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Introduce a layer of macro indirection to all stepper pins. This allows other stepper drivers to redefine them, so they can use SPI/I2C instead of direct pin manipulation.

pull/1/head
domonoky 9 years ago
parent
a57869ba49
commit
b55995aae8
5 changed files with 353 additions and 196 deletions
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  1. 40
      Marlin/Marlin.h
  2. 14
      Marlin/Marlin_main.cpp
  3. 308
      Marlin/stepper.cpp
  4. 31
      Marlin/stepper.h
  5. 156
      Marlin/stepper_indirection.h

40
Marlin/Marlin.h
View File

@ -112,11 +112,11 @@ void manage_inactivity(bool ignore_stepper_queue=false);
#if defined(DUAL_X_CARRIAGE) && defined(X_ENABLE_PIN) && X_ENABLE_PIN > -1 \ #if defined(DUAL_X_CARRIAGE) && defined(X_ENABLE_PIN) && X_ENABLE_PIN > -1 \
&& defined(X2_ENABLE_PIN) && X2_ENABLE_PIN > -1 && defined(X2_ENABLE_PIN) && X2_ENABLE_PIN > -1
#define enable_x() do { WRITE(X_ENABLE_PIN, X_ENABLE_ON); WRITE(X2_ENABLE_PIN, X_ENABLE_ON); } while (0) #define enable_x() do { X_ENABLE_WRITE( X_ENABLE_ON); X2_ENABLE_WRITE( X_ENABLE_ON); } while (0)
#define disable_x() do { WRITE(X_ENABLE_PIN,!X_ENABLE_ON); WRITE(X2_ENABLE_PIN,!X_ENABLE_ON); axis_known_position[X_AXIS] = false; } while (0) #define disable_x() do { X_ENABLE_WRITE(!X_ENABLE_ON); X2_ENABLE_WRITE(!X_ENABLE_ON); axis_known_position[X_AXIS] = false; } while (0)
#elif defined(X_ENABLE_PIN) && X_ENABLE_PIN > -1 #elif defined(X_ENABLE_PIN) && X_ENABLE_PIN > -1
#define enable_x() WRITE(X_ENABLE_PIN, X_ENABLE_ON) #define enable_x() X_ENABLE_WRITE( X_ENABLE_ON)
#define disable_x() { WRITE(X_ENABLE_PIN,!X_ENABLE_ON); axis_known_position[X_AXIS] = false; } #define disable_x() { X_ENABLE_WRITE(!X_ENABLE_ON); axis_known_position[X_AXIS] = false; }
#else #else
#define enable_x() ; #define enable_x() ;
#define disable_x() ; #define disable_x() ;
@ -124,11 +124,11 @@ void manage_inactivity(bool ignore_stepper_queue=false);
#if defined(Y_ENABLE_PIN) && Y_ENABLE_PIN > -1 #if defined(Y_ENABLE_PIN) && Y_ENABLE_PIN > -1
#ifdef Y_DUAL_STEPPER_DRIVERS #ifdef Y_DUAL_STEPPER_DRIVERS
#define enable_y() { WRITE(Y_ENABLE_PIN, Y_ENABLE_ON); WRITE(Y2_ENABLE_PIN, Y_ENABLE_ON); } #define enable_y() { Y_ENABLE_WRITE( Y_ENABLE_ON); Y2_ENABLE_WRITE(Y_ENABLE_ON); }
#define disable_y() { WRITE(Y_ENABLE_PIN,!Y_ENABLE_ON); WRITE(Y2_ENABLE_PIN, !Y_ENABLE_ON); axis_known_position[Y_AXIS] = false; } #define disable_y() { Y_ENABLE_WRITE(!Y_ENABLE_ON); Y2_ENABLE_WRITE(!Y_ENABLE_ON); axis_known_position[Y_AXIS] = false; }
#else #else
#define enable_y() WRITE(Y_ENABLE_PIN, Y_ENABLE_ON) #define enable_y() Y_ENABLE_WRITE( Y_ENABLE_ON)
#define disable_y() { WRITE(Y_ENABLE_PIN,!Y_ENABLE_ON); axis_known_position[Y_AXIS] = false; } #define disable_y() { Y_ENABLE_WRITE(!Y_ENABLE_ON); axis_known_position[Y_AXIS] = false; }
#endif #endif
#else #else
#define enable_y() ; #define enable_y() ;
@ -137,11 +137,11 @@ void manage_inactivity(bool ignore_stepper_queue=false);
#if defined(Z_ENABLE_PIN) && Z_ENABLE_PIN > -1 #if defined(Z_ENABLE_PIN) && Z_ENABLE_PIN > -1
#ifdef Z_DUAL_STEPPER_DRIVERS #ifdef Z_DUAL_STEPPER_DRIVERS
#define enable_z() { WRITE(Z_ENABLE_PIN, Z_ENABLE_ON); WRITE(Z2_ENABLE_PIN, Z_ENABLE_ON); } #define enable_z() { Z_ENABLE_WRITE( Z_ENABLE_ON); Z2_ENABLE_WRITE(Z_ENABLE_ON); }
#define disable_z() { WRITE(Z_ENABLE_PIN,!Z_ENABLE_ON); WRITE(Z2_ENABLE_PIN,!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; } #define disable_z() { Z_ENABLE_WRITE(!Z_ENABLE_ON); Z2_ENABLE_WRITE(!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }
#else #else
#define enable_z() WRITE(Z_ENABLE_PIN, Z_ENABLE_ON) #define enable_z() Z_ENABLE_WRITE( Z_ENABLE_ON)
#define disable_z() { WRITE(Z_ENABLE_PIN,!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; } #define disable_z() { Z_ENABLE_WRITE(!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }
#endif #endif
#else #else
#define enable_z() ; #define enable_z() ;
@ -149,32 +149,32 @@ void manage_inactivity(bool ignore_stepper_queue=false);
#endif #endif
#if defined(E0_ENABLE_PIN) && (E0_ENABLE_PIN > -1) #if defined(E0_ENABLE_PIN) && (E0_ENABLE_PIN > -1)
#define enable_e0() WRITE(E0_ENABLE_PIN, E_ENABLE_ON) #define enable_e0() E0_ENABLE_WRITE(E_ENABLE_ON)
#define disable_e0() WRITE(E0_ENABLE_PIN,!E_ENABLE_ON) #define disable_e0() E0_ENABLE_WRITE(!E_ENABLE_ON)
#else #else
#define enable_e0() /* nothing */ #define enable_e0() /* nothing */
#define disable_e0() /* nothing */ #define disable_e0() /* nothing */
#endif #endif
#if (EXTRUDERS > 1) && defined(E1_ENABLE_PIN) && (E1_ENABLE_PIN > -1) #if (EXTRUDERS > 1) && defined(E1_ENABLE_PIN) && (E1_ENABLE_PIN > -1)
#define enable_e1() WRITE(E1_ENABLE_PIN, E_ENABLE_ON) #define enable_e1() E1_ENABLE_WRITE(E_ENABLE_ON)
#define disable_e1() WRITE(E1_ENABLE_PIN,!E_ENABLE_ON) #define disable_e1() E1_ENABLE_WRITE(!E_ENABLE_ON)
#else #else
#define enable_e1() /* nothing */ #define enable_e1() /* nothing */
#define disable_e1() /* nothing */ #define disable_e1() /* nothing */
#endif #endif
#if (EXTRUDERS > 2) && defined(E2_ENABLE_PIN) && (E2_ENABLE_PIN > -1) #if (EXTRUDERS > 2) && defined(E2_ENABLE_PIN) && (E2_ENABLE_PIN > -1)
#define enable_e2() WRITE(E2_ENABLE_PIN, E_ENABLE_ON) #define enable_e2() E2_ENABLE_WRITE(E_ENABLE_ON)
#define disable_e2() WRITE(E2_ENABLE_PIN,!E_ENABLE_ON) #define disable_e2() E2_ENABLE_WRITE(!E_ENABLE_ON)
#else #else
#define enable_e2() /* nothing */ #define enable_e2() /* nothing */
#define disable_e2() /* nothing */ #define disable_e2() /* nothing */
#endif #endif
#if (EXTRUDERS > 3) && defined(E3_ENABLE_PIN) && (E3_ENABLE_PIN > -1) #if (EXTRUDERS > 3) && defined(E3_ENABLE_PIN) && (E3_ENABLE_PIN > -1)
#define enable_e3() WRITE(E3_ENABLE_PIN, E_ENABLE_ON) #define enable_e3() E3_ENABLE_WRITE(E_ENABLE_ON)
#define disable_e3() WRITE(E3_ENABLE_PIN,!E_ENABLE_ON) #define disable_e3() E3_ENABLE_WRITE(!E_ENABLE_ON)
#else #else
#define enable_e3() /* nothing */ #define enable_e3() /* nothing */
#define disable_e3() /* nothing */ #define disable_e3() /* nothing */

14
Marlin/Marlin_main.cpp
View File

@ -4284,17 +4284,17 @@ void controllerFan()
{ {
lastMotorCheck = millis(); lastMotorCheck = millis();
if(!READ(X_ENABLE_PIN) || !READ(Y_ENABLE_PIN) || !READ(Z_ENABLE_PIN) || (soft_pwm_bed > 0) if(!READ(X_ENABLE_PIN) || !Y_ENABLE_READ || !Z_ENABLE_READ || (soft_pwm_bed > 0)
#if EXTRUDERS > 2 #if EXTRUDERS > 2
|| !READ(E2_ENABLE_PIN) || !E2_ENABLE_READ
#endif #endif
#if EXTRUDER > 1 #if EXTRUDER > 1
#if defined(X2_ENABLE_PIN) && X2_ENABLE_PIN > -1 #if defined(X2_ENABLE_PIN) && X2_ENABLE_PIN > -1
|| !READ(X2_ENABLE_PIN) || !X2_ENABLE_READ
#endif #endif
|| !READ(E1_ENABLE_PIN) || !E1_ENABLE_READ)
#endif #endif
|| !READ(E0_ENABLE_PIN)) //If any of the drivers are enabled... || !E0_ENABLE_READ) //If any of the drivers are enabled...
{ {
lastMotor = millis(); //... set time to NOW so the fan will turn on lastMotor = millis(); //... set time to NOW so the fan will turn on
} }
@ -4518,7 +4518,7 @@ void manage_inactivity(bool ignore_stepper_queue/*=false*/) //default argument s
if( (millis() - previous_millis_cmd) > EXTRUDER_RUNOUT_SECONDS*1000 ) if( (millis() - previous_millis_cmd) > EXTRUDER_RUNOUT_SECONDS*1000 )
if(degHotend(active_extruder)>EXTRUDER_RUNOUT_MINTEMP) if(degHotend(active_extruder)>EXTRUDER_RUNOUT_MINTEMP)
{ {
bool oldstatus=READ(E0_ENABLE_PIN); bool oldstatus=E0_ENABLE_READ;
enable_e0(); enable_e0();
float oldepos=current_position[E_AXIS]; float oldepos=current_position[E_AXIS];
float oldedes=destination[E_AXIS]; float oldedes=destination[E_AXIS];
@ -4530,7 +4530,7 @@ void manage_inactivity(bool ignore_stepper_queue/*=false*/) //default argument s
plan_set_e_position(oldepos); plan_set_e_position(oldepos);
previous_millis_cmd=millis(); previous_millis_cmd=millis();
st_synchronize(); st_synchronize();
WRITE(E0_ENABLE_PIN,oldstatus); E0_ENABLE_WRITE(oldstatus);
} }
#endif #endif
#if defined(DUAL_X_CARRIAGE) #if defined(DUAL_X_CARRIAGE)

308
Marlin/stepper.cpp
View File

@ -349,51 +349,51 @@ ISR(TIMER1_COMPA_vect)
if((out_bits & (1<<X_AXIS))!=0){ if((out_bits & (1<<X_AXIS))!=0){
#ifdef DUAL_X_CARRIAGE #ifdef DUAL_X_CARRIAGE
if (extruder_duplication_enabled){ if (extruder_duplication_enabled){
WRITE(X_DIR_PIN, INVERT_X_DIR); X_DIR_WRITE(INVERT_X_DIR);
WRITE(X2_DIR_PIN, INVERT_X_DIR); X2_DIR_WRITE(INVERT_X_DIR);
} }
else{ else{
if (current_block->active_extruder != 0) if (current_block->active_extruder != 0)
WRITE(X2_DIR_PIN, INVERT_X_DIR); X2_DIR_WRITE(INVERT_X_DIR);
else else
WRITE(X_DIR_PIN, INVERT_X_DIR); X_DIR_WRITE(INVERT_X_DIR);
} }
#else #else
WRITE(X_DIR_PIN, INVERT_X_DIR); X_DIR_WRITE(INVERT_X_DIR);
#endif #endif
count_direction[X_AXIS]=-1; count_direction[X_AXIS]=-1;
} }
else{ else{
#ifdef DUAL_X_CARRIAGE #ifdef DUAL_X_CARRIAGE
if (extruder_duplication_enabled){ if (extruder_duplication_enabled){
WRITE(X_DIR_PIN, !INVERT_X_DIR); X_DIR_WRITE(!INVERT_X_DIR);
WRITE(X2_DIR_PIN, !INVERT_X_DIR); X2_DIR_WRITE( !INVERT_X_DIR);
} }
else{ else{
if (current_block->active_extruder != 0) if (current_block->active_extruder != 0)
WRITE(X2_DIR_PIN, !INVERT_X_DIR); X2_DIR_WRITE(!INVERT_X_DIR);
else else
WRITE(X_DIR_PIN, !INVERT_X_DIR); X_DIR_WRITE(!INVERT_X_DIR);
} }
#else #else
WRITE(X_DIR_PIN, !INVERT_X_DIR); X_DIR_WRITE(!INVERT_X_DIR);
#endif #endif
count_direction[X_AXIS]=1; count_direction[X_AXIS]=1;
} }
if((out_bits & (1<<Y_AXIS))!=0){ if((out_bits & (1<<Y_AXIS))!=0){
WRITE(Y_DIR_PIN, INVERT_Y_DIR); Y_DIR_WRITE(INVERT_Y_DIR);
#ifdef Y_DUAL_STEPPER_DRIVERS #ifdef Y_DUAL_STEPPER_DRIVERS
WRITE(Y2_DIR_PIN, !(INVERT_Y_DIR == INVERT_Y2_VS_Y_DIR)); Y2_DIR_WRITE(!(INVERT_Y_DIR == INVERT_Y2_VS_Y_DIR));
#endif #endif
count_direction[Y_AXIS]=-1; count_direction[Y_AXIS]=-1;
} }
else{ else{
WRITE(Y_DIR_PIN, !INVERT_Y_DIR); Y_DIR_WRITE(!INVERT_Y_DIR);
#ifdef Y_DUAL_STEPPER_DRIVERS #ifdef Y_DUAL_STEPPER_DRIVERS
WRITE(Y2_DIR_PIN, (INVERT_Y_DIR == INVERT_Y2_VS_Y_DIR)); Y2_DIR_WRITE((INVERT_Y_DIR == INVERT_Y2_VS_Y_DIR));
#endif #endif
count_direction[Y_AXIS]=1; count_direction[Y_AXIS]=1;
@ -485,10 +485,10 @@ ISR(TIMER1_COMPA_vect)
} }
if ((out_bits & (1<<Z_AXIS)) != 0) { // -direction if ((out_bits & (1<<Z_AXIS)) != 0) { // -direction
WRITE(Z_DIR_PIN,INVERT_Z_DIR); Z_DIR_WRITE(INVERT_Z_DIR);
#ifdef Z_DUAL_STEPPER_DRIVERS #ifdef Z_DUAL_STEPPER_DRIVERS
WRITE(Z2_DIR_PIN,INVERT_Z_DIR); Z2_DIR_WRITE(INVERT_Z_DIR);
#endif #endif
count_direction[Z_AXIS]=-1; count_direction[Z_AXIS]=-1;
@ -506,10 +506,10 @@ ISR(TIMER1_COMPA_vect)
} }
} }
else { // +direction else { // +direction
WRITE(Z_DIR_PIN,!INVERT_Z_DIR); Z_DIR_WRITE(!INVERT_Z_DIR);
#ifdef Z_DUAL_STEPPER_DRIVERS #ifdef Z_DUAL_STEPPER_DRIVERS
WRITE(Z2_DIR_PIN,!INVERT_Z_DIR); Z2_DIR_WRITE(!INVERT_Z_DIR);
#endif #endif
count_direction[Z_AXIS]=1; count_direction[Z_AXIS]=1;
@ -565,17 +565,17 @@ ISR(TIMER1_COMPA_vect)
* low instead of doing each in turn. The extra tests add enough * low instead of doing each in turn. The extra tests add enough
* lag to allow it work with without needing NOPs */ * lag to allow it work with without needing NOPs */
if (counter_x > 0) { if (counter_x > 0) {
WRITE(X_STEP_PIN, HIGH); X_STEP_WRITE(HIGH);
} }
counter_y += current_block->steps_y; counter_y += current_block->steps_y;
if (counter_y > 0) { if (counter_y > 0) {
WRITE(Y_STEP_PIN, HIGH); Y_STEP_WRITE( HIGH);
} }
counter_z += current_block->steps_z; counter_z += current_block->steps_z;
if (counter_z > 0) { if (counter_z > 0) {
WRITE(Z_STEP_PIN, HIGH); Z_STEP_WRITE( HIGH);
} }
#ifndef ADVANCE #ifndef ADVANCE
@ -588,19 +588,19 @@ ISR(TIMER1_COMPA_vect)
if (counter_x > 0) { if (counter_x > 0) {
counter_x -= current_block->step_event_count; counter_x -= current_block->step_event_count;
count_position[X_AXIS]+=count_direction[X_AXIS]; count_position[X_AXIS]+=count_direction[X_AXIS];
WRITE(X_STEP_PIN, LOW); X_STEP_WRITE(LOW);
} }
if (counter_y > 0) { if (counter_y > 0) {
counter_y -= current_block->step_event_count; counter_y -= current_block->step_event_count;
count_position[Y_AXIS]+=count_direction[Y_AXIS]; count_position[Y_AXIS]+=count_direction[Y_AXIS];
WRITE(Y_STEP_PIN, LOW); Y_STEP_WRITE( LOW);
} }
if (counter_z > 0) { if (counter_z > 0) {
counter_z -= current_block->step_event_count; counter_z -= current_block->step_event_count;
count_position[Z_AXIS]+=count_direction[Z_AXIS]; count_position[Z_AXIS]+=count_direction[Z_AXIS];
WRITE(Z_STEP_PIN, LOW); Z_STEP_WRITE(LOW);
} }
#ifndef ADVANCE #ifndef ADVANCE
@ -614,67 +614,67 @@ ISR(TIMER1_COMPA_vect)
if (counter_x > 0) { if (counter_x > 0) {
#ifdef DUAL_X_CARRIAGE #ifdef DUAL_X_CARRIAGE
if (extruder_duplication_enabled){ if (extruder_duplication_enabled){
WRITE(X_STEP_PIN, !INVERT_X_STEP_PIN); X_STEP_WRITE(!INVERT_X_STEP_PIN);
WRITE(X2_STEP_PIN, !INVERT_X_STEP_PIN); X2_STEP_WRITE( !INVERT_X_STEP_PIN);
} }
else { else {
if (current_block->active_extruder != 0) if (current_block->active_extruder != 0)
WRITE(X2_STEP_PIN, !INVERT_X_STEP_PIN); X2_STEP_WRITE( !INVERT_X_STEP_PIN);
else else
WRITE(X_STEP_PIN, !INVERT_X_STEP_PIN); X_STEP_WRITE(!INVERT_X_STEP_PIN);
} }
#else #else
WRITE(X_STEP_PIN, !INVERT_X_STEP_PIN); X_STEP_WRITE(!INVERT_X_STEP_PIN);
#endif #endif
counter_x -= current_block->step_event_count; counter_x -= current_block->step_event_count;
count_position[X_AXIS]+=count_direction[X_AXIS]; count_position[X_AXIS]+=count_direction[X_AXIS];
#ifdef DUAL_X_CARRIAGE #ifdef DUAL_X_CARRIAGE
if (extruder_duplication_enabled){ if (extruder_duplication_enabled){
WRITE(X_STEP_PIN, INVERT_X_STEP_PIN); X_STEP_WRITE(INVERT_X_STEP_PIN);
WRITE(X2_STEP_PIN, INVERT_X_STEP_PIN); X2_STEP_WRITE(INVERT_X_STEP_PIN);
} }
else { else {
if (current_block->active_extruder != 0) if (current_block->active_extruder != 0)
WRITE(X2_STEP_PIN, INVERT_X_STEP_PIN); X2_STEP_WRITE(INVERT_X_STEP_PIN);
else else
WRITE(X_STEP_PIN, INVERT_X_STEP_PIN); X_STEP_WRITE(INVERT_X_STEP_PIN);
} }
#else #else
WRITE(X_STEP_PIN, INVERT_X_STEP_PIN); X_STEP_WRITE(INVERT_X_STEP_PIN);
#endif #endif
} }
counter_y += current_block->steps_y; counter_y += current_block->steps_y;
if (counter_y > 0) { if (counter_y > 0) {
WRITE(Y_STEP_PIN, !INVERT_Y_STEP_PIN); Y_STEP_WRITE(!INVERT_Y_STEP_PIN);
#ifdef Y_DUAL_STEPPER_DRIVERS #ifdef Y_DUAL_STEPPER_DRIVERS
WRITE(Y2_STEP_PIN, !INVERT_Y_STEP_PIN); Y2_STEP_WRITE( !INVERT_Y_STEP_PIN);
#endif #endif
counter_y -= current_block->step_event_count; counter_y -= current_block->step_event_count;
count_position[Y_AXIS]+=count_direction[Y_AXIS]; count_position[Y_AXIS]+=count_direction[Y_AXIS];
WRITE(Y_STEP_PIN, INVERT_Y_STEP_PIN); Y_STEP_WRITE(INVERT_Y_STEP_PIN);
#ifdef Y_DUAL_STEPPER_DRIVERS #ifdef Y_DUAL_STEPPER_DRIVERS
WRITE(Y2_STEP_PIN, INVERT_Y_STEP_PIN); Y2_STEP_WRITE( INVERT_Y_STEP_PIN);
#endif #endif
} }
counter_z += current_block->steps_z; counter_z += current_block->steps_z;
if (counter_z > 0) { if (counter_z > 0) {
WRITE(Z_STEP_PIN, !INVERT_Z_STEP_PIN); Z_STEP_WRITE( !INVERT_Z_STEP_PIN);
#ifdef Z_DUAL_STEPPER_DRIVERS #ifdef Z_DUAL_STEPPER_DRIVERS
WRITE(Z2_STEP_PIN, !INVERT_Z_STEP_PIN); Z2_STEP_WRITE(!INVERT_Z_STEP_PIN);
#endif #endif
counter_z -= current_block->step_event_count; counter_z -= current_block->step_event_count;
count_position[Z_AXIS]+=count_direction[Z_AXIS]; count_position[Z_AXIS]+=count_direction[Z_AXIS];
WRITE(Z_STEP_PIN, INVERT_Z_STEP_PIN); Z_STEP_WRITE( INVERT_Z_STEP_PIN);
#ifdef Z_DUAL_STEPPER_DRIVERS #ifdef Z_DUAL_STEPPER_DRIVERS
WRITE(Z2_STEP_PIN, INVERT_Z_STEP_PIN); Z2_STEP_WRITE(INVERT_Z_STEP_PIN);
#endif #endif
} }
@ -771,60 +771,60 @@ ISR(TIMER1_COMPA_vect)
// Set E direction (Depends on E direction + advance) // Set E direction (Depends on E direction + advance)
for(unsigned char i=0; i<4;i++) { for(unsigned char i=0; i<4;i++) {
if (e_steps[0] != 0) { if (e_steps[0] != 0) {
WRITE(E0_STEP_PIN, INVERT_E_STEP_PIN); E0_STEP_WRITE( INVERT_E_STEP_PIN);
if (e_steps[0] < 0) { if (e_steps[0] < 0) {
WRITE(E0_DIR_PIN, INVERT_E0_DIR); E0_DIR_WRITE(INVERT_E0_DIR);
e_steps[0]++; e_steps[0]++;
WRITE(E0_STEP_PIN, !INVERT_E_STEP_PIN); E0_STEP_WRITE(!INVERT_E_STEP_PIN);
} }
else if (e_steps[0] > 0) { else if (e_steps[0] > 0) {
WRITE(E0_DIR_PIN, !INVERT_E0_DIR); E0_DIR_WRITE(!INVERT_E0_DIR);
e_steps[0]--; e_steps[0]--;
WRITE(E0_STEP_PIN, !INVERT_E_STEP_PIN); E0_STEP_WRITE(!INVERT_E_STEP_PIN);
} }
} }
#if EXTRUDERS > 1 #if EXTRUDERS > 1
if (e_steps[1] != 0) { if (e_steps[1] != 0) {
WRITE(E1_STEP_PIN, INVERT_E_STEP_PIN); E1_STEP_WRITE(INVERT_E_STEP_PIN);
if (e_steps[1] < 0) { if (e_steps[1] < 0) {
WRITE(E1_DIR_PIN, INVERT_E1_DIR); E1_DIR_WRITE(INVERT_E1_DIR);
e_steps[1]++; e_steps[1]++;
WRITE(E1_STEP_PIN, !INVERT_E_STEP_PIN); E1_STEP_WRITE(!INVERT_E_STEP_PIN);
} }
else if (e_steps[1] > 0) { else if (e_steps[1] > 0) {
WRITE(E1_DIR_PIN, !INVERT_E1_DIR); E1_DIR_WRITE(!INVERT_E1_DIR);
e_steps[1]--; e_steps[1]--;
WRITE(E1_STEP_PIN, !INVERT_E_STEP_PIN); E1_STEP_WRITE(!INVERT_E_STEP_PIN);
} }
} }
#endif #endif
#if EXTRUDERS > 2 #if EXTRUDERS > 2
if (e_steps[2] != 0) { if (e_steps[2] != 0) {
WRITE(E2_STEP_PIN, INVERT_E_STEP_PIN); E2_STEP_WRITE(INVERT_E_STEP_PIN);
if (e_steps[2] < 0) { if (e_steps[2] < 0) {
WRITE(E2_DIR_PIN, INVERT_E2_DIR); E2_DIR_WRITE(INVERT_E2_DIR);
e_steps[2]++; e_steps[2]++;
WRITE(E2_STEP_PIN, !INVERT_E_STEP_PIN); E2_STEP_WRITE(!INVERT_E_STEP_PIN);
} }
else if (e_steps[2] > 0) { else if (e_steps[2] > 0) {
WRITE(E2_DIR_PIN, !INVERT_E2_DIR); E2_DIR_WRITE(!INVERT_E2_DIR);
e_steps[2]--; e_steps[2]--;
WRITE(E2_STEP_PIN, !INVERT_E_STEP_PIN); E2_STEP_WRITE(!INVERT_E_STEP_PIN);
} }
} }
#endif #endif
#if EXTRUDERS > 3 #if EXTRUDERS > 3
if (e_steps[3] != 0) { if (e_steps[3] != 0) {
WRITE(E3_STEP_PIN, INVERT_E_STEP_PIN); E3_STEP_WRITE(INVERT_E_STEP_PIN);
if (e_steps[3] < 0) { if (e_steps[3] < 0) {
WRITE(E3_DIR_PIN, INVERT_E3_DIR); E3_DIR_WRITE(INVERT_E3_DIR);
e_steps[3]++; e_steps[3]++;
WRITE(E3_STEP_PIN, !INVERT_E_STEP_PIN); E3_STEP_WRITE(!INVERT_E_STEP_PIN);
} }
else if (e_steps[3] > 0) { else if (e_steps[3] > 0) {
WRITE(E3_DIR_PIN, !INVERT_E3_DIR); E3_DIR_WRITE(!INVERT_E3_DIR);
e_steps[3]--; e_steps[3]--;
WRITE(E3_STEP_PIN, !INVERT_E_STEP_PIN); E3_STEP_WRITE(!INVERT_E_STEP_PIN);
} }
} }
#endif #endif
@ -840,81 +840,81 @@ void st_init()
//Initialize Dir Pins //Initialize Dir Pins
#if defined(X_DIR_PIN) && X_DIR_PIN > -1 #if defined(X_DIR_PIN) && X_DIR_PIN > -1
SET_OUTPUT(X_DIR_PIN); X_DIR_INIT;
#endif #endif
#if defined(X2_DIR_PIN) && X2_DIR_PIN > -1 #if defined(X2_DIR_PIN) && X2_DIR_PIN > -1
SET_OUTPUT(X2_DIR_PIN); X2_DIR_INIT;
#endif #endif
#if defined(Y_DIR_PIN) && Y_DIR_PIN > -1 #if defined(Y_DIR_PIN) && Y_DIR_PIN > -1
SET_OUTPUT(Y_DIR_PIN); Y_DIR_INIT;
#if defined(Y_DUAL_STEPPER_DRIVERS) && defined(Y2_DIR_PIN) && (Y2_DIR_PIN > -1) #if defined(Y_DUAL_STEPPER_DRIVERS) && defined(Y2_DIR_PIN) && (Y2_DIR_PIN > -1)
SET_OUTPUT(Y2_DIR_PIN); Y2_DIR_INIT;
#endif #endif
#endif #endif
#if defined(Z_DIR_PIN) && Z_DIR_PIN > -1 #if defined(Z_DIR_PIN) && Z_DIR_PIN > -1
SET_OUTPUT(Z_DIR_PIN); Z_DIR_INIT;
#if defined(Z_DUAL_STEPPER_DRIVERS) && defined(Z2_DIR_PIN) && (Z2_DIR_PIN > -1) #if defined(Z_DUAL_STEPPER_DRIVERS) && defined(Z2_DIR_PIN) && (Z2_DIR_PIN > -1)
SET_OUTPUT(Z2_DIR_PIN); Z2_DIR_INIT;
#endif #endif
#endif #endif
#if defined(E0_DIR_PIN) && E0_DIR_PIN > -1 #if defined(E0_DIR_PIN) && E0_DIR_PIN > -1
SET_OUTPUT(E0_DIR_PIN); E0_DIR_INIT;
#endif #endif
#if defined(E1_DIR_PIN) && (E1_DIR_PIN > -1) #if defined(E1_DIR_PIN) && (E1_DIR_PIN > -1)
SET_OUTPUT(E1_DIR_PIN); E1_DIR_INIT;
#endif #endif
#if defined(E2_DIR_PIN) && (E2_DIR_PIN > -1) #if defined(E2_DIR_PIN) && (E2_DIR_PIN > -1)
SET_OUTPUT(E2_DIR_PIN); E2_DIR_INIT;
#endif #endif
#if defined(E3_DIR_PIN) && (E3_DIR_PIN > -1) #if defined(E3_DIR_PIN) && (E3_DIR_PIN > -1)
SET_OUTPUT(E3_DIR_PIN); E3_DIR_INIT;
#endif #endif
//Initialize Enable Pins - steppers default to disabled. //Initialize Enable Pins - steppers default to disabled.
#if defined(X_ENABLE_PIN) && X_ENABLE_PIN > -1 #if defined(X_ENABLE_PIN) && X_ENABLE_PIN > -1
SET_OUTPUT(X_ENABLE_PIN); X_ENABLE_INIT;
if(!X_ENABLE_ON) WRITE(X_ENABLE_PIN,HIGH); if(!X_ENABLE_ON) X_ENABLE_WRITE(HIGH);
#endif #endif
#if defined(X2_ENABLE_PIN) && X2_ENABLE_PIN > -1 #if defined(X2_ENABLE_PIN) && X2_ENABLE_PIN > -1
SET_OUTPUT(X2_ENABLE_PIN); X2_ENABLE_INIT;
if(!X_ENABLE_ON) WRITE(X2_ENABLE_PIN,HIGH); if(!X_ENABLE_ON) X2_ENABLE_WRITE(HIGH);
#endif #endif
#if defined(Y_ENABLE_PIN) && Y_ENABLE_PIN > -1 #if defined(Y_ENABLE_PIN) && Y_ENABLE_PIN > -1
SET_OUTPUT(Y_ENABLE_PIN); Y_ENABLE_INIT;
if(!Y_ENABLE_ON) WRITE(Y_ENABLE_PIN,HIGH); if(!Y_ENABLE_ON) Y_ENABLE_WRITE(HIGH);
#if defined(Y_DUAL_STEPPER_DRIVERS) && defined(Y2_ENABLE_PIN) && (Y2_ENABLE_PIN > -1) #if defined(Y_DUAL_STEPPER_DRIVERS) && defined(Y2_ENABLE_PIN) && (Y2_ENABLE_PIN > -1)
SET_OUTPUT(Y2_ENABLE_PIN); Y2_ENABLE_INIT;
if(!Y_ENABLE_ON) WRITE(Y2_ENABLE_PIN,HIGH); if(!Y_ENABLE_ON) Y2_ENABLE_WRITE(HIGH);
#endif #endif
#endif #endif
#if defined(Z_ENABLE_PIN) && Z_ENABLE_PIN > -1 #if defined(Z_ENABLE_PIN) && Z_ENABLE_PIN > -1
SET_OUTPUT(Z_ENABLE_PIN); Z_ENABLE_INIT;
if(!Z_ENABLE_ON) WRITE(Z_ENABLE_PIN,HIGH); if(!Z_ENABLE_ON) Z_ENABLE_WRITE(HIGH);
#if defined(Z_DUAL_STEPPER_DRIVERS) && defined(Z2_ENABLE_PIN) && (Z2_ENABLE_PIN > -1) #if defined(Z_DUAL_STEPPER_DRIVERS) && defined(Z2_ENABLE_PIN) && (Z2_ENABLE_PIN > -1)
SET_OUTPUT(Z2_ENABLE_PIN); Z2_ENABLE_INIT;
if(!Z_ENABLE_ON) WRITE(Z2_ENABLE_PIN,HIGH); if(!Z_ENABLE_ON) Z2_ENABLE_WRITE(HIGH);
#endif #endif
#endif #endif
#if defined(E0_ENABLE_PIN) && (E0_ENABLE_PIN > -1) #if defined(E0_ENABLE_PIN) && (E0_ENABLE_PIN > -1)
SET_OUTPUT(E0_ENABLE_PIN); E0_ENABLE_INIT;
if(!E_ENABLE_ON) WRITE(E0_ENABLE_PIN,HIGH); if(!E_ENABLE_ON) E0_ENABLE_WRITE(HIGH);
#endif #endif
#if defined(E1_ENABLE_PIN) && (E1_ENABLE_PIN > -1) #if defined(E1_ENABLE_PIN) && (E1_ENABLE_PIN > -1)
SET_OUTPUT(E1_ENABLE_PIN); E1_ENABLE_INIT;
if(!E_ENABLE_ON) WRITE(E1_ENABLE_PIN,HIGH); if(!E_ENABLE_ON) E1_ENABLE_WRITE(HIGH);
#endif #endif
#if defined(E2_ENABLE_PIN) && (E2_ENABLE_PIN > -1) #if defined(E2_ENABLE_PIN) && (E2_ENABLE_PIN > -1)
SET_OUTPUT(E2_ENABLE_PIN); E2_ENABLE_INIT;
if(!E_ENABLE_ON) WRITE(E2_ENABLE_PIN,HIGH); if(!E_ENABLE_ON) E2_ENABLE_WRITE(HIGH);
#endif #endif
#if defined(E3_ENABLE_PIN) && (E3_ENABLE_PIN > -1) #if defined(E3_ENABLE_PIN) && (E3_ENABLE_PIN > -1)
SET_OUTPUT(E3_ENABLE_PIN); E3_ENABLE_INIT;
if(!E_ENABLE_ON) WRITE(E3_ENABLE_PIN,HIGH); if(!E_ENABLE_ON) E3_ENABLE_WRITE(HIGH);
#endif #endif
//endstops and pullups //endstops and pullups
@ -964,51 +964,51 @@ void st_init()
//Initialize Step Pins //Initialize Step Pins
#if defined(X_STEP_PIN) && (X_STEP_PIN > -1) #if defined(X_STEP_PIN) && (X_STEP_PIN > -1)
SET_OUTPUT(X_STEP_PIN); X_STEP_INIT;
WRITE(X_STEP_PIN,INVERT_X_STEP_PIN); X_STEP_WRITE(INVERT_X_STEP_PIN);
disable_x(); disable_x();
#endif #endif
#if defined(X2_STEP_PIN) && (X2_STEP_PIN > -1) #if defined(X2_STEP_PIN) && (X2_STEP_PIN > -1)
SET_OUTPUT(X2_STEP_PIN); X2_STEP_INIT;
WRITE(X2_STEP_PIN,INVERT_X_STEP_PIN); X2_STEP_WRITE(INVERT_X_STEP_PIN);
disable_x(); disable_x();
#endif #endif
#if defined(Y_STEP_PIN) && (Y_STEP_PIN > -1) #if defined(Y_STEP_PIN) && (Y_STEP_PIN > -1)
SET_OUTPUT(Y_STEP_PIN); Y_STEP_INIT;
WRITE(Y_STEP_PIN,INVERT_Y_STEP_PIN); Y_STEP_WRITE(INVERT_Y_STEP_PIN);
#if defined(Y_DUAL_STEPPER_DRIVERS) && defined(Y2_STEP_PIN) && (Y2_STEP_PIN > -1) #if defined(Y_DUAL_STEPPER_DRIVERS) && defined(Y2_STEP_PIN) && (Y2_STEP_PIN > -1)
SET_OUTPUT(Y2_STEP_PIN); Y2_STEP_INIT;
WRITE(Y2_STEP_PIN,INVERT_Y_STEP_PIN); Y2_STEP_WRITE(INVERT_Y_STEP_PIN);
#endif #endif
disable_y(); disable_y();
#endif #endif
#if defined(Z_STEP_PIN) && (Z_STEP_PIN > -1) #if defined(Z_STEP_PIN) && (Z_STEP_PIN > -1)
SET_OUTPUT(Z_STEP_PIN); Z_STEP_INIT;
WRITE(Z_STEP_PIN,INVERT_Z_STEP_PIN); Z_STEP_WRITE(INVERT_Z_STEP_PIN);
#if defined(Z_DUAL_STEPPER_DRIVERS) && defined(Z2_STEP_PIN) && (Z2_STEP_PIN > -1) #if defined(Z_DUAL_STEPPER_DRIVERS) && defined(Z2_STEP_PIN) && (Z2_STEP_PIN > -1)
SET_OUTPUT(Z2_STEP_PIN); Z2_STEP_INIT;
WRITE(Z2_STEP_PIN,INVERT_Z_STEP_PIN); Z2_STEP_WRITE(INVERT_Z_STEP_PIN);
#endif #endif
disable_z(); disable_z();
#endif #endif
#if defined(E0_STEP_PIN) && (E0_STEP_PIN > -1) #if defined(E0_STEP_PIN) && (E0_STEP_PIN > -1)
SET_OUTPUT(E0_STEP_PIN); E0_STEP_INIT;
WRITE(E0_STEP_PIN,INVERT_E_STEP_PIN); E0_STEP_WRITE(INVERT_E_STEP_PIN);
disable_e0(); disable_e0();
#endif #endif
#if defined(E1_STEP_PIN) && (E1_STEP_PIN > -1) #if defined(E1_STEP_PIN) && (E1_STEP_PIN > -1)
SET_OUTPUT(E1_STEP_PIN); E1_STEP_INIT;
WRITE(E1_STEP_PIN,INVERT_E_STEP_PIN); E1_STEP_WRITE(INVERT_E_STEP_PIN);
disable_e1(); disable_e1();
#endif #endif
#if defined(E2_STEP_PIN) && (E2_STEP_PIN > -1) #if defined(E2_STEP_PIN) && (E2_STEP_PIN > -1)
SET_OUTPUT(E2_STEP_PIN); E2_STEP_INIT;
WRITE(E2_STEP_PIN,INVERT_E_STEP_PIN); E2_STEP_WRITE(INVERT_E_STEP_PIN);
disable_e2(); disable_e2();
#endif #endif
#if defined(E3_STEP_PIN) && (E3_STEP_PIN > -1) #if defined(E3_STEP_PIN) && (E3_STEP_PIN > -1)
SET_OUTPUT(E3_STEP_PIN); E3_STEP_INIT;
WRITE(E3_STEP_PIN,INVERT_E_STEP_PIN); E3_STEP_WRITE(INVERT_E_STEP_PIN);
disable_e3(); disable_e3();
#endif #endif
@ -1127,31 +1127,31 @@ void babystep(const uint8_t axis,const bool direction)
case X_AXIS: case X_AXIS:
{ {
enable_x(); enable_x();
uint8_t old_x_dir_pin= READ(X_DIR_PIN); //if dualzstepper, both point to same direction. uint8_t old_x_dir_pin= X_DIR_READ; //if dualzstepper, both point to same direction.
//setup new step //setup new step
WRITE(X_DIR_PIN,(INVERT_X_DIR)^direction); X_DIR_WRITE((INVERT_X_DIR)^direction);
#ifdef DUAL_X_CARRIAGE #ifdef DUAL_X_CARRIAGE
WRITE(X2_DIR_PIN,(INVERT_X_DIR)^direction); X2_DIR_WRITE((INVERT_X_DIR)^direction);
#endif #endif
//perform step //perform step
WRITE(X_STEP_PIN, !INVERT_X_STEP_PIN); X_STEP_WRITE(!INVERT_X_STEP_PIN);
#ifdef DUAL_X_CARRIAGE #ifdef DUAL_X_CARRIAGE
WRITE(X2_STEP_PIN, !INVERT_X_STEP_PIN); X2_STEP_WRITE(!INVERT_X_STEP_PIN);
#endif #endif
_delay_us(1U); // wait 1 microsecond _delay_us(1U); // wait 1 microsecond
WRITE(X_STEP_PIN, INVERT_X_STEP_PIN); X_STEP_WRITE(INVERT_X_STEP_PIN);
#ifdef DUAL_X_CARRIAGE #ifdef DUAL_X_CARRIAGE
WRITE(X2_STEP_PIN, INVERT_X_STEP_PIN); X2_STEP_WRITE(INVERT_X_STEP_PIN);
#endif #endif
//get old pin state back. //get old pin state back.
WRITE(X_DIR_PIN,old_x_dir_pin); X_DIR_WRITE(old_x_dir_pin);
#ifdef DUAL_X_CARRIAGE #ifdef DUAL_X_CARRIAGE
WRITE(X2_DIR_PIN,old_x_dir_pin); X2_DIR_WRITE(old_x_dir_pin);
#endif #endif
} }
@ -1159,31 +1159,31 @@ void babystep(const uint8_t axis,const bool direction)
case Y_AXIS: case Y_AXIS:
{ {
enable_y(); enable_y();
uint8_t old_y_dir_pin= READ(Y_DIR_PIN); //if dualzstepper, both point to same direction. uint8_t old_y_dir_pin= Y_DIR_READ; //if dualzstepper, both point to same direction.
//setup new step //setup new step
WRITE(Y_DIR_PIN,(INVERT_Y_DIR)^direction); Y_DIR_WRITE((INVERT_Y_DIR)^direction);
#ifdef DUAL_Y_CARRIAGE #ifdef DUAL_Y_CARRIAGE
WRITE(Y2_DIR_PIN,(INVERT_Y_DIR)^direction); Y2_DIR_WRITE((INVERT_Y_DIR)^direction);
#endif #endif
//perform step //perform step
WRITE(Y_STEP_PIN, !INVERT_Y_STEP_PIN); Y_STEP_WRITE(!INVERT_Y_STEP_PIN);
#ifdef DUAL_Y_CARRIAGE #ifdef DUAL_Y_CARRIAGE
WRITE(Y2_STEP_PIN, !INVERT_Y_STEP_PIN); Y2_STEP_WRITE( !INVERT_Y_STEP_PIN);
#endif #endif
_delay_us(1U); // wait 1 microsecond _delay_us(1U); // wait 1 microsecond
WRITE(Y_STEP_PIN, INVERT_Y_STEP_PIN); Y_STEP_WRITE(INVERT_Y_STEP_PIN);
#ifdef DUAL_Y_CARRIAGE #ifdef DUAL_Y_CARRIAGE
WRITE(Y2_STEP_PIN, INVERT_Y_STEP_PIN); Y2_STEP_WRITE(INVERT_Y_STEP_PIN);
#endif #endif
//get old pin state back. //get old pin state back.
WRITE(Y_DIR_PIN,old_y_dir_pin); Y_DIR_WRITE(old_y_dir_pin);
#ifdef DUAL_Y_CARRIAGE #ifdef DUAL_Y_CARRIAGE
WRITE(Y2_DIR_PIN,old_y_dir_pin); Y2_DIR_WRITE(old_y_dir_pin);
#endif #endif
} }
@ -1193,29 +1193,29 @@ void babystep(const uint8_t axis,const bool direction)
case Z_AXIS: case Z_AXIS:
{ {
enable_z(); enable_z();
uint8_t old_z_dir_pin= READ(Z_DIR_PIN); //if dualzstepper, both point to same direction. uint8_t old_z_dir_pin= Z_DIR_READ; //if dualzstepper, both point to same direction.
//setup new step //setup new step
WRITE(Z_DIR_PIN,(INVERT_Z_DIR)^direction^BABYSTEP_INVERT_Z); Z_DIR_WRITE((INVERT_Z_DIR)^direction^BABYSTEP_INVERT_Z);
#ifdef Z_DUAL_STEPPER_DRIVERS #ifdef Z_DUAL_STEPPER_DRIVERS
WRITE(Z2_DIR_PIN,(INVERT_Z_DIR)^direction^BABYSTEP_INVERT_Z); Z2_DIR_WRITE((INVERT_Z_DIR)^direction^BABYSTEP_INVERT_Z);
#endif #endif
//perform step //perform step
WRITE(Z_STEP_PIN, !INVERT_Z_STEP_PIN); Z_STEP_WRITE(!INVERT_Z_STEP_PIN);
#ifdef Z_DUAL_STEPPER_DRIVERS #ifdef Z_DUAL_STEPPER_DRIVERS
WRITE(Z2_STEP_PIN, !INVERT_Z_STEP_PIN); Z2_STEP_WRITE( !INVERT_Z_STEP_PIN);
#endif #endif
_delay_us(1U); // wait 1 microsecond _delay_us(1U); // wait 1 microsecond
WRITE(Z_STEP_PIN, INVERT_Z_STEP_PIN); Z_STEP_WRITE( INVERT_Z_STEP_PIN);
#ifdef Z_DUAL_STEPPER_DRIVERS #ifdef Z_DUAL_STEPPER_DRIVERS
WRITE(Z2_STEP_PIN, INVERT_Z_STEP_PIN); Z2_STEP_WRITE(INVERT_Z_STEP_PIN);
#endif #endif
//get old pin state back. //get old pin state back.
WRITE(Z_DIR_PIN,old_z_dir_pin); Z_DIR_WRITE(old_z_dir_pin);
#ifdef Z_DUAL_STEPPER_DRIVERS #ifdef Z_DUAL_STEPPER_DRIVERS
WRITE(Z2_DIR_PIN,old_z_dir_pin); Z2_DIR_WRITE(old_z_dir_pin);
#endif #endif
} }
@ -1226,29 +1226,29 @@ void babystep(const uint8_t axis,const bool direction)
enable_x(); enable_x();
enable_y(); enable_y();
enable_z(); enable_z();
uint8_t old_x_dir_pin= READ(X_DIR_PIN); uint8_t old_x_dir_pin= X_DIR_READ;
uint8_t old_y_dir_pin= READ(Y_DIR_PIN); uint8_t old_y_dir_pin= Y_DIR_READ;
uint8_t old_z_dir_pin= READ(Z_DIR_PIN); uint8_t old_z_dir_pin= Z_DIR_READ;
//setup new step //setup new step
WRITE(X_DIR_PIN,(INVERT_X_DIR)^direction^BABYSTEP_INVERT_Z); X_DIR_WRITE((INVERT_X_DIR)^direction^BABYSTEP_INVERT_Z);
WRITE(Y_DIR_PIN,(INVERT_Y_DIR)^direction^BABYSTEP_INVERT_Z); Y_DIR_WRITE((INVERT_Y_DIR)^direction^BABYSTEP_INVERT_Z);
WRITE(Z_DIR_PIN,(INVERT_Z_DIR)^direction^BABYSTEP_INVERT_Z); Z_DIR_WRITE((INVERT_Z_DIR)^direction^BABYSTEP_INVERT_Z);
//perform step //perform step
WRITE(X_STEP_PIN, !INVERT_X_STEP_PIN); X_STEP_WRITE( !INVERT_X_STEP_PIN);
WRITE(Y_STEP_PIN, !INVERT_Y_STEP_PIN); Y_STEP_WRITE(!INVERT_Y_STEP_PIN);
WRITE(Z_STEP_PIN, !INVERT_Z_STEP_PIN); Z_STEP_WRITE(!INVERT_Z_STEP_PIN);
_delay_us(1U); // wait 1 microsecond _delay_us(1U); // wait 1 microsecond
WRITE(X_STEP_PIN, INVERT_X_STEP_PIN); X_STEP_WRITE(INVERT_X_STEP_PIN);
WRITE(Y_STEP_PIN, INVERT_Y_STEP_PIN); Y_STEP_WRITE(INVERT_Y_STEP_PIN);
WRITE(Z_STEP_PIN, INVERT_Z_STEP_PIN); Z_STEP_WRITE(INVERT_Z_STEP_PIN);
//get old pin state back. //get old pin state back.
WRITE(X_DIR_PIN,old_x_dir_pin); X_DIR_WRITE(old_x_dir_pin);
WRITE(Y_DIR_PIN,old_y_dir_pin); Y_DIR_WRITE(old_y_dir_pin);
WRITE(Z_DIR_PIN,old_z_dir_pin); Z_DIR_WRITE(old_z_dir_pin);
} }
break; break;

31
Marlin/stepper.h
View File

@ -22,30 +22,31 @@
#define stepper_h #define stepper_h
#include "planner.h" #include "planner.h"
#include "stepper_indirection.h"
#if EXTRUDERS > 3 #if EXTRUDERS > 3
#define WRITE_E_STEP(v) { if(current_block->active_extruder == 3) { WRITE(E3_STEP_PIN, v); } else { if(current_block->active_extruder == 2) { WRITE(E2_STEP_PIN, v); } else { if(current_block->active_extruder == 1) { WRITE(E1_STEP_PIN, v); } else { WRITE(E0_STEP_PIN, v); }}}} #define WRITE_E_STEP(v) { if(current_block->active_extruder == 3) { E3_STEP_WRITE(v); } else { if(current_block->active_extruder == 2) { E2_STEP_WRITE(v); } else { if(current_block->active_extruder == 1) { E1_STEP_WRITE(v); } else { E0_STEP_WRITE(v); }}}}
#define NORM_E_DIR() { if(current_block->active_extruder == 3) { WRITE(E3_DIR_PIN, !INVERT_E3_DIR); } else { if(current_block->active_extruder == 2) { WRITE(E2_DIR_PIN, !INVERT_E2_DIR); } else { if(current_block->active_extruder == 1) { WRITE(E1_DIR_PIN, !INVERT_E1_DIR); } else { WRITE(E0_DIR_PIN, !INVERT_E0_DIR); }}}} #define NORM_E_DIR() { if(current_block->active_extruder == 3) { E3_DIR_WRITE( !INVERT_E3_DIR); } else { if(current_block->active_extruder == 2) { E2_DIR_WRITE(!INVERT_E2_DIR); } else { if(current_block->active_extruder == 1) { E1_DIR_WRITE(!INVERT_E1_DIR); } else { E0_DIR_WRITE(!INVERT_E0_DIR); }}}}
#define REV_E_DIR() { if(current_block->active_extruder == 3) { WRITE(E3_DIR_PIN, INVERT_E3_DIR); } else { if(current_block->active_extruder == 2) { WRITE(E2_DIR_PIN, INVERT_E2_DIR); } else { if(current_block->active_extruder == 1) { WRITE(E1_DIR_PIN, INVERT_E1_DIR); } else { WRITE(E0_DIR_PIN, INVERT_E0_DIR); }}}} #define REV_E_DIR() { if(current_block->active_extruder == 3) { E3_DIR_WRITE(INVERT_E3_DIR); } else { if(current_block->active_extruder == 2) { E2_DIR_WRITE(INVERT_E2_DIR); } else { if(current_block->active_extruder == 1) { E1_DIR_WRITE(INVERT_E1_DIR); } else { E0_DIR_WRITE(INVERT_E0_DIR); }}}}
#elif EXTRUDERS > 2 #elif EXTRUDERS > 2
#define WRITE_E_STEP(v) { if(current_block->active_extruder == 2) { WRITE(E2_STEP_PIN, v); } else { if(current_block->active_extruder == 1) { WRITE(E1_STEP_PIN, v); } else { WRITE(E0_STEP_PIN, v); }}} #define WRITE_E_STEP(v) { if(current_block->active_extruder == 2) { E2_STEP_WRITE(v); } else { if(current_block->active_extruder == 1) { E1_STEP_WRITE(v); } else { E0_STEP_WRITE(v); }}}
#define NORM_E_DIR() { if(current_block->active_extruder == 2) { WRITE(E2_DIR_PIN, !INVERT_E2_DIR); } else { if(current_block->active_extruder == 1) { WRITE(E1_DIR_PIN, !INVERT_E1_DIR); } else { WRITE(E0_DIR_PIN, !INVERT_E0_DIR); }}} #define NORM_E_DIR() { if(current_block->active_extruder == 2) { E2_DIR_WRITE(!INVERT_E2_DIR); } else { if(current_block->active_extruder == 1) { E1_DIR_WRITE(!INVERT_E1_DIR); } else { E0_DIR_WRITE(!INVERT_E0_DIR); }}}
#define REV_E_DIR() { if(current_block->active_extruder == 2) { WRITE(E2_DIR_PIN, INVERT_E2_DIR); } else { if(current_block->active_extruder == 1) { WRITE(E1_DIR_PIN, INVERT_E1_DIR); } else { WRITE(E0_DIR_PIN, INVERT_E0_DIR); }}} #define REV_E_DIR() { if(current_block->active_extruder == 2) { E2_DIR_WRITE(INVERT_E2_DIR); } else { if(current_block->active_extruder == 1) { E1_DIR_WRITE(INVERT_E1_DIR); } else { E0_DIR_WRITE(INVERT_E0_DIR); }}}
#elif EXTRUDERS > 1 #elif EXTRUDERS > 1
#ifndef DUAL_X_CARRIAGE #ifndef DUAL_X_CARRIAGE
#define WRITE_E_STEP(v) { if(current_block->active_extruder == 1) { WRITE(E1_STEP_PIN, v); } else { WRITE(E0_STEP_PIN, v); }} #define WRITE_E_STEP(v) { if(current_block->active_extruder == 1) { E1_STEP_WRITE(v); } else { E0_STEP_WRITE(v); }}
#define NORM_E_DIR() { if(current_block->active_extruder == 1) { WRITE(E1_DIR_PIN, !INVERT_E1_DIR); } else { WRITE(E0_DIR_PIN, !INVERT_E0_DIR); }} #define NORM_E_DIR() { if(current_block->active_extruder == 1) { E1_DIR_WRITE(!INVERT_E1_DIR); } else { E0_DIR_WRITE(!INVERT_E0_DIR); }}
#define REV_E_DIR() { if(current_block->active_extruder == 1) { WRITE(E1_DIR_PIN, INVERT_E1_DIR); } else { WRITE(E0_DIR_PIN, INVERT_E0_DIR); }} #define REV_E_DIR() { if(current_block->active_extruder == 1) { E1_DIR_WRITE(INVERT_E1_DIR); } else { E0_DIR_WRITE(INVERT_E0_DIR); }}
#else #else
extern bool extruder_duplication_enabled; extern bool extruder_duplication_enabled;
#define WRITE_E_STEP(v) { if(extruder_duplication_enabled) { WRITE(E0_STEP_PIN, v); WRITE(E1_STEP_PIN, v); } else if(current_block->active_extruder == 1) { WRITE(E1_STEP_PIN, v); } else { WRITE(E0_STEP_PIN, v); }} #define WRITE_E_STEP(v) { if(extruder_duplication_enabled) { E0_STEP_WRITE(v); E1_STEP_WRITE(v); } else if(current_block->active_extruder == 1) { E1_STEP_WRITE(v); } else { E0_STEP_WRITE(v); }}
#define NORM_E_DIR() { if(extruder_duplication_enabled) { WRITE(E0_DIR_PIN, !INVERT_E0_DIR); WRITE(E1_DIR_PIN, !INVERT_E1_DIR); } else if(current_block->active_extruder == 1) { WRITE(E1_DIR_PIN, !INVERT_E1_DIR); } else { WRITE(E0_DIR_PIN, !INVERT_E0_DIR); }} #define NORM_E_DIR() { if(extruder_duplication_enabled) { E0_DIR_WRITE(!INVERT_E0_DIR); E1_DIR_WRITE(!INVERT_E1_DIR); } else if(current_block->active_extruder == 1) { E1_DIR_WRITE(!INVERT_E1_DIR); } else { E0_DIR_WRITE(!INVERT_E0_DIR); }}
#define REV_E_DIR() { if(extruder_duplication_enabled) { WRITE(E0_DIR_PIN, INVERT_E0_DIR); WRITE(E1_DIR_PIN, INVERT_E1_DIR); } else if(current_block->active_extruder == 1) { WRITE(E1_DIR_PIN, INVERT_E1_DIR); } else { WRITE(E0_DIR_PIN, INVERT_E0_DIR); }} #define REV_E_DIR() { if(extruder_duplication_enabled) { E0_DIR_WRITE(INVERT_E0_DIR); E1_DIR_WRITE(INVERT_E1_DIR); } else if(current_block->active_extruder == 1) { E1_DIR_WRITE(INVERT_E1_DIR); } else { E0_DIR_WRITE(INVERT_E0_DIR); }}
#endif #endif
#else #else
#define WRITE_E_STEP(v) WRITE(E0_STEP_PIN, v) #define WRITE_E_STEP(v) E0_STEP_WRITE(v)
#define NORM_E_DIR() WRITE(E0_DIR_PIN, !INVERT_E0_DIR) #define NORM_E_DIR() E0_DIR_WRITE(!INVERT_E0_DIR)
#define REV_E_DIR() WRITE(E0_DIR_PIN, INVERT_E0_DIR) #define REV_E_DIR() E0_DIR_WRITE(INVERT_E0_DIR)
#endif #endif
#ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED #ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED

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Marlin/stepper_indirection.h
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/*
stepper_indirection.h - stepper motor driver indirection macros
to allow some stepper functions to be done via SPI/I2c instead of direct pin manipulation
Part of Marlin
Copyright (c) 2015 Dominik Wenger
Marlin is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
Marlin is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with Marlin. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef STEPPER_INDIRECTION_H
#define STEPPER_INDIRECTION_H
// X motor
#define X_STEP_INIT SET_OUTPUT(X_STEP_PIN)
#define X_STEP_WRITE(STATE) WRITE(X_STEP_PIN,STATE)
#define X_STEP_READ READ(X_STEP_PIN)
#define X_DIR_INIT SET_OUTPUT(X_DIR_PIN)
#define X_DIR_WRITE(STATE) WRITE(X_DIR_PIN,STATE)
#define X_DIR_READ READ(X_DIR_PIN)
#define X_ENABLE_INIT SET_OUTPUT(X_ENABLE_PIN)
#define X_ENABLE_WRITE(STATE) WRITE(X_ENABLE_PIN,STATE)
#define X_ENABLE_READ READ(X_ENABLE_PIN)
// X2 motor
#define X2_STEP_INIT SET_OUTPUT(X2_STEP_PIN)
#define X2_STEP_WRITE(STATE) WRITE(X2_STEP_PIN,STATE)
#define X2_STEP_READ READ(X2_STEP_PIN)
#define X2_DIR_INIT SET_OUTPUT(X2_DIR_PIN)
#define X2_DIR_WRITE(STATE) WRITE(X2_DIR_PIN,STATE)
#define X2_DIR_READ READ(X_DIR_PIN)
#define X2_ENABLE_INIT SET_OUTPUT(X2_ENABLE_PIN)
#define X2_ENABLE_WRITE(STATE) WRITE(X2_ENABLE_PIN,STATE)
#define X2_ENABLE_READ READ(X_ENABLE_PIN)
// Y motor
#define Y_STEP_INIT SET_OUTPUT(Y_STEP_PIN)
#define Y_STEP_WRITE(STATE) WRITE(Y_STEP_PIN,STATE)
#define Y_STEP_READ READ(Y_STEP_PIN)
#define Y_DIR_INIT SET_OUTPUT(Y_DIR_PIN)
#define Y_DIR_WRITE(STATE) WRITE(Y_DIR_PIN,STATE)
#define Y_DIR_READ READ(Y_DIR_PIN)
#define Y_ENABLE_INIT SET_OUTPUT(Y_ENABLE_PIN)
#define Y_ENABLE_WRITE(STATE) WRITE(Y_ENABLE_PIN,STATE)
#define Y_ENABLE_READ READ(Y_ENABLE_PIN)
// Y2 motor
#define Y2_STEP_INIT SET_OUTPUT(Y2_STEP_PIN)
#define Y2_STEP_WRITE(STATE) WRITE(Y2_STEP_PIN,STATE)
#define Y2_STEP_READ READ(Y2_STEP_PIN)
#define Y2_DIR_INIT SET_OUTPUT(Y2_DIR_PIN)
#define Y2_DIR_WRITE(STATE) WRITE(Y2_DIR_PIN,STATE)
#define Y2_DIR_READ READ(Y2_DIR_PIN)
#define Y2_ENABLE_INIT SET_OUTPUT(Y2_ENABLE_PIN)
#define Y2_ENABLE_WRITE(STATE) WRITE(Y2_ENABLE_PIN,STATE)
#define Y2_ENABLE_READ READ(Y2_ENABLE_PIN)
// Z motor
#define Z_STEP_INIT SET_OUTPUT(Z_STEP_PIN)
#define Z_STEP_WRITE(STATE) WRITE(Z_STEP_PIN,STATE)
#define Z_STEP_READ READ(Z_STEP_PIN)
#define Z_DIR_INIT SET_OUTPUT(Z_DIR_PIN)
#define Z_DIR_WRITE(STATE) WRITE(Z_DIR_PIN,STATE)
#define Z_DIR_READ READ(Z_DIR_PIN)
#define Z_ENABLE_INIT SET_OUTPUT(Z_ENABLE_PIN)
#define Z_ENABLE_WRITE(STATE) WRITE(Z_ENABLE_PIN,STATE)
#define Z_ENABLE_READ READ(Z_ENABLE_PIN)
// Z2 motor
#define Z2_STEP_INIT SET_OUTPUT(Z2_STEP_PIN)
#define Z2_STEP_WRITE(STATE) WRITE(Z2_STEP_PIN,STATE)
#define Z2_STEP_READ READ(Z2_STEP_PIN)
#define Z2_DIR_INIT SET_OUTPUT(Z2_DIR_PIN)
#define Z2_DIR_WRITE(STATE) WRITE(Z2_DIR_PIN,STATE)
#define Z2_DIR_READ READ(Z2_DIR_PIN)
#define Z2_ENABLE_INIT SET_OUTPUT(Z2_ENABLE_PIN)
#define Z2_ENABLE_WRITE(STATE) WRITE(Z2_ENABLE_PIN,STATE)
#define Z2_ENABLE_READ READ(Z2_ENABLE_PIN)
// E0 motor
#define E0_STEP_INIT SET_OUTPUT(E0_STEP_PIN)
#define E0_STEP_WRITE(STATE) WRITE(E0_STEP_PIN,STATE)
#define E0_STEP_READ READ(E0_STEP_PIN)
#define E0_DIR_INIT SET_OUTPUT(E0_DIR_PIN)
#define E0_DIR_WRITE(STATE) WRITE(E0_DIR_PIN,STATE)
#define E0_DIR_READ READ(E0_DIR_PIN)
#define E0_ENABLE_INIT SET_OUTPUT(E0_ENABLE_PIN)
#define E0_ENABLE_WRITE(STATE) WRITE(E0_ENABLE_PIN,STATE)
#define E0_ENABLE_READ READ(E0_ENABLE_PIN)
// E1 motor
#define E1_STEP_INIT SET_OUTPUT(E1_STEP_PIN)
#define E1_STEP_WRITE(STATE) WRITE(E1_STEP_PIN,STATE)
#define E1_STEP_READ READ(E1_STEP_PIN)
#define E1_DIR_INIT SET_OUTPUT(E1_DIR_PIN)
#define E1_DIR_WRITE(STATE) WRITE(E1_DIR_PIN,STATE)
#define E1_DIR_READ READ(E1_DIR_PIN)
#define E1_ENABLE_INIT SET_OUTPUT(E1_ENABLE_PIN)
#define E1_ENABLE_WRITE(STATE) WRITE(E1_ENABLE_PIN,STATE)
#define E1_ENABLE_READ READ(E1_ENABLE_PIN)
// E2 motor
#define E2_STEP_INIT SET_OUTPUT(E2_STEP_PIN)
#define E2_STEP_WRITE(STATE) WRITE(E2_STEP_PIN,STATE)
#define E2_STEP_READ READ(E2_STEP_PIN)
#define E2_DIR_INIT SET_OUTPUT(E2_DIR_PIN)
#define E2_DIR_WRITE(STATE) WRITE(E2_DIR_PIN,STATE)
#define E2_DIR_READ READ(E2_DIR_PIN)
#define E2_ENABLE_INIT SET_OUTPUT(E2_ENABLE_PIN)
#define E2_ENABLE_WRITE(STATE) WRITE(E2_ENABLE_PIN,STATE)
#define E2_ENABLE_READ READ(E2_ENABLE_PIN)
// E3 motor
#define E3_STEP_INIT SET_OUTPUT(E3_STEP_PIN)
#define E3_STEP_WRITE(STATE) WRITE(E3_STEP_PIN,STATE)
#define E3_STEP_READ READ(E3_STEP_PIN)
#define E3_DIR_INIT SET_OUTPUT(E3_DIR_PIN)
#define E3_DIR_WRITE(STATE) WRITE(E3_DIR_PIN,STATE)
#define E3_DIR_READ READ(E3_DIR_PIN)
#define E3_ENABLE_INIT SET_OUTPUT(E3_ENABLE_PIN)
#define E3_ENABLE_WRITE(STATE) WRITE(E3_ENABLE_PIN,STATE)
#define E3_ENABLE_READ READ(E3_ENABLE_PIN)
#endif
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