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We don't need the old standard one. The STEP_ADD and STEP_IF_COUNTER are also good for non-Toshiba stepper driver.

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Wurstnase 2015-05-07 18:55:47 +02:00
parent 91fa1dea82
commit 073e4af7e2
1 changed files with 22 additions and 47 deletions
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33
Marlin/stepper.cpp
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@ -676,20 +676,13 @@ ISR(TIMER1_COMPA_vect) {
#endif //ADVANCE #endif //ADVANCE
#define _COUNTER(axis) counter_## axis #define _COUNTER(axis) counter_## axis
#define _WRITE_STEP(AXIS, HIGHLOW) AXIS ##_STEP_WRITE(HIGHLOW)
#define _APPLY_STEP(AXIS) AXIS ##_APPLY_STEP #define _APPLY_STEP(AXIS) AXIS ##_APPLY_STEP
#define _INVERT_STEP_PIN(AXIS) INVERT_## AXIS ##_STEP_PIN #define _INVERT_STEP_PIN(AXIS) INVERT_## AXIS ##_STEP_PIN
#ifdef CONFIG_STEPPERS_TOSHIBA
/**
* The Toshiba stepper controller require much longer pulses.
* So we 'stage' decompose the pulses between high and low
* instead of doing each in turn. The extra tests add enough
* lag to allow it work with without needing NOPs
*/
#define STEP_ADD(axis, AXIS) \ #define STEP_ADD(axis, AXIS) \
_COUNTER(axis) += current_block->steps[_AXIS(AXIS)]; \ _COUNTER(axis) += current_block->steps[_AXIS(AXIS)]; \
if (_COUNTER(axis) > 0) { _WRITE_STEP(AXIS, HIGH); } if (_COUNTER(axis) > 0) { _APPLY_STEP(AXIS)(!_INVERT_STEP_PIN(AXIS),0); }
STEP_ADD(x,X); STEP_ADD(x,X);
STEP_ADD(y,Y); STEP_ADD(y,Y);
STEP_ADD(z,Z); STEP_ADD(z,Z);
@ -701,7 +694,7 @@ ISR(TIMER1_COMPA_vect) {
if (_COUNTER(axis) > 0) { \ if (_COUNTER(axis) > 0) { \
_COUNTER(axis) -= current_block->step_event_count; \ _COUNTER(axis) -= current_block->step_event_count; \
count_position[_AXIS(AXIS)] += count_direction[_AXIS(AXIS)]; \ count_position[_AXIS(AXIS)] += count_direction[_AXIS(AXIS)]; \
_WRITE_STEP(AXIS, LOW); \ _APPLY_STEP(AXIS)(_INVERT_STEP_PIN(AXIS),0); \
} }
STEP_IF_COUNTER(x, X); STEP_IF_COUNTER(x, X);
@ -711,25 +704,6 @@ ISR(TIMER1_COMPA_vect) {
STEP_IF_COUNTER(e, E); STEP_IF_COUNTER(e, E);
#endif #endif
#else // !CONFIG_STEPPERS_TOSHIBA
#define APPLY_MOVEMENT(axis, AXIS) \
_COUNTER(axis) += current_block->steps[_AXIS(AXIS)]; \
if (_COUNTER(axis) > 0) { \
_APPLY_STEP(AXIS)(!_INVERT_STEP_PIN(AXIS),0); \
_COUNTER(axis) -= current_block->step_event_count; \
count_position[_AXIS(AXIS)] += count_direction[_AXIS(AXIS)]; \
_APPLY_STEP(AXIS)(_INVERT_STEP_PIN(AXIS),0); \
}
APPLY_MOVEMENT(x, X);
APPLY_MOVEMENT(y, Y);
APPLY_MOVEMENT(z, Z);
#ifndef ADVANCE
APPLY_MOVEMENT(e, E);
#endif
#endif // CONFIG_STEPPERS_TOSHIBA
step_events_completed++; step_events_completed++;
if (step_events_completed >= current_block->step_event_count) break; if (step_events_completed >= current_block->step_event_count) break;
} }
@ -1024,6 +998,7 @@ void st_init() {
#endif #endif
#define _STEP_INIT(AXIS) AXIS ##_STEP_INIT #define _STEP_INIT(AXIS) AXIS ##_STEP_INIT
#define _WRITE_STEP(AXIS, HIGHLOW) AXIS ##_STEP_WRITE(HIGHLOW)
#define _DISABLE(axis) disable_## axis() #define _DISABLE(axis) disable_## axis()
#define AXIS_INIT(axis, AXIS, PIN) \ #define AXIS_INIT(axis, AXIS, PIN) \