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@ -1337,6 +1337,13 @@
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[tmc2660]
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</a>
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</li>
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<li class="md-nav__item">
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<a href="#tmc2240" class="md-nav__link">
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[tmc2240]
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</a>
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</li>
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<li class="md-nav__item">
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@ -3258,6 +3265,13 @@
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[tmc2660]
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</a>
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</li>
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<li class="md-nav__item">
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<a href="#tmc2240" class="md-nav__link">
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[tmc2240]
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</a>
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</li>
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<li class="md-nav__item">
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@ -6551,6 +6565,122 @@ run_current:
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# HDEC) is interpreted as the MSB of HSTRT in this case).
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</code></pre></div>
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<h3 id="tmc2240">[tmc2240]<a class="headerlink" href="#tmc2240" title="Permanent link">¶</a></h3>
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<p>Configure a TMC2240 stepper motor driver via SPI bus. To use this
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feature, define a config section with a "tmc2240" prefix followed by
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the name of the corresponding stepper config section (for example,
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"[tmc2240 stepper_x]").</p>
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<div class="highlight"><pre><span></span><code>[tmc2240 stepper_x]
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cs_pin:
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# The pin corresponding to the TMC2240 chip select line. This pin
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# will be set to low at the start of SPI messages and raised to high
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# after the message completes. This parameter must be provided.
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#spi_speed:
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#spi_bus:
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#spi_software_sclk_pin:
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#spi_software_mosi_pin:
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#spi_software_miso_pin:
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# See the "common SPI settings" section for a description of the
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# above parameters.
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#chain_position:
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#chain_length:
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# These parameters configure an SPI daisy chain. The two parameters
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# define the stepper position in the chain and the total chain length.
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# Position 1 corresponds to the stepper that connects to the MOSI signal.
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# The default is to not use an SPI daisy chain.
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#interpolate: True
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# If true, enable step interpolation (the driver will internally
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# step at a rate of 256 micro-steps). The default is True.
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run_current:
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# The amount of current (in amps RMS) to configure the driver to use
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# during stepper movement. This parameter must be provided.
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#hold_current:
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# The amount of current (in amps RMS) to configure the driver to use
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# when the stepper is not moving. Setting a hold_current is not
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# recommended (see TMC_Drivers.md for details). The default is to
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# not reduce the current.
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#rref: 12000
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# The resistance (in ohms) of the resistor between IREF and GND. The
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# default is 12000.
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#stealthchop_threshold: 0
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# The velocity (in mm/s) to set the "stealthChop" threshold to. When
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# set, "stealthChop" mode will be enabled if the stepper motor
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# velocity is below this value. The default is 0, which disables
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# "stealthChop" mode.
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#driver_MSLUT0: 2863314260
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#driver_MSLUT1: 1251300522
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#driver_MSLUT2: 608774441
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#driver_MSLUT3: 269500962
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#driver_MSLUT4: 4227858431
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#driver_MSLUT5: 3048961917
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#driver_MSLUT6: 1227445590
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#driver_MSLUT7: 4211234
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#driver_W0: 2
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#driver_W1: 1
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#driver_W2: 1
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#driver_W3: 1
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#driver_X1: 128
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#driver_X2: 255
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#driver_X3: 255
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#driver_START_SIN: 0
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#driver_START_SIN90: 247
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#driver_OFFSET_SIN90: 0
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# These fields control the Microstep Table registers directly. The optimal
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# wave table is specific to each motor and might vary with current. An
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# optimal configuration will have minimal print artifacts caused by
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# non-linear stepper movement. The values specified above are the default
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# values used by the driver. The value must be specified as a decimal integer
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# (hex form is not supported). In order to compute the wave table fields,
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# see the tmc2130 "Calculation Sheet" from the Trinamic website.
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# Additionally, this driver also has the OFFSET_SIN90 field which can be used
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# to tune a motor with unbalanced coils. See the `Sine Wave Lookup Table`
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# section in the datasheet for information about this field and how to tune
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# it.
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#driver_IHOLDDELAY: 6
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#driver_IRUNDELAY: 4
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#driver_TPOWERDOWN: 10
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#driver_TBL: 2
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#driver_TOFF: 3
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#driver_HEND: 2
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#driver_HSTRT: 5
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#driver_FD3: 0
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#driver_TPFD: 4
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#driver_CHM: 0
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#driver_VHIGHFS: 0
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#driver_VHIGHCHM: 0
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#driver_DISS2G: 0
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#driver_DISS2VS: 0
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#driver_PWM_AUTOSCALE: True
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#driver_PWM_AUTOGRAD: True
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#driver_PWM_FREQ: 0
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#driver_FREEWHEEL: 0
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#driver_PWM_GRAD: 0
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#driver_PWM_OFS: 29
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#driver_PWM_REG: 4
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#driver_PWM_LIM: 12
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#driver_SGT: 0
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#driver_SEMIN: 0
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#driver_SEUP: 0
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#driver_SEMAX: 0
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#driver_SEDN: 0
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#driver_SEIMIN: 0
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#driver_SFILT: 0
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# Set the given register during the configuration of the TMC2240
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# chip. This may be used to set custom motor parameters. The
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# defaults for each parameter are next to the parameter name in the
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# above list.
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#diag0_pin:
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#diag1_pin:
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# The micro-controller pin attached to one of the DIAG lines of the
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# TMC2240 chip. Only a single diag pin should be specified. The pin
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# is "active low" and is thus normally prefaced with "^!". Setting
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# this creates a "tmc2240_stepper_x:virtual_endstop" virtual pin
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# which may be used as the stepper's endstop_pin. Doing this enables
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# "sensorless homing". (Be sure to also set driver_SGT to an
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# appropriate sensitivity value.) The default is to not enable
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# sensorless homing.
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</code></pre></div>
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<h3 id="tmc5160">[tmc5160]<a class="headerlink" href="#tmc5160" title="Permanent link">¶</a></h3>
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<p>Configure a TMC5160 stepper motor driver via SPI bus. To use this
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feature, define a config section with a "tmc5160" prefix followed by
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