Add an option to specify "pulse" timer
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@ -109,6 +109,10 @@ extern "C" {
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#define STEPPER_TIMER_PRESCALE 8
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#define STEPPER_TIMER_PRESCALE 8
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#define HAL_TICKS_PER_US ((HAL_STEPPER_TIMER_RATE) / 1000000) // Cannot be of type double
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#define HAL_TICKS_PER_US ((HAL_STEPPER_TIMER_RATE) / 1000000) // Cannot be of type double
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#define PULSE_TIMER_NUM TEMP_TIMER_NUM
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#define TIMER_COUNTER_0 TCNT0
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#define PULSE_TIMER_PRESCALE 8
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#define ENABLE_STEPPER_DRIVER_INTERRUPT() SBI(TIMSK1, OCIE1A)
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#define ENABLE_STEPPER_DRIVER_INTERRUPT() SBI(TIMSK1, OCIE1A)
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#define DISABLE_STEPPER_DRIVER_INTERRUPT() CBI(TIMSK1, OCIE1A)
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#define DISABLE_STEPPER_DRIVER_INTERRUPT() CBI(TIMSK1, OCIE1A)
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@ -64,6 +64,9 @@ typedef uint32_t hal_timer_t;
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#define HAL_STEP_TIMER_ISR void TC3_Handler()
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#define HAL_STEP_TIMER_ISR void TC3_Handler()
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#define HAL_TEMP_TIMER_ISR void TC4_Handler()
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#define HAL_TEMP_TIMER_ISR void TC4_Handler()
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#define PULSE_TIMER_NUM STEP_TIMER_NUM
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#define PULSE_TIMER_PRESCALE STEPPER_TIMER_PRESCALE
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// --------------------------------------------------------------------------
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// --------------------------------------------------------------------------
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// Types
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// Types
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// --------------------------------------------------------------------------
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// --------------------------------------------------------------------------
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@ -53,6 +53,9 @@ typedef uint32_t hal_timer_t;
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#define HAL_TEMP_TIMER_RATE 1000000
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#define HAL_TEMP_TIMER_RATE 1000000
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#define TEMP_TIMER_FREQUENCY 1000 // temperature interrupt frequency
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#define TEMP_TIMER_FREQUENCY 1000 // temperature interrupt frequency
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#define PULSE_TIMER_NUM STEP_TIMER_NUM
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#define PULSE_TIMER_PRESCALE STEPPER_TIMER_PRESCALE
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#define ENABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_enable_interrupt(STEP_TIMER_NUM)
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#define ENABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_enable_interrupt(STEP_TIMER_NUM)
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#define DISABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_disable_interrupt(STEP_TIMER_NUM)
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#define DISABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_disable_interrupt(STEP_TIMER_NUM)
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#define ENABLE_TEMPERATURE_INTERRUPT() HAL_timer_enable_interrupt(TEMP_TIMER_NUM)
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#define ENABLE_TEMPERATURE_INTERRUPT() HAL_timer_enable_interrupt(TEMP_TIMER_NUM)
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@ -56,6 +56,9 @@ typedef uint16_t hal_timer_t;
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#define HAL_STEPPER_TIMER_RATE (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE) // frequency of stepper timer (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE)
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#define HAL_STEPPER_TIMER_RATE (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE) // frequency of stepper timer (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE)
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#define HAL_TICKS_PER_US ((HAL_STEPPER_TIMER_RATE) / 1000000) // stepper timer ticks per us
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#define HAL_TICKS_PER_US ((HAL_STEPPER_TIMER_RATE) / 1000000) // stepper timer ticks per us
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#define PULSE_TIMER_NUM STEP_TIMER_NUM
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#define PULSE_TIMER_PRESCALE STEPPER_TIMER_PRESCALE
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#define TEMP_TIMER_PRESCALE 1000 // prescaler for setting Temp timer, 72Khz
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#define TEMP_TIMER_PRESCALE 1000 // prescaler for setting Temp timer, 72Khz
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#define TEMP_TIMER_FREQUENCY 1000 // temperature interrupt frequency
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#define TEMP_TIMER_FREQUENCY 1000 // temperature interrupt frequency
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@ -57,6 +57,9 @@ typedef uint32_t hal_timer_t;
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#define STEPPER_TIMER STEP_TIMER_NUM // Alias?
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#define STEPPER_TIMER STEP_TIMER_NUM // Alias?
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#define STEPPER_TIMER_PRESCALE 0 // Not defined anywhere else!
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#define STEPPER_TIMER_PRESCALE 0 // Not defined anywhere else!
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#define PULSE_TIMER_NUM STEP_TIMER_NUM
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#define PULSE_TIMER_PRESCALE STEPPER_TIMER_PRESCALE
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#define HAL_TIMER_RATE (FTM0_TIMER_RATE)
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#define HAL_TIMER_RATE (FTM0_TIMER_RATE)
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#define HAL_STEPPER_TIMER_RATE HAL_TIMER_RATE
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#define HAL_STEPPER_TIMER_RATE HAL_TIMER_RATE
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#define HAL_TICKS_PER_US ((HAL_STEPPER_TIMER_RATE) / 1000000)
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#define HAL_TICKS_PER_US ((HAL_STEPPER_TIMER_RATE) / 1000000)
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@ -564,7 +564,7 @@ void Stepper::isr() {
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* 10µs = 160 or 200 cycles.
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* 10µs = 160 or 200 cycles.
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*/
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*/
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#if EXTRA_CYCLES_XYZE > 20
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#if EXTRA_CYCLES_XYZE > 20
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hal_timer_t pulse_start = HAL_timer_get_current_count(STEP_TIMER_NUM);
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hal_timer_t pulse_start = HAL_timer_get_current_count(PULSE_TIMER_NUM);
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#endif
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#endif
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#if HAS_X_STEP
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#if HAS_X_STEP
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@ -596,8 +596,8 @@ void Stepper::isr() {
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// For minimum pulse time wait before stopping pulses
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// For minimum pulse time wait before stopping pulses
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#if EXTRA_CYCLES_XYZE > 20
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#if EXTRA_CYCLES_XYZE > 20
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while (EXTRA_CYCLES_XYZE > (uint32_t)(HAL_timer_get_current_count(STEP_TIMER_NUM) - pulse_start) * (STEPPER_TIMER_PRESCALE)) { /* nada */ }
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while (EXTRA_CYCLES_XYZE > (uint32_t)(HAL_timer_get_current_count(PULSE_TIMER_NUM) - pulse_start) * (PULSE_TIMER_PRESCALE)) { /* nada */ }
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pulse_start = HAL_timer_get_current_count(STEP_TIMER_NUM);
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pulse_start = HAL_timer_get_current_count(PULSE_TIMER_NUM);
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#elif EXTRA_CYCLES_XYZE > 0
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#elif EXTRA_CYCLES_XYZE > 0
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DELAY_NOPS(EXTRA_CYCLES_XYZE);
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DELAY_NOPS(EXTRA_CYCLES_XYZE);
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#endif
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#endif
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@ -637,7 +637,7 @@ void Stepper::isr() {
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// For minimum pulse time wait after stopping pulses also
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// For minimum pulse time wait after stopping pulses also
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#if EXTRA_CYCLES_XYZE > 20
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#if EXTRA_CYCLES_XYZE > 20
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if (i) while (EXTRA_CYCLES_XYZE > (uint32_t)(HAL_timer_get_current_count(STEP_TIMER_NUM) - pulse_start) * (STEPPER_TIMER_PRESCALE)) { /* nada */ }
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if (i) while (EXTRA_CYCLES_XYZE > (uint32_t)(HAL_timer_get_current_count(PULSE_TIMER_NUM) - pulse_start) * (PULSE_TIMER_PRESCALE)) { /* nada */ }
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#elif EXTRA_CYCLES_XYZE > 0
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#elif EXTRA_CYCLES_XYZE > 0
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if (i) DELAY_NOPS(EXTRA_CYCLES_XYZE);
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if (i) DELAY_NOPS(EXTRA_CYCLES_XYZE);
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#endif
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#endif
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@ -818,7 +818,7 @@ void Stepper::isr() {
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for (uint8_t i = step_loops; i--;) {
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for (uint8_t i = step_loops; i--;) {
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#if EXTRA_CYCLES_E > 20
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#if EXTRA_CYCLES_E > 20
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hal_timer_t pulse_start = HAL_timer_get_current_count(STEP_TIMER_NUM);
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hal_timer_t pulse_start = HAL_timer_get_current_count(PULSE_TIMER_NUM);
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#endif
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#endif
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START_E_PULSE(0);
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START_E_PULSE(0);
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@ -837,8 +837,8 @@ void Stepper::isr() {
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// For minimum pulse time wait before stopping pulses
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// For minimum pulse time wait before stopping pulses
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#if EXTRA_CYCLES_E > 20
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#if EXTRA_CYCLES_E > 20
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while (EXTRA_CYCLES_E > (hal_timer_t)(HAL_timer_get_current_count(STEP_TIMER_NUM) - pulse_start) * (STEPPER_TIMER_PRESCALE)) { /* nada */ }
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while (EXTRA_CYCLES_E > (hal_timer_t)(HAL_timer_get_current_count(PULSE_TIMER_NUM) - pulse_start) * (PULSE_TIMER_PRESCALE)) { /* nada */ }
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pulse_start = HAL_timer_get_current_count(STEP_TIMER_NUM);
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pulse_start = HAL_timer_get_current_count(PULSE_TIMER_NUM);
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#elif EXTRA_CYCLES_E > 0
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#elif EXTRA_CYCLES_E > 0
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DELAY_NOPS(EXTRA_CYCLES_E);
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DELAY_NOPS(EXTRA_CYCLES_E);
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#endif
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#endif
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@ -859,7 +859,7 @@ void Stepper::isr() {
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// For minimum pulse time wait before looping
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// For minimum pulse time wait before looping
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#if EXTRA_CYCLES_E > 20
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#if EXTRA_CYCLES_E > 20
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if (i) while (EXTRA_CYCLES_E > (hal_timer_t)(HAL_timer_get_current_count(STEP_TIMER_NUM) - pulse_start) * (STEPPER_TIMER_PRESCALE)) { /* nada */ }
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if (i) while (EXTRA_CYCLES_E > (hal_timer_t)(HAL_timer_get_current_count(PULSE_TIMER_NUM) - pulse_start) * (PULSE_TIMER_PRESCALE)) { /* nada */ }
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#elif EXTRA_CYCLES_E > 0
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#elif EXTRA_CYCLES_E > 0
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if (i) DELAY_NOPS(EXTRA_CYCLES_E);
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if (i) DELAY_NOPS(EXTRA_CYCLES_E);
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#endif
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#endif
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@ -1299,7 +1299,7 @@ void Stepper::report_positions() {
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#if EXTRA_CYCLES_BABYSTEP > 20
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#if EXTRA_CYCLES_BABYSTEP > 20
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#define _SAVE_START const hal_timer_t pulse_start = HAL_timer_get_current_count(STEP_TIMER_NUM)
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#define _SAVE_START const hal_timer_t pulse_start = HAL_timer_get_current_count(STEP_TIMER_NUM)
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#define _PULSE_WAIT while (EXTRA_CYCLES_BABYSTEP > (uint32_t)(HAL_timer_get_current_count(STEP_TIMER_NUM) - pulse_start) * (STEPPER_TIMER_PRESCALE)) { /* nada */ }
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#define _PULSE_WAIT while (EXTRA_CYCLES_BABYSTEP > (uint32_t)(HAL_timer_get_current_count(STEP_TIMER_NUM) - pulse_start) * (PULSE_TIMER_PRESCALE)) { /* nada */ }
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#else
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#else
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#define _SAVE_START NOOP
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#define _SAVE_START NOOP
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#if EXTRA_CYCLES_BABYSTEP > 0
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#if EXTRA_CYCLES_BABYSTEP > 0
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