First attempt at adding TMC Driver support. May need some cleanup.
This commit is contained in:
domonoky
@ -461,6 +461,67 @@ const unsigned int dropsegments=5; //everything with less than this number of st
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#endif
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#endif
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/******************************************************************************\
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* enable this section if you have TMC26X motor drivers.
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* you need to import the TMC26XStepper library into the arduino IDE for this
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******************************************************************************/
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#define HAVE_TMCDRIVER
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#ifdef HAVE_TMCDRIVER
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#define X_IS_TMC
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#define X_MAX_CURRENT 2000 //in mA
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#define X_SENSE_RESISTOR 91 //in mOhms
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#define X_MICROSTEPS 16 //number of microsteps
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// #define X2_IS_TMC
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#define X2_MAX_CURRENT 2000 //in mA
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#define X2_SENSE_RESISTOR 91 //in mOhms
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#define X2_MICROSTEPS 16 //number of microsteps
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#define Y_IS_TMC
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#define Y_MAX_CURRENT 2000 //in mA
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#define Y_SENSE_RESISTOR 91 //in mOhms
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#define Y_MICROSTEPS 16 //number of microsteps
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// #define Y2_IS_TMC
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#define Y2_MAX_CURRENT 2000 //in mA
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#define Y2_SENSE_RESISTOR 91 //in mOhms
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#define Y2_MICROSTEPS 16 //number of microsteps
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#define Z_IS_TMC
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#define Z_MAX_CURRENT 2000 //in mA
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#define Z_SENSE_RESISTOR 91 //in mOhms
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#define Z_MICROSTEPS 16 //number of microsteps
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// #define Z2_IS_TMC
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#define Z2_MAX_CURRENT 2000 //in mA
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#define Z2_SENSE_RESISTOR 91 //in mOhms
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#define Z2_MICROSTEPS 16 //number of microsteps
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#define E0_IS_TMC
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#define E0_MAX_CURRENT 2000 //in mA
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#define E0_SENSE_RESISTOR 91 //in mOhms
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#define E0_MICROSTEPS 16 //number of microsteps
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#define E1_IS_TMC
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#define E1_MAX_CURRENT 2000 //in mA
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#define E1_SENSE_RESISTOR 91 //in mOhms
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#define E1_MICROSTEPS 16 //number of microsteps
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// #define E2_IS_TMC
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#define E2_MAX_CURRENT 2000 //in mA
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#define E2_SENSE_RESISTOR 91 //in mOhms
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#define E2_MICROSTEPS 16 //number of microsteps
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// #define E3_IS_TMC
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#define E3_MAX_CURRENT 2000 //in mA
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#define E3_SENSE_RESISTOR 91 //in mOhms
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#define E3_MICROSTEPS 16 //number of microsteps
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#endif
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//===========================================================================
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//============================= Define Defines ============================
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//===========================================================================
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@ -54,3 +54,8 @@
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#if defined(DIGIPOT_I2C)
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#include <Wire.h>
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#endif
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#ifdef HAVE_TMCDRIVER
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#include <SPI.h>
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#include <TMC26XStepper.h>
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#endif
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@ -33,7 +33,6 @@
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#include <SPI.h>
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#endif
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//===========================================================================
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//=============================public variables ============================
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//===========================================================================
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@ -88,6 +87,37 @@ static bool check_endstops = true;
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volatile long count_position[NUM_AXIS] = { 0, 0, 0, 0};
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volatile signed char count_direction[NUM_AXIS] = { 1, 1, 1, 1};
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// Stepper objects of TMC steppers are used
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#ifdef X_IS_TMC
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TMC26XStepper stepperX(200,X_ENABLE_PIN,X_STEP_PIN,X_DIR_PIN,X_MAX_CURRENT,X_SENSE_RESISTOR);
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#endif
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#ifdef X2_IS_TMC
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TMC26XStepper stepperX2(200,X2_ENABLE_PIN,X2_STEP_PIN,X2_DIR_PIN,X2_MAX_CURRENT,X2_SENSE_RESISTOR);
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#endif
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#ifdef Y_IS_TMC
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TMC26XStepper stepperY(200,Y_ENABLE_PIN,Y_STEP_PIN,Y_DIR_PIN,Y_MAX_CURRENT,Y_SENSE_RESISTOR);
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#endif
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#ifdef Y2_IS_TMC
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TMC26XStepper stepperY2(200,Y2_ENABLE_PIN,Y2_STEP_PIN,Y2_DIR_PIN,Y2_MAX_CURRENT,Y2_SENSE_RESISTOR);
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#endif
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#ifdef Z_IS_TMC
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TMC26XStepper stepperZ(200,Z_ENABLE_PIN,Z_STEP_PIN,Z_DIR_PIN,Z_MAX_CURRENT,Z_SENSE_RESISTOR);
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#endif
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#ifdef Z2_IS_TMC
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TMC26XStepper stepperZ2(200,Z2_ENABLE_PIN,Z2_STEP_PIN,Z2_DIR_PIN,Z2_MAX_CURRENT,Z2_SENSE_RESISTOR);
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#endif
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#ifdef E0_IS_TMC
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TMC26XStepper stepperE0(200,E0_ENABLE_PIN,E0_STEP_PIN,E0_DIR_PIN,E0_MAX_CURRENT,E0_SENSE_RESISTOR);
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#endif
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#ifdef E1_IS_TMC
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TMC26XStepper stepperE1(200,E1_ENABLE_PIN,E1_STEP_PIN,E1_DIR_PIN,E1_MAX_CURRENT,E1_SENSE_RESISTOR);
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#endif
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#ifdef E2_IS_TMC
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TMC26XStepper stepperE2(200,E2_ENABLE_PIN,E2_STEP_PIN,E2_DIR_PIN,E2_MAX_CURRENT,E2_SENSE_RESISTOR);
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#endif
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#ifdef E3_IS_TMC
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TMC26XStepper stepperE3(200,E3_ENABLE_PIN,E3_STEP_PIN,E3_DIR_PIN,E3_MAX_CURRENT,E3_SENSE_RESISTOR);
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#endif
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//===========================================================================
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//=============================functions ============================
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//===========================================================================
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@ -838,6 +868,11 @@ void st_init()
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digipot_init(); //Initialize Digipot Motor Current
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microstep_init(); //Initialize Microstepping Pins
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// initialise TMC Steppers
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#ifdef HAVE_TMCDRIVER
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tmc_init();
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#endif
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//Initialize Dir Pins
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#if defined(X_DIR_PIN) && X_DIR_PIN > -1
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X_DIR_INIT;
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@ -1386,3 +1421,48 @@ void microstep_readings()
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#endif
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}
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#ifdef HAVE_TMCDRIVER
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void tmc_init()
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{
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#ifdef X_IS_TMC
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stepperX.setMicrosteps(X_MICROSTEPS);
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stepperX.start();
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#endif
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#ifdef X2_IS_TMC
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stepperX2.setMicrosteps(X2_MICROSTEPS);
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stepperX2.start();
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#endif
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#ifdef Y_IS_TMC
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stepperY.setMicrosteps(Y_MICROSTEPS);
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stepperY.start();
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#endif
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#ifdef Y2_IS_TMC
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stepperY2.setMicrosteps(Y2_MICROSTEPS);
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stepperY2.start();
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#endif
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#ifdef Z_IS_TMC
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stepperZ.setMicrosteps(Z_MICROSTEPS);
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stepperZ.start();
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#endif
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#ifdef Z2_IS_TMC
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stepperZ2.setMicrosteps(Z2_MICROSTEPS);
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stepperZ2.start();
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#endif
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#ifdef E0_IS_TMC
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stepperE0.setMicrosteps(E0_MICROSTEPS);
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stepperE0.start();
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#endif
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#ifdef E1_IS_TMC
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stepperE1.setMicrosteps(E1_MICROSTEPS);
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stepperE1.start();
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#endif
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#ifdef E2_IS_TMC
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stepperE2.setMicrosteps(E2_MICROSTEPS);
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stepperE2.start();
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#endif
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#ifdef E3_IS_TMC
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stepperE3.setMicrosteps(E3_MICROSTEPS);
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stepperE3.start();
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#endif
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}
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#endif
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@ -24,6 +24,11 @@
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#include "planner.h"
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#include "stepper_indirection.h"
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#ifdef HAVE_TMCDRIVER
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#include <SPI.h>
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#include <TMC26XStepper.h>
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#endif
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#if EXTRUDERS > 3
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#define WRITE_E_STEP(v) { if(current_block->active_extruder == 3) { E3_STEP_WRITE(v); } else { if(current_block->active_extruder == 2) { E2_STEP_WRITE(v); } else { if(current_block->active_extruder == 1) { E1_STEP_WRITE(v); } else { E0_STEP_WRITE(v); }}}}
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#define NORM_E_DIR() { if(current_block->active_extruder == 3) { E3_DIR_WRITE( !INVERT_E3_DIR); } else { if(current_block->active_extruder == 2) { E2_DIR_WRITE(!INVERT_E2_DIR); } else { if(current_block->active_extruder == 1) { E1_DIR_WRITE(!INVERT_E1_DIR); } else { E0_DIR_WRITE(!INVERT_E0_DIR); }}}}
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@ -101,6 +106,39 @@ void microstep_readings();
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void babystep(const uint8_t axis,const bool direction); // perform a short step with a single stepper motor, outside of any convention
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#endif
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#ifdef HAVE_TMCDRIVER
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void tmc_init();
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#ifdef X_IS_TMC
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extern TMC26XStepper stepperX;
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#endif
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#ifdef X2_IS_TMC
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extern TMC26XStepper stepperX2;
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#endif
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#ifdef Y_IS_TMC
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extern TMC26XStepper stepperY;
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#endif
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#ifdef Y2_IS_TMC
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extern TMC26XStepper stepperY2;
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#endif
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#ifdef Z_IS_TMC
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extern TMC26XStepper stepperZ;
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#endif
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#ifdef Z2_IS_TMC
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extern TMC26XStepper stepperZ2;
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#endif
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#ifdef E0_IS_TMC
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extern TMC26XStepper stepperE0;
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#endif
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#ifdef E1_IS_TMC
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extern TMC26XStepper stepperE1;
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#endif
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#ifdef E2_IS_TMC
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extern TMC26XStepper stepperE2;
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#endif
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#ifdef E3_IS_TMC
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extern TMC26XStepper stepperE3;
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#endif
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#endif
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#endif
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@ -152,5 +152,111 @@
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#define E3_ENABLE_WRITE(STATE) WRITE(E3_ENABLE_PIN,STATE)
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#define E3_ENABLE_READ READ(E3_ENABLE_PIN)
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//////////////////////////////////
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// Pin redefines for TMC drivers.
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// TMC26X drivers have step and dir on normal pins, but everything else via SPI
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//////////////////////////////////
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#ifdef HAVE_TMCDRIVER
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#ifdef X_IS_TMC
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#undef X_ENABLE_INIT
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#define X_ENABLE_INIT
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#undef X_ENABLE_WRITE
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#define X_ENABLE_WRITE(STATE) stepperX.setEnabled(STATE)
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#undef X_ENABLE_READ
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#define X_ENABLE_READ stepperX.isEnabled()
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#endif
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#ifdef X2_IS_TMC
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#undef X2_ENABLE_INIT
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#define X2_ENABLE_INIT
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#undef X2_ENABLE_WRITE
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#define X2_ENABLE_WRITE(STATE) stepperX2.setEnabled(STATE)
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#undef X2_ENABLE_READ
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#define X2_ENABLE_READ stepperX2.isEnabled()
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#endif
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#ifdef Y_IS_TMC
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#undef Y_ENABLE_INIT
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#define Y_ENABLE_INIT
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#undef Y_ENABLE_WRITE
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#define Y_ENABLE_WRITE(STATE) stepperY.setEnabled(STATE)
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#undef Y_ENABLE_READ
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#define Y_ENABLE_READ stepperY.isEnabled()
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#endif
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#ifdef Y2_IS_TMC
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#undef Y2_ENABLE_INIT
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#define Y2_ENABLE_INIT
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#undef Y2_ENABLE_WRITE
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#define Y2_ENABLE_WRITE(STATE) stepperY2.setEnabled(STATE)
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#undef Y2_ENABLE_READ
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#define Y2_ENABLE_READ stepperY2.isEnabled()
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#endif
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#ifdef Z_IS_TMC
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#undef Z_ENABLE_INIT
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#define Z_ENABLE_INIT
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#undef Z_ENABLE_WRITE
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#define Z_ENABLE_WRITE(STATE) stepperZ.setEnabled(STATE)
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#undef Z_ENABLE_READ
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#define Z_ENABLE_READ stepperZ.isEnabled()
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#endif
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#ifdef Z2_IS_TMC
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#undef Z2_ENABLE_INIT
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#define Z2_ENABLE_INIT
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#undef Z2_ENABLE_WRITE
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#define Z2_ENABLE_WRITE(STATE) stepperZ2.setEnabled(STATE)
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#undef Z2_ENABLE_READ
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#define Z2_ENABLE_READ stepperZ2.isEnabled()
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#endif
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#ifdef E0_IS_TMC
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#undef E0_ENABLE_INIT
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#define E0_ENABLE_INIT
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#undef E0_ENABLE_WRITE
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#define E0_ENABLE_WRITE(STATE) stepperE0.setEnabled(STATE)
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#undef E0_ENABLE_READ
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#define E0_ENABLE_READ stepperE0.isEnabled()
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#endif
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#ifdef E1_IS_TMC
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#undef E1_ENABLE_INIT
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#define E1_ENABLE_INIT
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#undef E1_ENABLE_WRITE
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#define E1_ENABLE_WRITE(STATE) stepperE1.setEnabled(STATE)
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#undef E1_ENABLE_READ
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#define E1_ENABLE_READ stepperE1.isEnabled()
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#endif
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#ifdef E2_IS_TMC
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#undef E2_ENABLE_INIT
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#define E2_ENABLE_INIT
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#undef E2_ENABLE_WRITE
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#define E2_ENABLE_WRITE(STATE) stepperE2.setEnabled(STATE)
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#undef E2_ENABLE_READ
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#define E2_ENABLE_READ stepperE2.isEnabled()
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#endif
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#ifdef E3_IS_TMC
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#undef E3_ENABLE_INIT
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#define E3_ENABLE_INIT
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#undef E3_ENABLE_WRITE
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#define E3_ENABLE_WRITE(STATE) stepperE3.setEnabled(STATE)
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#undef E3_ENABLE_READ
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#define E3_ENABLE_READ stepperE3.isEnabled()
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#endif
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#endif
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#endif
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