grblHAL/html/motor__pins_8h_source.html

 /*

   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) 2021-2025 Terje Io


   grblHAL 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.


   grblHAL 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 grblHAL. 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_HOME_PIN

  #if X_AUTO_SQUARE

   #define X2_HOME_PORT      M3_HOME_PORT

   #define X2_HOME_PIN       M3_HOME_PIN

   #define X2_HOME_BIT       (1<<M3_HOME_PIN)

  #endif

 #elif X_AUTO_SQUARE && defined(X_HOME_PIN)

   #error "Auto squared X-axis requires second home pin input"

 #endif

 #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

 #ifdef M3_MOTOR_FAULT_PIN

   #define X2_MOTOR_FAULT_PORT   M3_MOTOR_FAULT_PORT

   #define X2_MOTOR_FAULT_PIN    M3_MOTOR_FAULT_PIN

   #define X2_MOTOR_FAULT_BIT    (1<<M3_MOTOR_FAULT_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_HOME_PIN

  #if X_AUTO_SQUARE

   #define X2_HOME_PORT      M4_HOME_PORT

   #define X2_HOME_PIN       M4_HOME_PIN

   #define X2_HOME_BIT       (1<<M4_HOME_PIN)

  #endif

 #elif X_AUTO_SQUARE && defined(X_HOME_PIN)

   #error "Auto squared X-axis requires second home pin input"

 #endif

 #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

 #ifdef M4_MOTOR_FAULT_PIN

   #define X2_MOTOR_FAULT_PORT   M4_MOTOR_FAULT_PORT

   #define X2_MOTOR_FAULT_PIN    M4_MOTOR_FAULT_PIN

   #define X2_MOTOR_FAULT_BIT    (1<<M4_MOTOR_FAULT_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_HOME_PIN

  #if X_AUTO_SQUARE

   #define X2_HOME_PORT      M5_HOME_PORT

   #define X2_HOME_PIN       M5_HOME_PIN

   #define X2_HOME_BIT       (1<<M5_HOME_PIN)

  #endif

 #elif X_AUTO_SQUARE && defined(X_HOME_PIN)

   #error "Auto squared X-axis requires second home pin input"

 #endif

 #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

 #ifdef M5_MOTOR_FAULT_PIN

   #define X2_MOTOR_FAULT_PORT   M5_MOTOR_FAULT_PORT

   #define X2_MOTOR_FAULT_PIN    M5_MOTOR_FAULT_PIN

   #define X2_MOTOR_FAULT_BIT    (1<<M5_MOTOR_FAULT_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_HOME_PIN

  #if X_AUTO_SQUARE

   #define X2_HOME_PORT      M6_HOME_PORT

   #define X2_HOME_PIN       M6_HOME_PIN

   #define X2_HOME_BIT       (1<<M6_HOME_PIN)

  #endif

 #elif X_AUTO_SQUARE && defined(X_HOME_PIN)

   #error "Auto squared X-axis requires second home pin input"

 #endif

 #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

 #ifdef M6_MOTOR_FAULT_PIN

   #define X2_MOTOR_FAULT_PORT   M6_MOTOR_FAULT_PORT

   #define X2_MOTOR_FAULT_PIN    M6_MOTOR_FAULT_PIN

   #define X2_MOTOR_FAULT_BIT    (1<<M6_MOTOR_FAULT_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_HOME_PIN

  #if X_AUTO_SQUARE

   #define X2_HOME_PORT      M7_HOME_PORT

   #define X2_HOME_PIN       M7_HOME_PIN

   #define X2_HOME_BIT       (1<<M7_HOME_PIN)

  #endif

 #elif X_AUTO_SQUARE && defined(X_HOME_PIN)

   #error "Auto squared X-axis requires second home pin input"

 #endif

 #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

 #ifdef M7_MOTOR_FAULT_PIN

   #define X2_MOTOR_FAULT_PORT   M7_MOTOR_FAULT_PORT

   #define X2_MOTOR_FAULT_PIN    M7_MOTOR_FAULT_PIN

   #define X2_MOTOR_FAULT_BIT    (1<<M7_MOTOR_FAULT_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_HOME_PIN

  #if Y_AUTO_SQUARE

   #define Y2_HOME_PORT      M3_HOME_PORT

   #define Y2_HOME_PIN       M3_HOME_PIN

   #define Y2_HOME_BIT       (1<<M3_HOME_PIN)

  #endif

 #elif Y_AUTO_SQUARE && defined(Y_HOME_PIN)

   #error "Auto squared Y-axis requires second home pin input"

 #endif

 #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

 #ifdef M3_MOTOR_FAULT_PIN

   #define Y2_MOTOR_FAULT_PORT   M3_MOTOR_FAULT_PORT

   #define Y2_MOTOR_FAULT_PIN    M3_MOTOR_FAULT_PIN

   #define Y2_MOTOR_FAULT_BIT    (1<<M3_MOTOR_FAULT_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_HOME_PIN

  #if Y_AUTO_SQUARE

   #define Y2_HOME_PORT      M4_HOME_PORT

   #define Y2_HOME_PIN       M4_HOME_PIN

   #define Y2_HOME_BIT       (1<<M4_HOME_PIN)

  #endif

 #elif Y_AUTO_SQUARE && defined(Y_HOME_PIN)

   #error "Auto squared Y-axis requires second home pin input"

 #endif

 #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

 #ifdef M4_MOTOR_FAULT_PIN

   #define Y2_MOTOR_FAULT_PORT   M4_MOTOR_FAULT_PORT

   #define Y2_MOTOR_FAULT_PIN    M4_MOTOR_FAULT_PIN

   #define Y2_MOTOR_FAULT_BIT    (1<<M4_MOTOR_FAULT_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_HOME_PIN

  #if Y_AUTO_SQUARE

   #define Y2_HOME_PORT      M5_HOME_PORT

   #define Y2_HOME_PIN       M5_HOME_PIN

   #define Y2_HOME_BIT       (1<<M5_HOME_PIN)

  #endif

 #elif Y_AUTO_SQUARE && defined(Y_HOME_PIN)

   #error "Auto squared Y-axis requires second home pin input"

 #endif

 #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

 #ifdef M5_MOTOR_FAULT_PIN

   #define Y2_MOTOR_FAULT_PORT   M5_MOTOR_FAULT_PORT

   #define Y2_MOTOR_FAULT_PIN    M5_MOTOR_FAULT_PIN

   #define Y2_MOTOR_FAULT_BIT    (1<<M5_MOTOR_FAULT_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_HOME_PIN

  #if Y_AUTO_SQUARE

   #define Y2_HOME_PORT      M6_HOME_PORT

   #define Y2_HOME_PIN       M6_HOME_PIN

   #define Y2_HOME_BIT       (1<<M6_HOME_PIN)

  #endif

 #elif Y_AUTO_SQUARE && defined(Y_HOME_PIN)

   #error "Auto squared Y-axis requires second home pin input"

 #endif

 #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

 #ifdef M6_MOTOR_FAULT_PIN

   #define Y2_MOTOR_FAULT_PORT   M6_MOTOR_FAULT_PORT

   #define Y2_MOTOR_FAULT_PIN    M6_MOTOR_FAULT_PIN

   #define Y2_MOTOR_FAULT_BIT    (1<<M6_MOTOR_FAULT_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_HOME_PIN

  #if Y_AUTO_SQUARE

   #define Y2_HOME_PORT      M7_HOME_PORT

   #define Y2_HOME_PIN       M7_HOME_PIN

   #define Y2_HOME_BIT       (1<<M7_HOME_PIN)

  #endif

 #elif Y_AUTO_SQUARE && defined(Y_HOME_PIN)

   #error "Auto squared Y-axis requires second home pin input"

 #endif

 #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

 #ifdef M7_MOTOR_FAULT_PIN

   #define Y2_MOTOR_FAULT_PORT   M7_MOTOR_FAULT_PORT

   #define Y2_MOTOR_FAULT_PIN    M7_MOTOR_FAULT_PIN

   #define Y2_MOTOR_FAULT_BIT    (1<<M7_MOTOR_FAULT_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_HOME_PIN

  #if Z_AUTO_SQUARE

   #define Z2_HOME_PORT      M3_HOME_PORT

   #define Z2_HOME_PIN       M3_HOME_PIN

   #define Z2_HOME_BIT       (1<<M3_HOME_PIN)

  #endif

 #elif Z_AUTO_SQUARE && defined(Y_HOME_PIN)

   #error "Auto squared Z-axis requires second home pin input"

 #endif

 #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

 #ifdef M3_MOTOR_FAULT_PIN

   #define Z2_MOTOR_FAULT_PORT   M3_MOTOR_FAULT_PORT

   #define Z2_MOTOR_FAULT_PIN    M3_MOTOR_FAULT_PIN

   #define Z2_MOTOR_FAULT_BIT    (1<<M3_MOTOR_FAULT_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_HOME_PIN

  #if Z_AUTO_SQUARE

   #define Z2_HOME_PORT      M4_HOME_PORT

   #define Z2_HOME_PIN       M4_HOME_PIN

   #define Z2_HOME_BIT       (1<<M4_HOME_PIN)

  #endif

 #elif Z_AUTO_SQUARE && defined(Z_HOME_PIN)

   #error "Auto squared Z-axis requires second home pin input"

 #endif

 #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

 #ifdef M4_MOTOR_FAULT_PIN

   #define Z2_MOTOR_FAULT_PORT   M4_MOTOR_FAULT_PORT

   #define Z2_MOTOR_FAULT_PIN    M4_MOTOR_FAULT_PIN

   #define Z2_MOTOR_FAULT_BIT    (1<<M4_MOTOR_FAULT_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_HOME_PIN

  #if Z_AUTO_SQUARE

   #define Z2_HOME_PORT      M5_HOME_PORT

   #define Z2_HOME_PIN       M5_HOME_PIN

   #define Z2_HOME_BIT       (1<<M5_HOME_PIN)

  #endif

 #elif Z_AUTO_SQUARE && defined(Z_HOME_PIN)

   #error "Auto squared Z-axis requires second home pin input"

 #endif

 #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

 #ifdef M5_MOTOR_FAULT_PIN

   #define Z2_MOTOR_FAULT_PORT   M5_MOTOR_FAULT_PORT

   #define Z2_MOTOR_FAULT_PIN    M5_MOTOR_FAULT_PIN

   #define Z2_MOTOR_FAULT_BIT    (1<<M5_MOTOR_FAULT_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_HOME_PIN

  #if Z_AUTO_SQUARE

   #define Z2_HOME_PORT      M6_HOME_PORT

   #define Z2_HOME_PIN       M6_HOME_PIN

   #define Z2_HOME_BIT       (1<<M6_HOME_PIN)

  #endif

 #elif Z_AUTO_SQUARE && defined(Z_HOME_PIN)

   #error "Auto squared Z-axis requires second home pin input"

 #endif

 #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

 #ifdef M6_MOTOR_FAULT_PIN

   #define Z2_MOTOR_FAULT_PORT   M6_MOTOR_FAULT_PORT

   #define Z2_MOTOR_FAULT_PIN    M6_MOTOR_FAULT_PIN

   #define Z2_MOTOR_FAULT_BIT    (1<<M6_MOTOR_FAULT_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_HOME_PIN

  #if Z_AUTO_SQUARE

   #define Z2_HOME_PORT      M7_HOME_PORT

   #define Z2_HOME_PIN       M7_HOME_PIN

   #define Z2_HOME_BIT       (1<<M7_HOME_PIN)

  #endif

 #elif Z_AUTO_SQUARE && defined(Z_HOME_PIN)

   #error "Auto squared Z-axis requires second home pin input"

 #endif

 #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

 #ifdef M7_MOTOR_FAULT_PIN

   #define Z2_MOTOR_FAULT_PORT   M7_MOTOR_FAULT_PORT

   #define Z2_MOTOR_FAULT_PIN    M7_MOTOR_FAULT_PIN

   #define Z2_MOTOR_FAULT_BIT    (1<<M7_MOTOR_FAULT_PIN)

 #endif


 #endif // Z_DOUBLED


 #ifdef X_DOUBLED

 #define X2_MOTOR (X_DOUBLED + 2)

 #endif

 #ifdef Y_DOUBLED

 #define Y2_MOTOR (Y_DOUBLED + 2)

 #endif

 #ifdef Z_DOUBLED

 #define Z2_MOTOR (Z_DOUBLED + 2)

 #endif


 #endif // N_GANGED


 #if defined(X2_HOME_PIN) || defined(Y2_HOME_PIN) || defined(Z2_HOME_PIN)

 #define DUAL_HOME_SWITCHES

 #ifndef X2_HOME_BIT

 #define X2_HOME_BIT 0

 #endif

 #ifndef Y2_HOME_BIT

 #define Y2_HOME_BIT 0

 #endif

 #ifndef Z2_HOME_BIT

 #define Z2_HOME_BIT 0

 #endif

 #define HOME2_MASK (X2_HOME_BIT|Y2_HOME_BIT|Z2_HOME_BIT)

 #define HOME2_MASK_SUM (X2_HOME_BIT+Y2_HOME_BIT+Z2_HOME_BIT)

 #else

 #define HOME2_MASK 0

 #define HOME2_MASK_SUM 0

 #endif


 #if defined(X2_MOTOR_FAULT_PIN) || defined(Y2_MOTOR_FAULT_PIN) || defined(Z2_MOTOR_FAULT_PIN)

 #define DUAL_MOTOR_FAULT_SWITCHES

 #ifndef X2_MOTOR_FAULT_BIT

 #define X2_MOTOR_FAULT_BIT 0

 #endif

 #ifndef Y2_MOTOR_FAULT_BIT

 #define Y2_MOTOR_FAULT_BIT 0

 #endif

 #ifndef Z2_MOTOR_FAULT_BIT

 #define Z2_MOTOR_FAULT_BIT 0

 #endif

 #define MOTOR_FAULT2_MASK (X2_MOTOR_FAULT_BIT|Y2_MOTOR_FAULT_BIT|Z2_MOTOR_FAULT_BIT)

 #define MOTOR_FAULT2_MASK_SUM (X2_MOTOR_FAULT_BIT+Y2_MOTOR_FAULT_BIT+Z2_MOTOR_FAULT_BIT)

 #else

 #define MOTOR_FAULT2_MASK 0

 #define MOTOR_FAULT2_MASK_SUM 0

 #endif


 #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_HOME_PIN

   #define A_HOME_PORT       M3_HOME_PORT

   #define A_HOME_PIN        M3_HOME_PIN

   #define A_HOME_BIT        (1<<M3_HOME_PIN)

 #endif

 #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

 #ifdef M3_MOTOR_FAULT_PIN

   #define A_MOTOR_FAULT_PORT    M3_MOTOR_FAULT_PORT

   #define A_MOTOR_FAULT_PIN     M3_MOTOR_FAULT_PIN

   #define A_MOTOR_FAULT_BIT     (1<<M3_MOTOR_FAULT_PIN)

 #endif


 #endif // A_AXIS


 #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_HOME_PIN

   #define B_HOME_PORT       M4_HOME_PORT

   #define B_HOME_PIN        M4_HOME_PIN

   #define B_HOME_BIT        (1<<M4_HOME_PIN)

 #endif

 #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

 #ifdef M4_MOTOR_FAULT_PIN

   #define B_MOTOR_FAULT_PORT    M4_MOTOR_FAULT_PORT

   #define B_MOTOR_FAULT_PIN     M4_MOTOR_FAULT_PIN

   #define B_MOTOR_FAULT_BIT     (1<<M4_MOTOR_FAULT_PIN)

 #endif


 #endif //B_AXIS


 #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_HOME_PIN

   #define C_HOME_PORT       M5_HOME_PORT

   #define C_HOME_PIN        M5_HOME_PIN

   #define C_HOME_BIT        (1<<M5_HOME_PIN)

 #endif

 #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

 #ifdef M5_MOTOR_FAULT_PIN

   #define C_MOTOR_FAULT_PORT    M5_MOTOR_FAULT_PORT

   #define C_MOTOR_FAULT_PIN     M5_MOTOR_FAULT_PIN

   #define C_MOTOR_FAULT_BIT     (1<<M5_MOTOR_FAULT_PIN)

 #endif


 #endif // C_AXIS


 #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_HOME_PIN

   #define U_HOME_PORT       M6_HOME_PORT

   #define U_HOME_PIN        M6_HOME_PIN

   #define U_HOME_BIT        (1<<M6_HOME_PIN)

 #endif

 #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

 #ifdef M6_MOTOR_FAULT_PIN

   #define U_MOTOR_FAULT_PORT    M6_MOTOR_FAULT_PORT

   #define U_MOTOR_FAULT_PIN     M6_MOTOR_FAULT_PIN

   #define U_MOTOR_FAULT_BIT     (1<<M6_MOTOR_FAULT_PIN)

 #endif


 #endif // U_AXIS


 #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_HOME_PIN

   #define V_HOME_PORT       M7_HOME_PORT

   #define V_HOME_PIN        M7_HOME_PIN

   #define V_HOME_BIT        (1<<M7_HOME_PIN)

 #endif

 #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

 #ifdef M7_MOTOR_FAULT_PIN

   #define V_MOTOR_FAULT_PORT    M7_MOTOR_FAULT_PORT

   #define V_MOTOR_FAULT_PIN     M7_MOTOR_FAULT_PIN

   #define V_MOTOR_FAULT_BIT     (1<<M6_MOTOR_FAULT_PIN)

 #endif


 #endif // V_AXIS


 #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_HOME_BIT

 #ifdef X_HOME_PIN

 #define X_HOME_BIT (1<<X_HOME_PIN)

 #else

 #define X_HOME_BIT 0

 #endif

 #endif

 #ifndef Y_HOME_BIT

 #ifdef Y_HOME_PIN

 #define Y_HOME_BIT (1<<Y_HOME_PIN)

 #else

 #define Y_HOME_BIT 0

 #endif

 #endif

 #ifndef Z_HOME_BIT

 #ifdef Z_HOME_PIN

 #define Z_HOME_BIT (1<<Z_HOME_PIN)

 #else

 #define Z_HOME_BIT 0

 #endif

 #endif


 #ifndef X_MOTOR_FAULT_BIT

 #ifdef X_MOTOR_FAULT_PIN

 #define X_MOTOR_FAULT_BIT (1<<X_MOTOR_FAULT_PIN)

 #else

 #define X_MOTOR_FAULT_BIT 0

 #endif

 #endif

 #ifndef Y_MOTOR_FAULT_BIT

 #ifdef Y_MOTOR_FAULT_PIN

 #define Y_MOTOR_FAULT_BIT (1<<Y_MOTOR_FAULT_PIN)

 #else

 #define Y_MOTOR_FAULT_BIT 0

 #endif

 #endif

 #ifndef Z_MOTOR_FAULT_BIT

 #ifdef Z_MOTOR_FAULT_PIN

 #define Z_MOTOR_FAULT_BIT (1<<Z_MOTOR_FAULT_PIN)

 #else

 #define Z_MOTOR_FAULT_BIT 0

 #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

 #ifndef A_LIMIT_BIT_MAX

 #ifdef A_LIMIT_PIN_MAX

 #define A_LIMIT_BIT_MAX (1<<A_LIMIT_PIN_MAX)

 #else

 #define A_LIMIT_BIT_MAX 0

 #endif

 #endif

 #ifndef B_LIMIT_BIT_MAX

 #ifdef B_LIMIT_PIN_MAX

 #define B_LIMIT_BIT_MAX (1<<B_LIMIT_PIN_MAX)

 #else

 #define B_LIMIT_BIT_MAX 0

 #endif

 #endif

 #ifndef C_LIMIT_BIT_MAX

 #ifdef C_LIMIT_PIN_MAX

 #define C_LIMIT_BIT_MAX (1<<C_LIMIT_PIN_MAX)

 #else

 #define C_LIMIT_BIT_MAX 0

 #endif

 #endif

 #ifndef U_LIMIT_BIT_MAX

 #ifdef U_LIMIT_PIN_MAX

 #define U_LIMIT_BIT_MAX (1<<U_LIMIT_PIN_MAX)

 #else

 #define U_LIMIT_BIT_MAX 0

 #endif

 #endif

 #ifndef V_LIMIT_BIT_MAX

 #ifdef V_LIMIT_PIN_MAX

 #define V_LIMIT_BIT_MAX (1<<V_LIMIT_PIN_MAX)

 #else

 #define V_LIMIT_BIT_MAX 0

 #endif

 #endif


 #define LIMIT_MAX_MASK (X_LIMIT_BIT_MAX|Y_LIMIT_BIT_MAX|Z_LIMIT_BIT_MAX|A_LIMIT_BIT_MAX|B_LIMIT_BIT_MAX|C_LIMIT_BIT_MAX|U_LIMIT_BIT_MAX|V_LIMIT_BIT_MAX)

 #define LIMIT_MAX_SUM (X_LIMIT_BIT_MAX+Y_LIMIT_BIT_MAX+Z_LIMIT_BIT_MAX+A_LIMIT_BIT_MAX+B_LIMIT_BIT_MAX+C_LIMIT_BIT_MAX+U_LIMIT_BIT_MAX+V_LIMIT_BIT_MAX)


 #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 HOME_MASK


 #define HOME_MASK_BASE (X_HOME_BIT|Y_HOME_BIT|Z_HOME_BIT|HOME2_MASK)

 #define HOME_MASK_BASE_SUM (X_HOME_BIT+Y_HOME_BIT+Z_HOME_BIT+HOME2_MASK_SUM)


 #if N_AXIS == 3

 #define HOME_MASK HOME_MASK_BASE

 #define HOME_MASK_SUM HOME_MASK_BASE_SUM

 #define HOME_MIN_CAP AXES_BITMASK

 #elif N_AXIS == 4

 #define HOME_MASK (HOME_MASK_BASE|A_HOME_BIT)

 #define HOME_MASK_SUM (HOME_MASK_BASE_SUM+A_HOME_BIT)

 #elif N_AXIS == 5

 #define HOME_MASK (HOME_MASK_BASE|A_HOME_BIT|B_HOME_BIT)

 #define HOME_MASK_SUM (HOME_MASK_BASE_SUM+A_HOME_BIT+B_HOME_BIT)

 #elif N_AXIS == 6

 #define HOME_MASK (HOME_MASK_BASE|A_HOME_BIT|B_HOME_BIT|C_HOME_BIT)

 #define HOME_MASK_SUM (HOME_MASK_BASE_SUM+A_HOME_BIT+B_HOME_BIT+C_HOME_BIT)

 #elif N_AXIS == 7

 #define HOME_MASK (HOME_MASK_BASE|A_HOME_BIT|B_HOME_BIT|C_HOME_BIT|U_HOME_BIT)

 #define HOME_MASK_SUM (HOME_MASK_BASE_SUM+A_HOME_BIT+B_HOME_BIT+C_HOME_BIT+U_HOME_BIT)

 #else

 #define HOME_MASK (HOME_MASK_BASE|A_HOME_BIT|B_HOME_BIT|C_HOME_BIT|U_HOME_BIT|V_HOME_BIT)

 #define HOME_MASK_SUM (HOME_MASK_BASE_SUM+A_HOME_BIT+B_HOME_BIT+C_HOME_BIT+U_HOME_BIT+V_HOME_BIT)

 #endif


 #endif // HOME_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|LIMIT_MAX_MASK)

 #define LIMIT_MASK_BASE_SUM (X_LIMIT_BIT+Y_LIMIT_BIT+LIMIT2_MASK_SUM+LIMIT_MAX_SUM)

 #else

 #define LIMIT_MASK_BASE (X_LIMIT_BIT|Y_LIMIT_BIT|Z_LIMIT_BIT|LIMIT2_MASK|LIMIT_MAX_MASK)

 #define LIMIT_MASK_BASE_SUM (X_LIMIT_BIT+Y_LIMIT_BIT+Z_LIMIT_BIT+LIMIT2_MASK_SUM+LIMIT_MAX_SUM)

 #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 MOTOR_FAULT_MASK


 #define MOTOR_FAULT_MASK_BASE (X_MOTOR_FAULT_BIT|Y_MOTOR_FAULT_BIT|Z_MOTOR_FAULT_BIT|MOTOR_FAULT2_MASK)

 #define MOTOR_FAULT_MASK_BASE_SUM (X_MOTOR_FAULT_BIT+Y_MOTOR_FAULT_BIT+Z_MOTOR_FAULT_BIT+MOTOR_FAULT2_MASK_SUM)


 #if N_AXIS == 3

 #define MOTOR_FAULT_MASK MOTOR_FAULT_MASK_BASE

 #define MOTOR_FAULT_MASK_SUM MOTOR_FAULT_MASK_BASE_SUM

 #define MOTOR_FAULT_MIN_CAP AXES_BITMASK

 #elif N_AXIS == 4

 #define MOTOR_FAULT_MASK (MOTOR_FAULT_MASK_BASE|A_MOTOR_FAULT_BIT)

 #define MOTOR_FAULT_MASK_SUM (MOTOR_FAULT_MASK_BASE_SUM+A_MOTOR_FAULT_BIT)

 #elif N_AXIS == 5

 #define MOTOR_FAULT_MASK (MOTOR_FAULT_MASK_BASE|A_MOTOR_FAULT_BIT|B_MOTOR_FAULT_BIT)

 #define MOTOR_FAULT_MASK_SUM (MOTOR_FAULT_MASK_BASE_SUM+A_MOTOR_FAULT_BIT+B_MOTOR_FAULT_BIT)

 #elif N_AXIS == 6

 #define MOTOR_FAULT_MASK (MOTOR_FAULT_MASK_BASE|A_MOTOR_FAULT_BIT|B_MOTOR_FAULT_BIT|C_MOTOR_FAULT_BIT)

 #define MOTOR_FAULT_MASK_SUM (MOTOR_FAULT_MASK_BASE_SUM+A_MOTOR_FAULT_BIT+B_MOTOR_FAULT_BIT+C_MOTOR_FAULT_BIT)

 #elif N_AXIS == 7

 #define MOTOR_FAULT_MASK (MOTOR_FAULT_MASK_BASE|A_MOTOR_FAULT_BIT|B_MOTOR_FAULT_BIT|C_MOTOR_FAULT_BIT|U_MOTOR_FAULT_BIT)

 #define MOTOR_FAULT_MASK_SUM (MOTOR_FAULT_MASK_BASE_SUM+A_MOTOR_FAULT_BIT+B_MOTOR_FAULT_BIT+C_MOTOR_FAULT_BIT+U_MOTOR_FAULT_BIT)

 #else

 #define MOTOR_FAULT_MASK (MOTOR_FAULT_MASK_BASE|A_MOTOR_FAULT_BIT|B_MOTOR_FAULT_BIT|C_MOTOR_FAULT_BIT|U_MOTOR_FAULT_BIT|V_MOTOR_FAULT_BIT)

 #define MOTOR_FAULT_MASK_SUM (MOTOR_FAULT_MASK_BASE_SUM+A_MOTOR_FAULT_BIT+B_MOTOR_FAULT_BIT+C_MOTOR_FAULT_BIT+U_MOTOR_FAULT_BIT+V_MOTOR_FAULT_BIT)

 #endif


 #endif // MOTOR_FAULT_MASK


 #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 inline 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 inline home_signals_t get_home_cap (void)

 {

     home_signals_t home = {0};


 #if HOME_MASK


 #if X_HOME_BIT

     home.a.x = On;

 #endif

 #if Y_HOME_BIT

     home.a.y = On;

 #endif

 #if Z_HOME_BIT

     home.a.z = On;

 #endif

 #if A_HOME_BIT

     home.a.a = On;

 #endif

 #if B_HOME_BIT

     home.a.b = On;

 #endif

 #if C_HOME_BIT

     home.a.c = On;

 #endif

 #if U_HOME_BIT

     home.a.u = On;

 #endif

 #if V_HOME_BIT

     home.a.v = On;

 #endif


 #if X2_HOME_BIT

     home.b.x = On;

 #endif

 #if Y2_HOME_BIT

     home.b.y = On;

 #endif

 #if Z2_HOME_BIT

     home.b.z = On;

 #endif


 #endif // HOME_MASK


     return home;

 }


 static inline home_signals_t get_motor_fault_cap (void)

 {

     home_signals_t motor_fault = {0};


 #if MOTOR_FAULT_MASK


 #if X_MOTOR_FAULT_BIT

     motor_fault.a.x = On;

 #endif

 #if Y_MOTOR_FAULT_BIT

     motor_fault.a.y = On;

 #endif

 #if Z_MOTOR_FAULT_BIT

     motor_fault.a.z = On;

 #endif

 #if A_MOTOR_FAULT_BIT

     motor_fault.a.a = On;

 #endif

 #if B_MOTOR_FAULT_BIT

     motor_fault.a.b = On;

 #endif

 #if C_MOTOR_FAULT_BIT

     motor_fault.a.c = On;

 #endif

 #if U_MOTOR_FAULT_BIT

     motor_fault.a.u = On;

 #endif

 #if V_MOTOR_FAULT_BIT

     motor_fault.a.v = On;

 #endif


 #if X2_MOTOR_FAULT_BIT

     motor_fault.b.x = On;

 #endif

 #if Y2_MOTOR_FAULT_BIT

     motor_fault.b.y = On;

 #endif

 #if Z2_MOTOR_FAULT_BIT

     motor_fault.b.z = On;

 #endif


 #endif // MOTOR_FAULT_MASK


     return motor_fault;

 }


 /*EOF*/

N_AXIS
#define N_AXIS
Defines number of axes supported - minimum 3, maximum 8. If more than 3 axes are configured a complia...
Definition: config.h:42

motor_iterator_callback_ptr
void(* motor_iterator_callback_ptr)(motor_map_t motor)
Signature of the callback function to receive motor vs. axis mappings.
Definition: hal.h:225

N_GANGED
#define N_GANGED
Definition: motor_pins.h:1483

X_AXIS
#define X_AXIS
Definition: nuts_bolts.h:68

Z_AXIS
#define Z_AXIS
Definition: nuts_bolts.h:70

On
#define On
Definition: nuts_bolts.h:36

Y_AXIS
#define Y_AXIS
Definition: nuts_bolts.h:69

home_signals_t
Home switches struct, consists of two packed axes_signals_t structs.
Definition: nuts_bolts.h:187

home_signals_t::a
axes_signals_t a
Primary home switches status, optional. Limit signals are used for homing if not available.
Definition: nuts_bolts.h:188

home_signals_t::b
axes_signals_t b
Secondary home switch(es) status, required for auto squaring enabled axes if primary switches are ava...
Definition: nuts_bolts.h:189

axes_signals_t::u
uint8_t u
Definition: nuts_bolts.h:136

axes_signals_t::x
uint8_t x
Definition: nuts_bolts.h:130

axes_signals_t::y
uint8_t y
Definition: nuts_bolts.h:131

axes_signals_t::c
uint8_t c
Definition: nuts_bolts.h:135

axes_signals_t::b
uint8_t b
Definition: nuts_bolts.h:134

axes_signals_t::v
uint8_t v
Definition: nuts_bolts.h:137

axes_signals_t::z
uint8_t z
Definition: nuts_bolts.h:132

axes_signals_t::a
uint8_t a
Definition: nuts_bolts.h:133

limit_signals_t
Limit switches struct, consists of four packed axes_signals_t structs in 32 bits.
Definition: nuts_bolts.h:176

limit_signals_t::min
axes_signals_t min
Min limit switches status, required.
Definition: nuts_bolts.h:179

limit_signals_t::min2
axes_signals_t min2
Secondary min limit switch(es) status, required for auto squaring enabled axes.
Definition: nuts_bolts.h:181

limit_signals_t::max
axes_signals_t max
Max limit switches status, optional.
Definition: nuts_bolts.h:180

motor_map_t
Motor vs. axis mapping NOTE: id and axis values are equal for primary motors, unequal for secondary (...
Definition: hal.h:214

motor_map_t::axis
uint32_t axis
Definition: hal.h:218

motor_map_t::id
uint32_t id
Definition: hal.h:217