420 lines
13 KiB
C++
420 lines
13 KiB
C++
/**
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* Marlin 3D Printer Firmware
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* Copyright (c) 2020 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 <https://www.gnu.org/licenses/>.
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*
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*/
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#include "../../../inc/MarlinConfig.h"
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#if HAS_TRINAMIC_CONFIG
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#include "../../gcode.h"
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#include "../../../feature/tmc_util.h"
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#include "../../../module/stepper/indirection.h"
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#include "../../../module/planner.h"
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#include "../../queue.h"
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#if ENABLED(MONITOR_DRIVER_STATUS)
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#define M91x_USE(ST) (AXIS_DRIVER_TYPE(ST, TMC2130) || AXIS_DRIVER_TYPE(ST, TMC2160) || AXIS_DRIVER_TYPE(ST, TMC2208) || AXIS_DRIVER_TYPE(ST, TMC2209) || AXIS_DRIVER_TYPE(ST, TMC2660) || AXIS_DRIVER_TYPE(ST, TMC5130) || AXIS_DRIVER_TYPE(ST, TMC5160))
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#define M91x_USE_E(N) (E_STEPPERS > N && M91x_USE(E##N))
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#if M91x_USE(X) || M91x_USE(X2)
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#define M91x_SOME_X 1
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#endif
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#if M91x_USE(Y) || M91x_USE(Y2)
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#define M91x_SOME_Y 1
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#endif
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#if M91x_USE(Z) || M91x_USE(Z2) || M91x_USE(Z3) || M91x_USE(Z4)
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#define M91x_SOME_Z 1
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#endif
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#if M91x_USE_E(0) || M91x_USE_E(1) || M91x_USE_E(2) || M91x_USE_E(3) || M91x_USE_E(4) || M91x_USE_E(5) || M91x_USE_E(6) || M91x_USE_E(7)
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#define M91x_SOME_E 1
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#endif
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#if !M91x_SOME_X && !M91x_SOME_Y && !M91x_SOME_Z && !M91x_SOME_E
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#error "MONITOR_DRIVER_STATUS requires at least one TMC2130, 2160, 2208, 2209, 2660, 5130, or 5160."
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#endif
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/**
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* M911: Report TMC stepper driver overtemperature pre-warn flag
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* This flag is held by the library, persisting until cleared by M912
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*/
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void GcodeSuite::M911() {
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#if M91x_USE(X)
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tmc_report_otpw(stepperX);
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#endif
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#if M91x_USE(X2)
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tmc_report_otpw(stepperX2);
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#endif
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#if M91x_USE(Y)
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tmc_report_otpw(stepperY);
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#endif
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#if M91x_USE(Y2)
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tmc_report_otpw(stepperY2);
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#endif
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#if M91x_USE(Z)
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tmc_report_otpw(stepperZ);
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#endif
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#if M91x_USE(Z2)
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tmc_report_otpw(stepperZ2);
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#endif
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#if M91x_USE(Z3)
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tmc_report_otpw(stepperZ3);
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#endif
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#if M91x_USE(Z4)
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tmc_report_otpw(stepperZ4);
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#endif
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#if M91x_USE_E(0)
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tmc_report_otpw(stepperE0);
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#endif
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#if M91x_USE_E(1)
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tmc_report_otpw(stepperE1);
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#endif
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#if M91x_USE_E(2)
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tmc_report_otpw(stepperE2);
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#endif
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#if M91x_USE_E(3)
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tmc_report_otpw(stepperE3);
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#endif
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#if M91x_USE_E(4)
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tmc_report_otpw(stepperE4);
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#endif
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#if M91x_USE_E(5)
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tmc_report_otpw(stepperE5);
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#endif
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#if M91x_USE_E(6)
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tmc_report_otpw(stepperE6);
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#endif
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#if M91x_USE_E(7)
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tmc_report_otpw(stepperE7);
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#endif
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}
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/**
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* M912: Clear TMC stepper driver overtemperature pre-warn flag held by the library
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* Specify one or more axes with X, Y, Z, X1, Y1, Z1, X2, Y2, Z2, Z3, Z4 and E[index].
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* If no axes are given, clear all.
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*
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* Examples:
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* M912 X ; clear X and X2
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* M912 X1 ; clear X1 only
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* M912 X2 ; clear X2 only
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* M912 X E ; clear X, X2, and all E
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* M912 E1 ; clear E1 only
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*/
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void GcodeSuite::M912() {
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const bool hasX = TERN0(M91x_SOME_X, parser.seen(axis_codes.x)),
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hasY = TERN0(M91x_SOME_Y, parser.seen(axis_codes.y)),
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hasZ = TERN0(M91x_SOME_Z, parser.seen(axis_codes.z)),
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hasE = TERN0(M91x_SOME_E, parser.seen(axis_codes.e));
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const bool hasNone = !hasE && !hasX && !hasY && !hasZ;
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#if M91x_SOME_X
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const int8_t xval = int8_t(parser.byteval(axis_codes.x, 0xFF));
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#if M91x_USE(X)
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if (hasNone || xval == 1 || (hasX && xval < 0)) tmc_clear_otpw(stepperX);
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#endif
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#if M91x_USE(X2)
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if (hasNone || xval == 2 || (hasX && xval < 0)) tmc_clear_otpw(stepperX2);
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#endif
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#endif
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#if M91x_SOME_Y
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const int8_t yval = int8_t(parser.byteval(axis_codes.y, 0xFF));
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#if M91x_USE(Y)
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if (hasNone || yval == 1 || (hasY && yval < 0)) tmc_clear_otpw(stepperY);
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#endif
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#if M91x_USE(Y2)
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if (hasNone || yval == 2 || (hasY && yval < 0)) tmc_clear_otpw(stepperY2);
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#endif
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#endif
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#if M91x_SOME_Z
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const int8_t zval = int8_t(parser.byteval(axis_codes.z, 0xFF));
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#if M91x_USE(Z)
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if (hasNone || zval == 1 || (hasZ && zval < 0)) tmc_clear_otpw(stepperZ);
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#endif
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#if M91x_USE(Z2)
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if (hasNone || zval == 2 || (hasZ && zval < 0)) tmc_clear_otpw(stepperZ2);
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#endif
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#if M91x_USE(Z3)
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if (hasNone || zval == 3 || (hasZ && zval < 0)) tmc_clear_otpw(stepperZ3);
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#endif
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#if M91x_USE(Z4)
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if (hasNone || zval == 4 || (hasZ && zval < 0)) tmc_clear_otpw(stepperZ4);
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#endif
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#endif
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#if M91x_SOME_E
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const int8_t eval = int8_t(parser.byteval(axis_codes.e, 0xFF));
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#if M91x_USE_E(0)
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if (hasNone || eval == 0 || (hasE && eval < 0)) tmc_clear_otpw(stepperE0);
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#endif
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#if M91x_USE_E(1)
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if (hasNone || eval == 1 || (hasE && eval < 0)) tmc_clear_otpw(stepperE1);
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#endif
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#if M91x_USE_E(2)
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if (hasNone || eval == 2 || (hasE && eval < 0)) tmc_clear_otpw(stepperE2);
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#endif
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#if M91x_USE_E(3)
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if (hasNone || eval == 3 || (hasE && eval < 0)) tmc_clear_otpw(stepperE3);
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#endif
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#if M91x_USE_E(4)
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if (hasNone || eval == 4 || (hasE && eval < 0)) tmc_clear_otpw(stepperE4);
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#endif
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#if M91x_USE_E(5)
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if (hasNone || eval == 5 || (hasE && eval < 0)) tmc_clear_otpw(stepperE5);
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#endif
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#if M91x_USE_E(6)
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if (hasNone || eval == 6 || (hasE && eval < 0)) tmc_clear_otpw(stepperE6);
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#endif
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#if M91x_USE_E(7)
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if (hasNone || eval == 7 || (hasE && eval < 0)) tmc_clear_otpw(stepperE7);
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#endif
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#endif
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}
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#endif // MONITOR_DRIVER_STATUS
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/**
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* M913: Set HYBRID_THRESHOLD speed.
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*/
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#if ENABLED(HYBRID_THRESHOLD)
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void GcodeSuite::M913() {
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#define TMC_SAY_PWMTHRS(A,Q) tmc_print_pwmthrs(stepper##Q)
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#define TMC_SET_PWMTHRS(A,Q) stepper##Q.set_pwm_thrs(value)
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#define TMC_SAY_PWMTHRS_E(E) tmc_print_pwmthrs(stepperE##E)
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#define TMC_SET_PWMTHRS_E(E) stepperE##E.set_pwm_thrs(value)
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bool report = true;
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#if AXIS_IS_TMC(X) || AXIS_IS_TMC(X2) || AXIS_IS_TMC(Y) || AXIS_IS_TMC(Y2) || AXIS_IS_TMC(Z) || AXIS_IS_TMC(Z2) || AXIS_IS_TMC(Z3) || AXIS_IS_TMC(Z4)
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const uint8_t index = parser.byteval('I');
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#endif
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LOOP_LOGICAL_AXES(i) if (int32_t value = parser.longval(axis_codes[i])) {
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report = false;
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switch (i) {
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case X_AXIS:
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#if AXIS_HAS_STEALTHCHOP(X)
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if (index < 2) TMC_SET_PWMTHRS(X,X);
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#endif
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#if AXIS_HAS_STEALTHCHOP(X2)
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if (!(index & 1)) TMC_SET_PWMTHRS(X,X2);
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#endif
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break;
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case Y_AXIS:
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#if AXIS_HAS_STEALTHCHOP(Y)
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if (index < 2) TMC_SET_PWMTHRS(Y,Y);
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#endif
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#if AXIS_HAS_STEALTHCHOP(Y2)
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if (!(index & 1)) TMC_SET_PWMTHRS(Y,Y2);
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#endif
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break;
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case Z_AXIS:
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#if AXIS_HAS_STEALTHCHOP(Z)
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if (index < 2) TMC_SET_PWMTHRS(Z,Z);
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#endif
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#if AXIS_HAS_STEALTHCHOP(Z2)
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if (index == 0 || index == 2) TMC_SET_PWMTHRS(Z,Z2);
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#endif
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#if AXIS_HAS_STEALTHCHOP(Z3)
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if (index == 0 || index == 3) TMC_SET_PWMTHRS(Z,Z3);
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#endif
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#if AXIS_HAS_STEALTHCHOP(Z4)
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if (index == 0 || index == 4) TMC_SET_PWMTHRS(Z,Z4);
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#endif
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break;
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case E_AXIS: {
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#if E_STEPPERS
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const int8_t target_extruder = get_target_extruder_from_command();
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if (target_extruder < 0) return;
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switch (target_extruder) {
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#if AXIS_HAS_STEALTHCHOP(E0)
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case 0: TMC_SET_PWMTHRS_E(0); break;
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#endif
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#if E_STEPPERS > 1 && AXIS_HAS_STEALTHCHOP(E1)
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case 1: TMC_SET_PWMTHRS_E(1); break;
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#endif
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#if E_STEPPERS > 2 && AXIS_HAS_STEALTHCHOP(E2)
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case 2: TMC_SET_PWMTHRS_E(2); break;
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#endif
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#if E_STEPPERS > 3 && AXIS_HAS_STEALTHCHOP(E3)
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case 3: TMC_SET_PWMTHRS_E(3); break;
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#endif
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#if E_STEPPERS > 4 && AXIS_HAS_STEALTHCHOP(E4)
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case 4: TMC_SET_PWMTHRS_E(4); break;
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#endif
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#if E_STEPPERS > 5 && AXIS_HAS_STEALTHCHOP(E5)
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case 5: TMC_SET_PWMTHRS_E(5); break;
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#endif
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#if E_STEPPERS > 6 && AXIS_HAS_STEALTHCHOP(E6)
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case 6: TMC_SET_PWMTHRS_E(6); break;
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#endif
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#if E_STEPPERS > 7 && AXIS_HAS_STEALTHCHOP(E7)
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case 7: TMC_SET_PWMTHRS_E(7); break;
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#endif
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}
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#endif // E_STEPPERS
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} break;
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}
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}
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if (report) {
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#if AXIS_HAS_STEALTHCHOP(X)
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TMC_SAY_PWMTHRS(X,X);
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#endif
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#if AXIS_HAS_STEALTHCHOP(X2)
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TMC_SAY_PWMTHRS(X,X2);
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#endif
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#if AXIS_HAS_STEALTHCHOP(Y)
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TMC_SAY_PWMTHRS(Y,Y);
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#endif
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#if AXIS_HAS_STEALTHCHOP(Y2)
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TMC_SAY_PWMTHRS(Y,Y2);
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#endif
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#if AXIS_HAS_STEALTHCHOP(Z)
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TMC_SAY_PWMTHRS(Z,Z);
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#endif
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#if AXIS_HAS_STEALTHCHOP(Z2)
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TMC_SAY_PWMTHRS(Z,Z2);
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#endif
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#if AXIS_HAS_STEALTHCHOP(Z3)
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TMC_SAY_PWMTHRS(Z,Z3);
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#endif
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#if AXIS_HAS_STEALTHCHOP(Z4)
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TMC_SAY_PWMTHRS(Z,Z4);
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#endif
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#if E_STEPPERS && AXIS_HAS_STEALTHCHOP(E0)
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TMC_SAY_PWMTHRS_E(0);
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#endif
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#if E_STEPPERS > 1 && AXIS_HAS_STEALTHCHOP(E1)
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TMC_SAY_PWMTHRS_E(1);
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#endif
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#if E_STEPPERS > 2 && AXIS_HAS_STEALTHCHOP(E2)
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TMC_SAY_PWMTHRS_E(2);
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#endif
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#if E_STEPPERS > 3 && AXIS_HAS_STEALTHCHOP(E3)
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TMC_SAY_PWMTHRS_E(3);
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#endif
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#if E_STEPPERS > 4 && AXIS_HAS_STEALTHCHOP(E4)
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TMC_SAY_PWMTHRS_E(4);
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#endif
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#if E_STEPPERS > 5 && AXIS_HAS_STEALTHCHOP(E5)
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TMC_SAY_PWMTHRS_E(5);
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#endif
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#if E_STEPPERS > 6 && AXIS_HAS_STEALTHCHOP(E6)
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TMC_SAY_PWMTHRS_E(6);
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#endif
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#if E_STEPPERS > 7 && AXIS_HAS_STEALTHCHOP(E7)
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TMC_SAY_PWMTHRS_E(7);
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#endif
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}
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}
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#endif // HYBRID_THRESHOLD
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/**
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* M914: Set StallGuard sensitivity.
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*/
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#if USE_SENSORLESS
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void GcodeSuite::M914() {
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bool report = true;
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const uint8_t index = parser.byteval('I');
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LOOP_LINEAR_AXES(i) if (parser.seen(AXIS_CHAR(i))) {
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const int16_t value = parser.value_int();
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report = false;
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switch (i) {
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#if X_SENSORLESS
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case X_AXIS:
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#if AXIS_HAS_STALLGUARD(X)
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if (index < 2) stepperX.homing_threshold(value);
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#endif
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#if AXIS_HAS_STALLGUARD(X2)
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if (!(index & 1)) stepperX2.homing_threshold(value);
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#endif
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break;
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#endif
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#if Y_SENSORLESS
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case Y_AXIS:
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#if AXIS_HAS_STALLGUARD(Y)
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if (index < 2) stepperY.homing_threshold(value);
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#endif
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#if AXIS_HAS_STALLGUARD(Y2)
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if (!(index & 1)) stepperY2.homing_threshold(value);
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#endif
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break;
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#endif
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#if Z_SENSORLESS
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case Z_AXIS:
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#if AXIS_HAS_STALLGUARD(Z)
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if (index < 2) stepperZ.homing_threshold(value);
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#endif
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#if AXIS_HAS_STALLGUARD(Z2)
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if (index == 0 || index == 2) stepperZ2.homing_threshold(value);
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#endif
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#if AXIS_HAS_STALLGUARD(Z3)
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if (index == 0 || index == 3) stepperZ3.homing_threshold(value);
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#endif
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#if AXIS_HAS_STALLGUARD(Z4)
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if (index == 0 || index == 4) stepperZ4.homing_threshold(value);
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#endif
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break;
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#endif
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}
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}
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if (report) {
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#if X_SENSORLESS
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#if AXIS_HAS_STALLGUARD(X)
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tmc_print_sgt(stepperX);
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#endif
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#if AXIS_HAS_STALLGUARD(X2)
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tmc_print_sgt(stepperX2);
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#endif
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#endif
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#if Y_SENSORLESS
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#if AXIS_HAS_STALLGUARD(Y)
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tmc_print_sgt(stepperY);
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#endif
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#if AXIS_HAS_STALLGUARD(Y2)
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tmc_print_sgt(stepperY2);
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#endif
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#endif
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#if Z_SENSORLESS
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#if AXIS_HAS_STALLGUARD(Z)
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tmc_print_sgt(stepperZ);
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#endif
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#if AXIS_HAS_STALLGUARD(Z2)
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tmc_print_sgt(stepperZ2);
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#endif
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#if AXIS_HAS_STALLGUARD(Z3)
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tmc_print_sgt(stepperZ3);
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#endif
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#if AXIS_HAS_STALLGUARD(Z4)
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tmc_print_sgt(stepperZ4);
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#endif
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#endif
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}
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}
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#endif // USE_SENSORLESS
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#endif // HAS_TRINAMIC_CONFIG
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