Add CorePQ support for BABYSTEPPING (#10074)
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@ -1325,16 +1325,16 @@ void Stepper::report_positions() {
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#endif
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#endif
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#define BABYSTEP_AXIS(AXIS, INVERT) { \
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const uint8_t old_dir = _READ_DIR(AXIS); \
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_ENABLE(AXIS); \
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_SAVE_START; \
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_APPLY_DIR(AXIS, _INVERT_DIR(AXIS)^direction^INVERT); \
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_PULSE_WAIT; \
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_APPLY_STEP(AXIS)(!_INVERT_STEP_PIN(AXIS), true); \
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_PULSE_WAIT; \
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_APPLY_STEP(AXIS)(_INVERT_STEP_PIN(AXIS), true); \
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_APPLY_DIR(AXIS, old_dir); \
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#define BABYSTEP_AXIS(AXIS, INVERT, DIR) { \
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const uint8_t old_dir = _READ_DIR(AXIS); \
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_ENABLE(AXIS); \
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_SAVE_START; \
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_APPLY_DIR(AXIS, _INVERT_DIR(AXIS)^DIR^INVERT); \
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_PULSE_WAIT; \
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_APPLY_STEP(AXIS)(!_INVERT_STEP_PIN(AXIS), true); \
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_PULSE_WAIT; \
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_APPLY_STEP(AXIS)(_INVERT_STEP_PIN(AXIS), true); \
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_APPLY_DIR(AXIS, old_dir); \
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}
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// MUST ONLY BE CALLED BY AN ISR,
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@ -1347,20 +1347,43 @@ void Stepper::report_positions() {
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#if ENABLED(BABYSTEP_XY)
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case X_AXIS:
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BABYSTEP_AXIS(X, false);
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#if CORE_IS_XY
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BABYSTEP_AXIS(X, false, direction);
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BABYSTEP_AXIS(Y, false, direction);
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#elif CORE_IS_XZ
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BABYSTEP_AXIS(X, false, direction);
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BABYSTEP_AXIS(Z, false, direction);
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#else
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BABYSTEP_AXIS(X, false, direction);
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#endif
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break;
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case Y_AXIS:
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BABYSTEP_AXIS(Y, false);
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#if CORE_IS_XY
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BABYSTEP_AXIS(X, false, direction);
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BABYSTEP_AXIS(Y, false, direction^(CORESIGN(1)<0));
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#elif CORE_IS_YZ
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BABYSTEP_AXIS(Y, false, direction);
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BABYSTEP_AXIS(Z, false, direction^(CORESIGN(1)<0));
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#else
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BABYSTEP_AXIS(Y, false, direction);
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#endif
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break;
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#endif
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case Z_AXIS: {
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#if DISABLED(DELTA)
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#if CORE_IS_XZ
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BABYSTEP_AXIS(X, BABYSTEP_INVERT_Z, direction);
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BABYSTEP_AXIS(Z, BABYSTEP_INVERT_Z, direction^(CORESIGN(1)<0));
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BABYSTEP_AXIS(Z, BABYSTEP_INVERT_Z);
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#elif CORE_IS_YZ
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BABYSTEP_AXIS(Y, BABYSTEP_INVERT_Z, direction);
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BABYSTEP_AXIS(Z, BABYSTEP_INVERT_Z, direction^(CORESIGN(1)<0));
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#elif DISABLED(DELTA)
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BABYSTEP_AXIS(Z, BABYSTEP_INVERT_Z, direction);
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#else // DELTA
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