diff --git a/Marlin/src/inc/Version.h b/Marlin/src/inc/Version.h
index 90cd8f1c8a55..024654ec9c78 100644
--- a/Marlin/src/inc/Version.h
+++ b/Marlin/src/inc/Version.h
@@ -51,7 +51,7 @@
* here we define this default string as the date where the latest release
* version was tagged.
*/
- #define STRING_DISTRIBUTION_DATE "2019-08-29"
+ #define STRING_DISTRIBUTION_DATE "2019-08-30"
/**
* Required minimum Configuration.h and Configuration_adv.h file versions.
diff --git a/Marlin/src/module/stepper/L6470.cpp b/Marlin/src/module/stepper/L6470.cpp
new file mode 100644
index 000000000000..e29a0ed7a24e
--- /dev/null
+++ b/Marlin/src/module/stepper/L6470.cpp
@@ -0,0 +1,143 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see .
+ *
+ */
+
+/**
+ * module/stepper/L6470.cpp
+ * Stepper driver indirection for L6470 drivers
+ */
+
+#include "../../inc/MarlinConfigPre.h"
+
+#if HAS_DRIVER(L6470)
+
+#include "L6470.h"
+
+#define _L6470_DEFINE(ST) L6470 stepper##ST((const int)L6470_CHAIN_SS_PIN)
+
+// L6470 Stepper objects
+#if AXIS_DRIVER_TYPE_X(L6470)
+ _L6470_DEFINE(X);
+#endif
+#if AXIS_DRIVER_TYPE_X2(L6470)
+ _L6470_DEFINE(X2);
+#endif
+#if AXIS_DRIVER_TYPE_Y(L6470)
+ _L6470_DEFINE(Y);
+#endif
+#if AXIS_DRIVER_TYPE_Y2(L6470)
+ _L6470_DEFINE(Y2);
+#endif
+#if AXIS_DRIVER_TYPE_Z(L6470)
+ _L6470_DEFINE(Z);
+#endif
+#if AXIS_DRIVER_TYPE_Z2(L6470)
+ _L6470_DEFINE(Z2);
+#endif
+#if AXIS_DRIVER_TYPE_Z3(L6470)
+ _L6470_DEFINE(Z3);
+#endif
+#if AXIS_DRIVER_TYPE_E0(L6470)
+ _L6470_DEFINE(E0);
+#endif
+#if AXIS_DRIVER_TYPE_E1(L6470)
+ _L6470_DEFINE(E1);
+#endif
+#if AXIS_DRIVER_TYPE_E2(L6470)
+ _L6470_DEFINE(E2);
+#endif
+#if AXIS_DRIVER_TYPE_E3(L6470)
+ _L6470_DEFINE(E3);
+#endif
+#if AXIS_DRIVER_TYPE_E4(L6470)
+ _L6470_DEFINE(E4);
+#endif
+#if AXIS_DRIVER_TYPE_E5(L6470)
+ _L6470_DEFINE(E5);
+#endif
+
+// not using L6470 library's init command because it
+// briefly sends power to the steppers
+
+#define _L6470_INIT_CHIP(Q) do{ \
+ stepper##Q.resetDev(); \
+ stepper##Q.softFree(); \
+ stepper##Q.SetParam(L6470_CONFIG, CONFIG_PWM_DIV_1 \
+ | CONFIG_PWM_MUL_2 \
+ | CONFIG_SR_290V_us \
+ | CONFIG_OC_SD_DISABLE \
+ | CONFIG_VS_COMP_DISABLE \
+ | CONFIG_SW_HARD_STOP \
+ | CONFIG_INT_16MHZ); \
+ stepper##Q.SetParam(L6470_KVAL_RUN, 0xFF); \
+ stepper##Q.SetParam(L6470_KVAL_ACC, 0xFF); \
+ stepper##Q.SetParam(L6470_KVAL_DEC, 0xFF); \
+ stepper##Q.setMicroSteps(Q##_MICROSTEPS); \
+ stepper##Q.setOverCurrent(Q##_OVERCURRENT); \
+ stepper##Q.setStallCurrent(Q##_STALLCURRENT); \
+ stepper##Q.SetParam(L6470_KVAL_HOLD, Q##_MAX_VOLTAGE); \
+ stepper##Q.SetParam(L6470_ABS_POS, 0); \
+ stepper##Q.getStatus(); \
+}while(0)
+
+void L6470_Marlin::init_to_defaults() {
+ #if AXIS_DRIVER_TYPE_X(L6470)
+ _L6470_INIT_CHIP(X);
+ #endif
+ #if AXIS_DRIVER_TYPE_X2(L6470)
+ _L6470_INIT_CHIP(X2);
+ #endif
+ #if AXIS_DRIVER_TYPE_Y(L6470)
+ _L6470_INIT_CHIP(Y);
+ #endif
+ #if AXIS_DRIVER_TYPE_Y2(L6470)
+ _L6470_INIT_CHIP(Y2);
+ #endif
+ #if AXIS_DRIVER_TYPE_Z(L6470)
+ _L6470_INIT_CHIP(Z);
+ #endif
+ #if AXIS_DRIVER_TYPE_Z2(L6470)
+ _L6470_INIT_CHIP(Z2);
+ #endif
+ #if AXIS_DRIVER_TYPE_Z3(L6470)
+ _L6470_INIT_CHIP(Z3);
+ #endif
+ #if AXIS_DRIVER_TYPE_E0(L6470)
+ _L6470_INIT_CHIP(E0);
+ #endif
+ #if AXIS_DRIVER_TYPE_E1(L6470)
+ _L6470_INIT_CHIP(E1);
+ #endif
+ #if AXIS_DRIVER_TYPE_E2(L6470)
+ _L6470_INIT_CHIP(E2);
+ #endif
+ #if AXIS_DRIVER_TYPE_E3(L6470)
+ _L6470_INIT_CHIP(E3);
+ #endif
+ #if AXIS_DRIVER_TYPE_E4(L6470)
+ _L6470_INIT_CHIP(E4);
+ #endif
+ #if AXIS_DRIVER_TYPE_E5(L6470)
+ _L6470_INIT_CHIP(E5);
+ #endif
+}
+
+#endif // HAS_DRIVER(L6470)
diff --git a/Marlin/src/module/stepper/L6470.h b/Marlin/src/module/stepper/L6470.h
new file mode 100644
index 000000000000..b66744b6c30c
--- /dev/null
+++ b/Marlin/src/module/stepper/L6470.h
@@ -0,0 +1,179 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see .
+ *
+ */
+#pragma once
+
+/**
+ * module/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"
+#include "../../libs/L6470/L6470_Marlin.h"
+
+#define L6470_WRITE_DIR_COMMAND(STATE,Q) do{ L6470_dir_commands[Q] = (STATE ? dSPIN_STEP_CLOCK_REV : dSPIN_STEP_CLOCK_FWD); }while(0)
+
+// X Stepper
+#if AXIS_DRIVER_TYPE_X(L6470)
+ extern L6470 stepperX;
+ #define X_ENABLE_INIT NOOP
+ #define X_ENABLE_WRITE(STATE) NOOP
+ #define X_ENABLE_READ() (stepperX.getStatus() & STATUS_HIZ)
+ #define X_DIR_INIT NOOP
+ #define X_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,X)
+ #define X_DIR_READ() (stepperX.getStatus() & STATUS_DIR)
+#endif
+
+// Y Stepper
+#if AXIS_DRIVER_TYPE_Y(L6470)
+ extern L6470 stepperY;
+ #define Y_ENABLE_INIT NOOP
+ #define Y_ENABLE_WRITE(STATE) NOOP
+ #define Y_ENABLE_READ() (stepperY.getStatus() & STATUS_HIZ)
+ #define Y_DIR_INIT NOOP
+ #define Y_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,Y)
+ #define Y_DIR_READ() (stepperY.getStatus() & STATUS_DIR)
+#endif
+
+// Z Stepper
+#if AXIS_DRIVER_TYPE_Z(L6470)
+ extern L6470 stepperZ;
+ #define Z_ENABLE_INIT NOOP
+ #define Z_ENABLE_WRITE(STATE) NOOP
+ #define Z_ENABLE_READ() (stepperZ.getStatus() & STATUS_HIZ)
+ #define Z_DIR_INIT NOOP
+ #define Z_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,Z)
+ #define Z_DIR_READ() (stepperZ.getStatus() & STATUS_DIR)
+#endif
+
+// X2 Stepper
+#if HAS_X2_ENABLE && AXIS_DRIVER_TYPE_X2(L6470)
+ extern L6470 stepperX2;
+ #define X2_ENABLE_INIT NOOP
+ #define X2_ENABLE_WRITE(STATE) NOOP
+ #define X2_ENABLE_READ() (stepperX2.getStatus() & STATUS_HIZ)
+ #define X2_DIR_INIT NOOP
+ #define X2_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,X2)
+ #define X2_DIR_READ() (stepperX2.getStatus() & STATUS_DIR)
+#endif
+
+// Y2 Stepper
+#if HAS_Y2_ENABLE && AXIS_DRIVER_TYPE_Y2(L6470)
+ extern L6470 stepperY2;
+ #define Y2_ENABLE_INIT NOOP
+ #define Y2_ENABLE_WRITE(STATE) NOOP
+ #define Y2_ENABLE_READ() (stepperY2.getStatus() & STATUS_HIZ)
+ #define Y2_DIR_INIT NOOP
+ #define Y2_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,Y2)
+ #define Y2_DIR_READ() (stepperY2.getStatus() & STATUS_DIR)
+#endif
+
+// Z2 Stepper
+#if HAS_Z2_ENABLE && AXIS_DRIVER_TYPE_Z2(L6470)
+ extern L6470 stepperZ2;
+ #define Z2_ENABLE_INIT NOOP
+ #define Z2_ENABLE_WRITE(STATE) NOOP
+ #define Z2_ENABLE_READ() (stepperZ2.getStatus() & STATUS_HIZ)
+ #define Z2_DIR_INIT NOOP
+ #define Z2_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,Z2)
+ #define Z2_DIR_READ() (stepperZ2.getStatus() & STATUS_DIR)
+#endif
+
+// Z3 Stepper
+#if HAS_Z3_ENABLE && AXIS_DRIVER_TYPE_Z3(L6470)
+ extern L6470 stepperZ3;
+ #define Z3_ENABLE_INIT NOOP
+ #define Z3_ENABLE_WRITE(STATE) NOOP
+ #define Z3_ENABLE_READ() (stepperZ3.getStatus() & STATUS_HIZ)
+ #define Z3_DIR_INIT NOOP
+ #define Z3_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,Z3)
+ #define Z3_DIR_READ() (stepperZ3.getStatus() & STATUS_DIR)
+#endif
+
+// E0 Stepper
+#if AXIS_DRIVER_TYPE_E0(L6470)
+ extern L6470 stepperE0;
+ #define E0_ENABLE_INIT NOOP
+ #define E0_ENABLE_WRITE(STATE) NOOP
+ #define E0_ENABLE_READ() (stepperE0.getStatus() & STATUS_HIZ)
+ #define E0_DIR_INIT NOOP
+ #define E0_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,E0)
+ #define E0_DIR_READ() (stepperE0.getStatus() & STATUS_DIR)
+#endif
+
+// E1 Stepper
+#if AXIS_DRIVER_TYPE_E1(L6470)
+ extern L6470 stepperE1;
+ #define E1_ENABLE_INIT NOOP
+ #define E1_ENABLE_WRITE(STATE) NOOP
+ #define E1_ENABLE_READ() (stepperE1.getStatus() & STATUS_HIZ)
+ #define E1_DIR_INIT NOOP
+ #define E1_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,E1)
+ #define E1_DIR_READ() (stepperE1.getStatus() & STATUS_DIR)
+#endif
+
+// E2 Stepper
+#if AXIS_DRIVER_TYPE_E2(L6470)
+ extern L6470 stepperE2;
+ #define E2_ENABLE_INIT NOOP
+ #define E2_ENABLE_WRITE(STATE) NOOP
+ #define E2_ENABLE_READ() (stepperE2.getStatus() & STATUS_HIZ)
+ #define E2_DIR_INIT NOOP
+ #define E2_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,E2)
+ #define E2_DIR_READ() (stepperE2.getStatus() & STATUS_DIR)
+#endif
+
+// E3 Stepper
+#if AXIS_DRIVER_TYPE_E3(L6470)
+ extern L6470 stepperE3;
+ #define E3_ENABLE_INIT NOOP
+ #define E3_ENABLE_WRITE(STATE) NOOP
+ #define E3_ENABLE_READ() (stepperE3.getStatus() & STATUS_HIZ)
+ #define E3_DIR_INIT NOOP
+ #define E3_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,E3)
+ #define E3_DIR_READ() (stepperE3.getStatus() & STATUS_DIR)
+#endif
+
+// E4 Stepper
+#if AXIS_DRIVER_TYPE_E4(L6470)
+ extern L6470 stepperE4;
+ #define E4_ENABLE_INIT NOOP
+ #define E4_ENABLE_WRITE(STATE) NOOP
+ #define E4_ENABLE_READ() (stepperE4.getStatus() & STATUS_HIZ)
+ #define E4_DIR_INIT NOOP
+ #define E4_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,E4)
+ #define E4_DIR_READ() (stepperE4.getStatus() & STATUS_DIR)
+#endif
+
+// E5 Stepper
+#if AXIS_DRIVER_TYPE_E5(L6470)
+ extern L6470 stepperE5;
+ #define E5_ENABLE_INIT NOOP
+ #define E5_ENABLE_WRITE(STATE) NOOP
+ #define E5_ENABLE_READ() (stepperE5.getStatus() & STATUS_HIZ)
+ #define E5_DIR_INIT NOOP
+ #define E5_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,E5)
+ #define E5_DIR_READ() (stepperE5.getStatus() & STATUS_DIR)
+#endif
diff --git a/Marlin/src/module/stepper/TMC26X.cpp b/Marlin/src/module/stepper/TMC26X.cpp
new file mode 100644
index 000000000000..30b01ab4fd64
--- /dev/null
+++ b/Marlin/src/module/stepper/TMC26X.cpp
@@ -0,0 +1,134 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see .
+ *
+ */
+
+/**
+ * tmc26x.h
+ * Stepper driver indirection for TMC26X drivers
+ */
+
+#include "../inc/MarlinConfig.h"
+
+//
+// TMC26X Driver objects and inits
+//
+#if HAS_DRIVER(TMC26X)
+
+#include "TMC26X.cpp"
+
+#include
+
+#if defined(STM32GENERIC) && defined(STM32F7)
+ #include "../HAL/HAL_STM32_F4_F7/STM32F7/TMC2660.h"
+#else
+ #include
+#endif
+
+#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_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
+
+#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_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
+}
+
+#endif // TMC26X
diff --git a/Marlin/src/module/stepper/TMC26X.h b/Marlin/src/module/stepper/TMC26X.h
new file mode 100644
index 000000000000..f3db5c3abf67
--- /dev/null
+++ b/Marlin/src/module/stepper/TMC26X.h
@@ -0,0 +1,141 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see .
+ *
+ */
+#pragma once
+
+/**
+ * tmc26x.h
+ * Stepper driver indirection for TMC26X drivers
+ */
+
+// TMC26X drivers have STEP/DIR on normal pins, but ENABLE via SPI
+#include
+#if defined(STM32GENERIC) && defined(STM32F7)
+ #include "../../HAL/HAL_STM32_F4_F7/STM32F7/TMC2660.h"
+#else
+ #include
+#endif
+
+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
+
+// 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
diff --git a/Marlin/src/module/stepper/indirection.cpp b/Marlin/src/module/stepper/indirection.cpp
new file mode 100644
index 000000000000..6a35e7668dcf
--- /dev/null
+++ b/Marlin/src/module/stepper/indirection.cpp
@@ -0,0 +1,60 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see .
+ *
+ */
+
+/**
+ * module/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"
+#include "../stepper.h"
+
+#if HAS_DRIVER(L6470)
+ #include "../../libs/L6470/L6470_Marlin.h"
+#endif
+
+void restore_stepper_drivers() {
+ #if HAS_TRINAMIC
+ restore_stepper_drivers();
+ #endif
+}
+
+void reset_stepper_drivers() {
+
+ #if HAS_DRIVER(TMC26X)
+ tmc26x_init_to_defaults();
+ #endif
+
+ #if HAS_DRIVER(L6470)
+ L6470.init_to_defaults();
+ #endif
+
+ #if HAS_TRINAMIC
+ reset_trinamic_drivers();
+ #endif
+}
diff --git a/Marlin/src/module/stepper/indirection.h b/Marlin/src/module/stepper/indirection.h
new file mode 100644
index 000000000000..68f2b693144e
--- /dev/null
+++ b/Marlin/src/module/stepper/indirection.h
@@ -0,0 +1,730 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see .
+ *
+ */
+#pragma once
+
+/**
+ * module/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_DRIVER(TMC26X)
+ #include "tmc26x.h"
+#endif
+
+#if HAS_TRINAMIC
+ #include "trinamic.h"
+#endif
+
+#if HAS_DRIVER(L6470)
+ #include "L6470.h"
+#endif
+
+void restore_stepper_drivers(); // Called by PSU_ON
+void reset_stepper_drivers(); // Called by settings.load / settings.reset
+
+#define AXIS_HAS_SQUARE_WAVE(A) (AXIS_IS_TMC(A) && ENABLED(SQUARE_WAVE_STEPPING))
+
+// X Stepper
+#if AXIS_DRIVER_TYPE_X(L6470)
+ extern L6470 stepperX;
+ #define X_ENABLE_INIT NOOP
+ #define X_ENABLE_WRITE(STATE) NOOP
+ #define X_ENABLE_READ() (stepperX.getStatus() & STATUS_HIZ)
+ #define X_DIR_INIT NOOP
+ #define X_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,X)
+ #define X_DIR_READ() (stepperX.getStatus() & STATUS_DIR)
+#else
+ #if AXIS_IS_TMC(X)
+ extern TMC_CLASS(X, X) stepperX;
+ #endif
+ #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()
+ #elif ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(X)
+ #define X_ENABLE_INIT NOOP
+ #define X_ENABLE_WRITE(STATE) stepperX.toff((STATE)==X_ENABLE_ON ? chopper_timing.toff : 0)
+ #define X_ENABLE_READ() stepperX.isEnabled()
+ #endif
+#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() READ(X_DIR_PIN)
+#endif
+#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() READ(X_ENABLE_PIN)
+#endif
+#define X_STEP_INIT SET_OUTPUT(X_STEP_PIN)
+#if AXIS_HAS_SQUARE_WAVE(X)
+ #define X_STEP_WRITE(STATE) do{ if(STATE) TOGGLE(X_STEP_PIN); }while(0)
+#else
+ #define X_STEP_WRITE(STATE) WRITE(X_STEP_PIN,STATE)
+#endif
+#define X_STEP_READ READ(X_STEP_PIN)
+
+// Y Stepper
+#if AXIS_DRIVER_TYPE_Y(L6470)
+ extern L6470 stepperY;
+ #define Y_ENABLE_INIT NOOP
+ #define Y_ENABLE_WRITE(STATE) NOOP
+ #define Y_ENABLE_READ() (stepperY.getStatus() & STATUS_HIZ)
+ #define Y_DIR_INIT NOOP
+ #define Y_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,Y)
+ #define Y_DIR_READ() (stepperY.getStatus() & STATUS_DIR)
+#else
+ #if AXIS_IS_TMC(Y)
+ extern TMC_CLASS(Y, Y) stepperY;
+ #endif
+ #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()
+ #elif ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(Y)
+ #define Y_ENABLE_INIT NOOP
+ #define Y_ENABLE_WRITE(STATE) stepperY.toff((STATE)==Y_ENABLE_ON ? chopper_timing.toff : 0)
+ #define Y_ENABLE_READ() stepperY.isEnabled()
+ #endif
+#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() READ(Y_DIR_PIN)
+#endif
+#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() READ(Y_ENABLE_PIN)
+#endif
+#define Y_STEP_INIT SET_OUTPUT(Y_STEP_PIN)
+#if AXIS_HAS_SQUARE_WAVE(Y)
+ #define Y_STEP_WRITE(STATE) do{ if (STATE) TOGGLE(Y_STEP_PIN); }while(0)
+#else
+ #define Y_STEP_WRITE(STATE) WRITE(Y_STEP_PIN,STATE)
+#endif
+#define Y_STEP_READ READ(Y_STEP_PIN)
+
+// Z Stepper
+#if AXIS_DRIVER_TYPE_Z(L6470)
+ extern L6470 stepperZ;
+ #define Z_ENABLE_INIT NOOP
+ #define Z_ENABLE_WRITE(STATE) NOOP
+ #define Z_ENABLE_READ() (stepperZ.getStatus() & STATUS_HIZ)
+ #define Z_DIR_INIT NOOP
+ #define Z_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,Z)
+ #define Z_DIR_READ() (stepperZ.getStatus() & STATUS_DIR)
+#else
+ #if AXIS_IS_TMC(Z)
+ extern TMC_CLASS(Z, Z) stepperZ;
+ #endif
+ #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()
+ #elif ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(Z)
+ #define Z_ENABLE_INIT NOOP
+ #define Z_ENABLE_WRITE(STATE) stepperZ.toff((STATE)==Z_ENABLE_ON ? chopper_timing.toff : 0)
+ #define Z_ENABLE_READ() stepperZ.isEnabled()
+ #endif
+#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() READ(Z_DIR_PIN)
+#endif
+#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() READ(Z_ENABLE_PIN)
+#endif
+#define Z_STEP_INIT SET_OUTPUT(Z_STEP_PIN)
+#if AXIS_HAS_SQUARE_WAVE(Z)
+ #define Z_STEP_WRITE(STATE) do{ if(STATE) TOGGLE(Z_STEP_PIN); }while(0)
+#else
+ #define Z_STEP_WRITE(STATE) WRITE(Z_STEP_PIN,STATE)
+#endif
+#define Z_STEP_READ READ(Z_STEP_PIN)
+
+// X2 Stepper
+#if HAS_X2_ENABLE
+ #if AXIS_DRIVER_TYPE_X2(L6470)
+ extern L6470 stepperX2;
+ #define X2_ENABLE_INIT NOOP
+ #define X2_ENABLE_WRITE(STATE) NOOP
+ #define X2_ENABLE_READ() (stepperX2.getStatus() & STATUS_HIZ)
+ #define X2_DIR_INIT NOOP
+ #define X2_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,X2)
+ #define X2_DIR_READ() (stepperX2.getStatus() & STATUS_DIR)
+ #else
+ #if AXIS_IS_TMC(X2)
+ extern TMC_CLASS(X2, X) stepperX2;
+ #endif
+ #if 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()
+ #elif ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(X2)
+ #define X2_ENABLE_INIT NOOP
+ #define X2_ENABLE_WRITE(STATE) stepperX2.toff((STATE)==X_ENABLE_ON ? chopper_timing.toff : 0)
+ #define X2_ENABLE_READ() stepperX2.isEnabled()
+ #endif
+ #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() READ(X2_DIR_PIN)
+ #endif
+ #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() READ(X2_ENABLE_PIN)
+ #endif
+ #define X2_STEP_INIT SET_OUTPUT(X2_STEP_PIN)
+ #if AXIS_HAS_SQUARE_WAVE(X2)
+ #define X2_STEP_WRITE(STATE) do{ if(STATE) TOGGLE(X2_STEP_PIN); }while(0)
+ #else
+ #define X2_STEP_WRITE(STATE) WRITE(X2_STEP_PIN,STATE)
+ #endif
+
+ #define X2_STEP_READ READ(X2_STEP_PIN)
+#endif
+
+// Y2 Stepper
+#if HAS_Y2_ENABLE
+ #if AXIS_DRIVER_TYPE_Y2(L6470)
+ extern L6470 stepperY2;
+ #define Y2_ENABLE_INIT NOOP
+ #define Y2_ENABLE_WRITE(STATE) NOOP
+ #define Y2_ENABLE_READ() (stepperY2.getStatus() & STATUS_HIZ)
+ #define Y2_DIR_INIT NOOP
+ #define Y2_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,Y2)
+ #define Y2_DIR_READ() (stepperY2.getStatus() & STATUS_DIR)
+ #else
+ #if AXIS_IS_TMC(Y2)
+ extern TMC_CLASS(Y2, Y) stepperY2;
+ #endif
+ #if 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()
+ #elif ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(Y2)
+ #define Y2_ENABLE_INIT NOOP
+ #define Y2_ENABLE_WRITE(STATE) stepperY2.toff((STATE)==Y_ENABLE_ON ? chopper_timing.toff : 0)
+ #define Y2_ENABLE_READ() stepperY2.isEnabled()
+ #endif
+ #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() READ(Y2_DIR_PIN)
+ #endif
+ #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() READ(Y2_ENABLE_PIN)
+ #endif
+ #define Y2_STEP_INIT SET_OUTPUT(Y2_STEP_PIN)
+ #if AXIS_HAS_SQUARE_WAVE(Y2)
+ #define Y2_STEP_WRITE(STATE) do{ if(STATE) TOGGLE(Y2_STEP_PIN); }while(0)
+ #else
+ #define Y2_STEP_WRITE(STATE) WRITE(Y2_STEP_PIN,STATE)
+ #endif
+
+ #define Y2_STEP_READ READ(Y2_STEP_PIN)
+#else
+ #define Y2_DIR_WRITE(STATE) NOOP
+#endif
+
+// Z2 Stepper
+#if HAS_Z2_ENABLE
+ #if AXIS_DRIVER_TYPE_Z2(L6470)
+ extern L6470 stepperZ2;
+ #define Z2_ENABLE_INIT NOOP
+ #define Z2_ENABLE_WRITE(STATE) NOOP
+ #define Z2_ENABLE_READ() (stepperZ2.getStatus() & STATUS_HIZ)
+ #define Z2_DIR_INIT NOOP
+ #define Z2_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,Z2)
+ #define Z2_DIR_READ() (stepperZ2.getStatus() & STATUS_DIR)
+ #else
+ #if AXIS_IS_TMC(Z2)
+ extern TMC_CLASS(Z2, Z) stepperZ2;
+ #endif
+ #if 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()
+ #elif 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.toff : 0)
+ #define Z2_ENABLE_READ() stepperZ2.isEnabled()
+ #endif
+ #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() READ(Z2_DIR_PIN)
+ #endif
+ #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() READ(Z2_ENABLE_PIN)
+ #endif
+ #define Z2_STEP_INIT SET_OUTPUT(Z2_STEP_PIN)
+ #if AXIS_HAS_SQUARE_WAVE(Z2)
+ #define Z2_STEP_WRITE(STATE) do{ if(STATE) TOGGLE(Z2_STEP_PIN); }while(0)
+ #else
+ #define Z2_STEP_WRITE(STATE) WRITE(Z2_STEP_PIN,STATE)
+ #endif
+
+ #define Z2_STEP_READ READ(Z2_STEP_PIN)
+#else
+ #define Z2_DIR_WRITE(STATE) NOOP
+#endif
+
+// Z3 Stepper
+#if HAS_Z3_ENABLE
+ #if AXIS_DRIVER_TYPE_Z3(L6470)
+ extern L6470 stepperZ3;
+ #define Z3_ENABLE_INIT NOOP
+ #define Z3_ENABLE_WRITE(STATE) NOOP
+ #define Z3_ENABLE_READ() (stepperZ3.getStatus() & STATUS_HIZ)
+ #define Z3_DIR_INIT NOOP
+ #define Z3_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,Z3)
+ #define Z3_DIR_READ() (stepperZ3.getStatus() & STATUS_DIR)
+ #else
+ #if AXIS_IS_TMC(Z3)
+ extern TMC_CLASS(Z3, Z) stepperZ3;
+ #endif
+ #if ENABLED(Z3_IS_TMC26X)
+ extern TMC26XStepper stepperZ3;
+ #define Z3_ENABLE_INIT NOOP
+ #define Z3_ENABLE_WRITE(STATE) stepperZ3.setEnabled(STATE)
+ #define Z3_ENABLE_READ() stepperZ3.isEnabled()
+ #elif ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(Z3)
+ #define Z3_ENABLE_INIT NOOP
+ #define Z3_ENABLE_WRITE(STATE) stepperZ3.toff((STATE)==Z_ENABLE_ON ? chopper_timing.toff : 0)
+ #define Z3_ENABLE_READ() stepperZ3.isEnabled()
+ #endif
+ #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() READ(Z3_DIR_PIN)
+ #endif
+ #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() READ(Z3_ENABLE_PIN)
+ #endif
+ #define Z3_STEP_INIT SET_OUTPUT(Z3_STEP_PIN)
+ #if AXIS_HAS_SQUARE_WAVE(Z3)
+ #define Z3_STEP_WRITE(STATE) do{ if(STATE) TOGGLE(Z3_STEP_PIN); }while(0)
+ #else
+ #define Z3_STEP_WRITE(STATE) WRITE(Z3_STEP_PIN,STATE)
+ #endif
+
+ #define Z3_STEP_READ READ(Z3_STEP_PIN)
+#else
+ #define Z3_DIR_WRITE(STATE) NOOP
+#endif
+
+// E0 Stepper
+#if AXIS_DRIVER_TYPE_E0(L6470)
+ extern L6470 stepperE0;
+ #define E0_ENABLE_INIT NOOP
+ #define E0_ENABLE_WRITE(STATE) NOOP
+ #define E0_ENABLE_READ() (stepperE0.getStatus() & STATUS_HIZ)
+ #define E0_DIR_INIT NOOP
+ #define E0_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,E0)
+ #define E0_DIR_READ() (stepperE0.getStatus() & STATUS_DIR)
+#else
+ #if AXIS_IS_TMC(E0)
+ extern TMC_CLASS_E(0) stepperE0;
+ #endif
+ #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()
+ #elif 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.toff : 0)
+ #define E0_ENABLE_READ() stepperE0.isEnabled()
+ #endif
+#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() READ(E0_DIR_PIN)
+#endif
+#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() READ(E0_ENABLE_PIN)
+#endif
+#define E0_STEP_INIT SET_OUTPUT(E0_STEP_PIN)
+#if AXIS_HAS_SQUARE_WAVE(E0)
+ #define E0_STEP_WRITE(STATE) do{ if(STATE) TOGGLE(E0_STEP_PIN); }while(0)
+#else
+ #define E0_STEP_WRITE(STATE) WRITE(E0_STEP_PIN,STATE)
+#endif
+#define E0_STEP_READ READ(E0_STEP_PIN)
+
+// E1 Stepper
+#if AXIS_DRIVER_TYPE_E1(L6470)
+ extern L6470 stepperE1;
+ #define E1_ENABLE_INIT NOOP
+ #define E1_ENABLE_WRITE(STATE) NOOP
+ #define E1_ENABLE_READ() (stepperE1.getStatus() & STATUS_HIZ)
+ #define E1_DIR_INIT NOOP
+ #define E1_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,E1)
+ #define E1_DIR_READ() (stepperE1.getStatus() & STATUS_DIR)
+#else
+ #if AXIS_IS_TMC(E1)
+ extern TMC_CLASS_E(1) stepperE1;
+ #endif
+ #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()
+ #elif 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.toff : 0)
+ #define E1_ENABLE_READ() stepperE1.isEnabled()
+ #endif
+#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() READ(E1_DIR_PIN)
+#endif
+#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() READ(E1_ENABLE_PIN)
+#endif
+#define E1_STEP_INIT SET_OUTPUT(E1_STEP_PIN)
+#if AXIS_HAS_SQUARE_WAVE(E1)
+ #define E1_STEP_WRITE(STATE) do{ if(STATE) TOGGLE(E1_STEP_PIN); }while(0)
+#else
+ #define E1_STEP_WRITE(STATE) WRITE(E1_STEP_PIN,STATE)
+#endif
+#define E1_STEP_READ READ(E1_STEP_PIN)
+
+// E2 Stepper
+#if AXIS_DRIVER_TYPE_E2(L6470)
+ extern L6470 stepperE2;
+ #define E2_ENABLE_INIT NOOP
+ #define E2_ENABLE_WRITE(STATE) NOOP
+ #define E2_ENABLE_READ() (stepperE2.getStatus() & STATUS_HIZ)
+ #define E2_DIR_INIT NOOP
+ #define E2_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,E2)
+ #define E2_DIR_READ() (stepperE2.getStatus() & STATUS_DIR)
+#else
+ #if AXIS_IS_TMC(E2)
+ extern TMC_CLASS_E(2) stepperE2;
+ #endif
+ #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()
+ #elif 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.toff : 0)
+ #define E2_ENABLE_READ() stepperE2.isEnabled()
+ #endif
+#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() READ(E2_DIR_PIN)
+#endif
+#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() READ(E2_ENABLE_PIN)
+#endif
+#define E2_STEP_INIT SET_OUTPUT(E2_STEP_PIN)
+#if AXIS_HAS_SQUARE_WAVE(E2)
+ #define E2_STEP_WRITE(STATE) do{ if(STATE) TOGGLE(E2_STEP_PIN); }while(0)
+#else
+ #define E2_STEP_WRITE(STATE) WRITE(E2_STEP_PIN,STATE)
+#endif
+#define E2_STEP_READ READ(E2_STEP_PIN)
+
+// E3 Stepper
+#if AXIS_DRIVER_TYPE_E3(L6470)
+ extern L6470 stepperE3;
+ #define E3_ENABLE_INIT NOOP
+ #define E3_ENABLE_WRITE(STATE) NOOP
+ #define E3_ENABLE_READ() (stepperE3.getStatus() & STATUS_HIZ)
+ #define E3_DIR_INIT NOOP
+ #define E3_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,E3)
+ #define E3_DIR_READ() (stepperE3.getStatus() & STATUS_DIR)
+#else
+ #if AXIS_IS_TMC(E3)
+ extern TMC_CLASS_E(3) stepperE3;
+ #endif
+ #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()
+ #elif 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.toff : 0)
+ #define E3_ENABLE_READ() stepperE3.isEnabled()
+ #endif
+#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() READ(E3_DIR_PIN)
+#endif
+#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() READ(E3_ENABLE_PIN)
+#endif
+#define E3_STEP_INIT SET_OUTPUT(E3_STEP_PIN)
+#if AXIS_HAS_SQUARE_WAVE(E3)
+ #define E3_STEP_WRITE(STATE) do{ if(STATE) TOGGLE(E3_STEP_PIN); }while(0)
+#else
+ #define E3_STEP_WRITE(STATE) WRITE(E3_STEP_PIN,STATE)
+#endif
+#define E3_STEP_READ READ(E3_STEP_PIN)
+
+// E4 Stepper
+#if AXIS_DRIVER_TYPE_E4(L6470)
+ extern L6470 stepperE4;
+ #define E4_ENABLE_INIT NOOP
+ #define E4_ENABLE_WRITE(STATE) NOOP
+ #define E4_ENABLE_READ() (stepperE4.getStatus() & STATUS_HIZ)
+ #define E4_DIR_INIT NOOP
+ #define E4_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,E4)
+ #define E4_DIR_READ() (stepperE4.getStatus() & STATUS_DIR)
+#else
+ #if AXIS_IS_TMC(E4)
+ extern TMC_CLASS_E(4) stepperE4;
+ #endif
+ #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()
+ #elif 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.toff : 0)
+ #define E4_ENABLE_READ() stepperE4.isEnabled()
+ #endif
+#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() READ(E4_DIR_PIN)
+#endif
+#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() READ(E4_ENABLE_PIN)
+#endif
+#define E4_STEP_INIT SET_OUTPUT(E4_STEP_PIN)
+#if AXIS_HAS_SQUARE_WAVE(E4)
+ #define E4_STEP_WRITE(STATE) do{ if(STATE) TOGGLE(E4_STEP_PIN); }while(0)
+#else
+ #define E4_STEP_WRITE(STATE) WRITE(E4_STEP_PIN,STATE)
+#endif
+#define E4_STEP_READ READ(E4_STEP_PIN)
+
+// E5 Stepper
+#if AXIS_DRIVER_TYPE_E5(L6470)
+ extern L6470 stepperE5;
+ #define E5_ENABLE_INIT NOOP
+ #define E5_ENABLE_WRITE(STATE) NOOP
+ #define E5_ENABLE_READ() (stepperE5.getStatus() & STATUS_HIZ)
+ #define E5_DIR_INIT NOOP
+ #define E5_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,E5)
+ #define E5_DIR_READ() (stepperE5.getStatus() & STATUS_DIR)
+#else
+ #if AXIS_IS_TMC(E5)
+ extern TMC_CLASS_E(5) stepperE5;
+ #endif
+ #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()
+ #elif 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.toff : 0)
+ #define E5_ENABLE_READ() stepperE5.isEnabled()
+ #endif
+#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() READ(E5_DIR_PIN)
+#endif
+#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() READ(E5_ENABLE_PIN)
+#endif
+#define E5_STEP_INIT SET_OUTPUT(E5_STEP_PIN)
+#if AXIS_HAS_SQUARE_WAVE(E5)
+ #define E5_STEP_WRITE(STATE) do{ if(STATE) TOGGLE(E5_STEP_PIN); }while(0)
+#else
+ #define E5_STEP_WRITE(STATE) WRITE(E5_STEP_PIN,STATE)
+#endif
+#define E5_STEP_READ READ(E5_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 > 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); case 5: 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: 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); case 5: E2_DIR_WRITE(!INVERT_E2_DIR); } }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); } }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); } }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); } }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); } }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); } }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); } }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 ENABLED(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 ENABLED(MK2_MULTIPLEXER) // 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 > 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); case 5: E5_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); break; case 3: E3_DIR_WRITE(!INVERT_E3_DIR); break; case 4: E4_DIR_WRITE(!INVERT_E4_DIR); case 5: E5_DIR_WRITE(!INVERT_E5_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); break; case 3: E3_DIR_WRITE( INVERT_E3_DIR); break; case 4: E4_DIR_WRITE( INVERT_E4_DIR); case 5: E5_DIR_WRITE( INVERT_E5_DIR); } }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); } }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); } }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); } }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); } }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); } }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); } }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 > 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
diff --git a/Marlin/src/module/stepper/trinamic.cpp b/Marlin/src/module/stepper/trinamic.cpp
new file mode 100644
index 000000000000..0d77cea85dea
--- /dev/null
+++ b/Marlin/src/module/stepper/trinamic.cpp
@@ -0,0 +1,738 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see .
+ *
+ */
+
+/**
+ * trinamic.cpp
+ * Stepper driver indirection for Trinamic drivers
+ */
+
+#include "../../inc/MarlinConfig.h"
+
+#if HAS_TRINAMIC
+
+#include "trinamic.h"
+#include "../../feature/tmc_util.h"
+
+#include
+#include
+//#include "planner.h"
+//#include "stepper.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])
+
+// 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 stepper##ST(ST##_CS_PIN, ST##_RSENSE, TMC_SW_MOSI, TMC_SW_MISO, TMC_SW_SCK)
+#else
+ #define __TMC_SPI_DEFINE(IC, ST, L, AI) TMCMarlin stepper##ST(ST##_CS_PIN, ST##_RSENSE)
+#endif
+
+#define TMC_UART_HW_DEFINE(IC, ST, L, AI) TMCMarlin stepper##ST(&ST##_HARDWARE_SERIAL, ST##_RSENSE, ST##_SLAVE_ADDRESS)
+#define TMC_UART_SW_DEFINE(IC, ST, L, AI) TMCMarlin stepper##ST(ST##_SERIAL_RX_PIN, ST##_SERIAL_TX_PIN, ST##_RSENSE, ST##_SLAVE_ADDRESS, ST##_SERIAL_RX_PIN > -1)
+
+#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 ENABLED(DISTINCT_E_FACTORS) && E_STEPPERS > 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(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 HAS_DRIVER(TMC2130)
+ template
+ void tmc_init(TMCMarlin &st, const uint16_t mA, const uint16_t microsteps, const uint32_t thrs, const bool stealth) {
+ st.begin();
+
+ CHOPCONF_t chopconf{0};
+ chopconf.tbl = 1;
+ chopconf.toff = chopper_timing.toff;
+ chopconf.intpol = INTERPOLATE;
+ chopconf.hend = chopper_timing.hend + 3;
+ chopconf.hstrt = chopper_timing.hstrt - 1;
+ #if ENABLED(SQUARE_WAVE_STEPPING)
+ chopconf.dedge = true;
+ #endif
+ 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);
+
+ #if ENABLED(HYBRID_THRESHOLD)
+ st.set_pwm_thrs(thrs);
+ #else
+ UNUSED(thrs);
+ #endif
+
+ st.GSTAT(); // Clear GSTAT
+ }
+#endif // TMC2130
+
+#if HAS_DRIVER(TMC2160)
+ template
+ void tmc_init(TMCMarlin &st, const uint16_t mA, const uint16_t microsteps, const uint32_t thrs, const bool stealth) {
+ st.begin();
+
+ CHOPCONF_t chopconf{0};
+ chopconf.tbl = 1;
+ chopconf.toff = chopper_timing.toff;
+ chopconf.intpol = INTERPOLATE;
+ chopconf.hend = chopper_timing.hend + 3;
+ chopconf.hstrt = chopper_timing.hstrt - 1;
+ #if ENABLED(SQUARE_WAVE_STEPPING)
+ chopconf.dedge = true;
+ #endif
+ 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(thrs);
+ #else
+ UNUSED(thrs);
+ #endif
+
+ 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);
+ #else
+ TMC_UART_DEFINE(SW, X, X);
+ #endif
+ #endif
+ #if AXIS_HAS_UART(X2)
+ #ifdef X2_HARDWARE_SERIAL
+ TMC_UART_DEFINE(HW, X2, X);
+ #else
+ TMC_UART_DEFINE(SW, X2, X);
+ #endif
+ #endif
+ #if AXIS_HAS_UART(Y)
+ #ifdef Y_HARDWARE_SERIAL
+ TMC_UART_DEFINE(HW, Y, Y);
+ #else
+ TMC_UART_DEFINE(SW, Y, Y);
+ #endif
+ #endif
+ #if AXIS_HAS_UART(Y2)
+ #ifdef Y2_HARDWARE_SERIAL
+ TMC_UART_DEFINE(HW, Y2, Y);
+ #else
+ TMC_UART_DEFINE(SW, Y2, Y);
+ #endif
+ #endif
+ #if AXIS_HAS_UART(Z)
+ #ifdef Z_HARDWARE_SERIAL
+ TMC_UART_DEFINE(HW, Z, Z);
+ #else
+ TMC_UART_DEFINE(SW, Z, Z);
+ #endif
+ #endif
+ #if AXIS_HAS_UART(Z2)
+ #ifdef Z2_HARDWARE_SERIAL
+ TMC_UART_DEFINE(HW, Z2, Z);
+ #else
+ TMC_UART_DEFINE(SW, Z2, Z);
+ #endif
+ #endif
+ #if AXIS_HAS_UART(Z3)
+ #ifdef Z3_HARDWARE_SERIAL
+ TMC_UART_DEFINE(HW, Z3, Z);
+ #else
+ TMC_UART_DEFINE(SW, Z3, Z);
+ #endif
+ #endif
+ #if AXIS_HAS_UART(E0)
+ #ifdef E0_HARDWARE_SERIAL
+ TMC_UART_DEFINE_E(HW, 0);
+ #else
+ TMC_UART_DEFINE_E(SW, 0);
+ #endif
+ #endif
+ #if AXIS_HAS_UART(E1)
+ #ifdef E1_HARDWARE_SERIAL
+ TMC_UART_DEFINE_E(HW, 1);
+ #else
+ TMC_UART_DEFINE_E(SW, 1);
+ #endif
+ #endif
+ #if AXIS_HAS_UART(E2)
+ #ifdef E2_HARDWARE_SERIAL
+ TMC_UART_DEFINE_E(HW, 2);
+ #else
+ TMC_UART_DEFINE_E(SW, 2);
+ #endif
+ #endif
+ #if AXIS_HAS_UART(E3)
+ #ifdef E3_HARDWARE_SERIAL
+ TMC_UART_DEFINE_E(HW, 3);
+ #else
+ TMC_UART_DEFINE_E(SW, 3);
+ #endif
+ #endif
+ #if AXIS_HAS_UART(E4)
+ #ifdef E4_HARDWARE_SERIAL
+ TMC_UART_DEFINE_E(HW, 4);
+ #else
+ TMC_UART_DEFINE_E(SW, 4);
+ #endif
+ #endif
+ #if AXIS_HAS_UART(E5)
+ #ifdef E5_HARDWARE_SERIAL
+ TMC_UART_DEFINE_E(HW, 5);
+ #else
+ TMC_UART_DEFINE_E(SW, 5);
+ #endif
+ #endif
+
+ void tmc_serial_begin() {
+ #if AXIS_HAS_UART(X)
+ #ifdef X_HARDWARE_SERIAL
+ X_HARDWARE_SERIAL.begin(115200);
+ #else
+ stepperX.beginSerial(115200);
+ #endif
+ #endif
+ #if AXIS_HAS_UART(X2)
+ #ifdef X2_HARDWARE_SERIAL
+ X2_HARDWARE_SERIAL.begin(115200);
+ #else
+ stepperX2.beginSerial(115200);
+ #endif
+ #endif
+ #if AXIS_HAS_UART(Y)
+ #ifdef Y_HARDWARE_SERIAL
+ Y_HARDWARE_SERIAL.begin(115200);
+ #else
+ stepperY.beginSerial(115200);
+ #endif
+ #endif
+ #if AXIS_HAS_UART(Y2)
+ #ifdef Y2_HARDWARE_SERIAL
+ Y2_HARDWARE_SERIAL.begin(115200);
+ #else
+ stepperY2.beginSerial(115200);
+ #endif
+ #endif
+ #if AXIS_HAS_UART(Z)
+ #ifdef Z_HARDWARE_SERIAL
+ Z_HARDWARE_SERIAL.begin(115200);
+ #else
+ stepperZ.beginSerial(115200);
+ #endif
+ #endif
+ #if AXIS_HAS_UART(Z2)
+ #ifdef Z2_HARDWARE_SERIAL
+ Z2_HARDWARE_SERIAL.begin(115200);
+ #else
+ stepperZ2.beginSerial(115200);
+ #endif
+ #endif
+ #if AXIS_HAS_UART(Z3)
+ #ifdef Z3_HARDWARE_SERIAL
+ Z3_HARDWARE_SERIAL.begin(115200);
+ #else
+ stepperZ3.beginSerial(115200);
+ #endif
+ #endif
+ #if AXIS_HAS_UART(E0)
+ #ifdef E0_HARDWARE_SERIAL
+ E0_HARDWARE_SERIAL.begin(115200);
+ #else
+ stepperE0.beginSerial(115200);
+ #endif
+ #endif
+ #if AXIS_HAS_UART(E1)
+ #ifdef E1_HARDWARE_SERIAL
+ E1_HARDWARE_SERIAL.begin(115200);
+ #else
+ stepperE1.beginSerial(115200);
+ #endif
+ #endif
+ #if AXIS_HAS_UART(E2)
+ #ifdef E2_HARDWARE_SERIAL
+ E2_HARDWARE_SERIAL.begin(115200);
+ #else
+ stepperE2.beginSerial(115200);
+ #endif
+ #endif
+ #if AXIS_HAS_UART(E3)
+ #ifdef E3_HARDWARE_SERIAL
+ E3_HARDWARE_SERIAL.begin(115200);
+ #else
+ stepperE3.beginSerial(115200);
+ #endif
+ #endif
+ #if AXIS_HAS_UART(E4)
+ #ifdef E4_HARDWARE_SERIAL
+ E4_HARDWARE_SERIAL.begin(115200);
+ #else
+ stepperE4.beginSerial(115200);
+ #endif
+ #endif
+ #if AXIS_HAS_UART(E5)
+ #ifdef E5_HARDWARE_SERIAL
+ E5_HARDWARE_SERIAL.begin(115200);
+ #else
+ stepperE5.beginSerial(115200);
+ #endif
+ #endif
+ }
+#endif
+
+#if HAS_DRIVER(TMC2208)
+ template
+ void tmc_init(TMCMarlin &st, const uint16_t mA, const uint16_t microsteps, const uint32_t thrs, const bool stealth) {
+ 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 = chopper_timing.toff;
+ chopconf.intpol = INTERPOLATE;
+ chopconf.hend = chopper_timing.hend + 3;
+ chopconf.hstrt = chopper_timing.hstrt - 1;
+ #if ENABLED(SQUARE_WAVE_STEPPING)
+ chopconf.dedge = true;
+ #endif
+ 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);
+
+ #if ENABLED(HYBRID_THRESHOLD)
+ st.set_pwm_thrs(thrs);
+ #else
+ UNUSED(thrs);
+ #endif
+
+ st.GSTAT(0b111); // Clear
+ delay(200);
+ }
+#endif // TMC2208
+
+#if HAS_DRIVER(TMC2209)
+ template
+ void tmc_init(TMCMarlin &st, const uint16_t mA, const uint16_t microsteps, const uint32_t thrs, const bool stealth) {
+ 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 = chopper_timing.toff;
+ chopconf.intpol = INTERPOLATE;
+ chopconf.hend = chopper_timing.hend + 3;
+ chopconf.hstrt = chopper_timing.hstrt - 1;
+ #if ENABLED(SQUARE_WAVE_STEPPING)
+ chopconf.dedge = true;
+ #endif
+ 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);
+
+ #if ENABLED(HYBRID_THRESHOLD)
+ st.set_pwm_thrs(thrs);
+ #else
+ UNUSED(thrs);
+ #endif
+
+ st.GSTAT(0b111); // Clear
+ delay(200);
+ }
+#endif // TMC2209
+
+#if HAS_DRIVER(TMC2660)
+ template
+ void tmc_init(TMCMarlin &st, const uint16_t mA, const uint16_t microsteps, const uint32_t, const bool) {
+ st.begin();
+
+ TMC2660_n::CHOPCONF_t chopconf{0};
+ chopconf.tbl = 1;
+ chopconf.toff = chopper_timing.toff;
+ chopconf.hend = chopper_timing.hend + 3;
+ chopconf.hstrt = chopper_timing.hstrt - 1;
+ st.CHOPCONF(chopconf.sr);
+
+ st.sdoff(0);
+ st.rms_current(mA);
+ st.microsteps(microsteps);
+ #if ENABLED(SQUARE_WAVE_STEPPING)
+ st.dedge(true);
+ #endif
+ st.intpol(INTERPOLATE);
+ st.diss2g(true); // Disable short to ground protection. Too many false readings?
+
+ #if ENABLED(TMC_DEBUG)
+ st.rdsel(0b01);
+ #endif
+ }
+#endif // TMC2660
+
+#if HAS_DRIVER(TMC5130)
+ template
+ void tmc_init(TMCMarlin &st, const uint16_t mA, const uint16_t microsteps, const uint32_t thrs, const bool stealth) {
+ st.begin();
+
+ CHOPCONF_t chopconf{0};
+ chopconf.tbl = 1;
+ chopconf.toff = chopper_timing.toff;
+ chopconf.intpol = INTERPOLATE;
+ chopconf.hend = chopper_timing.hend + 3;
+ chopconf.hstrt = chopper_timing.hstrt - 1;
+ #if ENABLED(SQUARE_WAVE_STEPPING)
+ chopconf.dedge = true;
+ #endif
+ 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);
+
+ #if ENABLED(HYBRID_THRESHOLD)
+ st.set_pwm_thrs(thrs);
+ #else
+ UNUSED(thrs);
+ #endif
+
+ st.GSTAT(); // Clear GSTAT
+ }
+#endif // TMC5130
+
+#if HAS_DRIVER(TMC5160)
+ template
+ void tmc_init(TMCMarlin &st, const uint16_t mA, const uint16_t microsteps, const uint32_t thrs, const bool stealth) {
+ st.begin();
+
+ CHOPCONF_t chopconf{0};
+ chopconf.tbl = 1;
+ chopconf.toff = chopper_timing.toff;
+ chopconf.intpol = INTERPOLATE;
+ chopconf.hend = chopper_timing.hend + 3;
+ chopconf.hstrt = chopper_timing.hstrt - 1;
+ #if ENABLED(SQUARE_WAVE_STEPPING)
+ chopconf.dedge = true;
+ #endif
+ 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(thrs);
+ #else
+ UNUSED(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(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
+}
+
+void reset_trinamic_drivers() {
+ static constexpr bool stealthchop_by_axis[] = {
+ #if ENABLED(STEALTHCHOP_XY)
+ true
+ #else
+ false
+ #endif
+ ,
+ #if ENABLED(STEALTHCHOP_Z)
+ true
+ #else
+ false
+ #endif
+ ,
+ #if ENABLED(STEALTHCHOP_E)
+ true
+ #else
+ false
+ #endif
+ };
+
+ #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(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 USE_SENSORLESS
+ #if X_SENSORLESS
+ #if AXIS_HAS_STALLGUARD(X)
+ stepperX.homing_threshold(X_STALL_SENSITIVITY);
+ #endif
+ #if AXIS_HAS_STALLGUARD(X2) && !X2_SENSORLESS
+ stepperX2.homing_threshold(X_STALL_SENSITIVITY);
+ #endif
+ #endif
+ #if X2_SENSORLESS
+ stepperX2.homing_threshold(X2_STALL_SENSITIVITY);
+ #endif
+ #if Y_SENSORLESS
+ #if AXIS_HAS_STALLGUARD(Y)
+ stepperY.homing_threshold(Y_STALL_SENSITIVITY);
+ #endif
+ #if AXIS_HAS_STALLGUARD(Y2)
+ stepperY2.homing_threshold(Y_STALL_SENSITIVITY);
+ #endif
+ #endif
+ #if Z_SENSORLESS
+ #if AXIS_HAS_STALLGUARD(Z)
+ stepperZ.homing_threshold(Z_STALL_SENSITIVITY);
+ #endif
+ #if AXIS_HAS_STALLGUARD(Z2)
+ stepperZ2.homing_threshold(Z_STALL_SENSITIVITY);
+ #endif
+ #if AXIS_HAS_STALLGUARD(Z3)
+ stepperZ3.homing_threshold(Z_STALL_SENSITIVITY);
+ #endif
+ #endif
+ #endif
+
+ #ifdef TMC_ADV
+ TMC_ADV()
+ #endif
+
+ stepper.set_directions();
+}
+
+#endif // HAS_TRINAMIC
diff --git a/Marlin/src/module/stepper/trinamic.h b/Marlin/src/module/stepper/trinamic.h
new file mode 100644
index 000000000000..5f0ef6d717d9
--- /dev/null
+++ b/Marlin/src/module/stepper/trinamic.h
@@ -0,0 +1,219 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see .
+ *
+ */
+#pragma once
+
+/**
+ * trinamic.h
+ * Stepper driver indirection for Trinamic drivers
+ */
+
+#include "../inc/MarlinConfig.h"
+
+#include
+#if TMCSTEPPER_VERSION < 0x000405
+ #error "Update TMCStepper library to 0.4.5 or newer."
+#endif
+
+void restore_trinamic_drivers();
+void reset_trinamic_drivers();
+
+#define ____TMC_CLASS(MODEL, A, I, E) TMCMarlin
+#define ___TMC_CLASS(MODEL, A, I, E) ____TMC_CLASS(MODEL, A, I, E)
+#define __TMC_CLASS(MODEL, A, I, E) ___TMC_CLASS(_##MODEL, A, I, E)
+#define _TMC_CLASS(MODEL, L, E) __TMC_CLASS(MODEL, L, E)
+#define TMC_CLASS(ST, A) _TMC_CLASS(ST##_DRIVER_TYPE, TMC_##ST##_LABEL, A##_AXIS)
+#if ENABLED(DISTINCT_E_FACTORS)
+ #define TMC_CLASS_E(I) TMC_CLASS(E##I, E##I)
+#else
+ #define TMC_CLASS_E(I) TMC_CLASS(E##I, E)
+#endif
+
+typedef struct {
+ uint8_t toff;
+ int8_t hend;
+ uint8_t hstrt;
+} chopper_timing_t;
+
+static constexpr chopper_timing_t chopper_timing = CHOPPER_TIMING;
+
+#if HAS_TMC220x
+ void tmc_serial_begin();
+#endif
+
+#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;
+ #if ENABLED(SOFTWARE_DRIVER_ENABLE)
+ #define X_ENABLE_INIT NOOP
+ #define X_ENABLE_WRITE(STATE) stepperX.toff((STATE)==X_ENABLE_ON ? chopper_timing.toff : 0)
+ #define X_ENABLE_READ() stepperX.isEnabled()
+ #endif
+ #if ENABLED(SQUARE_WAVE_STEPPING)
+ #define X_STEP_WRITE(STATE) do{ if (STATE) TOGGLE(X_STEP_PIN); }while(0)
+ #endif
+#endif
+
+#if AXIS_IS_TMC(Y)
+ extern TMC_CLASS(Y, Y) stepperY;
+ #if ENABLED(SOFTWARE_DRIVER_ENABLE)
+ #define Y_ENABLE_INIT NOOP
+ #define Y_ENABLE_WRITE(STATE) stepperY.toff((STATE)==Y_ENABLE_ON ? chopper_timing.toff : 0)
+ #define Y_ENABLE_READ() stepperY.isEnabled()
+ #endif
+ #if ENABLED(SQUARE_WAVE_STEPPING)
+ #define Y_STEP_WRITE(STATE) do{ if (STATE) TOGGLE(Y_STEP_PIN); }while(0)
+ #endif
+#endif
+
+#if AXIS_IS_TMC(Z)
+ extern TMC_CLASS(Z, Z) stepperZ;
+ #if ENABLED(SOFTWARE_DRIVER_ENABLE)
+ #define Z_ENABLE_INIT NOOP
+ #define Z_ENABLE_WRITE(STATE) stepperZ.toff((STATE)==Z_ENABLE_ON ? chopper_timing.toff : 0)
+ #define Z_ENABLE_READ() stepperZ.isEnabled()
+ #endif
+ #if ENABLED(SQUARE_WAVE_STEPPING)
+ #define Z_STEP_WRITE(STATE) do{ if (STATE) TOGGLE(Z_STEP_PIN); }while(0)
+ #endif
+#endif
+
+#if HAS_X2_ENABLE && AXIS_IS_TMC(X2)
+ extern TMC_CLASS(X2, X2) stepperX2;
+ #if ENABLED(SOFTWARE_DRIVER_ENABLE)
+ #define X2_ENABLE_INIT NOOP
+ #define X2_ENABLE_WRITE(STATE) stepperX2.toff((STATE)==X2_ENABLE_ON ? chopper_timing.toff : 0)
+ #define X2_ENABLE_READ() stepperX2.isEnabled()
+ #endif
+ #if ENABLED(SQUARE_WAVE_STEPPING)
+ #define X2_STEP_WRITE(STATE) do{ if (STATE) TOGGLE(X2_STEP_PIN); }while(0)
+ #endif
+#endif
+
+#if HAS_Y2_ENABLE && AXIS_IS_TMC(Y2)
+ extern TMC_CLASS(Y2, Y2) stepperY2;
+ #if ENABLED(SOFTWARE_DRIVER_ENABLE)
+ #define Y2_ENABLE_INIT NOOP
+ #define Y2_ENABLE_WRITE(STATE) stepperY2.toff((STATE)==Y2_ENABLE_ON ? chopper_timing.toff : 0)
+ #define Y2_ENABLE_READ() stepperY2.isEnabled()
+ #endif
+ #if ENABLED(SQUARE_WAVE_STEPPING)
+ #define Y2_STEP_WRITE(STATE) do{ if (STATE) TOGGLE(Y2_STEP_PIN); }while(0)
+ #endif
+#endif
+
+#if HAS_Z2_ENABLE && AXIS_IS_TMC(Z2)
+ extern TMC_CLASS(Z2, Z2) stepperZ2;
+ #if ENABLED(SOFTWARE_DRIVER_ENABLE)
+ #define Z2_ENABLE_INIT NOOP
+ #define Z2_ENABLE_WRITE(STATE) stepperZ2.toff((STATE)==Z2_ENABLE_ON ? chopper_timing.toff : 0)
+ #define Z2_ENABLE_READ() stepperZ2.isEnabled()
+ #endif
+ #if ENABLED(SQUARE_WAVE_STEPPING)
+ #define Z2_STEP_WRITE(STATE) do{ if (STATE) TOGGLE(Z2_STEP_PIN); }while(0)
+ #endif
+#endif
+
+#if HAS_Z3_ENABLE && AXIS_IS_TMC(Z3)
+ extern TMC_CLASS(Z3, Z3) stepperZ3;
+ #if ENABLED(SOFTWARE_DRIVER_ENABLE)
+ #define Z3_ENABLE_INIT NOOP
+ #define Z3_ENABLE_WRITE(STATE) stepperZ3.toff((STATE)==Z3_ENABLE_ON ? chopper_timing.toff : 0)
+ #define Z3_ENABLE_READ() stepperZ3.isEnabled()
+ #endif
+ #if ENABLED(SQUARE_WAVE_STEPPING)
+ #define Z3_STEP_WRITE(STATE) do{ if (STATE) TOGGLE(Z3_STEP_PIN); }while(0)
+ #endif
+#endif
+
+#if AXIS_IS_TMC(E0)
+ extern TMC_CLASS_E(0) stepperE0;
+ #if ENABLED(SOFTWARE_DRIVER_ENABLE)
+ #define E0_ENABLE_INIT NOOP
+ #define E0_ENABLE_WRITE(STATE) stepperE0.toff((STATE)==E0_ENABLE_ON ? chopper_timing.toff : 0)
+ #define E0_ENABLE_READ() stepperE0.isEnabled()
+ #endif
+ #if ENABLED(SQUARE_WAVE_STEPPING)
+ #define E0_STEP_WRITE(STATE) do{ if (STATE) TOGGLE(E0_STEP_PIN); }while(0)
+ #endif
+#endif
+
+#if AXIS_IS_TMC(E1)
+ extern TMC_CLASS_E(1) stepperE1;
+ #if ENABLED(SOFTWARE_DRIVER_ENABLE)
+ #define E1_ENABLE_INIT NOOP
+ #define E1_ENABLE_WRITE(STATE) stepperE1.toff((STATE)==E1_ENABLE_ON ? chopper_timing.toff : 0)
+ #define E1_ENABLE_READ() stepperE1.isEnabled()
+ #endif
+ #if ENABLED(SQUARE_WAVE_STEPPING)
+ #define E1_STEP_WRITE(STATE) do{ if (STATE) TOGGLE(E1_STEP_PIN); }while(0)
+ #endif
+#endif
+
+#if AXIS_IS_TMC(E2)
+ extern TMC_CLASS_E(2) stepperE2;
+ #if ENABLED(SOFTWARE_DRIVER_ENABLE)
+ #define E2_ENABLE_INIT NOOP
+ #define E2_ENABLE_WRITE(STATE) stepperE2.toff((STATE)==E2_ENABLE_ON ? chopper_timing.toff : 0)
+ #define E2_ENABLE_READ() stepperE2.isEnabled()
+ #endif
+ #if ENABLED(SQUARE_WAVE_STEPPING)
+ #define E2_STEP_WRITE(STATE) do{ if (STATE) TOGGLE(E2_STEP_PIN); }while(0)
+ #endif
+#endif
+
+#if AXIS_IS_TMC(E3)
+ extern TMC_CLASS_E(3) stepperE3;
+ #if ENABLED(SOFTWARE_DRIVER_ENABLE)
+ #define E3_ENABLE_INIT NOOP
+ #define E3_ENABLE_WRITE(STATE) stepperE3.toff((STATE)==E3_ENABLE_ON ? chopper_timing.toff : 0)
+ #define E3_ENABLE_READ() stepperE3.isEnabled()
+ #endif
+ #if ENABLED(SQUARE_WAVE_STEPPING)
+ #define E3_STEP_WRITE(STATE) do{ if (STATE) TOGGLE(E3_STEP_PIN); }while(0)
+ #endif
+#endif
+
+#if AXIS_IS_TMC(E4)
+ extern TMC_CLASS_E(4) stepperE4;
+ #if ENABLED(SOFTWARE_DRIVER_ENABLE)
+ #define E4_ENABLE_INIT NOOP
+ #define E4_ENABLE_WRITE(STATE) stepperE4.toff((STATE)==E4_ENABLE_ON ? chopper_timing.toff : 0)
+ #define E4_ENABLE_READ() stepperE4.isEnabled()
+ #endif
+ #if ENABLED(SQUARE_WAVE_STEPPING)
+ #define E4_STEP_WRITE(STATE) do{ if (STATE) TOGGLE(E4_STEP_PIN); }while(0)
+ #endif
+#endif
+
+#if AXIS_IS_TMC(E5)
+ extern TMC_CLASS_E(5) stepperE5;
+ #if ENABLED(SOFTWARE_DRIVER_ENABLE)
+ #define E5_ENABLE_INIT NOOP
+ #define E5_ENABLE_WRITE(STATE) stepperE5.toff((STATE)==E5_ENABLE_ON ? chopper_timing.toff : 0)
+ #define E5_ENABLE_READ() stepperE5.isEnabled()
+ #endif
+ #if ENABLED(SQUARE_WAVE_STEPPING)
+ #define E5_STEP_WRITE(STATE) do{ if (STATE) TOGGLE(E5_STEP_PIN); }while(0)
+ #endif
+#endif