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Split up stepper indirection (#15111)

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This commit is contained in:
Scott Lahteine 2019-08-31 19:44:45 -05:00 committed by GitHub
parent 87b16ed5f6
commit 586b334c2a
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GPG key ID: 4AEE18F83AFDEB23
29 changed files with 1391 additions and 1088 deletions
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2
Marlin/src/HAL/HAL_STM32_F4_F7/STM32F7/TMC2660.cpp
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@ -37,7 +37,7 @@
#include "../../../inc/MarlinConfig.h" #include "../../../inc/MarlinConfig.h"
#include "../../../Marlin.h" #include "../../../Marlin.h"
#include "../../../module/stepper_indirection.h" #include "../../../module/stepper/indirection.h"
#include "../../../module/printcounter.h" #include "../../../module/printcounter.h"
#include "../../../libs/duration_t.h" #include "../../../libs/duration_t.h"
#include "../../../libs/hex_print_routines.h" #include "../../../libs/hex_print_routines.h"

2
Marlin/src/Marlin.cpp
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@ -45,7 +45,7 @@
#include "HAL/shared/Delay.h" #include "HAL/shared/Delay.h"
#include "module/stepper_indirection.h" #include "module/stepper/indirection.h"
#ifdef ARDUINO #ifdef ARDUINO
#include <pins_arduino.h> #include <pins_arduino.h>

2
Marlin/src/feature/controllerfan.cpp
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@ -24,7 +24,7 @@
#if ENABLED(USE_CONTROLLER_FAN) #if ENABLED(USE_CONTROLLER_FAN)
#include "../module/stepper_indirection.h" #include "../module/stepper/indirection.h"
#include "../module/temperature.h" #include "../module/temperature.h"
uint8_t controllerfan_speed; uint8_t controllerfan_speed;

2
Marlin/src/feature/power.cpp
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@ -30,7 +30,7 @@
#include "power.h" #include "power.h"
#include "../module/temperature.h" #include "../module/temperature.h"
#include "../module/stepper_indirection.h" #include "../module/stepper/indirection.h"
#include "../Marlin.h" #include "../Marlin.h"
Power powerManager; Power powerManager;

2
Marlin/src/feature/prusa_MMU2/mmu2.cpp
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@ -35,7 +35,7 @@ MMU2 mmu2;
#include "../../libs/nozzle.h" #include "../../libs/nozzle.h"
#include "../../module/temperature.h" #include "../../module/temperature.h"
#include "../../module/planner.h" #include "../../module/planner.h"
#include "../../module/stepper_indirection.h" #include "../../module/stepper/indirection.h"
#include "../../Marlin.h" #include "../../Marlin.h"
#if ENABLED(HOST_PROMPT_SUPPORT) #if ENABLED(HOST_PROMPT_SUPPORT)

2
Marlin/src/feature/tmc_util.cpp
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@ -27,7 +27,7 @@
#include "tmc_util.h" #include "tmc_util.h"
#include "../Marlin.h" #include "../Marlin.h"
#include "../module/stepper_indirection.h" #include "../module/stepper/indirection.h"
#include "../module/printcounter.h" #include "../module/printcounter.h"
#include "../libs/duration_t.h" #include "../libs/duration_t.h"
#include "../gcode/gcode.h" #include "../gcode/gcode.h"

2
Marlin/src/gcode/feature/L6470/M122.cpp
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@ -26,7 +26,7 @@
#include "../../gcode.h" #include "../../gcode.h"
#include "../../../libs/L6470/L6470_Marlin.h" #include "../../../libs/L6470/L6470_Marlin.h"
#include "../../../module/stepper_indirection.h" #include "../../../module/stepper/indirection.h"
inline void echo_yes_no(const bool yes) { serialprintPGM(yes ? PSTR(" YES") : PSTR(" NO ")); } inline void echo_yes_no(const bool yes) { serialprintPGM(yes ? PSTR(" YES") : PSTR(" NO ")); }

2
Marlin/src/gcode/feature/L6470/M906.cpp
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@ -26,7 +26,7 @@
#include "../../gcode.h" #include "../../gcode.h"
#include "../../../libs/L6470/L6470_Marlin.h" #include "../../../libs/L6470/L6470_Marlin.h"
#include "../../../module/stepper_indirection.h" #include "../../../module/stepper/indirection.h"
#include "../../../module/planner.h" #include "../../../module/planner.h"
#define DEBUG_OUT ENABLED(L6470_CHITCHAT) #define DEBUG_OUT ENABLED(L6470_CHITCHAT)

2
Marlin/src/gcode/feature/L6470/M916-918.cpp
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@ -25,7 +25,7 @@
#if HAS_DRIVER(L6470) #if HAS_DRIVER(L6470)
#include "../../gcode.h" #include "../../gcode.h"
#include "../../../module/stepper_indirection.h" #include "../../../module/stepper/indirection.h"
#include "../../../module/planner.h" #include "../../../module/planner.h"
#include "../../../libs/L6470/L6470_Marlin.h" #include "../../../libs/L6470/L6470_Marlin.h"

2
Marlin/src/gcode/feature/trinamic/M569.cpp
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@ -26,7 +26,7 @@
#include "../../gcode.h" #include "../../gcode.h"
#include "../../../feature/tmc_util.h" #include "../../../feature/tmc_util.h"
#include "../../../module/stepper_indirection.h" #include "../../../module/stepper/indirection.h"
template<typename TMC> template<typename TMC>
void tmc_say_stealth_status(TMC &st) { void tmc_say_stealth_status(TMC &st) {

2
Marlin/src/gcode/feature/trinamic/M906.cpp
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@ -26,7 +26,7 @@
#include "../../gcode.h" #include "../../gcode.h"
#include "../../../feature/tmc_util.h" #include "../../../feature/tmc_util.h"
#include "../../../module/stepper_indirection.h" #include "../../../module/stepper/indirection.h"
/** /**
* M906: Set motor current in milliamps. * M906: Set motor current in milliamps.

2
Marlin/src/gcode/feature/trinamic/M911-M914.cpp
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@ -26,7 +26,7 @@
#include "../../gcode.h" #include "../../gcode.h"
#include "../../../feature/tmc_util.h" #include "../../../feature/tmc_util.h"
#include "../../../module/stepper_indirection.h" #include "../../../module/stepper/indirection.h"
#include "../../../module/planner.h" #include "../../../module/planner.h"
#include "../../queue.h" #include "../../queue.h"

2
Marlin/src/gcode/host/M114.cpp
View file

@ -31,7 +31,7 @@
#if HAS_DRIVER(L6470) #if HAS_DRIVER(L6470)
//C:\Users\bobku\Documents\GitHub\Marlin-Bob-2\Marlin\src\gcode\host\M114.cpp //C:\Users\bobku\Documents\GitHub\Marlin-Bob-2\Marlin\src\gcode\host\M114.cpp
//C:\Users\bobku\Documents\GitHub\Marlin-Bob-2\Marlin\src\module\bob_L6470.cpp //C:\Users\bobku\Documents\GitHub\Marlin-Bob-2\Marlin\src\module\bob_L6470.cpp
#include "../../module/L6470/L6470_Marlin.h" #include "../../libs/L6470/L6470_Marlin.h"
#define DEBUG_OUT ENABLED(L6470_CHITCHAT) #define DEBUG_OUT ENABLED(L6470_CHITCHAT)
#include "../../core/debug_out.h" #include "../../core/debug_out.h"
#endif #endif

2
Marlin/src/lcd/extensible_ui/ui_api.cpp
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@ -77,7 +77,7 @@
#if HAS_TRINAMIC #if HAS_TRINAMIC
#include "../../feature/tmc_util.h" #include "../../feature/tmc_util.h"
#include "../../module/stepper_indirection.h" #include "../../module/stepper/indirection.h"
#endif #endif
#include "ui_api.h" #include "ui_api.h"

2
Marlin/src/lcd/menu/menu_tmc.cpp
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@ -29,7 +29,7 @@
#if HAS_TRINAMIC && HAS_LCD_MENU #if HAS_TRINAMIC && HAS_LCD_MENU
#include "menu.h" #include "menu.h"
#include "../../module/stepper_indirection.h" #include "../../module/stepper/indirection.h"
#include "../../feature/tmc_util.h" #include "../../feature/tmc_util.h"
#define TMC_EDIT_STORED_I_RMS(ST,MSG) MENU_ITEM_EDIT_CALLBACK(uint16_4, MSG, &stepper##ST.val_mA, 100, 3000, refresh_stepper_current_##ST) #define TMC_EDIT_STORED_I_RMS(ST,MSG) MENU_ITEM_EDIT_CALLBACK(uint16_4, MSG, &stepper##ST.val_mA, 100, 3000, refresh_stepper_current_##ST)

6
Marlin/src/libs/L6470/L6470_Marlin.cpp
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@ -21,7 +21,7 @@
*/ */
/** /**
* The monitor_driver routines are a close copy of the TMC code * The monitor_driver routines are a close copy of the TMC code
*/ */
#include "../../inc/MarlinConfig.h" #include "../../inc/MarlinConfig.h"
@ -32,9 +32,9 @@
L6470_Marlin L6470; L6470_Marlin L6470;
#include "../stepper_indirection.h" #include "../../module/stepper/indirection.h"
#include "../../module/planner.h"
#include "../../gcode/gcode.h" #include "../../gcode/gcode.h"
#include "../planner.h"
#define DEBUG_OUT ENABLED(L6470_CHITCHAT) #define DEBUG_OUT ENABLED(L6470_CHITCHAT)
#include "../../core/debug_out.h" #include "../../core/debug_out.h"

2
Marlin/src/module/configuration_store.cpp
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@ -112,7 +112,7 @@
#endif #endif
#if HAS_TRINAMIC #if HAS_TRINAMIC
#include "stepper_indirection.h" #include "stepper/indirection.h"
#include "../feature/tmc_util.h" #include "../feature/tmc_util.h"
#endif #endif

2
Marlin/src/module/delta.cpp
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@ -43,7 +43,7 @@
#if ENABLED(SENSORLESS_HOMING) #if ENABLED(SENSORLESS_HOMING)
#include "../feature/tmc_util.h" #include "../feature/tmc_util.h"
#include "stepper_indirection.h" #include "stepper/indirection.h"
#endif #endif
#define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE) #define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE)

2
Marlin/src/module/probe.cpp
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@ -76,7 +76,7 @@ float zprobe_zoffset; // Initialized by settings.load()
#endif #endif
#if QUIET_PROBING #if QUIET_PROBING
#include "stepper_indirection.h" #include "stepper/indirection.h"
#endif #endif
#if ENABLED(EXTENSIBLE_UI) #if ENABLED(EXTENSIBLE_UI)

2
Marlin/src/module/stepper.h
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@ -218,7 +218,7 @@
// Stepper class definition // Stepper class definition
// //
#include "stepper_indirection.h" #include "stepper/indirection.h"
#ifdef __AVR__ #ifdef __AVR__
#include "speed_lookuptable.h" #include "speed_lookuptable.h"

143
Marlin/src/module/stepper/L6470.cpp Normal file
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@ -0,0 +1,143 @@
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2019 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 <http://www.gnu.org/licenses/>.
*
*/
/**
* stepper/L6470.cpp
* Stepper driver indirection for L6470 drivers
*/
#include "../../inc/MarlinConfig.h"
#if HAS_DRIVER(L6470)
#include "L6470.h"
#define _L6470_DEFINE(ST) L6470 stepper##ST((const int)L6470_CHAIN_SS_PIN)
// L6470 Stepper objects
#if AXIS_DRIVER_TYPE_X(L6470)
_L6470_DEFINE(X);
#endif
#if AXIS_DRIVER_TYPE_X2(L6470)
_L6470_DEFINE(X2);
#endif
#if AXIS_DRIVER_TYPE_Y(L6470)
_L6470_DEFINE(Y);
#endif
#if AXIS_DRIVER_TYPE_Y2(L6470)
_L6470_DEFINE(Y2);
#endif
#if AXIS_DRIVER_TYPE_Z(L6470)
_L6470_DEFINE(Z);
#endif
#if AXIS_DRIVER_TYPE_Z2(L6470)
_L6470_DEFINE(Z2);
#endif
#if AXIS_DRIVER_TYPE_Z3(L6470)
_L6470_DEFINE(Z3);
#endif
#if AXIS_DRIVER_TYPE_E0(L6470)
_L6470_DEFINE(E0);
#endif
#if AXIS_DRIVER_TYPE_E1(L6470)
_L6470_DEFINE(E1);
#endif
#if AXIS_DRIVER_TYPE_E2(L6470)
_L6470_DEFINE(E2);
#endif
#if AXIS_DRIVER_TYPE_E3(L6470)
_L6470_DEFINE(E3);
#endif
#if AXIS_DRIVER_TYPE_E4(L6470)
_L6470_DEFINE(E4);
#endif
#if AXIS_DRIVER_TYPE_E5(L6470)
_L6470_DEFINE(E5);
#endif
// not using L6470 library's init command because it
// briefly sends power to the steppers
#define _L6470_INIT_CHIP(Q) do{ \
stepper##Q.resetDev(); \
stepper##Q.softFree(); \
stepper##Q.SetParam(L6470_CONFIG, CONFIG_PWM_DIV_1 \
| CONFIG_PWM_MUL_2 \
| CONFIG_SR_290V_us \
| CONFIG_OC_SD_DISABLE \
| CONFIG_VS_COMP_DISABLE \
| CONFIG_SW_HARD_STOP \
| CONFIG_INT_16MHZ); \
stepper##Q.SetParam(L6470_KVAL_RUN, 0xFF); \
stepper##Q.SetParam(L6470_KVAL_ACC, 0xFF); \
stepper##Q.SetParam(L6470_KVAL_DEC, 0xFF); \
stepper##Q.setMicroSteps(Q##_MICROSTEPS); \
stepper##Q.setOverCurrent(Q##_OVERCURRENT); \
stepper##Q.setStallCurrent(Q##_STALLCURRENT); \
stepper##Q.SetParam(L6470_KVAL_HOLD, Q##_MAX_VOLTAGE); \
stepper##Q.SetParam(L6470_ABS_POS, 0); \
stepper##Q.getStatus(); \
}while(0)
void L6470_Marlin::init_to_defaults() {
#if AXIS_DRIVER_TYPE_X(L6470)
_L6470_INIT_CHIP(X);
#endif
#if AXIS_DRIVER_TYPE_X2(L6470)
_L6470_INIT_CHIP(X2);
#endif
#if AXIS_DRIVER_TYPE_Y(L6470)
_L6470_INIT_CHIP(Y);
#endif
#if AXIS_DRIVER_TYPE_Y2(L6470)
_L6470_INIT_CHIP(Y2);
#endif
#if AXIS_DRIVER_TYPE_Z(L6470)
_L6470_INIT_CHIP(Z);
#endif
#if AXIS_DRIVER_TYPE_Z2(L6470)
_L6470_INIT_CHIP(Z2);
#endif
#if AXIS_DRIVER_TYPE_Z3(L6470)
_L6470_INIT_CHIP(Z3);
#endif
#if AXIS_DRIVER_TYPE_E0(L6470)
_L6470_INIT_CHIP(E0);
#endif
#if AXIS_DRIVER_TYPE_E1(L6470)
_L6470_INIT_CHIP(E1);
#endif
#if AXIS_DRIVER_TYPE_E2(L6470)
_L6470_INIT_CHIP(E2);
#endif
#if AXIS_DRIVER_TYPE_E3(L6470)
_L6470_INIT_CHIP(E3);
#endif
#if AXIS_DRIVER_TYPE_E4(L6470)
_L6470_INIT_CHIP(E4);
#endif
#if AXIS_DRIVER_TYPE_E5(L6470)
_L6470_INIT_CHIP(E5);
#endif
}
#endif // L6470

176
Marlin/src/module/stepper/L6470.h Normal file
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@ -0,0 +1,176 @@
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2019 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 <http://www.gnu.org/licenses/>.
*
*/
#pragma once
/**
* stepper/L6470.h
* Stepper driver indirection for L6470 drivers
*/
#include "../../inc/MarlinConfig.h"
#include "../../libs/L6470/L6470_Marlin.h"
// L6470 has STEP on normal pins, but DIR/ENABLE via SPI
#define L6470_WRITE_DIR_COMMAND(STATE,Q) do{ L6470_dir_commands[Q] = (STATE ? dSPIN_STEP_CLOCK_REV : dSPIN_STEP_CLOCK_FWD); }while(0)
// X Stepper
#if AXIS_DRIVER_TYPE_X(L6470)
extern L6470 stepperX;
#define X_ENABLE_INIT NOOP
#define X_ENABLE_WRITE(STATE) NOOP
#define X_ENABLE_READ() (stepperX.getStatus() & STATUS_HIZ)
#define X_DIR_INIT NOOP
#define X_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,X)
#define X_DIR_READ() (stepperX.getStatus() & STATUS_DIR)
#endif
// Y Stepper
#if AXIS_DRIVER_TYPE_Y(L6470)
extern L6470 stepperY;
#define Y_ENABLE_INIT NOOP
#define Y_ENABLE_WRITE(STATE) NOOP
#define Y_ENABLE_READ() (stepperY.getStatus() & STATUS_HIZ)
#define Y_DIR_INIT NOOP
#define Y_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,Y)
#define Y_DIR_READ() (stepperY.getStatus() & STATUS_DIR)
#endif
// Z Stepper
#if AXIS_DRIVER_TYPE_Z(L6470)
extern L6470 stepperZ;
#define Z_ENABLE_INIT NOOP
#define Z_ENABLE_WRITE(STATE) NOOP
#define Z_ENABLE_READ() (stepperZ.getStatus() & STATUS_HIZ)
#define Z_DIR_INIT NOOP
#define Z_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,Z)
#define Z_DIR_READ() (stepperZ.getStatus() & STATUS_DIR)
#endif
// X2 Stepper
#if HAS_X2_ENABLE && AXIS_DRIVER_TYPE_X2(L6470)
extern L6470 stepperX2;
#define X2_ENABLE_INIT NOOP
#define X2_ENABLE_WRITE(STATE) NOOP
#define X2_ENABLE_READ() (stepperX2.getStatus() & STATUS_HIZ)
#define X2_DIR_INIT NOOP
#define X2_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,X2)
#define X2_DIR_READ() (stepperX2.getStatus() & STATUS_DIR)
#endif
// Y2 Stepper
#if HAS_Y2_ENABLE && AXIS_DRIVER_TYPE_Y2(L6470)
extern L6470 stepperY2;
#define Y2_ENABLE_INIT NOOP
#define Y2_ENABLE_WRITE(STATE) NOOP
#define Y2_ENABLE_READ() (stepperY2.getStatus() & STATUS_HIZ)
#define Y2_DIR_INIT NOOP
#define Y2_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,Y2)
#define Y2_DIR_READ() (stepperY2.getStatus() & STATUS_DIR)
#endif
// Z2 Stepper
#if HAS_Z2_ENABLE && AXIS_DRIVER_TYPE_Z2(L6470)
extern L6470 stepperZ2;
#define Z2_ENABLE_INIT NOOP
#define Z2_ENABLE_WRITE(STATE) NOOP
#define Z2_ENABLE_READ() (stepperZ2.getStatus() & STATUS_HIZ)
#define Z2_DIR_INIT NOOP
#define Z2_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,Z2)
#define Z2_DIR_READ() (stepperZ2.getStatus() & STATUS_DIR)
#endif
// Z3 Stepper
#if HAS_Z3_ENABLE && AXIS_DRIVER_TYPE_Z3(L6470)
extern L6470 stepperZ3;
#define Z3_ENABLE_INIT NOOP
#define Z3_ENABLE_WRITE(STATE) NOOP
#define Z3_ENABLE_READ() (stepperZ3.getStatus() & STATUS_HIZ)
#define Z3_DIR_INIT NOOP
#define Z3_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,Z3)
#define Z3_DIR_READ() (stepperZ3.getStatus() & STATUS_DIR)
#endif
// E0 Stepper
#if AXIS_DRIVER_TYPE_E0(L6470)
extern L6470 stepperE0;
#define E0_ENABLE_INIT NOOP
#define E0_ENABLE_WRITE(STATE) NOOP
#define E0_ENABLE_READ() (stepperE0.getStatus() & STATUS_HIZ)
#define E0_DIR_INIT NOOP
#define E0_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,E0)
#define E0_DIR_READ() (stepperE0.getStatus() & STATUS_DIR)
#endif
// E1 Stepper
#if AXIS_DRIVER_TYPE_E1(L6470)
extern L6470 stepperE1;
#define E1_ENABLE_INIT NOOP
#define E1_ENABLE_WRITE(STATE) NOOP
#define E1_ENABLE_READ() (stepperE1.getStatus() & STATUS_HIZ)
#define E1_DIR_INIT NOOP
#define E1_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,E1)
#define E1_DIR_READ() (stepperE1.getStatus() & STATUS_DIR)
#endif
// E2 Stepper
#if AXIS_DRIVER_TYPE_E2(L6470)
extern L6470 stepperE2;
#define E2_ENABLE_INIT NOOP
#define E2_ENABLE_WRITE(STATE) NOOP
#define E2_ENABLE_READ() (stepperE2.getStatus() & STATUS_HIZ)
#define E2_DIR_INIT NOOP
#define E2_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,E2)
#define E2_DIR_READ() (stepperE2.getStatus() & STATUS_DIR)
#endif
// E3 Stepper
#if AXIS_DRIVER_TYPE_E3(L6470)
extern L6470 stepperE3;
#define E3_ENABLE_INIT NOOP
#define E3_ENABLE_WRITE(STATE) NOOP
#define E3_ENABLE_READ() (stepperE3.getStatus() & STATUS_HIZ)
#define E3_DIR_INIT NOOP
#define E3_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,E3)
#define E3_DIR_READ() (stepperE3.getStatus() & STATUS_DIR)
#endif
// E4 Stepper
#if AXIS_DRIVER_TYPE_E4(L6470)
extern L6470 stepperE4;
#define E4_ENABLE_INIT NOOP
#define E4_ENABLE_WRITE(STATE) NOOP
#define E4_ENABLE_READ() (stepperE4.getStatus() & STATUS_HIZ)
#define E4_DIR_INIT NOOP
#define E4_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,E4)
#define E4_DIR_READ() (stepperE4.getStatus() & STATUS_DIR)
#endif
// E5 Stepper
#if AXIS_DRIVER_TYPE_E5(L6470)
extern L6470 stepperE5;
#define E5_ENABLE_INIT NOOP
#define E5_ENABLE_WRITE(STATE) NOOP
#define E5_ENABLE_READ() (stepperE5.getStatus() & STATUS_HIZ)
#define E5_DIR_INIT NOOP
#define E5_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,E5)
#define E5_DIR_READ() (stepperE5.getStatus() & STATUS_DIR)
#endif

126
Marlin/src/module/stepper/TMC26X.cpp Normal file
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@ -0,0 +1,126 @@
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2019 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 <http://www.gnu.org/licenses/>.
*
*/
/**
* stepper/TMC26X.cpp
* Stepper driver indirection for TMC26X drivers
*/
#include "../../inc/MarlinConfig.h"
//
// TMC26X Driver objects and inits
//
#if HAS_DRIVER(TMC26X)
#include "TMC26X.h"
#define _TMC26X_DEFINE(ST) TMC26XStepper stepper##ST(200, ST##_CS_PIN, ST##_STEP_PIN, ST##_DIR_PIN, ST##_MAX_CURRENT, ST##_SENSE_RESISTOR)
#if AXIS_DRIVER_TYPE_X(TMC26X)
_TMC26X_DEFINE(X);
#endif
#if AXIS_DRIVER_TYPE_X2(TMC26X)
_TMC26X_DEFINE(X2);
#endif
#if AXIS_DRIVER_TYPE_Y(TMC26X)
_TMC26X_DEFINE(Y);
#endif
#if AXIS_DRIVER_TYPE_Y2(TMC26X)
_TMC26X_DEFINE(Y2);
#endif
#if AXIS_DRIVER_TYPE_Z(TMC26X)
_TMC26X_DEFINE(Z);
#endif
#if AXIS_DRIVER_TYPE_Z2(TMC26X)
_TMC26X_DEFINE(Z2);
#endif
#if AXIS_DRIVER_TYPE_Z3(TMC26X)
_TMC26X_DEFINE(Z3);
#endif
#if AXIS_DRIVER_TYPE_E0(TMC26X)
_TMC26X_DEFINE(E0);
#endif
#if AXIS_DRIVER_TYPE_E1(TMC26X)
_TMC26X_DEFINE(E1);
#endif
#if AXIS_DRIVER_TYPE_E2(TMC26X)
_TMC26X_DEFINE(E2);
#endif
#if AXIS_DRIVER_TYPE_E3(TMC26X)
_TMC26X_DEFINE(E3);
#endif
#if AXIS_DRIVER_TYPE_E4(TMC26X)
_TMC26X_DEFINE(E4);
#endif
#if AXIS_DRIVER_TYPE_E5(TMC26X)
_TMC26X_DEFINE(E5);
#endif
#define _TMC26X_INIT(A) do{ \
stepper##A.setMicrosteps(A##_MICROSTEPS); \
stepper##A.start(); \
}while(0)
void tmc26x_init_to_defaults() {
#if AXIS_DRIVER_TYPE_X(TMC26X)
_TMC26X_INIT(X);
#endif
#if AXIS_DRIVER_TYPE_X2(TMC26X)
_TMC26X_INIT(X2);
#endif
#if AXIS_DRIVER_TYPE_Y(TMC26X)
_TMC26X_INIT(Y);
#endif
#if AXIS_DRIVER_TYPE_Y2(TMC26X)
_TMC26X_INIT(Y2);
#endif
#if AXIS_DRIVER_TYPE_Z(TMC26X)
_TMC26X_INIT(Z);
#endif
#if AXIS_DRIVER_TYPE_Z2(TMC26X)
_TMC26X_INIT(Z2);
#endif
#if AXIS_DRIVER_TYPE_Z3(TMC26X)
_TMC26X_INIT(Z3);
#endif
#if AXIS_DRIVER_TYPE_E0(TMC26X)
_TMC26X_INIT(E0);
#endif
#if AXIS_DRIVER_TYPE_E1(TMC26X)
_TMC26X_INIT(E1);
#endif
#if AXIS_DRIVER_TYPE_E2(TMC26X)
_TMC26X_INIT(E2);
#endif
#if AXIS_DRIVER_TYPE_E3(TMC26X)
_TMC26X_INIT(E3);
#endif
#if AXIS_DRIVER_TYPE_E4(TMC26X)
_TMC26X_INIT(E4);
#endif
#if AXIS_DRIVER_TYPE_E5(TMC26X)
_TMC26X_INIT(E5);
#endif
}
#endif // TMC26X

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/**
* Marlin 3D Printer Firmware
* Copyright (c) 2019 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 <http://www.gnu.org/licenses/>.
*
*/
#pragma once
/**
* stepper/TMC26X.h
* Stepper driver indirection for TMC26X drivers
*/
#include "../../inc/MarlinConfig.h"
// TMC26X drivers have STEP/DIR on normal pins, but ENABLE via SPI
#include <SPI.h>
#if defined(STM32GENERIC) && defined(STM32F7)
#include "../../HAL/HAL_STM32_F4_F7/STM32F7/TMC2660.h"
#else
#include <TMC26XStepper.h>
#endif
void tmc26x_init_to_defaults();
// X Stepper
#if AXIS_DRIVER_TYPE_X(TMC26X)
extern TMC26XStepper stepperX;
#define X_ENABLE_INIT NOOP
#define X_ENABLE_WRITE(STATE) stepperX.setEnabled(STATE)
#define X_ENABLE_READ() stepperX.isEnabled()
#endif
// Y Stepper
#if AXIS_DRIVER_TYPE_Y(TMC26X)
extern TMC26XStepper stepperY;
#define Y_ENABLE_INIT NOOP
#define Y_ENABLE_WRITE(STATE) stepperY.setEnabled(STATE)
#define Y_ENABLE_READ() stepperY.isEnabled()
#endif
// Z Stepper
#if AXIS_DRIVER_TYPE_Z(TMC26X)
extern TMC26XStepper stepperZ;
#define Z_ENABLE_INIT NOOP
#define Z_ENABLE_WRITE(STATE) stepperZ.setEnabled(STATE)
#define Z_ENABLE_READ() stepperZ.isEnabled()
#endif
// X2 Stepper
#if HAS_X2_ENABLE && AXIS_DRIVER_TYPE_X2(TMC26X)
extern TMC26XStepper stepperX2;
#define X2_ENABLE_INIT NOOP
#define X2_ENABLE_WRITE(STATE) stepperX2.setEnabled(STATE)
#define X2_ENABLE_READ() stepperX2.isEnabled()
#endif
// Y2 Stepper
#if HAS_Y2_ENABLE && AXIS_DRIVER_TYPE_Y2(TMC26X)
extern TMC26XStepper stepperY2;
#define Y2_ENABLE_INIT NOOP
#define Y2_ENABLE_WRITE(STATE) stepperY2.setEnabled(STATE)
#define Y2_ENABLE_READ() stepperY2.isEnabled()
#endif
// Z2 Stepper
#if HAS_Z2_ENABLE && AXIS_DRIVER_TYPE_Z2(TMC26X)
extern TMC26XStepper stepperZ2;
#define Z2_ENABLE_INIT NOOP
#define Z2_ENABLE_WRITE(STATE) stepperZ2.setEnabled(STATE)
#define Z2_ENABLE_READ() stepperZ2.isEnabled()
#endif
// Z3 Stepper
#if HAS_Z3_ENABLE && ENABLED(Z3_IS_TMC26X)
extern TMC26XStepper stepperZ3;
#define Z3_ENABLE_INIT NOOP
#define Z3_ENABLE_WRITE(STATE) stepperZ3.setEnabled(STATE)
#define Z3_ENABLE_READ() stepperZ3.isEnabled()
#endif
// E0 Stepper
#if AXIS_DRIVER_TYPE_E0(TMC26X)
extern TMC26XStepper stepperE0;
#define E0_ENABLE_INIT NOOP
#define E0_ENABLE_WRITE(STATE) stepperE0.setEnabled(STATE)
#define E0_ENABLE_READ() stepperE0.isEnabled()
#endif
// E1 Stepper
#if AXIS_DRIVER_TYPE_E1(TMC26X)
extern TMC26XStepper stepperE1;
#define E1_ENABLE_INIT NOOP
#define E1_ENABLE_WRITE(STATE) stepperE1.setEnabled(STATE)
#define E1_ENABLE_READ() stepperE1.isEnabled()
#endif
// E2 Stepper
#if AXIS_DRIVER_TYPE_E2(TMC26X)
extern TMC26XStepper stepperE2;
#define E2_ENABLE_INIT NOOP
#define E2_ENABLE_WRITE(STATE) stepperE2.setEnabled(STATE)
#define E2_ENABLE_READ() stepperE2.isEnabled()
#endif
// E3 Stepper
#if AXIS_DRIVER_TYPE_E3(TMC26X)
extern TMC26XStepper stepperE3;
#define E3_ENABLE_INIT NOOP
#define E3_ENABLE_WRITE(STATE) stepperE3.setEnabled(STATE)
#define E3_ENABLE_READ() stepperE3.isEnabled()
#endif
// E4 Stepper
#if AXIS_DRIVER_TYPE_E4(TMC26X)
extern TMC26XStepper stepperE4;
#define E4_ENABLE_INIT NOOP
#define E4_ENABLE_WRITE(STATE) stepperE4.setEnabled(STATE)
#define E4_ENABLE_READ() stepperE4.isEnabled()
#endif
// E5 Stepper
#if AXIS_DRIVER_TYPE_E5(TMC26X)
extern TMC26XStepper stepperE5;
#define E5_ENABLE_INIT NOOP
#define E5_ENABLE_WRITE(STATE) stepperE5.setEnabled(STATE)
#define E5_ENABLE_READ() stepperE5.isEnabled()
#endif

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/**
* Marlin 3D Printer Firmware
* Copyright (c) 2019 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 <http://www.gnu.org/licenses/>.
*
*/
/**
* stepper/indirection.cpp
*
* Stepper motor driver indirection to allow some stepper functions to
* be done via SPI/I2c instead of direct pin manipulation.
*
* Copyright (c) 2015 Dominik Wenger
*/
#include "../../inc/MarlinConfig.h"
#include "indirection.h"
void restore_stepper_drivers() {
#if HAS_TRINAMIC
restore_trinamic_drivers();
#endif
}
void reset_stepper_drivers() {
#if HAS_DRIVER(TMC26X)
tmc26x_init_to_defaults();
#endif
#if HAS_DRIVER(L6470)
L6470.init_to_defaults();
#endif
#if HAS_TRINAMIC
reset_trinamic_drivers();
#endif
}

399
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/**
* Marlin 3D Printer Firmware
* Copyright (c) 2019 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 <http://www.gnu.org/licenses/>.
*
*/
#pragma once
/**
* stepper/indirection.h
*
* Stepper motor driver indirection to allow some stepper functions to
* be done via SPI/I2c instead of direct pin manipulation.
*
* Copyright (c) 2015 Dominik Wenger
*/
#include "../../inc/MarlinConfig.h"
#if HAS_DRIVER(L6470)
#include "L6470.h"
#endif
#if HAS_DRIVER(TMC26X)
#include "TMC26X.h"
#endif
#if HAS_TRINAMIC
#include "trinamic.h"
#endif
void restore_stepper_drivers(); // Called by PSU_ON
void reset_stepper_drivers(); // Called by settings.load / settings.reset
// X Stepper
#ifndef X_ENABLE_INIT
#define X_ENABLE_INIT SET_OUTPUT(X_ENABLE_PIN)
#define X_ENABLE_WRITE(STATE) WRITE(X_ENABLE_PIN,STATE)
#define X_ENABLE_READ() READ(X_ENABLE_PIN)
#endif
#ifndef X_DIR_INIT
#define X_DIR_INIT SET_OUTPUT(X_DIR_PIN)
#define X_DIR_WRITE(STATE) WRITE(X_DIR_PIN,STATE)
#define X_DIR_READ() READ(X_DIR_PIN)
#endif
#define X_STEP_INIT SET_OUTPUT(X_STEP_PIN)
#ifndef X_STEP_WRITE
#define X_STEP_WRITE(STATE) WRITE(X_STEP_PIN,STATE)
#endif
#define X_STEP_READ READ(X_STEP_PIN)
// Y Stepper
#ifndef Y_ENABLE_INIT
#define Y_ENABLE_INIT SET_OUTPUT(Y_ENABLE_PIN)
#define Y_ENABLE_WRITE(STATE) WRITE(Y_ENABLE_PIN,STATE)
#define Y_ENABLE_READ() READ(Y_ENABLE_PIN)
#endif
#ifndef Y_DIR_INIT
#define Y_DIR_INIT SET_OUTPUT(Y_DIR_PIN)
#define Y_DIR_WRITE(STATE) WRITE(Y_DIR_PIN,STATE)
#define Y_DIR_READ() READ(Y_DIR_PIN)
#endif
#define Y_STEP_INIT SET_OUTPUT(Y_STEP_PIN)
#ifndef Y_STEP_WRITE
#define Y_STEP_WRITE(STATE) WRITE(Y_STEP_PIN,STATE)
#endif
#define Y_STEP_READ READ(Y_STEP_PIN)
// Z Stepper
#ifndef Z_ENABLE_INIT
#define Z_ENABLE_INIT SET_OUTPUT(Z_ENABLE_PIN)
#define Z_ENABLE_WRITE(STATE) WRITE(Z_ENABLE_PIN,STATE)
#define Z_ENABLE_READ() READ(Z_ENABLE_PIN)
#endif
#ifndef Z_DIR_INIT
#define Z_DIR_INIT SET_OUTPUT(Z_DIR_PIN)
#define Z_DIR_WRITE(STATE) WRITE(Z_DIR_PIN,STATE)
#define Z_DIR_READ() READ(Z_DIR_PIN)
#endif
#define Z_STEP_INIT SET_OUTPUT(Z_STEP_PIN)
#ifndef Z_STEP_WRITE
#define Z_STEP_WRITE(STATE) WRITE(Z_STEP_PIN,STATE)
#endif
#define Z_STEP_READ READ(Z_STEP_PIN)
// X2 Stepper
#if HAS_X2_ENABLE
#ifndef X2_ENABLE_INIT
#define X2_ENABLE_INIT SET_OUTPUT(X2_ENABLE_PIN)
#define X2_ENABLE_WRITE(STATE) WRITE(X2_ENABLE_PIN,STATE)
#define X2_ENABLE_READ() READ(X2_ENABLE_PIN)
#endif
#ifndef X2_DIR_INIT
#define X2_DIR_INIT SET_OUTPUT(X2_DIR_PIN)
#define X2_DIR_WRITE(STATE) WRITE(X2_DIR_PIN,STATE)
#define X2_DIR_READ() READ(X2_DIR_PIN)
#endif
#define X2_STEP_INIT SET_OUTPUT(X2_STEP_PIN)
#ifndef X2_STEP_WRITE
#define X2_STEP_WRITE(STATE) WRITE(X2_STEP_PIN,STATE)
#endif
#define X2_STEP_READ READ(X2_STEP_PIN)
#endif
// Y2 Stepper
#if HAS_Y2_ENABLE
#ifndef Y2_ENABLE_INIT
#define Y2_ENABLE_INIT SET_OUTPUT(Y2_ENABLE_PIN)
#define Y2_ENABLE_WRITE(STATE) WRITE(Y2_ENABLE_PIN,STATE)
#define Y2_ENABLE_READ() READ(Y2_ENABLE_PIN)
#endif
#ifndef Y2_DIR_INIT
#define Y2_DIR_INIT SET_OUTPUT(Y2_DIR_PIN)
#define Y2_DIR_WRITE(STATE) WRITE(Y2_DIR_PIN,STATE)
#define Y2_DIR_READ() READ(Y2_DIR_PIN)
#endif
#define Y2_STEP_INIT SET_OUTPUT(Y2_STEP_PIN)
#ifndef Y2_STEP_WRITE
#define Y2_STEP_WRITE(STATE) WRITE(Y2_STEP_PIN,STATE)
#endif
#define Y2_STEP_READ READ(Y2_STEP_PIN)
#else
#define Y2_DIR_WRITE(STATE) NOOP
#endif
// Z2 Stepper
#if HAS_Z2_ENABLE
#ifndef Z2_ENABLE_INIT
#define Z2_ENABLE_INIT SET_OUTPUT(Z2_ENABLE_PIN)
#define Z2_ENABLE_WRITE(STATE) WRITE(Z2_ENABLE_PIN,STATE)
#define Z2_ENABLE_READ() READ(Z2_ENABLE_PIN)
#endif
#ifndef Z2_DIR_INIT
#define Z2_DIR_INIT SET_OUTPUT(Z2_DIR_PIN)
#define Z2_DIR_WRITE(STATE) WRITE(Z2_DIR_PIN,STATE)
#define Z2_DIR_READ() READ(Z2_DIR_PIN)
#endif
#define Z2_STEP_INIT SET_OUTPUT(Z2_STEP_PIN)
#ifndef Z2_STEP_WRITE
#define Z2_STEP_WRITE(STATE) WRITE(Z2_STEP_PIN,STATE)
#endif
#define Z2_STEP_READ READ(Z2_STEP_PIN)
#else
#define Z2_DIR_WRITE(STATE) NOOP
#endif
// Z3 Stepper
#if HAS_Z3_ENABLE
#ifndef Z3_ENABLE_INIT
#define Z3_ENABLE_INIT SET_OUTPUT(Z3_ENABLE_PIN)
#define Z3_ENABLE_WRITE(STATE) WRITE(Z3_ENABLE_PIN,STATE)
#define Z3_ENABLE_READ() READ(Z3_ENABLE_PIN)
#endif
#ifndef Z3_DIR_INIT
#define Z3_DIR_INIT SET_OUTPUT(Z3_DIR_PIN)
#define Z3_DIR_WRITE(STATE) WRITE(Z3_DIR_PIN,STATE)
#define Z3_DIR_READ() READ(Z3_DIR_PIN)
#endif
#define Z3_STEP_INIT SET_OUTPUT(Z3_STEP_PIN)
#ifndef Z3_STEP_WRITE
#define Z3_STEP_WRITE(STATE) WRITE(Z3_STEP_PIN,STATE)
#endif
#define Z3_STEP_READ READ(Z3_STEP_PIN)
#else
#define Z3_DIR_WRITE(STATE) NOOP
#endif
// E0 Stepper
#ifndef E0_ENABLE_INIT
#define E0_ENABLE_INIT SET_OUTPUT(E0_ENABLE_PIN)
#define E0_ENABLE_WRITE(STATE) WRITE(E0_ENABLE_PIN,STATE)
#define E0_ENABLE_READ() READ(E0_ENABLE_PIN)
#endif
#ifndef E0_DIR_INIT
#define E0_DIR_INIT SET_OUTPUT(E0_DIR_PIN)
#define E0_DIR_WRITE(STATE) WRITE(E0_DIR_PIN,STATE)
#define E0_DIR_READ() READ(E0_DIR_PIN)
#endif
#define E0_STEP_INIT SET_OUTPUT(E0_STEP_PIN)
#ifndef E0_STEP_WRITE
#define E0_STEP_WRITE(STATE) WRITE(E0_STEP_PIN,STATE)
#endif
#define E0_STEP_READ READ(E0_STEP_PIN)
// E1 Stepper
#ifndef E1_ENABLE_INIT
#define E1_ENABLE_INIT SET_OUTPUT(E1_ENABLE_PIN)
#define E1_ENABLE_WRITE(STATE) WRITE(E1_ENABLE_PIN,STATE)
#define E1_ENABLE_READ() READ(E1_ENABLE_PIN)
#endif
#ifndef E1_DIR_INIT
#define E1_DIR_INIT SET_OUTPUT(E1_DIR_PIN)
#define E1_DIR_WRITE(STATE) WRITE(E1_DIR_PIN,STATE)
#define E1_DIR_READ() READ(E1_DIR_PIN)
#endif
#define E1_STEP_INIT SET_OUTPUT(E1_STEP_PIN)
#ifndef E1_STEP_WRITE
#define E1_STEP_WRITE(STATE) WRITE(E1_STEP_PIN,STATE)
#endif
#define E1_STEP_READ READ(E1_STEP_PIN)
// E2 Stepper
#ifndef E2_ENABLE_INIT
#define E2_ENABLE_INIT SET_OUTPUT(E2_ENABLE_PIN)
#define E2_ENABLE_WRITE(STATE) WRITE(E2_ENABLE_PIN,STATE)
#define E2_ENABLE_READ() READ(E2_ENABLE_PIN)
#endif
#ifndef E2_DIR_INIT
#define E2_DIR_INIT SET_OUTPUT(E2_DIR_PIN)
#define E2_DIR_WRITE(STATE) WRITE(E2_DIR_PIN,STATE)
#define E2_DIR_READ() READ(E2_DIR_PIN)
#endif
#define E2_STEP_INIT SET_OUTPUT(E2_STEP_PIN)
#ifndef E2_STEP_WRITE
#define E2_STEP_WRITE(STATE) WRITE(E2_STEP_PIN,STATE)
#endif
#define E2_STEP_READ READ(E2_STEP_PIN)
// E3 Stepper
#ifndef E3_ENABLE_INIT
#define E3_ENABLE_INIT SET_OUTPUT(E3_ENABLE_PIN)
#define E3_ENABLE_WRITE(STATE) WRITE(E3_ENABLE_PIN,STATE)
#define E3_ENABLE_READ() READ(E3_ENABLE_PIN)
#endif
#ifndef E3_DIR_INIT
#define E3_DIR_INIT SET_OUTPUT(E3_DIR_PIN)
#define E3_DIR_WRITE(STATE) WRITE(E3_DIR_PIN,STATE)
#define E3_DIR_READ() READ(E3_DIR_PIN)
#endif
#define E3_STEP_INIT SET_OUTPUT(E3_STEP_PIN)
#ifndef E3_STEP_WRITE
#define E3_STEP_WRITE(STATE) WRITE(E3_STEP_PIN,STATE)
#endif
#define E3_STEP_READ READ(E3_STEP_PIN)
// E4 Stepper
#ifndef E4_ENABLE_INIT
#define E4_ENABLE_INIT SET_OUTPUT(E4_ENABLE_PIN)
#define E4_ENABLE_WRITE(STATE) WRITE(E4_ENABLE_PIN,STATE)
#define E4_ENABLE_READ() READ(E4_ENABLE_PIN)
#endif
#ifndef E4_DIR_INIT
#define E4_DIR_INIT SET_OUTPUT(E4_DIR_PIN)
#define E4_DIR_WRITE(STATE) WRITE(E4_DIR_PIN,STATE)
#define E4_DIR_READ() READ(E4_DIR_PIN)
#endif
#define E4_STEP_INIT SET_OUTPUT(E4_STEP_PIN)
#ifndef E4_STEP_WRITE
#define E4_STEP_WRITE(STATE) WRITE(E4_STEP_PIN,STATE)
#endif
#define E4_STEP_READ READ(E4_STEP_PIN)
// E5 Stepper
#ifndef E5_ENABLE_INIT
#define E5_ENABLE_INIT SET_OUTPUT(E5_ENABLE_PIN)
#define E5_ENABLE_WRITE(STATE) WRITE(E5_ENABLE_PIN,STATE)
#define E5_ENABLE_READ() READ(E5_ENABLE_PIN)
#endif
#ifndef E5_DIR_INIT
#define E5_DIR_INIT SET_OUTPUT(E5_DIR_PIN)
#define E5_DIR_WRITE(STATE) WRITE(E5_DIR_PIN,STATE)
#define E5_DIR_READ() READ(E5_DIR_PIN)
#endif
#define E5_STEP_INIT SET_OUTPUT(E5_STEP_PIN)
#ifndef E5_STEP_WRITE
#define E5_STEP_WRITE(STATE) WRITE(E5_STEP_PIN,STATE)
#endif
#define E5_STEP_READ READ(E5_STEP_PIN)
/**
* Extruder indirection for the single E axis
*/
#if ENABLED(SWITCHING_EXTRUDER) // One stepper driver per two extruders, reversed on odd index
#if EXTRUDERS > 5
#define E_STEP_WRITE(E,V) do{ if (E < 2) { E0_STEP_WRITE(V); } else if (E < 4) { E1_STEP_WRITE(V); } else { E2_STEP_WRITE(V); } }while(0)
#define NORM_E_DIR(E) do{ switch (E) { case 0: E0_DIR_WRITE(!INVERT_E0_DIR); break; case 1: E0_DIR_WRITE( INVERT_E0_DIR); break; case 2: E1_DIR_WRITE(!INVERT_E1_DIR); break; case 3: E1_DIR_WRITE( INVERT_E1_DIR); break; case 4: E2_DIR_WRITE(!INVERT_E2_DIR); case 5: E2_DIR_WRITE( INVERT_E2_DIR); } }while(0)
#define REV_E_DIR(E) do{ switch (E) { case 0: E0_DIR_WRITE( INVERT_E0_DIR); break; case 1: E0_DIR_WRITE(!INVERT_E0_DIR); break; case 2: E1_DIR_WRITE( INVERT_E1_DIR); break; case 3: E1_DIR_WRITE(!INVERT_E1_DIR); break; case 4: E2_DIR_WRITE( INVERT_E2_DIR); case 5: E2_DIR_WRITE(!INVERT_E2_DIR); } }while(0)
#elif EXTRUDERS > 4
#define E_STEP_WRITE(E,V) do{ if (E < 2) { E0_STEP_WRITE(V); } else if (E < 4) { E1_STEP_WRITE(V); } else { E2_STEP_WRITE(V); } }while(0)
#define NORM_E_DIR(E) do{ switch (E) { case 0: E0_DIR_WRITE(!INVERT_E0_DIR); break; case 1: E0_DIR_WRITE( INVERT_E0_DIR); break; case 2: E1_DIR_WRITE(!INVERT_E1_DIR); break; case 3: E1_DIR_WRITE( INVERT_E1_DIR); break; case 4: E2_DIR_WRITE(!INVERT_E2_DIR); } }while(0)
#define REV_E_DIR(E) do{ switch (E) { case 0: E0_DIR_WRITE( INVERT_E0_DIR); break; case 1: E0_DIR_WRITE(!INVERT_E0_DIR); break; case 2: E1_DIR_WRITE( INVERT_E1_DIR); break; case 3: E1_DIR_WRITE(!INVERT_E1_DIR); break; case 4: E2_DIR_WRITE( INVERT_E2_DIR); } }while(0)
#elif EXTRUDERS > 3
#define E_STEP_WRITE(E,V) do{ if (E < 2) { E0_STEP_WRITE(V); } else { E1_STEP_WRITE(V); } }while(0)
#define NORM_E_DIR(E) do{ switch (E) { case 0: E0_DIR_WRITE(!INVERT_E0_DIR); break; case 1: E0_DIR_WRITE( INVERT_E0_DIR); break; case 2: E1_DIR_WRITE(!INVERT_E1_DIR); break; case 3: E1_DIR_WRITE( INVERT_E1_DIR); } }while(0)
#define REV_E_DIR(E) do{ switch (E) { case 0: E0_DIR_WRITE( INVERT_E0_DIR); break; case 1: E0_DIR_WRITE(!INVERT_E0_DIR); break; case 2: E1_DIR_WRITE( INVERT_E1_DIR); break; case 3: E1_DIR_WRITE(!INVERT_E1_DIR); } }while(0)
#elif EXTRUDERS > 2
#define E_STEP_WRITE(E,V) do{ if (E < 2) { E0_STEP_WRITE(V); } else { E1_STEP_WRITE(V); } }while(0)
#define NORM_E_DIR(E) do{ switch (E) { case 0: E0_DIR_WRITE(!INVERT_E0_DIR); break; case 1: E0_DIR_WRITE( INVERT_E0_DIR); break; case 2: E1_DIR_WRITE(!INVERT_E1_DIR); } }while(0)
#define REV_E_DIR(E) do{ switch (E) { case 0: E0_DIR_WRITE( INVERT_E0_DIR); break; case 1: E0_DIR_WRITE(!INVERT_E0_DIR); break; case 2: E1_DIR_WRITE( INVERT_E1_DIR); } }while(0)
#else
#define E_STEP_WRITE(E,V) E0_STEP_WRITE(V)
#define NORM_E_DIR(E) do{ E0_DIR_WRITE(E ? INVERT_E0_DIR : !INVERT_E0_DIR); }while(0)
#define REV_E_DIR(E) do{ E0_DIR_WRITE(E ? !INVERT_E0_DIR : INVERT_E0_DIR); }while(0)
#endif
#elif ENABLED(PRUSA_MMU2)
#define E_STEP_WRITE(E,V) E0_STEP_WRITE(V)
#define NORM_E_DIR(E) E0_DIR_WRITE(!INVERT_E0_DIR)
#define REV_E_DIR(E) E0_DIR_WRITE( INVERT_E0_DIR)
#elif ENABLED(MK2_MULTIPLEXER) // One multiplexed stepper driver, reversed on odd index
#define E_STEP_WRITE(E,V) E0_STEP_WRITE(V)
#define NORM_E_DIR(E) do{ E0_DIR_WRITE(TEST(E, 0) ? !INVERT_E0_DIR: INVERT_E0_DIR); }while(0)
#define REV_E_DIR(E) do{ E0_DIR_WRITE(TEST(E, 0) ? INVERT_E0_DIR: !INVERT_E0_DIR); }while(0)
#elif E_STEPPERS > 1
#if E_STEPPERS > 5
#define _E_STEP_WRITE(E,V) do{ switch (E) { case 0: E0_STEP_WRITE(V); break; case 1: E1_STEP_WRITE(V); break; case 2: E2_STEP_WRITE(V); break; case 3: E3_STEP_WRITE(V); break; case 4: E4_STEP_WRITE(V); case 5: E5_STEP_WRITE(V); } }while(0)
#define _NORM_E_DIR(E) do{ switch (E) { case 0: E0_DIR_WRITE(!INVERT_E0_DIR); break; case 1: E1_DIR_WRITE(!INVERT_E1_DIR); break; case 2: E2_DIR_WRITE(!INVERT_E2_DIR); break; case 3: E3_DIR_WRITE(!INVERT_E3_DIR); break; case 4: E4_DIR_WRITE(!INVERT_E4_DIR); case 5: E5_DIR_WRITE(!INVERT_E5_DIR); } }while(0)
#define _REV_E_DIR(E) do{ switch (E) { case 0: E0_DIR_WRITE( INVERT_E0_DIR); break; case 1: E1_DIR_WRITE( INVERT_E1_DIR); break; case 2: E2_DIR_WRITE( INVERT_E2_DIR); break; case 3: E3_DIR_WRITE( INVERT_E3_DIR); break; case 4: E4_DIR_WRITE( INVERT_E4_DIR); case 5: E5_DIR_WRITE( INVERT_E5_DIR); } }while(0)
#elif E_STEPPERS > 4
#define _E_STEP_WRITE(E,V) do{ switch (E) { case 0: E0_STEP_WRITE(V); break; case 1: E1_STEP_WRITE(V); break; case 2: E2_STEP_WRITE(V); break; case 3: E3_STEP_WRITE(V); break; case 4: E4_STEP_WRITE(V); } }while(0)
#define _NORM_E_DIR(E) do{ switch (E) { case 0: E0_DIR_WRITE(!INVERT_E0_DIR); break; case 1: E1_DIR_WRITE(!INVERT_E1_DIR); break; case 2: E2_DIR_WRITE(!INVERT_E2_DIR); break; case 3: E3_DIR_WRITE(!INVERT_E3_DIR); break; case 4: E4_DIR_WRITE(!INVERT_E4_DIR); } }while(0)
#define _REV_E_DIR(E) do{ switch (E) { case 0: E0_DIR_WRITE( INVERT_E0_DIR); break; case 1: E1_DIR_WRITE( INVERT_E1_DIR); break; case 2: E2_DIR_WRITE( INVERT_E2_DIR); break; case 3: E3_DIR_WRITE( INVERT_E3_DIR); break; case 4: E4_DIR_WRITE( INVERT_E4_DIR); } }while(0)
#elif E_STEPPERS > 3
#define _E_STEP_WRITE(E,V) do{ switch (E) { case 0: E0_STEP_WRITE(V); break; case 1: E1_STEP_WRITE(V); break; case 2: E2_STEP_WRITE(V); break; case 3: E3_STEP_WRITE(V); } }while(0)
#define _NORM_E_DIR(E) do{ switch (E) { case 0: E0_DIR_WRITE(!INVERT_E0_DIR); break; case 1: E1_DIR_WRITE(!INVERT_E1_DIR); break; case 2: E2_DIR_WRITE(!INVERT_E2_DIR); break; case 3: E3_DIR_WRITE(!INVERT_E3_DIR); } }while(0)
#define _REV_E_DIR(E) do{ switch (E) { case 0: E0_DIR_WRITE( INVERT_E0_DIR); break; case 1: E1_DIR_WRITE( INVERT_E1_DIR); break; case 2: E2_DIR_WRITE( INVERT_E2_DIR); break; case 3: E3_DIR_WRITE( INVERT_E3_DIR); } }while(0)
#elif E_STEPPERS > 2
#define _E_STEP_WRITE(E,V) do{ switch (E) { case 0: E0_STEP_WRITE(V); break; case 1: E1_STEP_WRITE(V); break; case 2: E2_STEP_WRITE(V); } }while(0)
#define _NORM_E_DIR(E) do{ switch (E) { case 0: E0_DIR_WRITE(!INVERT_E0_DIR); break; case 1: E1_DIR_WRITE(!INVERT_E1_DIR); break; case 2: E2_DIR_WRITE(!INVERT_E2_DIR); } }while(0)
#define _REV_E_DIR(E) do{ switch (E) { case 0: E0_DIR_WRITE( INVERT_E0_DIR); break; case 1: E1_DIR_WRITE( INVERT_E1_DIR); break; case 2: E2_DIR_WRITE( INVERT_E2_DIR); } }while(0)
#else
#define _E_STEP_WRITE(E,V) do{ if (E == 0) { E0_STEP_WRITE(V); } else { E1_STEP_WRITE(V); } }while(0)
#define _NORM_E_DIR(E) do{ if (E == 0) { E0_DIR_WRITE(!INVERT_E0_DIR); } else { E1_DIR_WRITE(!INVERT_E1_DIR); } }while(0)
#define _REV_E_DIR(E) do{ if (E == 0) { E0_DIR_WRITE( INVERT_E0_DIR); } else { E1_DIR_WRITE( INVERT_E1_DIR); } }while(0)
#endif
#if HAS_DUPLICATION_MODE
#if ENABLED(MULTI_NOZZLE_DUPLICATION)
#define _DUPE(N,T,V) do{ if (TEST(duplication_e_mask, N)) E##N##_##T##_WRITE(V); }while(0)
#else
#define _DUPE(N,T,V) E##N##_##T##_WRITE(V)
#endif
#define NDIR(N) _DUPE(N,DIR,!INVERT_E##N##_DIR)
#define RDIR(N) _DUPE(N,DIR, INVERT_E##N##_DIR)
#define E_STEP_WRITE(E,V) do{ if (extruder_duplication_enabled) { DUPE(STEP,V); } else _E_STEP_WRITE(E,V); }while(0)
#if E_STEPPERS > 2
#if E_STEPPERS > 5
#define DUPE(T,V) do{ _DUPE(0,T,V); _DUPE(1,T,V); _DUPE(2,T,V); _DUPE(3,T,V); _DUPE(4,T,V); _DUPE(5,T,V); }while(0)
#define NORM_E_DIR(E) do{ if (extruder_duplication_enabled) { NDIR(0); NDIR(1); NDIR(2); NDIR(3); NDIR(4); NDIR(5); } else _NORM_E_DIR(E); }while(0)
#define REV_E_DIR(E) do{ if (extruder_duplication_enabled) { RDIR(0); RDIR(1); RDIR(2); RDIR(3); RDIR(4); RDIR(5); } else _REV_E_DIR(E); }while(0)
#elif E_STEPPERS > 4
#define DUPE(T,V) do{ _DUPE(0,T,V); _DUPE(1,T,V); _DUPE(2,T,V); _DUPE(3,T,V); _DUPE(4,T,V); }while(0)
#define NORM_E_DIR(E) do{ if (extruder_duplication_enabled) { NDIR(0); NDIR(1); NDIR(2); NDIR(3); NDIR(4); } else _NORM_E_DIR(E); }while(0)
#define REV_E_DIR(E) do{ if (extruder_duplication_enabled) { RDIR(0); RDIR(1); RDIR(2); RDIR(3); RDIR(4); } else _REV_E_DIR(E); }while(0)
#elif E_STEPPERS > 3
#define DUPE(T,V) do{ _DUPE(0,T,V); _DUPE(1,T,V); _DUPE(2,T,V); _DUPE(3,T,V); }while(0)
#define NORM_E_DIR(E) do{ if (extruder_duplication_enabled) { NDIR(0); NDIR(1); NDIR(2); NDIR(3); } else _NORM_E_DIR(E); }while(0)
#define REV_E_DIR(E) do{ if (extruder_duplication_enabled) { RDIR(0); RDIR(1); RDIR(2); RDIR(3); } else _REV_E_DIR(E); }while(0)
#else
#define DUPE(T,V) do{ _DUPE(0,T,V); _DUPE(1,T,V); _DUPE(2,T,V); }while(0)
#define NORM_E_DIR(E) do{ if (extruder_duplication_enabled) { NDIR(0); NDIR(1); NDIR(2); } else _NORM_E_DIR(E); }while(0)
#define REV_E_DIR(E) do{ if (extruder_duplication_enabled) { RDIR(0); RDIR(1); RDIR(2); } else _REV_E_DIR(E); }while(0)
#endif
#else
#define DUPE(T,V) do{ _DUPE(0,T,V); _DUPE(1,T,V); }while(0)
#define NORM_E_DIR(E) do{ if (extruder_duplication_enabled) { NDIR(0); NDIR(1); } else _NORM_E_DIR(E); }while(0)
#define REV_E_DIR(E) do{ if (extruder_duplication_enabled) { RDIR(0); RDIR(1); } else _REV_E_DIR(E); }while(0)
#endif
#else
#define E_STEP_WRITE(E,V) _E_STEP_WRITE(E,V)
#define NORM_E_DIR(E) _NORM_E_DIR(E)
#define REV_E_DIR(E) _REV_E_DIR(E)
#endif
#elif E_STEPPERS
#define E_STEP_WRITE(E,V) E0_STEP_WRITE(V)
#define NORM_E_DIR(E) E0_DIR_WRITE(!INVERT_E0_DIR)
#define REV_E_DIR(E) E0_DIR_WRITE( INVERT_E0_DIR)
#else
#define E_STEP_WRITE(E,V) NOOP
#define NORM_E_DIR(E) NOOP
#define REV_E_DIR(E) NOOP
#endif

435
Marlin/src/module/stepper_indirection.cpp → Marlin/src/module/stepper/trinamic.cpp
View file

@ -21,204 +21,90 @@
*/ */
/** /**
* stepper_indirection.cpp * stepper/trinamic.cpp
* * Stepper driver indirection for Trinamic
* Stepper motor driver indirection to allow some stepper functions to
* be done via SPI/I2c instead of direct pin manipulation.
*
* Copyright (c) 2015 Dominik Wenger
*/ */
#include "stepper_indirection.h" #include "../../inc/MarlinConfig.h"
#include "../inc/MarlinConfig.h"
#include "stepper.h"
#if HAS_DRIVER(L6470)
#include "L6470/L6470_Marlin.h"
#endif
//
// TMC26X Driver objects and inits
//
#if HAS_DRIVER(TMC26X)
#include <SPI.h>
#if defined(STM32GENERIC) && defined(STM32F7)
#include "../HAL/HAL_STM32_F4_F7/STM32F7/TMC2660.h"
#else
#include <TMC26XStepper.h>
#endif
#define _TMC26X_DEFINE(ST) TMC26XStepper stepper##ST(200, ST##_CS_PIN, ST##_STEP_PIN, ST##_DIR_PIN, ST##_MAX_CURRENT, ST##_SENSE_RESISTOR)
#if AXIS_DRIVER_TYPE_X(TMC26X)
_TMC26X_DEFINE(X);
#endif
#if AXIS_DRIVER_TYPE_X2(TMC26X)
_TMC26X_DEFINE(X2);
#endif
#if AXIS_DRIVER_TYPE_Y(TMC26X)
_TMC26X_DEFINE(Y);
#endif
#if AXIS_DRIVER_TYPE_Y2(TMC26X)
_TMC26X_DEFINE(Y2);
#endif
#if AXIS_DRIVER_TYPE_Z(TMC26X)
_TMC26X_DEFINE(Z);
#endif
#if AXIS_DRIVER_TYPE_Z2(TMC26X)
_TMC26X_DEFINE(Z2);
#endif
#if AXIS_DRIVER_TYPE_Z3(TMC26X)
_TMC26X_DEFINE(Z3);
#endif
#if AXIS_DRIVER_TYPE_E0(TMC26X)
_TMC26X_DEFINE(E0);
#endif
#if AXIS_DRIVER_TYPE_E1(TMC26X)
_TMC26X_DEFINE(E1);
#endif
#if AXIS_DRIVER_TYPE_E2(TMC26X)
_TMC26X_DEFINE(E2);
#endif
#if AXIS_DRIVER_TYPE_E3(TMC26X)
_TMC26X_DEFINE(E3);
#endif
#if AXIS_DRIVER_TYPE_E4(TMC26X)
_TMC26X_DEFINE(E4);
#endif
#if AXIS_DRIVER_TYPE_E5(TMC26X)
_TMC26X_DEFINE(E5);
#endif
#define _TMC26X_INIT(A) do{ \
stepper##A.setMicrosteps(A##_MICROSTEPS); \
stepper##A.start(); \
}while(0)
void tmc26x_init_to_defaults() {
#if AXIS_DRIVER_TYPE_X(TMC26X)
_TMC26X_INIT(X);
#endif
#if AXIS_DRIVER_TYPE_X2(TMC26X)
_TMC26X_INIT(X2);
#endif
#if AXIS_DRIVER_TYPE_Y(TMC26X)
_TMC26X_INIT(Y);
#endif
#if AXIS_DRIVER_TYPE_Y2(TMC26X)
_TMC26X_INIT(Y2);
#endif
#if AXIS_DRIVER_TYPE_Z(TMC26X)
_TMC26X_INIT(Z);
#endif
#if AXIS_DRIVER_TYPE_Z2(TMC26X)
_TMC26X_INIT(Z2);
#endif
#if AXIS_DRIVER_TYPE_Z3(TMC26X)
_TMC26X_INIT(Z3);
#endif
#if AXIS_DRIVER_TYPE_E0(TMC26X)
_TMC26X_INIT(E0);
#endif
#if AXIS_DRIVER_TYPE_E1(TMC26X)
_TMC26X_INIT(E1);
#endif
#if AXIS_DRIVER_TYPE_E2(TMC26X)
_TMC26X_INIT(E2);
#endif
#if AXIS_DRIVER_TYPE_E3(TMC26X)
_TMC26X_INIT(E3);
#endif
#if AXIS_DRIVER_TYPE_E4(TMC26X)
_TMC26X_INIT(E4);
#endif
#if AXIS_DRIVER_TYPE_E5(TMC26X)
_TMC26X_INIT(E5);
#endif
}
#endif // TMC26X
#if HAS_TRINAMIC #if HAS_TRINAMIC
#include <HardwareSerial.h>
#include <SPI.h>
#include "planner.h"
#include "../core/enum.h"
enum StealthIndex : uint8_t { STEALTH_AXIS_XY, STEALTH_AXIS_Z, STEALTH_AXIS_E }; #include "trinamic.h"
#define _TMC_INIT(ST, STEALTH_INDEX) tmc_init(stepper##ST, ST##_CURRENT, ST##_MICROSTEPS, ST##_HYBRID_THRESHOLD, stealthchop_by_axis[STEALTH_INDEX]) #include "../stepper.h"
// IC = TMC model number #include <HardwareSerial.h>
// ST = Stepper object letter #include <SPI.h>
// 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, ST##_RSENSE, TMC_SW_MOSI, TMC_SW_MISO, TMC_SW_SCK)
#else
#define __TMC_SPI_DEFINE(IC, ST, L, AI) TMCMarlin<IC##Stepper, L, AI> stepper##ST(ST##_CS_PIN, ST##_RSENSE)
#endif
#define TMC_UART_HW_DEFINE(IC, ST, L, AI) TMCMarlin<IC##Stepper, L, AI> stepper##ST(&ST##_HARDWARE_SERIAL, ST##_RSENSE, ST##_SLAVE_ADDRESS) enum StealthIndex : uint8_t { STEALTH_AXIS_XY, STEALTH_AXIS_Z, STEALTH_AXIS_E };
#define TMC_UART_SW_DEFINE(IC, ST, L, AI) TMCMarlin<IC##Stepper, L, AI> stepper##ST(ST##_SERIAL_RX_PIN, ST##_SERIAL_TX_PIN, ST##_RSENSE, ST##_SLAVE_ADDRESS, ST##_SERIAL_RX_PIN > -1) #define _TMC_INIT(ST, STEALTH_INDEX) tmc_init(stepper##ST, ST##_CURRENT, ST##_MICROSTEPS, ST##_HYBRID_THRESHOLD, stealthchop_by_axis[STEALTH_INDEX])
#define _TMC_SPI_DEFINE(IC, ST, AI) __TMC_SPI_DEFINE(IC, ST, TMC_##ST##_LABEL, AI) // IC = TMC model number
#define TMC_SPI_DEFINE(ST, AI) _TMC_SPI_DEFINE(ST##_DRIVER_TYPE, ST, AI##_AXIS) // 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, ST##_RSENSE, TMC_SW_MOSI, TMC_SW_MISO, TMC_SW_SCK)
#else
#define __TMC_SPI_DEFINE(IC, ST, L, AI) TMCMarlin<IC##Stepper, L, AI> stepper##ST(ST##_CS_PIN, ST##_RSENSE)
#endif
#define _TMC_UART_DEFINE(SWHW, IC, ST, AI) TMC_UART_##SWHW##_DEFINE(IC, ST, TMC_##ST##_LABEL, AI) #define TMC_UART_HW_DEFINE(IC, ST, L, AI) TMCMarlin<IC##Stepper, L, AI> stepper##ST(&ST##_HARDWARE_SERIAL, ST##_RSENSE, ST##_SLAVE_ADDRESS)
#define TMC_UART_DEFINE(SWHW, ST, AI) _TMC_UART_DEFINE(SWHW, ST##_DRIVER_TYPE, ST, AI##_AXIS) #define TMC_UART_SW_DEFINE(IC, ST, L, AI) TMCMarlin<IC##Stepper, L, AI> stepper##ST(ST##_SERIAL_RX_PIN, ST##_SERIAL_TX_PIN, ST##_RSENSE, ST##_SLAVE_ADDRESS, ST##_SERIAL_RX_PIN > -1)
#if ENABLED(DISTINCT_E_FACTORS) && E_STEPPERS > 1 #define _TMC_SPI_DEFINE(IC, ST, AI) __TMC_SPI_DEFINE(IC, ST, TMC_##ST##_LABEL, AI)
#define TMC_SPI_DEFINE_E(AI) TMC_SPI_DEFINE(E##AI, E##AI) #define TMC_SPI_DEFINE(ST, AI) _TMC_SPI_DEFINE(ST##_DRIVER_TYPE, ST, AI##_AXIS)
#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 #define _TMC_UART_DEFINE(SWHW, IC, ST, AI) TMC_UART_##SWHW##_DEFINE(IC, ST, TMC_##ST##_LABEL, AI)
#if AXIS_HAS_SPI(X) #define TMC_UART_DEFINE(SWHW, ST, AI) _TMC_UART_DEFINE(SWHW, ST##_DRIVER_TYPE, ST, AI##_AXIS)
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(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 ENABLED(DISTINCT_E_FACTORS) && E_STEPPERS > 1
#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(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 #endif
#if HAS_DRIVER(TMC2130) #if HAS_DRIVER(TMC2130)
@ -704,7 +590,7 @@
} }
#endif // TMC5160 #endif // TMC5160
void restore_stepper_drivers() { void restore_trinamic_drivers() {
#if AXIS_IS_TMC(X) #if AXIS_IS_TMC(X)
stepperX.push(); stepperX.push();
#endif #endif
@ -746,39 +632,28 @@ void restore_stepper_drivers() {
#endif #endif
} }
void reset_stepper_drivers() { void reset_trinamic_drivers() {
static constexpr bool stealthchop_by_axis[] = {
#if ENABLED(STEALTHCHOP_XY)
true
#else
false
#endif
,
#if ENABLED(STEALTHCHOP_Z)
true
#else
false
#endif
,
#if ENABLED(STEALTHCHOP_E)
true
#else
false
#endif
};
#if HAS_DRIVER(TMC26X) #if TMC_USE_CHAIN
tmc26x_init_to_defaults();
#endif
#if HAS_DRIVER(L6470)
L6470.init_to_defaults();
#endif
#if HAS_TRINAMIC
static constexpr bool stealthchop_by_axis[] = {
#if ENABLED(STEALTHCHOP_XY)
true
#else
false
#endif
,
#if ENABLED(STEALTHCHOP_Z)
true
#else
false
#endif
,
#if ENABLED(STEALTHCHOP_E)
true
#else
false
#endif
};
#endif
#if TMC_USE_CHAIN
enum TMC_axis_enum : unsigned char { _, X, Y, Z, X2, Y2, Z2, Z3, E0, E1, E2, E3, E4, E5 }; enum TMC_axis_enum : unsigned char { _, X, Y, Z, X2, Y2, Z2, Z3, E0, E1, E2, E3, E4, E5 };
#define __TMC_CHAIN(Q,V) do{ stepper##Q.set_chain_info(Q,V); }while(0) #define __TMC_CHAIN(Q,V) do{ stepper##Q.set_chain_info(Q,V); }while(0)
@ -942,125 +817,7 @@ void reset_stepper_drivers() {
TMC_ADV() TMC_ADV()
#endif #endif
#if HAS_TRINAMIC stepper.set_directions();
stepper.set_directions();
#endif
} }
// #endif // HAS_TRINAMIC
// L6470 Driver objects and inits
//
#if HAS_DRIVER(L6470)
// create stepper objects
#define _L6470_DEFINE(ST) L6470 stepper##ST((const int)L6470_CHAIN_SS_PIN)
// L6470 Stepper objects
#if AXIS_DRIVER_TYPE_X(L6470)
_L6470_DEFINE(X);
#endif
#if AXIS_DRIVER_TYPE_X2(L6470)
_L6470_DEFINE(X2);
#endif
#if AXIS_DRIVER_TYPE_Y(L6470)
_L6470_DEFINE(Y);
#endif
#if AXIS_DRIVER_TYPE_Y2(L6470)
_L6470_DEFINE(Y2);
#endif
#if AXIS_DRIVER_TYPE_Z(L6470)
_L6470_DEFINE(Z);
#endif
#if AXIS_DRIVER_TYPE_Z2(L6470)
_L6470_DEFINE(Z2);
#endif
#if AXIS_DRIVER_TYPE_Z3(L6470)
_L6470_DEFINE(Z3);
#endif
#if AXIS_DRIVER_TYPE_E0(L6470)
_L6470_DEFINE(E0);
#endif
#if AXIS_DRIVER_TYPE_E1(L6470)
_L6470_DEFINE(E1);
#endif
#if AXIS_DRIVER_TYPE_E2(L6470)
_L6470_DEFINE(E2);
#endif
#if AXIS_DRIVER_TYPE_E3(L6470)
_L6470_DEFINE(E3);
#endif
#if AXIS_DRIVER_TYPE_E4(L6470)
_L6470_DEFINE(E4);
#endif
#if AXIS_DRIVER_TYPE_E5(L6470)
_L6470_DEFINE(E5);
#endif
// not using L6470 library's init command because it
// briefly sends power to the steppers
#define _L6470_INIT_CHIP(Q) do{ \
stepper##Q.resetDev(); \
stepper##Q.softFree(); \
stepper##Q.SetParam(L6470_CONFIG, CONFIG_PWM_DIV_1 \
| CONFIG_PWM_MUL_2 \
| CONFIG_SR_290V_us \
| CONFIG_OC_SD_DISABLE \
| CONFIG_VS_COMP_DISABLE \
| CONFIG_SW_HARD_STOP \
| CONFIG_INT_16MHZ); \
stepper##Q.SetParam(L6470_KVAL_RUN, 0xFF); \
stepper##Q.SetParam(L6470_KVAL_ACC, 0xFF); \
stepper##Q.SetParam(L6470_KVAL_DEC, 0xFF); \
stepper##Q.setMicroSteps(Q##_MICROSTEPS); \
stepper##Q.setOverCurrent(Q##_OVERCURRENT); \
stepper##Q.setStallCurrent(Q##_STALLCURRENT); \
stepper##Q.SetParam(L6470_KVAL_HOLD, Q##_MAX_VOLTAGE); \
stepper##Q.SetParam(L6470_ABS_POS, 0); \
stepper##Q.getStatus(); \
}while(0)
void L6470_Marlin::init_to_defaults() {
#if AXIS_DRIVER_TYPE_X(L6470)
_L6470_INIT_CHIP(X);
#endif
#if AXIS_DRIVER_TYPE_X2(L6470)
_L6470_INIT_CHIP(X2);
#endif
#if AXIS_DRIVER_TYPE_Y(L6470)
_L6470_INIT_CHIP(Y);
#endif
#if AXIS_DRIVER_TYPE_Y2(L6470)
_L6470_INIT_CHIP(Y2);
#endif
#if AXIS_DRIVER_TYPE_Z(L6470)
_L6470_INIT_CHIP(Z);
#endif
#if AXIS_DRIVER_TYPE_Z2(L6470)
_L6470_INIT_CHIP(Z2);
#endif
#if AXIS_DRIVER_TYPE_Z3(L6470)
_L6470_INIT_CHIP(Z3);
#endif
#if AXIS_DRIVER_TYPE_E0(L6470)
_L6470_INIT_CHIP(E0);
#endif
#if AXIS_DRIVER_TYPE_E1(L6470)
_L6470_INIT_CHIP(E1);
#endif
#if AXIS_DRIVER_TYPE_E2(L6470)
_L6470_INIT_CHIP(E2);
#endif
#if AXIS_DRIVER_TYPE_E3(L6470)
_L6470_INIT_CHIP(E3);
#endif
#if AXIS_DRIVER_TYPE_E4(L6470)
_L6470_INIT_CHIP(E4);
#endif
#if AXIS_DRIVER_TYPE_E5(L6470)
_L6470_INIT_CHIP(E5);
#endif
}
#endif // L6470

232
Marlin/src/module/stepper/trinamic.h Normal file
View file

@ -0,0 +1,232 @@
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2019 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 <http://www.gnu.org/licenses/>.
*
*/
#pragma once
/**
* stepper/trinamic.h
* Stepper driver indirection for Trinamic
*/
#include <TMCStepper.h>
#if TMCSTEPPER_VERSION < 0x000405
#error "Update TMCStepper library to 0.4.5 or newer."
#endif
#include "../../inc/MarlinConfig.h"
#include "../../feature/tmc_util.h"
#define ____TMC_CLASS(MODEL, A, I, E) TMCMarlin<TMC##MODEL##Stepper, A, I, E>
#define ___TMC_CLASS(MODEL, A, I, E) ____TMC_CLASS(MODEL, A, I, E)
#define __TMC_CLASS(MODEL, A, I, E) ___TMC_CLASS(_##MODEL, A, I, E)
#define _TMC_CLASS(MODEL, L, E) __TMC_CLASS(MODEL, L, E)
#define TMC_CLASS(ST, A) _TMC_CLASS(ST##_DRIVER_TYPE, TMC_##ST##_LABEL, A##_AXIS)
#if ENABLED(DISTINCT_E_FACTORS)
#define TMC_CLASS_E(I) TMC_CLASS(E##I, E##I)
#else
#define TMC_CLASS_E(I) TMC_CLASS(E##I, E)
#endif
typedef struct {
uint8_t toff;
int8_t hend;
uint8_t hstrt;
} chopper_timing_t;
static constexpr chopper_timing_t chopper_timing = CHOPPER_TIMING;
#if HAS_TMC220x
void tmc_serial_begin();
#endif
void restore_trinamic_drivers();
void reset_trinamic_drivers();
#define AXIS_HAS_SQUARE_WAVE(A) (AXIS_IS_TMC(A) && ENABLED(SQUARE_WAVE_STEPPING))
// X Stepper
#if AXIS_IS_TMC(X)
extern TMC_CLASS(X, X) stepperX;
#if ENABLED(SOFTWARE_DRIVER_ENABLE)
#define X_ENABLE_INIT NOOP
#define X_ENABLE_WRITE(STATE) stepperX.toff((STATE)==X_ENABLE_ON ? chopper_timing.toff : 0)
#define X_ENABLE_READ() stepperX.isEnabled()
#endif
#if AXIS_HAS_SQUARE_WAVE(X)
#define X_STEP_WRITE(STATE) do{ if(STATE) TOGGLE(X_STEP_PIN); }while(0)
#endif
#endif
// Y Stepper
#if AXIS_IS_TMC(Y)
extern TMC_CLASS(Y, Y) stepperY;
#if ENABLED(SOFTWARE_DRIVER_ENABLE)
#define Y_ENABLE_INIT NOOP
#define Y_ENABLE_WRITE(STATE) stepperY.toff((STATE)==Y_ENABLE_ON ? chopper_timing.toff : 0)
#define Y_ENABLE_READ() stepperY.isEnabled()
#endif
#if AXIS_HAS_SQUARE_WAVE(Y)
#define Y_STEP_WRITE(STATE) do{ if (STATE) TOGGLE(Y_STEP_PIN); }while(0)
#endif
#endif
// Z Stepper
#if AXIS_IS_TMC(Z)
extern TMC_CLASS(Z, Z) stepperZ;
#if ENABLED(SOFTWARE_DRIVER_ENABLE)
#define Z_ENABLE_INIT NOOP
#define Z_ENABLE_WRITE(STATE) stepperZ.toff((STATE)==Z_ENABLE_ON ? chopper_timing.toff : 0)
#define Z_ENABLE_READ() stepperZ.isEnabled()
#endif
#if AXIS_HAS_SQUARE_WAVE(Z)
#define Z_STEP_WRITE(STATE) do{ if(STATE) TOGGLE(Z_STEP_PIN); }while(0)
#endif
#endif
// X2 Stepper
#if HAS_X2_ENABLE && AXIS_IS_TMC(X2)
extern TMC_CLASS(X2, X) stepperX2;
#if ENABLED(SOFTWARE_DRIVER_ENABLE)
#define X2_ENABLE_INIT NOOP
#define X2_ENABLE_WRITE(STATE) stepperX2.toff((STATE)==X_ENABLE_ON ? chopper_timing.toff : 0)
#define X2_ENABLE_READ() stepperX2.isEnabled()
#endif
#if AXIS_HAS_SQUARE_WAVE(X2)
#define X2_STEP_WRITE(STATE) do{ if(STATE) TOGGLE(X2_STEP_PIN); }while(0)
#endif
#endif
// Y2 Stepper
#if HAS_Y2_ENABLE && AXIS_IS_TMC(Y2)
extern TMC_CLASS(Y2, Y) stepperY2;
#if ENABLED(SOFTWARE_DRIVER_ENABLE)
#define Y2_ENABLE_INIT NOOP
#define Y2_ENABLE_WRITE(STATE) stepperY2.toff((STATE)==Y_ENABLE_ON ? chopper_timing.toff : 0)
#define Y2_ENABLE_READ() stepperY2.isEnabled()
#endif
#if AXIS_HAS_SQUARE_WAVE(Y2)
#define Y2_STEP_WRITE(STATE) do{ if(STATE) TOGGLE(Y2_STEP_PIN); }while(0)
#endif
#endif
// Z2 Stepper
#if HAS_Z2_ENABLE && AXIS_IS_TMC(Z2)
extern TMC_CLASS(Z2, Z) stepperZ2;
#if ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(Z2)
#define Z2_ENABLE_INIT NOOP
#define Z2_ENABLE_WRITE(STATE) stepperZ2.toff((STATE)==Z_ENABLE_ON ? chopper_timing.toff : 0)
#define Z2_ENABLE_READ() stepperZ2.isEnabled()
#endif
#if AXIS_HAS_SQUARE_WAVE(Z2)
#define Z2_STEP_WRITE(STATE) do{ if(STATE) TOGGLE(Z2_STEP_PIN); }while(0)
#endif
#endif
// Z3 Stepper
#if HAS_Z3_ENABLE && AXIS_IS_TMC(Z3)
extern TMC_CLASS(Z3, Z) stepperZ3;
#if ENABLED(SOFTWARE_DRIVER_ENABLE)
#define Z3_ENABLE_INIT NOOP
#define Z3_ENABLE_WRITE(STATE) stepperZ3.toff((STATE)==Z_ENABLE_ON ? chopper_timing.toff : 0)
#define Z3_ENABLE_READ() stepperZ3.isEnabled()
#endif
#if AXIS_HAS_SQUARE_WAVE(Z3)
#define Z3_STEP_WRITE(STATE) do{ if(STATE) TOGGLE(Z3_STEP_PIN); }while(0)
#endif
#endif
// E0 Stepper
#if AXIS_IS_TMC(E0)
extern TMC_CLASS_E(0) stepperE0;
#if ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(E0)
#define E0_ENABLE_INIT NOOP
#define E0_ENABLE_WRITE(STATE) stepperE0.toff((STATE)==E_ENABLE_ON ? chopper_timing.toff : 0)
#define E0_ENABLE_READ() stepperE0.isEnabled()
#endif
#if AXIS_HAS_SQUARE_WAVE(E0)
#define E0_STEP_WRITE(STATE) do{ if(STATE) TOGGLE(E0_STEP_PIN); }while(0)
#endif
#endif
// E1 Stepper
#if AXIS_IS_TMC(E1)
extern TMC_CLASS_E(1) stepperE1;
#if ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(E1)
#define E1_ENABLE_INIT NOOP
#define E1_ENABLE_WRITE(STATE) stepperE1.toff((STATE)==E_ENABLE_ON ? chopper_timing.toff : 0)
#define E1_ENABLE_READ() stepperE1.isEnabled()
#endif
#if AXIS_HAS_SQUARE_WAVE(E1)
#define E1_STEP_WRITE(STATE) do{ if(STATE) TOGGLE(E1_STEP_PIN); }while(0)
#endif
#endif
// E2 Stepper
#if AXIS_IS_TMC(E2)
extern TMC_CLASS_E(1) stepperE2;
#if ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(E2)
#define E2_ENABLE_INIT NOOP
#define E2_ENABLE_WRITE(STATE) stepperE2.toff((STATE)==E_ENABLE_ON ? chopper_timing.toff : 0)
#define E2_ENABLE_READ() stepperE2.isEnabled()
#endif
#if AXIS_HAS_SQUARE_WAVE(E2)
#define E2_STEP_WRITE(STATE) do{ if(STATE) TOGGLE(E2_STEP_PIN); }while(0)
#endif
#endif
// E3 Stepper
#if AXIS_IS_TMC(E3)
extern TMC_CLASS_E(1) stepperE3;
#if ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(E3)
#define E3_ENABLE_INIT NOOP
#define E3_ENABLE_WRITE(STATE) stepperE3.toff((STATE)==E_ENABLE_ON ? chopper_timing.toff : 0)
#define E3_ENABLE_READ() stepperE3.isEnabled()
#endif
#if AXIS_HAS_SQUARE_WAVE(E3)
#define E3_STEP_WRITE(STATE) do{ if(STATE) TOGGLE(E3_STEP_PIN); }while(0)
#endif
#endif
// E4 Stepper
#if AXIS_IS_TMC(E4)
extern TMC_CLASS_E(1) stepperE4;
#if ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(E4)
#define E4_ENABLE_INIT NOOP
#define E4_ENABLE_WRITE(STATE) stepperE4.toff((STATE)==E_ENABLE_ON ? chopper_timing.toff : 0)
#define E4_ENABLE_READ() stepperE4.isEnabled()
#endif
#if AXIS_HAS_SQUARE_WAVE(E4)
#define E4_STEP_WRITE(STATE) do{ if(STATE) TOGGLE(E4_STEP_PIN); }while(0)
#endif
#endif
// E5 Stepper
#if AXIS_IS_TMC(E5)
extern TMC_CLASS_E(1) stepperE5;
#if ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(E5)
#define E5_ENABLE_INIT NOOP
#define E5_ENABLE_WRITE(STATE) stepperE5.toff((STATE)==E_ENABLE_ON ? chopper_timing.toff : 0)
#define E5_ENABLE_READ() stepperE5.isEnabled()
#endif
#if AXIS_HAS_SQUARE_WAVE(E5)
#define E5_STEP_WRITE(STATE) do{ if(STATE) TOGGLE(E5_STEP_PIN); }while(0)
#endif
#endif

727
Marlin/src/module/stepper_indirection.h
View file

@ -1,727 +0,0 @@
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2019 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 <http://www.gnu.org/licenses/>.
*
*/
#pragma once
/**
* stepper_indirection.h
*
* Stepper motor driver indirection to allow some stepper functions to
* be done via SPI/I2c instead of direct pin manipulation.
*
* Copyright (c) 2015 Dominik Wenger
*/
#include "../inc/MarlinConfig.h"
// TMC26X drivers have STEP/DIR on normal pins, but ENABLE via SPI
#if HAS_DRIVER(TMC26X)
#include <SPI.h>
#if defined(STM32GENERIC) && defined(STM32F7)
#include "../HAL/HAL_STM32_F4_F7/STM32F7/TMC2660.h"
#else
#include <TMC26XStepper.h>
#endif
void tmc26x_init_to_defaults();
#endif
#if HAS_TRINAMIC
#include <TMCStepper.h>
#include "../feature/tmc_util.h"
#if TMCSTEPPER_VERSION < 0x000405
#error "Update TMCStepper library to 0.4.5 or newer."
#endif
#define ____TMC_CLASS(MODEL, A, I, E) TMCMarlin<TMC##MODEL##Stepper, A, I, E>
#define ___TMC_CLASS(MODEL, A, I, E) ____TMC_CLASS(MODEL, A, I, E)
#define __TMC_CLASS(MODEL, A, I, E) ___TMC_CLASS(_##MODEL, A, I, E)
#define _TMC_CLASS(MODEL, L, E) __TMC_CLASS(MODEL, L, E)
#define TMC_CLASS(ST, A) _TMC_CLASS(ST##_DRIVER_TYPE, TMC_##ST##_LABEL, A##_AXIS)
#if ENABLED(DISTINCT_E_FACTORS)
#define TMC_CLASS_E(I) TMC_CLASS(E##I, E##I)
#else
#define TMC_CLASS_E(I) TMC_CLASS(E##I, E)
#endif
typedef struct {
uint8_t toff;
int8_t hend;
uint8_t hstrt;
} chopper_timing_t;
static constexpr chopper_timing_t chopper_timing = CHOPPER_TIMING;
#if HAS_TMC220x
void tmc_serial_begin();
#endif
#endif
// L6470 has STEP on normal pins, but DIR/ENABLE via SPI
#if HAS_DRIVER(L6470)
#include "L6470/L6470_Marlin.h"
#define L6470_WRITE_DIR_COMMAND(STATE,Q) do{ L6470_dir_commands[Q] = (STATE ? dSPIN_STEP_CLOCK_REV : dSPIN_STEP_CLOCK_FWD); }while(0)
#endif
void restore_stepper_drivers(); // Called by PSU_ON
void reset_stepper_drivers(); // Called by settings.load / settings.reset
#define AXIS_HAS_SQUARE_WAVE(A) (AXIS_IS_TMC(A) && ENABLED(SQUARE_WAVE_STEPPING))
// X Stepper
#if AXIS_DRIVER_TYPE_X(L6470)
extern L6470 stepperX;
#define X_ENABLE_INIT NOOP
#define X_ENABLE_WRITE(STATE) NOOP
#define X_ENABLE_READ() (stepperX.getStatus() & STATUS_HIZ)
#define X_DIR_INIT NOOP
#define X_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,X)
#define X_DIR_READ() (stepperX.getStatus() & STATUS_DIR)
#else
#if AXIS_IS_TMC(X)
extern TMC_CLASS(X, X) stepperX;
#endif
#if AXIS_DRIVER_TYPE_X(TMC26X)
extern TMC26XStepper stepperX;
#define X_ENABLE_INIT NOOP
#define X_ENABLE_WRITE(STATE) stepperX.setEnabled(STATE)
#define X_ENABLE_READ() stepperX.isEnabled()
#elif ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(X)
#define X_ENABLE_INIT NOOP
#define X_ENABLE_WRITE(STATE) stepperX.toff((STATE)==X_ENABLE_ON ? chopper_timing.toff : 0)
#define X_ENABLE_READ() stepperX.isEnabled()
#else
#define X_ENABLE_INIT SET_OUTPUT(X_ENABLE_PIN)
#define X_ENABLE_WRITE(STATE) WRITE(X_ENABLE_PIN,STATE)
#define X_ENABLE_READ() READ(X_ENABLE_PIN)
#endif
#define X_DIR_INIT SET_OUTPUT(X_DIR_PIN)
#define X_DIR_WRITE(STATE) WRITE(X_DIR_PIN,STATE)
#define X_DIR_READ() READ(X_DIR_PIN)
#endif
#define X_STEP_INIT SET_OUTPUT(X_STEP_PIN)
#if AXIS_HAS_SQUARE_WAVE(X)
#define X_STEP_WRITE(STATE) do{ if(STATE) TOGGLE(X_STEP_PIN); }while(0)
#else
#define X_STEP_WRITE(STATE) WRITE(X_STEP_PIN,STATE)
#endif
#define X_STEP_READ READ(X_STEP_PIN)
// Y Stepper
#if AXIS_DRIVER_TYPE_Y(L6470)
extern L6470 stepperY;
#define Y_ENABLE_INIT NOOP
#define Y_ENABLE_WRITE(STATE) NOOP
#define Y_ENABLE_READ() (stepperY.getStatus() & STATUS_HIZ)
#define Y_DIR_INIT NOOP
#define Y_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,Y)
#define Y_DIR_READ() (stepperY.getStatus() & STATUS_DIR)
#else
#if AXIS_IS_TMC(Y)
extern TMC_CLASS(Y, Y) stepperY;
#endif
#if AXIS_DRIVER_TYPE_Y(TMC26X)
extern TMC26XStepper stepperY;
#define Y_ENABLE_INIT NOOP
#define Y_ENABLE_WRITE(STATE) stepperY.setEnabled(STATE)
#define Y_ENABLE_READ() stepperY.isEnabled()
#elif ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(Y)
#define Y_ENABLE_INIT NOOP
#define Y_ENABLE_WRITE(STATE) stepperY.toff((STATE)==Y_ENABLE_ON ? chopper_timing.toff : 0)
#define Y_ENABLE_READ() stepperY.isEnabled()
#else
#define Y_ENABLE_INIT SET_OUTPUT(Y_ENABLE_PIN)
#define Y_ENABLE_WRITE(STATE) WRITE(Y_ENABLE_PIN,STATE)
#define Y_ENABLE_READ() READ(Y_ENABLE_PIN)
#endif
#define Y_DIR_INIT SET_OUTPUT(Y_DIR_PIN)
#define Y_DIR_WRITE(STATE) WRITE(Y_DIR_PIN,STATE)
#define Y_DIR_READ() READ(Y_DIR_PIN)
#endif
#define Y_STEP_INIT SET_OUTPUT(Y_STEP_PIN)
#if AXIS_HAS_SQUARE_WAVE(Y)
#define Y_STEP_WRITE(STATE) do{ if (STATE) TOGGLE(Y_STEP_PIN); }while(0)
#else
#define Y_STEP_WRITE(STATE) WRITE(Y_STEP_PIN,STATE)
#endif
#define Y_STEP_READ READ(Y_STEP_PIN)
// Z Stepper
#if AXIS_DRIVER_TYPE_Z(L6470)
extern L6470 stepperZ;
#define Z_ENABLE_INIT NOOP
#define Z_ENABLE_WRITE(STATE) NOOP
#define Z_ENABLE_READ() (stepperZ.getStatus() & STATUS_HIZ)
#define Z_DIR_INIT NOOP
#define Z_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,Z)
#define Z_DIR_READ() (stepperZ.getStatus() & STATUS_DIR)
#else
#if AXIS_IS_TMC(Z)
extern TMC_CLASS(Z, Z) stepperZ;
#endif
#if AXIS_DRIVER_TYPE_Z(TMC26X)
extern TMC26XStepper stepperZ;
#define Z_ENABLE_INIT NOOP
#define Z_ENABLE_WRITE(STATE) stepperZ.setEnabled(STATE)
#define Z_ENABLE_READ() stepperZ.isEnabled()
#elif ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(Z)
#define Z_ENABLE_INIT NOOP
#define Z_ENABLE_WRITE(STATE) stepperZ.toff((STATE)==Z_ENABLE_ON ? chopper_timing.toff : 0)
#define Z_ENABLE_READ() stepperZ.isEnabled()
#else
#define Z_ENABLE_INIT SET_OUTPUT(Z_ENABLE_PIN)
#define Z_ENABLE_WRITE(STATE) WRITE(Z_ENABLE_PIN,STATE)
#define Z_ENABLE_READ() READ(Z_ENABLE_PIN)
#endif
#define Z_DIR_INIT SET_OUTPUT(Z_DIR_PIN)
#define Z_DIR_WRITE(STATE) WRITE(Z_DIR_PIN,STATE)
#define Z_DIR_READ() READ(Z_DIR_PIN)
#endif
#define Z_STEP_INIT SET_OUTPUT(Z_STEP_PIN)
#if AXIS_HAS_SQUARE_WAVE(Z)
#define Z_STEP_WRITE(STATE) do{ if(STATE) TOGGLE(Z_STEP_PIN); }while(0)
#else
#define Z_STEP_WRITE(STATE) WRITE(Z_STEP_PIN,STATE)
#endif
#define Z_STEP_READ READ(Z_STEP_PIN)
// X2 Stepper
#if HAS_X2_ENABLE
#if AXIS_DRIVER_TYPE_X2(L6470)
extern L6470 stepperX2;
#define X2_ENABLE_INIT NOOP
#define X2_ENABLE_WRITE(STATE) NOOP
#define X2_ENABLE_READ() (stepperX2.getStatus() & STATUS_HIZ)
#define X2_DIR_INIT NOOP
#define X2_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,X2)
#define X2_DIR_READ() (stepperX2.getStatus() & STATUS_DIR)
#else
#if AXIS_IS_TMC(X2)
extern TMC_CLASS(X2, X) stepperX2;
#endif
#if AXIS_DRIVER_TYPE_X2(TMC26X)
extern TMC26XStepper stepperX2;
#define X2_ENABLE_INIT NOOP
#define X2_ENABLE_WRITE(STATE) stepperX2.setEnabled(STATE)
#define X2_ENABLE_READ() stepperX2.isEnabled()
#elif ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(X2)
#define X2_ENABLE_INIT NOOP
#define X2_ENABLE_WRITE(STATE) stepperX2.toff((STATE)==X_ENABLE_ON ? chopper_timing.toff : 0)
#define X2_ENABLE_READ() stepperX2.isEnabled()
#else
#define X2_ENABLE_INIT SET_OUTPUT(X2_ENABLE_PIN)
#define X2_ENABLE_WRITE(STATE) WRITE(X2_ENABLE_PIN,STATE)
#define X2_ENABLE_READ() READ(X2_ENABLE_PIN)
#endif
#define X2_DIR_INIT SET_OUTPUT(X2_DIR_PIN)
#define X2_DIR_WRITE(STATE) WRITE(X2_DIR_PIN,STATE)
#define X2_DIR_READ() READ(X2_DIR_PIN)
#endif
#define X2_STEP_INIT SET_OUTPUT(X2_STEP_PIN)
#if AXIS_HAS_SQUARE_WAVE(X2)
#define X2_STEP_WRITE(STATE) do{ if(STATE) TOGGLE(X2_STEP_PIN); }while(0)
#else
#define X2_STEP_WRITE(STATE) WRITE(X2_STEP_PIN,STATE)
#endif
#define X2_STEP_READ READ(X2_STEP_PIN)
#endif
// Y2 Stepper
#if HAS_Y2_ENABLE
#if AXIS_DRIVER_TYPE_Y2(L6470)
extern L6470 stepperY2;
#define Y2_ENABLE_INIT NOOP
#define Y2_ENABLE_WRITE(STATE) NOOP
#define Y2_ENABLE_READ() (stepperY2.getStatus() & STATUS_HIZ)
#define Y2_DIR_INIT NOOP
#define Y2_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,Y2)
#define Y2_DIR_READ() (stepperY2.getStatus() & STATUS_DIR)
#else
#if AXIS_IS_TMC(Y2)
extern TMC_CLASS(Y2, Y) stepperY2;
#endif
#if AXIS_DRIVER_TYPE_Y2(TMC26X)
extern TMC26XStepper stepperY2;
#define Y2_ENABLE_INIT NOOP
#define Y2_ENABLE_WRITE(STATE) stepperY2.setEnabled(STATE)
#define Y2_ENABLE_READ() stepperY2.isEnabled()
#elif ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(Y2)
#define Y2_ENABLE_INIT NOOP
#define Y2_ENABLE_WRITE(STATE) stepperY2.toff((STATE)==Y_ENABLE_ON ? chopper_timing.toff : 0)
#define Y2_ENABLE_READ() stepperY2.isEnabled()
#else
#define Y2_ENABLE_INIT SET_OUTPUT(Y2_ENABLE_PIN)
#define Y2_ENABLE_WRITE(STATE) WRITE(Y2_ENABLE_PIN,STATE)
#define Y2_ENABLE_READ() READ(Y2_ENABLE_PIN)
#endif
#define Y2_DIR_INIT SET_OUTPUT(Y2_DIR_PIN)
#define Y2_DIR_WRITE(STATE) WRITE(Y2_DIR_PIN,STATE)
#define Y2_DIR_READ() READ(Y2_DIR_PIN)
#endif
#define Y2_STEP_INIT SET_OUTPUT(Y2_STEP_PIN)
#if AXIS_HAS_SQUARE_WAVE(Y2)
#define Y2_STEP_WRITE(STATE) do{ if(STATE) TOGGLE(Y2_STEP_PIN); }while(0)
#else
#define Y2_STEP_WRITE(STATE) WRITE(Y2_STEP_PIN,STATE)
#endif
#define Y2_STEP_READ READ(Y2_STEP_PIN)
#else
#define Y2_DIR_WRITE(STATE) NOOP
#endif
// Z2 Stepper
#if HAS_Z2_ENABLE
#if AXIS_DRIVER_TYPE_Z2(L6470)
extern L6470 stepperZ2;
#define Z2_ENABLE_INIT NOOP
#define Z2_ENABLE_WRITE(STATE) NOOP
#define Z2_ENABLE_READ() (stepperZ2.getStatus() & STATUS_HIZ)
#define Z2_DIR_INIT NOOP
#define Z2_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,Z2)
#define Z2_DIR_READ() (stepperZ2.getStatus() & STATUS_DIR)
#else
#if AXIS_IS_TMC(Z2)
extern TMC_CLASS(Z2, Z) stepperZ2;
#endif
#if AXIS_DRIVER_TYPE_Z2(TMC26X)
extern TMC26XStepper stepperZ2;
#define Z2_ENABLE_INIT NOOP
#define Z2_ENABLE_WRITE(STATE) stepperZ2.setEnabled(STATE)
#define Z2_ENABLE_READ() stepperZ2.isEnabled()
#elif ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(Z2)
#define Z2_ENABLE_INIT NOOP
#define Z2_ENABLE_WRITE(STATE) stepperZ2.toff((STATE)==Z_ENABLE_ON ? chopper_timing.toff : 0)
#define Z2_ENABLE_READ() stepperZ2.isEnabled()
#else
#define Z2_ENABLE_INIT SET_OUTPUT(Z2_ENABLE_PIN)
#define Z2_ENABLE_WRITE(STATE) WRITE(Z2_ENABLE_PIN,STATE)
#define Z2_ENABLE_READ() READ(Z2_ENABLE_PIN)
#endif
#define Z2_DIR_INIT SET_OUTPUT(Z2_DIR_PIN)
#define Z2_DIR_WRITE(STATE) WRITE(Z2_DIR_PIN,STATE)
#define Z2_DIR_READ() READ(Z2_DIR_PIN)
#endif
#define Z2_STEP_INIT SET_OUTPUT(Z2_STEP_PIN)
#if AXIS_HAS_SQUARE_WAVE(Z2)
#define Z2_STEP_WRITE(STATE) do{ if(STATE) TOGGLE(Z2_STEP_PIN); }while(0)
#else
#define Z2_STEP_WRITE(STATE) WRITE(Z2_STEP_PIN,STATE)
#endif
#define Z2_STEP_READ READ(Z2_STEP_PIN)
#else
#define Z2_DIR_WRITE(STATE) NOOP
#endif
// Z3 Stepper
#if HAS_Z3_ENABLE
#if AXIS_DRIVER_TYPE_Z3(L6470)
extern L6470 stepperZ3;
#define Z3_ENABLE_INIT NOOP
#define Z3_ENABLE_WRITE(STATE) NOOP
#define Z3_ENABLE_READ() (stepperZ3.getStatus() & STATUS_HIZ)
#define Z3_DIR_INIT NOOP
#define Z3_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,Z3)
#define Z3_DIR_READ() (stepperZ3.getStatus() & STATUS_DIR)
#else
#if AXIS_IS_TMC(Z3)
extern TMC_CLASS(Z3, Z) stepperZ3;
#endif
#if ENABLED(Z3_IS_TMC26X)
extern TMC26XStepper stepperZ3;
#define Z3_ENABLE_INIT NOOP
#define Z3_ENABLE_WRITE(STATE) stepperZ3.setEnabled(STATE)
#define Z3_ENABLE_READ() stepperZ3.isEnabled()
#elif ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(Z3)
#define Z3_ENABLE_INIT NOOP
#define Z3_ENABLE_WRITE(STATE) stepperZ3.toff((STATE)==Z_ENABLE_ON ? chopper_timing.toff : 0)
#define Z3_ENABLE_READ() stepperZ3.isEnabled()
#else
#define Z3_ENABLE_INIT SET_OUTPUT(Z3_ENABLE_PIN)
#define Z3_ENABLE_WRITE(STATE) WRITE(Z3_ENABLE_PIN,STATE)
#define Z3_ENABLE_READ() READ(Z3_ENABLE_PIN)
#endif
#define Z3_DIR_INIT SET_OUTPUT(Z3_DIR_PIN)
#define Z3_DIR_WRITE(STATE) WRITE(Z3_DIR_PIN,STATE)
#define Z3_DIR_READ() READ(Z3_DIR_PIN)
#endif
#define Z3_STEP_INIT SET_OUTPUT(Z3_STEP_PIN)
#if AXIS_HAS_SQUARE_WAVE(Z3)
#define Z3_STEP_WRITE(STATE) do{ if(STATE) TOGGLE(Z3_STEP_PIN); }while(0)
#else
#define Z3_STEP_WRITE(STATE) WRITE(Z3_STEP_PIN,STATE)
#endif
#define Z3_STEP_READ READ(Z3_STEP_PIN)
#else
#define Z3_DIR_WRITE(STATE) NOOP
#endif
// E0 Stepper
#if AXIS_DRIVER_TYPE_E0(L6470)
extern L6470 stepperE0;
#define E0_ENABLE_INIT NOOP
#define E0_ENABLE_WRITE(STATE) NOOP
#define E0_ENABLE_READ() (stepperE0.getStatus() & STATUS_HIZ)
#define E0_DIR_INIT NOOP
#define E0_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,E0)
#define E0_DIR_READ() (stepperE0.getStatus() & STATUS_DIR)
#else
#if AXIS_IS_TMC(E0)
extern TMC_CLASS_E(0) stepperE0;
#endif
#if AXIS_DRIVER_TYPE_E0(TMC26X)
extern TMC26XStepper stepperE0;
#define E0_ENABLE_INIT NOOP
#define E0_ENABLE_WRITE(STATE) stepperE0.setEnabled(STATE)
#define E0_ENABLE_READ() stepperE0.isEnabled()
#elif ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(E0)
#define E0_ENABLE_INIT NOOP
#define E0_ENABLE_WRITE(STATE) stepperE0.toff((STATE)==E_ENABLE_ON ? chopper_timing.toff : 0)
#define E0_ENABLE_READ() stepperE0.isEnabled()
#else
#define E0_ENABLE_INIT SET_OUTPUT(E0_ENABLE_PIN)
#define E0_ENABLE_WRITE(STATE) WRITE(E0_ENABLE_PIN,STATE)
#define E0_ENABLE_READ() READ(E0_ENABLE_PIN)
#endif
#define E0_DIR_INIT SET_OUTPUT(E0_DIR_PIN)
#define E0_DIR_WRITE(STATE) WRITE(E0_DIR_PIN,STATE)
#define E0_DIR_READ() READ(E0_DIR_PIN)
#endif
#define E0_STEP_INIT SET_OUTPUT(E0_STEP_PIN)
#if AXIS_HAS_SQUARE_WAVE(E0)
#define E0_STEP_WRITE(STATE) do{ if(STATE) TOGGLE(E0_STEP_PIN); }while(0)
#else
#define E0_STEP_WRITE(STATE) WRITE(E0_STEP_PIN,STATE)
#endif
#define E0_STEP_READ READ(E0_STEP_PIN)
// E1 Stepper
#if AXIS_DRIVER_TYPE_E1(L6470)
extern L6470 stepperE1;
#define E1_ENABLE_INIT NOOP
#define E1_ENABLE_WRITE(STATE) NOOP
#define E1_ENABLE_READ() (stepperE1.getStatus() & STATUS_HIZ)
#define E1_DIR_INIT NOOP
#define E1_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,E1)
#define E1_DIR_READ() (stepperE1.getStatus() & STATUS_DIR)
#else
#if AXIS_IS_TMC(E1)
extern TMC_CLASS_E(1) stepperE1;
#endif
#if AXIS_DRIVER_TYPE_E1(TMC26X)
extern TMC26XStepper stepperE1;
#define E1_ENABLE_INIT NOOP
#define E1_ENABLE_WRITE(STATE) stepperE1.setEnabled(STATE)
#define E1_ENABLE_READ() stepperE1.isEnabled()
#elif ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(E1)
#define E1_ENABLE_INIT NOOP
#define E1_ENABLE_WRITE(STATE) stepperE1.toff((STATE)==E_ENABLE_ON ? chopper_timing.toff : 0)
#define E1_ENABLE_READ() stepperE1.isEnabled()
#else
#define E1_ENABLE_INIT SET_OUTPUT(E1_ENABLE_PIN)
#define E1_ENABLE_WRITE(STATE) WRITE(E1_ENABLE_PIN,STATE)
#define E1_ENABLE_READ() READ(E1_ENABLE_PIN)
#endif
#define E1_DIR_INIT SET_OUTPUT(E1_DIR_PIN)
#define E1_DIR_WRITE(STATE) WRITE(E1_DIR_PIN,STATE)
#define E1_DIR_READ() READ(E1_DIR_PIN)
#endif
#define E1_STEP_INIT SET_OUTPUT(E1_STEP_PIN)
#if AXIS_HAS_SQUARE_WAVE(E1)
#define E1_STEP_WRITE(STATE) do{ if(STATE) TOGGLE(E1_STEP_PIN); }while(0)
#else
#define E1_STEP_WRITE(STATE) WRITE(E1_STEP_PIN,STATE)
#endif
#define E1_STEP_READ READ(E1_STEP_PIN)
// E2 Stepper
#if AXIS_DRIVER_TYPE_E2(L6470)
extern L6470 stepperE2;
#define E2_ENABLE_INIT NOOP
#define E2_ENABLE_WRITE(STATE) NOOP
#define E2_ENABLE_READ() (stepperE2.getStatus() & STATUS_HIZ)
#define E2_DIR_INIT NOOP
#define E2_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,E2)
#define E2_DIR_READ() (stepperE2.getStatus() & STATUS_DIR)
#else
#if AXIS_IS_TMC(E2)
extern TMC_CLASS_E(2) stepperE2;
#endif
#if AXIS_DRIVER_TYPE_E2(TMC26X)
extern TMC26XStepper stepperE2;
#define E2_ENABLE_INIT NOOP
#define E2_ENABLE_WRITE(STATE) stepperE2.setEnabled(STATE)
#define E2_ENABLE_READ() stepperE2.isEnabled()
#elif ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(E2)
#define E2_ENABLE_INIT NOOP
#define E2_ENABLE_WRITE(STATE) stepperE2.toff((STATE)==E_ENABLE_ON ? chopper_timing.toff : 0)
#define E2_ENABLE_READ() stepperE2.isEnabled()
#else
#define E2_ENABLE_INIT SET_OUTPUT(E2_ENABLE_PIN)
#define E2_ENABLE_WRITE(STATE) WRITE(E2_ENABLE_PIN,STATE)
#define E2_ENABLE_READ() READ(E2_ENABLE_PIN)
#endif
#define E2_DIR_INIT SET_OUTPUT(E2_DIR_PIN)
#define E2_DIR_WRITE(STATE) WRITE(E2_DIR_PIN,STATE)
#define E2_DIR_READ() READ(E2_DIR_PIN)
#endif
#define E2_STEP_INIT SET_OUTPUT(E2_STEP_PIN)
#if AXIS_HAS_SQUARE_WAVE(E2)
#define E2_STEP_WRITE(STATE) do{ if(STATE) TOGGLE(E2_STEP_PIN); }while(0)
#else
#define E2_STEP_WRITE(STATE) WRITE(E2_STEP_PIN,STATE)
#endif
#define E2_STEP_READ READ(E2_STEP_PIN)
// E3 Stepper
#if AXIS_DRIVER_TYPE_E3(L6470)
extern L6470 stepperE3;
#define E3_ENABLE_INIT NOOP
#define E3_ENABLE_WRITE(STATE) NOOP
#define E3_ENABLE_READ() (stepperE3.getStatus() & STATUS_HIZ)
#define E3_DIR_INIT NOOP
#define E3_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,E3)
#define E3_DIR_READ() (stepperE3.getStatus() & STATUS_DIR)
#else
#if AXIS_IS_TMC(E3)
extern TMC_CLASS_E(3) stepperE3;
#endif
#if AXIS_DRIVER_TYPE_E3(TMC26X)
extern TMC26XStepper stepperE3;
#define E3_ENABLE_INIT NOOP
#define E3_ENABLE_WRITE(STATE) stepperE3.setEnabled(STATE)
#define E3_ENABLE_READ() stepperE3.isEnabled()
#elif ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(E3)
#define E3_ENABLE_INIT NOOP
#define E3_ENABLE_WRITE(STATE) stepperE3.toff((STATE)==E_ENABLE_ON ? chopper_timing.toff : 0)
#define E3_ENABLE_READ() stepperE3.isEnabled()
#else
#define E3_ENABLE_INIT SET_OUTPUT(E3_ENABLE_PIN)
#define E3_ENABLE_WRITE(STATE) WRITE(E3_ENABLE_PIN,STATE)
#define E3_ENABLE_READ() READ(E3_ENABLE_PIN)
#endif
#define E3_DIR_INIT SET_OUTPUT(E3_DIR_PIN)
#define E3_DIR_WRITE(STATE) WRITE(E3_DIR_PIN,STATE)
#define E3_DIR_READ() READ(E3_DIR_PIN)
#endif
#define E3_STEP_INIT SET_OUTPUT(E3_STEP_PIN)
#if AXIS_HAS_SQUARE_WAVE(E3)
#define E3_STEP_WRITE(STATE) do{ if(STATE) TOGGLE(E3_STEP_PIN); }while(0)
#else
#define E3_STEP_WRITE(STATE) WRITE(E3_STEP_PIN,STATE)
#endif
#define E3_STEP_READ READ(E3_STEP_PIN)
// E4 Stepper
#if AXIS_DRIVER_TYPE_E4(L6470)
extern L6470 stepperE4;
#define E4_ENABLE_INIT NOOP
#define E4_ENABLE_WRITE(STATE) NOOP
#define E4_ENABLE_READ() (stepperE4.getStatus() & STATUS_HIZ)
#define E4_DIR_INIT NOOP
#define E4_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,E4)
#define E4_DIR_READ() (stepperE4.getStatus() & STATUS_DIR)
#else
#if AXIS_IS_TMC(E4)
extern TMC_CLASS_E(4) stepperE4;
#endif
#if AXIS_DRIVER_TYPE_E4(TMC26X)
extern TMC26XStepper stepperE4;
#define E4_ENABLE_INIT NOOP
#define E4_ENABLE_WRITE(STATE) stepperE4.setEnabled(STATE)
#define E4_ENABLE_READ() stepperE4.isEnabled()
#elif ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(E4)
#define E4_ENABLE_INIT NOOP
#define E4_ENABLE_WRITE(STATE) stepperE4.toff((STATE)==E_ENABLE_ON ? chopper_timing.toff : 0)
#define E4_ENABLE_READ() stepperE4.isEnabled()
#else
#define E4_ENABLE_INIT SET_OUTPUT(E4_ENABLE_PIN)
#define E4_ENABLE_WRITE(STATE) WRITE(E4_ENABLE_PIN,STATE)
#define E4_ENABLE_READ() READ(E4_ENABLE_PIN)
#endif
#define E4_DIR_INIT SET_OUTPUT(E4_DIR_PIN)
#define E4_DIR_WRITE(STATE) WRITE(E4_DIR_PIN,STATE)
#define E4_DIR_READ() READ(E4_DIR_PIN)
#endif
#define E4_STEP_INIT SET_OUTPUT(E4_STEP_PIN)
#if AXIS_HAS_SQUARE_WAVE(E4)
#define E4_STEP_WRITE(STATE) do{ if(STATE) TOGGLE(E4_STEP_PIN); }while(0)
#else
#define E4_STEP_WRITE(STATE) WRITE(E4_STEP_PIN,STATE)
#endif
#define E4_STEP_READ READ(E4_STEP_PIN)
// E5 Stepper
#if AXIS_DRIVER_TYPE_E5(L6470)
extern L6470 stepperE5;
#define E5_ENABLE_INIT NOOP
#define E5_ENABLE_WRITE(STATE) NOOP
#define E5_ENABLE_READ() (stepperE5.getStatus() & STATUS_HIZ)
#define E5_DIR_INIT NOOP
#define E5_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,E5)
#define E5_DIR_READ() (stepperE5.getStatus() & STATUS_DIR)
#else
#if AXIS_IS_TMC(E5)
extern TMC_CLASS_E(5) stepperE5;
#endif
#if AXIS_DRIVER_TYPE_E5(TMC26X)
extern TMC26XStepper stepperE5;
#define E5_ENABLE_INIT NOOP
#define E5_ENABLE_WRITE(STATE) stepperE5.setEnabled(STATE)
#define E5_ENABLE_READ() stepperE5.isEnabled()
#elif ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(E5)
#define E5_ENABLE_INIT NOOP
#define E5_ENABLE_WRITE(STATE) stepperE5.toff((STATE)==E_ENABLE_ON ? chopper_timing.toff : 0)
#define E5_ENABLE_READ() stepperE5.isEnabled()
#else
#define E5_ENABLE_INIT SET_OUTPUT(E5_ENABLE_PIN)
#define E5_ENABLE_WRITE(STATE) WRITE(E5_ENABLE_PIN,STATE)
#define E5_ENABLE_READ() READ(E5_ENABLE_PIN)
#endif
#define E5_DIR_INIT SET_OUTPUT(E5_DIR_PIN)
#define E5_DIR_WRITE(STATE) WRITE(E5_DIR_PIN,STATE)
#define E5_DIR_READ() READ(E5_DIR_PIN)
#endif
#define E5_STEP_INIT SET_OUTPUT(E5_STEP_PIN)
#if AXIS_HAS_SQUARE_WAVE(E5)
#define E5_STEP_WRITE(STATE) do{ if(STATE) TOGGLE(E5_STEP_PIN); }while(0)
#else
#define E5_STEP_WRITE(STATE) WRITE(E5_STEP_PIN,STATE)
#endif
#define E5_STEP_READ READ(E5_STEP_PIN)
/**
* Extruder indirection for the single E axis
*/
#if ENABLED(SWITCHING_EXTRUDER) // One stepper driver per two extruders, reversed on odd index
#if EXTRUDERS > 5
#define E_STEP_WRITE(E,V) do{ if (E < 2) { E0_STEP_WRITE(V); } else if (E < 4) { E1_STEP_WRITE(V); } else { E2_STEP_WRITE(V); } }while(0)
#define NORM_E_DIR(E) do{ switch (E) { case 0: E0_DIR_WRITE(!INVERT_E0_DIR); break; case 1: E0_DIR_WRITE( INVERT_E0_DIR); break; case 2: E1_DIR_WRITE(!INVERT_E1_DIR); break; case 3: E1_DIR_WRITE( INVERT_E1_DIR); break; case 4: E2_DIR_WRITE(!INVERT_E2_DIR); case 5: E2_DIR_WRITE( INVERT_E2_DIR); } }while(0)
#define REV_E_DIR(E) do{ switch (E) { case 0: E0_DIR_WRITE( INVERT_E0_DIR); break; case 1: E0_DIR_WRITE(!INVERT_E0_DIR); break; case 2: E1_DIR_WRITE( INVERT_E1_DIR); break; case 3: E1_DIR_WRITE(!INVERT_E1_DIR); break; case 4: E2_DIR_WRITE( INVERT_E2_DIR); case 5: E2_DIR_WRITE(!INVERT_E2_DIR); } }while(0)
#elif EXTRUDERS > 4
#define E_STEP_WRITE(E,V) do{ if (E < 2) { E0_STEP_WRITE(V); } else if (E < 4) { E1_STEP_WRITE(V); } else { E2_STEP_WRITE(V); } }while(0)
#define NORM_E_DIR(E) do{ switch (E) { case 0: E0_DIR_WRITE(!INVERT_E0_DIR); break; case 1: E0_DIR_WRITE( INVERT_E0_DIR); break; case 2: E1_DIR_WRITE(!INVERT_E1_DIR); break; case 3: E1_DIR_WRITE( INVERT_E1_DIR); break; case 4: E2_DIR_WRITE(!INVERT_E2_DIR); } }while(0)
#define REV_E_DIR(E) do{ switch (E) { case 0: E0_DIR_WRITE( INVERT_E0_DIR); break; case 1: E0_DIR_WRITE(!INVERT_E0_DIR); break; case 2: E1_DIR_WRITE( INVERT_E1_DIR); break; case 3: E1_DIR_WRITE(!INVERT_E1_DIR); break; case 4: E2_DIR_WRITE( INVERT_E2_DIR); } }while(0)
#elif EXTRUDERS > 3
#define E_STEP_WRITE(E,V) do{ if (E < 2) { E0_STEP_WRITE(V); } else { E1_STEP_WRITE(V); } }while(0)
#define NORM_E_DIR(E) do{ switch (E) { case 0: E0_DIR_WRITE(!INVERT_E0_DIR); break; case 1: E0_DIR_WRITE( INVERT_E0_DIR); break; case 2: E1_DIR_WRITE(!INVERT_E1_DIR); break; case 3: E1_DIR_WRITE( INVERT_E1_DIR); } }while(0)
#define REV_E_DIR(E) do{ switch (E) { case 0: E0_DIR_WRITE( INVERT_E0_DIR); break; case 1: E0_DIR_WRITE(!INVERT_E0_DIR); break; case 2: E1_DIR_WRITE( INVERT_E1_DIR); break; case 3: E1_DIR_WRITE(!INVERT_E1_DIR); } }while(0)
#elif EXTRUDERS > 2
#define E_STEP_WRITE(E,V) do{ if (E < 2) { E0_STEP_WRITE(V); } else { E1_STEP_WRITE(V); } }while(0)
#define NORM_E_DIR(E) do{ switch (E) { case 0: E0_DIR_WRITE(!INVERT_E0_DIR); break; case 1: E0_DIR_WRITE( INVERT_E0_DIR); break; case 2: E1_DIR_WRITE(!INVERT_E1_DIR); } }while(0)
#define REV_E_DIR(E) do{ switch (E) { case 0: E0_DIR_WRITE( INVERT_E0_DIR); break; case 1: E0_DIR_WRITE(!INVERT_E0_DIR); break; case 2: E1_DIR_WRITE( INVERT_E1_DIR); } }while(0)
#else
#define E_STEP_WRITE(E,V) E0_STEP_WRITE(V)
#define NORM_E_DIR(E) do{ E0_DIR_WRITE(E ? INVERT_E0_DIR : !INVERT_E0_DIR); }while(0)
#define REV_E_DIR(E) do{ E0_DIR_WRITE(E ? !INVERT_E0_DIR : INVERT_E0_DIR); }while(0)
#endif
#elif ENABLED(PRUSA_MMU2)
#define E_STEP_WRITE(E,V) E0_STEP_WRITE(V)
#define NORM_E_DIR(E) E0_DIR_WRITE(!INVERT_E0_DIR)
#define REV_E_DIR(E) E0_DIR_WRITE( INVERT_E0_DIR)
#elif ENABLED(MK2_MULTIPLEXER) // One multiplexed stepper driver, reversed on odd index
#define E_STEP_WRITE(E,V) E0_STEP_WRITE(V)
#define NORM_E_DIR(E) do{ E0_DIR_WRITE(TEST(E, 0) ? !INVERT_E0_DIR: INVERT_E0_DIR); }while(0)
#define REV_E_DIR(E) do{ E0_DIR_WRITE(TEST(E, 0) ? INVERT_E0_DIR: !INVERT_E0_DIR); }while(0)
#elif E_STEPPERS > 1
#if E_STEPPERS > 5
#define _E_STEP_WRITE(E,V) do{ switch (E) { case 0: E0_STEP_WRITE(V); break; case 1: E1_STEP_WRITE(V); break; case 2: E2_STEP_WRITE(V); break; case 3: E3_STEP_WRITE(V); break; case 4: E4_STEP_WRITE(V); case 5: E5_STEP_WRITE(V); } }while(0)
#define _NORM_E_DIR(E) do{ switch (E) { case 0: E0_DIR_WRITE(!INVERT_E0_DIR); break; case 1: E1_DIR_WRITE(!INVERT_E1_DIR); break; case 2: E2_DIR_WRITE(!INVERT_E2_DIR); break; case 3: E3_DIR_WRITE(!INVERT_E3_DIR); break; case 4: E4_DIR_WRITE(!INVERT_E4_DIR); case 5: E5_DIR_WRITE(!INVERT_E5_DIR); } }while(0)
#define _REV_E_DIR(E) do{ switch (E) { case 0: E0_DIR_WRITE( INVERT_E0_DIR); break; case 1: E1_DIR_WRITE( INVERT_E1_DIR); break; case 2: E2_DIR_WRITE( INVERT_E2_DIR); break; case 3: E3_DIR_WRITE( INVERT_E3_DIR); break; case 4: E4_DIR_WRITE( INVERT_E4_DIR); case 5: E5_DIR_WRITE( INVERT_E5_DIR); } }while(0)
#elif E_STEPPERS > 4
#define _E_STEP_WRITE(E,V) do{ switch (E) { case 0: E0_STEP_WRITE(V); break; case 1: E1_STEP_WRITE(V); break; case 2: E2_STEP_WRITE(V); break; case 3: E3_STEP_WRITE(V); break; case 4: E4_STEP_WRITE(V); } }while(0)
#define _NORM_E_DIR(E) do{ switch (E) { case 0: E0_DIR_WRITE(!INVERT_E0_DIR); break; case 1: E1_DIR_WRITE(!INVERT_E1_DIR); break; case 2: E2_DIR_WRITE(!INVERT_E2_DIR); break; case 3: E3_DIR_WRITE(!INVERT_E3_DIR); break; case 4: E4_DIR_WRITE(!INVERT_E4_DIR); } }while(0)
#define _REV_E_DIR(E) do{ switch (E) { case 0: E0_DIR_WRITE( INVERT_E0_DIR); break; case 1: E1_DIR_WRITE( INVERT_E1_DIR); break; case 2: E2_DIR_WRITE( INVERT_E2_DIR); break; case 3: E3_DIR_WRITE( INVERT_E3_DIR); break; case 4: E4_DIR_WRITE( INVERT_E4_DIR); } }while(0)
#elif E_STEPPERS > 3
#define _E_STEP_WRITE(E,V) do{ switch (E) { case 0: E0_STEP_WRITE(V); break; case 1: E1_STEP_WRITE(V); break; case 2: E2_STEP_WRITE(V); break; case 3: E3_STEP_WRITE(V); } }while(0)
#define _NORM_E_DIR(E) do{ switch (E) { case 0: E0_DIR_WRITE(!INVERT_E0_DIR); break; case 1: E1_DIR_WRITE(!INVERT_E1_DIR); break; case 2: E2_DIR_WRITE(!INVERT_E2_DIR); break; case 3: E3_DIR_WRITE(!INVERT_E3_DIR); } }while(0)
#define _REV_E_DIR(E) do{ switch (E) { case 0: E0_DIR_WRITE( INVERT_E0_DIR); break; case 1: E1_DIR_WRITE( INVERT_E1_DIR); break; case 2: E2_DIR_WRITE( INVERT_E2_DIR); break; case 3: E3_DIR_WRITE( INVERT_E3_DIR); } }while(0)
#elif E_STEPPERS > 2
#define _E_STEP_WRITE(E,V) do{ switch (E) { case 0: E0_STEP_WRITE(V); break; case 1: E1_STEP_WRITE(V); break; case 2: E2_STEP_WRITE(V); } }while(0)
#define _NORM_E_DIR(E) do{ switch (E) { case 0: E0_DIR_WRITE(!INVERT_E0_DIR); break; case 1: E1_DIR_WRITE(!INVERT_E1_DIR); break; case 2: E2_DIR_WRITE(!INVERT_E2_DIR); } }while(0)
#define _REV_E_DIR(E) do{ switch (E) { case 0: E0_DIR_WRITE( INVERT_E0_DIR); break; case 1: E1_DIR_WRITE( INVERT_E1_DIR); break; case 2: E2_DIR_WRITE( INVERT_E2_DIR); } }while(0)
#else
#define _E_STEP_WRITE(E,V) do{ if (E == 0) { E0_STEP_WRITE(V); } else { E1_STEP_WRITE(V); } }while(0)
#define _NORM_E_DIR(E) do{ if (E == 0) { E0_DIR_WRITE(!INVERT_E0_DIR); } else { E1_DIR_WRITE(!INVERT_E1_DIR); } }while(0)
#define _REV_E_DIR(E) do{ if (E == 0) { E0_DIR_WRITE( INVERT_E0_DIR); } else { E1_DIR_WRITE( INVERT_E1_DIR); } }while(0)
#endif
#if HAS_DUPLICATION_MODE
#if ENABLED(MULTI_NOZZLE_DUPLICATION)
#define _DUPE(N,T,V) do{ if (TEST(duplication_e_mask, N)) E##N##_##T##_WRITE(V); }while(0)
#else
#define _DUPE(N,T,V) E##N##_##T##_WRITE(V)
#endif
#define NDIR(N) _DUPE(N,DIR,!INVERT_E##N##_DIR)
#define RDIR(N) _DUPE(N,DIR, INVERT_E##N##_DIR)
#define E_STEP_WRITE(E,V) do{ if (extruder_duplication_enabled) { DUPE(STEP,V); } else _E_STEP_WRITE(E,V); }while(0)
#if E_STEPPERS > 2
#if E_STEPPERS > 5
#define DUPE(T,V) do{ _DUPE(0,T,V); _DUPE(1,T,V); _DUPE(2,T,V); _DUPE(3,T,V); _DUPE(4,T,V); _DUPE(5,T,V); }while(0)
#define NORM_E_DIR(E) do{ if (extruder_duplication_enabled) { NDIR(0); NDIR(1); NDIR(2); NDIR(3); NDIR(4); NDIR(5); } else _NORM_E_DIR(E); }while(0)
#define REV_E_DIR(E) do{ if (extruder_duplication_enabled) { RDIR(0); RDIR(1); RDIR(2); RDIR(3); RDIR(4); RDIR(5); } else _REV_E_DIR(E); }while(0)
#elif E_STEPPERS > 4
#define DUPE(T,V) do{ _DUPE(0,T,V); _DUPE(1,T,V); _DUPE(2,T,V); _DUPE(3,T,V); _DUPE(4,T,V); }while(0)
#define NORM_E_DIR(E) do{ if (extruder_duplication_enabled) { NDIR(0); NDIR(1); NDIR(2); NDIR(3); NDIR(4); } else _NORM_E_DIR(E); }while(0)
#define REV_E_DIR(E) do{ if (extruder_duplication_enabled) { RDIR(0); RDIR(1); RDIR(2); RDIR(3); RDIR(4); } else _REV_E_DIR(E); }while(0)
#elif E_STEPPERS > 3
#define DUPE(T,V) do{ _DUPE(0,T,V); _DUPE(1,T,V); _DUPE(2,T,V); _DUPE(3,T,V); }while(0)
#define NORM_E_DIR(E) do{ if (extruder_duplication_enabled) { NDIR(0); NDIR(1); NDIR(2); NDIR(3); } else _NORM_E_DIR(E); }while(0)
#define REV_E_DIR(E) do{ if (extruder_duplication_enabled) { RDIR(0); RDIR(1); RDIR(2); RDIR(3); } else _REV_E_DIR(E); }while(0)
#else
#define DUPE(T,V) do{ _DUPE(0,T,V); _DUPE(1,T,V); _DUPE(2,T,V); }while(0)
#define NORM_E_DIR(E) do{ if (extruder_duplication_enabled) { NDIR(0); NDIR(1); NDIR(2); } else _NORM_E_DIR(E); }while(0)
#define REV_E_DIR(E) do{ if (extruder_duplication_enabled) { RDIR(0); RDIR(1); RDIR(2); } else _REV_E_DIR(E); }while(0)
#endif
#else
#define DUPE(T,V) do{ _DUPE(0,T,V); _DUPE(1,T,V); }while(0)
#define NORM_E_DIR(E) do{ if (extruder_duplication_enabled) { NDIR(0); NDIR(1); } else _NORM_E_DIR(E); }while(0)
#define REV_E_DIR(E) do{ if (extruder_duplication_enabled) { RDIR(0); RDIR(1); } else _REV_E_DIR(E); }while(0)
#endif
#else
#define E_STEP_WRITE(E,V) _E_STEP_WRITE(E,V)
#define NORM_E_DIR(E) _NORM_E_DIR(E)
#define REV_E_DIR(E) _REV_E_DIR(E)
#endif
#elif E_STEPPERS
#define E_STEP_WRITE(E,V) E0_STEP_WRITE(V)
#define NORM_E_DIR(E) E0_DIR_WRITE(!INVERT_E0_DIR)
#define REV_E_DIR(E) E0_DIR_WRITE( INVERT_E0_DIR)
#else
#define E_STEP_WRITE(E,V) NOOP
#define NORM_E_DIR(E) NOOP
#define REV_E_DIR(E) NOOP
#endif