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@ -87,7 +87,12 @@ volatile char count_direction[NUM_AXIS] = { 1, 1, 1, 1};
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//===========================================================================
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//===========================================================================
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//=============================functions ============================
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//=============================functions ============================
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//===========================================================================
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//===========================================================================
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#ifdef ENDSTOPS_ONLY_FOR_HOMING
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#define CHECK_ENDSTOPS if(check_endstops)
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#else
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#define CHECK_ENDSTOPS
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#endif
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// intRes = intIn1 * intIn2 >> 16
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// intRes = intIn1 * intIn2 >> 16
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// uses:
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// uses:
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@ -316,7 +321,8 @@ ISR(TIMER1_COMPA_vect)
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if ((out_bits & (1<<X_AXIS)) != 0) { // -direction
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if ((out_bits & (1<<X_AXIS)) != 0) { // -direction
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WRITE(X_DIR_PIN, INVERT_X_DIR);
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WRITE(X_DIR_PIN, INVERT_X_DIR);
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count_direction[X_AXIS]=-1;
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count_direction[X_AXIS]=-1;
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if(check_endstops) {
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CHECK_ENDSTOPS
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{
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#if X_MIN_PIN > -1
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#if X_MIN_PIN > -1
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bool x_min_endstop=(READ(X_MIN_PIN) != X_ENDSTOPS_INVERTING);
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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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if(x_min_endstop && old_x_min_endstop && (current_block->steps_x > 0)) {
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@ -331,7 +337,8 @@ ISR(TIMER1_COMPA_vect)
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else { // +direction
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else { // +direction
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WRITE(X_DIR_PIN,!INVERT_X_DIR);
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WRITE(X_DIR_PIN,!INVERT_X_DIR);
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count_direction[X_AXIS]=1;
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count_direction[X_AXIS]=1;
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if(check_endstops) {
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CHECK_ENDSTOPS
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{
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#if X_MAX_PIN > -1
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#if X_MAX_PIN > -1
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bool x_max_endstop=(READ(X_MAX_PIN) != X_ENDSTOPS_INVERTING);
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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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if(x_max_endstop && old_x_max_endstop && (current_block->steps_x > 0)){
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@ -347,7 +354,8 @@ ISR(TIMER1_COMPA_vect)
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if ((out_bits & (1<<Y_AXIS)) != 0) { // -direction
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if ((out_bits & (1<<Y_AXIS)) != 0) { // -direction
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WRITE(Y_DIR_PIN,INVERT_Y_DIR);
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WRITE(Y_DIR_PIN,INVERT_Y_DIR);
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count_direction[Y_AXIS]=-1;
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count_direction[Y_AXIS]=-1;
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if(check_endstops) {
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CHECK_ENDSTOPS
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{
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#if Y_MIN_PIN > -1
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#if 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_ENDSTOPS_INVERTING);
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if(y_min_endstop && old_y_min_endstop && (current_block->steps_y > 0)) {
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if(y_min_endstop && old_y_min_endstop && (current_block->steps_y > 0)) {
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@ -362,7 +370,8 @@ ISR(TIMER1_COMPA_vect)
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else { // +direction
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else { // +direction
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WRITE(Y_DIR_PIN,!INVERT_Y_DIR);
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WRITE(Y_DIR_PIN,!INVERT_Y_DIR);
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count_direction[Y_AXIS]=1;
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count_direction[Y_AXIS]=1;
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if(check_endstops) {
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CHECK_ENDSTOPS
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{
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#if Y_MAX_PIN > -1
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#if 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_ENDSTOPS_INVERTING);
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if(y_max_endstop && old_y_max_endstop && (current_block->steps_y > 0)){
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if(y_max_endstop && old_y_max_endstop && (current_block->steps_y > 0)){
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@ -378,7 +387,8 @@ ISR(TIMER1_COMPA_vect)
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if ((out_bits & (1<<Z_AXIS)) != 0) { // -direction
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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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WRITE(Z_DIR_PIN,INVERT_Z_DIR);
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count_direction[Z_AXIS]=-1;
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count_direction[Z_AXIS]=-1;
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if(check_endstops) {
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CHECK_ENDSTOPS
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{
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#if Z_MIN_PIN > -1
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#if 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_ENDSTOPS_INVERTING);
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if(z_min_endstop && old_z_min_endstop && (current_block->steps_z > 0)) {
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if(z_min_endstop && old_z_min_endstop && (current_block->steps_z > 0)) {
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@ -393,7 +403,8 @@ ISR(TIMER1_COMPA_vect)
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else { // +direction
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else { // +direction
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WRITE(Z_DIR_PIN,!INVERT_Z_DIR);
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WRITE(Z_DIR_PIN,!INVERT_Z_DIR);
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count_direction[Z_AXIS]=1;
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count_direction[Z_AXIS]=1;
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if(check_endstops) {
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CHECK_ENDSTOPS
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{
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#if Z_MAX_PIN > -1
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#if 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_ENDSTOPS_INVERTING);
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if(z_max_endstop && old_z_max_endstop && (current_block->steps_z > 0)) {
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if(z_max_endstop && old_z_max_endstop && (current_block->steps_z > 0)) {
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