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@ -35,8 +35,8 @@
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// if DEBUG_STEPS is enabled, M114 can be used to compare two methods of determining the X,Y,Z position of the printer.
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// if DEBUG_STEPS is enabled, M114 can be used to compare two methods of determining the X,Y,Z position of the printer.
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// for debugging purposes only, should be disabled by default
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// for debugging purposes only, should be disabled by default
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#ifdef DEBUG_STEPS
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#ifdef DEBUG_STEPS
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volatile long count_position[NUM_AXIS] = { 0, 0, 0, 0};
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volatile long count_position[NUM_AXIS] = { 0, 0, 0, 0};
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volatile int count_direction[NUM_AXIS] = { 1, 1, 1, 1};
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volatile int count_direction[NUM_AXIS] = { 1, 1, 1, 1};
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#endif
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#endif
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@ -117,6 +117,8 @@ asm volatile ( \
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block_t *current_block; // A pointer to the block currently being traced
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block_t *current_block; // A pointer to the block currently being traced
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//static makes it inpossible to be called from outside of this file by extern.!
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// Variables used by The Stepper Driver Interrupt
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// Variables used by The Stepper Driver Interrupt
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static unsigned char out_bits; // The next stepping-bits to be output
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static unsigned char out_bits; // The next stepping-bits to be output
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static long counter_x, // Counter variables for the bresenham line tracer
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static long counter_x, // Counter variables for the bresenham line tracer
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@ -125,9 +127,9 @@ static long counter_x, // Counter variables for the bresenham line tracer
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counter_e;
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counter_e;
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static unsigned long step_events_completed; // The number of step events executed in the current block
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static unsigned long step_events_completed; // The number of step events executed in the current block
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#ifdef ADVANCE
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#ifdef ADVANCE
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static long advance_rate, advance, final_advance = 0;
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static long advance_rate, advance, final_advance = 0;
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static short old_advance = 0;
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static short old_advance = 0;
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static short e_steps;
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static short e_steps;
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#endif
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#endif
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static unsigned char busy = false; // TRUE when SIG_OUTPUT_COMPARE1A is being serviced. Used to avoid retriggering that handler.
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static unsigned char busy = false; // TRUE when SIG_OUTPUT_COMPARE1A is being serviced. Used to avoid retriggering that handler.
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static long acceleration_time, deceleration_time;
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static long acceleration_time, deceleration_time;
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@ -195,10 +197,10 @@ inline unsigned short calc_timer(unsigned short step_rate) {
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// Initializes the trapezoid generator from the current block. Called whenever a new
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// Initializes the trapezoid generator from the current block. Called whenever a new
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// block begins.
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// block begins.
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inline void trapezoid_generator_reset() {
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inline void trapezoid_generator_reset() {
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#ifdef ADVANCE
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#ifdef ADVANCE
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advance = current_block->initial_advance;
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advance = current_block->initial_advance;
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final_advance = current_block->final_advance;
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final_advance = current_block->final_advance;
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#endif
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#endif
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deceleration_time = 0;
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deceleration_time = 0;
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// advance_rate = current_block->advance_rate;
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// advance_rate = current_block->advance_rate;
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// step_rate to timer interval
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// step_rate to timer interval
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@ -211,7 +213,8 @@ inline void trapezoid_generator_reset() {
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// It pops blocks from the block_buffer and executes them by pulsing the stepper pins appropriately.
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// It pops blocks from the block_buffer and executes them by pulsing the stepper pins appropriately.
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ISR(TIMER1_COMPA_vect)
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ISR(TIMER1_COMPA_vect)
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{
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{
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if(busy){ SERIAL_ERRORLN(*(unsigned short *)OCR1A<< " ISR overtaking itself.");
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if(busy){
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SERIAL_ERRORLN(*(unsigned short *)OCR1A<< " ISR overtaking itself.");
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return;
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return;
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} // The busy-flag is used to avoid reentering this interrupt
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} // The busy-flag is used to avoid reentering this interrupt
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@ -242,74 +245,74 @@ ISR(TIMER1_COMPA_vect)
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// Set directions TO DO This should be done once during init of trapezoid. Endstops -> interrupt
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// Set directions TO DO This should be done once during init of trapezoid. Endstops -> interrupt
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out_bits = current_block->direction_bits;
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out_bits = current_block->direction_bits;
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#ifdef ADVANCE
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#ifdef ADVANCE
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// Calculate E early.
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// Calculate E early.
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counter_e += current_block->steps_e;
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counter_e += current_block->steps_e;
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if (counter_e > 0) {
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if (counter_e > 0) {
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counter_e -= current_block->step_event_count;
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counter_e -= current_block->step_event_count;
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if ((out_bits & (1<<E_AXIS)) != 0) { // - direction
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if ((out_bits & (1<<E_AXIS)) != 0) { // - direction
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CRITICAL_SECTION_START;
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e_steps--;
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CRITICAL_SECTION_END;
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}
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else {
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CRITICAL_SECTION_START;
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e_steps++;
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CRITICAL_SECTION_END;
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}
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}
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// Do E steps + advance steps
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CRITICAL_SECTION_START;
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CRITICAL_SECTION_START;
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e_steps--;
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e_steps += ((advance >> 16) - old_advance);
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CRITICAL_SECTION_END;
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CRITICAL_SECTION_END;
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}
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old_advance = advance >> 16;
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else {
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#endif //ADVANCE
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CRITICAL_SECTION_START;
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e_steps++;
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CRITICAL_SECTION_END;
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}
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}
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// Do E steps + advance steps
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CRITICAL_SECTION_START;
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e_steps += ((advance >> 16) - old_advance);
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CRITICAL_SECTION_END;
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old_advance = advance >> 16;
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#endif //ADVANCE
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// Set direction en check limit switches
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// Set direction en check limit switches
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if ((out_bits & (1<<X_AXIS)) != 0) { // -direction
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if ((out_bits & (1<<X_AXIS)) != 0) { // -direction
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WRITE(X_DIR_PIN, INVERT_X_DIR);
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WRITE(X_DIR_PIN, INVERT_X_DIR);
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#ifdef DEBUG_STEPS
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#ifdef DEBUG_STEPS
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count_direction[X_AXIS]=-1;
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count_direction[X_AXIS]=-1;
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#endif
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#if X_MIN_PIN > -1
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if(READ(X_MIN_PIN) != ENDSTOPS_INVERTING) {
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step_events_completed = current_block->step_event_count;
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}
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#endif
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#endif
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#if X_MIN_PIN > -1
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if(READ(X_MIN_PIN) != ENDSTOPS_INVERTING) {
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step_events_completed = current_block->step_event_count;
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}
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#endif
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}
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}
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else { // +direction
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else { // +direction
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WRITE(X_DIR_PIN,!INVERT_X_DIR);
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WRITE(X_DIR_PIN,!INVERT_X_DIR);
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#ifdef DEBUG_STEPS
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#ifdef DEBUG_STEPS
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count_direction[X_AXIS]=1;
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count_direction[X_AXIS]=1;
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#endif
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#endif
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#if X_MAX_PIN > -1
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#if X_MAX_PIN > -1
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if((READ(X_MAX_PIN) != ENDSTOPS_INVERTING) && (current_block->steps_x >0)){
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if((READ(X_MAX_PIN) != ENDSTOPS_INVERTING) && (current_block->steps_x >0)){
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step_events_completed = current_block->step_event_count;
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step_events_completed = current_block->step_event_count;
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}
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}
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#endif
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#endif
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}
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}
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if ((out_bits & (1<<Y_AXIS)) != 0) { // -direction
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if ((out_bits & (1<<Y_AXIS)) != 0) { // -direction
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WRITE(Y_DIR_PIN,INVERT_Y_DIR);
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WRITE(Y_DIR_PIN,INVERT_Y_DIR);
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#ifdef DEBUG_STEPS
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#ifdef DEBUG_STEPS
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count_direction[Y_AXIS]=-1;
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count_direction[Y_AXIS]=-1;
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#endif
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#if Y_MIN_PIN > -1
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if(READ(Y_MIN_PIN) != ENDSTOPS_INVERTING) {
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step_events_completed = current_block->step_event_count;
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}
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#endif
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#endif
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#if Y_MIN_PIN > -1
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if(READ(Y_MIN_PIN) != ENDSTOPS_INVERTING) {
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step_events_completed = current_block->step_event_count;
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}
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#endif
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}
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}
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else { // +direction
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else { // +direction
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WRITE(Y_DIR_PIN,!INVERT_Y_DIR);
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WRITE(Y_DIR_PIN,!INVERT_Y_DIR);
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#ifdef DEBUG_STEPS
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#ifdef DEBUG_STEPS
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count_direction[Y_AXIS]=1;
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count_direction[Y_AXIS]=1;
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#endif
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#if Y_MAX_PIN > -1
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if((READ(Y_MAX_PIN) != ENDSTOPS_INVERTING) && (current_block->steps_y >0)){
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step_events_completed = current_block->step_event_count;
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}
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#endif
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#endif
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#if Y_MAX_PIN > -1
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if((READ(Y_MAX_PIN) != ENDSTOPS_INVERTING) && (current_block->steps_y >0)){
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step_events_completed = current_block->step_event_count;
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}
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#endif
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}
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}
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if ((out_bits & (1<<Z_AXIS)) != 0) { // -direction
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if ((out_bits & (1<<Z_AXIS)) != 0) { // -direction
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@ -317,30 +320,30 @@ if ((out_bits & (1<<X_AXIS)) != 0) { // -direction
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#ifdef DEBUG_STEPS
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#ifdef DEBUG_STEPS
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count_direction[Z_AXIS]=-1;
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count_direction[Z_AXIS]=-1;
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#endif
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#endif
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#if Z_MIN_PIN > -1
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#if Z_MIN_PIN > -1
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if(READ(Z_MIN_PIN) != ENDSTOPS_INVERTING) {
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if(READ(Z_MIN_PIN) != ENDSTOPS_INVERTING) {
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step_events_completed = current_block->step_event_count;
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step_events_completed = current_block->step_event_count;
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}
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}
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#endif
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#endif
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}
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}
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else { // +direction
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else { // +direction
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WRITE(Z_DIR_PIN,!INVERT_Z_DIR);
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WRITE(Z_DIR_PIN,!INVERT_Z_DIR);
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#ifdef DEBUG_STEPS
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#ifdef DEBUG_STEPS
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count_direction[Z_AXIS]=1;
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count_direction[Z_AXIS]=1;
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#endif
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#endif
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#if Z_MAX_PIN > -1
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#if Z_MAX_PIN > -1
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if((READ(Z_MAX_PIN) != ENDSTOPS_INVERTING) && (current_block->steps_z >0)){
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if((READ(Z_MAX_PIN) != ENDSTOPS_INVERTING) && (current_block->steps_z >0)){
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step_events_completed = current_block->step_event_count;
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step_events_completed = current_block->step_event_count;
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}
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}
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#endif
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#endif
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}
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}
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#ifndef ADVANCE
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#ifndef ADVANCE
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if ((out_bits & (1<<E_AXIS)) != 0) // -direction
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if ((out_bits & (1<<E_AXIS)) != 0) // -direction
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WRITE(E_DIR_PIN,INVERT_E_DIR);
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WRITE(E_DIR_PIN,INVERT_E_DIR);
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else // +direction
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else // +direction
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WRITE(E_DIR_PIN,!INVERT_E_DIR);
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WRITE(E_DIR_PIN,!INVERT_E_DIR);
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#endif //!ADVANCE
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#endif //!ADVANCE
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for(char i=0; i < step_loops; i++) { // Take multiple steps per interrupt (For high speed moves)
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for(char i=0; i < step_loops; i++) { // Take multiple steps per interrupt (For high speed moves)
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counter_x += current_block->steps_x;
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counter_x += current_block->steps_x;
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@ -349,7 +352,7 @@ if ((out_bits & (1<<X_AXIS)) != 0) { // -direction
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counter_x -= current_block->step_event_count;
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counter_x -= current_block->step_event_count;
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WRITE(X_STEP_PIN, LOW);
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WRITE(X_STEP_PIN, LOW);
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#ifdef DEBUG_STEPS
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#ifdef DEBUG_STEPS
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count_position[X_AXIS]+=count_direction[X_AXIS];
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count_position[X_AXIS]+=count_direction[X_AXIS];
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#endif
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#endif
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}
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}
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@ -359,7 +362,7 @@ if ((out_bits & (1<<X_AXIS)) != 0) { // -direction
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counter_y -= current_block->step_event_count;
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counter_y -= current_block->step_event_count;
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WRITE(Y_STEP_PIN, LOW);
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WRITE(Y_STEP_PIN, LOW);
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#ifdef DEBUG_STEPS
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#ifdef DEBUG_STEPS
|
|
|
|
count_position[Y_AXIS]+=count_direction[Y_AXIS];
|
|
|
|
count_position[Y_AXIS]+=count_direction[Y_AXIS];
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
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|
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|
@ -369,18 +372,18 @@ if ((out_bits & (1<<X_AXIS)) != 0) { // -direction
|
|
|
|
counter_z -= current_block->step_event_count;
|
|
|
|
counter_z -= current_block->step_event_count;
|
|
|
|
WRITE(Z_STEP_PIN, LOW);
|
|
|
|
WRITE(Z_STEP_PIN, LOW);
|
|
|
|
#ifdef DEBUG_STEPS
|
|
|
|
#ifdef DEBUG_STEPS
|
|
|
|
count_position[Z_AXIS]+=count_direction[Z_AXIS];
|
|
|
|
count_position[Z_AXIS]+=count_direction[Z_AXIS];
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
#ifndef ADVANCE
|
|
|
|
#ifndef ADVANCE
|
|
|
|
counter_e += current_block->steps_e;
|
|
|
|
counter_e += current_block->steps_e;
|
|
|
|
if (counter_e > 0) {
|
|
|
|
if (counter_e > 0) {
|
|
|
|
WRITE(E_STEP_PIN, HIGH);
|
|
|
|
WRITE(E_STEP_PIN, HIGH);
|
|
|
|
counter_e -= current_block->step_event_count;
|
|
|
|
counter_e -= current_block->step_event_count;
|
|
|
|
WRITE(E_STEP_PIN, LOW);
|
|
|
|
WRITE(E_STEP_PIN, LOW);
|
|
|
|
}
|
|
|
|
}
|
|
|
|
#endif //!ADVANCE
|
|
|
|
#endif //!ADVANCE
|
|
|
|
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;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
@ -397,9 +400,9 @@ if ((out_bits & (1<<X_AXIS)) != 0) { // -direction
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|
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|
|
// step_rate to timer interval
|
|
|
|
// step_rate to timer interval
|
|
|
|
timer = calc_timer(acc_step_rate);
|
|
|
|
timer = calc_timer(acc_step_rate);
|
|
|
|
#ifdef ADVANCE
|
|
|
|
#ifdef ADVANCE
|
|
|
|
advance += advance_rate;
|
|
|
|
advance += advance_rate;
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
acceleration_time += timer;
|
|
|
|
acceleration_time += timer;
|
|
|
|
OCR1A = timer;
|
|
|
|
OCR1A = timer;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
@ -419,11 +422,11 @@ if ((out_bits & (1<<X_AXIS)) != 0) { // -direction
|
|
|
|
|
|
|
|
|
|
|
|
// step_rate to timer interval
|
|
|
|
// step_rate to timer interval
|
|
|
|
timer = calc_timer(step_rate);
|
|
|
|
timer = calc_timer(step_rate);
|
|
|
|
#ifdef ADVANCE
|
|
|
|
#ifdef ADVANCE
|
|
|
|
advance -= advance_rate;
|
|
|
|
advance -= advance_rate;
|
|
|
|
if(advance < final_advance)
|
|
|
|
if(advance < final_advance)
|
|
|
|
advance = final_advance;
|
|
|
|
advance = final_advance;
|
|
|
|
#endif //ADVANCE
|
|
|
|
#endif //ADVANCE
|
|
|
|
deceleration_time += timer;
|
|
|
|
deceleration_time += timer;
|
|
|
|
OCR1A = timer;
|
|
|
|
OCR1A = timer;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
@ -438,127 +441,126 @@ if ((out_bits & (1<<X_AXIS)) != 0) { // -direction
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
#ifdef ADVANCE
|
|
|
|
#ifdef ADVANCE
|
|
|
|
|
|
|
|
unsigned char old_OCR0A;
|
|
|
|
unsigned char old_OCR0A;
|
|
|
|
// Timer interrupt for E. e_steps is set in the main routine;
|
|
|
|
// Timer interrupt for E. e_steps is set in the main routine;
|
|
|
|
// Timer 0 is shared with millies
|
|
|
|
// Timer 0 is shared with millies
|
|
|
|
ISR(TIMER0_COMPA_vect)
|
|
|
|
ISR(TIMER0_COMPA_vect)
|
|
|
|
{
|
|
|
|
{
|
|
|
|
// Critical section needed because Timer 1 interrupt has higher priority.
|
|
|
|
// Critical section needed because Timer 1 interrupt has higher priority.
|
|
|
|
// The pin set functions are placed on trategic position to comply with the stepper driver timing.
|
|
|
|
// The pin set functions are placed on trategic position to comply with the stepper driver timing.
|
|
|
|
WRITE(E_STEP_PIN, LOW);
|
|
|
|
WRITE(E_STEP_PIN, LOW);
|
|
|
|
// Set E direction (Depends on E direction + advance)
|
|
|
|
// Set E direction (Depends on E direction + advance)
|
|
|
|
if (e_steps < 0) {
|
|
|
|
if (e_steps < 0) {
|
|
|
|
WRITE(E_DIR_PIN,INVERT_E_DIR);
|
|
|
|
WRITE(E_DIR_PIN,INVERT_E_DIR);
|
|
|
|
e_steps++;
|
|
|
|
e_steps++;
|
|
|
|
WRITE(E_STEP_PIN, HIGH);
|
|
|
|
WRITE(E_STEP_PIN, HIGH);
|
|
|
|
}
|
|
|
|
}
|
|
|
|
if (e_steps > 0) {
|
|
|
|
if (e_steps > 0) {
|
|
|
|
WRITE(E_DIR_PIN,!INVERT_E_DIR);
|
|
|
|
WRITE(E_DIR_PIN,!INVERT_E_DIR);
|
|
|
|
e_steps--;
|
|
|
|
e_steps--;
|
|
|
|
WRITE(E_STEP_PIN, HIGH);
|
|
|
|
WRITE(E_STEP_PIN, HIGH);
|
|
|
|
}
|
|
|
|
|
|
|
|
old_OCR0A += 25; // 10kHz interrupt
|
|
|
|
|
|
|
|
OCR0A = old_OCR0A;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
old_OCR0A += 25; // 10kHz interrupt
|
|
|
|
|
|
|
|
OCR0A = old_OCR0A;
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
#endif // ADVANCE
|
|
|
|
#endif // ADVANCE
|
|
|
|
|
|
|
|
|
|
|
|
void st_init()
|
|
|
|
void st_init()
|
|
|
|
{
|
|
|
|
{
|
|
|
|
//Initialize Dir Pins
|
|
|
|
//Initialize Dir Pins
|
|
|
|
#if X_DIR_PIN > -1
|
|
|
|
#if X_DIR_PIN > -1
|
|
|
|
SET_OUTPUT(X_DIR_PIN);
|
|
|
|
SET_OUTPUT(X_DIR_PIN);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
#if Y_DIR_PIN > -1
|
|
|
|
#if Y_DIR_PIN > -1
|
|
|
|
SET_OUTPUT(Y_DIR_PIN);
|
|
|
|
SET_OUTPUT(Y_DIR_PIN);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
#if Z_DIR_PIN > -1
|
|
|
|
#if Z_DIR_PIN > -1
|
|
|
|
SET_OUTPUT(Z_DIR_PIN);
|
|
|
|
SET_OUTPUT(Z_DIR_PIN);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
#if E_DIR_PIN > -1
|
|
|
|
#if E_DIR_PIN > -1
|
|
|
|
SET_OUTPUT(E_DIR_PIN);
|
|
|
|
SET_OUTPUT(E_DIR_PIN);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
|
|
//Initialize Enable Pins - steppers default to disabled.
|
|
|
|
//Initialize Enable Pins - steppers default to disabled.
|
|
|
|
|
|
|
|
|
|
|
|
#if (X_ENABLE_PIN > -1)
|
|
|
|
#if (X_ENABLE_PIN > -1)
|
|
|
|
SET_OUTPUT(X_ENABLE_PIN);
|
|
|
|
SET_OUTPUT(X_ENABLE_PIN);
|
|
|
|
if(!X_ENABLE_ON) WRITE(X_ENABLE_PIN,HIGH);
|
|
|
|
if(!X_ENABLE_ON) WRITE(X_ENABLE_PIN,HIGH);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
#if (Y_ENABLE_PIN > -1)
|
|
|
|
#if (Y_ENABLE_PIN > -1)
|
|
|
|
SET_OUTPUT(Y_ENABLE_PIN);
|
|
|
|
SET_OUTPUT(Y_ENABLE_PIN);
|
|
|
|
if(!Y_ENABLE_ON) WRITE(Y_ENABLE_PIN,HIGH);
|
|
|
|
if(!Y_ENABLE_ON) WRITE(Y_ENABLE_PIN,HIGH);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
#if (Z_ENABLE_PIN > -1)
|
|
|
|
#if (Z_ENABLE_PIN > -1)
|
|
|
|
SET_OUTPUT(Z_ENABLE_PIN);
|
|
|
|
SET_OUTPUT(Z_ENABLE_PIN);
|
|
|
|
if(!Z_ENABLE_ON) WRITE(Z_ENABLE_PIN,HIGH);
|
|
|
|
if(!Z_ENABLE_ON) WRITE(Z_ENABLE_PIN,HIGH);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
#if (E_ENABLE_PIN > -1)
|
|
|
|
#if (E_ENABLE_PIN > -1)
|
|
|
|
SET_OUTPUT(E_ENABLE_PIN);
|
|
|
|
SET_OUTPUT(E_ENABLE_PIN);
|
|
|
|
if(!E_ENABLE_ON) WRITE(E_ENABLE_PIN,HIGH);
|
|
|
|
if(!E_ENABLE_ON) WRITE(E_ENABLE_PIN,HIGH);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
|
|
//endstops and pullups
|
|
|
|
//endstops and pullups
|
|
|
|
#ifdef ENDSTOPPULLUPS
|
|
|
|
#ifdef ENDSTOPPULLUPS
|
|
|
|
#if X_MIN_PIN > -1
|
|
|
|
#if X_MIN_PIN > -1
|
|
|
|
SET_INPUT(X_MIN_PIN);
|
|
|
|
SET_INPUT(X_MIN_PIN);
|
|
|
|
WRITE(X_MIN_PIN,HIGH);
|
|
|
|
WRITE(X_MIN_PIN,HIGH);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
#if X_MAX_PIN > -1
|
|
|
|
#if X_MAX_PIN > -1
|
|
|
|
SET_INPUT(X_MAX_PIN);
|
|
|
|
SET_INPUT(X_MAX_PIN);
|
|
|
|
WRITE(X_MAX_PIN,HIGH);
|
|
|
|
WRITE(X_MAX_PIN,HIGH);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
#if Y_MIN_PIN > -1
|
|
|
|
#if Y_MIN_PIN > -1
|
|
|
|
SET_INPUT(Y_MIN_PIN);
|
|
|
|
SET_INPUT(Y_MIN_PIN);
|
|
|
|
WRITE(Y_MIN_PIN,HIGH);
|
|
|
|
WRITE(Y_MIN_PIN,HIGH);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
#if Y_MAX_PIN > -1
|
|
|
|
#if Y_MAX_PIN > -1
|
|
|
|
SET_INPUT(Y_MAX_PIN);
|
|
|
|
SET_INPUT(Y_MAX_PIN);
|
|
|
|
WRITE(Y_MAX_PIN,HIGH);
|
|
|
|
WRITE(Y_MAX_PIN,HIGH);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
#if Z_MIN_PIN > -1
|
|
|
|
#if Z_MIN_PIN > -1
|
|
|
|
SET_INPUT(Z_MIN_PIN);
|
|
|
|
SET_INPUT(Z_MIN_PIN);
|
|
|
|
WRITE(Z_MIN_PIN,HIGH);
|
|
|
|
WRITE(Z_MIN_PIN,HIGH);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
#if Z_MAX_PIN > -1
|
|
|
|
#if Z_MAX_PIN > -1
|
|
|
|
SET_INPUT(Z_MAX_PIN);
|
|
|
|
SET_INPUT(Z_MAX_PIN);
|
|
|
|
WRITE(Z_MAX_PIN,HIGH);
|
|
|
|
WRITE(Z_MAX_PIN,HIGH);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
#else //ENDSTOPPULLUPS
|
|
|
|
#else //ENDSTOPPULLUPS
|
|
|
|
#if X_MIN_PIN > -1
|
|
|
|
#if X_MIN_PIN > -1
|
|
|
|
SET_INPUT(X_MIN_PIN);
|
|
|
|
SET_INPUT(X_MIN_PIN);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
#if X_MAX_PIN > -1
|
|
|
|
#if X_MAX_PIN > -1
|
|
|
|
SET_INPUT(X_MAX_PIN);
|
|
|
|
SET_INPUT(X_MAX_PIN);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
#if Y_MIN_PIN > -1
|
|
|
|
#if Y_MIN_PIN > -1
|
|
|
|
SET_INPUT(Y_MIN_PIN);
|
|
|
|
SET_INPUT(Y_MIN_PIN);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
#if Y_MAX_PIN > -1
|
|
|
|
#if Y_MAX_PIN > -1
|
|
|
|
SET_INPUT(Y_MAX_PIN);
|
|
|
|
SET_INPUT(Y_MAX_PIN);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
#if Z_MIN_PIN > -1
|
|
|
|
#if Z_MIN_PIN > -1
|
|
|
|
SET_INPUT(Z_MIN_PIN);
|
|
|
|
SET_INPUT(Z_MIN_PIN);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
#if Z_MAX_PIN > -1
|
|
|
|
#if Z_MAX_PIN > -1
|
|
|
|
SET_INPUT(Z_MAX_PIN);
|
|
|
|
SET_INPUT(Z_MAX_PIN);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
#endif //ENDSTOPPULLUPS
|
|
|
|
#endif //ENDSTOPPULLUPS
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
//Initialize Step Pins
|
|
|
|
//Initialize Step Pins
|
|
|
|
#if (X_STEP_PIN > -1)
|
|
|
|
#if (X_STEP_PIN > -1)
|
|
|
|
SET_OUTPUT(X_STEP_PIN);
|
|
|
|
SET_OUTPUT(X_STEP_PIN);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
#if (Y_STEP_PIN > -1)
|
|
|
|
#if (Y_STEP_PIN > -1)
|
|
|
|
SET_OUTPUT(Y_STEP_PIN);
|
|
|
|
SET_OUTPUT(Y_STEP_PIN);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
#if (Z_STEP_PIN > -1)
|
|
|
|
#if (Z_STEP_PIN > -1)
|
|
|
|
SET_OUTPUT(Z_STEP_PIN);
|
|
|
|
SET_OUTPUT(Z_STEP_PIN);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
#if (E_STEP_PIN > -1)
|
|
|
|
#if (E_STEP_PIN > -1)
|
|
|
|
SET_OUTPUT(E_STEP_PIN);
|
|
|
|
SET_OUTPUT(E_STEP_PIN);
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
|
|
// waveform generation = 0100 = CTC
|
|
|
|
// waveform generation = 0100 = CTC
|
|
|
|
TCCR1B &= ~(1<<WGM13);
|
|
|
|
TCCR1B &= ~(1<<WGM13);
|
|
|
|
@ -574,10 +576,10 @@ void st_init()
|
|
|
|
OCR1A = 0x4000;
|
|
|
|
OCR1A = 0x4000;
|
|
|
|
DISABLE_STEPPER_DRIVER_INTERRUPT();
|
|
|
|
DISABLE_STEPPER_DRIVER_INTERRUPT();
|
|
|
|
|
|
|
|
|
|
|
|
#ifdef ADVANCE
|
|
|
|
#ifdef ADVANCE
|
|
|
|
e_steps = 0;
|
|
|
|
e_steps = 0;
|
|
|
|
TIMSK0 |= (1<<OCIE0A);
|
|
|
|
TIMSK0 |= (1<<OCIE0A);
|
|
|
|
#endif //ADVANCE
|
|
|
|
#endif //ADVANCE
|
|
|
|
sei();
|
|
|
|
sei();
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
Bernhard Kubicek
13 years ago