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727 lines
31 KiB
727 lines
31 KiB
/**
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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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/**
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* stepper_indirection.h
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*
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* Stepper motor driver indirection to allow some stepper functions to
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* be done via SPI/I2c instead of direct pin manipulation.
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*
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* Copyright (c) 2015 Dominik Wenger
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*/
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#include "../inc/MarlinConfig.h"
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// TMC26X drivers have STEP/DIR on normal pins, but ENABLE via SPI
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#if HAS_DRIVER(TMC26X)
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#include <SPI.h>
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#if defined(STM32GENERIC) && defined(STM32F7)
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#include "../HAL/HAL_STM32_F4_F7/STM32F7/TMC2660.h"
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#else
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#include <TMC26XStepper.h>
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#endif
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void tmc26x_init_to_defaults();
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#endif
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#if HAS_TRINAMIC
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#include <TMCStepper.h>
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#include "../feature/tmc_util.h"
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#if TMCSTEPPER_VERSION < 0x000405
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#error "Update TMCStepper library to 0.4.5 or newer."
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#endif
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#define ____TMC_CLASS(MODEL, A, I, E) TMCMarlin<TMC##MODEL##Stepper, A, I, E>
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#define ___TMC_CLASS(MODEL, A, I, E) ____TMC_CLASS(MODEL, A, I, E)
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#define __TMC_CLASS(MODEL, A, I, E) ___TMC_CLASS(_##MODEL, A, I, E)
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#define _TMC_CLASS(MODEL, L, E) __TMC_CLASS(MODEL, L, E)
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#define TMC_CLASS(ST, A) _TMC_CLASS(ST##_DRIVER_TYPE, TMC_##ST##_LABEL, A##_AXIS)
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#if ENABLED(DISTINCT_E_FACTORS)
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#define TMC_CLASS_E(I) TMC_CLASS(E##I, E##I)
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#else
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#define TMC_CLASS_E(I) TMC_CLASS(E##I, E)
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#endif
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typedef struct {
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uint8_t toff;
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int8_t hend;
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uint8_t hstrt;
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} chopper_timing_t;
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static constexpr chopper_timing_t chopper_timing = CHOPPER_TIMING;
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#if HAS_TMC220x
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void tmc_serial_begin();
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#endif
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#endif
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// L6470 has STEP on normal pins, but DIR/ENABLE via SPI
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#if HAS_DRIVER(L6470)
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#include "L6470/L6470_Marlin.h"
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#define L6470_WRITE_DIR_COMMAND(STATE,Q) do{ L6470_dir_commands[Q] = (STATE ? dSPIN_STEP_CLOCK_REV : dSPIN_STEP_CLOCK_FWD); }while(0)
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#endif
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void restore_stepper_drivers(); // Called by PSU_ON
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void reset_stepper_drivers(); // Called by settings.load / settings.reset
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#define AXIS_HAS_SQUARE_WAVE(A) (AXIS_IS_TMC(A) && ENABLED(SQUARE_WAVE_STEPPING))
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// X Stepper
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#if AXIS_DRIVER_TYPE_X(L6470)
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extern L6470 stepperX;
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#define X_ENABLE_INIT NOOP
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#define X_ENABLE_WRITE(STATE) NOOP
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#define X_ENABLE_READ (stepperX.getStatus() & STATUS_HIZ)
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#define X_DIR_INIT NOOP
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#define X_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,X)
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#define X_DIR_READ (stepperX.getStatus() & STATUS_DIR)
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#else
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#if AXIS_IS_TMC(X)
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extern TMC_CLASS(X, X) stepperX;
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#endif
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#if AXIS_DRIVER_TYPE_X(TMC26X)
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extern TMC26XStepper stepperX;
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#define X_ENABLE_INIT NOOP
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#define X_ENABLE_WRITE(STATE) stepperX.setEnabled(STATE)
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#define X_ENABLE_READ stepperX.isEnabled()
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#elif ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(X)
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#define X_ENABLE_INIT NOOP
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#define X_ENABLE_WRITE(STATE) stepperX.toff((STATE)==X_ENABLE_ON ? chopper_timing.toff : 0)
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#define X_ENABLE_READ stepperX.isEnabled()
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#else
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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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#endif
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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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#endif
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#define X_STEP_INIT SET_OUTPUT(X_STEP_PIN)
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#if AXIS_HAS_SQUARE_WAVE(X)
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#define X_STEP_WRITE(STATE) do { if(STATE) TOGGLE(X_STEP_PIN); } while(0)
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#else
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#define X_STEP_WRITE(STATE) WRITE(X_STEP_PIN,STATE)
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#endif
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#define X_STEP_READ READ(X_STEP_PIN)
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// Y Stepper
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#if AXIS_DRIVER_TYPE_Y(L6470)
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extern L6470 stepperY;
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#define Y_ENABLE_INIT NOOP
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#define Y_ENABLE_WRITE(STATE) NOOP
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#define Y_ENABLE_READ (stepperY.getStatus() & STATUS_HIZ)
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#define Y_DIR_INIT NOOP
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#define Y_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,Y)
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#define Y_DIR_READ (stepperY.getStatus() & STATUS_DIR)
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#else
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#if AXIS_IS_TMC(Y)
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extern TMC_CLASS(Y, Y) stepperY;
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#endif
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#if AXIS_DRIVER_TYPE_Y(TMC26X)
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extern TMC26XStepper stepperY;
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#define Y_ENABLE_INIT NOOP
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#define Y_ENABLE_WRITE(STATE) stepperY.setEnabled(STATE)
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#define Y_ENABLE_READ stepperY.isEnabled()
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#elif ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(Y)
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#define Y_ENABLE_INIT NOOP
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#define Y_ENABLE_WRITE(STATE) stepperY.toff((STATE)==Y_ENABLE_ON ? chopper_timing.toff : 0)
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#define Y_ENABLE_READ stepperY.isEnabled()
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#else
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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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#endif
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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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#endif
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#define Y_STEP_INIT SET_OUTPUT(Y_STEP_PIN)
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#if AXIS_HAS_SQUARE_WAVE(Y)
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#define Y_STEP_WRITE(STATE) do { if (STATE) TOGGLE(Y_STEP_PIN); } while(0)
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#else
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#define Y_STEP_WRITE(STATE) WRITE(Y_STEP_PIN,STATE)
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#endif
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#define Y_STEP_READ READ(Y_STEP_PIN)
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// Z Stepper
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#if AXIS_DRIVER_TYPE_Z(L6470)
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extern L6470 stepperZ;
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#define Z_ENABLE_INIT NOOP
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#define Z_ENABLE_WRITE(STATE) NOOP
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#define Z_ENABLE_READ (stepperZ.getStatus() & STATUS_HIZ)
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#define Z_DIR_INIT NOOP
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#define Z_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,Z)
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#define Z_DIR_READ (stepperZ.getStatus() & STATUS_DIR)
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#else
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#if AXIS_IS_TMC(Z)
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extern TMC_CLASS(Z, Z) stepperZ;
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#endif
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#if AXIS_DRIVER_TYPE_Z(TMC26X)
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extern TMC26XStepper stepperZ;
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#define Z_ENABLE_INIT NOOP
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#define Z_ENABLE_WRITE(STATE) stepperZ.setEnabled(STATE)
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#define Z_ENABLE_READ stepperZ.isEnabled()
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#elif ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(Z)
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#define Z_ENABLE_INIT NOOP
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#define Z_ENABLE_WRITE(STATE) stepperZ.toff((STATE)==Z_ENABLE_ON ? chopper_timing.toff : 0)
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#define Z_ENABLE_READ stepperZ.isEnabled()
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#else
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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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#endif
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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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#endif
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#define Z_STEP_INIT SET_OUTPUT(Z_STEP_PIN)
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#if AXIS_HAS_SQUARE_WAVE(Z)
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#define Z_STEP_WRITE(STATE) do { if(STATE) TOGGLE(Z_STEP_PIN); } while(0)
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#else
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#define Z_STEP_WRITE(STATE) WRITE(Z_STEP_PIN,STATE)
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#endif
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#define Z_STEP_READ READ(Z_STEP_PIN)
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// X2 Stepper
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#if HAS_X2_ENABLE
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#if AXIS_DRIVER_TYPE_X2(L6470)
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extern L6470 stepperX2;
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#define X2_ENABLE_INIT NOOP
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#define X2_ENABLE_WRITE(STATE) NOOP
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#define X2_ENABLE_READ (stepperX2.getStatus() & STATUS_HIZ)
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#define X2_DIR_INIT NOOP
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#define X2_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,X2)
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#define X2_DIR_READ (stepperX2.getStatus() & STATUS_DIR)
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#else
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#if AXIS_IS_TMC(X2)
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extern TMC_CLASS(X2, X) stepperX2;
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#endif
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#if AXIS_DRIVER_TYPE_X2(TMC26X)
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extern TMC26XStepper stepperX2;
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#define X2_ENABLE_INIT NOOP
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#define X2_ENABLE_WRITE(STATE) stepperX2.setEnabled(STATE)
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#define X2_ENABLE_READ stepperX2.isEnabled()
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#elif ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(X2)
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#define X2_ENABLE_INIT NOOP
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#define X2_ENABLE_WRITE(STATE) stepperX2.toff((STATE)==X_ENABLE_ON ? chopper_timing.toff : 0)
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#define X2_ENABLE_READ stepperX2.isEnabled()
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#else
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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(X2_ENABLE_PIN)
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#endif
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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(X2_DIR_PIN)
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#endif
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#define X2_STEP_INIT SET_OUTPUT(X2_STEP_PIN)
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#if AXIS_HAS_SQUARE_WAVE(X2)
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#define X2_STEP_WRITE(STATE) do { if(STATE) TOGGLE(X2_STEP_PIN); } while(0)
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#else
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#define X2_STEP_WRITE(STATE) WRITE(X2_STEP_PIN,STATE)
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#endif
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#define X2_STEP_READ READ(X2_STEP_PIN)
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#endif
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// Y2 Stepper
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#if HAS_Y2_ENABLE
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#if AXIS_DRIVER_TYPE_Y2(L6470)
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extern L6470 stepperY2;
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#define Y2_ENABLE_INIT NOOP
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#define Y2_ENABLE_WRITE(STATE) NOOP
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#define Y2_ENABLE_READ (stepperY2.getStatus() & STATUS_HIZ)
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#define Y2_DIR_INIT NOOP
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#define Y2_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,Y2)
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#define Y2_DIR_READ (stepperY2.getStatus() & STATUS_DIR)
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#else
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#if AXIS_IS_TMC(Y2)
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extern TMC_CLASS(Y2, Y) stepperY2;
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#endif
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#if AXIS_DRIVER_TYPE_Y2(TMC26X)
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extern TMC26XStepper stepperY2;
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#define Y2_ENABLE_INIT NOOP
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#define Y2_ENABLE_WRITE(STATE) stepperY2.setEnabled(STATE)
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#define Y2_ENABLE_READ stepperY2.isEnabled()
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#elif ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(Y2)
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#define Y2_ENABLE_INIT NOOP
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#define Y2_ENABLE_WRITE(STATE) stepperY2.toff((STATE)==Y_ENABLE_ON ? chopper_timing.toff : 0)
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#define Y2_ENABLE_READ stepperY2.isEnabled()
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#else
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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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#endif
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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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#endif
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#define Y2_STEP_INIT SET_OUTPUT(Y2_STEP_PIN)
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#if AXIS_HAS_SQUARE_WAVE(Y2)
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#define Y2_STEP_WRITE(STATE) do { if(STATE) TOGGLE(Y2_STEP_PIN); } while(0)
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#else
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#define Y2_STEP_WRITE(STATE) WRITE(Y2_STEP_PIN,STATE)
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#endif
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#define Y2_STEP_READ READ(Y2_STEP_PIN)
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#else
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#define Y2_DIR_WRITE(STATE) NOOP
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#endif
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// Z2 Stepper
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#if HAS_Z2_ENABLE
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#if AXIS_DRIVER_TYPE_Z2(L6470)
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extern L6470 stepperZ2;
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#define Z2_ENABLE_INIT NOOP
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#define Z2_ENABLE_WRITE(STATE) NOOP
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#define Z2_ENABLE_READ (stepperZ2.getStatus() & STATUS_HIZ)
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#define Z2_DIR_INIT NOOP
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#define Z2_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,Z2)
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#define Z2_DIR_READ (stepperZ2.getStatus() & STATUS_DIR)
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#else
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#if AXIS_IS_TMC(Z2)
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extern TMC_CLASS(Z2, Z) stepperZ2;
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#endif
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#if AXIS_DRIVER_TYPE_Z2(TMC26X)
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extern TMC26XStepper stepperZ2;
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#define Z2_ENABLE_INIT NOOP
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#define Z2_ENABLE_WRITE(STATE) stepperZ2.setEnabled(STATE)
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#define Z2_ENABLE_READ stepperZ2.isEnabled()
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#elif ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(Z2)
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#define Z2_ENABLE_INIT NOOP
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#define Z2_ENABLE_WRITE(STATE) stepperZ2.toff((STATE)==Z_ENABLE_ON ? chopper_timing.toff : 0)
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#define Z2_ENABLE_READ stepperZ2.isEnabled()
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#else
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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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#endif
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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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#endif
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#define Z2_STEP_INIT SET_OUTPUT(Z2_STEP_PIN)
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#if AXIS_HAS_SQUARE_WAVE(Z2)
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#define Z2_STEP_WRITE(STATE) do { if(STATE) TOGGLE(Z2_STEP_PIN); } while(0)
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#else
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#define Z2_STEP_WRITE(STATE) WRITE(Z2_STEP_PIN,STATE)
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#endif
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#define Z2_STEP_READ READ(Z2_STEP_PIN)
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#else
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#define Z2_DIR_WRITE(STATE) NOOP
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#endif
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// Z3 Stepper
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#if HAS_Z3_ENABLE
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#if AXIS_DRIVER_TYPE_Z3(L6470)
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extern L6470 stepperZ3;
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#define Z3_ENABLE_INIT NOOP
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#define Z3_ENABLE_WRITE(STATE) NOOP
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#define Z3_ENABLE_READ (stepperZ3.getStatus() & STATUS_HIZ)
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#define Z3_DIR_INIT NOOP
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#define Z3_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,Z3)
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#define Z3_DIR_READ (stepperZ3.getStatus() & STATUS_DIR)
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#else
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#if AXIS_IS_TMC(Z3)
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extern TMC_CLASS(Z3, Z) stepperZ3;
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#endif
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#if ENABLED(Z3_IS_TMC26X)
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extern TMC26XStepper stepperZ3;
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#define Z3_ENABLE_INIT NOOP
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#define Z3_ENABLE_WRITE(STATE) stepperZ3.setEnabled(STATE)
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#define Z3_ENABLE_READ stepperZ3.isEnabled()
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#elif ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(Z3)
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#define Z3_ENABLE_INIT NOOP
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#define Z3_ENABLE_WRITE(STATE) stepperZ3.toff((STATE)==Z_ENABLE_ON ? chopper_timing.toff : 0)
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#define Z3_ENABLE_READ stepperZ3.isEnabled()
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#else
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#define Z3_ENABLE_INIT SET_OUTPUT(Z3_ENABLE_PIN)
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#define Z3_ENABLE_WRITE(STATE) WRITE(Z3_ENABLE_PIN,STATE)
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#define Z3_ENABLE_READ READ(Z3_ENABLE_PIN)
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#endif
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#define Z3_DIR_INIT SET_OUTPUT(Z3_DIR_PIN)
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#define Z3_DIR_WRITE(STATE) WRITE(Z3_DIR_PIN,STATE)
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#define Z3_DIR_READ READ(Z3_DIR_PIN)
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#endif
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#define Z3_STEP_INIT SET_OUTPUT(Z3_STEP_PIN)
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#if AXIS_HAS_SQUARE_WAVE(Z3)
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#define Z3_STEP_WRITE(STATE) do { if(STATE) TOGGLE(Z3_STEP_PIN); } while(0)
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#else
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#define Z3_STEP_WRITE(STATE) WRITE(Z3_STEP_PIN,STATE)
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#endif
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#define Z3_STEP_READ READ(Z3_STEP_PIN)
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#else
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#define Z3_DIR_WRITE(STATE) NOOP
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#endif
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// E0 Stepper
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#if AXIS_DRIVER_TYPE_E0(L6470)
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extern L6470 stepperE0;
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#define E0_ENABLE_INIT NOOP
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#define E0_ENABLE_WRITE(STATE) NOOP
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#define E0_ENABLE_READ (stepperE0.getStatus() & STATUS_HIZ)
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#define E0_DIR_INIT NOOP
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#define E0_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,E0)
|
|
#define E0_DIR_READ (stepperE0.getStatus() & STATUS_DIR)
|
|
#else
|
|
#if AXIS_IS_TMC(E0)
|
|
extern TMC_CLASS_E(0) stepperE0;
|
|
#endif
|
|
#if AXIS_DRIVER_TYPE_E0(TMC26X)
|
|
extern TMC26XStepper stepperE0;
|
|
#define E0_ENABLE_INIT NOOP
|
|
#define E0_ENABLE_WRITE(STATE) stepperE0.setEnabled(STATE)
|
|
#define E0_ENABLE_READ stepperE0.isEnabled()
|
|
#elif ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(E0)
|
|
#define E0_ENABLE_INIT NOOP
|
|
#define E0_ENABLE_WRITE(STATE) stepperE0.toff((STATE)==E_ENABLE_ON ? chopper_timing.toff : 0)
|
|
#define E0_ENABLE_READ stepperE0.isEnabled()
|
|
#else
|
|
#define E0_ENABLE_INIT SET_OUTPUT(E0_ENABLE_PIN)
|
|
#define E0_ENABLE_WRITE(STATE) WRITE(E0_ENABLE_PIN,STATE)
|
|
#define E0_ENABLE_READ READ(E0_ENABLE_PIN)
|
|
#endif
|
|
#define E0_DIR_INIT SET_OUTPUT(E0_DIR_PIN)
|
|
#define E0_DIR_WRITE(STATE) WRITE(E0_DIR_PIN,STATE)
|
|
#define E0_DIR_READ READ(E0_DIR_PIN)
|
|
#endif
|
|
#define E0_STEP_INIT SET_OUTPUT(E0_STEP_PIN)
|
|
#if AXIS_HAS_SQUARE_WAVE(E0)
|
|
#define E0_STEP_WRITE(STATE) do { if(STATE) TOGGLE(E0_STEP_PIN); } while(0)
|
|
#else
|
|
#define E0_STEP_WRITE(STATE) WRITE(E0_STEP_PIN,STATE)
|
|
#endif
|
|
#define E0_STEP_READ READ(E0_STEP_PIN)
|
|
|
|
// E1 Stepper
|
|
#if AXIS_DRIVER_TYPE_E1(L6470)
|
|
extern L6470 stepperE1;
|
|
#define E1_ENABLE_INIT NOOP
|
|
#define E1_ENABLE_WRITE(STATE) NOOP
|
|
#define E1_ENABLE_READ (stepperE1.getStatus() & STATUS_HIZ)
|
|
#define E1_DIR_INIT NOOP
|
|
#define E1_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,E1)
|
|
#define E1_DIR_READ (stepperE1.getStatus() & STATUS_DIR)
|
|
#else
|
|
#if AXIS_IS_TMC(E1)
|
|
extern TMC_CLASS_E(1) stepperE1;
|
|
#endif
|
|
#if AXIS_DRIVER_TYPE_E1(TMC26X)
|
|
extern TMC26XStepper stepperE1;
|
|
#define E1_ENABLE_INIT NOOP
|
|
#define E1_ENABLE_WRITE(STATE) stepperE1.setEnabled(STATE)
|
|
#define E1_ENABLE_READ stepperE1.isEnabled()
|
|
#elif ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(E1)
|
|
#define E1_ENABLE_INIT NOOP
|
|
#define E1_ENABLE_WRITE(STATE) stepperE1.toff((STATE)==E_ENABLE_ON ? chopper_timing.toff : 0)
|
|
#define E1_ENABLE_READ stepperE1.isEnabled()
|
|
#else
|
|
#define E1_ENABLE_INIT SET_OUTPUT(E1_ENABLE_PIN)
|
|
#define E1_ENABLE_WRITE(STATE) WRITE(E1_ENABLE_PIN,STATE)
|
|
#define E1_ENABLE_READ READ(E1_ENABLE_PIN)
|
|
#endif
|
|
#define E1_DIR_INIT SET_OUTPUT(E1_DIR_PIN)
|
|
#define E1_DIR_WRITE(STATE) WRITE(E1_DIR_PIN,STATE)
|
|
#define E1_DIR_READ READ(E1_DIR_PIN)
|
|
#endif
|
|
#define E1_STEP_INIT SET_OUTPUT(E1_STEP_PIN)
|
|
#if AXIS_HAS_SQUARE_WAVE(E1)
|
|
#define E1_STEP_WRITE(STATE) do { if(STATE) TOGGLE(E1_STEP_PIN); } while(0)
|
|
#else
|
|
#define E1_STEP_WRITE(STATE) WRITE(E1_STEP_PIN,STATE)
|
|
#endif
|
|
#define E1_STEP_READ READ(E1_STEP_PIN)
|
|
|
|
// E2 Stepper
|
|
#if AXIS_DRIVER_TYPE_E2(L6470)
|
|
extern L6470 stepperE2;
|
|
#define E2_ENABLE_INIT NOOP
|
|
#define E2_ENABLE_WRITE(STATE) NOOP
|
|
#define E2_ENABLE_READ (stepperE2.getStatus() & STATUS_HIZ)
|
|
#define E2_DIR_INIT NOOP
|
|
#define E2_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,E2)
|
|
#define E2_DIR_READ (stepperE2.getStatus() & STATUS_DIR)
|
|
#else
|
|
#if AXIS_IS_TMC(E2)
|
|
extern TMC_CLASS_E(2) stepperE2;
|
|
#endif
|
|
#if AXIS_DRIVER_TYPE_E2(TMC26X)
|
|
extern TMC26XStepper stepperE2;
|
|
#define E2_ENABLE_INIT NOOP
|
|
#define E2_ENABLE_WRITE(STATE) stepperE2.setEnabled(STATE)
|
|
#define E2_ENABLE_READ stepperE2.isEnabled()
|
|
#elif ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(E2)
|
|
#define E2_ENABLE_INIT NOOP
|
|
#define E2_ENABLE_WRITE(STATE) stepperE2.toff((STATE)==E_ENABLE_ON ? chopper_timing.toff : 0)
|
|
#define E2_ENABLE_READ stepperE2.isEnabled()
|
|
#else
|
|
#define E2_ENABLE_INIT SET_OUTPUT(E2_ENABLE_PIN)
|
|
#define E2_ENABLE_WRITE(STATE) WRITE(E2_ENABLE_PIN,STATE)
|
|
#define E2_ENABLE_READ READ(E2_ENABLE_PIN)
|
|
#endif
|
|
#define E2_DIR_INIT SET_OUTPUT(E2_DIR_PIN)
|
|
#define E2_DIR_WRITE(STATE) WRITE(E2_DIR_PIN,STATE)
|
|
#define E2_DIR_READ READ(E2_DIR_PIN)
|
|
#endif
|
|
#define E2_STEP_INIT SET_OUTPUT(E2_STEP_PIN)
|
|
#if AXIS_HAS_SQUARE_WAVE(E2)
|
|
#define E2_STEP_WRITE(STATE) do { if(STATE) TOGGLE(E2_STEP_PIN); } while(0)
|
|
#else
|
|
#define E2_STEP_WRITE(STATE) WRITE(E2_STEP_PIN,STATE)
|
|
#endif
|
|
#define E2_STEP_READ READ(E2_STEP_PIN)
|
|
|
|
// E3 Stepper
|
|
#if AXIS_DRIVER_TYPE_E3(L6470)
|
|
extern L6470 stepperE3;
|
|
#define E3_ENABLE_INIT NOOP
|
|
#define E3_ENABLE_WRITE(STATE) NOOP
|
|
#define E3_ENABLE_READ (stepperE3.getStatus() & STATUS_HIZ)
|
|
#define E3_DIR_INIT NOOP
|
|
#define E3_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,E3)
|
|
#define E3_DIR_READ (stepperE3.getStatus() & STATUS_DIR)
|
|
#else
|
|
#if AXIS_IS_TMC(E3)
|
|
extern TMC_CLASS_E(3) stepperE3;
|
|
#endif
|
|
#if AXIS_DRIVER_TYPE_E3(TMC26X)
|
|
extern TMC26XStepper stepperE3;
|
|
#define E3_ENABLE_INIT NOOP
|
|
#define E3_ENABLE_WRITE(STATE) stepperE3.setEnabled(STATE)
|
|
#define E3_ENABLE_READ stepperE3.isEnabled()
|
|
#elif ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(E3)
|
|
#define E3_ENABLE_INIT NOOP
|
|
#define E3_ENABLE_WRITE(STATE) stepperE3.toff((STATE)==E_ENABLE_ON ? chopper_timing.toff : 0)
|
|
#define E3_ENABLE_READ stepperE3.isEnabled()
|
|
#else
|
|
#define E3_ENABLE_INIT SET_OUTPUT(E3_ENABLE_PIN)
|
|
#define E3_ENABLE_WRITE(STATE) WRITE(E3_ENABLE_PIN,STATE)
|
|
#define E3_ENABLE_READ READ(E3_ENABLE_PIN)
|
|
#endif
|
|
#define E3_DIR_INIT SET_OUTPUT(E3_DIR_PIN)
|
|
#define E3_DIR_WRITE(STATE) WRITE(E3_DIR_PIN,STATE)
|
|
#define E3_DIR_READ READ(E3_DIR_PIN)
|
|
#endif
|
|
#define E3_STEP_INIT SET_OUTPUT(E3_STEP_PIN)
|
|
#if AXIS_HAS_SQUARE_WAVE(E3)
|
|
#define E3_STEP_WRITE(STATE) do { if(STATE) TOGGLE(E3_STEP_PIN); } while(0)
|
|
#else
|
|
#define E3_STEP_WRITE(STATE) WRITE(E3_STEP_PIN,STATE)
|
|
#endif
|
|
#define E3_STEP_READ READ(E3_STEP_PIN)
|
|
|
|
// E4 Stepper
|
|
#if AXIS_DRIVER_TYPE_E4(L6470)
|
|
extern L6470 stepperE4;
|
|
#define E4_ENABLE_INIT NOOP
|
|
#define E4_ENABLE_WRITE(STATE) NOOP
|
|
#define E4_ENABLE_READ (stepperE4.getStatus() & STATUS_HIZ)
|
|
#define E4_DIR_INIT NOOP
|
|
#define E4_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,E4)
|
|
#define E4_DIR_READ (stepperE4.getStatus() & STATUS_DIR)
|
|
#else
|
|
#if AXIS_IS_TMC(E4)
|
|
extern TMC_CLASS_E(4) stepperE4;
|
|
#endif
|
|
#if AXIS_DRIVER_TYPE_E4(TMC26X)
|
|
extern TMC26XStepper stepperE4;
|
|
#define E4_ENABLE_INIT NOOP
|
|
#define E4_ENABLE_WRITE(STATE) stepperE4.setEnabled(STATE)
|
|
#define E4_ENABLE_READ stepperE4.isEnabled()
|
|
#elif ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(E4)
|
|
#define E4_ENABLE_INIT NOOP
|
|
#define E4_ENABLE_WRITE(STATE) stepperE4.toff((STATE)==E_ENABLE_ON ? chopper_timing.toff : 0)
|
|
#define E4_ENABLE_READ stepperE4.isEnabled()
|
|
#else
|
|
#define E4_ENABLE_INIT SET_OUTPUT(E4_ENABLE_PIN)
|
|
#define E4_ENABLE_WRITE(STATE) WRITE(E4_ENABLE_PIN,STATE)
|
|
#define E4_ENABLE_READ READ(E4_ENABLE_PIN)
|
|
#endif
|
|
#define E4_DIR_INIT SET_OUTPUT(E4_DIR_PIN)
|
|
#define E4_DIR_WRITE(STATE) WRITE(E4_DIR_PIN,STATE)
|
|
#define E4_DIR_READ READ(E4_DIR_PIN)
|
|
#endif
|
|
#define E4_STEP_INIT SET_OUTPUT(E4_STEP_PIN)
|
|
#if AXIS_HAS_SQUARE_WAVE(E4)
|
|
#define E4_STEP_WRITE(STATE) do { if(STATE) TOGGLE(E4_STEP_PIN); } while(0)
|
|
#else
|
|
#define E4_STEP_WRITE(STATE) WRITE(E4_STEP_PIN,STATE)
|
|
#endif
|
|
#define E4_STEP_READ READ(E4_STEP_PIN)
|
|
|
|
// E5 Stepper
|
|
#if AXIS_DRIVER_TYPE_E5(L6470)
|
|
extern L6470 stepperE5;
|
|
#define E5_ENABLE_INIT NOOP
|
|
#define E5_ENABLE_WRITE(STATE) NOOP
|
|
#define E5_ENABLE_READ (stepperE5.getStatus() & STATUS_HIZ)
|
|
#define E5_DIR_INIT NOOP
|
|
#define E5_DIR_WRITE(STATE) L6470_WRITE_DIR_COMMAND(STATE,E5)
|
|
#define E5_DIR_READ (stepperE5.getStatus() & STATUS_DIR)
|
|
#else
|
|
#if AXIS_IS_TMC(E5)
|
|
extern TMC_CLASS_E(5) stepperE5;
|
|
#endif
|
|
#if AXIS_DRIVER_TYPE_E5(TMC26X)
|
|
extern TMC26XStepper stepperE5;
|
|
#define E5_ENABLE_INIT NOOP
|
|
#define E5_ENABLE_WRITE(STATE) stepperE5.setEnabled(STATE)
|
|
#define E5_ENABLE_READ stepperE5.isEnabled()
|
|
#elif ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(E5)
|
|
#define E5_ENABLE_INIT NOOP
|
|
#define E5_ENABLE_WRITE(STATE) stepperE5.toff((STATE)==E_ENABLE_ON ? chopper_timing.toff : 0)
|
|
#define E5_ENABLE_READ stepperE5.isEnabled()
|
|
#else
|
|
#define E5_ENABLE_INIT SET_OUTPUT(E5_ENABLE_PIN)
|
|
#define E5_ENABLE_WRITE(STATE) WRITE(E5_ENABLE_PIN,STATE)
|
|
#define E5_ENABLE_READ READ(E5_ENABLE_PIN)
|
|
#endif
|
|
#define E5_DIR_INIT SET_OUTPUT(E5_DIR_PIN)
|
|
#define E5_DIR_WRITE(STATE) WRITE(E5_DIR_PIN,STATE)
|
|
#define E5_DIR_READ READ(E5_DIR_PIN)
|
|
#endif
|
|
#define E5_STEP_INIT SET_OUTPUT(E5_STEP_PIN)
|
|
#if AXIS_HAS_SQUARE_WAVE(E5)
|
|
#define E5_STEP_WRITE(STATE) do { if(STATE) TOGGLE(E5_STEP_PIN); } while(0)
|
|
#else
|
|
#define E5_STEP_WRITE(STATE) WRITE(E5_STEP_PIN,STATE)
|
|
#endif
|
|
#define E5_STEP_READ READ(E5_STEP_PIN)
|
|
|
|
/**
|
|
* Extruder indirection for the single E axis
|
|
*/
|
|
#if ENABLED(SWITCHING_EXTRUDER) // One stepper driver per two extruders, reversed on odd index
|
|
#if EXTRUDERS > 5
|
|
#define E_STEP_WRITE(E,V) do{ if (E < 2) { E0_STEP_WRITE(V); } else if (E < 4) { E1_STEP_WRITE(V); } else { E2_STEP_WRITE(V); } }while(0)
|
|
#define NORM_E_DIR(E) do{ switch (E) { case 0: E0_DIR_WRITE(!INVERT_E0_DIR); break; case 1: E0_DIR_WRITE( INVERT_E0_DIR); break; case 2: E1_DIR_WRITE(!INVERT_E1_DIR); break; case 3: E1_DIR_WRITE( INVERT_E1_DIR); break; case 4: E2_DIR_WRITE(!INVERT_E2_DIR); case 5: E2_DIR_WRITE( INVERT_E2_DIR); } }while(0)
|
|
#define REV_E_DIR(E) do{ switch (E) { case 0: E0_DIR_WRITE( INVERT_E0_DIR); break; case 1: E0_DIR_WRITE(!INVERT_E0_DIR); break; case 2: E1_DIR_WRITE( INVERT_E1_DIR); break; case 3: E1_DIR_WRITE(!INVERT_E1_DIR); break; case 4: E2_DIR_WRITE( INVERT_E2_DIR); case 5: E2_DIR_WRITE(!INVERT_E2_DIR); } }while(0)
|
|
#elif EXTRUDERS > 4
|
|
#define E_STEP_WRITE(E,V) do{ if (E < 2) { E0_STEP_WRITE(V); } else if (E < 4) { E1_STEP_WRITE(V); } else { E2_STEP_WRITE(V); } }while(0)
|
|
#define NORM_E_DIR(E) do{ switch (E) { case 0: E0_DIR_WRITE(!INVERT_E0_DIR); break; case 1: E0_DIR_WRITE( INVERT_E0_DIR); break; case 2: E1_DIR_WRITE(!INVERT_E1_DIR); break; case 3: E1_DIR_WRITE( INVERT_E1_DIR); break; case 4: E2_DIR_WRITE(!INVERT_E2_DIR); } }while(0)
|
|
#define REV_E_DIR(E) do{ switch (E) { case 0: E0_DIR_WRITE( INVERT_E0_DIR); break; case 1: E0_DIR_WRITE(!INVERT_E0_DIR); break; case 2: E1_DIR_WRITE( INVERT_E1_DIR); break; case 3: E1_DIR_WRITE(!INVERT_E1_DIR); break; case 4: E2_DIR_WRITE( INVERT_E2_DIR); } }while(0)
|
|
#elif EXTRUDERS > 3
|
|
#define E_STEP_WRITE(E,V) do{ if (E < 2) { E0_STEP_WRITE(V); } else { E1_STEP_WRITE(V); } }while(0)
|
|
#define NORM_E_DIR(E) do{ switch (E) { case 0: E0_DIR_WRITE(!INVERT_E0_DIR); break; case 1: E0_DIR_WRITE( INVERT_E0_DIR); break; case 2: E1_DIR_WRITE(!INVERT_E1_DIR); break; case 3: E1_DIR_WRITE( INVERT_E1_DIR); } }while(0)
|
|
#define REV_E_DIR(E) do{ switch (E) { case 0: E0_DIR_WRITE( INVERT_E0_DIR); break; case 1: E0_DIR_WRITE(!INVERT_E0_DIR); break; case 2: E1_DIR_WRITE( INVERT_E1_DIR); break; case 3: E1_DIR_WRITE(!INVERT_E1_DIR); } }while(0)
|
|
#elif EXTRUDERS > 2
|
|
#define E_STEP_WRITE(E,V) do{ if (E < 2) { E0_STEP_WRITE(V); } else { E1_STEP_WRITE(V); } }while(0)
|
|
#define NORM_E_DIR(E) do{ switch (E) { case 0: E0_DIR_WRITE(!INVERT_E0_DIR); break; case 1: E0_DIR_WRITE( INVERT_E0_DIR); break; case 2: E1_DIR_WRITE(!INVERT_E1_DIR); } }while(0)
|
|
#define REV_E_DIR(E) do{ switch (E) { case 0: E0_DIR_WRITE( INVERT_E0_DIR); break; case 1: E0_DIR_WRITE(!INVERT_E0_DIR); break; case 2: E1_DIR_WRITE( INVERT_E1_DIR); } }while(0)
|
|
#else
|
|
#define E_STEP_WRITE(E,V) E0_STEP_WRITE(V)
|
|
#define NORM_E_DIR(E) do{ E0_DIR_WRITE(E ? INVERT_E0_DIR : !INVERT_E0_DIR); }while(0)
|
|
#define REV_E_DIR(E) do{ E0_DIR_WRITE(E ? !INVERT_E0_DIR : INVERT_E0_DIR); }while(0)
|
|
#endif
|
|
#elif ENABLED(PRUSA_MMU2)
|
|
#define E_STEP_WRITE(E,V) E0_STEP_WRITE(V)
|
|
#define NORM_E_DIR(E) E0_DIR_WRITE(!INVERT_E0_DIR)
|
|
#define REV_E_DIR(E) E0_DIR_WRITE( INVERT_E0_DIR)
|
|
|
|
#elif ENABLED(MK2_MULTIPLEXER) // One multiplexed stepper driver, reversed on odd index
|
|
#define E_STEP_WRITE(E,V) E0_STEP_WRITE(V)
|
|
#define NORM_E_DIR(E) do{ E0_DIR_WRITE(TEST(E, 0) ? !INVERT_E0_DIR: INVERT_E0_DIR); }while(0)
|
|
#define REV_E_DIR(E) do{ E0_DIR_WRITE(TEST(E, 0) ? INVERT_E0_DIR: !INVERT_E0_DIR); }while(0)
|
|
|
|
#elif E_STEPPERS > 1
|
|
|
|
#if E_STEPPERS > 5
|
|
#define _E_STEP_WRITE(E,V) do{ switch (E) { case 0: E0_STEP_WRITE(V); break; case 1: E1_STEP_WRITE(V); break; case 2: E2_STEP_WRITE(V); break; case 3: E3_STEP_WRITE(V); break; case 4: E4_STEP_WRITE(V); case 5: E5_STEP_WRITE(V); } }while(0)
|
|
#define _NORM_E_DIR(E) do{ switch (E) { case 0: E0_DIR_WRITE(!INVERT_E0_DIR); break; case 1: E1_DIR_WRITE(!INVERT_E1_DIR); break; case 2: E2_DIR_WRITE(!INVERT_E2_DIR); break; case 3: E3_DIR_WRITE(!INVERT_E3_DIR); break; case 4: E4_DIR_WRITE(!INVERT_E4_DIR); case 5: E5_DIR_WRITE(!INVERT_E5_DIR); } }while(0)
|
|
#define _REV_E_DIR(E) do{ switch (E) { case 0: E0_DIR_WRITE( INVERT_E0_DIR); break; case 1: E1_DIR_WRITE( INVERT_E1_DIR); break; case 2: E2_DIR_WRITE( INVERT_E2_DIR); break; case 3: E3_DIR_WRITE( INVERT_E3_DIR); break; case 4: E4_DIR_WRITE( INVERT_E4_DIR); case 5: E5_DIR_WRITE( INVERT_E5_DIR); } }while(0)
|
|
#elif E_STEPPERS > 4
|
|
#define _E_STEP_WRITE(E,V) do{ switch (E) { case 0: E0_STEP_WRITE(V); break; case 1: E1_STEP_WRITE(V); break; case 2: E2_STEP_WRITE(V); break; case 3: E3_STEP_WRITE(V); break; case 4: E4_STEP_WRITE(V); } }while(0)
|
|
#define _NORM_E_DIR(E) do{ switch (E) { case 0: E0_DIR_WRITE(!INVERT_E0_DIR); break; case 1: E1_DIR_WRITE(!INVERT_E1_DIR); break; case 2: E2_DIR_WRITE(!INVERT_E2_DIR); break; case 3: E3_DIR_WRITE(!INVERT_E3_DIR); break; case 4: E4_DIR_WRITE(!INVERT_E4_DIR); } }while(0)
|
|
#define _REV_E_DIR(E) do{ switch (E) { case 0: E0_DIR_WRITE( INVERT_E0_DIR); break; case 1: E1_DIR_WRITE( INVERT_E1_DIR); break; case 2: E2_DIR_WRITE( INVERT_E2_DIR); break; case 3: E3_DIR_WRITE( INVERT_E3_DIR); break; case 4: E4_DIR_WRITE( INVERT_E4_DIR); } }while(0)
|
|
#elif E_STEPPERS > 3
|
|
#define _E_STEP_WRITE(E,V) do{ switch (E) { case 0: E0_STEP_WRITE(V); break; case 1: E1_STEP_WRITE(V); break; case 2: E2_STEP_WRITE(V); break; case 3: E3_STEP_WRITE(V); } }while(0)
|
|
#define _NORM_E_DIR(E) do{ switch (E) { case 0: E0_DIR_WRITE(!INVERT_E0_DIR); break; case 1: E1_DIR_WRITE(!INVERT_E1_DIR); break; case 2: E2_DIR_WRITE(!INVERT_E2_DIR); break; case 3: E3_DIR_WRITE(!INVERT_E3_DIR); } }while(0)
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#define _REV_E_DIR(E) do{ switch (E) { case 0: E0_DIR_WRITE( INVERT_E0_DIR); break; case 1: E1_DIR_WRITE( INVERT_E1_DIR); break; case 2: E2_DIR_WRITE( INVERT_E2_DIR); break; case 3: E3_DIR_WRITE( INVERT_E3_DIR); } }while(0)
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#elif E_STEPPERS > 2
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#define _E_STEP_WRITE(E,V) do{ switch (E) { case 0: E0_STEP_WRITE(V); break; case 1: E1_STEP_WRITE(V); break; case 2: E2_STEP_WRITE(V); } }while(0)
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#define _NORM_E_DIR(E) do{ switch (E) { case 0: E0_DIR_WRITE(!INVERT_E0_DIR); break; case 1: E1_DIR_WRITE(!INVERT_E1_DIR); break; case 2: E2_DIR_WRITE(!INVERT_E2_DIR); } }while(0)
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#define _REV_E_DIR(E) do{ switch (E) { case 0: E0_DIR_WRITE( INVERT_E0_DIR); break; case 1: E1_DIR_WRITE( INVERT_E1_DIR); break; case 2: E2_DIR_WRITE( INVERT_E2_DIR); } }while(0)
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#else
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#define _E_STEP_WRITE(E,V) do{ if (E == 0) { E0_STEP_WRITE(V); } else { E1_STEP_WRITE(V); } }while(0)
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#define _NORM_E_DIR(E) do{ if (E == 0) { E0_DIR_WRITE(!INVERT_E0_DIR); } else { E1_DIR_WRITE(!INVERT_E1_DIR); } }while(0)
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#define _REV_E_DIR(E) do{ if (E == 0) { E0_DIR_WRITE( INVERT_E0_DIR); } else { E1_DIR_WRITE( INVERT_E1_DIR); } }while(0)
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#endif
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#if HAS_DUPLICATION_MODE
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#if ENABLED(MULTI_NOZZLE_DUPLICATION)
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#define _DUPE(N,T,V) do{ if (TEST(duplication_e_mask, N)) E##N##_##T##_WRITE(V); }while(0)
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#else
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#define _DUPE(N,T,V) E##N##_##T##_WRITE(V)
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#endif
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#define NDIR(N) _DUPE(N,DIR,!INVERT_E##N##_DIR)
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#define RDIR(N) _DUPE(N,DIR, INVERT_E##N##_DIR)
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#define E_STEP_WRITE(E,V) do{ if (extruder_duplication_enabled) { DUPE(STEP,V); } else _E_STEP_WRITE(E,V); }while(0)
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#if E_STEPPERS > 2
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#if E_STEPPERS > 5
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#define DUPE(T,V) do{ _DUPE(0,T,V); _DUPE(1,T,V); _DUPE(2,T,V); _DUPE(3,T,V); _DUPE(4,T,V); _DUPE(5,T,V); }while(0)
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#define NORM_E_DIR(E) do{ if (extruder_duplication_enabled) { NDIR(0); NDIR(1); NDIR(2); NDIR(3); NDIR(4); NDIR(5); } else _NORM_E_DIR(E); }while(0)
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#define REV_E_DIR(E) do{ if (extruder_duplication_enabled) { RDIR(0); RDIR(1); RDIR(2); RDIR(3); RDIR(4); RDIR(5); } else _REV_E_DIR(E); }while(0)
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#elif E_STEPPERS > 4
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#define DUPE(T,V) do{ _DUPE(0,T,V); _DUPE(1,T,V); _DUPE(2,T,V); _DUPE(3,T,V); _DUPE(4,T,V); }while(0)
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#define NORM_E_DIR(E) do{ if (extruder_duplication_enabled) { NDIR(0); NDIR(1); NDIR(2); NDIR(3); NDIR(4); } else _NORM_E_DIR(E); }while(0)
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#define REV_E_DIR(E) do{ if (extruder_duplication_enabled) { RDIR(0); RDIR(1); RDIR(2); RDIR(3); RDIR(4); } else _REV_E_DIR(E); }while(0)
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#elif E_STEPPERS > 3
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#define DUPE(T,V) do{ _DUPE(0,T,V); _DUPE(1,T,V); _DUPE(2,T,V); _DUPE(3,T,V); }while(0)
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#define NORM_E_DIR(E) do{ if (extruder_duplication_enabled) { NDIR(0); NDIR(1); NDIR(2); NDIR(3); } else _NORM_E_DIR(E); }while(0)
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#define REV_E_DIR(E) do{ if (extruder_duplication_enabled) { RDIR(0); RDIR(1); RDIR(2); RDIR(3); } else _REV_E_DIR(E); }while(0)
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#else
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#define DUPE(T,V) do{ _DUPE(0,T,V); _DUPE(1,T,V); _DUPE(2,T,V); }while(0)
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#define NORM_E_DIR(E) do{ if (extruder_duplication_enabled) { NDIR(0); NDIR(1); NDIR(2); } else _NORM_E_DIR(E); }while(0)
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#define REV_E_DIR(E) do{ if (extruder_duplication_enabled) { RDIR(0); RDIR(1); RDIR(2); } else _REV_E_DIR(E); }while(0)
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#endif
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#else
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#define DUPE(T,V) do{ _DUPE(0,T,V); _DUPE(1,T,V); } while(0)
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#define NORM_E_DIR(E) do{ if (extruder_duplication_enabled) { NDIR(0); NDIR(1); } else _NORM_E_DIR(E); }while(0)
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#define REV_E_DIR(E) do{ if (extruder_duplication_enabled) { RDIR(0); RDIR(1); } else _REV_E_DIR(E); }while(0)
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#endif
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#else
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#define E_STEP_WRITE(E,V) _E_STEP_WRITE(E,V)
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#define NORM_E_DIR(E) _NORM_E_DIR(E)
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#define REV_E_DIR(E) _REV_E_DIR(E)
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#endif
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#elif E_STEPPERS
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#define E_STEP_WRITE(E,V) E0_STEP_WRITE(V)
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#define NORM_E_DIR(E) E0_DIR_WRITE(!INVERT_E0_DIR)
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#define REV_E_DIR(E) E0_DIR_WRITE( INVERT_E0_DIR)
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#else
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#define E_STEP_WRITE(E,V) NOOP
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#define NORM_E_DIR(E) NOOP
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#define REV_E_DIR(E) NOOP
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#endif
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