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225 lines
6.1 KiB
C++
225 lines
6.1 KiB
C++
/*
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stepper_indirection.c - stepper motor driver indirection
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to allow some stepper functions to be done via SPI/I2c instead of direct pin manipulation
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Part of Marlin
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Copyright (c) 2015 Dominik Wenger
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Marlin is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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Marlin is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with Marlin. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "stepper_indirection.h"
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#include "Configuration.h"
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#ifdef HAVE_TMCDRIVER
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#include <SPI.h>
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#include <TMC26XStepper.h>
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#endif
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// Stepper objects of TMC steppers used
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#ifdef X_IS_TMC
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TMC26XStepper stepperX(200,X_ENABLE_PIN,X_STEP_PIN,X_DIR_PIN,X_MAX_CURRENT,X_SENSE_RESISTOR);
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#endif
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#ifdef X2_IS_TMC
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TMC26XStepper stepperX2(200,X2_ENABLE_PIN,X2_STEP_PIN,X2_DIR_PIN,X2_MAX_CURRENT,X2_SENSE_RESISTOR);
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#endif
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#ifdef Y_IS_TMC
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TMC26XStepper stepperY(200,Y_ENABLE_PIN,Y_STEP_PIN,Y_DIR_PIN,Y_MAX_CURRENT,Y_SENSE_RESISTOR);
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#endif
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#ifdef Y2_IS_TMC
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TMC26XStepper stepperY2(200,Y2_ENABLE_PIN,Y2_STEP_PIN,Y2_DIR_PIN,Y2_MAX_CURRENT,Y2_SENSE_RESISTOR);
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#endif
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#ifdef Z_IS_TMC
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TMC26XStepper stepperZ(200,Z_ENABLE_PIN,Z_STEP_PIN,Z_DIR_PIN,Z_MAX_CURRENT,Z_SENSE_RESISTOR);
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#endif
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#ifdef Z2_IS_TMC
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TMC26XStepper stepperZ2(200,Z2_ENABLE_PIN,Z2_STEP_PIN,Z2_DIR_PIN,Z2_MAX_CURRENT,Z2_SENSE_RESISTOR);
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#endif
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#ifdef E0_IS_TMC
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TMC26XStepper stepperE0(200,E0_ENABLE_PIN,E0_STEP_PIN,E0_DIR_PIN,E0_MAX_CURRENT,E0_SENSE_RESISTOR);
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#endif
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#ifdef E1_IS_TMC
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TMC26XStepper stepperE1(200,E1_ENABLE_PIN,E1_STEP_PIN,E1_DIR_PIN,E1_MAX_CURRENT,E1_SENSE_RESISTOR);
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#endif
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#ifdef E2_IS_TMC
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TMC26XStepper stepperE2(200,E2_ENABLE_PIN,E2_STEP_PIN,E2_DIR_PIN,E2_MAX_CURRENT,E2_SENSE_RESISTOR);
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#endif
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#ifdef E3_IS_TMC
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TMC26XStepper stepperE3(200,E3_ENABLE_PIN,E3_STEP_PIN,E3_DIR_PIN,E3_MAX_CURRENT,E3_SENSE_RESISTOR);
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#endif
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#ifdef HAVE_TMCDRIVER
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void tmc_init()
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{
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#ifdef X_IS_TMC
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stepperX.setMicrosteps(X_MICROSTEPS);
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stepperX.start();
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#endif
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#ifdef X2_IS_TMC
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stepperX2.setMicrosteps(X2_MICROSTEPS);
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stepperX2.start();
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#endif
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#ifdef Y_IS_TMC
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stepperY.setMicrosteps(Y_MICROSTEPS);
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stepperY.start();
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#endif
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#ifdef Y2_IS_TMC
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stepperY2.setMicrosteps(Y2_MICROSTEPS);
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stepperY2.start();
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#endif
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#ifdef Z_IS_TMC
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stepperZ.setMicrosteps(Z_MICROSTEPS);
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stepperZ.start();
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#endif
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#ifdef Z2_IS_TMC
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stepperZ2.setMicrosteps(Z2_MICROSTEPS);
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stepperZ2.start();
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#endif
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#ifdef E0_IS_TMC
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stepperE0.setMicrosteps(E0_MICROSTEPS);
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stepperE0.start();
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#endif
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#ifdef E1_IS_TMC
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stepperE1.setMicrosteps(E1_MICROSTEPS);
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stepperE1.start();
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#endif
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#ifdef E2_IS_TMC
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stepperE2.setMicrosteps(E2_MICROSTEPS);
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stepperE2.start();
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#endif
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#ifdef E3_IS_TMC
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stepperE3.setMicrosteps(E3_MICROSTEPS);
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stepperE3.start();
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#endif
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}
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#endif
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// L6470 Driver objects and inits
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#ifdef HAVE_L6470DRIVER
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#include <SPI.h>
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#include <L6470.h>
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#endif
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// L6470 Stepper objects
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#ifdef X_IS_L6470
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L6470 stepperX(X_ENABLE_PIN);
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#endif
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#ifdef X2_IS_L6470
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L6470 stepperX2(X2_ENABLE_PIN);
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#endif
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#ifdef Y_IS_L6470
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L6470 stepperY(Y_ENABLE_PIN);
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#endif
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#ifdef Y2_IS_L6470
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L6470 stepperY2(Y2_ENABLE_PIN);
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#endif
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#ifdef Z_IS_L6470
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L6470 stepperZ(Z_ENABLE_PIN);
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#endif
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#ifdef Z2_IS_L6470
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L6470 stepperZ2(Z2_ENABLE_PIN);
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#endif
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#ifdef E0_IS_L6470
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L6470 stepperE0(E0_ENABLE_PIN);
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#endif
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#ifdef E1_IS_L6470
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L6470 stepperE1(E1_ENABLE_PIN);
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#endif
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#ifdef E2_IS_L6470
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L6470 stepperE2(E2_ENABLE_PIN);
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#endif
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#ifdef E3_IS_L6470
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L6470 stepperE3(E3_ENABLE_PIN);
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#endif
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// init routine
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#ifdef HAVE_L6470DRIVER
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void L6470_init()
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{
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#ifdef X_IS_L6470
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stepperX.init(X_K_VAL);
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stepperX.softFree();
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stepperX.setMicroSteps(X_MICROSTEPS);
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stepperX.setOverCurrent(X_OVERCURRENT); //set overcurrent protection
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stepperX.setStallCurrent(X_STALLCURRENT);
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#endif
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#ifdef X2_IS_L6470
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stepperX2.init(X2_K_VAL);
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stepperX2.softFree();
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stepperX2.setMicroSteps(X2_MICROSTEPS);
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stepperX2.setOverCurrent(X2_OVERCURRENT); //set overcurrent protection
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stepperX2.setStallCurrent(X2_STALLCURRENT);
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#endif
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#ifdef Y_IS_L6470
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stepperY.init(Y_K_VAL);
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stepperY.softFree();
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stepperY.setMicroSteps(Y_MICROSTEPS);
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stepperY.setOverCurrent(Y_OVERCURRENT); //set overcurrent protection
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stepperY.setStallCurrent(Y_STALLCURRENT);
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#endif
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#ifdef Y2_IS_L6470
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stepperY2.init(Y2_K_VAL);
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stepperY2.softFree();
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stepperY2.setMicroSteps(Y2_MICROSTEPS);
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stepperY2.setOverCurrent(Y2_OVERCURRENT); //set overcurrent protection
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stepperY2.setStallCurrent(Y2_STALLCURRENT);
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#endif
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#ifdef Z_IS_L6470
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stepperZ.init(Z_K_VAL);
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stepperZ.softFree();
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stepperZ.setMicroSteps(Z_MICROSTEPS);
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stepperZ.setOverCurrent(Z_OVERCURRENT); //set overcurrent protection
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stepperZ.setStallCurrent(Z_STALLCURRENT);
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#endif
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#ifdef Z2_IS_L6470
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stepperZ2.init(Z2_K_VAL);
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stepperZ2.softFree();
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stepperZ2.setMicroSteps(Z2_MICROSTEPS);
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stepperZ2.setOverCurrent(Z2_OVERCURRENT); //set overcurrent protection
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stepperZ2.setStallCurrent(Z2_STALLCURRENT);
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#endif
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#ifdef E0_IS_L6470
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stepperE0.init(E0_K_VAL);
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stepperE0.softFree();
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stepperE0.setMicroSteps(E0_MICROSTEPS);
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stepperE0.setOverCurrent(E0_OVERCURRENT); //set overcurrent protection
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stepperE0.setStallCurrent(E0_STALLCURRENT);
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#endif
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#ifdef E1_IS_L6470
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stepperE1.init(E1_K_VAL);
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stepperE1.softFree();
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stepperE1.setMicroSteps(E1_MICROSTEPS);
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stepperE1.setOverCurrent(E1_OVERCURRENT); //set overcurrent protection
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stepperE1.setStallCurrent(E1_STALLCURRENT);
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#endif
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#ifdef E2_IS_L6470
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stepperE2.init(E2_K_VAL);
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stepperE2.softFree();
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stepperE2.setMicroSteps(E2_MICROSTEPS);
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stepperE2.setOverCurrent(E2_OVERCURRENT); //set overcurrent protection
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stepperE2.setStallCurrent(E2_STALLCURRENT);
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#endif
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#ifdef E3_IS_L6470
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stepperE3.init(E3_K_VAL);
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stepperE3.softFree();
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stepperE3.setMicroSteps(E3_MICROSTEPS);
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stepperE3.setOverCurrent(E3_OVERCURRENT); //set overcurrent protection
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stepperE3.setStallCurrent(E3_STALLCURRENT);
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#endif
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}
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#endif
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