bissen21/Marlin_Firmware
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Introduce a layer of macro indirection to all stepper pins. This allows other stepper drivers to redefine them, so they can use SPI/I2C instead of direct pin manipulation.

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This commit is contained in:
domonoky
2015-02-23 16:12:35 +01:00
parent a57869ba49
commit b55995aae8
5 changed files with 353 additions and 196 deletions
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308
Marlin/stepper.cpp
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@ -349,51 +349,51 @@ ISR(TIMER1_COMPA_vect)
if((out_bits & (1<<X_AXIS))!=0){
#ifdef DUAL_X_CARRIAGE
if (extruder_duplication_enabled){
WRITE(X_DIR_PIN, INVERT_X_DIR);
WRITE(X2_DIR_PIN, INVERT_X_DIR);
X_DIR_WRITE(INVERT_X_DIR);
X2_DIR_WRITE(INVERT_X_DIR);
}
else{
if (current_block->active_extruder != 0)
WRITE(X2_DIR_PIN, INVERT_X_DIR);
X2_DIR_WRITE(INVERT_X_DIR);
else
WRITE(X_DIR_PIN, INVERT_X_DIR);
X_DIR_WRITE(INVERT_X_DIR);
}
#else
WRITE(X_DIR_PIN, INVERT_X_DIR);
X_DIR_WRITE(INVERT_X_DIR);
#endif
count_direction[X_AXIS]=-1;
}
else{
#ifdef DUAL_X_CARRIAGE
if (extruder_duplication_enabled){
WRITE(X_DIR_PIN, !INVERT_X_DIR);
WRITE(X2_DIR_PIN, !INVERT_X_DIR);
X_DIR_WRITE(!INVERT_X_DIR);
X2_DIR_WRITE( !INVERT_X_DIR);
}
else{
if (current_block->active_extruder != 0)
WRITE(X2_DIR_PIN, !INVERT_X_DIR);
X2_DIR_WRITE(!INVERT_X_DIR);
else
WRITE(X_DIR_PIN, !INVERT_X_DIR);
X_DIR_WRITE(!INVERT_X_DIR);
}
#else
WRITE(X_DIR_PIN, !INVERT_X_DIR);
X_DIR_WRITE(!INVERT_X_DIR);
#endif
count_direction[X_AXIS]=1;
}
if((out_bits & (1<<Y_AXIS))!=0){
WRITE(Y_DIR_PIN, INVERT_Y_DIR);
Y_DIR_WRITE(INVERT_Y_DIR);
#ifdef Y_DUAL_STEPPER_DRIVERS
WRITE(Y2_DIR_PIN, !(INVERT_Y_DIR == INVERT_Y2_VS_Y_DIR));
Y2_DIR_WRITE(!(INVERT_Y_DIR == INVERT_Y2_VS_Y_DIR));
#endif
count_direction[Y_AXIS]=-1;
}
else{
WRITE(Y_DIR_PIN, !INVERT_Y_DIR);
Y_DIR_WRITE(!INVERT_Y_DIR);
#ifdef Y_DUAL_STEPPER_DRIVERS
WRITE(Y2_DIR_PIN, (INVERT_Y_DIR == INVERT_Y2_VS_Y_DIR));
Y2_DIR_WRITE((INVERT_Y_DIR == INVERT_Y2_VS_Y_DIR));
#endif
count_direction[Y_AXIS]=1;
@ -485,10 +485,10 @@ ISR(TIMER1_COMPA_vect)
}
if ((out_bits & (1<<Z_AXIS)) != 0) { // -direction
WRITE(Z_DIR_PIN,INVERT_Z_DIR);
Z_DIR_WRITE(INVERT_Z_DIR);
#ifdef Z_DUAL_STEPPER_DRIVERS
WRITE(Z2_DIR_PIN,INVERT_Z_DIR);
Z2_DIR_WRITE(INVERT_Z_DIR);
#endif
count_direction[Z_AXIS]=-1;
@ -506,10 +506,10 @@ ISR(TIMER1_COMPA_vect)
}
}
else { // +direction
WRITE(Z_DIR_PIN,!INVERT_Z_DIR);
Z_DIR_WRITE(!INVERT_Z_DIR);
#ifdef Z_DUAL_STEPPER_DRIVERS
WRITE(Z2_DIR_PIN,!INVERT_Z_DIR);
Z2_DIR_WRITE(!INVERT_Z_DIR);
#endif
count_direction[Z_AXIS]=1;
@ -565,17 +565,17 @@ ISR(TIMER1_COMPA_vect)
* low instead of doing each in turn. The extra tests add enough
* lag to allow it work with without needing NOPs */
if (counter_x > 0) {
WRITE(X_STEP_PIN, HIGH);
X_STEP_WRITE(HIGH);
}
counter_y += current_block->steps_y;
if (counter_y > 0) {
WRITE(Y_STEP_PIN, HIGH);
Y_STEP_WRITE( HIGH);
}
counter_z += current_block->steps_z;
if (counter_z > 0) {
WRITE(Z_STEP_PIN, HIGH);
Z_STEP_WRITE( HIGH);
}
#ifndef ADVANCE
@ -588,19 +588,19 @@ ISR(TIMER1_COMPA_vect)
if (counter_x > 0) {
counter_x -= current_block->step_event_count;
count_position[X_AXIS]+=count_direction[X_AXIS];
WRITE(X_STEP_PIN, LOW);
X_STEP_WRITE(LOW);
}
if (counter_y > 0) {
counter_y -= current_block->step_event_count;
count_position[Y_AXIS]+=count_direction[Y_AXIS];
WRITE(Y_STEP_PIN, LOW);
Y_STEP_WRITE( LOW);
}
if (counter_z > 0) {
counter_z -= current_block->step_event_count;
count_position[Z_AXIS]+=count_direction[Z_AXIS];
WRITE(Z_STEP_PIN, LOW);
Z_STEP_WRITE(LOW);
}
#ifndef ADVANCE
@ -614,67 +614,67 @@ ISR(TIMER1_COMPA_vect)
if (counter_x > 0) {
#ifdef DUAL_X_CARRIAGE
if (extruder_duplication_enabled){
WRITE(X_STEP_PIN, !INVERT_X_STEP_PIN);
WRITE(X2_STEP_PIN, !INVERT_X_STEP_PIN);
X_STEP_WRITE(!INVERT_X_STEP_PIN);
X2_STEP_WRITE( !INVERT_X_STEP_PIN);
}
else {
if (current_block->active_extruder != 0)
WRITE(X2_STEP_PIN, !INVERT_X_STEP_PIN);
X2_STEP_WRITE( !INVERT_X_STEP_PIN);
else
WRITE(X_STEP_PIN, !INVERT_X_STEP_PIN);
X_STEP_WRITE(!INVERT_X_STEP_PIN);
}
#else
WRITE(X_STEP_PIN, !INVERT_X_STEP_PIN);
X_STEP_WRITE(!INVERT_X_STEP_PIN);
#endif
counter_x -= current_block->step_event_count;
count_position[X_AXIS]+=count_direction[X_AXIS];
#ifdef DUAL_X_CARRIAGE
if (extruder_duplication_enabled){
WRITE(X_STEP_PIN, INVERT_X_STEP_PIN);
WRITE(X2_STEP_PIN, INVERT_X_STEP_PIN);
X_STEP_WRITE(INVERT_X_STEP_PIN);
X2_STEP_WRITE(INVERT_X_STEP_PIN);
}
else {
if (current_block->active_extruder != 0)
WRITE(X2_STEP_PIN, INVERT_X_STEP_PIN);
X2_STEP_WRITE(INVERT_X_STEP_PIN);
else
WRITE(X_STEP_PIN, INVERT_X_STEP_PIN);
X_STEP_WRITE(INVERT_X_STEP_PIN);
}
#else
WRITE(X_STEP_PIN, INVERT_X_STEP_PIN);
X_STEP_WRITE(INVERT_X_STEP_PIN);
#endif
}
counter_y += current_block->steps_y;
if (counter_y > 0) {
WRITE(Y_STEP_PIN, !INVERT_Y_STEP_PIN);
Y_STEP_WRITE(!INVERT_Y_STEP_PIN);
#ifdef Y_DUAL_STEPPER_DRIVERS
WRITE(Y2_STEP_PIN, !INVERT_Y_STEP_PIN);
Y2_STEP_WRITE( !INVERT_Y_STEP_PIN);
#endif
counter_y -= current_block->step_event_count;
count_position[Y_AXIS]+=count_direction[Y_AXIS];
WRITE(Y_STEP_PIN, INVERT_Y_STEP_PIN);
Y_STEP_WRITE(INVERT_Y_STEP_PIN);
#ifdef Y_DUAL_STEPPER_DRIVERS
WRITE(Y2_STEP_PIN, INVERT_Y_STEP_PIN);
Y2_STEP_WRITE( INVERT_Y_STEP_PIN);
#endif
}
counter_z += current_block->steps_z;
if (counter_z > 0) {
WRITE(Z_STEP_PIN, !INVERT_Z_STEP_PIN);
Z_STEP_WRITE( !INVERT_Z_STEP_PIN);
#ifdef Z_DUAL_STEPPER_DRIVERS
WRITE(Z2_STEP_PIN, !INVERT_Z_STEP_PIN);
Z2_STEP_WRITE(!INVERT_Z_STEP_PIN);
#endif
counter_z -= current_block->step_event_count;
count_position[Z_AXIS]+=count_direction[Z_AXIS];
WRITE(Z_STEP_PIN, INVERT_Z_STEP_PIN);
Z_STEP_WRITE( INVERT_Z_STEP_PIN);
#ifdef Z_DUAL_STEPPER_DRIVERS
WRITE(Z2_STEP_PIN, INVERT_Z_STEP_PIN);
Z2_STEP_WRITE(INVERT_Z_STEP_PIN);
#endif
}
@ -771,60 +771,60 @@ ISR(TIMER1_COMPA_vect)
// Set E direction (Depends on E direction + advance)
for(unsigned char i=0; i<4;i++) {
if (e_steps[0] != 0) {
WRITE(E0_STEP_PIN, INVERT_E_STEP_PIN);
E0_STEP_WRITE( INVERT_E_STEP_PIN);
if (e_steps[0] < 0) {
WRITE(E0_DIR_PIN, INVERT_E0_DIR);
E0_DIR_WRITE(INVERT_E0_DIR);
e_steps[0]++;
WRITE(E0_STEP_PIN, !INVERT_E_STEP_PIN);
E0_STEP_WRITE(!INVERT_E_STEP_PIN);
}
else if (e_steps[0] > 0) {
WRITE(E0_DIR_PIN, !INVERT_E0_DIR);
E0_DIR_WRITE(!INVERT_E0_DIR);
e_steps[0]--;
WRITE(E0_STEP_PIN, !INVERT_E_STEP_PIN);
E0_STEP_WRITE(!INVERT_E_STEP_PIN);
}
}
#if EXTRUDERS > 1
if (e_steps[1] != 0) {
WRITE(E1_STEP_PIN, INVERT_E_STEP_PIN);
E1_STEP_WRITE(INVERT_E_STEP_PIN);
if (e_steps[1] < 0) {
WRITE(E1_DIR_PIN, INVERT_E1_DIR);
E1_DIR_WRITE(INVERT_E1_DIR);
e_steps[1]++;
WRITE(E1_STEP_PIN, !INVERT_E_STEP_PIN);
E1_STEP_WRITE(!INVERT_E_STEP_PIN);
}
else if (e_steps[1] > 0) {
WRITE(E1_DIR_PIN, !INVERT_E1_DIR);
E1_DIR_WRITE(!INVERT_E1_DIR);
e_steps[1]--;
WRITE(E1_STEP_PIN, !INVERT_E_STEP_PIN);
E1_STEP_WRITE(!INVERT_E_STEP_PIN);
}
}
#endif
#if EXTRUDERS > 2
if (e_steps[2] != 0) {
WRITE(E2_STEP_PIN, INVERT_E_STEP_PIN);
E2_STEP_WRITE(INVERT_E_STEP_PIN);
if (e_steps[2] < 0) {
WRITE(E2_DIR_PIN, INVERT_E2_DIR);
E2_DIR_WRITE(INVERT_E2_DIR);
e_steps[2]++;
WRITE(E2_STEP_PIN, !INVERT_E_STEP_PIN);
E2_STEP_WRITE(!INVERT_E_STEP_PIN);
}
else if (e_steps[2] > 0) {
WRITE(E2_DIR_PIN, !INVERT_E2_DIR);
E2_DIR_WRITE(!INVERT_E2_DIR);
e_steps[2]--;
WRITE(E2_STEP_PIN, !INVERT_E_STEP_PIN);
E2_STEP_WRITE(!INVERT_E_STEP_PIN);
}
}
#endif
#if EXTRUDERS > 3
if (e_steps[3] != 0) {
WRITE(E3_STEP_PIN, INVERT_E_STEP_PIN);
E3_STEP_WRITE(INVERT_E_STEP_PIN);
if (e_steps[3] < 0) {
WRITE(E3_DIR_PIN, INVERT_E3_DIR);
E3_DIR_WRITE(INVERT_E3_DIR);
e_steps[3]++;
WRITE(E3_STEP_PIN, !INVERT_E_STEP_PIN);
E3_STEP_WRITE(!INVERT_E_STEP_PIN);
}
else if (e_steps[3] > 0) {
WRITE(E3_DIR_PIN, !INVERT_E3_DIR);
E3_DIR_WRITE(!INVERT_E3_DIR);
e_steps[3]--;
WRITE(E3_STEP_PIN, !INVERT_E_STEP_PIN);
E3_STEP_WRITE(!INVERT_E_STEP_PIN);
}
}
#endif
@ -840,81 +840,81 @@ void st_init()
//Initialize Dir Pins
#if defined(X_DIR_PIN) && X_DIR_PIN > -1
SET_OUTPUT(X_DIR_PIN);
X_DIR_INIT;
#endif
#if defined(X2_DIR_PIN) && X2_DIR_PIN > -1
SET_OUTPUT(X2_DIR_PIN);
X2_DIR_INIT;
#endif
#if defined(Y_DIR_PIN) && Y_DIR_PIN > -1
SET_OUTPUT(Y_DIR_PIN);
Y_DIR_INIT;
#if defined(Y_DUAL_STEPPER_DRIVERS) && defined(Y2_DIR_PIN) && (Y2_DIR_PIN > -1)
SET_OUTPUT(Y2_DIR_PIN);
Y2_DIR_INIT;
#endif
#endif
#if defined(Z_DIR_PIN) && Z_DIR_PIN > -1
SET_OUTPUT(Z_DIR_PIN);
Z_DIR_INIT;
#if defined(Z_DUAL_STEPPER_DRIVERS) && defined(Z2_DIR_PIN) && (Z2_DIR_PIN > -1)
SET_OUTPUT(Z2_DIR_PIN);
Z2_DIR_INIT;
#endif
#endif
#if defined(E0_DIR_PIN) && E0_DIR_PIN > -1
SET_OUTPUT(E0_DIR_PIN);
E0_DIR_INIT;
#endif
#if defined(E1_DIR_PIN) && (E1_DIR_PIN > -1)
SET_OUTPUT(E1_DIR_PIN);
E1_DIR_INIT;
#endif
#if defined(E2_DIR_PIN) && (E2_DIR_PIN > -1)
SET_OUTPUT(E2_DIR_PIN);
E2_DIR_INIT;
#endif
#if defined(E3_DIR_PIN) && (E3_DIR_PIN > -1)
SET_OUTPUT(E3_DIR_PIN);
E3_DIR_INIT;
#endif
//Initialize Enable Pins - steppers default to disabled.
#if defined(X_ENABLE_PIN) && X_ENABLE_PIN > -1
SET_OUTPUT(X_ENABLE_PIN);
if(!X_ENABLE_ON) WRITE(X_ENABLE_PIN,HIGH);
X_ENABLE_INIT;
if(!X_ENABLE_ON) X_ENABLE_WRITE(HIGH);
#endif
#if defined(X2_ENABLE_PIN) && X2_ENABLE_PIN > -1
SET_OUTPUT(X2_ENABLE_PIN);
if(!X_ENABLE_ON) WRITE(X2_ENABLE_PIN,HIGH);
X2_ENABLE_INIT;
if(!X_ENABLE_ON) X2_ENABLE_WRITE(HIGH);
#endif
#if defined(Y_ENABLE_PIN) && Y_ENABLE_PIN > -1
SET_OUTPUT(Y_ENABLE_PIN);
if(!Y_ENABLE_ON) WRITE(Y_ENABLE_PIN,HIGH);
Y_ENABLE_INIT;
if(!Y_ENABLE_ON) Y_ENABLE_WRITE(HIGH);
#if defined(Y_DUAL_STEPPER_DRIVERS) && defined(Y2_ENABLE_PIN) && (Y2_ENABLE_PIN > -1)
SET_OUTPUT(Y2_ENABLE_PIN);
if(!Y_ENABLE_ON) WRITE(Y2_ENABLE_PIN,HIGH);
Y2_ENABLE_INIT;
if(!Y_ENABLE_ON) Y2_ENABLE_WRITE(HIGH);
#endif
#endif
#if defined(Z_ENABLE_PIN) && Z_ENABLE_PIN > -1
SET_OUTPUT(Z_ENABLE_PIN);
if(!Z_ENABLE_ON) WRITE(Z_ENABLE_PIN,HIGH);
Z_ENABLE_INIT;
if(!Z_ENABLE_ON) Z_ENABLE_WRITE(HIGH);
#if defined(Z_DUAL_STEPPER_DRIVERS) && defined(Z2_ENABLE_PIN) && (Z2_ENABLE_PIN > -1)
SET_OUTPUT(Z2_ENABLE_PIN);
if(!Z_ENABLE_ON) WRITE(Z2_ENABLE_PIN,HIGH);
Z2_ENABLE_INIT;
if(!Z_ENABLE_ON) Z2_ENABLE_WRITE(HIGH);
#endif
#endif
#if defined(E0_ENABLE_PIN) && (E0_ENABLE_PIN > -1)
SET_OUTPUT(E0_ENABLE_PIN);
if(!E_ENABLE_ON) WRITE(E0_ENABLE_PIN,HIGH);
E0_ENABLE_INIT;
if(!E_ENABLE_ON) E0_ENABLE_WRITE(HIGH);
#endif
#if defined(E1_ENABLE_PIN) && (E1_ENABLE_PIN > -1)
SET_OUTPUT(E1_ENABLE_PIN);
if(!E_ENABLE_ON) WRITE(E1_ENABLE_PIN,HIGH);
E1_ENABLE_INIT;
if(!E_ENABLE_ON) E1_ENABLE_WRITE(HIGH);
#endif
#if defined(E2_ENABLE_PIN) && (E2_ENABLE_PIN > -1)
SET_OUTPUT(E2_ENABLE_PIN);
if(!E_ENABLE_ON) WRITE(E2_ENABLE_PIN,HIGH);
E2_ENABLE_INIT;
if(!E_ENABLE_ON) E2_ENABLE_WRITE(HIGH);
#endif
#if defined(E3_ENABLE_PIN) && (E3_ENABLE_PIN > -1)
SET_OUTPUT(E3_ENABLE_PIN);
if(!E_ENABLE_ON) WRITE(E3_ENABLE_PIN,HIGH);
E3_ENABLE_INIT;
if(!E_ENABLE_ON) E3_ENABLE_WRITE(HIGH);
#endif
//endstops and pullups
@ -964,51 +964,51 @@ void st_init()
//Initialize Step Pins
#if defined(X_STEP_PIN) && (X_STEP_PIN > -1)
SET_OUTPUT(X_STEP_PIN);
WRITE(X_STEP_PIN,INVERT_X_STEP_PIN);
X_STEP_INIT;
X_STEP_WRITE(INVERT_X_STEP_PIN);
disable_x();
#endif
#if defined(X2_STEP_PIN) && (X2_STEP_PIN > -1)
SET_OUTPUT(X2_STEP_PIN);
WRITE(X2_STEP_PIN,INVERT_X_STEP_PIN);
X2_STEP_INIT;
X2_STEP_WRITE(INVERT_X_STEP_PIN);
disable_x();
#endif
#if defined(Y_STEP_PIN) && (Y_STEP_PIN > -1)
SET_OUTPUT(Y_STEP_PIN);
WRITE(Y_STEP_PIN,INVERT_Y_STEP_PIN);
Y_STEP_INIT;
Y_STEP_WRITE(INVERT_Y_STEP_PIN);
#if defined(Y_DUAL_STEPPER_DRIVERS) && defined(Y2_STEP_PIN) && (Y2_STEP_PIN > -1)
SET_OUTPUT(Y2_STEP_PIN);
WRITE(Y2_STEP_PIN,INVERT_Y_STEP_PIN);
Y2_STEP_INIT;
Y2_STEP_WRITE(INVERT_Y_STEP_PIN);
#endif
disable_y();
#endif
#if defined(Z_STEP_PIN) && (Z_STEP_PIN > -1)
SET_OUTPUT(Z_STEP_PIN);
WRITE(Z_STEP_PIN,INVERT_Z_STEP_PIN);
Z_STEP_INIT;
Z_STEP_WRITE(INVERT_Z_STEP_PIN);
#if defined(Z_DUAL_STEPPER_DRIVERS) && defined(Z2_STEP_PIN) && (Z2_STEP_PIN > -1)
SET_OUTPUT(Z2_STEP_PIN);
WRITE(Z2_STEP_PIN,INVERT_Z_STEP_PIN);
Z2_STEP_INIT;
Z2_STEP_WRITE(INVERT_Z_STEP_PIN);
#endif
disable_z();
#endif
#if defined(E0_STEP_PIN) && (E0_STEP_PIN > -1)
SET_OUTPUT(E0_STEP_PIN);
WRITE(E0_STEP_PIN,INVERT_E_STEP_PIN);
E0_STEP_INIT;
E0_STEP_WRITE(INVERT_E_STEP_PIN);
disable_e0();
#endif
#if defined(E1_STEP_PIN) && (E1_STEP_PIN > -1)
SET_OUTPUT(E1_STEP_PIN);
WRITE(E1_STEP_PIN,INVERT_E_STEP_PIN);
E1_STEP_INIT;
E1_STEP_WRITE(INVERT_E_STEP_PIN);
disable_e1();
#endif
#if defined(E2_STEP_PIN) && (E2_STEP_PIN > -1)
SET_OUTPUT(E2_STEP_PIN);
WRITE(E2_STEP_PIN,INVERT_E_STEP_PIN);
E2_STEP_INIT;
E2_STEP_WRITE(INVERT_E_STEP_PIN);
disable_e2();
#endif
#if defined(E3_STEP_PIN) && (E3_STEP_PIN > -1)
SET_OUTPUT(E3_STEP_PIN);
WRITE(E3_STEP_PIN,INVERT_E_STEP_PIN);
E3_STEP_INIT;
E3_STEP_WRITE(INVERT_E_STEP_PIN);
disable_e3();
#endif
@ -1127,31 +1127,31 @@ void babystep(const uint8_t axis,const bool direction)
case X_AXIS:
{
enable_x();
uint8_t old_x_dir_pin= READ(X_DIR_PIN); //if dualzstepper, both point to same direction.
uint8_t old_x_dir_pin= X_DIR_READ; //if dualzstepper, both point to same direction.
//setup new step
WRITE(X_DIR_PIN,(INVERT_X_DIR)^direction);
X_DIR_WRITE((INVERT_X_DIR)^direction);
#ifdef DUAL_X_CARRIAGE
WRITE(X2_DIR_PIN,(INVERT_X_DIR)^direction);
X2_DIR_WRITE((INVERT_X_DIR)^direction);
#endif
//perform step
WRITE(X_STEP_PIN, !INVERT_X_STEP_PIN);
X_STEP_WRITE(!INVERT_X_STEP_PIN);
#ifdef DUAL_X_CARRIAGE
WRITE(X2_STEP_PIN, !INVERT_X_STEP_PIN);
X2_STEP_WRITE(!INVERT_X_STEP_PIN);
#endif
_delay_us(1U); // wait 1 microsecond
WRITE(X_STEP_PIN, INVERT_X_STEP_PIN);
X_STEP_WRITE(INVERT_X_STEP_PIN);
#ifdef DUAL_X_CARRIAGE
WRITE(X2_STEP_PIN, INVERT_X_STEP_PIN);
X2_STEP_WRITE(INVERT_X_STEP_PIN);
#endif
//get old pin state back.
WRITE(X_DIR_PIN,old_x_dir_pin);
X_DIR_WRITE(old_x_dir_pin);
#ifdef DUAL_X_CARRIAGE
WRITE(X2_DIR_PIN,old_x_dir_pin);
X2_DIR_WRITE(old_x_dir_pin);
#endif
}
@ -1159,31 +1159,31 @@ void babystep(const uint8_t axis,const bool direction)
case Y_AXIS:
{
enable_y();
uint8_t old_y_dir_pin= READ(Y_DIR_PIN); //if dualzstepper, both point to same direction.
uint8_t old_y_dir_pin= Y_DIR_READ; //if dualzstepper, both point to same direction.
//setup new step
WRITE(Y_DIR_PIN,(INVERT_Y_DIR)^direction);
Y_DIR_WRITE((INVERT_Y_DIR)^direction);
#ifdef DUAL_Y_CARRIAGE
WRITE(Y2_DIR_PIN,(INVERT_Y_DIR)^direction);
Y2_DIR_WRITE((INVERT_Y_DIR)^direction);
#endif
//perform step
WRITE(Y_STEP_PIN, !INVERT_Y_STEP_PIN);
Y_STEP_WRITE(!INVERT_Y_STEP_PIN);
#ifdef DUAL_Y_CARRIAGE
WRITE(Y2_STEP_PIN, !INVERT_Y_STEP_PIN);
Y2_STEP_WRITE( !INVERT_Y_STEP_PIN);
#endif
_delay_us(1U); // wait 1 microsecond
WRITE(Y_STEP_PIN, INVERT_Y_STEP_PIN);
Y_STEP_WRITE(INVERT_Y_STEP_PIN);
#ifdef DUAL_Y_CARRIAGE
WRITE(Y2_STEP_PIN, INVERT_Y_STEP_PIN);
Y2_STEP_WRITE(INVERT_Y_STEP_PIN);
#endif
//get old pin state back.
WRITE(Y_DIR_PIN,old_y_dir_pin);
Y_DIR_WRITE(old_y_dir_pin);
#ifdef DUAL_Y_CARRIAGE
WRITE(Y2_DIR_PIN,old_y_dir_pin);
Y2_DIR_WRITE(old_y_dir_pin);
#endif
}
@ -1193,29 +1193,29 @@ void babystep(const uint8_t axis,const bool direction)
case Z_AXIS:
{
enable_z();
uint8_t old_z_dir_pin= READ(Z_DIR_PIN); //if dualzstepper, both point to same direction.
uint8_t old_z_dir_pin= Z_DIR_READ; //if dualzstepper, both point to same direction.
//setup new step
WRITE(Z_DIR_PIN,(INVERT_Z_DIR)^direction^BABYSTEP_INVERT_Z);
Z_DIR_WRITE((INVERT_Z_DIR)^direction^BABYSTEP_INVERT_Z);
#ifdef Z_DUAL_STEPPER_DRIVERS
WRITE(Z2_DIR_PIN,(INVERT_Z_DIR)^direction^BABYSTEP_INVERT_Z);
Z2_DIR_WRITE((INVERT_Z_DIR)^direction^BABYSTEP_INVERT_Z);
#endif
//perform step
WRITE(Z_STEP_PIN, !INVERT_Z_STEP_PIN);
Z_STEP_WRITE(!INVERT_Z_STEP_PIN);
#ifdef Z_DUAL_STEPPER_DRIVERS
WRITE(Z2_STEP_PIN, !INVERT_Z_STEP_PIN);
Z2_STEP_WRITE( !INVERT_Z_STEP_PIN);
#endif
_delay_us(1U); // wait 1 microsecond
WRITE(Z_STEP_PIN, INVERT_Z_STEP_PIN);
Z_STEP_WRITE( INVERT_Z_STEP_PIN);
#ifdef Z_DUAL_STEPPER_DRIVERS
WRITE(Z2_STEP_PIN, INVERT_Z_STEP_PIN);
Z2_STEP_WRITE(INVERT_Z_STEP_PIN);
#endif
//get old pin state back.
WRITE(Z_DIR_PIN,old_z_dir_pin);
Z_DIR_WRITE(old_z_dir_pin);
#ifdef Z_DUAL_STEPPER_DRIVERS
WRITE(Z2_DIR_PIN,old_z_dir_pin);
Z2_DIR_WRITE(old_z_dir_pin);
#endif
}
@ -1226,29 +1226,29 @@ void babystep(const uint8_t axis,const bool direction)
enable_x();
enable_y();
enable_z();
uint8_t old_x_dir_pin= READ(X_DIR_PIN);
uint8_t old_y_dir_pin= READ(Y_DIR_PIN);
uint8_t old_z_dir_pin= READ(Z_DIR_PIN);
uint8_t old_x_dir_pin= X_DIR_READ;
uint8_t old_y_dir_pin= Y_DIR_READ;
uint8_t old_z_dir_pin= Z_DIR_READ;
//setup new step
WRITE(X_DIR_PIN,(INVERT_X_DIR)^direction^BABYSTEP_INVERT_Z);
WRITE(Y_DIR_PIN,(INVERT_Y_DIR)^direction^BABYSTEP_INVERT_Z);
WRITE(Z_DIR_PIN,(INVERT_Z_DIR)^direction^BABYSTEP_INVERT_Z);
X_DIR_WRITE((INVERT_X_DIR)^direction^BABYSTEP_INVERT_Z);
Y_DIR_WRITE((INVERT_Y_DIR)^direction^BABYSTEP_INVERT_Z);
Z_DIR_WRITE((INVERT_Z_DIR)^direction^BABYSTEP_INVERT_Z);
//perform step
WRITE(X_STEP_PIN, !INVERT_X_STEP_PIN);
WRITE(Y_STEP_PIN, !INVERT_Y_STEP_PIN);
WRITE(Z_STEP_PIN, !INVERT_Z_STEP_PIN);
X_STEP_WRITE( !INVERT_X_STEP_PIN);
Y_STEP_WRITE(!INVERT_Y_STEP_PIN);
Z_STEP_WRITE(!INVERT_Z_STEP_PIN);
_delay_us(1U); // wait 1 microsecond
WRITE(X_STEP_PIN, INVERT_X_STEP_PIN);
WRITE(Y_STEP_PIN, INVERT_Y_STEP_PIN);
WRITE(Z_STEP_PIN, INVERT_Z_STEP_PIN);
X_STEP_WRITE(INVERT_X_STEP_PIN);
Y_STEP_WRITE(INVERT_Y_STEP_PIN);
Z_STEP_WRITE(INVERT_Z_STEP_PIN);
//get old pin state back.
WRITE(X_DIR_PIN,old_x_dir_pin);
WRITE(Y_DIR_PIN,old_y_dir_pin);
WRITE(Z_DIR_PIN,old_z_dir_pin);
X_DIR_WRITE(old_x_dir_pin);
Y_DIR_WRITE(old_y_dir_pin);
Z_DIR_WRITE(old_z_dir_pin);
}
break;