♻️ Minimize endstop bits
This commit is contained in:
Scott Lahteine
Scott Lahteine
parent
046bac6769
commit
894c954e8f
@ -56,12 +56,12 @@ Endstops endstops;
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// private:
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bool Endstops::enabled, Endstops::enabled_globally; // Initialized by settings.load()
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volatile uint8_t Endstops::hit_state;
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Endstops::esbits_t Endstops::live_state = 0;
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volatile Endstops::endstop_mask_t Endstops::hit_state;
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Endstops::endstop_mask_t Endstops::live_state = 0;
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#if ENDSTOP_NOISE_THRESHOLD
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Endstops::esbits_t Endstops::validated_live_state;
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Endstops::endstop_mask_t Endstops::validated_live_state;
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uint8_t Endstops::endstop_poll_count;
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#endif
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@ -356,7 +356,7 @@ void Endstops::resync() {
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#endif
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void Endstops::event_handler() {
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static uint8_t prev_hit_state; // = 0
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static endstop_mask_t prev_hit_state; // = 0
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if (hit_state == prev_hit_state) return;
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prev_hit_state = hit_state;
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if (hit_state) {
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@ -364,15 +364,14 @@ void Endstops::event_handler() {
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char chrX = ' ', chrY = ' ', chrZ = ' ', chrP = ' ';
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#define _SET_STOP_CHAR(A,C) (chr## A = C)
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#else
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#define _SET_STOP_CHAR(A,C) ;
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#define _SET_STOP_CHAR(A,C) NOOP
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#endif
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#define _ENDSTOP_HIT_ECHO(A,C) do{ \
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SERIAL_ECHOPAIR(" " STRINGIFY(A) ":", planner.triggered_position_mm(_AXIS(A))); \
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_SET_STOP_CHAR(A,C); }while(0)
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SERIAL_ECHOPAIR(" " STRINGIFY(A) ":", planner.triggered_position_mm(_AXIS(A))); _SET_STOP_CHAR(A,C); }while(0)
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#define _ENDSTOP_HIT_TEST(A,C) \
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if (TEST(hit_state, A ##_MIN) || TEST(hit_state, A ##_MAX)) \
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if (TERN0(HAS_##A##_MIN, TEST(hit_state, A##_MIN)) || TERN0(HAS_##A##_MAX, TEST(hit_state, A##_MAX))) \
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_ENDSTOP_HIT_ECHO(A,C)
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#define ENDSTOP_HIT_TEST_X() _ENDSTOP_HIT_TEST(X,'X')
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@ -659,7 +658,7 @@ void Endstops::update() {
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* still exist. The only way to reduce them further is to increase the number of samples.
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* To reduce the chance to 1% (1/128th) requires 7 samples (adding 7ms of delay).
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*/
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static esbits_t old_live_state;
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static endstop_mask_t old_live_state;
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if (old_live_state != live_state) {
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endstop_poll_count = ENDSTOP_NOISE_THRESHOLD;
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old_live_state = live_state;
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@ -28,50 +28,75 @@
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#include "../inc/MarlinConfig.h"
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#include <stdint.h>
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#define __ES_ITEM(N) N,
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#define _ES_ITEM(K,N) TERN_(K,DEFER4(__ES_ITEM)(N))
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enum EndstopEnum : char {
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X_MIN, Y_MIN, Z_MIN, Z_MIN_PROBE,
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X_MAX, Y_MAX, Z_MAX,
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X2_MIN, X2_MAX,
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Y2_MIN, Y2_MAX,
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Z2_MIN, Z2_MAX,
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Z3_MIN, Z3_MAX,
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Z4_MIN, Z4_MAX
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_ES_ITEM(HAS_X_MIN, X_MIN)
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_ES_ITEM(HAS_X_MAX, X_MAX)
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_ES_ITEM(HAS_Y_MIN, Y_MIN)
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_ES_ITEM(HAS_Y_MAX, Y_MAX)
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_ES_ITEM(HAS_Z_MIN, Z_MIN)
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_ES_ITEM(HAS_Z_MAX, Z_MAX)
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#if ENABLED(X_DUAL_ENDSTOPS)
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_ES_ITEM(HAS_X_MIN, X2_MIN)
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_ES_ITEM(HAS_X_MAX, X2_MAX)
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#endif
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#if ENABLED(Y_DUAL_ENDSTOPS)
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_ES_ITEM(HAS_Y_MIN, Y2_MIN)
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_ES_ITEM(HAS_Y_MAX, Y2_MAX)
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#endif
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#if ENABLED(Z_MULTI_ENDSTOPS)
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_ES_ITEM(HAS_Z_MIN, Z2_MIN)
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_ES_ITEM(HAS_Z_MAX, Z2_MAX)
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#if NUM_Z_STEPPER_DRIVERS >= 3
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_ES_ITEM(HAS_Z_MIN, Z3_MIN)
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_ES_ITEM(HAS_Z_MAX, Z3_MAX)
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#endif
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#if NUM_Z_STEPPER_DRIVERS >= 4
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_ES_ITEM(HAS_Z_MIN, Z4_MIN)
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_ES_ITEM(HAS_Z_MAX, Z4_MAX)
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#endif
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#endif
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_ES_ITEM(HAS_Z_MIN_PROBE_PIN, Z_MIN_PROBE)
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NUM_ENDSTOP_STATES
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};
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#define X_ENDSTOP (x_home_dir(active_extruder) < 0 ? X_MIN : X_MAX)
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#define Y_ENDSTOP (Y_HOME_DIR < 0 ? Y_MIN : Y_MAX)
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#define Z_ENDSTOP (Z_HOME_DIR < 0 ? TERN(HOMING_Z_WITH_PROBE, Z_MIN, Z_MIN_PROBE) : Z_MAX)
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#undef __ES_ITEM
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#undef _ES_ITEM
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class Endstops {
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public:
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#if HAS_EXTRA_ENDSTOPS
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typedef uint16_t esbits_t;
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#if ENABLED(X_DUAL_ENDSTOPS)
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static float x2_endstop_adj;
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#endif
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#if ENABLED(Y_DUAL_ENDSTOPS)
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static float y2_endstop_adj;
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#endif
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#if ENABLED(Z_MULTI_ENDSTOPS)
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static float z2_endstop_adj;
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#endif
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#if ENABLED(Z_MULTI_ENDSTOPS) && NUM_Z_STEPPER_DRIVERS >= 3
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static float z3_endstop_adj;
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#endif
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#if ENABLED(Z_MULTI_ENDSTOPS) && NUM_Z_STEPPER_DRIVERS >= 4
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static float z4_endstop_adj;
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#endif
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#else
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typedef uint8_t esbits_t;
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typedef IF<(NUM_ENDSTOP_STATES > 8), uint16_t, uint8_t>::type endstop_mask_t;
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#if ENABLED(X_DUAL_ENDSTOPS)
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static float x2_endstop_adj;
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#endif
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#if ENABLED(Y_DUAL_ENDSTOPS)
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static float y2_endstop_adj;
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#endif
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#if ENABLED(Z_MULTI_ENDSTOPS)
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static float z2_endstop_adj;
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#endif
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#if ENABLED(Z_MULTI_ENDSTOPS) && NUM_Z_STEPPER_DRIVERS >= 3
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static float z3_endstop_adj;
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#endif
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#if ENABLED(Z_MULTI_ENDSTOPS) && NUM_Z_STEPPER_DRIVERS >= 4
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static float z4_endstop_adj;
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#endif
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private:
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static bool enabled, enabled_globally;
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static esbits_t live_state;
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static volatile uint8_t hit_state; // Use X_MIN, Y_MIN, Z_MIN and Z_MIN_PROBE as BIT index
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static endstop_mask_t live_state;
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static volatile endstop_mask_t hit_state; // Use X_MIN, Y_MIN, Z_MIN and Z_MIN_PROBE as BIT index
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#if ENDSTOP_NOISE_THRESHOLD
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static esbits_t validated_live_state;
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static endstop_mask_t validated_live_state;
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static uint8_t endstop_poll_count; // Countdown from threshold for polling
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#endif
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@ -107,12 +132,12 @@ class Endstops {
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/**
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* Get Endstop hit state.
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*/
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FORCE_INLINE static uint8_t trigger_state() { return hit_state; }
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FORCE_INLINE static endstop_mask_t trigger_state() { return hit_state; }
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/**
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* Get current endstops state
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*/
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FORCE_INLINE static esbits_t state() {
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FORCE_INLINE static endstop_mask_t state() {
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return
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#if ENDSTOP_NOISE_THRESHOLD
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validated_live_state
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@ -260,12 +260,12 @@ xyze_int8_t Stepper::count_direction{0};
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#define DUAL_ENDSTOP_APPLY_STEP(A,V) \
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if (separate_multi_axis) { \
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if (A##_HOME_DIR < 0) { \
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if (!(TEST(endstops.state(), A##_MIN) && count_direction[_AXIS(A)] < 0) && !locked_##A##_motor) A##_STEP_WRITE(V); \
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if (!(TEST(endstops.state(), A##2_MIN) && count_direction[_AXIS(A)] < 0) && !locked_##A##2_motor) A##2_STEP_WRITE(V); \
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if (TERN0(HAS_##A##_MIN, !(TEST(endstops.state(), A##_MIN) && count_direction[_AXIS(A)] < 0) && !locked_##A##_motor)) A##_STEP_WRITE(V); \
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if (TERN0(HAS_##A##2_MIN, !(TEST(endstops.state(), A##2_MIN) && count_direction[_AXIS(A)] < 0) && !locked_##A##2_motor)) A##2_STEP_WRITE(V); \
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} \
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else { \
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if (!(TEST(endstops.state(), A##_MAX) && count_direction[_AXIS(A)] > 0) && !locked_##A##_motor) A##_STEP_WRITE(V); \
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if (!(TEST(endstops.state(), A##2_MAX) && count_direction[_AXIS(A)] > 0) && !locked_##A##2_motor) A##2_STEP_WRITE(V); \
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if (TERN0(HAS_##A##_MAX, !(TEST(endstops.state(), A##_MAX) && count_direction[_AXIS(A)] > 0) && !locked_##A##_motor)) A##_STEP_WRITE(V); \
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if (TERN0(HAS_##A##2_MAX, !(TEST(endstops.state(), A##2_MAX) && count_direction[_AXIS(A)] > 0) && !locked_##A##2_motor)) A##2_STEP_WRITE(V); \
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} \
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} \
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else { \
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