rework out_bits
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wurstnase
parent
6c27eaf864
commit
21ff773832
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@ -46,7 +46,7 @@ block_t *current_block; // A pointer to the block currently being traced
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//static makes it impossible 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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static unsigned char out_bits; // The next stepping-bits to be output
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static unsigned char out_bits = 0; // The next stepping-bits to be output
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static unsigned int cleaning_buffer_counter;
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#ifdef Z_DUAL_ENDSTOPS
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@ -364,9 +364,58 @@ FORCE_INLINE unsigned short calc_timer(unsigned short step_rate) {
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return timer;
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}
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// set the stepper direction of each axis
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void set_stepper_direction() {
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// Set the direction bits (X_AXIS=A_AXIS and Y_AXIS=B_AXIS for COREXY)
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if (TEST(out_bits, X_AXIS)) {
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X_APPLY_DIR(INVERT_X_DIR,0);
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count_direction[X_AXIS] = -1;
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}
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else {
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X_APPLY_DIR(!INVERT_X_DIR,0);
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count_direction[X_AXIS] = 1;
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}
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if (TEST(out_bits, Y_AXIS)) {
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Y_APPLY_DIR(INVERT_Y_DIR,0);
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count_direction[Y_AXIS] = -1;
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}
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else {
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Y_APPLY_DIR(!INVERT_Y_DIR,0);
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count_direction[Y_AXIS] = 1;
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}
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if (TEST(out_bits, Z_AXIS)) {
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Z_APPLY_DIR(INVERT_Z_DIR,0);
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count_direction[Z_AXIS] = -1;
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}
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else {
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Z_APPLY_DIR(!INVERT_Z_DIR,0);
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count_direction[Z_AXIS] = 1;
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}
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#ifndef ADVANCE
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if (TEST(out_bits, E_AXIS)) {
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REV_E_DIR();
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count_direction[E_AXIS] = -1;
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}
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else {
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NORM_E_DIR();
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count_direction[E_AXIS] = 1;
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}
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#endif //!ADVANCE
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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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if (current_block->direction_bits != out_bits) {
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out_bits = current_block->direction_bits;
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set_stepper_direction();
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}
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#ifdef ADVANCE
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advance = current_block->initial_advance;
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final_advance = current_block->final_advance;
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@ -439,48 +488,27 @@ ISR(TIMER1_COMPA_vect) {
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}
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if (current_block != NULL) {
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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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// Set the direction bits (X_AXIS=A_AXIS and Y_AXIS=B_AXIS for COREXY)
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if (TEST(out_bits, X_AXIS)) {
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X_APPLY_DIR(INVERT_X_DIR,0);
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count_direction[X_AXIS] = -1;
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}
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else {
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X_APPLY_DIR(!INVERT_X_DIR,0);
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count_direction[X_AXIS] = 1;
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}
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if (TEST(out_bits, Y_AXIS)) {
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Y_APPLY_DIR(INVERT_Y_DIR,0);
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count_direction[Y_AXIS] = -1;
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}
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else {
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Y_APPLY_DIR(!INVERT_Y_DIR,0);
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count_direction[Y_AXIS] = 1;
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}
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#define _ENDSTOP(axis, minmax) axis ##_## minmax ##_endstop
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#define _ENDSTOP_PIN(AXIS, MINMAX) AXIS ##_## MINMAX ##_PIN
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#define _ENDSTOP_INVERTING(AXIS, MINMAX) AXIS ##_## MINMAX ##_ENDSTOP_INVERTING
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#define _OLD_ENDSTOP(axis, minmax) old_## axis ##_## minmax ##_endstop
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#define _AXIS(AXIS) AXIS ##_AXIS
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#define _HIT_BIT(AXIS) AXIS ##_MIN
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#define _ENDSTOP_HIT(AXIS) endstop_hit_bits |= BIT(_HIT_BIT(AXIS))
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#define UPDATE_ENDSTOP(axis,AXIS,minmax,MINMAX) \
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bool _ENDSTOP(axis, minmax) = (READ(_ENDSTOP_PIN(AXIS, MINMAX)) != _ENDSTOP_INVERTING(AXIS, MINMAX)); \
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if (_ENDSTOP(axis, minmax) && _OLD_ENDSTOP(axis, minmax) && (current_block->steps[_AXIS(AXIS)] > 0)) { \
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endstops_trigsteps[_AXIS(AXIS)] = count_position[_AXIS(AXIS)]; \
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_ENDSTOP_HIT(AXIS); \
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step_events_completed = current_block->step_event_count; \
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} \
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_OLD_ENDSTOP(axis, minmax) = _ENDSTOP(axis, minmax);
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// Check X and Y endstops
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// Check endstops
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if (check_endstops) {
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#define _ENDSTOP(axis, minmax) axis ##_## minmax ##_endstop
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#define _ENDSTOP_PIN(AXIS, MINMAX) AXIS ##_## MINMAX ##_PIN
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#define _ENDSTOP_INVERTING(AXIS, MINMAX) AXIS ##_## MINMAX ##_ENDSTOP_INVERTING
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#define _OLD_ENDSTOP(axis, minmax) old_## axis ##_## minmax ##_endstop
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#define _AXIS(AXIS) AXIS ##_AXIS
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#define _HIT_BIT(AXIS) AXIS ##_MIN
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#define _ENDSTOP_HIT(AXIS) endstop_hit_bits |= BIT(_HIT_BIT(AXIS))
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#define UPDATE_ENDSTOP(axis,AXIS,minmax,MINMAX) \
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bool _ENDSTOP(axis, minmax) = (READ(_ENDSTOP_PIN(AXIS, MINMAX)) != _ENDSTOP_INVERTING(AXIS, MINMAX)); \
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if (_ENDSTOP(axis, minmax) && _OLD_ENDSTOP(axis, minmax) && (current_block->steps[_AXIS(AXIS)] > 0)) { \
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endstops_trigsteps[_AXIS(AXIS)] = count_position[_AXIS(AXIS)]; \
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_ENDSTOP_HIT(AXIS); \
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step_events_completed = current_block->step_event_count; \
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} \
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_OLD_ENDSTOP(axis, minmax) = _ENDSTOP(axis, minmax);
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#ifdef COREXY
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// Head direction in -X axis for CoreXY bots.
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// If DeltaX == -DeltaY, the movement is only in Y axis
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@ -533,15 +561,7 @@ ISR(TIMER1_COMPA_vect) {
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#ifdef COREXY
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}
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#endif
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}
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if (TEST(out_bits, Z_AXIS)) { // -direction
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Z_APPLY_DIR(INVERT_Z_DIR,0);
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count_direction[Z_AXIS] = -1;
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if (check_endstops) {
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if (TEST(out_bits, Z_AXIS)) { // z -direction
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#if HAS_Z_MIN
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#ifdef Z_DUAL_ENDSTOPS
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@ -581,22 +601,12 @@ ISR(TIMER1_COMPA_vect) {
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{
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endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
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endstop_hit_bits |= BIT(Z_PROBE);
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// if (z_probe_endstop && old_z_probe_endstop) SERIAL_ECHOLN("z_probe_endstop = true");
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// if (z_probe_endstop && old_z_probe_endstop) SERIAL_ECHOLN("z_probe_endstop = true");
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}
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old_z_probe_endstop = z_probe_endstop;
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#endif
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} // check_endstops
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}
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else { // +direction
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Z_APPLY_DIR(!INVERT_Z_DIR,0);
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count_direction[Z_AXIS] = 1;
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if (check_endstops) {
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}
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else { // z +direction
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#if HAS_Z_MAX
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#ifdef Z_DUAL_ENDSTOPS
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@ -632,7 +642,7 @@ ISR(TIMER1_COMPA_vect) {
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#endif // !Z_DUAL_ENDSTOPS
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#endif // Z_MAX_PIN
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#ifdef Z_PROBE_ENDSTOP
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UPDATE_ENDSTOP(z, Z, probe, PROBE);
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z_probe_endstop=(READ(Z_PROBE_PIN) != Z_PROBE_ENDSTOP_INVERTING);
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@ -640,25 +650,15 @@ ISR(TIMER1_COMPA_vect) {
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{
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endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
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endstop_hit_bits |= BIT(Z_PROBE);
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// if (z_probe_endstop && old_z_probe_endstop) SERIAL_ECHOLN("z_probe_endstop = true");
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// if (z_probe_endstop && old_z_probe_endstop) SERIAL_ECHOLN("z_probe_endstop = true");
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}
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old_z_probe_endstop = z_probe_endstop;
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#endif
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} // check_endstops
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} // +direction
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#ifndef ADVANCE
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if (TEST(out_bits, E_AXIS)) { // -direction
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REV_E_DIR();
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count_direction[E_AXIS] = -1;
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}
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else { // +direction
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NORM_E_DIR();
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count_direction[E_AXIS] = 1;
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}
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#endif //!ADVANCE
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}
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// Take multiple steps per interrupt (For high speed moves)
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for (int8_t i = 0; i < step_loops; i++) {
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@ -989,12 +989,12 @@ void st_init() {
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#endif
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#endif
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#if (defined(Z_PROBE_PIN) && Z_PROBE_PIN >= 0) && defined(Z_PROBE_ENDSTOP) // Check for Z_PROBE_ENDSTOP so we don't pull a pin high unless it's to be used.
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SET_INPUT(Z_PROBE_PIN);
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#ifdef ENDSTOPPULLUP_ZPROBE
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WRITE(Z_PROBE_PIN,HIGH);
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#if (defined(Z_PROBE_PIN) && Z_PROBE_PIN >= 0) && defined(Z_PROBE_ENDSTOP) // Check for Z_PROBE_ENDSTOP so we don't pull a pin high unless it's to be used.
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SET_INPUT(Z_PROBE_PIN);
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#ifdef ENDSTOPPULLUP_ZPROBE
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WRITE(Z_PROBE_PIN,HIGH);
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#endif
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#endif
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#endif
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#define _STEP_INIT(AXIS) AXIS ##_STEP_INIT
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#define _WRITE_STEP(AXIS, HIGHLOW) AXIS ##_STEP_WRITE(HIGHLOW)
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@ -1073,6 +1073,8 @@ void st_init() {
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enable_endstops(true); // Start with endstops active. After homing they can be disabled
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sei();
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set_stepper_direction(); // Init directions to out_bits = 0
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}
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