367 lines
13 KiB
C
367 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 <http://www.gnu.org/licenses/>.
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*
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*/
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#pragma once
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/**
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* Fast I/O Routines for AVR
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* Use direct port manipulation to save scads of processor time.
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* Contributed by Triffid_Hunter and modified by Kliment, thinkyhead, Bob-the-Kuhn, et.al.
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*/
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#include <avr/io.h>
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#define AVR_AT90USB1286_FAMILY (defined(__AVR_AT90USB1287__) || defined(__AVR_AT90USB1286__) || defined(__AVR_AT90USB1286P__) || defined(__AVR_AT90USB646__) || defined(__AVR_AT90USB646P__) || defined(__AVR_AT90USB647__))
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#define AVR_ATmega1284_FAMILY (defined(__AVR_ATmega644__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega644PA__) || defined(__AVR_ATmega1284P__))
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#define AVR_ATmega2560_FAMILY (defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__))
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#define AVR_ATmega2561_FAMILY (defined(__AVR_ATmega1281__) || defined(__AVR_ATmega2561__))
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#define AVR_ATmega328_FAMILY (defined(__AVR_ATmega168__) || defined(__AVR_ATmega328__) || defined(__AVR_ATmega328P__))
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/**
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* Include Ports and Functions
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*/
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#if AVR_ATmega328_FAMILY
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#include "fastio/fastio_168.h"
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#elif AVR_ATmega1284_FAMILY
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#include "fastio/fastio_644.h"
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#elif AVR_ATmega2560_FAMILY
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#include "fastio/fastio_1280.h"
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#elif AVR_AT90USB1286_FAMILY
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#include "fastio/fastio_AT90USB.h"
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#elif AVR_ATmega2561_FAMILY
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#include "fastio/fastio_1281.h"
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#else
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#error "No FastIO definition for the selected AVR Board."
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#endif
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/**
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* Magic I/O routines
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*
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* Now you can simply SET_OUTPUT(PIN); WRITE(PIN, HIGH); WRITE(PIN, LOW);
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*
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* Why double up on these macros? see http://gcc.gnu.org/onlinedocs/cpp/Stringification.html
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*/
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#define _READ(IO) TEST(DIO ## IO ## _RPORT, DIO ## IO ## _PIN)
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#define _WRITE_NC(IO,V) do{ \
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if (V) SBI(DIO ## IO ## _WPORT, DIO ## IO ## _PIN); \
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else CBI(DIO ## IO ## _WPORT, DIO ## IO ## _PIN); \
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}while(0)
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#define _WRITE_C(IO,V) do{ \
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uint8_t port_bits = DIO ## IO ## _WPORT; /* Get a mask from the current port bits */ \
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if (V) port_bits = ~port_bits; /* For setting bits, invert the mask */ \
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DIO ## IO ## _RPORT = port_bits & _BV(DIO ## IO ## _PIN); /* Atomically toggle the output port bits */ \
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}while(0)
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#define _WRITE(IO,V) do{ if (&(DIO ## IO ## _RPORT) < (uint8_t*)0x100) _WRITE_NC(IO,V); else _WRITE_C(IO,V); }while(0)
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#define _TOGGLE(IO) (DIO ## IO ## _RPORT = _BV(DIO ## IO ## _PIN))
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#define _SET_INPUT(IO) CBI(DIO ## IO ## _DDR, DIO ## IO ## _PIN)
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#define _SET_OUTPUT(IO) SBI(DIO ## IO ## _DDR, DIO ## IO ## _PIN)
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#define _IS_INPUT(IO) !TEST(DIO ## IO ## _DDR, DIO ## IO ## _PIN)
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#define _IS_OUTPUT(IO) TEST(DIO ## IO ## _DDR, DIO ## IO ## _PIN)
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// digitalRead/Write wrappers
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#ifdef FASTIO_EXT_START
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void extDigitalWrite(const int8_t pin, const uint8_t state);
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uint8_t extDigitalRead(const int8_t pin);
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#else
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#define extDigitalWrite(IO,V) digitalWrite(IO,V)
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#define extDigitalRead(IO) digitalRead(IO)
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#endif
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#define READ(IO) _READ(IO)
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#define WRITE(IO,V) _WRITE(IO,V)
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#define TOGGLE(IO) _TOGGLE(IO)
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#define SET_INPUT(IO) _SET_INPUT(IO)
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#define SET_INPUT_PULLUP(IO) do{ _SET_INPUT(IO); _WRITE(IO, HIGH); }while(0)
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#define SET_INPUT_PULLDOWN SET_INPUT
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#define SET_OUTPUT(IO) _SET_OUTPUT(IO)
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#define SET_PWM SET_OUTPUT
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#define IS_INPUT(IO) _IS_INPUT(IO)
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#define IS_OUTPUT(IO) _IS_OUTPUT(IO)
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#define OUT_WRITE(IO,V) do{ SET_OUTPUT(IO); WRITE(IO,V); }while(0)
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/**
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* Timer and Interrupt Control
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*/
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// Waveform Generation Modes
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enum WaveGenMode : char {
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WGM_NORMAL, // 0
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WGM_PWM_PC_8, // 1
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WGM_PWM_PC_9, // 2
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WGM_PWM_PC_10, // 3
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WGM_CTC_OCRnA, // 4 COM OCnx
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WGM_FAST_PWM_8, // 5
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WGM_FAST_PWM_9, // 6
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WGM_FAST_PWM_10, // 7
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WGM_PWM_PC_FC_ICRn, // 8
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WGM_PWM_PC_FC_OCRnA, // 9 COM OCnA
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WGM_PWM_PC_ICRn, // 10
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WGM_PWM_PC_OCRnA, // 11 COM OCnA
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WGM_CTC_ICRn, // 12 COM OCnx
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WGM_reserved, // 13
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WGM_FAST_PWM_ICRn, // 14 COM OCnA
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WGM_FAST_PWM_OCRnA // 15 COM OCnA
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};
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// Wavefore Generation Modes (Timer 2 only)
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enum WaveGenMode2 : char {
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WGM2_NORMAL, // 0
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WGM2_PWM_PC, // 1
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WGM2_CTC_OCR2A, // 2
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WGM2_FAST_PWM, // 3
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WGM2_reserved_1, // 4
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WGM2_PWM_PC_OCR2A, // 5
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WGM2_reserved_2, // 6
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WGM2_FAST_PWM_OCR2A, // 7
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};
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// Compare Modes
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enum CompareMode : char {
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COM_NORMAL, // 0
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COM_TOGGLE, // 1 Non-PWM: OCnx ... Both PWM (WGM 9,11,14,15): OCnA only ... else NORMAL
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COM_CLEAR_SET, // 2 Non-PWM: OCnx ... Fast PWM: OCnx/Bottom ... PF-FC: OCnx Up/Down
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COM_SET_CLEAR // 3 Non-PWM: OCnx ... Fast PWM: OCnx/Bottom ... PF-FC: OCnx Up/Down
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};
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// Clock Sources
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enum ClockSource : char {
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CS_NONE, // 0
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CS_PRESCALER_1, // 1
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CS_PRESCALER_8, // 2
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CS_PRESCALER_64, // 3
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CS_PRESCALER_256, // 4
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CS_PRESCALER_1024, // 5
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CS_EXT_FALLING, // 6
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CS_EXT_RISING // 7
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};
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// Clock Sources (Timer 2 only)
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enum ClockSource2 : char {
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CS2_NONE, // 0
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CS2_PRESCALER_1, // 1
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CS2_PRESCALER_8, // 2
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CS2_PRESCALER_32, // 3
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CS2_PRESCALER_64, // 4
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CS2_PRESCALER_128, // 5
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CS2_PRESCALER_256, // 6
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CS2_PRESCALER_1024 // 7
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};
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// Get interrupt bits in an orderly way
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// Ex: cs = GET_CS(0); coma1 = GET_COM(A,1);
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#define GET_WGM(T) (((TCCR##T##A >> WGM##T##0) & 0x3) | ((TCCR##T##B >> WGM##T##2 << 2) & 0xC))
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#define GET_CS(T) ((TCCR##T##B >> CS##T##0) & 0x7)
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#define GET_COM(T,Q) ((TCCR##T##Q >> COM##T##Q##0) & 0x3)
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#define GET_COMA(T) GET_COM(T,A)
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#define GET_COMB(T) GET_COM(T,B)
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#define GET_COMC(T) GET_COM(T,C)
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#define GET_ICNC(T) (!!(TCCR##T##B & _BV(ICNC##T)))
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#define GET_ICES(T) (!!(TCCR##T##B & _BV(ICES##T)))
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#define GET_FOC(T,Q) (!!(TCCR##T##C & _BV(FOC##T##Q)))
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#define GET_FOCA(T) GET_FOC(T,A)
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#define GET_FOCB(T) GET_FOC(T,B)
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#define GET_FOCC(T) GET_FOC(T,C)
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// Set Wave Generation Mode bits
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// Ex: SET_WGM(5,CTC_ICRn);
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#define _SET_WGM(T,V) do{ \
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TCCR##T##A = (TCCR##T##A & ~(0x3 << WGM##T##0)) | (( int(V) & 0x3) << WGM##T##0); \
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TCCR##T##B = (TCCR##T##B & ~(0x3 << WGM##T##2)) | (((int(V) >> 2) & 0x3) << WGM##T##2); \
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}while(0)
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#define SET_WGM(T,V) _SET_WGM(T,WGM_##V)
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// Runtime (see set_pwm_frequency):
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#define _SET_WGMnQ(TCCRnQ, V) do{ \
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*(TCCRnQ)[0] = (*(TCCRnQ)[0] & ~(0x3 << 0)) | (( int(V) & 0x3) << 0); \
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*(TCCRnQ)[1] = (*(TCCRnQ)[1] & ~(0x3 << 3)) | (((int(V) >> 2) & 0x3) << 3); \
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}while(0)
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// Set Clock Select bits
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// Ex: SET_CS3(PRESCALER_64);
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#define _SET_CS(T,V) (TCCR##T##B = (TCCR##T##B & ~(0x7 << CS##T##0)) | ((int(V) & 0x7) << CS##T##0))
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#define _SET_CS0(V) _SET_CS(0,V)
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#define _SET_CS1(V) _SET_CS(1,V)
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#ifdef TCCR2
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#define _SET_CS2(V) (TCCR2 = (TCCR2 & ~(0x7 << CS20)) | (int(V) << CS20))
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#else
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#define _SET_CS2(V) _SET_CS(2,V)
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#endif
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#define _SET_CS3(V) _SET_CS(3,V)
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#define _SET_CS4(V) _SET_CS(4,V)
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#define _SET_CS5(V) _SET_CS(5,V)
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#define SET_CS0(V) _SET_CS0(CS_##V)
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#define SET_CS1(V) _SET_CS1(CS_##V)
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#ifdef TCCR2
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#define SET_CS2(V) _SET_CS2(CS2_##V)
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#else
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#define SET_CS2(V) _SET_CS2(CS_##V)
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#endif
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#define SET_CS3(V) _SET_CS3(CS_##V)
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#define SET_CS4(V) _SET_CS4(CS_##V)
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#define SET_CS5(V) _SET_CS5(CS_##V)
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#define SET_CS(T,V) SET_CS##T(V)
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// Runtime (see set_pwm_frequency)
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#define _SET_CSn(TCCRnQ, V) do{ \
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(*(TCCRnQ)[1] = (*(TCCRnQ[1]) & ~(0x7 << 0)) | ((int(V) & 0x7) << 0)); \
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}while(0)
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// Set Compare Mode bits
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// Ex: SET_COMS(4,CLEAR_SET,CLEAR_SET,CLEAR_SET);
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#define _SET_COM(T,Q,V) (TCCR##T##Q = (TCCR##T##Q & ~(0x3 << COM##T##Q##0)) | (int(V) << COM##T##Q##0))
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#define SET_COM(T,Q,V) _SET_COM(T,Q,COM_##V)
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#define SET_COMA(T,V) SET_COM(T,A,V)
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#define SET_COMB(T,V) SET_COM(T,B,V)
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#define SET_COMC(T,V) SET_COM(T,C,V)
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#define SET_COMS(T,V1,V2,V3) do{ SET_COMA(T,V1); SET_COMB(T,V2); SET_COMC(T,V3); }while(0)
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// Runtime (see set_pwm_duty)
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#define _SET_COMnQ(TCCRnQ, Q, V) do{ \
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(*(TCCRnQ)[0] = (*(TCCRnQ)[0] & ~(0x3 << (6-2*(Q)))) | (int(V) << (6-2*(Q)))); \
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}while(0)
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// Set OCRnQ register
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// Runtime (see set_pwm_duty):
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#define _SET_OCRnQ(OCRnQ, Q, V) do{ \
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(*(OCRnQ)[(Q)] = (0x0000) | (int(V) & 0xFFFF)); \
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}while(0)
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// Set ICRn register (one per timer)
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// Runtime (see set_pwm_frequency)
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#define _SET_ICRn(ICRn, V) do{ \
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(*(ICRn) = (0x0000) | (int(V) & 0xFFFF)); \
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}while(0)
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// Set Noise Canceler bit
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// Ex: SET_ICNC(2,1)
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#define SET_ICNC(T,V) (TCCR##T##B = (V) ? TCCR##T##B | _BV(ICNC##T) : TCCR##T##B & ~_BV(ICNC##T))
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// Set Input Capture Edge Select bit
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// Ex: SET_ICES(5,0)
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#define SET_ICES(T,V) (TCCR##T##B = (V) ? TCCR##T##B | _BV(ICES##T) : TCCR##T##B & ~_BV(ICES##T))
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// Set Force Output Compare bit
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// Ex: SET_FOC(3,A,1)
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#define SET_FOC(T,Q,V) (TCCR##T##C = (V) ? TCCR##T##C | _BV(FOC##T##Q) : TCCR##T##C & ~_BV(FOC##T##Q))
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#define SET_FOCA(T,V) SET_FOC(T,A,V)
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#define SET_FOCB(T,V) SET_FOC(T,B,V)
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#define SET_FOCC(T,V) SET_FOC(T,C,V)
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#if 0
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/**
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* PWM availability macros
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*/
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// Determine which harware PWMs are already in use
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#define _PWM_CHK_FAN_B(P) (P == E0_AUTO_FAN_PIN || P == E1_AUTO_FAN_PIN || P == E2_AUTO_FAN_PIN || P == E3_AUTO_FAN_PIN || P == E4_AUTO_FAN_PIN || P == E5_AUTO_FAN_PIN || P == E6_AUTO_FAN_PIN || P == E7_AUTO_FAN_PIN || P == CHAMBER_AUTO_FAN_PIN)
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#if PIN_EXISTS(CONTROLLER_FAN)
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#define PWM_CHK_FAN_B(P) (_PWM_CHK_FAN_B(P) || P == CONTROLLER_FAN_PIN)
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#else
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#define PWM_CHK_FAN_B(P) _PWM_CHK_FAN_B(P)
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#endif
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#if ANY_PIN(FAN, FAN1, FAN2, FAN3, FAN4, FAN5, FAN6, FAN7)
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#if PIN_EXISTS(FAN7)
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#define PWM_CHK_FAN_A(P) (P == FAN0_PIN || P == FAN1_PIN || P == FAN2_PIN || P == FAN3_PIN || P == FAN4_PIN || P == FAN5_PIN || P == FAN6_PIN || P == FAN7_PIN)
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#elif PIN_EXISTS(FAN6)
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#define PWM_CHK_FAN_A(P) (P == FAN0_PIN || P == FAN1_PIN || P == FAN2_PIN || P == FAN3_PIN || P == FAN4_PIN || P == FAN5_PIN || P == FAN6_PIN)
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#elif PIN_EXISTS(FAN5)
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#define PWM_CHK_FAN_A(P) (P == FAN0_PIN || P == FAN1_PIN || P == FAN2_PIN || P == FAN3_PIN || P == FAN4_PIN || P == FAN5_PIN)
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#elif PIN_EXISTS(FAN4)
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#define PWM_CHK_FAN_A(P) (P == FAN0_PIN || P == FAN1_PIN || P == FAN2_PIN || P == FAN3_PIN || P == FAN4_PIN)
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#elif PIN_EXISTS(FAN3)
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#define PWM_CHK_FAN_A(P) (P == FAN0_PIN || P == FAN1_PIN || P == FAN2_PIN || P == FAN3_PIN)
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#elif PIN_EXISTS(FAN2)
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#define PWM_CHK_FAN_A(P) (P == FAN0_PIN || P == FAN1_PIN || P == FAN2_PIN)
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#elif PIN_EXISTS(FAN1)
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#define PWM_CHK_FAN_A(P) (P == FAN0_PIN || P == FAN1_PIN)
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#else
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#define PWM_CHK_FAN_A(P) (P == FAN0_PIN)
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#endif
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#else
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#define PWM_CHK_FAN_A(P) false
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#endif
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#if HAS_MOTOR_CURRENT_PWM
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#if PIN_EXISTS(MOTOR_CURRENT_PWM_XY)
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#define PWM_CHK_MOTOR_CURRENT(P) (P == MOTOR_CURRENT_PWM_E || P == MOTOR_CURRENT_PWM_Z || P == MOTOR_CURRENT_PWM_XY)
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#elif PIN_EXISTS(MOTOR_CURRENT_PWM_Z)
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#define PWM_CHK_MOTOR_CURRENT(P) (P == MOTOR_CURRENT_PWM_E || P == MOTOR_CURRENT_PWM_Z)
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#else
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#define PWM_CHK_MOTOR_CURRENT(P) (P == MOTOR_CURRENT_PWM_E)
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#endif
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#else
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#define PWM_CHK_MOTOR_CURRENT(P) false
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#endif
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#ifdef NUM_SERVOS
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#if AVR_ATmega2560_FAMILY
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#define PWM_CHK_SERVO(P) (P == 5 || (NUM_SERVOS > 12 && P == 6) || (NUM_SERVOS > 24 && P == 46)) // PWMS 3A, 4A & 5A
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#elif AVR_ATmega2561_FAMILY
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#define PWM_CHK_SERVO(P) (P == 5) // PWM3A
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#elif AVR_ATmega1284_FAMILY
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#define PWM_CHK_SERVO(P) false
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#elif AVR_AT90USB1286_FAMILY
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#define PWM_CHK_SERVO(P) (P == 16) // PWM3A
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#elif AVR_ATmega328_FAMILY
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#define PWM_CHK_SERVO(P) false
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#endif
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#else
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#define PWM_CHK_SERVO(P) false
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#endif
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#if ENABLED(BARICUDA)
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#if HAS_HEATER_1 && HAS_HEATER_2
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#define PWM_CHK_HEATER(P) (P == HEATER_1_PIN || P == HEATER_2_PIN)
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#elif HAS_HEATER_1
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#define PWM_CHK_HEATER(P) (P == HEATER_1_PIN)
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#endif
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#else
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#define PWM_CHK_HEATER(P) false
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#endif
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#define PWM_CHK(P) (PWM_CHK_HEATER(P) || PWM_CHK_SERVO(P) || PWM_CHK_MOTOR_CURRENT(P) || PWM_CHK_FAN_A(P) || PWM_CHK_FAN_B(P))
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#endif // PWM_CHK is not used in Marlin
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// define which hardware PWMs are available for the current CPU
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// all timer 1 PWMS deleted from this list because they are never available
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#if AVR_ATmega2560_FAMILY
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#define PWM_PIN(P) ((P >= 2 && P <= 10) || P == 13 || P == 44 || P == 45 || P == 46)
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#elif AVR_ATmega2561_FAMILY
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#define PWM_PIN(P) ((P >= 2 && P <= 6) || P == 9)
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#elif AVR_ATmega1284_FAMILY
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#define PWM_PIN(P) (P == 3 || P == 4 || P == 14 || P == 15)
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#elif AVR_AT90USB1286_FAMILY
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#define PWM_PIN(P) (P == 0 || P == 1 || P == 14 || P == 15 || P == 16 || P == 24)
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#elif AVR_ATmega328_FAMILY
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#define PWM_PIN(P) (P == 3 || P == 5 || P == 6 || P == 11)
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#else
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#error "unknown CPU"
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#endif
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