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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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@ -547,10 +559,19 @@ 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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#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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Richard Wackerbarth
10 years ago