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Merge pull request #2103 from Wurstnase/rework_out_bits 

rework out_bits
pull/1/head
Scott Lahteine 10 years ago
parent
6c27eaf864 21ff773832
commit
c5feb9c6a1
1 changed files with 84 additions and 82 deletions
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  1. 166
      Marlin/stepper.cpp

166
Marlin/stepper.cpp
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@ -46,7 +46,7 @@ block_t *current_block; // A pointer to the block currently being traced
//static makes it impossible to be called from outside of this file by extern.!
// Variables used by The Stepper Driver Interrupt
static unsigned char out_bits; // The next stepping-bits to be output
static unsigned char out_bits = 0; // The next stepping-bits to be output
static unsigned int cleaning_buffer_counter;
#ifdef Z_DUAL_ENDSTOPS
@ -364,9 +364,58 @@ FORCE_INLINE unsigned short calc_timer(unsigned short step_rate) {
return timer;
}
// set the stepper direction of each axis
void set_stepper_direction() {
// Set the direction bits (X_AXIS=A_AXIS and Y_AXIS=B_AXIS for COREXY)
if (TEST(out_bits, X_AXIS)) {
X_APPLY_DIR(INVERT_X_DIR,0);
count_direction[X_AXIS] = -1;
}
else {
X_APPLY_DIR(!INVERT_X_DIR,0);
count_direction[X_AXIS] = 1;
}
if (TEST(out_bits, Y_AXIS)) {
Y_APPLY_DIR(INVERT_Y_DIR,0);
count_direction[Y_AXIS] = -1;
}
else {
Y_APPLY_DIR(!INVERT_Y_DIR,0);
count_direction[Y_AXIS] = 1;
}
if (TEST(out_bits, Z_AXIS)) {
Z_APPLY_DIR(INVERT_Z_DIR,0);
count_direction[Z_AXIS] = -1;
}
else {
Z_APPLY_DIR(!INVERT_Z_DIR,0);
count_direction[Z_AXIS] = 1;
}
#ifndef ADVANCE
if (TEST(out_bits, E_AXIS)) {
REV_E_DIR();
count_direction[E_AXIS] = -1;
}
else {
NORM_E_DIR();
count_direction[E_AXIS] = 1;
}
#endif //!ADVANCE
}
// Initializes the trapezoid generator from the current block. Called whenever a new
// block begins.
FORCE_INLINE void trapezoid_generator_reset() {
if (current_block->direction_bits != out_bits) {
out_bits = current_block->direction_bits;
set_stepper_direction();
}
#ifdef ADVANCE
advance = current_block->initial_advance;
final_advance = current_block->final_advance;
@ -439,48 +488,27 @@ ISR(TIMER1_COMPA_vect) {
}
if (current_block != NULL) {
// Set directions TO DO This should be done once during init of trapezoid. Endstops -> interrupt
out_bits = current_block->direction_bits;
// Set the direction bits (X_AXIS=A_AXIS and Y_AXIS=B_AXIS for COREXY)
if (TEST(out_bits, X_AXIS)) {
X_APPLY_DIR(INVERT_X_DIR,0);
count_direction[X_AXIS] = -1;
}
else {
X_APPLY_DIR(!INVERT_X_DIR,0);
count_direction[X_AXIS] = 1;
}
if (TEST(out_bits, Y_AXIS)) {
Y_APPLY_DIR(INVERT_Y_DIR,0);
count_direction[Y_AXIS] = -1;
}
else {
Y_APPLY_DIR(!INVERT_Y_DIR,0);
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 _HIT_BIT(AXIS) AXIS ##_MIN
#define _ENDSTOP_HIT(AXIS) endstop_hit_bits |= BIT(_HIT_BIT(AXIS))
#define UPDATE_ENDSTOP(axis,AXIS,minmax,MINMAX) \
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); \
step_events_completed = current_block->step_event_count; \
} \
_OLD_ENDSTOP(axis, minmax) = _ENDSTOP(axis, minmax);
// Check X and Y endstops
// Check endstops
if (check_endstops) {
#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 _HIT_BIT(AXIS) AXIS ##_MIN
#define _ENDSTOP_HIT(AXIS) endstop_hit_bits |= BIT(_HIT_BIT(AXIS))
#define UPDATE_ENDSTOP(axis,AXIS,minmax,MINMAX) \
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); \
step_events_completed = current_block->step_event_count; \
} \
_OLD_ENDSTOP(axis, minmax) = _ENDSTOP(axis, minmax);
#ifdef COREXY
// Head direction in -X axis for CoreXY bots.
// If DeltaX == -DeltaY, the movement is only in Y axis
@ -533,15 +561,7 @@ ISR(TIMER1_COMPA_vect) {
#ifdef COREXY
}
#endif
}
if (TEST(out_bits, Z_AXIS)) { // -direction
Z_APPLY_DIR(INVERT_Z_DIR,0);
count_direction[Z_AXIS] = -1;
if (check_endstops) {
if (TEST(out_bits, Z_AXIS)) { // z -direction
#if HAS_Z_MIN
#ifdef Z_DUAL_ENDSTOPS
@ -581,22 +601,12 @@ ISR(TIMER1_COMPA_vect) {
{
endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
endstop_hit_bits |= BIT(Z_PROBE);
// 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
}
else { // +direction
Z_APPLY_DIR(!INVERT_Z_DIR,0);
count_direction[Z_AXIS] = 1;
if (check_endstops) {
}
else { // z +direction
#if HAS_Z_MAX
#ifdef Z_DUAL_ENDSTOPS
@ -632,7 +642,7 @@ 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);
@ -640,25 +650,15 @@ ISR(TIMER1_COMPA_vect) {
{
endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
endstop_hit_bits |= BIT(Z_PROBE);
// 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
}
} // +direction
#ifndef ADVANCE
if (TEST(out_bits, E_AXIS)) { // -direction
REV_E_DIR();
count_direction[E_AXIS] = -1;
}
else { // +direction
NORM_E_DIR();
count_direction[E_AXIS] = 1;
}
#endif //!ADVANCE
// Take multiple steps per interrupt (For high speed moves)
for (int8_t i = 0; i < step_loops; i++) {
@ -989,12 +989,12 @@ void st_init() {
#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
WRITE(Z_PROBE_PIN,HIGH);
#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
WRITE(Z_PROBE_PIN,HIGH);
#endif
#endif
#endif
#define _STEP_INIT(AXIS) AXIS ##_STEP_INIT
#define _WRITE_STEP(AXIS, HIGHLOW) AXIS ##_STEP_WRITE(HIGHLOW)
@ -1073,6 +1073,8 @@ void st_init() {
enable_endstops(true); // Start with endstops active. After homing they can be disabled
sei();
set_stepper_direction(); // Init directions to out_bits = 0
}

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