317 lines
9.2 KiB
C++
317 lines
9.2 KiB
C++
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/*
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This file is part of Repetier-Firmware.
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Repetier-Firmware 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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Repetier-Firmware 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 Repetier-Firmware. If not, see <http://www.gnu.org/licenses/>.
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This firmware is a nearly complete rewrite of the sprinter firmware
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by kliment (https://github.com/kliment/Sprinter)
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which based on Tonokip RepRap firmware rewrite based off of Hydra-mmm firmware.
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Functions in this file are used to communicate using ascii or repetier protocol.
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*/
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#include "Repetier.h"
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flag8_t Endstops::lastState = 0;
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flag8_t Endstops::lastRead = 0;
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flag8_t Endstops::accumulator = 0;
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#ifdef EXTENDED_ENDSTOPS
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flag8_t Endstops::lastState2 = 0;
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flag8_t Endstops::lastRead2 = 0;
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flag8_t Endstops::accumulator2 = 0;
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#endif
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void Endstops::update() {
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flag8_t newRead = 0;
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#ifdef EXTENDED_ENDSTOPS
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flag8_t newRead2 = 0;
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#endif
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#if (Y_MIN_PIN > -1) && MIN_HARDWARE_ENDSTOP_Y
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if(READ(Y_MIN_PIN) != ENDSTOP_Y_MIN_INVERTING)
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newRead |= ENDSTOP_Y_MIN_ID;
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#endif
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#if (Y_MAX_PIN > -1) && MAX_HARDWARE_ENDSTOP_Y
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if(READ(Y_MAX_PIN) != ENDSTOP_Y_MAX_INVERTING)
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newRead |= ENDSTOP_Y_MAX_ID;
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#endif
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#if (X_MIN_PIN > -1) && MIN_HARDWARE_ENDSTOP_X
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if(READ(X_MIN_PIN) != ENDSTOP_X_MIN_INVERTING) {
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newRead |= ENDSTOP_X_MIN_ID;
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}
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#endif
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#if (X_MAX_PIN > -1) && MAX_HARDWARE_ENDSTOP_X
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if(READ(X_MAX_PIN) != ENDSTOP_X_MAX_INVERTING)
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newRead |= ENDSTOP_X_MAX_ID;
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#endif
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#if (Z_MIN_PIN > -1) && MIN_HARDWARE_ENDSTOP_Z
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if(READ(Z_MIN_PIN) != ENDSTOP_Z_MIN_INVERTING)
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newRead |= ENDSTOP_Z_MIN_ID;
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#endif
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#if (Z_MAX_PIN > -1) && MAX_HARDWARE_ENDSTOP_Z
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if(READ(Z_MAX_PIN) != ENDSTOP_Z_MAX_INVERTING)
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newRead |= ENDSTOP_Z_MAX_ID;
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#endif
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#if (Z2_MINMAX_PIN > -1) && MINMAX_HARDWARE_ENDSTOP_Z2
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if(READ(Z2_MINMAX_PIN) != ENDSTOP_Z2_MINMAX_INVERTING)
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newRead |= ENDSTOP_Z2_MINMAX_ID;
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#endif
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#if FEATURE_Z_PROBE
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#if Z_PROBE_PIN == Z_MIN_PIN && MIN_HARDWARE_ENDSTOP_Z
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if(newRead & ENDSTOP_Z_MIN_ID) // prevent different results causing confusion
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newRead |= ENDSTOP_Z_PROBE_ID;
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if(!Printer::isHoming())
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newRead &= ~ENDSTOP_Z_MIN_ID; // could cause wrong signals depending on probe position
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#else
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if(Z_PROBE_ON_HIGH ? READ(Z_PROBE_PIN) : !READ(Z_PROBE_PIN))
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newRead |= ENDSTOP_Z_PROBE_ID;
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#endif
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#endif
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#ifdef EXTENDED_ENDSTOPS
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#if HAS_PIN(Y2_MIN) && MIN_HARDWARE_ENDSTOP_Y2
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if(READ(Y2_MIN_PIN) != ENDSTOP_Y2_MIN_INVERTING)
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newRead2 |= ENDSTOP_Y2_MIN_ID;
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#endif
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#if HAS_PIN(Y2_MAX) && MAX_HARDWARE_ENDSTOP_Y2
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if(READ(Y2_MAX_PIN) != ENDSTOP_Y2_MAX_INVERTING)
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newRead2 |= ENDSTOP_Y2_MAX_ID;
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#endif
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#if HAS_PIN(X2_MIN) && MIN_HARDWARE_ENDSTOP_X2
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if(READ(X2_MIN_PIN) != ENDSTOP_X2_MIN_INVERTING) {
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newRead2 |= ENDSTOP_X2_MIN_ID;
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}
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#endif
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#if HAS_PIN(X2_MAX) && MAX_HARDWARE_ENDSTOP_X2
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if(READ(X2_MAX_PIN) != ENDSTOP_X2_MAX_INVERTING)
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newRead2 |= ENDSTOP_X2_MAX_ID;
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#endif
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#if HAS_PIN(Z2_MAX) && MAX_HARDWARE_ENDSTOP_Z2
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if(READ(Z2_MAX_PIN) != ENDSTOP_Z2_MAX_INVERTING)
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newRead2 |= ENDSTOP_Z2_MAX_ID;
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#endif
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#if HAS_PIN(Z3_MAX) && MAX_HARDWARE_ENDSTOP_Z3
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if(READ(Z3_MAX_PIN) != ENDSTOP_Z3_MAX_INVERTING)
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newRead2 |= ENDSTOP_Z3_MAX_ID;
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#endif
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#if HAS_PIN(Z3_MIN) && MIN_HARDWARE_ENDSTOP_Z3
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if(READ(Z3_MIN_PIN) != ENDSTOP_Z3_MIN_INVERTING)
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newRead2 |= ENDSTOP_Z3_MIN_ID;
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#endif
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#endif
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InterruptProtectedBlock noInts; // bad idea to run this from different interrupts at once!
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lastRead &= newRead;
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#ifdef EXTENDED_ENDSTOPS
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lastRead2 &= newRead2;
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#endif // EXTENDED_ENDSTOPS
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if(lastRead != lastState
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#ifdef EXTENDED_ENDSTOPS
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|| (lastState2 != lastRead2)
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#endif
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) { // Report endstop hit changes
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lastState = lastRead;
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accumulator |= lastState;
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#ifdef EXTENDED_ENDSTOPS
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lastState2 = lastRead2;
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accumulator2 |= lastState2;
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#endif
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if (Printer::debugEndStop()) Endstops::report();
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} else {
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lastState = lastRead;
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#ifdef EXTENDED_ENDSTOPS
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lastState2 = lastRead2;
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#endif
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}
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lastRead = newRead;
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#ifdef EXTENDED_ENDSTOPS
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lastRead2 = newRead2;
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#endif
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}
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void Endstops::report() {
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Com::printF(PSTR("endstops hit: "));
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#if (X_MIN_PIN > -1) && MIN_HARDWARE_ENDSTOP_X
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Com::printF(Com::tXMinColon);
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Com::printF(xMin() ? Com::tHSpace : Com::tLSpace);
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#endif
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#if HAS_PIN(X2_MIN) && IS_MAC_TRUE(MIN_HARDWARE_ENDSTOP_X2)
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Com::printF(PSTR("x2_min:"));
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Com::printF(x2Min() ? Com::tHSpace : Com::tLSpace);
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#endif
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#if (X_MAX_PIN > -1) && MAX_HARDWARE_ENDSTOP_X
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Com::printF(Com::tXMaxColon);
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Com::printF(xMax() ? Com::tHSpace : Com::tLSpace);
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#endif
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#if HAS_PIN(X2_MAX) && IS_MAC_TRUE(MAX_HARDWARE_ENDSTOP_X2)
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Com::printF(PSTR("x2_max:"));
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Com::printF(x2Max() ? Com::tHSpace : Com::tLSpace);
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#endif
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#if (Y_MIN_PIN > -1) && MIN_HARDWARE_ENDSTOP_Y
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Com::printF(Com::tYMinColon);
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Com::printF(yMin() ? Com::tHSpace : Com::tLSpace);
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#endif
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#if HAS_PIN(Y2_MIN) && IS_MAC_TRUE(MIN_HARDWARE_ENDSTOP_Y2)
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Com::printF(PSTR("y2_min:"));
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Com::printF(y2Min() ? Com::tHSpace : Com::tLSpace);
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#endif
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#if (Y_MAX_PIN > -1) && MAX_HARDWARE_ENDSTOP_Y
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Com::printF(Com::tYMaxColon);
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Com::printF(yMax() ? Com::tHSpace : Com::tLSpace);
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#endif
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#if HAS_PIN(Y2_MAX) && IS_MAC_TRUE(MAX_HARDWARE_ENDSTOP_Y2)
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Com::printF(PSTR("y2_max:"));
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Com::printF(y2Max() ? Com::tHSpace : Com::tLSpace);
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#endif
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#if (Z_MIN_PIN > -1) && MIN_HARDWARE_ENDSTOP_Z
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Com::printF(Com::tZMinColon);
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Com::printF(zMin() ? Com::tHSpace : Com::tLSpace);
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#endif
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#if (Z_MAX_PIN > -1) && MAX_HARDWARE_ENDSTOP_Z
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Com::printF(Com::tZMaxColon);
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Com::printF(zMax() ? Com::tHSpace : Com::tLSpace);
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#endif
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#if (Z2_MINMAX_PIN > -1) && MINMAX_HARDWARE_ENDSTOP_Z2
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Com::printF(PSTR("z2_minmax:"));
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Com::printF(z2MinMax() ? Com::tHSpace : Com::tLSpace);
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#endif
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#if FEATURE_Z_PROBE
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Com::printF(Com::tZProbeState);
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Com::printF(zProbe() ? Com::tHSpace : Com::tLSpace);
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#endif
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Com::println();
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}
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void Endstops::setup() {
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// Set end stops to input and enable pullup if required
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#if MIN_HARDWARE_ENDSTOP_X
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#if X_MIN_PIN > -1
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SET_INPUT(X_MIN_PIN);
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#if ENDSTOP_PULLUP_X_MIN
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PULLUP(X_MIN_PIN, HIGH);
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#endif
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#else
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#error You have defined hardware x min endstop without pin assignment. Set pin number for X_MIN_PIN
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#endif
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#endif
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#if MIN_HARDWARE_ENDSTOP_X2
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#if X2_MIN_PIN > -1
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SET_INPUT(X2_MIN_PIN);
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#if ENDSTOP_PULLUP_X2_MIN
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PULLUP(X2_MIN_PIN, HIGH);
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#endif
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#else
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#error You have defined hardware 2 min endstop without pin assignment. Set pin number for X2_MIN_PIN
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#endif
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#endif
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#if MIN_HARDWARE_ENDSTOP_Y
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#if Y_MIN_PIN > -1
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SET_INPUT(Y_MIN_PIN);
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#if ENDSTOP_PULLUP_Y_MIN
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PULLUP(Y_MIN_PIN, HIGH);
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#endif
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#else
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#error You have defined hardware y min endstop without pin assignment. Set pin number for Y_MIN_PIN
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#endif
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#endif
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#if MIN_HARDWARE_ENDSTOP_Y2
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#if Y2_MIN_PIN > -1
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SET_INPUT(Y2_MIN_PIN);
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#if ENDSTOP_PULLUP_Y2_MIN
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PULLUP(Y2_MIN_PIN, HIGH);
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#endif
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#else
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#error You have defined hardware y2 min endstop without pin assignment. Set pin number for Y2_MIN_PIN
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#endif
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#endif
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#if MIN_HARDWARE_ENDSTOP_Z
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#if Z_MIN_PIN > -1
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SET_INPUT(Z_MIN_PIN);
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#if ENDSTOP_PULLUP_Z_MIN
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PULLUP(Z_MIN_PIN, HIGH);
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#endif
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#else
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#error You have defined hardware z min endstop without pin assignment. Set pin number for Z_MIN_PIN
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#endif
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#endif
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#if MINMAX_HARDWARE_ENDSTOP_Z2
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#if Z2_MINMAX_PIN > -1
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SET_INPUT(Z2_MINMAX_PIN);
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#if ENDSTOP_PULLUP_Z2_MINMAX
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PULLUP(Z2_MINMAX_PIN, HIGH);
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#endif
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#else
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#error You have defined hardware z2 minmax endstop without pin assignment. Set pin number for Z2_MINMAX_PIN
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#endif
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#endif
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#if MAX_HARDWARE_ENDSTOP_X
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#if X_MAX_PIN > -1
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SET_INPUT(X_MAX_PIN);
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#if ENDSTOP_PULLUP_X_MAX
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PULLUP(X_MAX_PIN, HIGH);
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#endif
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#else
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#error You have defined hardware x max endstop without pin assignment. Set pin number for X_MAX_PIN
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#endif
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#endif
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#if MAX_HARDWARE_ENDSTOP_X2
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#if X2_MAX_PIN > -1
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SET_INPUT(X2_MAX_PIN);
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#if ENDSTOP_PULLUP_X2_MAX
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PULLUP(X2_MAX_PIN, HIGH);
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#endif
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#else
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#error You have defined hardware x2 max endstop without pin assignment. Set pin number for X2_MAX_PIN
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#endif
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#endif
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#if MAX_HARDWARE_ENDSTOP_Y
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#if Y_MAX_PIN > -1
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SET_INPUT(Y_MAX_PIN);
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#if ENDSTOP_PULLUP_Y_MAX
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PULLUP(Y_MAX_PIN, HIGH);
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#endif
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#else
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#error You have defined hardware y max endstop without pin assignment. Set pin number for Y_MAX_PIN
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#endif
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#endif
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#if MAX_HARDWARE_ENDSTOP_Y2
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#if Y2_MAX_PIN > -1
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SET_INPUT(Y2_MAX_PIN);
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#if ENDSTOP_PULLUP_Y2_MAX
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PULLUP(Y2_MAX_PIN, HIGH);
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#endif
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#else
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#error You have defined hardware y2 max endstop without pin assignment. Set pin number for Y2_MAX_PIN
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#endif
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#endif
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#if MAX_HARDWARE_ENDSTOP_Z
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#if Z_MAX_PIN>-1
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SET_INPUT(Z_MAX_PIN);
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#if ENDSTOP_PULLUP_Z_MAX
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PULLUP(Z_MAX_PIN, HIGH);
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#endif
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#else
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#error You have defined hardware z max endstop without pin assignment. Set pin number for Z_MAX_PIN
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#endif
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#endif
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}
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