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Toshiba Stepper Driver support

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Tosh stepper drivers need to be driven slower, so the stepper code
was interleaved to separate the pin HIGH from the pin LOW. This adds
enough instructions to make it work, without needing nops.
This commit is contained in:
Bo Herrmannsen 2014-12-03 15:01:52 +01:00
parent c429a4b3ec
commit edfcf3b527
1 changed files with 53 additions and 0 deletions
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53
Marlin/stepper.cpp
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@ -559,6 +559,58 @@ ISR(TIMER1_COMPA_vect)
#endif //ADVANCE #endif //ADVANCE
counter_x += current_block->steps_x; counter_x += current_block->steps_x;
#ifdef CONFIG_STEPPERS_TOSHIBA
/* The toshiba stepper controller require much longer pulses
* tjerfore 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) {
WRITE(X_STEP_PIN, HIGH);
}
counter_y += current_block->steps_y;
if (counter_y > 0) {
WRITE(Y_STEP_PIN, HIGH);
}
counter_z += current_block->steps_z;
if (counter_z > 0) {
WRITE(Z_STEP_PIN, 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];
WRITE(X_STEP_PIN, LOW);
}
if (counter_y > 0) {
counter_y -= current_block->step_event_count;
count_position[Y_AXIS]+=count_direction[Y_AXIS];
WRITE(Y_STEP_PIN, LOW);
}
if (counter_z > 0) {
counter_z -= current_block->step_event_count;
count_position[Z_AXIS]+=count_direction[Z_AXIS];
WRITE(Z_STEP_PIN, 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) { if (counter_x > 0) {
#ifdef DUAL_X_CARRIAGE #ifdef DUAL_X_CARRIAGE
if (extruder_duplication_enabled){ if (extruder_duplication_enabled){
@ -635,6 +687,7 @@ ISR(TIMER1_COMPA_vect)
WRITE_E_STEP(INVERT_E_STEP_PIN); WRITE_E_STEP(INVERT_E_STEP_PIN);
} }
#endif //!ADVANCE #endif //!ADVANCE
#endif
step_events_completed += 1; step_events_completed += 1;
if(step_events_completed >= current_block->step_event_count) break; if(step_events_completed >= current_block->step_event_count) break;
} }