382 lines
11 KiB
C
382 lines
11 KiB
C
/**
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* Marlin 3D Printer Firmware
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* Copyright (c) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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#pragma once
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#include "inc/MarlinConfig.h"
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#ifdef DEBUG_GCODE_PARSER
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#include "gcode/parser.h"
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#endif
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#include <math.h>
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#include <stdio.h>
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#include <stdlib.h>
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#if HAS_DRIVER(L6470)
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#include "libs/L6470/L6470_Marlin.h"
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extern uint8_t axis_known_position;
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#endif
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void stop();
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void idle(
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#if ENABLED(ADVANCED_PAUSE_FEATURE)
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bool no_stepper_sleep = false // pass true to keep steppers from disabling on timeout
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#endif
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);
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void manage_inactivity(const bool ignore_stepper_queue=false);
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//
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// X, Y, Z Stepper enable / disable
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//
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#if AXIS_DRIVER_TYPE_X(L6470)
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extern L6470 stepperX;
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#define X_enable() NOOP
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#define X_disable() stepperX.free()
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#elif HAS_X_ENABLE
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#define X_enable() X_ENABLE_WRITE( X_ENABLE_ON)
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#define X_disable() X_ENABLE_WRITE(!X_ENABLE_ON)
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#else
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#define X_enable() NOOP
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#define X_disable() NOOP
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#endif
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#if AXIS_DRIVER_TYPE_X2(L6470)
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extern L6470 stepperX2;
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#define X2_enable() NOOP
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#define X2_disable() stepperX2.free()
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#elif HAS_X2_ENABLE
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#define X2_enable() X2_ENABLE_WRITE( X_ENABLE_ON)
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#define X2_disable() X2_ENABLE_WRITE(!X_ENABLE_ON)
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#else
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#define X2_enable() NOOP
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#define X2_disable() NOOP
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#endif
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#define enable_X() do{ X_enable(); X2_enable(); }while(0)
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#define disable_X() do{ X_disable(); X2_disable(); CBI(axis_known_position, X_AXIS); }while(0)
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#if AXIS_DRIVER_TYPE_Y(L6470)
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extern L6470 stepperY;
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#define Y_enable() NOOP
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#define Y_disable() stepperY.free()
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#elif HAS_Y_ENABLE
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#define Y_enable() Y_ENABLE_WRITE( Y_ENABLE_ON)
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#define Y_disable() Y_ENABLE_WRITE(!Y_ENABLE_ON)
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#else
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#define Y_enable() NOOP
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#define Y_disable() NOOP
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#endif
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#if AXIS_DRIVER_TYPE_Y2(L6470)
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extern L6470 stepperY2;
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#define Y2_enable() NOOP
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#define Y2_disable() stepperY2.free()
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#elif HAS_Y2_ENABLE
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#define Y2_enable() Y2_ENABLE_WRITE( Y_ENABLE_ON)
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#define Y2_disable() Y2_ENABLE_WRITE(!Y_ENABLE_ON)
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#else
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#define Y2_enable() NOOP
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#define Y2_disable() NOOP
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#endif
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#define enable_Y() do{ Y_enable(); Y2_enable(); }while(0)
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#define disable_Y() do{ Y_disable(); Y2_disable(); CBI(axis_known_position, Y_AXIS); }while(0)
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#if AXIS_DRIVER_TYPE_Z(L6470)
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extern L6470 stepperZ;
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#define Z_enable() NOOP
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#define Z_disable() stepperZ.free()
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#elif HAS_Z_ENABLE
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#define Z_enable() Z_ENABLE_WRITE( Z_ENABLE_ON)
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#define Z_disable() Z_ENABLE_WRITE(!Z_ENABLE_ON)
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#else
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#define Z_enable() NOOP
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#define Z_disable() NOOP
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#endif
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#if AXIS_DRIVER_TYPE_Z2(L6470)
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extern L6470 stepperZ2;
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#define Z2_enable() NOOP
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#define Z2_disable() stepperZ2.free()
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#elif HAS_Z2_ENABLE
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#define Z2_enable() Z2_ENABLE_WRITE( Z_ENABLE_ON)
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#define Z2_disable() Z2_ENABLE_WRITE(!Z_ENABLE_ON)
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#else
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#define Z2_enable() NOOP
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#define Z2_disable() NOOP
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#endif
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#if AXIS_DRIVER_TYPE_Z3(L6470)
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extern L6470 stepperZ3;
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#define Z3_enable() NOOP
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#define Z3_disable() stepperZ3.free()
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#elif HAS_Z3_ENABLE
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#define Z3_enable() Z3_ENABLE_WRITE( Z_ENABLE_ON)
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#define Z3_disable() Z3_ENABLE_WRITE(!Z_ENABLE_ON)
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#else
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#define Z3_enable() NOOP
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#define Z3_disable() NOOP
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#endif
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#define enable_Z() do{ Z_enable(); Z2_enable(); Z3_enable(); }while(0)
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#define disable_Z() do{ Z_disable(); Z2_disable(); Z3_disable(); CBI(axis_known_position, Z_AXIS); }while(0)
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//
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// Extruder Stepper enable / disable
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//
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// define the individual enables/disables
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#if AXIS_DRIVER_TYPE_E0(L6470)
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extern L6470 stepperE0;
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#define E0_enable() NOOP
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#define E0_disable() do{ stepperE0.free(); CBI(axis_known_position, E_AXIS); }while(0)
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#elif HAS_E0_ENABLE
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#define E0_enable() E0_ENABLE_WRITE( E_ENABLE_ON)
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#define E0_disable() E0_ENABLE_WRITE(!E_ENABLE_ON)
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#else
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#define E0_enable() NOOP
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#define E0_disable() NOOP
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#endif
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#if AXIS_DRIVER_TYPE_E1(L6470)
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extern L6470 stepperE1;
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#define E1_enable() NOOP
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#define E1_disable() do{ stepperE1.free(); CBI(axis_known_position, E_AXIS); }while(0)
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#elif E_STEPPERS > 1 && HAS_E1_ENABLE
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#define E1_enable() E1_ENABLE_WRITE( E_ENABLE_ON)
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#define E1_disable() E1_ENABLE_WRITE(!E_ENABLE_ON)
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#else
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#define E1_enable() NOOP
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#define E1_disable() NOOP
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#endif
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#if AXIS_DRIVER_TYPE_E2(L6470)
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extern L6470 stepperE2;
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#define E2_enable() NOOP
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#define E2_disable() do{ stepperE2.free(); CBI(axis_known_position, E_AXIS); }while(0)
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#elif E_STEPPERS > 2 && HAS_E2_ENABLE
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#define E2_enable() E2_ENABLE_WRITE( E_ENABLE_ON)
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#define E2_disable() E2_ENABLE_WRITE(!E_ENABLE_ON)
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#else
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#define E2_enable() NOOP
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#define E2_disable() NOOP
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#endif
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#if AXIS_DRIVER_TYPE_E3(L6470)
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extern L6470 stepperE3;
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#define E3_enable() NOOP
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#define E3_disable() do{ stepperE3.free(); CBI(axis_known_position, E_AXIS); }while(0)
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#elif E_STEPPERS > 3 && HAS_E3_ENABLE
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#define E3_enable() E3_ENABLE_WRITE( E_ENABLE_ON)
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#define E3_disable() E3_ENABLE_WRITE(!E_ENABLE_ON)
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#else
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#define E3_enable() NOOP
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#define E3_disable() NOOP
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#endif
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#if AXIS_DRIVER_TYPE_E4(L6470)
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extern L6470 stepperE4;
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#define E4_enable() NOOP
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#define E4_disable() do{ stepperE4.free(); CBI(axis_known_position, E_AXIS); }while(0)
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#elif E_STEPPERS > 4 && HAS_E4_ENABLE
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#define E4_enable() E4_ENABLE_WRITE( E_ENABLE_ON)
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#define E4_disable() E4_ENABLE_WRITE(!E_ENABLE_ON)
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#else
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#define E4_enable() NOOP
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#define E4_disable() NOOP
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#endif
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#if AXIS_DRIVER_TYPE_E5(L6470)
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extern L6470 stepperE5;
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#define E5_enable() NOOP
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#define E5_disable() do{ stepperE5.free(); CBI(axis_known_position, E_AXIS); }while(0)
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#elif E_STEPPERS > 5 && HAS_E5_ENABLE
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#define E5_enable() E5_ENABLE_WRITE( E_ENABLE_ON)
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#define E5_disable() E5_ENABLE_WRITE(!E_ENABLE_ON)
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#else
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#define E5_enable() NOOP
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#define E5_disable() NOOP
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#endif
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#if ENABLED(MIXING_EXTRUDER)
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/**
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* Mixing steppers synchronize their enable (and direction) together
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*/
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#if MIXING_STEPPERS > 5
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#define enable_E0() { E0_enable(); E1_enable(); E2_enable(); E3_enable(); E4_enable(); E5_enable(); }
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#define disable_E0() { E0_disable(); E1_disable(); E2_disable(); E3_disable(); E4_disable(); E5_disable(); }
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#elif MIXING_STEPPERS > 4
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#define enable_E0() { E0_enable(); E1_enable(); E2_enable(); E3_enable(); E4_enable(); }
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#define disable_E0() { E0_disable(); E1_disable(); E2_disable(); E3_disable(); E4_disable(); }
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#elif MIXING_STEPPERS > 3
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#define enable_E0() { E0_enable(); E1_enable(); E2_enable(); E3_enable(); }
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#define disable_E0() { E0_disable(); E1_disable(); E2_disable(); E3_disable(); }
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#elif MIXING_STEPPERS > 2
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#define enable_E0() { E0_enable(); E1_enable(); E2_enable(); }
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#define disable_E0() { E0_disable(); E1_disable(); E2_disable(); }
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#else
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#define enable_E0() { E0_enable(); E1_enable(); }
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#define disable_E0() { E0_disable(); E1_disable(); }
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#endif
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#define enable_E1() NOOP
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#define disable_E1() NOOP
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#define enable_E2() NOOP
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#define disable_E2() NOOP
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#define enable_E3() NOOP
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#define disable_E3() NOOP
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#define enable_E4() NOOP
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#define disable_E4() NOOP
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#define enable_E5() NOOP
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#define disable_E5() NOOP
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#else // !MIXING_EXTRUDER
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#if HAS_E0_ENABLE
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#define enable_E0() E0_enable()
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#define disable_E0() E0_disable()
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#else
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#define enable_E0() NOOP
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#define disable_E0() NOOP
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#endif
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#if E_STEPPERS > 1 && HAS_E1_ENABLE
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#define enable_E1() E1_enable()
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#define disable_E1() E1_disable()
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#else
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#define enable_E1() NOOP
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#define disable_E1() NOOP
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#endif
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#if E_STEPPERS > 2 && HAS_E2_ENABLE
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#define enable_E2() E2_enable()
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#define disable_E2() E2_disable()
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#else
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#define enable_E2() NOOP
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#define disable_E2() NOOP
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#endif
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#if E_STEPPERS > 3 && HAS_E3_ENABLE
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#define enable_E3() E3_enable()
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#define disable_E3() E3_disable()
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#else
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#define enable_E3() NOOP
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#define disable_E3() NOOP
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#endif
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#if E_STEPPERS > 4 && HAS_E4_ENABLE
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#define enable_E4() E4_enable()
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#define disable_E4() E4_disable()
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#else
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#define enable_E4() NOOP
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#define disable_E4() NOOP
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#endif
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#if E_STEPPERS > 5 && HAS_E5_ENABLE
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#define enable_E5() E5_enable()
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#define disable_E5() E5_disable()
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#else
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#define enable_E5() NOOP
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#define disable_E5() NOOP
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#endif
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#endif // !MIXING_EXTRUDER
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#if ENABLED(EXPERIMENTAL_I2CBUS)
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#include "feature/twibus.h"
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extern TWIBus i2c;
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#endif
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#if ENABLED(G38_PROBE_TARGET)
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extern uint8_t G38_move; // Flag to tell the ISR that G38 is in progress, and the type
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extern bool G38_did_trigger; // Flag from the ISR to indicate the endstop changed
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#endif
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/**
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* The axis order in all axis related arrays is X, Y, Z, E
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*/
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void enable_e_steppers();
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void enable_all_steppers();
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void disable_e_stepper(const uint8_t e);
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void disable_e_steppers();
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void disable_all_steppers();
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void kill(PGM_P const lcd_error=nullptr, PGM_P const lcd_component=nullptr, const bool steppers_off=false);
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void minkill(const bool steppers_off=false);
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void quickstop_stepper();
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extern bool Running;
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inline bool IsRunning() { return Running; }
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inline bool IsStopped() { return !Running; }
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bool printingIsActive();
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bool printingIsPaused();
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void startOrResumeJob();
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extern bool wait_for_heatup;
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#if HAS_RESUME_CONTINUE
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extern bool wait_for_user;
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#endif
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#if HAS_AUTO_REPORTING || ENABLED(HOST_KEEPALIVE_FEATURE)
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extern bool suspend_auto_report;
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#endif
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// Inactivity shutdown timer
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extern millis_t max_inactive_time, stepper_inactive_time;
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#if ENABLED(USE_CONTROLLER_FAN)
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extern uint8_t controllerfan_speed;
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#endif
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#if ENABLED(PSU_CONTROL)
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extern bool powersupply_on;
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#define PSU_PIN_ON() do{ OUT_WRITE(PS_ON_PIN, PSU_ACTIVE_HIGH); powersupply_on = true; }while(0)
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#define PSU_PIN_OFF() do{ OUT_WRITE(PS_ON_PIN, !PSU_ACTIVE_HIGH); powersupply_on = false; }while(0)
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#if ENABLED(AUTO_POWER_CONTROL)
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#define PSU_ON() powerManager.power_on()
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#define PSU_OFF() powerManager.power_off()
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#else
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#define PSU_ON() PSU_PIN_ON()
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#define PSU_OFF() PSU_PIN_OFF()
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#endif
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#endif
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bool pin_is_protected(const pin_t pin);
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void protected_pin_err();
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#if HAS_SUICIDE
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inline void suicide() { OUT_WRITE(SUICIDE_PIN, SUICIDE_PIN_INVERTING); }
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#endif
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#if ENABLED(G29_RETRY_AND_RECOVER)
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void event_probe_recover();
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void event_probe_failure();
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#endif
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extern const char NUL_STR[], G28_STR[], M21_STR[], M23_STR[], M24_STR[],
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SP_X_STR[], SP_Y_STR[], SP_Z_STR[], SP_E_STR[];
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