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Added Y_DUAL_STEPPER_DRIVERS

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Enables two stepper drivers to be used for the Y axis (useful for
Shapeoko style machines)
Each Y driver can be stepped in either the same way or in opposite
directions, accounting for different hardware setups (leadscrew vs. belt
driven)
This commit is contained in:
Richard Miles
2013-09-17 19:19:20 +01:00
parent f4a59e4ce5
commit ed1ab42186
3 changed files with 54 additions and 2 deletions
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32
Marlin/stepper.cpp
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@ -357,10 +357,20 @@ ISR(TIMER1_COMPA_vect)
}
if((out_bits & (1<<Y_AXIS))!=0){
WRITE(Y_DIR_PIN, INVERT_Y_DIR);
#ifdef Y_DUAL_STEPPER_DRIVERS
WRITE(Y2_DIR_PIN, !(INVERT_Y_DIR == INVERT_Y2_VS_Y_DIR));
#endif
count_direction[Y_AXIS]=-1;
}
else{
WRITE(Y_DIR_PIN, !INVERT_Y_DIR);
#ifdef Y_DUAL_STEPPER_DRIVERS
WRITE(Y2_DIR_PIN, (INVERT_Y_DIR == INVERT_Y2_VS_Y_DIR));
#endif
count_direction[Y_AXIS]=1;
}
@ -516,9 +526,18 @@ ISR(TIMER1_COMPA_vect)
counter_y += current_block->steps_y;
if (counter_y > 0) {
WRITE(Y_STEP_PIN, !INVERT_Y_STEP_PIN);
#ifdef Y_DUAL_STEPPER_DRIVERS
WRITE(Y2_STEP_PIN, !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);
#ifdef Y_DUAL_STEPPER_DRIVERS
WRITE(Y2_STEP_PIN, INVERT_Y_STEP_PIN);
#endif
}
counter_z += current_block->steps_z;
@ -687,6 +706,10 @@ void st_init()
#endif
#if defined(Y_DIR_PIN) && Y_DIR_PIN > -1
SET_OUTPUT(Y_DIR_PIN);
#if defined(Y_DUAL_STEPPER_DRIVERS) && defined(Y2_DIR_PIN) && (Y2_DIR_PIN > -1)
SET_OUTPUT(Y2_DIR_PIN);
#endif
#endif
#if defined(Z_DIR_PIN) && Z_DIR_PIN > -1
SET_OUTPUT(Z_DIR_PIN);
@ -714,6 +737,11 @@ void st_init()
#if defined(Y_ENABLE_PIN) && Y_ENABLE_PIN > -1
SET_OUTPUT(Y_ENABLE_PIN);
if(!Y_ENABLE_ON) WRITE(Y_ENABLE_PIN,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);
#endif
#endif
#if defined(Z_ENABLE_PIN) && Z_ENABLE_PIN > -1
SET_OUTPUT(Z_ENABLE_PIN);
@ -791,6 +819,10 @@ void st_init()
#if defined(Y_STEP_PIN) && (Y_STEP_PIN > -1)
SET_OUTPUT(Y_STEP_PIN);
WRITE(Y_STEP_PIN,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);
#endif
disable_y();
#endif
#if defined(Z_STEP_PIN) && (Z_STEP_PIN > -1)