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Apply int32_t to stepper

pull/1/head
Scott Lahteine 7 years ago
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c2c02bdc67
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0c23792344
2 changed files with 22 additions and 22 deletions
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  1. 28
      Marlin/src/module/stepper.cpp
  2. 16
      Marlin/src/module/stepper.h

28
Marlin/src/module/stepper.cpp
View File

@ -109,10 +109,10 @@ int16_t Stepper::cleaning_buffer_counter = 0;
bool Stepper::locked_z_motor = false, Stepper::locked_z2_motor = false; bool Stepper::locked_z_motor = false, Stepper::locked_z2_motor = false;
#endif #endif
long Stepper::counter_X = 0, int32_t Stepper::counter_X = 0,
Stepper::counter_Y = 0, Stepper::counter_Y = 0,
Stepper::counter_Z = 0, Stepper::counter_Z = 0,
Stepper::counter_E = 0; Stepper::counter_E = 0;
volatile uint32_t Stepper::step_events_completed = 0; // The number of step events executed in the current block volatile uint32_t Stepper::step_events_completed = 0; // The number of step events executed in the current block
@ -159,7 +159,7 @@ volatile int32_t Stepper::count_position[NUM_AXIS] = { 0 };
volatile signed char Stepper::count_direction[NUM_AXIS] = { 1, 1, 1, 1 }; volatile signed char Stepper::count_direction[NUM_AXIS] = { 1, 1, 1, 1 };
#if ENABLED(MIXING_EXTRUDER) #if ENABLED(MIXING_EXTRUDER)
long Stepper::counter_m[MIXING_STEPPERS]; int32_t Stepper::counter_m[MIXING_STEPPERS];
#endif #endif
uint8_t Stepper::step_loops, Stepper::step_loops_nominal; uint8_t Stepper::step_loops, Stepper::step_loops_nominal;
@ -169,7 +169,7 @@ hal_timer_t Stepper::OCR1A_nominal;
hal_timer_t Stepper::acc_step_rate; // needed for deceleration start point hal_timer_t Stepper::acc_step_rate; // needed for deceleration start point
#endif #endif
volatile long Stepper::endstops_trigsteps[XYZ]; volatile int32_t Stepper::endstops_trigsteps[XYZ];
#if ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || ENABLED(Z_DUAL_ENDSTOPS) #if ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || ENABLED(Z_DUAL_ENDSTOPS)
#define LOCKED_X_MOTOR locked_x_motor #define LOCKED_X_MOTOR locked_x_motor
@ -1976,7 +1976,7 @@ void Stepper::synchronize() { while (planner.has_blocks_queued() || cleaning_buf
* This allows get_axis_position_mm to correctly * This allows get_axis_position_mm to correctly
* derive the current XYZ position later on. * derive the current XYZ position later on.
*/ */
void Stepper::set_position(const long &a, const long &b, const long &c, const long &e) { void Stepper::set_position(const int32_t &a, const int32_t &b, const int32_t &c, const int32_t &e) {
synchronize(); // Bad to set stepper counts in the middle of a move synchronize(); // Bad to set stepper counts in the middle of a move
@ -2009,13 +2009,13 @@ void Stepper::set_position(const long &a, const long &b, const long &c, const lo
CRITICAL_SECTION_END; CRITICAL_SECTION_END;
} }
void Stepper::set_position(const AxisEnum &axis, const long &v) { void Stepper::set_position(const AxisEnum &axis, const int32_t &v) {
CRITICAL_SECTION_START; CRITICAL_SECTION_START;
count_position[axis] = v; count_position[axis] = v;
CRITICAL_SECTION_END; CRITICAL_SECTION_END;
} }
void Stepper::set_e_position(const long &e) { void Stepper::set_e_position(const int32_t &e) {
CRITICAL_SECTION_START; CRITICAL_SECTION_START;
count_position[E_AXIS] = e; count_position[E_AXIS] = e;
CRITICAL_SECTION_END; CRITICAL_SECTION_END;
@ -2024,9 +2024,9 @@ void Stepper::set_e_position(const long &e) {
/** /**
* Get a stepper's position in steps. * Get a stepper's position in steps.
*/ */
long Stepper::position(const AxisEnum axis) { int32_t Stepper::position(const AxisEnum axis) {
CRITICAL_SECTION_START; CRITICAL_SECTION_START;
const long count_pos = count_position[axis]; const int32_t count_pos = count_position[axis];
CRITICAL_SECTION_END; CRITICAL_SECTION_END;
return count_pos; return count_pos;
} }
@ -2095,9 +2095,9 @@ void Stepper::endstop_triggered(const AxisEnum axis) {
void Stepper::report_positions() { void Stepper::report_positions() {
CRITICAL_SECTION_START; CRITICAL_SECTION_START;
const long xpos = count_position[X_AXIS], const int32_t xpos = count_position[X_AXIS],
ypos = count_position[Y_AXIS], ypos = count_position[Y_AXIS],
zpos = count_position[Z_AXIS]; zpos = count_position[Z_AXIS];
CRITICAL_SECTION_END; CRITICAL_SECTION_END;
#if CORE_IS_XY || CORE_IS_XZ || IS_DELTA || IS_SCARA #if CORE_IS_XY || CORE_IS_XZ || IS_DELTA || IS_SCARA

16
Marlin/src/module/stepper.h
View File

@ -94,7 +94,7 @@ class Stepper {
#endif #endif
// Counter variables for the Bresenham line tracer // Counter variables for the Bresenham line tracer
static long counter_X, counter_Y, counter_Z, counter_E; static int32_t counter_X, counter_Y, counter_Z, counter_E;
static volatile uint32_t step_events_completed; // The number of step events executed in the current block static volatile uint32_t step_events_completed; // The number of step events executed in the current block
#if ENABLED(BEZIER_JERK_CONTROL) #if ENABLED(BEZIER_JERK_CONTROL)
@ -137,8 +137,8 @@ class Stepper {
static hal_timer_t acc_step_rate; // needed for deceleration start point static hal_timer_t acc_step_rate; // needed for deceleration start point
#endif #endif
static volatile long endstops_trigsteps[XYZ]; static volatile int32_t endstops_trigsteps[XYZ];
static volatile long endstops_stepsTotal, endstops_stepsDone; static volatile int32_t endstops_stepsTotal, endstops_stepsDone;
// //
// Positions of stepper motors, in step units // Positions of stepper motors, in step units
@ -154,7 +154,7 @@ class Stepper {
// Mixing extruder mix counters // Mixing extruder mix counters
// //
#if ENABLED(MIXING_EXTRUDER) #if ENABLED(MIXING_EXTRUDER)
static long counter_m[MIXING_STEPPERS]; static int32_t counter_m[MIXING_STEPPERS];
#define MIXING_STEPPERS_LOOP(VAR) \ #define MIXING_STEPPERS_LOOP(VAR) \
for (uint8_t VAR = 0; VAR < MIXING_STEPPERS; VAR++) \ for (uint8_t VAR = 0; VAR < MIXING_STEPPERS; VAR++) \
if (current_block->mix_event_count[VAR]) if (current_block->mix_event_count[VAR])
@ -191,9 +191,9 @@ class Stepper {
// //
// Set the current position in steps // Set the current position in steps
// //
static void set_position(const long &a, const long &b, const long &c, const long &e); static void set_position(const int32_t &a, const int32_t &b, const int32_t &c, const int32_t &e);
static void set_position(const AxisEnum &a, const long &v); static void set_position(const AxisEnum &a, const int32_t &v);
static void set_e_position(const long &e); static void set_e_position(const int32_t &e);
// //
// Set direction bits for all steppers // Set direction bits for all steppers
@ -203,7 +203,7 @@ class Stepper {
// //
// Get the position of a stepper, in steps // Get the position of a stepper, in steps
// //
static long position(const AxisEnum axis); static int32_t position(const AxisEnum axis);
// //
// Report the positions of the steppers, in steps // Report the positions of the steppers, in steps

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