Cleanup TMC Stepper a bit.

Marlin/stepper.cpp

@@ -87,37 +87,7 @@ static bool check_endstops = true;
 volatile long count_position[NUM_AXIS] = { 0, 0, 0, 0};
 volatile signed char count_direction[NUM_AXIS] = { 1, 1, 1, 1};
 
-// Stepper objects of TMC steppers are used
-#ifdef X_IS_TMC
-	TMC26XStepper stepperX(200,X_ENABLE_PIN,X_STEP_PIN,X_DIR_PIN,X_MAX_CURRENT,X_SENSE_RESISTOR);
-#endif
-#ifdef X2_IS_TMC
-	TMC26XStepper stepperX2(200,X2_ENABLE_PIN,X2_STEP_PIN,X2_DIR_PIN,X2_MAX_CURRENT,X2_SENSE_RESISTOR);
-#endif
-#ifdef Y_IS_TMC
-	TMC26XStepper stepperY(200,Y_ENABLE_PIN,Y_STEP_PIN,Y_DIR_PIN,Y_MAX_CURRENT,Y_SENSE_RESISTOR);
-#endif
-#ifdef Y2_IS_TMC
-	TMC26XStepper stepperY2(200,Y2_ENABLE_PIN,Y2_STEP_PIN,Y2_DIR_PIN,Y2_MAX_CURRENT,Y2_SENSE_RESISTOR);
-#endif
-#ifdef Z_IS_TMC
-	TMC26XStepper stepperZ(200,Z_ENABLE_PIN,Z_STEP_PIN,Z_DIR_PIN,Z_MAX_CURRENT,Z_SENSE_RESISTOR);
-#endif
-#ifdef Z2_IS_TMC
-	TMC26XStepper stepperZ2(200,Z2_ENABLE_PIN,Z2_STEP_PIN,Z2_DIR_PIN,Z2_MAX_CURRENT,Z2_SENSE_RESISTOR);
-#endif
-#ifdef E0_IS_TMC
-	TMC26XStepper stepperE0(200,E0_ENABLE_PIN,E0_STEP_PIN,E0_DIR_PIN,E0_MAX_CURRENT,E0_SENSE_RESISTOR);
-#endif
-#ifdef E1_IS_TMC
-	TMC26XStepper stepperE1(200,E1_ENABLE_PIN,E1_STEP_PIN,E1_DIR_PIN,E1_MAX_CURRENT,E1_SENSE_RESISTOR);
-#endif
-#ifdef E2_IS_TMC
-	TMC26XStepper stepperE2(200,E2_ENABLE_PIN,E2_STEP_PIN,E2_DIR_PIN,E2_MAX_CURRENT,E2_SENSE_RESISTOR);
-#endif
-#ifdef E3_IS_TMC
-	TMC26XStepper stepperE3(200,E3_ENABLE_PIN,E3_STEP_PIN,E3_DIR_PIN,E3_MAX_CURRENT,E3_SENSE_RESISTOR);
-#endif	
+
 //===========================================================================
 //=============================functions         ============================
 //===========================================================================
@@ -1420,49 +1390,3 @@ void microstep_readings()
       SERIAL_PROTOCOLLN( digitalRead(E1_MS2_PIN));
       #endif
 }
-
-#ifdef HAVE_TMCDRIVER
-void tmc_init()
-{
-#ifdef X_IS_TMC
-	stepperX.setMicrosteps(X_MICROSTEPS);
-	stepperX.start();
-#endif
-#ifdef X2_IS_TMC
-	stepperX2.setMicrosteps(X2_MICROSTEPS);
-	stepperX2.start();
-#endif
-#ifdef Y_IS_TMC
-	stepperY.setMicrosteps(Y_MICROSTEPS);
-	stepperY.start();
-#endif
-#ifdef Y2_IS_TMC
-	stepperY2.setMicrosteps(Y2_MICROSTEPS);
-	stepperY2.start();
-#endif
-#ifdef Z_IS_TMC
-	stepperZ.setMicrosteps(Z_MICROSTEPS);
-	stepperZ.start();
-#endif
-#ifdef Z2_IS_TMC
-	stepperZ2.setMicrosteps(Z2_MICROSTEPS);
-	stepperZ2.start();
-#endif
-#ifdef E0_IS_TMC
-	stepperE0.setMicrosteps(E0_MICROSTEPS);
-	stepperE0.start();
-#endif
-#ifdef E1_IS_TMC
-	stepperE1.setMicrosteps(E1_MICROSTEPS);
-	stepperE1.start();
-#endif
-#ifdef E2_IS_TMC
-	stepperE2.setMicrosteps(E2_MICROSTEPS);
-	stepperE2.start();
-#endif
-#ifdef E3_IS_TMC
-	stepperE3.setMicrosteps(E3_MICROSTEPS);
-	stepperE3.start();
-#endif
-}
-#endif

Marlin/stepper.h

@@ -24,11 +24,6 @@
 #include "planner.h"
 #include "stepper_indirection.h"
 
-#ifdef HAVE_TMCDRIVER
-#include <SPI.h>
-#include <TMC26XStepper.h>
-#endif
-
 #if EXTRUDERS > 3
   #define WRITE_E_STEP(v) { if(current_block->active_extruder == 3) { E3_STEP_WRITE(v); } else { if(current_block->active_extruder == 2) { E2_STEP_WRITE(v); } else { if(current_block->active_extruder == 1) { E1_STEP_WRITE(v); } else { E0_STEP_WRITE(v); }}}}
   #define NORM_E_DIR() { if(current_block->active_extruder == 3) { E3_DIR_WRITE( !INVERT_E3_DIR); } else { if(current_block->active_extruder == 2) { E2_DIR_WRITE(!INVERT_E2_DIR); } else { if(current_block->active_extruder == 1) { E1_DIR_WRITE(!INVERT_E1_DIR); } else { E0_DIR_WRITE(!INVERT_E0_DIR); }}}}
@@ -106,39 +101,4 @@ void microstep_readings();
   void babystep(const uint8_t axis,const bool direction); // perform a short step with a single stepper motor, outside of any convention
 #endif
      
-#ifdef HAVE_TMCDRIVER
-void tmc_init();
-	 
-#ifdef X_IS_TMC
-	extern TMC26XStepper stepperX;
-#endif
-#ifdef X2_IS_TMC
-	extern TMC26XStepper stepperX2;
-#endif
-#ifdef Y_IS_TMC
-	extern TMC26XStepper stepperY;
-#endif
-#ifdef Y2_IS_TMC
-	extern TMC26XStepper stepperY2;
-#endif
-#ifdef Z_IS_TMC
-	extern TMC26XStepper stepperZ;
-#endif
-#ifdef Z2_IS_TMC
-	extern TMC26XStepper stepperZ2;
-#endif
-#ifdef E0_IS_TMC
-	extern TMC26XStepper stepperE0;
-#endif
-#ifdef E1_IS_TMC
-	extern TMC26XStepper stepperE1;
-#endif
-#ifdef E2_IS_TMC
-	extern TMC26XStepper stepperE2;
-#endif
-#ifdef E3_IS_TMC
-	extern TMC26XStepper stepperE3;
-#endif	
-#endif
-
 #endif

Marlin/stepper_indirection.cpp

@@ -0,0 +1,106 @@
+/*
+  stepper_indirection.c - stepper motor driver indirection 
+  to allow some stepper functions to be done via SPI/I2c instead of direct pin manipulation
+  Part of Marlin
+
+  Copyright (c) 2015 Dominik Wenger
+
+  Marlin is free software: you can redistribute it and/or modify
+  it under the terms of the GNU General Public License as published by
+  the Free Software Foundation, either version 3 of the License, or
+  (at your option) any later version.
+
+  Marlin is distributed in the hope that it will be useful,
+  but WITHOUT ANY WARRANTY; without even the implied warranty of
+  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+  GNU General Public License for more details.
+
+  You should have received a copy of the GNU General Public License
+  along with Marlin.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#include "stepper_indirection.h"
+#include "Configuration.h"
+
+#ifdef HAVE_TMCDRIVER
+#include <SPI.h>
+#include <TMC26XStepper.h>
+#endif
+
+// Stepper objects of TMC steppers used
+#ifdef X_IS_TMC
+	TMC26XStepper stepperX(200,X_ENABLE_PIN,X_STEP_PIN,X_DIR_PIN,X_MAX_CURRENT,X_SENSE_RESISTOR);
+#endif
+#ifdef X2_IS_TMC
+	TMC26XStepper stepperX2(200,X2_ENABLE_PIN,X2_STEP_PIN,X2_DIR_PIN,X2_MAX_CURRENT,X2_SENSE_RESISTOR);
+#endif
+#ifdef Y_IS_TMC
+	TMC26XStepper stepperY(200,Y_ENABLE_PIN,Y_STEP_PIN,Y_DIR_PIN,Y_MAX_CURRENT,Y_SENSE_RESISTOR);
+#endif
+#ifdef Y2_IS_TMC
+	TMC26XStepper stepperY2(200,Y2_ENABLE_PIN,Y2_STEP_PIN,Y2_DIR_PIN,Y2_MAX_CURRENT,Y2_SENSE_RESISTOR);
+#endif
+#ifdef Z_IS_TMC
+	TMC26XStepper stepperZ(200,Z_ENABLE_PIN,Z_STEP_PIN,Z_DIR_PIN,Z_MAX_CURRENT,Z_SENSE_RESISTOR);
+#endif
+#ifdef Z2_IS_TMC
+	TMC26XStepper stepperZ2(200,Z2_ENABLE_PIN,Z2_STEP_PIN,Z2_DIR_PIN,Z2_MAX_CURRENT,Z2_SENSE_RESISTOR);
+#endif
+#ifdef E0_IS_TMC
+	TMC26XStepper stepperE0(200,E0_ENABLE_PIN,E0_STEP_PIN,E0_DIR_PIN,E0_MAX_CURRENT,E0_SENSE_RESISTOR);
+#endif
+#ifdef E1_IS_TMC
+	TMC26XStepper stepperE1(200,E1_ENABLE_PIN,E1_STEP_PIN,E1_DIR_PIN,E1_MAX_CURRENT,E1_SENSE_RESISTOR);
+#endif
+#ifdef E2_IS_TMC
+	TMC26XStepper stepperE2(200,E2_ENABLE_PIN,E2_STEP_PIN,E2_DIR_PIN,E2_MAX_CURRENT,E2_SENSE_RESISTOR);
+#endif
+#ifdef E3_IS_TMC
+	TMC26XStepper stepperE3(200,E3_ENABLE_PIN,E3_STEP_PIN,E3_DIR_PIN,E3_MAX_CURRENT,E3_SENSE_RESISTOR);
+#endif	
+
+#ifdef HAVE_TMCDRIVER
+void tmc_init()
+{
+#ifdef X_IS_TMC
+	stepperX.setMicrosteps(X_MICROSTEPS);
+	stepperX.start();
+#endif
+#ifdef X2_IS_TMC
+	stepperX2.setMicrosteps(X2_MICROSTEPS);
+	stepperX2.start();
+#endif
+#ifdef Y_IS_TMC
+	stepperY.setMicrosteps(Y_MICROSTEPS);
+	stepperY.start();
+#endif
+#ifdef Y2_IS_TMC
+	stepperY2.setMicrosteps(Y2_MICROSTEPS);
+	stepperY2.start();
+#endif
+#ifdef Z_IS_TMC
+	stepperZ.setMicrosteps(Z_MICROSTEPS);
+	stepperZ.start();
+#endif
+#ifdef Z2_IS_TMC
+	stepperZ2.setMicrosteps(Z2_MICROSTEPS);
+	stepperZ2.start();
+#endif
+#ifdef E0_IS_TMC
+	stepperE0.setMicrosteps(E0_MICROSTEPS);
+	stepperE0.start();
+#endif
+#ifdef E1_IS_TMC
+	stepperE1.setMicrosteps(E1_MICROSTEPS);
+	stepperE1.start();
+#endif
+#ifdef E2_IS_TMC
+	stepperE2.setMicrosteps(E2_MICROSTEPS);
+	stepperE2.start();
+#endif
+#ifdef E3_IS_TMC
+	stepperE3.setMicrosteps(E3_MICROSTEPS);
+	stepperE3.start();
+#endif
+}
+#endif

Marlin/stepper_indirection.h

@@ -157,9 +157,43 @@
 // TMC26X drivers have step and dir on normal pins, but everything else via SPI
 //////////////////////////////////
 #ifdef HAVE_TMCDRIVER
+#include <SPI.h>
+#include <TMC26XStepper.h>
+
+#ifdef X_IS_TMC
+	extern TMC26XStepper stepperX;
+#endif
+#ifdef X2_IS_TMC
+	extern TMC26XStepper stepperX2;
+#endif
+#ifdef Y_IS_TMC
+	extern TMC26XStepper stepperY;
+#endif
+#ifdef Y2_IS_TMC
+	extern TMC26XStepper stepperY2;
+#endif
+#ifdef Z_IS_TMC
+	extern TMC26XStepper stepperZ;
+#endif
+#ifdef Z2_IS_TMC
+	extern TMC26XStepper stepperZ2;
+#endif
+#ifdef E0_IS_TMC
+	extern TMC26XStepper stepperE0;
+#endif
+#ifdef E1_IS_TMC
+	extern TMC26XStepper stepperE1;
+#endif
+#ifdef E2_IS_TMC
+	extern TMC26XStepper stepperE2;
+#endif
+#ifdef E3_IS_TMC
+	extern TMC26XStepper stepperE3;
+#endif	
+  void tmc_init();
 #ifdef X_IS_TMC
    #undef X_ENABLE_INIT 
-   #define X_ENABLE_INIT 
+   #define X_ENABLE_INIT ((void)0)
    
    #undef X_ENABLE_WRITE
    #define X_ENABLE_WRITE(STATE) stepperX.setEnabled(STATE)
@@ -169,7 +203,7 @@
 #endif
 #ifdef X2_IS_TMC
    #undef X2_ENABLE_INIT
-   #define X2_ENABLE_INIT
+   #define X2_ENABLE_INIT ((void)0)
    
    #undef X2_ENABLE_WRITE
    #define X2_ENABLE_WRITE(STATE) stepperX2.setEnabled(STATE)
@@ -179,7 +213,7 @@
 #endif
 #ifdef Y_IS_TMC
    #undef Y_ENABLE_INIT
-   #define Y_ENABLE_INIT
+   #define Y_ENABLE_INIT ((void)0)
    
    #undef Y_ENABLE_WRITE
    #define Y_ENABLE_WRITE(STATE) stepperY.setEnabled(STATE)
@@ -189,7 +223,7 @@
 #endif
 #ifdef Y2_IS_TMC
    #undef Y2_ENABLE_INIT
-   #define Y2_ENABLE_INIT
+   #define Y2_ENABLE_INIT ((void)0)
    
    #undef Y2_ENABLE_WRITE
    #define Y2_ENABLE_WRITE(STATE) stepperY2.setEnabled(STATE)
@@ -199,7 +233,7 @@
 #endif
 #ifdef Z_IS_TMC
    #undef Z_ENABLE_INIT
-   #define Z_ENABLE_INIT
+   #define Z_ENABLE_INIT ((void)0)
    
    #undef Z_ENABLE_WRITE
    #define Z_ENABLE_WRITE(STATE) stepperZ.setEnabled(STATE)
@@ -209,7 +243,7 @@
 #endif
 #ifdef Z2_IS_TMC
    #undef Z2_ENABLE_INIT
-   #define Z2_ENABLE_INIT
+   #define Z2_ENABLE_INIT ((void)0)
    
    #undef Z2_ENABLE_WRITE
    #define Z2_ENABLE_WRITE(STATE) stepperZ2.setEnabled(STATE)
@@ -219,7 +253,7 @@
 #endif
 #ifdef E0_IS_TMC
    #undef E0_ENABLE_INIT
-   #define E0_ENABLE_INIT
+   #define E0_ENABLE_INIT ((void)0)
    
    #undef E0_ENABLE_WRITE
    #define E0_ENABLE_WRITE(STATE) stepperE0.setEnabled(STATE)
@@ -229,7 +263,7 @@
 #endif
 #ifdef E1_IS_TMC
    #undef E1_ENABLE_INIT
-   #define E1_ENABLE_INIT
+   #define E1_ENABLE_INIT ((void)0)
    
    #undef E1_ENABLE_WRITE
    #define E1_ENABLE_WRITE(STATE) stepperE1.setEnabled(STATE)
@@ -239,7 +273,7 @@
 #endif
 #ifdef E2_IS_TMC
    #undef E2_ENABLE_INIT
-   #define E2_ENABLE_INIT
+   #define E2_ENABLE_INIT ((void)0)
    
    #undef E2_ENABLE_WRITE
    #define E2_ENABLE_WRITE(STATE) stepperE2.setEnabled(STATE)
@@ -249,7 +283,7 @@
 #endif
 #ifdef E3_IS_TMC
    #undef E3_ENABLE_INIT
-   #define E3_ENABLE_INIT
+   #define E3_ENABLE_INIT ((void)0)
    
    #undef E3_ENABLE_WRITE
    #define E3_ENABLE_WRITE(STATE) stepperE3.setEnabled(STATE)