Improved STMicro L64XX stepper driver support (#16452)
This commit is contained in:
Bob Kuhn
Scott Lahteine
@ -117,8 +117,10 @@ Stepper stepper; // Singleton
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#include "../feature/runout.h"
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#endif
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#if HAS_DRIVER(L6470)
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#include "../libs/L6470/L6470_Marlin.h"
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#if HAS_L64XX
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#include "../libs/L64XX/L64XX_Marlin.h"
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uint8_t L6470_buf[MAX_L6470 + 1]; // chip command sequence - element 0 not used
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bool L64XX_OK_to_power_up = false; // flag to keep L64xx steppers powered down after a reset or power up
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#endif
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#if ENABLED(POWER_LOSS_RECOVERY)
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@ -371,21 +373,17 @@ void Stepper::wake_up() {
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*/
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void Stepper::set_directions() {
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#if HAS_DRIVER(L6470)
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uint8_t L6470_buf[MAX_L6470 + 1]; // chip command sequence - element 0 not used
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#endif
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#if MINIMUM_STEPPER_PRE_DIR_DELAY > 0
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DELAY_NS(MINIMUM_STEPPER_PRE_DIR_DELAY);
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#endif
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#define SET_STEP_DIR(A) \
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if (motor_direction(_AXIS(A))) { \
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A##_APPLY_DIR(INVERT_## A##_DIR, false); \
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A##_APPLY_DIR(INVERT_##A##_DIR, false); \
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count_direction[_AXIS(A)] = -1; \
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} \
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else { \
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A##_APPLY_DIR(!INVERT_## A##_DIR, false); \
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A##_APPLY_DIR(!INVERT_##A##_DIR, false); \
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count_direction[_AXIS(A)] = 1; \
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}
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@ -425,25 +423,25 @@ void Stepper::set_directions() {
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#endif
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#endif // !LIN_ADVANCE
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#if HAS_DRIVER(L6470)
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#if HAS_L64XX
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if (L64XX_OK_to_power_up) { // OK to send the direction commands (which powers up the L64XX steppers)
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if (L64xxManager.spi_active) {
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L64xxManager.spi_abort = true; // Interrupted SPI transfer needs to shut down gracefully
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for (uint8_t j = 1; j <= L64XX::chain[0]; j++)
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L6470_buf[j] = dSPIN_NOP; // Fill buffer with NOOPs
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L64xxManager.transfer(L6470_buf, L64XX::chain[0]); // Send enough NOOPs to complete any command
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L64xxManager.transfer(L6470_buf, L64XX::chain[0]);
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L64xxManager.transfer(L6470_buf, L64XX::chain[0]);
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}
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if (L6470.spi_active) {
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L6470.spi_abort = true; // interrupted a SPI transfer - need to shut it down gracefully
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for (uint8_t j = 1; j <= L6470::chain[0]; j++)
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L6470_buf[j] = dSPIN_NOP; // fill buffer with NOOP commands
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L6470.transfer(L6470_buf, L6470::chain[0]); // send enough NOOPs to complete any command
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L6470.transfer(L6470_buf, L6470::chain[0]);
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L6470.transfer(L6470_buf, L6470::chain[0]);
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// L64xxManager.dir_commands[] is an array that holds direction command for each stepper
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// Scan command array, copy matches into L64xxManager.transfer
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for (uint8_t j = 1; j <= L64XX::chain[0]; j++)
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L6470_buf[j] = L64xxManager.dir_commands[L64XX::chain[j]];
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L64xxManager.transfer(L6470_buf, L64XX::chain[0]); // send the command stream to the drivers
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}
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// The L6470.dir_commands[] array holds the direction command for each stepper
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//scan command array and copy matches into L6470.transfer
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for (uint8_t j = 1; j <= L6470::chain[0]; j++)
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L6470_buf[j] = L6470.dir_commands[L6470::chain[j]];
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L6470.transfer(L6470_buf, L6470::chain[0]); // send the command stream to the drivers
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#endif
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// A small delay may be needed after changing direction
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@ -1846,8 +1844,8 @@ uint32_t Stepper::stepper_block_phase_isr() {
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#endif
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if (
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#if HAS_DRIVER(L6470)
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true // Always set direction for L6470 (This also enables the chips)
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#if HAS_L64XX
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true // Always set direction for L64xx (This also enables the chips)
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#else
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current_block->direction_bits != last_direction_bits
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#if DISABLED(MIXING_EXTRUDER)
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@ -1859,6 +1857,10 @@ uint32_t Stepper::stepper_block_phase_isr() {
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#if EXTRUDERS > 1
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last_moved_extruder = stepper_extruder;
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#endif
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#if HAS_L64XX
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L64XX_OK_to_power_up = true;
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#endif
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set_directions();
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}
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@ -1,143 +0,0 @@
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/**
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* Marlin 3D Printer Firmware
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* Copyright (c) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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/**
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* stepper/L6470.cpp
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* Stepper driver indirection for L6470 drivers
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*/
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#include "../../inc/MarlinConfig.h"
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#if HAS_DRIVER(L6470)
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#include "L6470.h"
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#define _L6470_DEFINE(ST) L6470 stepper##ST((const int)L6470_CHAIN_SS_PIN)
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// L6470 Stepper objects
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#if AXIS_DRIVER_TYPE_X(L6470)
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_L6470_DEFINE(X);
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#endif
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#if AXIS_DRIVER_TYPE_X2(L6470)
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_L6470_DEFINE(X2);
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#endif
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#if AXIS_DRIVER_TYPE_Y(L6470)
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_L6470_DEFINE(Y);
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#endif
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#if AXIS_DRIVER_TYPE_Y2(L6470)
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_L6470_DEFINE(Y2);
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#endif
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#if AXIS_DRIVER_TYPE_Z(L6470)
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_L6470_DEFINE(Z);
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#endif
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#if AXIS_DRIVER_TYPE_Z2(L6470)
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_L6470_DEFINE(Z2);
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#endif
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#if AXIS_DRIVER_TYPE_Z3(L6470)
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_L6470_DEFINE(Z3);
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#endif
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#if AXIS_DRIVER_TYPE_E0(L6470)
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_L6470_DEFINE(E0);
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#endif
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#if AXIS_DRIVER_TYPE_E1(L6470)
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_L6470_DEFINE(E1);
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#endif
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#if AXIS_DRIVER_TYPE_E2(L6470)
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_L6470_DEFINE(E2);
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#endif
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#if AXIS_DRIVER_TYPE_E3(L6470)
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_L6470_DEFINE(E3);
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#endif
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#if AXIS_DRIVER_TYPE_E4(L6470)
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_L6470_DEFINE(E4);
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#endif
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#if AXIS_DRIVER_TYPE_E5(L6470)
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_L6470_DEFINE(E5);
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#endif
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// not using L6470 library's init command because it
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// briefly sends power to the steppers
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#define _L6470_INIT_CHIP(Q) do{ \
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stepper##Q.resetDev(); \
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stepper##Q.softFree(); \
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stepper##Q.SetParam(L6470_CONFIG, CONFIG_PWM_DIV_1 \
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| CONFIG_PWM_MUL_2 \
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| CONFIG_SR_290V_us \
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| CONFIG_OC_SD_DISABLE \
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| CONFIG_VS_COMP_DISABLE \
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| CONFIG_SW_HARD_STOP \
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| CONFIG_INT_16MHZ); \
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stepper##Q.SetParam(L6470_KVAL_RUN, 0xFF); \
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stepper##Q.SetParam(L6470_KVAL_ACC, 0xFF); \
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stepper##Q.SetParam(L6470_KVAL_DEC, 0xFF); \
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stepper##Q.setMicroSteps(Q##_MICROSTEPS); \
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stepper##Q.setOverCurrent(Q##_OVERCURRENT); \
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stepper##Q.setStallCurrent(Q##_STALLCURRENT); \
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stepper##Q.SetParam(L6470_KVAL_HOLD, Q##_MAX_VOLTAGE); \
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stepper##Q.SetParam(L6470_ABS_POS, 0); \
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stepper##Q.getStatus(); \
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}while(0)
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void L6470_Marlin::init_to_defaults() {
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#if AXIS_DRIVER_TYPE_X(L6470)
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_L6470_INIT_CHIP(X);
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#endif
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#if AXIS_DRIVER_TYPE_X2(L6470)
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_L6470_INIT_CHIP(X2);
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#endif
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#if AXIS_DRIVER_TYPE_Y(L6470)
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_L6470_INIT_CHIP(Y);
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#endif
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#if AXIS_DRIVER_TYPE_Y2(L6470)
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_L6470_INIT_CHIP(Y2);
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#endif
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#if AXIS_DRIVER_TYPE_Z(L6470)
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_L6470_INIT_CHIP(Z);
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#endif
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#if AXIS_DRIVER_TYPE_Z2(L6470)
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_L6470_INIT_CHIP(Z2);
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#endif
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#if AXIS_DRIVER_TYPE_Z3(L6470)
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_L6470_INIT_CHIP(Z3);
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#endif
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#if AXIS_DRIVER_TYPE_E0(L6470)
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_L6470_INIT_CHIP(E0);
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#endif
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#if AXIS_DRIVER_TYPE_E1(L6470)
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_L6470_INIT_CHIP(E1);
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#endif
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#if AXIS_DRIVER_TYPE_E2(L6470)
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_L6470_INIT_CHIP(E2);
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#endif
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#if AXIS_DRIVER_TYPE_E3(L6470)
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_L6470_INIT_CHIP(E3);
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#endif
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#if AXIS_DRIVER_TYPE_E4(L6470)
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_L6470_INIT_CHIP(E4);
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#endif
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#if AXIS_DRIVER_TYPE_E5(L6470)
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_L6470_INIT_CHIP(E5);
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#endif
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}
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#endif // L6470
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@ -1,176 +0,0 @@
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/**
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* Marlin 3D Printer Firmware
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* Copyright (c) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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#pragma once
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/**
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* stepper/L6470.h
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* Stepper driver indirection for L6470 drivers
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*/
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#include "../../inc/MarlinConfig.h"
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#include "../../libs/L6470/L6470_Marlin.h"
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// L6470 has STEP on normal pins, but DIR/ENABLE via SPI
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#define L6470_WRITE_DIR_COMMAND(STATE,Q) do{ L6470_dir_commands[Q] = (STATE ? dSPIN_STEP_CLOCK_REV : dSPIN_STEP_CLOCK_FWD); }while(0)
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// X Stepper
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#if AXIS_DRIVER_TYPE_X(L6470)
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extern L6470 stepperX;
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#define X_ENABLE_INIT NOOP
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#define X_ENABLE_WRITE(STATE) NOOP
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#define X_ENABLE_READ() (stepperX.getStatus() & STATUS_HIZ)
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#define X_DIR_INIT NOOP
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#define X_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,X)
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#define X_DIR_READ() (stepperX.getStatus() & STATUS_DIR)
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#endif
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// Y Stepper
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#if AXIS_DRIVER_TYPE_Y(L6470)
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extern L6470 stepperY;
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#define Y_ENABLE_INIT NOOP
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#define Y_ENABLE_WRITE(STATE) NOOP
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#define Y_ENABLE_READ() (stepperY.getStatus() & STATUS_HIZ)
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#define Y_DIR_INIT NOOP
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#define Y_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,Y)
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#define Y_DIR_READ() (stepperY.getStatus() & STATUS_DIR)
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#endif
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// Z Stepper
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#if AXIS_DRIVER_TYPE_Z(L6470)
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extern L6470 stepperZ;
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#define Z_ENABLE_INIT NOOP
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#define Z_ENABLE_WRITE(STATE) NOOP
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#define Z_ENABLE_READ() (stepperZ.getStatus() & STATUS_HIZ)
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#define Z_DIR_INIT NOOP
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#define Z_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,Z)
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#define Z_DIR_READ() (stepperZ.getStatus() & STATUS_DIR)
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#endif
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// X2 Stepper
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#if HAS_X2_ENABLE && AXIS_DRIVER_TYPE_X2(L6470)
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extern L6470 stepperX2;
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#define X2_ENABLE_INIT NOOP
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#define X2_ENABLE_WRITE(STATE) NOOP
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#define X2_ENABLE_READ() (stepperX2.getStatus() & STATUS_HIZ)
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#define X2_DIR_INIT NOOP
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#define X2_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,X2)
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#define X2_DIR_READ() (stepperX2.getStatus() & STATUS_DIR)
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#endif
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// Y2 Stepper
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#if HAS_Y2_ENABLE && AXIS_DRIVER_TYPE_Y2(L6470)
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extern L6470 stepperY2;
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#define Y2_ENABLE_INIT NOOP
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#define Y2_ENABLE_WRITE(STATE) NOOP
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#define Y2_ENABLE_READ() (stepperY2.getStatus() & STATUS_HIZ)
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#define Y2_DIR_INIT NOOP
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#define Y2_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,Y2)
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#define Y2_DIR_READ() (stepperY2.getStatus() & STATUS_DIR)
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#endif
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// Z2 Stepper
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#if HAS_Z2_ENABLE && AXIS_DRIVER_TYPE_Z2(L6470)
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extern L6470 stepperZ2;
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#define Z2_ENABLE_INIT NOOP
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#define Z2_ENABLE_WRITE(STATE) NOOP
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#define Z2_ENABLE_READ() (stepperZ2.getStatus() & STATUS_HIZ)
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#define Z2_DIR_INIT NOOP
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#define Z2_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,Z2)
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#define Z2_DIR_READ() (stepperZ2.getStatus() & STATUS_DIR)
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#endif
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// Z3 Stepper
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#if HAS_Z3_ENABLE && AXIS_DRIVER_TYPE_Z3(L6470)
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extern L6470 stepperZ3;
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#define Z3_ENABLE_INIT NOOP
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#define Z3_ENABLE_WRITE(STATE) NOOP
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#define Z3_ENABLE_READ() (stepperZ3.getStatus() & STATUS_HIZ)
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#define Z3_DIR_INIT NOOP
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#define Z3_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,Z3)
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#define Z3_DIR_READ() (stepperZ3.getStatus() & STATUS_DIR)
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#endif
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// E0 Stepper
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#if AXIS_DRIVER_TYPE_E0(L6470)
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extern L6470 stepperE0;
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#define E0_ENABLE_INIT NOOP
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#define E0_ENABLE_WRITE(STATE) NOOP
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#define E0_ENABLE_READ() (stepperE0.getStatus() & STATUS_HIZ)
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#define E0_DIR_INIT NOOP
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#define E0_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,E0)
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#define E0_DIR_READ() (stepperE0.getStatus() & STATUS_DIR)
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#endif
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// E1 Stepper
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#if AXIS_DRIVER_TYPE_E1(L6470)
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extern L6470 stepperE1;
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#define E1_ENABLE_INIT NOOP
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#define E1_ENABLE_WRITE(STATE) NOOP
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#define E1_ENABLE_READ() (stepperE1.getStatus() & STATUS_HIZ)
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#define E1_DIR_INIT NOOP
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#define E1_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,E1)
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#define E1_DIR_READ() (stepperE1.getStatus() & STATUS_DIR)
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#endif
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// E2 Stepper
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#if AXIS_DRIVER_TYPE_E2(L6470)
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extern L6470 stepperE2;
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#define E2_ENABLE_INIT NOOP
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#define E2_ENABLE_WRITE(STATE) NOOP
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#define E2_ENABLE_READ() (stepperE2.getStatus() & STATUS_HIZ)
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#define E2_DIR_INIT NOOP
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#define E2_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,E2)
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#define E2_DIR_READ() (stepperE2.getStatus() & STATUS_DIR)
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#endif
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// E3 Stepper
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#if AXIS_DRIVER_TYPE_E3(L6470)
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extern L6470 stepperE3;
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#define E3_ENABLE_INIT NOOP
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#define E3_ENABLE_WRITE(STATE) NOOP
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#define E3_ENABLE_READ() (stepperE3.getStatus() & STATUS_HIZ)
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#define E3_DIR_INIT NOOP
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#define E3_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,E3)
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#define E3_DIR_READ() (stepperE3.getStatus() & STATUS_DIR)
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#endif
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// E4 Stepper
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#if AXIS_DRIVER_TYPE_E4(L6470)
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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
|
||||
210
Marlin/src/module/stepper/L64xx.cpp
Normal file
210
Marlin/src/module/stepper/L64xx.cpp
Normal file
@ -0,0 +1,210 @@
|
||||
/**
|
||||
* 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/L64xx.cpp
|
||||
* Stepper driver indirection for L64XX drivers
|
||||
*/
|
||||
|
||||
#include "../../inc/MarlinConfig.h"
|
||||
|
||||
#if HAS_L64XX
|
||||
|
||||
#include "L64xx.h"
|
||||
|
||||
#if AXIS_IS_L64XX(X)
|
||||
L64XX_CLASS(X) stepperX(L6470_CHAIN_SS_PIN);
|
||||
#endif
|
||||
#if AXIS_IS_L64XX(X2)
|
||||
L64XX_CLASS(X2) stepperX2(L6470_CHAIN_SS_PIN);
|
||||
#endif
|
||||
#if AXIS_IS_L64XX(Y)
|
||||
L64XX_CLASS(Y) stepperY(L6470_CHAIN_SS_PIN);
|
||||
#endif
|
||||
#if AXIS_IS_L64XX(Y2)
|
||||
L64XX_CLASS(Y2) stepperY2(L6470_CHAIN_SS_PIN);
|
||||
#endif
|
||||
#if AXIS_IS_L64XX(Z)
|
||||
L64XX_CLASS(Z) stepperZ(L6470_CHAIN_SS_PIN);
|
||||
#endif
|
||||
#if AXIS_IS_L64XX(Z2)
|
||||
L64XX_CLASS(Z2) stepperZ2(L6470_CHAIN_SS_PIN);
|
||||
#endif
|
||||
#if AXIS_IS_L64XX(Z3)
|
||||
L64XX_CLASS(Z3) stepperZ3(L6470_CHAIN_SS_PIN);
|
||||
#endif
|
||||
#if AXIS_IS_L64XX(E0)
|
||||
L64XX_CLASS(E0) stepperE0(L6470_CHAIN_SS_PIN);
|
||||
#endif
|
||||
#if AXIS_IS_L64XX(E1)
|
||||
L64XX_CLASS(E1) stepperE1(L6470_CHAIN_SS_PIN);
|
||||
#endif
|
||||
#if AXIS_IS_L64XX(E2)
|
||||
L64XX_CLASS(E2) stepperE2(L6470_CHAIN_SS_PIN);
|
||||
#endif
|
||||
#if AXIS_IS_L64XX(E3)
|
||||
L64XX_CLASS(E3) stepperE3(L6470_CHAIN_SS_PIN);
|
||||
#endif
|
||||
#if AXIS_IS_L64XX(E4)
|
||||
L64XX_CLASS(E4) stepperE4(L6470_CHAIN_SS_PIN);
|
||||
#endif
|
||||
#if AXIS_IS_L64XX(E5)
|
||||
L64XX_CLASS(E5) stepperE5(L6470_CHAIN_SS_PIN);
|
||||
#endif
|
||||
|
||||
// Not using L64XX class init method because it
|
||||
// briefly sends power to the steppers
|
||||
|
||||
inline void L6470_init_chip(L64XX &st, const int ms, const int oc, const int sc, const int mv, const int slew_rate) {
|
||||
st.set_handlers(L64xxManager.spi_init, L64xxManager.transfer_single, L64xxManager.transfer_chain); // specify which external SPI routines to use
|
||||
switch (st.L6470_status_layout) {
|
||||
case L6470_STATUS_LAYOUT: {
|
||||
st.resetDev();
|
||||
st.softFree();
|
||||
st.SetParam(st.L64XX_CONFIG, CONFIG_PWM_DIV_1 | CONFIG_PWM_MUL_2 | CONFIG_OC_SD_DISABLE | CONFIG_VS_COMP_DISABLE | CONFIG_SW_HARD_STOP | CONFIG_INT_16MHZ);
|
||||
st.SetParam(L6470_KVAL_RUN, 0xFF);
|
||||
st.SetParam(L6470_KVAL_ACC, 0xFF);
|
||||
st.SetParam(L6470_KVAL_DEC, 0xFF);
|
||||
st.setMicroSteps(ms);
|
||||
st.setOverCurrent(oc);
|
||||
st.setStallCurrent(sc);
|
||||
st.SetParam(L6470_KVAL_HOLD, mv);
|
||||
st.SetParam(L6470_ABS_POS, 0);
|
||||
uint32_t config_temp = st.GetParam(st.L64XX_CONFIG);
|
||||
config_temp &= ~CONFIG_POW_SR;
|
||||
switch (slew_rate) {
|
||||
case 0: st.SetParam(st.L64XX_CONFIG, config_temp | CONFIG_SR_75V_us); break;
|
||||
default:
|
||||
case 1: st.SetParam(st.L64XX_CONFIG, config_temp | CONFIG_SR_110V_us); break;
|
||||
case 3:
|
||||
case 2: st.SetParam(st.L64XX_CONFIG, config_temp | CONFIG_SR_260V_us); break;
|
||||
}
|
||||
st.getStatus();
|
||||
st.getStatus();
|
||||
break;
|
||||
}
|
||||
|
||||
case L6474_STATUS_LAYOUT: {
|
||||
st.free();
|
||||
//st.SetParam(st.L64XX_CONFIG, CONFIG_PWM_DIV_1 | CONFIG_PWM_MUL_2 | CONFIG_OC_SD_DISABLE | CONFIG_VS_COMP_DISABLE | CONFIG_SW_HARD_STOP | CONFIG_INT_16MHZ);
|
||||
//st.SetParam(L6474_TVAL, 0xFF);
|
||||
st.setMicroSteps(ms);
|
||||
st.setOverCurrent(oc);
|
||||
st.setTVALCurrent(sc);
|
||||
st.SetParam(L6470_ABS_POS, 0);
|
||||
uint32_t config_temp = st.GetParam(st.L64XX_CONFIG);
|
||||
config_temp &= ~CONFIG_POW_SR & ~CONFIG_EN_TQREG; // clear out slew rate and set current to be controlled by TVAL register
|
||||
switch (slew_rate) {
|
||||
case 0: st.SetParam(st.L64XX_CONFIG, config_temp | CONFIG_SR_75V_us); break;
|
||||
default:
|
||||
case 1: st.SetParam(st.L64XX_CONFIG, config_temp | CONFIG_SR_110V_us); break;
|
||||
case 3:
|
||||
case 2: st.SetParam(st.L64XX_CONFIG, config_temp | CONFIG_SR_260V_us); break;
|
||||
//case 0: st.SetParam(st.L64XX_CONFIG, 0x2E88 | CONFIG_EN_TQREG | CONFIG_SR_75V_us); break;
|
||||
//default:
|
||||
//case 1: st.SetParam(st.L64XX_CONFIG, 0x2E88 | CONFIG_EN_TQREG | CONFIG_SR_110V_us); break;
|
||||
//case 3:
|
||||
//case 2: st.SetParam(st.L64XX_CONFIG, 0x2E88 | CONFIG_EN_TQREG | CONFIG_SR_260V_us); break;
|
||||
|
||||
//case 0: st.SetParam(st.L64XX_CONFIG, 0x2E88 ); break;
|
||||
//default:
|
||||
//case 1: st.SetParam(st.L64XX_CONFIG, 0x2E88 ); break;
|
||||
//case 3:
|
||||
//case 2: st.SetParam(st.L64XX_CONFIG, 0x2E88 ); break;
|
||||
}
|
||||
st.getStatus();
|
||||
st.getStatus();
|
||||
break;
|
||||
}
|
||||
|
||||
case L6480_STATUS_LAYOUT: {
|
||||
st.resetDev();
|
||||
st.softFree();
|
||||
st.SetParam(st.L64XX_CONFIG, CONFIG_PWM_DIV_1 | CONFIG_PWM_MUL_2 | CONFIG_OC_SD_DISABLE | CONFIG_VS_COMP_DISABLE | CONFIG_SW_HARD_STOP | CONFIG_INT_16MHZ);
|
||||
st.SetParam(L6470_KVAL_RUN, 0xFF);
|
||||
st.SetParam(L6470_KVAL_ACC, 0xFF);
|
||||
st.SetParam(L6470_KVAL_DEC, 0xFF);
|
||||
st.setMicroSteps(ms);
|
||||
st.setOverCurrent(oc);
|
||||
st.setStallCurrent(sc);
|
||||
st.SetParam(+-L6470_KVAL_HOLD, mv);
|
||||
st.SetParam(L6470_ABS_POS, 0);
|
||||
st.SetParam(st.L64XX_CONFIG,(st.GetParam(st.L64XX_CONFIG) | PWR_VCC_7_5V));
|
||||
st.getStatus(); // must clear out status bits before can set slew rate
|
||||
st.getStatus();
|
||||
switch (slew_rate) {
|
||||
case 0: st.SetParam(L6470_GATECFG1, CONFIG1_SR_220V_us); st.SetParam(L6470_GATECFG2, CONFIG2_SR_220V_us); break;
|
||||
default:
|
||||
case 1: st.SetParam(L6470_GATECFG1, CONFIG1_SR_400V_us); st.SetParam(L6470_GATECFG2, CONFIG2_SR_400V_us); break;
|
||||
case 2: st.SetParam(L6470_GATECFG1, CONFIG1_SR_520V_us); st.SetParam(L6470_GATECFG2, CONFIG2_SR_520V_us); break;
|
||||
case 3: st.SetParam(L6470_GATECFG1, CONFIG1_SR_980V_us); st.SetParam(L6470_GATECFG2, CONFIG2_SR_980V_us); break;
|
||||
}
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#define L6470_INIT_CHIP(Q) L6470_init_chip(stepper##Q, Q##_MICROSTEPS, Q##_OVERCURRENT, Q##_STALLCURRENT, Q##_MAX_VOLTAGE, Q##_SLEW_RATE)
|
||||
|
||||
void L64XX_Marlin::init_to_defaults() {
|
||||
#if AXIS_IS_L64XX(X)
|
||||
L6470_INIT_CHIP(X);
|
||||
#endif
|
||||
#if AXIS_IS_L64XX(X2)
|
||||
L6470_INIT_CHIP(X2);
|
||||
#endif
|
||||
#if AXIS_IS_L64XX(Y)
|
||||
L6470_INIT_CHIP(Y);
|
||||
#endif
|
||||
#if AXIS_IS_L64XX(Y2)
|
||||
L6470_INIT_CHIP(Y2);
|
||||
#endif
|
||||
#if AXIS_IS_L64XX(Z)
|
||||
L6470_INIT_CHIP(Z);
|
||||
#endif
|
||||
#if AXIS_IS_L64XX(Z2)
|
||||
L6470_INIT_CHIP(Z2);
|
||||
#endif
|
||||
#if AXIS_IS_L64XX(Z3)
|
||||
L6470_INIT_CHIP(Z3);
|
||||
#endif
|
||||
#if AXIS_IS_L64XX(E0)
|
||||
L6470_INIT_CHIP(E0);
|
||||
#endif
|
||||
#if AXIS_IS_L64XX(E1)
|
||||
L6470_INIT_CHIP(E1);
|
||||
#endif
|
||||
#if AXIS_IS_L64XX(E2)
|
||||
L6470_INIT_CHIP(E2);
|
||||
#endif
|
||||
#if AXIS_IS_L64XX(E3)
|
||||
L6470_INIT_CHIP(E3);
|
||||
#endif
|
||||
#if AXIS_IS_L64XX(E4)
|
||||
L6470_INIT_CHIP(E4);
|
||||
#endif
|
||||
#if AXIS_IS_L64XX(E5)
|
||||
L6470_INIT_CHIP(E5);
|
||||
#endif
|
||||
}
|
||||
|
||||
#endif // HAS_L64XX
|
||||
263
Marlin/src/module/stepper/L64xx.h
Normal file
263
Marlin/src/module/stepper/L64xx.h
Normal file
@ -0,0 +1,263 @@
|
||||
/**
|
||||
* 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/L64xx.h
|
||||
* Stepper driver indirection for L64XX drivers
|
||||
*/
|
||||
|
||||
#include "../../inc/MarlinConfig.h"
|
||||
#include "../../libs/L64XX/L64XX_Marlin.h"
|
||||
|
||||
// Convert option names to L64XX classes
|
||||
#define CLASS_L6470 L6470
|
||||
#define CLASS_L6474 L6474
|
||||
#define CLASS_POWERSTEP01 powerSTEP01
|
||||
|
||||
#define __L64XX_CLASS(TYPE) CLASS_##TYPE
|
||||
#define _L64XX_CLASS(TYPE) __L64XX_CLASS(TYPE)
|
||||
#define L64XX_CLASS(ST) _L64XX_CLASS(ST##_DRIVER_TYPE)
|
||||
|
||||
#define L6474_DIR_WRITE(A,STATE) do{ L64xxManager.dir_commands[A] = dSPIN_L6474_ENABLE; WRITE(A##_DIR_PIN, STATE); }while(0)
|
||||
#define L64XX_DIR_WRITE(A,STATE) do{ L64xxManager.dir_commands[A] = (STATE) ? dSPIN_STEP_CLOCK_REV : dSPIN_STEP_CLOCK_FWD; }while(0)
|
||||
|
||||
// X Stepper
|
||||
#if AXIS_IS_L64XX(X)
|
||||
extern L64XX_CLASS(X) stepperX;
|
||||
#define X_ENABLE_INIT NOOP
|
||||
#define X_ENABLE_WRITE(STATE) (STATE ? NOOP : stepperX.free())
|
||||
#define X_ENABLE_READ (stepperX.getStatus() & STATUS_HIZ)
|
||||
#if AXIS_DRIVER_TYPE_X(L6474)
|
||||
#define X_DIR_INIT SET_OUTPUT(X_DIR_PIN)
|
||||
#define X_DIR_WRITE(STATE) L6474_DIR_WRITE(X, STATE)
|
||||
#define X_DIR_READ READ(X_DIR_PIN)
|
||||
#else
|
||||
#define X_DIR_INIT NOOP
|
||||
#define X_DIR_WRITE(STATE) L64XX_DIR_WRITE(X, STATE)
|
||||
#define X_DIR_READ (stepper##X.getStatus() & STATUS_DIR);
|
||||
#endif
|
||||
#endif
|
||||
|
||||
// Y Stepper
|
||||
#if AXIS_IS_L64XX(Y)
|
||||
extern L64XX_CLASS(Y) stepperY;
|
||||
#define Y_ENABLE_INIT NOOP
|
||||
#define Y_ENABLE_WRITE(STATE) (STATE ? NOOP : stepperY.free())
|
||||
#define Y_ENABLE_READ (stepperY.getStatus() & STATUS_HIZ)
|
||||
#if AXIS_DRIVER_TYPE_Y(L6474)
|
||||
#define Y_DIR_INIT SET_OUTPUT(Y_DIR_PIN)
|
||||
#define Y_DIR_WRITE(STATE) L6474_DIR_WRITE(Y, STATE)
|
||||
#define Y_DIR_READ READ(Y_DIR_PIN)
|
||||
#else
|
||||
#define Y_DIR_INIT NOOP
|
||||
#define Y_DIR_WRITE(STATE) L64XX_DIR_WRITE(Y, STATE)
|
||||
#define Y_DIR_READ (stepper##Y.getStatus() & STATUS_DIR);
|
||||
#endif
|
||||
#endif
|
||||
|
||||
// Z Stepper
|
||||
#if AXIS_IS_L64XX(Z)
|
||||
extern L64XX_CLASS(Z) stepperZ;
|
||||
#define Z_ENABLE_INIT NOOP
|
||||
#define Z_ENABLE_WRITE(STATE) (STATE ? NOOP : stepperZ.free())
|
||||
#define Z_ENABLE_READ (stepperZ.getStatus() & STATUS_HIZ)
|
||||
#if AXIS_DRIVER_TYPE_Z(L6474)
|
||||
#define Z_DIR_INIT SET_OUTPUT(Z_DIR_PIN)
|
||||
#define Z_DIR_WRITE(STATE) L6474_DIR_WRITE(Z, STATE)
|
||||
#define Z_DIR_READ READ(Z_DIR_PIN)
|
||||
#else
|
||||
#define Z_DIR_INIT NOOP
|
||||
#define Z_DIR_WRITE(STATE) L64XX_DIR_WRITE(Z, STATE)
|
||||
#define Z_DIR_READ (stepper##Z.getStatus() & STATUS_DIR);
|
||||
#endif
|
||||
#endif
|
||||
|
||||
// X2 Stepper
|
||||
#if HAS_X2_ENABLE && AXIS_IS_L64XX(X2)
|
||||
extern L64XX_CLASS(X2) stepperX2;
|
||||
#define X2_ENABLE_INIT NOOP
|
||||
#define X2_ENABLE_WRITE(STATE) (STATE ? NOOP : stepperX2.free())
|
||||
#define X2_ENABLE_READ (stepperX2.getStatus() & STATUS_HIZ)
|
||||
#if AXIS_DRIVER_TYPE_X2(L6474)
|
||||
#define X2_DIR_INIT SET_OUTPUT(X2_DIR_PIN)
|
||||
#define X2_DIR_WRITE(STATE) L6474_DIR_WRITE(X2, STATE)
|
||||
#define X2_DIR_READ READ(X2_DIR_PIN)
|
||||
#else
|
||||
#define X2_DIR_INIT NOOP
|
||||
#define X2_DIR_WRITE(STATE) L64XX_DIR_WRITE(X2, STATE)
|
||||
#define X2_DIR_READ (stepper##X2.getStatus() & STATUS_DIR);
|
||||
#endif
|
||||
#endif
|
||||
|
||||
// Y2 Stepper
|
||||
#if HAS_Y2_ENABLE && AXIS_IS_L64XX(Y2)
|
||||
extern L64XX_CLASS(Y2) stepperY2;
|
||||
#define Y2_ENABLE_INIT NOOP
|
||||
#define Y2_ENABLE_WRITE(STATE) (STATE ? NOOP : stepperY2.free())
|
||||
#define Y2_ENABLE_READ (stepperY2.getStatus() & STATUS_HIZ)
|
||||
#if AXIS_DRIVER_TYPE_Y2(L6474)
|
||||
#define Y2_DIR_INIT SET_OUTPUT(Y2_DIR_PIN)
|
||||
#define Y2_DIR_WRITE(STATE) L6474_DIR_WRITE(Y2, STATE)
|
||||
#define Y2_DIR_READ READ(Y2_DIR_PIN)
|
||||
#else
|
||||
#define Y2_DIR_INIT NOOP
|
||||
#define Y2_DIR_WRITE(STATE) L64XX_DIR_WRITE(Y2, STATE)
|
||||
#define Y2_DIR_READ (stepper##Y2.getStatus() & STATUS_DIR);
|
||||
#endif
|
||||
#endif
|
||||
|
||||
// Z2 Stepper
|
||||
#if HAS_Z2_ENABLE && AXIS_IS_L64XX(Z2)
|
||||
extern L64XX_CLASS(Z2) stepperZ2;
|
||||
#define Z2_ENABLE_INIT NOOP
|
||||
#define Z2_ENABLE_WRITE(STATE) (STATE ? NOOP : stepperZ2.free())
|
||||
#define Z2_ENABLE_READ (stepperZ2.getStatus() & STATUS_HIZ)
|
||||
#if AXIS_DRIVER_TYPE_Z2(L6474)
|
||||
#define Z2_DIR_INIT SET_OUTPUT(Z2_DIR_PIN)
|
||||
#define Z2_DIR_WRITE(STATE) L6474_DIR_WRITE(Z2, STATE)
|
||||
#define Z2_DIR_READ READ(Z2_DIR_PIN)
|
||||
#else
|
||||
#define Z2_DIR_INIT NOOP
|
||||
#define Z2_DIR_WRITE(STATE) L64XX_DIR_WRITE(Z2, STATE)
|
||||
#define Z2_DIR_READ (stepper##Z2.getStatus() & STATUS_DIR);
|
||||
#endif
|
||||
#endif
|
||||
|
||||
// Z3 Stepper
|
||||
#if HAS_Z3_ENABLE && AXIS_IS_L64XX(Z3)
|
||||
extern L64XX_CLASS(Z3) stepperZ3;
|
||||
#define Z3_ENABLE_INIT NOOP
|
||||
#define Z3_ENABLE_WRITE(STATE) (STATE ? NOOP : stepperZ3.free())
|
||||
#define Z3_ENABLE_READ (stepperZ3.getStatus() & STATUS_HIZ)
|
||||
#if AXIS_DRIVER_TYPE_Z3(L6474)
|
||||
#define Z3_DIR_INIT SET_OUTPUT(Z3_DIR_PIN)
|
||||
#define Z3_DIR_WRITE(STATE) L6474_DIR_WRITE(Z3, STATE)
|
||||
#define Z3_DIR_READ READ(Z3_DIR_PIN)
|
||||
#else
|
||||
#define Z3_DIR_INIT NOOP
|
||||
#define Z3_DIR_WRITE(STATE) L64XX_DIR_WRITE(Z3, STATE)
|
||||
#define Z3_DIR_READ (stepper##Z3.getStatus() & STATUS_DIR);
|
||||
#endif
|
||||
#endif
|
||||
|
||||
// E0 Stepper
|
||||
#if AXIS_IS_L64XX(E0)
|
||||
extern L64XX_CLASS(E0) stepperE0;
|
||||
#define E0_ENABLE_INIT NOOP
|
||||
#define E0_ENABLE_WRITE(STATE) (STATE ? NOOP : stepperE0.free())
|
||||
#define E0_ENABLE_READ (stepperE0.getStatus() & STATUS_HIZ)
|
||||
#if AXIS_DRIVER_TYPE_E0(L6474)
|
||||
#define E0_DIR_INIT SET_OUTPUT(E0_DIR_PIN)
|
||||
#define E0_DIR_WRITE(STATE) L6474_DIR_WRITE(E0, STATE)
|
||||
#define E0_DIR_READ READ(E0_DIR_PIN)
|
||||
#else
|
||||
#define E0_DIR_INIT NOOP
|
||||
#define E0_DIR_WRITE(STATE) L64XX_DIR_WRITE(E0, STATE)
|
||||
#define E0_DIR_READ (stepper##E0.getStatus() & STATUS_DIR);
|
||||
#endif
|
||||
#endif
|
||||
|
||||
// E1 Stepper
|
||||
#if AXIS_IS_L64XX(E1)
|
||||
extern L64XX_CLASS(E1) stepperE1;
|
||||
#define E1_ENABLE_INIT NOOP
|
||||
#define E1_ENABLE_WRITE(STATE) (STATE ? NOOP : stepperE1.free())
|
||||
#define E1_ENABLE_READ (stepperE1.getStatus() & STATUS_HIZ)
|
||||
#if AXIS_DRIVER_TYPE_E1(L6474)
|
||||
#define E1_DIR_INIT SET_OUTPUT(E1_DIR_PIN)
|
||||
#define E1_DIR_WRITE(STATE) L6474_DIR_WRITE(E1, STATE)
|
||||
#define E1_DIR_READ READ(E1_DIR_PIN)
|
||||
#else
|
||||
#define E1_DIR_INIT NOOP
|
||||
#define E1_DIR_WRITE(STATE) L64XX_DIR_WRITE(E1, STATE)
|
||||
#define E1_DIR_READ (stepper##E1.getStatus() & STATUS_DIR);
|
||||
#endif
|
||||
#endif
|
||||
|
||||
// E2 Stepper
|
||||
#if AXIS_IS_L64XX(E2)
|
||||
extern L64XX_CLASS(E2) stepperE2;
|
||||
#define E2_ENABLE_INIT NOOP
|
||||
#define E2_ENABLE_WRITE(STATE) (STATE ? NOOP : stepperE2.free())
|
||||
#define E2_ENABLE_READ (stepperE2.getStatus() & STATUS_HIZ)
|
||||
#if AXIS_DRIVER_TYPE_E2(L6474)
|
||||
#define E2_DIR_INIT SET_OUTPUT(E2_DIR_PIN)
|
||||
#define E2_DIR_WRITE(STATE) L6474_DIR_WRITE(E2, STATE)
|
||||
#define E2_DIR_READ READ(E2_DIR_PIN)
|
||||
#else
|
||||
#define E2_DIR_INIT NOOP
|
||||
#define E2_DIR_WRITE(STATE) L64XX_DIR_WRITE(E2, STATE)
|
||||
#define E2_DIR_READ (stepper##E2.getStatus() & STATUS_DIR);
|
||||
#endif
|
||||
#endif
|
||||
|
||||
// E3 Stepper
|
||||
#if AXIS_IS_L64XX(E3)
|
||||
extern L64XX_CLASS(E3) stepperE3;
|
||||
#define E3_ENABLE_INIT NOOP
|
||||
#define E3_ENABLE_WRITE(STATE) (STATE ? NOOP : stepperE3.free())
|
||||
#define E3_ENABLE_READ (stepperE3.getStatus() & STATUS_HIZ)
|
||||
#if AXIS_DRIVER_TYPE_E3(L6474)
|
||||
#define E3_DIR_INIT SET_OUTPUT(E3_DIR_PIN)
|
||||
#define E3_DIR_WRITE(STATE) L6474_DIR_WRITE(E3, STATE)
|
||||
#define E3_DIR_READ READ(E3_DIR_PIN)
|
||||
#else
|
||||
#define E3_DIR_INIT NOOP
|
||||
#define E3_DIR_WRITE(STATE) L64XX_DIR_WRITE(E3, STATE)
|
||||
#define E3_DIR_READ (stepper##E3.getStatus() & STATUS_DIR);
|
||||
#endif
|
||||
#endif
|
||||
|
||||
// E4 Stepper
|
||||
#if AXIS_IS_L64XX(E4)
|
||||
extern L64XX_CLASS(E4) stepperE4;
|
||||
#define E4_ENABLE_INIT NOOP
|
||||
#define E4_ENABLE_WRITE(STATE) (STATE ? NOOP : stepperE4.free())
|
||||
#define E4_ENABLE_READ (stepperE4.getStatus() & STATUS_HIZ)
|
||||
#if AXIS_DRIVER_TYPE_E4(L6474)
|
||||
#define E4_DIR_INIT SET_OUTPUT(E4_DIR_PIN)
|
||||
#define E4_DIR_WRITE(STATE) L6474_DIR_WRITE(E4, STATE)
|
||||
#define E4_DIR_READ READ(E4_DIR_PIN)
|
||||
#else
|
||||
#define E4_DIR_INIT NOOP
|
||||
#define E4_DIR_WRITE(STATE) L64XX_DIR_WRITE(E4, STATE)
|
||||
#define E4_DIR_READ (stepper##E4.getStatus() & STATUS_DIR);
|
||||
#endif
|
||||
#endif
|
||||
|
||||
// E5 Stepper
|
||||
#if AXIS_IS_L64XX(E5)
|
||||
extern L64XX_CLASS(E5) stepperE5;
|
||||
#define E5_ENABLE_INIT NOOP
|
||||
#define E5_ENABLE_WRITE(STATE) (STATE ? NOOP : stepperE5.free())
|
||||
#define E5_ENABLE_READ (stepperE5.getStatus() & STATUS_HIZ)
|
||||
#if AXIS_DRIVER_TYPE_E5(L6474)
|
||||
#define E5_DIR_INIT SET_OUTPUT(E5_DIR_PIN)
|
||||
#define E5_DIR_WRITE(STATE) L6474_DIR_WRITE(E5, STATE)
|
||||
#define E5_DIR_READ READ(E5_DIR_PIN)
|
||||
#else
|
||||
#define E5_DIR_INIT NOOP
|
||||
#define E5_DIR_WRITE(STATE) L64XX_DIR_WRITE(E5, STATE)
|
||||
#define E5_DIR_READ (stepper##E5.getStatus() & STATUS_DIR);
|
||||
#endif
|
||||
#endif
|
||||
@ -43,8 +43,8 @@ void reset_stepper_drivers() {
|
||||
tmc26x_init_to_defaults();
|
||||
#endif
|
||||
|
||||
#if HAS_DRIVER(L6470)
|
||||
L6470.init_to_defaults();
|
||||
#if HAS_L64XX
|
||||
L64xxManager.init_to_defaults();
|
||||
#endif
|
||||
|
||||
#if HAS_TRINAMIC
|
||||
|
||||
@ -32,8 +32,8 @@
|
||||
|
||||
#include "../../inc/MarlinConfig.h"
|
||||
|
||||
#if HAS_DRIVER(L6470)
|
||||
#include "L6470.h"
|
||||
#if HAS_L64XX
|
||||
#include "L64xx.h"
|
||||
#endif
|
||||
|
||||
#if HAS_DRIVER(TMC26X)
|
||||
|
||||
Reference in New Issue
Block a user