Richard Miles
@ -48,8 +48,8 @@ block_t *current_block; // A pointer to the block currently being traced
|
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// Variables used by The Stepper Driver Interrupt
|
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static unsigned char out_bits; // The next stepping-bits to be output
|
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static long counter_x, // Counter variables for the bresenham line tracer
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||||
counter_y,
|
||||
counter_z,
|
||||
counter_y,
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||||
counter_z,
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||||
counter_e;
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||||
volatile static unsigned long step_events_completed; // The number of step events executed in the current block
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#ifdef ADVANCE
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@ -224,27 +224,27 @@ void enable_endstops(bool check)
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// | BLOCK 1 | BLOCK 2 | d
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||||
//
|
||||
// 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
|
||||
//
|
||||
// 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
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// step_events_completed reaches block->decelerate_after after which it decelerates until the trapezoid generator is reset.
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||||
// The slope of acceleration is calculated with the leib ramp alghorithm.
|
||||
|
||||
void st_wake_up() {
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||||
// TCNT1 = 0;
|
||||
ENABLE_STEPPER_DRIVER_INTERRUPT();
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||||
ENABLE_STEPPER_DRIVER_INTERRUPT();
|
||||
}
|
||||
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||||
void step_wait(){
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for(int8_t i=0; i < 6; i++){
|
||||
}
|
||||
}
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||||
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||||
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||||
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||||
FORCE_INLINE unsigned short calc_timer(unsigned short step_rate) {
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||||
unsigned short timer;
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||||
if(step_rate > MAX_STEP_FREQUENCY) step_rate = MAX_STEP_FREQUENCY;
|
||||
|
||||
|
||||
if(step_rate > 20000) { // If steprate > 20kHz >> step 4 times
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||||
step_rate = (step_rate >> 2)&0x3fff;
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step_loops = 4;
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@ -255,11 +255,11 @@ FORCE_INLINE unsigned short calc_timer(unsigned short step_rate) {
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}
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||||
else {
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||||
step_loops = 1;
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||||
}
|
||||
|
||||
}
|
||||
|
||||
if(step_rate < (F_CPU/500000)) step_rate = (F_CPU/500000);
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||||
step_rate -= (F_CPU/500000); // Correct for minimal speed
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||||
if(step_rate >= (8*256)){ // higher step rate
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if(step_rate >= (8*256)){ // higher step rate
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||||
unsigned short table_address = (unsigned short)&speed_lookuptable_fast[(unsigned char)(step_rate>>8)][0];
|
||||
unsigned char tmp_step_rate = (step_rate & 0x00ff);
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||||
unsigned short gain = (unsigned short)pgm_read_word_near(table_address+2);
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@ -276,7 +276,7 @@ FORCE_INLINE unsigned short calc_timer(unsigned short step_rate) {
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return timer;
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}
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// Initializes the trapezoid generator from the current block. Called whenever a new
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// Initializes the trapezoid generator from the current block. Called whenever a new
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// block begins.
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FORCE_INLINE void trapezoid_generator_reset() {
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#ifdef ADVANCE
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@ -284,7 +284,7 @@ FORCE_INLINE void trapezoid_generator_reset() {
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final_advance = current_block->final_advance;
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// Do E steps + advance steps
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e_steps[current_block->active_extruder] += ((advance >>8) - old_advance);
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||||
old_advance = advance >>8;
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||||
old_advance = advance >>8;
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||||
#endif
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||||
deceleration_time = 0;
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||||
// step_rate to timer interval
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||||
@ -294,7 +294,7 @@ FORCE_INLINE void trapezoid_generator_reset() {
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||||
acc_step_rate = current_block->initial_rate;
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||||
acceleration_time = calc_timer(acc_step_rate);
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||||
OCR1A = acceleration_time;
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||||
|
||||
|
||||
// SERIAL_ECHO_START;
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||||
// SERIAL_ECHOPGM("advance :");
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||||
// SERIAL_ECHO(current_block->advance/256.0);
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@ -304,13 +304,13 @@ FORCE_INLINE void trapezoid_generator_reset() {
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// SERIAL_ECHO(current_block->initial_advance/256.0);
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||||
// SERIAL_ECHOPGM("final advance :");
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||||
// SERIAL_ECHOLN(current_block->final_advance/256.0);
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||||
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||||
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||||
}
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||||
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||||
// "The Stepper Driver Interrupt" - This timer interrupt is the workhorse.
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// It pops blocks from the block_buffer and executes them by pulsing the stepper pins appropriately.
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// "The Stepper Driver Interrupt" - This timer interrupt is the workhorse.
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// It pops blocks from the block_buffer and executes them by pulsing the stepper pins appropriately.
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||||
ISR(TIMER1_COMPA_vect)
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{
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||||
{
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||||
// If there is no current block, attempt to pop one from the buffer
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||||
if (current_block == NULL) {
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||||
// Anything in the buffer?
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||||
@ -322,24 +322,24 @@ ISR(TIMER1_COMPA_vect)
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||||
counter_y = counter_x;
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||||
counter_z = counter_x;
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||||
counter_e = counter_x;
|
||||
step_events_completed = 0;
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||||
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||||
#ifdef Z_LATE_ENABLE
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||||
step_events_completed = 0;
|
||||
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||||
#ifdef Z_LATE_ENABLE
|
||||
if(current_block->steps_z > 0) {
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||||
enable_z();
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||||
OCR1A = 2000; //1ms wait
|
||||
return;
|
||||
}
|
||||
#endif
|
||||
|
||||
|
||||
// #ifdef ADVANCE
|
||||
// e_steps[current_block->active_extruder] = 0;
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||||
// #endif
|
||||
}
|
||||
}
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||||
else {
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||||
OCR1A=2000; // 1kHz.
|
||||
}
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||||
}
|
||||
}
|
||||
}
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||||
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||||
if (current_block != NULL) {
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||||
// Set directions TO DO This should be done once during init of trapezoid. Endstops -> interrupt
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@ -348,58 +348,22 @@ ISR(TIMER1_COMPA_vect)
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||||
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||||
// Set the direction bits (X_AXIS=A_AXIS and Y_AXIS=B_AXIS for COREXY)
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||||
if((out_bits & (1<<X_AXIS))!=0){
|
||||
#ifdef DUAL_X_CARRIAGE
|
||||
if (extruder_duplication_enabled){
|
||||
WRITE(X_DIR_PIN, INVERT_X_DIR);
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||||
WRITE(X2_DIR_PIN, INVERT_X_DIR);
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||||
}
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||||
else{
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||||
if (current_block->active_extruder != 0)
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WRITE(X2_DIR_PIN, INVERT_X_DIR);
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else
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WRITE(X_DIR_PIN, INVERT_X_DIR);
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}
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||||
#else
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||||
WRITE(X_DIR_PIN, INVERT_X_DIR);
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||||
#endif
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||||
WRITE(X_DIR_PIN, INVERT_X_DIR);
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||||
count_direction[X_AXIS]=-1;
|
||||
}
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else{
|
||||
#ifdef DUAL_X_CARRIAGE
|
||||
if (extruder_duplication_enabled){
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||||
WRITE(X_DIR_PIN, !INVERT_X_DIR);
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||||
WRITE(X2_DIR_PIN, !INVERT_X_DIR);
|
||||
}
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||||
else{
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||||
if (current_block->active_extruder != 0)
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||||
WRITE(X2_DIR_PIN, !INVERT_X_DIR);
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else
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||||
WRITE(X_DIR_PIN, !INVERT_X_DIR);
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||||
}
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||||
#else
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||||
WRITE(X_DIR_PIN, !INVERT_X_DIR);
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||||
#endif
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||||
WRITE(X_DIR_PIN, !INVERT_X_DIR);
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||||
count_direction[X_AXIS]=1;
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||||
}
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||||
if((out_bits & (1<<Y_AXIS))!=0){
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||||
WRITE(Y_DIR_PIN, INVERT_Y_DIR);
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||||
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||||
#ifdef Y_DUAL_STEPPER_DRIVERS
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||||
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);
|
||||
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||||
#ifdef Y_DUAL_STEPPER_DRIVERS
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||||
WRITE(Y2_DIR_PIN, (INVERT_Y_DIR == INVERT_Y2_VS_Y_DIR));
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||||
#endif
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||||
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||||
count_direction[Y_AXIS]=1;
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||||
}
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||||
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// Set direction en check limit switches
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||||
#ifndef COREXY
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if ((out_bits & (1<<X_AXIS)) != 0) { // stepping along -X axis
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@ -408,43 +372,29 @@ ISR(TIMER1_COMPA_vect)
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#endif
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||||
CHECK_ENDSTOPS
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||||
{
|
||||
#ifdef DUAL_X_CARRIAGE
|
||||
// with 2 x-carriages, endstops are only checked in the homing direction for the active extruder
|
||||
if ((current_block->active_extruder == 0 && X_HOME_DIR == -1)
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|| (current_block->active_extruder != 0 && X2_HOME_DIR == -1))
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||||
#endif
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{
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||||
#if defined(X_MIN_PIN) && X_MIN_PIN > -1
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||||
bool x_min_endstop=(READ(X_MIN_PIN) != X_MIN_ENDSTOP_INVERTING);
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if(x_min_endstop && old_x_min_endstop && (current_block->steps_x > 0)) {
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endstops_trigsteps[X_AXIS] = count_position[X_AXIS];
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endstop_x_hit=true;
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step_events_completed = current_block->step_event_count;
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}
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old_x_min_endstop = x_min_endstop;
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#endif
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||||
}
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#if defined(X_MIN_PIN) && X_MIN_PIN > -1
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||||
bool x_min_endstop=(READ(X_MIN_PIN) != X_ENDSTOPS_INVERTING);
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if(x_min_endstop && old_x_min_endstop && (current_block->steps_x > 0)) {
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endstops_trigsteps[X_AXIS] = count_position[X_AXIS];
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endstop_x_hit=true;
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step_events_completed = current_block->step_event_count;
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}
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||||
old_x_min_endstop = x_min_endstop;
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#endif
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}
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}
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else { // +direction
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CHECK_ENDSTOPS
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||||
CHECK_ENDSTOPS
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{
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||||
#ifdef DUAL_X_CARRIAGE
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// with 2 x-carriages, endstops are only checked in the homing direction for the active extruder
|
||||
if ((current_block->active_extruder == 0 && X_HOME_DIR == 1)
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|| (current_block->active_extruder != 0 && X2_HOME_DIR == 1))
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#endif
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{
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#if defined(X_MAX_PIN) && X_MAX_PIN > -1
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bool x_max_endstop=(READ(X_MAX_PIN) != X_MAX_ENDSTOP_INVERTING);
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||||
if(x_max_endstop && old_x_max_endstop && (current_block->steps_x > 0)){
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endstops_trigsteps[X_AXIS] = count_position[X_AXIS];
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endstop_x_hit=true;
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step_events_completed = current_block->step_event_count;
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}
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old_x_max_endstop = x_max_endstop;
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#endif
|
||||
}
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||||
#if defined(X_MAX_PIN) && X_MAX_PIN > -1
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||||
bool x_max_endstop=(READ(X_MAX_PIN) != X_ENDSTOPS_INVERTING);
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||||
if(x_max_endstop && old_x_max_endstop && (current_block->steps_x > 0)){
|
||||
endstops_trigsteps[X_AXIS] = count_position[X_AXIS];
|
||||
endstop_x_hit=true;
|
||||
step_events_completed = current_block->step_event_count;
|
||||
}
|
||||
old_x_max_endstop = x_max_endstop;
|
||||
#endif
|
||||
}
|
||||
}
|
||||
|
||||
@ -456,7 +406,7 @@ ISR(TIMER1_COMPA_vect)
|
||||
CHECK_ENDSTOPS
|
||||
{
|
||||
#if defined(Y_MIN_PIN) && Y_MIN_PIN > -1
|
||||
bool y_min_endstop=(READ(Y_MIN_PIN) != Y_MIN_ENDSTOP_INVERTING);
|
||||
bool y_min_endstop=(READ(Y_MIN_PIN) != Y_ENDSTOPS_INVERTING);
|
||||
if(y_min_endstop && old_y_min_endstop && (current_block->steps_y > 0)) {
|
||||
endstops_trigsteps[Y_AXIS] = count_position[Y_AXIS];
|
||||
endstop_y_hit=true;
|
||||
@ -470,7 +420,7 @@ ISR(TIMER1_COMPA_vect)
|
||||
CHECK_ENDSTOPS
|
||||
{
|
||||
#if defined(Y_MAX_PIN) && Y_MAX_PIN > -1
|
||||
bool y_max_endstop=(READ(Y_MAX_PIN) != Y_MAX_ENDSTOP_INVERTING);
|
||||
bool y_max_endstop=(READ(Y_MAX_PIN) != Y_ENDSTOPS_INVERTING);
|
||||
if(y_max_endstop && old_y_max_endstop && (current_block->steps_y > 0)){
|
||||
endstops_trigsteps[Y_AXIS] = count_position[Y_AXIS];
|
||||
endstop_y_hit=true;
|
||||
@ -484,15 +434,15 @@ ISR(TIMER1_COMPA_vect)
|
||||
if ((out_bits & (1<<Z_AXIS)) != 0) { // -direction
|
||||
WRITE(Z_DIR_PIN,INVERT_Z_DIR);
|
||||
|
||||
#ifdef Z_DUAL_STEPPER_DRIVERS
|
||||
#ifdef Z_DUAL_STEPPER_DRIVERS
|
||||
WRITE(Z2_DIR_PIN,INVERT_Z_DIR);
|
||||
#endif
|
||||
|
||||
|
||||
count_direction[Z_AXIS]=-1;
|
||||
CHECK_ENDSTOPS
|
||||
{
|
||||
#if defined(Z_MIN_PIN) && Z_MIN_PIN > -1
|
||||
bool z_min_endstop=(READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING);
|
||||
bool z_min_endstop=(READ(Z_MIN_PIN) != Z_ENDSTOPS_INVERTING);
|
||||
if(z_min_endstop && old_z_min_endstop && (current_block->steps_z > 0)) {
|
||||
endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
|
||||
endstop_z_hit=true;
|
||||
@ -505,7 +455,7 @@ ISR(TIMER1_COMPA_vect)
|
||||
else { // +direction
|
||||
WRITE(Z_DIR_PIN,!INVERT_Z_DIR);
|
||||
|
||||
#ifdef Z_DUAL_STEPPER_DRIVERS
|
||||
#ifdef Z_DUAL_STEPPER_DRIVERS
|
||||
WRITE(Z2_DIR_PIN,!INVERT_Z_DIR);
|
||||
#endif
|
||||
|
||||
@ -513,7 +463,7 @@ ISR(TIMER1_COMPA_vect)
|
||||
CHECK_ENDSTOPS
|
||||
{
|
||||
#if defined(Z_MAX_PIN) && Z_MAX_PIN > -1
|
||||
bool z_max_endstop=(READ(Z_MAX_PIN) != Z_MAX_ENDSTOP_INVERTING);
|
||||
bool z_max_endstop=(READ(Z_MAX_PIN) != Z_ENDSTOPS_INVERTING);
|
||||
if(z_max_endstop && old_z_max_endstop && (current_block->steps_z > 0)) {
|
||||
endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
|
||||
endstop_z_hit=true;
|
||||
@ -534,10 +484,10 @@ ISR(TIMER1_COMPA_vect)
|
||||
count_direction[E_AXIS]=1;
|
||||
}
|
||||
#endif //!ADVANCE
|
||||
|
||||
|
||||
|
||||
|
||||
for(int8_t i=0; i < step_loops; i++) { // Take multiple steps per interrupt (For high speed moves)
|
||||
|
||||
for(int8_t i=0; i < step_loops; i++) { // Take multiple steps per interrupt (For high speed moves)
|
||||
#ifndef AT90USB
|
||||
MSerial.checkRx(); // Check for serial chars.
|
||||
#endif
|
||||
@ -552,73 +502,38 @@ ISR(TIMER1_COMPA_vect)
|
||||
else {
|
||||
e_steps[current_block->active_extruder]++;
|
||||
}
|
||||
}
|
||||
}
|
||||
#endif //ADVANCE
|
||||
|
||||
counter_x += current_block->steps_x;
|
||||
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);
|
||||
}
|
||||
else {
|
||||
if (current_block->active_extruder != 0)
|
||||
WRITE(X2_STEP_PIN, !INVERT_X_STEP_PIN);
|
||||
else
|
||||
WRITE(X_STEP_PIN, !INVERT_X_STEP_PIN);
|
||||
}
|
||||
#else
|
||||
WRITE(X_STEP_PIN, !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);
|
||||
}
|
||||
else {
|
||||
if (current_block->active_extruder != 0)
|
||||
WRITE(X2_STEP_PIN, INVERT_X_STEP_PIN);
|
||||
else
|
||||
WRITE(X_STEP_PIN, INVERT_X_STEP_PIN);
|
||||
}
|
||||
#else
|
||||
WRITE(X_STEP_PIN, INVERT_X_STEP_PIN);
|
||||
#endif
|
||||
}
|
||||
|
||||
|
||||
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];
|
||||
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;
|
||||
if (counter_z > 0) {
|
||||
WRITE(Z_STEP_PIN, !INVERT_Z_STEP_PIN);
|
||||
|
||||
#ifdef Z_DUAL_STEPPER_DRIVERS
|
||||
#ifdef Z_DUAL_STEPPER_DRIVERS
|
||||
WRITE(Z2_STEP_PIN, !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);
|
||||
|
||||
#ifdef Z_DUAL_STEPPER_DRIVERS
|
||||
#ifdef Z_DUAL_STEPPER_DRIVERS
|
||||
WRITE(Z2_STEP_PIN, INVERT_Z_STEP_PIN);
|
||||
#endif
|
||||
}
|
||||
@ -632,17 +547,17 @@ ISR(TIMER1_COMPA_vect)
|
||||
WRITE_E_STEP(INVERT_E_STEP_PIN);
|
||||
}
|
||||
#endif //!ADVANCE
|
||||
step_events_completed += 1;
|
||||
step_events_completed += 1;
|
||||
if(step_events_completed >= current_block->step_event_count) break;
|
||||
}
|
||||
// Calculare new timer value
|
||||
unsigned short timer;
|
||||
unsigned short step_rate;
|
||||
if (step_events_completed <= (unsigned long int)current_block->accelerate_until) {
|
||||
|
||||
|
||||
MultiU24X24toH16(acc_step_rate, acceleration_time, current_block->acceleration_rate);
|
||||
acc_step_rate += current_block->initial_rate;
|
||||
|
||||
|
||||
// upper limit
|
||||
if(acc_step_rate > current_block->nominal_rate)
|
||||
acc_step_rate = current_block->nominal_rate;
|
||||
@ -658,13 +573,13 @@ ISR(TIMER1_COMPA_vect)
|
||||
//if(advance > current_block->advance) advance = current_block->advance;
|
||||
// Do E steps + advance steps
|
||||
e_steps[current_block->active_extruder] += ((advance >>8) - old_advance);
|
||||
old_advance = advance >>8;
|
||||
|
||||
old_advance = advance >>8;
|
||||
|
||||
#endif
|
||||
}
|
||||
else if (step_events_completed > (unsigned long int)current_block->decelerate_after) {
|
||||
}
|
||||
else if (step_events_completed > (unsigned long int)current_block->decelerate_after) {
|
||||
MultiU24X24toH16(step_rate, deceleration_time, current_block->acceleration_rate);
|
||||
|
||||
|
||||
if(step_rate > acc_step_rate) { // Check step_rate stays positive
|
||||
step_rate = current_block->final_rate;
|
||||
}
|
||||
@ -687,7 +602,7 @@ ISR(TIMER1_COMPA_vect)
|
||||
if(advance < final_advance) advance = final_advance;
|
||||
// Do E steps + advance steps
|
||||
e_steps[current_block->active_extruder] += ((advance >>8) - old_advance);
|
||||
old_advance = advance >>8;
|
||||
old_advance = advance >>8;
|
||||
#endif //ADVANCE
|
||||
}
|
||||
else {
|
||||
@ -696,12 +611,12 @@ ISR(TIMER1_COMPA_vect)
|
||||
step_loops = step_loops_nominal;
|
||||
}
|
||||
|
||||
// If current block is finished, reset pointer
|
||||
// If current block is finished, reset pointer
|
||||
if (step_events_completed >= current_block->step_event_count) {
|
||||
current_block = NULL;
|
||||
plan_discard_current_block();
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#ifdef ADVANCE
|
||||
@ -720,7 +635,7 @@ ISR(TIMER1_COMPA_vect)
|
||||
WRITE(E0_DIR_PIN, INVERT_E0_DIR);
|
||||
e_steps[0]++;
|
||||
WRITE(E0_STEP_PIN, !INVERT_E_STEP_PIN);
|
||||
}
|
||||
}
|
||||
else if (e_steps[0] > 0) {
|
||||
WRITE(E0_DIR_PIN, !INVERT_E0_DIR);
|
||||
e_steps[0]--;
|
||||
@ -734,7 +649,7 @@ ISR(TIMER1_COMPA_vect)
|
||||
WRITE(E1_DIR_PIN, INVERT_E1_DIR);
|
||||
e_steps[1]++;
|
||||
WRITE(E1_STEP_PIN, !INVERT_E_STEP_PIN);
|
||||
}
|
||||
}
|
||||
else if (e_steps[1] > 0) {
|
||||
WRITE(E1_DIR_PIN, !INVERT_E1_DIR);
|
||||
e_steps[1]--;
|
||||
@ -749,7 +664,7 @@ ISR(TIMER1_COMPA_vect)
|
||||
WRITE(E2_DIR_PIN, INVERT_E2_DIR);
|
||||
e_steps[2]++;
|
||||
WRITE(E2_STEP_PIN, !INVERT_E_STEP_PIN);
|
||||
}
|
||||
}
|
||||
else if (e_steps[2] > 0) {
|
||||
WRITE(E2_DIR_PIN, !INVERT_E2_DIR);
|
||||
e_steps[2]--;
|
||||
@ -765,29 +680,22 @@ void st_init()
|
||||
{
|
||||
digipot_init(); //Initialize Digipot Motor Current
|
||||
microstep_init(); //Initialize Microstepping Pins
|
||||
|
||||
|
||||
//Initialize Dir Pins
|
||||
#if defined(X_DIR_PIN) && X_DIR_PIN > -1
|
||||
SET_OUTPUT(X_DIR_PIN);
|
||||
#endif
|
||||
#if defined(X2_DIR_PIN) && X2_DIR_PIN > -1
|
||||
SET_OUTPUT(X2_DIR_PIN);
|
||||
#endif
|
||||
#if defined(Y_DIR_PIN) && Y_DIR_PIN > -1
|
||||
#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
|
||||
#if defined(Z_DIR_PIN) && Z_DIR_PIN > -1
|
||||
SET_OUTPUT(Z_DIR_PIN);
|
||||
|
||||
#if defined(Z_DUAL_STEPPER_DRIVERS) && defined(Z2_DIR_PIN) && (Z2_DIR_PIN > -1)
|
||||
SET_OUTPUT(Z2_DIR_PIN);
|
||||
#endif
|
||||
#endif
|
||||
#if defined(E0_DIR_PIN) && E0_DIR_PIN > -1
|
||||
#if defined(E0_DIR_PIN) && E0_DIR_PIN > -1
|
||||
SET_OUTPUT(E0_DIR_PIN);
|
||||
#endif
|
||||
#if defined(E1_DIR_PIN) && (E1_DIR_PIN > -1)
|
||||
@ -803,23 +711,14 @@ void st_init()
|
||||
SET_OUTPUT(X_ENABLE_PIN);
|
||||
if(!X_ENABLE_ON) WRITE(X_ENABLE_PIN,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);
|
||||
#endif
|
||||
#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);
|
||||
if(!Z_ENABLE_ON) WRITE(Z_ENABLE_PIN,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);
|
||||
@ -839,71 +738,62 @@ void st_init()
|
||||
#endif
|
||||
|
||||
//endstops and pullups
|
||||
|
||||
|
||||
#if defined(X_MIN_PIN) && X_MIN_PIN > -1
|
||||
SET_INPUT(X_MIN_PIN);
|
||||
SET_INPUT(X_MIN_PIN);
|
||||
#ifdef ENDSTOPPULLUP_XMIN
|
||||
WRITE(X_MIN_PIN,HIGH);
|
||||
#endif
|
||||
#endif
|
||||
|
||||
|
||||
#if defined(Y_MIN_PIN) && Y_MIN_PIN > -1
|
||||
SET_INPUT(Y_MIN_PIN);
|
||||
SET_INPUT(Y_MIN_PIN);
|
||||
#ifdef ENDSTOPPULLUP_YMIN
|
||||
WRITE(Y_MIN_PIN,HIGH);
|
||||
#endif
|
||||
#endif
|
||||
|
||||
|
||||
#if defined(Z_MIN_PIN) && Z_MIN_PIN > -1
|
||||
SET_INPUT(Z_MIN_PIN);
|
||||
SET_INPUT(Z_MIN_PIN);
|
||||
#ifdef ENDSTOPPULLUP_ZMIN
|
||||
WRITE(Z_MIN_PIN,HIGH);
|
||||
#endif
|
||||
#endif
|
||||
|
||||
|
||||
#if defined(X_MAX_PIN) && X_MAX_PIN > -1
|
||||
SET_INPUT(X_MAX_PIN);
|
||||
SET_INPUT(X_MAX_PIN);
|
||||
#ifdef ENDSTOPPULLUP_XMAX
|
||||
WRITE(X_MAX_PIN,HIGH);
|
||||
#endif
|
||||
#endif
|
||||
|
||||
|
||||
#if defined(Y_MAX_PIN) && Y_MAX_PIN > -1
|
||||
SET_INPUT(Y_MAX_PIN);
|
||||
SET_INPUT(Y_MAX_PIN);
|
||||
#ifdef ENDSTOPPULLUP_YMAX
|
||||
WRITE(Y_MAX_PIN,HIGH);
|
||||
#endif
|
||||
#endif
|
||||
|
||||
|
||||
#if defined(Z_MAX_PIN) && Z_MAX_PIN > -1
|
||||
SET_INPUT(Z_MAX_PIN);
|
||||
SET_INPUT(Z_MAX_PIN);
|
||||
#ifdef ENDSTOPPULLUP_ZMAX
|
||||
WRITE(Z_MAX_PIN,HIGH);
|
||||
#endif
|
||||
#endif
|
||||
|
||||
|
||||
|
||||
//Initialize Step Pins
|
||||
#if defined(X_STEP_PIN) && (X_STEP_PIN > -1)
|
||||
#if defined(X_STEP_PIN) && (X_STEP_PIN > -1)
|
||||
SET_OUTPUT(X_STEP_PIN);
|
||||
WRITE(X_STEP_PIN,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);
|
||||
disable_x();
|
||||
#endif
|
||||
#if defined(Y_STEP_PIN) && (Y_STEP_PIN > -1)
|
||||
#endif
|
||||
#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)
|
||||
#endif
|
||||
#if defined(Z_STEP_PIN) && (Z_STEP_PIN > -1)
|
||||
SET_OUTPUT(Z_STEP_PIN);
|
||||
WRITE(Z_STEP_PIN,INVERT_Z_STEP_PIN);
|
||||
#if defined(Z_DUAL_STEPPER_DRIVERS) && defined(Z2_STEP_PIN) && (Z2_STEP_PIN > -1)
|
||||
@ -911,33 +801,33 @@ void st_init()
|
||||
WRITE(Z2_STEP_PIN,INVERT_Z_STEP_PIN);
|
||||
#endif
|
||||
disable_z();
|
||||
#endif
|
||||
#if defined(E0_STEP_PIN) && (E0_STEP_PIN > -1)
|
||||
#endif
|
||||
#if defined(E0_STEP_PIN) && (E0_STEP_PIN > -1)
|
||||
SET_OUTPUT(E0_STEP_PIN);
|
||||
WRITE(E0_STEP_PIN,INVERT_E_STEP_PIN);
|
||||
disable_e0();
|
||||
#endif
|
||||
#if defined(E1_STEP_PIN) && (E1_STEP_PIN > -1)
|
||||
#endif
|
||||
#if defined(E1_STEP_PIN) && (E1_STEP_PIN > -1)
|
||||
SET_OUTPUT(E1_STEP_PIN);
|
||||
WRITE(E1_STEP_PIN,INVERT_E_STEP_PIN);
|
||||
disable_e1();
|
||||
#endif
|
||||
#if defined(E2_STEP_PIN) && (E2_STEP_PIN > -1)
|
||||
#endif
|
||||
#if defined(E2_STEP_PIN) && (E2_STEP_PIN > -1)
|
||||
SET_OUTPUT(E2_STEP_PIN);
|
||||
WRITE(E2_STEP_PIN,INVERT_E_STEP_PIN);
|
||||
disable_e2();
|
||||
#endif
|
||||
#endif
|
||||
|
||||
// waveform generation = 0100 = CTC
|
||||
TCCR1B &= ~(1<<WGM13);
|
||||
TCCR1B |= (1<<WGM12);
|
||||
TCCR1A &= ~(1<<WGM11);
|
||||
TCCR1A &= ~(1<<WGM11);
|
||||
TCCR1A &= ~(1<<WGM10);
|
||||
|
||||
// output mode = 00 (disconnected)
|
||||
TCCR1A &= ~(3<<COM1A0);
|
||||
TCCR1A &= ~(3<<COM1B0);
|
||||
|
||||
TCCR1A &= ~(3<<COM1A0);
|
||||
TCCR1A &= ~(3<<COM1B0);
|
||||
|
||||
// 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
|
||||
@ -947,19 +837,19 @@ void st_init()
|
||||
|
||||
OCR1A = 0x4000;
|
||||
TCNT1 = 0;
|
||||
ENABLE_STEPPER_DRIVER_INTERRUPT();
|
||||
ENABLE_STEPPER_DRIVER_INTERRUPT();
|
||||
|
||||
#ifdef ADVANCE
|
||||
#if defined(TCCR0A) && defined(WGM01)
|
||||
TCCR0A &= ~(1<<WGM01);
|
||||
TCCR0A &= ~(1<<WGM00);
|
||||
#endif
|
||||
#endif
|
||||
e_steps[0] = 0;
|
||||
e_steps[1] = 0;
|
||||
e_steps[2] = 0;
|
||||
TIMSK0 |= (1<<OCIE0A);
|
||||
#endif //ADVANCE
|
||||
|
||||
|
||||
enable_endstops(true); // Start with endstops active. After homing they can be disabled
|
||||
sei();
|
||||
}
|
||||
@ -1003,13 +893,13 @@ long st_get_position(uint8_t axis)
|
||||
|
||||
void finishAndDisableSteppers()
|
||||
{
|
||||
st_synchronize();
|
||||
disable_x();
|
||||
disable_y();
|
||||
disable_z();
|
||||
disable_e0();
|
||||
disable_e1();
|
||||
disable_e2();
|
||||
st_synchronize();
|
||||
disable_x();
|
||||
disable_y();
|
||||
disable_z();
|
||||
disable_e0();
|
||||
disable_e1();
|
||||
disable_e2();
|
||||
}
|
||||
|
||||
void quickStop()
|
||||
@ -1036,10 +926,10 @@ void digipot_init() //Initialize Digipot Motor Current
|
||||
{
|
||||
#if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
|
||||
const uint8_t digipot_motor_current[] = DIGIPOT_MOTOR_CURRENT;
|
||||
|
||||
SPI.begin();
|
||||
pinMode(DIGIPOTSS_PIN, OUTPUT);
|
||||
for(int i=0;i<=4;i++)
|
||||
|
||||
SPI.begin();
|
||||
pinMode(DIGIPOTSS_PIN, OUTPUT);
|
||||
for(int i=0;i<=4;i++)
|
||||
//digitalPotWrite(digipot_ch[i], digipot_motor_current[i]);
|
||||
digipot_current(i,digipot_motor_current[i]);
|
||||
#endif
|
||||
|
||||
Reference in New Issue
Block a user