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Marlin-Artillery-M600/Marlin/stepper_indirection.cpp
MagoKimbra ae277aebc6 Stepper indirection fix tmc driver
2017-03-04 12:17:39 +01:00

634 lines
19 KiB
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/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
/**
stepper_indirection.c - stepper motor driver indirection
to allow some stepper functions to be done via SPI/I2c instead of direct pin manipulation
Part of Marlin
Copyright (c) 2015 Dominik Wenger
Marlin 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.
Marlin 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 Marlin. If not, see <http://www.gnu.org/licenses/>.
*/
#include "stepper_indirection.h"
#include "MarlinConfig.h"
//
// TMC26X Driver objects and inits
//
#if ENABLED(HAVE_TMCDRIVER)
#include <SPI.h>
#include <TMC26XStepper.h>
#if ENABLED(X_IS_TMC)
TMC26XStepper stepperX(200, X_ENABLE_PIN, X_STEP_PIN, X_DIR_PIN, X_MAX_CURRENT, X_SENSE_RESISTOR);
#endif
#if ENABLED(X2_IS_TMC)
TMC26XStepper stepperX2(200, X2_ENABLE_PIN, X2_STEP_PIN, X2_DIR_PIN, X2_MAX_CURRENT, X2_SENSE_RESISTOR);
#endif
#if ENABLED(Y_IS_TMC)
TMC26XStepper stepperY(200, Y_ENABLE_PIN, Y_STEP_PIN, Y_DIR_PIN, Y_MAX_CURRENT, Y_SENSE_RESISTOR);
#endif
#if ENABLED(Y2_IS_TMC)
TMC26XStepper stepperY2(200, Y2_ENABLE_PIN, Y2_STEP_PIN, Y2_DIR_PIN, Y2_MAX_CURRENT, Y2_SENSE_RESISTOR);
#endif
#if ENABLED(Z_IS_TMC)
TMC26XStepper stepperZ(200, Z_ENABLE_PIN, Z_STEP_PIN, Z_DIR_PIN, Z_MAX_CURRENT, Z_SENSE_RESISTOR);
#endif
#if ENABLED(Z2_IS_TMC)
TMC26XStepper stepperZ2(200, Z2_ENABLE_PIN, Z2_STEP_PIN, Z2_DIR_PIN, Z2_MAX_CURRENT, Z2_SENSE_RESISTOR);
#endif
#if ENABLED(E0_IS_TMC)
TMC26XStepper stepperE0(200, E0_ENABLE_PIN, E0_STEP_PIN, E0_DIR_PIN, E0_MAX_CURRENT, E0_SENSE_RESISTOR);
#endif
#if ENABLED(E1_IS_TMC)
TMC26XStepper stepperE1(200, E1_ENABLE_PIN, E1_STEP_PIN, E1_DIR_PIN, E1_MAX_CURRENT, E1_SENSE_RESISTOR);
#endif
#if ENABLED(E2_IS_TMC)
TMC26XStepper stepperE2(200, E2_ENABLE_PIN, E2_STEP_PIN, E2_DIR_PIN, E2_MAX_CURRENT, E2_SENSE_RESISTOR);
#endif
#if ENABLED(E3_IS_TMC)
TMC26XStepper stepperE3(200, E3_ENABLE_PIN, E3_STEP_PIN, E3_DIR_PIN, E3_MAX_CURRENT, E3_SENSE_RESISTOR);
#endif
#define _TMC_INIT(A) do{ \
stepper##A.setMicrosteps(A##_MICROSTEPS); \
stepper##A.start(); \
} while(0)
void tmc_init() {
#if ENABLED(X_IS_TMC)
_TMC_INIT(X);
#endif
#if ENABLED(X2_IS_TMC)
_TMC_INIT(X2);
#endif
#if ENABLED(Y_IS_TMC)
_TMC_INIT(Y);
#endif
#if ENABLED(Y2_IS_TMC)
_TMC_INIT(Y2);
#endif
#if ENABLED(Z_IS_TMC)
_TMC_INIT(Z);
#endif
#if ENABLED(Z2_IS_TMC)
_TMC_INIT(Z2);
#endif
#if ENABLED(E0_IS_TMC)
_TMC_INIT(E0);
#endif
#if ENABLED(E1_IS_TMC)
_TMC_INIT(E1);
#endif
#if ENABLED(E2_IS_TMC)
_TMC_INIT(E2);
#endif
#if ENABLED(E3_IS_TMC)
_TMC_INIT(E3);
#endif
}
#endif // HAVE_TMCDRIVER
//
// TMC2130 Driver objects and inits
//
#if ENABLED(HAVE_TMC2130DRIVER)
#include <SPI.h>
#include <Trinamic_TMC2130.h>
#if ENABLED(TMC2130_ADVANCED_CONFIGURATION)
#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
#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
//
#if ENABLED(HAVE_L6470DRIVER)
#include <SPI.h>
#include <L6470.h>
// L6470 Stepper objects
#if ENABLED(X_IS_L6470)
L6470 stepperX(X_ENABLE_PIN);
#endif
#if ENABLED(X2_IS_L6470)
L6470 stepperX2(X2_ENABLE_PIN);
#endif
#if ENABLED(Y_IS_L6470)
L6470 stepperY(Y_ENABLE_PIN);
#endif
#if ENABLED(Y2_IS_L6470)
L6470 stepperY2(Y2_ENABLE_PIN);
#endif
#if ENABLED(Z_IS_L6470)
L6470 stepperZ(Z_ENABLE_PIN);
#endif
#if ENABLED(Z2_IS_L6470)
L6470 stepperZ2(Z2_ENABLE_PIN);
#endif
#if ENABLED(E0_IS_L6470)
L6470 stepperE0(E0_ENABLE_PIN);
#endif
#if ENABLED(E1_IS_L6470)
L6470 stepperE1(E1_ENABLE_PIN);
#endif
#if ENABLED(E2_IS_L6470)
L6470 stepperE2(E2_ENABLE_PIN);
#endif
#if ENABLED(E3_IS_L6470)
L6470 stepperE3(E3_ENABLE_PIN);
#endif
#define _L6470_INIT(A) do{ \
stepper##A.init(A##_K_VAL); \
stepper##A.softFree(); \
stepper##A.setMicroSteps(A##_MICROSTEPS); \
stepper##A.setOverCurrent(A##_OVERCURRENT); \
stepper##A.setStallCurrent(A##_STALLCURRENT); \
} while(0)
void L6470_init() {
#if ENABLED(X_IS_L6470)
_L6470_INIT(X);
#endif
#if ENABLED(X2_IS_L6470)
_L6470_INIT(X2);
#endif
#if ENABLED(Y_IS_L6470)
_L6470_INIT(Y);
#endif
#if ENABLED(Y2_IS_L6470)
_L6470_INIT(Y2);
#endif
#if ENABLED(Z_IS_L6470)
_L6470_INIT(Z);
#endif
#if ENABLED(Z2_IS_L6470)
_L6470_INIT(Z2);
#endif
#if ENABLED(E0_IS_L6470)
_L6470_INIT(E0);
#endif
#if ENABLED(E1_IS_L6470)
_L6470_INIT(E1);
#endif
#if ENABLED(E2_IS_L6470)
_L6470_INIT(E2);
#endif
#if ENABLED(E3_IS_L6470)
_L6470_INIT(E3);
#endif
}
#endif // HAVE_L6470DRIVER
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