Keep Stepper encapsulation, use static data and methods
This commit is contained in:
Scott Lahteine
parent
7ba8f2dbc3
commit
668d50f68e
@ -60,6 +60,55 @@
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Stepper stepper; // Singleton
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// public:
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block_t* Stepper::current_block = NULL; // A pointer to the block currently being traced
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#if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
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bool Stepper::abort_on_endstop_hit = false;
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#endif
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#if ENABLED(Z_DUAL_ENDSTOPS)
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bool Stepper::performing_homing = false;
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#endif
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// private:
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unsigned char Stepper::last_direction_bits = 0; // The next stepping-bits to be output
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unsigned int Stepper::cleaning_buffer_counter = 0;
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#if ENABLED(Z_DUAL_ENDSTOPS)
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bool Stepper::locked_z_motor = false;
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bool Stepper::locked_z2_motor = false;
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#endif
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long Stepper::counter_X = 0,
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Stepper::counter_Y = 0,
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Stepper::counter_Z = 0,
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Stepper::counter_E = 0;
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volatile unsigned long Stepper::step_events_completed = 0; // The number of step events executed in the current block
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#if ENABLED(ADVANCE)
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unsigned char Stepper::old_OCR0A;
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long Stepper::final_advance = 0,
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Stepper::old_advance = 0,
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Stepper::e_steps[4],
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Stepper::advance_rate,
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Stepper::advance;
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#endif
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long Stepper::acceleration_time, Stepper::deceleration_time;
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volatile long Stepper::count_position[NUM_AXIS] = { 0 };
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volatile signed char Stepper::count_direction[NUM_AXIS] = { 1, 1, 1, 1 };
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unsigned short Stepper::acc_step_rate; // needed for deceleration start point
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uint8_t Stepper::step_loops, Stepper::step_loops_nominal;
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unsigned short Stepper::OCR1A_nominal;
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volatile long Stepper::endstops_trigsteps[3];
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#if ENABLED(DUAL_X_CARRIAGE)
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#define X_APPLY_DIR(v,ALWAYS) \
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if (extruder_duplication_enabled || ALWAYS) { \
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@ -238,7 +287,7 @@ void Stepper::set_directions() {
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// "The Stepper Driver Interrupt" - This timer interrupt is the workhorse.
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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) { stepper.isr(); }
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ISR(TIMER1_COMPA_vect) { Stepper::isr(); }
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void Stepper::isr() {
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if (cleaning_buffer_counter) {
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@ -405,7 +454,7 @@ void Stepper::isr() {
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#if ENABLED(ADVANCE)
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// Timer interrupt for E. e_steps is set in the main routine;
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// Timer 0 is shared with millies
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ISR(TIMER0_COMPA_vect) { stepper.advance_isr(); }
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ISR(TIMER0_COMPA_vect) { Stepper::advance_isr(); }
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void Stepper::advance_isr() {
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old_OCR0A += 52; // ~10kHz interrupt (250000 / 26 = 9615kHz)
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@ -443,6 +492,7 @@ void Stepper::isr() {
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#endif // ADVANCE
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void Stepper::init() {
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digipot_init(); //Initialize Digipot Motor Current
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microstep_init(); //Initialize Microstepping Pins
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@ -80,49 +80,46 @@ class Stepper {
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public:
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block_t* current_block = NULL; // A pointer to the block currently being traced
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static block_t* current_block; // A pointer to the block currently being traced
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#if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
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bool abort_on_endstop_hit = false;
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static bool abort_on_endstop_hit;
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#endif
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#if ENABLED(Z_DUAL_ENDSTOPS)
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bool performing_homing = false;
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static bool performing_homing;
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#endif
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#if ENABLED(ADVANCE)
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long e_steps[4];
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static long e_steps[4];
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#endif
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private:
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unsigned char last_direction_bits = 0; // The next stepping-bits to be output
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unsigned int cleaning_buffer_counter = 0;
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static unsigned char last_direction_bits; // The next stepping-bits to be output
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static unsigned int cleaning_buffer_counter;
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#if ENABLED(Z_DUAL_ENDSTOPS)
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bool locked_z_motor = false,
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locked_z2_motor = false;
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static bool locked_z_motor, locked_z2_motor;
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#endif
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// Counter variables for the Bresenham line tracer
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long counter_X = 0, counter_Y = 0, counter_Z = 0, counter_E = 0;
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volatile unsigned long step_events_completed = 0; // The number of step events executed in the current block
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static long counter_X, counter_Y, counter_Z, counter_E;
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static volatile unsigned long step_events_completed; // The number of step events executed in the current block
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#if ENABLED(ADVANCE)
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unsigned char old_OCR0A;
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long advance_rate, advance, final_advance = 0;
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long old_advance = 0;
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static unsigned char old_OCR0A;
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static long advance_rate, advance, old_advance, final_advance;
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#endif
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long acceleration_time, deceleration_time;
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static long acceleration_time, deceleration_time;
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//unsigned long accelerate_until, decelerate_after, acceleration_rate, initial_rate, final_rate, nominal_rate;
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unsigned short acc_step_rate; // needed for deceleration start point
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uint8_t step_loops;
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uint8_t step_loops_nominal;
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unsigned short OCR1A_nominal;
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static unsigned short acc_step_rate; // needed for deceleration start point
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static uint8_t step_loops, step_loops_nominal;
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static unsigned short OCR1A_nominal;
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volatile long endstops_trigsteps[3];
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volatile long endstops_stepsTotal, endstops_stepsDone;
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static volatile long endstops_trigsteps[3];
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static volatile long endstops_stepsTotal, endstops_stepsDone;
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#if HAS_MOTOR_CURRENT_PWM
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#ifndef PWM_MOTOR_CURRENT
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@ -134,19 +131,19 @@ class Stepper {
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//
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// Positions of stepper motors, in step units
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//
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volatile long count_position[NUM_AXIS] = { 0 };
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static volatile long count_position[NUM_AXIS];
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//
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// Current direction of stepper motors (+1 or -1)
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//
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volatile signed char count_direction[NUM_AXIS] = { 1, 1, 1, 1 };
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static volatile signed char count_direction[NUM_AXIS];
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public:
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//
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// Constructor / initializer
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//
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Stepper() {};
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Stepper() { };
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//
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// Initialize stepper hardware
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@ -157,10 +154,10 @@ class Stepper {
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// Interrupt Service Routines
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//
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void isr();
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static void isr();
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#if ENABLED(ADVANCE)
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void advance_isr();
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static void advance_isr();
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#endif
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//
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@ -177,7 +174,7 @@ class Stepper {
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//
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// Set direction bits for all steppers
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//
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void set_directions();
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static void set_directions();
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//
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// Get the position of a stepper, in steps
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@ -213,7 +210,7 @@ class Stepper {
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//
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// The direction of a single motor
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//
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FORCE_INLINE bool motor_direction(AxisEnum axis) { return TEST(last_direction_bits, axis); }
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static FORCE_INLINE bool motor_direction(AxisEnum axis) { return TEST(last_direction_bits, axis); }
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#if HAS_DIGIPOTSS
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void digitalPotWrite(int address, int value);
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@ -251,7 +248,7 @@ class Stepper {
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private:
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FORCE_INLINE unsigned short calc_timer(unsigned short step_rate) {
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static FORCE_INLINE unsigned short calc_timer(unsigned short step_rate) {
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unsigned short timer;
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NOMORE(step_rate, MAX_STEP_FREQUENCY);
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@ -283,13 +280,17 @@ class Stepper {
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timer = (unsigned short)pgm_read_word_near(table_address);
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timer -= (((unsigned short)pgm_read_word_near(table_address + 2) * (unsigned char)(step_rate & 0x0007)) >> 3);
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}
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if (timer < 100) { timer = 100; MYSERIAL.print(MSG_STEPPER_TOO_HIGH); MYSERIAL.println(step_rate); }//(20kHz this should never happen)
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if (timer < 100) { // (20kHz - this should never happen)
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timer = 100;
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MYSERIAL.print(MSG_STEPPER_TOO_HIGH);
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MYSERIAL.println(step_rate);
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}
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return timer;
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}
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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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FORCE_INLINE void trapezoid_generator_reset() {
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static FORCE_INLINE void trapezoid_generator_reset() {
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static int8_t last_extruder = -1;
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