marlin/Marlin/src/module/stepper_indirection.cpp

/**
 * 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.cpp
 *
 * 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
 */

#include "stepper_indirection.h"

#include "../inc/MarlinConfig.h"

#include "../module/stepper.h"

//
// TMC26X Driver objects and inits
//
#if HAS_DRIVER(TMC26X)
  #include <SPI.h>

  #ifdef STM32F7
    #include "../HAL/HAL_STM32F7/TMC2660.h"
  #else
    #include <TMC26XStepper.h>
  #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

#if HAS_TRINAMIC
  #define _TMC_INIT(ST, SPMM) tmc_init(stepper##ST, ST##_CURRENT, ST##_MICROSTEPS, ST##_HYBRID_THRESHOLD, SPMM)
#endif

//
// TMC2130 Driver objects and inits
//
#if HAS_DRIVER(TMC2130)

  #include <SPI.h>
  #include "planner.h"
  #include "../core/enum.h"

  #if ENABLED(TMC_USE_SW_SPI)
    #define _TMC2130_DEFINE(ST, L) TMCMarlin<TMC2130Stepper, L> stepper##ST(ST##_CS_PIN, R_SENSE, TMC_SW_MOSI, TMC_SW_MISO, TMC_SW_SCK)
    #define TMC2130_DEFINE(ST) _TMC2130_DEFINE(ST, TMC_##ST##_LABEL)
  #else
    #define _TMC2130_DEFINE(ST, L) TMCMarlin<TMC2130Stepper, L> stepper##ST(ST##_CS_PIN, R_SENSE)
    #define TMC2130_DEFINE(ST) _TMC2130_DEFINE(ST, TMC_##ST##_LABEL)
  #endif
  // Stepper objects of TMC2130 steppers used
  #if AXIS_DRIVER_TYPE(X, TMC2130)
    TMC2130_DEFINE(X);
  #endif
  #if AXIS_DRIVER_TYPE(X2, TMC2130)
    TMC2130_DEFINE(X2);
  #endif
  #if AXIS_DRIVER_TYPE(Y, TMC2130)
    TMC2130_DEFINE(Y);
  #endif
  #if AXIS_DRIVER_TYPE(Y2, TMC2130)
    TMC2130_DEFINE(Y2);
  #endif
  #if AXIS_DRIVER_TYPE(Z, TMC2130)
    TMC2130_DEFINE(Z);
  #endif
  #if AXIS_DRIVER_TYPE(Z2, TMC2130)
    TMC2130_DEFINE(Z2);
  #endif
  #if AXIS_DRIVER_TYPE(Z3, TMC2130)
    TMC2130_DEFINE(Z3);
  #endif
  #if AXIS_DRIVER_TYPE(E0, TMC2130)
    TMC2130_DEFINE(E0);
  #endif
  #if AXIS_DRIVER_TYPE(E1, TMC2130)
    TMC2130_DEFINE(E1);
  #endif
  #if AXIS_DRIVER_TYPE(E2, TMC2130)
    TMC2130_DEFINE(E2);
  #endif
  #if AXIS_DRIVER_TYPE(E3, TMC2130)
    TMC2130_DEFINE(E3);
  #endif
  #if AXIS_DRIVER_TYPE(E4, TMC2130)
    TMC2130_DEFINE(E4);
  #endif
  #if AXIS_DRIVER_TYPE(E5, TMC2130)
    TMC2130_DEFINE(E5);
  #endif

  template<char AXIS_LETTER, char DRIVER_ID>
  void tmc_init(TMCMarlin<TMC2130Stepper, AXIS_LETTER, DRIVER_ID> &st, const uint16_t mA, const uint16_t microsteps, const uint32_t thrs, const float spmm) {
    #if DISABLED(STEALTHCHOP) || DISABLED(HYBRID_THRESHOLD)
      UNUSED(thrs);
      UNUSED(spmm);
    #endif
    st.begin();

    CHOPCONF_t chopconf{0};
    chopconf.tbl = 1;
    chopconf.toff = 3;
    chopconf.intpol = INTERPOLATE;
    chopconf.hstrt = 2;
    chopconf.hend = 5;
    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

    #if ENABLED(STEALTHCHOP)
      st.en_pwm_mode(true);

      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.TPWMTHRS(12650000UL*microsteps/(256*thrs*spmm));
      #endif
    #endif
    st.GSTAT(); // Clear GSTAT
  }
#endif // TMC2130

//
// TMC2208 Driver objects and inits
//
#if HAS_DRIVER(TMC2208)
  #include <HardwareSerial.h>
  #include "planner.h"

  #define _TMC2208_DEFINE_HARDWARE(ST, L) TMCMarlin<TMC2208Stepper, L> stepper##ST(&ST##_HARDWARE_SERIAL, R_SENSE)
  #define TMC2208_DEFINE_HARDWARE(ST) _TMC2208_DEFINE_HARDWARE(ST, TMC_##ST##_LABEL)

  #define _TMC2208_DEFINE_SOFTWARE(ST, L) TMCMarlin<TMC2208Stepper, L> stepper##ST(ST##_SERIAL_RX_PIN, ST##_SERIAL_TX_PIN, R_SENSE, ST##_SERIAL_RX_PIN > -1)
  #define TMC2208_DEFINE_SOFTWARE(ST) _TMC2208_DEFINE_SOFTWARE(ST, TMC_##ST##_LABEL)

  // Stepper objects of TMC2208 steppers used
  #if AXIS_DRIVER_TYPE(X, TMC2208)
    #ifdef X_HARDWARE_SERIAL
      TMC2208_DEFINE_HARDWARE(X);
    #else
      TMC2208_DEFINE_SOFTWARE(X);
    #endif
  #endif
  #if AXIS_DRIVER_TYPE(X2, TMC2208)
    #ifdef X2_HARDWARE_SERIAL
      TMC2208_DEFINE_HARDWARE(X2);
    #else
      TMC2208_DEFINE_SOFTWARE(X2);
    #endif
  #endif
  #if AXIS_DRIVER_TYPE(Y, TMC2208)
    #ifdef Y_HARDWARE_SERIAL
      TMC2208_DEFINE_HARDWARE(Y);
    #else
      TMC2208_DEFINE_SOFTWARE(Y);
    #endif
  #endif
  #if AXIS_DRIVER_TYPE(Y2, TMC2208)
    #ifdef Y2_HARDWARE_SERIAL
      TMC2208_DEFINE_HARDWARE(Y2);
    #else
      TMC2208_DEFINE_SOFTWARE(Y2);
    #endif
  #endif
  #if AXIS_DRIVER_TYPE(Z, TMC2208)
    #ifdef Z_HARDWARE_SERIAL
      TMC2208_DEFINE_HARDWARE(Z);
    #else
      TMC2208_DEFINE_SOFTWARE(Z);
    #endif
  #endif
  #if AXIS_DRIVER_TYPE(Z2, TMC2208)
    #ifdef Z2_HARDWARE_SERIAL
      TMC2208_DEFINE_HARDWARE(Z2);
    #else
      TMC2208_DEFINE_SOFTWARE(Z2);
    #endif
  #endif
  #if AXIS_DRIVER_TYPE(Z3, TMC2208)
    #ifdef Z3_HARDWARE_SERIAL
      TMC2208_DEFINE_HARDWARE(Z3);
    #else
      TMC2208_DEFINE_SOFTWARE(Z3);
    #endif
  #endif
  #if AXIS_DRIVER_TYPE(E0, TMC2208)
    #ifdef E0_HARDWARE_SERIAL
      TMC2208_DEFINE_HARDWARE(E0);
    #else
      TMC2208_DEFINE_SOFTWARE(E0);
    #endif
  #endif
  #if AXIS_DRIVER_TYPE(E1, TMC2208)
    #ifdef E1_HARDWARE_SERIAL
      TMC2208_DEFINE_HARDWARE(E1);
    #else
      TMC2208_DEFINE_SOFTWARE(E1);
    #endif
  #endif
  #if AXIS_DRIVER_TYPE(E2, TMC2208)
    #ifdef E2_HARDWARE_SERIAL
      TMC2208_DEFINE_HARDWARE(E2);
    #else
      TMC2208_DEFINE_SOFTWARE(E2);
    #endif
  #endif
  #if AXIS_DRIVER_TYPE(E3, TMC2208)
    #ifdef E3_HARDWARE_SERIAL
      TMC2208_DEFINE_HARDWARE(E3);
    #else
      TMC2208_DEFINE_SOFTWARE(E3);
    #endif
  #endif
  #if AXIS_DRIVER_TYPE(E4, TMC2208)
    #ifdef E4_HARDWARE_SERIAL
      TMC2208_DEFINE_HARDWARE(E4);
    #else
      TMC2208_DEFINE_SOFTWARE(E4);
    #endif
  #endif
  #if AXIS_DRIVER_TYPE(E5, TMC2208)
    #ifdef E5_HARDWARE_SERIAL
      TMC2208_DEFINE_HARDWARE(E5);
    #else
      TMC2208_DEFINE_SOFTWARE(E5);
    #endif
  #endif

  void tmc2208_serial_begin() {
    #if AXIS_DRIVER_TYPE(X, TMC2208)
      #ifdef X_HARDWARE_SERIAL
        X_HARDWARE_SERIAL.begin(115200);
      #else
        stepperX.beginSerial(115200);
      #endif
    #endif
    #if AXIS_DRIVER_TYPE(X2, TMC2208)
      #ifdef X2_HARDWARE_SERIAL
        X2_HARDWARE_SERIAL.begin(115200);
      #else
        stepperX2.beginSerial(115200);
      #endif
    #endif
    #if AXIS_DRIVER_TYPE(Y, TMC2208)
      #ifdef Y_HARDWARE_SERIAL
        Y_HARDWARE_SERIAL.begin(115200);
      #else
        stepperY.beginSerial(115200);
      #endif
    #endif
    #if AXIS_DRIVER_TYPE(Y2, TMC2208)
      #ifdef Y2_HARDWARE_SERIAL
        Y2_HARDWARE_SERIAL.begin(115200);
      #else
        stepperY2.beginSerial(115200);
      #endif
    #endif
    #if AXIS_DRIVER_TYPE(Z, TMC2208)
      #ifdef Z_HARDWARE_SERIAL
        Z_HARDWARE_SERIAL.begin(115200);
      #else
        stepperZ.beginSerial(115200);
      #endif
    #endif
    #if AXIS_DRIVER_TYPE(Z2, TMC2208)
      #ifdef Z2_HARDWARE_SERIAL
        Z2_HARDWARE_SERIAL.begin(115200);
      #else
        stepperZ2.beginSerial(115200);
      #endif
    #endif
    #if AXIS_DRIVER_TYPE(Z3, TMC2208)
      #ifdef Z3_HARDWARE_SERIAL
        Z3_HARDWARE_SERIAL.begin(115200);
      #else
        stepperZ3.beginSerial(115200);
      #endif
    #endif
    #if AXIS_DRIVER_TYPE(E0, TMC2208)
      #ifdef E0_HARDWARE_SERIAL
        E0_HARDWARE_SERIAL.begin(115200);
      #else
        stepperE0.beginSerial(115200);
      #endif
    #endif
    #if AXIS_DRIVER_TYPE(E1, TMC2208)
      #ifdef E1_HARDWARE_SERIAL
        E1_HARDWARE_SERIAL.begin(115200);
      #else
        stepperE1.beginSerial(115200);
      #endif
    #endif
    #if AXIS_DRIVER_TYPE(E2, TMC2208)
      #ifdef E2_HARDWARE_SERIAL
        E2_HARDWARE_SERIAL.begin(115200);
      #else
        stepperE2.beginSerial(115200);
      #endif
    #endif
    #if AXIS_DRIVER_TYPE(E3, TMC2208)
      #ifdef E3_HARDWARE_SERIAL
        E3_HARDWARE_SERIAL.begin(115200);
      #else
        stepperE3.beginSerial(115200);
      #endif
    #endif
    #if AXIS_DRIVER_TYPE(E4, TMC2208)
      #ifdef E4_HARDWARE_SERIAL
        E4_HARDWARE_SERIAL.begin(115200);
      #else
        stepperE4.beginSerial(115200);
      #endif
    #endif
    #if AXIS_DRIVER_TYPE(E5, TMC2208)
      #ifdef E5_HARDWARE_SERIAL
        E5_HARDWARE_SERIAL.begin(115200);
      #else
        stepperE5.beginSerial(115200);
      #endif
    #endif
  }

  template<char AXIS_LETTER, char DRIVER_ID>
  void tmc_init(TMCMarlin<TMC2208Stepper, AXIS_LETTER, DRIVER_ID> &st, const uint16_t mA, const uint16_t microsteps, const uint32_t thrs, const float spmm) {
    #if DISABLED(STEALTHCHOP) || DISABLED(HYBRID_THRESHOLD)
      UNUSED(thrs);
      UNUSED(spmm);
    #endif

    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;

    TMC2208_n::CHOPCONF_t chopconf{0};
    chopconf.tbl = 0b01; // blank_time = 24
    chopconf.toff = 5;
    chopconf.intpol = INTERPOLATE;
    chopconf.hstrt = 2;
    chopconf.hend = 5;
    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
    #if ENABLED(STEALTHCHOP)
      gconf.en_spreadcycle = false;

      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.TPWMTHRS(12650000UL*microsteps/(256*thrs*spmm));
      #endif
    #else
      gconf.en_spreadcycle = true;
    #endif
    st.GCONF(gconf.sr);
    st.GSTAT(0b111); // Clear
    delay(200);
  }
#endif // TMC2208

//
// TMC2660 Driver objects and inits
//
#if HAS_DRIVER(TMC2660)

  #include <SPI.h>
  #include "planner.h"
  #include "../core/enum.h"

  #if ENABLED(TMC_USE_SW_SPI)
    #define _TMC2660_DEFINE(ST, L) TMCMarlin<TMC2660Stepper, L> stepper##ST(ST##_CS_PIN, R_SENSE, TMC_SW_MOSI, TMC_SW_MISO, TMC_SW_SCK)
    #define TMC2660_DEFINE(ST) _TMC2660_DEFINE(ST, TMC_##ST##_LABEL)
  #else
    #define _TMC2660_DEFINE(ST, L) TMCMarlin<TMC2660Stepper, L> stepper##ST(ST##_CS_PIN, R_SENSE)
    #define TMC2660_DEFINE(ST) _TMC2660_DEFINE(ST, TMC_##ST##_LABEL)
  #endif

  // Stepper objects of TMC2660 steppers used
  #if AXIS_DRIVER_TYPE(X, TMC2660)
    TMC2660_DEFINE(X);
  #endif
  #if AXIS_DRIVER_TYPE(X2, TMC2660)
    TMC2660_DEFINE(X2);
  #endif
  #if AXIS_DRIVER_TYPE(Y, TMC2660)
    TMC2660_DEFINE(Y);
  #endif
  #if AXIS_DRIVER_TYPE(Y2, TMC2660)
    TMC2660_DEFINE(Y2);
  #endif
  #if AXIS_DRIVER_TYPE(Z, TMC2660)
    TMC2660_DEFINE(Z);
  #endif
  #if AXIS_DRIVER_TYPE(Z2, TMC2660)
    TMC2660_DEFINE(Z2);
  #endif
  #if AXIS_DRIVER_TYPE(E0, TMC2660)
    TMC2660_DEFINE(E0);
  #endif
  #if AXIS_DRIVER_TYPE(E1, TMC2660)
    TMC2660_DEFINE(E1);
  #endif
  #if AXIS_DRIVER_TYPE(E2, TMC2660)
    TMC2660_DEFINE(E2);
  #endif
  #if AXIS_DRIVER_TYPE(E3, TMC2660)
    TMC2660_DEFINE(E3);
  #endif
  #if AXIS_DRIVER_TYPE(E4, TMC2660)
    TMC2660_DEFINE(E4);
  #endif
  #if AXIS_DRIVER_TYPE(E5, TMC2660)
    TMC2660_DEFINE(E5);
  #endif

  template<char AXIS_LETTER, char DRIVER_ID>
  void tmc_init(TMCMarlin<TMC2660Stepper, AXIS_LETTER, DRIVER_ID> &st, const uint16_t mA, const uint16_t microsteps, const uint32_t, const float) {
    st.begin();
    st.rms_current(mA);
    st.microsteps(microsteps);
    st.blank_time(24);
    st.toff(5); // Only enables the driver if used with stealthChop
    st.intpol(INTERPOLATE);
    //st.hysteresis_start(3);
    //st.hysteresis_end(2);
  }
#endif // TMC2660

void restore_stepper_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_stepper_drivers() {
  #if HAS_DRIVER(TMC26X)
    tmc26x_init_to_defaults();
  #endif
  #if ENABLED(HAVE_L6470DRIVER)
    L6470_init_to_defaults();
  #endif

  #if AXIS_IS_TMC(X)
    _TMC_INIT(X, planner.settings.axis_steps_per_mm[X_AXIS]);
  #endif
  #if AXIS_IS_TMC(X2)
    _TMC_INIT(X2, planner.settings.axis_steps_per_mm[X_AXIS]);
  #endif
  #if AXIS_IS_TMC(Y)
    _TMC_INIT(Y, planner.settings.axis_steps_per_mm[Y_AXIS]);
  #endif
  #if AXIS_IS_TMC(Y2)
    _TMC_INIT(Y2, planner.settings.axis_steps_per_mm[Y_AXIS]);
  #endif
  #if AXIS_IS_TMC(Z)
    _TMC_INIT(Z, planner.settings.axis_steps_per_mm[Z_AXIS]);
  #endif
  #if AXIS_IS_TMC(Z2)
    _TMC_INIT(Z2, planner.settings.axis_steps_per_mm[Z_AXIS]);
  #endif
  #if AXIS_IS_TMC(Z3)
    _TMC_INIT(Z3, planner.settings.axis_steps_per_mm[Z_AXIS]);
  #endif
  #if AXIS_IS_TMC(E0)
    _TMC_INIT(E0, planner.settings.axis_steps_per_mm[E_AXIS_N(0)]);
  #endif
  #if AXIS_IS_TMC(E1)
    _TMC_INIT(E1, planner.settings.axis_steps_per_mm[E_AXIS_N(1)]);
  #endif
  #if AXIS_IS_TMC(E2)
    _TMC_INIT(E2, planner.settings.axis_steps_per_mm[E_AXIS_N(2)]);
  #endif
  #if AXIS_IS_TMC(E3)
    _TMC_INIT(E3, planner.settings.axis_steps_per_mm[E_AXIS_N(3)]);
  #endif
  #if AXIS_IS_TMC(E4)
    _TMC_INIT(E4, planner.settings.axis_steps_per_mm[E_AXIS_N(4)]);
  #endif
  #if AXIS_IS_TMC(E5)
    _TMC_INIT(E5, planner.settings.axis_steps_per_mm[E_AXIS_N(5)]);
  #endif

  #if USE_SENSORLESS
    #if X_SENSORLESS
      #if AXIS_HAS_STALLGUARD(X)
        stepperX.sgt(X_STALL_SENSITIVITY);
      #endif
      #if AXIS_HAS_STALLGUARD(X2)
        stepperX2.sgt(X_STALL_SENSITIVITY);
      #endif
    #endif
    #if Y_SENSORLESS
      #if AXIS_HAS_STALLGUARD(Y)
        stepperY.sgt(Y_STALL_SENSITIVITY);
      #endif
      #if AXIS_HAS_STALLGUARD(Y2)
        stepperY2.sgt(Y_STALL_SENSITIVITY);
      #endif
    #endif
    #if Z_SENSORLESS
      #if AXIS_HAS_STALLGUARD(Z)
        stepperZ.sgt(Z_STALL_SENSITIVITY);
      #endif
      #if AXIS_HAS_STALLGUARD(Z2)
        stepperZ2.sgt(Z_STALL_SENSITIVITY);
      #endif
      #if AXIS_HAS_STALLGUARD(Z3)
        stepperZ3.sgt(Z_STALL_SENSITIVITY);
      #endif
    #endif
  #endif

  #ifdef TMC_ADV
    TMC_ADV()
  #endif

  stepper.set_directions();
}

//
// L6470 Driver objects and inits
//
#if HAS_DRIVER(L6470)

  #include <SPI.h>
  #include <L6470.h>

  #define _L6470_DEFINE(ST) L6470 stepper##ST(ST##_ENABLE_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

  #define _L6470_INIT(A) do{ \
    stepper##A.init(); \
    stepper##A.softFree(); \
    stepper##A.setMicroSteps(A##_MICROSTEPS); \
    stepper##A.setOverCurrent(A##_OVERCURRENT); \
    stepper##A.setStallCurrent(A##_STALLCURRENT); \
  }while(0)

  void L6470_init_to_defaults() {
    #if AXIS_DRIVER_TYPE(X, L6470)
      _L6470_INIT(X);
    #endif
    #if AXIS_DRIVER_TYPE(X2, L6470)
      _L6470_INIT(X2);
    #endif
    #if AXIS_DRIVER_TYPE(Y, L6470)
      _L6470_INIT(Y);
    #endif
    #if AXIS_DRIVER_TYPE(Y2, L6470)
      _L6470_INIT(Y2);
    #endif
    #if AXIS_DRIVER_TYPE(Z, L6470)
      _L6470_INIT(Z);
    #endif
    #if AXIS_DRIVER_TYPE(Z2, L6470)
      _L6470_INIT(Z2);
    #endif
    #if AXIS_DRIVER_TYPE(Z3, L6470)
      _L6470_INIT(Z3);
    #endif
    #if AXIS_DRIVER_TYPE(E0, L6470)
      _L6470_INIT(E0);
    #endif
    #if AXIS_DRIVER_TYPE(E1, L6470)
      _L6470_INIT(E1);
    #endif
    #if AXIS_DRIVER_TYPE(E2, L6470)
      _L6470_INIT(E2);
    #endif
    #if AXIS_DRIVER_TYPE(E3, L6470)
      _L6470_INIT(E3);
    #endif
    #if AXIS_DRIVER_TYPE(E4, L6470)
      _L6470_INIT(E4);
    #endif
    #if AXIS_DRIVER_TYPE(E5, L6470)
      _L6470_INIT(E5);
    #endif
  }

#endif // L6470