Brought into line with version of this file in DuetExpansion

1 files changed, 9 insertions, 10 deletions

diff --git a/src/Movement/StepperDrivers/TMC22xx.cpp b/src/Movement/StepperDrivers/TMC22xx.cpp
index adb2d479..7c4fca79 100644
--- a/src/Movement/StepperDrivers/TMC22xx.cpp
+++ b/src/Movement/StepperDrivers/TMC22xx.cpp
@@ -106,7 +106,7 @@ enum class DriversState : uint8_t
 
 static DriversState driversState = DriversState::shutDown;
 
-#if TMC22xx_USE_SLAVEADDR
+#if TMC22xx_USE_SLAVEADDR && TMC22xx_HAS_MUX
 static bool currentMuxState;
 #endif
 
@@ -931,7 +931,7 @@ pre(!driversPowered)
 	IoPort::SetPinMode(p_diagPin, INPUT_PULLDOWN);						// pull down not up so that missing drivers don't signal stalls
 #endif
 
-#if !(TMC22xx_HAS_MUX || TMC22xx_SINGLE_DRIVER)
+#if !(TMC22xx_HAS_MUX || TMC22xx_SINGLE_DRIVER || TMC22xx_USE_SLAVEADDR)
 # if TMC22xx_USES_SERCOM
 	sercom = TMC22xxSercoms[p_driverNumber];
 	sercomNumber = TMC22xxSercomNumbers[p_driverNumber];
@@ -1531,7 +1531,7 @@ inline void TmcDriverState::UartTmcHandler() noexcept
 	TransferDone();																			// tidy up after the transfer we just completed
 }
 
-#if TMC22xx_HAS_MUX || TMC22xx_SINGLE_DRIVER
+#if TMC22xx_HAS_MUX || TMC22xx_SINGLE_DRIVER || TMC22xx_USE_SLAVEADDR
 
 # if TMC22xx_USES_SERCOM
 
@@ -1837,16 +1837,15 @@ void SmartDrivers::Init() noexcept
 	// Make sure the ENN pins are high
 	IoPort::SetPinMode(GlobalTmc22xxEnablePin, OUTPUT_HIGH);
 
-#if TMC22xx_HAS_MUX || TMC22xx_SINGLE_DRIVER
-# if TMC22xx_USES_SERCOM
+#if TMC22xx_HAS_MUX || TMC22xx_SINGLE_DRIVER || TMC22xx_USE_SLAVEADDR
 	// Set up the single UART that communicates with all TMC22xx drivers
+# if TMC22xx_USES_SERCOM
 	SetPinFunction(TMC22xxSercomTxPin, TMC22xxSercomTxPinPeriphMode);
 	SetPinFunction(TMC22xxSercomRxPin, TMC22xxSercomRxPinPeriphMode);
 
 	Serial::InitUart(TMC22xxSercomNumber, DriversBaudRate, TMC22xxSercomRxPad, true);
 	DmacManager::SetInterruptCallback(DmacChanTmcRx, TransferCompleteCallback, CallbackParameter(0));
 # else
-	// Set up the single UART that communicates with all TMC22xx drivers
 	SetPinFunction(TMC22xxUartTxPin, TMC22xxUartPeriphMode);
 	SetPinFunction(TMC22xxUartRxPin, TMC22xxUartPeriphMode);
 	EnablePullup(TMC22xxUartRxPin);
@@ -1880,7 +1879,8 @@ void SmartDrivers::Init() noexcept
 	driversState = DriversState::noPower;
 	for (size_t drive = 0; drive < GetNumTmcDrivers(); ++drive)
 	{
-#if !(TMC22xx_HAS_MUX || TMC22xx_SINGLE_DRIVER)
+#if !(TMC22xx_HAS_MUX || TMC22xx_SINGLE_DRIVER || TMC22xx_USE_SLAVEADDR)
+		// Set up the individual UARTs that communicate with each of the TMC22xx drivers
 # if TMC22xx_USES_SERCOM
 		// Initialise the SERCOM that controls this driver
 		gpio_set_pin_function(TMC22xxSercomTxPins[drive], TMC22xxSercomTxPinPeriphModes[drive]);
@@ -1889,8 +1889,7 @@ void SmartDrivers::Init() noexcept
 		Serial::InitUart(TMC22xxUarts[drive], TMC22xxSercomNumbers[drive], DriversBaudRate);
 		NVIC_EnableIRQ(TMC22xxSercomIRQns[drive]);
 # else
-		// Initialise the UART that controls this driver
-		// The pins are already set up for UART use in the pins table
+		// Initialise the UART that controls this driver. The pins are already set up for UART use in the pins table
 		ConfigurePin(TMC22xxUartPins[drive]);
 
 		// Enable the clock to the UART
@@ -1928,7 +1927,7 @@ void SmartDrivers::Init() noexcept
 void SmartDrivers::Exit() noexcept
 {
 	IoPort::SetPinMode(GlobalTmc22xxEnablePin, OUTPUT_HIGH);
-#if TMC22xx_HAS_MUX || TMC22xx_SINGLE_DRIVER
+#if TMC22xx_HAS_MUX || TMC22xx_SINGLE_DRIVER || TMC22xx_USE_SLAVEADDR
 # if TMC22xx_USES_SERCOM
 	DmacManager::SetInterruptCallback(DmacChanTmcRx, nullptr, CallbackParameter(nullptr));
 # else