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/*** Marlin 3D Printer Firmware* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]** Based on Sprinter and grbl.* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm** This program is free software: you can redistribute it and/or modify* it under the terms of the GNU General Public License as published by* the Free Software Foundation, either version 3 of the License, or* (at your option) any later version.** This program is distributed in the hope that it will be useful,* but WITHOUT ANY WARRANTY; without even the implied warranty of* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the* GNU General Public License for more details.** You should have received a copy of the GNU General Public License* along with this program. If not, see <http://www.gnu.org/licenses/>.**/#include "MarlinConfig.h"#if HAS_TRINAMIC#include "tmc_util.h"#include "Marlin.h"#include "printcounter.h"#include "duration_t.h"#include "stepper_indirection.h"#if ENABLED(TMC_DEBUG)#include "planner.h"#endifbool report_tmc_status = false;/*** Check for over temperature or short to ground error flags.* Report and log warning of overtemperature condition.* Reduce driver current in a persistent otpw condition.* Keep track of otpw counter so we don't reduce current on a single instance,* and so we don't repeatedly report warning before the condition is cleared.*/#if ENABLED(MONITOR_DRIVER_STATUS)struct TMC_driver_data {uint32_t drv_status;bool is_otpw;bool is_ot;bool is_error;};#if HAS_DRIVER(TMC2130)static uint32_t get_pwm_scale(TMC2130Stepper &st) { return st.PWM_SCALE(); }static uint8_t get_status_response(TMC2130Stepper &st) { return st.status_response & 0xF; }static TMC_driver_data get_driver_data(TMC2130Stepper &st) {constexpr uint32_t OTPW_bm = 0x4000000UL;constexpr uint8_t OTPW_bp = 26;constexpr uint32_t OT_bm = 0x2000000UL;constexpr uint8_t OT_bp = 25;constexpr uint8_t DRIVER_ERROR_bm = 0x2UL;constexpr uint8_t DRIVER_ERROR_bp = 1;TMC_driver_data data;data.drv_status = st.DRV_STATUS();data.is_otpw = (data.drv_status & OTPW_bm) >> OTPW_bp;data.is_ot = (data.drv_status & OT_bm) >> OT_bp;data.is_error = (st.status_response & DRIVER_ERROR_bm) >> DRIVER_ERROR_bp;return data;}#endif#if HAS_DRIVER(TMC2208)static uint32_t get_pwm_scale(TMC2208Stepper &st) { return st.pwm_scale_sum(); }static uint8_t get_status_response(TMC2208Stepper &st) {uint32_t drv_status = st.DRV_STATUS();uint8_t gstat = st.GSTAT();uint8_t response = 0;response |= (drv_status >> (31-3)) & 0b1000;response |= gstat & 0b11;return response;}static TMC_driver_data get_driver_data(TMC2208Stepper &st) {constexpr uint32_t OTPW_bm = 0b1ul;constexpr uint8_t OTPW_bp = 0;constexpr uint32_t OT_bm = 0b10ul;constexpr uint8_t OT_bp = 1;TMC_driver_data data;data.drv_status = st.DRV_STATUS();data.is_otpw = (data.drv_status & OTPW_bm) >> OTPW_bp;data.is_ot = (data.drv_status & OT_bm) >> OT_bp;data.is_error = st.drv_err();return data;}#endiftemplate<typename TMC>void monitor_tmc_driver(TMC &st, const TMC_AxisEnum axis, uint8_t &otpw_cnt) {TMC_driver_data data = get_driver_data(st);#if ENABLED(STOP_ON_ERROR)if (data.is_error) {SERIAL_EOL();_tmc_say_axis(axis);SERIAL_ECHOLNPGM(" driver error detected:");if (data.is_ot) SERIAL_ECHOLNPGM("overtemperature");if (st.s2ga()) SERIAL_ECHOLNPGM("short to ground (coil A)");if (st.s2gb()) SERIAL_ECHOLNPGM("short to ground (coil B)");#if ENABLED(TMC_DEBUG)tmc_report_all();#endifkill(PSTR("Driver error"));}#endif// Report if a warning was triggeredif (data.is_otpw && otpw_cnt == 0) {char timestamp[10];duration_t elapsed = print_job_timer.duration();const bool has_days = (elapsed.value > 60*60*24L);(void)elapsed.toDigital(timestamp, has_days);SERIAL_EOL();SERIAL_ECHO(timestamp);SERIAL_ECHOPGM(": ");_tmc_say_axis(axis);SERIAL_ECHOPGM(" driver overtemperature warning! (");SERIAL_ECHO(st.getCurrent());SERIAL_ECHOLNPGM("mA)");}#if CURRENT_STEP_DOWN > 0// Decrease current if is_otpw is true and driver is enabled and there's been more than 4 warningsif (data.is_otpw && st.isEnabled() && otpw_cnt > 4) {st.setCurrent(st.getCurrent() - CURRENT_STEP_DOWN, R_SENSE, HOLD_MULTIPLIER);#if ENABLED(REPORT_CURRENT_CHANGE)_tmc_say_axis(axis);SERIAL_ECHOLNPAIR(" current decreased to ", st.getCurrent());#endif}#endifif (data.is_otpw) {otpw_cnt++;st.flag_otpw = true;}else if (otpw_cnt > 0) otpw_cnt = 0;if (report_tmc_status) {const uint32_t pwm_scale = get_pwm_scale(st);_tmc_say_axis(axis);SERIAL_ECHOPAIR(":", pwm_scale);SERIAL_ECHOPGM(" |0b"); SERIAL_PRINT(get_status_response(st), BIN);SERIAL_ECHOPGM("| ");if (data.is_error) SERIAL_CHAR('E');else if (data.is_ot) SERIAL_CHAR('O');else if (data.is_otpw) SERIAL_CHAR('W');else if (otpw_cnt > 0) SERIAL_PRINT(otpw_cnt, DEC);else if (st.flag_otpw) SERIAL_CHAR('F');SERIAL_CHAR('\t');}}#define HAS_HW_COMMS(ST) AXIS_DRIVER_TYPE(ST, TMC2130) || (AXIS_DRIVER_TYPE(ST, TMC2208) && defined(ST##_HARDWARE_SERIAL))void monitor_tmc_driver() {static millis_t next_cOT = 0;if (ELAPSED(millis(), next_cOT)) {next_cOT = millis() + 500;#if HAS_HW_COMMS(X)static uint8_t x_otpw_cnt = 0;monitor_tmc_driver(stepperX, TMC_X, x_otpw_cnt);#endif#if HAS_HW_COMMS(Y)static uint8_t y_otpw_cnt = 0;monitor_tmc_driver(stepperY, TMC_Y, y_otpw_cnt);#endif#if HAS_HW_COMMS(Z)static uint8_t z_otpw_cnt = 0;monitor_tmc_driver(stepperZ, TMC_Z, z_otpw_cnt);#endif#if HAS_HW_COMMS(X2)static uint8_t x2_otpw_cnt = 0;monitor_tmc_driver(stepperX2, TMC_X, x2_otpw_cnt);#endif#if HAS_HW_COMMS(Y2)static uint8_t y2_otpw_cnt = 0;monitor_tmc_driver(stepperY2, TMC_Y, y2_otpw_cnt);#endif#if HAS_HW_COMMS(Z2)static uint8_t z2_otpw_cnt = 0;monitor_tmc_driver(stepperZ2, TMC_Z, z2_otpw_cnt);#endif#if HAS_HW_COMMS(E0)static uint8_t e0_otpw_cnt = 0;monitor_tmc_driver(stepperE0, TMC_E0, e0_otpw_cnt);#endif#if HAS_HW_COMMS(E1)static uint8_t e1_otpw_cnt = 0;monitor_tmc_driver(stepperE1, TMC_E1, e1_otpw_cnt);#endif#if HAS_HW_COMMS(E2)static uint8_t e2_otpw_cnt = 0;monitor_tmc_driver(stepperE2, TMC_E2, e2_otpw_cnt);#endif#if HAS_HW_COMMS(E3)static uint8_t e3_otpw_cnt = 0;monitor_tmc_driver(stepperE3, TMC_E3, e3_otpw_cnt);#endif#if HAS_HW_COMMS(E4)static uint8_t e4_otpw_cnt = 0;monitor_tmc_driver(stepperE4, TMC_E4, e4_otpw_cnt);#endifif (report_tmc_status) SERIAL_EOL();}}#endif // MONITOR_DRIVER_STATUSvoid _tmc_say_axis(const TMC_AxisEnum axis) {static const char ext_X[] PROGMEM = "X", ext_Y[] PROGMEM = "Y", ext_Z[] PROGMEM = "Z",ext_X2[] PROGMEM = "X2", ext_Y2[] PROGMEM = "Y2", ext_Z2[] PROGMEM = "Z2",ext_E0[] PROGMEM = "E0", ext_E1[] PROGMEM = "E1",ext_E2[] PROGMEM = "E2", ext_E3[] PROGMEM = "E3",ext_E4[] PROGMEM = "E4";static const char* const tmc_axes[] PROGMEM = { ext_X, ext_Y, ext_Z, ext_X2, ext_Y2, ext_Z2, ext_E0, ext_E1, ext_E2, ext_E3, ext_E4 };serialprintPGM((char*)pgm_read_ptr(&tmc_axes[axis]));}void _tmc_say_current(const TMC_AxisEnum axis, const uint16_t curr) {_tmc_say_axis(axis);SERIAL_ECHOLNPAIR(" driver current: ", curr);}void _tmc_say_otpw(const TMC_AxisEnum axis, const bool otpw) {_tmc_say_axis(axis);SERIAL_ECHOPGM(" temperature prewarn triggered: ");serialprintPGM(otpw ? PSTR("true") : PSTR("false"));SERIAL_EOL();}void _tmc_say_otpw_cleared(const TMC_AxisEnum axis) {_tmc_say_axis(axis);SERIAL_ECHOLNPGM(" prewarn flag cleared");}void _tmc_say_pwmthrs(const TMC_AxisEnum axis, const uint32_t thrs) {_tmc_say_axis(axis);SERIAL_ECHOLNPAIR(" stealthChop max speed: ", thrs);}void _tmc_say_sgt(const TMC_AxisEnum axis, const int8_t sgt) {_tmc_say_axis(axis);SERIAL_ECHOPGM(" homing sensitivity: ");SERIAL_PRINTLN(sgt, DEC);}#if ENABLED(TMC_DEBUG)enum TMC_debug_enum : char {TMC_CODES,TMC_ENABLED,TMC_CURRENT,TMC_RMS_CURRENT,TMC_MAX_CURRENT,TMC_IRUN,TMC_IHOLD,TMC_CS_ACTUAL,TMC_PWM_SCALE,TMC_VSENSE,TMC_STEALTHCHOP,TMC_MICROSTEPS,TMC_TSTEP,TMC_TPWMTHRS,TMC_TPWMTHRS_MMS,TMC_OTPW,TMC_OTPW_TRIGGERED,TMC_TOFF,TMC_TBL,TMC_HEND,TMC_HSTRT,TMC_SGT};enum TMC_drv_status_enum : char {TMC_DRV_CODES,TMC_STST,TMC_OLB,TMC_OLA,TMC_S2GB,TMC_S2GA,TMC_DRV_OTPW,TMC_OT,TMC_STALLGUARD,TMC_DRV_CS_ACTUAL,TMC_FSACTIVE,TMC_SG_RESULT,TMC_DRV_STATUS_HEX,TMC_T157,TMC_T150,TMC_T143,TMC_T120,TMC_STEALTH,TMC_S2VSB,TMC_S2VSA};static void drv_status_print_hex(const TMC_AxisEnum axis, const uint32_t drv_status) {_tmc_say_axis(axis);SERIAL_ECHOPGM(" = 0x");for (int B = 24; B >= 8; B -= 8){SERIAL_PRINT((drv_status >> (B + 4)) & 0xF, HEX);SERIAL_PRINT((drv_status >> B) & 0xF, HEX);SERIAL_CHAR(':');}SERIAL_PRINT((drv_status >> 4) & 0xF, HEX);SERIAL_PRINT((drv_status) & 0xF, HEX);SERIAL_EOL();}#if HAS_DRIVER(TMC2130)static void tmc_status(TMC2130Stepper &st, const TMC_debug_enum i) {switch (i) {case TMC_PWM_SCALE: SERIAL_PRINT(st.PWM_SCALE(), DEC); break;case TMC_TSTEP: SERIAL_ECHO(st.TSTEP()); break;case TMC_SGT: SERIAL_PRINT(st.sgt(), DEC); break;case TMC_STEALTHCHOP: serialprintPGM(st.stealthChop() ? PSTR("true") : PSTR("false")); break;default: break;}}static void tmc_parse_drv_status(TMC2130Stepper &st, const TMC_drv_status_enum i) {switch (i) {case TMC_STALLGUARD: if (st.stallguard()) SERIAL_CHAR('X'); break;case TMC_SG_RESULT: SERIAL_PRINT(st.sg_result(), DEC); break;case TMC_FSACTIVE: if (st.fsactive()) SERIAL_CHAR('X'); break;default: break;}}#endif#if HAS_DRIVER(TMC2208)static void tmc_status(TMC2208Stepper &st, const TMC_debug_enum i) {switch (i) {case TMC_TSTEP: { uint32_t data = 0; st.TSTEP(&data); SERIAL_PROTOCOL(data); break; }case TMC_PWM_SCALE: SERIAL_PRINT(st.pwm_scale_sum(), DEC); break;case TMC_STEALTHCHOP: serialprintPGM(st.stealth() ? PSTR("true") : PSTR("false")); break;case TMC_S2VSA: if (st.s2vsa()) SERIAL_CHAR('X'); break;case TMC_S2VSB: if (st.s2vsb()) SERIAL_CHAR('X'); break;default: break;}}static void tmc_parse_drv_status(TMC2208Stepper &st, const TMC_drv_status_enum i) {switch (i) {case TMC_T157: if (st.t157()) SERIAL_CHAR('X'); break;case TMC_T150: if (st.t150()) SERIAL_CHAR('X'); break;case TMC_T143: if (st.t143()) SERIAL_CHAR('X'); break;case TMC_T120: if (st.t120()) SERIAL_CHAR('X'); break;default: break;}}#endiftemplate <typename TMC>static void tmc_status(TMC &st, const TMC_AxisEnum axis, const TMC_debug_enum i, const float spmm) {SERIAL_ECHO('\t');switch (i) {case TMC_CODES: _tmc_say_axis(axis); break;case TMC_ENABLED: serialprintPGM(st.isEnabled() ? PSTR("true") : PSTR("false")); break;case TMC_CURRENT: SERIAL_ECHO(st.getCurrent()); break;case TMC_RMS_CURRENT: SERIAL_PROTOCOL(st.rms_current()); break;case TMC_MAX_CURRENT: SERIAL_PRINT((float)st.rms_current() * 1.41, 0); break;case TMC_IRUN:SERIAL_PRINT(st.irun(), DEC);SERIAL_ECHOPGM("/31");break;case TMC_IHOLD:SERIAL_PRINT(st.ihold(), DEC);SERIAL_ECHOPGM("/31");break;case TMC_CS_ACTUAL:SERIAL_PRINT(st.cs_actual(), DEC);SERIAL_ECHOPGM("/31");break;case TMC_VSENSE: serialprintPGM(st.vsense() ? PSTR("1=.18") : PSTR("0=.325")); break;case TMC_MICROSTEPS: SERIAL_ECHO(st.microsteps()); break;case TMC_TPWMTHRS: {uint32_t tpwmthrs_val = st.TPWMTHRS();SERIAL_ECHO(tpwmthrs_val);}break;case TMC_TPWMTHRS_MMS: {uint32_t tpwmthrs_val = st.TPWMTHRS();if (tpwmthrs_val)SERIAL_ECHO(12650000UL * st.microsteps() / (256 * tpwmthrs_val * spmm));elseSERIAL_CHAR('-');}break;case TMC_OTPW: serialprintPGM(st.otpw() ? PSTR("true") : PSTR("false")); break;case TMC_OTPW_TRIGGERED: serialprintPGM(st.getOTPW() ? PSTR("true") : PSTR("false")); break;case TMC_TOFF: SERIAL_PRINT(st.toff(), DEC); break;case TMC_TBL: SERIAL_PRINT(st.blank_time(), DEC); break;case TMC_HEND: SERIAL_PRINT(st.hysteresis_end(), DEC); break;case TMC_HSTRT: SERIAL_PRINT(st.hysteresis_start(), DEC); break;default: tmc_status(st, i); break;}}template <typename TMC>static void tmc_parse_drv_status(TMC &st, const TMC_AxisEnum axis, const TMC_drv_status_enum i) {SERIAL_CHAR('\t');switch (i) {case TMC_DRV_CODES: _tmc_say_axis(axis); break;case TMC_STST: if (st.stst()) SERIAL_CHAR('X'); break;case TMC_OLB: if (st.olb()) SERIAL_CHAR('X'); break;case TMC_OLA: if (st.ola()) SERIAL_CHAR('X'); break;case TMC_S2GB: if (st.s2gb()) SERIAL_CHAR('X'); break;case TMC_S2GA: if (st.s2ga()) SERIAL_CHAR('X'); break;case TMC_DRV_OTPW: if (st.otpw()) SERIAL_CHAR('X'); break;case TMC_OT: if (st.ot()) SERIAL_CHAR('X'); break;case TMC_DRV_CS_ACTUAL: SERIAL_PRINT(st.cs_actual(), DEC); break;case TMC_DRV_STATUS_HEX:drv_status_print_hex(axis, st.DRV_STATUS()); break;default: tmc_parse_drv_status(st, i); break;}}static void tmc_debug_loop(const TMC_debug_enum i) {#if AXIS_IS_TMC(X)tmc_status(stepperX, TMC_X, i, planner.axis_steps_per_mm[X_AXIS]);#endif#if AXIS_IS_TMC(X2)tmc_status(stepperX2, TMC_X2, i, planner.axis_steps_per_mm[X_AXIS]);#endif#if AXIS_IS_TMC(Y)tmc_status(stepperY, TMC_Y, i, planner.axis_steps_per_mm[Y_AXIS]);#endif#if AXIS_IS_TMC(Y2)tmc_status(stepperY2, TMC_Y2, i, planner.axis_steps_per_mm[Y_AXIS]);#endif#if AXIS_IS_TMC(Z)tmc_status(stepperZ, TMC_Z, i, planner.axis_steps_per_mm[Z_AXIS]);#endif#if AXIS_IS_TMC(Z2)tmc_status(stepperZ2, TMC_Z2, i, planner.axis_steps_per_mm[Z_AXIS]);#endif#if AXIS_IS_TMC(E0)tmc_status(stepperE0, TMC_E0, i, planner.axis_steps_per_mm[E_AXIS]);#endif#if AXIS_IS_TMC(E1)tmc_status(stepperE1, TMC_E1, i, planner.axis_steps_per_mm[E_AXIS#if ENABLED(DISTINCT_E_FACTORS)+ 1#endif]);#endif#if AXIS_IS_TMC(E2)tmc_status(stepperE2, TMC_E2, i, planner.axis_steps_per_mm[E_AXIS#if ENABLED(DISTINCT_E_FACTORS)+ 2#endif]);#endif#if AXIS_IS_TMC(E3)tmc_status(stepperE3, TMC_E3, i, planner.axis_steps_per_mm[E_AXIS#if ENABLED(DISTINCT_E_FACTORS)+ 3#endif]);#endif#if AXIS_IS_TMC(E4)tmc_status(stepperE4, TMC_E4, i, planner.axis_steps_per_mm[E_AXIS#if ENABLED(DISTINCT_E_FACTORS)+ 4#endif]);#endifSERIAL_EOL();}static void drv_status_loop(const TMC_drv_status_enum i) {#if AXIS_IS_TMC(X)tmc_parse_drv_status(stepperX, TMC_X, i);#endif#if AXIS_IS_TMC(X2)tmc_parse_drv_status(stepperX2, TMC_X2, i);#endif#if AXIS_IS_TMC(Y)tmc_parse_drv_status(stepperY, TMC_Y, i);#endif#if AXIS_IS_TMC(Y2)tmc_parse_drv_status(stepperY2, TMC_Y2, i);#endif#if AXIS_IS_TMC(Z)tmc_parse_drv_status(stepperZ, TMC_Z, i);#endif#if AXIS_IS_TMC(Z2)tmc_parse_drv_status(stepperZ2, TMC_Z2, i);#endif#if AXIS_IS_TMC(E0)tmc_parse_drv_status(stepperE0, TMC_E0, i);#endif#if AXIS_IS_TMC(E1)tmc_parse_drv_status(stepperE1, TMC_E1, i);#endif#if AXIS_IS_TMC(E2)tmc_parse_drv_status(stepperE2, TMC_E2, i);#endif#if AXIS_IS_TMC(E3)tmc_parse_drv_status(stepperE3, TMC_E3, i);#endif#if AXIS_IS_TMC(E4)tmc_parse_drv_status(stepperE4, TMC_E4, i);#endifSERIAL_EOL();}/*** M122 report functions*/void tmc_set_report_status(const bool status) {if ((report_tmc_status = status))SERIAL_ECHOLNPGM("axis:pwm_scale |status_response|");}void tmc_report_all() {#define TMC_REPORT(LABEL, ITEM) do{ SERIAL_ECHOPGM(LABEL); tmc_debug_loop(ITEM); }while(0)#define DRV_REPORT(LABEL, ITEM) do{ SERIAL_ECHOPGM(LABEL); drv_status_loop(ITEM); }while(0)TMC_REPORT("\t", TMC_CODES);TMC_REPORT("Enabled\t", TMC_ENABLED);TMC_REPORT("Set current", TMC_CURRENT);TMC_REPORT("RMS current", TMC_RMS_CURRENT);TMC_REPORT("MAX current", TMC_MAX_CURRENT);TMC_REPORT("Run current", TMC_IRUN);TMC_REPORT("Hold current", TMC_IHOLD);TMC_REPORT("CS actual\t", TMC_CS_ACTUAL);TMC_REPORT("PWM scale\t", TMC_PWM_SCALE);TMC_REPORT("vsense\t", TMC_VSENSE);TMC_REPORT("stealthChop", TMC_STEALTHCHOP);TMC_REPORT("msteps\t", TMC_MICROSTEPS);TMC_REPORT("tstep\t", TMC_TSTEP);TMC_REPORT("pwm\nthreshold\t", TMC_TPWMTHRS);TMC_REPORT("[mm/s]\t", TMC_TPWMTHRS_MMS);TMC_REPORT("OT prewarn", TMC_OTPW);TMC_REPORT("OT prewarn has\n""been triggered", TMC_OTPW_TRIGGERED);TMC_REPORT("off time\t", TMC_TOFF);TMC_REPORT("blank time", TMC_TBL);TMC_REPORT("hysteresis\n-end\t", TMC_HEND);TMC_REPORT("-start\t", TMC_HSTRT);TMC_REPORT("Stallguard thrs", TMC_SGT);DRV_REPORT("DRVSTATUS", TMC_DRV_CODES);#if HAS_DRIVER(TMC2130)DRV_REPORT("stallguard\t", TMC_STALLGUARD);DRV_REPORT("sg_result\t", TMC_SG_RESULT);DRV_REPORT("fsactive\t", TMC_FSACTIVE);#endifDRV_REPORT("stst\t", TMC_STST);DRV_REPORT("olb\t", TMC_OLB);DRV_REPORT("ola\t", TMC_OLA);DRV_REPORT("s2gb\t", TMC_S2GB);DRV_REPORT("s2ga\t", TMC_S2GA);DRV_REPORT("otpw\t", TMC_DRV_OTPW);DRV_REPORT("ot\t", TMC_OT);#if HAS_DRIVER(TMC2208)DRV_REPORT("157C\t", TMC_T157);DRV_REPORT("150C\t", TMC_T150);DRV_REPORT("143C\t", TMC_T143);DRV_REPORT("120C\t", TMC_T120);DRV_REPORT("s2vsa\t", TMC_S2VSA);DRV_REPORT("s2vsb\t", TMC_S2VSB);#endifDRV_REPORT("Driver registers:", TMC_DRV_STATUS_HEX);SERIAL_EOL();}#endif // TMC_DEBUG#if ENABLED(SENSORLESS_HOMING)void tmc_sensorless_homing(TMC2130Stepper &st, const bool enable/*=true*/) {st.coolstep_min_speed(enable ? 1024UL * 1024UL - 1UL : 0);#if ENABLED(STEALTHCHOP)st.stealthChop(!enable);#endifst.diag1_stall(enable ? 1 : 0);}#endif // SENSORLESS_HOMING#if HAS_DRIVER(TMC2130)#define SET_CS_PIN(st) OUT_WRITE(st##_CS_PIN, HIGH)void tmc_init_cs_pins() {#if AXIS_DRIVER_TYPE(X, TMC2130)SET_CS_PIN(X);#endif#if AXIS_DRIVER_TYPE(Y, TMC2130)SET_CS_PIN(Y);#endif#if AXIS_DRIVER_TYPE(Z, TMC2130)SET_CS_PIN(Z);#endif#if AXIS_DRIVER_TYPE(X2, TMC2130)SET_CS_PIN(X2);#endif#if AXIS_DRIVER_TYPE(Y2, TMC2130)SET_CS_PIN(Y2);#endif#if AXIS_DRIVER_TYPE(Z2, TMC2130)SET_CS_PIN(Z2);#endif#if AXIS_DRIVER_TYPE(E0, TMC2130)SET_CS_PIN(E0);#endif#if AXIS_DRIVER_TYPE(E1, TMC2130)SET_CS_PIN(E1);#endif#if AXIS_DRIVER_TYPE(E2, TMC2130)SET_CS_PIN(E2);#endif#if AXIS_DRIVER_TYPE(E3, TMC2130)SET_CS_PIN(E3);#endif#if AXIS_DRIVER_TYPE(E4, TMC2130)SET_CS_PIN(E4);#endif}#endif // TMC2130#endif // HAS_TRINAMIC