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492 lines
14 KiB
492 lines
14 KiB
/*
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stepper_indirection.h - stepper motor driver indirection macros
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to allow some stepper functions to be done via SPI/I2c instead of direct pin manipulation
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Part of Marlin
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Copyright (c) 2015 Dominik Wenger
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Marlin 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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Marlin 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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You should have received a copy of the GNU General Public License
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along with Marlin. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef STEPPER_INDIRECTION_H
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#define STEPPER_INDIRECTION_H
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// X motor
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#define X_STEP_INIT SET_OUTPUT(X_STEP_PIN)
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#define X_STEP_WRITE(STATE) WRITE(X_STEP_PIN,STATE)
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#define X_STEP_READ READ(X_STEP_PIN)
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#define X_DIR_INIT SET_OUTPUT(X_DIR_PIN)
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#define X_DIR_WRITE(STATE) WRITE(X_DIR_PIN,STATE)
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#define X_DIR_READ READ(X_DIR_PIN)
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#define X_ENABLE_INIT SET_OUTPUT(X_ENABLE_PIN)
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#define X_ENABLE_WRITE(STATE) WRITE(X_ENABLE_PIN,STATE)
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#define X_ENABLE_READ READ(X_ENABLE_PIN)
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// X2 motor
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#define X2_STEP_INIT SET_OUTPUT(X2_STEP_PIN)
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#define X2_STEP_WRITE(STATE) WRITE(X2_STEP_PIN,STATE)
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#define X2_STEP_READ READ(X2_STEP_PIN)
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#define X2_DIR_INIT SET_OUTPUT(X2_DIR_PIN)
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#define X2_DIR_WRITE(STATE) WRITE(X2_DIR_PIN,STATE)
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#define X2_DIR_READ READ(X_DIR_PIN)
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#define X2_ENABLE_INIT SET_OUTPUT(X2_ENABLE_PIN)
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#define X2_ENABLE_WRITE(STATE) WRITE(X2_ENABLE_PIN,STATE)
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#define X2_ENABLE_READ READ(X_ENABLE_PIN)
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// Y motor
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#define Y_STEP_INIT SET_OUTPUT(Y_STEP_PIN)
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#define Y_STEP_WRITE(STATE) WRITE(Y_STEP_PIN,STATE)
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#define Y_STEP_READ READ(Y_STEP_PIN)
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#define Y_DIR_INIT SET_OUTPUT(Y_DIR_PIN)
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#define Y_DIR_WRITE(STATE) WRITE(Y_DIR_PIN,STATE)
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#define Y_DIR_READ READ(Y_DIR_PIN)
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#define Y_ENABLE_INIT SET_OUTPUT(Y_ENABLE_PIN)
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#define Y_ENABLE_WRITE(STATE) WRITE(Y_ENABLE_PIN,STATE)
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#define Y_ENABLE_READ READ(Y_ENABLE_PIN)
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// Y2 motor
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#define Y2_STEP_INIT SET_OUTPUT(Y2_STEP_PIN)
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#define Y2_STEP_WRITE(STATE) WRITE(Y2_STEP_PIN,STATE)
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#define Y2_STEP_READ READ(Y2_STEP_PIN)
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#define Y2_DIR_INIT SET_OUTPUT(Y2_DIR_PIN)
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#define Y2_DIR_WRITE(STATE) WRITE(Y2_DIR_PIN,STATE)
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#define Y2_DIR_READ READ(Y2_DIR_PIN)
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#define Y2_ENABLE_INIT SET_OUTPUT(Y2_ENABLE_PIN)
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#define Y2_ENABLE_WRITE(STATE) WRITE(Y2_ENABLE_PIN,STATE)
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#define Y2_ENABLE_READ READ(Y2_ENABLE_PIN)
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// Z motor
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#define Z_STEP_INIT SET_OUTPUT(Z_STEP_PIN)
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#define Z_STEP_WRITE(STATE) WRITE(Z_STEP_PIN,STATE)
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#define Z_STEP_READ READ(Z_STEP_PIN)
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#define Z_DIR_INIT SET_OUTPUT(Z_DIR_PIN)
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#define Z_DIR_WRITE(STATE) WRITE(Z_DIR_PIN,STATE)
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#define Z_DIR_READ READ(Z_DIR_PIN)
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#define Z_ENABLE_INIT SET_OUTPUT(Z_ENABLE_PIN)
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#define Z_ENABLE_WRITE(STATE) WRITE(Z_ENABLE_PIN,STATE)
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#define Z_ENABLE_READ READ(Z_ENABLE_PIN)
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// Z2 motor
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#define Z2_STEP_INIT SET_OUTPUT(Z2_STEP_PIN)
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#define Z2_STEP_WRITE(STATE) WRITE(Z2_STEP_PIN,STATE)
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#define Z2_STEP_READ READ(Z2_STEP_PIN)
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#define Z2_DIR_INIT SET_OUTPUT(Z2_DIR_PIN)
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#define Z2_DIR_WRITE(STATE) WRITE(Z2_DIR_PIN,STATE)
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#define Z2_DIR_READ READ(Z2_DIR_PIN)
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#define Z2_ENABLE_INIT SET_OUTPUT(Z2_ENABLE_PIN)
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#define Z2_ENABLE_WRITE(STATE) WRITE(Z2_ENABLE_PIN,STATE)
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#define Z2_ENABLE_READ READ(Z2_ENABLE_PIN)
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// E0 motor
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#define E0_STEP_INIT SET_OUTPUT(E0_STEP_PIN)
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#define E0_STEP_WRITE(STATE) WRITE(E0_STEP_PIN,STATE)
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#define E0_STEP_READ READ(E0_STEP_PIN)
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#define E0_DIR_INIT SET_OUTPUT(E0_DIR_PIN)
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#define E0_DIR_WRITE(STATE) WRITE(E0_DIR_PIN,STATE)
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#define E0_DIR_READ READ(E0_DIR_PIN)
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#define E0_ENABLE_INIT SET_OUTPUT(E0_ENABLE_PIN)
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#define E0_ENABLE_WRITE(STATE) WRITE(E0_ENABLE_PIN,STATE)
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#define E0_ENABLE_READ READ(E0_ENABLE_PIN)
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// E1 motor
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#define E1_STEP_INIT SET_OUTPUT(E1_STEP_PIN)
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#define E1_STEP_WRITE(STATE) WRITE(E1_STEP_PIN,STATE)
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#define E1_STEP_READ READ(E1_STEP_PIN)
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#define E1_DIR_INIT SET_OUTPUT(E1_DIR_PIN)
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#define E1_DIR_WRITE(STATE) WRITE(E1_DIR_PIN,STATE)
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#define E1_DIR_READ READ(E1_DIR_PIN)
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#define E1_ENABLE_INIT SET_OUTPUT(E1_ENABLE_PIN)
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#define E1_ENABLE_WRITE(STATE) WRITE(E1_ENABLE_PIN,STATE)
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#define E1_ENABLE_READ READ(E1_ENABLE_PIN)
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// E2 motor
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#define E2_STEP_INIT SET_OUTPUT(E2_STEP_PIN)
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#define E2_STEP_WRITE(STATE) WRITE(E2_STEP_PIN,STATE)
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#define E2_STEP_READ READ(E2_STEP_PIN)
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#define E2_DIR_INIT SET_OUTPUT(E2_DIR_PIN)
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#define E2_DIR_WRITE(STATE) WRITE(E2_DIR_PIN,STATE)
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#define E2_DIR_READ READ(E2_DIR_PIN)
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#define E2_ENABLE_INIT SET_OUTPUT(E2_ENABLE_PIN)
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#define E2_ENABLE_WRITE(STATE) WRITE(E2_ENABLE_PIN,STATE)
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#define E2_ENABLE_READ READ(E2_ENABLE_PIN)
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// E3 motor
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#define E3_STEP_INIT SET_OUTPUT(E3_STEP_PIN)
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#define E3_STEP_WRITE(STATE) WRITE(E3_STEP_PIN,STATE)
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#define E3_STEP_READ READ(E3_STEP_PIN)
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#define E3_DIR_INIT SET_OUTPUT(E3_DIR_PIN)
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#define E3_DIR_WRITE(STATE) WRITE(E3_DIR_PIN,STATE)
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#define E3_DIR_READ READ(E3_DIR_PIN)
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#define E3_ENABLE_INIT SET_OUTPUT(E3_ENABLE_PIN)
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#define E3_ENABLE_WRITE(STATE) WRITE(E3_ENABLE_PIN,STATE)
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#define E3_ENABLE_READ READ(E3_ENABLE_PIN)
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//////////////////////////////////
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// Pin redefines for TMC drivers.
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// TMC26X drivers have step and dir on normal pins, but everything else via SPI
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//////////////////////////////////
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#ifdef HAVE_TMCDRIVER
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#include <SPI.h>
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#include <TMC26XStepper.h>
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void tmc_init();
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#ifdef X_IS_TMC
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extern TMC26XStepper stepperX;
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#undef X_ENABLE_INIT
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#define X_ENABLE_INIT ((void)0)
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#undef X_ENABLE_WRITE
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#define X_ENABLE_WRITE(STATE) stepperX.setEnabled(STATE)
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#undef X_ENABLE_READ
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#define X_ENABLE_READ stepperX.isEnabled()
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#endif
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#ifdef X2_IS_TMC
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extern TMC26XStepper stepperX2;
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#undef X2_ENABLE_INIT
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#define X2_ENABLE_INIT ((void)0)
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#undef X2_ENABLE_WRITE
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#define X2_ENABLE_WRITE(STATE) stepperX2.setEnabled(STATE)
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#undef X2_ENABLE_READ
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#define X2_ENABLE_READ stepperX2.isEnabled()
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#endif
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#ifdef Y_IS_TMC
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extern TMC26XStepper stepperY;
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#undef Y_ENABLE_INIT
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#define Y_ENABLE_INIT ((void)0)
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#undef Y_ENABLE_WRITE
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#define Y_ENABLE_WRITE(STATE) stepperY.setEnabled(STATE)
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#undef Y_ENABLE_READ
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#define Y_ENABLE_READ stepperY.isEnabled()
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#endif
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#ifdef Y2_IS_TMC
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extern TMC26XStepper stepperY2;
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#undef Y2_ENABLE_INIT
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#define Y2_ENABLE_INIT ((void)0)
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#undef Y2_ENABLE_WRITE
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#define Y2_ENABLE_WRITE(STATE) stepperY2.setEnabled(STATE)
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#undef Y2_ENABLE_READ
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#define Y2_ENABLE_READ stepperY2.isEnabled()
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#endif
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#ifdef Z_IS_TMC
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extern TMC26XStepper stepperZ;
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#undef Z_ENABLE_INIT
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#define Z_ENABLE_INIT ((void)0)
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#undef Z_ENABLE_WRITE
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#define Z_ENABLE_WRITE(STATE) stepperZ.setEnabled(STATE)
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#undef Z_ENABLE_READ
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#define Z_ENABLE_READ stepperZ.isEnabled()
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#endif
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#ifdef Z2_IS_TMC
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extern TMC26XStepper stepperZ2;
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#undef Z2_ENABLE_INIT
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#define Z2_ENABLE_INIT ((void)0)
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#undef Z2_ENABLE_WRITE
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#define Z2_ENABLE_WRITE(STATE) stepperZ2.setEnabled(STATE)
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#undef Z2_ENABLE_READ
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#define Z2_ENABLE_READ stepperZ2.isEnabled()
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#endif
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#ifdef E0_IS_TMC
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extern TMC26XStepper stepperE0;
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#undef E0_ENABLE_INIT
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#define E0_ENABLE_INIT ((void)0)
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#undef E0_ENABLE_WRITE
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#define E0_ENABLE_WRITE(STATE) stepperE0.setEnabled(STATE)
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#undef E0_ENABLE_READ
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#define E0_ENABLE_READ stepperE0.isEnabled()
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#endif
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#ifdef E1_IS_TMC
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extern TMC26XStepper stepperE1;
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#undef E1_ENABLE_INIT
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#define E1_ENABLE_INIT ((void)0)
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#undef E1_ENABLE_WRITE
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#define E1_ENABLE_WRITE(STATE) stepperE1.setEnabled(STATE)
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#undef E1_ENABLE_READ
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#define E1_ENABLE_READ stepperE1.isEnabled()
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#endif
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#ifdef E2_IS_TMC
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extern TMC26XStepper stepperE2;
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#undef E2_ENABLE_INIT
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#define E2_ENABLE_INIT ((void)0)
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#undef E2_ENABLE_WRITE
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#define E2_ENABLE_WRITE(STATE) stepperE2.setEnabled(STATE)
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#undef E2_ENABLE_READ
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#define E2_ENABLE_READ stepperE2.isEnabled()
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#endif
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#ifdef E3_IS_TMC
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extern TMC26XStepper stepperE3;
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#undef E3_ENABLE_INIT
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#define E3_ENABLE_INIT ((void)0)
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#undef E3_ENABLE_WRITE
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#define E3_ENABLE_WRITE(STATE) stepperE3.setEnabled(STATE)
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#undef E3_ENABLE_READ
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#define E3_ENABLE_READ stepperE3.isEnabled()
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#endif
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#endif // HAVE_TMCDRIVER
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//////////////////////////////////
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// Pin redefines for L6470 drivers.
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// L640 drivers have step on normal pins, but dir and everything else via SPI
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//////////////////////////////////
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#ifdef HAVE_L6470DRIVER
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#include <SPI.h>
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#include <L6470.h>
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void L6470_init();
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#ifdef X_IS_L6470
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extern L6470 stepperX;
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#undef X_ENABLE_INIT
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#define X_ENABLE_INIT ((void)0)
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#undef X_ENABLE_WRITE
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#define X_ENABLE_WRITE(STATE) {if(STATE) stepperX.Step_Clock(stepperX.getStatus() & STATUS_HIZ); else stepperX.softFree();}
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#undef X_ENABLE_READ
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#define X_ENABLE_READ (stepperX.getStatus() & STATUS_HIZ)
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#undef X_DIR_INIT
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#define X_DIR_INIT ((void)0)
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#undef X_DIR_WRITE
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#define X_DIR_WRITE(STATE) stepperX.Step_Clock(STATE)
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#undef X_DIR_READ
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#define X_DIR_READ (stepperX.getStatus() & STATUS_DIR)
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#endif
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#ifdef X2_IS_L6470
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extern L6470 stepperX2;
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#undef X2_ENABLE_INIT
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#define X2_ENABLE_INIT ((void)0)
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#undef X2_ENABLE_WRITE
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#define X2_ENABLE_WRITE(STATE) (if(STATE) stepperX2.Step_Clock(stepperX2.getStatus() & STATUS_HIZ); else stepperX2.softFree();)
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#undef X2_ENABLE_READ
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#define X2_ENABLE_READ (stepperX2.getStatus() & STATUS_HIZ)
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#undef X2_DIR_INIT
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#define X2_DIR_INIT ((void)0)
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#undef X2_DIR_WRITE
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#define X2_DIR_WRITE(STATE) stepperX2.Step_Clock(STATE)
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#undef X2_DIR_READ
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#define X2_DIR_READ (stepperX2.getStatus() & STATUS_DIR)
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#endif
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#ifdef Y_IS_L6470
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extern L6470 stepperY;
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#undef Y_ENABLE_INIT
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#define Y_ENABLE_INIT ((void)0)
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#undef Y_ENABLE_WRITE
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#define Y_ENABLE_WRITE(STATE) (if(STATE) stepperY.Step_Clock(stepperY.getStatus() & STATUS_HIZ); else stepperY.softFree();)
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#undef Y_ENABLE_READ
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#define Y_ENABLE_READ (stepperY.getStatus() & STATUS_HIZ)
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#undef Y_DIR_INIT
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#define Y_DIR_INIT ((void)0)
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#undef Y_DIR_WRITE
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#define Y_DIR_WRITE(STATE) stepperY.Step_Clock(STATE)
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#undef Y_DIR_READ
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#define Y_DIR_READ (stepperY.getStatus() & STATUS_DIR)
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#endif
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#ifdef Y2_IS_L6470
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extern L6470 stepperY2;
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#undef Y2_ENABLE_INIT
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#define Y2_ENABLE_INIT ((void)0)
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#undef Y2_ENABLE_WRITE
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#define Y2_ENABLE_WRITE(STATE) (if(STATE) stepperY2.Step_Clock(stepperY2.getStatus() & STATUS_HIZ); else stepperY2.softFree();)
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#undef Y2_ENABLE_READ
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#define Y2_ENABLE_READ (stepperY2.getStatus() & STATUS_HIZ)
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#undef Y2_DIR_INIT
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#define Y2_DIR_INIT ((void)0)
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#undef Y2_DIR_WRITE
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#define Y2_DIR_WRITE(STATE) stepperY2.Step_Clock(STATE)
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#undef Y2_DIR_READ
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#define Y2_DIR_READ (stepperY2.getStatus() & STATUS_DIR)
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#endif
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#ifdef Z_IS_L6470
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extern L6470 stepperZ;
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#undef Z_ENABLE_INIT
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#define Z_ENABLE_INIT ((void)0)
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#undef Z_ENABLE_WRITE
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#define Z_ENABLE_WRITE(STATE) (if(STATE) stepperZ.Step_Clock(stepperZ.getStatus() & STATUS_HIZ); else stepperZ.softFree();)
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#undef Z_ENABLE_READ
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#define Z_ENABLE_READ (stepperZ.getStatus() & STATUS_HIZ)
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#undef Z_DIR_INIT
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#define Z_DIR_INIT ((void)0)
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#undef Z_DIR_WRITE
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#define Z_DIR_WRITE(STATE) stepperZ.Step_Clock(STATE)
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#undef Y_DIR_READ
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#define Y_DIR_READ (stepperZ.getStatus() & STATUS_DIR)
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#endif
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#ifdef Z2_IS_L6470
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extern L6470 stepperZ2;
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#undef Z2_ENABLE_INIT
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#define Z2_ENABLE_INIT ((void)0)
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#undef Z2_ENABLE_WRITE
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#define Z2_ENABLE_WRITE(STATE) (if(STATE) stepperZ2.Step_Clock(stepperZ2.getStatus() & STATUS_HIZ); else stepperZ2.softFree();)
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#undef Z2_ENABLE_READ
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#define Z2_ENABLE_READ (stepperZ2.getStatus() & STATUS_HIZ)
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#undef Z2_DIR_INIT
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#define Z2_DIR_INIT ((void)0)
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#undef Z2_DIR_WRITE
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#define Z2_DIR_WRITE(STATE) stepperZ2.Step_Clock(STATE)
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#undef Y2_DIR_READ
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#define Y2_DIR_READ (stepperZ2.getStatus() & STATUS_DIR)
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#endif
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#ifdef E0_IS_L6470
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extern L6470 stepperE0;
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#undef E0_ENABLE_INIT
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#define E0_ENABLE_INIT ((void)0)
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#undef E0_ENABLE_WRITE
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#define E0_ENABLE_WRITE(STATE) (if(STATE) stepperE0.Step_Clock(stepperE0.getStatus() & STATUS_HIZ); else stepperE0.softFree();)
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#undef E0_ENABLE_READ
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#define E0_ENABLE_READ (stepperE0.getStatus() & STATUS_HIZ)
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#undef E0_DIR_INIT
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#define E0_DIR_INIT ((void)0)
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#undef E0_DIR_WRITE
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#define E0_DIR_WRITE(STATE) stepperE0.Step_Clock(STATE)
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#undef E0_DIR_READ
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#define E0_DIR_READ (stepperE0.getStatus() & STATUS_DIR)
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#endif
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#ifdef E1_IS_L6470
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extern L6470 stepperE1;
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#undef E1_ENABLE_INIT
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#define E1_ENABLE_INIT ((void)0)
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#undef E1_ENABLE_WRITE
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#define E1_ENABLE_WRITE(STATE) (if(STATE) stepperE1.Step_Clock(stepperE1.getStatus() & STATUS_HIZ); else stepperE1.softFree();)
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#undef E1_ENABLE_READ
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#define E1_ENABLE_READ (stepperE1.getStatus() & STATUS_HIZ)
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#undef E1_DIR_INIT
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#define E1_DIR_INIT ((void)0)
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#undef E1_DIR_WRITE
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#define E1_DIR_WRITE(STATE) stepperE1.Step_Clock(STATE)
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#undef E1_DIR_READ
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#define E1_DIR_READ (stepperE1.getStatus() & STATUS_DIR)
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#endif
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#ifdef E2_IS_L6470
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extern L6470 stepperE2;
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#undef E2_ENABLE_INIT
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#define E2_ENABLE_INIT ((void)0)
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#undef E2_ENABLE_WRITE
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#define E2_ENABLE_WRITE(STATE) (if(STATE) stepperE2.Step_Clock(stepperE2.getStatus() & STATUS_HIZ); else stepperE2.softFree();)
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#undef E2_ENABLE_READ
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#define E2_ENABLE_READ (stepperE2.getStatus() & STATUS_HIZ)
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#undef E2_DIR_INIT
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#define E2_DIR_INIT ((void)0)
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#undef E2_DIR_WRITE
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#define E2_DIR_WRITE(STATE) stepperE2.Step_Clock(STATE)
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#undef E2_DIR_READ
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#define E2_DIR_READ (stepperE2.getStatus() & STATUS_DIR)
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#endif
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#ifdef E3_IS_L6470
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extern L6470 stepperE3;
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#undef E3_ENABLE_INIT
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#define E3_ENABLE_INIT ((void)0)
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#undef E3_ENABLE_WRITE
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#define E3_ENABLE_WRITE(STATE) (if(STATE) stepperE3.Step_Clock(stepperE3.getStatus() & STATUS_HIZ); else stepperE3.softFree();)
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#undef E3_ENABLE_READ
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#define E3_ENABLE_READ (stepperE3.getStatus() & STATUS_HIZ)
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#undef E3_DIR_INIT
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#define E3_DIR_INIT ((void)0)
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#undef E3_DIR_WRITE
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#define E3_DIR_WRITE(STATE) stepperE3.Step_Clock(STATE)
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#undef E3_DIR_READ
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#define E3_DIR_READ (stepperE3.getStatus() & STATUS_DIR)
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#endif
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#endif //HAVE_L6470DRIVER
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#endif // STEPPER_INDIRECTION_H
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