From cfc6a3a87a5274dd38165026f24ee245f2bdc030 Mon Sep 17 00:00:00 2001 From: Mehmet Sutas Date: Sat, 7 Mar 2015 22:43:15 +0200 Subject: [PATCH 1/7] Filament Runout Sensor Feature With this change a mechanical or optical switch may be used to check the availability of the filament and when the filament runs out an M600 (filament change) command is issued. This is only done while printing with an SD card. This feature was requested several times (issue #679), but the requests were not accepted since it was believed that this situation should be handled at host side. However during an SD print the control is totally on firmware and I think that during an SD print it should be handled by the firmware. The original code was posted at reprap forum (http://forums.reprap.org/read.php?1,297350) by Lazymonk. I have only corrected some bugs of the code and improved it by adding definitions to the configuration.h in order to make it more standardized. --- Marlin/Configuration.h | 9 +++++++++ Marlin/Marlin.h | 4 ++++ Marlin/Marlin_main.cpp | 36 ++++++++++++++++++++++++++++++++++++ Marlin/pins_RAMPS_13.h | 5 +++++ 4 files changed, 54 insertions(+) diff --git a/Marlin/Configuration.h b/Marlin/Configuration.h index f3723de18c..9d98204886 100644 --- a/Marlin/Configuration.h +++ b/Marlin/Configuration.h @@ -375,6 +375,15 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of #define Y_MAX_LENGTH (Y_MAX_POS - Y_MIN_POS) #define Z_MAX_LENGTH (Z_MAX_POS - Z_MIN_POS) +//=========================================================================== +//============================= Filament Runout Sensor ====================== +//=========================================================================== +//#define FILAMENT_RUNOUT_SENSOR // Uncomment for defining a filament runout sensor such as a mechanical or opto endstop to check the existence of filament + // In RAMPS uses servo pin 2. Can be changed in pins file. For other boards pin definition should be made. + // It is assumed that when logic high = filament available + // when logic low = filament ran out +//const bool FIL_RUNOUT_INVERTING = true; // Should be uncommented and true or false should assigned +//#define ENDSTOPPULLUP_FIL_RUNOUT // Uncomment to use internal pullup for filament runout pins if the sensor is defined. //=========================================================================== //============================= Bed Auto Leveling =========================== diff --git a/Marlin/Marlin.h b/Marlin/Marlin.h index 2a54ac5932..83c80955a9 100644 --- a/Marlin/Marlin.h +++ b/Marlin/Marlin.h @@ -199,6 +199,10 @@ void prepare_move(); void kill(); void Stop(); +#ifdef FILAMENT_RUNOUT_SENSOR +void filrunout(); +#endif + bool IsStopped(); bool enquecommand(const char *cmd); //put a single ASCII command at the end of the current buffer or return false when it is full diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp index b3c1702a56..9ce7611c7e 100644 --- a/Marlin/Marlin_main.cpp +++ b/Marlin/Marlin_main.cpp @@ -366,6 +366,10 @@ bool cancel_heatup = false; int meas_delay_cm = MEASUREMENT_DELAY_CM; //distance delay setting #endif +#ifdef FILAMENT_RUNOUT_SENSOR + static bool filrunoutEnqued = false; +#endif + const char errormagic[] PROGMEM = "Error:"; const char echomagic[] PROGMEM = "echo:"; @@ -525,6 +529,16 @@ void setup_killpin() #endif } +void setup_filrunoutpin() +{ +#if defined(FILRUNOUT_PIN) && FILRUNOUT_PIN > -1 + pinMode(FILRUNOUT_PIN,INPUT); + #if defined(ENDSTOPPULLUP_FIL_RUNOUT) + WRITE(FILLRUNOUT_PIN,HIGH); + #endif +#endif +} + // Set home pin void setup_homepin(void) { @@ -601,6 +615,7 @@ void servo_init() void setup() { setup_killpin(); + setup_filrunoutpin(); setup_powerhold(); MYSERIAL.begin(BAUDRATE); SERIAL_PROTOCOLLNPGM("start"); @@ -4091,6 +4106,11 @@ inline void gcode_M503() { plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], target[E_AXIS], fr60, active_extruder); //move z back plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], lastpos[E_AXIS], fr60, active_extruder); //final untretract #endif + + #ifdef FILAMENT_RUNOUT_SENSOR + filrunoutEnqued = false; + #endif + } #endif // FILAMENTCHANGEENABLE @@ -5230,6 +5250,12 @@ void manage_inactivity(bool ignore_stepper_queue/*=false*/) //default argument s const int KILL_DELAY = 10000; #endif +#if defined(FILRUNOUT_PIN) && FILRUNOUT_PIN > -1 + if(card.sdprinting) { + if(!(READ(FILRUNOUT_PIN))^FIL_RUNOUT_INVERTING) + filrunout(); } +#endif + #if defined(HOME_PIN) && HOME_PIN > -1 static int homeDebounceCount = 0; // poor man's debouncing count const int HOME_DEBOUNCE_DELAY = 10000; @@ -5378,6 +5404,16 @@ void kill() while(1) { /* Intentionally left empty */ } // Wait for reset } +#ifdef FILAMENT_RUNOUT_SENSOR + void filrunout() + { + if filrunoutEnqued == false { + filrunoutEnqued = true; + enquecommand("M600"); + } + } +#endif + void Stop() { disable_heater(); diff --git a/Marlin/pins_RAMPS_13.h b/Marlin/pins_RAMPS_13.h index d85b778656..71287f6832 100644 --- a/Marlin/pins_RAMPS_13.h +++ b/Marlin/pins_RAMPS_13.h @@ -61,6 +61,11 @@ #define FILWIDTH_PIN 5 #endif +#if defined(FILAMENT_RUNOUT_SENSOR) + // define digital pin 4 for the filament runout sensor. Use the RAMPS 1.4 digital input 4 on the servos connector + #define FILRUNOUT_PIN 4 +#endif + #if MB(RAMPS_13_EFB) || MB(RAMPS_13_EFF) #define FAN_PIN 9 // (Sprinter config) #if MB(RAMPS_13_EFF) From 2f3c77b7518f9700e7fe020e356b37432ba383d9 Mon Sep 17 00:00:00 2001 From: alexborro Date: Fri, 13 Mar 2015 14:39:41 -0300 Subject: [PATCH 2/7] Fix decimal places in G29 Bed Equation Coeficients --- Marlin/Marlin_main.cpp | 18 ++++++++++++------ Marlin/vector_3.cpp | 8 ++++---- 2 files changed, 16 insertions(+), 10 deletions(-) diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp index 2feadf243f..6236836ebb 100644 --- a/Marlin/Marlin_main.cpp +++ b/Marlin/Marlin_main.cpp @@ -2015,14 +2015,15 @@ inline void gcode_G28() { if (verbose_level) { SERIAL_PROTOCOLPGM("Eqn coefficients: a: "); - SERIAL_PROTOCOL(plane_equation_coefficients[0] + 0.0001); + SERIAL_PROTOCOL_F(plane_equation_coefficients[0], 8); SERIAL_PROTOCOLPGM(" b: "); - SERIAL_PROTOCOL(plane_equation_coefficients[1] + 0.0001); + SERIAL_PROTOCOL_F(plane_equation_coefficients[1], 8); SERIAL_PROTOCOLPGM(" d: "); - SERIAL_PROTOCOLLN(plane_equation_coefficients[2] + 0.0001); + SERIAL_PROTOCOL_F(plane_equation_coefficients[2], 8); + SERIAL_EOL; if (verbose_level > 2) { SERIAL_PROTOCOLPGM("Mean of sampled points: "); - SERIAL_PROTOCOL_F(mean, 6); + SERIAL_PROTOCOL_F(mean, 8); SERIAL_EOL; } } @@ -2033,15 +2034,20 @@ inline void gcode_G28() { SERIAL_PROTOCOLPGM(" \nBed Height Topography: \n"); #if TOPO_ORIGIN == OriginFrontLeft + SERIAL_PROTOCOLPGM("+-----------+\n"); + SERIAL_PROTOCOLPGM("|...Back....|\n"); + SERIAL_PROTOCOLPGM("|Left..Right|\n"); + SERIAL_PROTOCOLPGM("|...Front...|\n"); + SERIAL_PROTOCOLPGM("+-----------+\n"); for (yy = auto_bed_leveling_grid_points - 1; yy >= 0; yy--) #else for (yy = 0; yy < auto_bed_leveling_grid_points; yy++) #endif { #if TOPO_ORIGIN == OriginBackRight - for (xx = auto_bed_leveling_grid_points - 1; xx >= 0; xx--) - #else for (xx = 0; xx < auto_bed_leveling_grid_points; xx++) + #else + for (xx = auto_bed_leveling_grid_points - 1; xx >= 0; xx--) #endif { int ind = diff --git a/Marlin/vector_3.cpp b/Marlin/vector_3.cpp index 58f3b577fc..2e42da5534 100644 --- a/Marlin/vector_3.cpp +++ b/Marlin/vector_3.cpp @@ -79,11 +79,11 @@ void vector_3::debug(char* title) { SERIAL_PROTOCOL(title); SERIAL_PROTOCOLPGM(" x: "); - SERIAL_PROTOCOL(x); + SERIAL_PROTOCOL_F(x, 6); SERIAL_PROTOCOLPGM(" y: "); - SERIAL_PROTOCOL(y); + SERIAL_PROTOCOL_F(y, 6); SERIAL_PROTOCOLPGM(" z: "); - SERIAL_PROTOCOL(z); + SERIAL_PROTOCOL_F(z, 6); SERIAL_EOL; } @@ -150,7 +150,7 @@ void matrix_3x3::debug(char* title) { int count = 0; for(int i=0; i<3; i++) { for(int j=0; j<3; j++) { - SERIAL_PROTOCOL(matrix[count] + 0.0001); + SERIAL_PROTOCOL_F(matrix[count], 6); SERIAL_PROTOCOLPGM(" "); count++; } From 3d6deb9bdf0aa8e599413385b62910f109d773f1 Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Fri, 13 Mar 2015 19:49:41 -0700 Subject: [PATCH 3/7] Simplify manage_heater - Make separate get_pid_output(e) and get_pid_output_bed() function - Reduce size of manage_heater function - Hopefully work around linker errors --- Marlin/temperature.cpp | 190 +++++++++++++++++++++-------------------- 1 file changed, 98 insertions(+), 92 deletions(-) diff --git a/Marlin/temperature.cpp b/Marlin/temperature.cpp index 4d01c701cc..69b74dc0db 100644 --- a/Marlin/temperature.cpp +++ b/Marlin/temperature.cpp @@ -75,6 +75,10 @@ //============================= public variables ============================ //=========================================================================== +#ifdef K1 // Defined in Configuration.h in the PID settings + #define K2 (1.0-K1) +#endif + // Sampling period of the temperature routine #ifdef PID_dT #undef PID_dT @@ -546,12 +550,102 @@ void bed_max_temp_error(void) { _temp_error(-1, MSG_MAXTEMP_BED_OFF, MSG_ERR_MAXTEMP_BED); } +float get_pid_output(int e) { + float pid_output; + #ifdef PIDTEMP + #ifndef PID_OPENLOOP + pid_error[e] = target_temperature[e] - current_temperature[e]; + if (pid_error[e] > PID_FUNCTIONAL_RANGE) { + pid_output = BANG_MAX; + pid_reset[e] = true; + } + else if (pid_error[e] < -PID_FUNCTIONAL_RANGE || target_temperature[e] == 0) { + pid_output = 0; + pid_reset[e] = true; + } + else { + if (pid_reset[e]) { + temp_iState[e] = 0.0; + pid_reset[e] = false; + } + pTerm[e] = PID_PARAM(Kp,e) * pid_error[e]; + temp_iState[e] += pid_error[e]; + temp_iState[e] = constrain(temp_iState[e], temp_iState_min[e], temp_iState_max[e]); + iTerm[e] = PID_PARAM(Ki,e) * temp_iState[e]; + + dTerm[e] = K2 * PID_PARAM(Kd,e) * (current_temperature[e] - temp_dState[e]) + K1 * dTerm[e]; + pid_output = pTerm[e] + iTerm[e] - dTerm[e]; + if (pid_output > PID_MAX) { + if (pid_error[e] > 0) temp_iState[e] -= pid_error[e]; // conditional un-integration + pid_output = PID_MAX; + } + else if (pid_output < 0) { + if (pid_error[e] < 0) temp_iState[e] -= pid_error[e]; // conditional un-integration + pid_output = 0; + } + } + temp_dState[e] = current_temperature[e]; + #else + pid_output = constrain(target_temperature[e], 0, PID_MAX); + #endif //PID_OPENLOOP + + #ifdef PID_DEBUG + SERIAL_ECHO_START; + SERIAL_ECHO(MSG_PID_DEBUG); + SERIAL_ECHO(e); + SERIAL_ECHO(MSG_PID_DEBUG_INPUT); + SERIAL_ECHO(current_temperature[e]); + SERIAL_ECHO(MSG_PID_DEBUG_OUTPUT); + SERIAL_ECHO(pid_output); + SERIAL_ECHO(MSG_PID_DEBUG_PTERM); + SERIAL_ECHO(pTerm[e]); + SERIAL_ECHO(MSG_PID_DEBUG_ITERM); + SERIAL_ECHO(iTerm[e]); + SERIAL_ECHO(MSG_PID_DEBUG_DTERM); + SERIAL_ECHOLN(dTerm[e]); + #endif //PID_DEBUG + + #else /* PID off */ + pid_output = (current_temperature[e] < target_temperature[e]) ? PID_MAX : 0; + #endif + + return pid_output; +} + +#ifdef PIDTEMPBED + float get_pid_output_bed() { + float pid_output; + #ifndef PID_OPENLOOP + pid_error_bed = target_temperature_bed - current_temperature_bed; + pTerm_bed = bedKp * pid_error_bed; + temp_iState_bed += pid_error_bed; + temp_iState_bed = constrain(temp_iState_bed, temp_iState_min_bed, temp_iState_max_bed); + iTerm_bed = bedKi * temp_iState_bed; + + dTerm_bed = K2 * bedKd * (current_temperature_bed - temp_dState_bed) + K1 * dTerm_bed; + temp_dState_bed = current_temperature_bed; + + pid_output = pTerm_bed + iTerm_bed - dTerm_bed; + if (pid_output > MAX_BED_POWER) { + if (pid_error_bed > 0) temp_iState_bed -= pid_error_bed; // conditional un-integration + pid_output = MAX_BED_POWER; + } + else if (pid_output < 0) { + if (pid_error_bed < 0) temp_iState_bed -= pid_error_bed; // conditional un-integration + pid_output = 0; + } + #else + pid_output = constrain(target_temperature_bed, 0, MAX_BED_POWER); + #endif // PID_OPENLOOP + + return pid_output; + } +#endif + void manage_heater() { if (!temp_meas_ready) return; - float pid_input, pid_output; - updateTemperaturesFromRawValues(); #ifdef HEATER_0_USES_MAX6675 @@ -569,69 +663,7 @@ void manage_heater() { thermal_runaway_protection(&thermal_runaway_state_machine[e], &thermal_runaway_timer[e], current_temperature[e], target_temperature[e], e, THERMAL_RUNAWAY_PROTECTION_PERIOD, THERMAL_RUNAWAY_PROTECTION_HYSTERESIS); #endif - #ifdef PIDTEMP - pid_input = current_temperature[e]; - - #ifndef PID_OPENLOOP - pid_error[e] = target_temperature[e] - pid_input; - if (pid_error[e] > PID_FUNCTIONAL_RANGE) { - pid_output = BANG_MAX; - pid_reset[e] = true; - } - else if (pid_error[e] < -PID_FUNCTIONAL_RANGE || target_temperature[e] == 0) { - pid_output = 0; - pid_reset[e] = true; - } - else { - if (pid_reset[e] == true) { - temp_iState[e] = 0.0; - pid_reset[e] = false; - } - pTerm[e] = PID_PARAM(Kp,e) * pid_error[e]; - temp_iState[e] += pid_error[e]; - temp_iState[e] = constrain(temp_iState[e], temp_iState_min[e], temp_iState_max[e]); - iTerm[e] = PID_PARAM(Ki,e) * temp_iState[e]; - - //K1 defined in Configuration.h in the PID settings - #define K2 (1.0-K1) - dTerm[e] = (PID_PARAM(Kd,e) * (pid_input - temp_dState[e])) * K2 + (K1 * dTerm[e]); - pid_output = pTerm[e] + iTerm[e] - dTerm[e]; - if (pid_output > PID_MAX) { - if (pid_error[e] > 0) temp_iState[e] -= pid_error[e]; // conditional un-integration - pid_output = PID_MAX; - } - else if (pid_output < 0) { - if (pid_error[e] < 0) temp_iState[e] -= pid_error[e]; // conditional un-integration - pid_output = 0; - } - } - temp_dState[e] = pid_input; - #else - pid_output = constrain(target_temperature[e], 0, PID_MAX); - #endif //PID_OPENLOOP - - #ifdef PID_DEBUG - SERIAL_ECHO_START; - SERIAL_ECHO(MSG_PID_DEBUG); - SERIAL_ECHO(e); - SERIAL_ECHO(MSG_PID_DEBUG_INPUT); - SERIAL_ECHO(pid_input); - SERIAL_ECHO(MSG_PID_DEBUG_OUTPUT); - SERIAL_ECHO(pid_output); - SERIAL_ECHO(MSG_PID_DEBUG_PTERM); - SERIAL_ECHO(pTerm[e]); - SERIAL_ECHO(MSG_PID_DEBUG_ITERM); - SERIAL_ECHO(iTerm[e]); - SERIAL_ECHO(MSG_PID_DEBUG_DTERM); - SERIAL_ECHOLN(dTerm[e]); - #endif //PID_DEBUG - - #else /* PID off */ - - pid_output = 0; - if (current_temperature[e] < target_temperature[e]) pid_output = PID_MAX; - - #endif + float pid_output = get_pid_output(e); // Check if temperature is within the correct range soft_pwm[e] = current_temperature[e] > minttemp[e] && current_temperature[e] < maxttemp[e] ? (int)pid_output >> 1 : 0; @@ -678,33 +710,7 @@ void manage_heater() { #endif #ifdef PIDTEMPBED - pid_input = current_temperature_bed; - - #ifndef PID_OPENLOOP - pid_error_bed = target_temperature_bed - pid_input; - pTerm_bed = bedKp * pid_error_bed; - temp_iState_bed += pid_error_bed; - temp_iState_bed = constrain(temp_iState_bed, temp_iState_min_bed, temp_iState_max_bed); - iTerm_bed = bedKi * temp_iState_bed; - - //K1 defined in Configuration.h in the PID settings - #define K2 (1.0-K1) - dTerm_bed = (bedKd * (pid_input - temp_dState_bed))*K2 + (K1 * dTerm_bed); - temp_dState_bed = pid_input; - - pid_output = pTerm_bed + iTerm_bed - dTerm_bed; - if (pid_output > MAX_BED_POWER) { - if (pid_error_bed > 0) temp_iState_bed -= pid_error_bed; // conditional un-integration - pid_output = MAX_BED_POWER; - } - else if (pid_output < 0) { - if (pid_error_bed < 0) temp_iState_bed -= pid_error_bed; // conditional un-integration - pid_output = 0; - } - - #else - pid_output = constrain(target_temperature_bed, 0, MAX_BED_POWER); - #endif //PID_OPENLOOP + pid_output = get_pid_output_bed(); soft_pwm_bed = current_temperature_bed > BED_MINTEMP && current_temperature_bed < BED_MAXTEMP ? (int)pid_output >> 1 : 0; From cb57fc727dedbf6589251876790f18a4a394bd42 Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Fri, 13 Mar 2015 20:19:51 -0700 Subject: [PATCH 4/7] Declare pid_output for PIDBEDTEMP --- Marlin/temperature.cpp | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/Marlin/temperature.cpp b/Marlin/temperature.cpp index 69b74dc0db..f6353fcfd6 100644 --- a/Marlin/temperature.cpp +++ b/Marlin/temperature.cpp @@ -131,8 +131,6 @@ static volatile bool temp_meas_ready = false; static float pid_error[EXTRUDERS]; static float temp_iState_min[EXTRUDERS]; static float temp_iState_max[EXTRUDERS]; - // static float pid_input[EXTRUDERS]; - // static float pid_output[EXTRUDERS]; static bool pid_reset[EXTRUDERS]; #endif //PIDTEMP #ifdef PIDTEMPBED @@ -710,7 +708,7 @@ void manage_heater() { #endif #ifdef PIDTEMPBED - pid_output = get_pid_output_bed(); + float pid_output = get_pid_output_bed(); soft_pwm_bed = current_temperature_bed > BED_MINTEMP && current_temperature_bed < BED_MAXTEMP ? (int)pid_output >> 1 : 0; From c37f7d15c9901fa839eb3dc16e84202d959965e8 Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Sat, 14 Mar 2015 04:28:22 -0700 Subject: [PATCH 5/7] - Rename WRITE_E_STEP for consistency - Add BIT and TEST macros - Add _APPLY_ macros to stepper.cpp to help with consolidation - Consolidate code in stepper.cpp using macros - Apply standards in stepper.cpp - Use >= 0 instead of > -1 as a better semantic - Replace DUAL_Y_CARRIAGE with Y_DUAL_STEPPER_DRIVERS --- Marlin/Marlin.h | 3 + Marlin/Marlin.ino | 4 +- Marlin/Marlin.pde | 4 +- Marlin/MarlinSerial.cpp | 2 +- Marlin/MarlinSerial.h | 4 +- Marlin/Marlin_main.cpp | 12 +- Marlin/Sd2Card.cpp | 18 +- Marlin/Sd2PinMap.h | 8 +- Marlin/SdBaseFile.h | 4 +- Marlin/SdVolume.cpp | 2 +- Marlin/dogm_lcd_implementation.h | 6 +- Marlin/fastio.h | 3 +- Marlin/pins.h | 2 + Marlin/planner.cpp | 22 +- Marlin/stepper.cpp | 1280 +++++++---------- Marlin/stepper.h | 10 +- Marlin/temperature.cpp | 32 +- Marlin/ultralcd.cpp | 4 +- Marlin/ultralcd.h | 38 +- .../ultralcd_implementation_hitachi_HD44780.h | 34 +- 20 files changed, 640 insertions(+), 852 deletions(-) diff --git a/Marlin/Marlin.h b/Marlin/Marlin.h index a8611f197a..e5962ac941 100644 --- a/Marlin/Marlin.h +++ b/Marlin/Marlin.h @@ -32,6 +32,9 @@ #include "WProgram.h" #endif +#define BIT(b) (1<<(b)) +#define TEST(n,b) ((n)&BIT(b)!=0) + // Arduino < 1.0.0 does not define this, so we need to do it ourselves #ifndef analogInputToDigitalPin #define analogInputToDigitalPin(p) ((p) + 0xA0) diff --git a/Marlin/Marlin.ino b/Marlin/Marlin.ino index 7b0c790694..402edcd8a8 100644 --- a/Marlin/Marlin.ino +++ b/Marlin/Marlin.ino @@ -47,8 +47,8 @@ #endif #endif -#if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1 -#include +#if HAS_DIGIPOTSS + #include #endif #if defined(DIGIPOT_I2C) diff --git a/Marlin/Marlin.pde b/Marlin/Marlin.pde index 79c934bf0f..9eae6d440e 100644 --- a/Marlin/Marlin.pde +++ b/Marlin/Marlin.pde @@ -47,8 +47,8 @@ #endif #endif -#if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1 -#include +#if HAS_DIGIPOTSS + #include #endif #if defined(DIGIPOT_I2C) diff --git a/Marlin/MarlinSerial.cpp b/Marlin/MarlinSerial.cpp index 7aef2291da..d8477b6db1 100644 --- a/Marlin/MarlinSerial.cpp +++ b/Marlin/MarlinSerial.cpp @@ -76,7 +76,7 @@ void MarlinSerial::begin(long baud) { #endif if (useU2X) { - M_UCSRxA = 1 << M_U2Xx; + M_UCSRxA = BIT(M_U2Xx); baud_setting = (F_CPU / 4 / baud - 1) / 2; } else { M_UCSRxA = 0; diff --git a/Marlin/MarlinSerial.h b/Marlin/MarlinSerial.h index f836872b81..b56880c23f 100644 --- a/Marlin/MarlinSerial.h +++ b/Marlin/MarlinSerial.h @@ -97,14 +97,14 @@ class MarlinSerial { //: public Stream } FORCE_INLINE void write(uint8_t c) { - while (!((M_UCSRxA) & (1 << M_UDREx))) + while (!TEST(M_UCSRxA, M_UDREx)) ; M_UDRx = c; } FORCE_INLINE void checkRx(void) { - if ((M_UCSRxA & (1< -1 +#if HAS_DIGIPOTSS #include #endif @@ -4190,7 +4190,7 @@ inline void gcode_M503() { * M907: Set digital trimpot motor current using axis codes X, Y, Z, E, B, S */ inline void gcode_M907() { - #if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1 + #if HAS_DIGIPOTSS for (int i=0;i -1 +#if HAS_DIGIPOTSS /** * M908: Control digital trimpot directly (M908 P S) @@ -4225,7 +4225,7 @@ inline void gcode_M907() { ); } -#endif // DIGIPOTSS_PIN +#endif // HAS_DIGIPOTSS // M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers. inline void gcode_M350() { @@ -4812,11 +4812,11 @@ void process_commands() { gcode_M907(); break; - #if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1 + #if HAS_DIGIPOTSS case 908: // M908 Control digital trimpot directly. gcode_M908(); break; - #endif // DIGIPOTSS_PIN + #endif // HAS_DIGIPOTSS case 350: // M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers. gcode_M350(); diff --git a/Marlin/Sd2Card.cpp b/Marlin/Sd2Card.cpp index 69ae777358..1182c99628 100644 --- a/Marlin/Sd2Card.cpp +++ b/Marlin/Sd2Card.cpp @@ -35,14 +35,14 @@ */ static void spiInit(uint8_t spiRate) { // See avr processor documentation - SPCR = (1 << SPE) | (1 << MSTR) | (spiRate >> 1); - SPSR = spiRate & 1 || spiRate == 6 ? 0 : 1 << SPI2X; + SPCR = BIT(SPE) | BIT(MSTR) | (spiRate >> 1); + SPSR = spiRate & 1 || spiRate == 6 ? 0 : BIT(SPI2X); } //------------------------------------------------------------------------------ /** SPI receive a byte */ static uint8_t spiRec() { SPDR = 0XFF; - while (!(SPSR & (1 << SPIF))) { /* Intentionally left empty */ } + while (!TEST(SPSR, SPIF)) { /* Intentionally left empty */ } return SPDR; } //------------------------------------------------------------------------------ @@ -52,18 +52,18 @@ void spiRead(uint8_t* buf, uint16_t nbyte) { if (nbyte-- == 0) return; SPDR = 0XFF; for (uint16_t i = 0; i < nbyte; i++) { - while (!(SPSR & (1 << SPIF))) { /* Intentionally left empty */ } + while (!TEST(SPSR, SPIF)) { /* Intentionally left empty */ } buf[i] = SPDR; SPDR = 0XFF; } - while (!(SPSR & (1 << SPIF))) { /* Intentionally left empty */ } + while (!TEST(SPSR, SPIF)) { /* Intentionally left empty */ } buf[nbyte] = SPDR; } //------------------------------------------------------------------------------ /** SPI send a byte */ static void spiSend(uint8_t b) { SPDR = b; - while (!(SPSR & (1 << SPIF))) { /* Intentionally left empty */ } + while (!TEST(SPSR, SPIF)) { /* Intentionally left empty */ } } //------------------------------------------------------------------------------ /** SPI send block - only one call so force inline */ @@ -71,12 +71,12 @@ static inline __attribute__((always_inline)) void spiSendBlock(uint8_t token, const uint8_t* buf) { SPDR = token; for (uint16_t i = 0; i < 512; i += 2) { - while (!(SPSR & (1 << SPIF))) { /* Intentionally left empty */ } + while (!TEST(SPSR, SPIF)) { /* Intentionally left empty */ } SPDR = buf[i]; - while (!(SPSR & (1 << SPIF))) { /* Intentionally left empty */ } + while (!TEST(SPSR, SPIF)) { /* Intentionally left empty */ } SPDR = buf[i + 1]; } - while (!(SPSR & (1 << SPIF))) { /* Intentionally left empty */ } + while (!TEST(SPSR, SPIF)) { /* Intentionally left empty */ } } //------------------------------------------------------------------------------ #else // SOFTWARE_SPI diff --git a/Marlin/Sd2PinMap.h b/Marlin/Sd2PinMap.h index 93ab943cef..0556bd301c 100644 --- a/Marlin/Sd2PinMap.h +++ b/Marlin/Sd2PinMap.h @@ -334,9 +334,9 @@ static inline __attribute__((always_inline)) void setPinMode(uint8_t pin, uint8_t mode) { if (__builtin_constant_p(pin) && pin < digitalPinCount) { if (mode) { - *digitalPinMap[pin].ddr |= 1 << digitalPinMap[pin].bit; + *digitalPinMap[pin].ddr |= BIT(digitalPinMap[pin].bit); } else { - *digitalPinMap[pin].ddr &= ~(1 << digitalPinMap[pin].bit); + *digitalPinMap[pin].ddr &= ~BIT(digitalPinMap[pin].bit); } } else { badPinNumber(); @@ -354,9 +354,9 @@ static inline __attribute__((always_inline)) void fastDigitalWrite(uint8_t pin, uint8_t value) { if (__builtin_constant_p(pin) && pin < digitalPinCount) { if (value) { - *digitalPinMap[pin].port |= 1 << digitalPinMap[pin].bit; + *digitalPinMap[pin].port |= BIT(digitalPinMap[pin].bit); } else { - *digitalPinMap[pin].port &= ~(1 << digitalPinMap[pin].bit); + *digitalPinMap[pin].port &= ~BIT(digitalPinMap[pin].bit); } } else { badPinNumber(); diff --git a/Marlin/SdBaseFile.h b/Marlin/SdBaseFile.h index dea299a646..b0e77ecb48 100644 --- a/Marlin/SdBaseFile.h +++ b/Marlin/SdBaseFile.h @@ -171,9 +171,9 @@ static inline uint8_t FAT_SECOND(uint16_t fatTime) { return 2*(fatTime & 0X1F); } /** Default date for file timestamps is 1 Jan 2000 */ -uint16_t const FAT_DEFAULT_DATE = ((2000 - 1980) << 9) | (1 << 5) | 1; +uint16_t const FAT_DEFAULT_DATE = ((2000 - 1980) << 9) | BIT(5) | 1; /** Default time for file timestamp is 1 am */ -uint16_t const FAT_DEFAULT_TIME = (1 << 11); +uint16_t const FAT_DEFAULT_TIME = BIT(11); //------------------------------------------------------------------------------ /** * \class SdBaseFile diff --git a/Marlin/SdVolume.cpp b/Marlin/SdVolume.cpp index f14d7bc70b..6297e2a7bd 100644 --- a/Marlin/SdVolume.cpp +++ b/Marlin/SdVolume.cpp @@ -360,7 +360,7 @@ bool SdVolume::init(Sd2Card* dev, uint8_t part) { blocksPerCluster_ = fbs->sectorsPerCluster; // determine shift that is same as multiply by blocksPerCluster_ clusterSizeShift_ = 0; - while (blocksPerCluster_ != (1 << clusterSizeShift_)) { + while (blocksPerCluster_ != BIT(clusterSizeShift_)) { // error if not power of 2 if (clusterSizeShift_++ > 7) goto fail; } diff --git a/Marlin/dogm_lcd_implementation.h b/Marlin/dogm_lcd_implementation.h index 4e2a567fff..c1b5d2b826 100644 --- a/Marlin/dogm_lcd_implementation.h +++ b/Marlin/dogm_lcd_implementation.h @@ -24,9 +24,9 @@ #define BLEN_A 0 #define BLEN_B 1 #define BLEN_C 2 - #define EN_A (1<= 0) + #endif //__PINS_H diff --git a/Marlin/planner.cpp b/Marlin/planner.cpp index 999716612b..9bcad5661d 100644 --- a/Marlin/planner.cpp +++ b/Marlin/planner.cpp @@ -59,7 +59,7 @@ #include "language.h" //=========================================================================== -//=============================public variables ============================ +//============================= public variables ============================ //=========================================================================== unsigned long minsegmenttime; @@ -623,37 +623,37 @@ block->steps_y = labs((target[X_AXIS]-position[X_AXIS]) - (target[Y_AXIS]-positi #ifndef COREXY if (target[X_AXIS] < position[X_AXIS]) { - block->direction_bits |= (1<direction_bits |= BIT(X_AXIS); } if (target[Y_AXIS] < position[Y_AXIS]) { - block->direction_bits |= (1<direction_bits |= BIT(Y_AXIS); } #else if (target[X_AXIS] < position[X_AXIS]) { - block->direction_bits |= (1<direction_bits |= BIT(X_HEAD); //AlexBorro: Save the real Extruder (head) direction in X Axis } if (target[Y_AXIS] < position[Y_AXIS]) { - block->direction_bits |= (1<direction_bits |= BIT(Y_HEAD); //AlexBorro: Save the real Extruder (head) direction in Y Axis } if ((target[X_AXIS]-position[X_AXIS]) + (target[Y_AXIS]-position[Y_AXIS]) < 0) { - block->direction_bits |= (1<direction_bits |= BIT(X_AXIS); //AlexBorro: Motor A direction (Incorrectly implemented as X_AXIS) } if ((target[X_AXIS]-position[X_AXIS]) - (target[Y_AXIS]-position[Y_AXIS]) < 0) { - block->direction_bits |= (1<direction_bits |= BIT(Y_AXIS); //AlexBorro: Motor B direction (Incorrectly implemented as Y_AXIS) } #endif if (target[Z_AXIS] < position[Z_AXIS]) { - block->direction_bits |= (1<direction_bits |= BIT(Z_AXIS); } if (target[E_AXIS] < position[E_AXIS]) { - block->direction_bits |= (1<direction_bits |= BIT(E_AXIS); } block->active_extruder = extruder; @@ -864,7 +864,7 @@ Having the real displacement of the head, we can calculate the total movement le old_direction_bits = block->direction_bits; segment_time = lround((float)segment_time / speed_factor); - if((direction_change & (1< -1 -#include +#if HAS_DIGIPOTSS + #include #endif //=========================================================================== -//=============================public variables ============================ +//============================= public variables ============================ //=========================================================================== block_t *current_block; // A pointer to the block currently being traced //=========================================================================== -//=============================private variables ============================ +//============================= private variables =========================== //=========================================================================== //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 long counter_x, // Counter variables for the bresenham line tracer - counter_y, - counter_z, - counter_e; + +// Counter variables for the bresenham line tracer +static long counter_x, 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; static long e_steps[4]; #endif + 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 @@ -63,161 +64,198 @@ static char step_loops; static unsigned short OCR1A_nominal; static unsigned short step_loops_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 volatile bool endstop_z_hit=false; +volatile long endstops_trigsteps[3] = { 0 }; +volatile long endstops_stepsTotal, endstops_stepsDone; +static volatile bool endstop_x_hit = false; +static volatile bool endstop_y_hit = false; +static volatile bool endstop_z_hit = false; + #ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED -bool abort_on_endstop_hit = false; + bool abort_on_endstop_hit = false; #endif + #ifdef MOTOR_CURRENT_PWM_XY_PIN int motor_current_setting[3] = DEFAULT_PWM_MOTOR_CURRENT; #endif -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_min_endstop=false; -static bool old_z_max_endstop=false; +static bool old_x_min_endstop = false, + old_x_max_endstop = false, + old_y_min_endstop = false, + old_y_max_endstop = false, + old_z_min_endstop = false, + old_z_max_endstop = false; static bool check_endstops = true; -volatile long count_position[NUM_AXIS] = { 0, 0, 0, 0}; -volatile signed char count_direction[NUM_AXIS] = { 1, 1, 1, 1}; +volatile long count_position[NUM_AXIS] = { 0 }; +volatile signed char count_direction[NUM_AXIS] = { 1 }; //=========================================================================== -//=============================functions ============================ +//================================ functions ================================ //=========================================================================== -#define CHECK_ENDSTOPS if(check_endstops) +#ifdef DUAL_X_CARRIAGE + #define X_APPLY_DIR(v,ALWAYS) \ + if (extruder_duplication_enabled || ALWAYS) { \ + X_DIR_WRITE(v); \ + X2_DIR_WRITE(v); \ + } \ + else{ \ + if (current_block->active_extruder) \ + X2_DIR_WRITE(v); \ + else \ + X_DIR_WRITE(v); \ + } + #define X_APPLY_STEP(v,ALWAYS) \ + if (extruder_duplication_enabled || ALWAYS) { \ + X_STEP_WRITE(v); \ + X2_STEP_WRITE(v); \ + } \ + else { \ + if (current_block->active_extruder != 0) \ + X2_STEP_WRITE(v); \ + else \ + X_STEP_WRITE(v); \ + } +#else + #define X_APPLY_DIR(v) X_DIR_WRITE(v) + #define X_APPLY_STEP(v) X_STEP_WRITE(v) +#endif + +#ifdef Y_DUAL_STEPPER_DRIVERS + #define Y_APPLY_DIR(v) Y_DIR_WRITE(v), Y2_DIR_WRITE((v) != INVERT_Y2_VS_Y_DIR) + #define Y_APPLY_STEP(v) Y_STEP_WRITE(v), Y2_STEP_WRITE(v) +#else + #define Y_APPLY_DIR(v) Y_DIR_WRITE(v) + #define Y_APPLY_STEP(v) Y_STEP_WRITE(v) +#endif + +#ifdef Z_DUAL_STEPPER_DRIVERS + #define Z_APPLY_DIR(v) Z_DIR_WRITE(v), Z2_DIR_WRITE(v) + #define Z_APPLY_STEP(v) Z_STEP_WRITE(v), Z2_STEP_WRITE(v) +#else + #define Z_APPLY_DIR(v) Z_DIR_WRITE(v) + #define Z_APPLY_STEP(v) Z_STEP_WRITE(v) +#endif + +#define E_APPLY_STEP(v) E_STEP_WRITE(v) // 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" \ -) + 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" \ -) + 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< MAX_STEP_FREQUENCY) step_rate = MAX_STEP_FREQUENCY; + 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; + 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; + 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 + 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); @@ -271,7 +309,7 @@ FORCE_INLINE unsigned short calc_timer(unsigned short step_rate) { 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_TOO_HIGH); MYSERIAL.println(step_rate); }//(20kHz this should never happen) + if (timer < 100) { timer = 100; MYSERIAL.print(MSG_STEPPER_TOO_HIGH); MYSERIAL.println(step_rate); }//(20kHz this should never happen) return timer; } @@ -294,49 +332,45 @@ FORCE_INLINE void trapezoid_generator_reset() { acceleration_time = calc_timer(acc_step_rate); OCR1A = acceleration_time; -// 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); - + // 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) -{ +ISR(TIMER1_COMPA_vect) { // If there is no current block, attempt to pop one from the buffer - if (current_block == NULL) { + if (!current_block) { // Anything in the buffer? current_block = plan_get_current_block(); - if (current_block != NULL) { + if (current_block) { current_block->busy = true; trapezoid_generator_reset(); counter_x = -(current_block->step_event_count >> 1); - counter_y = counter_x; - counter_z = counter_x; - counter_e = counter_x; + counter_y = counter_z = counter_e = counter_x; step_events_completed = 0; #ifdef Z_LATE_ENABLE - if(current_block->steps_z > 0) { + if (current_block->steps_z > 0) { enable_z(); OCR1A = 2000; //1ms wait return; } #endif -// #ifdef ADVANCE -// e_steps[current_block->active_extruder] = 0; -// #endif + // #ifdef ADVANCE + // e_steps[current_block->active_extruder] = 0; + // #endif } else { - OCR1A=2000; // 1kHz. + OCR1A = 2000; // 1kHz. } } @@ -344,186 +378,114 @@ ISR(TIMER1_COMPA_vect) // 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((out_bits & (1<active_extruder != 0) - X2_DIR_WRITE(INVERT_X_DIR); - else - X_DIR_WRITE(INVERT_X_DIR); - } - #else - X_DIR_WRITE(INVERT_X_DIR); - #endif - count_direction[X_AXIS]=-1; + if (TEST(out_bits, X_AXIS)) { + X_APPLY_DIR(INVERT_X_DIR); + count_direction[X_AXIS] = -1; } - else{ - #ifdef DUAL_X_CARRIAGE - if (extruder_duplication_enabled){ - X_DIR_WRITE(!INVERT_X_DIR); - X2_DIR_WRITE( !INVERT_X_DIR); - } - else{ - if (current_block->active_extruder != 0) - X2_DIR_WRITE(!INVERT_X_DIR); - else - X_DIR_WRITE(!INVERT_X_DIR); - } - #else - X_DIR_WRITE(!INVERT_X_DIR); - #endif - count_direction[X_AXIS]=1; - } - if((out_bits & (1<steps_x == current_block->steps_y) && ((out_bits & (1<>X_AXIS != (out_bits & (1<>Y_AXIS))) // AlexBorro: If DeltaX == -DeltaY, the movement is only in Y axis - if ((out_bits & (1<steps_## axis > 0)) { \ + endstops_trigsteps[AXIS ##_AXIS] = count_position[AXIS ##_AXIS]; \ + endstop_## axis ##_hit = true; \ + step_events_completed = current_block->step_event_count; \ + } \ + old_## axis ##_## minmax ##_endstop = axis ##_## minmax ##_endstop; + + // Check X and Y endstops + if (check_endstops) { + #ifndef COREXY + if (TEST(out_bits, X_AXIS)) // stepping along -X axis (regular cartesians bot) + #else + // Head direction in -X axis for CoreXY bots. + // If DeltaX == -DeltaY, the movement is only in Y axis + if (TEST(out_bits, X_HEAD) && (current_block->steps_x != current_block->steps_y || (TEST(out_bits, X_AXIS) == TEST(out_bits, Y_AXIS)))) + #endif { // -direction - #ifdef DUAL_X_CARRIAGE + #ifdef DUAL_X_CARRIAGE // with 2 x-carriages, endstops are only checked in the homing direction for the active extruder if ((current_block->active_extruder == 0 && X_HOME_DIR == -1) || (current_block->active_extruder != 0 && X2_HOME_DIR == -1)) - #endif + #endif { - #if defined(X_MIN_PIN) && X_MIN_PIN > -1 - bool x_min_endstop=(READ(X_MIN_PIN) != X_MIN_ENDSTOP_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 + #if defined(X_MIN_PIN) && X_MIN_PIN >= 0 + UPDATE_ENDSTOP(x, X, min, MIN); + #endif } } - else - { // +direction - #ifdef DUAL_X_CARRIAGE + else { // +direction + #ifdef DUAL_X_CARRIAGE // with 2 x-carriages, endstops are only checked in the homing direction for the active extruder if ((current_block->active_extruder == 0 && X_HOME_DIR == 1) || (current_block->active_extruder != 0 && X2_HOME_DIR == 1)) - #endif + #endif { - #if defined(X_MAX_PIN) && X_MAX_PIN > -1 - bool x_max_endstop=(READ(X_MAX_PIN) != X_MAX_ENDSTOP_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 defined(X_MAX_PIN) && X_MAX_PIN >= 0 + UPDATE_ENDSTOP(x, X, max, MAX); + #endif } } #ifndef COREXY - if ((out_bits & (1<steps_x == current_block->steps_y) && ((out_bits & (1<>X_AXIS == (out_bits & (1<>Y_AXIS))) // AlexBorro: If DeltaX == DeltaY, the movement is only in X axis - if ((out_bits & (1<steps_x != current_block->steps_y || (TEST(out_bits, X_AXIS) != TEST(out_bits, Y_AXIS)))) #endif { // -direction - #if defined(Y_MIN_PIN) && Y_MIN_PIN > -1 - bool y_min_endstop=(READ(Y_MIN_PIN) != Y_MIN_ENDSTOP_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 + #if defined(Y_MIN_PIN) && Y_MIN_PIN >= 0 + UPDATE_ENDSTOP(y, Y, min, MIN); + #endif } - else - { // +direction - #if defined(Y_MAX_PIN) && Y_MAX_PIN > -1 - bool y_max_endstop=(READ(Y_MAX_PIN) != Y_MAX_ENDSTOP_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 - + else { // +direction + #if defined(Y_MAX_PIN) && Y_MAX_PIN >= 0 + UPDATE_ENDSTOP(y, Y, max, MAX); + #endif } } - if ((out_bits & (1< -1 - bool z_min_endstop=(READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_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; + count_direction[Z_AXIS] = -1; + if (check_endstops) { + #if defined(Z_MIN_PIN) && Z_MIN_PIN >= 0 + UPDATE_ENDSTOP(z, Z, min, MIN); #endif } } else { // +direction Z_DIR_WRITE(!INVERT_Z_DIR); - #ifdef Z_DUAL_STEPPER_DRIVERS Z2_DIR_WRITE(!INVERT_Z_DIR); #endif - count_direction[Z_AXIS]=1; - CHECK_ENDSTOPS - { - #if defined(Z_MAX_PIN) && Z_MAX_PIN > -1 - bool z_max_endstop=(READ(Z_MAX_PIN) != Z_MAX_ENDSTOP_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; + count_direction[Z_AXIS] = 1; + if (check_endstops) { + #if defined(Z_MAX_PIN) && Z_MAX_PIN >= 0 + UPDATE_ENDSTOP(z, Z, max, MAX); #endif } } #ifndef ADVANCE - if ((out_bits & (1<steps_e; - if (counter_e > 0) { - counter_e -= current_block->step_event_count; - if ((out_bits & (1<active_extruder]--; + counter_e += current_block->steps_e; + if (counter_e > 0) { + counter_e -= current_block->step_event_count; + e_steps[current_block->active_extruder] += TEST(out_bits, E_AXIS) ? -1 : 1; } - else { - e_steps[current_block->active_extruder]++; - } - } #endif //ADVANCE - counter_x += current_block->steps_x; - -#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 - */ - if (counter_x > 0) X_STEP_WRITE(HIGH); - - counter_y += current_block->steps_y; - if (counter_y > 0) Y_STEP_WRITE(HIGH); - - counter_z += current_block->steps_z; - if (counter_z > 0) Z_STEP_WRITE(HIGH); - - #ifndef ADVANCE - counter_e += current_block->steps_e; - if (counter_e > 0) WRITE_E_STEP(HIGH); - #endif //!ADVANCE - - if (counter_x > 0) { - counter_x -= current_block->step_event_count; - count_position[X_AXIS] += count_direction[X_AXIS]; - X_STEP_WRITE(LOW); - } - - if (counter_y > 0) { - counter_y -= current_block->step_event_count; - count_position[Y_AXIS] += count_direction[Y_AXIS]; - Y_STEP_WRITE( LOW); - } - - if (counter_z > 0) { - counter_z -= current_block->step_event_count; - count_position[Z_AXIS] += count_direction[Z_AXIS]; - Z_STEP_WRITE(LOW); - } - - #ifndef ADVANCE - if (counter_e > 0) { - counter_e -= current_block->step_event_count; - count_position[E_AXIS] += count_direction[E_AXIS]; - WRITE_E_STEP(LOW); - } - #endif //!ADVANCE -#else - if (counter_x > 0) { - #ifdef DUAL_X_CARRIAGE - if (extruder_duplication_enabled){ - X_STEP_WRITE(!INVERT_X_STEP_PIN); - X2_STEP_WRITE( !INVERT_X_STEP_PIN); - } - else { - if (current_block->active_extruder != 0) - X2_STEP_WRITE( !INVERT_X_STEP_PIN); - else - X_STEP_WRITE(!INVERT_X_STEP_PIN); - } - #else - X_STEP_WRITE(!INVERT_X_STEP_PIN); - #endif - counter_x -= current_block->step_event_count; - count_position[X_AXIS] += count_direction[X_AXIS]; - #ifdef DUAL_X_CARRIAGE - if (extruder_duplication_enabled){ - X_STEP_WRITE(INVERT_X_STEP_PIN); - X2_STEP_WRITE(INVERT_X_STEP_PIN); - } - else { - if (current_block->active_extruder != 0) - X2_STEP_WRITE(INVERT_X_STEP_PIN); - else - X_STEP_WRITE(INVERT_X_STEP_PIN); - } - #else - X_STEP_WRITE(INVERT_X_STEP_PIN); - #endif - } - + #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 + */ + counter_x += current_block->steps_x; + if (counter_x > 0) X_STEP_WRITE(HIGH); counter_y += current_block->steps_y; - if (counter_y > 0) { - Y_STEP_WRITE(!INVERT_Y_STEP_PIN); - - #ifdef Y_DUAL_STEPPER_DRIVERS - Y2_STEP_WRITE( !INVERT_Y_STEP_PIN); - #endif - - counter_y -= current_block->step_event_count; - count_position[Y_AXIS] += count_direction[Y_AXIS]; - Y_STEP_WRITE(INVERT_Y_STEP_PIN); - - #ifdef Y_DUAL_STEPPER_DRIVERS - Y2_STEP_WRITE( INVERT_Y_STEP_PIN); - #endif - } - - counter_z += current_block->steps_z; - if (counter_z > 0) { - Z_STEP_WRITE( !INVERT_Z_STEP_PIN); - #ifdef Z_DUAL_STEPPER_DRIVERS - Z2_STEP_WRITE(!INVERT_Z_STEP_PIN); + if (counter_y > 0) Y_STEP_WRITE(HIGH); + counter_z += current_block->steps_z; + if (counter_z > 0) Z_STEP_WRITE(HIGH); + #ifndef ADVANCE + counter_e += current_block->steps_e; + if (counter_e > 0) E_STEP_WRITE(HIGH); #endif - counter_z -= current_block->step_event_count; - count_position[Z_AXIS] += count_direction[Z_AXIS]; - Z_STEP_WRITE( INVERT_Z_STEP_PIN); + #define STEP_IF_COUNTER(axis, AXIS) \ + if (counter_## axis > 0) { + counter_## axis -= current_block->step_event_count; \ + count_position[AXIS ##_AXIS] += count_direction[AXIS ##_AXIS]; \ + AXIS ##_STEP_WRITE(LOW); + } - #ifdef Z_DUAL_STEPPER_DRIVERS - Z2_STEP_WRITE(INVERT_Z_STEP_PIN); + STEP_IF_COUNTER(x, X); + STEP_IF_COUNTER(y, Y); + STEP_IF_COUNTER(z, Z); + #ifndef ADVANCE + STEP_IF_COUNTER(e, E); #endif - } - #ifndef ADVANCE - counter_e += current_block->steps_e; - if (counter_e > 0) { - WRITE_E_STEP(!INVERT_E_STEP_PIN); - counter_e -= current_block->step_event_count; - count_position[E_AXIS] += count_direction[E_AXIS]; - WRITE_E_STEP(INVERT_E_STEP_PIN); - } - #endif //!ADVANCE -#endif // CONFIG_STEPPERS_TOSHIBA - step_events_completed += 1; - if(step_events_completed >= current_block->step_event_count) break; + #else // !CONFIG_STEPPERS_TOSHIBA + + #define APPLY_MOVEMENT(axis, AXIS) \ + counter_## axis += current_block->steps_## axis; \ + if (counter_## axis > 0) { \ + AXIS ##_APPLY_STEP(!INVERT_## AXIS ##_STEP_PIN); \ + counter_## axis -= current_block->step_event_count; \ + count_position[AXIS ##_AXIS] += count_direction[AXIS ##_AXIS]; \ + AXIS ##_APPLY_STEP(INVERT_## AXIS ##_STEP_PIN); \ + } + + 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++; + if (step_events_completed >= current_block->step_event_count) break; } // Calculare new timer value unsigned short timer; @@ -688,7 +572,7 @@ ISR(TIMER1_COMPA_vect) acc_step_rate += current_block->initial_rate; // upper limit - if(acc_step_rate > current_block->nominal_rate) + if (acc_step_rate > current_block->nominal_rate) acc_step_rate = current_block->nominal_rate; // step_rate to timer interval @@ -699,7 +583,7 @@ ISR(TIMER1_COMPA_vect) for(int8_t i=0; i < step_loops; i++) { advance += advance_rate; } - //if(advance > current_block->advance) advance = current_block->advance; + //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; @@ -709,7 +593,7 @@ ISR(TIMER1_COMPA_vect) 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 + if (step_rate > acc_step_rate) { // Check step_rate stays positive step_rate = current_block->final_rate; } else { @@ -717,7 +601,7 @@ ISR(TIMER1_COMPA_vect) } // lower limit - if(step_rate < current_block->final_rate) + if (step_rate < current_block->final_rate) step_rate = current_block->final_rate; // step_rate to timer interval @@ -728,7 +612,7 @@ ISR(TIMER1_COMPA_vect) for(int8_t i=0; i < step_loops; i++) { advance -= advance_rate; } - if(advance < final_advance) advance = final_advance; + 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; @@ -759,7 +643,7 @@ ISR(TIMER1_COMPA_vect) // Set E direction (Depends on E direction + advance) for(unsigned char i=0; i<4;i++) { if (e_steps[0] != 0) { - E0_STEP_WRITE( INVERT_E_STEP_PIN); + E0_STEP_WRITE(INVERT_E_STEP_PIN); if (e_steps[0] < 0) { E0_DIR_WRITE(INVERT_E0_DIR); e_steps[0]++; @@ -821,200 +705,186 @@ ISR(TIMER1_COMPA_vect) } #endif // ADVANCE -void st_init() -{ +void st_init() { digipot_init(); //Initialize Digipot Motor Current microstep_init(); //Initialize Microstepping Pins // initialise TMC Steppers #ifdef HAVE_TMCDRIVER - tmc_init(); + tmc_init(); #endif // initialise L6470 Steppers #ifdef HAVE_L6470DRIVER - L6470_init(); + L6470_init(); #endif - - //Initialize Dir Pins - #if defined(X_DIR_PIN) && X_DIR_PIN > -1 + // Initialize Dir Pins + #if defined(X_DIR_PIN) && X_DIR_PIN >= 0 X_DIR_INIT; #endif - #if defined(X2_DIR_PIN) && X2_DIR_PIN > -1 + #if defined(X2_DIR_PIN) && X2_DIR_PIN >= 0 X2_DIR_INIT; #endif - #if defined(Y_DIR_PIN) && Y_DIR_PIN > -1 + #if defined(Y_DIR_PIN) && Y_DIR_PIN >= 0 Y_DIR_INIT; - - #if defined(Y_DUAL_STEPPER_DRIVERS) && defined(Y2_DIR_PIN) && (Y2_DIR_PIN > -1) - Y2_DIR_INIT; - #endif + #if defined(Y_DUAL_STEPPER_DRIVERS) && defined(Y2_DIR_PIN) && Y2_DIR_PIN >= 0 + Y2_DIR_INIT; + #endif #endif - #if defined(Z_DIR_PIN) && Z_DIR_PIN > -1 + #if defined(Z_DIR_PIN) && Z_DIR_PIN >= 0 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 >= 0 Z2_DIR_INIT; #endif #endif - #if defined(E0_DIR_PIN) && E0_DIR_PIN > -1 + #if defined(E0_DIR_PIN) && E0_DIR_PIN >= 0 E0_DIR_INIT; #endif - #if defined(E1_DIR_PIN) && (E1_DIR_PIN > -1) + #if defined(E1_DIR_PIN) && E1_DIR_PIN >= 0 E1_DIR_INIT; #endif - #if defined(E2_DIR_PIN) && (E2_DIR_PIN > -1) + #if defined(E2_DIR_PIN) && E2_DIR_PIN >= 0 E2_DIR_INIT; #endif - #if defined(E3_DIR_PIN) && (E3_DIR_PIN > -1) + #if defined(E3_DIR_PIN) && E3_DIR_PIN >= 0 E3_DIR_INIT; #endif //Initialize Enable Pins - steppers default to disabled. - #if defined(X_ENABLE_PIN) && X_ENABLE_PIN > -1 + #if defined(X_ENABLE_PIN) && X_ENABLE_PIN >= 0 X_ENABLE_INIT; - if(!X_ENABLE_ON) X_ENABLE_WRITE(HIGH); + if (!X_ENABLE_ON) X_ENABLE_WRITE(HIGH); #endif - #if defined(X2_ENABLE_PIN) && X2_ENABLE_PIN > -1 + #if defined(X2_ENABLE_PIN) && X2_ENABLE_PIN >= 0 X2_ENABLE_INIT; - if(!X_ENABLE_ON) X2_ENABLE_WRITE(HIGH); + if (!X_ENABLE_ON) X2_ENABLE_WRITE(HIGH); #endif - #if defined(Y_ENABLE_PIN) && Y_ENABLE_PIN > -1 + #if defined(Y_ENABLE_PIN) && Y_ENABLE_PIN >= 0 Y_ENABLE_INIT; - if(!Y_ENABLE_ON) Y_ENABLE_WRITE(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 >= 0 Y2_ENABLE_INIT; - if(!Y_ENABLE_ON) Y2_ENABLE_WRITE(HIGH); + if (!Y_ENABLE_ON) Y2_ENABLE_WRITE(HIGH); #endif #endif - #if defined(Z_ENABLE_PIN) && Z_ENABLE_PIN > -1 + #if defined(Z_ENABLE_PIN) && Z_ENABLE_PIN >= 0 Z_ENABLE_INIT; - if(!Z_ENABLE_ON) Z_ENABLE_WRITE(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 >= 0 Z2_ENABLE_INIT; - if(!Z_ENABLE_ON) Z2_ENABLE_WRITE(HIGH); + if (!Z_ENABLE_ON) Z2_ENABLE_WRITE(HIGH); #endif #endif - #if defined(E0_ENABLE_PIN) && (E0_ENABLE_PIN > -1) + #if defined(E0_ENABLE_PIN) && E0_ENABLE_PIN >= 0 E0_ENABLE_INIT; - if(!E_ENABLE_ON) E0_ENABLE_WRITE(HIGH); + if (!E_ENABLE_ON) E0_ENABLE_WRITE(HIGH); #endif - #if defined(E1_ENABLE_PIN) && (E1_ENABLE_PIN > -1) + #if defined(E1_ENABLE_PIN) && E1_ENABLE_PIN >= 0 E1_ENABLE_INIT; - if(!E_ENABLE_ON) E1_ENABLE_WRITE(HIGH); + if (!E_ENABLE_ON) E1_ENABLE_WRITE(HIGH); #endif - #if defined(E2_ENABLE_PIN) && (E2_ENABLE_PIN > -1) + #if defined(E2_ENABLE_PIN) && E2_ENABLE_PIN >= 0 E2_ENABLE_INIT; - if(!E_ENABLE_ON) E2_ENABLE_WRITE(HIGH); + if (!E_ENABLE_ON) E2_ENABLE_WRITE(HIGH); #endif - #if defined(E3_ENABLE_PIN) && (E3_ENABLE_PIN > -1) + #if defined(E3_ENABLE_PIN) && E3_ENABLE_PIN >= 0 E3_ENABLE_INIT; - if(!E_ENABLE_ON) E3_ENABLE_WRITE(HIGH); + if (!E_ENABLE_ON) E3_ENABLE_WRITE(HIGH); #endif //endstops and pullups - #if defined(X_MIN_PIN) && X_MIN_PIN > -1 + #if defined(X_MIN_PIN) && X_MIN_PIN >= 0 SET_INPUT(X_MIN_PIN); #ifdef ENDSTOPPULLUP_XMIN WRITE(X_MIN_PIN,HIGH); #endif #endif - #if defined(Y_MIN_PIN) && Y_MIN_PIN > -1 + #if defined(Y_MIN_PIN) && Y_MIN_PIN >= 0 SET_INPUT(Y_MIN_PIN); #ifdef ENDSTOPPULLUP_YMIN WRITE(Y_MIN_PIN,HIGH); #endif #endif - #if defined(Z_MIN_PIN) && Z_MIN_PIN > -1 + #if defined(Z_MIN_PIN) && Z_MIN_PIN >= 0 SET_INPUT(Z_MIN_PIN); #ifdef ENDSTOPPULLUP_ZMIN WRITE(Z_MIN_PIN,HIGH); #endif #endif - #if defined(X_MAX_PIN) && X_MAX_PIN > -1 + #if defined(X_MAX_PIN) && X_MAX_PIN >= 0 SET_INPUT(X_MAX_PIN); #ifdef ENDSTOPPULLUP_XMAX WRITE(X_MAX_PIN,HIGH); #endif #endif - #if defined(Y_MAX_PIN) && Y_MAX_PIN > -1 + #if defined(Y_MAX_PIN) && Y_MAX_PIN >= 0 SET_INPUT(Y_MAX_PIN); #ifdef ENDSTOPPULLUP_YMAX WRITE(Y_MAX_PIN,HIGH); #endif #endif - #if defined(Z_MAX_PIN) && Z_MAX_PIN > -1 + #if defined(Z_MAX_PIN) && Z_MAX_PIN >= 0 SET_INPUT(Z_MAX_PIN); #ifdef ENDSTOPPULLUP_ZMAX WRITE(Z_MAX_PIN,HIGH); #endif #endif + #define AXIS_INIT(axis, AXIS, PIN) \ + AXIS ##_STEP_INIT; \ + AXIS ##_STEP_WRITE(INVERT_## PIN ##_STEP_PIN); \ + disable_## axis() - //Initialize Step Pins - #if defined(X_STEP_PIN) && (X_STEP_PIN > -1) - X_STEP_INIT; - X_STEP_WRITE(INVERT_X_STEP_PIN); - disable_x(); + #define E_AXIS_INIT(NUM) AXIS_INIT(e## NUM, E## NUM, E) + + // Initialize Step Pins + #if defined(X_STEP_PIN) && X_STEP_PIN >= 0 + AXIS_INIT(x, X, X); #endif - #if defined(X2_STEP_PIN) && (X2_STEP_PIN > -1) - X2_STEP_INIT; - X2_STEP_WRITE(INVERT_X_STEP_PIN); - disable_x(); + #if defined(X2_STEP_PIN) && X2_STEP_PIN >= 0 + AXIS_INIT(x, X2, X); #endif - #if defined(Y_STEP_PIN) && (Y_STEP_PIN > -1) - Y_STEP_INIT; - Y_STEP_WRITE(INVERT_Y_STEP_PIN); - #if defined(Y_DUAL_STEPPER_DRIVERS) && defined(Y2_STEP_PIN) && (Y2_STEP_PIN > -1) + #if defined(Y_STEP_PIN) && Y_STEP_PIN >= 0 + #if defined(Y_DUAL_STEPPER_DRIVERS) && defined(Y2_STEP_PIN) && Y2_STEP_PIN >= 0 Y2_STEP_INIT; Y2_STEP_WRITE(INVERT_Y_STEP_PIN); #endif - disable_y(); + AXIS_INIT(y, Y, Y); #endif - #if defined(Z_STEP_PIN) && (Z_STEP_PIN > -1) - Z_STEP_INIT; - Z_STEP_WRITE(INVERT_Z_STEP_PIN); - #if defined(Z_DUAL_STEPPER_DRIVERS) && defined(Z2_STEP_PIN) && (Z2_STEP_PIN > -1) + #if defined(Z_STEP_PIN) && Z_STEP_PIN >= 0 + #if defined(Z_DUAL_STEPPER_DRIVERS) && defined(Z2_STEP_PIN) && Z2_STEP_PIN >= 0 Z2_STEP_INIT; Z2_STEP_WRITE(INVERT_Z_STEP_PIN); #endif - disable_z(); + AXIS_INIT(z, Z, Z); #endif - #if defined(E0_STEP_PIN) && (E0_STEP_PIN > -1) - E0_STEP_INIT; - E0_STEP_WRITE(INVERT_E_STEP_PIN); - disable_e0(); + #if defined(E0_STEP_PIN) && E0_STEP_PIN >= 0 + E_AXIS_INIT(0); #endif - #if defined(E1_STEP_PIN) && (E1_STEP_PIN > -1) - E1_STEP_INIT; - E1_STEP_WRITE(INVERT_E_STEP_PIN); - disable_e1(); + #if defined(E1_STEP_PIN) && E1_STEP_PIN >= 0 + E_AXIS_INIT(1); #endif - #if defined(E2_STEP_PIN) && (E2_STEP_PIN > -1) - E2_STEP_INIT; - E2_STEP_WRITE(INVERT_E_STEP_PIN); - disable_e2(); + #if defined(E2_STEP_PIN) && E2_STEP_PIN >= 0 + E_AXIS_INIT(2); #endif - #if defined(E3_STEP_PIN) && (E3_STEP_PIN > -1) - E3_STEP_INIT; - E3_STEP_WRITE(INVERT_E_STEP_PIN); - disable_e3(); + #if defined(E3_STEP_PIN) && E3_STEP_PIN >= 0 + E_AXIS_INIT(3); #endif // waveform generation = 0100 = CTC - TCCR1B &= ~(1< -1 +// From Arduino DigitalPotControl example +void digitalPotWrite(int address, int value) { + #if HAS_DIGIPOTSS digitalWrite(DIGIPOTSS_PIN,LOW); // take the SS pin low to select the chip SPI.transfer(address); // send in the address and value via SPI: SPI.transfer(value); @@ -1268,16 +1057,17 @@ void digitalPotWrite(int address, int value) // From Arduino DigitalPotControl e #endif } -void digipot_init() //Initialize Digipot Motor Current -{ - #if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1 +// Initialize Digipot Motor Current +void digipot_init() { + #if HAS_DIGIPOTSS const uint8_t digipot_motor_current[] = DIGIPOT_MOTOR_CURRENT; SPI.begin(); pinMode(DIGIPOTSS_PIN, OUTPUT); - for(int i=0;i<=4;i++) + for (int i = 0; i <= 4; i++) { //digitalPotWrite(digipot_ch[i], digipot_motor_current[i]); digipot_current(i,digipot_motor_current[i]); + } #endif #ifdef MOTOR_CURRENT_PWM_XY_PIN pinMode(MOTOR_CURRENT_PWM_XY_PIN, OUTPUT); @@ -1291,69 +1081,64 @@ void digipot_init() //Initialize Digipot Motor Current #endif } -void digipot_current(uint8_t driver, int current) -{ - #if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1 +void digipot_current(uint8_t driver, int current) { + #if HAS_DIGIPOTSS const uint8_t digipot_ch[] = DIGIPOT_CHANNELS; digitalPotWrite(digipot_ch[driver], current); #endif #ifdef MOTOR_CURRENT_PWM_XY_PIN - if (driver == 0) analogWrite(MOTOR_CURRENT_PWM_XY_PIN, (long)current * 255L / (long)MOTOR_CURRENT_PWM_RANGE); - if (driver == 1) analogWrite(MOTOR_CURRENT_PWM_Z_PIN, (long)current * 255L / (long)MOTOR_CURRENT_PWM_RANGE); - if (driver == 2) analogWrite(MOTOR_CURRENT_PWM_E_PIN, (long)current * 255L / (long)MOTOR_CURRENT_PWM_RANGE); + switch(driver) { + case 0: analogWrite(MOTOR_CURRENT_PWM_XY_PIN, 255L * current / MOTOR_CURRENT_PWM_RANGE); break; + case 1: analogWrite(MOTOR_CURRENT_PWM_Z_PIN, 255L * current / MOTOR_CURRENT_PWM_RANGE); break; + case 2: analogWrite(MOTOR_CURRENT_PWM_E_PIN, 255L * current / MOTOR_CURRENT_PWM_RANGE); break; + } #endif } -void microstep_init() -{ +void microstep_init() { const uint8_t microstep_modes[] = MICROSTEP_MODES; - #if defined(E1_MS1_PIN) && E1_MS1_PIN > -1 - pinMode(E1_MS1_PIN,OUTPUT); - pinMode(E1_MS2_PIN,OUTPUT); + #if defined(E1_MS1_PIN) && E1_MS1_PIN >= 0 + pinMode(E1_MS1_PIN,OUTPUT); + pinMode(E1_MS2_PIN,OUTPUT); #endif - #if defined(X_MS1_PIN) && X_MS1_PIN > -1 - pinMode(X_MS1_PIN,OUTPUT); - pinMode(X_MS2_PIN,OUTPUT); - pinMode(Y_MS1_PIN,OUTPUT); - pinMode(Y_MS2_PIN,OUTPUT); - pinMode(Z_MS1_PIN,OUTPUT); - pinMode(Z_MS2_PIN,OUTPUT); - pinMode(E0_MS1_PIN,OUTPUT); - pinMode(E0_MS2_PIN,OUTPUT); - for(int i=0;i<=4;i++) microstep_mode(i,microstep_modes[i]); + #if defined(X_MS1_PIN) && X_MS1_PIN >= 0 + pinMode(X_MS1_PIN,OUTPUT); + pinMode(X_MS2_PIN,OUTPUT); + pinMode(Y_MS1_PIN,OUTPUT); + pinMode(Y_MS2_PIN,OUTPUT); + pinMode(Z_MS1_PIN,OUTPUT); + pinMode(Z_MS2_PIN,OUTPUT); + pinMode(E0_MS1_PIN,OUTPUT); + pinMode(E0_MS2_PIN,OUTPUT); + for (int i = 0; i <= 4; i++) microstep_mode(i, microstep_modes[i]); #endif } -void microstep_ms(uint8_t driver, int8_t ms1, int8_t ms2) -{ - if(ms1 > -1) switch(driver) - { - case 0: digitalWrite( X_MS1_PIN,ms1); break; - case 1: digitalWrite( Y_MS1_PIN,ms1); break; - case 2: digitalWrite( Z_MS1_PIN,ms1); break; - case 3: digitalWrite(E0_MS1_PIN,ms1); break; - #if defined(E1_MS1_PIN) && E1_MS1_PIN > -1 - case 4: digitalWrite(E1_MS1_PIN,ms1); break; +void microstep_ms(uint8_t driver, int8_t ms1, int8_t ms2) { + if (ms1 >= 0) switch(driver) { + case 0: digitalWrite(X_MS1_PIN, ms1); break; + case 1: digitalWrite(Y_MS1_PIN, ms1); break; + case 2: digitalWrite(Z_MS1_PIN, ms1); break; + case 3: digitalWrite(E0_MS1_PIN, ms1); break; + #if defined(E1_MS1_PIN) && E1_MS1_PIN >= 0 + case 4: digitalWrite(E1_MS1_PIN, ms1); break; #endif } - if(ms2 > -1) switch(driver) - { - case 0: digitalWrite( X_MS2_PIN,ms2); break; - case 1: digitalWrite( Y_MS2_PIN,ms2); break; - case 2: digitalWrite( Z_MS2_PIN,ms2); break; - case 3: digitalWrite(E0_MS2_PIN,ms2); break; - #if defined(E1_MS2_PIN) && E1_MS2_PIN > -1 - case 4: digitalWrite(E1_MS2_PIN,ms2); break; + if (ms2 >= 0) switch(driver) { + case 0: digitalWrite(X_MS2_PIN, ms2); break; + case 1: digitalWrite(Y_MS2_PIN, ms2); break; + case 2: digitalWrite(Z_MS2_PIN, ms2); break; + case 3: digitalWrite(E0_MS2_PIN, ms2); break; + #if defined(E1_MS2_PIN) && E1_MS2_PIN >= 0 + case 4: digitalWrite(E1_MS2_PIN, ms2); break; #endif } } -void microstep_mode(uint8_t driver, uint8_t stepping_mode) -{ - switch(stepping_mode) - { +void microstep_mode(uint8_t driver, uint8_t stepping_mode) { + switch(stepping_mode) { case 1: microstep_ms(driver,MICROSTEP1); break; case 2: microstep_ms(driver,MICROSTEP2); break; case 4: microstep_ms(driver,MICROSTEP4); break; @@ -1362,24 +1147,23 @@ void microstep_mode(uint8_t driver, uint8_t stepping_mode) } } -void microstep_readings() -{ - SERIAL_PROTOCOLPGM("MS1,MS2 Pins\n"); - SERIAL_PROTOCOLPGM("X: "); - SERIAL_PROTOCOL( digitalRead(X_MS1_PIN)); - SERIAL_PROTOCOLLN( digitalRead(X_MS2_PIN)); - SERIAL_PROTOCOLPGM("Y: "); - SERIAL_PROTOCOL( digitalRead(Y_MS1_PIN)); - SERIAL_PROTOCOLLN( digitalRead(Y_MS2_PIN)); - SERIAL_PROTOCOLPGM("Z: "); - SERIAL_PROTOCOL( digitalRead(Z_MS1_PIN)); - SERIAL_PROTOCOLLN( digitalRead(Z_MS2_PIN)); - SERIAL_PROTOCOLPGM("E0: "); - SERIAL_PROTOCOL( digitalRead(E0_MS1_PIN)); - SERIAL_PROTOCOLLN( digitalRead(E0_MS2_PIN)); - #if defined(E1_MS1_PIN) && E1_MS1_PIN > -1 - SERIAL_PROTOCOLPGM("E1: "); - SERIAL_PROTOCOL( digitalRead(E1_MS1_PIN)); - SERIAL_PROTOCOLLN( digitalRead(E1_MS2_PIN)); - #endif +void microstep_readings() { + SERIAL_PROTOCOLPGM("MS1,MS2 Pins\n"); + SERIAL_PROTOCOLPGM("X: "); + SERIAL_PROTOCOL(digitalRead(X_MS1_PIN)); + SERIAL_PROTOCOLLN(digitalRead(X_MS2_PIN)); + SERIAL_PROTOCOLPGM("Y: "); + SERIAL_PROTOCOL(digitalRead(Y_MS1_PIN)); + SERIAL_PROTOCOLLN(digitalRead(Y_MS2_PIN)); + SERIAL_PROTOCOLPGM("Z: "); + SERIAL_PROTOCOL(digitalRead(Z_MS1_PIN)); + SERIAL_PROTOCOLLN(digitalRead(Z_MS2_PIN)); + SERIAL_PROTOCOLPGM("E0: "); + SERIAL_PROTOCOL(digitalRead(E0_MS1_PIN)); + SERIAL_PROTOCOLLN(digitalRead(E0_MS2_PIN)); + #if defined(E1_MS1_PIN) && E1_MS1_PIN >= 0 + SERIAL_PROTOCOLPGM("E1: "); + SERIAL_PROTOCOL(digitalRead(E1_MS1_PIN)); + SERIAL_PROTOCOLLN(digitalRead(E1_MS2_PIN)); + #endif } diff --git a/Marlin/stepper.h b/Marlin/stepper.h index 2d316225a3..a1f2916090 100644 --- a/Marlin/stepper.h +++ b/Marlin/stepper.h @@ -25,26 +25,26 @@ #include "stepper_indirection.h" #if EXTRUDERS > 3 - #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 E_STEP_WRITE(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) { 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) { 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 - #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 E_STEP_WRITE(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) { 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) { 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 #ifndef DUAL_X_CARRIAGE - #define WRITE_E_STEP(v) { if(current_block->active_extruder == 1) { E1_STEP_WRITE(v); } else { E0_STEP_WRITE(v); }} + #define E_STEP_WRITE(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) { E1_DIR_WRITE(!INVERT_E1_DIR); } else { E0_DIR_WRITE(!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 extern bool extruder_duplication_enabled; - #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 E_STEP_WRITE(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) { 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) { 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 #else - #define WRITE_E_STEP(v) E0_STEP_WRITE(v) + #define E_STEP_WRITE(v) E0_STEP_WRITE(v) #define NORM_E_DIR() E0_DIR_WRITE(!INVERT_E0_DIR) #define REV_E_DIR() E0_DIR_WRITE(INVERT_E0_DIR) #endif diff --git a/Marlin/temperature.cpp b/Marlin/temperature.cpp index 4d01c701cc..9a8dabcc66 100644 --- a/Marlin/temperature.cpp +++ b/Marlin/temperature.cpp @@ -878,8 +878,8 @@ void tp_init() { #if MB(RUMBA) && ((TEMP_SENSOR_0==-1)||(TEMP_SENSOR_1==-1)||(TEMP_SENSOR_2==-1)||(TEMP_SENSOR_BED==-1)) //disable RUMBA JTAG in case the thermocouple extension is plugged on top of JTAG connector - MCUCR=(1< 7) ADCSRB = 1 << MUX5; else ADCSRB = 0; SET_ADMUX_ADCSRA(pin) + #define START_ADC(pin) if (pin > 7) ADCSRB = BIT(MUX5); else ADCSRB = 0; SET_ADMUX_ADCSRA(pin) #else #define START_ADC(pin) ADCSRB = 0; SET_ADMUX_ADCSRA(pin) #endif diff --git a/Marlin/ultralcd.cpp b/Marlin/ultralcd.cpp index 39b0923443..8575abbd0a 100644 --- a/Marlin/ultralcd.cpp +++ b/Marlin/ultralcd.cpp @@ -1426,7 +1426,7 @@ void lcd_buttons_update() { WRITE(SHIFT_LD, HIGH); for(int8_t i = 0; i < 8; i++) { newbutton_reprapworld_keypad >>= 1; - if (READ(SHIFT_OUT)) newbutton_reprapworld_keypad |= (1 << 7); + if (READ(SHIFT_OUT)) newbutton_reprapworld_keypad |= BIT(7); WRITE(SHIFT_CLK, HIGH); WRITE(SHIFT_CLK, LOW); } @@ -1439,7 +1439,7 @@ void lcd_buttons_update() { unsigned char tmp_buttons = 0; for(int8_t i=0; i<8; i++) { newbutton >>= 1; - if (READ(SHIFT_OUT)) newbutton |= (1 << 7); + if (READ(SHIFT_OUT)) newbutton |= BIT(7); WRITE(SHIFT_CLK, HIGH); WRITE(SHIFT_CLK, LOW); } diff --git a/Marlin/ultralcd.h b/Marlin/ultralcd.h index d861e9d732..9d89f514de 100644 --- a/Marlin/ultralcd.h +++ b/Marlin/ultralcd.h @@ -57,20 +57,20 @@ void lcd_ignore_click(bool b=true); #ifdef NEWPANEL - #define EN_C (1< -1 // encoder click is directly connected #define BLEN_C 2 - #define EN_C (1< Date: Sat, 14 Mar 2015 14:31:00 +0100 Subject: [PATCH 6/7] Update ultralcd_st7920_u8glib_rrd.h --- Marlin/ultralcd_st7920_u8glib_rrd.h | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/Marlin/ultralcd_st7920_u8glib_rrd.h b/Marlin/ultralcd_st7920_u8glib_rrd.h index f95431a258..6b6c005ada 100644 --- a/Marlin/ultralcd_st7920_u8glib_rrd.h +++ b/Marlin/ultralcd_st7920_u8glib_rrd.h @@ -27,9 +27,15 @@ static void ST7920_SWSPI_SND_8BIT(uint8_t val) for( i=0; i<8; i++ ) { WRITE(ST7920_CLK_PIN,0); + #if F_CPU == 20000000 + __asm__("nop\n\t"); + #endif WRITE(ST7920_DAT_PIN,val&0x80); val<<=1; WRITE(ST7920_CLK_PIN,1); + #if F_CPU == 20000000 + __asm__("nop\n\t""nop\n\t"); + #endif } } From 4eabd80025071c4ce9ed4b944fe9eadb548153a5 Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Sat, 14 Mar 2015 18:31:25 -0700 Subject: [PATCH 7/7] Fix babystep for extruder_duplication --- Marlin/stepper.cpp | 42 +++++++++++++++++++++--------------------- 1 file changed, 21 insertions(+), 21 deletions(-) diff --git a/Marlin/stepper.cpp b/Marlin/stepper.cpp index a9e8fbec0b..eb904bb2d6 100644 --- a/Marlin/stepper.cpp +++ b/Marlin/stepper.cpp @@ -119,27 +119,27 @@ volatile signed char count_direction[NUM_AXIS] = { 1 }; X_STEP_WRITE(v); \ } #else - #define X_APPLY_DIR(v) X_DIR_WRITE(v) - #define X_APPLY_STEP(v) X_STEP_WRITE(v) + #define X_APPLY_DIR(v,Q) X_DIR_WRITE(v) + #define X_APPLY_STEP(v,Q) X_STEP_WRITE(v) #endif #ifdef Y_DUAL_STEPPER_DRIVERS - #define Y_APPLY_DIR(v) Y_DIR_WRITE(v), Y2_DIR_WRITE((v) != INVERT_Y2_VS_Y_DIR) - #define Y_APPLY_STEP(v) Y_STEP_WRITE(v), Y2_STEP_WRITE(v) + #define Y_APPLY_DIR(v,Q) Y_DIR_WRITE(v), Y2_DIR_WRITE((v) != INVERT_Y2_VS_Y_DIR) + #define Y_APPLY_STEP(v,Q) Y_STEP_WRITE(v), Y2_STEP_WRITE(v) #else - #define Y_APPLY_DIR(v) Y_DIR_WRITE(v) - #define Y_APPLY_STEP(v) Y_STEP_WRITE(v) + #define Y_APPLY_DIR(v,Q) Y_DIR_WRITE(v) + #define Y_APPLY_STEP(v,Q) Y_STEP_WRITE(v) #endif #ifdef Z_DUAL_STEPPER_DRIVERS - #define Z_APPLY_DIR(v) Z_DIR_WRITE(v), Z2_DIR_WRITE(v) - #define Z_APPLY_STEP(v) Z_STEP_WRITE(v), Z2_STEP_WRITE(v) + #define Z_APPLY_DIR(v,Q) Z_DIR_WRITE(v), Z2_DIR_WRITE(v) + #define Z_APPLY_STEP(v,Q) Z_STEP_WRITE(v), Z2_STEP_WRITE(v) #else - #define Z_APPLY_DIR(v) Z_DIR_WRITE(v) - #define Z_APPLY_STEP(v) Z_STEP_WRITE(v) + #define Z_APPLY_DIR(v,Q) Z_DIR_WRITE(v) + #define Z_APPLY_STEP(v,Q) Z_STEP_WRITE(v) #endif -#define E_APPLY_STEP(v) E_STEP_WRITE(v) +#define E_APPLY_STEP(v,Q) E_STEP_WRITE(v) // intRes = intIn1 * intIn2 >> 16 // uses: @@ -380,20 +380,20 @@ ISR(TIMER1_COMPA_vect) { // 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); + X_APPLY_DIR(INVERT_X_DIR,0); count_direction[X_AXIS] = -1; } else { - X_APPLY_DIR(!INVERT_X_DIR); + X_APPLY_DIR(!INVERT_X_DIR,0); count_direction[X_AXIS] = 1; } if (TEST(out_bits, Y_AXIS)) { - Y_APPLY_DIR(INVERT_Y_DIR); + Y_APPLY_DIR(INVERT_Y_DIR,0); count_direction[Y_AXIS] = -1; } else { - Y_APPLY_DIR(!INVERT_Y_DIR); + Y_APPLY_DIR(!INVERT_Y_DIR,0); count_direction[Y_AXIS] = 1; } @@ -546,10 +546,10 @@ ISR(TIMER1_COMPA_vect) { #define APPLY_MOVEMENT(axis, AXIS) \ counter_## axis += current_block->steps_## axis; \ if (counter_## axis > 0) { \ - AXIS ##_APPLY_STEP(!INVERT_## AXIS ##_STEP_PIN); \ + AXIS ##_APPLY_STEP(!INVERT_## AXIS ##_STEP_PIN,0); \ counter_## axis -= current_block->step_event_count; \ count_position[AXIS ##_AXIS] += count_direction[AXIS ##_AXIS]; \ - AXIS ##_APPLY_STEP(INVERT_## AXIS ##_STEP_PIN); \ + AXIS ##_APPLY_STEP(INVERT_## AXIS ##_STEP_PIN,0); \ } APPLY_MOVEMENT(x, X); @@ -986,11 +986,11 @@ void quickStop() { #define BABYSTEP_AXIS(axis, AXIS, INVERT) { \ enable_## axis(); \ uint8_t old_pin = AXIS ##_DIR_READ; \ - AXIS ##_APPLY_DIR(INVERT_## AXIS ##_DIR^direction^INVERT); \ - AXIS ##_APPLY_STEP(!INVERT_## AXIS ##_STEP_PIN); \ + AXIS ##_APPLY_DIR(INVERT_## AXIS ##_DIR^direction^INVERT, true); \ + AXIS ##_APPLY_STEP(!INVERT_## AXIS ##_STEP_PIN, true); \ _delay_us(1U); \ - AXIS ##_APPLY_STEP(INVERT_## AXIS ##_STEP_PIN); \ - AXIS ##_APPLY_DIR(old_pin); \ + AXIS ##_APPLY_STEP(INVERT_## AXIS ##_STEP_PIN, true); \ + AXIS ##_APPLY_DIR(old_pin, true); \ } switch(axis) {