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@ -35,8 +35,8 @@ |
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// if DEBUG_STEPS is enabled, M114 can be used to compare two methods of determining the X,Y,Z position of the printer.
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// for debugging purposes only, should be disabled by default
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#ifdef DEBUG_STEPS |
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volatile long count_position[NUM_AXIS] = { 0, 0, 0, 0}; |
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volatile int count_direction[NUM_AXIS] = { 1, 1, 1, 1}; |
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volatile long count_position[NUM_AXIS] = { 0, 0, 0, 0}; |
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volatile int count_direction[NUM_AXIS] = { 1, 1, 1, 1}; |
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#endif |
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@ -117,6 +117,8 @@ asm volatile ( \ |
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block_t *current_block; // A pointer to the block currently being traced
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//static makes it inpossible to be called from outside of this file by extern.!
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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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@ -125,9 +127,9 @@ static long counter_x, // Counter variables for the bresenham line tracer |
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counter_e; |
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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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static long advance_rate, advance, final_advance = 0; |
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static short old_advance = 0; |
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static short e_steps; |
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static long advance_rate, advance, final_advance = 0; |
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static short old_advance = 0; |
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static short e_steps; |
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#endif |
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static unsigned char busy = false; // TRUE when SIG_OUTPUT_COMPARE1A is being serviced. Used to avoid retriggering that handler.
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static long acceleration_time, deceleration_time; |
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@ -195,10 +197,10 @@ inline unsigned short calc_timer(unsigned short step_rate) { |
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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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inline void trapezoid_generator_reset() { |
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#ifdef ADVANCE |
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advance = current_block->initial_advance; |
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final_advance = current_block->final_advance; |
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#endif |
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#ifdef ADVANCE |
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advance = current_block->initial_advance; |
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final_advance = current_block->final_advance; |
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#endif |
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deceleration_time = 0; |
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// advance_rate = current_block->advance_rate;
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// step_rate to timer interval
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@ -211,7 +213,8 @@ inline void trapezoid_generator_reset() { |
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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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if(busy){ SERIAL_ERRORLN(*(unsigned short *)OCR1A<< " ISR overtaking itself."); |
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if(busy){ |
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SERIAL_ERRORLN(*(unsigned short *)OCR1A<< " ISR overtaking itself."); |
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return; |
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} // The busy-flag is used to avoid reentering this interrupt
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@ -242,74 +245,74 @@ ISR(TIMER1_COMPA_vect) |
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// Set directions TO DO This should be done once during init of trapezoid. Endstops -> interrupt
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out_bits = current_block->direction_bits; |
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#ifdef ADVANCE |
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// Calculate E early.
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counter_e += current_block->steps_e; |
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if (counter_e > 0) { |
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counter_e -= current_block->step_event_count; |
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if ((out_bits & (1<<E_AXIS)) != 0) { // - direction
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CRITICAL_SECTION_START; |
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e_steps--; |
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CRITICAL_SECTION_END; |
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} |
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else { |
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#ifdef ADVANCE |
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// Calculate E early.
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counter_e += current_block->steps_e; |
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if (counter_e > 0) { |
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counter_e -= current_block->step_event_count; |
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if ((out_bits & (1<<E_AXIS)) != 0) { // - direction
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CRITICAL_SECTION_START; |
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e_steps--; |
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CRITICAL_SECTION_END; |
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} |
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else { |
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CRITICAL_SECTION_START; |
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e_steps++; |
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CRITICAL_SECTION_END; |
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} |
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} |
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// Do E steps + advance steps
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CRITICAL_SECTION_START; |
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e_steps++; |
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e_steps += ((advance >> 16) - old_advance); |
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CRITICAL_SECTION_END; |
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} |
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} |
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// Do E steps + advance steps
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CRITICAL_SECTION_START; |
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e_steps += ((advance >> 16) - old_advance); |
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CRITICAL_SECTION_END; |
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old_advance = advance >> 16; |
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#endif //ADVANCE
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old_advance = advance >> 16; |
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#endif //ADVANCE
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// Set direction en check limit switches
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if ((out_bits & (1<<X_AXIS)) != 0) { // -direction
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if ((out_bits & (1<<X_AXIS)) != 0) { // -direction
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WRITE(X_DIR_PIN, INVERT_X_DIR); |
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#ifdef DEBUG_STEPS |
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count_direction[X_AXIS]=-1; |
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count_direction[X_AXIS]=-1; |
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#endif |
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#if X_MIN_PIN > -1 |
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if(READ(X_MIN_PIN) != ENDSTOPS_INVERTING) { |
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step_events_completed = current_block->step_event_count; |
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} |
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#endif |
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#if X_MIN_PIN > -1 |
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if(READ(X_MIN_PIN) != ENDSTOPS_INVERTING) { |
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step_events_completed = current_block->step_event_count; |
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} |
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#endif |
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} |
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else { // +direction
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WRITE(X_DIR_PIN,!INVERT_X_DIR); |
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#ifdef DEBUG_STEPS |
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WRITE(X_DIR_PIN,!INVERT_X_DIR); |
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#ifdef DEBUG_STEPS |
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count_direction[X_AXIS]=1; |
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#endif |
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#if X_MAX_PIN > -1 |
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#endif |
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#if X_MAX_PIN > -1 |
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if((READ(X_MAX_PIN) != ENDSTOPS_INVERTING) && (current_block->steps_x >0)){ |
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step_events_completed = current_block->step_event_count; |
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} |
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#endif |
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#endif |
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} |
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if ((out_bits & (1<<Y_AXIS)) != 0) { // -direction
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WRITE(Y_DIR_PIN,INVERT_Y_DIR); |
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#ifdef DEBUG_STEPS |
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count_direction[Y_AXIS]=-1; |
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count_direction[Y_AXIS]=-1; |
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#endif |
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#if Y_MIN_PIN > -1 |
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if(READ(Y_MIN_PIN) != ENDSTOPS_INVERTING) { |
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step_events_completed = current_block->step_event_count; |
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} |
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#endif |
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#if Y_MIN_PIN > -1 |
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if(READ(Y_MIN_PIN) != ENDSTOPS_INVERTING) { |
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step_events_completed = current_block->step_event_count; |
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} |
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#endif |
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} |
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else { // +direction
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WRITE(Y_DIR_PIN,!INVERT_Y_DIR); |
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#ifdef DEBUG_STEPS |
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count_direction[Y_AXIS]=1; |
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count_direction[Y_AXIS]=1; |
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#endif |
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#if Y_MAX_PIN > -1 |
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if((READ(Y_MAX_PIN) != ENDSTOPS_INVERTING) && (current_block->steps_y >0)){ |
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step_events_completed = current_block->step_event_count; |
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} |
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#endif |
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#if Y_MAX_PIN > -1 |
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if((READ(Y_MAX_PIN) != ENDSTOPS_INVERTING) && (current_block->steps_y >0)){ |
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step_events_completed = current_block->step_event_count; |
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} |
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#endif |
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} |
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if ((out_bits & (1<<Z_AXIS)) != 0) { // -direction
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@ -317,30 +320,30 @@ if ((out_bits & (1<<X_AXIS)) != 0) { // -direction |
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#ifdef DEBUG_STEPS |
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count_direction[Z_AXIS]=-1; |
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#endif |
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#if Z_MIN_PIN > -1 |
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if(READ(Z_MIN_PIN) != ENDSTOPS_INVERTING) { |
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step_events_completed = current_block->step_event_count; |
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} |
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#endif |
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#if Z_MIN_PIN > -1 |
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if(READ(Z_MIN_PIN) != ENDSTOPS_INVERTING) { |
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step_events_completed = current_block->step_event_count; |
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} |
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#endif |
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} |
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else { // +direction
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WRITE(Z_DIR_PIN,!INVERT_Z_DIR); |
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#ifdef DEBUG_STEPS |
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WRITE(Z_DIR_PIN,!INVERT_Z_DIR); |
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#ifdef DEBUG_STEPS |
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count_direction[Z_AXIS]=1; |
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#endif |
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#if Z_MAX_PIN > -1 |
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#endif |
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#if Z_MAX_PIN > -1 |
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if((READ(Z_MAX_PIN) != ENDSTOPS_INVERTING) && (current_block->steps_z >0)){ |
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step_events_completed = current_block->step_event_count; |
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} |
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#endif |
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#endif |
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} |
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#ifndef ADVANCE |
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if ((out_bits & (1<<E_AXIS)) != 0) // -direction
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WRITE(E_DIR_PIN,INVERT_E_DIR); |
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else // +direction
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WRITE(E_DIR_PIN,!INVERT_E_DIR); |
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#endif //!ADVANCE
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#ifndef ADVANCE |
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if ((out_bits & (1<<E_AXIS)) != 0) // -direction
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WRITE(E_DIR_PIN,INVERT_E_DIR); |
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else // +direction
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WRITE(E_DIR_PIN,!INVERT_E_DIR); |
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#endif //!ADVANCE
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for(char i=0; i < step_loops; i++) { // Take multiple steps per interrupt (For high speed moves)
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counter_x += current_block->steps_x; |
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@ -349,7 +352,7 @@ if ((out_bits & (1<<X_AXIS)) != 0) { // -direction |
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counter_x -= current_block->step_event_count; |
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WRITE(X_STEP_PIN, LOW); |
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#ifdef DEBUG_STEPS |
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count_position[X_AXIS]+=count_direction[X_AXIS]; |
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count_position[X_AXIS]+=count_direction[X_AXIS]; |
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#endif |
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} |
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@ -359,7 +362,7 @@ if ((out_bits & (1<<X_AXIS)) != 0) { // -direction |
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counter_y -= current_block->step_event_count; |
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WRITE(Y_STEP_PIN, LOW); |
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#ifdef DEBUG_STEPS |
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count_position[Y_AXIS]+=count_direction[Y_AXIS]; |
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count_position[Y_AXIS]+=count_direction[Y_AXIS]; |
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#endif |
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} |
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@ -369,18 +372,18 @@ if ((out_bits & (1<<X_AXIS)) != 0) { // -direction |
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counter_z -= current_block->step_event_count; |
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WRITE(Z_STEP_PIN, LOW); |
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#ifdef DEBUG_STEPS |
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count_position[Z_AXIS]+=count_direction[Z_AXIS]; |
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count_position[Z_AXIS]+=count_direction[Z_AXIS]; |
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#endif |
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} |
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#ifndef ADVANCE |
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counter_e += current_block->steps_e; |
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if (counter_e > 0) { |
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WRITE(E_STEP_PIN, HIGH); |
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counter_e -= current_block->step_event_count; |
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WRITE(E_STEP_PIN, LOW); |
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} |
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#endif //!ADVANCE
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#ifndef ADVANCE |
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counter_e += current_block->steps_e; |
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if (counter_e > 0) { |
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WRITE(E_STEP_PIN, HIGH); |
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counter_e -= current_block->step_event_count; |
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WRITE(E_STEP_PIN, LOW); |
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} |
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#endif //!ADVANCE
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step_events_completed += 1; |
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if(step_events_completed >= current_block->step_event_count) break; |
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} |
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@ -397,9 +400,9 @@ if ((out_bits & (1<<X_AXIS)) != 0) { // -direction |
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// step_rate to timer interval
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timer = calc_timer(acc_step_rate); |
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#ifdef ADVANCE |
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advance += advance_rate; |
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#endif |
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#ifdef ADVANCE |
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advance += advance_rate; |
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#endif |
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acceleration_time += timer; |
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OCR1A = timer; |
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} |
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@ -419,11 +422,11 @@ if ((out_bits & (1<<X_AXIS)) != 0) { // -direction |
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// step_rate to timer interval
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timer = calc_timer(step_rate); |
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#ifdef ADVANCE |
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advance -= advance_rate; |
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if(advance < final_advance) |
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advance = final_advance; |
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#endif //ADVANCE
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#ifdef ADVANCE |
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advance -= advance_rate; |
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if(advance < final_advance) |
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advance = final_advance; |
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#endif //ADVANCE
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deceleration_time += timer; |
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OCR1A = timer; |
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} |
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@ -438,127 +441,126 @@ if ((out_bits & (1<<X_AXIS)) != 0) { // -direction |
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} |
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#ifdef ADVANCE |
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unsigned char old_OCR0A; |
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// Timer interrupt for E. e_steps is set in the main routine;
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// Timer 0 is shared with millies
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ISR(TIMER0_COMPA_vect) |
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{ |
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// Critical section needed because Timer 1 interrupt has higher priority.
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// The pin set functions are placed on trategic position to comply with the stepper driver timing.
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WRITE(E_STEP_PIN, LOW); |
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// Set E direction (Depends on E direction + advance)
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if (e_steps < 0) { |
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WRITE(E_DIR_PIN,INVERT_E_DIR); |
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e_steps++; |
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WRITE(E_STEP_PIN, HIGH); |
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} |
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if (e_steps > 0) { |
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WRITE(E_DIR_PIN,!INVERT_E_DIR); |
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e_steps--; |
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WRITE(E_STEP_PIN, HIGH); |
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unsigned char old_OCR0A; |
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// Timer interrupt for E. e_steps is set in the main routine;
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// Timer 0 is shared with millies
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ISR(TIMER0_COMPA_vect) |
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{ |
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// Critical section needed because Timer 1 interrupt has higher priority.
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// The pin set functions are placed on trategic position to comply with the stepper driver timing.
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WRITE(E_STEP_PIN, LOW); |
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// Set E direction (Depends on E direction + advance)
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if (e_steps < 0) { |
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WRITE(E_DIR_PIN,INVERT_E_DIR); |
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e_steps++; |
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WRITE(E_STEP_PIN, HIGH); |
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} |
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if (e_steps > 0) { |
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WRITE(E_DIR_PIN,!INVERT_E_DIR); |
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e_steps--; |
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WRITE(E_STEP_PIN, HIGH); |
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} |
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old_OCR0A += 25; // 10kHz interrupt
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OCR0A = old_OCR0A; |
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} |
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old_OCR0A += 25; // 10kHz interrupt
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OCR0A = old_OCR0A; |
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} |
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#endif // ADVANCE
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void st_init() |
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{ |
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//Initialize Dir Pins
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#if X_DIR_PIN > -1 |
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SET_OUTPUT(X_DIR_PIN); |
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#endif |
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#if Y_DIR_PIN > -1 |
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SET_OUTPUT(Y_DIR_PIN); |
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#endif |
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#if Z_DIR_PIN > -1 |
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SET_OUTPUT(Z_DIR_PIN); |
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#endif |
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#if E_DIR_PIN > -1 |
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SET_OUTPUT(E_DIR_PIN); |
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#endif |
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#if X_DIR_PIN > -1 |
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SET_OUTPUT(X_DIR_PIN); |
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#endif |
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#if Y_DIR_PIN > -1 |
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SET_OUTPUT(Y_DIR_PIN); |
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#endif |
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#if Z_DIR_PIN > -1 |
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SET_OUTPUT(Z_DIR_PIN); |
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#endif |
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#if E_DIR_PIN > -1 |
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SET_OUTPUT(E_DIR_PIN); |
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#endif |
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//Initialize Enable Pins - steppers default to disabled.
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#if (X_ENABLE_PIN > -1) |
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SET_OUTPUT(X_ENABLE_PIN); |
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if(!X_ENABLE_ON) WRITE(X_ENABLE_PIN,HIGH); |
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#endif |
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#if (Y_ENABLE_PIN > -1) |
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SET_OUTPUT(Y_ENABLE_PIN); |
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if(!Y_ENABLE_ON) WRITE(Y_ENABLE_PIN,HIGH); |
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#endif |
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#if (Z_ENABLE_PIN > -1) |
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SET_OUTPUT(Z_ENABLE_PIN); |
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if(!Z_ENABLE_ON) WRITE(Z_ENABLE_PIN,HIGH); |
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#endif |
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#if (E_ENABLE_PIN > -1) |
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SET_OUTPUT(E_ENABLE_PIN); |
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if(!E_ENABLE_ON) WRITE(E_ENABLE_PIN,HIGH); |
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#endif |
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#if (X_ENABLE_PIN > -1) |
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SET_OUTPUT(X_ENABLE_PIN); |
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if(!X_ENABLE_ON) WRITE(X_ENABLE_PIN,HIGH); |
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#endif |
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#if (Y_ENABLE_PIN > -1) |
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SET_OUTPUT(Y_ENABLE_PIN); |
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if(!Y_ENABLE_ON) WRITE(Y_ENABLE_PIN,HIGH); |
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#endif |
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#if (Z_ENABLE_PIN > -1) |
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SET_OUTPUT(Z_ENABLE_PIN); |
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if(!Z_ENABLE_ON) WRITE(Z_ENABLE_PIN,HIGH); |
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#endif |
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#if (E_ENABLE_PIN > -1) |
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SET_OUTPUT(E_ENABLE_PIN); |
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if(!E_ENABLE_ON) WRITE(E_ENABLE_PIN,HIGH); |
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#endif |
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//endstops and pullups
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#ifdef ENDSTOPPULLUPS |
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#if X_MIN_PIN > -1 |
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SET_INPUT(X_MIN_PIN); |
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WRITE(X_MIN_PIN,HIGH); |
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#endif |
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#if X_MAX_PIN > -1 |
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SET_INPUT(X_MAX_PIN); |
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WRITE(X_MAX_PIN,HIGH); |
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#endif |
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#if Y_MIN_PIN > -1 |
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SET_INPUT(Y_MIN_PIN); |
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WRITE(Y_MIN_PIN,HIGH); |
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#endif |
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#if Y_MAX_PIN > -1 |
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SET_INPUT(Y_MAX_PIN); |
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WRITE(Y_MAX_PIN,HIGH); |
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#endif |
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#if Z_MIN_PIN > -1 |
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SET_INPUT(Z_MIN_PIN); |
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WRITE(Z_MIN_PIN,HIGH); |
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#endif |
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#if Z_MAX_PIN > -1 |
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SET_INPUT(Z_MAX_PIN); |
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WRITE(Z_MAX_PIN,HIGH); |
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#endif |
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#else //ENDSTOPPULLUPS
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#if X_MIN_PIN > -1 |
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SET_INPUT(X_MIN_PIN); |
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#endif |
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#if X_MAX_PIN > -1 |
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SET_INPUT(X_MAX_PIN); |
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#endif |
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#if Y_MIN_PIN > -1 |
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SET_INPUT(Y_MIN_PIN); |
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#endif |
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#if Y_MAX_PIN > -1 |
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SET_INPUT(Y_MAX_PIN); |
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#endif |
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#if Z_MIN_PIN > -1 |
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SET_INPUT(Z_MIN_PIN); |
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#endif |
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#if Z_MAX_PIN > -1 |
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SET_INPUT(Z_MAX_PIN); |
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#endif |
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#endif //ENDSTOPPULLUPS
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#ifdef ENDSTOPPULLUPS |
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#if X_MIN_PIN > -1 |
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SET_INPUT(X_MIN_PIN); |
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WRITE(X_MIN_PIN,HIGH); |
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#endif |
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#if X_MAX_PIN > -1 |
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SET_INPUT(X_MAX_PIN); |
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WRITE(X_MAX_PIN,HIGH); |
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#endif |
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#if Y_MIN_PIN > -1 |
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SET_INPUT(Y_MIN_PIN); |
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WRITE(Y_MIN_PIN,HIGH); |
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#endif |
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#if Y_MAX_PIN > -1 |
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SET_INPUT(Y_MAX_PIN); |
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WRITE(Y_MAX_PIN,HIGH); |
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#endif |
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#if Z_MIN_PIN > -1 |
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SET_INPUT(Z_MIN_PIN); |
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WRITE(Z_MIN_PIN,HIGH); |
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#endif |
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#if Z_MAX_PIN > -1 |
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SET_INPUT(Z_MAX_PIN); |
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WRITE(Z_MAX_PIN,HIGH); |
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#endif |
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#else //ENDSTOPPULLUPS
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#if X_MIN_PIN > -1 |
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SET_INPUT(X_MIN_PIN); |
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#endif |
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#if X_MAX_PIN > -1 |
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SET_INPUT(X_MAX_PIN); |
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#endif |
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#if Y_MIN_PIN > -1 |
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SET_INPUT(Y_MIN_PIN); |
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#endif |
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#if Y_MAX_PIN > -1 |
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SET_INPUT(Y_MAX_PIN); |
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#endif |
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#if Z_MIN_PIN > -1 |
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SET_INPUT(Z_MIN_PIN); |
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#endif |
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#if Z_MAX_PIN > -1 |
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SET_INPUT(Z_MAX_PIN); |
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#endif |
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#endif //ENDSTOPPULLUPS
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//Initialize Step Pins
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#if (X_STEP_PIN > -1) |
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SET_OUTPUT(X_STEP_PIN); |
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#endif |
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#if (Y_STEP_PIN > -1) |
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SET_OUTPUT(Y_STEP_PIN); |
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#endif |
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#if (Z_STEP_PIN > -1) |
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SET_OUTPUT(Z_STEP_PIN); |
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#endif |
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#if (E_STEP_PIN > -1) |
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SET_OUTPUT(E_STEP_PIN); |
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#endif |
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#if (X_STEP_PIN > -1) |
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SET_OUTPUT(X_STEP_PIN); |
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#endif |
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#if (Y_STEP_PIN > -1) |
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SET_OUTPUT(Y_STEP_PIN); |
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#endif |
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#if (Z_STEP_PIN > -1) |
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SET_OUTPUT(Z_STEP_PIN); |
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#endif |
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#if (E_STEP_PIN > -1) |
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SET_OUTPUT(E_STEP_PIN); |
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#endif |
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// waveform generation = 0100 = CTC
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TCCR1B &= ~(1<<WGM13); |
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@ -574,10 +576,10 @@ void st_init() |
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OCR1A = 0x4000; |
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DISABLE_STEPPER_DRIVER_INTERRUPT(); |
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#ifdef ADVANCE |
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e_steps = 0; |
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TIMSK0 |= (1<<OCIE0A); |
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#endif //ADVANCE
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#ifdef ADVANCE |
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e_steps = 0; |
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TIMSK0 |= (1<<OCIE0A); |
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#endif //ADVANCE
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sei(); |
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} |
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Bernhard Kubicek
13 years ago