_ENABLE_READ() (stepperX.getStatus() & STATUS_HIZ)
#define X_DIR_INIT NOOP
#define X_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,X)
#define X_DIR_READ() (stepperX.getStatus() & STATUS_DIR)
#else
#if AXIS_IS_TMC(X)
extern TMC_CLASS(X, X) stepperX;
#endif
#if AXIS_DRIVER_TYPE_X(TMC26X)
extern TMC26XStepper stepperX;
#define X_ENABLE_INIT NOOP
#define X_ENABLE_WRITE(STATE) stepperX.setEnabled(STATE)
#define X_ENABLE_READ() stepperX.isEnabled()
#elif ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(X)
#define X_ENABLE_INIT NOOP
#define X_ENABLE_WRITE(STATE) stepperX.toff((STATE)==X_ENABLE_ON ? chopper_timing.toff : 0)
#define X_ENABLE_READ() stepperX.isEnabled()
#else
#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)
#endif
#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)
#endif
#define X_STEP_INIT SET_OUTPUT(X_STEP_PIN)
#if AXIS_HAS_SQUARE_WAVE(X)
#define X_STEP_WRITE(STATE) do{ if(STATE) TOGGLE(X_STEP_PIN); }while(0)
#else
#define X_STEP_WRITE(STATE) WRITE(X_STEP_PIN,STATE)
#endif
#define X_STEP_READ READ(X_STEP_PIN)
// Y Stepper
#if AXIS_DRIVER_TYPE_Y(L6470)
extern L6470 stepperY;
#define Y_ENABLE_INIT NOOP
#define Y_ENABLE_WRITE(STATE) NOOP
#define Y_ENABLE_READ() (stepperY.getStatus() & STATUS_HIZ)
#define Y_DIR_INIT NOOP
#define Y_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,Y)
#define Y_DIR_READ() (stepperY.getStatus() & STATUS_DIR)
#else
#if AXIS_IS_TMC(Y)
extern TMC_CLASS(Y, Y) stepperY;
#endif
#if AXIS_DRIVER_TYPE_Y(TMC26X)
extern TMC26XStepper stepperY;
#define Y_ENABLE_INIT NOOP
#define Y_ENABLE_WRITE(STATE) stepperY.setEnabled(STATE)
#define Y_ENABLE_READ() stepperY.isEnabled()
#elif ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(Y)
#define Y_ENABLE_INIT NOOP
#define Y_ENABLE_WRITE(STATE) stepperY.toff((STATE)==Y_ENABLE_ON ? chopper_timing.toff : 0)
#define Y_ENABLE_READ() stepperY.isEnabled()
#else
#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)
#endif
#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)
#endif
#define Y_STEP_INIT SET_OUTPUT(Y_STEP_PIN)
#if AXIS_HAS_SQUARE_WAVE(Y)
#define Y_STEP_WRITE(STATE) do{ if (STATE) TOGGLE(Y_STEP_PIN); }while(0)
#else
#define Y_STEP_WRITE(STATE) WRITE(Y_STEP_PIN,STATE)
#endif
#define Y_STEP_READ READ(Y_STEP_PIN)
// Z Stepper
#if AXIS_DRIVER_TYPE_Z(L6470)
extern L6470 stepperZ;
#define Z_ENABLE_INIT NOOP
#define Z_ENABLE_WRITE(STATE) NOOP
#define Z_ENABLE_READ() (stepperZ.getStatus() & STATUS_HIZ)
#define Z_DIR_INIT NOOP
#define Z_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,Z)
#define Z_DIR_READ() (stepperZ.getStatus() & STATUS_DIR)
#else
#if AXIS_IS_TMC(Z)
extern TMC_CLASS(Z, Z) stepperZ;
#endif
#if AXIS_DRIVER_TYPE_Z(TMC26X)
extern TMC26XStepper stepperZ;
#define Z_ENABLE_INIT NOOP
#define Z_ENABLE_WRITE(STATE) stepperZ.setEnabled(STATE)
#define Z_ENABLE_READ() stepperZ.isEnabled()
#elif ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(Z)
#define Z_ENABLE_INIT NOOP
#define Z_ENABLE_WRITE(STATE) stepperZ.toff((STATE)==Z_ENABLE_ON ? chopper_timing.toff : 0)
#define Z_ENABLE_READ() stepperZ.isEnabled()
#else
#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)
#endif
#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)
#endif
#define Z_STEP_INIT SET_OUTPUT(Z_STEP_PIN)
#if AXIS_HAS_SQUARE_WAVE(Z)
#define Z_STEP_WRITE(STATE) do{ if(STATE) TOGGLE(Z_STEP_PIN); }while(0)
#else
#define Z_STEP_WRITE(STATE) WRITE(Z_STEP_PIN,STATE)
#endif
#define Z_STEP_READ READ(Z_STEP_PIN)
// X2 Stepper
#if HAS_X2_ENABLE
#if AXIS_DRIVER_TYPE_X2(L6470)
extern L6470 stepperX2;
#define X2_ENABLE_INIT NOOP
#define X2_ENABLE_WRITE(STATE) NOOP
#define X2_ENABLE_READ() (stepperX2.getStatus() & STATUS_HIZ)
#define X2_DIR_INIT NOOP
#define X2_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,X2)
#define X2_DIR_READ() (stepperX2.getStatus() & STATUS_DIR)
#else
#if AXIS_IS_TMC(X2)
extern TMC_CLASS(X2, X) stepperX2;
#endif
#if AXIS_DRIVER_TYPE_X2(TMC26X)
extern TMC26XStepper stepperX2;
#define X2_ENABLE_INIT NOOP
#define X2_ENABLE_WRITE(STATE) stepperX2.setEnabled(STATE)
#define X2_ENABLE_READ() stepperX2.isEnabled()
#elif ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(X2)
#define X2_ENABLE_INIT NOOP
#define X2_ENABLE_WRITE(STATE) stepperX2.toff((STATE)==X_ENABLE_ON ? chopper_timing.toff : 0)
#define X2_ENABLE_READ() stepperX2.isEnabled()
#else
#define X2_ENABLE_INIT SET_OUTPUT(X2_ENABLE_PIN)
#define X2_ENABLE_WRITE(STATE) WRITE(X2_ENABLE_PIN,STATE)
#define X2_ENABLE_READ() READ(X2_ENABLE_PIN)
#endif
#define X2_DIR_INIT SET_OUTPUT(X2_DIR_PIN)
#define X2_DIR_WRITE(STATE) WRITE(X2_DIR_PIN,STATE)
#define X2_DIR_READ() READ(X2_DIR_PIN)
#endif
#define X2_STEP_INIT SET_OUTPUT(X2_STEP_PIN)
#if AXIS_HAS_SQUARE_WAVE(X2)
#define X2_STEP_WRITE(STATE) do{ if(STATE) TOGGLE(X2_STEP_PIN); }while(0)
#else
#define X2_STEP_WRITE(STATE) WRITE(X2_STEP_PIN,STATE)
#endif
#define X2_STEP_READ READ(X2_STEP_PIN)
#endif
// Y2 Stepper
#if HAS_Y2_ENABLE
#if AXIS_DRIVER_TYPE_Y2(L6470)
extern L6470 stepperY2;
#define Y2_ENABLE_INIT NOOP
#define Y2_ENABLE_WRITE(STATE) NOOP
#define Y2_ENABLE_READ() (stepperY2.getStatus() & STATUS_HIZ)
#define Y2_DIR_INIT NOOP
#define Y2_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,Y2)
#define Y2_DIR_READ() (stepperY2.getStatus() & STATUS_DIR)
#else
#if AXIS_IS_TMC(Y2)
extern TMC_CLASS(Y2, Y) stepperY2;
#endif
#if AXIS_DRIVER_TYPE_Y2(TMC26X)
extern TMC26XStepper stepperY2;
#define Y2_ENABLE_INIT NOOP
#define Y2_ENABLE_WRITE(STATE) stepperY2.setEnabled(STATE)
#define Y2_ENABLE_READ() stepperY2.isEnabled()
#elif ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(Y2)
#define Y2_ENABLE_INIT NOOP
#define Y2_ENABLE_WRITE(STATE) stepperY2.toff((STATE)==Y_ENABLE_ON ? chopper_timing.toff : 0)
#define Y2_ENABLE_READ() stepperY2.isEnabled()
#else
#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)
#endif
#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)
#endif
#define Y2_STEP_INIT SET_OUTPUT(Y2_STEP_PIN)
#if AXIS_HAS_SQUARE_WAVE(Y2)
#define Y2_STEP_WRITE(STATE) do{ if(STATE) TOGGLE(Y2_STEP_PIN); }while(0)
#else
#define Y2_STEP_WRITE(STATE) WRITE(Y2_STEP_PIN,STATE)
#endif
#define Y2_STEP_READ READ(Y2_STEP_PIN)
#else
#define Y2_DIR_WRITE(STATE) NOOP
#endif
// Z2 Stepper
#if HAS_Z2_ENABLE
#if AXIS_DRIVER_TYPE_Z2(L6470)
extern L6470 stepperZ2;
#define Z2_ENABLE_INIT NOOP
#define Z2_ENABLE_WRITE(STATE) NOOP
#define Z2_ENABLE_READ() (stepperZ2.getStatus() & STATUS_HIZ)
#define Z2_DIR_INIT NOOP
#define Z2_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,Z2)
#define Z2_DIR_READ() (stepperZ2.getStatus() & STATUS_DIR)
#else
#if AXIS_IS_TMC(Z2)
extern TMC_CLASS(Z2, Z) stepperZ2;
#endif
#if AXIS_DRIVER_TYPE_Z2(TMC26X)
extern TMC26XStepper stepperZ2;
#define Z2_ENABLE_INIT NOOP
#define Z2_ENABLE_WRITE(STATE) stepperZ2.setEnabled(STATE)
#define Z2_ENABLE_READ() stepperZ2.isEnabled()
#elif ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(Z2)
#define Z2_ENABLE_INIT NOOP
#define Z2_ENABLE_WRITE(STATE) stepperZ2.toff((STATE)==Z_ENABLE_ON ? chopper_timing.toff : 0)
#define Z2_ENABLE_READ() stepperZ2.isEnabled()
#else
#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)
#endif
#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)
#endif
#define Z2_STEP_INIT SET_OUTPUT(Z2_STEP_PIN)
#if AXIS_HAS_SQUARE_WAVE(Z2)
#define Z2_STEP_WRITE(STATE) do{ if(STATE) TOGGLE(Z2_STEP_PIN); }while(0)
#else
#define Z2_STEP_WRITE(STATE) WRITE(Z2_STEP_PIN,STATE)
#endif
#define Z2_STEP_READ READ(Z2_STEP_PIN)
#else
#define Z2_DIR_WRITE(STATE) NOOP
#endif
// Z3 Stepper
#if HAS_Z3_ENABLE
#if AXIS_DRIVER_TYPE_Z3(L6470)
extern L6470 stepperZ3;
#define Z3_ENABLE_INIT NOOP
#define Z3_ENABLE_WRITE(STATE) NOOP
#define Z3_ENABLE_READ() (stepperZ3.getStatus() & STATUS_HIZ)
#define Z3_DIR_INIT NOOP
#define Z3_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,Z3)
#define Z3_DIR_READ() (stepperZ3.getStatus() & STATUS_DIR)
#else
#if AXIS_IS_TMC(Z3)
extern TMC_CLASS(Z3, Z) stepperZ3;
#endif
#if ENABLED(Z3_IS_TMC26X)
extern TMC26XStepper stepperZ3;
#define Z3_ENABLE_INIT NOOP
#define Z3_ENABLE_WRITE(STATE) stepperZ3.setEnabled(STATE)
#define Z3_ENABLE_READ() stepperZ3.isEnabled()
#elif ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(Z3)
#define Z3_ENABLE_INIT NOOP
#define Z3_ENABLE_WRITE(STATE) stepperZ3.toff((STATE)==Z_ENABLE_ON ? chopper_timing.toff : 0)
#define Z3_ENABLE_READ() stepperZ3.isEnabled()
#else
#define Z3_ENABLE_INIT SET_OUTPUT(Z3_ENABLE_PIN)
#define Z3_ENABLE_WRITE(STATE) WRITE(Z3_ENABLE_PIN,STATE)
#define Z3_ENABLE_READ() READ(Z3_ENABLE_PIN)
#endif
#define Z3_DIR_INIT SET_OUTPUT(Z3_DIR_PIN)
#define Z3_DIR_WRITE(STATE) WRITE(Z3_DIR_PIN,STATE)
#define Z3_DIR_READ() READ(Z3_DIR_PIN)
#endif
#define Z3_STEP_INIT SET_OUTPUT(Z3_STEP_PIN)
#if AXIS_HAS_SQUARE_WAVE(Z3)
#define Z3_STEP_WRITE(STATE) do{ if(STATE) TOGGLE(Z3_STEP_PIN); }while(0)
#else
#define Z3_STEP_WRITE(STATE) WRITE(Z3_STEP_PIN,STATE)
#endif
#define Z3_STEP_READ READ(Z3_STEP_PIN)
#else
#define Z3_DIR_WRITE(STATE) NOOP
#endif
// E0 Stepper
#if AXIS_DRIVER_TYPE_E0(L6470)
extern L6470 stepperE0;
#define E0_ENABLE_INIT NOOP
#define E0_ENABLE_WRITE(STATE) NOOP
#define E0_ENABLE_READ() (stepperE0.getStatus() & STATUS_HIZ)
#define E0_DIR_INIT NOOP
#define E0_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,E0)
#define E0_DIR_READ() (stepperE0.getStatus() & STATUS_DIR)
#else
#if AXIS_IS_TMC(E0)
extern TMC_CLASS_E(0) stepperE0;
#endif
#if AXIS_DRIVER_TYPE_E0(TMC26X)
extern TMC26XStepper stepperE0;
#define E0_ENABLE_INIT NOOP
#define E0_ENABLE_WRITE(STATE) stepperE0.setEnabled(STATE)
#define E0_ENABLE_READ() stepperE0.isEnabled()
#elif ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(E0)
#define E0_ENABLE_INIT NOOP
#define E0_ENABLE_WRITE(STATE) stepperE0.toff((STATE)==E_ENABLE_ON ? chopper_timing.toff : 0)
#define E0_ENABLE_READ() stepperE0.isEnabled()
#else
#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)
#endif
#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)
#endif
#define E0_STEP_INIT SET_OUTPUT(E0_STEP_PIN)
#if AXIS_HAS_SQUARE_WAVE(E0)
#define E0_STEP_WRITE(STATE) do{ if(STATE) TOGGLE(E0_STEP_PIN); }while(0)
#else
#define E0_STEP_WRITE(STATE) WRITE(E0_STEP_PIN,STATE)
#endif
#define E0_STEP_READ READ(E0_STEP_PIN)
// E1 Stepper
#if AXIS_DRIVER_TYPE_E1(L6470)
extern L6470 stepperE1;
#define E1_ENABLE_INIT NOOP
#define E1_ENABLE_WRITE(STATE) NOOP
#define E1_ENABLE_READ() (stepperE1.getStatus() & STATUS_HIZ)
#define E1_DIR_INIT NOOP
#define E1_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,E1)
#define E1_DIR_READ() (stepperE1.getStatus() & STATUS_DIR)
#else
#if AXIS_IS_TMC(E1)
extern TMC_CLASS_E(1) stepperE1;
#endif
#if AXIS_DRIVER_TYPE_E1(TMC26X)
extern TMC26XStepper stepperE1;
#define E1_ENABLE_INIT NOOP
#define E1_ENABLE_WRITE(STATE) stepperE1.setEnabled(STATE)
#define E1_ENABLE_READ() stepperE1.isEnabled()
#elif ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(E1)
#define E1_ENABLE_INIT NOOP
#define E1_ENABLE_WRITE(STATE) stepperE1.toff((STATE)==E_ENABLE_ON ? chopper_timing.toff : 0)
#define E1_ENABLE_READ() stepperE1.isEnabled()
#else
#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)
#endif
#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)
#endif
#define E1_STEP_INIT SET_OUTPUT(E1_STEP_PIN)
#if AXIS_HAS_SQUARE_WAVE(E1)
#define E1_STEP_WRITE(STATE) do{ if(STATE) TOGGLE(E1_STEP_PIN); }while(0)
#else
#define E1_STEP_WRITE(STATE) WRITE(E1_STEP_PIN,STATE)
#endif
#define E1_STEP_READ READ(E1_STEP_PIN)
// E2 Stepper
#if AXIS_DRIVER_TYPE_E2(L6470)
extern L6470 stepperE2;
#define E2_ENABLE_INIT NOOP
#define E2_ENABLE_WRITE(STATE) NOOP
#define E2_ENABLE_READ() (stepperE2.getStatus() & STATUS_HIZ)
#define E2_DIR_INIT NOOP
#define E2_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,E2)
#define E2_DIR_READ() (stepperE2.getStatus() & STATUS_DIR)
#else
#if AXIS_IS_TMC(E2)
extern TMC_CLASS_E(2) stepperE2;
#endif
#if AXIS_DRIVER_TYPE_E2(TMC26X)
extern TMC26XStepper stepperE2;
#define E2_ENABLE_INIT NOOP
#define E2_ENABLE_WRITE(STATE) stepperE2.setEnabled(STATE)
#define E2_ENABLE_READ() stepperE2.isEnabled()
#elif ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(E2)
#define E2_ENABLE_INIT NOOP
#define E2_ENABLE_WRITE(STATE) stepperE2.toff((STATE)==E_ENABLE_ON ? chopper_timing.toff : 0)
#define E2_ENABLE_READ() stepperE2.isEnabled()
#else
#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)
#endif
#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)
#endif
#define E2_STEP_INIT SET_OUTPUT(E2_STEP_PIN)
#if AXIS_HAS_SQUARE_WAVE(E2)
#define E2_STEP_WRITE(STATE) do{ if(STATE) TOGGLE(E2_STEP_PIN); }while(0)
#else
#define E2_STEP_WRITE(STATE) WRITE(E2_STEP_PIN,STATE)
#endif
#define E2_STEP_READ READ(E2_STEP_PIN)
// E3 Stepper
#if AXIS_DRIVER_TYPE_E3(L6470)
extern L6470 stepperE3;
#define E3_ENABLE_INIT NOOP
#define E3_ENABLE_WRITE(STATE) NOOP
#define E3_ENABLE_READ() (stepperE3.getStatus() & STATUS_HIZ)
#define E3_DIR_INIT NOOP
#define E3_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,E3)
#define E3_DIR_READ() (stepperE3.getStatus() & STATUS_DIR)
#else
#if AXIS_IS_TMC(E3)
extern TMC_CLASS_E(3) stepperE3;
#endif
#if AXIS_DRIVER_TYPE_E3(TMC26X)
extern TMC26XStepper stepperE3;
#define E3_ENABLE_INIT NOOP
#define E3_ENABLE_WRITE(STATE) stepperE3.setEnabled(STATE)
#define E3_ENABLE_READ() stepperE3.isEnabled()
#elif ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(E3)
#define E3_ENABLE_INIT NOOP
#define E3_ENABLE_WRITE(STATE) stepperE3.toff((STATE)==E_ENABLE_ON ? chopper_timing.toff : 0)
#define E3_ENABLE_READ() stepperE3.isEnabled()
#else
#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)
#endif
#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)
#endif
#define E3_STEP_INIT SET_OUTPUT(E3_STEP_PIN)
#if AXIS_HAS_SQUARE_WAVE(E3)
#define E3_STEP_WRITE(STATE) do{ if(STATE) TOGGLE(E3_STEP_PIN); }while(0)
#else
#define E3_STEP_WRITE(STATE) WRITE(E3_STEP_PIN,STATE)
#endif
#define E3_STEP_READ READ(E3_STEP_PIN)
// E4 Stepper
#if AXIS_DRIVER_TYPE_E4(L6470)
extern L6470 stepperE4;
#define E4_ENABLE_INIT NOOP
#define E4_ENABLE_WRITE(STATE) NOOP
#define E4_ENABLE_READ() (stepperE4.getStatus() & STATUS_HIZ)
#define E4_DIR_INIT NOOP
#define E4_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,E4)
#define E4_DIR_READ() (stepperE4.getStatus() & STATUS_DIR)
#else
#if AXIS_IS_TMC(E4)
extern TMC_CLASS_E(4) stepperE4;
#endif
#if AXIS_DRIVER_TYPE_E4(TMC26X)
extern TMC26XStepper stepperE4;
#define E4_ENABLE_INIT NOOP
#define E4_ENABLE_WRITE(STATE) stepperE4.setEnabled(STATE)
#define E4_ENABLE_READ() stepperE4.isEnabled()
#elif ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(E4)
#define E4_ENABLE_INIT NOOP
#define E4_ENABLE_WRITE(STATE) stepperE4.toff((STATE)==E_ENABLE_ON ? chopper_timing.toff : 0)
#define E4_ENABLE_READ() stepperE4.isEnabled()
#else
#define E4_ENABLE_INIT SET_OUTPUT(E4_ENABLE_PIN)
#define E4_ENABLE_WRITE(STATE) WRITE(E4_ENABLE_PIN,STATE)
#define E4_ENABLE_READ() READ(E4_ENABLE_PIN)
#endif
#define E4_DIR_INIT SET_OUTPUT(E4_DIR_PIN)
#define E4_DIR_WRITE(STATE) WRITE(E4_DIR_PIN,STATE)
#define E4_DIR_READ() READ(E4_DIR_PIN)
#endif
#define E4_STEP_INIT SET_OUTPUT(E4_STEP_PIN)
#if AXIS_HAS_SQUARE_WAVE(E4)
#define E4_STEP_WRITE(STATE) do{ if(STATE) TOGGLE(E4_STEP_PIN); }while(0)
#else
#define E4_STEP_WRITE(STATE) WRITE(E4_STEP_PIN,STATE)
#endif
#define E4_STEP_READ READ(E4_STEP_PIN)
// E5 Stepper
#if AXIS_DRIVER_TYPE_E5(L6470)
extern L6470 stepperE5;
#define E5_ENABLE_INIT NOOP
#define E5_ENABLE_WRITE(STATE) NOOP
#define E5_ENABLE_READ() (stepperE5.getStatus() & STATUS_HIZ)
#define E5_DIR_INIT NOOP
#define E5_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,E5)
#define E5_DIR_READ() (stepperE5.getStatus() & STATUS_DIR)
#else
#if AXIS_IS_TMC(E5)
extern TMC_CLASS_E(5) stepperE5;
#endif
#if AXIS_DRIVER_TYPE_E5(TMC26X)
extern TMC26XStepper stepperE5;
#define E5_ENABLE_INIT NOOP
#define E5_ENABLE_WRITE(STATE) stepperE5.setEnabled(STATE)
#define E5_ENABLE_READ() stepperE5.isEnabled()
#elif ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(E5)
#define E5_ENABLE_INIT NOOP
#define E5_ENABLE_WRITE(STATE) stepperE5.toff((STATE)==E_ENABLE_ON ? chopper_timing.toff : 0)
#define E5_ENABLE_READ() stepperE5.isEnabled()
#else
#define E5_ENABLE_INIT SET_OUTPUT(E5_ENABLE_PIN)
#define E5_ENABLE_WRITE(STATE) WRITE(E5_ENABLE_PIN,STATE)
#define E5_ENABLE_READ() READ(E5_ENABLE_PIN)
#endif
#define E5_DIR_INIT SET_OUTPUT(E5_DIR_PIN)
#define E5_DIR_WRITE(STATE) WRITE(E5_DIR_PIN,STATE)
#define E5_DIR_READ() READ(E5_DIR_PIN)
#endif
#define E5_STEP_INIT SET_OUTPUT(E5_STEP_PIN)
#if AXIS_HAS_SQUARE_WAVE(E5)
#define E5_STEP_WRITE(STATE) do{ if(STATE) TOGGLE(E5_STEP_PIN); }while(0)
#else
#define E5_STEP_WRITE(STATE) WRITE(E5_STEP_PIN,STATE)
#endif
#define E5_STEP_READ READ(E5_STEP_PIN)
/**
* Extruder indirection for the single E axis
*/
#if ENABLED(SWITCHING_EXTRUDER) // One stepper driver per two extruders, reversed on odd index
#if EXTRUDERS > 5
#define E_STEP_WRITE(E,V) do{ if (E < 2) { E0_STEP_WRITE(V); } else if (E < 4) { E1_STEP_WRITE(V); } else { E2_STEP_WRITE(V); } }while(0)
#define NORM_E_DIR(E) do{ switch (E) { case 0: E0_DIR_WRITE(!INVERT_E0_DIR); break; case 1: E0_DIR_WRITE( INVERT_E0_DIR); break; case 2: E1_DIR_WRITE(!INVERT_E1_DIR); break; case 3: E1_DIR_WRITE( INVERT_E1_DIR); break; case 4: E2_DIR_WRITE(!INVERT_E2_DIR); case 5: E2_DIR_WRITE( INVERT_E2_DIR); } }while(0)
#define REV_E_DIR(E) do{ switch (E) { case 0: E0_DIR_WRITE( INVERT_E0_DIR); break; case 1: E0_DIR_WRITE(!INVERT_E0_DIR); break; case 2: E1_DIR_WRITE( INVERT_E1_DIR); break; case 3: E1_DIR_WRITE(!INVERT_E1_DIR); break; case 4: E2_DIR_WRITE( INVERT_E2_DIR); case 5: E2_DIR_WRITE(!INVERT_E2_DIR); } }while(0)
#elif EXTRUDERS > 4
#define E_STEP_WRITE(E,V) do{ if (E < 2) { E0_STEP_WRITE(V); } else if (E < 4) { E1_STEP_WRITE(V); } else { E2_STEP_WRITE(V); } }while(0)
#define NORM_E_DIR(E) do{ switch (E) { case 0: E0_DIR_WRITE(!INVERT_E0_DIR); break; case 1: E0_DIR_WRITE( INVERT_E0_DIR); break; case 2: E1_DIR_WRITE(!INVERT_E1_DIR); break; case 3: E1_DIR_WRITE( INVERT_E1_DIR); break; case 4: E2_DIR_WRITE(!INVERT_E2_DIR); } }while(0)
#define REV_E_DIR(E) do{ switch (E) { case 0: E0_DIR_WRITE( INVERT_E0_DIR); break; case 1: E0_DIR_WRITE(!INVERT_E0_DIR); break; case 2: E1_DIR_WRITE( INVERT_E1_DIR); break; case 3: E1_DIR_WRITE(!INVERT_E1_DIR); break; case 4: E2_DIR_WRITE( INVERT_E2_DIR); } }while(0)
#elif EXTRUDERS > 3
#define E_STEP_WRITE(E,V) do{ if (E < 2) { E0_STEP_WRITE(V); } else { E1_STEP_WRITE(V); } }while(0)
#define NORM_E_DIR(E) do{ switch (E) { case 0: E0_DIR_WRITE(!INVERT_E0_DIR); break; case 1: E0_DIR_WRITE( INVERT_E0_DIR); break; case 2: E1_DIR_WRITE(!INVERT_E1_DIR); break; case 3: E1_DIR_WRITE( INVERT_E1_DIR); } }while(0)
#define REV_E_DIR(E) do{ switch (E) { case 0: E0_DIR_WRITE( INVERT_E0_DIR); break; case 1: E0_DIR_WRITE(!INVERT_E0_DIR); break; case 2: E1_DIR_WRITE( INVERT_E1_DIR); break; case 3: E1_DIR_WRITE(!INVERT_E1_DIR); } }while(0)
#elif EXTRUDERS > 2
#define E_STEP_WRITE(E,V) do{ if (E < 2) { E0_STEP_WRITE(V); } else { E1_STEP_WRITE(V); } }while(0)
#define NORM_E_DIR(E) do{ switch (E) { case 0: E0_DIR_WRITE(!INVERT_E0_DIR); break; case 1: E0_DIR_WRITE( INVERT_E0_DIR); break; case 2: E1_DIR_WRITE(!INVERT_E1_DIR); } }while(0)
#define REV_E_DIR(E) do{ switch (E) { case 0: E0_DIR_WRITE( INVERT_E0_DIR); break; case 1: E0_DIR_WRITE(!INVERT_E0_DIR); break; case 2: E1_DIR_WRITE( INVERT_E1_DIR); } }while(0)
#else
#define E_STEP_WRITE(E,V) E0_STEP_WRITE(V)
#define NORM_E_DIR(E) do{ E0_DIR_WRITE(E ? INVERT_E0_DIR : !INVERT_E0_DIR); }while(0)
#define REV_E_DIR(E) do{ E0_DIR_WRITE(E ? !INVERT_E0_DIR : INVERT_E0_DIR); }while(0)
#endif
#elif ENABLED(PRUSA_MMU2)
#define E_STEP_WRITE(E,V) E0_STEP_WRITE(V)
#define NORM_E_DIR(E) E0_DIR_WRITE(!INVERT_E0_DIR)
#define REV_E_DIR(E) E0_DIR_WRITE( INVERT_E0_DIR)
#elif ENABLED(MK2_MULTIPLEXER) // One multiplexed stepper driver, reversed on odd index
#define E_STEP_WRITE(E,V) E0_STEP_WRITE(V)
#define NORM_E_DIR(E) do{ E0_DIR_WRITE(TEST(E, 0) ? !INVERT_E0_DIR: INVERT_E0_DIR); }while(0)
#define REV_E_DIR(E) do{ E0_DIR_WRITE(TEST(E, 0) ? INVERT_E0_DIR: !INVERT_E0_DIR); }while(0)
#elif E_STEPPERS > 1
#if E_STEPPERS > 5
#define _E_STEP_WRITE(E,V) do{ switch (E) { case 0: E0_STEP_WRITE(V); break; case 1: E1_STEP_WRITE(V); break; case 2: E2_STEP_WRITE(V); break; case 3: E3_STEP_WRITE(V); break; case 4: E4_STEP_WRITE(V); case 5: E5_STEP_WRITE(V); } }while(0)
#define _NORM_E_DIR(E) do{ switch (E) { case 0: E0_DIR_WRITE(!INVERT_E0_DIR); break; case 1: E1_DIR_WRITE(!INVERT_E1_DIR); break; case 2: E2_DIR_WRITE(!INVERT_E2_DIR); break; case 3: E3_DIR_WRITE(!INVERT_E3_DIR); break; case 4: E4_DIR_WRITE(!INVERT_E4_DIR); case 5: E5_DIR_WRITE(!INVERT_E5_DIR); } }while(0)
#define _REV_E_DIR(E) do{ switch (E) { case 0: E0_DIR_WRITE( INVERT_E0_DIR); break; case 1: E1_DIR_WRITE( INVERT_E1_DIR); break; case 2: E2_DIR_WRITE( INVERT_E2_DIR); break; case 3: E3_DIR_WRITE( INVERT_E3_DIR); break; case 4: E4_DIR_WRITE( INVERT_E4_DIR); case 5: E5_DIR_WRITE( INVERT_E5_DIR); } }while(0)
#elif E_STEPPERS > 4
#define _E_STEP_WRITE(E,V) do{ switch (E) { case 0: E0_STEP_WRITE(V); break; case 1: E1_STEP_WRITE(V); break; case 2: E2_STEP_WRITE(V); break; case 3: E3_STEP_WRITE(V); break; case 4: E4_STEP_WRITE(V); } }while(0)
#define _NORM_E_DIR(E) do{ switch (E) { case 0: E0_DIR_WRITE(!INVERT_E0_DIR); break; case 1: E1_DIR_WRITE(!INVERT_E1_DIR); break; case 2: E2_DIR_WRITE(!INVERT_E2_DIR); break; case 3: E3_DIR_WRITE(!INVERT_E3_DIR); break; case 4: E4_DIR_WRITE(!INVERT_E4_DIR); } }while(0)
#define _REV_E_DIR(E) do{ switch (E) { case 0: E0_DIR_WRITE( INVERT_E0_DIR); break; case 1: E1_DIR_WRITE( INVERT_E1_DIR); break; case 2: E2_DIR_WRITE( INVERT_E2_DIR); break; case 3: E3_DIR_WRITE( INVERT_E3_DIR); break; case 4: E4_DIR_WRITE( INVERT_E4_DIR); } }while(0)
#elif E_STEPPERS > 3
#define _E_STEP_WRITE(E,V) do{ switch (E) { case 0: E0_STEP_WRITE(V); break; case 1: E1_STEP_WRITE(V); break; case 2: E2_STEP_WRITE(V); break; case 3: E3_STEP_WRITE(V); } }while(0)
#define _NORM_E_DIR(E) do{ switch (E) { case 0: E0_DIR_WRITE(!INVERT_E0_DIR); break; case 1: E1_DIR_WRITE(!INVERT_E1_DIR); break; case 2: E2_DIR_WRITE(!INVERT_E2_DIR); break; case 3: E3_DIR_WRITE(!INVERT_E3_DIR); } }while(0)
#define _REV_E_DIR(E) do{ switch (E) { case 0: E0_DIR_WRITE( INVERT_E0_DIR); break; case 1: E1_DIR_WRITE( INVERT_E1_DIR); break; case 2: E2_DIR_WRITE( INVERT_E2_DIR); break; case 3: E3_DIR_WRITE( INVERT_E3_DIR); } }while(0)
#elif E_STEPPERS > 2
#define _E_STEP_WRITE(E,V) do{ switch (E) { case 0: E0_STEP_WRITE(V); break; case 1: E1_STEP_WRITE(V); break; case 2: E2_STEP_WRITE(V); } }while(0)
#define _NORM_E_DIR(E) do{ switch (E) { case 0: E0_DIR_WRITE(!INVERT_E0_DIR); break; case 1: E1_DIR_WRITE(!INVERT_E1_DIR); break; case 2: E2_DIR_WRITE(!INVERT_E2_DIR); } }while(0)
#define _REV_E_DIR(E) do{ switch (E) { case 0: E0_DIR_WRITE( INVERT_E0_DIR); break; case 1: E1_DIR_WRITE( INVERT_E1_DIR); break; case 2: E2_DIR_WRITE( INVERT_E2_DIR); } }while(0)
#else
#define _E_STEP_WRITE(E,V) do{ if (E == 0) { E0_STEP_WRITE(V); } else { E1_STEP_WRITE(V); } }while(0)
#define _NORM_E_DIR(E) do{ if (E == 0) { E0_DIR_WRITE(!INVERT_E0_DIR); } else { E1_DIR_WRITE(!INVERT_E1_DIR); } }while(0)
#define _REV_E_DIR(E) do{ if (E == 0) { E0_DIR_WRITE( INVERT_E0_DIR); } else { E1_DIR_WRITE( INVERT_E1_DIR); } }while(0)
#endif
#if HAS_DUPLICATION_MODE
#if ENABLED(MULTI_NOZZLE_DUPLICATION)
#define _DUPE(N,T,V) do{ if (TEST(duplication_e_mask, N)) E##N##_##T##_WRITE(V); }while(0)
#else
#define _DUPE(N,T,V) E##N##_##T##_WRITE(V)
#endif
#define NDIR(N) _DUPE(N,DIR,!INVERT_E##N##_DIR)
#define RDIR(N) _DUPE(N,DIR, INVERT_E##N##_DIR)
#define E_STEP_WRITE(E,V) do{ if (extruder_duplication_enabled) { DUPE(STEP,V); } else _E_STEP_WRITE(E,V); }while(0)
#if E_STEPPERS > 2
#if E_STEPPERS > 5
#define DUPE(T,V) do{ _DUPE(0,T,V); _DUPE(1,T,V); _DUPE(2,T,V); _DUPE(3,T,V); _DUPE(4,T,V); _DUPE(5,T,V); }while(0)
#define NORM_E_DIR(E) do{ if (extruder_duplication_enabled) { NDIR(0); NDIR(1); NDIR(2); NDIR(3); NDIR(4); NDIR(5); } else _NORM_E_DIR(E); }while(0)
#define REV_E_DIR(E) do{ if (extruder_duplication_enabled) { RDIR(0); RDIR(1); RDIR(2); RDIR(3); RDIR(4); RDIR(5); } else _REV_E_DIR(E); }while(0)
#elif E_STEPPERS > 4
#define DUPE(T,V) do{ _DUPE(0,T,V); _DUPE(1,T,V); _DUPE(2,T,V); _DUPE(3,T,V); _DUPE(4,T,V); }while(0)
#define NORM_E_DIR(E) do{ if (extruder_duplication_enabled) { NDIR(0); NDIR(1); NDIR(2); NDIR(3); NDIR(4); } else _NORM_E_DIR(E); }while(0)
#define REV_E_DIR(E) do{ if (extruder_duplication_enabled) { RDIR(0); RDIR(1); RDIR(2); RDIR(3); RDIR(4); } else _REV_E_DIR(E); }while(0)
#elif E_STEPPERS > 3
#define DUPE(T,V) do{ _DUPE(0,T,V); _DUPE(1,T,V); _DUPE(2,T,V); _DUPE(3,T,V); }while(0)
#define NORM_E_DIR(E) do{ if (extruder_duplication_enabled) { NDIR(0); NDIR(1); NDIR(2); NDIR(3); } else _NORM_E_DIR(E); }while(0)
#define REV_E_DIR(E) do{ if (extruder_duplication_enabled) { RDIR(0); RDIR(1); RDIR(2); RDIR(3); } else _REV_E_DIR(E); }while(0)
#else
#define DUPE(T,V) do{ _DUPE(0,T,V); _DUPE(1,T,V); _DUPE(2,T,V); }while(0)
#define NORM_E_DIR(E) do{ if (extruder_duplication_enabled) { NDIR(0); NDIR(1); NDIR(2); } else _NORM_E_DIR(E); }while(0)
#define REV_E_DIR(E) do{ if (extruder_duplication_enabled) { RDIR(0); RDIR(1); RDIR(2); } else _REV_E_DIR(E); }while(0)
#endif
#else
#define DUPE(T,V) do{ _DUPE(0,T,V); _DUPE(1,T,V); }while(0)
#define NORM_E_DIR(E) do{ if (extruder_duplication_enabled) { NDIR(0); NDIR(1); } else _NORM_E_DIR(E); }while(0)
#define REV_E_DIR(E) do{ if (extruder_duplication_enabled) { RDIR(0); RDIR(1); } else _REV_E_DIR(E); }while(0)
#endif
#else
#define E_STEP_WRITE(E,V) _E_STEP_WRITE(E,V)
#define NORM_E_DIR(E) _NORM_E_DIR(E)
#define REV_E_DIR(E) _REV_E_DIR(E)
#endif
#elif E_STEPPERS
#define E_STEP_WRITE(E,V) E0_STEP_WRITE(V)
#define NORM_E_DIR(E) E0_DIR_WRITE(!INVERT_E0_DIR)
#define REV_E_DIR(E) E0_DIR_WRITE( INVERT_E0_DIR)
#else
#define E_STEP_WRITE(E,V) NOOP
#define NORM_E_DIR(E) NOOP
#define REV_E_DIR(E) NOOP
#endif
Write Preview
Loading…
Cancel
Save