stepper.cpp macros rework
delete some tabs
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Wurstnase
parent
075386e7fe
commit
79a44a9de3
@ -46,7 +46,7 @@ block_t *current_block; // A pointer to the block currently being traced
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// Variables used by The Stepper Driver Interrupt
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static unsigned char out_bits; // The next stepping-bits to be output
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static unsigned int cleaning_buffer_counter;
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static unsigned int cleaning_buffer_counter;
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#ifdef Z_DUAL_ENDSTOPS
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static bool performing_homing = false,
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@ -285,8 +285,8 @@ void checkHitEndstops() {
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}
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#ifdef Z_PROBE_ENDSTOP
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if (endstop_z_probe_hit) {
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SERIAL_ECHOPAIR(" Z_PROBE:", (float)endstops_trigsteps[Z_AXIS] / axis_steps_per_unit[Z_AXIS]);
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LCD_MESSAGEPGM(MSG_ENDSTOPS_HIT "ZP");
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SERIAL_ECHOPAIR(" Z_PROBE:", (float)endstops_trigsteps[Z_AXIS] / axis_steps_per_unit[Z_AXIS]);
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LCD_MESSAGEPGM(MSG_ENDSTOPS_HIT "ZP");
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}
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#endif
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SERIAL_EOL;
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@ -411,7 +411,7 @@ ISR(TIMER1_COMPA_vect) {
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OCR1A = 200;
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return;
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}
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// If there is no current block, attempt to pop one from the buffer
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if (!current_block) {
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// Anything in the buffer?
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@ -463,14 +463,22 @@ ISR(TIMER1_COMPA_vect) {
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count_direction[Y_AXIS] = 1;
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}
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#define _ENDSTOP(axis, minmax) axis ##_## minmax ##_endstop
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#define _ENDSTOP_PIN(AXIS, MINMAX) AXIS ##_## MINMAX ##_PIN
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#define _ENDSTOP_INVERTING(AXIS, MINMAX) AXIS ##_## MINMAX ##_ENDSTOP_INVERTING
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#define _OLD_ENDSTOP(axis, minmax) old_## axis ##_## minmax ##_endstop
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#define _AXIS(AXIS) AXIS ##_AXIS
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#define _ENDSTOP_HIT(axis) endstop_## axis ##_hit
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#define UPDATE_ENDSTOP(axis,AXIS,minmax,MINMAX) \
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bool axis ##_## minmax ##_endstop = (READ(AXIS ##_## MINMAX ##_PIN) != AXIS ##_## MINMAX ##_ENDSTOP_INVERTING); \
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if (axis ##_## minmax ##_endstop && old_## axis ##_## minmax ##_endstop && (current_block->steps[AXIS ##_AXIS] > 0)) { \
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endstops_trigsteps[AXIS ##_AXIS] = count_position[AXIS ##_AXIS]; \
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endstop_## axis ##_hit = true; \
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bool _ENDSTOP(axis, minmax) = (READ(_ENDSTOP_PIN(AXIS, MINMAX)) != _ENDSTOP_INVERTING(AXIS, MINMAX)); \
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if (_ENDSTOP(axis, minmax) && _OLD_ENDSTOP(axis, minmax) && (current_block->steps[_AXIS(AXIS)] > 0)) { \
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endstops_trigsteps[_AXIS(AXIS)] = count_position[_AXIS(AXIS)]; \
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_ENDSTOP_HIT(axis) = true; \
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step_events_completed = current_block->step_event_count; \
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} \
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old_## axis ##_## minmax ##_endstop = axis ##_## minmax ##_endstop;
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_OLD_ENDSTOP(axis, minmax) = _ENDSTOP(axis, minmax);
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// Check X and Y endstops
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if (check_endstops) {
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@ -486,7 +494,7 @@ ISR(TIMER1_COMPA_vect) {
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#ifdef DUAL_X_CARRIAGE
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// with 2 x-carriages, endstops are only checked in the homing direction for the active extruder
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if ((current_block->active_extruder == 0 && X_HOME_DIR == -1) || (current_block->active_extruder != 0 && X2_HOME_DIR == -1))
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#endif
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#endif
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{
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#if HAS_X_MIN
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UPDATE_ENDSTOP(x, X, min, MIN);
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@ -572,14 +580,14 @@ ISR(TIMER1_COMPA_vect) {
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z_probe_endstop=(READ(Z_PROBE_PIN) != Z_PROBE_ENDSTOP_INVERTING);
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if(z_probe_endstop && old_z_probe_endstop)
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{
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endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
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endstop_z_probe_hit=true;
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endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
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endstop_z_probe_hit=true;
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// if (z_probe_endstop && old_z_probe_endstop) SERIAL_ECHOLN("z_probe_endstop = true");
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// if (z_probe_endstop && old_z_probe_endstop) SERIAL_ECHOLN("z_probe_endstop = true");
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}
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old_z_probe_endstop = z_probe_endstop;
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#endif
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} // check_endstops
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}
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@ -625,15 +633,15 @@ ISR(TIMER1_COMPA_vect) {
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#endif // !Z_DUAL_ENDSTOPS
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#endif // Z_MAX_PIN
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#ifdef Z_PROBE_ENDSTOP
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UPDATE_ENDSTOP(z, Z, probe, PROBE);
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z_probe_endstop=(READ(Z_PROBE_PIN) != Z_PROBE_ENDSTOP_INVERTING);
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if(z_probe_endstop && old_z_probe_endstop)
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{
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endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
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endstop_z_probe_hit=true;
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// if (z_probe_endstop && old_z_probe_endstop) SERIAL_ECHOLN("z_probe_endstop = true");
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endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
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endstop_z_probe_hit=true;
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// if (z_probe_endstop && old_z_probe_endstop) SERIAL_ECHOLN("z_probe_endstop = true");
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}
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old_z_probe_endstop = z_probe_endstop;
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#endif
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@ -667,6 +675,11 @@ ISR(TIMER1_COMPA_vect) {
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}
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#endif //ADVANCE
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#define _COUNTER(axis) counter_## axis
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#define _WRITE_STEP(AXIS, HIGHLOW) AXIS ##_STEP_WRITE(HIGHLOW)
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#define _APPLY_STEP(AXIS) AXIS ##_APPLY_STEP
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#define _INVERT_STEP_PIN(AXIS) INVERT_## AXIS ##_STEP_PIN
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#ifdef CONFIG_STEPPERS_TOSHIBA
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/**
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* The Toshiba stepper controller require much longer pulses.
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@ -675,8 +688,8 @@ ISR(TIMER1_COMPA_vect) {
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* lag to allow it work with without needing NOPs
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*/
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#define STEP_ADD(axis, AXIS) \
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counter_## axis += current_block->steps[AXIS ##_AXIS]; \
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if (counter_## axis > 0) { AXIS ##_STEP_WRITE(HIGH); }
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_COUNTER(axis) += current_block->steps[_AXIS(AXIS)]; \
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if (_COUNTER(axis) > 0) { _WRITE_STEP(AXIS, HIGH); }
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STEP_ADD(x,X);
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STEP_ADD(y,Y);
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STEP_ADD(z,Z);
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@ -685,10 +698,10 @@ ISR(TIMER1_COMPA_vect) {
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#endif
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#define STEP_IF_COUNTER(axis, AXIS) \
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if (counter_## axis > 0) { \
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counter_## axis -= current_block->step_event_count; \
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count_position[AXIS ##_AXIS] += count_direction[AXIS ##_AXIS]; \
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AXIS ##_STEP_WRITE(LOW); \
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if (_COUNTER(axis) > 0) { \
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_COUNTER(axis) -= current_block->step_event_count; \
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count_position[_AXIS(AXIS)] += count_direction[_AXIS(AXIS)]; \
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_WRITE_STEP(AXIS, LOW); \
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}
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STEP_IF_COUNTER(x, X);
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@ -701,12 +714,12 @@ ISR(TIMER1_COMPA_vect) {
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#else // !CONFIG_STEPPERS_TOSHIBA
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#define APPLY_MOVEMENT(axis, AXIS) \
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counter_## axis += current_block->steps[AXIS ##_AXIS]; \
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if (counter_## axis > 0) { \
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AXIS ##_APPLY_STEP(!INVERT_## AXIS ##_STEP_PIN,0); \
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counter_## axis -= current_block->step_event_count; \
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count_position[AXIS ##_AXIS] += count_direction[AXIS ##_AXIS]; \
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AXIS ##_APPLY_STEP(INVERT_## AXIS ##_STEP_PIN,0); \
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_COUNTER(axis) += current_block->steps[_AXIS(AXIS)]; \
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if (_COUNTER(axis) > 0) { \
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_APPLY_STEP(AXIS)(!_INVERT_STEP_PIN(AXIS),0); \
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_COUNTER(axis) -= current_block->step_event_count; \
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count_position[_AXIS(AXIS)] += count_direction[_AXIS(AXIS)]; \
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_APPLY_STEP(AXIS)(_INVERT_STEP_PIN(AXIS),0); \
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}
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APPLY_MOVEMENT(x, X);
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@ -874,7 +887,7 @@ void st_init() {
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#ifdef HAVE_L6470DRIVER
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L6470_init();
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#endif
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// Initialize Dir Pins
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#if HAS_X_DIR
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X_DIR_INIT;
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@ -920,11 +933,11 @@ void st_init() {
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#if HAS_Y_ENABLE
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Y_ENABLE_INIT;
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if (!Y_ENABLE_ON) Y_ENABLE_WRITE(HIGH);
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#if defined(Y_DUAL_STEPPER_DRIVERS) && HAS_Y2_ENABLE
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Y2_ENABLE_INIT;
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if (!Y_ENABLE_ON) Y2_ENABLE_WRITE(HIGH);
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#endif
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#if defined(Y_DUAL_STEPPER_DRIVERS) && HAS_Y2_ENABLE
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Y2_ENABLE_INIT;
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if (!Y_ENABLE_ON) Y2_ENABLE_WRITE(HIGH);
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#endif
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#endif
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#if HAS_Z_ENABLE
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Z_ENABLE_INIT;
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@ -1001,8 +1014,8 @@ void st_init() {
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#ifdef ENDSTOPPULLUP_ZMAX
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WRITE(Z2_MAX_PIN,HIGH);
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#endif
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#endif
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#endif
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#if (defined(Z_PROBE_PIN) && Z_PROBE_PIN >= 0) && defined(Z_PROBE_ENDSTOP) // Check for Z_PROBE_ENDSTOP so we don't pull a pin high unless it's to be used.
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SET_INPUT(Z_PROBE_PIN);
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#ifdef ENDSTOPPULLUP_ZPROBE
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@ -1010,10 +1023,13 @@ void st_init() {
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#endif
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#endif
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#define _STEP_INIT(AXIS) AXIS ##_STEP_INIT
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#define _DISABLE(axis) disable_## axis()
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#define AXIS_INIT(axis, AXIS, PIN) \
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AXIS ##_STEP_INIT; \
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AXIS ##_STEP_WRITE(INVERT_## PIN ##_STEP_PIN); \
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disable_## axis()
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_STEP_INIT(AXIS); \
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_WRITE_STEP(AXIS, _INVERT_STEP_PIN(PIN)); \
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_DISABLE(axis)
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#define E_AXIS_INIT(NUM) AXIS_INIT(e## NUM, E## NUM, E)
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@ -1146,14 +1162,19 @@ void quickStop() {
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// No other ISR should ever interrupt this!
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void babystep(const uint8_t axis, const bool direction) {
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#define _ENABLE(axis) enable_## axis()
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#define _READ_DIR(AXIS) AXIS ##_DIR_READ
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#define _INVERT_DIR(AXIS) INVERT_## AXIS ##_DIR
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#define _APPLY_DIR(AXIS, INVERT) AXIS ##_APPLY_DIR(INVERT, true)
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#define BABYSTEP_AXIS(axis, AXIS, INVERT) { \
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enable_## axis(); \
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uint8_t old_pin = AXIS ##_DIR_READ; \
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AXIS ##_APPLY_DIR(INVERT_## AXIS ##_DIR^direction^INVERT, true); \
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AXIS ##_APPLY_STEP(!INVERT_## AXIS ##_STEP_PIN, true); \
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_ENABLE(axis); \
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uint8_t old_pin = _READ_DIR(AXIS); \
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_APPLY_DIR(AXIS, _INVERT_DIR(AXIS)^direction^INVERT); \
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_APPLY_STEP(AXIS)(!_INVERT_STEP_PIN(AXIS), true); \
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delayMicroseconds(2); \
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AXIS ##_APPLY_STEP(INVERT_## AXIS ##_STEP_PIN, true); \
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AXIS ##_APPLY_DIR(old_pin, true); \
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_APPLY_STEP(AXIS)(_INVERT_STEP_PIN(AXIS), true); \
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_APPLY_DIR(AXIS, old_pin); \
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}
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switch(axis) {
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@ -1165,7 +1186,7 @@ void quickStop() {
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case Y_AXIS:
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BABYSTEP_AXIS(y, Y, false);
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break;
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case Z_AXIS: {
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#ifndef DELTA
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@ -1202,7 +1223,7 @@ void quickStop() {
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#endif
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} break;
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default: break;
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}
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}
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@ -1266,7 +1287,7 @@ void microstep_init() {
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#if HAS_MICROSTEPS
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pinMode(X_MS1_PIN,OUTPUT);
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pinMode(X_MS2_PIN,OUTPUT);
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pinMode(X_MS2_PIN,OUTPUT);
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pinMode(Y_MS1_PIN,OUTPUT);
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pinMode(Y_MS2_PIN,OUTPUT);
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pinMode(Z_MS1_PIN,OUTPUT);
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