Add support for Triple-Z steppers/endstops
This commit is contained in:
Holger Müller
committed by
Scott Lahteine
Scott Lahteine
parent
bc06406d7d
commit
1a6f2b29b8
@ -194,10 +194,13 @@ typedef struct SettingsDataStruct {
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delta_segments_per_second, // M665 S
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delta_calibration_radius, // M665 B
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delta_tower_angle_trim[ABC]; // M665 XYZ
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#elif ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || ENABLED(Z_DUAL_ENDSTOPS)
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float x_endstop_adj, // M666 X
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y_endstop_adj, // M666 Y
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z_endstop_adj; // M666 Z
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#elif ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || Z_MULTI_ENDSTOPS
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float x2_endstop_adj, // M666 X
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y2_endstop_adj, // M666 Y
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z2_endstop_adj; // M666 Z
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#if ENABLED(Z_TRIPLE_ENDSTOPS)
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float z3_endstop_adj; // M666 Z
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#endif
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#endif
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//
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@ -246,9 +249,9 @@ typedef struct SettingsDataStruct {
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//
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// HAS_TRINAMIC
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//
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#define TMC_AXES (MAX_EXTRUDERS + 6)
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uint16_t tmc_stepper_current[TMC_AXES]; // M906 X Y Z X2 Y2 Z2 E0 E1 E2 E3 E4
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uint32_t tmc_hybrid_threshold[TMC_AXES]; // M913 X Y Z X2 Y2 Z2 E0 E1 E2 E3 E4
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#define TMC_AXES (MAX_EXTRUDERS + 7)
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uint16_t tmc_stepper_current[TMC_AXES]; // M906 X Y Z X2 Y2 Z2 Z3 E0 E1 E2 E3 E4
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uint32_t tmc_hybrid_threshold[TMC_AXES]; // M913 X Y Z X2 Y2 Z2 Z3 E0 E1 E2 E3 E4
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int16_t tmc_sgt[XYZ]; // M914 X Y Z
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//
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@ -574,26 +577,32 @@ void MarlinSettings::postprocess() {
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EEPROM_WRITE(delta_calibration_radius); // 1 float
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EEPROM_WRITE(delta_tower_angle_trim); // 3 floats
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#elif ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || ENABLED(Z_DUAL_ENDSTOPS)
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#elif ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || Z_MULTI_ENDSTOPS
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_FIELD_TEST(x_endstop_adj);
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_FIELD_TEST(x2_endstop_adj);
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// Write dual endstops in X, Y, Z order. Unused = 0.0
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dummy = 0;
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#if ENABLED(X_DUAL_ENDSTOPS)
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EEPROM_WRITE(endstops.x_endstop_adj); // 1 float
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EEPROM_WRITE(endstops.x2_endstop_adj); // 1 float
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#else
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EEPROM_WRITE(dummy);
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#endif
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#if ENABLED(Y_DUAL_ENDSTOPS)
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EEPROM_WRITE(endstops.y_endstop_adj); // 1 float
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EEPROM_WRITE(endstops.y2_endstop_adj); // 1 float
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#else
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EEPROM_WRITE(dummy);
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#endif
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#if ENABLED(Z_DUAL_ENDSTOPS)
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EEPROM_WRITE(endstops.z_endstop_adj); // 1 float
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#if Z_MULTI_ENDSTOPS
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EEPROM_WRITE(endstops.z2_endstop_adj); // 1 float
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#else
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EEPROM_WRITE(dummy);
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#endif
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#if ENABLED(Z_TRIPLE_ENDSTOPS)
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EEPROM_WRITE(endstops.z3_endstop_adj); // 1 float
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#else
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EEPROM_WRITE(dummy);
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#endif
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@ -740,6 +749,11 @@ void MarlinSettings::postprocess() {
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#else
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0,
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#endif
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#if AXIS_IS_TMC(Z3)
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stepperZ3.getCurrent(),
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#else
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0,
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#endif
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#if AXIS_IS_TMC(E0)
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stepperE0.getCurrent(),
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#else
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@ -809,6 +823,11 @@ void MarlinSettings::postprocess() {
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#else
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Z2_HYBRID_THRESHOLD,
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#endif
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#if AXIS_HAS_STEALTHCHOP(Z3)
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TMC_GET_PWMTHRS(Z, Z3),
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#else
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Z3_HYBRID_THRESHOLD,
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#endif
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#if AXIS_HAS_STEALTHCHOP(E0)
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TMC_GET_PWMTHRS(E, E0),
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#else
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@ -836,7 +855,7 @@ void MarlinSettings::postprocess() {
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#endif
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#else
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100, 100, 3, // X, Y, Z
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100, 100, 3, // X2, Y2, Z2
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100, 100, 3, 3, // X2, Y2, Z2, Z3
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30, 30, 30, 30, 30 // E0, E1, E2, E3, E4
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#endif
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};
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@ -1187,22 +1206,27 @@ void MarlinSettings::postprocess() {
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EEPROM_READ(delta_calibration_radius); // 1 float
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EEPROM_READ(delta_tower_angle_trim); // 3 floats
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#elif ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || ENABLED(Z_DUAL_ENDSTOPS)
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#elif ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || Z_MULTI_ENDSTOPS
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_FIELD_TEST(x_endstop_adj);
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_FIELD_TEST(x2_endstop_adj);
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#if ENABLED(X_DUAL_ENDSTOPS)
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EEPROM_READ(endstops.x_endstop_adj); // 1 float
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EEPROM_READ(endstops.x2_endstop_adj); // 1 float
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#else
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EEPROM_READ(dummy);
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#endif
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#if ENABLED(Y_DUAL_ENDSTOPS)
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EEPROM_READ(endstops.y_endstop_adj); // 1 float
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EEPROM_READ(endstops.y2_endstop_adj); // 1 float
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#else
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EEPROM_READ(dummy);
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#endif
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#if ENABLED(Z_DUAL_ENDSTOPS)
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EEPROM_READ(endstops.z_endstop_adj); // 1 float
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#if Z_MULTI_ENDSTOPS
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EEPROM_READ(endstops.z2_endstop_adj); // 1 float
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#else
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EEPROM_READ(dummy);
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#endif
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#if ENABLED(Z_TRIPLE_ENDSTOPS)
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EEPROM_READ(endstops.z3_endstop_adj); // 1 float
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#else
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EEPROM_READ(dummy);
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#endif
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@ -1365,6 +1389,9 @@ void MarlinSettings::postprocess() {
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#if AXIS_IS_TMC(Z2)
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SET_CURR(Z2);
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#endif
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#if AXIS_IS_TMC(Z3)
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SET_CURR(Z3);
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#endif
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#if AXIS_IS_TMC(E0)
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SET_CURR(E0);
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#endif
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@ -1409,6 +1436,9 @@ void MarlinSettings::postprocess() {
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#if AXIS_HAS_STEALTHCHOP(Z2)
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TMC_SET_PWMTHRS(Z, Z2);
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#endif
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#if AXIS_HAS_STEALTHCHOP(Z3)
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TMC_SET_PWMTHRS(Z, Z3);
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#endif
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#if AXIS_HAS_STEALTHCHOP(E0)
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TMC_SET_PWMTHRS(E, E0);
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#endif
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@ -1434,7 +1464,7 @@ void MarlinSettings::postprocess() {
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* TMC2130 Sensorless homing threshold.
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* X and X2 use the same value
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* Y and Y2 use the same value
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* Z and Z2 use the same value
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* Z, Z2 and Z3 use the same value
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*/
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int16_t tmc_sgt[XYZ];
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EEPROM_READ(tmc_sgt);
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@ -1463,6 +1493,9 @@ void MarlinSettings::postprocess() {
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#if AXIS_HAS_STALLGUARD(Z2)
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stepperZ2.sgt(tmc_sgt[2]);
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#endif
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#if AXIS_HAS_STALLGUARD(Z3)
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stepperZ3.sgt(tmc_sgt[2]);
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#endif
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#endif
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}
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#endif
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@ -1860,10 +1893,10 @@ void MarlinSettings::reset(PORTARG_SOLO) {
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delta_calibration_radius = DELTA_CALIBRATION_RADIUS;
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COPY(delta_tower_angle_trim, dta);
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#elif ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || ENABLED(Z_DUAL_ENDSTOPS)
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#elif ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || Z_MULTI_ENDSTOPS
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#if ENABLED(X_DUAL_ENDSTOPS)
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endstops.x_endstop_adj = (
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endstops.x2_endstop_adj = (
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#ifdef X_DUAL_ENDSTOPS_ADJUSTMENT
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X_DUAL_ENDSTOPS_ADJUSTMENT
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#else
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@ -1872,7 +1905,7 @@ void MarlinSettings::reset(PORTARG_SOLO) {
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);
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#endif
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#if ENABLED(Y_DUAL_ENDSTOPS)
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endstops.y_endstop_adj = (
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endstops.y2_endstop_adj = (
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#ifdef Y_DUAL_ENDSTOPS_ADJUSTMENT
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Y_DUAL_ENDSTOPS_ADJUSTMENT
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#else
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@ -1881,13 +1914,28 @@ void MarlinSettings::reset(PORTARG_SOLO) {
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);
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#endif
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#if ENABLED(Z_DUAL_ENDSTOPS)
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endstops.z_endstop_adj = (
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endstops.z2_endstop_adj = (
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#ifdef Z_DUAL_ENDSTOPS_ADJUSTMENT
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Z_DUAL_ENDSTOPS_ADJUSTMENT
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#else
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0
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#endif
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);
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#elif ENABLED(Z_TRIPLE_ENDSTOPS)
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endstops.z2_endstop_adj = (
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#ifdef Z_TRIPLE_ENDSTOPS_ADJUSTMENT2
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Z_TRIPLE_ENDSTOPS_ADJUSTMENT2
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#else
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0
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#endif
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);
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endstops.z3_endstop_adj = (
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#ifdef Z_TRIPLE_ENDSTOPS_ADJUSTMENT3
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Z_TRIPLE_ENDSTOPS_ADJUSTMENT3
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#else
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0
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#endif
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);
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#endif
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#endif
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@ -2391,13 +2439,17 @@ void MarlinSettings::reset(PORTARG_SOLO) {
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CONFIG_ECHO_START;
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SERIAL_ECHOPGM_P(port, " M666");
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#if ENABLED(X_DUAL_ENDSTOPS)
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SERIAL_ECHOPAIR_P(port, " X", LINEAR_UNIT(endstops.x_endstop_adj));
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SERIAL_ECHOPAIR_P(port, " X", LINEAR_UNIT(endstops.x2_endstop_adj));
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#endif
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#if ENABLED(Y_DUAL_ENDSTOPS)
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SERIAL_ECHOPAIR_P(port, " Y", LINEAR_UNIT(endstops.y_endstop_adj));
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SERIAL_ECHOPAIR_P(port, " Y", LINEAR_UNIT(endstops.y2_endstop_adj));
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#endif
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#if ENABLED(Z_DUAL_ENDSTOPS)
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SERIAL_ECHOPAIR_P(port, " Z", LINEAR_UNIT(endstops.z_endstop_adj));
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#if ENABLED(Z_TRIPLE_ENDSTOPS)
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SERIAL_ECHOLNPAIR_P(port, "S1 Z", LINEAR_UNIT(endstops.z2_endstop_adj));
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CONFIG_ECHO_START;
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SERIAL_ECHOPAIR_P(port, " M666 S2 Z", LINEAR_UNIT(endstops.z3_endstop_adj));
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#elif ENABLED(Z_DUAL_ENDSTOPS)
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SERIAL_ECHOPAIR_P(port, " Z", LINEAR_UNIT(endstops.z2_endstop_adj));
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#endif
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SERIAL_EOL_P(port);
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@ -2582,6 +2634,10 @@ void MarlinSettings::reset(PORTARG_SOLO) {
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#if AXIS_IS_TMC(X2) || AXIS_IS_TMC(Y2) || AXIS_IS_TMC(Z2)
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SERIAL_EOL_P(port);
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#endif
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#if AXIS_IS_TMC(Z3)
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say_M906(PORTVAR_SOLO);
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SERIAL_ECHOLNPAIR_P(port, " I2 Z", stepperZ3.getCurrent());
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#endif
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#if AXIS_IS_TMC(E0)
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say_M906(PORTVAR_SOLO);
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SERIAL_ECHOLNPAIR_P(port, " T0 E", stepperE0.getCurrent());
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@ -2644,6 +2700,11 @@ void MarlinSettings::reset(PORTARG_SOLO) {
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#if AXIS_IS_TMC(X2) || AXIS_IS_TMC(Y2) || AXIS_IS_TMC(Z2)
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SERIAL_EOL_P(port);
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#endif
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#if AXIS_IS_TMC(Z3)
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say_M913(PORTVAR_SOLO);
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SERIAL_ECHOPGM_P(port, " I2");
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SERIAL_ECHOLNPAIR_P(port, " Z", TMC_GET_PWMTHRS(Z, Z3));
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#endif
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#if AXIS_IS_TMC(E0)
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say_M913(PORTVAR_SOLO);
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SERIAL_ECHOLNPAIR_P(port, " T0 E", TMC_GET_PWMTHRS(E, E0));
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@ -2693,6 +2754,7 @@ void MarlinSettings::reset(PORTARG_SOLO) {
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#define HAS_X2_SENSORLESS (defined(X_HOMING_SENSITIVITY) && AXIS_HAS_STALLGUARD(X2))
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#define HAS_Y2_SENSORLESS (defined(Y_HOMING_SENSITIVITY) && AXIS_HAS_STALLGUARD(Y2))
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#define HAS_Z2_SENSORLESS (defined(Z_HOMING_SENSITIVITY) && AXIS_HAS_STALLGUARD(Z2))
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#define HAS_Z3_SENSORLESS (defined(Z_HOMING_SENSITIVITY) && AXIS_HAS_STALLGUARD(Z3))
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#if HAS_X2_SENSORLESS || HAS_Y2_SENSORLESS || HAS_Z2_SENSORLESS
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say_M914(PORTVAR_SOLO);
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SERIAL_ECHOPGM_P(port, " I1");
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@ -2708,6 +2770,12 @@ void MarlinSettings::reset(PORTARG_SOLO) {
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SERIAL_EOL_P(port);
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#endif
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#if HAS_Z3_SENSORLESS
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say_M914(PORTVAR_SOLO);
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SERIAL_ECHOPGM_P(port, " I2");
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SERIAL_ECHOLNPAIR_P(port, " Z", stepperZ3.sgt());
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#endif
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#endif // SENSORLESS_HOMING
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#endif // HAS_TRINAMIC
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