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049f0f13e45211237f3b096083afb8d371aad9fb
grblHAL/motor_pins.h
Terje Io 43691fca19 Changed handling of homing inputs from limit switches. 
Some drivers will now only disable hard limits (if enabled) for axes that are homing, this includes max/min limit switches.
HAL entry points and core handlers/events has been added and some have changed signatures in order to better support kinematics implementations.
More work on delta kinematics: new and changed settings, some improved functionality. Still in progress.
2023-09-03 14:50:36 +02:00

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/*
motor_pins.h - pin mappings resolver for ganged/squared/ABC axes
NOTE: This file is not used by the core, it may be used by drivers to simplify board map files
Part of grblHAL
Copyright (c) 2021-2023 Terje Io
Grbl is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
Grbl is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with Grbl. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#if N_GANGED
#if N_GANGED > N_ABC_MOTORS
#error "Axis configuration is not supported!"
#endif
#if N_AUTO_SQUARED
#define SQUARING_ENABLED
#endif
#if N_GANGED
#define GANGING_ENABLED
#endif
#if Z_GANGED
#define Z_DOUBLED N_ABC_MOTORS
#elif Y_GANGED
#define Y_DOUBLED N_ABC_MOTORS
#elif X_GANGED
#define X_DOUBLED N_ABC_MOTORS
#endif
#if Y_GANGED && !defined(Y_DOUBLED)
#define Y_DOUBLED (N_ABC_MOTORS - 1)
#elif X_GANGED && !defined(X_DOUBLED)
#define X_DOUBLED (N_ABC_MOTORS - 1)
#endif
#if X_GANGED && !defined(X_DOUBLED)
#define X_DOUBLED (N_ABC_MOTORS - 2)
#endif
#if X_DOUBLED == 1
#ifdef A_AXIS
#error "A-axis motor is used for ganged X motor"
#endif
#define X2_STEP_PORT M3_STEP_PORT
#define X2_STEP_PIN M3_STEP_PIN
#define X2_STEP_BIT (1<<M3_STEP_PIN)
#define X2_DIRECTION_PORT M3_DIRECTION_PORT
#define X2_DIRECTION_PIN M3_DIRECTION_PIN
#define X2_DIRECTION_BIT (1<<M3_DIRECTION_PIN)
#ifdef M3_LIMIT_PIN
#if X_AUTO_SQUARE
#define X2_LIMIT_PORT M3_LIMIT_PORT
#define X2_LIMIT_PIN M3_LIMIT_PIN
#define X2_LIMIT_BIT (1<<M3_LIMIT_PIN)
#elif X_GANGED_LIM_MAX && !defined(M3_LIMIT_PIN_MAX)
#define X_LIMIT_PORT_MAX M3_LIMIT_PORT
#define X_LIMIT_PIN_MAX M3_LIMIT_PIN
#define X_LIMIT_BIT_MAX (1<<M3_LIMIT_PIN)
#endif
#elif X_AUTO_SQUARE
#error "Auto squared X-axis requires second limit pin input"
#endif
#ifdef M3_LIMIT_PIN_MAX
#define X_LIMIT_PORT_MAX M3_LIMIT_PORT_MAX
#define X_LIMIT_PIN_MAX M3_LIMIT_PIN_MAX
#define X_LIMIT_BIT_MAX (1<<M3_LIMIT_PIN_MAX)
#endif
#ifdef M3_ENABLE_PIN
#define X2_ENABLE_PORT M3_ENABLE_PORT
#define X2_ENABLE_PIN M3_ENABLE_PIN
#define X2_ENABLE_BIT (1<<M3_ENABLE_PIN)
#endif
#elif X_DOUBLED == 2
#ifdef B_AXIS
#error "B-axis motor is used for ganged X motor"
#endif
#define X2_STEP_PORT M4_STEP_PORT
#define X2_STEP_PIN M4_STEP_PIN
#define X2_STEP_BIT (1<<M4_STEP_PIN)
#define X2_DIRECTION_PORT M4_DIRECTION_PORT
#define X2_DIRECTION_PIN M4_DIRECTION_PIN
#define X2_DIRECTION_BIT (1<<M4_DIRECTION_PIN)
#ifdef M4_LIMIT_PIN
#if X_AUTO_SQUARE
#define X2_LIMIT_PORT M4_LIMIT_PORT
#define X2_LIMIT_PIN M4_LIMIT_PIN
#define X2_LIMIT_BIT (1<<M4_LIMIT_PIN)
#elif X_GANGED_LIM_MAX && !defined(M4_LIMIT_PIN_MAX)
#define X_LIMIT_PORT_MAX M4_LIMIT_PORT
#define X_LIMIT_PIN_MAX M4_LIMIT_PIN
#define X_LIMIT_BIT_MAX (1<<M4_LIMIT_PIN)
#endif
#elif X_AUTO_SQUARE
#error "Auto squared X-axis requires second limit pin input"
#endif
#ifdef M4_LIMIT_PIN_MAX
#define X_LIMIT_PORT_MAX M4_LIMIT_PORT_MAX
#define X_LIMIT_PIN_MAX M4_LIMIT_PIN_MAX
#define X_LIMIT_BIT_MAX (1<<M4_LIMIT_PIN_MAX)
#endif
#ifdef M4_ENABLE_PIN
#define X2_ENABLE_PORT M4_ENABLE_PORT
#define X2_ENABLE_PIN M4_ENABLE_PIN
#define X2_ENABLE_BIT (1<<M4_ENABLE_PIN)
#endif
#elif X_DOUBLED == 3
#ifdef C_AXIS
#error "C-axis motor is used for ganged X motor"
#endif
#define X2_STEP_PORT M5_STEP_PORT
#define X2_STEP_PIN M5_STEP_PIN
#define X2_STEP_BIT (1<<M5_STEP_PIN)
#define X2_DIRECTION_PORT M5_DIRECTION_PORT
#define X2_DIRECTION_PIN M5_DIRECTION_PIN
#define X2_DIRECTION_BIT (1<<M5_DIRECTION_PIN)
#ifdef M5_LIMIT_PIN
#if X_AUTO_SQUARE
#define X2_LIMIT_PORT M5_LIMIT_PORT
#define X2_LIMIT_PIN M5_LIMIT_PIN
#define X2_LIMIT_BIT (1<<M5_LIMIT_PIN)
#elif X_GANGED_LIM_MAX && !defined(M5_LIMIT_PIN_MAX)
#define X_LIMIT_PORT_MAX M5_LIMIT_PORT
#define X_LIMIT_PIN_MAX M5_LIMIT_PIN
#define X_LIMIT_BIT_MAX (1<<M5_LIMIT_PIN)
#endif
#elif X_AUTO_SQUARE
#error "Auto squared X-axis requires second limit pin input"
#endif
#ifdef M5_LIMIT_PIN_MAX
#define X_LIMIT_PORT_MAX M5_LIMIT_PORT_MAX
#define X_LIMIT_PIN_MAX M5_LIMIT_PIN_MAX
#define X_LIMIT_BIT_MAX (1<<M5_LIMIT_PIN_MAX)
#endif
#ifdef M5_ENABLE_PIN
#define X2_ENABLE_PORT M5_ENABLE_PORT
#define X2_ENABLE_PIN M5_ENABLE_PIN
#define X2_ENABLE_BIT (1<<M5_ENABLE_PIN)
#endif
#elif X_DOUBLED == 4
#ifdef U_AXIS
#error "U-axis motor is used for ganged X motor"
#endif
#define X2_STEP_PORT M6_STEP_PORT
#define X2_STEP_PIN M6_STEP_PIN
#define X2_STEP_BIT (1<<M6_STEP_PIN)
#define X2_DIRECTION_PORT M6_DIRECTION_PORT
#define X2_DIRECTION_PIN M6_DIRECTION_PIN
#define X2_DIRECTION_BIT (1<<M6_DIRECTION_PIN)
#ifdef M6_LIMIT_PIN
#if X_AUTO_SQUARE
#define X2_LIMIT_PORT M6_LIMIT_PORT
#define X2_LIMIT_PIN M6_LIMIT_PIN
#define X2_LIMIT_BIT (1<<M6_LIMIT_PIN)
#elif X_GANGED_LIM_MAX && !defined(M6_LIMIT_PIN_MAX)
#define X_LIMIT_PORT_MAX M6_LIMIT_PORT
#define X_LIMIT_PIN_MAX M6_LIMIT_PIN
#define X_LIMIT_BIT_MAX (1<<M6_LIMIT_PIN)
#endif
#elif X_AUTO_SQUARE
#error "Auto squared X-axis requires second limit pin input"
#endif
#ifdef M6_LIMIT_PIN_MAX
#define X_LIMIT_PORT_MAX M6_LIMIT_PORT_MAX
#define X_LIMIT_PIN_MAX M6_LIMIT_PIN_MAX
#define X_LIMIT_BIT_MAX (1<<M6_LIMIT_PIN_MAX)
#endif
#ifdef M6_ENABLE_PIN
#define X2_ENABLE_PORT M6_ENABLE_PORT
#define X2_ENABLE_PIN M6_ENABLE_PIN
#define X2_ENABLE_BIT (1<<M6_ENABLE_PIN)
#endif
#elif X_DOUBLED == 5
#ifdef V_AXIS
#error "V-axis motor is used for ganged X motor"
#endif
#define X2_STEP_PORT M7_STEP_PORT
#define X2_STEP_PIN M7_STEP_PIN
#define X2_STEP_BIT (1<<M7_STEP_PIN)
#define X2_DIRECTION_PORT M7_DIRECTION_PORT
#define X2_DIRECTION_PIN M7_DIRECTION_PIN
#define X2_DIRECTION_BIT (1<<M7_DIRECTION_PIN)
#ifdef M7_LIMIT_PIN
#if X_AUTO_SQUARE
#define X2_LIMIT_PORT M7_LIMIT_PORT
#define X2_LIMIT_PIN M7_LIMIT_PIN
#define X2_LIMIT_BIT (1<<M7_LIMIT_PIN)
#elif X_GANGED_LIM_MAX && !defined(M7_LIMIT_PIN_MAX)
#define X_LIMIT_PORT_MAX M7_LIMIT_PORT
#define X_LIMIT_PIN_MAX M7_LIMIT_PIN
#define X_LIMIT_BIT_MAX (1<<M7_LIMIT_PIN)
#endif
#elif X_AUTO_SQUARE
#error "Auto squared X-axis requires second limit pin input"
#endif
#ifdef M7_LIMIT_PIN_MAX
#define X_LIMIT_PORT_MAX M7_LIMIT_PORT_MAX
#define X_LIMIT_PIN_MAX M7_LIMIT_PIN_MAX
#define X_LIMIT_BIT_MAX (1<<M7_LIMIT_PIN_MAX)
#endif
#ifdef M7_ENABLE_PIN
#define X2_ENABLE_PORT M7_ENABLE_PORT
#define X2_ENABLE_PIN M7_ENABLE_PIN
#define X2_ENABLE_BIT (1<<M7_ENABLE_PIN)
#endif
#endif // X_DOUBLED
#if Y_DOUBLED == 1
#ifdef A_AXIS
#error "A-axis motor is used for ganged Y motor"
#endif
#define Y2_STEP_PORT M3_STEP_PORT
#define Y2_STEP_PIN M3_STEP_PIN
#define Y2_STEP_BIT (1<<M3_STEP_PIN)
#define Y2_DIRECTION_PORT M3_DIRECTION_PORT
#define Y2_DIRECTION_PIN M3_DIRECTION_PIN
#define Y2_DIRECTION_BIT (1<<M3_DIRECTION_PIN)
#ifdef M3_LIMIT_PIN
#if Y_AUTO_SQUARE
#define Y2_LIMIT_PORT M3_LIMIT_PORT
#define Y2_LIMIT_PIN M3_LIMIT_PIN
#define Y2_LIMIT_BIT (1<<M3_LIMIT_PIN)
#elif Y_GANGED_LIM_MAX && !defined(M3_LIMIT_PIN_MAX)
#define Y_LIMIT_PORT_MAX M3_LIMIT_PORT
#define Y_LIMIT_PIN_MAX M3_LIMIT_PIN
#define Y_LIMIT_BIT_MAX (1<<M3_LIMIT_PIN)
#endif
#elif Y_AUTO_SQUARE
#error "Auto squared Y-axis requires second limit pin input"
#endif
#ifdef M3_LIMIT_PIN_MAX
#define Y_LIMIT_PORT_MAX M3_LIMIT_PORT_MAX
#define Y_LIMIT_PIN_MAX M3_LIMIT_PIN_MAX
#define Y_LIMIT_BIT_MAX (1<<M3_LIMIT_PIN_MAX)
#endif
#ifdef M3_ENABLE_PIN
#define Y2_ENABLE_PORT M3_ENABLE_PORT
#define Y2_ENABLE_PIN M3_ENABLE_PIN
#define Y2_ENABLE_BIT (1<<M3_ENABLE_PIN)
#endif
#elif Y_DOUBLED == 2
#ifdef B_AXIS
#error "B-axis motor is used for ganged Y motor"
#endif
#define Y2_STEP_PORT M4_STEP_PORT
#define Y2_STEP_PIN M4_STEP_PIN
#define Y2_STEP_BIT (1<<M4_STEP_PIN)
#define Y2_DIRECTION_PORT M4_DIRECTION_PORT
#define Y2_DIRECTION_PIN M4_DIRECTION_PIN
#define Y2_DIRECTION_BIT (1<<M4_DIRECTION_PIN)
#ifdef M4_LIMIT_PIN
#if Y_AUTO_SQUARE
#define Y2_LIMIT_PORT M4_LIMIT_PORT
#define Y2_LIMIT_PIN M4_LIMIT_PIN
#define Y2_LIMIT_BIT (1<<M4_LIMIT_PIN)
#elif Y_GANGED_LIM_MAX && !defined(M4_LIMIT_PIN_MAX)
#define Y_LIMIT_PORT_MAX M4_LIMIT_PORT
#define Y_LIMIT_PIN_MAX M4_LIMIT_PIN
#define Y_LIMIT_BIT_MAX (1<<M4_LIMIT_PIN)
#endif
#elif Y_AUTO_SQUARE
#error "Auto squared Y-axis requires second limit pin input"
#endif
#ifdef M4_LIMIT_PIN_MAX
#define Y_LIMIT_PORT_MAX M4_LIMIT_PORT_MAX
#define Y_LIMIT_PIN_MAX M4_LIMIT_PIN_MAX
#define Y_LIMIT_BIT_MAX (1<<M4_LIMIT_PIN_MAX)
#endif
#ifdef M4_ENABLE_PIN
#define Y2_ENABLE_PORT M4_ENABLE_PORT
#define Y2_ENABLE_PIN M4_ENABLE_PIN
#define Y2_ENABLE_BIT (1<<M4_ENABLE_PIN)
#endif
#elif Y_DOUBLED == 3
#ifdef C_AXIS
#error "C-axis motor is used for ganged Y motor"
#endif
#define Y2_STEP_PORT M5_STEP_PORT
#define Y2_STEP_PIN M5_STEP_PIN
#define Y2_STEP_BIT (1<<M5_STEP_PIN)
#define Y2_DIRECTION_PORT M5_DIRECTION_PORT
#define Y2_DIRECTION_PIN M5_DIRECTION_PIN
#define Y2_DIRECTION_BIT (1<<M5_DIRECTION_PIN)
#ifdef M5_LIMIT_PIN
#if Y_AUTO_SQUARE
#define Y2_LIMIT_PORT M5_LIMIT_PORT
#define Y2_LIMIT_PIN M5_LIMIT_PIN
#define Y2_LIMIT_BIT (1<<M5_LIMIT_PIN)
#elif Y_GANGED_LIM_MAX && !defined(M5_LIMIT_PIN_MAX)
#define Y_LIMIT_PORT_MAX M5_LIMIT_PORT
#define Y_LIMIT_PIN_MAX M5_LIMIT_PIN
#define Y_LIMIT_BIT_MAX (1<<M5_LIMIT_PIN)
#endif
#elif Y_AUTO_SQUARE
#error "Auto squared Y-axis requires second limit pin input"
#endif
#ifdef M5_LIMIT_PIN_MAX
#define Y_LIMIT_PORT_MAX M5_LIMIT_PORT_MAX
#define Y_LIMIT_PIN_MAX M5_LIMIT_PIN_MAX
#define Y_LIMIT_BIT_MAX (1<<M5_LIMIT_PIN_MAX)
#endif
#ifdef M5_ENABLE_PIN
#define Y2_ENABLE_PORT M5_ENABLE_PORT
#define Y2_ENABLE_PIN M5_ENABLE_PIN
#define Y2_ENABLE_BIT (1<<M5_ENABLE_PIN)
#endif
#elif Y_DOUBLED == 4
#ifdef U_AXIS
#error "U-axis motor is used for ganged Y motor"
#endif
#define Y2_STEP_PORT M6_STEP_PORT
#define Y2_STEP_PIN M6_STEP_PIN
#define Y2_STEP_BIT (1<<M6_STEP_PIN)
#define Y2_DIRECTION_PORT M6_DIRECTION_PORT
#define Y2_DIRECTION_PIN M6_DIRECTION_PIN
#define Y2_DIRECTION_BIT (1<<M6_DIRECTION_PIN)
#ifdef M6_LIMIT_PIN
#if Y_AUTO_SQUARE
#define Y2_LIMIT_PORT M6_LIMIT_PORT
#define Y2_LIMIT_PIN M6_LIMIT_PIN
#define Y2_LIMIT_BIT (1<<M6_LIMIT_PIN)
#elif Y_GANGED_LIM_MAX && !defined(M6_LIMIT_PIN_MAX)
#define Y_LIMIT_PORT_MAX M6_LIMIT_PORT
#define Y_LIMIT_PIN_MAX M6_LIMIT_PIN
#define Y_LIMIT_BIT_MAX (1<<M6_LIMIT_PIN)
#endif
#elif Y_AUTO_SQUARE
#error "Auto squared Y-axis requires second limit pin input"
#endif
#ifdef M6_LIMIT_PIN_MAX
#define Y_LIMIT_PORT_MAX M6_LIMIT_PORT_MAX
#define Y_LIMIT_PIN_MAX M6_LIMIT_PIN_MAX
#define Y_LIMIT_BIT_MAX (1<<M6_LIMIT_PIN_MAX)
#endif
#ifdef M6_ENABLE_PIN
#define Y2_ENABLE_PORT M6_ENABLE_PORT
#define Y2_ENABLE_PIN M6_ENABLE_PIN
#define Y2_ENABLE_BIT (1<<M6_ENABLE_PIN)
#endif
#elif Y_DOUBLED == 5
#ifdef V_AXIS
#error "V-axis motor is used for ganged Y motor"
#endif
#define Y2_STEP_PORT M7_STEP_PORT
#define Y2_STEP_PIN M7_STEP_PIN
#define Y2_STEP_BIT (1<<M7_STEP_PIN)
#define Y2_DIRECTION_PORT M7_DIRECTION_PORT
#define Y2_DIRECTION_PIN M7_DIRECTION_PIN
#define Y2_DIRECTION_BIT (1<<M7_DIRECTION_PIN)
#ifdef M7_LIMIT_PIN
#if Y_AUTO_SQUARE
#define Y2_LIMIT_PORT M7_LIMIT_PORT
#define Y2_LIMIT_PIN M7_LIMIT_PIN
#define Y2_LIMIT_BIT (1<<M7_LIMIT_PIN)
#elif Y_GANGED_LIM_MAX && !defined(M7_LIMIT_PIN_MAX)
#define Y_LIMIT_PORT_MAX M7_LIMIT_PORT
#define Y_LIMIT_PIN_MAX M7_LIMIT_PIN
#define Y_LIMIT_BIT_MAX (1<<M7_LIMIT_PIN)
#endif
#elif Y_AUTO_SQUARE
#error "Auto squared Y-axis requires second limit pin input"
#endif
#ifdef M7_LIMIT_PIN_MAX
#define Y_LIMIT_PORT_MAX M7_LIMIT_PORT_MAX
#define Y_LIMIT_PIN_MAX M7_LIMIT_PIN_MAX
#define Y_LIMIT_BIT_MAX (1<<M7_LIMIT_PIN_MAX)
#endif
#ifdef M7_ENABLE_PIN
#define Y2_ENABLE_PORT M7_ENABLE_PORT
#define Y2_ENABLE_PIN M7_ENABLE_PIN
#define Y2_ENABLE_BIT (1<<M7_ENABLE_PIN)
#endif
#endif // Y_DOUBLED
#if Z_DOUBLED == 1
#ifdef A_AZIS
#error "A-axis motor is used for ganged Z motor"
#endif
#define Z2_STEP_PORT M3_STEP_PORT
#define Z2_STEP_PIN M3_STEP_PIN
#define Z2_STEP_BIT (1<<M3_STEP_PIN)
#define Z2_DIRECTION_PORT M3_DIRECTION_PORT
#define Z2_DIRECTION_PIN M3_DIRECTION_PIN
#define Z2_DIRECTION_BIT (1<<M3_DIRECTION_PIN)
#ifdef M3_LIMIT_PIN
#if Z_AUTO_SQUARE
#define Z2_LIMIT_PORT M3_LIMIT_PORT
#define Z2_LIMIT_PIN M3_LIMIT_PIN
#define Z2_LIMIT_BIT (1<<M3_LIMIT_PIN)
#elif Z_GANGED_LIM_MAX && !defined(M3_LIMIT_PIN_MAX)
#define Z_LIMIT_PORT_MAX M3_LIMIT_PORT
#define Z_LIMIT_PIN_MAX M3_LIMIT_PIN
#define Z_LIMIT_BIT_MAX (1<<M3_LIMIT_PIN)
#endif
#elif Z_AUTO_SQUARE
#error "Auto squared Z-axis requires second limit pin input"
#endif
#ifdef M3_LIMIT_PIN_MAX
#define Z_LIMIT_PORT_MAX M3_LIMIT_PORT_MAX
#define Z_LIMIT_PIN_MAX M3_LIMIT_PIN_MAX
#define Z_LIMIT_BIT_MAX (1<<M3_LIMIT_PIN_MAX)
#endif
#ifdef M3_ENABLE_PIN
#define Z2_ENABLE_PORT M3_ENABLE_PORT
#define Z2_ENABLE_PIN M3_ENABLE_PIN
#define Z2_ENABLE_BIT (1<<M3_ENABLE_PIN)
#endif
#elif Z_DOUBLED == 2
#ifdef B_AZIS
#error "B-axis motor is used for ganged Z motor"
#endif
#define Z2_STEP_PORT M4_STEP_PORT
#define Z2_STEP_PIN M4_STEP_PIN
#define Z2_STEP_BIT (1<<M4_STEP_PIN)
#define Z2_DIRECTION_PORT M4_DIRECTION_PORT
#define Z2_DIRECTION_PIN M4_DIRECTION_PIN
#define Z2_DIRECTION_BIT (1<<M4_DIRECTION_PIN)
#ifdef M4_LIMIT_PIN
#if Z_AUTO_SQUARE
#define Z2_LIMIT_PORT M4_LIMIT_PORT
#define Z2_LIMIT_PIN M4_LIMIT_PIN
#define Z2_LIMIT_BIT (1<<M4_LIMIT_PIN)
#elif Z_GANGED_LIM_MAX && !defined(M4_LIMIT_PIN_MAX)
#define Z_LIMIT_PORT_MAX M4_LIMIT_PORT
#define Z_LIMIT_PIN_MAX M4_LIMIT_PIN
#define Z_LIMIT_BIT_MAX (1<<M4_LIMIT_PIN)
#endif
#elif Z_AUTO_SQUARE
#error "Auto squared Z-axis requires second limit pin input"
#endif
#ifdef M4_LIMIT_PIN_MAX
#define Z_LIMIT_PORT_MAX M4_LIMIT_PORT_MAX
#define Z_LIMIT_PIN_MAX M4_LIMIT_PIN_MAX
#define Z_LIMIT_BIT_MAX (1<<M4_LIMIT_PIN_MAX)
#endif
#ifdef M4_ENABLE_PIN
#define Z2_ENABLE_PORT M4_ENABLE_PORT
#define Z2_ENABLE_PIN M4_ENABLE_PIN
#define Z2_ENABLE_BIT (1<<M4_ENABLE_PIN)
#endif
#elif Z_DOUBLED == 3
#ifdef C_AZIS
#error "C-axis motor is used for ganged Z motor"
#endif
#define Z2_STEP_PORT M5_STEP_PORT
#define Z2_STEP_PIN M5_STEP_PIN
#define Z2_STEP_BIT (1<<M5_STEP_PIN)
#define Z2_DIRECTION_PORT M5_DIRECTION_PORT
#define Z2_DIRECTION_PIN M5_DIRECTION_PIN
#define Z2_DIRECTION_BIT (1<<M5_DIRECTION_PIN)
#ifdef M5_LIMIT_PIN
#if Z_AUTO_SQUARE
#define Z2_LIMIT_PORT M5_LIMIT_PORT
#define Z2_LIMIT_PIN M5_LIMIT_PIN
#define Z2_LIMIT_BIT (1<<M5_LIMIT_PIN)
#elif Z_GANGED_LIM_MAX && !defined(M5_LIMIT_PIN_MAX)
#define Z_LIMIT_PORT_MAX M5_LIMIT_PORT
#define Z_LIMIT_PIN_MAX M5_LIMIT_PIN
#define Z_LIMIT_BIT_MAX (1<<M5_LIMIT_PIN)
#endif
#elif Z_AUTO_SQUARE
#error "Auto squared Z-axis requires second limit pin input"
#endif
#ifdef M5_LIMIT_PIN_MAX
#define Z_LIMIT_PORT_MAX M5_LIMIT_PORT_MAX
#define Z_LIMIT_PIN_MAX M5_LIMIT_PIN_MAX
#define Z_LIMIT_BIT_MAX (1<<M5_LIMIT_PIN_MAX)
#endif
#ifdef M5_ENABLE_PIN
#define Z2_ENABLE_PORT M5_ENABLE_PORT
#define Z2_ENABLE_PIN M5_ENABLE_PIN
#define Z2_ENABLE_BIT (1<<M5_ENABLE_PIN)
#endif
#elif Z_DOUBLED == 4
#ifdef U_AZIS
#error "U-axis motor is used for ganged Z motor"
#endif
#define Z2_STEP_PORT M6_STEP_PORT
#define Z2_STEP_PIN M6_STEP_PIN
#define Z2_STEP_BIT (1<<M6_STEP_PIN)
#define Z2_DIRECTION_PORT M6_DIRECTION_PORT
#define Z2_DIRECTION_PIN M6_DIRECTION_PIN
#define Z2_DIRECTION_BIT (1<<M6_DIRECTION_PIN)
#ifdef M6_LIMIT_PIN
#if Z_AUTO_SQUARE
#define Z2_LIMIT_PORT M6_LIMIT_PORT
#define Z2_LIMIT_PIN M6_LIMIT_PIN
#define Z2_LIMIT_BIT (1<<M6_LIMIT_PIN)
#elif Z_GANGED_LIM_MAX && !defined(M6_LIMIT_PIN_MAX)
#define Z_LIMIT_PORT_MAX M6_LIMIT_PORT
#define Z_LIMIT_PIN_MAX M6_LIMIT_PIN
#define Z_LIMIT_BIT_MAX (1<<M6_LIMIT_PIN)
#endif
#elif Z_AUTO_SQUARE
#error "Auto squared Z-axis requires second limit pin input"
#endif
#ifdef M6_LIMIT_PIN_MAX
#define Z_LIMIT_PORT_MAX M6_LIMIT_PORT_MAX
#define Z_LIMIT_PIN_MAX M6_LIMIT_PIN_MAX
#define Z_LIMIT_BIT_MAX (1<<M6_LIMIT_PIN_MAX)
#endif
#ifdef M6_ENABLE_PIN
#define Z2_ENABLE_PORT M6_ENABLE_PORT
#define Z2_ENABLE_PIN M6_ENABLE_PIN
#define Z2_ENABLE_BIT (1<<M6_ENABLE_PIN)
#endif
#elif Z_DOUBLED == 5
#ifdef V_AZIS
#error "V-axis motor is used for ganged Z motor"
#endif
#define Z2_STEP_PORT M7_STEP_PORT
#define Z2_STEP_PIN M7_STEP_PIN
#define Z2_STEP_BIT (1<<M7_STEP_PIN)
#define Z2_DIRECTION_PORT M7_DIRECTION_PORT
#define Z2_DIRECTION_PIN M7_DIRECTION_PIN
#define Z2_DIRECTION_BIT (1<<M7_DIRECTION_PIN)
#ifdef M7_LIMIT_PIN
#if Z_AUTO_SQUARE
#define Z2_LIMIT_PORT M7_LIMIT_PORT
#define Z2_LIMIT_PIN M7_LIMIT_PIN
#define Z2_LIMIT_BIT (1<<M7_LIMIT_PIN)
#elif Z_GANGED_LIM_MAX && !defined(M7_LIMIT_PIN_MAX)
#define Z_LIMIT_PORT_MAX M7_LIMIT_PORT
#define Z_LIMIT_PIN_MAX M7_LIMIT_PIN
#define Z_LIMIT_BIT_MAX (1<<M7_LIMIT_PIN)
#endif
#elif Z_AUTO_SQUARE
#error "Auto squared Z-axis requires second limit pin input"
#endif
#ifdef M7_LIMIT_PIN_MAX
#define Z_LIMIT_PORT_MAX M7_LIMIT_PORT_MAX
#define Z_LIMIT_PIN_MAX M7_LIMIT_PIN_MAX
#define Z_LIMIT_BIT_MAX (1<<M7_LIMIT_PIN_MAX)
#endif
#ifdef M7_ENABLE_PIN
#define Z2_ENABLE_PORT M7_ENABLE_PORT
#define Z2_ENABLE_PIN M7_ENABLE_PIN
#define Z2_ENABLE_BIT (1<<M7_ENABLE_PIN)
#endif
#endif // Z_DOUBLED
#ifdef X_DOUBLED
#define X2_MOTOR (N_AXIS + X_DOUBLED - 1)
#endif
#ifdef Y_DOUBLED
#define Y2_MOTOR (N_AXIS + Y_DOUBLED - 1)
#endif
#ifdef Z_DOUBLED
#define Z2_MOTOR (N_AXIS + Z_DOUBLED - 1)
#endif
#endif // N_GANGED
#if defined(X2_LIMIT_PIN) || defined(Y2_LIMIT_PIN) || defined(Z2_LIMIT_PIN)
#define DUAL_LIMIT_SWITCHES
#ifndef X2_LIMIT_BIT
#define X2_LIMIT_BIT 0
#endif
#ifndef Y2_LIMIT_BIT
#define Y2_LIMIT_BIT 0
#endif
#ifndef Z2_LIMIT_BIT
#define Z2_LIMIT_BIT 0
#endif
#define LIMIT2_MASK (X2_LIMIT_BIT|Y2_LIMIT_BIT|Z2_LIMIT_BIT)
#define LIMIT2_MASK_SUM (X2_LIMIT_BIT+Y2_LIMIT_BIT+Z2_LIMIT_BIT)
#else
#define LIMIT2_MASK 0
#define LIMIT2_MASK_SUM 0
#endif
#if defined(X_LIMIT_PIN_MAX) || defined(Y_LIMIT_PIN_MAX) || defined(Z_LIMIT_PIN_MAX) || defined(A_LIMIT_PIN_MAX) || defined(B_LIMIT_PIN_MAX) || defined(C_LIMIT_PIN_MAX)
#define MAX_LIMIT_SWITCHES
#endif
#ifdef A_AXIS
#ifndef M3_AVAILABLE
#error "A_AXIS pins are not available"
#endif
#define A_STEP_PORT M3_STEP_PORT
#define A_STEP_PIN M3_STEP_PIN
#define A_STEP_BIT (1<<M3_STEP_PIN)
#define A_DIRECTION_PORT M3_DIRECTION_PORT
#define A_DIRECTION_PIN M3_DIRECTION_PIN
#define A_DIRECTION_BIT (1<<M3_DIRECTION_PIN)
#ifdef M3_LIMIT_PIN
#define A_LIMIT_PORT M3_LIMIT_PORT
#define A_LIMIT_PIN M3_LIMIT_PIN
#define A_LIMIT_BIT (1<<M3_LIMIT_PIN)
#endif
#ifdef M3_LIMIT_PIN_MAX
#define A_LIMIT_PORT_MAX M3_LIMIT_PORT_MAX
#define A_LIMIT_PIN_MAX M3_LIMIT_PIN_MAX
#define A_LIMIT_BIT_MAX (1<<M3_LIMIT_PIN_MAX)
#endif
#ifdef M3_ENABLE_PIN
#define A_ENABLE_PORT M3_ENABLE_PORT
#define A_ENABLE_PIN M3_ENABLE_PIN
#define A_ENABLE_BIT (1<<M3_ENABLE_PIN)
#endif
#endif
#ifdef B_AXIS
#ifndef M4_AVAILABLE
#error "B_AXIS pins are not available"
#endif
#define B_STEP_PORT M4_STEP_PORT
#define B_STEP_PIN M4_STEP_PIN
#define B_STEP_BIT (1<<M4_STEP_PIN)
#define B_DIRECTION_PORT M4_DIRECTION_PORT
#define B_DIRECTION_PIN M4_DIRECTION_PIN
#define B_DIRECTION_BIT (1<<M4_DIRECTION_PIN)
#ifdef M4_LIMIT_PIN
#define B_LIMIT_PORT M4_LIMIT_PORT
#define B_LIMIT_PIN M4_LIMIT_PIN
#define B_LIMIT_BIT (1<<M4_LIMIT_PIN)
#endif
#ifdef M4_LIMIT_PIN_MAX
#define B_LIMIT_PORT_MAX M4_LIMIT_PORT_MAX
#define B_LIMIT_PIN_MAX M4_LIMIT_PIN_MAX
#define B_LIMIT_BIT_MAX (1<<M4_LIMIT_PIN_MAX)
#endif
#ifdef M4_ENABLE_PIN
#define B_ENABLE_PORT M4_ENABLE_PORT
#define B_ENABLE_PIN M4_ENABLE_PIN
#define B_ENABLE_BIT (1<<M4_ENABLE_PIN)
#endif
#endif
#ifdef C_AXIS
#ifndef M5_AVAILABLE
#error "C_AXIS pins are not available"
#endif
#define C_STEP_PORT M5_STEP_PORT
#define C_STEP_PIN M5_STEP_PIN
#define C_STEP_BIT (1<<M5_STEP_PIN)
#define C_DIRECTION_PORT M5_DIRECTION_PORT
#define C_DIRECTION_PIN M5_DIRECTION_PIN
#define C_DIRECTION_BIT (1<<M5_DIRECTION_PIN)
#ifdef M5_LIMIT_PIN
#define C_LIMIT_PORT M5_LIMIT_PORT
#define C_LIMIT_PIN M5_LIMIT_PIN
#define C_LIMIT_BIT (1<<M5_LIMIT_PIN)
#endif
#ifdef M5_LIMIT_PIN_MAX
#define C_LIMIT_PORT_MAX M5_LIMIT_PORT_MAX
#define C_LIMIT_PIN_MAX M5_LIMIT_PIN_MAX
#define C_LIMIT_BIT_MAX (1<<M5_LIMIT_PIN_MAX)
#endif
#ifdef M5_ENABLE_PIN
#define C_ENABLE_PORT M5_ENABLE_PORT
#define C_ENABLE_PIN M5_ENABLE_PIN
#define C_ENABLE_BIT (1<<M5_ENABLE_PIN)
#endif
#endif
#ifdef U_AXIS
#ifndef M6_AVAILABLE
#error "U_AXIS pins are not available"
#endif
#define U_STEP_PORT M6_STEP_PORT
#define U_STEP_PIN M6_STEP_PIN
#define U_STEP_BIT (1<<M6_STEP_PIN)
#define U_DIRECTION_PORT M6_DIRECTION_PORT
#define U_DIRECTION_PIN M6_DIRECTION_PIN
#define U_DIRECTION_BIT (1<<M6_DIRECTION_PIN)
#ifdef M6_LIMIT_PIN
#define U_LIMIT_PORT M6_LIMIT_PORT
#define U_LIMIT_PIN M6_LIMIT_PIN
#define U_LIMIT_BIT (1<<M6_LIMIT_PIN)
#endif
#ifdef M6_LIMIT_PIN_MAX
#define U_LIMIT_PORT_MAX M6_LIMIT_PORT_MAX
#define U_LIMIT_PIN_MAX M6_LIMIT_PIN_MAX
#define U_LIMIT_BIT_MAX (1<<M6_LIMIT_PIN_MAX)
#endif
#ifdef M6_ENABLE_PIN
#define U_ENABLE_PORT M6_ENABLE_PORT
#define U_ENABLE_PIN M6_ENABLE_PIN
#define U_ENABLE_BIT (1<<M6_ENABLE_PIN)
#endif
#endif
#ifdef V_AXIS
#ifndef M7_AVAILABLE
#error "V_AXIS pins are not available"
#endif
#define V_STEP_PORT M7_STEP_PORT
#define V_STEP_PIN M7_STEP_PIN
#define V_STEP_BIT (1<<M7_STEP_PIN)
#define V_DIRECTION_PORT M7_DIRECTION_PORT
#define V_DIRECTION_PIN M7_DIRECTION_PIN
#define V_DIRECTION_BIT (1<<M7_DIRECTION_PIN)
#ifdef M7_LIMIT_PIN
#define V_LIMIT_PORT M7_LIMIT_PORT
#define V_LIMIT_PIN M7_LIMIT_PIN
#define V_LIMIT_BIT (1<<M7_LIMIT_PIN)
#endif
#ifdef M7_LIMIT_PIN_MAX
#define V_LIMIT_PORT_MAX M7_LIMIT_PORT_MAX
#define V_LIMIT_PIN_MAX M7_LIMIT_PIN_MAX
#define V_LIMIT_BIT_MAX (1<<M7_LIMIT_PIN_MAX)
#endif
#ifdef M7_ENABLE_PIN
#define V_ENABLE_PORT M7_ENABLE_PORT
#define V_ENABLE_PIN M7_ENABLE_PIN
#define V_ENABLE_BIT (1<<M7_ENABLE_PIN)
#endif
#endif
#ifdef STEP_PORT
#ifndef X_STEP_PORT
#define X_STEP_PORT STEP_PORT
#endif
#ifndef Y_STEP_PORT
#define Y_STEP_PORT STEP_PORT
#endif
#ifndef Z_STEP_PORT
#define Z_STEP_PORT STEP_PORT
#endif
#if defined(A_AXIS) && !defined(A_STEP_PORT)
#define A_STEP_PORT STEP_PORT
#endif
#if defined(B_AXIS) && !defined(B_STEP_PORT)
#define B_STEP_PORT STEP_PORT
#endif
#if defined(C_AXIS) && !defined(C_STEP_PORT)
#define C_STEP_PORT STEP_PORT
#endif
#if defined(U_AXIS) && !defined(U_STEP_PORT)
#define U_STEP_PORT STEP_PORT
#endif
#if defined(V_AXIS) && !defined(V_STEP_PORT)
#define V_STEP_PORT STEP_PORT
#endif
#endif
#ifndef X_STEP_BIT
#define X_STEP_BIT (1<<X_STEP_PIN)
#endif
#ifndef Y_STEP_BIT
#define Y_STEP_BIT (1<<Y_STEP_PIN)
#endif
#ifndef Z_STEP_BIT
#define Z_STEP_BIT (1<<Z_STEP_PIN)
#endif
#ifdef DIRECTION_PORT
#ifndef X_DIRECTION_PORT
#define X_DIRECTION_PORT DIRECTION_PORT
#endif
#ifndef Y_DIRECTION_PORT
#define Y_DIRECTION_PORT DIRECTION_PORT
#endif
#ifndef Z_DIRECTION_PORT
#define Z_DIRECTION_PORT DIRECTION_PORT
#endif
#if defined(A_AXIS) && !defined(A_DIRECTION_PORT)
#define A_DIRECTION_PORT DIRECTION_PORT
#endif
#if defined(B_AXIS) && !defined(B_DIRECTION_PORT)
#define B_DIRECTION_PORT DIRECTION_PORT
#endif
#if defined(C_AXIS) && !defined(B_DIRECTION_PORT)
#define C_DIRECTION_PORT DIRECTION_PORT
#endif
#if defined(U_AXIS) && !defined(U_DIRECTION_PORT)
#define U_DIRECTION_PORT DIRECTION_PORT
#endif
#if defined(V_AXIS) && !defined(V_DIRECTION_PORT)
#define V_DIRECTION_PORT DIRECTION_PORT
#endif
#endif
#ifndef X_DIRECTION_BIT
#define X_DIRECTION_BIT (1<<X_DIRECTION_PIN)
#endif
#ifndef Y_DIRECTION_BIT
#define Y_DIRECTION_BIT (1<<Y_DIRECTION_PIN)
#endif
#ifndef Z_DIRECTION_BIT
#define Z_DIRECTION_BIT (1<<Z_DIRECTION_PIN)
#endif
#ifdef LIMIT_PORT
#ifndef X_LIMIT_PORT
#define X_LIMIT_PORT LIMIT_PORT
#endif
#ifndef Y_LIMIT_PORT
#define Y_LIMIT_PORT LIMIT_PORT
#endif
#ifndef Z_LIMIT_PORT
#define Z_LIMIT_PORT LIMIT_PORT
#endif
#if defined(A_AXIS) && !defined(A_LIMIT_PORT)
#define A_LIMIT_PORT LIMIT_PORT
#endif
#if defined(B_AXIS) && !defined(B_LIMIT_PORT)
#define B_LIMIT_PORT LIMIT_PORT
#endif
#if defined(C_AXIS) && !defined(C_LIMIT_PORT)
#define C_LIMIT_PORT LIMIT_PORT
#endif
#if defined(U_AXIS) && !defined(U_LIMIT_PORT)
#define U_LIMIT_PORT LIMIT_PORT
#endif
#if defined(V_AXIS) && !defined(V_LIMIT_PORT)
#define V_LIMIT_PORT LIMIT_PORT
#endif
#endif
#ifndef X_LIMIT_BIT
#define X_LIMIT_BIT (1<<X_LIMIT_PIN)
#endif
#ifndef Y_LIMIT_BIT
#define Y_LIMIT_BIT (1<<Y_LIMIT_PIN)
#endif
#ifndef Z_LIMIT_BIT
#define Z_LIMIT_BIT (1<<Z_LIMIT_PIN)
#endif
#ifndef X_LIMIT_BIT_MAX
#ifdef X_LIMIT_PIN_MAX
#define X_LIMIT_BIT_MAX (1<<X_LIMIT_PIN_MAX)
#else
#define X_LIMIT_BIT_MAX 0
#endif
#endif
#ifndef Y_LIMIT_BIT_MAX
#ifdef Y_LIMIT_PIN_MAX
#define Y_LIMIT_BIT_MAX (1<<Y_LIMIT_PIN_MAX)
#else
#define Y_LIMIT_BIT_MAX 0
#endif
#endif
#ifndef Z_LIMIT_BIT_MAX
#ifdef Z_LIMIT_PIN_MAX
#define Z_LIMIT_BIT_MAX (1<<Z_LIMIT_PIN_MAX)
#else
#define Z_LIMIT_BIT_MAX 0
#endif
#endif
#if !defined(X_ENABLE_BIT) && defined(X_ENABLE_PIN)
#define X_ENABLE_BIT (1<<X_ENABLE_PIN)
#endif
#if !defined(Y_ENABLE_BIT) && defined(Y_ENABLE_PIN)
#define Y_ENABLE_BIT (1<<Y_ENABLE_PIN)
#endif
#if !defined(Z_ENABLE_BIT) && defined(Z_ENABLE_PIN)
#define Z_ENABLE_BIT (1<<Z_ENABLE_PIN)
#endif
#ifndef STEP_MASK
#if N_AXIS == 3
#define STEP_MASK (X_STEP_BIT|Y_STEP_BIT|Z_STEP_BIT)
#elif N_AXIS == 4
#define STEP_MASK (X_STEP_BIT|Y_STEP_BIT|Z_STEP_BIT|A_STEP_BIT)
#elif N_AXIS == 5
#define STEP_MASK (X_STEP_BIT|Y_STEP_BIT|Z_STEP_BIT|A_STEP_BIT|B_STEP_BIT)
#elif N_AXIS == 6
#define STEP_MASK (X_STEP_BIT|Y_STEP_BIT|Z_STEP_BIT|A_STEP_BIT|B_STEP_BIT|C_STEP_BIT)
#elif N_AXIS == 7
#define STEP_MASK (X_STEP_BIT|Y_STEP_BIT|Z_STEP_BIT|A_STEP_BIT|B_STEP_BIT|C_STEP_BIT|U_STEP_BIT)
#else
#define STEP_MASK (X_STEP_BIT|Y_STEP_BIT|Z_STEP_BIT|A_STEP_BIT|B_STEP_BIT|C_STEP_BIT|U_STEP_BIT|V_STEP_BIT)
#endif
#endif
#ifndef DIRECTION_MASK
#if N_AXIS == 3
#define DIRECTION_MASK (X_DIRECTION_BIT|Y_DIRECTION_BIT|Z_DIRECTION_BIT)
#elif N_AXIS == 4
#define DIRECTION_MASK (X_DIRECTION_BIT|Y_DIRECTION_BIT|Z_DIRECTION_BIT|A_DIRECTION_BIT)
#elif N_AXIS == 5
#define DIRECTION_MASK (X_DIRECTION_BIT|Y_DIRECTION_BIT|Z_DIRECTION_BIT|A_DIRECTION_BIT|B_DIRECTION_BIT)
#elif N_AXIS == 6
#define DIRECTION_MASK (X_DIRECTION_BIT|Y_DIRECTION_BIT|Z_DIRECTION_BIT|A_DIRECTION_BIT|B_DIRECTION_BIT|C_DIRECTION_BIT)
#elif N_AXIS == 7
#define DIRECTION_MASK (X_DIRECTION_BIT|Y_DIRECTION_BIT|Z_DIRECTION_BIT|A_DIRECTION_BIT|B_DIRECTION_BIT|C_DIRECTION_BIT|U_DIRECTION_BIT)
#else
#define DIRECTION_MASK (X_DIRECTION_BIT|Y_DIRECTION_BIT|Z_DIRECTION_BIT|A_DIRECTION_BIT|B_DIRECTION_BIT|C_DIRECTION_BIT|U_DIRECTION_BIT|V_DIRECTION_BIT)
#endif
#endif
#if defined(STEPPERS_ENABLE_PIN) && !defined(STEPPERS_ENABLE_BIT)
#define STEPPERS_ENABLE_BIT (1<<STEPPERS_ENABLE_PIN)
#endif
#ifndef STEPPERS_ENABLE_MASK
#ifdef STEPPERS_ENABLE_BIT
#define STEPPERS_ENABLE_MASK STEPPERS_ENABLE_BIT
#else
#if N_AXIS >= 4 && !defined(A_ENABLE_BIT)
#define A_ENABLE_BIT 0
#endif
#if N_AXIS >= 5 && !defined(B_ENABLE_BIT)
#define B_ENABLE_BIT 0
#endif
#if N_AXIS >= 6 && !defined(C_ENABLE_BIT)
#define C_ENABLE_BIT 0
#endif
#if N_AXIS == 3
#define STEPPERS_ENABLE_MASK (X_ENABLE_BIT|Y_ENABLE_BIT|Z_ENABLE_BIT)
#elif N_AXIS == 4
#define STEPPERS_ENABLE_MASK (X_ENABLE_BIT|Y_ENABLE_BIT|Z_ENABLE_BIT|A_ENABLE_BIT)
#elif N_AXIS == 5
#define STEPPERS_ENABLE_MASK (X_ENABLE_BIT|Y_ENABLE_BIT|Z_ENABLE_BIT|A_ENABLE_BIT|B_ENABLE_BIT)
#elif N_AXIS == 6
#define STEPPERS_ENABLE_MASK (X_ENABLE_BIT|Y_ENABLE_BIT|Z_ENABLE_BIT|A_ENABLE_BIT|B_ENABLE_BIT|C_ENABLE_BIT)
#elif N_AXIS == 7
#define STEPPERS_ENABLE_MASK (X_ENABLE_BIT|Y_ENABLE_BIT|Z_ENABLE_BIT|A_ENABLE_BIT|B_ENABLE_BIT|C_ENABLE_BIT|U_ENABLE_BIT)
#else
#define STEPPERS_ENABLE_MASK (X_ENABLE_BIT|Y_ENABLE_BIT|Z_ENABLE_BIT|A_ENABLE_BIT|B_ENABLE_BIT|C_ENABLE_BIT|U_ENABLE_BIT|V_ENABLE_BIT)
#endif
#endif
#endif // STEPPERS_ENABLE_MASK
#ifndef LIMIT_MASK
#if N_AXIS >=4 && !defined(A_LIMIT_BIT)
#ifdef A_LIMIT_PIN
#define A_LIMIT_BIT (1<<A_LIMIT_PIN)
#else
#define A_LIMIT_BIT 0
#endif
#endif
#if N_AXIS >=5 && !defined(B_LIMIT_BIT)
#ifdef B_LIMIT_PIN
#define B_LIMIT_BIT (1<<B_LIMIT_PIN)
#else
#define B_LIMIT_BIT 0
#endif
#endif
#if N_AXIS >= 6 && !defined(C_LIMIT_BIT)
#ifdef C_LIMIT_PIN
#define C_LIMIT_BIT (1<<C_LIMIT_PIN)
#else
#define C_LIMIT_BIT 0
#endif
#endif
#if N_AXIS >= 7 && !defined(U_LIMIT_BIT)
#ifdef U_LIMIT_PIN
#define U_LIMIT_BIT (1<<U_LIMIT_PIN)
#else
#define U_LIMIT_BIT 0
#endif
#endif
#if N_AXIS == 8 && !defined(V_LIMIT_BIT)
#ifdef V_LIMIT_PIN
#define V_LIMIT_BIT (1<<V_LIMIT_PIN)
#else
#define V_LIMIT_BIT 0
#endif
#endif
#ifdef Z_LIMIT_POLL
#define LIMIT_MASK_BASE (X_LIMIT_BIT|Y_LIMIT_BIT|LIMIT2_MASK)
#define LIMIT_MASK_BASE_SUM (X_LIMIT_BIT+Y_LIMIT_BIT+LIMIT2_MASK_SUM)
#else
#define LIMIT_MASK_BASE (X_LIMIT_BIT|Y_LIMIT_BIT|Z_LIMIT_BIT|X_LIMIT_BIT_MAX|Y_LIMIT_BIT_MAX|Z_LIMIT_BIT_MAX)
#define LIMIT_MASK_BASE_SUM (X_LIMIT_BIT+Y_LIMIT_BIT+Z_LIMIT_BIT+X_LIMIT_BIT_MAX+Y_LIMIT_BIT_MAX+Z_LIMIT_BIT_MAX)
#endif
#if N_AXIS == 3
#define LIMIT_MASK LIMIT_MASK_BASE
#define LIMIT_MASK_SUM LIMIT_MASK_BASE_SUM
#define LIMIT_MIN_CAP AXES_BITMASK
#elif N_AXIS == 4
#define LIMIT_MASK (LIMIT_MASK_BASE|A_LIMIT_BIT)
#define LIMIT_MASK_SUM (LIMIT_MASK_BASE_SUM+A_LIMIT_BIT)
#elif N_AXIS == 5
#define LIMIT_MASK (LIMIT_MASK_BASE|A_LIMIT_BIT|B_LIMIT_BIT)
#define LIMIT_MASK_SUM (LIMIT_MASK_BASE_SUM+A_LIMIT_BIT+B_LIMIT_BIT)
#elif N_AXIS == 6
#define LIMIT_MASK (LIMIT_MASK_BASE|A_LIMIT_BIT|B_LIMIT_BIT|C_LIMIT_BIT)
#define LIMIT_MASK_SUM (LIMIT_MASK_BASE_SUM+A_LIMIT_BIT+B_LIMIT_BIT+C_LIMIT_BIT)
#elif N_AXIS == 7
#define LIMIT_MASK (LIMIT_MASK_BASE|A_LIMIT_BIT|B_LIMIT_BIT|C_LIMIT_BIT|U_LIMIT_BIT)
#define LIMIT_MASK_SUM (LIMIT_MASK_BASE_SUM+A_LIMIT_BIT+B_LIMIT_BIT+C_LIMIT_BIT+U_LIMIT_BIT)
#else
#define LIMIT_MASK (LIMIT_MASK_BASE|A_LIMIT_BIT|B_LIMIT_BIT|C_LIMIT_BIT|U_LIMIT_BIT|V_LIMIT_BIT)
#define LIMIT_MASK_SUM (LIMIT_MASK_BASE_SUM+A_LIMIT_BIT+B_LIMIT_BIT+C_LIMIT_BIT+U_LIMIT_BIT+V_LIMIT_BIT)
#endif
#endif // LIMIT_MASK
#ifndef HOME_MASK
#define HOME_MASK 0
#endif
#ifndef N_GANGED
#define N_GANGED 0
#endif
static void motor_iterator (motor_iterator_callback_ptr callback)
{
motor_map_t motor;
if(callback) for(motor.id = 0; motor.id < N_AXIS + N_GANGED; motor.id++)
{
if(motor.id < N_AXIS)
motor.axis = motor.id;
else switch (motor.id) {
#ifdef X2_MOTOR
case X2_MOTOR:
motor.axis = X_AXIS;
break;
#endif
#ifdef Y2_MOTOR
case Y2_MOTOR:
motor.axis = Y_AXIS;
break;
#endif
#ifdef Z2_MOTOR
case Z2_MOTOR:
motor.axis = Z_AXIS;
break;
#endif
}
callback(motor);
}
}
static limit_signals_t get_limits_cap (void)
{
limit_signals_t limits = {0};
#if X_LIMIT_BIT
limits.min.x = On;
#endif
#if Y_LIMIT_BIT
limits.min.y = On;
#endif
#if Z_LIMIT_BIT
limits.min.z = On;
#endif
#if A_LIMIT_BIT
limits.min.a = On;
#endif
#if B_LIMIT_BIT
limits.min.b = On;
#endif
#if C_LIMIT_BIT
limits.min.c = On;
#endif
#if U_LIMIT_BIT
limits.min.u = On;
#endif
#if V_LIMIT_BIT
limits.min.v = On;
#endif
#if X2_LIMIT_BIT
limits.min2.x = On;
#endif
#if Y2_LIMIT_BIT
limits.min2.y = On;
#endif
#if Z2_LIMIT_BIT
limits.min2.z = On;
#endif
#if X_LIMIT_BIT_MAX
limits.max.x = On;
#endif
#if Y_LIMIT_BIT_MAX
limits.max.y = On;
#endif
#if Z_LIMIT_BIT_MAX
limits.max.z = On;
#endif
#if A_LIMIT_BIT_MAX
limits.max.a = On;
#endif
#if B_LIMIT_BIT_MAX
limits.max.b = On;
#endif
#if C_LIMIT_BIT_MAX
limits.max.c = On;
#endif
#if U_LIMIT_BIT_MAX
limits.max.u = On;
#endif
#if V_LIMIT_BIT_MAX
limits.max.v = On;
#endif
return limits;
}
static home_signals_t get_home_cap (void)
{
home_signals_t home = {0};
#if HOME_MASK
#if X_HOME_BIT
home.primary.x = On;
#endif
#if Y_HOME_BIT
home.primary.y = On;
#endif
#if Z_HOME_BIT
home.primary.z = On;
#endif
#if A_HOME_BIT
home.primary.a = On;
#endif
#if B_HOME_BIT
home.primary.b = On;
#endif
#if C_HOME_BIT
home.primary.c = On;
#endif
#if U_HOME_BIT
home.primary.u = On;
#endif
#if V_HOME_BIT
home.primary.v = On;
#endif
#if X2_HOME_BIT
home.secondary.x = On;
#endif
#if Y2_HOME_BIT
home.secondary.y = On;
#endif
#if Z2_HOME_BIT
home.secondary.z = On;
#endif
#endif // HOME_MASK
return home;
}
/*EOF*/
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