Applied UART configurable to TrinamicUart

Grbl_Esp32/src/Motors/Dynamixel2.cpp

@@ -31,7 +31,7 @@
 #include "../Limits.h"  // limitsMinPosition
 
 namespace Motors {
-    bool    Motors::Dynamixel2::uart_ready         = false;
+    bool    Motors::Dynamixel2::_uart_started      = false;
     uint8_t Motors::Dynamixel2::ids[MAX_N_AXIS][2] = { { 0, 0 }, { 0, 0 }, { 0, 0 }, { 0, 0 }, { 0, 0 }, { 0, 0 } };
 
     void Dynamixel2::init() {
@@ -40,7 +40,7 @@ namespace Motors {
 
         ids[_axis_index][dual_axis_index()] = _id;  // learn all the ids
 
-        if (!uart_ready) {
+        if (!_uart_started) {
             if (_uart->baud != 1000000) {
                 info_serial("Warning: The baud rate is %d.  Dynamixels typically use 1000000 baud.");
             }
@@ -54,7 +54,7 @@ namespace Motors {
             info_serial("Dynamixel:");
             _uart->config_message();
 
-            uart_ready = true;
+            _uart_started = true;
         }
 
         read_settings();

Grbl_Esp32/src/Motors/Dynamixel2.h

@@ -62,7 +62,7 @@ namespace Motors {
 
         Uart* _uart = nullptr;
 
-        static const int DYNAMIXEL_BAUD_RATE = 1000000;
+        static bool _uart_started;
 
         static const int DXL_RESPONSE_WAIT_TICKS = 20;  // how long to wait for a response
 
@@ -114,7 +114,6 @@ namespace Motors {
         void set_disable(bool disable) override;
         void update() override;
 
-        static bool    uart_ready;
         static uint8_t ids[MAX_N_AXIS][2];
 
         // Configuration handlers:

Grbl_Esp32/src/Motors/TrinamicUartDriver.cpp

@@ -32,8 +32,6 @@
 #include <TMCStepper.h>  // https://github.com/teemuatlut/TMCStepper
 #include <atomic>
 
-Uart tmc_serial(TMC_UART);
-
 namespace Motors {
 
     bool TrinamicUartDriver::_uart_started = false;
@@ -43,10 +41,9 @@ namespace Motors {
 
     void TrinamicUartDriver::init() {
         if (!_uart_started) {
-#ifdef LATER
+            _uart->begin();
-            tmc_serial.setPins(TMC_UART_TX, TMC_UART_RX);
+            info_serial("Trinamic:");
-#endif
+            _uart->config_message();
-            tmc_serial.begin(115200, UartData::Bits8, UartStop::Bits1, UartParity::None);
             _uart_started = true;
         }
         _has_errors = hw_serial_init();
@@ -89,7 +86,7 @@ namespace Motors {
 
     bool TrinamicUartDriver::hw_serial_init() {
         if (_driver_part_number == 2209) {
-            tmcstepper = new TMC2209Stepper(&tmc_serial, _r_sense, _addr);
+            tmcstepper = new TMC2209Stepper(_uart, _r_sense, _addr);
             return false;
         }
         info_serial("Unsupported Trinamic motor p/n:%d", _driver_part_number);
@@ -100,20 +97,12 @@ namespace Motors {
         This is the startup message showing the basic definition. 
     */
     void TrinamicUartDriver::config_message() {  //TODO: The RX/TX pin could be added to the msg.
-        info_serial("%s motor Trinamic TMC%d Step:%s Dir:%s Disable:%s UART%d Rx:%s Tx:%s Addr:%d R:%0.3f %s",
+        info_serial("%s motor Trinamic TMC%d Step:%s Dir:%s Disable:%s Addr:%d R:%0.3f %s",
                     reportAxisNameMsg(axis_index(), dual_axis_index()),
                     _driver_part_number,
                     _step_pin.name().c_str(),
                     _dir_pin.name().c_str(),
                     _disable_pin.name().c_str(),
-                    TMC_UART,
-#ifdef LATER
-                    pinName(TMC_UART_RX),
-                    pinName(TMC_UART_TX),
-#else
-                    0,
-                    0,
-#endif
                     _addr,
                     _r_sense,
                     reportAxisLimitsMsg(axis_index()));

Grbl_Esp32/src/Motors/TrinamicUartDriver.h

@@ -25,31 +25,14 @@
 
 #include <cstdint>
 
-const float TMC2208_RSENSE_DEFAULT = 0.11f;
-const float TMC2209_RSENSE_DEFAULT = 0.11f;
-
-#ifndef TMC_UART
-#    define TMC_UART UART_NUM_2
-#endif
-
-#ifdef LATER
-#    ifndef TMC_UART_RX
-#        define TMC_UART_RX UNDEFINED_PIN
-#    endif
-
-#    ifndef TMC_UART_TX
-#        define TMC_UART_TX UNDEFINED_PIN
-#    endif
-#endif
-
 class TMC2209Stepper;  // Forward declaration
 
-extern Uart tmc_serial;
-
 namespace Motors {
 
     class TrinamicUartDriver : public TrinamicBase {
     private:
+        Uart* _uart = nullptr;
+
         static bool _uart_started;
 
         TMC2209Stepper* tmcstepper;  // all other driver types are subclasses of this one