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@ -21,25 +21,15 @@
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*/
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*/
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/**
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/**
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stepper_indirection.c - stepper motor driver indirection
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* stepper_indirection.cpp
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to allow some stepper functions to be done via SPI/I2c instead of direct pin manipulation
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*
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Part of Marlin
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* Stepper motor driver indirection to allow some stepper functions to
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* be done via SPI/I2c instead of direct pin manipulation.
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Copyright (c) 2015 Dominik Wenger
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*
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* Part of Marlin
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Marlin is free software: you can redistribute it and/or modify
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*
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it under the terms of the GNU General Public License as published by
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* Copyright (c) 2015 Dominik Wenger
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the Free Software Foundation, either version 3 of the License, or
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*/
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(at your option) any later version.
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Marlin 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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You should have received a copy of the GNU General Public License
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along with Marlin. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "stepper_indirection.h"
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#include "stepper_indirection.h"
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@ -53,41 +43,43 @@
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#include <SPI.h>
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#include <SPI.h>
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#include <TMC26XStepper.h>
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#include <TMC26XStepper.h>
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#define _TMC_DEFINE(ST) TMC26XStepper stepper##ST(200, ST##_ENABLE_PIN, ST##_STEP_PIN, ST##_DIR_PIN, ST##_MAX_CURRENT, ST##_SENSE_RESISTOR)
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#if ENABLED(X_IS_TMC)
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#if ENABLED(X_IS_TMC)
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TMC26XStepper stepperX(200, X_ENABLE_PIN, X_STEP_PIN, X_DIR_PIN, X_MAX_CURRENT, X_SENSE_RESISTOR);
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_TMC_DEFINE(X);
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#endif
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#endif
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#if ENABLED(X2_IS_TMC)
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#if ENABLED(X2_IS_TMC)
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TMC26XStepper stepperX2(200, X2_ENABLE_PIN, X2_STEP_PIN, X2_DIR_PIN, X2_MAX_CURRENT, X2_SENSE_RESISTOR);
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_TMC_DEFINE(X2);
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#endif
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#endif
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#if ENABLED(Y_IS_TMC)
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#if ENABLED(Y_IS_TMC)
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TMC26XStepper stepperY(200, Y_ENABLE_PIN, Y_STEP_PIN, Y_DIR_PIN, Y_MAX_CURRENT, Y_SENSE_RESISTOR);
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_TMC_DEFINE(Y);
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#endif
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#endif
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#if ENABLED(Y2_IS_TMC)
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#if ENABLED(Y2_IS_TMC)
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TMC26XStepper stepperY2(200, Y2_ENABLE_PIN, Y2_STEP_PIN, Y2_DIR_PIN, Y2_MAX_CURRENT, Y2_SENSE_RESISTOR);
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_TMC_DEFINE(Y2);
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#endif
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#endif
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#if ENABLED(Z_IS_TMC)
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#if ENABLED(Z_IS_TMC)
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TMC26XStepper stepperZ(200, Z_ENABLE_PIN, Z_STEP_PIN, Z_DIR_PIN, Z_MAX_CURRENT, Z_SENSE_RESISTOR);
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_TMC_DEFINE(Z);
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#endif
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#endif
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#if ENABLED(Z2_IS_TMC)
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#if ENABLED(Z2_IS_TMC)
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TMC26XStepper stepperZ2(200, Z2_ENABLE_PIN, Z2_STEP_PIN, Z2_DIR_PIN, Z2_MAX_CURRENT, Z2_SENSE_RESISTOR);
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_TMC_DEFINE(Z2);
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#endif
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#endif
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#if ENABLED(E0_IS_TMC)
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#if ENABLED(E0_IS_TMC)
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TMC26XStepper stepperE0(200, E0_ENABLE_PIN, E0_STEP_PIN, E0_DIR_PIN, E0_MAX_CURRENT, E0_SENSE_RESISTOR);
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_TMC_DEFINE(E0);
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#endif
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#endif
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#if ENABLED(E1_IS_TMC)
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#if ENABLED(E1_IS_TMC)
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TMC26XStepper stepperE1(200, E1_ENABLE_PIN, E1_STEP_PIN, E1_DIR_PIN, E1_MAX_CURRENT, E1_SENSE_RESISTOR);
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_TMC_DEFINE(E1);
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#endif
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#endif
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#if ENABLED(E2_IS_TMC)
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#if ENABLED(E2_IS_TMC)
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TMC26XStepper stepperE2(200, E2_ENABLE_PIN, E2_STEP_PIN, E2_DIR_PIN, E2_MAX_CURRENT, E2_SENSE_RESISTOR);
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_TMC_DEFINE(E2);
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#endif
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#endif
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#if ENABLED(E3_IS_TMC)
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#if ENABLED(E3_IS_TMC)
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TMC26XStepper stepperE3(200, E3_ENABLE_PIN, E3_STEP_PIN, E3_DIR_PIN, E3_MAX_CURRENT, E3_SENSE_RESISTOR);
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_TMC_DEFINE(E3);
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#endif
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#endif
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#define _TMC_INIT(A) do{ \
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#define _TMC_INIT(A) do{ \
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stepper##A.setMicrosteps(A##_MICROSTEPS); \
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stepper##A.setMicrosteps(A##_MICROSTEPS); \
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stepper##A.start(); \
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stepper##A.start(); \
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} while(0)
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}while(0)
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void tmc_init() {
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void tmc_init() {
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#if ENABLED(X_IS_TMC)
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#if ENABLED(X_IS_TMC)
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@ -127,394 +119,70 @@
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//
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//
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// TMC2130 Driver objects and inits
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// TMC2130 Driver objects and inits
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//
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//
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#if ENABLED(HAVE_TMC2130DRIVER)
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#if ENABLED(HAVE_TMC2130)
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#include <SPI.h>
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#include <SPI.h>
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#include <Trinamic_TMC2130.h>
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#include <TMC2130Stepper.h>
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#if ENABLED(TMC2130_ADVANCED_CONFIGURATION)
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#ifdef GLOBAL_I_SCALE_ANALOG
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#define _TMC2130_DEFINE(ST) TMC2130Stepper stepper##ST(ST##_ENABLE_PIN, ST##_DIR_PIN, ST##_STEP_PIN, ST##_CHIP_SELECT)
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#define _2130_set_I_scale_analog(A) stepper##A.set_I_scale_analog(GLOBAL_I_SCALE_ANALOG)
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#else
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#define _2130_set_I_scale_analog(A) NOOP
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#endif
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#ifdef GLOBAL_INTERNAL_RSENSE
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#define _2130_set_internal_Rsense(A) stepper##A.set_internal_Rsense(GLOBAL_INTERNAL_RSENSE)
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#else
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#define _2130_set_internal_Rsense(A) NOOP
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#endif
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#ifdef GLOBAL_EN_PWM_MODE
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#define _2130_set_en_pwm_mode(A) stepper##A.set_en_pwm_mode(GLOBAL_EN_PWM_MODE)
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#else
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#define _2130_set_en_pwm_mode(A) NOOP
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#endif
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#ifdef GLOBAL_ENC_COMMUTATION
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#define _2130_set_enc_commutation(A) stepper##A.set_enc_commutation(GLOBAL_ENC_COMMUTATION)
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#else
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#define _2130_set_enc_commutation(A) NOOP
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#endif
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#ifdef GLOBAL_SHAFT
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#define _2130_set_shaft(A) stepper##A.set_shaft(GLOBAL_SHAFT)
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#else
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#define _2130_set_shaft(A) NOOP
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#endif
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#ifdef GLOBAL_DIAG0_ERROR
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#define _2130_set_diag0_error(A) stepper##A.set_diag0_error(GLOBAL_DIAG0_ERROR)
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#else
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#define _2130_set_diag0_error(A) NOOP
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#endif
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#ifdef GLOBAL_DIAG0_OTPW
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#define _2130_set_diag0_otpw(A) stepper##A.set_diag0_otpw(GLOBAL_DIAG0_OTPW)
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#else
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#define _2130_set_diag0_otpw(A) NOOP
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#endif
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#ifdef GLOBAL_DIAG0_STALL
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#define _2130_set_diag0_stall(A) stepper##A.set_diag0_stall(GLOBAL_DIAG0_STALL)
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#else
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#define _2130_set_diag0_stall(A) NOOP
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#endif
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#ifdef GLOBAL_DIAG1_STALL
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#define _2130_set_diag1_stall(A) stepper##A.set_diag1_stall(GLOBAL_DIAG1_STALL)
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#else
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#define _2130_set_diag1_stall(A) NOOP
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#endif
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#ifdef GLOBAL_DIAG1_INDEX
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#define _2130_set_diag1_index(A) stepper##A.set_diag1_index(GLOBAL_DIAG1_INDEX)
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#else
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#define _2130_set_diag1_index(A) NOOP
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#endif
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#ifdef GLOBAL_DIAG1_ONSTATE
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#define _2130_set_diag1_onstate(A) stepper##A.set_diag1_onstate(GLOBAL_DIAG1_ONSTATE)
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#else
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#define _2130_set_diag1_onstate(A) NOOP
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#endif
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#ifdef GLOBAL_DIAG1_ONSTATE
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#define _2130_set_diag1_steps_skipped(A) stepper##A.set_diag1_steps_skipped(GLOBAL_DIAG1_ONSTATE)
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#else
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#define _2130_set_diag1_steps_skipped(A) NOOP
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#endif
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#ifdef GLOBAL_DIAG0_INT_PUSHPULL
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#define _2130_set_diag0_int_pushpull(A) stepper##A.set_diag0_int_pushpull(GLOBAL_DIAG0_INT_PUSHPULL)
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#else
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#define _2130_set_diag0_int_pushpull(A) NOOP
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#endif
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#ifdef GLOBAL_DIAG1_INT_PUSHPULL
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#define _2130_set_diag1_int_pushpull(A) stepper##A.set_diag1_int_pushpull(GLOBAL_DIAG1_INT_PUSHPULL)
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#else
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#define _2130_set_diag1_int_pushpull(A) NOOP
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#endif
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#ifdef GLOBAL_SMALL_HYSTERESIS
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#define _2130_set_small_hysteresis(A) stepper##A.set_small_hysteresis(GLOBAL_SMALL_HYSTERESIS)
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#else
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#define _2130_set_small_hysteresis(A) NOOP
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#endif
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#ifdef GLOBAL_STOP_ENABLE
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#define _2130_set_stop_enable(A) stepper##A.set_stop_enable(GLOBAL_STOP_ENABLE)
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#else
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#define _2130_set_stop_enable(A) NOOP
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#endif
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#ifdef GLOBAL_DIRECT_MODE
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#define _2130_set_direct_mode(A) stepper##A.set_direct_mode(GLOBAL_DIRECT_MODE)
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#else
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#define _2130_set_direct_mode(A) NOOP
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#endif
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#if defined(GLOBAL_IHOLD) && defined(GLOBAL_IRUN) && defined(GLOBAL_IHOLDDELAY)
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#define _2130_set_IHOLD_IRUN(A) stepper##A.set_IHOLD_IRUN(GLOBAL_IHOLD, GLOBAL_IRUN, GLOBAL_IHOLDDELAY)
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#else
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#define _2130_set_IHOLD_IRUN(A) NOOP
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#endif
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#ifdef GLOBAL_TPOWERDOWN
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#define _2130_set_TPOWERDOWN(A) stepper##A.set_TPOWERDOWN(GLOBAL_TPOWERDOWN)
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#else
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#define _2130_set_TPOWERDOWN(A) NOOP
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#endif
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#ifdef GLOBAL_TPWMTHRS
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#define _2130_set_TPWMTHRS(A) stepper##A.set_TPWMTHRS(GLOBAL_TPWMTHRS)
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#else
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#define _2130_set_TPWMTHRS(A) NOOP
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#endif
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#ifdef GLOBAL_TCOOLTHRS
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#define _2130_set_TCOOLTHRS(A) stepper##A.set_TCOOLTHRS(GLOBAL_TCOOLTHRS)
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#else
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#define _2130_set_TCOOLTHRS(A) NOOP
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#endif
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#ifdef GLOBAL_THIGH
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#define _2130_set_THIGH(A) stepper##A.set_THIGH(GLOBAL_THIGH)
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#else
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#define _2130_set_THIGH(A) NOOP
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#endif
|
|
|
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|
|
|
|
#ifdef GLOBAL_XDIRECT
|
|
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|
|
#define _2130_set_XDIRECT(A) stepper##A.set_XDIRECT(GLOBAL_XDIRECT)
|
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|
|
#else
|
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|
|
#define _2130_set_XDIRECT(A) NOOP
|
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#endif
|
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|
|
#ifdef GLOBAL_VDCMIN
|
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|
|
#define _2130_set_VDCMIN(A) stepper##A.set_VDCMIN(GLOBAL_VDCMIN)
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|
|
#else
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|
|
#define _2130_set_VDCMIN(A) NOOP
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|
#endif
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|
|
#ifdef GLOBAL_DEDGE
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|
|
#define _2130_set_dedge(A) stepper##A.set_dedge(GLOBAL_DEDGE)
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|
|
#else
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|
|
#define _2130_set_dedge(A) NOOP
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|
#endif
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|
|
#ifdef GLOBAL_DISS2G
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|
#define _2130_set_diss2g(A) stepper##A.set_diss2g(GLOBAL_DISS2G)
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|
|
#else
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|
|
#define _2130_set_diss2g(A) NOOP
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|
#endif
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|
|
#ifdef GLOBAL_INTPOL
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|
#define _2130_set_intpol(A) stepper##A.set_intpol(GLOBAL_INTPOL)
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|
|
#else
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|
|
#define _2130_set_intpol(A) NOOP
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|
|
#endif
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|
|
#ifdef GLOBAL_MRES
|
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|
|
#define _2130_set_mres(A) stepper##A.set_mres(GLOBAL_MRES)
|
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|
|
#else
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|
|
#define _2130_set_mres(A) NOOP
|
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|
|
#endif
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|
|
#ifdef GLOBAL_SYNC
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|
|
#define _2130_set_sync(A) stepper##A.set_sync(GLOBAL_SYNC)
|
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|
|
#else
|
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|
|
#define _2130_set_sync(A) NOOP
|
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|
|
#endif
|
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|
|
#ifdef GLOBAL_VHIGHCHM
|
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|
|
#define _2130_set_vhighchm(A) stepper##A.set_vhighchm(GLOBAL_VHIGHCHM)
|
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|
|
#else
|
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|
|
#define _2130_set_vhighchm(A) NOOP
|
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|
|
#endif
|
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|
|
#ifdef GLOBAL_VHIGHFS
|
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|
|
#define _2130_set_vhighfs(A) stepper##A.set_vhighfs(GLOBAL_VHIGHFS)
|
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|
|
#else
|
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|
|
|
|
#define _2130_set_vhighfs(A) NOOP
|
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|
|
#endif
|
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|
|
#ifdef GLOBAL_VSENSE
|
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|
|
#define _2130_set_vsense(A) stepper##A.set_vsense(GLOBAL_VSENSE)
|
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|
|
#else
|
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|
|
#define _2130_set_vsense(A) NOOP
|
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|
|
#endif
|
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|
|
#ifdef GLOBAL_TBL
|
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|
|
#define _2130_set_tbl(A) stepper##A.set_tbl(GLOBAL_TBL)
|
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|
|
#else
|
|
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|
|
|
#define _2130_set_tbl(A) NOOP
|
|
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|
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|
|
#endif
|
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|
|
#ifdef GLOBAL_CHM
|
|
|
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|
|
#define _2130_set_chm(A) stepper##A.set_chm(GLOBAL_CHM)
|
|
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|
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|
|
#else
|
|
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|
|
|
|
#define _2130_set_chm(A) NOOP
|
|
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|
|
|
|
|
#endif
|
|
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|
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|
|
#ifdef GLOBAL_RNDTF
|
|
|
|
|
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|
|
#define _2130_set_rndtf(A) stepper##A.set_rndtf(GLOBAL_RNDTF)
|
|
|
|
|
|
|
|
#else
|
|
|
|
|
|
|
|
#define _2130_set_rndtf(A) NOOP
|
|
|
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
#ifdef GLOBAL_DISFDCC
|
|
|
|
|
|
|
|
#define _2130_set_disfdcc(A) stepper##A.set_disfdcc(GLOBAL_DISFDCC)
|
|
|
|
|
|
|
|
#else
|
|
|
|
|
|
|
|
#define _2130_set_disfdcc(A) NOOP
|
|
|
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
#ifdef GLOBAL_FD
|
|
|
|
|
|
|
|
#define _2130_set_fd(A) stepper##A.set_fd(GLOBAL_FD)
|
|
|
|
|
|
|
|
#else
|
|
|
|
|
|
|
|
#define _2130_set_fd(A) NOOP
|
|
|
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
#ifdef GLOBAL_HEND
|
|
|
|
|
|
|
|
#define _2130_set_hend(A) stepper##A.set_hend(GLOBAL_HEND)
|
|
|
|
|
|
|
|
#else
|
|
|
|
|
|
|
|
#define _2130_set_hend(A) NOOP
|
|
|
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
#ifdef GLOBAL_HSTRT
|
|
|
|
|
|
|
|
#define _2130_set_hstrt(A) stepper##A.set_hstrt(GLOBAL_HSTRT)
|
|
|
|
|
|
|
|
#else
|
|
|
|
|
|
|
|
#define _2130_set_hstrt(A) NOOP
|
|
|
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
#ifdef GLOBAL_TOFF
|
|
|
|
|
|
|
|
#define _2130_set_toff(A) stepper##A.set_toff(GLOBAL_TOFF)
|
|
|
|
|
|
|
|
#else
|
|
|
|
|
|
|
|
#define _2130_set_toff(A) NOOP
|
|
|
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
#ifdef GLOBAL_SFILT
|
|
|
|
|
|
|
|
#define _2130_set_sfilt(A) stepper##A.set_sfilt(GLOBAL_SFILT)
|
|
|
|
|
|
|
|
#else
|
|
|
|
|
|
|
|
#define _2130_set_sfilt(A) NOOP
|
|
|
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
#ifdef GLOBAL_SGT
|
|
|
|
|
|
|
|
#define _2130_set_sgt(A) stepper##A.set_sgt(GLOBAL_SGT)
|
|
|
|
|
|
|
|
#else
|
|
|
|
|
|
|
|
#define _2130_set_sgt(A) NOOP
|
|
|
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
#ifdef GLOBAL_SEIMIN
|
|
|
|
|
|
|
|
#define _2130_set_seimin(A) stepper##A.set_seimin(GLOBAL_SEIMIN)
|
|
|
|
|
|
|
|
#else
|
|
|
|
|
|
|
|
#define _2130_set_seimin(A) NOOP
|
|
|
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
#ifdef GLOBAL_SEDN
|
|
|
|
|
|
|
|
#define _2130_set_sedn(A) stepper##A.set_sedn(GLOBAL_SEDN)
|
|
|
|
|
|
|
|
#else
|
|
|
|
|
|
|
|
#define _2130_set_sedn(A) NOOP
|
|
|
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
#ifdef GLOBAL_SEMAX
|
|
|
|
|
|
|
|
#define _2130_set_semax(A) stepper##A.set_semax(GLOBAL_SEMAX)
|
|
|
|
|
|
|
|
#else
|
|
|
|
|
|
|
|
#define _2130_set_semax(A) NOOP
|
|
|
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
#ifdef GLOBAL_SEUP
|
|
|
|
|
|
|
|
#define _2130_set_seup(A) stepper##A.set_seup(GLOBAL_SEUP)
|
|
|
|
|
|
|
|
#else
|
|
|
|
|
|
|
|
#define _2130_set_seup(A) NOOP
|
|
|
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
#ifdef GLOBAL_SEMIN
|
|
|
|
|
|
|
|
#define _2130_set_semin(A) stepper##A.set_semin(GLOBAL_SEMIN)
|
|
|
|
|
|
|
|
#else
|
|
|
|
|
|
|
|
#define _2130_set_semin(A) NOOP
|
|
|
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
#if defined(GLOBAL_DC_TIME) && defined(GLOBAL_DC_SG)
|
|
|
|
|
|
|
|
#define _2130_set_DCCTRL(A) stepper##A.set_DCCTRL(GLOBAL_DC_TIME, GLOBAL_DC_SG)
|
|
|
|
|
|
|
|
#else
|
|
|
|
|
|
|
|
#define _2130_set_DCCTRL(A) NOOP
|
|
|
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
#ifdef GLOBAL_FREEWHEEL
|
|
|
|
|
|
|
|
#define _2130_set_freewheel(A) stepper##A.set_freewheel(GLOBAL_FREEWHEEL)
|
|
|
|
|
|
|
|
#else
|
|
|
|
|
|
|
|
#define _2130_set_freewheel(A) NOOP
|
|
|
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
#ifdef GLOBAL_PWM_SYMMETRIC
|
|
|
|
|
|
|
|
#define _2130_set_pwm_symmetric(A) stepper##A.set_pwm_symmetric(GLOBAL_PWM_SYMMETRIC)
|
|
|
|
|
|
|
|
#else
|
|
|
|
|
|
|
|
#define _2130_set_pwm_symmetric(A) NOOP
|
|
|
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
#ifdef GLOBAL_PWM_AUTOSCALE
|
|
|
|
|
|
|
|
#define _2130_set_pwm_autoscale(A) stepper##A.set_pwm_autoscale(GLOBAL_PWM_AUTOSCALE)
|
|
|
|
|
|
|
|
#else
|
|
|
|
|
|
|
|
#define _2130_set_pwm_autoscale(A) NOOP
|
|
|
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
#ifdef GLOBAL_PWM_FREQ
|
|
|
|
|
|
|
|
#define _2130_set_pwm_freq(A) stepper##A.set_pwm_freq(GLOBAL_PWM_FREQ)
|
|
|
|
|
|
|
|
#else
|
|
|
|
|
|
|
|
#define _2130_set_pwm_freq(A) NOOP
|
|
|
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
#ifdef GLOBAL_PWM_GRAD
|
|
|
|
|
|
|
|
#define _2130_set_PWM_GRAD(A) stepper##A.set_PWM_GRAD(GLOBAL_PWM_GRAD)
|
|
|
|
|
|
|
|
#else
|
|
|
|
|
|
|
|
#define _2130_set_PWM_GRAD(A) NOOP
|
|
|
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
#ifdef GLOBAL_PWM_AMPL
|
|
|
|
|
|
|
|
#define _2130_set_PWM_AMPL(A) stepper##A.set_PWM_AMPL(GLOBAL_PWM_AMPL)
|
|
|
|
|
|
|
|
#else
|
|
|
|
|
|
|
|
#define _2130_set_PWM_AMPL(A) NOOP
|
|
|
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
#ifdef GLOBAL_ENCM_CTRL
|
|
|
|
|
|
|
|
#define _2130_set_ENCM_CTRL(A) stepper##A.set_ENCM_CTRL(GLOBAL_ENCM_CTRL)
|
|
|
|
|
|
|
|
#else
|
|
|
|
|
|
|
|
#define _2130_set_ENCM_CTRL(A) NOOP
|
|
|
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#define _TMC2130_INIT(A) do{ \
|
|
|
|
|
|
|
|
stepper##A.init(); \
|
|
|
|
|
|
|
|
_2130_set_I_scale_analog(A); \
|
|
|
|
|
|
|
|
_2130_set_internal_Rsense(A); \
|
|
|
|
|
|
|
|
_2130_set_en_pwm_mode(A); \
|
|
|
|
|
|
|
|
_2130_set_enc_commutation(A); \
|
|
|
|
|
|
|
|
_2130_set_shaft(A); \
|
|
|
|
|
|
|
|
_2130_set_diag0_error(A); \
|
|
|
|
|
|
|
|
_2130_set_diag0_otpw(A); \
|
|
|
|
|
|
|
|
_2130_set_diag0_stall(A); \
|
|
|
|
|
|
|
|
_2130_set_diag1_stall(A); \
|
|
|
|
|
|
|
|
_2130_set_diag1_index(A); \
|
|
|
|
|
|
|
|
_2130_set_diag1_onstate(A); \
|
|
|
|
|
|
|
|
_2130_set_diag1_steps_skipped(A); \
|
|
|
|
|
|
|
|
_2130_set_diag0_int_pushpull(A); \
|
|
|
|
|
|
|
|
_2130_set_diag1_int_pushpull(A); \
|
|
|
|
|
|
|
|
_2130_set_small_hysteresis(A); \
|
|
|
|
|
|
|
|
_2130_set_stop_enable(A); \
|
|
|
|
|
|
|
|
_2130_set_direct_mode(A); \
|
|
|
|
|
|
|
|
_2130_set_IHOLD_IRUN(A); \
|
|
|
|
|
|
|
|
_2130_set_TPOWERDOWN(A); \
|
|
|
|
|
|
|
|
_2130_set_TPWMTHRS(A); \
|
|
|
|
|
|
|
|
_2130_set_TCOOLTHRS(A); \
|
|
|
|
|
|
|
|
_2130_set_THIGH(A); \
|
|
|
|
|
|
|
|
_2130_set_XDIRECT(A); \
|
|
|
|
|
|
|
|
_2130_set_VDCMIN(A); \
|
|
|
|
|
|
|
|
_2130_set_dedge(A); \
|
|
|
|
|
|
|
|
_2130_set_diss2g(A); \
|
|
|
|
|
|
|
|
_2130_set_intpol(A); \
|
|
|
|
|
|
|
|
_2130_set_mres(A); \
|
|
|
|
|
|
|
|
_2130_set_sync(A); \
|
|
|
|
|
|
|
|
_2130_set_vhighchm(A); \
|
|
|
|
|
|
|
|
_2130_set_vhighfs(A); \
|
|
|
|
|
|
|
|
_2130_set_vsense(A); \
|
|
|
|
|
|
|
|
_2130_set_tbl(A); \
|
|
|
|
|
|
|
|
_2130_set_chm(A); \
|
|
|
|
|
|
|
|
_2130_set_rndtf(A); \
|
|
|
|
|
|
|
|
_2130_set_disfdcc(A); \
|
|
|
|
|
|
|
|
_2130_set_fd(A); \
|
|
|
|
|
|
|
|
_2130_set_hend(A); \
|
|
|
|
|
|
|
|
_2130_set_hstrt(A); \
|
|
|
|
|
|
|
|
_2130_set_toff(A); \
|
|
|
|
|
|
|
|
_2130_set_sfilt(A); \
|
|
|
|
|
|
|
|
_2130_set_sgt(A); \
|
|
|
|
|
|
|
|
_2130_set_seimin(A); \
|
|
|
|
|
|
|
|
_2130_set_sedn(A); \
|
|
|
|
|
|
|
|
_2130_set_semax(A); \
|
|
|
|
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_2130_set_seup(A); \
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_2130_set_semin(A); \
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_2130_set_DCCTRL(A); \
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_2130_set_freewheel(A); \
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_2130_set_pwm_symmetric(A); \
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_2130_set_pwm_autoscale(A); \
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_2130_set_pwm_freq(A); \
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_2130_set_PWM_GRAD(A); \
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_2130_set_PWM_AMPL(A); \
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_2130_set_ENCM_CTRL(A); \
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} while(0)
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#else // !TMC2130_ADVANCED_CONFIGURATION
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#define _TMC2130_INIT(A) do{ \
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// Stepper objects of TMC2130 steppers used
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stepper##A.init(); \
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stepper##A.set_mres(A##_MRES); \
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stepper##A.set_IHOLD_IRUN(A##_IHOLD, A##_IRUN, A##_IHOLDDELAY); \
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stepper##A.set_I_scale_analog(A##_I_SCALE_ANALOG); \
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stepper##A.set_tbl(A##_TBL); \
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stepper##A.set_toff(A##_TOFF); \
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} while(0)
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#endif // TMC2130_ADVANCED_CONFIGURATION
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// Stepper objects of TMC2310 steppers used
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#if ENABLED(X_IS_TMC2130)
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#if ENABLED(X_IS_TMC2130)
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Trinamic_TMC2130 stepperX(X_CS_PIN);
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_TMC2130_DEFINE(X);
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#endif
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#endif
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#if ENABLED(X2_IS_TMC2130)
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#if ENABLED(X2_IS_TMC2130)
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Trinamic_TMC2130 stepperX2(X2_CS_PIN);
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_TMC2130_DEFINE(X2);
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#endif
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#endif
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#if ENABLED(Y_IS_TMC2130)
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#if ENABLED(Y_IS_TMC2130)
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Trinamic_TMC2130 stepperY(Y_CS_PIN);
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_TMC2130_DEFINE(Y);
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#endif
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#endif
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#if ENABLED(Y2_IS_TMC2130)
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#if ENABLED(Y2_IS_TMC2130)
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Trinamic_TMC2130 stepperY2(Y2_CS_PINR);
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_TMC2130_DEFINE(Y2);
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#endif
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#endif
|
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#if ENABLED(Z_IS_TMC2130)
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#if ENABLED(Z_IS_TMC2130)
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Trinamic_TMC2130 stepperZ(Z_CS_PIN);
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_TMC2130_DEFINE(Z);
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#endif
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#endif
|
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#if ENABLED(Z2_IS_TMC2130)
|
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#if ENABLED(Z2_IS_TMC2130)
|
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Trinamic_TMC2130 stepperZ2(Z2_CS_PIN);
|
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|
|
_TMC2130_DEFINE(Z2);
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#endif
|
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#endif
|
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|
#if ENABLED(E0_IS_TMC2130)
|
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|
#if ENABLED(E0_IS_TMC2130)
|
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Trinamic_TMC2130 stepperE0(E0_CS_PIN);
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|
_TMC2130_DEFINE(E0);
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#endif
|
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|
#endif
|
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#if ENABLED(E1_IS_TMC2130)
|
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#if ENABLED(E1_IS_TMC2130)
|
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|
Trinamic_TMC2130 stepperE1(E1_CS_PIN);
|
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|
|
_TMC2130_DEFINE(E1);
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|
#endif
|
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|
#endif
|
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|
|
#if ENABLED(E2_IS_TMC2130)
|
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|
#if ENABLED(E2_IS_TMC2130)
|
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|
|
Trinamic_TMC2130 stepperE2(E2_CS_PIN);
|
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|
_TMC2130_DEFINE(E2);
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|
#endif
|
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|
#endif
|
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|
#if ENABLED(E3_IS_TMC2130)
|
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|
#if ENABLED(E3_IS_TMC2130)
|
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|
Trinamic_TMC2130 stepperE3(E3_CS_PIN);
|
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|
|
_TMC2130_DEFINE(E3);
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|
#endif
|
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|
#endif
|
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|
// Use internal reference voltage for current calculations. This is the default.
|
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|
|
// Following values from Trinamic's spreadsheet with values for a NEMA17 (42BYGHW609)
|
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|
|
void tmc2130_init(TMC2130Stepper &st, const uint16_t max_current, const uint16_t microsteps) {
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|
|
st.begin();
|
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|
|
st.setCurrent(st.getCurrent(), R_SENSE, HOLD_MULTIPLIER);
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|
|
st.microsteps(microsteps);
|
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|
|
st.blank_time(24);
|
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|
|
st.off_time(8);
|
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|
|
st.interpolate(INTERPOLATE);
|
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|
|
|
|
|
|
#if ENABLED(STEALTHCHOP)
|
|
|
|
|
|
|
|
st.stealthChop(1);
|
|
|
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
#if ENABLED(SENSORLESS_HOMING)
|
|
|
|
|
|
|
|
st.coolstep_min_speed(1048575);
|
|
|
|
|
|
|
|
st.sg_stall_value(STALL_THRESHOLD);
|
|
|
|
|
|
|
|
st.sg_filter(1);
|
|
|
|
|
|
|
|
st.diag1_stall(1);
|
|
|
|
|
|
|
|
st.diag1_active_high(1);
|
|
|
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#define _TMC2130_INIT(ST) tmc2130_init(stepper##ST, ST##_MAX_CURRENT, ST##_MICROSTEPS)
|
|
|
|
|
|
|
|
|
|
|
|
void tmc2130_init() {
|
|
|
|
void tmc2130_init() {
|
|
|
|
|
|
|
|
delay(500); // Let power stabilize before configuring the steppers
|
|
|
|
#if ENABLED(X_IS_TMC2130)
|
|
|
|
#if ENABLED(X_IS_TMC2130)
|
|
|
|
_TMC2130_INIT(X);
|
|
|
|
_TMC2130_INIT(X);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
@ -545,9 +213,11 @@
|
|
|
|
#if ENABLED(E3_IS_TMC2130)
|
|
|
|
#if ENABLED(E3_IS_TMC2130)
|
|
|
|
_TMC2130_INIT(E3);
|
|
|
|
_TMC2130_INIT(E3);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
TMC2130_ADV()
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
#endif // HAVE_TMC2130
|
|
|
|
|
|
|
|
|
|
|
|
#endif // HAVE_TMC2130DRIVER
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
//
|
|
|
|
//
|
|
|
|
// L6470 Driver objects and inits
|
|
|
|
// L6470 Driver objects and inits
|
|
|
|
@ -557,36 +227,38 @@
|
|
|
|
#include <SPI.h>
|
|
|
|
#include <SPI.h>
|
|
|
|
#include <L6470.h>
|
|
|
|
#include <L6470.h>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#define _L6470_DEFINE(ST) L6470 stepper##ST(ST##_ENABLE_PIN)
|
|
|
|
|
|
|
|
|
|
|
|
// L6470 Stepper objects
|
|
|
|
// L6470 Stepper objects
|
|
|
|
#if ENABLED(X_IS_L6470)
|
|
|
|
#if ENABLED(X_IS_L6470)
|
|
|
|
L6470 stepperX(X_ENABLE_PIN);
|
|
|
|
_L6470_DEFINE(X);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
#if ENABLED(X2_IS_L6470)
|
|
|
|
#if ENABLED(X2_IS_L6470)
|
|
|
|
L6470 stepperX2(X2_ENABLE_PIN);
|
|
|
|
_L6470_DEFINE(X2);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
#if ENABLED(Y_IS_L6470)
|
|
|
|
#if ENABLED(Y_IS_L6470)
|
|
|
|
L6470 stepperY(Y_ENABLE_PIN);
|
|
|
|
_L6470_DEFINE(Y);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
#if ENABLED(Y2_IS_L6470)
|
|
|
|
#if ENABLED(Y2_IS_L6470)
|
|
|
|
L6470 stepperY2(Y2_ENABLE_PIN);
|
|
|
|
_L6470_DEFINE(Y2);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
#if ENABLED(Z_IS_L6470)
|
|
|
|
#if ENABLED(Z_IS_L6470)
|
|
|
|
L6470 stepperZ(Z_ENABLE_PIN);
|
|
|
|
_L6470_DEFINE(Z);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
#if ENABLED(Z2_IS_L6470)
|
|
|
|
#if ENABLED(Z2_IS_L6470)
|
|
|
|
L6470 stepperZ2(Z2_ENABLE_PIN);
|
|
|
|
_L6470_DEFINE(Z2);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
#if ENABLED(E0_IS_L6470)
|
|
|
|
#if ENABLED(E0_IS_L6470)
|
|
|
|
L6470 stepperE0(E0_ENABLE_PIN);
|
|
|
|
_L6470_DEFINE(E0);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
#if ENABLED(E1_IS_L6470)
|
|
|
|
#if ENABLED(E1_IS_L6470)
|
|
|
|
L6470 stepperE1(E1_ENABLE_PIN);
|
|
|
|
_L6470_DEFINE(E1);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
#if ENABLED(E2_IS_L6470)
|
|
|
|
#if ENABLED(E2_IS_L6470)
|
|
|
|
L6470 stepperE2(E2_ENABLE_PIN);
|
|
|
|
_L6470_DEFINE(E2);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
#if ENABLED(E3_IS_L6470)
|
|
|
|
#if ENABLED(E3_IS_L6470)
|
|
|
|
L6470 stepperE3(E3_ENABLE_PIN);
|
|
|
|
_L6470_DEFINE(E3);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
|
|
#define _L6470_INIT(A) do{ \
|
|
|
|
#define _L6470_INIT(A) do{ \
|
|
|
|
|
Scott Lahteine
8 years ago