6 motors for Arduino Due

MitchBradley · Feb 9, 2019 · b93e221 · b93e221
1 parent 911c054
commit b93e221
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Showing 3 changed files with 45 additions and 37 deletions.
diff --git a/g2core/board/ArduinoDue/board_stepper.cpp b/g2core/board/ArduinoDue/board_stepper.cpp
@@ -66,27 +66,31 @@ StepDirStepper<Motate::kSocket4_StepPinNumber,
                Motate::kSocket4_VrefPinNumber>
     motor_4{M4_STEP_POLARITY, M4_ENABLE_POLARITY};
 
-// StepDirStepper<
-//    Motate::kSocket5_StepPinNumber,
-//    Motate::kSocket5_DirPinNumber,
-//    Motate::kSocket5_EnablePinNumber,
-//    Motate::kSocket5_Microstep_0PinNumber,
-//    Motate::kSocket5_Microstep_1PinNumber,
-//    Motate::kSocket5_Microstep_2PinNumber,
-//    Motate::kSocket5_VrefPinNumber>
-//  motor_5 {M5_STEP_POLARITY, M5_ENABLE_POLARITY};
+#if (MOTORS >= 5)
+StepDirStepper<
+   Motate::kSocket5_StepPinNumber,
+   Motate::kSocket5_DirPinNumber,
+   Motate::kSocket5_EnablePinNumber,
+   Motate::kSocket5_Microstep_0PinNumber,
+   Motate::kSocket5_Microstep_1PinNumber,
+   Motate::kSocket5_Microstep_2PinNumber,
+   Motate::kSocket5_VrefPinNumber>
+ motor_5 {M5_STEP_POLARITY, M5_ENABLE_POLARITY};
+#endif
 
-// StepDirStepper<
-//    Motate::kSocket6_StepPinNumber,
-//    Motate::kSocket6_DirPinNumber,
-//    Motate::kSocket6_EnablePinNumber,
-//    Motate::kSocket6_Microstep_0PinNumber,
-//    Motate::kSocket6_Microstep_1PinNumber,
-//    Motate::kSocket6_Microstep_2PinNumber,
-//    Motate::kSocket6_VrefPinNumber>
-//  motor_6 {M6_STEP_POLARITY, M6_ENABLE_POLARITY};
+#if (MOTORS >= 6)
+StepDirStepper<
+   Motate::kSocket6_StepPinNumber,
+   Motate::kSocket6_DirPinNumber,
+   Motate::kSocket6_EnablePinNumber,
+   Motate::kSocket6_Microstep_0PinNumber,
+   Motate::kSocket6_Microstep_1PinNumber,
+   Motate::kSocket6_Microstep_2PinNumber,
+   Motate::kSocket6_VrefPinNumber>
+ motor_6 {M6_STEP_POLARITY, M6_ENABLE_POLARITY};
+#endif
 
-Stepper* Motors[MOTORS] = {&motor_1, &motor_2, &motor_3, &motor_4};
+Stepper* Motors[MOTORS] = {&motor_1, &motor_2, &motor_3, &motor_4, &motor_5, &motor_6};
 
 void board_stepper_init() {
     for (uint8_t motor = 0; motor < MOTORS; motor++) { Motors[motor]->init(); }

diff --git a/g2core/board/ArduinoDue/board_stepper.h b/g2core/board/ArduinoDue/board_stepper.h
@@ -68,26 +68,30 @@ extern StepDirStepper<Motate::kSocket4_StepPinNumber,
                       Motate::kSocket4_VrefPinNumber>
     motor_4;
 
-// extern StepDirStepper<
-//    Motate::kSocket5_StepPinNumber,
-//    Motate::kSocket5_DirPinNumber,
-//    Motate::kSocket5_EnablePinNumber,
-//    Motate::kSocket5_Microstep_0PinNumber,
-//    Motate::kSocket5_Microstep_1PinNumber,
-//    Motate::kSocket5_Microstep_2PinNumber,
-//    Motate::kSocket5_VrefPinNumber> motor_5;
+#if (MOTORS >= 5)
+extern StepDirStepper<Motate::kSocket5_StepPinNumber,
+                      Motate::kSocket5_DirPinNumber,
+                      Motate::kSocket5_EnablePinNumber,
+                      Motate::kSocket5_Microstep_0PinNumber,
+                      Motate::kSocket5_Microstep_1PinNumber,
+                      Motate::kSocket5_Microstep_2PinNumber,
+                      Motate::kSocket5_VrefPinNumber>
+    motor_5;
+#endif
 
-// extern StepDirStepper<
-//    Motate::kSocket6_StepPinNumber,
-//    Motate::kSocket6_DirPinNumber,
-//    Motate::kSocket6_EnablePinNumber,
-//    Motate::kSocket6_Microstep_0PinNumber,
-//    Motate::kSocket6_Microstep_1PinNumber,
-//    Motate::kSocket6_Microstep_2PinNumber,
-//    Motate::kSocket6_VrefPinNumber> motor_6 {};
+#if (MOTORS >= 6)
+extern StepDirStepper<Motate::kSocket6_StepPinNumber,
+                      Motate::kSocket6_DirPinNumber,
+                      Motate::kSocket6_EnablePinNumber,
+                      Motate::kSocket6_Microstep_0PinNumber,
+                      Motate::kSocket6_Microstep_1PinNumber,
+                      Motate::kSocket6_Microstep_2PinNumber,
+                      Motate::kSocket6_VrefPinNumber>
+    motor_6;
+#endif
 
 extern Stepper* Motors[MOTORS];
 
 void board_stepper_init();
 
-#endif  // BOARD_STEPPER_H_ONCE
+#endif  // BOARD_STEPPER_H_ONCE
diff --git a/g2core/board/ArduinoDue/hardware.h b/g2core/board/ArduinoDue/hardware.h
@@ -44,7 +44,7 @@
 // These must be defines (not enums) so expressions like this:
 //  #if (MOTORS >= 6)  will work
 
-#define MOTORS 4                    // number of motors supported the hardware
+#define MOTORS 6                    // number of motors supported the hardware
 #define PWMS 2                      // number of PWM channels supported the hardware
 
 /*************************