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7d8a4dd
solved some problemsgit add .git add .git add .git add .git add .git …
shpegun60 Jan 7, 2025
6867961
some fixes
shpegun60 Jan 7, 2025
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7 changes: 5 additions & 2 deletions tmc/ic/TMC2130/TMC2130.c
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Original file line number Diff line number Diff line change
Expand Up @@ -121,10 +121,13 @@ void tmc2130_initCache()
{
for (id = 0; id < TMC2130_IC_CACHE_COUNT; id++)
{
tmc2130_cache(id, TMC2130_CACHE_FILL_DEFAULT, i, &tmc2130_RegisterConstants[j].value);
uint32_t value = tmc2130_RegisterConstants[j].value;
tmc2130_cache(id, TMC2130_CACHE_FILL_DEFAULT, i, &value);
}
}
}

(void)motor;
}
#else
// User must implement their own cache
Expand Down Expand Up @@ -186,6 +189,6 @@ void writeRegisterSPI(uint16_t icID, uint8_t address, int32_t value)
// Send the write request
tmc2130_readWriteSPI(icID, &data[0], sizeof(data));
//Cache the registers with write-only access
tmc2130_cache(icID, TMC2130_CACHE_WRITE, address, &value);
tmc2130_cache(icID, TMC2130_CACHE_WRITE, address, (uint32_t*)&value);
}
/***************************************************************************************************************************************************************/
6 changes: 4 additions & 2 deletions tmc/ic/TMC2160/TMC2160.c
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Original file line number Diff line number Diff line change
Expand Up @@ -119,10 +119,12 @@ void tmc2160_initCache()
{
for (id = 0; id < TMC2160_IC_CACHE_COUNT; id++)
{
tmc2160_cache(id, TMC2160_CACHE_FILL_DEFAULT, i, &tmc2160_RegisterConstants[j].value);
uint32_t value = tmc2160_RegisterConstants[j].value;
tmc2160_cache(id, TMC2160_CACHE_FILL_DEFAULT, i, &value);
}
}
}
(void)motor;
}
#else
// User must implement their own cache
Expand Down Expand Up @@ -184,6 +186,6 @@ void writeRegisterSPI(uint16_t icID, uint8_t address, int32_t value)
tmc2160_readWriteSPI(icID, &data[0], sizeof(data));

//Cache the registers with write-only access
tmc2160_cache(icID, TMC2160_CACHE_WRITE, address, &value);
tmc2160_cache(icID, TMC2160_CACHE_WRITE, address, (uint32_t*)&value);

}
4 changes: 2 additions & 2 deletions tmc/ic/TMC2208/TMC2208.c
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Original file line number Diff line number Diff line change
Expand Up @@ -13,7 +13,7 @@
#ifdef TMC_API_EXTERNAL_CRC_TABLE
extern const uint8_t tmcCRCTable_Poly7Reflected[256];
#else
const uint8_t tmcCRCTable_Poly7Reflected[256] = {
static const uint8_t tmcCRCTable_Poly7Reflected[256] = {
0x00, 0x91, 0xE3, 0x72, 0x07, 0x96, 0xE4, 0x75, 0x0E, 0x9F, 0xED, 0x7C, 0x09, 0x98, 0xEA, 0x7B,
0x1C, 0x8D, 0xFF, 0x6E, 0x1B, 0x8A, 0xF8, 0x69, 0x12, 0x83, 0xF1, 0x60, 0x15, 0x84, 0xF6, 0x67,
0x38, 0xA9, 0xDB, 0x4A, 0x3F, 0xAE, 0xDC, 0x4D, 0x36, 0xA7, 0xD5, 0x44, 0x31, 0xA0, 0xD2, 0x43,
Expand Down Expand Up @@ -188,7 +188,7 @@ void writeRegisterUART(uint16_t icID, uint8_t registerAddress, int32_t value)
tmc2208_readWriteUART(icID, &data[0], 8, 0);

//Cache the registers with write-only access
tmc2208_cache(icID, TMC2208_CACHE_WRITE, registerAddress, &value);
tmc2208_cache(icID, TMC2208_CACHE_WRITE, registerAddress, (uint32_t*)&value);
}

static uint8_t CRC8(uint8_t *data, uint32_t bytes)
Expand Down
2 changes: 1 addition & 1 deletion tmc/ic/TMC2209/Examples/TMC2209_Simple_Rotation.c
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Original file line number Diff line number Diff line change
Expand Up @@ -10,7 +10,7 @@
* Configures the registers with the right settings that are needed for rotating the motor.
* E.g Enabling driver, setting IRUN current etc.
*/
void initAllMotors(uint16_t icID)
void TMC2209initAllMotors(uint16_t icID)
{
tmc2209_writeRegister(icID, TMC2209_GCONF, 0x00000040);
tmc2209_writeRegister(icID, TMC2209_IHOLD_IRUN, 0x00071703);
Expand Down
4 changes: 2 additions & 2 deletions tmc/ic/TMC2209/Examples/TMC2209_Simple_Rotation.h
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Original file line number Diff line number Diff line change
Expand Up @@ -7,8 +7,8 @@
#ifndef TMC2209_SIMPLE_ROTATION_H_
#define TMC2209_SIMPLE_ROTATION_H_

#include "TMC2209.h"
#include "../TMC2209.h"

void initAllMotors(uint16_t icID);
void TMC2209initAllMotors(uint16_t icID);

#endif
4 changes: 2 additions & 2 deletions tmc/ic/TMC2209/TMC2209.c
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Original file line number Diff line number Diff line change
Expand Up @@ -13,7 +13,7 @@
#ifdef TMC_API_EXTERNAL_CRC_TABLE
extern const uint8_t tmcCRCTable_Poly7Reflected[256];
#else
const uint8_t tmcCRCTable_Poly7Reflected[256] = {
static const uint8_t tmcCRCTable_Poly7Reflected[256] = {
0x00, 0x91, 0xE3, 0x72, 0x07, 0x96, 0xE4, 0x75, 0x0E, 0x9F, 0xED, 0x7C, 0x09, 0x98, 0xEA, 0x7B,
0x1C, 0x8D, 0xFF, 0x6E, 0x1B, 0x8A, 0xF8, 0x69, 0x12, 0x83, 0xF1, 0x60, 0x15, 0x84, 0xF6, 0x67,
0x38, 0xA9, 0xDB, 0x4A, 0x3F, 0xAE, 0xDC, 0x4D, 0x36, 0xA7, 0xD5, 0x44, 0x31, 0xA0, 0xD2, 0x43,
Expand Down Expand Up @@ -185,7 +185,7 @@ void writeRegisterUART(uint16_t icID, uint8_t address, int32_t value)
tmc2209_readWriteUART(icID, &data[0], 8, 0);

//Cache the registers with write-only access
tmc2209_cache(icID, TMC2209_CACHE_WRITE, address, &value);
tmc2209_cache(icID, TMC2209_CACHE_WRITE, address, (uint32_t*)&value);
}

static uint8_t CRC8(uint8_t *data, uint32_t bytes)
Expand Down
4 changes: 2 additions & 2 deletions tmc/ic/TMC2224/TMC2224.c
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Original file line number Diff line number Diff line change
Expand Up @@ -13,7 +13,7 @@
#ifdef TMC_API_EXTERNAL_CRC_TABLE
extern const uint8_t tmcCRCTable_Poly7Reflected[256];
#else
const uint8_t tmcCRCTable_Poly7Reflected[256] = {
static const uint8_t tmcCRCTable_Poly7Reflected[256] = {
0x00, 0x91, 0xE3, 0x72, 0x07, 0x96, 0xE4, 0x75, 0x0E, 0x9F, 0xED, 0x7C, 0x09, 0x98, 0xEA, 0x7B,
0x1C, 0x8D, 0xFF, 0x6E, 0x1B, 0x8A, 0xF8, 0x69, 0x12, 0x83, 0xF1, 0x60, 0x15, 0x84, 0xF6, 0x67,
0x38, 0xA9, 0xDB, 0x4A, 0x3F, 0xAE, 0xDC, 0x4D, 0x36, 0xA7, 0xD5, 0x44, 0x31, 0xA0, 0xD2, 0x43,
Expand Down Expand Up @@ -187,7 +187,7 @@ void writeRegisterUART(uint16_t icID, uint8_t address, int32_t value)
tmc2224_readWriteUART(icID, &data[0], 8, 0);

//Cache the registers with write-only access
tmc2224_cache(icID, TMC2224_CACHE_WRITE, address, &value);
tmc2224_cache(icID, TMC2224_CACHE_WRITE, address, (uint32_t*)&value);
}

static uint8_t CRC8(uint8_t *data, uint32_t bytes)
Expand Down
5 changes: 3 additions & 2 deletions tmc/ic/TMC2225/TMC2225.c
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Original file line number Diff line number Diff line change
Expand Up @@ -13,7 +13,7 @@
#ifdef TMC_API_EXTERNAL_CRC_TABLE
extern const uint8_t tmcCRCTable_Poly7Reflected[256];
#else
const uint8_t tmcCRCTable_Poly7Reflected[256] = {
static const uint8_t tmcCRCTable_Poly7Reflected[256] = {
0x00, 0x91, 0xE3, 0x72, 0x07, 0x96, 0xE4, 0x75, 0x0E, 0x9F, 0xED, 0x7C, 0x09, 0x98, 0xEA, 0x7B,
0x1C, 0x8D, 0xFF, 0x6E, 0x1B, 0x8A, 0xF8, 0x69, 0x12, 0x83, 0xF1, 0x60, 0x15, 0x84, 0xF6, 0x67,
0x38, 0xA9, 0xDB, 0x4A, 0x3F, 0xAE, 0xDC, 0x4D, 0x36, 0xA7, 0xD5, 0x44, 0x31, 0xA0, 0xD2, 0x43,
Expand Down Expand Up @@ -190,7 +190,7 @@ void writeRegisterUART(uint16_t icID, uint8_t registerAddress, int32_t value)
tmc2225_readWriteUART(icID, &data[0], 8, 0);

//Cache the registers with write-only access
tmc2225_cache(icID, TMC2225_CACHE_WRITE, registerAddress, &value);
tmc2225_cache(icID, TMC2225_CACHE_WRITE, registerAddress, (uint32_t*)&value);
}

static uint8_t CRC8(uint8_t *data, uint32_t bytes)
Expand All @@ -208,5 +208,6 @@ static uint8_t CRC8(uint8_t *data, uint32_t bytes)
// swap nibbles ...
result = ((result >> 4) & 0x0F) | ((result & 0x0F) << 4);

(void)table;
return result;
}
4 changes: 2 additions & 2 deletions tmc/ic/TMC2226/TMC2226.c
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Original file line number Diff line number Diff line change
Expand Up @@ -13,7 +13,7 @@
#ifdef TMC_API_EXTERNAL_CRC_TABLE
extern const uint8_t tmcCRCTable_Poly7Reflected[256];
#else
const uint8_t tmcCRCTable_Poly7Reflected[256] = {
static const uint8_t tmcCRCTable_Poly7Reflected[256] = {
0x00, 0x91, 0xE3, 0x72, 0x07, 0x96, 0xE4, 0x75, 0x0E, 0x9F, 0xED, 0x7C, 0x09, 0x98, 0xEA, 0x7B,
0x1C, 0x8D, 0xFF, 0x6E, 0x1B, 0x8A, 0xF8, 0x69, 0x12, 0x83, 0xF1, 0x60, 0x15, 0x84, 0xF6, 0x67,
0x38, 0xA9, 0xDB, 0x4A, 0x3F, 0xAE, 0xDC, 0x4D, 0x36, 0xA7, 0xD5, 0x44, 0x31, 0xA0, 0xD2, 0x43,
Expand Down Expand Up @@ -190,7 +190,7 @@ void writeRegisterUART(uint16_t icID, uint8_t registerAddress, int32_t value)
tmc2226_readWriteUART(icID, &data[0], 8, 0);

//Cache the registers with write-only access
tmc2226_cache(icID, TMC2226_CACHE_WRITE, registerAddress, &value);
tmc2226_cache(icID, TMC2226_CACHE_WRITE, registerAddress, (uint32_t*)&value);
}

static uint8_t CRC8(uint8_t *data, uint32_t bytes)
Expand Down
7 changes: 4 additions & 3 deletions tmc/ic/TMC2240/TMC2240.c
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Original file line number Diff line number Diff line change
Expand Up @@ -12,7 +12,7 @@
#ifdef TMC_API_EXTERNAL_CRC_TABLE
extern const uint8_t tmcCRCTable_Poly7Reflected[256];
#else
const uint8_t tmcCRCTable_Poly7Reflected[256] = {
static const uint8_t tmcCRCTable_Poly7Reflected[256] = {
0x00, 0x91, 0xE3, 0x72, 0x07, 0x96, 0xE4, 0x75, 0x0E, 0x9F, 0xED, 0x7C, 0x09, 0x98, 0xEA, 0x7B,
0x38, 0xA9, 0xDB, 0x4A, 0x3F, 0xAE, 0xDC, 0x4D, 0x36, 0xA7, 0xD5, 0x44, 0x31, 0xA0, 0xD2, 0x43,
0x24, 0xB5, 0xC7, 0x56, 0x23, 0xB2, 0xC0, 0x51, 0x2A, 0xBB, 0xC9, 0x58, 0x2D, 0xBC, 0xCE, 0x5F,
Expand Down Expand Up @@ -142,7 +142,8 @@ void tmc2240_initCache()
{
for (id = 0; id < TMC2240_IC_CACHE_COUNT; id++)
{
tmc2240_cache(id, TMC2240_CACHE_FILL_DEFAULT, i, &tmc2240_RegisterConstants[j].value);
uint32_t value = tmc2240_RegisterConstants[j].value;
tmc2240_cache(id, TMC2240_CACHE_FILL_DEFAULT, i, &value);
}
}
}
Expand Down Expand Up @@ -199,7 +200,7 @@ void tmc2240_writeRegister(uint16_t icID, uint8_t address, int32_t value)
writeRegisterUART(icID, address, value);
}
//Cache the registers with write-only access
tmc2240_cache(icID, TMC2240_CACHE_WRITE, address, &value);
tmc2240_cache(icID, TMC2240_CACHE_WRITE, address, (uint32_t*)&value);
}

int32_t readRegisterSPI(uint16_t icID, uint8_t address)
Expand Down
8 changes: 5 additions & 3 deletions tmc/ic/TMC2300/TMC2300.c
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Original file line number Diff line number Diff line change
Expand Up @@ -12,7 +12,7 @@
#ifdef TMC_API_EXTERNAL_CRC_TABLE
extern const uint8_t tmcCRCTable_Poly7Reflected[256];
#else
const uint8_t tmcCRCTable_Poly7Reflected[256] = {
static const uint8_t tmcCRCTable_Poly7Reflected[256] = {
0x00, 0x91, 0xE3, 0x72, 0x07, 0x96, 0xE4, 0x75, 0x0E, 0x9F, 0xED, 0x7C, 0x09, 0x98, 0xEA, 0x7B,
0x1C, 0x8D, 0xFF, 0x6E, 0x1B, 0x8A, 0xF8, 0x69, 0x12, 0x83, 0xF1, 0x60, 0x15, 0x84, 0xF6, 0x67,
0x38, 0xA9, 0xDB, 0x4A, 0x3F, 0xAE, 0xDC, 0x4D, 0x36, 0xA7, 0xD5, 0x44, 0x31, 0xA0, 0xD2, 0x43,
Expand Down Expand Up @@ -142,10 +142,12 @@ void tmc2300_initCache()
{
for (id = 0; id < TMC2300_IC_CACHE_COUNT; id++)
{
tmc2300_cache(id, TMC2300_CACHE_FILL_DEFAULT, i, &tmc2300_RegisterConstants[j].value);
uint32_t value = tmc2300_RegisterConstants[j].value;
tmc2300_cache(id, TMC2300_CACHE_FILL_DEFAULT, i, &value);
}
}
}
(void)motor;
}
#else
// User must implement their own cache
Expand Down Expand Up @@ -226,7 +228,7 @@ void writeRegisterUART(uint16_t icID, uint8_t registerAddress, int32_t value)
tmc2300_readWriteUART(icID, &data[0], 8, 0);

//Cache the registers with write-only access
tmc2300_cache(icID, TMC2300_CACHE_WRITE, registerAddress, &value);
tmc2300_cache(icID, TMC2300_CACHE_WRITE, registerAddress, (uint32_t*)&value);

}

Expand Down
6 changes: 4 additions & 2 deletions tmc/ic/TMC5031/TMC5031.c
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Original file line number Diff line number Diff line change
Expand Up @@ -119,10 +119,12 @@ void tmc5031_initCache()
{
for (id = 0; id < TMC5031_IC_CACHE_COUNT; id++)
{
tmc5031_cache(id, TMC5031_CACHE_FILL_DEFAULT, i, &tmc5031_RegisterConstants[j].value);
uint32_t value = tmc5031_RegisterConstants[j].value;
tmc5031_cache(id, TMC5031_CACHE_FILL_DEFAULT, i, &value);
}
}
}
(void)motor;
}
#else
// User must implement their own cache
Expand Down Expand Up @@ -186,5 +188,5 @@ void writeRegisterSPI(uint16_t icID, uint8_t address, int32_t value)
tmc5031_readWriteSPI(icID, &data[0], sizeof(data));

//Cache the registers with write-only access
tmc5031_cache(icID, TMC5031_CACHE_WRITE, address, &value);
tmc5031_cache(icID, TMC5031_CACHE_WRITE, address, (uint32_t*)&value);
}
11 changes: 9 additions & 2 deletions tmc/ic/TMC5041/TMC5041.c
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Expand Up @@ -9,6 +9,11 @@

#include "TMC5041.h"

// => SPI wrapper
extern void tmc5041_readWriteSPI(uint16_t icID, uint8_t *data, size_t dataLength);
// <= SPI wrapper



/**************************************************************** Cache Implementation *************************************************************************/

Expand Down Expand Up @@ -121,10 +126,12 @@ void tmc5041_initCache()
{
for (id = 0; id < TMC5041_IC_CACHE_COUNT; id++)
{
tmc5041_cache(id, TMC5041_CACHE_FILL_DEFAULT, i, &tmc5041_RegisterConstants[j].value);
uint32_t value = tmc5041_RegisterConstants[j].value;
tmc5041_cache(id, TMC5041_CACHE_FILL_DEFAULT, i, &value);
}
}
}
(void)motor;
}
#else
// User must implement their own cache
Expand Down Expand Up @@ -189,5 +196,5 @@ void writeRegisterSPI(uint16_t icID, uint8_t address, int32_t value)
tmc5041_readWriteSPI(icID, &data[0], sizeof(data));

//Cache the registers with write-only access
tmc5041_cache(icID, TMC5041_CACHE_WRITE, address, &value);
tmc5041_cache(icID, TMC5041_CACHE_WRITE, address, (uint32_t*)&value);
}
10 changes: 6 additions & 4 deletions tmc/ic/TMC5062/TMC5062.c
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Original file line number Diff line number Diff line change
Expand Up @@ -13,7 +13,7 @@
#ifdef TMC_API_EXTERNAL_CRC_TABLE
extern const uint8_t tmcCRCTable_Poly7Reflected[256];
#else
const uint8_t tmcCRCTable_Poly7Reflected[256] = {
static const uint8_t tmcCRCTable_Poly7Reflected[256] = {
0x00, 0x91, 0xE3, 0x72, 0x07, 0x96, 0xE4, 0x75, 0x0E, 0x9F, 0xED, 0x7C, 0x09, 0x98, 0xEA, 0x7B,
0x1C, 0x8D, 0xFF, 0x6E, 0x1B, 0x8A, 0xF8, 0x69, 0x12, 0x83, 0xF1, 0x60, 0x15, 0x84, 0xF6, 0x67,
0x38, 0xA9, 0xDB, 0x4A, 0x3F, 0xAE, 0xDC, 0x4D, 0x36, 0xA7, 0xD5, 0x44, 0x31, 0xA0, 0xD2, 0x43,
Expand Down Expand Up @@ -141,7 +141,8 @@ void tmc5062_initCache()
{
for (id = 0; id < TMC5062_IC_CACHE_COUNT; id++)
{
tmc5062_cache(id, TMC5062_CACHE_FILL_DEFAULT, i, &tmc5062_RegisterConstants[j].value);
uint32_t value = tmc5062_RegisterConstants[j].value;
tmc5062_cache(id, TMC5062_CACHE_FILL_DEFAULT, i, &value);
}
}
}
Expand Down Expand Up @@ -235,7 +236,7 @@ void writeRegisterSPI(uint16_t icID, uint8_t address, int32_t value)
tmc5062_readWriteSPI(icID, &data[0], sizeof(data));

//Cache the registers with write-only access
tmc5062_cache(icID, TMC5062_CACHE_WRITE, address, &value);
tmc5062_cache(icID, TMC5062_CACHE_WRITE, address, (uint32_t*)&value);
}

int32_t readRegisterUART(uint16_t icID, uint8_t address)
Expand Down Expand Up @@ -281,7 +282,7 @@ void writeRegisterUART(uint16_t icID, uint8_t address, int32_t value)
tmc5062_readWriteUART(icID, &data[0], 7, 0);

//Cache the registers with write-only access
tmc5062_cache(icID, TMC5062_CACHE_WRITE, address, &value);
tmc5062_cache(icID, TMC5062_CACHE_WRITE, address, (uint32_t*)&value);
}

void tmc5062_rotateMotor(uint16_t icID, uint8_t motor, int32_t velocity)
Expand Down Expand Up @@ -309,5 +310,6 @@ static uint8_t CRC8(uint8_t *data, uint32_t bytes)
// swap nibbles ...
result = ((result >> 4) & 0x0F) | ((result & 0x0F) << 4);

(void)table;
return result;
}
9 changes: 6 additions & 3 deletions tmc/ic/TMC5072/TMC5072.c
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Original file line number Diff line number Diff line change
Expand Up @@ -11,7 +11,7 @@
#ifdef TMC_API_EXTERNAL_CRC_TABLE
extern const uint8_t tmcCRCTable_Poly7Reflected[256];
#else
const uint8_t tmcCRCTable_Poly7Reflected[256] = {
static const uint8_t tmcCRCTable_Poly7Reflected[256] = {
0x00, 0x91, 0xE3, 0x72, 0x07, 0x96, 0xE4, 0x75, 0x0E, 0x9F, 0xED, 0x7C, 0x09, 0x98, 0xEA, 0x7B,
0x1C, 0x8D, 0xFF, 0x6E, 0x1B, 0x8A, 0xF8, 0x69, 0x12, 0x83, 0xF1, 0x60, 0x15, 0x84, 0xF6, 0x67,
0x38, 0xA9, 0xDB, 0x4A, 0x3F, 0xAE, 0xDC, 0x4D, 0x36, 0xA7, 0xD5, 0x44, 0x31, 0xA0, 0xD2, 0x43,
Expand Down Expand Up @@ -141,10 +141,12 @@ void tmc5072_initCache()
{
for (id = 0; id < TMC5072_IC_CACHE_COUNT; id++)
{
tmc5072_cache(id, TMC5072_CACHE_FILL_DEFAULT, i, &tmc5072_RegisterConstants[j].value);
uint32_t value = tmc5072_RegisterConstants[j].value;
tmc5072_cache(id, TMC5072_CACHE_FILL_DEFAULT, i, &value);
}
}
}
(void)motor;
}
#else
// User must implement their own cache
Expand Down Expand Up @@ -196,7 +198,7 @@ void tmc5072_writeRegister(uint16_t icID, uint8_t address, int32_t value)
}

//Cache the registers with write-only access
tmc5072_cache(icID, TMC5072_CACHE_WRITE, address, &value);
tmc5072_cache(icID, TMC5072_CACHE_WRITE, address, (uint32_t*)&value);
}

int32_t readRegisterSPI(uint16_t icID, uint8_t address)
Expand Down Expand Up @@ -298,6 +300,7 @@ static uint8_t CRC8(uint8_t *data, uint32_t bytes)
// swap nibbles ...
result = ((result >> 4) & 0x0F) | ((result & 0x0F) << 4);

(void)table;
return result;
}

Expand Down
2 changes: 1 addition & 1 deletion tmc/ic/TMC5130/Examples/TMC5130_Simple_Rotation.c
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Expand Up @@ -10,7 +10,7 @@
* Configures the registers with the right settings that are needed for rotating the motor.
* E.g Enabling driver, setting IRUN current etc.
*/
void initAllMotors(uint16_t icID)
void TMC5130initAllMotors(uint16_t icID)
{
tmc5130_writeRegister(icID, TMC5130_GCONF, 0x00000000); // Digital current scaling, SpreadCycle mode

Expand Down
4 changes: 2 additions & 2 deletions tmc/ic/TMC5130/Examples/TMC5130_Simple_Rotation.h
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Expand Up @@ -7,8 +7,8 @@
#ifndef TMC5130_SIMPLE_ROTATION_H_
#define TMC5130_SIMPLE_ROTATION_H_

#include "TMC5130.h"
#include "../TMC5130.h"

void initAllMotors(uint16_t icID);
void TMC5130initAllMotors(uint16_t icID);

#endif
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