stepper.cpp@b373b0288715
stepper.cpp
Thu, 07 Jul 2016 12:23:34 +0200
- author
- mbayer
- date
- Thu, 07 Jul 2016 12:23:34 +0200
- changeset 2
- b373b0288715
- parent 1
- b584642d4f58
- permissions
- -rw-r--r--
added missing sanguino files
/* stepper.c - stepper motor driver: executes motion plans using stepper motors Part of Grbl Copyright (c) 2009-2011 Simen Svale Skogsrud Grbl 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. Grbl 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 Grbl. If not, see <http://www.gnu.org/licenses/>. */ /* The timer calculations of this module informed by the 'RepRap cartesian firmware' by Zack Smith and Philipp Tiefenbacher. */ #include "Marlin.h" #include "stepper.h" #include "planner.h" #include "temperature.h" #include "ultralcd.h" #include "language.h" #include "led.h" #include "speed_lookuptable.h" //=========================================================================== //=============================public variables ============================ //=========================================================================== block_t *current_block; // A pointer to the block currently being traced volatile bool endstop_z_hit=false; bool old_z_min_endstop=false; //=========================================================================== //=============================private variables ============================ //=========================================================================== //static makes it inpossible 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 long counter_x, // Counter variables for the bresenham line tracer counter_y, counter_z, counter_e; volatile static unsigned long step_events_completed; // The number of step events executed in the current block #ifdef ADVANCE static long advance_rate, advance, final_advance = 0; static long old_advance = 0; #endif static long e_steps[3]; static long acceleration_time, deceleration_time; //static unsigned long accelerate_until, decelerate_after, acceleration_rate, initial_rate, final_rate, nominal_rate; static unsigned short acc_step_rate; // needed for deccelaration start point static char step_loops; static unsigned short OCR1A_nominal; volatile long endstops_trigsteps[3]={0,0,0}; volatile long endstops_stepsTotal,endstops_stepsDone; static volatile bool endstop_x_hit=false; static volatile bool endstop_y_hit=false; static bool old_x_min_endstop=false; static bool old_x_max_endstop=false; static bool old_y_min_endstop=false; static bool old_y_max_endstop=false; static bool old_z_max_endstop=false; static bool check_endstops = true; volatile long count_position[NUM_AXIS] = { 0, 0, 0, 0}; volatile char count_direction[NUM_AXIS] = { 1, 1, 1, 1}; //=========================================================================== //=============================functions ============================ //=========================================================================== #define CHECK_ENDSTOPS if(check_endstops) // intRes = intIn1 * intIn2 >> 16 // uses: // r26 to store 0 // r27 to store the byte 1 of the 24 bit result #define MultiU16X8toH16(intRes, charIn1, intIn2) \ asm volatile ( \ "clr r26 \n\t" \ "mul %A1, %B2 \n\t" \ "movw %A0, r0 \n\t" \ "mul %A1, %A2 \n\t" \ "add %A0, r1 \n\t" \ "adc %B0, r26 \n\t" \ "lsr r0 \n\t" \ "adc %A0, r26 \n\t" \ "adc %B0, r26 \n\t" \ "clr r1 \n\t" \ : \ "=&r" (intRes) \ : \ "d" (charIn1), \ "d" (intIn2) \ : \ "r26" \ ) // intRes = longIn1 * longIn2 >> 24 // uses: // r26 to store 0 // r27 to store the byte 1 of the 48bit result #define MultiU24X24toH16(intRes, longIn1, longIn2) \ asm volatile ( \ "clr r26 \n\t" \ "mul %A1, %B2 \n\t" \ "mov r27, r1 \n\t" \ "mul %B1, %C2 \n\t" \ "movw %A0, r0 \n\t" \ "mul %C1, %C2 \n\t" \ "add %B0, r0 \n\t" \ "mul %C1, %B2 \n\t" \ "add %A0, r0 \n\t" \ "adc %B0, r1 \n\t" \ "mul %A1, %C2 \n\t" \ "add r27, r0 \n\t" \ "adc %A0, r1 \n\t" \ "adc %B0, r26 \n\t" \ "mul %B1, %B2 \n\t" \ "add r27, r0 \n\t" \ "adc %A0, r1 \n\t" \ "adc %B0, r26 \n\t" \ "mul %C1, %A2 \n\t" \ "add r27, r0 \n\t" \ "adc %A0, r1 \n\t" \ "adc %B0, r26 \n\t" \ "mul %B1, %A2 \n\t" \ "add r27, r1 \n\t" \ "adc %A0, r26 \n\t" \ "adc %B0, r26 \n\t" \ "lsr r27 \n\t" \ "adc %A0, r26 \n\t" \ "adc %B0, r26 \n\t" \ "clr r1 \n\t" \ : \ "=&r" (intRes) \ : \ "d" (longIn1), \ "d" (longIn2) \ : \ "r26" , "r27" \ ) // Some useful constants #define ENABLE_STEPPER_DRIVER_INTERRUPT() TIMSK1 |= (1<<OCIE1A) #define DISABLE_STEPPER_DRIVER_INTERRUPT() TIMSK1 &= ~(1<<OCIE1A) void checkHitEndstops() { if( endstop_x_hit || endstop_y_hit || endstop_z_hit) { SERIAL_ECHO_START; SERIAL_ECHOPGM(MSG_ENDSTOPS_HIT); if(endstop_x_hit) { SERIAL_ECHOPAIR(" X:",(float)endstops_trigsteps[X_AXIS]/axis_steps_per_unit[X_AXIS]); } if(endstop_y_hit) { SERIAL_ECHOPAIR(" Y:",(float)endstops_trigsteps[Y_AXIS]/axis_steps_per_unit[Y_AXIS]); } if(endstop_z_hit) { SERIAL_ECHOPAIR(" Z:",(float)endstops_trigsteps[Z_AXIS]/axis_steps_per_unit[Z_AXIS]); } SERIAL_ECHOLN(""); endstop_x_hit=false; endstop_y_hit=false; endstop_z_hit=false; } } void endstops_hit_on_purpose() { endstop_x_hit=false; endstop_y_hit=false; endstop_z_hit=false; } void enable_endstops(bool check) { check_endstops = check; } // __________________________ // /| |\ _________________ ^ // / | | \ /| |\ | // / | | \ / | | \ s // / | | | | | \ p // / | | | | | \ e // +-----+------------------------+---+--+---------------+----+ e // | BLOCK 1 | BLOCK 2 | d // // time -----> // // The trapezoid is the shape the speed curve over time. It starts at block->initial_rate, accelerates // first block->accelerate_until step_events_completed, then keeps going at constant speed until // step_events_completed reaches block->decelerate_after after which it decelerates until the trapezoid generator is reset. // The slope of acceleration is calculated with the leib ramp alghorithm. void st_wake_up() { // TCNT1 = 0; ENABLE_STEPPER_DRIVER_INTERRUPT(); } FORCE_INLINE unsigned short calc_timer(unsigned short step_rate) { unsigned short timer; if(step_rate > MAX_STEP_FREQUENCY) step_rate = MAX_STEP_FREQUENCY; if(step_rate > 20000) { // If steprate > 20kHz >> step 4 times step_rate = (step_rate >> 2)&0x3fff; step_loops = 4; } else if(step_rate > 10000) { // If steprate > 10kHz >> step 2 times step_rate = (step_rate >> 1)&0x7fff; step_loops = 2; } else { step_loops = 1; } if(step_rate < (F_CPU/500000)) step_rate = (F_CPU/500000); step_rate -= (F_CPU/500000); // Correct for minimal speed if(step_rate >= (8*256)){ // higher step rate unsigned short table_address = (unsigned short)&speed_lookuptable_fast[(unsigned char)(step_rate>>8)][0]; unsigned char tmp_step_rate = (step_rate & 0x00ff); unsigned short gain = (unsigned short)pgm_read_word_near(table_address+2); MultiU16X8toH16(timer, tmp_step_rate, gain); timer = (unsigned short)pgm_read_word_near(table_address) - timer; } else { // lower step rates unsigned short table_address = (unsigned short)&speed_lookuptable_slow[0][0]; table_address += ((step_rate)>>1) & 0xfffc; timer = (unsigned short)pgm_read_word_near(table_address); timer -= (((unsigned short)pgm_read_word_near(table_address+2) * (unsigned char)(step_rate & 0x0007))>>3); } if(timer < 100) { timer = 100; MYSERIAL.print(MSG_STEPPER_TO_HIGH); MYSERIAL.println(step_rate); }//(20kHz this should never happen) return timer; } // Initializes the trapezoid generator from the current block. Called whenever a new // block begins. FORCE_INLINE void trapezoid_generator_reset() { #ifdef ADVANCE advance = current_block->initial_advance; final_advance = current_block->final_advance; // Do E steps + advance steps e_steps[current_block->active_extruder] += ((advance >>8) - old_advance); old_advance = advance >>8; #endif deceleration_time = 0; // step_rate to timer interval acc_step_rate = current_block->initial_rate; acceleration_time = calc_timer(acc_step_rate); OCR1A = acceleration_time; OCR1A_nominal = calc_timer(current_block->nominal_rate); // SERIAL_ECHO_START; // SERIAL_ECHOPGM("advance :"); // SERIAL_ECHO(current_block->advance/256.0); // SERIAL_ECHOPGM("advance rate :"); // SERIAL_ECHO(current_block->advance_rate/256.0); // SERIAL_ECHOPGM("initial advance :"); // SERIAL_ECHO(current_block->initial_advance/256.0); // SERIAL_ECHOPGM("final advance :"); // SERIAL_ECHOLN(current_block->final_advance/256.0); } // "The Stepper Driver Interrupt" - This timer interrupt is the workhorse. // It pops blocks from the block_buffer and executes them by pulsing the stepper pins appropriately. ISR(TIMER1_COMPA_vect) { // If there is no current block, attempt to pop one from the buffer if (current_block == NULL) { // Anything in the buffer? current_block = plan_get_current_block(); if (current_block != NULL) { current_block->busy = true; if (current_block->laser_on) { WRITE(M571_PIN, HIGH);// Fire the laser! } else { WRITE(M571_PIN, LOW);// Shutdown the laser! } trapezoid_generator_reset(); counter_x = -(current_block->step_event_count >> 1); counter_y = counter_x; counter_z = counter_x; counter_e = counter_x; step_events_completed = 0; #ifdef Z_LATE_ENABLE if(current_block->steps_z > 0) { enable_z(); OCR1A = 2000; //1ms wait return; } #endif // #ifdef ADVANCE // e_steps[current_block->active_extruder] = 0; // #endif } else { OCR1A=2000; // 1kHz. } } 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 direction en check limit switches if ((out_bits & (1<<X_AXIS)) != 0) { // -direction WRITE(X_DIR_PIN, INVERT_X_DIR); count_direction[X_AXIS]=-1; CHECK_ENDSTOPS { #if X_MIN_PIN > -1 bool x_min_endstop=(READ(X_MIN_PIN) != X_ENDSTOPS_INVERTING); if(x_min_endstop && old_x_min_endstop && (current_block->steps_x > 0)) { endstops_trigsteps[X_AXIS] = count_position[X_AXIS]; endstop_x_hit=true; step_events_completed = current_block->step_event_count; } old_x_min_endstop = x_min_endstop; #endif } } else { // +direction WRITE(X_DIR_PIN,!INVERT_X_DIR); count_direction[X_AXIS]=1; CHECK_ENDSTOPS { #if X_MAX_PIN > -1 bool x_max_endstop=(READ(X_MAX_PIN) != X_ENDSTOPS_INVERTING); if(x_max_endstop && old_x_max_endstop && (current_block->steps_x > 0)){ endstops_trigsteps[X_AXIS] = count_position[X_AXIS]; endstop_x_hit=true; step_events_completed = current_block->step_event_count; } old_x_max_endstop = x_max_endstop; #endif } } if ((out_bits & (1<<Y_AXIS)) != 0) { // -direction WRITE(Y_DIR_PIN,INVERT_Y_DIR); count_direction[Y_AXIS]=-1; CHECK_ENDSTOPS { #if Y_MIN_PIN > -1 bool y_min_endstop=(READ(Y_MIN_PIN) != Y_ENDSTOPS_INVERTING); if(y_min_endstop && old_y_min_endstop && (current_block->steps_y > 0)) { endstops_trigsteps[Y_AXIS] = count_position[Y_AXIS]; endstop_y_hit=true; step_events_completed = current_block->step_event_count; } old_y_min_endstop = y_min_endstop; #endif } } else { // +direction WRITE(Y_DIR_PIN,!INVERT_Y_DIR); count_direction[Y_AXIS]=1; CHECK_ENDSTOPS { #if Y_MAX_PIN > -1 bool y_max_endstop=(READ(Y_MAX_PIN) != Y_ENDSTOPS_INVERTING); if(y_max_endstop && old_y_max_endstop && (current_block->steps_y > 0)){ endstops_trigsteps[Y_AXIS] = count_position[Y_AXIS]; endstop_y_hit=true; step_events_completed = current_block->step_event_count; } old_y_max_endstop = y_max_endstop; #endif } } if ((out_bits & (1<<Z_AXIS)) != 0) { // -direction WRITE(Z_DIR_PIN,INVERT_Z_DIR); count_direction[Z_AXIS]=-1; CHECK_ENDSTOPS { #if Z_MIN_PIN > -1 bool z_min_endstop=(READ(Z_MIN_PIN) != Z_ENDSTOPS_INVERTING); if(z_min_endstop && old_z_min_endstop && (current_block->steps_z > 0)) { endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS]; endstop_z_hit=true; step_events_completed = current_block->step_event_count; } old_z_min_endstop = z_min_endstop; #endif } } else { // +direction WRITE(Z_DIR_PIN,!INVERT_Z_DIR); count_direction[Z_AXIS]=1; CHECK_ENDSTOPS { #if Z_MAX_PIN > -1 bool z_max_endstop=(READ(Z_MAX_PIN) != Z_ENDSTOPS_INVERTING); if(z_max_endstop && old_z_max_endstop && (current_block->steps_z > 0)) { endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS]; endstop_z_hit=true; step_events_completed = current_block->step_event_count; } old_z_max_endstop = z_max_endstop; #endif } } #ifndef ADVANCE if ((out_bits & (1<<E_AXIS)) != 0) { // -direction REV_E_DIR(); if (m571_enabled) WRITE(M571_PIN, LOW);// M571 disable, never on retract! count_direction[E_AXIS]=-1; } else { // +direction NORM_E_DIR(); count_direction[E_AXIS]=1; } #endif //!ADVANCE for(int8_t i=0; i < step_loops; i++) { // Take multiple steps per interrupt (For high speed moves) #ifndef REPRAPPRO_MULTIMATERIALS #if MOTHERBOARD != 8 // !teensylu MSerial.checkRx(); // Check for serial chars. #endif #endif #ifdef ADVANCE counter_e += current_block->steps_e; if (counter_e > 0) { counter_e -= current_block->step_event_count; if ((out_bits & (1<<E_AXIS)) != 0) { // - direction e_steps[current_block->active_extruder]--; } else { e_steps[current_block->active_extruder]++; } } #endif //ADVANCE counter_x += current_block->steps_x; if (counter_x > 0) { WRITE(X_STEP_PIN, HIGH); counter_x -= current_block->step_event_count; WRITE(X_STEP_PIN, LOW); count_position[X_AXIS]+=count_direction[X_AXIS]; } counter_y += current_block->steps_y; if (counter_y > 0) { WRITE(Y_STEP_PIN, HIGH); counter_y -= current_block->step_event_count; WRITE(Y_STEP_PIN, LOW); count_position[Y_AXIS]+=count_direction[Y_AXIS]; } counter_z += current_block->steps_z; if (counter_z > 0) { WRITE(Z_STEP_PIN, HIGH); counter_z -= current_block->step_event_count; WRITE(Z_STEP_PIN, LOW); count_position[Z_AXIS]+=count_direction[Z_AXIS]; } #ifndef ADVANCE counter_e += current_block->steps_e; if (counter_e > 0) { // M571 enable, since extruder motor active if (m571_enabled) WRITE(M571_PIN, HIGH); // N571 disables real E drive! (ie. on laser operations) if (!n571_enabled) { WRITE_E_STEP(HIGH); counter_e -= current_block->step_event_count; WRITE_E_STEP(LOW); } else counter_e -= current_block->step_event_count; count_position[E_AXIS]+=count_direction[E_AXIS]; } else { // M571 disable, no more E_steps to do if (m571_enabled) WRITE(M571_PIN, LOW); } #endif //!ADVANCE step_events_completed += 1; if(step_events_completed >= current_block->step_event_count) break; } // Calculare new timer value unsigned short timer; unsigned short step_rate; if (step_events_completed <= (unsigned long int)current_block->accelerate_until) { MultiU24X24toH16(acc_step_rate, acceleration_time, current_block->acceleration_rate); acc_step_rate += current_block->initial_rate; // upper limit if(acc_step_rate > current_block->nominal_rate) acc_step_rate = current_block->nominal_rate; // step_rate to timer interval timer = calc_timer(acc_step_rate); OCR1A = timer; acceleration_time += timer; #ifdef ADVANCE for(int8_t i=0; i < step_loops; i++) { advance += advance_rate; } //if(advance > current_block->advance) advance = current_block->advance; // Do E steps + advance steps e_steps[current_block->active_extruder] += ((advance >>8) - old_advance); old_advance = advance >>8; #endif } else if (step_events_completed > (unsigned long int)current_block->decelerate_after) { MultiU24X24toH16(step_rate, deceleration_time, current_block->acceleration_rate); if(step_rate > acc_step_rate) { // Check step_rate stays positive step_rate = current_block->final_rate; } else { step_rate = acc_step_rate - step_rate; // Decelerate from aceleration end point. } // lower limit if(step_rate < current_block->final_rate) step_rate = current_block->final_rate; // step_rate to timer interval timer = calc_timer(step_rate); OCR1A = timer; deceleration_time += timer; #ifdef ADVANCE for(int8_t i=0; i < step_loops; i++) { advance -= advance_rate; } if(advance < final_advance) advance = final_advance; // Do E steps + advance steps e_steps[current_block->active_extruder] += ((advance >>8) - old_advance); old_advance = advance >>8; #endif //ADVANCE } else { OCR1A = OCR1A_nominal; } // If current block is finished, reset pointer if (step_events_completed >= current_block->step_event_count) { current_block = NULL; plan_discard_current_block(); } } } #ifdef ADVANCE unsigned char old_OCR0A; // Timer interrupt for E. e_steps is set in the main routine; // Timer 0 is shared with millies ISR(TIMER0_COMPA_vect) { old_OCR0A += 52; // ~10kHz interrupt (250000 / 26 = 9615kHz) OCR0A = old_OCR0A; // Set E direction (Depends on E direction + advance) for(unsigned char i=0; i<4;i++) { if (e_steps[0] != 0) { WRITE(E0_STEP_PIN, LOW); if (e_steps[0] < 0) { WRITE(E0_DIR_PIN, INVERT_E0_DIR); e_steps[0]++; WRITE(E0_STEP_PIN, HIGH); } else if (e_steps[0] > 0) { WRITE(E0_DIR_PIN, !INVERT_E0_DIR); e_steps[0]--; WRITE(E0_STEP_PIN, HIGH); } } #if EXTRUDERS > 1 if (e_steps[1] != 0) { WRITE(E1_STEP_PIN, LOW); if (e_steps[1] < 0) { WRITE(E1_DIR_PIN, INVERT_E1_DIR); e_steps[1]++; WRITE(E1_STEP_PIN, HIGH); } else if (e_steps[1] > 0) { WRITE(E1_DIR_PIN, !INVERT_E1_DIR); e_steps[1]--; WRITE(E1_STEP_PIN, HIGH); } } #endif #if EXTRUDERS > 2 if (e_steps[2] != 0) { WRITE(E2_STEP_PIN, LOW); if (e_steps[2] < 0) { WRITE(E2_DIR_PIN, INVERT_E2_DIR); e_steps[2]++; WRITE(E2_STEP_PIN, HIGH); } else if (e_steps[2] > 0) { WRITE(E2_DIR_PIN, !INVERT_E2_DIR); e_steps[2]--; WRITE(E2_STEP_PIN, HIGH); } } #endif } } #endif // ADVANCE void st_init() { //Initialize Dir Pins #if X_DIR_PIN > -1 SET_OUTPUT(X_DIR_PIN); #endif #if Y_DIR_PIN > -1 SET_OUTPUT(Y_DIR_PIN); #endif #if Z_DIR_PIN > -1 SET_OUTPUT(Z_DIR_PIN); #endif #if E0_DIR_PIN > -1 SET_OUTPUT(E0_DIR_PIN); #endif #if defined(E1_DIR_PIN) && (E1_DIR_PIN > -1) SET_OUTPUT(E1_DIR_PIN); #endif #if defined(E2_DIR_PIN) && (E2_DIR_PIN > -1) SET_OUTPUT(E2_DIR_PIN); #endif //Initialize Enable Pins - steppers default to disabled. #if (X_ENABLE_PIN > -1) SET_OUTPUT(X_ENABLE_PIN); if(!X_ENABLE_ON) WRITE(X_ENABLE_PIN,HIGH); #endif #if (Y_ENABLE_PIN > -1) SET_OUTPUT(Y_ENABLE_PIN); if(!Y_ENABLE_ON) WRITE(Y_ENABLE_PIN,HIGH); #endif #if (Z_ENABLE_PIN > -1) SET_OUTPUT(Z_ENABLE_PIN); if(!Z_ENABLE_ON) WRITE(Z_ENABLE_PIN,HIGH); #endif #if (E0_ENABLE_PIN > -1) SET_OUTPUT(E0_ENABLE_PIN); if(!E_ENABLE_ON) WRITE(E0_ENABLE_PIN,HIGH); #endif #if defined(E1_ENABLE_PIN) && (E1_ENABLE_PIN > -1) SET_OUTPUT(E1_ENABLE_PIN); if(!E_ENABLE_ON) WRITE(E1_ENABLE_PIN,HIGH); #endif #if defined(E2_ENABLE_PIN) && (E2_ENABLE_PIN > -1) SET_OUTPUT(E2_ENABLE_PIN); if(!E_ENABLE_ON) WRITE(E2_ENABLE_PIN,HIGH); #endif //endstops and pullups #ifdef ENDSTOPPULLUPS #if X_MIN_PIN > -1 SET_INPUT(X_MIN_PIN); WRITE(X_MIN_PIN,HIGH); #endif #if X_MAX_PIN > -1 SET_INPUT(X_MAX_PIN); WRITE(X_MAX_PIN,HIGH); #endif #if Y_MIN_PIN > -1 SET_INPUT(Y_MIN_PIN); WRITE(Y_MIN_PIN,HIGH); #endif #if Y_MAX_PIN > -1 SET_INPUT(Y_MAX_PIN); WRITE(Y_MAX_PIN,HIGH); #endif #if Z_MIN_PIN > -1 SET_INPUT(Z_MIN_PIN); WRITE(Z_MIN_PIN,HIGH); #endif #if Z_MAX_PIN > -1 SET_INPUT(Z_MAX_PIN); WRITE(Z_MAX_PIN,HIGH); #endif #else //ENDSTOPPULLUPS #if X_MIN_PIN > -1 SET_INPUT(X_MIN_PIN); #endif #if X_MAX_PIN > -1 SET_INPUT(X_MAX_PIN); #endif #if Y_MIN_PIN > -1 SET_INPUT(Y_MIN_PIN); #endif #if Y_MAX_PIN > -1 SET_INPUT(Y_MAX_PIN); #endif #if Z_MIN_PIN > -1 SET_INPUT(Z_MIN_PIN); #endif #if Z_MAX_PIN > -1 SET_INPUT(Z_MAX_PIN); #endif #endif //ENDSTOPPULLUPS //Initialize Step Pins #if (X_STEP_PIN > -1) SET_OUTPUT(X_STEP_PIN); #if X_ENABLE_PIN > -1 if(!X_ENABLE_ON) WRITE(X_ENABLE_PIN,HIGH); #endif #endif #if (Y_STEP_PIN > -1) SET_OUTPUT(Y_STEP_PIN); #if Y_ENABLE_PIN > -1 if(!Y_ENABLE_ON) WRITE(Y_ENABLE_PIN,HIGH); #endif #endif #if (Z_STEP_PIN > -1) SET_OUTPUT(Z_STEP_PIN); #if Z_ENABLE_PIN > -1 if(!Z_ENABLE_ON) WRITE(Z_ENABLE_PIN,HIGH); #endif #endif #if (E0_STEP_PIN > -1) SET_OUTPUT(E0_STEP_PIN); #if E0_ENABLE_PIN > -1 if(!E_ENABLE_ON) WRITE(E0_ENABLE_PIN,HIGH); #endif #endif #if defined(E1_STEP_PIN) && (E1_STEP_PIN > -1) SET_OUTPUT(E1_STEP_PIN); #if E1_ENABLE_PIN > -1 if(!E_ENABLE_ON) WRITE(E1_ENABLE_PIN,HIGH); #endif #endif #if defined(E2_STEP_PIN) && (E2_STEP_PIN > -1) SET_OUTPUT(E2_STEP_PIN); #if E2_ENABLE_PIN > -1 if(!E_ENABLE_ON) WRITE(E2_ENABLE_PIN,HIGH); #endif #endif #ifdef CONTROLLERFAN_PIN SET_OUTPUT(CONTROLLERFAN_PIN); //Set pin used for driver cooling fan #endif // M571 disable, switch off default if (m571_enabled) WRITE(M571_PIN, LOW); // waveform generation = 0100 = CTC TCCR1B &= ~(1<<WGM13); TCCR1B |= (1<<WGM12); TCCR1A &= ~(1<<WGM11); TCCR1A &= ~(1<<WGM10); // output mode = 00 (disconnected) TCCR1A &= ~(3<<COM1A0); TCCR1A &= ~(3<<COM1B0); // Set the timer pre-scaler // Generally we use a divider of 8, resulting in a 2MHz timer // frequency on a 16MHz MCU. If you are going to change this, be // sure to regenerate speed_lookuptable.h with // create_speed_lookuptable.py TCCR1B = (TCCR1B & ~(0x07<<CS10)) | (2<<CS10); OCR1A = 0x4000; TCNT1 = 0; ENABLE_STEPPER_DRIVER_INTERRUPT(); #ifdef ADVANCE #if defined(TCCR0A) && defined(WGM01) TCCR0A &= ~(1<<WGM01); TCCR0A &= ~(1<<WGM00); #endif e_steps[0] = 0; e_steps[1] = 0; e_steps[2] = 0; TIMSK0 |= (1<<OCIE0A); #endif //ADVANCE #ifdef ENDSTOPS_ONLY_FOR_HOMING enable_endstops(false); #else enable_endstops(true); #endif sei(); } // Block until all buffered steps are executed void st_synchronize() { while( blocks_queued()) { manage_heater(); manage_inactivity(1); LCD_STATUS; } } void st_set_position(const long &x, const long &y, const long &z, const long &e) { CRITICAL_SECTION_START; count_position[X_AXIS] = x; count_position[Y_AXIS] = y; count_position[Z_AXIS] = z; count_position[E_AXIS] = e; CRITICAL_SECTION_END; } void st_set_e_position(const long &e) { CRITICAL_SECTION_START; count_position[E_AXIS] = e; CRITICAL_SECTION_END; } long st_get_position(uint8_t axis) { long count_pos; CRITICAL_SECTION_START; count_pos = count_position[axis]; CRITICAL_SECTION_END; return count_pos; } void finishAndDisableSteppers() { st_synchronize(); LCD_MESSAGEPGM(MSG_STEPPER_RELEASED); disable_x(); disable_y(); disable_z(); disable_e0(); disable_e1(); disable_e2(); } void quickStop() { DISABLE_STEPPER_DRIVER_INTERRUPT(); while(blocks_queued()) plan_discard_current_block(); current_block = NULL; // M571 disable, switch off default if (m571_enabled) WRITE(M571_PIN, LOW); ENABLE_STEPPER_DRIVER_INTERRUPT(); }
