bissen21/Marlin_Firmware
1
0
Fork 0
Code Issues Pull Requests Projects Releases 4 Wiki Activity

Moved corexy implementation from stepper to planner

Browse Source 
(Thanks iquizzle)
This commit is contained in:
Erik van der Zalm
2013-06-09 13:10:06 +02:00
parent c8dcc7c208
commit ff6fa09ecf
3 changed files with 62 additions and 94 deletions
Download Patch File Download Diff File Expand all files Collapse all files

119
Marlin/stepper.cpp
View File

@ -345,12 +345,31 @@ ISR(TIMER1_COMPA_vect)
// Set directions TO DO This should be done once during init of trapezoid. Endstops -> interrupt
out_bits = current_block->direction_bits;
// Set direction en check limit switches
if ((out_bits & (1<<X_AXIS)) != 0) { // stepping along -X axis
#if !defined COREXY //NOT COREXY
WRITE(X_DIR_PIN, INVERT_X_DIR);
#endif
// Set the direction bits (X_AXIS=A_AXIS and Y_AXIS=B_AXIS for COREXY)
if((out_bits & (1<<X_AXIS))!=0){
WRITE(X_DIR_PIN, INVERT_X_DIR);
count_direction[X_AXIS]=-1;
}
else{
WRITE(X_DIR_PIN, !INVERT_X_DIR);
count_direction[X_AXIS]=1;
}
if((out_bits & (1<<Y_AXIS))!=0){
WRITE(Y_DIR_PIN, INVERT_Y_DIR);
count_direction[Y_AXIS]=-1;
}
else{
WRITE(Y_DIR_PIN, !INVERT_Y_DIR);
count_direction[Y_AXIS]=1;
}
// Set direction en check limit switches
#ifndef COREXY
if ((out_bits & (1<<X_AXIS)) != 0) { // stepping along -X axis
#else
if ((((out_bits & (1<<X_AXIS)) != 0)&&(out_bits & (1<<Y_AXIS)) != 0)) { //-X occurs for -A and -B
#endif
CHECK_ENDSTOPS
{
#if defined(X_MIN_PIN) && X_MIN_PIN > -1
@ -365,11 +384,6 @@ ISR(TIMER1_COMPA_vect)
}
}
else { // +direction
#if !defined COREXY //NOT COREXY
WRITE(X_DIR_PIN,!INVERT_X_DIR);
#endif
count_direction[X_AXIS]=1;
CHECK_ENDSTOPS
{
#if defined(X_MAX_PIN) && X_MAX_PIN > -1
@ -384,11 +398,11 @@ ISR(TIMER1_COMPA_vect)
}
}
#ifndef COREXY
if ((out_bits & (1<<Y_AXIS)) != 0) { // -direction
#if !defined COREXY //NOT COREXY
WRITE(Y_DIR_PIN,INVERT_Y_DIR);
#endif
count_direction[Y_AXIS]=-1;
#else
if ((((out_bits & (1<<X_AXIS)) != 0)&&(out_bits & (1<<Y_AXIS)) == 0)) { // -Y occurs for -A and +B
#endif
CHECK_ENDSTOPS
{
#if defined(Y_MIN_PIN) && Y_MIN_PIN > -1
@ -403,10 +417,6 @@ ISR(TIMER1_COMPA_vect)
}
}
else { // +direction
#if !defined COREXY //NOT COREXY
WRITE(Y_DIR_PIN,!INVERT_Y_DIR);
#endif
count_direction[Y_AXIS]=1;
CHECK_ENDSTOPS
{
#if defined(Y_MAX_PIN) && Y_MAX_PIN > -1
@ -420,28 +430,7 @@ ISR(TIMER1_COMPA_vect)
#endif
}
}
#ifdef COREXY //coreXY kinematics defined
if((current_block->steps_x >= current_block->steps_y)&&((out_bits & (1<<X_AXIS)) == 0)){ //+X is major axis
WRITE(X_DIR_PIN, !INVERT_X_DIR);
WRITE(Y_DIR_PIN, !INVERT_Y_DIR);
}
if((current_block->steps_x >= current_block->steps_y)&&((out_bits & (1<<X_AXIS)) != 0)){ //-X is major axis
WRITE(X_DIR_PIN, INVERT_X_DIR);
WRITE(Y_DIR_PIN, INVERT_Y_DIR);
}
if((current_block->steps_y > current_block->steps_x)&&((out_bits & (1<<Y_AXIS)) == 0)){ //+Y is major axis
WRITE(X_DIR_PIN, !INVERT_X_DIR);
WRITE(Y_DIR_PIN, INVERT_Y_DIR);
}
if((current_block->steps_y > current_block->steps_x)&&((out_bits & (1<<Y_AXIS)) != 0)){ //-Y is major axis
WRITE(X_DIR_PIN, INVERT_X_DIR);
WRITE(Y_DIR_PIN, !INVERT_Y_DIR);
}
#endif //coreXY
if ((out_bits & (1<<Z_AXIS)) != 0) { // -direction
WRITE(Z_DIR_PIN,INVERT_Z_DIR);
@ -516,7 +505,6 @@ ISR(TIMER1_COMPA_vect)
}
#endif //ADVANCE
#if !defined COREXY
counter_x += current_block->steps_x;
if (counter_x > 0) {
WRITE(X_STEP_PIN, !INVERT_X_STEP_PIN);
@ -532,56 +520,7 @@ ISR(TIMER1_COMPA_vect)
count_position[Y_AXIS]+=count_direction[Y_AXIS];
WRITE(Y_STEP_PIN, INVERT_Y_STEP_PIN);
}
#endif
#ifdef COREXY
counter_x += current_block->steps_x;
counter_y += current_block->steps_y;
if ((counter_x > 0)&&!(counter_y>0)){ //X step only
WRITE(X_STEP_PIN, !INVERT_X_STEP_PIN);
WRITE(Y_STEP_PIN, !INVERT_Y_STEP_PIN);
counter_x -= current_block->step_event_count;
count_position[X_AXIS]+=count_direction[X_AXIS];
WRITE(X_STEP_PIN, INVERT_X_STEP_PIN);
WRITE(Y_STEP_PIN, INVERT_Y_STEP_PIN);
}
if (!(counter_x > 0)&&(counter_y>0)){ //Y step only
WRITE(X_STEP_PIN, !INVERT_X_STEP_PIN);
WRITE(Y_STEP_PIN, !INVERT_Y_STEP_PIN);
counter_y -= current_block->step_event_count;
count_position[Y_AXIS]+=count_direction[Y_AXIS];
WRITE(X_STEP_PIN, INVERT_X_STEP_PIN);
WRITE(Y_STEP_PIN, INVERT_Y_STEP_PIN);
}
if ((counter_x > 0)&&(counter_y>0)){ //step in both axes
if (((out_bits & (1<<X_AXIS)) == 0)^((out_bits & (1<<Y_AXIS)) == 0)){ //X and Y in different directions
WRITE(Y_STEP_PIN, !INVERT_Y_STEP_PIN);
counter_x -= current_block->step_event_count;
WRITE(Y_STEP_PIN, INVERT_Y_STEP_PIN);
step_wait();
count_position[X_AXIS]+=count_direction[X_AXIS];
count_position[Y_AXIS]+=count_direction[Y_AXIS];
WRITE(Y_STEP_PIN, !INVERT_Y_STEP_PIN);
counter_y -= current_block->step_event_count;
WRITE(Y_STEP_PIN, INVERT_Y_STEP_PIN);
}
else{ //X and Y in same direction
WRITE(X_STEP_PIN, !INVERT_X_STEP_PIN);
counter_x -= current_block->step_event_count;
WRITE(X_STEP_PIN, INVERT_X_STEP_PIN) ;
step_wait();
count_position[X_AXIS]+=count_direction[X_AXIS];
count_position[Y_AXIS]+=count_direction[Y_AXIS];
WRITE(X_STEP_PIN, !INVERT_X_STEP_PIN);
counter_y -= current_block->step_event_count;
WRITE(X_STEP_PIN, INVERT_X_STEP_PIN);
}
}
#endif //corexy
counter_z += current_block->steps_z;
if (counter_z > 0) {
WRITE(Z_STEP_PIN, !INVERT_Z_STEP_PIN);