|
|
@@ -128,269 +128,425 @@ void tmc_init() {
|
|
128
|
128
|
#endif
|
|
129
|
129
|
|
|
130
|
130
|
#if ENABLED(HAVE_TMC2130DRIVER)
|
|
|
131
|
+
|
|
131
|
132
|
#include <SPI.h>
|
|
132
|
133
|
#include <Trinamic_TMC2130.h>
|
|
133
|
|
-#endif
|
|
134
|
|
-
|
|
135
|
|
-// Stepper objects of TMC2310 steppers used
|
|
136
|
|
-#if ENABLED(X_IS_TMC2130)
|
|
137
|
|
- Trinamic_TMC2130 stepperX(X_CS_PIN);
|
|
138
|
|
-#endif
|
|
139
|
|
-#if ENABLED(X2_IS_TMC2130)
|
|
140
|
|
- Trinamic_TMC2130 stepperX2(X2_CS_PIN);
|
|
141
|
|
-#endif
|
|
142
|
|
-#if ENABLED(Y_IS_TMC2130)
|
|
143
|
|
- Trinamic_TMC2130 stepperY(Y_CS_PIN);
|
|
144
|
|
-#endif
|
|
145
|
|
-#if ENABLED(Y2_IS_TMC2130)
|
|
146
|
|
- Trinamic_TMC2130 stepperY2(Y2_CS_PINR);
|
|
147
|
|
-#endif
|
|
148
|
|
-#if ENABLED(Z_IS_TMC2130)
|
|
149
|
|
- Trinamic_TMC2130 stepperZ(Z_CS_PIN);
|
|
150
|
|
-#endif
|
|
151
|
|
-#if ENABLED(Z2_IS_TMC2130)
|
|
152
|
|
- Trinamic_TMC2130 stepperZ2(Z2_CS_PIN);
|
|
153
|
|
-#endif
|
|
154
|
|
-#if ENABLED(E0_IS_TMC2130)
|
|
155
|
|
- Trinamic_TMC2130 stepperE0(E0_CS_PIN);
|
|
156
|
|
-#endif
|
|
157
|
|
-#if ENABLED(E1_IS_TMC2130)
|
|
158
|
|
- Trinamic_TMC2130 stepperE1(E1_CS_PIN);
|
|
159
|
|
-#endif
|
|
160
|
|
-#if ENABLED(E2_IS_TMC2130)
|
|
161
|
|
- Trinamic_TMC2130 stepperE2(E2_CS_PIN);
|
|
162
|
|
-#endif
|
|
163
|
|
-#if ENABLED(E3_IS_TMC2130)
|
|
164
|
|
- Trinamic_TMC2130 stepperE3(E3_CS_PIN);
|
|
165
|
|
-#endif
|
|
166
|
|
-
|
|
167
|
|
-#if ENABLED(HAVE_TMC2130DRIVER)
|
|
168
|
134
|
|
|
169
|
135
|
#if ENABLED(TMC2130_ADVANCED_CONFIGURATION)
|
|
170
|
136
|
|
|
171
|
|
- void tmc2130_init() {
|
|
172
|
|
-
|
|
173
|
|
- // If you've enabled TMC2130_ADVANCED_CONFIGURATION configure your
|
|
174
|
|
- // steppers manually here. The ENABLED(XYZ_IS_TMC2130) is optional,
|
|
175
|
|
-
|
|
176
|
|
- #if ENABLED(X_IS_TMC2130)
|
|
177
|
|
- stepperX.init();
|
|
178
|
|
- stepperX.set_I_scale_analog(GLOBAL_I_SCALE_ANALOG);
|
|
179
|
|
- //stepperX.set_internal_Rsense(GLOBAL_INTERNAL_RSENSE);
|
|
180
|
|
- stepperX.set_en_pwm_mode(GLOBAL_EN_PWM_MODE);
|
|
181
|
|
- //stepperX.set_enc_commutation(GLOBAL_ENC_COMMUTATION);
|
|
182
|
|
- stepperX.set_shaft(GLOBAL_SHAFT);
|
|
183
|
|
- //stepperX.set_diag0_error(GLOBAL_DIAG0_ERROR);
|
|
184
|
|
- //stepperX.set_diag0_otpw(GLOBAL_DIAG0_OTPW);
|
|
185
|
|
- //stepperX.set_diag0_stall(GLOBAL_DIAG0_STALL);
|
|
186
|
|
- //stepperX.set_diag1_stall(GLOBAL_DIAG1_STALL);
|
|
187
|
|
- //stepperX.set_diag1_index(GLOBAL_DIAG1_INDEX);
|
|
188
|
|
- //stepperX.set_diag1_onstate(GLOBAL_DIAG1_ONSTATE);
|
|
189
|
|
- //stepperX.set_diag1_steps_skipped(GLOBAL_DIAG1_ONSTATE);
|
|
190
|
|
- //stepperX.set_diag0_int_pushpull(GLOBAL_DIAG0_INT_PUSHPULL);
|
|
191
|
|
- //stepperX.set_diag1_int_pushpull(GLOBAL_DIAG1_INT_PUSHPULL);
|
|
192
|
|
- //stepperX.set_small_hysteresis(GLOBAL_SMALL_HYSTERESIS);
|
|
193
|
|
- //stepperX.set_stop_enable(GLOBAL_STOP_ENABLE);
|
|
194
|
|
- //stepperX.set_direct_mode(GLOBAL_DIRECT_MODE);
|
|
195
|
|
-
|
|
196
|
|
- stepperX.set_IHOLD_IRUN(GLOBAL_IHOLD,GLOBAL_IRUN,GLOBAL_IHOLDDELAY);
|
|
197
|
|
- //stepperX.set_TPOWERDOWN(GLOBAL_TPOWERDOWN);
|
|
198
|
|
- //stepperX.set_TPWMTHRS(GLOBAL_TPWMTHRS);
|
|
199
|
|
- //stepperX.set_TCOOLTHRS(GLOBAL_TCOOLTHRS);
|
|
200
|
|
- stepperX.set_THIGH(GLOBAL_THIGH);
|
|
201
|
|
- //stepperX.set_XDIRECT(GLOBAL_XDIRECT);
|
|
202
|
|
- //stepperX.set_VDCMIN(GLOBAL_VDCMIN);
|
|
203
|
|
-
|
|
204
|
|
- //stepperX.set_dedge(GLOBAL_DEDGE);
|
|
205
|
|
- //stepperX.set_diss2g(GLOBAL_DISS2G);
|
|
206
|
|
- stepperX.set_intpol(GLOBAL_INTPOL);
|
|
207
|
|
- stepperX.set_mres(GLOBAL_MRES);
|
|
208
|
|
- stepperX.set_sync(GLOBAL_SYNC);
|
|
209
|
|
- stepperX.set_vhighchm(GLOBAL_VHIGHCHM);
|
|
210
|
|
- stepperX.set_vhighfs(GLOBAL_VHIGHFS);
|
|
211
|
|
- //stepperX.set_vsense(GLOBAL_VSENSE);
|
|
212
|
|
- stepperX.set_tbl(GLOBAL_TBL);
|
|
213
|
|
- stepperX.set_chm(GLOBAL_CHM);
|
|
214
|
|
- //stepperX.set_rndtf(GLOBAL_RNDTF);
|
|
215
|
|
- //stepperX.set_disfdcc(GLOBAL_DISFDCC);
|
|
216
|
|
- //stepperX.set_fd(GLOBAL_FD);
|
|
217
|
|
- //stepperX.set_hend(GLOBAL_HEND);
|
|
218
|
|
- //stepperX.set_hstrt(GLOBAL_HSTRT);
|
|
219
|
|
- stepperX.set_toff(GLOBAL_TOFF);
|
|
220
|
|
-
|
|
221
|
|
- //stepperX.set_sfilt(GLOBAL_SFILT);
|
|
222
|
|
- //stepperX.set_sgt(GLOBAL_SGT);
|
|
223
|
|
- //stepperX.set_seimin(GLOBAL_SEIMIN);
|
|
224
|
|
- //stepperX.set_sedn(GLOBAL_SEDN);
|
|
225
|
|
- //stepperX.set_semax(GLOBAL_SEMAX);
|
|
226
|
|
- //stepperX.set_seup(GLOBAL_SEUP);
|
|
227
|
|
- //stepperX.set_semin(GLOBAL_SEMIN);
|
|
228
|
|
-
|
|
229
|
|
- //stepperX.set_DCCTRL(GLOBAL_DC_TIME, GLOBAL_DC_SG);
|
|
230
|
|
-
|
|
231
|
|
- //stepperX.set_freewheel(GLOBAL_FREEWHEEL);
|
|
232
|
|
- //stepperX.set_pwm_symmetric(GLOBAL_PWM_SYMMETRIC);
|
|
233
|
|
- //stepperX.set_pwm_autoscale(GLOBAL_PWM_AUTOSCALE);
|
|
234
|
|
- //stepperX.set_pwm_freq(GLOBAL_PWM_FREQ);
|
|
235
|
|
- //stepperX.set_PWM_GRAD(GLOBAL_PWM_GRAD);
|
|
236
|
|
- //stepperX.set_PWM_AMPL(GLOBAL_PWM_AMPL);
|
|
237
|
|
-
|
|
238
|
|
- //stepperX.set_ENCM_CTRL(GLOBAL_ENCM_CTRL);
|
|
239
|
|
- #endif
|
|
240
|
|
-
|
|
241
|
|
- #if ENABLED(Y_IS_TMC2130)
|
|
242
|
|
- stepperY.init();
|
|
243
|
|
- stepperY.set_I_scale_analog(GLOBAL_I_SCALE_ANALOG);
|
|
244
|
|
- //stepperY.set_internal_Rsense(GLOBAL_INTERNAL_RSENSE);
|
|
245
|
|
- stepperY.set_en_pwm_mode(GLOBAL_EN_PWM_MODE);
|
|
246
|
|
- //stepperY.set_enc_commutation(GLOBAL_ENC_COMMUTATION);
|
|
247
|
|
- stepperY.set_shaft(GLOBAL_SHAFT);
|
|
248
|
|
- //stepperY.set_diag0_error(GLOBAL_DIAG0_ERROR);
|
|
249
|
|
- //stepperY.set_diag0_otpw(GLOBAL_DIAG0_OTPW);
|
|
250
|
|
- //stepperY.set_diag0_stall(GLOBAL_DIAG0_STALL);
|
|
251
|
|
- //stepperY.set_diag1_stall(GLOBAL_DIAG1_STALL);
|
|
252
|
|
- //stepperY.set_diag1_index(GLOBAL_DIAG1_INDEX);
|
|
253
|
|
- //stepperY.set_diag1_onstate(GLOBAL_DIAG1_ONSTATE);
|
|
254
|
|
- //stepperY.set_diag1_steps_skipped(GLOBAL_DIAG1_ONSTATE);
|
|
255
|
|
- //stepperY.set_diag0_int_pushpull(GLOBAL_DIAG0_INT_PUSHPULL);
|
|
256
|
|
- //stepperY.set_diag1_int_pushpull(GLOBAL_DIAG1_INT_PUSHPULL);
|
|
257
|
|
- //stepperY.set_small_hysteresis(GLOBAL_SMALL_HYSTERESIS);
|
|
258
|
|
- //stepperY.set_stop_enable(GLOBAL_STOP_ENABLE);
|
|
259
|
|
- //stepperY.set_direct_mode(GLOBAL_DIRECT_MODE);
|
|
260
|
|
-
|
|
261
|
|
- stepperY.set_IHOLD_IRUN(GLOBAL_IHOLD,GLOBAL_IRUN,GLOBAL_IHOLDDELAY);
|
|
262
|
|
- //stepperY.set_TPOWERDOWN(GLOBAL_TPOWERDOWN);
|
|
263
|
|
- //stepperY.set_TPWMTHRS(GLOBAL_TPWMTHRS);
|
|
264
|
|
- //stepperY.set_TCOOLTHRS(GLOBAL_TCOOLTHRS);
|
|
265
|
|
- stepperY.set_THIGH(GLOBAL_THIGH);
|
|
266
|
|
- //stepperY.set_XDIRECT(GLOBAL_XDIRECT);
|
|
267
|
|
- //stepperY.set_VDCMIN(GLOBAL_VDCMIN);
|
|
268
|
|
-
|
|
269
|
|
- //stepperY.set_dedge(GLOBAL_DEDGE);
|
|
270
|
|
- //stepperY.set_diss2g(GLOBAL_DISS2G);
|
|
271
|
|
- stepperY.set_intpol(GLOBAL_INTPOL);
|
|
272
|
|
- stepperY.set_mres(GLOBAL_MRES);
|
|
273
|
|
- stepperY.set_sync(GLOBAL_SYNC);
|
|
274
|
|
- stepperY.set_vhighchm(GLOBAL_VHIGHCHM);
|
|
275
|
|
- stepperY.set_vhighfs(GLOBAL_VHIGHFS);
|
|
276
|
|
- //stepperY.set_vsense(GLOBAL_VSENSE);
|
|
277
|
|
- stepperY.set_tbl(GLOBAL_TBL);
|
|
278
|
|
- stepperY.set_chm(GLOBAL_CHM);
|
|
279
|
|
- //stepperY.set_rndtf(GLOBAL_RNDTF);
|
|
280
|
|
- //stepperY.set_disfdcc(GLOBAL_DISFDCC);
|
|
281
|
|
- //stepperY.set_fd(GLOBAL_FD);
|
|
282
|
|
- //stepperY.set_hend(GLOBAL_HEND);
|
|
283
|
|
- //stepperY.set_hstrt(GLOBAL_HSTRT);
|
|
284
|
|
- stepperY.set_toff(GLOBAL_TOFF);
|
|
285
|
|
-
|
|
286
|
|
- //stepperY.set_sfilt(GLOBAL_SFILT);
|
|
287
|
|
- //stepperY.set_sgt(GLOBAL_SGT);
|
|
288
|
|
- //stepperY.set_seimin(GLOBAL_SEIMIN);
|
|
289
|
|
- //stepperY.set_sedn(GLOBAL_SEDN);
|
|
290
|
|
- //stepperY.set_semax(GLOBAL_SEMAX);
|
|
291
|
|
- //stepperY.set_seup(GLOBAL_SEUP);
|
|
292
|
|
- //stepperY.set_semin(GLOBAL_SEMIN);
|
|
293
|
|
-
|
|
294
|
|
- //stepperY.set_DCCTRL(GLOBAL_DC_TIME, GLOBAL_DC_SG);
|
|
295
|
|
-
|
|
296
|
|
- //stepperY.set_freewheel(GLOBAL_FREEWHEEL);
|
|
297
|
|
- //stepperY.set_pwm_symmetric(GLOBAL_PWM_SYMMETRIC);
|
|
298
|
|
- //stepperY.set_pwm_autoscale(GLOBAL_PWM_AUTOSCALE);
|
|
299
|
|
- //stepperY.set_pwm_freq(GLOBAL_PWM_FREQ);
|
|
300
|
|
- //stepperY.set_PWM_GRAD(GLOBAL_PWM_GRAD);
|
|
301
|
|
- //stepperY.set_PWM_AMPL(GLOBAL_PWM_AMPL);
|
|
302
|
|
-
|
|
303
|
|
- //stepperY.set_ENCM_CTRL(GLOBAL_ENCM_CTRL);
|
|
304
|
|
- #endif
|
|
305
|
|
- }
|
|
|
137
|
+ #ifdef GLOBAL_I_SCALE_ANALOG
|
|
|
138
|
+ #define _2130_set_I_scale_analog(A) stepper##A.set_I_scale_analog(GLOBAL_I_SCALE_ANALOG)
|
|
|
139
|
+ #else
|
|
|
140
|
+ #define _2130_set_I_scale_analog(A) NOOP
|
|
|
141
|
+ #endif
|
|
|
142
|
+ #ifdef GLOBAL_INTERNAL_RSENSE
|
|
|
143
|
+ #define _2130_set_internal_Rsense(A) stepper##A.set_internal_Rsense(GLOBAL_INTERNAL_RSENSE)
|
|
|
144
|
+ #else
|
|
|
145
|
+ #define _2130_set_internal_Rsense(A) NOOP
|
|
|
146
|
+ #endif
|
|
|
147
|
+ #ifdef GLOBAL_EN_PWM_MODE
|
|
|
148
|
+ #define _2130_set_en_pwm_mode(A) stepper##A.set_en_pwm_mode(GLOBAL_EN_PWM_MODE)
|
|
|
149
|
+ #else
|
|
|
150
|
+ #define _2130_set_en_pwm_mode(A) NOOP
|
|
|
151
|
+ #endif
|
|
|
152
|
+ #ifdef GLOBAL_ENC_COMMUTATION
|
|
|
153
|
+ #define _2130_set_enc_commutation(A) stepper##A.set_enc_commutation(GLOBAL_ENC_COMMUTATION)
|
|
|
154
|
+ #else
|
|
|
155
|
+ #define _2130_set_enc_commutation(A) NOOP
|
|
|
156
|
+ #endif
|
|
|
157
|
+ #ifdef GLOBAL_SHAFT
|
|
|
158
|
+ #define _2130_set_shaft(A) stepper##A.set_shaft(GLOBAL_SHAFT)
|
|
|
159
|
+ #else
|
|
|
160
|
+ #define _2130_set_shaft(A) NOOP
|
|
|
161
|
+ #endif
|
|
|
162
|
+ #ifdef GLOBAL_DIAG0_ERROR
|
|
|
163
|
+ #define _2130_set_diag0_error(A) stepper##A.set_diag0_error(GLOBAL_DIAG0_ERROR)
|
|
|
164
|
+ #else
|
|
|
165
|
+ #define _2130_set_diag0_error(A) NOOP
|
|
|
166
|
+ #endif
|
|
|
167
|
+ #ifdef GLOBAL_DIAG0_OTPW
|
|
|
168
|
+ #define _2130_set_diag0_otpw(A) stepper##A.set_diag0_otpw(GLOBAL_DIAG0_OTPW)
|
|
|
169
|
+ #else
|
|
|
170
|
+ #define _2130_set_diag0_otpw(A) NOOP
|
|
|
171
|
+ #endif
|
|
|
172
|
+ #ifdef GLOBAL_DIAG0_STALL
|
|
|
173
|
+ #define _2130_set_diag0_stall(A) stepper##A.set_diag0_stall(GLOBAL_DIAG0_STALL)
|
|
|
174
|
+ #else
|
|
|
175
|
+ #define _2130_set_diag0_stall(A) NOOP
|
|
|
176
|
+ #endif
|
|
|
177
|
+ #ifdef GLOBAL_DIAG1_STALL
|
|
|
178
|
+ #define _2130_set_diag1_stall(A) stepper##A.set_diag1_stall(GLOBAL_DIAG1_STALL)
|
|
|
179
|
+ #else
|
|
|
180
|
+ #define _2130_set_diag1_stall(A) NOOP
|
|
|
181
|
+ #endif
|
|
|
182
|
+ #ifdef GLOBAL_DIAG1_INDEX
|
|
|
183
|
+ #define _2130_set_diag1_index(A) stepper##A.set_diag1_index(GLOBAL_DIAG1_INDEX)
|
|
|
184
|
+ #else
|
|
|
185
|
+ #define _2130_set_diag1_index(A) NOOP
|
|
|
186
|
+ #endif
|
|
|
187
|
+ #ifdef GLOBAL_DIAG1_ONSTATE
|
|
|
188
|
+ #define _2130_set_diag1_onstate(A) stepper##A.set_diag1_onstate(GLOBAL_DIAG1_ONSTATE)
|
|
|
189
|
+ #else
|
|
|
190
|
+ #define _2130_set_diag1_onstate(A) NOOP
|
|
|
191
|
+ #endif
|
|
|
192
|
+ #ifdef GLOBAL_DIAG1_ONSTATE
|
|
|
193
|
+ #define _2130_set_diag1_steps_skipped(A) stepper##A.set_diag1_steps_skipped(GLOBAL_DIAG1_ONSTATE)
|
|
|
194
|
+ #else
|
|
|
195
|
+ #define _2130_set_diag1_steps_skipped(A) NOOP
|
|
|
196
|
+ #endif
|
|
|
197
|
+ #ifdef GLOBAL_DIAG0_INT_PUSHPULL
|
|
|
198
|
+ #define _2130_set_diag0_int_pushpull(A) stepper##A.set_diag0_int_pushpull(GLOBAL_DIAG0_INT_PUSHPULL)
|
|
|
199
|
+ #else
|
|
|
200
|
+ #define _2130_set_diag0_int_pushpull(A) NOOP
|
|
|
201
|
+ #endif
|
|
|
202
|
+ #ifdef GLOBAL_DIAG1_INT_PUSHPULL
|
|
|
203
|
+ #define _2130_set_diag1_int_pushpull(A) stepper##A.set_diag1_int_pushpull(GLOBAL_DIAG1_INT_PUSHPULL)
|
|
|
204
|
+ #else
|
|
|
205
|
+ #define _2130_set_diag1_int_pushpull(A) NOOP
|
|
|
206
|
+ #endif
|
|
|
207
|
+ #ifdef GLOBAL_SMALL_HYSTERESIS
|
|
|
208
|
+ #define _2130_set_small_hysteresis(A) stepper##A.set_small_hysteresis(GLOBAL_SMALL_HYSTERESIS)
|
|
|
209
|
+ #else
|
|
|
210
|
+ #define _2130_set_small_hysteresis(A) NOOP
|
|
|
211
|
+ #endif
|
|
|
212
|
+ #ifdef GLOBAL_STOP_ENABLE
|
|
|
213
|
+ #define _2130_set_stop_enable(A) stepper##A.set_stop_enable(GLOBAL_STOP_ENABLE)
|
|
|
214
|
+ #else
|
|
|
215
|
+ #define _2130_set_stop_enable(A) NOOP
|
|
|
216
|
+ #endif
|
|
|
217
|
+ #ifdef GLOBAL_DIRECT_MODE
|
|
|
218
|
+ #define _2130_set_direct_mode(A) stepper##A.set_direct_mode(GLOBAL_DIRECT_MODE)
|
|
|
219
|
+ #else
|
|
|
220
|
+ #define _2130_set_direct_mode(A) NOOP
|
|
|
221
|
+ #endif
|
|
|
222
|
+ #if defined(GLOBAL_IHOLD) && defined(GLOBAL_IRUN) && defined(GLOBAL_IHOLDDELAY)
|
|
|
223
|
+ #define _2130_set_IHOLD_IRUN(A) stepper##A.set_IHOLD_IRUN(GLOBAL_IHOLD, GLOBAL_IRUN, GLOBAL_IHOLDDELAY)
|
|
|
224
|
+ #else
|
|
|
225
|
+ #define _2130_set_IHOLD_IRUN(A) NOOP
|
|
|
226
|
+ #endif
|
|
|
227
|
+ #ifdef GLOBAL_TPOWERDOWN
|
|
|
228
|
+ #define _2130_set_TPOWERDOWN(A) stepper##A.set_TPOWERDOWN(GLOBAL_TPOWERDOWN)
|
|
|
229
|
+ #else
|
|
|
230
|
+ #define _2130_set_TPOWERDOWN(A) NOOP
|
|
|
231
|
+ #endif
|
|
|
232
|
+ #ifdef GLOBAL_TPWMTHRS
|
|
|
233
|
+ #define _2130_set_TPWMTHRS(A) stepper##A.set_TPWMTHRS(GLOBAL_TPWMTHRS)
|
|
|
234
|
+ #else
|
|
|
235
|
+ #define _2130_set_TPWMTHRS(A) NOOP
|
|
|
236
|
+ #endif
|
|
|
237
|
+ #ifdef GLOBAL_TCOOLTHRS
|
|
|
238
|
+ #define _2130_set_TCOOLTHRS(A) stepper##A.set_TCOOLTHRS(GLOBAL_TCOOLTHRS)
|
|
|
239
|
+ #else
|
|
|
240
|
+ #define _2130_set_TCOOLTHRS(A) NOOP
|
|
|
241
|
+ #endif
|
|
|
242
|
+ #ifdef GLOBAL_THIGH
|
|
|
243
|
+ #define _2130_set_THIGH(A) stepper##A.set_THIGH(GLOBAL_THIGH)
|
|
|
244
|
+ #else
|
|
|
245
|
+ #define _2130_set_THIGH(A) NOOP
|
|
|
246
|
+ #endif
|
|
|
247
|
+ #ifdef GLOBAL_XDIRECT
|
|
|
248
|
+ #define _2130_set_XDIRECT(A) stepper##A.set_XDIRECT(GLOBAL_XDIRECT)
|
|
|
249
|
+ #else
|
|
|
250
|
+ #define _2130_set_XDIRECT(A) NOOP
|
|
|
251
|
+ #endif
|
|
|
252
|
+ #ifdef GLOBAL_VDCMIN
|
|
|
253
|
+ #define _2130_set_VDCMIN(A) stepper##A.set_VDCMIN(GLOBAL_VDCMIN)
|
|
|
254
|
+ #else
|
|
|
255
|
+ #define _2130_set_VDCMIN(A) NOOP
|
|
|
256
|
+ #endif
|
|
|
257
|
+ #ifdef GLOBAL_DEDGE
|
|
|
258
|
+ #define _2130_set_dedge(A) stepper##A.set_dedge(GLOBAL_DEDGE)
|
|
|
259
|
+ #else
|
|
|
260
|
+ #define _2130_set_dedge(A) NOOP
|
|
|
261
|
+ #endif
|
|
|
262
|
+ #ifdef GLOBAL_DISS2G
|
|
|
263
|
+ #define _2130_set_diss2g(A) stepper##A.set_diss2g(GLOBAL_DISS2G)
|
|
|
264
|
+ #else
|
|
|
265
|
+ #define _2130_set_diss2g(A) NOOP
|
|
|
266
|
+ #endif
|
|
|
267
|
+ #ifdef GLOBAL_INTPOL
|
|
|
268
|
+ #define _2130_set_intpol(A) stepper##A.set_intpol(GLOBAL_INTPOL)
|
|
|
269
|
+ #else
|
|
|
270
|
+ #define _2130_set_intpol(A) NOOP
|
|
|
271
|
+ #endif
|
|
|
272
|
+ #ifdef GLOBAL_MRES
|
|
|
273
|
+ #define _2130_set_mres(A) stepper##A.set_mres(GLOBAL_MRES)
|
|
|
274
|
+ #else
|
|
|
275
|
+ #define _2130_set_mres(A) NOOP
|
|
|
276
|
+ #endif
|
|
|
277
|
+ #ifdef GLOBAL_SYNC
|
|
|
278
|
+ #define _2130_set_sync(A) stepper##A.set_sync(GLOBAL_SYNC)
|
|
|
279
|
+ #else
|
|
|
280
|
+ #define _2130_set_sync(A) NOOP
|
|
|
281
|
+ #endif
|
|
|
282
|
+ #ifdef GLOBAL_VHIGHCHM
|
|
|
283
|
+ #define _2130_set_vhighchm(A) stepper##A.set_vhighchm(GLOBAL_VHIGHCHM)
|
|
|
284
|
+ #else
|
|
|
285
|
+ #define _2130_set_vhighchm(A) NOOP
|
|
|
286
|
+ #endif
|
|
|
287
|
+ #ifdef GLOBAL_VHIGHFS
|
|
|
288
|
+ #define _2130_set_vhighfs(A) stepper##A.set_vhighfs(GLOBAL_VHIGHFS)
|
|
|
289
|
+ #else
|
|
|
290
|
+ #define _2130_set_vhighfs(A) NOOP
|
|
|
291
|
+ #endif
|
|
|
292
|
+ #ifdef GLOBAL_VSENSE
|
|
|
293
|
+ #define _2130_set_vsense(A) stepper##A.set_vsense(GLOBAL_VSENSE)
|
|
|
294
|
+ #else
|
|
|
295
|
+ #define _2130_set_vsense(A) NOOP
|
|
|
296
|
+ #endif
|
|
|
297
|
+ #ifdef GLOBAL_TBL
|
|
|
298
|
+ #define _2130_set_tbl(A) stepper##A.set_tbl(GLOBAL_TBL)
|
|
|
299
|
+ #else
|
|
|
300
|
+ #define _2130_set_tbl(A) NOOP
|
|
|
301
|
+ #endif
|
|
|
302
|
+ #ifdef GLOBAL_CHM
|
|
|
303
|
+ #define _2130_set_chm(A) stepper##A.set_chm(GLOBAL_CHM)
|
|
|
304
|
+ #else
|
|
|
305
|
+ #define _2130_set_chm(A) NOOP
|
|
|
306
|
+ #endif
|
|
|
307
|
+ #ifdef GLOBAL_RNDTF
|
|
|
308
|
+ #define _2130_set_rndtf(A) stepper##A.set_rndtf(GLOBAL_RNDTF)
|
|
|
309
|
+ #else
|
|
|
310
|
+ #define _2130_set_rndtf(A) NOOP
|
|
|
311
|
+ #endif
|
|
|
312
|
+ #ifdef GLOBAL_DISFDCC
|
|
|
313
|
+ #define _2130_set_disfdcc(A) stepper##A.set_disfdcc(GLOBAL_DISFDCC)
|
|
|
314
|
+ #else
|
|
|
315
|
+ #define _2130_set_disfdcc(A) NOOP
|
|
|
316
|
+ #endif
|
|
|
317
|
+ #ifdef GLOBAL_FD
|
|
|
318
|
+ #define _2130_set_fd(A) stepper##A.set_fd(GLOBAL_FD)
|
|
|
319
|
+ #else
|
|
|
320
|
+ #define _2130_set_fd(A) NOOP
|
|
|
321
|
+ #endif
|
|
|
322
|
+ #ifdef GLOBAL_HEND
|
|
|
323
|
+ #define _2130_set_hend(A) stepper##A.set_hend(GLOBAL_HEND)
|
|
|
324
|
+ #else
|
|
|
325
|
+ #define _2130_set_hend(A) NOOP
|
|
|
326
|
+ #endif
|
|
|
327
|
+ #ifdef GLOBAL_HSTRT
|
|
|
328
|
+ #define _2130_set_hstrt(A) stepper##A.set_hstrt(GLOBAL_HSTRT)
|
|
|
329
|
+ #else
|
|
|
330
|
+ #define _2130_set_hstrt(A) NOOP
|
|
|
331
|
+ #endif
|
|
|
332
|
+ #ifdef GLOBAL_TOFF
|
|
|
333
|
+ #define _2130_set_toff(A) stepper##A.set_toff(GLOBAL_TOFF)
|
|
|
334
|
+ #else
|
|
|
335
|
+ #define _2130_set_toff(A) NOOP
|
|
|
336
|
+ #endif
|
|
|
337
|
+ #ifdef GLOBAL_SFILT
|
|
|
338
|
+ #define _2130_set_sfilt(A) stepper##A.set_sfilt(GLOBAL_SFILT)
|
|
|
339
|
+ #else
|
|
|
340
|
+ #define _2130_set_sfilt(A) NOOP
|
|
|
341
|
+ #endif
|
|
|
342
|
+ #ifdef GLOBAL_SGT
|
|
|
343
|
+ #define _2130_set_sgt(A) stepper##A.set_sgt(GLOBAL_SGT)
|
|
|
344
|
+ #else
|
|
|
345
|
+ #define _2130_set_sgt(A) NOOP
|
|
|
346
|
+ #endif
|
|
|
347
|
+ #ifdef GLOBAL_SEIMIN
|
|
|
348
|
+ #define _2130_set_seimin(A) stepper##A.set_seimin(GLOBAL_SEIMIN)
|
|
|
349
|
+ #else
|
|
|
350
|
+ #define _2130_set_seimin(A) NOOP
|
|
|
351
|
+ #endif
|
|
|
352
|
+ #ifdef GLOBAL_SEDN
|
|
|
353
|
+ #define _2130_set_sedn(A) stepper##A.set_sedn(GLOBAL_SEDN)
|
|
|
354
|
+ #else
|
|
|
355
|
+ #define _2130_set_sedn(A) NOOP
|
|
|
356
|
+ #endif
|
|
|
357
|
+ #ifdef GLOBAL_SEMAX
|
|
|
358
|
+ #define _2130_set_semax(A) stepper##A.set_semax(GLOBAL_SEMAX)
|
|
|
359
|
+ #else
|
|
|
360
|
+ #define _2130_set_semax(A) NOOP
|
|
|
361
|
+ #endif
|
|
|
362
|
+ #ifdef GLOBAL_SEUP
|
|
|
363
|
+ #define _2130_set_seup(A) stepper##A.set_seup(GLOBAL_SEUP)
|
|
|
364
|
+ #else
|
|
|
365
|
+ #define _2130_set_seup(A) NOOP
|
|
|
366
|
+ #endif
|
|
|
367
|
+ #ifdef GLOBAL_SEMIN
|
|
|
368
|
+ #define _2130_set_semin(A) stepper##A.set_semin(GLOBAL_SEMIN)
|
|
|
369
|
+ #else
|
|
|
370
|
+ #define _2130_set_semin(A) NOOP
|
|
|
371
|
+ #endif
|
|
|
372
|
+ #if defined(GLOBAL_DC_TIME) && defined(GLOBAL_DC_SG)
|
|
|
373
|
+ #define _2130_set_DCCTRL(A) stepper##A.set_DCCTRL(GLOBAL_DC_TIME, GLOBAL_DC_SG)
|
|
|
374
|
+ #else
|
|
|
375
|
+ #define _2130_set_DCCTRL(A) NOOP
|
|
|
376
|
+ #endif
|
|
|
377
|
+ #ifdef GLOBAL_FREEWHEEL
|
|
|
378
|
+ #define _2130_set_freewheel(A) stepper##A.set_freewheel(GLOBAL_FREEWHEEL)
|
|
|
379
|
+ #else
|
|
|
380
|
+ #define _2130_set_freewheel(A) NOOP
|
|
|
381
|
+ #endif
|
|
|
382
|
+ #ifdef GLOBAL_PWM_SYMMETRIC
|
|
|
383
|
+ #define _2130_set_pwm_symmetric(A) stepper##A.set_pwm_symmetric(GLOBAL_PWM_SYMMETRIC)
|
|
|
384
|
+ #else
|
|
|
385
|
+ #define _2130_set_pwm_symmetric(A) NOOP
|
|
|
386
|
+ #endif
|
|
|
387
|
+ #ifdef GLOBAL_PWM_AUTOSCALE
|
|
|
388
|
+ #define _2130_set_pwm_autoscale(A) stepper##A.set_pwm_autoscale(GLOBAL_PWM_AUTOSCALE)
|
|
|
389
|
+ #else
|
|
|
390
|
+ #define _2130_set_pwm_autoscale(A) NOOP
|
|
|
391
|
+ #endif
|
|
|
392
|
+ #ifdef GLOBAL_PWM_FREQ
|
|
|
393
|
+ #define _2130_set_pwm_freq(A) stepper##A.set_pwm_freq(GLOBAL_PWM_FREQ)
|
|
|
394
|
+ #else
|
|
|
395
|
+ #define _2130_set_pwm_freq(A) NOOP
|
|
|
396
|
+ #endif
|
|
|
397
|
+ #ifdef GLOBAL_PWM_GRAD
|
|
|
398
|
+ #define _2130_set_PWM_GRAD(A) stepper##A.set_PWM_GRAD(GLOBAL_PWM_GRAD)
|
|
|
399
|
+ #else
|
|
|
400
|
+ #define _2130_set_PWM_GRAD(A) NOOP
|
|
|
401
|
+ #endif
|
|
|
402
|
+ #ifdef GLOBAL_PWM_AMPL
|
|
|
403
|
+ #define _2130_set_PWM_AMPL(A) stepper##A.set_PWM_AMPL(GLOBAL_PWM_AMPL)
|
|
|
404
|
+ #else
|
|
|
405
|
+ #define _2130_set_PWM_AMPL(A) NOOP
|
|
|
406
|
+ #endif
|
|
|
407
|
+ #ifdef GLOBAL_ENCM_CTRL
|
|
|
408
|
+ #define _2130_set_ENCM_CTRL(A) stepper##A.set_ENCM_CTRL(GLOBAL_ENCM_CTRL)
|
|
|
409
|
+ #else
|
|
|
410
|
+ #define _2130_set_ENCM_CTRL(A) NOOP
|
|
|
411
|
+ #endif
|
|
|
412
|
+
|
|
|
413
|
+ #define _TMC2130_INIT(A) do{ \
|
|
|
414
|
+ stepper##A.init(); \
|
|
|
415
|
+ _2130_set_I_scale_analog(A); \
|
|
|
416
|
+ _2130_set_internal_Rsense(A); \
|
|
|
417
|
+ _2130_set_en_pwm_mode(A); \
|
|
|
418
|
+ _2130_set_enc_commutation(A); \
|
|
|
419
|
+ _2130_set_shaft(A); \
|
|
|
420
|
+ _2130_set_diag0_error(A); \
|
|
|
421
|
+ _2130_set_diag0_otpw(A); \
|
|
|
422
|
+ _2130_set_diag0_stall(A); \
|
|
|
423
|
+ _2130_set_diag1_stall(A); \
|
|
|
424
|
+ _2130_set_diag1_index(A); \
|
|
|
425
|
+ _2130_set_diag1_onstate(A); \
|
|
|
426
|
+ _2130_set_diag1_steps_skipped(A); \
|
|
|
427
|
+ _2130_set_diag0_int_pushpull(A); \
|
|
|
428
|
+ _2130_set_diag1_int_pushpull(A); \
|
|
|
429
|
+ _2130_set_small_hysteresis(A); \
|
|
|
430
|
+ _2130_set_stop_enable(A); \
|
|
|
431
|
+ _2130_set_direct_mode(A); \
|
|
|
432
|
+ _2130_set_IHOLD_IRUN(A); \
|
|
|
433
|
+ _2130_set_TPOWERDOWN(A); \
|
|
|
434
|
+ _2130_set_TPWMTHRS(A); \
|
|
|
435
|
+ _2130_set_TCOOLTHRS(A); \
|
|
|
436
|
+ _2130_set_THIGH(A); \
|
|
|
437
|
+ _2130_set_XDIRECT(A); \
|
|
|
438
|
+ _2130_set_VDCMIN(A); \
|
|
|
439
|
+ _2130_set_dedge(A); \
|
|
|
440
|
+ _2130_set_diss2g(A); \
|
|
|
441
|
+ _2130_set_intpol(A); \
|
|
|
442
|
+ _2130_set_mres(A); \
|
|
|
443
|
+ _2130_set_sync(A); \
|
|
|
444
|
+ _2130_set_vhighchm(A); \
|
|
|
445
|
+ _2130_set_vhighfs(A); \
|
|
|
446
|
+ _2130_set_vsense(A); \
|
|
|
447
|
+ _2130_set_tbl(A); \
|
|
|
448
|
+ _2130_set_chm(A); \
|
|
|
449
|
+ _2130_set_rndtf(A); \
|
|
|
450
|
+ _2130_set_disfdcc(A); \
|
|
|
451
|
+ _2130_set_fd(A); \
|
|
|
452
|
+ _2130_set_hend(A); \
|
|
|
453
|
+ _2130_set_hstrt(A); \
|
|
|
454
|
+ _2130_set_toff(A); \
|
|
|
455
|
+ _2130_set_sfilt(A); \
|
|
|
456
|
+ _2130_set_sgt(A); \
|
|
|
457
|
+ _2130_set_seimin(A); \
|
|
|
458
|
+ _2130_set_sedn(A); \
|
|
|
459
|
+ _2130_set_semax(A); \
|
|
|
460
|
+ _2130_set_seup(A); \
|
|
|
461
|
+ _2130_set_semin(A); \
|
|
|
462
|
+ _2130_set_DCCTRL(A); \
|
|
|
463
|
+ _2130_set_freewheel(A); \
|
|
|
464
|
+ _2130_set_pwm_symmetric(A); \
|
|
|
465
|
+ _2130_set_pwm_autoscale(A); \
|
|
|
466
|
+ _2130_set_pwm_freq(A); \
|
|
|
467
|
+ _2130_set_PWM_GRAD(A); \
|
|
|
468
|
+ _2130_set_PWM_AMPL(A); \
|
|
|
469
|
+ _2130_set_ENCM_CTRL(A); \
|
|
|
470
|
+ } while(0)
|
|
306
|
471
|
|
|
307
|
472
|
#else // !TMC2130_ADVANCED_CONFIGURATION
|
|
308
|
473
|
|
|
309
|
|
- void tmc2130_init() {
|
|
310
|
|
- #if ENABLED(X_IS_TMC2130)
|
|
311
|
|
- stepperX.init();
|
|
312
|
|
- stepperX.set_mres(X_MRES);
|
|
313
|
|
- stepperX.set_IHOLD_IRUN(X_IHOLD,X_IRUN,X_IHOLDDELAY);
|
|
314
|
|
- stepperX.set_I_scale_analog(X_ISCALE);
|
|
315
|
|
- stepperX.set_tbl(X_TBL);
|
|
316
|
|
- stepperX.set_toff(X_TOFF);
|
|
317
|
|
- #endif
|
|
318
|
|
- #if ENABLED(X2_IS_TMC2130)
|
|
319
|
|
- stepperX2.init();
|
|
320
|
|
- stepperX2.set_mres(X2_MRES);
|
|
321
|
|
- stepperX2.set_IHOLD_IRUN(X2_IHOLD,X2_IRUN,X2_IHOLDDELAY);
|
|
322
|
|
- stepperX2.set_I_scale_analog(X2_ISCALE);
|
|
323
|
|
- stepperX2.set_tbl(X2_TBL);
|
|
324
|
|
- stepperX2.set_toff(X2_TOFF);
|
|
325
|
|
- #endif
|
|
326
|
|
- #if ENABLED(Y_IS_TMC2130)
|
|
327
|
|
- stepperY.init();
|
|
328
|
|
- stepperY.set_mres(Y_MRES);
|
|
329
|
|
- stepperY.set_IHOLD_IRUN(Y_IHOLD,Y_IRUN,Y_IHOLDDELAY);
|
|
330
|
|
- stepperY.set_I_scale_analog(Y_ISCALE);
|
|
331
|
|
- stepperY.set_tbl(Y_TBL);
|
|
332
|
|
- stepperY.set_toff(Y_TOFF);
|
|
333
|
|
- #endif
|
|
334
|
|
- #if ENABLED(Y2_IS_TMC2130)
|
|
335
|
|
- stepperY2.init();
|
|
336
|
|
- stepperY2.set_mres(Y2_MRES);
|
|
337
|
|
- stepperY2.set_IHOLD_IRUN(Y2_IHOLD,Y2_IRUN,Y2_IHOLDDELAY);
|
|
338
|
|
- stepperY2.set_I_scale_analog(Y2_ISCALE);
|
|
339
|
|
- stepperY2.set_tbl(Y2_TBL);
|
|
340
|
|
- stepperY2.set_toff(Y2_TOFF);
|
|
341
|
|
- #endif
|
|
342
|
|
- #if ENABLED(Z_IS_TMC2130)
|
|
343
|
|
- stepperZ.init();
|
|
344
|
|
- stepperZ.set_mres(Z_MRES);
|
|
345
|
|
- stepperZ.set_IHOLD_IRUN(Z_IHOLD,Z_IRUN,Z_IHOLDDELAY);
|
|
346
|
|
- stepperZ.set_I_scale_analog(Z_ISCALE);
|
|
347
|
|
- stepperZ.set_tbl(Z_TBL);
|
|
348
|
|
- stepperZ.set_toff(Z_TOFF);
|
|
349
|
|
- #endif
|
|
350
|
|
- #if ENABLED(Z2_IS_TMC2130)
|
|
351
|
|
- stepperZ2.init();
|
|
352
|
|
- stepperZ2.set_mres(Z2_MRES);
|
|
353
|
|
- stepperZ2.set_IHOLD_IRUN(Z2_IHOLD,Z2_IRUN,Z2_IHOLDDELAY);
|
|
354
|
|
- stepperZ2.set_I_scale_analog(Z2_ISCALE);
|
|
355
|
|
- stepperZ2.set_tbl(Z2_TBL);
|
|
356
|
|
- stepperZ2.set_toff(Z2_TOFF);
|
|
357
|
|
- #endif
|
|
358
|
|
- #if ENABLED(E0_IS_TMC2130)
|
|
359
|
|
- stepperE0.init();
|
|
360
|
|
- stepperE0.set_mres(E0_MRES);
|
|
361
|
|
- stepperE0.set_IHOLD_IRUN(E0_IHOLD,E0_IRUN,E0_IHOLDDELAY);
|
|
362
|
|
- stepperE0.set_I_scale_analog(E0_ISCALE);
|
|
363
|
|
- stepperE0.set_tbl(E0_TBL);
|
|
364
|
|
- stepperE0.set_toff(E0_TOFF);
|
|
365
|
|
- #endif
|
|
366
|
|
- #if ENABLED(E1_IS_TMC2130)
|
|
367
|
|
- stepperE1.init();
|
|
368
|
|
- stepperE1.set_mres(E1_MRES);
|
|
369
|
|
- stepperE1.set_IHOLD_IRUN(E1_IHOLD,E1_IRUN,E1_IHOLDDELAY);
|
|
370
|
|
- stepperE1.set_I_scale_analog(E1_ISCALE);
|
|
371
|
|
- stepperE1.set_tbl(E1_TBL);
|
|
372
|
|
- stepperE1.set_toff(E1_TOFF);
|
|
373
|
|
- #endif
|
|
374
|
|
- #if ENABLED(E2_IS_TMC2130)
|
|
375
|
|
- stepperE2.init();
|
|
376
|
|
- stepperE2.set_mres(E2_MRES);
|
|
377
|
|
- stepperE2.set_IHOLD_IRUN(E2_IHOLD,E2_IRUN,E2_IHOLDDELAY);
|
|
378
|
|
- stepperE2.set_I_scale_analog(E2_ISCALE);
|
|
379
|
|
- stepperE2.set_tbl(E2_TBL);
|
|
380
|
|
- stepperE2.set_toff(E2_TOFF);
|
|
381
|
|
- #endif
|
|
382
|
|
- #if ENABLED(E3_IS_TMC2130)
|
|
383
|
|
- stepperE3.init();
|
|
384
|
|
- stepperE3.set_mres(E3_MRES);
|
|
385
|
|
- stepperE3.set_IHOLD_IRUN(E3_IHOLD,E3_IRUN,E3_IHOLDDELAY);
|
|
386
|
|
- stepperE3.set_I_scale_analog(E3_ISCALE);
|
|
387
|
|
- stepperE3.set_tbl(E3_TBL);
|
|
388
|
|
- stepperE3.set_toff(E3_TOFF);
|
|
389
|
|
- #endif
|
|
390
|
|
- }
|
|
|
474
|
+ #define _TMC2130_INIT(A) do{ \
|
|
|
475
|
+ stepper##A.init(); \
|
|
|
476
|
+ stepper##A.set_mres(A##_MRES); \
|
|
|
477
|
+ stepper##A.set_IHOLD_IRUN(A##_IHOLD, A##_IRUN, A##_IHOLDDELAY); \
|
|
|
478
|
+ stepper##A.set_I_scale_analog(A##_I_SCALE_ANALOG); \
|
|
|
479
|
+ stepper##A.set_tbl(A##_TBL); \
|
|
|
480
|
+ stepper##A.set_toff(A##_TOFF); \
|
|
|
481
|
+ } while(0)
|
|
391
|
482
|
|
|
392
|
483
|
#endif // TMC2130_ADVANCED_CONFIGURATION
|
|
393
|
484
|
|
|
|
485
|
+ // Stepper objects of TMC2310 steppers used
|
|
|
486
|
+ #if ENABLED(X_IS_TMC2130)
|
|
|
487
|
+ Trinamic_TMC2130 stepperX(X_CS_PIN);
|
|
|
488
|
+ #endif
|
|
|
489
|
+ #if ENABLED(X2_IS_TMC2130)
|
|
|
490
|
+ Trinamic_TMC2130 stepperX2(X2_CS_PIN);
|
|
|
491
|
+ #endif
|
|
|
492
|
+ #if ENABLED(Y_IS_TMC2130)
|
|
|
493
|
+ Trinamic_TMC2130 stepperY(Y_CS_PIN);
|
|
|
494
|
+ #endif
|
|
|
495
|
+ #if ENABLED(Y2_IS_TMC2130)
|
|
|
496
|
+ Trinamic_TMC2130 stepperY2(Y2_CS_PINR);
|
|
|
497
|
+ #endif
|
|
|
498
|
+ #if ENABLED(Z_IS_TMC2130)
|
|
|
499
|
+ Trinamic_TMC2130 stepperZ(Z_CS_PIN);
|
|
|
500
|
+ #endif
|
|
|
501
|
+ #if ENABLED(Z2_IS_TMC2130)
|
|
|
502
|
+ Trinamic_TMC2130 stepperZ2(Z2_CS_PIN);
|
|
|
503
|
+ #endif
|
|
|
504
|
+ #if ENABLED(E0_IS_TMC2130)
|
|
|
505
|
+ Trinamic_TMC2130 stepperE0(E0_CS_PIN);
|
|
|
506
|
+ #endif
|
|
|
507
|
+ #if ENABLED(E1_IS_TMC2130)
|
|
|
508
|
+ Trinamic_TMC2130 stepperE1(E1_CS_PIN);
|
|
|
509
|
+ #endif
|
|
|
510
|
+ #if ENABLED(E2_IS_TMC2130)
|
|
|
511
|
+ Trinamic_TMC2130 stepperE2(E2_CS_PIN);
|
|
|
512
|
+ #endif
|
|
|
513
|
+ #if ENABLED(E3_IS_TMC2130)
|
|
|
514
|
+ Trinamic_TMC2130 stepperE3(E3_CS_PIN);
|
|
|
515
|
+ #endif
|
|
|
516
|
+
|
|
|
517
|
+ void tmc2130_init() {
|
|
|
518
|
+ #if ENABLED(X_IS_TMC2130)
|
|
|
519
|
+ _TMC2130_INIT(X);
|
|
|
520
|
+ #endif
|
|
|
521
|
+ #if ENABLED(X2_IS_TMC2130)
|
|
|
522
|
+ _TMC2130_INIT(X2);
|
|
|
523
|
+ #endif
|
|
|
524
|
+ #if ENABLED(Y_IS_TMC2130)
|
|
|
525
|
+ _TMC2130_INIT(Y);
|
|
|
526
|
+ #endif
|
|
|
527
|
+ #if ENABLED(Y2_IS_TMC2130)
|
|
|
528
|
+ _TMC2130_INIT(Y2);
|
|
|
529
|
+ #endif
|
|
|
530
|
+ #if ENABLED(Z_IS_TMC2130)
|
|
|
531
|
+ _TMC2130_INIT(Z);
|
|
|
532
|
+ #endif
|
|
|
533
|
+ #if ENABLED(Z2_IS_TMC2130)
|
|
|
534
|
+ _TMC2130_INIT(Z2);
|
|
|
535
|
+ #endif
|
|
|
536
|
+ #if ENABLED(E0_IS_TMC2130)
|
|
|
537
|
+ _TMC2130_INIT(E0);
|
|
|
538
|
+ #endif
|
|
|
539
|
+ #if ENABLED(E1_IS_TMC2130)
|
|
|
540
|
+ _TMC2130_INIT(E1);
|
|
|
541
|
+ #endif
|
|
|
542
|
+ #if ENABLED(E2_IS_TMC2130)
|
|
|
543
|
+ _TMC2130_INIT(E2);
|
|
|
544
|
+ #endif
|
|
|
545
|
+ #if ENABLED(E3_IS_TMC2130)
|
|
|
546
|
+ _TMC2130_INIT(E3);
|
|
|
547
|
+ #endif
|
|
|
548
|
+ }
|
|
|
549
|
+
|
|
394
|
550
|
#endif // HAVE_TMC2130DRIVER
|
|
395
|
551
|
|
|
396
|
552
|
// L6470 Driver objects and inits
|
Scott Lahteine
7年前