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Merge pull request #1960 from Wurstnase/macro_steppercpp 

Macro steppercpp
pull/1/head
Scott Lahteine 10 years ago
parent
075386e7fe 79a44a9de3
commit
2606d1d892
1 changed files with 71 additions and 50 deletions
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  1. 121
      Marlin/stepper.cpp

121
Marlin/stepper.cpp
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@ -46,7 +46,7 @@ block_t *current_block; // A pointer to the block currently being traced
// Variables used by The Stepper Driver Interrupt
static unsigned char out_bits; // The next stepping-bits to be output
static unsigned int cleaning_buffer_counter;
static unsigned int cleaning_buffer_counter;
#ifdef Z_DUAL_ENDSTOPS
static bool performing_homing = false,
@ -285,8 +285,8 @@ void checkHitEndstops() {
}
#ifdef Z_PROBE_ENDSTOP
if (endstop_z_probe_hit) {
SERIAL_ECHOPAIR(" Z_PROBE:", (float)endstops_trigsteps[Z_AXIS] / axis_steps_per_unit[Z_AXIS]);
LCD_MESSAGEPGM(MSG_ENDSTOPS_HIT "ZP");
SERIAL_ECHOPAIR(" Z_PROBE:", (float)endstops_trigsteps[Z_AXIS] / axis_steps_per_unit[Z_AXIS]);
LCD_MESSAGEPGM(MSG_ENDSTOPS_HIT "ZP");
}
#endif
SERIAL_EOL;
@ -411,7 +411,7 @@ ISR(TIMER1_COMPA_vect) {
OCR1A = 200;
return;
}
// If there is no current block, attempt to pop one from the buffer
if (!current_block) {
// Anything in the buffer?
@ -463,14 +463,22 @@ ISR(TIMER1_COMPA_vect) {
count_direction[Y_AXIS] = 1;
}
#define _ENDSTOP(axis, minmax) axis ##_## minmax ##_endstop
#define _ENDSTOP_PIN(AXIS, MINMAX) AXIS ##_## MINMAX ##_PIN
#define _ENDSTOP_INVERTING(AXIS, MINMAX) AXIS ##_## MINMAX ##_ENDSTOP_INVERTING
#define _OLD_ENDSTOP(axis, minmax) old_## axis ##_## minmax ##_endstop
#define _AXIS(AXIS) AXIS ##_AXIS
#define _ENDSTOP_HIT(axis) endstop_## axis ##_hit
#define UPDATE_ENDSTOP(axis,AXIS,minmax,MINMAX) \
bool axis ##_## minmax ##_endstop = (READ(AXIS ##_## MINMAX ##_PIN) != AXIS ##_## MINMAX ##_ENDSTOP_INVERTING); \
if (axis ##_## minmax ##_endstop && old_## axis ##_## minmax ##_endstop && (current_block->steps[AXIS ##_AXIS] > 0)) { \
endstops_trigsteps[AXIS ##_AXIS] = count_position[AXIS ##_AXIS]; \
endstop_## axis ##_hit = true; \
bool _ENDSTOP(axis, minmax) = (READ(_ENDSTOP_PIN(AXIS, MINMAX)) != _ENDSTOP_INVERTING(AXIS, MINMAX)); \
if (_ENDSTOP(axis, minmax) && _OLD_ENDSTOP(axis, minmax) && (current_block->steps[_AXIS(AXIS)] > 0)) { \
endstops_trigsteps[_AXIS(AXIS)] = count_position[_AXIS(AXIS)]; \
_ENDSTOP_HIT(axis) = true; \
step_events_completed = current_block->step_event_count; \
} \
old_## axis ##_## minmax ##_endstop = axis ##_## minmax ##_endstop;
_OLD_ENDSTOP(axis, minmax) = _ENDSTOP(axis, minmax);
// Check X and Y endstops
if (check_endstops) {
@ -486,7 +494,7 @@ ISR(TIMER1_COMPA_vect) {
#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) || (current_block->active_extruder != 0 && X2_HOME_DIR == -1))
#endif
#endif
{
#if HAS_X_MIN
UPDATE_ENDSTOP(x, X, min, MIN);
@ -572,14 +580,14 @@ ISR(TIMER1_COMPA_vect) {
z_probe_endstop=(READ(Z_PROBE_PIN) != Z_PROBE_ENDSTOP_INVERTING);
if(z_probe_endstop && old_z_probe_endstop)
{
endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
endstop_z_probe_hit=true;
endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
endstop_z_probe_hit=true;
// if (z_probe_endstop && old_z_probe_endstop) SERIAL_ECHOLN("z_probe_endstop = true");
// if (z_probe_endstop && old_z_probe_endstop) SERIAL_ECHOLN("z_probe_endstop = true");
}
old_z_probe_endstop = z_probe_endstop;
#endif
} // check_endstops
}
@ -625,15 +633,15 @@ ISR(TIMER1_COMPA_vect) {
#endif // !Z_DUAL_ENDSTOPS
#endif // Z_MAX_PIN
#ifdef Z_PROBE_ENDSTOP
UPDATE_ENDSTOP(z, Z, probe, PROBE);
z_probe_endstop=(READ(Z_PROBE_PIN) != Z_PROBE_ENDSTOP_INVERTING);
if(z_probe_endstop && old_z_probe_endstop)
{
endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
endstop_z_probe_hit=true;
// if (z_probe_endstop && old_z_probe_endstop) SERIAL_ECHOLN("z_probe_endstop = true");
endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
endstop_z_probe_hit=true;
// if (z_probe_endstop && old_z_probe_endstop) SERIAL_ECHOLN("z_probe_endstop = true");
}
old_z_probe_endstop = z_probe_endstop;
#endif
@ -667,6 +675,11 @@ ISR(TIMER1_COMPA_vect) {
}
#endif //ADVANCE
#define _COUNTER(axis) counter_## axis
#define _WRITE_STEP(AXIS, HIGHLOW) AXIS ##_STEP_WRITE(HIGHLOW)
#define _APPLY_STEP(AXIS) AXIS ##_APPLY_STEP
#define _INVERT_STEP_PIN(AXIS) INVERT_## AXIS ##_STEP_PIN
#ifdef CONFIG_STEPPERS_TOSHIBA
/**
* The Toshiba stepper controller require much longer pulses.
@ -675,8 +688,8 @@ ISR(TIMER1_COMPA_vect) {
* lag to allow it work with without needing NOPs
*/
#define STEP_ADD(axis, AXIS) \
counter_## axis += current_block->steps[AXIS ##_AXIS]; \
if (counter_## axis > 0) { AXIS ##_STEP_WRITE(HIGH); }
_COUNTER(axis) += current_block->steps[_AXIS(AXIS)]; \
if (_COUNTER(axis) > 0) { _WRITE_STEP(AXIS, HIGH); }
STEP_ADD(x,X);
STEP_ADD(y,Y);
STEP_ADD(z,Z);
@ -685,10 +698,10 @@ ISR(TIMER1_COMPA_vect) {
#endif
#define STEP_IF_COUNTER(axis, AXIS) \
if (counter_## axis > 0) { \
counter_## axis -= current_block->step_event_count; \
count_position[AXIS ##_AXIS] += count_direction[AXIS ##_AXIS]; \
AXIS ##_STEP_WRITE(LOW); \
if (_COUNTER(axis) > 0) { \
_COUNTER(axis) -= current_block->step_event_count; \
count_position[_AXIS(AXIS)] += count_direction[_AXIS(AXIS)]; \
_WRITE_STEP(AXIS, LOW); \
}
STEP_IF_COUNTER(x, X);
@ -701,12 +714,12 @@ ISR(TIMER1_COMPA_vect) {
#else // !CONFIG_STEPPERS_TOSHIBA
#define APPLY_MOVEMENT(axis, AXIS) \
counter_## axis += current_block->steps[AXIS ##_AXIS]; \
if (counter_## axis > 0) { \
AXIS ##_APPLY_STEP(!INVERT_## AXIS ##_STEP_PIN,0); \
counter_## axis -= current_block->step_event_count; \
count_position[AXIS ##_AXIS] += count_direction[AXIS ##_AXIS]; \
AXIS ##_APPLY_STEP(INVERT_## AXIS ##_STEP_PIN,0); \
_COUNTER(axis) += current_block->steps[_AXIS(AXIS)]; \
if (_COUNTER(axis) > 0) { \
_APPLY_STEP(AXIS)(!_INVERT_STEP_PIN(AXIS),0); \
_COUNTER(axis) -= current_block->step_event_count; \
count_position[_AXIS(AXIS)] += count_direction[_AXIS(AXIS)]; \
_APPLY_STEP(AXIS)(_INVERT_STEP_PIN(AXIS),0); \
}
APPLY_MOVEMENT(x, X);
@ -874,7 +887,7 @@ void st_init() {
#ifdef HAVE_L6470DRIVER
L6470_init();
#endif
// Initialize Dir Pins
#if HAS_X_DIR
X_DIR_INIT;
@ -920,11 +933,11 @@ void st_init() {
#if HAS_Y_ENABLE
Y_ENABLE_INIT;
if (!Y_ENABLE_ON) Y_ENABLE_WRITE(HIGH);
#if defined(Y_DUAL_STEPPER_DRIVERS) && HAS_Y2_ENABLE
Y2_ENABLE_INIT;
if (!Y_ENABLE_ON) Y2_ENABLE_WRITE(HIGH);
#endif
#if defined(Y_DUAL_STEPPER_DRIVERS) && HAS_Y2_ENABLE
Y2_ENABLE_INIT;
if (!Y_ENABLE_ON) Y2_ENABLE_WRITE(HIGH);
#endif
#endif
#if HAS_Z_ENABLE
Z_ENABLE_INIT;
@ -1001,8 +1014,8 @@ void st_init() {
#ifdef ENDSTOPPULLUP_ZMAX
WRITE(Z2_MAX_PIN,HIGH);
#endif
#endif
#endif
#if (defined(Z_PROBE_PIN) && Z_PROBE_PIN >= 0) && defined(Z_PROBE_ENDSTOP) // Check for Z_PROBE_ENDSTOP so we don't pull a pin high unless it's to be used.
SET_INPUT(Z_PROBE_PIN);
#ifdef ENDSTOPPULLUP_ZPROBE
@ -1010,10 +1023,13 @@ void st_init() {
#endif
#endif
#define _STEP_INIT(AXIS) AXIS ##_STEP_INIT
#define _DISABLE(axis) disable_## axis()
#define AXIS_INIT(axis, AXIS, PIN) \
AXIS ##_STEP_INIT; \
AXIS ##_STEP_WRITE(INVERT_## PIN ##_STEP_PIN); \
disable_## axis()
_STEP_INIT(AXIS); \
_WRITE_STEP(AXIS, _INVERT_STEP_PIN(PIN)); \
_DISABLE(axis)
#define E_AXIS_INIT(NUM) AXIS_INIT(e## NUM, E## NUM, E)
@ -1146,14 +1162,19 @@ void quickStop() {
// No other ISR should ever interrupt this!
void babystep(const uint8_t axis, const bool direction) {
#define _ENABLE(axis) enable_## axis()
#define _READ_DIR(AXIS) AXIS ##_DIR_READ
#define _INVERT_DIR(AXIS) INVERT_## AXIS ##_DIR
#define _APPLY_DIR(AXIS, INVERT) AXIS ##_APPLY_DIR(INVERT, true)
#define BABYSTEP_AXIS(axis, AXIS, INVERT) { \
enable_## axis(); \
uint8_t old_pin = AXIS ##_DIR_READ; \
AXIS ##_APPLY_DIR(INVERT_## AXIS ##_DIR^direction^INVERT, true); \
AXIS ##_APPLY_STEP(!INVERT_## AXIS ##_STEP_PIN, true); \
_ENABLE(axis); \
uint8_t old_pin = _READ_DIR(AXIS); \
_APPLY_DIR(AXIS, _INVERT_DIR(AXIS)^direction^INVERT); \
_APPLY_STEP(AXIS)(!_INVERT_STEP_PIN(AXIS), true); \
delayMicroseconds(2); \
AXIS ##_APPLY_STEP(INVERT_## AXIS ##_STEP_PIN, true); \
AXIS ##_APPLY_DIR(old_pin, true); \
_APPLY_STEP(AXIS)(_INVERT_STEP_PIN(AXIS), true); \
_APPLY_DIR(AXIS, old_pin); \
}
switch(axis) {
@ -1165,7 +1186,7 @@ void quickStop() {
case Y_AXIS:
BABYSTEP_AXIS(y, Y, false);
break;
case Z_AXIS: {
#ifndef DELTA
@ -1202,7 +1223,7 @@ void quickStop() {
#endif
} break;
default: break;
}
}
@ -1266,7 +1287,7 @@ void microstep_init() {
#if HAS_MICROSTEPS
pinMode(X_MS1_PIN,OUTPUT);
pinMode(X_MS2_PIN,OUTPUT);
pinMode(X_MS2_PIN,OUTPUT);
pinMode(Y_MS1_PIN,OUTPUT);
pinMode(Y_MS2_PIN,OUTPUT);
pinMode(Z_MS1_PIN,OUTPUT);

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