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https://github.com/MarlinFirmware/Marlin.git
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Added Y_DUAL_STEPPER_DRIVERS
Enables two stepper drivers to be used for the Y axis (useful for Shapeoko style machines) Each Y driver can be stepped either the same way or in opposite directions, accounting for different hardware setups (leadscrew vs. belt driven)
This commit is contained in:
Richard Miles
parent
2015989f84
commit
7ee275b620
@ -18,12 +18,6 @@
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//#define WATCH_TEMP_PERIOD 40000 //40 seconds
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//#define WATCH_TEMP_INCREASE 10 //Heat up at least 10 degree in 20 seconds
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// Wait for Cooldown
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// This defines if the M109 call should not block if it is cooling down.
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// example: From a current temp of 220, you set M109 S200.
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// if CooldownNoWait is defined M109 will not wait for the cooldown to finish
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#define CooldownNoWait true
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#ifdef PIDTEMP
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// this adds an experimental additional term to the heatingpower, proportional to the extrusion speed.
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// if Kc is choosen well, the additional required power due to increased melting should be compensated.
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@ -152,6 +146,68 @@
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#define EXTRUDERS 1
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#endif
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// Same again but for Y Axis.
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#define Y_DUAL_STEPPER_DRIVERS
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// Define if the two Y drives need to rotate in opposite directions
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#define INVERT_Y2_VS_Y_DIR true
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#ifdef Y_DUAL_STEPPER_DRIVERS
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#undef EXTRUDERS
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#define EXTRUDERS 1
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#endif
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#ifdef Z_DUAL_STEPPER_DRIVERS && Y_DUAL_STEPPER_DRIVERS
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#error "You cannot have dual drivers for both Y and Z"
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#endif
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// Enable this for dual x-carriage printers.
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// A dual x-carriage design has the advantage that the inactive extruder can be parked which
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// prevents hot-end ooze contaminating the print. It also reduces the weight of each x-carriage
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// allowing faster printing speeds.
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//#define DUAL_X_CARRIAGE
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#ifdef DUAL_X_CARRIAGE
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// Configuration for second X-carriage
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// Note: the first x-carriage is defined as the x-carriage which homes to the minimum endstop;
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// the second x-carriage always homes to the maximum endstop.
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#define X2_MIN_POS 80 // set minimum to ensure second x-carriage doesn't hit the parked first X-carriage
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#define X2_MAX_POS 353 // set maximum to the distance between toolheads when both heads are homed
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#define X2_HOME_DIR 1 // the second X-carriage always homes to the maximum endstop position
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#define X2_HOME_POS X2_MAX_POS // default home position is the maximum carriage position
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// However: In this mode the EXTRUDER_OFFSET_X value for the second extruder provides a software
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// override for X2_HOME_POS. This also allow recalibration of the distance between the two endstops
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// without modifying the firmware (through the "M218 T1 X???" command).
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// Remember: you should set the second extruder x-offset to 0 in your slicer.
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// Pins for second x-carriage stepper driver (defined here to avoid further complicating pins.h)
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#define X2_ENABLE_PIN 29
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#define X2_STEP_PIN 25
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#define X2_DIR_PIN 23
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// There are a few selectable movement modes for dual x-carriages using M605 S<mode>
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// Mode 0: Full control. The slicer has full control over both x-carriages and can achieve optimal travel results
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// as long as it supports dual x-carriages. (M605 S0)
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// Mode 1: Auto-park mode. The firmware will automatically park and unpark the x-carriages on tool changes so
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// that additional slicer support is not required. (M605 S1)
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// Mode 2: Duplication mode. The firmware will transparently make the second x-carriage and extruder copy all
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// actions of the first x-carriage. This allows the printer to print 2 arbitrary items at
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// once. (2nd extruder x offset and temp offset are set using: M605 S2 [Xnnn] [Rmmm])
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// This is the default power-up mode which can be later using M605.
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#define DEFAULT_DUAL_X_CARRIAGE_MODE 0
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// As the x-carriages are independent we can now account for any relative Z offset
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#define EXTRUDER1_Z_OFFSET 0.0 // z offset relative to extruder 0
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// Default settings in "Auto-park Mode"
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#define TOOLCHANGE_PARK_ZLIFT 0.2 // the distance to raise Z axis when parking an extruder
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#define TOOLCHANGE_UNPARK_ZLIFT 1 // the distance to raise Z axis when unparking an extruder
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// Default x offset in duplication mode (typically set to half print bed width)
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#define DEFAULT_DUPLICATION_X_OFFSET 100
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#endif //DUAL_X_CARRIAGE
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//homing hits the endstop, then retracts by this distance, before it tries to slowly bump again:
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#define X_HOME_RETRACT_MM 5
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#define Y_HOME_RETRACT_MM 5
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@ -174,6 +230,11 @@
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#define DEFAULT_MINIMUMFEEDRATE 0.0 // minimum feedrate
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#define DEFAULT_MINTRAVELFEEDRATE 0.0
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// Feedrates for manual moves along X, Y, Z, E from panel
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#ifdef ULTIPANEL
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#define MANUAL_FEEDRATE {50*60, 50*60, 4*60, 60} // set the speeds for manual moves (mm/min)
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#endif
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// minimum time in microseconds that a movement needs to take if the buffer is emptied.
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#define DEFAULT_MINSEGMENTTIME 20000
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@ -51,22 +51,22 @@
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#define MYSERIAL MSerial
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#endif
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#define SERIAL_PROTOCOL(x) MYSERIAL.print(x);
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#define SERIAL_PROTOCOL_F(x,y) MYSERIAL.print(x,y);
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#define SERIAL_PROTOCOLPGM(x) serialprintPGM(PSTR(x));
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#define SERIAL_PROTOCOLLN(x) {MYSERIAL.print(x);MYSERIAL.write('\n');}
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#define SERIAL_PROTOCOLLNPGM(x) {serialprintPGM(PSTR(x));MYSERIAL.write('\n');}
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#define SERIAL_PROTOCOL(x) (MYSERIAL.print(x))
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#define SERIAL_PROTOCOL_F(x,y) (MYSERIAL.print(x,y))
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#define SERIAL_PROTOCOLPGM(x) (serialprintPGM(PSTR(x)))
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#define SERIAL_PROTOCOLLN(x) (MYSERIAL.print(x),MYSERIAL.write('\n'))
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#define SERIAL_PROTOCOLLNPGM(x) (serialprintPGM(PSTR(x)),MYSERIAL.write('\n'))
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const char errormagic[] PROGMEM ="Error:";
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const char echomagic[] PROGMEM ="echo:";
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#define SERIAL_ERROR_START serialprintPGM(errormagic);
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#define SERIAL_ERROR_START (serialprintPGM(errormagic))
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#define SERIAL_ERROR(x) SERIAL_PROTOCOL(x)
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#define SERIAL_ERRORPGM(x) SERIAL_PROTOCOLPGM(x)
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#define SERIAL_ERRORLN(x) SERIAL_PROTOCOLLN(x)
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#define SERIAL_ERRORLNPGM(x) SERIAL_PROTOCOLLNPGM(x)
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#define SERIAL_ECHO_START serialprintPGM(echomagic);
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#define SERIAL_ECHO_START (serialprintPGM(echomagic))
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#define SERIAL_ECHO(x) SERIAL_PROTOCOL(x)
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#define SERIAL_ECHOPGM(x) SERIAL_PROTOCOLPGM(x)
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#define SERIAL_ECHOLN(x) SERIAL_PROTOCOLLN(x)
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@ -96,7 +96,11 @@ void process_commands();
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void manage_inactivity();
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#if defined(X_ENABLE_PIN) && X_ENABLE_PIN > -1
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#if defined(DUAL_X_CARRIAGE) && defined(X_ENABLE_PIN) && X_ENABLE_PIN > -1 \
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&& defined(X2_ENABLE_PIN) && X2_ENABLE_PIN > -1
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#define enable_x() do { WRITE(X_ENABLE_PIN, X_ENABLE_ON); WRITE(X2_ENABLE_PIN, X_ENABLE_ON); } while (0)
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#define disable_x() do { WRITE(X_ENABLE_PIN,!X_ENABLE_ON); WRITE(X2_ENABLE_PIN,!X_ENABLE_ON); } while (0)
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#elif defined(X_ENABLE_PIN) && X_ENABLE_PIN > -1
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#define enable_x() WRITE(X_ENABLE_PIN, X_ENABLE_ON)
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#define disable_x() WRITE(X_ENABLE_PIN,!X_ENABLE_ON)
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#else
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@ -105,8 +109,13 @@ void manage_inactivity();
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#endif
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#if defined(Y_ENABLE_PIN) && Y_ENABLE_PIN > -1
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#define enable_y() WRITE(Y_ENABLE_PIN, Y_ENABLE_ON)
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#define disable_y() WRITE(Y_ENABLE_PIN,!Y_ENABLE_ON)
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#ifdef Y_DUAL_STEPPER_DRIVERS
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#define enable_y() { WRITE(Y_ENABLE_PIN, Y_ENABLE_ON); WRITE(Y2_ENABLE_PIN, Y_ENABLE_ON); }
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#define disable_y() { WRITE(Y_ENABLE_PIN,!Y_ENABLE_ON); WRITE(Y2_ENABLE_PIN, !Y_ENABLE_ON); }
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#else
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#define enable_y() WRITE(Y_ENABLE_PIN, Y_ENABLE_ON)
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#define disable_y() WRITE(Y_ENABLE_PIN,!Y_ENABLE_ON)
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#endif
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#else
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#define enable_y() ;
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#define disable_y() ;
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@ -159,6 +168,7 @@ void ClearToSend();
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void get_coordinates();
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#ifdef DELTA
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void calculate_delta(float cartesian[3]);
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extern float delta[3];
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#endif
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void prepare_move();
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void kill();
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@ -348,19 +348,55 @@ ISR(TIMER1_COMPA_vect)
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// Set the direction bits (X_AXIS=A_AXIS and Y_AXIS=B_AXIS for COREXY)
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if((out_bits & (1<<X_AXIS))!=0){
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WRITE(X_DIR_PIN, INVERT_X_DIR);
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#ifdef DUAL_X_CARRIAGE
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if (extruder_duplication_enabled){
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WRITE(X_DIR_PIN, INVERT_X_DIR);
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WRITE(X2_DIR_PIN, INVERT_X_DIR);
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}
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else{
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if (current_block->active_extruder != 0)
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WRITE(X2_DIR_PIN, INVERT_X_DIR);
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else
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WRITE(X_DIR_PIN, INVERT_X_DIR);
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}
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#else
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WRITE(X_DIR_PIN, INVERT_X_DIR);
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#endif
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count_direction[X_AXIS]=-1;
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}
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else{
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WRITE(X_DIR_PIN, !INVERT_X_DIR);
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#ifdef DUAL_X_CARRIAGE
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if (extruder_duplication_enabled){
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WRITE(X_DIR_PIN, !INVERT_X_DIR);
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WRITE(X2_DIR_PIN, !INVERT_X_DIR);
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}
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else{
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if (current_block->active_extruder != 0)
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WRITE(X2_DIR_PIN, !INVERT_X_DIR);
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else
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WRITE(X_DIR_PIN, !INVERT_X_DIR);
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}
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#else
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WRITE(X_DIR_PIN, !INVERT_X_DIR);
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#endif
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count_direction[X_AXIS]=1;
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}
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if((out_bits & (1<<Y_AXIS))!=0){
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WRITE(Y_DIR_PIN, INVERT_Y_DIR);
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#ifdef Y_DUAL_STEPPER_DRIVERS
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WRITE(Y2_DIR_PIN, !(INVERT_Y_DIR == INVERT_Y2_VS_Y_DIR));
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#endif
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count_direction[Y_AXIS]=-1;
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}
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else{
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WRITE(Y_DIR_PIN, !INVERT_Y_DIR);
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#ifdef Y_DUAL_STEPPER_DRIVERS
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WRITE(Y2_DIR_PIN, (INVERT_Y_DIR == INVERT_Y2_VS_Y_DIR));
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#endif
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count_direction[Y_AXIS]=1;
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}
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@ -372,29 +408,43 @@ ISR(TIMER1_COMPA_vect)
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#endif
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CHECK_ENDSTOPS
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{
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#if defined(X_MIN_PIN) && X_MIN_PIN > -1
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bool x_min_endstop=(READ(X_MIN_PIN) != X_ENDSTOPS_INVERTING);
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if(x_min_endstop && old_x_min_endstop && (current_block->steps_x > 0)) {
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endstops_trigsteps[X_AXIS] = count_position[X_AXIS];
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endstop_x_hit=true;
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step_events_completed = current_block->step_event_count;
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}
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old_x_min_endstop = x_min_endstop;
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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)
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|| (current_block->active_extruder != 0 && X2_HOME_DIR == -1))
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#endif
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{
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#if defined(X_MIN_PIN) && X_MIN_PIN > -1
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bool x_min_endstop=(READ(X_MIN_PIN) != X_MIN_ENDSTOP_INVERTING);
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if(x_min_endstop && old_x_min_endstop && (current_block->steps_x > 0)) {
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endstops_trigsteps[X_AXIS] = count_position[X_AXIS];
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endstop_x_hit=true;
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step_events_completed = current_block->step_event_count;
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}
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old_x_min_endstop = x_min_endstop;
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#endif
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}
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}
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}
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else { // +direction
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CHECK_ENDSTOPS
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{
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#if defined(X_MAX_PIN) && X_MAX_PIN > -1
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bool x_max_endstop=(READ(X_MAX_PIN) != X_ENDSTOPS_INVERTING);
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if(x_max_endstop && old_x_max_endstop && (current_block->steps_x > 0)){
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endstops_trigsteps[X_AXIS] = count_position[X_AXIS];
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endstop_x_hit=true;
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step_events_completed = current_block->step_event_count;
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}
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old_x_max_endstop = x_max_endstop;
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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)
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|| (current_block->active_extruder != 0 && X2_HOME_DIR == 1))
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#endif
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{
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#if defined(X_MAX_PIN) && X_MAX_PIN > -1
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bool x_max_endstop=(READ(X_MAX_PIN) != X_MAX_ENDSTOP_INVERTING);
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if(x_max_endstop && old_x_max_endstop && (current_block->steps_x > 0)){
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endstops_trigsteps[X_AXIS] = count_position[X_AXIS];
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endstop_x_hit=true;
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step_events_completed = current_block->step_event_count;
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}
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old_x_max_endstop = x_max_endstop;
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#endif
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}
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}
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}
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@ -406,7 +456,7 @@ ISR(TIMER1_COMPA_vect)
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CHECK_ENDSTOPS
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{
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#if defined(Y_MIN_PIN) && Y_MIN_PIN > -1
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bool y_min_endstop=(READ(Y_MIN_PIN) != Y_ENDSTOPS_INVERTING);
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bool y_min_endstop=(READ(Y_MIN_PIN) != Y_MIN_ENDSTOP_INVERTING);
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if(y_min_endstop && old_y_min_endstop && (current_block->steps_y > 0)) {
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endstops_trigsteps[Y_AXIS] = count_position[Y_AXIS];
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endstop_y_hit=true;
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@ -420,7 +470,7 @@ ISR(TIMER1_COMPA_vect)
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CHECK_ENDSTOPS
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{
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#if defined(Y_MAX_PIN) && Y_MAX_PIN > -1
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bool y_max_endstop=(READ(Y_MAX_PIN) != Y_ENDSTOPS_INVERTING);
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bool y_max_endstop=(READ(Y_MAX_PIN) != Y_MAX_ENDSTOP_INVERTING);
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if(y_max_endstop && old_y_max_endstop && (current_block->steps_y > 0)){
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endstops_trigsteps[Y_AXIS] = count_position[Y_AXIS];
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endstop_y_hit=true;
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@ -434,7 +484,7 @@ ISR(TIMER1_COMPA_vect)
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if ((out_bits & (1<<Z_AXIS)) != 0) { // -direction
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WRITE(Z_DIR_PIN,INVERT_Z_DIR);
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#ifdef Z_DUAL_STEPPER_DRIVERS
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#ifdef Z_DUAL_STEPPER_DRIVERS
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WRITE(Z2_DIR_PIN,INVERT_Z_DIR);
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#endif
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@ -442,7 +492,7 @@ ISR(TIMER1_COMPA_vect)
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CHECK_ENDSTOPS
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{
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#if defined(Z_MIN_PIN) && Z_MIN_PIN > -1
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bool z_min_endstop=(READ(Z_MIN_PIN) != Z_ENDSTOPS_INVERTING);
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bool z_min_endstop=(READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING);
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if(z_min_endstop && old_z_min_endstop && (current_block->steps_z > 0)) {
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endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
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endstop_z_hit=true;
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@ -455,7 +505,7 @@ ISR(TIMER1_COMPA_vect)
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else { // +direction
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WRITE(Z_DIR_PIN,!INVERT_Z_DIR);
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#ifdef Z_DUAL_STEPPER_DRIVERS
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#ifdef Z_DUAL_STEPPER_DRIVERS
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WRITE(Z2_DIR_PIN,!INVERT_Z_DIR);
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#endif
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@ -463,7 +513,7 @@ ISR(TIMER1_COMPA_vect)
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CHECK_ENDSTOPS
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{
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#if defined(Z_MAX_PIN) && Z_MAX_PIN > -1
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bool z_max_endstop=(READ(Z_MAX_PIN) != Z_ENDSTOPS_INVERTING);
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bool z_max_endstop=(READ(Z_MAX_PIN) != Z_MAX_ENDSTOP_INVERTING);
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if(z_max_endstop && old_z_max_endstop && (current_block->steps_z > 0)) {
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endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
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endstop_z_hit=true;
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@ -507,25 +557,60 @@ ISR(TIMER1_COMPA_vect)
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counter_x += current_block->steps_x;
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if (counter_x > 0) {
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#ifdef DUAL_X_CARRIAGE
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if (extruder_duplication_enabled){
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WRITE(X_STEP_PIN, !INVERT_X_STEP_PIN);
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WRITE(X2_STEP_PIN, !INVERT_X_STEP_PIN);
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}
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else {
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if (current_block->active_extruder != 0)
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WRITE(X2_STEP_PIN, !INVERT_X_STEP_PIN);
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else
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WRITE(X_STEP_PIN, !INVERT_X_STEP_PIN);
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}
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#else
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WRITE(X_STEP_PIN, !INVERT_X_STEP_PIN);
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#endif
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counter_x -= current_block->step_event_count;
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count_position[X_AXIS]+=count_direction[X_AXIS];
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#ifdef DUAL_X_CARRIAGE
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if (extruder_duplication_enabled){
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WRITE(X_STEP_PIN, INVERT_X_STEP_PIN);
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WRITE(X2_STEP_PIN, INVERT_X_STEP_PIN);
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}
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else {
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if (current_block->active_extruder != 0)
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WRITE(X2_STEP_PIN, INVERT_X_STEP_PIN);
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else
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WRITE(X_STEP_PIN, INVERT_X_STEP_PIN);
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}
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#else
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WRITE(X_STEP_PIN, INVERT_X_STEP_PIN);
|
||||
#endif
|
||||
}
|
||||
|
||||
counter_y += current_block->steps_y;
|
||||
if (counter_y > 0) {
|
||||
WRITE(Y_STEP_PIN, !INVERT_Y_STEP_PIN);
|
||||
|
||||
#ifdef Y_DUAL_STEPPER_DRIVERS
|
||||
WRITE(Y2_STEP_PIN, !INVERT_Y_STEP_PIN);
|
||||
#endif
|
||||
|
||||
counter_y -= current_block->step_event_count;
|
||||
count_position[Y_AXIS]+=count_direction[Y_AXIS];
|
||||
WRITE(Y_STEP_PIN, INVERT_Y_STEP_PIN);
|
||||
|
||||
#ifdef Y_DUAL_STEPPER_DRIVERS
|
||||
WRITE(Y2_STEP_PIN, INVERT_Y_STEP_PIN);
|
||||
#endif
|
||||
}
|
||||
|
||||
counter_z += current_block->steps_z;
|
||||
if (counter_z > 0) {
|
||||
WRITE(Z_STEP_PIN, !INVERT_Z_STEP_PIN);
|
||||
|
||||
#ifdef Z_DUAL_STEPPER_DRIVERS
|
||||
#ifdef Z_DUAL_STEPPER_DRIVERS
|
||||
WRITE(Z2_STEP_PIN, !INVERT_Z_STEP_PIN);
|
||||
#endif
|
||||
|
||||
@ -533,7 +618,7 @@ ISR(TIMER1_COMPA_vect)
|
||||
count_position[Z_AXIS]+=count_direction[Z_AXIS];
|
||||
WRITE(Z_STEP_PIN, INVERT_Z_STEP_PIN);
|
||||
|
||||
#ifdef Z_DUAL_STEPPER_DRIVERS
|
||||
#ifdef Z_DUAL_STEPPER_DRIVERS
|
||||
WRITE(Z2_STEP_PIN, INVERT_Z_STEP_PIN);
|
||||
#endif
|
||||
}
|
||||
@ -685,8 +770,15 @@ void st_init()
|
||||
#if defined(X_DIR_PIN) && X_DIR_PIN > -1
|
||||
SET_OUTPUT(X_DIR_PIN);
|
||||
#endif
|
||||
#if defined(X2_DIR_PIN) && X2_DIR_PIN > -1
|
||||
SET_OUTPUT(X2_DIR_PIN);
|
||||
#endif
|
||||
#if defined(Y_DIR_PIN) && Y_DIR_PIN > -1
|
||||
SET_OUTPUT(Y_DIR_PIN);
|
||||
|
||||
#if defined(Y_DUAL_STEPPER_DRIVERS) && defined(Y2_DIR_PIN) && (Y2_DIR_PIN > -1)
|
||||
SET_OUTPUT(Y2_DIR_PIN);
|
||||
#endif
|
||||
#endif
|
||||
#if defined(Z_DIR_PIN) && Z_DIR_PIN > -1
|
||||
SET_OUTPUT(Z_DIR_PIN);
|
||||
@ -711,9 +803,18 @@ void st_init()
|
||||
SET_OUTPUT(X_ENABLE_PIN);
|
||||
if(!X_ENABLE_ON) WRITE(X_ENABLE_PIN,HIGH);
|
||||
#endif
|
||||
#if defined(X2_ENABLE_PIN) && X2_ENABLE_PIN > -1
|
||||
SET_OUTPUT(X2_ENABLE_PIN);
|
||||
if(!X_ENABLE_ON) WRITE(X2_ENABLE_PIN,HIGH);
|
||||
#endif
|
||||
#if defined(Y_ENABLE_PIN) && Y_ENABLE_PIN > -1
|
||||
SET_OUTPUT(Y_ENABLE_PIN);
|
||||
if(!Y_ENABLE_ON) WRITE(Y_ENABLE_PIN,HIGH);
|
||||
|
||||
#if defined(Y_DUAL_STEPPER_DRIVERS) && defined(Y2_ENABLE_PIN) && (Y2_ENABLE_PIN > -1)
|
||||
SET_OUTPUT(Y2_ENABLE_PIN);
|
||||
if(!Y_ENABLE_ON) WRITE(Y2_ENABLE_PIN,HIGH);
|
||||
#endif
|
||||
#endif
|
||||
#if defined(Z_ENABLE_PIN) && Z_ENABLE_PIN > -1
|
||||
SET_OUTPUT(Z_ENABLE_PIN);
|
||||
@ -788,9 +889,18 @@ void st_init()
|
||||
WRITE(X_STEP_PIN,INVERT_X_STEP_PIN);
|
||||
disable_x();
|
||||
#endif
|
||||
#if defined(X2_STEP_PIN) && (X2_STEP_PIN > -1)
|
||||
SET_OUTPUT(X2_STEP_PIN);
|
||||
WRITE(X2_STEP_PIN,INVERT_X_STEP_PIN);
|
||||
disable_x();
|
||||
#endif
|
||||
#if defined(Y_STEP_PIN) && (Y_STEP_PIN > -1)
|
||||
SET_OUTPUT(Y_STEP_PIN);
|
||||
WRITE(Y_STEP_PIN,INVERT_Y_STEP_PIN);
|
||||
#if defined(Y_DUAL_STEPPER_DRIVERS) && defined(Y2_STEP_PIN) && (Y2_STEP_PIN > -1)
|
||||
SET_OUTPUT(Y2_STEP_PIN);
|
||||
WRITE(Y2_STEP_PIN,INVERT_Y_STEP_PIN);
|
||||
#endif
|
||||
disable_y();
|
||||
#endif
|
||||
#if defined(Z_STEP_PIN) && (Z_STEP_PIN > -1)
|
||||
|
||||
Loading…
Reference in New Issue
Block a user