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- /**
- * Marlin 3D Printer Firmware
- * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
- *
- * Based on Sprinter and grbl.
- * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <https://www.gnu.org/licenses/>.
- *
- */
-
- /**
- * stepper/trinamic.cpp
- * Stepper driver indirection for Trinamic
- */
-
- #include "../../inc/MarlinConfig.h"
-
- #if HAS_TRINAMIC_CONFIG
-
- #include "trinamic.h"
- #include "../stepper.h"
-
- #include <HardwareSerial.h>
- #include <SPI.h>
-
- enum StealthIndex : uint8_t {
- LOGICAL_AXIS_LIST(STEALTH_AXIS_E, STEALTH_AXIS_X, STEALTH_AXIS_Y, STEALTH_AXIS_Z, STEALTH_AXIS_I, STEALTH_AXIS_J, STEALTH_AXIS_K, STEALTH_AXIS_U, STEALTH_AXIS_V, STEALTH_AXIS_W)
- };
- #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, ST##_HOLD_MULTIPLIER)
-
- // IC = TMC model number
- // ST = Stepper object letter
- // L = Label characters
- // AI = Axis Enum Index
- // SWHW = SW/SH UART selection
- #if ENABLED(TMC_USE_SW_SPI)
- #define __TMC_SPI_DEFINE(IC, ST, L, AI) TMCMarlin<IC##Stepper, L, AI> stepper##ST(ST##_CS_PIN, float(ST##_RSENSE), TMC_SW_MOSI, TMC_SW_MISO, TMC_SW_SCK, ST##_CHAIN_POS)
- #else
- #define __TMC_SPI_DEFINE(IC, ST, L, AI) TMCMarlin<IC##Stepper, L, AI> stepper##ST(ST##_CS_PIN, float(ST##_RSENSE), ST##_CHAIN_POS)
- #endif
-
- #if ENABLED(TMC_SERIAL_MULTIPLEXER)
- #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)
- #else
- #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)
- #endif
- #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)
-
- #define _TMC_SPI_DEFINE(IC, ST, AI) __TMC_SPI_DEFINE(IC, ST, TMC_##ST##_LABEL, AI)
- #define TMC_SPI_DEFINE(ST, AI) _TMC_SPI_DEFINE(ST##_DRIVER_TYPE, ST, AI##_AXIS)
-
- #define _TMC_UART_DEFINE(SWHW, IC, ST, AI) TMC_UART_##SWHW##_DEFINE(IC, ST, TMC_##ST##_LABEL, AI)
- #define TMC_UART_DEFINE(SWHW, ST, AI) _TMC_UART_DEFINE(SWHW, ST##_DRIVER_TYPE, ST, AI##_AXIS)
-
- #if ENABLED(DISTINCT_E_FACTORS)
- #define TMC_SPI_DEFINE_E(AI) TMC_SPI_DEFINE(E##AI, E##AI)
- #define TMC_UART_DEFINE_E(SWHW, AI) TMC_UART_DEFINE(SWHW, E##AI, E##AI)
- #else
- #define TMC_SPI_DEFINE_E(AI) TMC_SPI_DEFINE(E##AI, E)
- #define TMC_UART_DEFINE_E(SWHW, AI) TMC_UART_DEFINE(SWHW, E##AI, E)
- #endif
-
- // Stepper objects of TMC2130/TMC2160/TMC2660/TMC5130/TMC5160 steppers used
- #if AXIS_HAS_SPI(X)
- TMC_SPI_DEFINE(X, X);
- #endif
- #if AXIS_HAS_SPI(X2)
- TMC_SPI_DEFINE(X2, X);
- #endif
- #if AXIS_HAS_SPI(Y)
- TMC_SPI_DEFINE(Y, Y);
- #endif
- #if AXIS_HAS_SPI(Y2)
- TMC_SPI_DEFINE(Y2, Y);
- #endif
- #if AXIS_HAS_SPI(Z)
- TMC_SPI_DEFINE(Z, Z);
- #endif
- #if AXIS_HAS_SPI(Z2)
- TMC_SPI_DEFINE(Z2, Z);
- #endif
- #if AXIS_HAS_SPI(Z3)
- TMC_SPI_DEFINE(Z3, Z);
- #endif
- #if AXIS_HAS_SPI(Z4)
- TMC_SPI_DEFINE(Z4, Z);
- #endif
- #if AXIS_HAS_SPI(I)
- TMC_SPI_DEFINE(I, I);
- #endif
- #if AXIS_HAS_SPI(J)
- TMC_SPI_DEFINE(J, J);
- #endif
- #if AXIS_HAS_SPI(K)
- TMC_SPI_DEFINE(K, K);
- #endif
- #if AXIS_HAS_SPI(U)
- TMC_SPI_DEFINE(U, U);
- #endif
- #if AXIS_HAS_SPI(V)
- TMC_SPI_DEFINE(V, V);
- #endif
- #if AXIS_HAS_SPI(W)
- TMC_SPI_DEFINE(W, W);
- #endif
- #if AXIS_HAS_SPI(E0)
- TMC_SPI_DEFINE_E(0);
- #endif
- #if AXIS_HAS_SPI(E1)
- TMC_SPI_DEFINE_E(1);
- #endif
- #if AXIS_HAS_SPI(E2)
- TMC_SPI_DEFINE_E(2);
- #endif
- #if AXIS_HAS_SPI(E3)
- TMC_SPI_DEFINE_E(3);
- #endif
- #if AXIS_HAS_SPI(E4)
- TMC_SPI_DEFINE_E(4);
- #endif
- #if AXIS_HAS_SPI(E5)
- TMC_SPI_DEFINE_E(5);
- #endif
- #if AXIS_HAS_SPI(E6)
- TMC_SPI_DEFINE_E(6);
- #endif
- #if AXIS_HAS_SPI(E7)
- TMC_SPI_DEFINE_E(7);
- #endif
-
- #ifndef TMC_BAUD_RATE
- // Reduce baud rate for boards not already overriding TMC_BAUD_RATE for software serial.
- // Testing has shown that 115200 is not 100% reliable on AVR platforms, occasionally
- // failing to read status properly. 32-bit platforms typically define an even lower
- // TMC_BAUD_RATE, due to differences in how SoftwareSerial libraries work on different
- // platforms.
- #define TMC_BAUD_RATE TERN(HAS_TMC_SW_SERIAL, 57600, 115200)
- #endif
-
- #ifndef TMC_X_BAUD_RATE
- #define TMC_X_BAUD_RATE TMC_BAUD_RATE
- #endif
- #ifndef TMC_X2_BAUD_RATE
- #define TMC_X2_BAUD_RATE TMC_BAUD_RATE
- #endif
- #ifndef TMC_Y_BAUD_RATE
- #define TMC_Y_BAUD_RATE TMC_BAUD_RATE
- #endif
- #ifndef TMC_Y2_BAUD_RATE
- #define TMC_Y2_BAUD_RATE TMC_BAUD_RATE
- #endif
- #ifndef TMC_Z_BAUD_RATE
- #define TMC_Z_BAUD_RATE TMC_BAUD_RATE
- #endif
- #ifndef TMC_Z2_BAUD_RATE
- #define TMC_Z2_BAUD_RATE TMC_BAUD_RATE
- #endif
- #ifndef TMC_Z3_BAUD_RATE
- #define TMC_Z3_BAUD_RATE TMC_BAUD_RATE
- #endif
- #ifndef TMC_Z4_BAUD_RATE
- #define TMC_Z4_BAUD_RATE TMC_BAUD_RATE
- #endif
- #ifndef TMC_I_BAUD_RATE
- #define TMC_I_BAUD_RATE TMC_BAUD_RATE
- #endif
- #ifndef TMC_J_BAUD_RATE
- #define TMC_J_BAUD_RATE TMC_BAUD_RATE
- #endif
- #ifndef TMC_K_BAUD_RATE
- #define TMC_K_BAUD_RATE TMC_BAUD_RATE
- #endif
- #ifndef TMC_U_BAUD_RATE
- #define TMC_U_BAUD_RATE TMC_BAUD_RATE
- #endif
- #ifndef TMC_V_BAUD_RATE
- #define TMC_V_BAUD_RATE TMC_BAUD_RATE
- #endif
- #ifndef TMC_W_BAUD_RATE
- #define TMC_W_BAUD_RATE TMC_BAUD_RATE
- #endif
- #ifndef TMC_E0_BAUD_RATE
- #define TMC_E0_BAUD_RATE TMC_BAUD_RATE
- #endif
- #ifndef TMC_E1_BAUD_RATE
- #define TMC_E1_BAUD_RATE TMC_BAUD_RATE
- #endif
- #ifndef TMC_E2_BAUD_RATE
- #define TMC_E2_BAUD_RATE TMC_BAUD_RATE
- #endif
- #ifndef TMC_E3_BAUD_RATE
- #define TMC_E3_BAUD_RATE TMC_BAUD_RATE
- #endif
- #ifndef TMC_E4_BAUD_RATE
- #define TMC_E4_BAUD_RATE TMC_BAUD_RATE
- #endif
- #ifndef TMC_E5_BAUD_RATE
- #define TMC_E5_BAUD_RATE TMC_BAUD_RATE
- #endif
- #ifndef TMC_E6_BAUD_RATE
- #define TMC_E6_BAUD_RATE TMC_BAUD_RATE
- #endif
- #ifndef TMC_E7_BAUD_RATE
- #define TMC_E7_BAUD_RATE TMC_BAUD_RATE
- #endif
-
- #if HAS_DRIVER(TMC2130)
- template<char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
- 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, float hold_multiplier) {
- 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 // TMC2130
-
- #if HAS_DRIVER(TMC2160)
- template<char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
- 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, float hold_multiplier) {
- 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 // TMC2160
-
- //
- // TMC2208/2209 Driver objects and inits
- //
- #if HAS_TMC220x
- #if AXIS_HAS_UART(X)
- #ifdef X_HARDWARE_SERIAL
- TMC_UART_DEFINE(HW, X, X);
- #define X_HAS_HW_SERIAL 1
- #else
- TMC_UART_DEFINE(SW, X, X);
- #define X_HAS_SW_SERIAL 1
- #endif
- #endif
- #if AXIS_HAS_UART(X2)
- #ifdef X2_HARDWARE_SERIAL
- TMC_UART_DEFINE(HW, X2, X);
- #define X2_HAS_HW_SERIAL 1
- #else
- TMC_UART_DEFINE(SW, X2, X);
- #define X2_HAS_SW_SERIAL 1
- #endif
- #endif
- #if AXIS_HAS_UART(Y)
- #ifdef Y_HARDWARE_SERIAL
- TMC_UART_DEFINE(HW, Y, Y);
- #define Y_HAS_HW_SERIAL 1
- #else
- TMC_UART_DEFINE(SW, Y, Y);
- #define Y_HAS_SW_SERIAL 1
- #endif
- #endif
- #if AXIS_HAS_UART(Y2)
- #ifdef Y2_HARDWARE_SERIAL
- TMC_UART_DEFINE(HW, Y2, Y);
- #define Y2_HAS_HW_SERIAL 1
- #else
- TMC_UART_DEFINE(SW, Y2, Y);
- #define Y2_HAS_SW_SERIAL 1
- #endif
- #endif
- #if AXIS_HAS_UART(Z)
- #ifdef Z_HARDWARE_SERIAL
- TMC_UART_DEFINE(HW, Z, Z);
- #define Z_HAS_HW_SERIAL 1
- #else
- TMC_UART_DEFINE(SW, Z, Z);
- #define Z_HAS_SW_SERIAL 1
- #endif
- #endif
- #if AXIS_HAS_UART(Z2)
- #ifdef Z2_HARDWARE_SERIAL
- TMC_UART_DEFINE(HW, Z2, Z);
- #define Z2_HAS_HW_SERIAL 1
- #else
- TMC_UART_DEFINE(SW, Z2, Z);
- #define Z2_HAS_SW_SERIAL 1
- #endif
- #endif
- #if AXIS_HAS_UART(Z3)
- #ifdef Z3_HARDWARE_SERIAL
- TMC_UART_DEFINE(HW, Z3, Z);
- #define Z3_HAS_HW_SERIAL 1
- #else
- TMC_UART_DEFINE(SW, Z3, Z);
- #define Z3_HAS_SW_SERIAL 1
- #endif
- #endif
- #if AXIS_HAS_UART(Z4)
- #ifdef Z4_HARDWARE_SERIAL
- TMC_UART_DEFINE(HW, Z4, Z);
- #define Z4_HAS_HW_SERIAL 1
- #else
- TMC_UART_DEFINE(SW, Z4, Z);
- #define Z4_HAS_SW_SERIAL 1
- #endif
- #endif
- #if AXIS_HAS_UART(I)
- #ifdef I_HARDWARE_SERIAL
- TMC_UART_DEFINE(HW, I, I);
- #define I_HAS_HW_SERIAL 1
- #else
- TMC_UART_DEFINE(SW, I, I);
- #define I_HAS_SW_SERIAL 1
- #endif
- #endif
- #if AXIS_HAS_UART(J)
- #ifdef J_HARDWARE_SERIAL
- TMC_UART_DEFINE(HW, J, J);
- #define J_HAS_HW_SERIAL 1
- #else
- TMC_UART_DEFINE(SW, J, J);
- #define J_HAS_SW_SERIAL 1
- #endif
- #endif
- #if AXIS_HAS_UART(K)
- #ifdef K_HARDWARE_SERIAL
- TMC_UART_DEFINE(HW, K, K);
- #define K_HAS_HW_SERIAL 1
- #else
- TMC_UART_DEFINE(SW, K, K);
- #define K_HAS_SW_SERIAL 1
- #endif
- #endif
- #if AXIS_HAS_UART(U)
- #ifdef U_HARDWARE_SERIAL
- TMC_UART_DEFINE(HW, U, U);
- #define U_HAS_HW_SERIAL 1
- #else
- TMC_UART_DEFINE(SW, U, U);
- #define U_HAS_SW_SERIAL 1
- #endif
- #endif
- #if AXIS_HAS_UART(V)
- #ifdef V_HARDWARE_SERIAL
- TMC_UART_DEFINE(HW, V, V);
- #else
- TMC_UART_DEFINE(SW, V, V);
- #define V_HAS_SW_SERIAL 1
- #endif
- #endif
- #if AXIS_HAS_UART(W)
- #ifdef W_HARDWARE_SERIAL
- TMC_UART_DEFINE(HW, W, W);
- #define W_HAS_HW_SERIAL 1
- #else
- TMC_UART_DEFINE(SW, W, W);
- #define W_HAS_SW_SERIAL 1
- #endif
- #endif
-
- #if AXIS_HAS_UART(E0)
- #ifdef E0_HARDWARE_SERIAL
- TMC_UART_DEFINE_E(HW, 0);
- #define E0_HAS_HW_SERIAL 1
- #else
- TMC_UART_DEFINE_E(SW, 0);
- #define E0_HAS_SW_SERIAL 1
- #endif
- #endif
- #if AXIS_HAS_UART(E1)
- #ifdef E1_HARDWARE_SERIAL
- TMC_UART_DEFINE_E(HW, 1);
- #define E1_HAS_HW_SERIAL 1
- #else
- TMC_UART_DEFINE_E(SW, 1);
- #define E1_HAS_SW_SERIAL 1
- #endif
- #endif
- #if AXIS_HAS_UART(E2)
- #ifdef E2_HARDWARE_SERIAL
- TMC_UART_DEFINE_E(HW, 2);
- #define E2_HAS_HW_SERIAL 1
- #else
- TMC_UART_DEFINE_E(SW, 2);
- #define E2_HAS_SW_SERIAL 1
- #endif
- #endif
- #if AXIS_HAS_UART(E3)
- #ifdef E3_HARDWARE_SERIAL
- TMC_UART_DEFINE_E(HW, 3);
- #define E3_HAS_HW_SERIAL 1
- #else
- TMC_UART_DEFINE_E(SW, 3);
- #define E3_HAS_SW_SERIAL 1
- #endif
- #endif
- #if AXIS_HAS_UART(E4)
- #ifdef E4_HARDWARE_SERIAL
- TMC_UART_DEFINE_E(HW, 4);
- #define E4_HAS_HW_SERIAL 1
- #else
- TMC_UART_DEFINE_E(SW, 4);
- #define E4_HAS_SW_SERIAL 1
- #endif
- #endif
- #if AXIS_HAS_UART(E5)
- #ifdef E5_HARDWARE_SERIAL
- TMC_UART_DEFINE_E(HW, 5);
- #define E5_HAS_HW_SERIAL 1
- #else
- TMC_UART_DEFINE_E(SW, 5);
- #define E5_HAS_SW_SERIAL 1
- #endif
- #endif
- #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 { MAIN_AXIS_NAMES, 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(U)
- #ifdef U_HARDWARE_SERIAL
- HW_SERIAL_BEGIN(U);
- #else
- stepperU.beginSerial(TMC_BAUD_RATE);
- #endif
- #endif
- #if AXIS_HAS_UART(V)
- #ifdef V_HARDWARE_SERIAL
- HW_SERIAL_BEGIN(V);
- #else
- stepperV.beginSerial(TMC_BAUD_RATE);
- #endif
- #endif
- #if AXIS_HAS_UART(W)
- #ifdef W_HARDWARE_SERIAL
- HW_SERIAL_BEGIN(W);
- #else
- stepperW.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, float hold_multiplier) {
- 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, float hold_multiplier) {
- 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, float hold_multiplier) {
- 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, float hold_multiplier) {
- 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, float hold_multiplier) {
- 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(U)
- stepperU.push();
- #endif
- #if AXIS_IS_TMC(V)
- stepperV.push();
- #endif
- #if AXIS_IS_TMC(W)
- stepperW.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),
- ENABLED(STEALTHCHOP_U), ENABLED(STEALTHCHOP_V), ENABLED(STEALTHCHOP_W)
- );
-
- #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(U)
- TMC_INIT(U, STEALTH_AXIS_U);
- #endif
- #if AXIS_IS_TMC(V)
- TMC_INIT(V, STEALTH_AXIS_V);
- #endif
- #if AXIS_IS_TMC(W)
- TMC_INIT(W, STEALTH_AXIS_W);
- #endif
- #if AXIS_IS_TMC(E0)
- TMC_INIT(E0, STEALTH_AXIS_E);
- #endif
- #if AXIS_IS_TMC(E1)
- TMC_INIT(E1, STEALTH_AXIS_E);
- #endif
- #if AXIS_IS_TMC(E2)
- TMC_INIT(E2, STEALTH_AXIS_E);
- #endif
- #if AXIS_IS_TMC(E3)
- TMC_INIT(E3, STEALTH_AXIS_E);
- #endif
- #if AXIS_IS_TMC(E4)
- TMC_INIT(E4, STEALTH_AXIS_E);
- #endif
- #if AXIS_IS_TMC(E5)
- TMC_INIT(E5, STEALTH_AXIS_E);
- #endif
- #if AXIS_IS_TMC(E6)
- TMC_INIT(E6, STEALTH_AXIS_E);
- #endif
- #if AXIS_IS_TMC(E7)
- TMC_INIT(E7, STEALTH_AXIS_E);
- #endif
-
- #if USE_SENSORLESS
- TERN_(X_SENSORLESS, stepperX.homing_threshold(X_STALL_SENSITIVITY));
- TERN_(X2_SENSORLESS, stepperX2.homing_threshold(CAT(TERN(X2_SENSORLESS, X2, X), _STALL_SENSITIVITY)));
- TERN_(Y_SENSORLESS, stepperY.homing_threshold(Y_STALL_SENSITIVITY));
- TERN_(Y2_SENSORLESS, stepperY2.homing_threshold(CAT(TERN(Y2_SENSORLESS, Y2, Y), _STALL_SENSITIVITY)));
- TERN_(Z_SENSORLESS, stepperZ.homing_threshold(Z_STALL_SENSITIVITY));
- TERN_(Z2_SENSORLESS, stepperZ2.homing_threshold(CAT(TERN(Z2_SENSORLESS, Z2, Z), _STALL_SENSITIVITY)));
- TERN_(Z3_SENSORLESS, stepperZ3.homing_threshold(CAT(TERN(Z3_SENSORLESS, Z3, Z), _STALL_SENSITIVITY)));
- TERN_(Z4_SENSORLESS, stepperZ4.homing_threshold(CAT(TERN(Z4_SENSORLESS, Z4, Z), _STALL_SENSITIVITY)));
- TERN_(I_SENSORLESS, stepperI.homing_threshold(I_STALL_SENSITIVITY));
- TERN_(J_SENSORLESS, stepperJ.homing_threshold(J_STALL_SENSITIVITY));
- TERN_(K_SENSORLESS, stepperK.homing_threshold(K_STALL_SENSITIVITY));
- TERN_(U_SENSORLESS, stepperU.homing_threshold(U_STALL_SENSITIVITY));
- TERN_(V_SENSORLESS, stepperV.homing_threshold(V_STALL_SENSITIVITY));
- TERN_(W_SENSORLESS, stepperW.homing_threshold(W_STALL_SENSITIVITY));
- #endif
-
- #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.
-
- #define ALL_AXIS_NAMES X, X2, Y, Y2, Z, Z2, Z3, Z4, I, J, K, U, V, W, E0, E1, E2, E3, E4, E5, E6, E7
-
- #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[] = { MAPLIST(TMC_HW_DETAIL, ALL_AXIS_NAMES) };
-
- // 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));
- MAP(SA_NO_TMC_HW_C, ALL_AXIS_NAMES)
- #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[] = { MAPLIST(TMC_SW_DETAIL, ALL_AXIS_NAMES) };
-
- 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));
- MAP(SA_NO_TMC_SW_C, ALL_AXIS_NAMES)
- #endif
-
- #endif // HAS_TRINAMIC_CONFIG
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