Marlin_Firmware/Marlin/src/module/stepper.cpp

1644 lines
50 KiB
C++
Raw Normal View History

/**
2016-03-24 13:01:20 -05:00
* Marlin 3D Printer Firmware
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program 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.
*
* This program 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 this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
/**
* stepper.cpp - A singleton object to execute motion plans using stepper motors
* Marlin Firmware
*
* Derived from Grbl
* Copyright (c) 2009-2011 Simen Svale Skogsrud
*
* Grbl 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.
*
* Grbl 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 Grbl. If not, see <http://www.gnu.org/licenses/>.
*/
2011-11-13 13:42:08 -06:00
/* The timer calculations of this module informed by the 'RepRap cartesian firmware' by Zack Smith
and Philipp Tiefenbacher. */
#include "stepper.h"
2017-09-06 06:28:32 -05:00
#ifdef __AVR__
2017-09-06 06:28:32 -05:00
#include "speed_lookuptable.h"
#endif
#include "endstops.h"
2011-11-13 13:42:08 -06:00
#include "planner.h"
2017-09-08 15:35:25 -05:00
#include "motion.h"
2017-09-06 06:28:32 -05:00
#include "../module/temperature.h"
#include "../lcd/ultralcd.h"
#include "../core/language.h"
#include "../gcode/queue.h"
2017-09-06 06:28:32 -05:00
#include "../sd/cardreader.h"
2017-11-19 13:59:40 -06:00
#include "../Marlin.h"
2017-09-06 06:28:32 -05:00
#if MB(ALLIGATOR)
2017-09-06 06:28:32 -05:00
#include "../feature/dac/dac_dac084s085.h"
#endif
2017-09-06 06:28:32 -05:00
#if HAS_DIGIPOTSS
#include <SPI.h>
2012-11-21 13:53:56 -06:00
#endif
2011-11-13 13:42:08 -06:00
Stepper stepper; // Singleton
// public:
block_t* Stepper::current_block = NULL; // A pointer to the block currently being traced
#if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
bool Stepper::abort_on_endstop_hit = false;
#endif
#if ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || ENABLED(Z_DUAL_ENDSTOPS)
bool Stepper::performing_homing = false;
#endif
#if HAS_MOTOR_CURRENT_PWM
uint32_t Stepper::motor_current_setting[3]; // Initialized by settings.load()
#endif
// private:
2017-06-24 22:23:45 -05:00
uint8_t Stepper::last_direction_bits = 0; // The next stepping-bits to be output
int16_t Stepper::cleaning_buffer_counter = 0;
#if ENABLED(X_DUAL_ENDSTOPS)
2017-12-06 16:56:30 -06:00
bool Stepper::locked_x_motor = false, Stepper::locked_x2_motor = false;
#endif
#if ENABLED(Y_DUAL_ENDSTOPS)
2017-12-06 16:56:30 -06:00
bool Stepper::locked_y_motor = false, Stepper::locked_y2_motor = false;
#endif
#if ENABLED(Z_DUAL_ENDSTOPS)
2017-12-06 16:56:30 -06:00
bool Stepper::locked_z_motor = false, Stepper::locked_z2_motor = false;
#endif
2016-09-20 05:16:05 -05:00
long Stepper::counter_X = 0,
Stepper::counter_Y = 0,
Stepper::counter_Z = 0,
Stepper::counter_E = 0;
volatile uint32_t Stepper::step_events_completed = 0; // The number of step events executed in the current block
2017-10-09 04:25:18 -05:00
#if ENABLED(LIN_ADVANCE)
2018-02-23 00:53:29 -06:00
uint32_t Stepper::LA_decelerate_after;
constexpr hal_timer_t ADV_NEVER = HAL_TIMER_TYPE_MAX;
2016-12-23 20:43:23 -06:00
hal_timer_t Stepper::nextMainISR = 0,
Stepper::nextAdvanceISR = ADV_NEVER,
Stepper::eISR_Rate = ADV_NEVER;
2018-02-23 00:53:29 -06:00
uint16_t Stepper::current_adv_steps = 0,
Stepper::final_adv_steps,
Stepper::max_adv_steps;
int8_t Stepper::e_steps = 0;
#if E_STEPPERS > 1
int8_t Stepper::LA_active_extruder; // Copy from current executed block. Needed because current_block is set to NULL "too early".
#else
constexpr int8_t Stepper::LA_active_extruder;
#endif
2018-02-23 00:53:29 -06:00
bool Stepper::use_advance_lead;
2016-12-23 20:43:23 -06:00
2017-10-09 04:25:18 -05:00
#endif // LIN_ADVANCE
long Stepper::acceleration_time, Stepper::deceleration_time;
volatile long Stepper::count_position[NUM_AXIS] = { 0 };
volatile signed char Stepper::count_direction[NUM_AXIS] = { 1, 1, 1, 1 };
#if ENABLED(MIXING_EXTRUDER)
2016-09-02 11:31:45 -05:00
long Stepper::counter_m[MIXING_STEPPERS];
#endif
uint8_t Stepper::step_loops, Stepper::step_loops_nominal;
hal_timer_t Stepper::OCR1A_nominal,
Stepper::acc_step_rate; // needed for deceleration start point
2016-08-20 22:38:32 -05:00
volatile long Stepper::endstops_trigsteps[XYZ];
#if ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || ENABLED(Z_DUAL_ENDSTOPS)
#define LOCKED_X_MOTOR locked_x_motor
#define LOCKED_Y_MOTOR locked_y_motor
#define LOCKED_Z_MOTOR locked_z_motor
#define LOCKED_X2_MOTOR locked_x2_motor
#define LOCKED_Y2_MOTOR locked_y2_motor
#define LOCKED_Z2_MOTOR locked_z2_motor
#define DUAL_ENDSTOP_APPLY_STEP(AXIS,v) \
if (performing_homing) { \
if (AXIS##_HOME_DIR < 0) { \
if (!(TEST(endstops.old_endstop_bits, AXIS##_MIN) && count_direction[AXIS##_AXIS] < 0) && !LOCKED_##AXIS##_MOTOR) AXIS##_STEP_WRITE(v); \
if (!(TEST(endstops.old_endstop_bits, AXIS##2_MIN) && count_direction[AXIS##_AXIS] < 0) && !LOCKED_##AXIS##2_MOTOR) AXIS##2_STEP_WRITE(v); \
} \
else { \
if (!(TEST(endstops.old_endstop_bits, AXIS##_MAX) && count_direction[AXIS##_AXIS] > 0) && !LOCKED_##AXIS##_MOTOR) AXIS##_STEP_WRITE(v); \
if (!(TEST(endstops.old_endstop_bits, AXIS##2_MAX) && count_direction[AXIS##_AXIS] > 0) && !LOCKED_##AXIS##2_MOTOR) AXIS##2_STEP_WRITE(v); \
} \
} \
else { \
AXIS##_STEP_WRITE(v); \
AXIS##2_STEP_WRITE(v); \
}
#endif
2016-07-11 12:19:07 -05:00
#if ENABLED(X_DUAL_STEPPER_DRIVERS)
#define X_APPLY_DIR(v,Q) do{ X_DIR_WRITE(v); X2_DIR_WRITE((v) != INVERT_X2_VS_X_DIR); }while(0)
2018-01-20 15:08:50 -06:00
#if ENABLED(X_DUAL_ENDSTOPS)
#define X_APPLY_STEP(v,Q) DUAL_ENDSTOP_APPLY_STEP(X,v)
#else
#define X_APPLY_STEP(v,Q) do{ X_STEP_WRITE(v); X2_STEP_WRITE(v); }while(0)
#endif
2018-01-20 15:08:50 -06:00
#elif ENABLED(DUAL_X_CARRIAGE)
#define X_APPLY_DIR(v,ALWAYS) \
if (extruder_duplication_enabled || ALWAYS) { \
X_DIR_WRITE(v); \
X2_DIR_WRITE(v); \
} \
else { \
if (current_block->active_extruder) X2_DIR_WRITE(v); else X_DIR_WRITE(v); \
}
#define X_APPLY_STEP(v,ALWAYS) \
if (extruder_duplication_enabled || ALWAYS) { \
X_STEP_WRITE(v); \
X2_STEP_WRITE(v); \
} \
else { \
if (current_block->active_extruder) X2_STEP_WRITE(v); else X_STEP_WRITE(v); \
}
#else
2015-03-14 20:31:25 -05:00
#define X_APPLY_DIR(v,Q) X_DIR_WRITE(v)
#define X_APPLY_STEP(v,Q) X_STEP_WRITE(v)
#endif
#if ENABLED(Y_DUAL_STEPPER_DRIVERS)
2016-07-11 12:19:07 -05:00
#define Y_APPLY_DIR(v,Q) do{ Y_DIR_WRITE(v); Y2_DIR_WRITE((v) != INVERT_Y2_VS_Y_DIR); }while(0)
#if ENABLED(Y_DUAL_ENDSTOPS)
#define Y_APPLY_STEP(v,Q) DUAL_ENDSTOP_APPLY_STEP(Y,v)
#else
#define Y_APPLY_STEP(v,Q) do{ Y_STEP_WRITE(v); Y2_STEP_WRITE(v); }while(0)
#endif
#else
2015-03-14 20:31:25 -05:00
#define Y_APPLY_DIR(v,Q) Y_DIR_WRITE(v)
#define Y_APPLY_STEP(v,Q) Y_STEP_WRITE(v)
#endif
#if ENABLED(Z_DUAL_STEPPER_DRIVERS)
2016-07-11 12:19:07 -05:00
#define Z_APPLY_DIR(v,Q) do{ Z_DIR_WRITE(v); Z2_DIR_WRITE(v); }while(0)
#if ENABLED(Z_DUAL_ENDSTOPS)
#define Z_APPLY_STEP(v,Q) DUAL_ENDSTOP_APPLY_STEP(Z,v)
#else
2016-07-11 12:19:07 -05:00
#define Z_APPLY_STEP(v,Q) do{ Z_STEP_WRITE(v); Z2_STEP_WRITE(v); }while(0)
#endif
#else
2015-03-14 20:31:25 -05:00
#define Z_APPLY_DIR(v,Q) Z_DIR_WRITE(v)
#define Z_APPLY_STEP(v,Q) Z_STEP_WRITE(v)
#endif
#if DISABLED(MIXING_EXTRUDER)
#define E_APPLY_STEP(v,Q) E_STEP_WRITE(v)
#endif
2011-11-13 13:42:08 -06:00
/**
* __________________________
* /| |\ _________________ ^
* / | | \ /| |\ |
* / | | \ / | | \ s
* / | | | | | \ p
* / | | | | | \ e
* +-----+------------------------+---+--+---------------+----+ e
* | BLOCK 1 | BLOCK 2 | d
*
* time ----->
*
* The trapezoid is the shape the speed curve over time. It starts at block->initial_rate, accelerates
* first block->accelerate_until step_events_completed, then keeps going at constant speed until
* step_events_completed reaches block->decelerate_after after which it decelerates until the trapezoid generator is reset.
* The slope of acceleration is calculated using v = u + at where t is the accumulated timer values of the steps so far.
*/
void Stepper::wake_up() {
2017-04-12 00:08:24 -05:00
// TCNT1 = 0;
ENABLE_STEPPER_DRIVER_INTERRUPT();
2011-11-13 13:42:08 -06:00
}
/**
* Set the stepper direction of each axis
*
* COREXY: X_AXIS=A_AXIS and Y_AXIS=B_AXIS
* COREXZ: X_AXIS=A_AXIS and Z_AXIS=C_AXIS
* COREYZ: Y_AXIS=B_AXIS and Z_AXIS=C_AXIS
*/
void Stepper::set_directions() {
2016-03-10 03:42:58 -06:00
#define SET_STEP_DIR(AXIS) \
if (motor_direction(AXIS ##_AXIS)) { \
2016-03-10 03:42:58 -06:00
AXIS ##_APPLY_DIR(INVERT_## AXIS ##_DIR, false); \
count_direction[AXIS ##_AXIS] = -1; \
} \
else { \
AXIS ##_APPLY_DIR(!INVERT_## AXIS ##_DIR, false); \
count_direction[AXIS ##_AXIS] = 1; \
}
#if HAS_X_DIR
SET_STEP_DIR(X); // A
#endif
#if HAS_Y_DIR
SET_STEP_DIR(Y); // B
#endif
#if HAS_Z_DIR
SET_STEP_DIR(Z); // C
#endif
2017-10-09 04:25:18 -05:00
#if DISABLED(LIN_ADVANCE)
if (motor_direction(E_AXIS)) {
REV_E_DIR();
count_direction[E_AXIS] = -1;
}
else {
NORM_E_DIR();
count_direction[E_AXIS] = 1;
}
2017-10-09 04:25:18 -05:00
#endif // !LIN_ADVANCE
2015-05-17 07:33:09 -05:00
}
#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
extern volatile uint8_t e_hit;
#endif
2016-10-09 10:06:31 -05:00
/**
* Stepper Driver Interrupt
*
* Directly pulses the stepper motors at high frequency.
*
* AVR :
2016-10-09 10:06:31 -05:00
* Timer 1 runs at a base frequency of 2MHz, with this ISR using OCR1A compare mode.
*
* OCR1A Frequency
* 1 2 MHz
* 50 40 KHz
* 100 20 KHz - capped max rate
* 200 10 KHz - nominal max rate
* 2000 1 KHz - sleep rate
* 4000 500 Hz - init rate
*/
HAL_STEP_TIMER_ISR {
HAL_timer_isr_prologue(STEP_TIMER_NUM);
2017-10-09 04:25:18 -05:00
#if ENABLED(LIN_ADVANCE)
Stepper::advance_isr_scheduler();
#else
Stepper::isr();
#endif
}
2017-02-14 06:00:17 -06:00
void Stepper::isr() {
#define ENDSTOP_NOMINAL_OCR_VAL 1500 * HAL_TICKS_PER_US // Check endstops every 1.5ms to guarantee two stepper ISRs within 5ms for BLTouch
#define OCR_VAL_TOLERANCE 500 * HAL_TICKS_PER_US // First max delay is 2.0ms, last min delay is 0.5ms, all others 1.5ms
2017-10-09 04:25:18 -05:00
#if DISABLED(LIN_ADVANCE)
// Disable Timer0 ISRs and enable global ISR again to capture UART events (incoming chars)
DISABLE_TEMPERATURE_INTERRUPT(); // Temperature ISR
DISABLE_STEPPER_DRIVER_INTERRUPT();
2017-10-01 21:33:52 -05:00
#ifndef CPU_32_BIT
sei();
#endif
#endif
2016-12-15 09:21:32 -06:00
hal_timer_t ocr_val;
2017-09-29 23:52:17 -05:00
static uint32_t step_remaining = 0; // SPLIT function always runs. This allows 16 bit timers to be
// used to generate the stepper ISR.
#define SPLIT(L) do { \
if (L > ENDSTOP_NOMINAL_OCR_VAL) { \
const uint32_t remainder = (uint32_t)L % (ENDSTOP_NOMINAL_OCR_VAL); \
ocr_val = (remainder < OCR_VAL_TOLERANCE) ? ENDSTOP_NOMINAL_OCR_VAL + remainder : ENDSTOP_NOMINAL_OCR_VAL; \
step_remaining = (uint32_t)L - ocr_val; \
} \
else \
ocr_val = L;\
}while(0)
// Time remaining before the next step?
2017-09-29 23:52:17 -05:00
if (step_remaining) {
2017-02-14 06:00:17 -06:00
// Make sure endstops are updated
if (ENDSTOPS_ENABLED) endstops.update();
// Next ISR either for endstops or stepping
ocr_val = step_remaining <= ENDSTOP_NOMINAL_OCR_VAL ? step_remaining : ENDSTOP_NOMINAL_OCR_VAL;
step_remaining -= ocr_val;
2017-09-29 23:52:17 -05:00
_NEXT_ISR(ocr_val);
2017-08-31 17:30:43 -05:00
#if DISABLED(LIN_ADVANCE)
HAL_timer_restrain(STEP_TIMER_NUM, STEP_TIMER_MIN_INTERVAL * HAL_TICKS_PER_US);
HAL_ENABLE_ISRs();
2017-09-29 23:52:17 -05:00
#endif
2017-09-29 23:52:17 -05:00
return;
}
//
// When cleaning, discard the current block and run fast
//
if (cleaning_buffer_counter) {
if (cleaning_buffer_counter < 0) { // Count up for endstop hit
if (current_block) planner.discard_current_block(); // Discard the active block that led to the trigger
if (!planner.discard_continued_block()) // Discard next CONTINUED block
cleaning_buffer_counter = 0; // Keep discarding until non-CONTINUED
}
else {
planner.discard_current_block();
--cleaning_buffer_counter; // Count down for abort print
#if ENABLED(SD_FINISHED_STEPPERRELEASE) && defined(SD_FINISHED_RELEASECOMMAND)
if (!cleaning_buffer_counter) enqueue_and_echo_commands_P(PSTR(SD_FINISHED_RELEASECOMMAND));
#endif
}
current_block = NULL; // Prep to get a new block after cleaning
_NEXT_ISR(HAL_STEPPER_TIMER_RATE / 10000); // Run at max speed - 10 KHz
HAL_ENABLE_ISRs();
return;
}
2011-11-13 13:42:08 -06:00
// If there is no current block, attempt to pop one from the buffer
if (!current_block) {
2011-11-13 13:42:08 -06:00
// Anything in the buffer?
2017-12-01 21:43:44 -06:00
if ((current_block = planner.get_current_block())) {
2011-11-13 13:42:08 -06:00
trapezoid_generator_reset();
// Initialize Bresenham counters to 1/2 the ceiling
counter_X = counter_Y = counter_Z = counter_E = -(current_block->step_event_count >> 1);
#if ENABLED(MIXING_EXTRUDER)
MIXING_STEPPERS_LOOP(i)
2016-09-02 11:31:45 -05:00
counter_m[i] = -(current_block->mix_event_count[i] >> 1);
#endif
step_events_completed = 0;
#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
e_hit = 2; // Needed for the case an endstop is already triggered before the new move begins.
// No 'change' can be detected.
#endif
#if ENABLED(Z_LATE_ENABLE)
if (current_block->steps[Z_AXIS] > 0) {
enable_Z();
_NEXT_ISR(HAL_STEPPER_TIMER_RATE / 1000); // Run at slow speed - 1 KHz
HAL_ENABLE_ISRs();
2012-02-06 10:38:16 -06:00
return;
}
#endif
}
2011-11-13 13:42:08 -06:00
else {
_NEXT_ISR(HAL_STEPPER_TIMER_RATE / 1000); // Run at slow speed - 1 KHz
HAL_ENABLE_ISRs();
2016-09-21 17:28:54 -05:00
return;
}
}
2011-11-13 13:42:08 -06:00
2016-09-21 17:28:54 -05:00
// Update endstops state, if enabled
#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
2017-03-06 01:43:08 -06:00
if (e_hit && ENDSTOPS_ENABLED) {
endstops.update();
e_hit--;
}
#else
if (ENDSTOPS_ENABLED) endstops.update();
#endif
2016-09-21 17:28:54 -05:00
// Take multiple steps per interrupt (For high speed moves)
bool all_steps_done = false;
2017-04-11 11:11:17 -05:00
for (uint8_t i = step_loops; i--;) {
2016-09-21 17:28:54 -05:00
#define _COUNTER(AXIS) counter_## AXIS
#define _APPLY_STEP(AXIS) AXIS ##_APPLY_STEP
#define _INVERT_STEP_PIN(AXIS) INVERT_## AXIS ##_STEP_PIN
2016-08-27 23:38:05 -05:00
2016-09-21 17:28:54 -05:00
// Advance the Bresenham counter; start a pulse if the axis needs a step
#define PULSE_START(AXIS) do{ \
2016-09-21 17:28:54 -05:00
_COUNTER(AXIS) += current_block->steps[_AXIS(AXIS)]; \
if (_COUNTER(AXIS) > 0) { _APPLY_STEP(AXIS)(!_INVERT_STEP_PIN(AXIS), 0); } \
}while(0)
2016-08-27 23:38:05 -05:00
// Advance the Bresenham counter; start a pulse if the axis needs a step
#define STEP_TICK(AXIS) do { \
2016-09-21 17:28:54 -05:00
if (_COUNTER(AXIS) > 0) { \
_COUNTER(AXIS) -= current_block->step_event_count; \
count_position[_AXIS(AXIS)] += count_direction[_AXIS(AXIS)]; \
} \
}while(0)
// Stop an active pulse, if any
#define PULSE_STOP(AXIS) _APPLY_STEP(AXIS)(_INVERT_STEP_PIN(AXIS), 0)
/**
* Estimate the number of cycles that the stepper logic already takes
* up between the start and stop of the X stepper pulse.
*
* Currently this uses very modest estimates of around 5 cycles.
* True values may be derived by careful testing.
*
* Once any delay is added, the cost of the delay code itself
* may be subtracted from this value to get a more accurate delay.
* Delays under 20 cycles (1.25µs) will be very accurate, using NOPs.
* Longer delays use a loop. The resolution is 8 cycles.
*/
2017-04-11 11:11:17 -05:00
#if HAS_X_STEP
#define _CYCLE_APPROX_1 5
2017-04-11 11:11:17 -05:00
#else
#define _CYCLE_APPROX_1 0
#endif
#if ENABLED(X_DUAL_STEPPER_DRIVERS)
#define _CYCLE_APPROX_2 _CYCLE_APPROX_1 + 4
#else
#define _CYCLE_APPROX_2 _CYCLE_APPROX_1
2017-04-11 11:11:17 -05:00
#endif
#if HAS_Y_STEP
#define _CYCLE_APPROX_3 _CYCLE_APPROX_2 + 5
2017-04-11 11:11:17 -05:00
#else
#define _CYCLE_APPROX_3 _CYCLE_APPROX_2
#endif
#if ENABLED(Y_DUAL_STEPPER_DRIVERS)
#define _CYCLE_APPROX_4 _CYCLE_APPROX_3 + 4
#else
#define _CYCLE_APPROX_4 _CYCLE_APPROX_3
2017-04-11 11:11:17 -05:00
#endif
#if HAS_Z_STEP
#define _CYCLE_APPROX_5 _CYCLE_APPROX_4 + 5
2017-04-11 11:11:17 -05:00
#else
#define _CYCLE_APPROX_5 _CYCLE_APPROX_4
#endif
#if ENABLED(Z_DUAL_STEPPER_DRIVERS)
#define _CYCLE_APPROX_6 _CYCLE_APPROX_5 + 4
#else
#define _CYCLE_APPROX_6 _CYCLE_APPROX_5
2017-04-11 11:11:17 -05:00
#endif
2017-10-09 04:25:18 -05:00
#if DISABLED(LIN_ADVANCE)
#if ENABLED(MIXING_EXTRUDER)
#define _CYCLE_APPROX_7 _CYCLE_APPROX_6 + (MIXING_STEPPERS) * 6
#else
#define _CYCLE_APPROX_7 _CYCLE_APPROX_6 + 5
#endif
2017-04-11 11:11:17 -05:00
#else
#define _CYCLE_APPROX_7 _CYCLE_APPROX_6
2017-04-11 11:11:17 -05:00
#endif
#define CYCLES_EATEN_XYZE _CYCLE_APPROX_7
2017-04-11 11:11:17 -05:00
#define EXTRA_CYCLES_XYZE (STEP_PULSE_CYCLES - (CYCLES_EATEN_XYZE))
2016-09-23 23:59:16 -05:00
/**
* If a minimum pulse time was specified get the timer 0 value.
*
* On AVR the TCNT0 timer has an 8x prescaler, so it increments every 8 cycles.
* That's every 0.5µs on 16MHz and every 0.4µs on 20MHz.
* 20 counts of TCNT0 -by itself- is a good pulse delay.
* 10µs = 160 or 200 cycles.
*/
2017-04-11 11:11:17 -05:00
#if EXTRA_CYCLES_XYZE > 20
hal_timer_t pulse_start = HAL_timer_get_count(PULSE_TIMER_NUM);
2016-09-21 17:28:54 -05:00
#endif
2016-09-21 17:28:54 -05:00
#if HAS_X_STEP
PULSE_START(X);
#endif
#if HAS_Y_STEP
PULSE_START(Y);
#endif
#if HAS_Z_STEP
PULSE_START(Z);
#endif
#if ENABLED(LIN_ADVANCE)
counter_E += current_block->steps[E_AXIS];
if (counter_E > 0) {
#if DISABLED(MIXING_EXTRUDER)
// Don't step E here for mixing extruder
motor_direction(E_AXIS) ? --e_steps : ++e_steps;
#endif
}
#if ENABLED(MIXING_EXTRUDER)
// Step mixing steppers proportionally
const bool dir = motor_direction(E_AXIS);
MIXING_STEPPERS_LOOP(j) {
counter_m[j] += current_block->steps[E_AXIS];
if (counter_m[j] > 0) {
counter_m[j] -= current_block->mix_event_count[j];
dir ? --e_steps[j] : ++e_steps[j];
}
}
#endif
#else // !LIN_ADVANCE - use linear interpolation for E also
2016-09-21 17:28:54 -05:00
#if ENABLED(MIXING_EXTRUDER)
// Keep updating the single E axis
counter_E += current_block->steps[E_AXIS];
// Tick the counters used for this mix
MIXING_STEPPERS_LOOP(j) {
// Step mixing steppers (proportionally)
counter_m[j] += current_block->steps[E_AXIS];
// Step when the counter goes over zero
if (counter_m[j] > 0) En_STEP_WRITE(j, !INVERT_E_STEP_PIN);
}
#else // !MIXING_EXTRUDER
PULSE_START(E);
#endif
2017-10-09 04:25:18 -05:00
#endif // !LIN_ADVANCE
#if HAS_X_STEP
STEP_TICK(X);
#endif
#if HAS_Y_STEP
STEP_TICK(Y);
#endif
#if HAS_Z_STEP
STEP_TICK(Z);
#endif
STEP_TICK(E); // Always tick the single E axis
2017-04-11 11:11:17 -05:00
// For minimum pulse time wait before stopping pulses
#if EXTRA_CYCLES_XYZE > 20
while (EXTRA_CYCLES_XYZE > (uint32_t)(HAL_timer_get_count(PULSE_TIMER_NUM) - pulse_start) * (PULSE_TIMER_PRESCALE)) { /* nada */ }
pulse_start = HAL_timer_get_count(PULSE_TIMER_NUM);
2017-04-11 11:11:17 -05:00
#elif EXTRA_CYCLES_XYZE > 0
DELAY_NOPS(EXTRA_CYCLES_XYZE);
2016-05-08 14:16:26 -05:00
#endif
2016-09-21 17:28:54 -05:00
#if HAS_X_STEP
PULSE_STOP(X);
#endif
#if HAS_Y_STEP
PULSE_STOP(Y);
#endif
#if HAS_Z_STEP
PULSE_STOP(Z);
#endif
2017-10-09 04:25:18 -05:00
#if DISABLED(LIN_ADVANCE)
2016-09-21 17:28:54 -05:00
#if ENABLED(MIXING_EXTRUDER)
MIXING_STEPPERS_LOOP(j) {
if (counter_m[j] > 0) {
counter_m[j] -= current_block->mix_event_count[j];
En_STEP_WRITE(j, INVERT_E_STEP_PIN);
}
}
#else // !MIXING_EXTRUDER
PULSE_STOP(E);
#endif
2017-10-09 04:25:18 -05:00
#endif // !LIN_ADVANCE
2016-09-21 17:28:54 -05:00
if (++step_events_completed >= current_block->step_event_count) {
all_steps_done = true;
break;
}
2017-04-11 11:11:17 -05:00
// For minimum pulse time wait after stopping pulses also
2017-04-11 11:11:17 -05:00
#if EXTRA_CYCLES_XYZE > 20
if (i) while (EXTRA_CYCLES_XYZE > (uint32_t)(HAL_timer_get_count(PULSE_TIMER_NUM) - pulse_start) * (PULSE_TIMER_PRESCALE)) { /* nada */ }
2017-04-11 11:11:17 -05:00
#elif EXTRA_CYCLES_XYZE > 0
if (i) DELAY_NOPS(EXTRA_CYCLES_XYZE);
#endif
} // steps_loop
2011-11-13 13:42:08 -06:00
2016-09-21 17:28:54 -05:00
// Calculate new timer value
if (step_events_completed <= (uint32_t)current_block->accelerate_until) {
#ifdef CPU_32_BIT
MultiU32X24toH32(acc_step_rate, acceleration_time, current_block->acceleration_rate);
#else
MultiU24X32toH16(acc_step_rate, acceleration_time, current_block->acceleration_rate);
#endif
acc_step_rate += current_block->initial_rate;
2016-09-21 17:28:54 -05:00
// upper limit
NOMORE(acc_step_rate, current_block->nominal_rate);
2016-09-21 17:28:54 -05:00
// step_rate to timer interval
const hal_timer_t interval = calc_timer_interval(acc_step_rate);
2017-12-13 02:32:34 -06:00
SPLIT(interval); // split step into multiple ISRs if larger than ENDSTOP_NOMINAL_OCR_VAL
_NEXT_ISR(ocr_val);
acceleration_time += interval;
2016-09-21 17:28:54 -05:00
#if ENABLED(LIN_ADVANCE)
2015-12-10 07:05:38 -06:00
2016-09-21 17:28:54 -05:00
if (current_block->use_advance_lead) {
2018-02-23 00:53:29 -06:00
if (step_events_completed == step_loops || (e_steps && eISR_Rate != current_block->advance_speed)) {
nextAdvanceISR = 0; // Wake up eISR on first acceleration loop and fire ISR if final adv_rate is reached
eISR_Rate = current_block->advance_speed;
}
}
else {
eISR_Rate = ADV_NEVER;
if (e_steps) nextAdvanceISR = 0;
2016-09-21 17:28:54 -05:00
}
2017-10-09 04:25:18 -05:00
#endif // LIN_ADVANCE
2016-09-21 17:28:54 -05:00
}
else if (step_events_completed > (uint32_t)current_block->decelerate_after) {
hal_timer_t step_rate;
#ifdef CPU_32_BIT
MultiU32X24toH32(step_rate, deceleration_time, current_block->acceleration_rate);
#else
MultiU24X32toH16(step_rate, deceleration_time, current_block->acceleration_rate);
#endif
2016-09-21 17:28:54 -05:00
if (step_rate < acc_step_rate) { // Still decelerating?
step_rate = acc_step_rate - step_rate;
NOLESS(step_rate, current_block->final_rate);
}
else
step_rate = current_block->final_rate;
2016-09-21 17:28:54 -05:00
// step_rate to timer interval
const hal_timer_t interval = calc_timer_interval(step_rate);
2017-12-13 02:32:34 -06:00
SPLIT(interval); // split step into multiple ISRs if larger than ENDSTOP_NOMINAL_OCR_VAL
_NEXT_ISR(ocr_val);
deceleration_time += interval;
2015-12-10 07:05:38 -06:00
2016-09-21 17:28:54 -05:00
#if ENABLED(LIN_ADVANCE)
2016-09-21 17:28:54 -05:00
if (current_block->use_advance_lead) {
2018-02-23 00:53:29 -06:00
if (step_events_completed <= (uint32_t)current_block->decelerate_after + step_loops || (e_steps && eISR_Rate != current_block->advance_speed)) {
nextAdvanceISR = 0; // Wake up eISR on first deceleration loop
eISR_Rate = current_block->advance_speed;
}
}
else {
eISR_Rate = ADV_NEVER;
if (e_steps) nextAdvanceISR = 0;
2016-09-21 17:28:54 -05:00
}
2017-10-09 04:25:18 -05:00
#endif // LIN_ADVANCE
2016-09-21 17:28:54 -05:00
}
else {
2016-05-08 14:16:26 -05:00
2016-09-21 17:28:54 -05:00
#if ENABLED(LIN_ADVANCE)
2016-05-08 14:16:26 -05:00
2018-02-23 00:53:29 -06:00
// If we have esteps to execute, fire the next advance_isr "now"
if (e_steps && eISR_Rate != current_block->advance_speed) nextAdvanceISR = 0;
2016-09-21 17:28:54 -05:00
#endif
2017-12-13 02:32:34 -06:00
SPLIT(OCR1A_nominal); // split step into multiple ISRs if larger than ENDSTOP_NOMINAL_OCR_VAL
_NEXT_ISR(ocr_val);
2016-09-21 17:28:54 -05:00
// ensure we're running at the correct step rate, even if we just came off an acceleration
step_loops = step_loops_nominal;
}
2017-10-09 04:25:18 -05:00
#if DISABLED(LIN_ADVANCE)
// Make sure stepper ISR doesn't monopolize the CPU
HAL_timer_restrain(STEP_TIMER_NUM, STEP_TIMER_MIN_INTERVAL * HAL_TICKS_PER_US);
#endif
2016-09-21 17:28:54 -05:00
// If current block is finished, reset pointer
if (all_steps_done) {
current_block = NULL;
planner.discard_current_block();
}
2017-10-09 04:25:18 -05:00
#if DISABLED(LIN_ADVANCE)
HAL_ENABLE_ISRs();
#endif
2011-11-13 13:42:08 -06:00
}
2017-10-09 04:25:18 -05:00
#if ENABLED(LIN_ADVANCE)
2017-04-11 11:11:17 -05:00
#define CYCLES_EATEN_E (E_STEPPERS * 5)
#define EXTRA_CYCLES_E (STEP_PULSE_CYCLES - (CYCLES_EATEN_E))
2011-11-13 13:42:08 -06:00
// Timer interrupt for E. e_steps is set in the main routine;
void Stepper::advance_isr() {
#if ENABLED(MK2_MULTIPLEXER) // For SNMM even-numbered steppers are reversed
#define SET_E_STEP_DIR(INDEX) do{ if (e_steps) E0_DIR_WRITE(e_steps < 0 ? !INVERT_E## INDEX ##_DIR ^ TEST(INDEX, 0) : INVERT_E## INDEX ##_DIR ^ TEST(INDEX, 0)); }while(0)
#elif ENABLED(DUAL_X_CARRIAGE) || ENABLED(DUAL_NOZZLE_DUPLICATION_MODE)
2018-03-07 05:42:20 -06:00
#define SET_E_STEP_DIR(INDEX) do{ if (e_steps) { if (e_steps < 0) REV_E_DIR(); else NORM_E_DIR(); } }while(0)
#else
#define SET_E_STEP_DIR(INDEX) do{ if (e_steps) E## INDEX ##_DIR_WRITE(e_steps < 0 ? INVERT_E## INDEX ##_DIR : !INVERT_E## INDEX ##_DIR); }while(0)
#endif
#if ENABLED(DUAL_X_CARRIAGE) || ENABLED(DUAL_NOZZLE_DUPLICATION_MODE)
#define START_E_PULSE(INDEX) do{ if (e_steps) E_STEP_WRITE(!INVERT_E_STEP_PIN); }while(0)
#define STOP_E_PULSE(INDEX) do{ if (e_steps) { E_STEP_WRITE(INVERT_E_STEP_PIN); e_steps < 0 ? ++e_steps : --e_steps; } }while(0)
#else
#define START_E_PULSE(INDEX) do{ if (e_steps) E## INDEX ##_STEP_WRITE(!INVERT_E_STEP_PIN); }while(0)
#define STOP_E_PULSE(INDEX) do { if (e_steps) { e_steps < 0 ? ++e_steps : --e_steps; E## INDEX ##_STEP_WRITE(INVERT_E_STEP_PIN); } }while(0)
#endif
2016-03-10 03:42:58 -06:00
if (use_advance_lead) {
2018-02-23 00:53:29 -06:00
if (step_events_completed > LA_decelerate_after && current_adv_steps > final_adv_steps) {
e_steps--;
current_adv_steps--;
nextAdvanceISR = eISR_Rate;
}
else if (step_events_completed < LA_decelerate_after && current_adv_steps < max_adv_steps) {
//step_events_completed <= (uint32_t)current_block->accelerate_until) {
e_steps++;
current_adv_steps++;
nextAdvanceISR = eISR_Rate;
}
else {
nextAdvanceISR = ADV_NEVER;
eISR_Rate = ADV_NEVER;
}
}
else
nextAdvanceISR = ADV_NEVER;
switch (LA_active_extruder) {
2018-02-23 00:53:29 -06:00
case 0: SET_E_STEP_DIR(0); break;
#if EXTRUDERS > 1
case 1: SET_E_STEP_DIR(1); break;
#if EXTRUDERS > 2
case 2: SET_E_STEP_DIR(2); break;
#if EXTRUDERS > 3
case 3: SET_E_STEP_DIR(3); break;
#if EXTRUDERS > 4
case 4: SET_E_STEP_DIR(4); break;
#endif // EXTRUDERS > 4
#endif // EXTRUDERS > 3
#endif // EXTRUDERS > 2
#endif // EXTRUDERS > 1
}
2018-02-23 00:53:29 -06:00
// Step E stepper if we have steps
while (e_steps) {
2016-08-30 14:22:42 -05:00
2017-04-11 11:11:17 -05:00
#if EXTRA_CYCLES_E > 20
hal_timer_t pulse_start = HAL_timer_get_count(PULSE_TIMER_NUM);
#endif
switch (LA_active_extruder) {
2018-02-23 00:53:29 -06:00
case 0: START_E_PULSE(0); break;
#if EXTRUDERS > 1
case 1: START_E_PULSE(1); break;
#if EXTRUDERS > 2
case 2: START_E_PULSE(2); break;
#if EXTRUDERS > 3
case 3: START_E_PULSE(3); break;
#if EXTRUDERS > 4
case 4: START_E_PULSE(4); break;
#endif // EXTRUDERS > 4
#endif // EXTRUDERS > 3
#endif // EXTRUDERS > 2
#endif // EXTRUDERS > 1
}
2016-08-30 14:22:42 -05:00
2017-04-11 11:11:17 -05:00
// For minimum pulse time wait before stopping pulses
#if EXTRA_CYCLES_E > 20
while (EXTRA_CYCLES_E > (hal_timer_t)(HAL_timer_get_count(PULSE_TIMER_NUM) - pulse_start) * (PULSE_TIMER_PRESCALE)) { /* nada */ }
pulse_start = HAL_timer_get_count(PULSE_TIMER_NUM);
2017-04-11 11:11:17 -05:00
#elif EXTRA_CYCLES_E > 0
DELAY_NOPS(EXTRA_CYCLES_E);
#endif
switch (LA_active_extruder) {
2018-02-23 00:53:29 -06:00
case 0: STOP_E_PULSE(0); break;
#if EXTRUDERS > 1
case 1: STOP_E_PULSE(1); break;
#if EXTRUDERS > 2
case 2: STOP_E_PULSE(2); break;
#if EXTRUDERS > 3
case 3: STOP_E_PULSE(3); break;
#if EXTRUDERS > 4
case 4: STOP_E_PULSE(4); break;
#endif // EXTRUDERS > 4
#endif // EXTRUDERS > 3
#endif // EXTRUDERS > 2
#endif // EXTRUDERS > 1
}
2017-04-11 11:11:17 -05:00
// For minimum pulse time wait before looping
#if EXTRA_CYCLES_E > 20
if (e_steps) while (EXTRA_CYCLES_E > (hal_timer_t)(HAL_timer_get_count(PULSE_TIMER_NUM) - pulse_start) * (PULSE_TIMER_PRESCALE)) { /* nada */ }
2017-04-11 11:11:17 -05:00
#elif EXTRA_CYCLES_E > 0
if (e_steps) DELAY_NOPS(EXTRA_CYCLES_E);
2017-04-11 11:11:17 -05:00
#endif
2018-03-04 04:03:23 -06:00
} // e_steps
2016-05-04 11:53:17 -05:00
}
void Stepper::advance_isr_scheduler() {
// Disable Timer0 ISRs and enable global ISR again to capture UART events (incoming chars)
DISABLE_TEMPERATURE_INTERRUPT(); // Temperature ISR
DISABLE_STEPPER_DRIVER_INTERRUPT();
sei();
// Run main stepping ISR if flagged
if (!nextMainISR) isr();
// Run Advance stepping ISR if flagged
if (!nextAdvanceISR) advance_isr();
// Is the next advance ISR scheduled before the next main ISR?
if (nextAdvanceISR <= nextMainISR) {
// Set up the next interrupt
HAL_timer_set_compare(STEP_TIMER_NUM, nextAdvanceISR);
// New interval for the next main ISR
if (nextMainISR) nextMainISR -= nextAdvanceISR;
// Will call Stepper::advance_isr on the next interrupt
nextAdvanceISR = 0;
}
else {
// The next main ISR comes first
HAL_timer_set_compare(STEP_TIMER_NUM, nextMainISR);
// New interval for the next advance ISR, if any
2016-12-23 20:43:23 -06:00
if (nextAdvanceISR && nextAdvanceISR != ADV_NEVER)
nextAdvanceISR -= nextMainISR;
// Will call Stepper::isr on the next interrupt
nextMainISR = 0;
}
// Make sure stepper ISR doesn't monopolize the CPU
HAL_timer_restrain(STEP_TIMER_NUM, STEP_TIMER_MIN_INTERVAL * HAL_TICKS_PER_US);
// Restore original ISR settings
HAL_ENABLE_ISRs();
}
2017-10-09 04:25:18 -05:00
#endif // LIN_ADVANCE
2016-05-04 11:53:17 -05:00
void Stepper::init() {
2016-09-25 06:32:58 -05:00
// Init Digipot Motor Current
#if HAS_DIGIPOTSS || HAS_MOTOR_CURRENT_PWM
digipot_init();
#endif
#if MB(ALLIGATOR)
const float motor_current[] = MOTOR_CURRENT;
unsigned int digipot_motor = 0;
for (uint8_t i = 0; i < 3 + EXTRUDERS; i++) {
digipot_motor = 255 * (motor_current[i] / 2.5);
dac084s085::setValue(i, digipot_motor);
}
#endif//MB(ALLIGATOR)
2016-09-25 06:32:58 -05:00
// Init Microstepping Pins
#if HAS_MICROSTEPS
microstep_init();
#endif
// Init Dir Pins
2015-04-03 17:31:35 -05:00
#if HAS_X_DIR
X_DIR_INIT;
2011-11-13 13:42:08 -06:00
#endif
2015-04-03 17:31:35 -05:00
#if HAS_X2_DIR
X2_DIR_INIT;
#endif
2015-04-03 17:31:35 -05:00
#if HAS_Y_DIR
Y_DIR_INIT;
#if ENABLED(Y_DUAL_STEPPER_DRIVERS) && HAS_Y2_DIR
Y2_DIR_INIT;
#endif
2011-11-13 13:42:08 -06:00
#endif
2015-04-03 17:31:35 -05:00
#if HAS_Z_DIR
Z_DIR_INIT;
#if ENABLED(Z_DUAL_STEPPER_DRIVERS) && HAS_Z2_DIR
Z2_DIR_INIT;
#endif
2011-11-13 13:42:08 -06:00
#endif
2015-04-03 17:31:35 -05:00
#if HAS_E0_DIR
E0_DIR_INIT;
#endif
2015-04-03 17:31:35 -05:00
#if HAS_E1_DIR
E1_DIR_INIT;
#endif
2015-04-03 17:31:35 -05:00
#if HAS_E2_DIR
E2_DIR_INIT;
2011-11-13 13:42:08 -06:00
#endif
2015-04-03 17:31:35 -05:00
#if HAS_E3_DIR
E3_DIR_INIT;
2015-01-23 16:13:06 -06:00
#endif
2017-04-09 03:23:05 -05:00
#if HAS_E4_DIR
E4_DIR_INIT;
#endif
2011-11-13 13:42:08 -06:00
2016-09-25 06:32:58 -05:00
// Init Enable Pins - steppers default to disabled.
2015-04-03 17:31:35 -05:00
#if HAS_X_ENABLE
X_ENABLE_INIT;
if (!X_ENABLE_ON) X_ENABLE_WRITE(HIGH);
#if (ENABLED(DUAL_X_CARRIAGE) || ENABLED(X_DUAL_STEPPER_DRIVERS)) && HAS_X2_ENABLE
2016-05-17 16:56:49 -05:00
X2_ENABLE_INIT;
if (!X_ENABLE_ON) X2_ENABLE_WRITE(HIGH);
#endif
2011-11-13 13:42:08 -06:00
#endif
2015-04-03 17:31:35 -05:00
#if HAS_Y_ENABLE
Y_ENABLE_INIT;
if (!Y_ENABLE_ON) Y_ENABLE_WRITE(HIGH);
2016-05-17 16:56:49 -05:00
#if ENABLED(Y_DUAL_STEPPER_DRIVERS) && HAS_Y2_ENABLE
Y2_ENABLE_INIT;
if (!Y_ENABLE_ON) Y2_ENABLE_WRITE(HIGH);
#endif
2011-11-13 13:42:08 -06:00
#endif
2015-04-03 17:31:35 -05:00
#if HAS_Z_ENABLE
Z_ENABLE_INIT;
if (!Z_ENABLE_ON) Z_ENABLE_WRITE(HIGH);
#if ENABLED(Z_DUAL_STEPPER_DRIVERS) && HAS_Z2_ENABLE
Z2_ENABLE_INIT;
if (!Z_ENABLE_ON) Z2_ENABLE_WRITE(HIGH);
#endif
2011-11-13 13:42:08 -06:00
#endif
2015-04-03 17:31:35 -05:00
#if HAS_E0_ENABLE
E0_ENABLE_INIT;
if (!E_ENABLE_ON) E0_ENABLE_WRITE(HIGH);
#endif
2015-04-03 17:31:35 -05:00
#if HAS_E1_ENABLE
E1_ENABLE_INIT;
if (!E_ENABLE_ON) E1_ENABLE_WRITE(HIGH);
#endif
2015-04-03 17:31:35 -05:00
#if HAS_E2_ENABLE
E2_ENABLE_INIT;
if (!E_ENABLE_ON) E2_ENABLE_WRITE(HIGH);
2011-11-13 13:42:08 -06:00
#endif
2015-04-03 17:31:35 -05:00
#if HAS_E3_ENABLE
E3_ENABLE_INIT;
if (!E_ENABLE_ON) E3_ENABLE_WRITE(HIGH);
2015-01-23 16:13:06 -06:00
#endif
2017-04-09 03:23:05 -05:00
#if HAS_E4_ENABLE
E4_ENABLE_INIT;
if (!E_ENABLE_ON) E4_ENABLE_WRITE(HIGH);
#endif
2011-11-13 13:42:08 -06:00
2016-09-25 06:32:58 -05:00
// Init endstops and pullups
endstops.init();
#define _STEP_INIT(AXIS) AXIS ##_STEP_INIT
#define _WRITE_STEP(AXIS, HIGHLOW) AXIS ##_STEP_WRITE(HIGHLOW)
#define _DISABLE(AXIS) disable_## AXIS()
#define AXIS_INIT(AXIS, PIN) \
_STEP_INIT(AXIS); \
_WRITE_STEP(AXIS, _INVERT_STEP_PIN(PIN)); \
_DISABLE(AXIS)
2011-11-13 13:42:08 -06:00
#define E_AXIS_INIT(NUM) AXIS_INIT(E## NUM, E)
2016-09-25 06:32:58 -05:00
// Init Step Pins
2015-04-03 17:31:35 -05:00
#if HAS_X_STEP
2016-07-11 12:19:07 -05:00
#if ENABLED(X_DUAL_STEPPER_DRIVERS) || ENABLED(DUAL_X_CARRIAGE)
X2_STEP_INIT;
X2_STEP_WRITE(INVERT_X_STEP_PIN);
2016-05-17 16:56:49 -05:00
#endif
AXIS_INIT(X, X);
#endif
2016-05-17 16:56:49 -05:00
2015-04-03 17:31:35 -05:00
#if HAS_Y_STEP
2016-07-11 12:19:07 -05:00
#if ENABLED(Y_DUAL_STEPPER_DRIVERS)
Y2_STEP_INIT;
Y2_STEP_WRITE(INVERT_Y_STEP_PIN);
#endif
AXIS_INIT(Y, Y);
#endif
2016-05-17 16:56:49 -05:00
2015-04-03 17:31:35 -05:00
#if HAS_Z_STEP
2016-07-11 12:19:07 -05:00
#if ENABLED(Z_DUAL_STEPPER_DRIVERS)
Z2_STEP_INIT;
Z2_STEP_WRITE(INVERT_Z_STEP_PIN);
#endif
AXIS_INIT(Z, Z);
#endif
2016-05-17 16:56:49 -05:00
2015-04-03 17:31:35 -05:00
#if HAS_E0_STEP
E_AXIS_INIT(0);
#endif
2015-04-03 17:31:35 -05:00
#if HAS_E1_STEP
E_AXIS_INIT(1);
#endif
2015-04-03 17:31:35 -05:00
#if HAS_E2_STEP
E_AXIS_INIT(2);
#endif
2015-04-03 17:31:35 -05:00
#if HAS_E3_STEP
E_AXIS_INIT(3);
2015-01-23 16:13:06 -06:00
#endif
#if HAS_E4_STEP
E_AXIS_INIT(4);
#endif
2011-11-13 13:42:08 -06:00
#ifdef __AVR__
2017-08-24 12:19:06 -05:00
// waveform generation = 0100 = CTC
SET_WGM(1, CTC_OCRnA);
// output mode = 00 (disconnected)
SET_COMA(1, NORMAL);
// Set the timer pre-scaler
// Generally we use a divider of 8, resulting in a 2MHz timer
// frequency on a 16MHz MCU. If you are going to change this, be
// sure to regenerate speed_lookuptable.h with
// create_speed_lookuptable.py
SET_CS(1, PRESCALER_8); // CS 2 = 1/8 prescaler
// Init Stepper ISR to 122 Hz for quick starting
OCR1A = 0x4000;
TCNT1 = 0;
#else
// Init Stepper ISR to 122 Hz for quick starting
HAL_timer_start(STEP_TIMER_NUM, 122);
#endif
ENABLE_STEPPER_DRIVER_INTERRUPT();
endstops.enable(true); // Start with endstops active. After homing they can be disabled
2011-11-13 13:42:08 -06:00
sei();
set_directions(); // Init directions to last_direction_bits = 0
2011-11-13 13:42:08 -06:00
}
2015-05-26 22:08:21 -05:00
/**
* Block until all buffered steps are executed / cleaned
2015-05-26 22:08:21 -05:00
*/
void Stepper::synchronize() { while (planner.has_blocks_queued() || cleaning_buffer_counter) idle(); }
2011-11-20 07:50:08 -06:00
/**
* Set the stepper positions directly in steps
*
* The input is based on the typical per-axis XYZ steps.
* For CORE machines XYZ needs to be translated to ABC.
*
* This allows get_axis_position_mm to correctly
* derive the current XYZ position later on.
*/
2016-10-09 13:25:25 -05:00
void Stepper::set_position(const long &a, const long &b, const long &c, const long &e) {
synchronize(); // Bad to set stepper counts in the middle of a move
2011-11-20 07:50:08 -06:00
CRITICAL_SECTION_START;
2016-11-05 23:47:38 -05:00
#if CORE_IS_XY
// corexy positioning
// these equations follow the form of the dA and dB equations on http://www.corexy.com/theory.html
2016-10-09 13:25:25 -05:00
count_position[A_AXIS] = a + b;
2016-11-05 23:47:38 -05:00
count_position[B_AXIS] = CORESIGN(a - b);
2016-10-09 13:25:25 -05:00
count_position[Z_AXIS] = c;
2016-11-05 23:47:38 -05:00
#elif CORE_IS_XZ
// corexz planning
2016-10-09 13:25:25 -05:00
count_position[A_AXIS] = a + c;
count_position[Y_AXIS] = b;
2016-11-05 23:47:38 -05:00
count_position[C_AXIS] = CORESIGN(a - c);
#elif CORE_IS_YZ
// coreyz planning
2016-10-09 13:25:25 -05:00
count_position[X_AXIS] = a;
2016-11-03 16:41:55 -05:00
count_position[B_AXIS] = b + c;
2016-11-05 23:47:38 -05:00
count_position[C_AXIS] = CORESIGN(b - c);
#else
// default non-h-bot planning
2016-10-09 13:25:25 -05:00
count_position[X_AXIS] = a;
count_position[Y_AXIS] = b;
count_position[Z_AXIS] = c;
#endif
2011-11-20 07:50:08 -06:00
count_position[E_AXIS] = e;
CRITICAL_SECTION_END;
}
2016-10-09 13:25:25 -05:00
void Stepper::set_position(const AxisEnum &axis, const long &v) {
CRITICAL_SECTION_START;
count_position[axis] = v;
CRITICAL_SECTION_END;
}
2016-10-09 13:25:25 -05:00
void Stepper::set_e_position(const long &e) {
CRITICAL_SECTION_START;
count_position[E_AXIS] = e;
CRITICAL_SECTION_END;
}
2016-04-11 03:03:10 -05:00
/**
* Get a stepper's position in steps.
*/
2017-12-09 02:10:54 -06:00
long Stepper::position(const AxisEnum axis) {
2011-11-20 07:50:08 -06:00
CRITICAL_SECTION_START;
2017-04-13 06:20:23 -05:00
const long count_pos = count_position[axis];
2011-11-20 07:50:08 -06:00
CRITICAL_SECTION_END;
return count_pos;
}
2016-04-11 03:03:10 -05:00
/**
* Get an axis position according to stepper position(s)
* For CORE machines apply translation from ABC to XYZ.
*/
2017-12-09 02:10:54 -06:00
float Stepper::get_axis_position_mm(const AxisEnum axis) {
2016-04-11 03:03:10 -05:00
float axis_steps;
2016-11-05 23:47:38 -05:00
#if IS_CORE
// Requesting one of the "core" axes?
if (axis == CORE_AXIS_1 || axis == CORE_AXIS_2) {
CRITICAL_SECTION_START;
// ((a1+a2)+(a1-a2))/2 -> (a1+a2+a1-a2)/2 -> (a1+a1)/2 -> a1
// ((a1+a2)-(a1-a2))/2 -> (a1+a2-a1+a2)/2 -> (a2+a2)/2 -> a2
2016-11-05 23:47:38 -05:00
axis_steps = 0.5f * (
axis == CORE_AXIS_2 ? CORESIGN(count_position[CORE_AXIS_1] - count_position[CORE_AXIS_2])
: count_position[CORE_AXIS_1] + count_position[CORE_AXIS_2]
);
CRITICAL_SECTION_END;
}
else
axis_steps = position(axis);
#else
axis_steps = position(axis);
#endif
return axis_steps * planner.steps_to_mm[axis];
}
void Stepper::finish_and_disable() {
synchronize();
disable_all_steppers();
}
void Stepper::quick_stop() {
2017-12-06 21:28:50 -06:00
cleaning_buffer_counter = 5000;
DISABLE_STEPPER_DRIVER_INTERRUPT();
while (planner.has_blocks_queued()) planner.discard_current_block();
current_block = NULL;
ENABLE_STEPPER_DRIVER_INTERRUPT();
#if ENABLED(ULTRA_LCD)
planner.clear_block_buffer_runtime();
#endif
}
2017-12-09 02:10:54 -06:00
void Stepper::endstop_triggered(const AxisEnum axis) {
2016-11-05 23:47:38 -05:00
#if IS_CORE
2016-11-05 23:47:38 -05:00
endstops_trigsteps[axis] = 0.5f * (
axis == CORE_AXIS_2 ? CORESIGN(count_position[CORE_AXIS_1] - count_position[CORE_AXIS_2])
: count_position[CORE_AXIS_1] + count_position[CORE_AXIS_2]
);
#else // !COREXY && !COREXZ && !COREYZ
endstops_trigsteps[axis] = count_position[axis];
#endif // !COREXY && !COREXZ && !COREYZ
kill_current_block();
cleaning_buffer_counter = -1; // Discard the rest of the move
}
void Stepper::report_positions() {
CRITICAL_SECTION_START;
2017-04-13 06:20:23 -05:00
const long xpos = count_position[X_AXIS],
ypos = count_position[Y_AXIS],
zpos = count_position[Z_AXIS];
CRITICAL_SECTION_END;
2018-03-31 20:13:32 -05:00
#if CORE_IS_XY || CORE_IS_XZ || IS_DELTA || IS_SCARA
SERIAL_PROTOCOLPGM(MSG_COUNT_A);
#else
SERIAL_PROTOCOLPGM(MSG_COUNT_X);
#endif
SERIAL_PROTOCOL(xpos);
2018-03-31 20:13:32 -05:00
#if CORE_IS_XY || CORE_IS_YZ || IS_DELTA || IS_SCARA
SERIAL_PROTOCOLPGM(" B:");
#else
SERIAL_PROTOCOLPGM(" Y:");
#endif
SERIAL_PROTOCOL(ypos);
2018-03-31 20:13:32 -05:00
#if CORE_IS_XZ || CORE_IS_YZ || IS_DELTA
SERIAL_PROTOCOLPGM(" C:");
#else
SERIAL_PROTOCOLPGM(" Z:");
#endif
SERIAL_PROTOCOL(zpos);
2017-06-09 10:51:23 -05:00
SERIAL_EOL();
}
#if ENABLED(BABYSTEPPING)
2017-04-11 11:11:17 -05:00
#if ENABLED(DELTA)
#define CYCLES_EATEN_BABYSTEP (2 * 15)
#else
#define CYCLES_EATEN_BABYSTEP 0
#endif
#define EXTRA_CYCLES_BABYSTEP (STEP_PULSE_CYCLES - (CYCLES_EATEN_BABYSTEP))
2017-03-24 00:50:05 -05:00
#define _ENABLE(AXIS) enable_## AXIS()
2016-11-03 16:42:44 -05:00
#define _READ_DIR(AXIS) AXIS ##_DIR_READ
#define _INVERT_DIR(AXIS) INVERT_## AXIS ##_DIR
#define _APPLY_DIR(AXIS, INVERT) AXIS ##_APPLY_DIR(INVERT, true)
2017-04-11 11:11:17 -05:00
#if EXTRA_CYCLES_BABYSTEP > 20
#define _SAVE_START const hal_timer_t pulse_start = HAL_timer_get_count(STEP_TIMER_NUM)
#define _PULSE_WAIT while (EXTRA_CYCLES_BABYSTEP > (uint32_t)(HAL_timer_get_count(STEP_TIMER_NUM) - pulse_start) * (PULSE_TIMER_PRESCALE)) { /* nada */ }
2017-03-24 00:50:05 -05:00
#else
#define _SAVE_START NOOP
2017-04-11 11:11:17 -05:00
#if EXTRA_CYCLES_BABYSTEP > 0
#define _PULSE_WAIT DELAY_NOPS(EXTRA_CYCLES_BABYSTEP)
#elif STEP_PULSE_CYCLES > 0
#define _PULSE_WAIT NOOP
#elif ENABLED(DELTA)
#define _PULSE_WAIT delayMicroseconds(2);
#else
#define _PULSE_WAIT delayMicroseconds(4);
#endif
2017-03-24 00:50:05 -05:00
#endif
#define BABYSTEP_AXIS(AXIS, INVERT, DIR) { \
const uint8_t old_dir = _READ_DIR(AXIS); \
_ENABLE(AXIS); \
_SAVE_START; \
_APPLY_DIR(AXIS, _INVERT_DIR(AXIS)^DIR^INVERT); \
_PULSE_WAIT; \
_APPLY_STEP(AXIS)(!_INVERT_STEP_PIN(AXIS), true); \
_PULSE_WAIT; \
_APPLY_STEP(AXIS)(_INVERT_STEP_PIN(AXIS), true); \
_APPLY_DIR(AXIS, old_dir); \
2016-11-03 16:42:44 -05:00
}
// MUST ONLY BE CALLED BY AN ISR,
// No other ISR should ever interrupt this!
2016-11-03 18:23:31 -05:00
void Stepper::babystep(const AxisEnum axis, const bool direction) {
cli();
2017-04-11 11:11:17 -05:00
switch (axis) {
2017-04-11 11:11:17 -05:00
#if ENABLED(BABYSTEP_XY)
case X_AXIS:
#if CORE_IS_XY
BABYSTEP_AXIS(X, false, direction);
BABYSTEP_AXIS(Y, false, direction);
#elif CORE_IS_XZ
BABYSTEP_AXIS(X, false, direction);
BABYSTEP_AXIS(Z, false, direction);
#else
BABYSTEP_AXIS(X, false, direction);
#endif
2017-04-11 11:11:17 -05:00
break;
2017-04-11 11:11:17 -05:00
case Y_AXIS:
#if CORE_IS_XY
BABYSTEP_AXIS(X, false, direction);
BABYSTEP_AXIS(Y, false, direction^(CORESIGN(1)<0));
#elif CORE_IS_YZ
BABYSTEP_AXIS(Y, false, direction);
BABYSTEP_AXIS(Z, false, direction^(CORESIGN(1)<0));
#else
BABYSTEP_AXIS(Y, false, direction);
#endif
2017-04-11 11:11:17 -05:00
break;
#endif
case Z_AXIS: {
#if CORE_IS_XZ
BABYSTEP_AXIS(X, BABYSTEP_INVERT_Z, direction);
BABYSTEP_AXIS(Z, BABYSTEP_INVERT_Z, direction^(CORESIGN(1)<0));
#elif CORE_IS_YZ
BABYSTEP_AXIS(Y, BABYSTEP_INVERT_Z, direction);
BABYSTEP_AXIS(Z, BABYSTEP_INVERT_Z, direction^(CORESIGN(1)<0));
#elif DISABLED(DELTA)
BABYSTEP_AXIS(Z, BABYSTEP_INVERT_Z, direction);
#else // DELTA
2017-04-13 06:20:23 -05:00
const bool z_direction = direction ^ BABYSTEP_INVERT_Z;
enable_X();
enable_Y();
enable_Z();
2017-04-13 06:20:23 -05:00
const uint8_t old_x_dir_pin = X_DIR_READ,
old_y_dir_pin = Y_DIR_READ,
old_z_dir_pin = Z_DIR_READ;
2017-04-11 11:11:17 -05:00
X_DIR_WRITE(INVERT_X_DIR ^ z_direction);
Y_DIR_WRITE(INVERT_Y_DIR ^ z_direction);
Z_DIR_WRITE(INVERT_Z_DIR ^ z_direction);
2017-04-11 11:11:17 -05:00
_SAVE_START;
X_STEP_WRITE(!INVERT_X_STEP_PIN);
Y_STEP_WRITE(!INVERT_Y_STEP_PIN);
Z_STEP_WRITE(!INVERT_Z_STEP_PIN);
2017-04-11 11:11:17 -05:00
_PULSE_WAIT;
X_STEP_WRITE(INVERT_X_STEP_PIN);
Y_STEP_WRITE(INVERT_Y_STEP_PIN);
Z_STEP_WRITE(INVERT_Z_STEP_PIN);
2017-04-11 11:11:17 -05:00
// Restore direction bits
X_DIR_WRITE(old_x_dir_pin);
Y_DIR_WRITE(old_y_dir_pin);
Z_DIR_WRITE(old_z_dir_pin);
#endif
} break;
default: break;
}
sei();
}
2017-03-24 00:50:05 -05:00
#endif // BABYSTEPPING
/**
* Software-controlled Stepper Motor Current
*/
#if HAS_DIGIPOTSS
// From Arduino DigitalPotControl example
2017-06-24 22:23:45 -05:00
void Stepper::digitalPotWrite(const int16_t address, const int16_t value) {
WRITE(DIGIPOTSS_PIN, LOW); // Take the SS pin low to select the chip
SPI.transfer(address); // Send the address and value via SPI
SPI.transfer(value);
2017-06-24 22:23:45 -05:00
WRITE(DIGIPOTSS_PIN, HIGH); // Take the SS pin high to de-select the chip
//delay(10);
}
2017-05-09 12:35:43 -05:00
#endif // HAS_DIGIPOTSS
#if HAS_MOTOR_CURRENT_PWM
void Stepper::refresh_motor_power() {
for (uint8_t i = 0; i < COUNT(motor_current_setting); ++i) {
switch (i) {
#if PIN_EXISTS(MOTOR_CURRENT_PWM_XY)
case 0:
#endif
#if PIN_EXISTS(MOTOR_CURRENT_PWM_Z)
case 1:
#endif
#if PIN_EXISTS(MOTOR_CURRENT_PWM_E)
case 2:
#endif
digipot_current(i, motor_current_setting[i]);
default: break;
2016-09-25 06:32:58 -05:00
}
}
2016-09-25 06:32:58 -05:00
}
#endif // HAS_MOTOR_CURRENT_PWM
#if HAS_DIGIPOTSS || HAS_MOTOR_CURRENT_PWM
2017-06-24 22:23:45 -05:00
void Stepper::digipot_current(const uint8_t driver, const int current) {
2016-09-25 06:32:58 -05:00
#if HAS_DIGIPOTSS
2017-06-24 22:23:45 -05:00
2016-09-25 06:32:58 -05:00
const uint8_t digipot_ch[] = DIGIPOT_CHANNELS;
digitalPotWrite(digipot_ch[driver], current);
2017-06-24 22:23:45 -05:00
2016-09-25 06:32:58 -05:00
#elif HAS_MOTOR_CURRENT_PWM
if (WITHIN(driver, 0, 2))
motor_current_setting[driver] = current; // update motor_current_setting
2017-06-24 22:23:45 -05:00
#define _WRITE_CURRENT_PWM(P) analogWrite(MOTOR_CURRENT_PWM_## P ##_PIN, 255L * current / (MOTOR_CURRENT_PWM_RANGE))
2016-09-25 06:32:58 -05:00
switch (driver) {
#if PIN_EXISTS(MOTOR_CURRENT_PWM_XY)
2017-06-24 22:23:45 -05:00
case 0: _WRITE_CURRENT_PWM(XY); break;
2016-09-25 06:32:58 -05:00
#endif
#if PIN_EXISTS(MOTOR_CURRENT_PWM_Z)
2017-06-24 22:23:45 -05:00
case 1: _WRITE_CURRENT_PWM(Z); break;
2016-09-25 06:32:58 -05:00
#endif
#if PIN_EXISTS(MOTOR_CURRENT_PWM_E)
2017-06-24 22:23:45 -05:00
case 2: _WRITE_CURRENT_PWM(E); break;
2016-09-25 06:32:58 -05:00
#endif
}
#endif
}
void Stepper::digipot_init() {
#if HAS_DIGIPOTSS
static const uint8_t digipot_motor_current[] = DIGIPOT_MOTOR_CURRENT;
SPI.begin();
SET_OUTPUT(DIGIPOTSS_PIN);
for (uint8_t i = 0; i < COUNT(digipot_motor_current); i++) {
//digitalPotWrite(digipot_ch[i], digipot_motor_current[i]);
digipot_current(i, digipot_motor_current[i]);
}
#elif HAS_MOTOR_CURRENT_PWM
#if PIN_EXISTS(MOTOR_CURRENT_PWM_XY)
SET_OUTPUT(MOTOR_CURRENT_PWM_XY_PIN);
#endif
#if PIN_EXISTS(MOTOR_CURRENT_PWM_Z)
SET_OUTPUT(MOTOR_CURRENT_PWM_Z_PIN);
#endif
#if PIN_EXISTS(MOTOR_CURRENT_PWM_E)
SET_OUTPUT(MOTOR_CURRENT_PWM_E_PIN);
#endif
refresh_motor_power();
// Set Timer5 to 31khz so the PWM of the motor power is as constant as possible. (removes a buzzing noise)
SET_CS5(PRESCALER_1);
#endif
}
2016-09-25 06:32:58 -05:00
#endif
2016-09-25 06:32:58 -05:00
#if HAS_MICROSTEPS
/**
* Software-controlled Microstepping
*/
2016-09-25 06:32:58 -05:00
void Stepper::microstep_init() {
SET_OUTPUT(X_MS1_PIN);
SET_OUTPUT(X_MS2_PIN);
#if HAS_Y_MICROSTEPS
2016-09-25 06:32:58 -05:00
SET_OUTPUT(Y_MS1_PIN);
SET_OUTPUT(Y_MS2_PIN);
#endif
#if HAS_Z_MICROSTEPS
2016-09-25 06:32:58 -05:00
SET_OUTPUT(Z_MS1_PIN);
SET_OUTPUT(Z_MS2_PIN);
#endif
#if HAS_E0_MICROSTEPS
2016-09-25 06:32:58 -05:00
SET_OUTPUT(E0_MS1_PIN);
SET_OUTPUT(E0_MS2_PIN);
#endif
#if HAS_E1_MICROSTEPS
2016-09-25 06:32:58 -05:00
SET_OUTPUT(E1_MS1_PIN);
SET_OUTPUT(E1_MS2_PIN);
#endif
#if HAS_E2_MICROSTEPS
SET_OUTPUT(E2_MS1_PIN);
SET_OUTPUT(E2_MS2_PIN);
#endif
#if HAS_E3_MICROSTEPS
SET_OUTPUT(E3_MS1_PIN);
SET_OUTPUT(E3_MS2_PIN);
#endif
#if HAS_E4_MICROSTEPS
SET_OUTPUT(E4_MS1_PIN);
SET_OUTPUT(E4_MS2_PIN);
#endif
2016-09-25 06:32:58 -05:00
static const uint8_t microstep_modes[] = MICROSTEP_MODES;
for (uint16_t i = 0; i < COUNT(microstep_modes); i++)
microstep_mode(i, microstep_modes[i]);
}
2016-09-25 06:32:58 -05:00
2017-06-24 22:23:45 -05:00
void Stepper::microstep_ms(const uint8_t driver, const int8_t ms1, const int8_t ms2) {
2016-09-25 06:32:58 -05:00
if (ms1 >= 0) switch (driver) {
case 0: WRITE(X_MS1_PIN, ms1); break;
#if HAS_Y_MICROSTEPS
case 1: WRITE(Y_MS1_PIN, ms1); break;
2016-09-25 06:32:58 -05:00
#endif
#if HAS_Z_MICROSTEPS
case 2: WRITE(Z_MS1_PIN, ms1); break;
2016-09-25 06:32:58 -05:00
#endif
#if HAS_E0_MICROSTEPS
case 3: WRITE(E0_MS1_PIN, ms1); break;
2016-09-25 06:32:58 -05:00
#endif
#if HAS_E1_MICROSTEPS
case 4: WRITE(E1_MS1_PIN, ms1); break;
2016-09-25 06:32:58 -05:00
#endif
#if HAS_E2_MICROSTEPS
case 5: WRITE(E2_MS1_PIN, ms1); break;
#endif
#if HAS_E3_MICROSTEPS
case 6: WRITE(E3_MS1_PIN, ms1); break;
#endif
#if HAS_E4_MICROSTEPS
case 7: WRITE(E4_MS1_PIN, ms1); break;
#endif
2016-09-25 06:32:58 -05:00
}
if (ms2 >= 0) switch (driver) {
case 0: WRITE(X_MS2_PIN, ms2); break;
#if HAS_Y_MICROSTEPS
case 1: WRITE(Y_MS2_PIN, ms2); break;
2016-09-25 06:32:58 -05:00
#endif
#if HAS_Z_MICROSTEPS
case 2: WRITE(Z_MS2_PIN, ms2); break;
2016-09-25 06:32:58 -05:00
#endif
#if HAS_E0_MICROSTEPS
case 3: WRITE(E0_MS2_PIN, ms2); break;
2016-09-25 06:32:58 -05:00
#endif
#if HAS_E1_MICROSTEPS
case 4: WRITE(E1_MS2_PIN, ms2); break;
2016-09-25 06:32:58 -05:00
#endif
#if HAS_E2_MICROSTEPS
case 5: WRITE(E2_MS2_PIN, ms2); break;
#endif
#if HAS_E3_MICROSTEPS
case 6: WRITE(E3_MS2_PIN, ms2); break;
#endif
#if HAS_E4_MICROSTEPS
case 7: WRITE(E4_MS2_PIN, ms2); break;
#endif
2016-09-25 06:32:58 -05:00
}
}
2017-06-24 22:23:45 -05:00
void Stepper::microstep_mode(const uint8_t driver, const uint8_t stepping_mode) {
2016-09-25 06:32:58 -05:00
switch (stepping_mode) {
case 1: microstep_ms(driver, MICROSTEP1); break;
#if ENABLED(HEROIC_STEPPER_DRIVERS)
case 128: microstep_ms(driver, MICROSTEP128); break;
#else
case 2: microstep_ms(driver, MICROSTEP2); break;
case 4: microstep_ms(driver, MICROSTEP4); break;
#endif
2016-09-25 06:32:58 -05:00
case 8: microstep_ms(driver, MICROSTEP8); break;
case 16: microstep_ms(driver, MICROSTEP16); break;
#if MB(ALLIGATOR)
case 32: microstep_ms(driver, MICROSTEP32); break;
#endif
default: SERIAL_ERROR_START(); SERIAL_ERRORLNPGM("Microsteps unavailable"); break;
2016-09-25 06:32:58 -05:00
}
}
2016-09-25 06:32:58 -05:00
void Stepper::microstep_readings() {
SERIAL_PROTOCOLLNPGM("MS1,MS2 Pins");
SERIAL_PROTOCOLPGM("X: ");
SERIAL_PROTOCOL(READ(X_MS1_PIN));
SERIAL_PROTOCOLLN(READ(X_MS2_PIN));
#if HAS_Y_MICROSTEPS
2016-09-25 06:32:58 -05:00
SERIAL_PROTOCOLPGM("Y: ");
SERIAL_PROTOCOL(READ(Y_MS1_PIN));
SERIAL_PROTOCOLLN(READ(Y_MS2_PIN));
#endif
#if HAS_Z_MICROSTEPS
2016-09-25 06:32:58 -05:00
SERIAL_PROTOCOLPGM("Z: ");
SERIAL_PROTOCOL(READ(Z_MS1_PIN));
SERIAL_PROTOCOLLN(READ(Z_MS2_PIN));
#endif
#if HAS_E0_MICROSTEPS
2016-09-25 06:32:58 -05:00
SERIAL_PROTOCOLPGM("E0: ");
SERIAL_PROTOCOL(READ(E0_MS1_PIN));
SERIAL_PROTOCOLLN(READ(E0_MS2_PIN));
#endif
#if HAS_E1_MICROSTEPS
2016-09-25 06:32:58 -05:00
SERIAL_PROTOCOLPGM("E1: ");
SERIAL_PROTOCOL(READ(E1_MS1_PIN));
SERIAL_PROTOCOLLN(READ(E1_MS2_PIN));
#endif
#if HAS_E2_MICROSTEPS
SERIAL_PROTOCOLPGM("E2: ");
SERIAL_PROTOCOL(READ(E2_MS1_PIN));
SERIAL_PROTOCOLLN(READ(E2_MS2_PIN));
#endif
#if HAS_E3_MICROSTEPS
SERIAL_PROTOCOLPGM("E3: ");
SERIAL_PROTOCOL(READ(E3_MS1_PIN));
SERIAL_PROTOCOLLN(READ(E3_MS2_PIN));
#endif
#if HAS_E4_MICROSTEPS
SERIAL_PROTOCOLPGM("E4: ");
SERIAL_PROTOCOL(READ(E4_MS1_PIN));
SERIAL_PROTOCOLLN(READ(E4_MS2_PIN));
#endif
2016-09-25 06:32:58 -05:00
}
#endif // HAS_MICROSTEPS