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1037 lines
32 KiB
1037 lines
32 KiB
/**
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* Marlin 3D Printer Firmware
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* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <https://www.gnu.org/licenses/>.
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*
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*/
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/**
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* stepper/trinamic.cpp
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* Stepper driver indirection for Trinamic
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*/
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#include "../../inc/MarlinConfig.h"
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#if HAS_TRINAMIC_CONFIG
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#include "trinamic.h"
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#include "../stepper.h"
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#include <HardwareSerial.h>
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#include <SPI.h>
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enum StealthIndex : uint8_t {
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LOGICAL_AXIS_LIST(STEALTH_AXIS_E, STEALTH_AXIS_X, STEALTH_AXIS_Y, STEALTH_AXIS_Z, STEALTH_AXIS_I, STEALTH_AXIS_J, STEALTH_AXIS_K)
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};
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#define TMC_INIT(ST, STEALTH_INDEX) tmc_init(stepper##ST, ST##_CURRENT, ST##_MICROSTEPS, ST##_HYBRID_THRESHOLD, stealthchop_by_axis[STEALTH_INDEX], chopper_timing_##ST, ST##_INTERPOLATE)
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// IC = TMC model number
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// ST = Stepper object letter
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// L = Label characters
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// AI = Axis Enum Index
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// SWHW = SW/SH UART selection
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#if ENABLED(TMC_USE_SW_SPI)
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#define __TMC_SPI_DEFINE(IC, ST, L, AI) TMCMarlin<IC##Stepper, L, AI> stepper##ST(ST##_CS_PIN, float(ST##_RSENSE), TMC_SW_MOSI, TMC_SW_MISO, TMC_SW_SCK, ST##_CHAIN_POS)
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#else
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#define __TMC_SPI_DEFINE(IC, ST, L, AI) TMCMarlin<IC##Stepper, L, AI> stepper##ST(ST##_CS_PIN, float(ST##_RSENSE), ST##_CHAIN_POS)
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#endif
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#if ENABLED(TMC_SERIAL_MULTIPLEXER)
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#define TMC_UART_HW_DEFINE(IC, ST, L, AI) TMCMarlin<IC##Stepper, L, AI> stepper##ST(&ST##_HARDWARE_SERIAL, float(ST##_RSENSE), ST##_SLAVE_ADDRESS, SERIAL_MUL_PIN1, SERIAL_MUL_PIN2)
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#else
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#define TMC_UART_HW_DEFINE(IC, ST, L, AI) TMCMarlin<IC##Stepper, L, AI> stepper##ST(&ST##_HARDWARE_SERIAL, float(ST##_RSENSE), ST##_SLAVE_ADDRESS)
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#endif
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#define TMC_UART_SW_DEFINE(IC, ST, L, AI) TMCMarlin<IC##Stepper, L, AI> stepper##ST(ST##_SERIAL_RX_PIN, ST##_SERIAL_TX_PIN, float(ST##_RSENSE), ST##_SLAVE_ADDRESS)
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#define _TMC_SPI_DEFINE(IC, ST, AI) __TMC_SPI_DEFINE(IC, ST, TMC_##ST##_LABEL, AI)
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#define TMC_SPI_DEFINE(ST, AI) _TMC_SPI_DEFINE(ST##_DRIVER_TYPE, ST, AI##_AXIS)
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#define _TMC_UART_DEFINE(SWHW, IC, ST, AI) TMC_UART_##SWHW##_DEFINE(IC, ST, TMC_##ST##_LABEL, AI)
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#define TMC_UART_DEFINE(SWHW, ST, AI) _TMC_UART_DEFINE(SWHW, ST##_DRIVER_TYPE, ST, AI##_AXIS)
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#if ENABLED(DISTINCT_E_FACTORS)
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#define TMC_SPI_DEFINE_E(AI) TMC_SPI_DEFINE(E##AI, E##AI)
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#define TMC_UART_DEFINE_E(SWHW, AI) TMC_UART_DEFINE(SWHW, E##AI, E##AI)
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#else
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#define TMC_SPI_DEFINE_E(AI) TMC_SPI_DEFINE(E##AI, E)
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#define TMC_UART_DEFINE_E(SWHW, AI) TMC_UART_DEFINE(SWHW, E##AI, E)
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#endif
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// Stepper objects of TMC2130/TMC2160/TMC2660/TMC5130/TMC5160 steppers used
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#if AXIS_HAS_SPI(X)
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TMC_SPI_DEFINE(X, X);
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#endif
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#if AXIS_HAS_SPI(X2)
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TMC_SPI_DEFINE(X2, X);
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#endif
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#if AXIS_HAS_SPI(Y)
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TMC_SPI_DEFINE(Y, Y);
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#endif
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#if AXIS_HAS_SPI(Y2)
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TMC_SPI_DEFINE(Y2, Y);
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#endif
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#if AXIS_HAS_SPI(Z)
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TMC_SPI_DEFINE(Z, Z);
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#endif
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#if AXIS_HAS_SPI(Z2)
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TMC_SPI_DEFINE(Z2, Z);
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#endif
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#if AXIS_HAS_SPI(Z3)
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TMC_SPI_DEFINE(Z3, Z);
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#endif
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#if AXIS_HAS_SPI(Z4)
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TMC_SPI_DEFINE(Z4, Z);
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#endif
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#if AXIS_HAS_SPI(I)
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TMC_SPI_DEFINE(I, I);
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#endif
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#if AXIS_HAS_SPI(J)
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TMC_SPI_DEFINE(J, J);
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#endif
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#if AXIS_HAS_SPI(K)
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TMC_SPI_DEFINE(K, K);
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#endif
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#if AXIS_HAS_SPI(E0)
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TMC_SPI_DEFINE_E(0);
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#endif
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#if AXIS_HAS_SPI(E1)
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TMC_SPI_DEFINE_E(1);
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#endif
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#if AXIS_HAS_SPI(E2)
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TMC_SPI_DEFINE_E(2);
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#endif
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#if AXIS_HAS_SPI(E3)
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TMC_SPI_DEFINE_E(3);
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#endif
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#if AXIS_HAS_SPI(E4)
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TMC_SPI_DEFINE_E(4);
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#endif
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#if AXIS_HAS_SPI(E5)
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TMC_SPI_DEFINE_E(5);
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#endif
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#if AXIS_HAS_SPI(E6)
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TMC_SPI_DEFINE_E(6);
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#endif
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#if AXIS_HAS_SPI(E7)
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TMC_SPI_DEFINE_E(7);
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#endif
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#ifndef TMC_BAUD_RATE
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// Reduce baud rate for boards not already overriding TMC_BAUD_RATE for software serial.
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// Testing has shown that 115200 is not 100% reliable on AVR platforms, occasionally
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// failing to read status properly. 32-bit platforms typically define an even lower
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// TMC_BAUD_RATE, due to differences in how SoftwareSerial libraries work on different
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// platforms.
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#define TMC_BAUD_RATE TERN(HAS_TMC_SW_SERIAL, 57600, 115200)
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#endif
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#ifndef TMC_X_BAUD_RATE
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#define TMC_X_BAUD_RATE TMC_BAUD_RATE
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#endif
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#ifndef TMC_X2_BAUD_RATE
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#define TMC_X2_BAUD_RATE TMC_BAUD_RATE
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#endif
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#ifndef TMC_Y_BAUD_RATE
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#define TMC_Y_BAUD_RATE TMC_BAUD_RATE
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#endif
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#ifndef TMC_Y2_BAUD_RATE
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#define TMC_Y2_BAUD_RATE TMC_BAUD_RATE
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#endif
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#ifndef TMC_Z_BAUD_RATE
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#define TMC_Z_BAUD_RATE TMC_BAUD_RATE
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#endif
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#ifndef TMC_Z2_BAUD_RATE
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#define TMC_Z2_BAUD_RATE TMC_BAUD_RATE
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#endif
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#ifndef TMC_Z3_BAUD_RATE
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#define TMC_Z3_BAUD_RATE TMC_BAUD_RATE
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#endif
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#ifndef TMC_Z4_BAUD_RATE
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#define TMC_Z4_BAUD_RATE TMC_BAUD_RATE
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#endif
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#ifndef TMC_I_BAUD_RATE
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#define TMC_I_BAUD_RATE TMC_BAUD_RATE
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#endif
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#ifndef TMC_J_BAUD_RATE
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#define TMC_J_BAUD_RATE TMC_BAUD_RATE
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#endif
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#ifndef TMC_K_BAUD_RATE
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#define TMC_K_BAUD_RATE TMC_BAUD_RATE
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#endif
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#ifndef TMC_E0_BAUD_RATE
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#define TMC_E0_BAUD_RATE TMC_BAUD_RATE
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#endif
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#ifndef TMC_E1_BAUD_RATE
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#define TMC_E1_BAUD_RATE TMC_BAUD_RATE
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#endif
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#ifndef TMC_E2_BAUD_RATE
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#define TMC_E2_BAUD_RATE TMC_BAUD_RATE
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#endif
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#ifndef TMC_E3_BAUD_RATE
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#define TMC_E3_BAUD_RATE TMC_BAUD_RATE
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#endif
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#ifndef TMC_E4_BAUD_RATE
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#define TMC_E4_BAUD_RATE TMC_BAUD_RATE
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#endif
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#ifndef TMC_E5_BAUD_RATE
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#define TMC_E5_BAUD_RATE TMC_BAUD_RATE
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#endif
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#ifndef TMC_E6_BAUD_RATE
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#define TMC_E6_BAUD_RATE TMC_BAUD_RATE
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#endif
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#ifndef TMC_E7_BAUD_RATE
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#define TMC_E7_BAUD_RATE TMC_BAUD_RATE
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#endif
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#if HAS_DRIVER(TMC2130)
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template<char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
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void tmc_init(TMCMarlin<TMC2130Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> &st, const uint16_t mA, const uint16_t microsteps, const uint32_t hyb_thrs, const bool stealth, const chopper_timing_t &chop_init, const bool interpolate) {
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st.begin();
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CHOPCONF_t chopconf{0};
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chopconf.tbl = 0b01;
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chopconf.toff = chop_init.toff;
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chopconf.intpol = interpolate;
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chopconf.hend = chop_init.hend + 3;
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chopconf.hstrt = chop_init.hstrt - 1;
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TERN_(SQUARE_WAVE_STEPPING, chopconf.dedge = true);
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st.CHOPCONF(chopconf.sr);
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st.rms_current(mA, HOLD_MULTIPLIER);
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st.microsteps(microsteps);
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st.iholddelay(10);
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st.TPOWERDOWN(128); // ~2s until driver lowers to hold current
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st.en_pwm_mode(stealth);
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st.stored.stealthChop_enabled = stealth;
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PWMCONF_t pwmconf{0};
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pwmconf.pwm_freq = 0b01; // f_pwm = 2/683 f_clk
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pwmconf.pwm_autoscale = true;
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pwmconf.pwm_grad = 5;
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pwmconf.pwm_ampl = 180;
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st.PWMCONF(pwmconf.sr);
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TERN(HYBRID_THRESHOLD, st.set_pwm_thrs(hyb_thrs), UNUSED(hyb_thrs));
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st.GSTAT(); // Clear GSTAT
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}
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#endif // TMC2130
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#if HAS_DRIVER(TMC2160)
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template<char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
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void tmc_init(TMCMarlin<TMC2160Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> &st, const uint16_t mA, const uint16_t microsteps, const uint32_t hyb_thrs, const bool stealth, const chopper_timing_t &chop_init, const bool interpolate) {
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st.begin();
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CHOPCONF_t chopconf{0};
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chopconf.tbl = 0b01;
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chopconf.toff = chop_init.toff;
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chopconf.intpol = interpolate;
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chopconf.hend = chop_init.hend + 3;
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chopconf.hstrt = chop_init.hstrt - 1;
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TERN_(SQUARE_WAVE_STEPPING, chopconf.dedge = true);
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st.CHOPCONF(chopconf.sr);
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st.rms_current(mA, HOLD_MULTIPLIER);
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st.microsteps(microsteps);
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st.iholddelay(10);
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st.TPOWERDOWN(128); // ~2s until driver lowers to hold current
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st.en_pwm_mode(stealth);
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st.stored.stealthChop_enabled = stealth;
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TMC2160_n::PWMCONF_t pwmconf{0};
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pwmconf.pwm_lim = 12;
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pwmconf.pwm_reg = 8;
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pwmconf.pwm_autograd = true;
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pwmconf.pwm_autoscale = true;
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pwmconf.pwm_freq = 0b01;
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pwmconf.pwm_grad = 14;
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pwmconf.pwm_ofs = 36;
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st.PWMCONF(pwmconf.sr);
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TERN(HYBRID_THRESHOLD, st.set_pwm_thrs(hyb_thrs), UNUSED(hyb_thrs));
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st.GSTAT(); // Clear GSTAT
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}
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#endif // TMC2160
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//
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// TMC2208/2209 Driver objects and inits
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//
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#if HAS_TMC220x
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#if AXIS_HAS_UART(X)
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#ifdef X_HARDWARE_SERIAL
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TMC_UART_DEFINE(HW, X, X);
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#define X_HAS_HW_SERIAL 1
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#else
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TMC_UART_DEFINE(SW, X, X);
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#define X_HAS_SW_SERIAL 1
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#endif
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#endif
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#if AXIS_HAS_UART(X2)
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#ifdef X2_HARDWARE_SERIAL
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TMC_UART_DEFINE(HW, X2, X);
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#define X2_HAS_HW_SERIAL 1
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#else
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TMC_UART_DEFINE(SW, X2, X);
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#define X2_HAS_SW_SERIAL 1
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#endif
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#endif
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#if AXIS_HAS_UART(Y)
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#ifdef Y_HARDWARE_SERIAL
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TMC_UART_DEFINE(HW, Y, Y);
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#define Y_HAS_HW_SERIAL 1
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#else
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TMC_UART_DEFINE(SW, Y, Y);
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#define Y_HAS_SW_SERIAL 1
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#endif
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#endif
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#if AXIS_HAS_UART(Y2)
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#ifdef Y2_HARDWARE_SERIAL
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TMC_UART_DEFINE(HW, Y2, Y);
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#define Y2_HAS_HW_SERIAL 1
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#else
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TMC_UART_DEFINE(SW, Y2, Y);
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#define Y2_HAS_SW_SERIAL 1
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#endif
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#endif
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#if AXIS_HAS_UART(Z)
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#ifdef Z_HARDWARE_SERIAL
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TMC_UART_DEFINE(HW, Z, Z);
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#define Z_HAS_HW_SERIAL 1
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#else
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TMC_UART_DEFINE(SW, Z, Z);
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#define Z_HAS_SW_SERIAL 1
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#endif
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#endif
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#if AXIS_HAS_UART(Z2)
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#ifdef Z2_HARDWARE_SERIAL
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TMC_UART_DEFINE(HW, Z2, Z);
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#define Z2_HAS_HW_SERIAL 1
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#else
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TMC_UART_DEFINE(SW, Z2, Z);
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#define Z2_HAS_SW_SERIAL 1
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#endif
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#endif
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#if AXIS_HAS_UART(Z3)
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#ifdef Z3_HARDWARE_SERIAL
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TMC_UART_DEFINE(HW, Z3, Z);
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#define Z3_HAS_HW_SERIAL 1
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#else
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TMC_UART_DEFINE(SW, Z3, Z);
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#define Z3_HAS_SW_SERIAL 1
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#endif
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#endif
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#if AXIS_HAS_UART(Z4)
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#ifdef Z4_HARDWARE_SERIAL
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TMC_UART_DEFINE(HW, Z4, Z);
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#define Z4_HAS_HW_SERIAL 1
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#else
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TMC_UART_DEFINE(SW, Z4, Z);
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#define Z4_HAS_SW_SERIAL 1
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#endif
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#endif
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#if AXIS_HAS_UART(I)
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#ifdef I_HARDWARE_SERIAL
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TMC_UART_DEFINE(HW, I, I);
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#define I_HAS_HW_SERIAL 1
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#else
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TMC_UART_DEFINE(SW, I, I);
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#define I_HAS_SW_SERIAL 1
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#endif
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#endif
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#if AXIS_HAS_UART(J)
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#ifdef J_HARDWARE_SERIAL
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TMC_UART_DEFINE(HW, J, J);
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#define J_HAS_HW_SERIAL 1
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#else
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TMC_UART_DEFINE(SW, J, J);
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#define J_HAS_SW_SERIAL 1
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#endif
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#endif
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#if AXIS_HAS_UART(K)
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#ifdef K_HARDWARE_SERIAL
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TMC_UART_DEFINE(HW, K, K);
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#define K_HAS_HW_SERIAL 1
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#else
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TMC_UART_DEFINE(SW, K, K);
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#define K_HAS_SW_SERIAL 1
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#endif
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#endif
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#if AXIS_HAS_UART(E0)
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#ifdef E0_HARDWARE_SERIAL
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TMC_UART_DEFINE_E(HW, 0);
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#define E0_HAS_HW_SERIAL 1
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#else
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TMC_UART_DEFINE_E(SW, 0);
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#define E0_HAS_SW_SERIAL 1
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#endif
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#endif
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#if AXIS_HAS_UART(E1)
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#ifdef E1_HARDWARE_SERIAL
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TMC_UART_DEFINE_E(HW, 1);
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#define E1_HAS_HW_SERIAL 1
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#else
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TMC_UART_DEFINE_E(SW, 1);
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#define E1_HAS_SW_SERIAL 1
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#endif
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#endif
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#if AXIS_HAS_UART(E2)
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#ifdef E2_HARDWARE_SERIAL
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TMC_UART_DEFINE_E(HW, 2);
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#define E2_HAS_HW_SERIAL 1
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#else
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TMC_UART_DEFINE_E(SW, 2);
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#define E2_HAS_SW_SERIAL 1
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#endif
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#endif
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#if AXIS_HAS_UART(E3)
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#ifdef E3_HARDWARE_SERIAL
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TMC_UART_DEFINE_E(HW, 3);
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#define E3_HAS_HW_SERIAL 1
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#else
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TMC_UART_DEFINE_E(SW, 3);
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#define E3_HAS_SW_SERIAL 1
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#endif
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#endif
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#if AXIS_HAS_UART(E4)
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#ifdef E4_HARDWARE_SERIAL
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TMC_UART_DEFINE_E(HW, 4);
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#define E4_HAS_HW_SERIAL 1
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#else
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TMC_UART_DEFINE_E(SW, 4);
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#define E4_HAS_SW_SERIAL 1
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#endif
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#endif
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#if AXIS_HAS_UART(E5)
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#ifdef E5_HARDWARE_SERIAL
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TMC_UART_DEFINE_E(HW, 5);
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#define E5_HAS_HW_SERIAL 1
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#else
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TMC_UART_DEFINE_E(SW, 5);
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#define E5_HAS_SW_SERIAL 1
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#endif
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#endif
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#if AXIS_HAS_UART(E6)
|
|
#ifdef E6_HARDWARE_SERIAL
|
|
TMC_UART_DEFINE_E(HW, 6);
|
|
#define E6_HAS_HW_SERIAL 1
|
|
#else
|
|
TMC_UART_DEFINE_E(SW, 6);
|
|
#define E6_HAS_SW_SERIAL 1
|
|
#endif
|
|
#endif
|
|
#if AXIS_HAS_UART(E7)
|
|
#ifdef E7_HARDWARE_SERIAL
|
|
TMC_UART_DEFINE_E(HW, 7);
|
|
#define E7_HAS_HW_SERIAL 1
|
|
#else
|
|
TMC_UART_DEFINE_E(SW, 7);
|
|
#define E7_HAS_SW_SERIAL 1
|
|
#endif
|
|
#endif
|
|
|
|
#define _EN_ITEM(N) , E##N
|
|
enum TMCAxis : uint8_t { LINEAR_AXIS_LIST(X, Y, Z, I, J, K), X2, Y2, Z2, Z3, Z4 REPEAT(EXTRUDERS, _EN_ITEM), TOTAL };
|
|
#undef _EN_ITEM
|
|
|
|
void tmc_serial_begin() {
|
|
#if HAS_TMC_HW_SERIAL
|
|
struct {
|
|
const void *ptr[TMCAxis::TOTAL];
|
|
bool began(const TMCAxis a, const void * const p) {
|
|
LOOP_L_N(i, a) if (p == ptr[i]) return true;
|
|
ptr[a] = p; return false;
|
|
};
|
|
} sp_helper;
|
|
|
|
#define HW_SERIAL_BEGIN(A) do{ if (!sp_helper.began(TMCAxis::A, &A##_HARDWARE_SERIAL)) \
|
|
A##_HARDWARE_SERIAL.begin(TMC_##A##_BAUD_RATE); }while(0)
|
|
#endif
|
|
|
|
#if AXIS_HAS_UART(X)
|
|
#ifdef X_HARDWARE_SERIAL
|
|
HW_SERIAL_BEGIN(X);
|
|
#else
|
|
stepperX.beginSerial(TMC_BAUD_RATE);
|
|
#endif
|
|
#endif
|
|
#if AXIS_HAS_UART(X2)
|
|
#ifdef X2_HARDWARE_SERIAL
|
|
HW_SERIAL_BEGIN(X2);
|
|
#else
|
|
stepperX2.beginSerial(TMC_BAUD_RATE);
|
|
#endif
|
|
#endif
|
|
#if AXIS_HAS_UART(Y)
|
|
#ifdef Y_HARDWARE_SERIAL
|
|
HW_SERIAL_BEGIN(Y);
|
|
#else
|
|
stepperY.beginSerial(TMC_BAUD_RATE);
|
|
#endif
|
|
#endif
|
|
#if AXIS_HAS_UART(Y2)
|
|
#ifdef Y2_HARDWARE_SERIAL
|
|
HW_SERIAL_BEGIN(Y2);
|
|
#else
|
|
stepperY2.beginSerial(TMC_BAUD_RATE);
|
|
#endif
|
|
#endif
|
|
#if AXIS_HAS_UART(Z)
|
|
#ifdef Z_HARDWARE_SERIAL
|
|
HW_SERIAL_BEGIN(Z);
|
|
#else
|
|
stepperZ.beginSerial(TMC_BAUD_RATE);
|
|
#endif
|
|
#endif
|
|
#if AXIS_HAS_UART(Z2)
|
|
#ifdef Z2_HARDWARE_SERIAL
|
|
HW_SERIAL_BEGIN(Z2);
|
|
#else
|
|
stepperZ2.beginSerial(TMC_BAUD_RATE);
|
|
#endif
|
|
#endif
|
|
#if AXIS_HAS_UART(Z3)
|
|
#ifdef Z3_HARDWARE_SERIAL
|
|
HW_SERIAL_BEGIN(Z3);
|
|
#else
|
|
stepperZ3.beginSerial(TMC_BAUD_RATE);
|
|
#endif
|
|
#endif
|
|
#if AXIS_HAS_UART(Z4)
|
|
#ifdef Z4_HARDWARE_SERIAL
|
|
HW_SERIAL_BEGIN(Z4);
|
|
#else
|
|
stepperZ4.beginSerial(TMC_BAUD_RATE);
|
|
#endif
|
|
#endif
|
|
#if AXIS_HAS_UART(I)
|
|
#ifdef I_HARDWARE_SERIAL
|
|
HW_SERIAL_BEGIN(I);
|
|
#else
|
|
stepperI.beginSerial(TMC_BAUD_RATE);
|
|
#endif
|
|
#endif
|
|
#if AXIS_HAS_UART(J)
|
|
#ifdef J_HARDWARE_SERIAL
|
|
HW_SERIAL_BEGIN(J);
|
|
#else
|
|
stepperJ.beginSerial(TMC_BAUD_RATE);
|
|
#endif
|
|
#endif
|
|
#if AXIS_HAS_UART(K)
|
|
#ifdef K_HARDWARE_SERIAL
|
|
HW_SERIAL_BEGIN(K);
|
|
#else
|
|
stepperK.beginSerial(TMC_BAUD_RATE);
|
|
#endif
|
|
#endif
|
|
#if AXIS_HAS_UART(E0)
|
|
#ifdef E0_HARDWARE_SERIAL
|
|
HW_SERIAL_BEGIN(E0);
|
|
#else
|
|
stepperE0.beginSerial(TMC_BAUD_RATE);
|
|
#endif
|
|
#endif
|
|
#if AXIS_HAS_UART(E1)
|
|
#ifdef E1_HARDWARE_SERIAL
|
|
HW_SERIAL_BEGIN(E1);
|
|
#else
|
|
stepperE1.beginSerial(TMC_BAUD_RATE);
|
|
#endif
|
|
#endif
|
|
#if AXIS_HAS_UART(E2)
|
|
#ifdef E2_HARDWARE_SERIAL
|
|
HW_SERIAL_BEGIN(E2);
|
|
#else
|
|
stepperE2.beginSerial(TMC_BAUD_RATE);
|
|
#endif
|
|
#endif
|
|
#if AXIS_HAS_UART(E3)
|
|
#ifdef E3_HARDWARE_SERIAL
|
|
HW_SERIAL_BEGIN(E3);
|
|
#else
|
|
stepperE3.beginSerial(TMC_BAUD_RATE);
|
|
#endif
|
|
#endif
|
|
#if AXIS_HAS_UART(E4)
|
|
#ifdef E4_HARDWARE_SERIAL
|
|
HW_SERIAL_BEGIN(E4);
|
|
#else
|
|
stepperE4.beginSerial(TMC_BAUD_RATE);
|
|
#endif
|
|
#endif
|
|
#if AXIS_HAS_UART(E5)
|
|
#ifdef E5_HARDWARE_SERIAL
|
|
HW_SERIAL_BEGIN(E5);
|
|
#else
|
|
stepperE5.beginSerial(TMC_BAUD_RATE);
|
|
#endif
|
|
#endif
|
|
#if AXIS_HAS_UART(E6)
|
|
#ifdef E6_HARDWARE_SERIAL
|
|
HW_SERIAL_BEGIN(E6);
|
|
#else
|
|
stepperE6.beginSerial(TMC_BAUD_RATE);
|
|
#endif
|
|
#endif
|
|
#if AXIS_HAS_UART(E7)
|
|
#ifdef E7_HARDWARE_SERIAL
|
|
HW_SERIAL_BEGIN(E7);
|
|
#else
|
|
stepperE7.beginSerial(TMC_BAUD_RATE);
|
|
#endif
|
|
#endif
|
|
}
|
|
#endif
|
|
|
|
#if HAS_DRIVER(TMC2208)
|
|
template<char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
|
|
void tmc_init(TMCMarlin<TMC2208Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> &st, const uint16_t mA, const uint16_t microsteps, const uint32_t hyb_thrs, const bool stealth, const chopper_timing_t &chop_init, const bool interpolate) {
|
|
TMC2208_n::GCONF_t gconf{0};
|
|
gconf.pdn_disable = true; // Use UART
|
|
gconf.mstep_reg_select = true; // Select microsteps with UART
|
|
gconf.i_scale_analog = false;
|
|
gconf.en_spreadcycle = !stealth;
|
|
st.GCONF(gconf.sr);
|
|
st.stored.stealthChop_enabled = stealth;
|
|
|
|
TMC2208_n::CHOPCONF_t chopconf{0};
|
|
chopconf.tbl = 0b01; // blank_time = 24
|
|
chopconf.toff = chop_init.toff;
|
|
chopconf.intpol = interpolate;
|
|
chopconf.hend = chop_init.hend + 3;
|
|
chopconf.hstrt = chop_init.hstrt - 1;
|
|
TERN_(SQUARE_WAVE_STEPPING, chopconf.dedge = true);
|
|
st.CHOPCONF(chopconf.sr);
|
|
|
|
st.rms_current(mA, HOLD_MULTIPLIER);
|
|
st.microsteps(microsteps);
|
|
st.iholddelay(10);
|
|
st.TPOWERDOWN(128); // ~2s until driver lowers to hold current
|
|
|
|
TMC2208_n::PWMCONF_t pwmconf{0};
|
|
pwmconf.pwm_lim = 12;
|
|
pwmconf.pwm_reg = 8;
|
|
pwmconf.pwm_autograd = true;
|
|
pwmconf.pwm_autoscale = true;
|
|
pwmconf.pwm_freq = 0b01;
|
|
pwmconf.pwm_grad = 14;
|
|
pwmconf.pwm_ofs = 36;
|
|
st.PWMCONF(pwmconf.sr);
|
|
|
|
TERN(HYBRID_THRESHOLD, st.set_pwm_thrs(hyb_thrs), UNUSED(hyb_thrs));
|
|
|
|
st.GSTAT(0b111); // Clear
|
|
delay(200);
|
|
}
|
|
#endif // TMC2208
|
|
|
|
#if HAS_DRIVER(TMC2209)
|
|
template<char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
|
|
void tmc_init(TMCMarlin<TMC2209Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> &st, const uint16_t mA, const uint16_t microsteps, const uint32_t hyb_thrs, const bool stealth, const chopper_timing_t &chop_init, const bool interpolate) {
|
|
TMC2208_n::GCONF_t gconf{0};
|
|
gconf.pdn_disable = true; // Use UART
|
|
gconf.mstep_reg_select = true; // Select microsteps with UART
|
|
gconf.i_scale_analog = false;
|
|
gconf.en_spreadcycle = !stealth;
|
|
st.GCONF(gconf.sr);
|
|
st.stored.stealthChop_enabled = stealth;
|
|
|
|
TMC2208_n::CHOPCONF_t chopconf{0};
|
|
chopconf.tbl = 0b01; // blank_time = 24
|
|
chopconf.toff = chop_init.toff;
|
|
chopconf.intpol = interpolate;
|
|
chopconf.hend = chop_init.hend + 3;
|
|
chopconf.hstrt = chop_init.hstrt - 1;
|
|
TERN_(SQUARE_WAVE_STEPPING, chopconf.dedge = true);
|
|
st.CHOPCONF(chopconf.sr);
|
|
|
|
st.rms_current(mA, HOLD_MULTIPLIER);
|
|
st.microsteps(microsteps);
|
|
st.iholddelay(10);
|
|
st.TPOWERDOWN(128); // ~2s until driver lowers to hold current
|
|
|
|
TMC2208_n::PWMCONF_t pwmconf{0};
|
|
pwmconf.pwm_lim = 12;
|
|
pwmconf.pwm_reg = 8;
|
|
pwmconf.pwm_autograd = true;
|
|
pwmconf.pwm_autoscale = true;
|
|
pwmconf.pwm_freq = 0b01;
|
|
pwmconf.pwm_grad = 14;
|
|
pwmconf.pwm_ofs = 36;
|
|
st.PWMCONF(pwmconf.sr);
|
|
|
|
TERN(HYBRID_THRESHOLD, st.set_pwm_thrs(hyb_thrs), UNUSED(hyb_thrs));
|
|
|
|
st.GSTAT(0b111); // Clear
|
|
delay(200);
|
|
}
|
|
#endif // TMC2209
|
|
|
|
#if HAS_DRIVER(TMC2660)
|
|
template<char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
|
|
void tmc_init(TMCMarlin<TMC2660Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> &st, const uint16_t mA, const uint16_t microsteps, const uint32_t, const bool, const chopper_timing_t &chop_init, const bool interpolate) {
|
|
st.begin();
|
|
|
|
TMC2660_n::CHOPCONF_t chopconf{0};
|
|
chopconf.tbl = 0b01;
|
|
chopconf.toff = chop_init.toff;
|
|
chopconf.hend = chop_init.hend + 3;
|
|
chopconf.hstrt = chop_init.hstrt - 1;
|
|
st.CHOPCONF(chopconf.sr);
|
|
|
|
st.sdoff(0);
|
|
st.rms_current(mA);
|
|
st.microsteps(microsteps);
|
|
TERN_(SQUARE_WAVE_STEPPING, st.dedge(true));
|
|
st.intpol(interpolate);
|
|
st.diss2g(true); // Disable short to ground protection. Too many false readings?
|
|
TERN_(TMC_DEBUG, st.rdsel(0b01));
|
|
}
|
|
#endif // TMC2660
|
|
|
|
#if HAS_DRIVER(TMC5130)
|
|
template<char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
|
|
void tmc_init(TMCMarlin<TMC5130Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> &st, const uint16_t mA, const uint16_t microsteps, const uint32_t hyb_thrs, const bool stealth, const chopper_timing_t &chop_init, const bool interpolate) {
|
|
st.begin();
|
|
|
|
CHOPCONF_t chopconf{0};
|
|
chopconf.tbl = 0b01;
|
|
chopconf.toff = chop_init.toff;
|
|
chopconf.intpol = interpolate;
|
|
chopconf.hend = chop_init.hend + 3;
|
|
chopconf.hstrt = chop_init.hstrt - 1;
|
|
TERN_(SQUARE_WAVE_STEPPING, chopconf.dedge = true);
|
|
st.CHOPCONF(chopconf.sr);
|
|
|
|
st.rms_current(mA, HOLD_MULTIPLIER);
|
|
st.microsteps(microsteps);
|
|
st.iholddelay(10);
|
|
st.TPOWERDOWN(128); // ~2s until driver lowers to hold current
|
|
|
|
st.en_pwm_mode(stealth);
|
|
st.stored.stealthChop_enabled = stealth;
|
|
|
|
PWMCONF_t pwmconf{0};
|
|
pwmconf.pwm_freq = 0b01; // f_pwm = 2/683 f_clk
|
|
pwmconf.pwm_autoscale = true;
|
|
pwmconf.pwm_grad = 5;
|
|
pwmconf.pwm_ampl = 180;
|
|
st.PWMCONF(pwmconf.sr);
|
|
|
|
TERN(HYBRID_THRESHOLD, st.set_pwm_thrs(hyb_thrs), UNUSED(hyb_thrs));
|
|
|
|
st.GSTAT(); // Clear GSTAT
|
|
}
|
|
#endif // TMC5130
|
|
|
|
#if HAS_DRIVER(TMC5160)
|
|
template<char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
|
|
void tmc_init(TMCMarlin<TMC5160Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> &st, const uint16_t mA, const uint16_t microsteps, const uint32_t hyb_thrs, const bool stealth, const chopper_timing_t &chop_init, const bool interpolate) {
|
|
st.begin();
|
|
|
|
CHOPCONF_t chopconf{0};
|
|
chopconf.tbl = 0b01;
|
|
chopconf.toff = chop_init.toff;
|
|
chopconf.intpol = interpolate;
|
|
chopconf.hend = chop_init.hend + 3;
|
|
chopconf.hstrt = chop_init.hstrt - 1;
|
|
TERN_(SQUARE_WAVE_STEPPING, chopconf.dedge = true);
|
|
st.CHOPCONF(chopconf.sr);
|
|
|
|
st.rms_current(mA, HOLD_MULTIPLIER);
|
|
st.microsteps(microsteps);
|
|
st.iholddelay(10);
|
|
st.TPOWERDOWN(128); // ~2s until driver lowers to hold current
|
|
|
|
st.en_pwm_mode(stealth);
|
|
st.stored.stealthChop_enabled = stealth;
|
|
|
|
TMC2160_n::PWMCONF_t pwmconf{0};
|
|
pwmconf.pwm_lim = 12;
|
|
pwmconf.pwm_reg = 8;
|
|
pwmconf.pwm_autograd = true;
|
|
pwmconf.pwm_autoscale = true;
|
|
pwmconf.pwm_freq = 0b01;
|
|
pwmconf.pwm_grad = 14;
|
|
pwmconf.pwm_ofs = 36;
|
|
st.PWMCONF(pwmconf.sr);
|
|
|
|
TERN(HYBRID_THRESHOLD, st.set_pwm_thrs(hyb_thrs), UNUSED(hyb_thrs));
|
|
st.GSTAT(); // Clear GSTAT
|
|
}
|
|
#endif // TMC5160
|
|
|
|
void restore_trinamic_drivers() {
|
|
#if AXIS_IS_TMC(X)
|
|
stepperX.push();
|
|
#endif
|
|
#if AXIS_IS_TMC(X2)
|
|
stepperX2.push();
|
|
#endif
|
|
#if AXIS_IS_TMC(Y)
|
|
stepperY.push();
|
|
#endif
|
|
#if AXIS_IS_TMC(Y2)
|
|
stepperY2.push();
|
|
#endif
|
|
#if AXIS_IS_TMC(Z)
|
|
stepperZ.push();
|
|
#endif
|
|
#if AXIS_IS_TMC(Z2)
|
|
stepperZ2.push();
|
|
#endif
|
|
#if AXIS_IS_TMC(Z3)
|
|
stepperZ3.push();
|
|
#endif
|
|
#if AXIS_IS_TMC(Z4)
|
|
stepperZ4.push();
|
|
#endif
|
|
#if AXIS_IS_TMC(I)
|
|
stepperI.push();
|
|
#endif
|
|
#if AXIS_IS_TMC(J)
|
|
stepperJ.push();
|
|
#endif
|
|
#if AXIS_IS_TMC(K)
|
|
stepperK.push();
|
|
#endif
|
|
#if AXIS_IS_TMC(E0)
|
|
stepperE0.push();
|
|
#endif
|
|
#if AXIS_IS_TMC(E1)
|
|
stepperE1.push();
|
|
#endif
|
|
#if AXIS_IS_TMC(E2)
|
|
stepperE2.push();
|
|
#endif
|
|
#if AXIS_IS_TMC(E3)
|
|
stepperE3.push();
|
|
#endif
|
|
#if AXIS_IS_TMC(E4)
|
|
stepperE4.push();
|
|
#endif
|
|
#if AXIS_IS_TMC(E5)
|
|
stepperE5.push();
|
|
#endif
|
|
#if AXIS_IS_TMC(E6)
|
|
stepperE6.push();
|
|
#endif
|
|
#if AXIS_IS_TMC(E7)
|
|
stepperE7.push();
|
|
#endif
|
|
}
|
|
|
|
void reset_trinamic_drivers() {
|
|
static constexpr bool stealthchop_by_axis[] = LOGICAL_AXIS_ARRAY(
|
|
ENABLED(STEALTHCHOP_E),
|
|
ENABLED(STEALTHCHOP_XY), ENABLED(STEALTHCHOP_XY), ENABLED(STEALTHCHOP_Z),
|
|
ENABLED(STEALTHCHOP_I), ENABLED(STEALTHCHOP_J), ENABLED(STEALTHCHOP_K)
|
|
);
|
|
|
|
#if AXIS_IS_TMC(X)
|
|
TMC_INIT(X, STEALTH_AXIS_X);
|
|
#endif
|
|
#if AXIS_IS_TMC(X2)
|
|
TMC_INIT(X2, STEALTH_AXIS_X);
|
|
#endif
|
|
#if AXIS_IS_TMC(Y)
|
|
TMC_INIT(Y, STEALTH_AXIS_Y);
|
|
#endif
|
|
#if AXIS_IS_TMC(Y2)
|
|
TMC_INIT(Y2, STEALTH_AXIS_Y);
|
|
#endif
|
|
#if AXIS_IS_TMC(Z)
|
|
TMC_INIT(Z, STEALTH_AXIS_Z);
|
|
#endif
|
|
#if AXIS_IS_TMC(Z2)
|
|
TMC_INIT(Z2, STEALTH_AXIS_Z);
|
|
#endif
|
|
#if AXIS_IS_TMC(Z3)
|
|
TMC_INIT(Z3, STEALTH_AXIS_Z);
|
|
#endif
|
|
#if AXIS_IS_TMC(Z4)
|
|
TMC_INIT(Z4, STEALTH_AXIS_Z);
|
|
#endif
|
|
#if AXIS_IS_TMC(I)
|
|
TMC_INIT(I, STEALTH_AXIS_I);
|
|
#endif
|
|
#if AXIS_IS_TMC(J)
|
|
TMC_INIT(J, STEALTH_AXIS_J);
|
|
#endif
|
|
#if AXIS_IS_TMC(K)
|
|
TMC_INIT(K, STEALTH_AXIS_K);
|
|
#endif
|
|
#if AXIS_IS_TMC(E0)
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TMC_INIT(E0, STEALTH_AXIS_E);
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#endif
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#if AXIS_IS_TMC(E1)
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TMC_INIT(E1, STEALTH_AXIS_E);
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#endif
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#if AXIS_IS_TMC(E2)
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TMC_INIT(E2, STEALTH_AXIS_E);
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#endif
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#if AXIS_IS_TMC(E3)
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TMC_INIT(E3, STEALTH_AXIS_E);
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#endif
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#if AXIS_IS_TMC(E4)
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TMC_INIT(E4, STEALTH_AXIS_E);
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#endif
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#if AXIS_IS_TMC(E5)
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TMC_INIT(E5, STEALTH_AXIS_E);
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#endif
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#if AXIS_IS_TMC(E6)
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TMC_INIT(E6, STEALTH_AXIS_E);
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#endif
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#if AXIS_IS_TMC(E7)
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TMC_INIT(E7, STEALTH_AXIS_E);
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#endif
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|
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#if USE_SENSORLESS
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#if X_SENSORLESS
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stepperX.homing_threshold(X_STALL_SENSITIVITY);
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#if AXIS_HAS_STALLGUARD(X2)
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stepperX2.homing_threshold(CAT(TERN(X2_SENSORLESS, X2, X), _STALL_SENSITIVITY));
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#endif
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|
#endif
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|
#if Y_SENSORLESS
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|
stepperY.homing_threshold(Y_STALL_SENSITIVITY);
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|
#if AXIS_HAS_STALLGUARD(Y2)
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stepperY2.homing_threshold(CAT(TERN(Y2_SENSORLESS, Y2, Y), _STALL_SENSITIVITY));
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#endif
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|
#endif
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|
#if Z_SENSORLESS
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|
stepperZ.homing_threshold(Z_STALL_SENSITIVITY);
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|
#if AXIS_HAS_STALLGUARD(Z2)
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|
stepperZ2.homing_threshold(CAT(TERN(Z2_SENSORLESS, Z2, Z), _STALL_SENSITIVITY));
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|
#endif
|
|
#if AXIS_HAS_STALLGUARD(Z3)
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|
stepperZ3.homing_threshold(CAT(TERN(Z3_SENSORLESS, Z3, Z), _STALL_SENSITIVITY));
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|
#endif
|
|
#if AXIS_HAS_STALLGUARD(Z4)
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|
stepperZ4.homing_threshold(CAT(TERN(Z4_SENSORLESS, Z4, Z), _STALL_SENSITIVITY));
|
|
#endif
|
|
#endif
|
|
#if I_SENSORLESS
|
|
stepperI.homing_threshold(I_STALL_SENSITIVITY);
|
|
#if AXIS_HAS_STALLGUARD(I)
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|
stepperI.homing_threshold(CAT(TERN(I_SENSORLESS, I, I), _STALL_SENSITIVITY));
|
|
#endif
|
|
#endif
|
|
#if J_SENSORLESS
|
|
stepperJ.homing_threshold(J_STALL_SENSITIVITY);
|
|
#if AXIS_HAS_STALLGUARD(J)
|
|
stepperJ.homing_threshold(CAT(TERN(J_SENSORLESS, J, J), _STALL_SENSITIVITY));
|
|
#endif
|
|
#endif
|
|
#if K_SENSORLESS
|
|
stepperK.homing_threshold(K_STALL_SENSITIVITY);
|
|
#if AXIS_HAS_STALLGUARD(K)
|
|
stepperK.homing_threshold(CAT(TERN(K_SENSORLESS, K, K), _STALL_SENSITIVITY));
|
|
#endif
|
|
#endif
|
|
#endif // USE SENSORLESS
|
|
|
|
#ifdef TMC_ADV
|
|
TMC_ADV()
|
|
#endif
|
|
|
|
stepper.set_directions();
|
|
}
|
|
|
|
// TMC Slave Address Conflict Detection
|
|
//
|
|
// Conflict detection is performed in the following way. Similar methods are used for
|
|
// hardware and software serial, but the implementations are independent.
|
|
//
|
|
// 1. Populate a data structure with UART parameters and addresses for all possible axis.
|
|
// If an axis is not in use, populate it with recognizable placeholder data.
|
|
// 2. For each axis in use, static_assert using a constexpr function, which counts the
|
|
// number of matching/conflicting axis. If the value is not exactly 1, fail.
|
|
|
|
#if ANY_AXIS_HAS(HW_SERIAL)
|
|
// Hardware serial names are compared as strings, since actually resolving them cannot occur in a constexpr.
|
|
// Using a fixed-length character array for the port name allows this to be constexpr compatible.
|
|
struct SanityHwSerialDetails { const char port[20]; uint32_t address; };
|
|
#define TMC_HW_DETAIL_ARGS(A) TERN(A##_HAS_HW_SERIAL, STRINGIFY(A##_HARDWARE_SERIAL), ""), TERN0(A##_HAS_HW_SERIAL, A##_SLAVE_ADDRESS)
|
|
#define TMC_HW_DETAIL(A) { TMC_HW_DETAIL_ARGS(A) }
|
|
constexpr SanityHwSerialDetails sanity_tmc_hw_details[] = {
|
|
TMC_HW_DETAIL(X), TMC_HW_DETAIL(X2),
|
|
TMC_HW_DETAIL(Y), TMC_HW_DETAIL(Y2),
|
|
TMC_HW_DETAIL(Z), TMC_HW_DETAIL(Z2), TMC_HW_DETAIL(Z3), TMC_HW_DETAIL(Z4),
|
|
TMC_HW_DETAIL(I), TMC_HW_DETAIL(J), TMC_HW_DETAIL(K),
|
|
TMC_HW_DETAIL(E0), TMC_HW_DETAIL(E1), TMC_HW_DETAIL(E2), TMC_HW_DETAIL(E3), TMC_HW_DETAIL(E4), TMC_HW_DETAIL(E5), TMC_HW_DETAIL(E6), TMC_HW_DETAIL(E7)
|
|
};
|
|
|
|
// constexpr compatible string comparison
|
|
constexpr bool str_eq_ce(const char * a, const char * b) {
|
|
return *a == *b && (*a == '\0' || str_eq_ce(a+1,b+1));
|
|
}
|
|
|
|
constexpr bool sc_hw_done(size_t start, size_t end) { return start == end; }
|
|
constexpr bool sc_hw_skip(const char *port_name) { return !(*port_name); }
|
|
constexpr bool sc_hw_match(const char *port_name, uint32_t address, size_t start, size_t end) {
|
|
return !sc_hw_done(start, end) && !sc_hw_skip(port_name) && (address == sanity_tmc_hw_details[start].address && str_eq_ce(port_name, sanity_tmc_hw_details[start].port));
|
|
}
|
|
constexpr int count_tmc_hw_serial_matches(const char *port_name, uint32_t address, size_t start, size_t end) {
|
|
return sc_hw_done(start, end) ? 0 : ((sc_hw_skip(port_name) ? 0 : (sc_hw_match(port_name, address, start, end) ? 1 : 0)) + count_tmc_hw_serial_matches(port_name, address, start + 1, end));
|
|
}
|
|
|
|
#define TMC_HWSERIAL_CONFLICT_MSG(A) STRINGIFY(A) "_SLAVE_ADDRESS conflicts with another driver using the same " STRINGIFY(A) "_HARDWARE_SERIAL"
|
|
#define SA_NO_TMC_HW_C(A) static_assert(1 >= count_tmc_hw_serial_matches(TMC_HW_DETAIL_ARGS(A), 0, COUNT(sanity_tmc_hw_details)), TMC_HWSERIAL_CONFLICT_MSG(A));
|
|
SA_NO_TMC_HW_C(X); SA_NO_TMC_HW_C(X2);
|
|
SA_NO_TMC_HW_C(Y); SA_NO_TMC_HW_C(Y2);
|
|
SA_NO_TMC_HW_C(Z); SA_NO_TMC_HW_C(Z2); SA_NO_TMC_HW_C(Z3); SA_NO_TMC_HW_C(Z4);
|
|
SA_NO_TMC_HW_C(I); SA_NO_TMC_HW_C(J); SA_NO_TMC_HW_C(K);
|
|
SA_NO_TMC_HW_C(E0); SA_NO_TMC_HW_C(E1); SA_NO_TMC_HW_C(E2); SA_NO_TMC_HW_C(E3); SA_NO_TMC_HW_C(E4); SA_NO_TMC_HW_C(E5); SA_NO_TMC_HW_C(E6); SA_NO_TMC_HW_C(E7);
|
|
#endif
|
|
|
|
#if ANY_AXIS_HAS(SW_SERIAL)
|
|
struct SanitySwSerialDetails { int32_t txpin; int32_t rxpin; uint32_t address; };
|
|
#define TMC_SW_DETAIL_ARGS(A) TERN(A##_HAS_SW_SERIAL, A##_SERIAL_TX_PIN, -1), TERN(A##_HAS_SW_SERIAL, A##_SERIAL_RX_PIN, -1), TERN0(A##_HAS_SW_SERIAL, A##_SLAVE_ADDRESS)
|
|
#define TMC_SW_DETAIL(A) TMC_SW_DETAIL_ARGS(A)
|
|
constexpr SanitySwSerialDetails sanity_tmc_sw_details[] = {
|
|
TMC_SW_DETAIL(X), TMC_SW_DETAIL(X2),
|
|
TMC_SW_DETAIL(Y), TMC_SW_DETAIL(Y2),
|
|
TMC_SW_DETAIL(Z), TMC_SW_DETAIL(Z2), TMC_SW_DETAIL(Z3), TMC_SW_DETAIL(Z4),
|
|
TMC_SW_DETAIL(I), TMC_SW_DETAIL(J), TMC_SW_DETAIL(K),
|
|
TMC_SW_DETAIL(E0), TMC_SW_DETAIL(E1), TMC_SW_DETAIL(E2), TMC_SW_DETAIL(E3), TMC_SW_DETAIL(E4), TMC_SW_DETAIL(E5), TMC_SW_DETAIL(E6), TMC_SW_DETAIL(E7)
|
|
};
|
|
|
|
constexpr bool sc_sw_done(size_t start, size_t end) { return start == end; }
|
|
constexpr bool sc_sw_skip(int32_t txpin) { return txpin < 0; }
|
|
constexpr bool sc_sw_match(int32_t txpin, int32_t rxpin, uint32_t address, size_t start, size_t end) {
|
|
return !sc_sw_done(start, end) && !sc_sw_skip(txpin) && (txpin == sanity_tmc_sw_details[start].txpin || rxpin == sanity_tmc_sw_details[start].rxpin) && (address == sanity_tmc_sw_details[start].address);
|
|
}
|
|
constexpr int count_tmc_sw_serial_matches(int32_t txpin, int32_t rxpin, uint32_t address, size_t start, size_t end) {
|
|
return sc_sw_done(start, end) ? 0 : ((sc_sw_skip(txpin) ? 0 : (sc_sw_match(txpin, rxpin, address, start, end) ? 1 : 0)) + count_tmc_sw_serial_matches(txpin, rxpin, address, start + 1, end));
|
|
}
|
|
|
|
#define TMC_SWSERIAL_CONFLICT_MSG(A) STRINGIFY(A) "_SLAVE_ADDRESS conflicts with another driver using the same " STRINGIFY(A) "_SERIAL_RX_PIN or " STRINGIFY(A) "_SERIAL_TX_PIN"
|
|
#define SA_NO_TMC_SW_C(A) static_assert(1 >= count_tmc_sw_serial_matches(TMC_SW_DETAIL_ARGS(A), 0, COUNT(sanity_tmc_sw_details)), TMC_SWSERIAL_CONFLICT_MSG(A));
|
|
SA_NO_TMC_SW_C(X); SA_NO_TMC_SW_C(X2);
|
|
SA_NO_TMC_SW_C(Y); SA_NO_TMC_SW_C(Y2);
|
|
SA_NO_TMC_SW_C(Z); SA_NO_TMC_SW_C(Z2); SA_NO_TMC_SW_C(Z3); SA_NO_TMC_SW_C(Z4);
|
|
SA_NO_TMC_SW_C(I); SA_NO_TMC_SW_C(J); SA_NO_TMC_SW_C(K);
|
|
SA_NO_TMC_SW_C(E0); SA_NO_TMC_SW_C(E1); SA_NO_TMC_SW_C(E2); SA_NO_TMC_SW_C(E3); SA_NO_TMC_SW_C(E4); SA_NO_TMC_SW_C(E5); SA_NO_TMC_SW_C(E6); SA_NO_TMC_SW_C(E7);
|
|
#endif
|
|
|
|
#endif // HAS_TRINAMIC_CONFIG
|
|
|