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Keep Stepper encapsulation, use static data and methods

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This commit is contained in:
Scott Lahteine
2016-05-11 15:24:24 -07:00
parent 7ba8f2dbc3
commit 668d50f68e
2 changed files with 83 additions and 32 deletions
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54
Marlin/stepper.cpp
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@ -60,6 +60,55 @@
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(Z_DUAL_ENDSTOPS)
bool Stepper::performing_homing = false;
#endif
// private:
unsigned char Stepper::last_direction_bits = 0; // The next stepping-bits to be output
unsigned int Stepper::cleaning_buffer_counter = 0;
#if ENABLED(Z_DUAL_ENDSTOPS)
bool Stepper::locked_z_motor = false;
bool Stepper::locked_z2_motor = false;
#endif
long Stepper::counter_X = 0,
Stepper::counter_Y = 0,
Stepper::counter_Z = 0,
Stepper::counter_E = 0;
volatile unsigned long Stepper::step_events_completed = 0; // The number of step events executed in the current block
#if ENABLED(ADVANCE)
unsigned char Stepper::old_OCR0A;
long Stepper::final_advance = 0,
Stepper::old_advance = 0,
Stepper::e_steps[4],
Stepper::advance_rate,
Stepper::advance;
#endif
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 };
unsigned short Stepper::acc_step_rate; // needed for deceleration start point
uint8_t Stepper::step_loops, Stepper::step_loops_nominal;
unsigned short Stepper::OCR1A_nominal;
volatile long Stepper::endstops_trigsteps[3];
#if ENABLED(DUAL_X_CARRIAGE)
#define X_APPLY_DIR(v,ALWAYS) \
if (extruder_duplication_enabled || ALWAYS) { \
@ -238,7 +287,7 @@ void Stepper::set_directions() {
// "The Stepper Driver Interrupt" - This timer interrupt is the workhorse.
// It pops blocks from the block_buffer and executes them by pulsing the stepper pins appropriately.
ISR(TIMER1_COMPA_vect) { stepper.isr(); }
ISR(TIMER1_COMPA_vect) { Stepper::isr(); }
void Stepper::isr() {
if (cleaning_buffer_counter) {
@ -405,7 +454,7 @@ void Stepper::isr() {
#if ENABLED(ADVANCE)
// Timer interrupt for E. e_steps is set in the main routine;
// Timer 0 is shared with millies
ISR(TIMER0_COMPA_vect) { stepper.advance_isr(); }
ISR(TIMER0_COMPA_vect) { Stepper::advance_isr(); }
void Stepper::advance_isr() {
old_OCR0A += 52; // ~10kHz interrupt (250000 / 26 = 9615kHz)
@ -443,6 +492,7 @@ void Stepper::isr() {
#endif // ADVANCE
void Stepper::init() {
digipot_init(); //Initialize Digipot Motor Current
microstep_init(); //Initialize Microstepping Pins