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Merged multiple extruder support.

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Soft PWM. (Sanguinololu can also have PID temperature control)
Interrupt save WRITE for addresses > 0x0FF
This commit is contained in:
Erik van der Zalm
2011-12-12 19:34:37 +01:00
parent 3664ed6aad
commit e017228569
11 changed files with 5525 additions and 5413 deletions
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80
Marlin/stepper.cpp
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@ -57,7 +57,7 @@ volatile static unsigned long step_events_completed; // The number of step event
static long advance_rate, advance, final_advance = 0;
static long old_advance = 0;
#endif
static long e_steps;
static long e_steps[3];
static unsigned char busy = false; // TRUE when SIG_OUTPUT_COMPARE1A is being serviced. Used to avoid retriggering that handler.
static long acceleration_time, deceleration_time;
//static unsigned long accelerate_until, decelerate_after, acceleration_rate, initial_rate, final_rate, nominal_rate;
@ -266,7 +266,7 @@ FORCE_INLINE void trapezoid_generator_reset() {
advance = current_block->initial_advance;
final_advance = current_block->final_advance;
// Do E steps + advance steps
e_steps += ((advance >>8) - old_advance);
e_steps[current_block->active_extruder] += ((advance >>8) - old_advance);
old_advance = advance >>8;
#endif
deceleration_time = 0;
@ -303,8 +303,8 @@ ISR(TIMER1_COMPA_vect)
counter_z = counter_x;
counter_e = counter_x;
step_events_completed = 0;
// #ifdef ADVANCE
e_steps = 0;
// #ifdef ADVANCE
// e_steps[current_block->active_extruder] = 0;
// #endif
}
else {
@ -418,11 +418,11 @@ ISR(TIMER1_COMPA_vect)
#ifndef ADVANCE
if ((out_bits & (1<<E_AXIS)) != 0) { // -direction
NORM_E_DIR();
REV_E_DIR();
count_direction[E_AXIS]=-1;
}
else { // +direction
REV_E_DIR();
NORM_E_DIR();
count_direction[E_AXIS]=-1;
}
#endif //!ADVANCE
@ -437,10 +437,10 @@ ISR(TIMER1_COMPA_vect)
if (counter_e > 0) {
counter_e -= current_block->step_event_count;
if ((out_bits & (1<<E_AXIS)) != 0) { // - direction
e_steps--;
e_steps[current_block->active_extruder]--;
}
else {
e_steps++;
e_steps[current_block->active_extruder]++;
}
}
#endif //ADVANCE
@ -503,7 +503,7 @@ ISR(TIMER1_COMPA_vect)
}
//if(advance > current_block->advance) advance = current_block->advance;
// Do E steps + advance steps
e_steps += ((advance >>8) - old_advance);
e_steps[current_block->active_extruder] += ((advance >>8) - old_advance);
old_advance = advance >>8;
#endif
@ -532,7 +532,7 @@ ISR(TIMER1_COMPA_vect)
}
if(advance < final_advance) advance = final_advance;
// Do E steps + advance steps
e_steps += ((advance >>8) - old_advance);
e_steps[current_block->active_extruder] += ((advance >>8) - old_advance);
old_advance = advance >>8;
#endif //ADVANCE
}
@ -557,20 +557,50 @@ ISR(TIMER1_COMPA_vect)
old_OCR0A += 52; // ~10kHz interrupt (250000 / 26 = 9615kHz)
OCR0A = old_OCR0A;
// Set E direction (Depends on E direction + advance)
for(unsigned char i=0; i<4;) {
WRITE_E_STEP(LOW);
if (e_steps == 0) break;
i++;
if (e_steps < 0) {
WRITE_E_DIR(INVERT_E_DIR);
e_steps++;
WRITE_E_STEP(HIGH);
}
else if (e_steps > 0) {
WRITE_E_DIR(!INVERT_E_DIR);
e_steps--;
WRITE_E_STEP(HIGH);
for(unsigned char i=0; i<4;i++) {
if (e_steps[0] != 0) {
WRITE(E0_STEP_PIN, LOW);
if (e_steps[0] < 0) {
WRITE(E0_DIR_PIN, INVERT_E0_DIR);
e_steps[0]++;
WRITE(E0_STEP_PIN, HIGH);
}
else if (e_steps[0] > 0) {
WRITE(E0_DIR_PIN, !INVERT_E0_DIR);
e_steps[0]--;
WRITE(E0_STEP_PIN, HIGH);
}
}
#if EXTRUDERS > 1
if (e_steps[1] != 0) {
WRITE(E1_STEP_PIN, LOW);
if (e_steps[1] < 0) {
WRITE(E1_DIR_PIN, INVERT_E1_DIR);
e_steps[1]++;
WRITE(E1_STEP_PIN, HIGH);
}
else if (e_steps[1] > 0) {
WRITE(E1_DIR_PIN, !INVERT_E1_DIR);
e_steps[1]--;
WRITE(E1_STEP_PIN, HIGH);
}
}
#endif
#if EXTRUDERS > 2
if (e_steps[2] != 0) {
WRITE(E2_STEP_PIN, LOW);
if (e_steps[2] < 0) {
WRITE(E2_DIR_PIN, INVERT_E2_DIR);
e_steps[2]++;
WRITE(E2_STEP_PIN, HIGH);
}
else if (e_steps[2] > 0) {
WRITE(E2_DIR_PIN, !INVERT_E2_DIR);
e_steps[2]--;
WRITE(E2_STEP_PIN, HIGH);
}
}
#endif
}
}
#endif // ADVANCE
@ -712,7 +742,9 @@ void st_init()
TCCR0A &= ~(1<<WGM01);
TCCR0A &= ~(1<<WGM00);
#endif
e_steps = 0;
e_steps[0] = 0;
e_steps[1] = 0;
e_steps[2] = 0;
TIMSK0 |= (1<<OCIE0A);
#endif //ADVANCE