From 12de8fff81626ad87874b11785590f0ca8bdc211 Mon Sep 17 00:00:00 2001 From: daid Date: Fri, 29 Jun 2012 16:27:47 +0200 Subject: [PATCH] Support step motor controllers with active low step pins. --- Marlin/Configuration_adv.h | 6 ++++++ Marlin/stepper.cpp | 28 ++++++++++++++-------------- 2 files changed, 20 insertions(+), 14 deletions(-) diff --git a/Marlin/Configuration_adv.h b/Marlin/Configuration_adv.h index 0d1e914ad3..297c9df13e 100644 --- a/Marlin/Configuration_adv.h +++ b/Marlin/Configuration_adv.h @@ -88,6 +88,12 @@ #define MAX_STEP_FREQUENCY 40000 // Max step frequency for Ultimaker (5000 pps / half step) +//By default pololu step drivers require an active high signal. However, some high power drivers require an active low signal as step. +#define INVERT_X_STEP_PIN false +#define INVERT_Y_STEP_PIN false +#define INVERT_Z_STEP_PIN false +#define INVERT_E_STEP_PIN false + //default stepper release if idle #define DEFAULT_STEPPER_DEACTIVE_TIME 60 diff --git a/Marlin/stepper.cpp b/Marlin/stepper.cpp index 08ed8edd9a..6b561289cc 100644 --- a/Marlin/stepper.cpp +++ b/Marlin/stepper.cpp @@ -449,34 +449,34 @@ ISR(TIMER1_COMPA_vect) counter_x += current_block->steps_x; if (counter_x > 0) { - WRITE(X_STEP_PIN, HIGH); + WRITE(X_STEP_PIN, !INVERT_X_STEP_PIN); counter_x -= current_block->step_event_count; - WRITE(X_STEP_PIN, LOW); + WRITE(X_STEP_PIN, INVERT_X_STEP_PIN); count_position[X_AXIS]+=count_direction[X_AXIS]; } counter_y += current_block->steps_y; if (counter_y > 0) { - WRITE(Y_STEP_PIN, HIGH); + WRITE(Y_STEP_PIN, !INVERT_Y_STEP_PIN); counter_y -= current_block->step_event_count; - WRITE(Y_STEP_PIN, LOW); + WRITE(Y_STEP_PIN, INVERT_Y_STEP_PIN); count_position[Y_AXIS]+=count_direction[Y_AXIS]; } counter_z += current_block->steps_z; if (counter_z > 0) { - WRITE(Z_STEP_PIN, HIGH); + WRITE(Z_STEP_PIN, !INVERT_Z_STEP_PIN); counter_z -= current_block->step_event_count; - WRITE(Z_STEP_PIN, LOW); + WRITE(Z_STEP_PIN, INVERT_Z_STEP_PIN); count_position[Z_AXIS]+=count_direction[Z_AXIS]; } #ifndef ADVANCE counter_e += current_block->steps_e; if (counter_e > 0) { - WRITE_E_STEP(HIGH); + WRITE_E_STEP(!INVERT_E_STEP_PIN); counter_e -= current_block->step_event_count; - WRITE_E_STEP(LOW); + WRITE_E_STEP(INVERT_E_STEP_PIN); count_position[E_AXIS]+=count_direction[E_AXIS]; } #endif //!ADVANCE @@ -704,27 +704,27 @@ void st_init() //Initialize Step Pins #if (X_STEP_PIN > -1) SET_OUTPUT(X_STEP_PIN); - if(!X_ENABLE_ON) WRITE(X_ENABLE_PIN,HIGH); + WRITE(X_STEP_PIN,INVERT_X_STEP_PIN); #endif #if (Y_STEP_PIN > -1) SET_OUTPUT(Y_STEP_PIN); - if(!Y_ENABLE_ON) WRITE(Y_ENABLE_PIN,HIGH); + WRITE(Y_STEP_PIN,INVERT_Y_STEP_PIN); #endif #if (Z_STEP_PIN > -1) SET_OUTPUT(Z_STEP_PIN); - if(!Z_ENABLE_ON) WRITE(Z_ENABLE_PIN,HIGH); + WRITE(Z_STEP_PIN,INVERT_Z_STEP_PIN); #endif #if (E0_STEP_PIN > -1) SET_OUTPUT(E0_STEP_PIN); - if(!E_ENABLE_ON) WRITE(E0_ENABLE_PIN,HIGH); + WRITE(E0_STEP_PIN,INVERT_E_STEP_PIN); #endif #if defined(E1_STEP_PIN) && (E1_STEP_PIN > -1) SET_OUTPUT(E1_STEP_PIN); - if(!E_ENABLE_ON) WRITE(E1_ENABLE_PIN,HIGH); + WRITE(E1_STEP_PIN,INVERT_E_STEP_PIN); #endif #if defined(E2_STEP_PIN) && (E2_STEP_PIN > -1) SET_OUTPUT(E2_STEP_PIN); - if(!E_ENABLE_ON) WRITE(E2_ENABLE_PIN,HIGH); + WRITE(E2_STEP_PIN,INVERT_E_STEP_PIN); #endif #ifdef CONTROLLERFAN_PIN