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authorGeorgiy Bondarenko <69736697+nehilo@users.noreply.github.com>2021-03-04 20:54:23 +0300
committerGeorgiy Bondarenko <69736697+nehilo@users.noreply.github.com>2021-03-04 20:54:23 +0300
commite8701195e66f2d27ffe17fb514eae8173795aaf7 (patch)
tree9f519c4abf6556b9ae7190a6210d87ead1dfadde /Marlin/src/module/stepper
downloadkp3s-lgvl-e8701195e66f2d27ffe17fb514eae8173795aaf7.tar.xz
kp3s-lgvl-e8701195e66f2d27ffe17fb514eae8173795aaf7.zip
Initial commit
Diffstat (limited to 'Marlin/src/module/stepper')
-rw-r--r--Marlin/src/module/stepper/L64xx.cpp225
-rw-r--r--Marlin/src/module/stepper/L64xx.h364
-rw-r--r--Marlin/src/module/stepper/TMC26X.cpp144
-rw-r--r--Marlin/src/module/stepper/TMC26X.h164
-rw-r--r--Marlin/src/module/stepper/indirection.cpp50
-rw-r--r--Marlin/src/module/stepper/indirection.h1003
-rw-r--r--Marlin/src/module/stepper/trinamic.cpp877
-rw-r--r--Marlin/src/module/stepper/trinamic.h362
8 files changed, 3189 insertions, 0 deletions
diff --git a/Marlin/src/module/stepper/L64xx.cpp b/Marlin/src/module/stepper/L64xx.cpp
new file mode 100644
index 0000000..3e2bf09
--- /dev/null
+++ b/Marlin/src/module/stepper/L64xx.cpp
@@ -0,0 +1,225 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * stepper/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(Z4)
+ L64XX_CLASS(Z4) stepperZ4(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
+#if AXIS_IS_L64XX(E6)
+ L64XX_CLASS(E6) stepperE6(L6470_CHAIN_SS_PIN);
+#endif
+#if AXIS_IS_L64XX(E7)
+ L64XX_CLASS(E7) stepperE7(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
+ #if AXIS_IS_L64XX(E6)
+ L6470_INIT_CHIP(E6);
+ #endif
+ #if AXIS_IS_L64XX(E7)
+ L6470_INIT_CHIP(E7);
+ #endif
+}
+
+#endif // HAS_L64XX
diff --git a/Marlin/src/module/stepper/L64xx.h b/Marlin/src/module/stepper/L64xx.h
new file mode 100644
index 0000000..9c8b0b1
--- /dev/null
+++ b/Marlin/src/module/stepper/L64xx.h
@@ -0,0 +1,364 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#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 ? stepperX.hardStop() : 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);
+ #if AXIS_DRIVER_TYPE_X(L6470)
+ #define DISABLE_STEPPER_X() stepperX.free()
+ #endif
+ #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 ? stepperY.hardStop() : 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);
+ #if AXIS_DRIVER_TYPE_Y(L6470)
+ #define DISABLE_STEPPER_Y() stepperY.free()
+ #endif
+ #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 ? stepperZ.hardStop() : 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);
+ #if AXIS_DRIVER_TYPE_Z(L6470)
+ #define DISABLE_STEPPER_Z() stepperZ.free()
+ #endif
+ #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 ? stepperX2.hardStop() : 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
+
+#if AXIS_DRIVER_TYPE_X2(L6470)
+ #define DISABLE_STEPPER_X2() stepperX2.free()
+#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 ? stepperY2.hardStop() : 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
+
+#if AXIS_DRIVER_TYPE_Y2(L6470)
+ #define DISABLE_STEPPER_Y2() stepperY2.free()
+#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 ? stepperZ2.hardStop() : 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
+
+#if AXIS_DRIVER_TYPE_Z2(L6470)
+ #define DISABLE_STEPPER_Z2() stepperZ2.free()
+#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 ? stepperZ3.hardStop() : 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
+
+#if AXIS_DRIVER_TYPE_Z3(L6470)
+ #define DISABLE_STEPPER_Z3() stepperZ3.free()
+#endif
+
+// Z4 Stepper
+#if HAS_Z4_ENABLE && AXIS_IS_L64XX(Z4)
+ extern L64XX_CLASS(Z4) stepperZ4;
+ #define Z4_ENABLE_INIT() NOOP
+ #define Z4_ENABLE_WRITE(STATE) (STATE ? stepperZ4.hardStop() : stepperZ4.free())
+ #define Z4_ENABLE_READ() (stepperZ4.getStatus() & STATUS_HIZ)
+ #if AXIS_DRIVER_TYPE_Z4(L6474)
+ #define Z4_DIR_INIT() SET_OUTPUT(Z4_DIR_PIN)
+ #define Z4_DIR_WRITE(STATE) L6474_DIR_WRITE(Z4, STATE)
+ #define Z4_DIR_READ() READ(Z4_DIR_PIN)
+ #else
+ #define Z4_DIR_INIT() NOOP
+ #define Z4_DIR_WRITE(STATE) L64XX_DIR_WRITE(Z4, STATE)
+ #define Z4_DIR_READ() (stepper##Z4.getStatus() & STATUS_DIR);
+ #endif
+#endif
+
+#if AXIS_DRIVER_TYPE_Z4(L6470)
+ #define DISABLE_STEPPER_Z4() stepperZ4.free()
+#endif
+
+// E0 Stepper
+#if AXIS_IS_L64XX(E0)
+ extern L64XX_CLASS(E0) stepperE0;
+ #define E0_ENABLE_INIT() NOOP
+ #define E0_ENABLE_WRITE(STATE) (STATE ? stepperE0.hardStop() : 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);
+ #if AXIS_DRIVER_TYPE_E0(L6470)
+ #define DISABLE_STEPPER_E0() do{ stepperE0.free(); }while(0)
+ #endif
+ #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 ? stepperE1.hardStop() : 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);
+ #if AXIS_DRIVER_TYPE_E1(L6470)
+ #define DISABLE_STEPPER_E1() do{ stepperE1.free(); }while(0)
+ #endif
+ #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 ? stepperE2.hardStop() : 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);
+ #if AXIS_DRIVER_TYPE_E2(L6470)
+ #define DISABLE_STEPPER_E2() do{ stepperE2.free(); }while(0)
+ #endif
+ #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 ? stepperE3.hardStop() : 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 ? stepperE4.hardStop() : 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);
+ #if AXIS_DRIVER_TYPE_E4(L6470)
+ #define DISABLE_STEPPER_E4() do{ stepperE4.free(); }while(0)
+ #endif
+ #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 ? stepperE5.hardStop() : 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);
+ #if AXIS_DRIVER_TYPE_E5(L6470)
+ #define DISABLE_STEPPER_E5() do{ stepperE5.free(); }while(0)
+ #endif
+ #endif
+#endif
+
+// E6 Stepper
+#if AXIS_IS_L64XX(E6)
+ extern L64XX_CLASS(E6) stepperE6;
+ #define E6_ENABLE_INIT() NOOP
+ #define E6_ENABLE_WRITE(STATE) (STATE ? stepperE6.hardStop() : stepperE6.free())
+ #define E6_ENABLE_READ() (stepperE6.getStatus() & STATUS_HIZ)
+ #if AXIS_DRIVER_TYPE_E6(L6474)
+ #define E6_DIR_INIT() SET_OUTPUT(E6_DIR_PIN)
+ #define E6_DIR_WRITE(STATE) L6474_DIR_WRITE(E6, STATE)
+ #define E6_DIR_READ() READ(E6_DIR_PIN)
+ #else
+ #define E6_DIR_INIT() NOOP
+ #define E6_DIR_WRITE(STATE) L64XX_DIR_WRITE(E6, STATE)
+ #define E6_DIR_READ() (stepper##E6.getStatus() & STATUS_DIR);
+ #if AXIS_DRIVER_TYPE_E6(L6470)
+ #define DISABLE_STEPPER_E6() do{ stepperE6.free(); }while(0)
+ #endif
+ #endif
+#endif
+
+// E7 Stepper
+#if AXIS_IS_L64XX(E7)
+ extern L64XX_CLASS(E7) stepperE7;
+ #define E7_ENABLE_INIT() NOOP
+ #define E7_ENABLE_WRITE(STATE) (STATE ? stepperE7.hardStop() : stepperE7.free())
+ #define E7_ENABLE_READ() (stepperE7.getStatus() & STATUS_HIZ)
+ #if AXIS_DRIVER_TYPE_E7(L6474)
+ #define E7_DIR_INIT() SET_OUTPUT(E7_DIR_PIN)
+ #define E7_DIR_WRITE(STATE) L6474_DIR_WRITE(E7, STATE)
+ #define E7_DIR_READ() READ(E7_DIR_PIN)
+ #else
+ #define E7_DIR_INIT() NOOP
+ #define E7_DIR_WRITE(STATE) L64XX_DIR_WRITE(E7, STATE)
+ #define E7_DIR_READ() (stepper##E7.getStatus() & STATUS_DIR);
+ #if AXIS_DRIVER_TYPE_E7(L6470)
+ #define DISABLE_STEPPER_E7() do{ stepperE7.free(); }while(0)
+ #endif
+ #endif
+#endif
diff --git a/Marlin/src/module/stepper/TMC26X.cpp b/Marlin/src/module/stepper/TMC26X.cpp
new file mode 100644
index 0000000..926f1a4
--- /dev/null
+++ b/Marlin/src/module/stepper/TMC26X.cpp
@@ -0,0 +1,144 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * stepper/TMC26X.cpp
+ * Stepper driver indirection for TMC26X drivers
+ */
+
+#include "../../inc/MarlinConfig.h"
+
+//
+// TMC26X Driver objects and inits
+//
+#if HAS_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_Z4(TMC26X)
+ _TMC26X_DEFINE(Z4);
+#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
+#if AXIS_DRIVER_TYPE_E6(TMC26X)
+ _TMC26X_DEFINE(E6);
+#endif
+#if AXIS_DRIVER_TYPE_E7(TMC26X)
+ _TMC26X_DEFINE(E7);
+#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_Z4(TMC26X)
+ _TMC26X_INIT(Z4);
+ #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
+ #if AXIS_DRIVER_TYPE_E6(TMC26X)
+ _TMC26X_INIT(E6);
+ #endif
+ #if AXIS_DRIVER_TYPE_E7(TMC26X)
+ _TMC26X_INIT(E7);
+ #endif
+}
+
+#endif // HAS_TMC26X
diff --git a/Marlin/src/module/stepper/TMC26X.h b/Marlin/src/module/stepper/TMC26X.h
new file mode 100644
index 0000000..547eb65
--- /dev/null
+++ b/Marlin/src/module/stepper/TMC26X.h
@@ -0,0 +1,164 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#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>
+#include <TMC26XStepper.h>
+
+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 && AXIS_DRIVER_TYPE_Z3(TMC26X)
+ extern TMC26XStepper stepperZ3;
+ #define Z3_ENABLE_INIT() NOOP
+ #define Z3_ENABLE_WRITE(STATE) stepperZ3.setEnabled(STATE)
+ #define Z3_ENABLE_READ() stepperZ3.isEnabled()
+#endif
+
+// Z4 Stepper
+#if HAS_Z4_ENABLE && AXIS_DRIVER_TYPE_Z4(TMC26X)
+ extern TMC26XStepper stepperZ4;
+ #define Z4_ENABLE_INIT() NOOP
+ #define Z4_ENABLE_WRITE(STATE) stepperZ4.setEnabled(STATE)
+ #define Z4_ENABLE_READ() stepperZ4.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
+
+// E6 Stepper
+#if AXIS_DRIVER_TYPE_E6(TMC26X)
+ extern TMC26XStepper stepperE6;
+ #define E6_ENABLE_INIT() NOOP
+ #define E6_ENABLE_WRITE(STATE) stepperE6.setEnabled(STATE)
+ #define E6_ENABLE_READ() stepperE6.isEnabled()
+#endif
+
+// E7 Stepper
+#if AXIS_DRIVER_TYPE_E7(TMC26X)
+ extern TMC26XStepper stepperE7;
+ #define E7_ENABLE_INIT() NOOP
+ #define E7_ENABLE_WRITE(STATE) stepperE7.setEnabled(STATE)
+ #define E7_ENABLE_READ() stepperE7.isEnabled()
+#endif
diff --git a/Marlin/src/module/stepper/indirection.cpp b/Marlin/src/module/stepper/indirection.cpp
new file mode 100644
index 0000000..6297d83
--- /dev/null
+++ b/Marlin/src/module/stepper/indirection.cpp
@@ -0,0 +1,50 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * stepper/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() {
+ TERN_(HAS_TRINAMIC_CONFIG, restore_trinamic_drivers());
+}
+
+void reset_stepper_drivers() {
+ #if HAS_DRIVER(TMC26X)
+ tmc26x_init_to_defaults();
+ #endif
+ TERN_(HAS_L64XX, L64xxManager.init_to_defaults());
+ TERN_(HAS_TRINAMIC_CONFIG, reset_trinamic_drivers());
+}
+
+#if ENABLED(SOFTWARE_DRIVER_ENABLE)
+ // Flags to optimize XYZ Enabled state
+ xyz_bool_t axis_sw_enabled; // = { false, false, false }
+#endif
diff --git a/Marlin/src/module/stepper/indirection.h b/Marlin/src/module/stepper/indirection.h
new file mode 100644
index 0000000..4346e9d
--- /dev/null
+++ b/Marlin/src/module/stepper/indirection.h
@@ -0,0 +1,1003 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#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_L64XX
+ #include "L64xx.h"
+#endif
+
+#if HAS_DRIVER(TMC26X)
+ #include "TMC26X.h"
+#endif
+
+#if HAS_TRINAMIC_CONFIG
+ #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() bool(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() bool(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() bool(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() bool(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() bool(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() bool(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() bool(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() bool(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() bool(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() bool(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() bool(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() bool(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() bool(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() bool(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() bool(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() bool(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() bool(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() bool(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() bool(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() bool(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() bool(READ(Z3_STEP_PIN))
+#else
+ #define Z3_DIR_WRITE(STATE) NOOP
+#endif
+
+// Z4 Stepper
+#if HAS_Z4_ENABLE
+ #ifndef Z4_ENABLE_INIT
+ #define Z4_ENABLE_INIT() SET_OUTPUT(Z4_ENABLE_PIN)
+ #define Z4_ENABLE_WRITE(STATE) WRITE(Z4_ENABLE_PIN,STATE)
+ #define Z4_ENABLE_READ() bool(READ(Z4_ENABLE_PIN))
+ #endif
+ #ifndef Z4_DIR_INIT
+ #define Z4_DIR_INIT() SET_OUTPUT(Z4_DIR_PIN)
+ #define Z4_DIR_WRITE(STATE) WRITE(Z4_DIR_PIN,STATE)
+ #define Z4_DIR_READ() bool(READ(Z4_DIR_PIN))
+ #endif
+ #define Z4_STEP_INIT() SET_OUTPUT(Z4_STEP_PIN)
+ #ifndef Z4_STEP_WRITE
+ #define Z4_STEP_WRITE(STATE) WRITE(Z4_STEP_PIN,STATE)
+ #endif
+ #define Z4_STEP_READ() bool(READ(Z4_STEP_PIN))
+#else
+ #define Z4_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() bool(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() bool(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() bool(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() bool(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() bool(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() bool(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() bool(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() bool(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() bool(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() bool(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() bool(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() bool(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() bool(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() bool(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() bool(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() bool(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() bool(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() bool(READ(E5_STEP_PIN))
+
+// E6 Stepper
+#ifndef E6_ENABLE_INIT
+ #define E6_ENABLE_INIT() SET_OUTPUT(E6_ENABLE_PIN)
+ #define E6_ENABLE_WRITE(STATE) WRITE(E6_ENABLE_PIN,STATE)
+ #define E6_ENABLE_READ() bool(READ(E6_ENABLE_PIN))
+#endif
+#ifndef E6_DIR_INIT
+ #define E6_DIR_INIT() SET_OUTPUT(E6_DIR_PIN)
+ #define E6_DIR_WRITE(STATE) WRITE(E6_DIR_PIN,STATE)
+ #define E6_DIR_READ() bool(READ(E6_DIR_PIN))
+#endif
+#define E6_STEP_INIT() SET_OUTPUT(E6_STEP_PIN)
+#ifndef E6_STEP_WRITE
+ #define E6_STEP_WRITE(STATE) WRITE(E6_STEP_PIN,STATE)
+#endif
+#define E6_STEP_READ() bool(READ(E6_STEP_PIN))
+
+// E7 Stepper
+#ifndef E7_ENABLE_INIT
+ #define E7_ENABLE_INIT() SET_OUTPUT(E7_ENABLE_PIN)
+ #define E7_ENABLE_WRITE(STATE) WRITE(E7_ENABLE_PIN,STATE)
+ #define E7_ENABLE_READ() bool(READ(E7_ENABLE_PIN))
+#endif
+#ifndef E7_DIR_INIT
+ #define E7_DIR_INIT() SET_OUTPUT(E7_DIR_PIN)
+ #define E7_DIR_WRITE(STATE) WRITE(E7_DIR_PIN,STATE)
+ #define E7_DIR_READ() bool(READ(E7_DIR_PIN))
+#endif
+#define E7_STEP_INIT() SET_OUTPUT(E7_STEP_PIN)
+#ifndef E7_STEP_WRITE
+ #define E7_STEP_WRITE(STATE) WRITE(E7_STEP_PIN,STATE)
+#endif
+#define E7_STEP_READ() bool(READ(E7_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 > 7
+ #define E_STEP_WRITE(E,V) do{ if (E < 2) { E0_STEP_WRITE(V); } else if (E < 4) { E1_STEP_WRITE(V); } else if (E < 6) { E2_STEP_WRITE(V); } else { 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: 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); break; case 5: E2_DIR_WRITE( INVERT_E2_DIR); break; \
+ case 6: E3_DIR_WRITE( INVERT_E3_DIR); break; case 7: E3_DIR_WRITE( INVERT_E3_DIR); break; \
+ } }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); break; case 5: E2_DIR_WRITE(!INVERT_E2_DIR); break; \
+ case 6: E3_DIR_WRITE(!INVERT_E3_DIR); break; case 7: E3_DIR_WRITE(!INVERT_E3_DIR); break; \
+ } }while(0)
+ #elif EXTRUDERS > 6
+ #define E_STEP_WRITE(E,V) do{ if (E < 2) { E0_STEP_WRITE(V); } else if (E < 4) { E1_STEP_WRITE(V); } else if (E < 6) { E2_STEP_WRITE(V); } else { 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: 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); break; case 5: E2_DIR_WRITE( INVERT_E2_DIR); break; \
+ case 6: E3_DIR_WRITE( INVERT_E3_DIR); break; \
+ } }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); break; case 5: E2_DIR_WRITE(!INVERT_E2_DIR); break; \
+ case 6: E3_DIR_WRITE(!INVERT_E3_DIR); } }while(0)
+ #elif 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); break; case 5: E2_DIR_WRITE( INVERT_E2_DIR); break; \
+ } }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); break; case 5: E2_DIR_WRITE(!INVERT_E2_DIR); break; \
+ } }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); break; \
+ } }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); break; \
+ } }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); break; \
+ } }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; \
+ } }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); break; \
+ } }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; \
+ } }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 HAS_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 HAS_PRUSA_MMU1 // 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 > 7
+
+ #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); break; case 5: E5_STEP_WRITE(V); break; case 6: E6_STEP_WRITE(V); break; case 7: E7_STEP_WRITE(V); break; \
+ } }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); break; case 5: E5_DIR_WRITE(!INVERT_E5_DIR); break; \
+ case 6: E6_DIR_WRITE(!INVERT_E6_DIR); break; case 7: E7_DIR_WRITE(!INVERT_E7_DIR); break; \
+ } }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); break; case 5: E5_DIR_WRITE( INVERT_E5_DIR); break; \
+ case 6: E6_DIR_WRITE( INVERT_E6_DIR); break; case 7: E7_DIR_WRITE( INVERT_E7_DIR); break; \
+ } }while(0)
+
+ #elif E_STEPPERS > 6
+
+ #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); break; case 5: E5_STEP_WRITE(V); break; case 6: E6_STEP_WRITE(V); break; \
+ } }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); break; case 5: E5_DIR_WRITE(!INVERT_E5_DIR); break; \
+ case 6: E6_DIR_WRITE(!INVERT_E6_DIR); break; \
+ } }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); break; case 5: E5_DIR_WRITE( INVERT_E5_DIR); break; \
+ case 6: E6_DIR_WRITE( INVERT_E6_DIR); break; \
+ } }while(0)
+
+ #elif 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); break; case 5: E5_STEP_WRITE(V); break; \
+ } }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); break; case 5: E5_DIR_WRITE(!INVERT_E5_DIR); break; \
+ } }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); break; case 5: E5_DIR_WRITE( INVERT_E5_DIR); break; \
+ } }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); break; \
+ } }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); break; \
+ } }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); break; \
+ } }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); break; \
+ } }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; \
+ } }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; \
+ } }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 > 7
+ #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); _DUPE(6,T,V); _DUPE(7,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); NDIR(6); NDIR(7); } 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); RDIR(6); RDIR(7); } else _REV_E_DIR(E); }while(0)
+ #elif E_STEPPERS > 6
+ #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); _DUPE(6,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); NDIR(6); } 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); RDIR(6); } else _REV_E_DIR(E); }while(0)
+ #elif 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
+
+//
+// Individual stepper enable / disable macros
+//
+
+#ifndef ENABLE_STEPPER_X
+ #if HAS_X_ENABLE
+ #define ENABLE_STEPPER_X() X_ENABLE_WRITE( X_ENABLE_ON)
+ #else
+ #define ENABLE_STEPPER_X() NOOP
+ #endif
+#endif
+#ifndef DISABLE_STEPPER_X
+ #if HAS_X_ENABLE
+ #define DISABLE_STEPPER_X() X_ENABLE_WRITE(!X_ENABLE_ON)
+ #else
+ #define DISABLE_STEPPER_X() NOOP
+ #endif
+#endif
+
+#ifndef ENABLE_STEPPER_X2
+ #if HAS_X2_ENABLE
+ #define ENABLE_STEPPER_X2() X2_ENABLE_WRITE( X_ENABLE_ON)
+ #else
+ #define ENABLE_STEPPER_X2() NOOP
+ #endif
+#endif
+#ifndef DISABLE_STEPPER_X2
+ #if HAS_X2_ENABLE
+ #define DISABLE_STEPPER_X2() X2_ENABLE_WRITE(!X_ENABLE_ON)
+ #else
+ #define DISABLE_STEPPER_X2() NOOP
+ #endif
+#endif
+
+#ifndef ENABLE_STEPPER_Y
+ #if HAS_Y_ENABLE
+ #define ENABLE_STEPPER_Y() Y_ENABLE_WRITE( Y_ENABLE_ON)
+ #else
+ #define ENABLE_STEPPER_Y() NOOP
+ #endif
+#endif
+#ifndef DISABLE_STEPPER_Y
+ #if HAS_Y_ENABLE
+ #define DISABLE_STEPPER_Y() Y_ENABLE_WRITE(!Y_ENABLE_ON)
+ #else
+ #define DISABLE_STEPPER_Y() NOOP
+ #endif
+#endif
+
+#ifndef ENABLE_STEPPER_Y2
+ #if HAS_Y2_ENABLE
+ #define ENABLE_STEPPER_Y2() Y2_ENABLE_WRITE( Y_ENABLE_ON)
+ #else
+ #define ENABLE_STEPPER_Y2() NOOP
+ #endif
+#endif
+#ifndef DISABLE_STEPPER_Y2
+ #if HAS_Y2_ENABLE
+ #define DISABLE_STEPPER_Y2() Y2_ENABLE_WRITE(!Y_ENABLE_ON)
+ #else
+ #define DISABLE_STEPPER_Y2() NOOP
+ #endif
+#endif
+
+#ifndef ENABLE_STEPPER_Z
+ #if HAS_Z_ENABLE
+ #define ENABLE_STEPPER_Z() Z_ENABLE_WRITE( Z_ENABLE_ON)
+ #else
+ #define ENABLE_STEPPER_Z() NOOP
+ #endif
+#endif
+#ifndef DISABLE_STEPPER_Z
+ #if HAS_Z_ENABLE
+ #define DISABLE_STEPPER_Z() Z_ENABLE_WRITE(!Z_ENABLE_ON)
+ #else
+ #define DISABLE_STEPPER_Z() NOOP
+ #endif
+#endif
+
+#ifndef ENABLE_STEPPER_Z2
+ #if HAS_Z2_ENABLE
+ #define ENABLE_STEPPER_Z2() Z2_ENABLE_WRITE( Z_ENABLE_ON)
+ #else
+ #define ENABLE_STEPPER_Z2() NOOP
+ #endif
+#endif
+#ifndef DISABLE_STEPPER_Z2
+ #if HAS_Z2_ENABLE
+ #define DISABLE_STEPPER_Z2() Z2_ENABLE_WRITE(!Z_ENABLE_ON)
+ #else
+ #define DISABLE_STEPPER_Z2() NOOP
+ #endif
+#endif
+
+#ifndef ENABLE_STEPPER_Z3
+ #if HAS_Z3_ENABLE
+ #define ENABLE_STEPPER_Z3() Z3_ENABLE_WRITE( Z_ENABLE_ON)
+ #else
+ #define ENABLE_STEPPER_Z3() NOOP
+ #endif
+#endif
+#ifndef DISABLE_STEPPER_Z3
+ #if HAS_Z3_ENABLE
+ #define DISABLE_STEPPER_Z3() Z3_ENABLE_WRITE(!Z_ENABLE_ON)
+ #else
+ #define DISABLE_STEPPER_Z3() NOOP
+ #endif
+#endif
+
+#ifndef ENABLE_STEPPER_Z4
+ #if HAS_Z4_ENABLE
+ #define ENABLE_STEPPER_Z4() Z4_ENABLE_WRITE( Z_ENABLE_ON)
+ #else
+ #define ENABLE_STEPPER_Z4() NOOP
+ #endif
+#endif
+#ifndef DISABLE_STEPPER_Z4
+ #if HAS_Z4_ENABLE
+ #define DISABLE_STEPPER_Z4() Z4_ENABLE_WRITE(!Z_ENABLE_ON)
+ #else
+ #define DISABLE_STEPPER_Z4() NOOP
+ #endif
+#endif
+
+#ifndef ENABLE_STEPPER_E0
+ #if HAS_E0_ENABLE
+ #define ENABLE_STEPPER_E0() E0_ENABLE_WRITE( E_ENABLE_ON)
+ #else
+ #define ENABLE_STEPPER_E0() NOOP
+ #endif
+#endif
+#ifndef DISABLE_STEPPER_E0
+ #if HAS_E0_ENABLE
+ #define DISABLE_STEPPER_E0() E0_ENABLE_WRITE(!E_ENABLE_ON)
+ #else
+ #define DISABLE_STEPPER_E0() NOOP
+ #endif
+#endif
+
+#ifndef ENABLE_STEPPER_E1
+ #if E_STEPPERS > 1 && HAS_E1_ENABLE
+ #define ENABLE_STEPPER_E1() E1_ENABLE_WRITE( E_ENABLE_ON)
+ #else
+ #define ENABLE_STEPPER_E1() NOOP
+ #endif
+#endif
+#ifndef DISABLE_STEPPER_E1
+ #if E_STEPPERS > 1 && HAS_E1_ENABLE
+ #define DISABLE_STEPPER_E1() E1_ENABLE_WRITE(!E_ENABLE_ON)
+ #else
+ #define DISABLE_STEPPER_E1() NOOP
+ #endif
+#endif
+
+#ifndef ENABLE_STEPPER_E2
+ #if E_STEPPERS > 2 && HAS_E2_ENABLE
+ #define ENABLE_STEPPER_E2() E2_ENABLE_WRITE( E_ENABLE_ON)
+ #else
+ #define ENABLE_STEPPER_E2() NOOP
+ #endif
+#endif
+#ifndef DISABLE_STEPPER_E2
+ #if E_STEPPERS > 2 && HAS_E2_ENABLE
+ #define DISABLE_STEPPER_E2() E2_ENABLE_WRITE(!E_ENABLE_ON)
+ #else
+ #define DISABLE_STEPPER_E2() NOOP
+ #endif
+#endif
+
+#ifndef ENABLE_STEPPER_E3
+ #if E_STEPPERS > 3 && HAS_E3_ENABLE
+ #define ENABLE_STEPPER_E3() E3_ENABLE_WRITE( E_ENABLE_ON)
+ #else
+ #define ENABLE_STEPPER_E3() NOOP
+ #endif
+#endif
+#ifndef DISABLE_STEPPER_E3
+ #if E_STEPPERS > 3 && HAS_E3_ENABLE
+ #define DISABLE_STEPPER_E3() E3_ENABLE_WRITE(!E_ENABLE_ON)
+ #else
+ #define DISABLE_STEPPER_E3() NOOP
+ #endif
+#endif
+
+#ifndef ENABLE_STEPPER_E4
+ #if E_STEPPERS > 4 && HAS_E4_ENABLE
+ #define ENABLE_STEPPER_E4() E4_ENABLE_WRITE( E_ENABLE_ON)
+ #else
+ #define ENABLE_STEPPER_E4() NOOP
+ #endif
+#endif
+#ifndef DISABLE_STEPPER_E4
+ #if E_STEPPERS > 4 && HAS_E4_ENABLE
+ #define DISABLE_STEPPER_E4() E4_ENABLE_WRITE(!E_ENABLE_ON)
+ #else
+ #define DISABLE_STEPPER_E4() NOOP
+ #endif
+#endif
+
+#ifndef ENABLE_STEPPER_E5
+ #if E_STEPPERS > 5 && HAS_E5_ENABLE
+ #define ENABLE_STEPPER_E5() E5_ENABLE_WRITE( E_ENABLE_ON)
+ #else
+ #define ENABLE_STEPPER_E5() NOOP
+ #endif
+#endif
+#ifndef DISABLE_STEPPER_E5
+ #if E_STEPPERS > 5 && HAS_E5_ENABLE
+ #define DISABLE_STEPPER_E5() E5_ENABLE_WRITE(!E_ENABLE_ON)
+ #else
+ #define DISABLE_STEPPER_E5() NOOP
+ #endif
+#endif
+
+#ifndef ENABLE_STEPPER_E6
+ #if E_STEPPERS > 6 && HAS_E6_ENABLE
+ #define ENABLE_STEPPER_E6() E6_ENABLE_WRITE( E_ENABLE_ON)
+ #else
+ #define ENABLE_STEPPER_E6() NOOP
+ #endif
+#endif
+#ifndef DISABLE_STEPPER_E6
+ #if E_STEPPERS > 6 && HAS_E6_ENABLE
+ #define DISABLE_STEPPER_E6() E6_ENABLE_WRITE(!E_ENABLE_ON)
+ #else
+ #define DISABLE_STEPPER_E6() NOOP
+ #endif
+#endif
+
+#ifndef ENABLE_STEPPER_E7
+ #if E_STEPPERS > 7 && HAS_E7_ENABLE
+ #define ENABLE_STEPPER_E7() E7_ENABLE_WRITE( E_ENABLE_ON)
+ #else
+ #define ENABLE_STEPPER_E7() NOOP
+ #endif
+#endif
+#ifndef DISABLE_STEPPER_E7
+ #if E_STEPPERS > 7 && HAS_E7_ENABLE
+ #define DISABLE_STEPPER_E7() E7_ENABLE_WRITE(!E_ENABLE_ON)
+ #else
+ #define DISABLE_STEPPER_E7() NOOP
+ #endif
+#endif
+
+//
+// Axis steppers enable / disable macros
+//
+#if ENABLED(SOFTWARE_DRIVER_ENABLE)
+ // Avoid expensive calls to enable / disable steppers
+ extern xyz_bool_t axis_sw_enabled;
+ #define SHOULD_ENABLE(N) !axis_sw_enabled.N
+ #define SHOULD_DISABLE(N) axis_sw_enabled.N
+ #define AFTER_CHANGE(N,TF) axis_sw_enabled.N = TF
+#else
+ #define SHOULD_ENABLE(N) true
+ #define SHOULD_DISABLE(N) true
+ #define AFTER_CHANGE(N,TF) NOOP
+#endif
+
+#define ENABLE_AXIS_X() if (SHOULD_ENABLE(x)) { ENABLE_STEPPER_X(); ENABLE_STEPPER_X2(); AFTER_CHANGE(x, true); }
+#define DISABLE_AXIS_X() if (SHOULD_DISABLE(x)) { DISABLE_STEPPER_X(); DISABLE_STEPPER_X2(); AFTER_CHANGE(x, false); set_axis_untrusted(X_AXIS); }
+#define ENABLE_AXIS_Y() if (SHOULD_ENABLE(y)) { ENABLE_STEPPER_Y(); ENABLE_STEPPER_Y2(); AFTER_CHANGE(y, true); }
+#define DISABLE_AXIS_Y() if (SHOULD_DISABLE(y)) { DISABLE_STEPPER_Y(); DISABLE_STEPPER_Y2(); AFTER_CHANGE(y, false); set_axis_untrusted(Y_AXIS); }
+#define ENABLE_AXIS_Z() if (SHOULD_ENABLE(z)) { ENABLE_STEPPER_Z(); ENABLE_STEPPER_Z2(); ENABLE_STEPPER_Z3(); ENABLE_STEPPER_Z4(); AFTER_CHANGE(z, true); }
+#define DISABLE_AXIS_Z() if (SHOULD_DISABLE(z)) { DISABLE_STEPPER_Z(); DISABLE_STEPPER_Z2(); DISABLE_STEPPER_Z3(); DISABLE_STEPPER_Z4(); AFTER_CHANGE(z, false); set_axis_untrusted(Z_AXIS); Z_RESET(); }
+
+#ifdef Z_AFTER_DEACTIVATE
+ #define Z_RESET() do{ current_position.z = Z_AFTER_DEACTIVATE; sync_plan_position(); }while(0)
+#else
+ #define Z_RESET()
+#endif
+
+//
+// Extruder steppers enable / disable macros
+//
+
+#if ENABLED(MIXING_EXTRUDER)
+ /**
+ * Mixing steppers keep all their enable (and direction) states synchronized
+ */
+ #define _CALL_ENA_E(N) ENABLE_STEPPER_E##N () ;
+ #define _CALL_DIS_E(N) DISABLE_STEPPER_E##N () ;
+ #define ENABLE_AXIS_E0() { RREPEAT(MIXING_STEPPERS, _CALL_ENA_E) }
+ #define DISABLE_AXIS_E0() { RREPEAT(MIXING_STEPPERS, _CALL_DIS_E) }
+#endif
+
+#ifndef ENABLE_AXIS_E0
+ #if E_STEPPERS && HAS_E0_ENABLE
+ #define ENABLE_AXIS_E0() ENABLE_STEPPER_E0()
+ #else
+ #define ENABLE_AXIS_E0() NOOP
+ #endif
+#endif
+#ifndef DISABLE_AXIS_E0
+ #if E_STEPPERS && HAS_E0_ENABLE
+ #define DISABLE_AXIS_E0() DISABLE_STEPPER_E0()
+ #else
+ #define DISABLE_AXIS_E0() NOOP
+ #endif
+#endif
+
+#ifndef ENABLE_AXIS_E1
+ #if E_STEPPERS > 1 && HAS_E1_ENABLE
+ #define ENABLE_AXIS_E1() ENABLE_STEPPER_E1()
+ #else
+ #define ENABLE_AXIS_E1() NOOP
+ #endif
+#endif
+#ifndef DISABLE_AXIS_E1
+ #if E_STEPPERS > 1 && HAS_E1_ENABLE
+ #define DISABLE_AXIS_E1() DISABLE_STEPPER_E1()
+ #else
+ #define DISABLE_AXIS_E1() NOOP
+ #endif
+#endif
+
+#ifndef ENABLE_AXIS_E2
+ #if E_STEPPERS > 2 && HAS_E2_ENABLE
+ #define ENABLE_AXIS_E2() ENABLE_STEPPER_E2()
+ #else
+ #define ENABLE_AXIS_E2() NOOP
+ #endif
+#endif
+#ifndef DISABLE_AXIS_E2
+ #if E_STEPPERS > 2 && HAS_E2_ENABLE
+ #define DISABLE_AXIS_E2() DISABLE_STEPPER_E2()
+ #else
+ #define DISABLE_AXIS_E2() NOOP
+ #endif
+#endif
+
+#ifndef ENABLE_AXIS_E3
+ #if E_STEPPERS > 3 && HAS_E3_ENABLE
+ #define ENABLE_AXIS_E3() ENABLE_STEPPER_E3()
+ #else
+ #define ENABLE_AXIS_E3() NOOP
+ #endif
+#endif
+#ifndef DISABLE_AXIS_E3
+ #if E_STEPPERS > 3 && HAS_E3_ENABLE
+ #define DISABLE_AXIS_E3() DISABLE_STEPPER_E3()
+ #else
+ #define DISABLE_AXIS_E3() NOOP
+ #endif
+#endif
+
+#ifndef ENABLE_AXIS_E4
+ #if E_STEPPERS > 4 && HAS_E4_ENABLE
+ #define ENABLE_AXIS_E4() ENABLE_STEPPER_E4()
+ #else
+ #define ENABLE_AXIS_E4() NOOP
+ #endif
+#endif
+#ifndef DISABLE_AXIS_E4
+ #if E_STEPPERS > 4 && HAS_E4_ENABLE
+ #define DISABLE_AXIS_E4() DISABLE_STEPPER_E4()
+ #else
+ #define DISABLE_AXIS_E4() NOOP
+ #endif
+#endif
+
+#ifndef ENABLE_AXIS_E5
+ #if E_STEPPERS > 5 && HAS_E5_ENABLE
+ #define ENABLE_AXIS_E5() ENABLE_STEPPER_E5()
+ #else
+ #define ENABLE_AXIS_E5() NOOP
+ #endif
+#endif
+#ifndef DISABLE_AXIS_E5
+ #if E_STEPPERS > 5 && HAS_E5_ENABLE
+ #define DISABLE_AXIS_E5() DISABLE_STEPPER_E5()
+ #else
+ #define DISABLE_AXIS_E5() NOOP
+ #endif
+#endif
+
+#ifndef ENABLE_AXIS_E6
+ #if E_STEPPERS > 6 && HAS_E6_ENABLE
+ #define ENABLE_AXIS_E6() ENABLE_STEPPER_E6()
+ #else
+ #define ENABLE_AXIS_E6() NOOP
+ #endif
+#endif
+#ifndef DISABLE_AXIS_E6
+ #if E_STEPPERS > 6 && HAS_E6_ENABLE
+ #define DISABLE_AXIS_E6() DISABLE_STEPPER_E6()
+ #else
+ #define DISABLE_AXIS_E6() NOOP
+ #endif
+#endif
+
+#ifndef ENABLE_AXIS_E7
+ #if E_STEPPERS > 7 && HAS_E7_ENABLE
+ #define ENABLE_AXIS_E7() ENABLE_STEPPER_E7()
+ #else
+ #define ENABLE_AXIS_E7() NOOP
+ #endif
+#endif
+#ifndef DISABLE_AXIS_E7
+ #if E_STEPPERS > 7 && HAS_E7_ENABLE
+ #define DISABLE_AXIS_E7() DISABLE_STEPPER_E7()
+ #else
+ #define DISABLE_AXIS_E7() NOOP
+ #endif
+#endif
diff --git a/Marlin/src/module/stepper/trinamic.cpp b/Marlin/src/module/stepper/trinamic.cpp
new file mode 100644
index 0000000..c33581d
--- /dev/null
+++ b/Marlin/src/module/stepper/trinamic.cpp
@@ -0,0 +1,877 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * stepper/trinamic.cpp
+ * Stepper driver indirection for Trinamic
+ */
+
+#include "../../inc/MarlinConfig.h"
+
+#if HAS_TRINAMIC_CONFIG
+
+#include "trinamic.h"
+#include "../stepper.h"
+
+#include <HardwareSerial.h>
+#include <SPI.h>
+
+enum StealthIndex : uint8_t { STEALTH_AXIS_XY, STEALTH_AXIS_Z, STEALTH_AXIS_E };
+#define TMC_INIT(ST, STEALTH_INDEX) tmc_init(stepper##ST, ST##_CURRENT, ST##_MICROSTEPS, ST##_HYBRID_THRESHOLD, stealthchop_by_axis[STEALTH_INDEX], chopper_timing_##ST, ST##_INTERPOLATE)
+
+// IC = TMC model number
+// ST = Stepper object letter
+// L = Label characters
+// AI = Axis Enum Index
+// SWHW = SW/SH UART selection
+#if ENABLED(TMC_USE_SW_SPI)
+ #define __TMC_SPI_DEFINE(IC, ST, L, AI) TMCMarlin<IC##Stepper, L, AI> stepper##ST(ST##_CS_PIN, float(ST##_RSENSE), TMC_SW_MOSI, TMC_SW_MISO, TMC_SW_SCK, ST##_CHAIN_POS)
+#else
+ #define __TMC_SPI_DEFINE(IC, ST, L, AI) TMCMarlin<IC##Stepper, L, AI> stepper##ST(ST##_CS_PIN, float(ST##_RSENSE), ST##_CHAIN_POS)
+#endif
+
+#if ENABLED(TMC_SERIAL_MULTIPLEXER)
+ #define TMC_UART_HW_DEFINE(IC, ST, L, AI) TMCMarlin<IC##Stepper, L, AI> stepper##ST(&ST##_HARDWARE_SERIAL, float(ST##_RSENSE), ST##_SLAVE_ADDRESS, SERIAL_MUL_PIN1, SERIAL_MUL_PIN2)
+#else
+ #define TMC_UART_HW_DEFINE(IC, ST, L, AI) TMCMarlin<IC##Stepper, L, AI> stepper##ST(&ST##_HARDWARE_SERIAL, float(ST##_RSENSE), ST##_SLAVE_ADDRESS)
+#endif
+#define TMC_UART_SW_DEFINE(IC, ST, L, AI) TMCMarlin<IC##Stepper, L, AI> stepper##ST(ST##_SERIAL_RX_PIN, ST##_SERIAL_TX_PIN, float(ST##_RSENSE), ST##_SLAVE_ADDRESS)
+
+#define _TMC_SPI_DEFINE(IC, ST, AI) __TMC_SPI_DEFINE(IC, ST, TMC_##ST##_LABEL, AI)
+#define TMC_SPI_DEFINE(ST, AI) _TMC_SPI_DEFINE(ST##_DRIVER_TYPE, ST, AI##_AXIS)
+
+#define _TMC_UART_DEFINE(SWHW, IC, ST, AI) TMC_UART_##SWHW##_DEFINE(IC, ST, TMC_##ST##_LABEL, AI)
+#define TMC_UART_DEFINE(SWHW, ST, AI) _TMC_UART_DEFINE(SWHW, ST##_DRIVER_TYPE, ST, AI##_AXIS)
+
+#if DISTINCT_E > 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(Z4)
+ TMC_SPI_DEFINE(Z4, 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 AXIS_HAS_SPI(E6)
+ TMC_SPI_DEFINE_E(6);
+#endif
+#if AXIS_HAS_SPI(E7)
+ TMC_SPI_DEFINE_E(7);
+#endif
+
+#ifndef TMC_BAUD_RATE
+ // Reduce baud rate for boards not already overriding TMC_BAUD_RATE for software serial.
+ // Testing has shown that 115200 is not 100% reliable on AVR platforms, occasionally
+ // failing to read status properly. 32-bit platforms typically define an even lower
+ // TMC_BAUD_RATE, due to differences in how SoftwareSerial libraries work on different
+ // platforms.
+ #define TMC_BAUD_RATE TERN(HAS_TMC_SW_SERIAL, 57600, 115200)
+#endif
+
+#if HAS_DRIVER(TMC2130)
+ template<char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
+ void tmc_init(TMCMarlin<TMC2130Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> &st, const uint16_t mA, const uint16_t microsteps, const uint32_t hyb_thrs, const bool stealth, const chopper_timing_t &chop_init, const bool interpolate) {
+ st.begin();
+
+ CHOPCONF_t chopconf{0};
+ chopconf.tbl = 0b01;
+ chopconf.toff = chop_init.toff;
+ chopconf.intpol = interpolate;
+ chopconf.hend = chop_init.hend + 3;
+ chopconf.hstrt = chop_init.hstrt - 1;
+ TERN_(SQUARE_WAVE_STEPPING, chopconf.dedge = true);
+ st.CHOPCONF(chopconf.sr);
+
+ st.rms_current(mA, HOLD_MULTIPLIER);
+ st.microsteps(microsteps);
+ st.iholddelay(10);
+ st.TPOWERDOWN(128); // ~2s until driver lowers to hold current
+
+ st.en_pwm_mode(stealth);
+ st.stored.stealthChop_enabled = stealth;
+
+ PWMCONF_t pwmconf{0};
+ pwmconf.pwm_freq = 0b01; // f_pwm = 2/683 f_clk
+ pwmconf.pwm_autoscale = true;
+ pwmconf.pwm_grad = 5;
+ pwmconf.pwm_ampl = 180;
+ st.PWMCONF(pwmconf.sr);
+
+ TERN(HYBRID_THRESHOLD, st.set_pwm_thrs(hyb_thrs), UNUSED(hyb_thrs));
+
+ st.GSTAT(); // Clear GSTAT
+ }
+#endif // TMC2130
+
+#if HAS_DRIVER(TMC2160)
+ template<char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
+ void tmc_init(TMCMarlin<TMC2160Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> &st, const uint16_t mA, const uint16_t microsteps, const uint32_t hyb_thrs, const bool stealth, const chopper_timing_t &chop_init, const bool interpolate) {
+ st.begin();
+
+ CHOPCONF_t chopconf{0};
+ chopconf.tbl = 0b01;
+ chopconf.toff = chop_init.toff;
+ chopconf.intpol = interpolate;
+ chopconf.hend = chop_init.hend + 3;
+ chopconf.hstrt = chop_init.hstrt - 1;
+ TERN_(SQUARE_WAVE_STEPPING, chopconf.dedge = true);
+ st.CHOPCONF(chopconf.sr);
+
+ st.rms_current(mA, HOLD_MULTIPLIER);
+ st.microsteps(microsteps);
+ st.iholddelay(10);
+ st.TPOWERDOWN(128); // ~2s until driver lowers to hold current
+
+ st.en_pwm_mode(stealth);
+ st.stored.stealthChop_enabled = stealth;
+
+ TMC2160_n::PWMCONF_t pwmconf{0};
+ pwmconf.pwm_lim = 12;
+ pwmconf.pwm_reg = 8;
+ pwmconf.pwm_autograd = true;
+ pwmconf.pwm_autoscale = true;
+ pwmconf.pwm_freq = 0b01;
+ pwmconf.pwm_grad = 14;
+ pwmconf.pwm_ofs = 36;
+ st.PWMCONF(pwmconf.sr);
+
+ TERN(HYBRID_THRESHOLD, st.set_pwm_thrs(hyb_thrs), UNUSED(hyb_thrs));
+
+ st.GSTAT(); // Clear GSTAT
+ }
+#endif // TMC2160
+
+//
+// TMC2208/2209 Driver objects and inits
+//
+#if HAS_TMC220x
+ #if AXIS_HAS_UART(X)
+ #ifdef X_HARDWARE_SERIAL
+ TMC_UART_DEFINE(HW, X, X);
+ #define X_HAS_HW_SERIAL 1
+ #else
+ TMC_UART_DEFINE(SW, X, X);
+ #define X_HAS_SW_SERIAL 1
+ #endif
+ #endif
+ #if AXIS_HAS_UART(X2)
+ #ifdef X2_HARDWARE_SERIAL
+ TMC_UART_DEFINE(HW, X2, X);
+ #define X2_HAS_HW_SERIAL 1
+ #else
+ TMC_UART_DEFINE(SW, X2, X);
+ #define X2_HAS_SW_SERIAL 1
+ #endif
+ #endif
+ #if AXIS_HAS_UART(Y)
+ #ifdef Y_HARDWARE_SERIAL
+ TMC_UART_DEFINE(HW, Y, Y);
+ #define Y_HAS_HW_SERIAL 1
+ #else
+ TMC_UART_DEFINE(SW, Y, Y);
+ #define Y_HAS_SW_SERIAL 1
+ #endif
+ #endif
+ #if AXIS_HAS_UART(Y2)
+ #ifdef Y2_HARDWARE_SERIAL
+ TMC_UART_DEFINE(HW, Y2, Y);
+ #define Y2_HAS_HW_SERIAL 1
+ #else
+ TMC_UART_DEFINE(SW, Y2, Y);
+ #define Y2_HAS_SW_SERIAL 1
+ #endif
+ #endif
+ #if AXIS_HAS_UART(Z)
+ #ifdef Z_HARDWARE_SERIAL
+ TMC_UART_DEFINE(HW, Z, Z);
+ #define Z_HAS_HW_SERIAL 1
+ #else
+ TMC_UART_DEFINE(SW, Z, Z);
+ #define Z_HAS_SW_SERIAL 1
+ #endif
+ #endif
+ #if AXIS_HAS_UART(Z2)
+ #ifdef Z2_HARDWARE_SERIAL
+ TMC_UART_DEFINE(HW, Z2, Z);
+ #define Z2_HAS_HW_SERIAL 1
+ #else
+ TMC_UART_DEFINE(SW, Z2, Z);
+ #define Z2_HAS_SW_SERIAL 1
+ #endif
+ #endif
+ #if AXIS_HAS_UART(Z3)
+ #ifdef Z3_HARDWARE_SERIAL
+ TMC_UART_DEFINE(HW, Z3, Z);
+ #define Z3_HAS_HW_SERIAL 1
+ #else
+ TMC_UART_DEFINE(SW, Z3, Z);
+ #define Z3_HAS_SW_SERIAL 1
+ #endif
+ #endif
+ #if AXIS_HAS_UART(Z4)
+ #ifdef Z4_HARDWARE_SERIAL
+ TMC_UART_DEFINE(HW, Z4, Z);
+ #define Z4_HAS_HW_SERIAL 1
+ #else
+ TMC_UART_DEFINE(SW, Z4, Z);
+ #define Z4_HAS_SW_SERIAL 1
+ #endif
+ #endif
+ #if AXIS_HAS_UART(E0)
+ #ifdef E0_HARDWARE_SERIAL
+ TMC_UART_DEFINE_E(HW, 0);
+ #define E0_HAS_HW_SERIAL 1
+ #else
+ TMC_UART_DEFINE_E(SW, 0);
+ #define E0_HAS_SW_SERIAL 1
+ #endif
+ #endif
+ #if AXIS_HAS_UART(E1)
+ #ifdef E1_HARDWARE_SERIAL
+ TMC_UART_DEFINE_E(HW, 1);
+ #define E1_HAS_HW_SERIAL 1
+ #else
+ TMC_UART_DEFINE_E(SW, 1);
+ #define E1_HAS_SW_SERIAL 1
+ #endif
+ #endif
+ #if AXIS_HAS_UART(E2)
+ #ifdef E2_HARDWARE_SERIAL
+ TMC_UART_DEFINE_E(HW, 2);
+ #define E2_HAS_HW_SERIAL 1
+ #else
+ TMC_UART_DEFINE_E(SW, 2);
+ #define E2_HAS_SW_SERIAL 1
+ #endif
+ #endif
+ #if AXIS_HAS_UART(E3)
+ #ifdef E3_HARDWARE_SERIAL
+ TMC_UART_DEFINE_E(HW, 3);
+ #define E3_HAS_HW_SERIAL 1
+ #else
+ TMC_UART_DEFINE_E(SW, 3);
+ #define E3_HAS_SW_SERIAL 1
+ #endif
+ #endif
+ #if AXIS_HAS_UART(E4)
+ #ifdef E4_HARDWARE_SERIAL
+ TMC_UART_DEFINE_E(HW, 4);
+ #define E4_HAS_HW_SERIAL 1
+ #else
+ TMC_UART_DEFINE_E(SW, 4);
+ #define E4_HAS_SW_SERIAL 1
+ #endif
+ #endif
+ #if AXIS_HAS_UART(E5)
+ #ifdef E5_HARDWARE_SERIAL
+ TMC_UART_DEFINE_E(HW, 5);
+ #define E5_HAS_HW_SERIAL 1
+ #else
+ TMC_UART_DEFINE_E(SW, 5);
+ #define E5_HAS_SW_SERIAL 1
+ #endif
+ #endif
+ #if AXIS_HAS_UART(E6)
+ #ifdef E6_HARDWARE_SERIAL
+ TMC_UART_DEFINE_E(HW, 6);
+ #define E6_HAS_HW_SERIAL 1
+ #else
+ TMC_UART_DEFINE_E(SW, 6);
+ #define E6_HAS_SW_SERIAL 1
+ #endif
+ #endif
+ #if AXIS_HAS_UART(E7)
+ #ifdef E7_HARDWARE_SERIAL
+ TMC_UART_DEFINE_E(HW, 7);
+ #define E7_HAS_HW_SERIAL 1
+ #else
+ TMC_UART_DEFINE_E(SW, 7);
+ #define E7_HAS_SW_SERIAL 1
+ #endif
+ #endif
+
+ enum TMCAxis : uint8_t { X, Y, Z, X2, Y2, Z2, Z3, Z4, E0, E1, E2, E3, E4, E5, E6, E7, TOTAL };
+
+ void tmc_serial_begin() {
+ #if HAS_TMC_HW_SERIAL
+ struct {
+ const void *ptr[TMCAxis::TOTAL];
+ bool began(const TMCAxis a, const void * const p) {
+ LOOP_L_N(i, a) if (p == ptr[i]) return true;
+ ptr[a] = p; return false;
+ };
+ } sp_helper;
+
+ #define HW_SERIAL_BEGIN(A) do{ if (!sp_helper.began(TMCAxis::A, &A##_HARDWARE_SERIAL)) \
+ A##_HARDWARE_SERIAL.begin(TMC_BAUD_RATE); }while(0)
+ #endif
+
+ #if AXIS_HAS_UART(X)
+ #ifdef X_HARDWARE_SERIAL
+ HW_SERIAL_BEGIN(X);
+ #else
+ stepperX.beginSerial(TMC_BAUD_RATE);
+ #endif
+ #endif
+ #if AXIS_HAS_UART(X2)
+ #ifdef X2_HARDWARE_SERIAL
+ HW_SERIAL_BEGIN(X2);
+ #else
+ stepperX2.beginSerial(TMC_BAUD_RATE);
+ #endif
+ #endif
+ #if AXIS_HAS_UART(Y)
+ #ifdef Y_HARDWARE_SERIAL
+ HW_SERIAL_BEGIN(Y);
+ #else
+ stepperY.beginSerial(TMC_BAUD_RATE);
+ #endif
+ #endif
+ #if AXIS_HAS_UART(Y2)
+ #ifdef Y2_HARDWARE_SERIAL
+ HW_SERIAL_BEGIN(Y2);
+ #else
+ stepperY2.beginSerial(TMC_BAUD_RATE);
+ #endif
+ #endif
+ #if AXIS_HAS_UART(Z)
+ #ifdef Z_HARDWARE_SERIAL
+ HW_SERIAL_BEGIN(Z);
+ #else
+ stepperZ.beginSerial(TMC_BAUD_RATE);
+ #endif
+ #endif
+ #if AXIS_HAS_UART(Z2)
+ #ifdef Z2_HARDWARE_SERIAL
+ HW_SERIAL_BEGIN(Z2);
+ #else
+ stepperZ2.beginSerial(TMC_BAUD_RATE);
+ #endif
+ #endif
+ #if AXIS_HAS_UART(Z3)
+ #ifdef Z3_HARDWARE_SERIAL
+ HW_SERIAL_BEGIN(Z3);
+ #else
+ stepperZ3.beginSerial(TMC_BAUD_RATE);
+ #endif
+ #endif
+ #if AXIS_HAS_UART(Z4)
+ #ifdef Z4_HARDWARE_SERIAL
+ HW_SERIAL_BEGIN(Z4);
+ #else
+ stepperZ4.beginSerial(TMC_BAUD_RATE);
+ #endif
+ #endif
+ #if AXIS_HAS_UART(E0)
+ #ifdef E0_HARDWARE_SERIAL
+ HW_SERIAL_BEGIN(E0);
+ #else
+ stepperE0.beginSerial(TMC_BAUD_RATE);
+ #endif
+ #endif
+ #if AXIS_HAS_UART(E1)
+ #ifdef E1_HARDWARE_SERIAL
+ HW_SERIAL_BEGIN(E1);
+ #else
+ stepperE1.beginSerial(TMC_BAUD_RATE);
+ #endif
+ #endif
+ #if AXIS_HAS_UART(E2)
+ #ifdef E2_HARDWARE_SERIAL
+ HW_SERIAL_BEGIN(E2);
+ #else
+ stepperE2.beginSerial(TMC_BAUD_RATE);
+ #endif
+ #endif
+ #if AXIS_HAS_UART(E3)
+ #ifdef E3_HARDWARE_SERIAL
+ HW_SERIAL_BEGIN(E3);
+ #else
+ stepperE3.beginSerial(TMC_BAUD_RATE);
+ #endif
+ #endif
+ #if AXIS_HAS_UART(E4)
+ #ifdef E4_HARDWARE_SERIAL
+ HW_SERIAL_BEGIN(E4);
+ #else
+ stepperE4.beginSerial(TMC_BAUD_RATE);
+ #endif
+ #endif
+ #if AXIS_HAS_UART(E5)
+ #ifdef E5_HARDWARE_SERIAL
+ HW_SERIAL_BEGIN(E5);
+ #else
+ stepperE5.beginSerial(TMC_BAUD_RATE);
+ #endif
+ #endif
+ #if AXIS_HAS_UART(E6)
+ #ifdef E6_HARDWARE_SERIAL
+ HW_SERIAL_BEGIN(E6);
+ #else
+ stepperE6.beginSerial(TMC_BAUD_RATE);
+ #endif
+ #endif
+ #if AXIS_HAS_UART(E7)
+ #ifdef E7_HARDWARE_SERIAL
+ HW_SERIAL_BEGIN(E7);
+ #else
+ stepperE7.beginSerial(TMC_BAUD_RATE);
+ #endif
+ #endif
+ }
+#endif
+
+#if HAS_DRIVER(TMC2208)
+ template<char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
+ void tmc_init(TMCMarlin<TMC2208Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> &st, const uint16_t mA, const uint16_t microsteps, const uint32_t hyb_thrs, const bool stealth, const chopper_timing_t &chop_init, const bool interpolate) {
+ TMC2208_n::GCONF_t gconf{0};
+ gconf.pdn_disable = true; // Use UART
+ gconf.mstep_reg_select = true; // Select microsteps with UART
+ gconf.i_scale_analog = false;
+ gconf.en_spreadcycle = !stealth;
+ st.GCONF(gconf.sr);
+ st.stored.stealthChop_enabled = stealth;
+
+ TMC2208_n::CHOPCONF_t chopconf{0};
+ chopconf.tbl = 0b01; // blank_time = 24
+ chopconf.toff = chop_init.toff;
+ chopconf.intpol = interpolate;
+ chopconf.hend = chop_init.hend + 3;
+ chopconf.hstrt = chop_init.hstrt - 1;
+ TERN_(SQUARE_WAVE_STEPPING, chopconf.dedge = true);
+ st.CHOPCONF(chopconf.sr);
+
+ st.rms_current(mA, HOLD_MULTIPLIER);
+ st.microsteps(microsteps);
+ st.iholddelay(10);
+ st.TPOWERDOWN(128); // ~2s until driver lowers to hold current
+
+ TMC2208_n::PWMCONF_t pwmconf{0};
+ pwmconf.pwm_lim = 12;
+ pwmconf.pwm_reg = 8;
+ pwmconf.pwm_autograd = true;
+ pwmconf.pwm_autoscale = true;
+ pwmconf.pwm_freq = 0b01;
+ pwmconf.pwm_grad = 14;
+ pwmconf.pwm_ofs = 36;
+ st.PWMCONF(pwmconf.sr);
+
+ TERN(HYBRID_THRESHOLD, st.set_pwm_thrs(hyb_thrs), UNUSED(hyb_thrs));
+
+ st.GSTAT(0b111); // Clear
+ delay(200);
+ }
+#endif // TMC2208
+
+#if HAS_DRIVER(TMC2209)
+ template<char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
+ void tmc_init(TMCMarlin<TMC2209Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> &st, const uint16_t mA, const uint16_t microsteps, const uint32_t hyb_thrs, const bool stealth, const chopper_timing_t &chop_init, const bool interpolate) {
+ TMC2208_n::GCONF_t gconf{0};
+ gconf.pdn_disable = true; // Use UART
+ gconf.mstep_reg_select = true; // Select microsteps with UART
+ gconf.i_scale_analog = false;
+ gconf.en_spreadcycle = !stealth;
+ st.GCONF(gconf.sr);
+ st.stored.stealthChop_enabled = stealth;
+
+ TMC2208_n::CHOPCONF_t chopconf{0};
+ chopconf.tbl = 0b01; // blank_time = 24
+ chopconf.toff = chop_init.toff;
+ chopconf.intpol = interpolate;
+ chopconf.hend = chop_init.hend + 3;
+ chopconf.hstrt = chop_init.hstrt - 1;
+ TERN_(SQUARE_WAVE_STEPPING, chopconf.dedge = true);
+ st.CHOPCONF(chopconf.sr);
+
+ st.rms_current(mA, HOLD_MULTIPLIER);
+ st.microsteps(microsteps);
+ st.iholddelay(10);
+ st.TPOWERDOWN(128); // ~2s until driver lowers to hold current
+
+ TMC2208_n::PWMCONF_t pwmconf{0};
+ pwmconf.pwm_lim = 12;
+ pwmconf.pwm_reg = 8;
+ pwmconf.pwm_autograd = true;
+ pwmconf.pwm_autoscale = true;
+ pwmconf.pwm_freq = 0b01;
+ pwmconf.pwm_grad = 14;
+ pwmconf.pwm_ofs = 36;
+ st.PWMCONF(pwmconf.sr);
+
+ TERN(HYBRID_THRESHOLD, st.set_pwm_thrs(hyb_thrs), UNUSED(hyb_thrs));
+
+ st.GSTAT(0b111); // Clear
+ delay(200);
+ }
+#endif // TMC2209
+
+#if HAS_DRIVER(TMC2660)
+ template<char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
+ void tmc_init(TMCMarlin<TMC2660Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> &st, const uint16_t mA, const uint16_t microsteps, const uint32_t, const bool, const chopper_timing_t &chop_init, const bool interpolate) {
+ st.begin();
+
+ TMC2660_n::CHOPCONF_t chopconf{0};
+ chopconf.tbl = 0b01;
+ chopconf.toff = chop_init.toff;
+ chopconf.hend = chop_init.hend + 3;
+ chopconf.hstrt = chop_init.hstrt - 1;
+ st.CHOPCONF(chopconf.sr);
+
+ st.sdoff(0);
+ st.rms_current(mA);
+ st.microsteps(microsteps);
+ TERN_(SQUARE_WAVE_STEPPING, st.dedge(true));
+ st.intpol(interpolate);
+ st.diss2g(true); // Disable short to ground protection. Too many false readings?
+ TERN_(TMC_DEBUG, st.rdsel(0b01));
+ }
+#endif // TMC2660
+
+#if HAS_DRIVER(TMC5130)
+ template<char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
+ void tmc_init(TMCMarlin<TMC5130Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> &st, const uint16_t mA, const uint16_t microsteps, const uint32_t hyb_thrs, const bool stealth, const chopper_timing_t &chop_init, const bool interpolate) {
+ st.begin();
+
+ CHOPCONF_t chopconf{0};
+ chopconf.tbl = 0b01;
+ chopconf.toff = chop_init.toff;
+ chopconf.intpol = interpolate;
+ chopconf.hend = chop_init.hend + 3;
+ chopconf.hstrt = chop_init.hstrt - 1;
+ TERN_(SQUARE_WAVE_STEPPING, chopconf.dedge = true);
+ st.CHOPCONF(chopconf.sr);
+
+ st.rms_current(mA, HOLD_MULTIPLIER);
+ st.microsteps(microsteps);
+ st.iholddelay(10);
+ st.TPOWERDOWN(128); // ~2s until driver lowers to hold current
+
+ st.en_pwm_mode(stealth);
+ st.stored.stealthChop_enabled = stealth;
+
+ PWMCONF_t pwmconf{0};
+ pwmconf.pwm_freq = 0b01; // f_pwm = 2/683 f_clk
+ pwmconf.pwm_autoscale = true;
+ pwmconf.pwm_grad = 5;
+ pwmconf.pwm_ampl = 180;
+ st.PWMCONF(pwmconf.sr);
+
+ TERN(HYBRID_THRESHOLD, st.set_pwm_thrs(hyb_thrs), UNUSED(hyb_thrs));
+
+ st.GSTAT(); // Clear GSTAT
+ }
+#endif // TMC5130
+
+#if HAS_DRIVER(TMC5160)
+ template<char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
+ void tmc_init(TMCMarlin<TMC5160Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> &st, const uint16_t mA, const uint16_t microsteps, const uint32_t hyb_thrs, const bool stealth, const chopper_timing_t &chop_init, const bool interpolate) {
+ st.begin();
+
+ CHOPCONF_t chopconf{0};
+ chopconf.tbl = 0b01;
+ chopconf.toff = chop_init.toff;
+ chopconf.intpol = interpolate;
+ chopconf.hend = chop_init.hend + 3;
+ chopconf.hstrt = chop_init.hstrt - 1;
+ TERN_(SQUARE_WAVE_STEPPING, chopconf.dedge = true);
+ st.CHOPCONF(chopconf.sr);
+
+ st.rms_current(mA, HOLD_MULTIPLIER);
+ st.microsteps(microsteps);
+ st.iholddelay(10);
+ st.TPOWERDOWN(128); // ~2s until driver lowers to hold current
+
+ st.en_pwm_mode(stealth);
+ st.stored.stealthChop_enabled = stealth;
+
+ TMC2160_n::PWMCONF_t pwmconf{0};
+ pwmconf.pwm_lim = 12;
+ pwmconf.pwm_reg = 8;
+ pwmconf.pwm_autograd = true;
+ pwmconf.pwm_autoscale = true;
+ pwmconf.pwm_freq = 0b01;
+ pwmconf.pwm_grad = 14;
+ pwmconf.pwm_ofs = 36;
+ st.PWMCONF(pwmconf.sr);
+
+ #if ENABLED(HYBRID_THRESHOLD)
+ st.set_pwm_thrs(hyb_thrs);
+ #else
+ UNUSED(hyb_thrs);
+ #endif
+ st.GSTAT(); // Clear GSTAT
+ }
+#endif // TMC5160
+
+void restore_trinamic_drivers() {
+ #if AXIS_IS_TMC(X)
+ stepperX.push();
+ #endif
+ #if AXIS_IS_TMC(X2)
+ stepperX2.push();
+ #endif
+ #if AXIS_IS_TMC(Y)
+ stepperY.push();
+ #endif
+ #if AXIS_IS_TMC(Y2)
+ stepperY2.push();
+ #endif
+ #if AXIS_IS_TMC(Z)
+ stepperZ.push();
+ #endif
+ #if AXIS_IS_TMC(Z2)
+ stepperZ2.push();
+ #endif
+ #if AXIS_IS_TMC(Z3)
+ stepperZ3.push();
+ #endif
+ #if AXIS_IS_TMC(Z4)
+ stepperZ4.push();
+ #endif
+ #if AXIS_IS_TMC(E0)
+ stepperE0.push();
+ #endif
+ #if AXIS_IS_TMC(E1)
+ stepperE1.push();
+ #endif
+ #if AXIS_IS_TMC(E2)
+ stepperE2.push();
+ #endif
+ #if AXIS_IS_TMC(E3)
+ stepperE3.push();
+ #endif
+ #if AXIS_IS_TMC(E4)
+ stepperE4.push();
+ #endif
+ #if AXIS_IS_TMC(E5)
+ stepperE5.push();
+ #endif
+ #if AXIS_IS_TMC(E6)
+ stepperE6.push();
+ #endif
+ #if AXIS_IS_TMC(E7)
+ stepperE7.push();
+ #endif
+}
+
+void reset_trinamic_drivers() {
+ static constexpr bool stealthchop_by_axis[] = { ENABLED(STEALTHCHOP_XY), ENABLED(STEALTHCHOP_Z), ENABLED(STEALTHCHOP_E) };
+
+ #if AXIS_IS_TMC(X)
+ TMC_INIT(X, STEALTH_AXIS_XY);
+ #endif
+ #if AXIS_IS_TMC(X2)
+ TMC_INIT(X2, STEALTH_AXIS_XY);
+ #endif
+ #if AXIS_IS_TMC(Y)
+ TMC_INIT(Y, STEALTH_AXIS_XY);
+ #endif
+ #if AXIS_IS_TMC(Y2)
+ TMC_INIT(Y2, STEALTH_AXIS_XY);
+ #endif
+ #if AXIS_IS_TMC(Z)
+ TMC_INIT(Z, STEALTH_AXIS_Z);
+ #endif
+ #if AXIS_IS_TMC(Z2)
+ TMC_INIT(Z2, STEALTH_AXIS_Z);
+ #endif
+ #if AXIS_IS_TMC(Z3)
+ TMC_INIT(Z3, STEALTH_AXIS_Z);
+ #endif
+ #if AXIS_IS_TMC(Z4)
+ TMC_INIT(Z4, STEALTH_AXIS_Z);
+ #endif
+ #if AXIS_IS_TMC(E0)
+ TMC_INIT(E0, STEALTH_AXIS_E);
+ #endif
+ #if AXIS_IS_TMC(E1)
+ TMC_INIT(E1, STEALTH_AXIS_E);
+ #endif
+ #if AXIS_IS_TMC(E2)
+ TMC_INIT(E2, STEALTH_AXIS_E);
+ #endif
+ #if AXIS_IS_TMC(E3)
+ TMC_INIT(E3, STEALTH_AXIS_E);
+ #endif
+ #if AXIS_IS_TMC(E4)
+ TMC_INIT(E4, STEALTH_AXIS_E);
+ #endif
+ #if AXIS_IS_TMC(E5)
+ TMC_INIT(E5, STEALTH_AXIS_E);
+ #endif
+ #if AXIS_IS_TMC(E6)
+ TMC_INIT(E6, STEALTH_AXIS_E);
+ #endif
+ #if AXIS_IS_TMC(E7)
+ TMC_INIT(E7, STEALTH_AXIS_E);
+ #endif
+
+ #if USE_SENSORLESS
+ #if X_SENSORLESS
+ stepperX.homing_threshold(X_STALL_SENSITIVITY);
+ #if AXIS_HAS_STALLGUARD(X2)
+ stepperX2.homing_threshold(CAT(TERN(X2_SENSORLESS, X2, X), _STALL_SENSITIVITY));
+ #endif
+ #endif
+ #if Y_SENSORLESS
+ stepperY.homing_threshold(Y_STALL_SENSITIVITY);
+ #if AXIS_HAS_STALLGUARD(Y2)
+ stepperY2.homing_threshold(CAT(TERN(Y2_SENSORLESS, Y2, Y), _STALL_SENSITIVITY));
+ #endif
+ #endif
+ #if Z_SENSORLESS
+ stepperZ.homing_threshold(Z_STALL_SENSITIVITY);
+ #if AXIS_HAS_STALLGUARD(Z2)
+ stepperZ2.homing_threshold(CAT(TERN(Z2_SENSORLESS, Z2, Z), _STALL_SENSITIVITY));
+ #endif
+ #if AXIS_HAS_STALLGUARD(Z3)
+ stepperZ3.homing_threshold(CAT(TERN(Z3_SENSORLESS, Z3, Z), _STALL_SENSITIVITY));
+ #endif
+ #if AXIS_HAS_STALLGUARD(Z4)
+ stepperZ4.homing_threshold(CAT(TERN(Z4_SENSORLESS, Z4, Z), _STALL_SENSITIVITY));
+ #endif
+ #endif
+ #endif
+
+ #ifdef TMC_ADV
+ TMC_ADV()
+ #endif
+
+ stepper.set_directions();
+}
+
+// TMC Slave Address Conflict Detection
+//
+// Conflict detection is performed in the following way. Similar methods are used for
+// hardware and software serial, but the implementations are indepenent.
+//
+// 1. Populate a data structure with UART parameters and addresses for all possible axis.
+// If an axis is not in use, populate it with recognizable placeholder data.
+// 2. For each axis in use, static_assert using a constexpr function, which counts the
+// number of matching/conflicting axis. If the value is not exactly 1, fail.
+
+#if ANY_AXIS_HAS(HW_SERIAL)
+ // Hardware serial names are compared as strings, since actually resolving them cannot occur in a constexpr.
+ // Using a fixed-length character array for the port name allows this to be constexpr compatible.
+ struct SanityHwSerialDetails { const char port[20]; uint32_t address; };
+ #define TMC_HW_DETAIL_ARGS(A) TERN(A##_HAS_HW_SERIAL, STRINGIFY(A##_HARDWARE_SERIAL), ""), TERN0(A##_HAS_HW_SERIAL, A##_SLAVE_ADDRESS)
+ #define TMC_HW_DETAIL(A) {TMC_HW_DETAIL_ARGS(A)}
+ constexpr SanityHwSerialDetails sanity_tmc_hw_details[] = {
+ TMC_HW_DETAIL(X), TMC_HW_DETAIL(X2),
+ TMC_HW_DETAIL(Y), TMC_HW_DETAIL(Y2),
+ TMC_HW_DETAIL(Z), TMC_HW_DETAIL(Z2), TMC_HW_DETAIL(Z3), TMC_HW_DETAIL(Z4),
+ TMC_HW_DETAIL(E0), TMC_HW_DETAIL(E1), TMC_HW_DETAIL(E2), TMC_HW_DETAIL(E3), TMC_HW_DETAIL(E4), TMC_HW_DETAIL(E5), TMC_HW_DETAIL(E6), TMC_HW_DETAIL(E7)
+ };
+
+ // constexpr compatible string comparison
+ constexpr bool str_eq_ce(const char * a, const char * b) {
+ return *a == *b && (*a == '\0' || str_eq_ce(a+1,b+1));
+ }
+
+ constexpr bool sc_hw_done(size_t start, size_t end) { return start == end; }
+ constexpr bool sc_hw_skip(const char* port_name) { return !(*port_name); }
+ constexpr bool sc_hw_match(const char* port_name, uint32_t address, size_t start, size_t end) {
+ return !sc_hw_done(start, end) && !sc_hw_skip(port_name) && (address == sanity_tmc_hw_details[start].address && str_eq_ce(port_name, sanity_tmc_hw_details[start].port));
+ }
+ constexpr int count_tmc_hw_serial_matches(const char* port_name, uint32_t address, size_t start, size_t end) {
+ return sc_hw_done(start, end) ? 0 : ((sc_hw_skip(port_name) ? 0 : (sc_hw_match(port_name, address, start, end) ? 1 : 0)) + count_tmc_hw_serial_matches(port_name, address, start + 1, end));
+ }
+
+ #define TMC_HWSERIAL_CONFLICT_MSG(A) STRINGIFY(A) "_SLAVE_ADDRESS conflicts with another driver using the same " STRINGIFY(A) "_HARDWARE_SERIAL"
+ #define SA_NO_TMC_HW_C(A) static_assert(1 >= count_tmc_hw_serial_matches(TMC_HW_DETAIL_ARGS(A), 0, COUNT(sanity_tmc_hw_details)), TMC_HWSERIAL_CONFLICT_MSG(A));
+ SA_NO_TMC_HW_C(X);SA_NO_TMC_HW_C(X2);
+ SA_NO_TMC_HW_C(Y);SA_NO_TMC_HW_C(Y2);
+ SA_NO_TMC_HW_C(Z);SA_NO_TMC_HW_C(Z2);SA_NO_TMC_HW_C(Z3);SA_NO_TMC_HW_C(Z4);
+ SA_NO_TMC_HW_C(E0);SA_NO_TMC_HW_C(E1);SA_NO_TMC_HW_C(E2);SA_NO_TMC_HW_C(E3);SA_NO_TMC_HW_C(E4);SA_NO_TMC_HW_C(E5);SA_NO_TMC_HW_C(E6);SA_NO_TMC_HW_C(E7);
+#endif
+
+#if ANY_AXIS_HAS(SW_SERIAL)
+ struct SanitySwSerialDetails { int32_t txpin; int32_t rxpin; uint32_t address; };
+ #define TMC_SW_DETAIL_ARGS(A) TERN(A##_HAS_SW_SERIAL, A##_SERIAL_TX_PIN, -1), TERN(A##_HAS_SW_SERIAL, A##_SERIAL_RX_PIN, -1), TERN0(A##_HAS_SW_SERIAL, A##_SLAVE_ADDRESS)
+ #define TMC_SW_DETAIL(A) TMC_SW_DETAIL_ARGS(A)
+ constexpr SanitySwSerialDetails sanity_tmc_sw_details[] = {
+ TMC_SW_DETAIL(X), TMC_SW_DETAIL(X2),
+ TMC_SW_DETAIL(Y), TMC_SW_DETAIL(Y2),
+ TMC_SW_DETAIL(Z), TMC_SW_DETAIL(Z2), TMC_SW_DETAIL(Z3), TMC_SW_DETAIL(Z4),
+ TMC_SW_DETAIL(E0), TMC_SW_DETAIL(E1), TMC_SW_DETAIL(E2), TMC_SW_DETAIL(E3), TMC_SW_DETAIL(E4), TMC_SW_DETAIL(E5), TMC_SW_DETAIL(E6), TMC_SW_DETAIL(E7)
+ };
+
+ constexpr bool sc_sw_done(size_t start, size_t end) { return start == end; }
+ constexpr bool sc_sw_skip(int32_t txpin) { return txpin < 0; }
+ constexpr bool sc_sw_match(int32_t txpin, int32_t rxpin, uint32_t address, size_t start, size_t end) {
+ return !sc_sw_done(start, end) && !sc_sw_skip(txpin) && (txpin == sanity_tmc_sw_details[start].txpin || rxpin == sanity_tmc_sw_details[start].rxpin) && (address == sanity_tmc_sw_details[start].address);
+ }
+ constexpr int count_tmc_sw_serial_matches(int32_t txpin, int32_t rxpin, uint32_t address, size_t start, size_t end) {
+ return sc_sw_done(start, end) ? 0 : ((sc_sw_skip(txpin) ? 0 : (sc_sw_match(txpin, rxpin, address, start, end) ? 1 : 0)) + count_tmc_sw_serial_matches(txpin, rxpin, address, start + 1, end));
+ }
+
+ #define TMC_SWSERIAL_CONFLICT_MSG(A) STRINGIFY(A) "_SLAVE_ADDRESS conflicts with another driver using the same " STRINGIFY(A) "_SERIAL_RX_PIN or " STRINGIFY(A) "_SERIAL_TX_PIN"
+ #define SA_NO_TMC_SW_C(A) static_assert(1 >= count_tmc_sw_serial_matches(TMC_SW_DETAIL_ARGS(A), 0, COUNT(sanity_tmc_sw_details)), TMC_SWSERIAL_CONFLICT_MSG(A));
+ SA_NO_TMC_SW_C(X);SA_NO_TMC_SW_C(X2);
+ SA_NO_TMC_SW_C(Y);SA_NO_TMC_SW_C(Y2);
+ SA_NO_TMC_SW_C(Z);SA_NO_TMC_SW_C(Z2);SA_NO_TMC_SW_C(Z3);SA_NO_TMC_SW_C(Z4);
+ SA_NO_TMC_SW_C(E0);SA_NO_TMC_SW_C(E1);SA_NO_TMC_SW_C(E2);SA_NO_TMC_SW_C(E3);SA_NO_TMC_SW_C(E4);SA_NO_TMC_SW_C(E5);SA_NO_TMC_SW_C(E6);SA_NO_TMC_SW_C(E7);
+#endif
+
+#endif // HAS_TRINAMIC_CONFIG
diff --git a/Marlin/src/module/stepper/trinamic.h b/Marlin/src/module/stepper/trinamic.h
new file mode 100644
index 0000000..9f7445e
--- /dev/null
+++ b/Marlin/src/module/stepper/trinamic.h
@@ -0,0 +1,362 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+/**
+ * stepper/trinamic.h
+ * Stepper driver indirection for Trinamic
+ */
+
+#include <TMCStepper.h>
+#if TMCSTEPPER_VERSION < 0x000500
+ #error "Update TMCStepper library to 0.5.0 or newer."
+#endif
+
+#include "../../inc/MarlinConfig.h"
+#include "../../feature/tmc_util.h"
+
+#define CLASS_TMC2130 TMC2130Stepper
+#define CLASS_TMC2160 TMC2160Stepper
+#define CLASS_TMC2208 TMC2208Stepper
+#define CLASS_TMC2209 TMC2209Stepper
+#define CLASS_TMC2660 TMC2660Stepper
+#define CLASS_TMC5130 TMC5130Stepper
+#define CLASS_TMC5160 TMC5160Stepper
+
+#define TMC_X_LABEL 'X', '0'
+#define TMC_Y_LABEL 'Y', '0'
+#define TMC_Z_LABEL 'Z', '0'
+
+#define TMC_X2_LABEL 'X', '2'
+#define TMC_Y2_LABEL 'Y', '2'
+#define TMC_Z2_LABEL 'Z', '2'
+#define TMC_Z3_LABEL 'Z', '3'
+#define TMC_Z4_LABEL 'Z', '4'
+
+#define TMC_E0_LABEL 'E', '0'
+#define TMC_E1_LABEL 'E', '1'
+#define TMC_E2_LABEL 'E', '2'
+#define TMC_E3_LABEL 'E', '3'
+#define TMC_E4_LABEL 'E', '4'
+#define TMC_E5_LABEL 'E', '5'
+#define TMC_E6_LABEL 'E', '6'
+#define TMC_E7_LABEL 'E', '7'
+
+#define __TMC_CLASS(TYPE, L, I, A) TMCMarlin<CLASS_##TYPE, L, I, A>
+#define _TMC_CLASS(TYPE, LandI, A) __TMC_CLASS(TYPE, LandI, A)
+#define TMC_CLASS(ST, A) _TMC_CLASS(ST##_DRIVER_TYPE, TMC_##ST##_LABEL, A##_AXIS)
+#if ENABLED(DISTINCT_E_FACTORS)
+ #define TMC_CLASS_E(N) TMC_CLASS(E##N, E##N)
+#else
+ #define TMC_CLASS_E(N) TMC_CLASS(E##N, E)
+#endif
+
+typedef struct {
+ uint8_t toff;
+ int8_t hend;
+ uint8_t hstrt;
+} chopper_timing_t;
+
+#ifndef CHOPPER_TIMING_X
+ #define CHOPPER_TIMING_X CHOPPER_TIMING
+#endif
+#ifndef CHOPPER_TIMING_Y
+ #define CHOPPER_TIMING_Y CHOPPER_TIMING
+#endif
+#ifndef CHOPPER_TIMING_Z
+ #define CHOPPER_TIMING_Z CHOPPER_TIMING
+#endif
+#ifndef CHOPPER_TIMING_E
+ #define CHOPPER_TIMING_E CHOPPER_TIMING
+#endif
+
+#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;
+ static constexpr chopper_timing_t chopper_timing_X = CHOPPER_TIMING_X;
+ #if ENABLED(SOFTWARE_DRIVER_ENABLE)
+ #define X_ENABLE_INIT() NOOP
+ #define X_ENABLE_WRITE(STATE) stepperX.toff((STATE)==X_ENABLE_ON ? chopper_timing_X.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;
+ static constexpr chopper_timing_t chopper_timing_Y = CHOPPER_TIMING_Y;
+ #if ENABLED(SOFTWARE_DRIVER_ENABLE)
+ #define Y_ENABLE_INIT() NOOP
+ #define Y_ENABLE_WRITE(STATE) stepperY.toff((STATE)==Y_ENABLE_ON ? chopper_timing_Y.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;
+ static constexpr chopper_timing_t chopper_timing_Z = CHOPPER_TIMING_Z;
+ #if ENABLED(SOFTWARE_DRIVER_ENABLE)
+ #define Z_ENABLE_INIT() NOOP
+ #define Z_ENABLE_WRITE(STATE) stepperZ.toff((STATE)==Z_ENABLE_ON ? chopper_timing_Z.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;
+ #ifndef CHOPPER_TIMING_X2
+ #define CHOPPER_TIMING_X2 CHOPPER_TIMING_X
+ #endif
+ static constexpr chopper_timing_t chopper_timing_X2 = CHOPPER_TIMING_X2;
+ #if ENABLED(SOFTWARE_DRIVER_ENABLE)
+ #define X2_ENABLE_INIT() NOOP
+ #define X2_ENABLE_WRITE(STATE) stepperX2.toff((STATE)==X_ENABLE_ON ? chopper_timing_X2.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;
+ #ifndef CHOPPER_TIMING_Y2
+ #define CHOPPER_TIMING_Y2 CHOPPER_TIMING_Y
+ #endif
+ static constexpr chopper_timing_t chopper_timing_Y2 = CHOPPER_TIMING_Y2;
+ #if ENABLED(SOFTWARE_DRIVER_ENABLE)
+ #define Y2_ENABLE_INIT() NOOP
+ #define Y2_ENABLE_WRITE(STATE) stepperY2.toff((STATE)==Y_ENABLE_ON ? chopper_timing_Y2.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;
+ #ifndef CHOPPER_TIMING_Z2
+ #define CHOPPER_TIMING_Z2 CHOPPER_TIMING_Z
+ #endif
+ static constexpr chopper_timing_t chopper_timing_Z2 = CHOPPER_TIMING_Z2;
+ #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_Z2.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;
+ #ifndef CHOPPER_TIMING_Z3
+ #define CHOPPER_TIMING_Z3 CHOPPER_TIMING_Z
+ #endif
+ static constexpr chopper_timing_t chopper_timing_Z3 = CHOPPER_TIMING_Z3;
+ #if ENABLED(SOFTWARE_DRIVER_ENABLE)
+ #define Z3_ENABLE_INIT() NOOP
+ #define Z3_ENABLE_WRITE(STATE) stepperZ3.toff((STATE)==Z_ENABLE_ON ? chopper_timing_Z3.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
+
+// Z4 Stepper
+#if HAS_Z4_ENABLE && AXIS_IS_TMC(Z4)
+ extern TMC_CLASS(Z4, Z) stepperZ4;
+ #ifndef CHOPPER_TIMING_Z4
+ #define CHOPPER_TIMING_Z4 CHOPPER_TIMING_Z
+ #endif
+ static constexpr chopper_timing_t chopper_timing_Z4 = CHOPPER_TIMING_Z4;
+ #if ENABLED(SOFTWARE_DRIVER_ENABLE)
+ #define Z4_ENABLE_INIT() NOOP
+ #define Z4_ENABLE_WRITE(STATE) stepperZ4.toff((STATE)==Z_ENABLE_ON ? chopper_timing_Z4.toff : 0)
+ #define Z4_ENABLE_READ() stepperZ4.isEnabled()
+ #endif
+ #if AXIS_HAS_SQUARE_WAVE(Z4)
+ #define Z4_STEP_WRITE(STATE) do{ if(STATE) TOGGLE(Z4_STEP_PIN); }while(0)
+ #endif
+#endif
+
+// E0 Stepper
+#if AXIS_IS_TMC(E0)
+ extern TMC_CLASS_E(0) stepperE0;
+ #ifndef CHOPPER_TIMING_E0
+ #define CHOPPER_TIMING_E0 CHOPPER_TIMING_E
+ #endif
+ static constexpr chopper_timing_t chopper_timing_E0 = CHOPPER_TIMING_E0;
+ #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_E0.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;
+ #ifndef CHOPPER_TIMING_E1
+ #define CHOPPER_TIMING_E1 CHOPPER_TIMING_E
+ #endif
+ static constexpr chopper_timing_t chopper_timing_E1 = CHOPPER_TIMING_E1;
+ #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_E1.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(2) stepperE2;
+ #ifndef CHOPPER_TIMING_E2
+ #define CHOPPER_TIMING_E2 CHOPPER_TIMING_E
+ #endif
+ static constexpr chopper_timing_t chopper_timing_E2 = CHOPPER_TIMING_E2;
+ #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_E2.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(3) stepperE3;
+ #ifndef CHOPPER_TIMING_E3
+ #define CHOPPER_TIMING_E3 CHOPPER_TIMING_E
+ #endif
+ static constexpr chopper_timing_t chopper_timing_E3 = CHOPPER_TIMING_E3;
+ #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_E3.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(4) stepperE4;
+ #ifndef CHOPPER_TIMING_E4
+ #define CHOPPER_TIMING_E4 CHOPPER_TIMING_E
+ #endif
+ static constexpr chopper_timing_t chopper_timing_E4 = CHOPPER_TIMING_E4;
+ #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_E4.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(5) stepperE5;
+ #ifndef CHOPPER_TIMING_E5
+ #define CHOPPER_TIMING_E5 CHOPPER_TIMING_E
+ #endif
+ static constexpr chopper_timing_t chopper_timing_E5 = CHOPPER_TIMING_E5;
+ #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_E5.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
+
+// E6 Stepper
+#if AXIS_IS_TMC(E6)
+ extern TMC_CLASS_E(6) stepperE6;
+ #ifndef CHOPPER_TIMING_E6
+ #define CHOPPER_TIMING_E6 CHOPPER_TIMING_E
+ #endif
+ static constexpr chopper_timing_t chopper_timing_E6 = CHOPPER_TIMING_E6;
+ #if ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(E6)
+ #define E6_ENABLE_INIT() NOOP
+ #define E6_ENABLE_WRITE(STATE) stepperE6.toff((STATE)==E_ENABLE_ON ? chopper_timing_E6.toff : 0)
+ #define E6_ENABLE_READ() stepperE6.isEnabled()
+ #endif
+ #if AXIS_HAS_SQUARE_WAVE(E6)
+ #define E6_STEP_WRITE(STATE) do{ if(STATE) TOGGLE(E6_STEP_PIN); }while(0)
+ #endif
+#endif
+
+// E7 Stepper
+#if AXIS_IS_TMC(E7)
+ extern TMC_CLASS_E(7) stepperE7;
+ #ifndef CHOPPER_TIMING_E7
+ #define CHOPPER_TIMING_E7 CHOPPER_TIMING_E
+ #endif
+ static constexpr chopper_timing_t chopper_timing_E7 = CHOPPER_TIMING_E7;
+ #if ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(E7)
+ #define E7_ENABLE_INIT() NOOP
+ #define E7_ENABLE_WRITE(STATE) stepperE7.toff((STATE)==E_ENABLE_ON ? chopper_timing_E7.toff : 0)
+ #define E7_ENABLE_READ() stepperE7.isEnabled()
+ #endif
+ #if AXIS_HAS_SQUARE_WAVE(E7)
+ #define E7_STEP_WRITE(STATE) do{ if(STATE) TOGGLE(E7_STEP_PIN); }while(0)
+ #endif
+#endif
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