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Make TMC2130 init code auto-configure

Browse Source 
Simply apply enabled settings instead of requiring users to edit
stepper_indirection.cpp
master
Scott Lahteine 8 years ago
parent d67c1d825f
commit bf5f5f44cc
19 changed files with 444 additions and 342 deletions
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7
Marlin/Configuration_adv.h
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@ -790,11 +790,8 @@
#if ENABLED(TMC2130_ADVANCED_CONFIGURATION)
// If you have enabled TMC2130_ADVANCED_CONFIGURATION,
// you can define global settings here, but you still need
// to configure the tmc2130.init() method manually in the file
//
// stepper_indirection.cpp
// If you've enabled TMC2130_ADVANCED_CONFIGURATION, define global settings below.
// Enabled settings will be automatically applied to all axes specified above.
//
// Please read the TMC2130 datasheet:
// http://www.trinamic.com/_articles/products/integrated-circuits/tmc2130/_datasheet/TMC2130_datasheet.pdf

7
Marlin/example_configurations/Cartesio/Configuration_adv.h
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@ -790,11 +790,8 @@
#if ENABLED(TMC2130_ADVANCED_CONFIGURATION)
// If you have enabled TMC2130_ADVANCED_CONFIGURATION,
// you can define global settings here, but you still need
// to configure the tmc2130.init() method manually in the file
//
// stepper_indirection.cpp
// If you've enabled TMC2130_ADVANCED_CONFIGURATION, define global settings below.
// Enabled settings will be automatically applied to all axes specified above.
//
// Please read the TMC2130 datasheet:
// http://www.trinamic.com/_articles/products/integrated-circuits/tmc2130/_datasheet/TMC2130_datasheet.pdf

7
Marlin/example_configurations/Felix/Configuration_adv.h
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@ -790,11 +790,8 @@
#if ENABLED(TMC2130_ADVANCED_CONFIGURATION)
// If you have enabled TMC2130_ADVANCED_CONFIGURATION,
// you can define global settings here, but you still need
// to configure the tmc2130.init() method manually in the file
//
// stepper_indirection.cpp
// If you've enabled TMC2130_ADVANCED_CONFIGURATION, define global settings below.
// Enabled settings will be automatically applied to all axes specified above.
//
// Please read the TMC2130 datasheet:
// http://www.trinamic.com/_articles/products/integrated-circuits/tmc2130/_datasheet/TMC2130_datasheet.pdf

7
Marlin/example_configurations/Hephestos/Configuration_adv.h
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@ -790,11 +790,8 @@
#if ENABLED(TMC2130_ADVANCED_CONFIGURATION)
// If you have enabled TMC2130_ADVANCED_CONFIGURATION,
// you can define global settings here, but you still need
// to configure the tmc2130.init() method manually in the file
//
// stepper_indirection.cpp
// If you've enabled TMC2130_ADVANCED_CONFIGURATION, define global settings below.
// Enabled settings will be automatically applied to all axes specified above.
//
// Please read the TMC2130 datasheet:
// http://www.trinamic.com/_articles/products/integrated-circuits/tmc2130/_datasheet/TMC2130_datasheet.pdf

7
Marlin/example_configurations/Hephestos_2/Configuration_adv.h
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@ -790,11 +790,8 @@
#if ENABLED(TMC2130_ADVANCED_CONFIGURATION)
// If you have enabled TMC2130_ADVANCED_CONFIGURATION,
// you can define global settings here, but you still need
// to configure the tmc2130.init() method manually in the file
//
// stepper_indirection.cpp
// If you've enabled TMC2130_ADVANCED_CONFIGURATION, define global settings below.
// Enabled settings will be automatically applied to all axes specified above.
//
// Please read the TMC2130 datasheet:
// http://www.trinamic.com/_articles/products/integrated-circuits/tmc2130/_datasheet/TMC2130_datasheet.pdf

7
Marlin/example_configurations/K8200/Configuration_adv.h
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@ -803,11 +803,8 @@
#if ENABLED(TMC2130_ADVANCED_CONFIGURATION)
// If you have enabled TMC2130_ADVANCED_CONFIGURATION,
// you can define global settings here, but you still need
// to configure the tmc2130.init() method manually in the file
//
// stepper_indirection.cpp
// If you've enabled TMC2130_ADVANCED_CONFIGURATION, define global settings below.
// Enabled settings will be automatically applied to all axes specified above.
//
// Please read the TMC2130 datasheet:
// http://www.trinamic.com/_articles/products/integrated-circuits/tmc2130/_datasheet/TMC2130_datasheet.pdf

7
Marlin/example_configurations/K8400/Configuration_adv.h
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@ -790,11 +790,8 @@
#if ENABLED(TMC2130_ADVANCED_CONFIGURATION)
// If you have enabled TMC2130_ADVANCED_CONFIGURATION,
// you can define global settings here, but you still need
// to configure the tmc2130.init() method manually in the file
//
// stepper_indirection.cpp
// If you've enabled TMC2130_ADVANCED_CONFIGURATION, define global settings below.
// Enabled settings will be automatically applied to all axes specified above.
//
// Please read the TMC2130 datasheet:
// http://www.trinamic.com/_articles/products/integrated-circuits/tmc2130/_datasheet/TMC2130_datasheet.pdf

7
Marlin/example_configurations/RigidBot/Configuration_adv.h
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@ -790,11 +790,8 @@
#if ENABLED(TMC2130_ADVANCED_CONFIGURATION)
// If you have enabled TMC2130_ADVANCED_CONFIGURATION,
// you can define global settings here, but you still need
// to configure the tmc2130.init() method manually in the file
//
// stepper_indirection.cpp
// If you've enabled TMC2130_ADVANCED_CONFIGURATION, define global settings below.
// Enabled settings will be automatically applied to all axes specified above.
//
// Please read the TMC2130 datasheet:
// http://www.trinamic.com/_articles/products/integrated-circuits/tmc2130/_datasheet/TMC2130_datasheet.pdf

7
Marlin/example_configurations/SCARA/Configuration_adv.h
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@ -790,11 +790,8 @@
#if ENABLED(TMC2130_ADVANCED_CONFIGURATION)
// If you have enabled TMC2130_ADVANCED_CONFIGURATION,
// you can define global settings here, but you still need
// to configure the tmc2130.init() method manually in the file
//
// stepper_indirection.cpp
// If you've enabled TMC2130_ADVANCED_CONFIGURATION, define global settings below.
// Enabled settings will be automatically applied to all axes specified above.
//
// Please read the TMC2130 datasheet:
// http://www.trinamic.com/_articles/products/integrated-circuits/tmc2130/_datasheet/TMC2130_datasheet.pdf

7
Marlin/example_configurations/TAZ4/Configuration_adv.h
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@ -798,11 +798,8 @@
#if ENABLED(TMC2130_ADVANCED_CONFIGURATION)
// If you have enabled TMC2130_ADVANCED_CONFIGURATION,
// you can define global settings here, but you still need
// to configure the tmc2130.init() method manually in the file
//
// stepper_indirection.cpp
// If you've enabled TMC2130_ADVANCED_CONFIGURATION, define global settings below.
// Enabled settings will be automatically applied to all axes specified above.
//
// Please read the TMC2130 datasheet:
// http://www.trinamic.com/_articles/products/integrated-circuits/tmc2130/_datasheet/TMC2130_datasheet.pdf

7
Marlin/example_configurations/WITBOX/Configuration_adv.h
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@ -789,11 +789,8 @@
#if ENABLED(TMC2130_ADVANCED_CONFIGURATION)
// If you have enabled TMC2130_ADVANCED_CONFIGURATION,
// you can define global settings here, but you still need
// to configure the tmc2130.init() method manually in the file
//
// stepper_indirection.cpp
// If you've enabled TMC2130_ADVANCED_CONFIGURATION, define global settings below.
// Enabled settings will be automatically applied to all axes specified above.
//
// Please read the TMC2130 datasheet:
// http://www.trinamic.com/_articles/products/integrated-circuits/tmc2130/_datasheet/TMC2130_datasheet.pdf

7
Marlin/example_configurations/delta/biv2.5/Configuration_adv.h
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@ -792,11 +792,8 @@
#if ENABLED(TMC2130_ADVANCED_CONFIGURATION)
// If you have enabled TMC2130_ADVANCED_CONFIGURATION,
// you can define global settings here, but you still need
// to configure the tmc2130.init() method manually in the file
//
// stepper_indirection.cpp
// If you've enabled TMC2130_ADVANCED_CONFIGURATION, define global settings below.
// Enabled settings will be automatically applied to all axes specified above.
//
// Please read the TMC2130 datasheet:
// http://www.trinamic.com/_articles/products/integrated-circuits/tmc2130/_datasheet/TMC2130_datasheet.pdf

7
Marlin/example_configurations/delta/generic/Configuration_adv.h
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@ -792,11 +792,8 @@
#if ENABLED(TMC2130_ADVANCED_CONFIGURATION)
// If you have enabled TMC2130_ADVANCED_CONFIGURATION,
// you can define global settings here, but you still need
// to configure the tmc2130.init() method manually in the file
//
// stepper_indirection.cpp
// If you've enabled TMC2130_ADVANCED_CONFIGURATION, define global settings below.
// Enabled settings will be automatically applied to all axes specified above.
//
// Please read the TMC2130 datasheet:
// http://www.trinamic.com/_articles/products/integrated-circuits/tmc2130/_datasheet/TMC2130_datasheet.pdf

7
Marlin/example_configurations/delta/kossel_mini/Configuration_adv.h
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@ -792,11 +792,8 @@
#if ENABLED(TMC2130_ADVANCED_CONFIGURATION)
// If you have enabled TMC2130_ADVANCED_CONFIGURATION,
// you can define global settings here, but you still need
// to configure the tmc2130.init() method manually in the file
//
// stepper_indirection.cpp
// If you've enabled TMC2130_ADVANCED_CONFIGURATION, define global settings below.
// Enabled settings will be automatically applied to all axes specified above.
//
// Please read the TMC2130 datasheet:
// http://www.trinamic.com/_articles/products/integrated-circuits/tmc2130/_datasheet/TMC2130_datasheet.pdf

7
Marlin/example_configurations/delta/kossel_pro/Configuration_adv.h
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@ -797,11 +797,8 @@
#if ENABLED(TMC2130_ADVANCED_CONFIGURATION)
// If you have enabled TMC2130_ADVANCED_CONFIGURATION,
// you can define global settings here, but you still need
// to configure the tmc2130.init() method manually in the file
//
// stepper_indirection.cpp
// If you've enabled TMC2130_ADVANCED_CONFIGURATION, define global settings below.
// Enabled settings will be automatically applied to all axes specified above.
//
// Please read the TMC2130 datasheet:
// http://www.trinamic.com/_articles/products/integrated-circuits/tmc2130/_datasheet/TMC2130_datasheet.pdf

7
Marlin/example_configurations/delta/kossel_xl/Configuration_adv.h
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@ -792,11 +792,8 @@
#if ENABLED(TMC2130_ADVANCED_CONFIGURATION)
// If you have enabled TMC2130_ADVANCED_CONFIGURATION,
// you can define global settings here, but you still need
// to configure the tmc2130.init() method manually in the file
//
// stepper_indirection.cpp
// If you've enabled TMC2130_ADVANCED_CONFIGURATION, define global settings below.
// Enabled settings will be automatically applied to all axes specified above.
//
// Please read the TMC2130 datasheet:
// http://www.trinamic.com/_articles/products/integrated-circuits/tmc2130/_datasheet/TMC2130_datasheet.pdf

7
Marlin/example_configurations/makibox/Configuration_adv.h
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@ -790,11 +790,8 @@
#if ENABLED(TMC2130_ADVANCED_CONFIGURATION)
// If you have enabled TMC2130_ADVANCED_CONFIGURATION,
// you can define global settings here, but you still need
// to configure the tmc2130.init() method manually in the file
//
// stepper_indirection.cpp
// If you've enabled TMC2130_ADVANCED_CONFIGURATION, define global settings below.
// Enabled settings will be automatically applied to all axes specified above.
//
// Please read the TMC2130 datasheet:
// http://www.trinamic.com/_articles/products/integrated-circuits/tmc2130/_datasheet/TMC2130_datasheet.pdf

7
Marlin/example_configurations/tvrrug/Round2/Configuration_adv.h
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@ -790,11 +790,8 @@
#if ENABLED(TMC2130_ADVANCED_CONFIGURATION)
// If you have enabled TMC2130_ADVANCED_CONFIGURATION,
// you can define global settings here, but you still need
// to configure the tmc2130.init() method manually in the file
//
// stepper_indirection.cpp
// If you've enabled TMC2130_ADVANCED_CONFIGURATION, define global settings below.
// Enabled settings will be automatically applied to all axes specified above.
//
// Please read the TMC2130 datasheet:
// http://www.trinamic.com/_articles/products/integrated-circuits/tmc2130/_datasheet/TMC2130_datasheet.pdf

660
Marlin/stepper_indirection.cpp
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@ -128,269 +128,425 @@ void tmc_init() {
#endif
#if ENABLED(HAVE_TMC2130DRIVER)
#include <SPI.h>
#include <Trinamic_TMC2130.h>
#endif
// Stepper objects of TMC2310 steppers used
#if ENABLED(X_IS_TMC2130)
Trinamic_TMC2130 stepperX(X_CS_PIN);
#endif
#if ENABLED(X2_IS_TMC2130)
Trinamic_TMC2130 stepperX2(X2_CS_PIN);
#endif
#if ENABLED(Y_IS_TMC2130)
Trinamic_TMC2130 stepperY(Y_CS_PIN);
#endif
#if ENABLED(Y2_IS_TMC2130)
Trinamic_TMC2130 stepperY2(Y2_CS_PINR);
#endif
#if ENABLED(Z_IS_TMC2130)
Trinamic_TMC2130 stepperZ(Z_CS_PIN);
#endif
#if ENABLED(Z2_IS_TMC2130)
Trinamic_TMC2130 stepperZ2(Z2_CS_PIN);
#endif
#if ENABLED(E0_IS_TMC2130)
Trinamic_TMC2130 stepperE0(E0_CS_PIN);
#endif
#if ENABLED(E1_IS_TMC2130)
Trinamic_TMC2130 stepperE1(E1_CS_PIN);
#endif
#if ENABLED(E2_IS_TMC2130)
Trinamic_TMC2130 stepperE2(E2_CS_PIN);
#endif
#if ENABLED(E3_IS_TMC2130)
Trinamic_TMC2130 stepperE3(E3_CS_PIN);
#endif
#if ENABLED(HAVE_TMC2130DRIVER)
#if ENABLED(TMC2130_ADVANCED_CONFIGURATION)
void tmc2130_init() {
// If you've enabled TMC2130_ADVANCED_CONFIGURATION configure your
// steppers manually here. The ENABLED(XYZ_IS_TMC2130) is optional,
#if ENABLED(X_IS_TMC2130)
stepperX.init();
stepperX.set_I_scale_analog(GLOBAL_I_SCALE_ANALOG);
//stepperX.set_internal_Rsense(GLOBAL_INTERNAL_RSENSE);
stepperX.set_en_pwm_mode(GLOBAL_EN_PWM_MODE);
//stepperX.set_enc_commutation(GLOBAL_ENC_COMMUTATION);
stepperX.set_shaft(GLOBAL_SHAFT);
//stepperX.set_diag0_error(GLOBAL_DIAG0_ERROR);
//stepperX.set_diag0_otpw(GLOBAL_DIAG0_OTPW);
//stepperX.set_diag0_stall(GLOBAL_DIAG0_STALL);
//stepperX.set_diag1_stall(GLOBAL_DIAG1_STALL);
//stepperX.set_diag1_index(GLOBAL_DIAG1_INDEX);
//stepperX.set_diag1_onstate(GLOBAL_DIAG1_ONSTATE);
//stepperX.set_diag1_steps_skipped(GLOBAL_DIAG1_ONSTATE);
//stepperX.set_diag0_int_pushpull(GLOBAL_DIAG0_INT_PUSHPULL);
//stepperX.set_diag1_int_pushpull(GLOBAL_DIAG1_INT_PUSHPULL);
//stepperX.set_small_hysteresis(GLOBAL_SMALL_HYSTERESIS);
//stepperX.set_stop_enable(GLOBAL_STOP_ENABLE);
//stepperX.set_direct_mode(GLOBAL_DIRECT_MODE);
stepperX.set_IHOLD_IRUN(GLOBAL_IHOLD,GLOBAL_IRUN,GLOBAL_IHOLDDELAY);
//stepperX.set_TPOWERDOWN(GLOBAL_TPOWERDOWN);
//stepperX.set_TPWMTHRS(GLOBAL_TPWMTHRS);
//stepperX.set_TCOOLTHRS(GLOBAL_TCOOLTHRS);
stepperX.set_THIGH(GLOBAL_THIGH);
//stepperX.set_XDIRECT(GLOBAL_XDIRECT);
//stepperX.set_VDCMIN(GLOBAL_VDCMIN);
//stepperX.set_dedge(GLOBAL_DEDGE);
//stepperX.set_diss2g(GLOBAL_DISS2G);
stepperX.set_intpol(GLOBAL_INTPOL);
stepperX.set_mres(GLOBAL_MRES);
stepperX.set_sync(GLOBAL_SYNC);
stepperX.set_vhighchm(GLOBAL_VHIGHCHM);
stepperX.set_vhighfs(GLOBAL_VHIGHFS);
//stepperX.set_vsense(GLOBAL_VSENSE);
stepperX.set_tbl(GLOBAL_TBL);
stepperX.set_chm(GLOBAL_CHM);
//stepperX.set_rndtf(GLOBAL_RNDTF);
//stepperX.set_disfdcc(GLOBAL_DISFDCC);
//stepperX.set_fd(GLOBAL_FD);
//stepperX.set_hend(GLOBAL_HEND);
//stepperX.set_hstrt(GLOBAL_HSTRT);
stepperX.set_toff(GLOBAL_TOFF);
//stepperX.set_sfilt(GLOBAL_SFILT);
//stepperX.set_sgt(GLOBAL_SGT);
//stepperX.set_seimin(GLOBAL_SEIMIN);
//stepperX.set_sedn(GLOBAL_SEDN);
//stepperX.set_semax(GLOBAL_SEMAX);
//stepperX.set_seup(GLOBAL_SEUP);
//stepperX.set_semin(GLOBAL_SEMIN);
//stepperX.set_DCCTRL(GLOBAL_DC_TIME, GLOBAL_DC_SG);
//stepperX.set_freewheel(GLOBAL_FREEWHEEL);
//stepperX.set_pwm_symmetric(GLOBAL_PWM_SYMMETRIC);
//stepperX.set_pwm_autoscale(GLOBAL_PWM_AUTOSCALE);
//stepperX.set_pwm_freq(GLOBAL_PWM_FREQ);
//stepperX.set_PWM_GRAD(GLOBAL_PWM_GRAD);
//stepperX.set_PWM_AMPL(GLOBAL_PWM_AMPL);
//stepperX.set_ENCM_CTRL(GLOBAL_ENCM_CTRL);
#endif
#if ENABLED(Y_IS_TMC2130)
stepperY.init();
stepperY.set_I_scale_analog(GLOBAL_I_SCALE_ANALOG);
//stepperY.set_internal_Rsense(GLOBAL_INTERNAL_RSENSE);
stepperY.set_en_pwm_mode(GLOBAL_EN_PWM_MODE);
//stepperY.set_enc_commutation(GLOBAL_ENC_COMMUTATION);
stepperY.set_shaft(GLOBAL_SHAFT);
//stepperY.set_diag0_error(GLOBAL_DIAG0_ERROR);
//stepperY.set_diag0_otpw(GLOBAL_DIAG0_OTPW);
//stepperY.set_diag0_stall(GLOBAL_DIAG0_STALL);
//stepperY.set_diag1_stall(GLOBAL_DIAG1_STALL);
//stepperY.set_diag1_index(GLOBAL_DIAG1_INDEX);
//stepperY.set_diag1_onstate(GLOBAL_DIAG1_ONSTATE);
//stepperY.set_diag1_steps_skipped(GLOBAL_DIAG1_ONSTATE);
//stepperY.set_diag0_int_pushpull(GLOBAL_DIAG0_INT_PUSHPULL);
//stepperY.set_diag1_int_pushpull(GLOBAL_DIAG1_INT_PUSHPULL);
//stepperY.set_small_hysteresis(GLOBAL_SMALL_HYSTERESIS);
//stepperY.set_stop_enable(GLOBAL_STOP_ENABLE);
//stepperY.set_direct_mode(GLOBAL_DIRECT_MODE);
stepperY.set_IHOLD_IRUN(GLOBAL_IHOLD,GLOBAL_IRUN,GLOBAL_IHOLDDELAY);
//stepperY.set_TPOWERDOWN(GLOBAL_TPOWERDOWN);
//stepperY.set_TPWMTHRS(GLOBAL_TPWMTHRS);
//stepperY.set_TCOOLTHRS(GLOBAL_TCOOLTHRS);
stepperY.set_THIGH(GLOBAL_THIGH);
//stepperY.set_XDIRECT(GLOBAL_XDIRECT);
//stepperY.set_VDCMIN(GLOBAL_VDCMIN);
//stepperY.set_dedge(GLOBAL_DEDGE);
//stepperY.set_diss2g(GLOBAL_DISS2G);
stepperY.set_intpol(GLOBAL_INTPOL);
stepperY.set_mres(GLOBAL_MRES);
stepperY.set_sync(GLOBAL_SYNC);
stepperY.set_vhighchm(GLOBAL_VHIGHCHM);
stepperY.set_vhighfs(GLOBAL_VHIGHFS);
//stepperY.set_vsense(GLOBAL_VSENSE);
stepperY.set_tbl(GLOBAL_TBL);
stepperY.set_chm(GLOBAL_CHM);
//stepperY.set_rndtf(GLOBAL_RNDTF);
//stepperY.set_disfdcc(GLOBAL_DISFDCC);
//stepperY.set_fd(GLOBAL_FD);
//stepperY.set_hend(GLOBAL_HEND);
//stepperY.set_hstrt(GLOBAL_HSTRT);
stepperY.set_toff(GLOBAL_TOFF);
//stepperY.set_sfilt(GLOBAL_SFILT);
//stepperY.set_sgt(GLOBAL_SGT);
//stepperY.set_seimin(GLOBAL_SEIMIN);
//stepperY.set_sedn(GLOBAL_SEDN);
//stepperY.set_semax(GLOBAL_SEMAX);
//stepperY.set_seup(GLOBAL_SEUP);
//stepperY.set_semin(GLOBAL_SEMIN);
//stepperY.set_DCCTRL(GLOBAL_DC_TIME, GLOBAL_DC_SG);
//stepperY.set_freewheel(GLOBAL_FREEWHEEL);
//stepperY.set_pwm_symmetric(GLOBAL_PWM_SYMMETRIC);
//stepperY.set_pwm_autoscale(GLOBAL_PWM_AUTOSCALE);
//stepperY.set_pwm_freq(GLOBAL_PWM_FREQ);
//stepperY.set_PWM_GRAD(GLOBAL_PWM_GRAD);
//stepperY.set_PWM_AMPL(GLOBAL_PWM_AMPL);
//stepperY.set_ENCM_CTRL(GLOBAL_ENCM_CTRL);
#endif
}
#ifdef GLOBAL_I_SCALE_ANALOG
#define _2130_set_I_scale_analog(A) stepper##A.set_I_scale_analog(GLOBAL_I_SCALE_ANALOG)
#else
#define _2130_set_I_scale_analog(A) NOOP
#endif
#ifdef GLOBAL_INTERNAL_RSENSE
#define _2130_set_internal_Rsense(A) stepper##A.set_internal_Rsense(GLOBAL_INTERNAL_RSENSE)
#else
#define _2130_set_internal_Rsense(A) NOOP
#endif
#ifdef GLOBAL_EN_PWM_MODE
#define _2130_set_en_pwm_mode(A) stepper##A.set_en_pwm_mode(GLOBAL_EN_PWM_MODE)
#else
#define _2130_set_en_pwm_mode(A) NOOP
#endif
#ifdef GLOBAL_ENC_COMMUTATION
#define _2130_set_enc_commutation(A) stepper##A.set_enc_commutation(GLOBAL_ENC_COMMUTATION)
#else
#define _2130_set_enc_commutation(A) NOOP
#endif
#ifdef GLOBAL_SHAFT
#define _2130_set_shaft(A) stepper##A.set_shaft(GLOBAL_SHAFT)
#else
#define _2130_set_shaft(A) NOOP
#endif
#ifdef GLOBAL_DIAG0_ERROR
#define _2130_set_diag0_error(A) stepper##A.set_diag0_error(GLOBAL_DIAG0_ERROR)
#else
#define _2130_set_diag0_error(A) NOOP
#endif
#ifdef GLOBAL_DIAG0_OTPW
#define _2130_set_diag0_otpw(A) stepper##A.set_diag0_otpw(GLOBAL_DIAG0_OTPW)
#else
#define _2130_set_diag0_otpw(A) NOOP
#endif
#ifdef GLOBAL_DIAG0_STALL
#define _2130_set_diag0_stall(A) stepper##A.set_diag0_stall(GLOBAL_DIAG0_STALL)
#else
#define _2130_set_diag0_stall(A) NOOP
#endif
#ifdef GLOBAL_DIAG1_STALL
#define _2130_set_diag1_stall(A) stepper##A.set_diag1_stall(GLOBAL_DIAG1_STALL)
#else
#define _2130_set_diag1_stall(A) NOOP
#endif
#ifdef GLOBAL_DIAG1_INDEX
#define _2130_set_diag1_index(A) stepper##A.set_diag1_index(GLOBAL_DIAG1_INDEX)
#else
#define _2130_set_diag1_index(A) NOOP
#endif
#ifdef GLOBAL_DIAG1_ONSTATE
#define _2130_set_diag1_onstate(A) stepper##A.set_diag1_onstate(GLOBAL_DIAG1_ONSTATE)
#else
#define _2130_set_diag1_onstate(A) NOOP
#endif
#ifdef GLOBAL_DIAG1_ONSTATE
#define _2130_set_diag1_steps_skipped(A) stepper##A.set_diag1_steps_skipped(GLOBAL_DIAG1_ONSTATE)
#else
#define _2130_set_diag1_steps_skipped(A) NOOP
#endif
#ifdef GLOBAL_DIAG0_INT_PUSHPULL
#define _2130_set_diag0_int_pushpull(A) stepper##A.set_diag0_int_pushpull(GLOBAL_DIAG0_INT_PUSHPULL)
#else
#define _2130_set_diag0_int_pushpull(A) NOOP
#endif
#ifdef GLOBAL_DIAG1_INT_PUSHPULL
#define _2130_set_diag1_int_pushpull(A) stepper##A.set_diag1_int_pushpull(GLOBAL_DIAG1_INT_PUSHPULL)
#else
#define _2130_set_diag1_int_pushpull(A) NOOP
#endif
#ifdef GLOBAL_SMALL_HYSTERESIS
#define _2130_set_small_hysteresis(A) stepper##A.set_small_hysteresis(GLOBAL_SMALL_HYSTERESIS)
#else
#define _2130_set_small_hysteresis(A) NOOP
#endif
#ifdef GLOBAL_STOP_ENABLE
#define _2130_set_stop_enable(A) stepper##A.set_stop_enable(GLOBAL_STOP_ENABLE)
#else
#define _2130_set_stop_enable(A) NOOP
#endif
#ifdef GLOBAL_DIRECT_MODE
#define _2130_set_direct_mode(A) stepper##A.set_direct_mode(GLOBAL_DIRECT_MODE)
#else
#define _2130_set_direct_mode(A) NOOP
#endif
#if defined(GLOBAL_IHOLD) && defined(GLOBAL_IRUN) && defined(GLOBAL_IHOLDDELAY)
#define _2130_set_IHOLD_IRUN(A) stepper##A.set_IHOLD_IRUN(GLOBAL_IHOLD, GLOBAL_IRUN, GLOBAL_IHOLDDELAY)
#else
#define _2130_set_IHOLD_IRUN(A) NOOP
#endif
#ifdef GLOBAL_TPOWERDOWN
#define _2130_set_TPOWERDOWN(A) stepper##A.set_TPOWERDOWN(GLOBAL_TPOWERDOWN)
#else
#define _2130_set_TPOWERDOWN(A) NOOP
#endif
#ifdef GLOBAL_TPWMTHRS
#define _2130_set_TPWMTHRS(A) stepper##A.set_TPWMTHRS(GLOBAL_TPWMTHRS)
#else
#define _2130_set_TPWMTHRS(A) NOOP
#endif
#ifdef GLOBAL_TCOOLTHRS
#define _2130_set_TCOOLTHRS(A) stepper##A.set_TCOOLTHRS(GLOBAL_TCOOLTHRS)
#else
#define _2130_set_TCOOLTHRS(A) NOOP
#endif
#ifdef GLOBAL_THIGH
#define _2130_set_THIGH(A) stepper##A.set_THIGH(GLOBAL_THIGH)
#else
#define _2130_set_THIGH(A) NOOP
#endif
#ifdef GLOBAL_XDIRECT
#define _2130_set_XDIRECT(A) stepper##A.set_XDIRECT(GLOBAL_XDIRECT)
#else
#define _2130_set_XDIRECT(A) NOOP
#endif
#ifdef GLOBAL_VDCMIN
#define _2130_set_VDCMIN(A) stepper##A.set_VDCMIN(GLOBAL_VDCMIN)
#else
#define _2130_set_VDCMIN(A) NOOP
#endif
#ifdef GLOBAL_DEDGE
#define _2130_set_dedge(A) stepper##A.set_dedge(GLOBAL_DEDGE)
#else
#define _2130_set_dedge(A) NOOP
#endif
#ifdef GLOBAL_DISS2G
#define _2130_set_diss2g(A) stepper##A.set_diss2g(GLOBAL_DISS2G)
#else
#define _2130_set_diss2g(A) NOOP
#endif
#ifdef GLOBAL_INTPOL
#define _2130_set_intpol(A) stepper##A.set_intpol(GLOBAL_INTPOL)
#else
#define _2130_set_intpol(A) NOOP
#endif
#ifdef GLOBAL_MRES
#define _2130_set_mres(A) stepper##A.set_mres(GLOBAL_MRES)
#else
#define _2130_set_mres(A) NOOP
#endif
#ifdef GLOBAL_SYNC
#define _2130_set_sync(A) stepper##A.set_sync(GLOBAL_SYNC)
#else
#define _2130_set_sync(A) NOOP
#endif
#ifdef GLOBAL_VHIGHCHM
#define _2130_set_vhighchm(A) stepper##A.set_vhighchm(GLOBAL_VHIGHCHM)
#else
#define _2130_set_vhighchm(A) NOOP
#endif
#ifdef GLOBAL_VHIGHFS
#define _2130_set_vhighfs(A) stepper##A.set_vhighfs(GLOBAL_VHIGHFS)
#else
#define _2130_set_vhighfs(A) NOOP
#endif
#ifdef GLOBAL_VSENSE
#define _2130_set_vsense(A) stepper##A.set_vsense(GLOBAL_VSENSE)
#else
#define _2130_set_vsense(A) NOOP
#endif
#ifdef GLOBAL_TBL
#define _2130_set_tbl(A) stepper##A.set_tbl(GLOBAL_TBL)
#else
#define _2130_set_tbl(A) NOOP
#endif
#ifdef GLOBAL_CHM
#define _2130_set_chm(A) stepper##A.set_chm(GLOBAL_CHM)
#else
#define _2130_set_chm(A) NOOP
#endif
#ifdef GLOBAL_RNDTF
#define _2130_set_rndtf(A) stepper##A.set_rndtf(GLOBAL_RNDTF)
#else
#define _2130_set_rndtf(A) NOOP
#endif
#ifdef GLOBAL_DISFDCC
#define _2130_set_disfdcc(A) stepper##A.set_disfdcc(GLOBAL_DISFDCC)
#else
#define _2130_set_disfdcc(A) NOOP
#endif
#ifdef GLOBAL_FD
#define _2130_set_fd(A) stepper##A.set_fd(GLOBAL_FD)
#else
#define _2130_set_fd(A) NOOP
#endif
#ifdef GLOBAL_HEND
#define _2130_set_hend(A) stepper##A.set_hend(GLOBAL_HEND)
#else
#define _2130_set_hend(A) NOOP
#endif
#ifdef GLOBAL_HSTRT
#define _2130_set_hstrt(A) stepper##A.set_hstrt(GLOBAL_HSTRT)
#else
#define _2130_set_hstrt(A) NOOP
#endif
#ifdef GLOBAL_TOFF
#define _2130_set_toff(A) stepper##A.set_toff(GLOBAL_TOFF)
#else
#define _2130_set_toff(A) NOOP
#endif
#ifdef GLOBAL_SFILT
#define _2130_set_sfilt(A) stepper##A.set_sfilt(GLOBAL_SFILT)
#else
#define _2130_set_sfilt(A) NOOP
#endif
#ifdef GLOBAL_SGT
#define _2130_set_sgt(A) stepper##A.set_sgt(GLOBAL_SGT)
#else
#define _2130_set_sgt(A) NOOP
#endif
#ifdef GLOBAL_SEIMIN
#define _2130_set_seimin(A) stepper##A.set_seimin(GLOBAL_SEIMIN)
#else
#define _2130_set_seimin(A) NOOP
#endif
#ifdef GLOBAL_SEDN
#define _2130_set_sedn(A) stepper##A.set_sedn(GLOBAL_SEDN)
#else
#define _2130_set_sedn(A) NOOP
#endif
#ifdef GLOBAL_SEMAX
#define _2130_set_semax(A) stepper##A.set_semax(GLOBAL_SEMAX)
#else
#define _2130_set_semax(A) NOOP
#endif
#ifdef GLOBAL_SEUP
#define _2130_set_seup(A) stepper##A.set_seup(GLOBAL_SEUP)
#else
#define _2130_set_seup(A) NOOP
#endif
#ifdef GLOBAL_SEMIN
#define _2130_set_semin(A) stepper##A.set_semin(GLOBAL_SEMIN)
#else
#define _2130_set_semin(A) NOOP
#endif
#if defined(GLOBAL_DC_TIME) && defined(GLOBAL_DC_SG)
#define _2130_set_DCCTRL(A) stepper##A.set_DCCTRL(GLOBAL_DC_TIME, GLOBAL_DC_SG)
#else
#define _2130_set_DCCTRL(A) NOOP
#endif
#ifdef GLOBAL_FREEWHEEL
#define _2130_set_freewheel(A) stepper##A.set_freewheel(GLOBAL_FREEWHEEL)
#else
#define _2130_set_freewheel(A) NOOP
#endif
#ifdef GLOBAL_PWM_SYMMETRIC
#define _2130_set_pwm_symmetric(A) stepper##A.set_pwm_symmetric(GLOBAL_PWM_SYMMETRIC)
#else
#define _2130_set_pwm_symmetric(A) NOOP
#endif
#ifdef GLOBAL_PWM_AUTOSCALE
#define _2130_set_pwm_autoscale(A) stepper##A.set_pwm_autoscale(GLOBAL_PWM_AUTOSCALE)
#else
#define _2130_set_pwm_autoscale(A) NOOP
#endif
#ifdef GLOBAL_PWM_FREQ
#define _2130_set_pwm_freq(A) stepper##A.set_pwm_freq(GLOBAL_PWM_FREQ)
#else
#define _2130_set_pwm_freq(A) NOOP
#endif
#ifdef GLOBAL_PWM_GRAD
#define _2130_set_PWM_GRAD(A) stepper##A.set_PWM_GRAD(GLOBAL_PWM_GRAD)
#else
#define _2130_set_PWM_GRAD(A) NOOP
#endif
#ifdef GLOBAL_PWM_AMPL
#define _2130_set_PWM_AMPL(A) stepper##A.set_PWM_AMPL(GLOBAL_PWM_AMPL)
#else
#define _2130_set_PWM_AMPL(A) NOOP
#endif
#ifdef GLOBAL_ENCM_CTRL
#define _2130_set_ENCM_CTRL(A) stepper##A.set_ENCM_CTRL(GLOBAL_ENCM_CTRL)
#else
#define _2130_set_ENCM_CTRL(A) NOOP
#endif
#define _TMC2130_INIT(A) do{ \
stepper##A.init(); \
_2130_set_I_scale_analog(A); \
_2130_set_internal_Rsense(A); \
_2130_set_en_pwm_mode(A); \
_2130_set_enc_commutation(A); \
_2130_set_shaft(A); \
_2130_set_diag0_error(A); \
_2130_set_diag0_otpw(A); \
_2130_set_diag0_stall(A); \
_2130_set_diag1_stall(A); \
_2130_set_diag1_index(A); \
_2130_set_diag1_onstate(A); \
_2130_set_diag1_steps_skipped(A); \
_2130_set_diag0_int_pushpull(A); \
_2130_set_diag1_int_pushpull(A); \
_2130_set_small_hysteresis(A); \
_2130_set_stop_enable(A); \
_2130_set_direct_mode(A); \
_2130_set_IHOLD_IRUN(A); \
_2130_set_TPOWERDOWN(A); \
_2130_set_TPWMTHRS(A); \
_2130_set_TCOOLTHRS(A); \
_2130_set_THIGH(A); \
_2130_set_XDIRECT(A); \
_2130_set_VDCMIN(A); \
_2130_set_dedge(A); \
_2130_set_diss2g(A); \
_2130_set_intpol(A); \
_2130_set_mres(A); \
_2130_set_sync(A); \
_2130_set_vhighchm(A); \
_2130_set_vhighfs(A); \
_2130_set_vsense(A); \
_2130_set_tbl(A); \
_2130_set_chm(A); \
_2130_set_rndtf(A); \
_2130_set_disfdcc(A); \
_2130_set_fd(A); \
_2130_set_hend(A); \
_2130_set_hstrt(A); \
_2130_set_toff(A); \
_2130_set_sfilt(A); \
_2130_set_sgt(A); \
_2130_set_seimin(A); \
_2130_set_sedn(A); \
_2130_set_semax(A); \
_2130_set_seup(A); \
_2130_set_semin(A); \
_2130_set_DCCTRL(A); \
_2130_set_freewheel(A); \
_2130_set_pwm_symmetric(A); \
_2130_set_pwm_autoscale(A); \
_2130_set_pwm_freq(A); \
_2130_set_PWM_GRAD(A); \
_2130_set_PWM_AMPL(A); \
_2130_set_ENCM_CTRL(A); \
} while(0)
#else // !TMC2130_ADVANCED_CONFIGURATION
void tmc2130_init() {
#if ENABLED(X_IS_TMC2130)
stepperX.init();
stepperX.set_mres(X_MRES);
stepperX.set_IHOLD_IRUN(X_IHOLD,X_IRUN,X_IHOLDDELAY);
stepperX.set_I_scale_analog(X_ISCALE);
stepperX.set_tbl(X_TBL);
stepperX.set_toff(X_TOFF);
#endif
#if ENABLED(X2_IS_TMC2130)
stepperX2.init();
stepperX2.set_mres(X2_MRES);
stepperX2.set_IHOLD_IRUN(X2_IHOLD,X2_IRUN,X2_IHOLDDELAY);
stepperX2.set_I_scale_analog(X2_ISCALE);
stepperX2.set_tbl(X2_TBL);
stepperX2.set_toff(X2_TOFF);
#endif
#if ENABLED(Y_IS_TMC2130)
stepperY.init();
stepperY.set_mres(Y_MRES);
stepperY.set_IHOLD_IRUN(Y_IHOLD,Y_IRUN,Y_IHOLDDELAY);
stepperY.set_I_scale_analog(Y_ISCALE);
stepperY.set_tbl(Y_TBL);
stepperY.set_toff(Y_TOFF);
#endif
#if ENABLED(Y2_IS_TMC2130)
stepperY2.init();
stepperY2.set_mres(Y2_MRES);
stepperY2.set_IHOLD_IRUN(Y2_IHOLD,Y2_IRUN,Y2_IHOLDDELAY);
stepperY2.set_I_scale_analog(Y2_ISCALE);
stepperY2.set_tbl(Y2_TBL);
stepperY2.set_toff(Y2_TOFF);
#endif
#if ENABLED(Z_IS_TMC2130)
stepperZ.init();
stepperZ.set_mres(Z_MRES);
stepperZ.set_IHOLD_IRUN(Z_IHOLD,Z_IRUN,Z_IHOLDDELAY);
stepperZ.set_I_scale_analog(Z_ISCALE);
stepperZ.set_tbl(Z_TBL);
stepperZ.set_toff(Z_TOFF);
#endif
#if ENABLED(Z2_IS_TMC2130)
stepperZ2.init();
stepperZ2.set_mres(Z2_MRES);
stepperZ2.set_IHOLD_IRUN(Z2_IHOLD,Z2_IRUN,Z2_IHOLDDELAY);
stepperZ2.set_I_scale_analog(Z2_ISCALE);
stepperZ2.set_tbl(Z2_TBL);
stepperZ2.set_toff(Z2_TOFF);
#endif
#if ENABLED(E0_IS_TMC2130)
stepperE0.init();
stepperE0.set_mres(E0_MRES);
stepperE0.set_IHOLD_IRUN(E0_IHOLD,E0_IRUN,E0_IHOLDDELAY);
stepperE0.set_I_scale_analog(E0_ISCALE);
stepperE0.set_tbl(E0_TBL);
stepperE0.set_toff(E0_TOFF);
#endif
#if ENABLED(E1_IS_TMC2130)
stepperE1.init();
stepperE1.set_mres(E1_MRES);
stepperE1.set_IHOLD_IRUN(E1_IHOLD,E1_IRUN,E1_IHOLDDELAY);
stepperE1.set_I_scale_analog(E1_ISCALE);
stepperE1.set_tbl(E1_TBL);
stepperE1.set_toff(E1_TOFF);
#endif
#if ENABLED(E2_IS_TMC2130)
stepperE2.init();
stepperE2.set_mres(E2_MRES);
stepperE2.set_IHOLD_IRUN(E2_IHOLD,E2_IRUN,E2_IHOLDDELAY);
stepperE2.set_I_scale_analog(E2_ISCALE);
stepperE2.set_tbl(E2_TBL);
stepperE2.set_toff(E2_TOFF);
#endif
#if ENABLED(E3_IS_TMC2130)
stepperE3.init();
stepperE3.set_mres(E3_MRES);
stepperE3.set_IHOLD_IRUN(E3_IHOLD,E3_IRUN,E3_IHOLDDELAY);
stepperE3.set_I_scale_analog(E3_ISCALE);
stepperE3.set_tbl(E3_TBL);
stepperE3.set_toff(E3_TOFF);
#endif
}
#define _TMC2130_INIT(A) do{ \
stepper##A.init(); \
stepper##A.set_mres(A##_MRES); \
stepper##A.set_IHOLD_IRUN(A##_IHOLD, A##_IRUN, A##_IHOLDDELAY); \
stepper##A.set_I_scale_analog(A##_I_SCALE_ANALOG); \
stepper##A.set_tbl(A##_TBL); \
stepper##A.set_toff(A##_TOFF); \
} while(0)
#endif // TMC2130_ADVANCED_CONFIGURATION
// Stepper objects of TMC2310 steppers used
#if ENABLED(X_IS_TMC2130)
Trinamic_TMC2130 stepperX(X_CS_PIN);
#endif
#if ENABLED(X2_IS_TMC2130)
Trinamic_TMC2130 stepperX2(X2_CS_PIN);
#endif
#if ENABLED(Y_IS_TMC2130)
Trinamic_TMC2130 stepperY(Y_CS_PIN);
#endif
#if ENABLED(Y2_IS_TMC2130)
Trinamic_TMC2130 stepperY2(Y2_CS_PINR);
#endif
#if ENABLED(Z_IS_TMC2130)
Trinamic_TMC2130 stepperZ(Z_CS_PIN);
#endif
#if ENABLED(Z2_IS_TMC2130)
Trinamic_TMC2130 stepperZ2(Z2_CS_PIN);
#endif
#if ENABLED(E0_IS_TMC2130)
Trinamic_TMC2130 stepperE0(E0_CS_PIN);
#endif
#if ENABLED(E1_IS_TMC2130)
Trinamic_TMC2130 stepperE1(E1_CS_PIN);
#endif
#if ENABLED(E2_IS_TMC2130)
Trinamic_TMC2130 stepperE2(E2_CS_PIN);
#endif
#if ENABLED(E3_IS_TMC2130)
Trinamic_TMC2130 stepperE3(E3_CS_PIN);
#endif
void tmc2130_init() {
#if ENABLED(X_IS_TMC2130)
_TMC2130_INIT(X);
#endif
#if ENABLED(X2_IS_TMC2130)
_TMC2130_INIT(X2);
#endif
#if ENABLED(Y_IS_TMC2130)
_TMC2130_INIT(Y);
#endif
#if ENABLED(Y2_IS_TMC2130)
_TMC2130_INIT(Y2);
#endif
#if ENABLED(Z_IS_TMC2130)
_TMC2130_INIT(Z);
#endif
#if ENABLED(Z2_IS_TMC2130)
_TMC2130_INIT(Z2);
#endif
#if ENABLED(E0_IS_TMC2130)
_TMC2130_INIT(E0);
#endif
#if ENABLED(E1_IS_TMC2130)
_TMC2130_INIT(E1);
#endif
#if ENABLED(E2_IS_TMC2130)
_TMC2130_INIT(E2);
#endif
#if ENABLED(E3_IS_TMC2130)
_TMC2130_INIT(E3);
#endif
}
#endif // HAVE_TMC2130DRIVER
// L6470 Driver objects and inits

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