andrey
/
Marlin_FB4S
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

Merge git://github.com/daid/Marlin into Marlin_v1 

Added invert step pins to corexy code
pull/1/head
Erik van der Zalm 13 years ago
parent
ea2c19f978 12de8fff81
commit
cd57bf305b
2 changed files with 46 additions and 34 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Unified View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 6
      Marlin/Configuration_adv.h
  2. 74
      Marlin/stepper.cpp

6
Marlin/Configuration_adv.h
View File

@ -88,6 +88,12 @@
#define MAX_STEP_FREQUENCY 40000 // Max step frequency for Ultimaker (5000 pps / half step) #define MAX_STEP_FREQUENCY 40000 // Max step frequency for Ultimaker (5000 pps / half step)
//By default pololu step drivers require an active high signal. However, some high power drivers require an active low signal as step.
#define INVERT_X_STEP_PIN false
#define INVERT_Y_STEP_PIN false
#define INVERT_Z_STEP_PIN false
#define INVERT_E_STEP_PIN false
//default stepper release if idle //default stepper release if idle
#define DEFAULT_STEPPER_DEACTIVE_TIME 60 #define DEFAULT_STEPPER_DEACTIVE_TIME 60

74
Marlin/stepper.cpp
View File

@ -486,18 +486,18 @@ ISR(TIMER1_COMPA_vect)
#if !defined COREXY #if !defined COREXY
counter_x += current_block->steps_x; counter_x += current_block->steps_x;
if (counter_x > 0) { if (counter_x > 0) {
WRITE(X_STEP_PIN, HIGH); WRITE(X_STEP_PIN, !INVERT_X_STEP_PIN);
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); WRITE(X_STEP_PIN, INVERT_X_STEP_PIN);
} }
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); WRITE(Y_STEP_PIN, !INVERT_Y_STEP_PIN);
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); WRITE(Y_STEP_PIN, INVERT_Y_STEP_PIN);
} }
#endif #endif
@ -506,64 +506,64 @@ ISR(TIMER1_COMPA_vect)
counter_y += current_block->steps_y; counter_y += current_block->steps_y;
if ((counter_x > 0)&&!(counter_y>0)){ //X step only if ((counter_x > 0)&&!(counter_y>0)){ //X step only
WRITE(X_STEP_PIN, HIGH); WRITE(X_STEP_PIN, !INVERT_X_STEP_PIN);
WRITE(Y_STEP_PIN, HIGH); WRITE(Y_STEP_PIN, !INVERT_Y_STEP_PIN);
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); WRITE(X_STEP_PIN, INVERT_X_STEP_PIN);
WRITE(Y_STEP_PIN, LOW); WRITE(Y_STEP_PIN, INVERT_Y_STEP_PIN);
} }
if (!(counter_x > 0)&&(counter_y>0)){ //Y step only if (!(counter_x > 0)&&(counter_y>0)){ //Y step only
WRITE(X_STEP_PIN, HIGH); WRITE(X_STEP_PIN, !INVERT_X_STEP_PIN);
WRITE(Y_STEP_PIN, HIGH); WRITE(Y_STEP_PIN, !INVERT_Y_STEP_PIN);
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(X_STEP_PIN, LOW); WRITE(X_STEP_PIN, INVERT_X_STEP_PIN);
WRITE(Y_STEP_PIN, LOW); WRITE(Y_STEP_PIN, INVERT_Y_STEP_PIN);
} }
if ((counter_x > 0)&&(counter_y>0)){ //step in both axes if ((counter_x > 0)&&(counter_y>0)){ //step in both axes
if (((out_bits & (1<<X_AXIS)) == 0)^((out_bits & (1<<Y_AXIS)) == 0)){ //X and Y in different directions if (((out_bits & (1<<X_AXIS)) == 0)^((out_bits & (1<<Y_AXIS)) == 0)){ //X and Y in different directions
WRITE(Y_STEP_PIN, HIGH); WRITE(Y_STEP_PIN, !INVERT_Y_STEP_PIN);
counter_x -= current_block->step_event_count; counter_x -= current_block->step_event_count;
WRITE(Y_STEP_PIN, LOW); WRITE(Y_STEP_PIN, INVERT_Y_STEP_PIN);
step_wait(); step_wait();
count_position[X_AXIS]+=count_direction[X_AXIS]; count_position[X_AXIS]+=count_direction[X_AXIS];
count_position[Y_AXIS]+=count_direction[Y_AXIS]; count_position[Y_AXIS]+=count_direction[Y_AXIS];
WRITE(Y_STEP_PIN, HIGH); WRITE(Y_STEP_PIN, !INVERT_Y_STEP_PIN);
counter_y -= current_block->step_event_count; counter_y -= current_block->step_event_count;
WRITE(Y_STEP_PIN, LOW); WRITE(Y_STEP_PIN, INVERT_Y_STEP_PIN);
} }
else{ //X and Y in same direction else{ //X and Y in same direction
WRITE(X_STEP_PIN, HIGH); WRITE(X_STEP_PIN, !INVERT_X_STEP_PIN);
counter_x -= current_block->step_event_count; counter_x -= current_block->step_event_count;
WRITE(X_STEP_PIN, LOW) ; WRITE(X_STEP_PIN, INVERT_X_STEP_PIN) ;
step_wait(); step_wait();
count_position[X_AXIS]+=count_direction[X_AXIS]; count_position[X_AXIS]+=count_direction[X_AXIS];
count_position[Y_AXIS]+=count_direction[Y_AXIS]; count_position[Y_AXIS]+=count_direction[Y_AXIS];
WRITE(X_STEP_PIN, HIGH); WRITE(X_STEP_PIN, !INVERT_X_STEP_PIN);
counter_y -= current_block->step_event_count; counter_y -= current_block->step_event_count;
WRITE(X_STEP_PIN, LOW); WRITE(X_STEP_PIN, INVERT_X_STEP_PIN);
} }
} }
#endif //corexy #endif //corexy
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); WRITE(Z_STEP_PIN, !INVERT_Z_STEP_PIN);
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); WRITE(Z_STEP_PIN, INVERT_Z_STEP_PIN);
} }
#ifndef ADVANCE #ifndef ADVANCE
counter_e += current_block->steps_e; counter_e += current_block->steps_e;
if (counter_e > 0) { if (counter_e > 0) {
WRITE_E_STEP(HIGH); WRITE_E_STEP(!INVERT_E_STEP_PIN);
counter_e -= current_block->step_event_count; counter_e -= current_block->step_event_count;
count_position[E_AXIS]+=count_direction[E_AXIS]; count_position[E_AXIS]+=count_direction[E_AXIS];
WRITE_E_STEP(LOW); WRITE(E_STEP_PIN, INVERT_E_STEP_PIN);
} }
#endif //!ADVANCE #endif //!ADVANCE
step_events_completed += 1; step_events_completed += 1;
@ -647,45 +647,45 @@ 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, LOW); WRITE(E0_STEP_PIN, INVERT_E_STEP_PIN);
if (e_steps[0] < 0) { if (e_steps[0] < 0) {
WRITE(E0_DIR_PIN, INVERT_E0_DIR); WRITE(E0_DIR_PIN, INVERT_E0_DIR);
e_steps[0]++; e_steps[0]++;
WRITE(E0_STEP_PIN, HIGH); WRITE(E0_STEP_PIN, !INVERT_E_STEP_PIN);
} }
else if (e_steps[0] > 0) { else if (e_steps[0] > 0) {
WRITE(E0_DIR_PIN, !INVERT_E0_DIR); WRITE(E0_DIR_PIN, !INVERT_E0_DIR);
e_steps[0]--; e_steps[0]--;
WRITE(E0_STEP_PIN, HIGH); WRITE(E0_STEP_PIN, !INVERT_E_STEP_PIN);
} }
} }
#if EXTRUDERS > 1 #if EXTRUDERS > 1
if (e_steps[1] != 0) { if (e_steps[1] != 0) {
WRITE(E1_STEP_PIN, LOW); WRITE(E1_STEP_PIN, INVERT_E_STEP_PIN);
if (e_steps[1] < 0) { if (e_steps[1] < 0) {
WRITE(E1_DIR_PIN, INVERT_E1_DIR); WRITE(E1_DIR_PIN, INVERT_E1_DIR);
e_steps[1]++; e_steps[1]++;
WRITE(E1_STEP_PIN, HIGH); WRITE(E1_STEP_PIN, !INVERT_E_STEP_PIN);
} }
else if (e_steps[1] > 0) { else if (e_steps[1] > 0) {
WRITE(E1_DIR_PIN, !INVERT_E1_DIR); WRITE(E1_DIR_PIN, !INVERT_E1_DIR);
e_steps[1]--; e_steps[1]--;
WRITE(E1_STEP_PIN, HIGH); WRITE(E1_STEP_PIN, !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, LOW); WRITE(E2_STEP_PIN, INVERT_E_STEP_PIN);
if (e_steps[2] < 0) { if (e_steps[2] < 0) {
WRITE(E2_DIR_PIN, INVERT_E2_DIR); WRITE(E2_DIR_PIN, INVERT_E2_DIR);
e_steps[2]++; e_steps[2]++;
WRITE(E2_STEP_PIN, HIGH); WRITE(E2_STEP_PIN, !INVERT_E_STEP_PIN);
} }
else if (e_steps[2] > 0) { else if (e_steps[2] > 0) {
WRITE(E2_DIR_PIN, !INVERT_E2_DIR); WRITE(E2_DIR_PIN, !INVERT_E2_DIR);
e_steps[2]--; e_steps[2]--;
WRITE(E2_STEP_PIN, HIGH); WRITE(E2_STEP_PIN, !INVERT_E_STEP_PIN);
} }
} }
#endif #endif
@ -790,26 +790,32 @@ void st_init()
//Initialize Step Pins //Initialize Step Pins
#if (X_STEP_PIN > -1) #if (X_STEP_PIN > -1)
SET_OUTPUT(X_STEP_PIN); SET_OUTPUT(X_STEP_PIN);
WRITE(X_STEP_PIN,INVERT_X_STEP_PIN);
if(!X_ENABLE_ON) WRITE(X_ENABLE_PIN,HIGH); if(!X_ENABLE_ON) WRITE(X_ENABLE_PIN,HIGH);
#endif #endif
#if (Y_STEP_PIN > -1) #if (Y_STEP_PIN > -1)
SET_OUTPUT(Y_STEP_PIN); SET_OUTPUT(Y_STEP_PIN);
WRITE(Y_STEP_PIN,INVERT_Y_STEP_PIN);
if(!Y_ENABLE_ON) WRITE(Y_ENABLE_PIN,HIGH); if(!Y_ENABLE_ON) WRITE(Y_ENABLE_PIN,HIGH);
#endif #endif
#if (Z_STEP_PIN > -1) #if (Z_STEP_PIN > -1)
SET_OUTPUT(Z_STEP_PIN); SET_OUTPUT(Z_STEP_PIN);
WRITE(Z_STEP_PIN,INVERT_Z_STEP_PIN);
if(!Z_ENABLE_ON) WRITE(Z_ENABLE_PIN,HIGH); if(!Z_ENABLE_ON) WRITE(Z_ENABLE_PIN,HIGH);
#endif #endif
#if (E0_STEP_PIN > -1) #if (E0_STEP_PIN > -1)
SET_OUTPUT(E0_STEP_PIN); SET_OUTPUT(E0_STEP_PIN);
WRITE(E0_STEP_PIN,INVERT_E_STEP_PIN);
if(!E_ENABLE_ON) WRITE(E0_ENABLE_PIN,HIGH); if(!E_ENABLE_ON) WRITE(E0_ENABLE_PIN,HIGH);
#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); SET_OUTPUT(E1_STEP_PIN);
WRITE(E1_STEP_PIN,INVERT_E_STEP_PIN);
if(!E_ENABLE_ON) WRITE(E1_ENABLE_PIN,HIGH); if(!E_ENABLE_ON) WRITE(E1_ENABLE_PIN,HIGH);
#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); SET_OUTPUT(E2_STEP_PIN);
WRITE(E2_STEP_PIN,INVERT_E_STEP_PIN);
if(!E_ENABLE_ON) WRITE(E2_ENABLE_PIN,HIGH); if(!E_ENABLE_ON) WRITE(E2_ENABLE_PIN,HIGH);
#endif #endif

Write Preview
Loading…
Cancel
Save