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@ -342,34 +342,38 @@ FORCE_INLINE unsigned short calc_timer(unsigned short step_rate) { |
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return timer; |
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} |
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// set the stepper direction of each axis
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/**
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* Set the stepper direction of each axis |
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* |
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* X_AXIS=A_AXIS and Y_AXIS=B_AXIS for COREXY |
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* X_AXIS=A_AXIS and Z_AXIS=C_AXIS for COREXZ |
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*/ |
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void set_stepper_direction() { |
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// Set the direction bits (X_AXIS=A_AXIS and Y_AXIS=B_AXIS for COREXY)
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if (TEST(out_bits, X_AXIS)) { |
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X_APPLY_DIR(INVERT_X_DIR,0); |
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if (TEST(out_bits, X_AXIS)) { // A_AXIS
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X_APPLY_DIR(INVERT_X_DIR, 0); |
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count_direction[X_AXIS] = -1; |
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} |
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else { |
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X_APPLY_DIR(!INVERT_X_DIR,0); |
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X_APPLY_DIR(!INVERT_X_DIR, 0); |
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count_direction[X_AXIS] = 1; |
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} |
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if (TEST(out_bits, Y_AXIS)) { |
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Y_APPLY_DIR(INVERT_Y_DIR,0); |
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if (TEST(out_bits, Y_AXIS)) { // B_AXIS
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Y_APPLY_DIR(INVERT_Y_DIR, 0); |
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count_direction[Y_AXIS] = -1; |
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} |
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else { |
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Y_APPLY_DIR(!INVERT_Y_DIR,0); |
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Y_APPLY_DIR(!INVERT_Y_DIR, 0); |
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count_direction[Y_AXIS] = 1; |
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} |
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if (TEST(out_bits, Z_AXIS)) { |
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Z_APPLY_DIR(INVERT_Z_DIR,0); |
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if (TEST(out_bits, Z_AXIS)) { // C_AXIS
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Z_APPLY_DIR(INVERT_Z_DIR, 0); |
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count_direction[Z_AXIS] = -1; |
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} |
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else { |
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Z_APPLY_DIR(!INVERT_Z_DIR,0); |
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Z_APPLY_DIR(!INVERT_Z_DIR, 0); |
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count_direction[Z_AXIS] = 1; |
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} |
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@ -503,6 +507,11 @@ ISR(TIMER1_COMPA_vect) { |
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// If DeltaX == -DeltaY, the movement is only in Y axis
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if ((current_block->steps[A_AXIS] != current_block->steps[B_AXIS]) || (TEST(out_bits, A_AXIS) == TEST(out_bits, B_AXIS))) { |
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if (TEST(out_bits, X_HEAD)) |
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#elif defined(COREXZ) |
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// Head direction in -X axis for CoreXZ bots.
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// If DeltaX == -DeltaZ, the movement is only in Z axis
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if ((current_block->steps[A_AXIS] != current_block->steps[C_AXIS]) || (TEST(out_bits, A_AXIS) == TEST(out_bits, C_AXIS))) { |
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if (TEST(out_bits, X_HEAD)) |
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#else |
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if (TEST(out_bits, X_AXIS)) // stepping along -X axis (regular Cartesian bot)
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#endif |
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@ -528,8 +537,11 @@ ISR(TIMER1_COMPA_vect) { |
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#endif |
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} |
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} |
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#ifdef COREXY |
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#if defined(COREXY) || defined(COREXZ) |
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} |
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#endif |
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#ifdef COREXY |
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// Head direction in -Y axis for CoreXY bots.
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// If DeltaX == DeltaY, the movement is only in X axis
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if ((current_block->steps[A_AXIS] != current_block->steps[B_AXIS]) || (TEST(out_bits, A_AXIS) != TEST(out_bits, B_AXIS))) { |
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@ -547,82 +559,91 @@ ISR(TIMER1_COMPA_vect) { |
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UPDATE_ENDSTOP(Y, MAX); |
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#endif |
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} |
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#ifdef COREXY |
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#if defined(COREXY) || defined(COREXZ) |
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} |
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#endif |
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if (TEST(out_bits, Z_AXIS)) { // z -direction
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#if HAS_Z_MIN |
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#ifdef Z_DUAL_ENDSTOPS |
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SET_ENDSTOP_BIT(Z, MIN); |
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#if HAS_Z2_MIN |
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SET_ENDSTOP_BIT(Z2, MIN); |
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#else |
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COPY_BIT(current_endstop_bits, Z_MIN, Z2_MIN); |
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#endif |
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byte z_test = TEST_ENDSTOP(Z_MIN) << 0 + TEST_ENDSTOP(Z2_MIN) << 1; // bit 0 for Z, bit 1 for Z2
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if (z_test && current_block->steps[Z_AXIS] > 0) { // z_test = Z_MIN || Z2_MIN
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endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS]; |
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endstop_hit_bits |= BIT(Z_MIN); |
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if (!performing_homing || (z_test == 0x3)) //if not performing home or if both endstops were trigged during homing...
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step_events_completed = current_block->step_event_count; |
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} |
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#else // !Z_DUAL_ENDSTOPS
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UPDATE_ENDSTOP(Z, MIN); |
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#endif // !Z_DUAL_ENDSTOPS
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#endif // Z_MIN_PIN
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#ifdef Z_PROBE_ENDSTOP |
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UPDATE_ENDSTOP(Z, PROBE); |
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if (TEST_ENDSTOP(Z_PROBE)) |
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{ |
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endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS]; |
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endstop_hit_bits |= BIT(Z_PROBE); |
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#ifdef COREXZ |
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// Head direction in -Z axis for CoreXZ bots.
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// If DeltaX == DeltaZ, the movement is only in X axis
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if ((current_block->steps[A_AXIS] != current_block->steps[C_AXIS]) || (TEST(out_bits, A_AXIS) != TEST(out_bits, C_AXIS))) { |
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if (TEST(out_bits, Z_HEAD)) |
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#else |
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if (TEST(out_bits, Z_AXIS)) |
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#endif |
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{ // z -direction
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#if HAS_Z_MIN |
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#ifdef Z_DUAL_ENDSTOPS |
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SET_ENDSTOP_BIT(Z, MIN); |
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#if HAS_Z2_MIN |
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SET_ENDSTOP_BIT(Z2, MIN); |
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#else |
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COPY_BIT(current_endstop_bits, Z_MIN, Z2_MIN); |
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#endif |
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byte z_test = TEST_ENDSTOP(Z_MIN) << 0 + TEST_ENDSTOP(Z2_MIN) << 1; // bit 0 for Z, bit 1 for Z2
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if (z_test && current_block->steps[Z_AXIS] > 0) { // z_test = Z_MIN || Z2_MIN
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endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS]; |
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endstop_hit_bits |= BIT(Z_MIN); |
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if (!performing_homing || (z_test == 0x3)) //if not performing home or if both endstops were trigged during homing...
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step_events_completed = current_block->step_event_count; |
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} |
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#else // !Z_DUAL_ENDSTOPS
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UPDATE_ENDSTOP(Z, MIN); |
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#endif // !Z_DUAL_ENDSTOPS
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#endif // Z_MIN_PIN
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#ifdef Z_PROBE_ENDSTOP |
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UPDATE_ENDSTOP(Z, PROBE); |
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if (TEST_ENDSTOP(Z_PROBE)) |
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{ |
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endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS]; |
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endstop_hit_bits |= BIT(Z_PROBE); |
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} |
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#endif |
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} |
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#endif |
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} |
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else { // z +direction
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#if HAS_Z_MAX |
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#ifdef Z_DUAL_ENDSTOPS |
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SET_ENDSTOP_BIT(Z, MAX); |
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#if HAS_Z2_MAX |
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SET_ENDSTOP_BIT(Z2, MAX); |
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#else |
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COPY_BIT(current_endstop_bits, Z_MAX, Z2_MAX) |
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#endif |
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byte z_test = TEST_ENDSTOP(Z_MAX) << 0 + TEST_ENDSTOP(Z2_MAX) << 1; // bit 0 for Z, bit 1 for Z2
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if (z_test && current_block->steps[Z_AXIS] > 0) { // t_test = Z_MAX || Z2_MAX
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endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS]; |
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endstop_hit_bits |= BIT(Z_MIN); |
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if (!performing_homing || (z_test == 0x3)) //if not performing home or if both endstops were trigged during homing...
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step_events_completed = current_block->step_event_count; |
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} |
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#else // !Z_DUAL_ENDSTOPS
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UPDATE_ENDSTOP(Z, MAX); |
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#endif // !Z_DUAL_ENDSTOPS
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#endif // Z_MAX_PIN
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#ifdef Z_PROBE_ENDSTOP |
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UPDATE_ENDSTOP(Z, PROBE); |
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if (TEST_ENDSTOP(Z_PROBE)) |
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{ |
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endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS]; |
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endstop_hit_bits |= BIT(Z_PROBE); |
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else { // z +direction
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#if HAS_Z_MAX |
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#ifdef Z_DUAL_ENDSTOPS |
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SET_ENDSTOP_BIT(Z, MAX); |
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#if HAS_Z2_MAX |
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SET_ENDSTOP_BIT(Z2, MAX); |
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#else |
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COPY_BIT(current_endstop_bits, Z_MAX, Z2_MAX) |
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#endif |
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byte z_test = TEST_ENDSTOP(Z_MAX) << 0 + TEST_ENDSTOP(Z2_MAX) << 1; // bit 0 for Z, bit 1 for Z2
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if (z_test && current_block->steps[Z_AXIS] > 0) { // t_test = Z_MAX || Z2_MAX
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endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS]; |
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endstop_hit_bits |= BIT(Z_MIN); |
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if (!performing_homing || (z_test == 0x3)) //if not performing home or if both endstops were trigged during homing...
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step_events_completed = current_block->step_event_count; |
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} |
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#else // !Z_DUAL_ENDSTOPS
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UPDATE_ENDSTOP(Z, MAX); |
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#endif // !Z_DUAL_ENDSTOPS
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#endif // Z_MAX_PIN
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#ifdef Z_PROBE_ENDSTOP |
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UPDATE_ENDSTOP(Z, PROBE); |
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if (TEST_ENDSTOP(Z_PROBE)) |
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{ |
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endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS]; |
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endstop_hit_bits |= BIT(Z_PROBE); |
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} |
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#endif |
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} |
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#endif |
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} |
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old_endstop_bits = current_endstop_bits; |
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} |
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Richard Wackerbarth
10 years ago