My Marlin configs for Fabrikator Mini and CTC i3 Pro B
選択できるのは25トピックまでです。 トピックは、先頭が英数字で、英数字とダッシュ('-')を使用した35文字以内のものにしてください。

stepper.cpp 41KB

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  1. /*
  2. stepper.c - stepper motor driver: executes motion plans using stepper motors
  3. Part of Grbl
  4. Copyright (c) 2009-2011 Simen Svale Skogsrud
  5. Grbl is free software: you can redistribute it and/or modify
  6. it under the terms of the GNU General Public License as published by
  7. the Free Software Foundation, either version 3 of the License, or
  8. (at your option) any later version.
  9. Grbl is distributed in the hope that it will be useful,
  10. but WITHOUT ANY WARRANTY; without even the implied warranty of
  11. MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
  12. GNU General Public License for more details.
  13. You should have received a copy of the GNU General Public License
  14. along with Grbl. If not, see <http://www.gnu.org/licenses/>.
  15. */
  16. /* The timer calculations of this module informed by the 'RepRap cartesian firmware' by Zack Smith
  17. and Philipp Tiefenbacher. */
  18. #include "Marlin.h"
  19. #include "stepper.h"
  20. #include "planner.h"
  21. #include "temperature.h"
  22. #include "ultralcd.h"
  23. #include "language.h"
  24. #include "cardreader.h"
  25. #include "speed_lookuptable.h"
  26. #if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
  27. #include <SPI.h>
  28. #endif
  29. //===========================================================================
  30. //=============================public variables ============================
  31. //===========================================================================
  32. block_t *current_block; // A pointer to the block currently being traced
  33. //===========================================================================
  34. //=============================private variables ============================
  35. //===========================================================================
  36. //static makes it inpossible to be called from outside of this file by extern.!
  37. // Variables used by The Stepper Driver Interrupt
  38. static unsigned char out_bits; // The next stepping-bits to be output
  39. static long counter_x, // Counter variables for the bresenham line tracer
  40. counter_y,
  41. counter_z,
  42. counter_e;
  43. volatile static unsigned long step_events_completed; // The number of step events executed in the current block
  44. #ifdef ADVANCE
  45. static long advance_rate, advance, final_advance = 0;
  46. static long old_advance = 0;
  47. static long e_steps[4];
  48. #endif
  49. static long acceleration_time, deceleration_time;
  50. //static unsigned long accelerate_until, decelerate_after, acceleration_rate, initial_rate, final_rate, nominal_rate;
  51. static unsigned short acc_step_rate; // needed for deccelaration start point
  52. static char step_loops;
  53. static unsigned short OCR1A_nominal;
  54. static unsigned short step_loops_nominal;
  55. volatile long endstops_trigsteps[3]={0,0,0};
  56. volatile long endstops_stepsTotal,endstops_stepsDone;
  57. static volatile bool endstop_x_hit=false;
  58. static volatile bool endstop_y_hit=false;
  59. static volatile bool endstop_z_hit=false;
  60. #ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
  61. bool abort_on_endstop_hit = false;
  62. #endif
  63. #ifdef MOTOR_CURRENT_PWM_XY_PIN
  64. int motor_current_setting[3] = DEFAULT_PWM_MOTOR_CURRENT;
  65. #endif
  66. static bool old_x_min_endstop=false;
  67. static bool old_x_max_endstop=false;
  68. static bool old_y_min_endstop=false;
  69. static bool old_y_max_endstop=false;
  70. static bool old_z_min_endstop=false;
  71. static bool old_z_max_endstop=false;
  72. static bool check_endstops = true;
  73. volatile long count_position[NUM_AXIS] = { 0, 0, 0, 0};
  74. volatile signed char count_direction[NUM_AXIS] = { 1, 1, 1, 1};
  75. //===========================================================================
  76. //=============================functions ============================
  77. //===========================================================================
  78. #define CHECK_ENDSTOPS if(check_endstops)
  79. // intRes = intIn1 * intIn2 >> 16
  80. // uses:
  81. // r26 to store 0
  82. // r27 to store the byte 1 of the 24 bit result
  83. #define MultiU16X8toH16(intRes, charIn1, intIn2) \
  84. asm volatile ( \
  85. "clr r26 \n\t" \
  86. "mul %A1, %B2 \n\t" \
  87. "movw %A0, r0 \n\t" \
  88. "mul %A1, %A2 \n\t" \
  89. "add %A0, r1 \n\t" \
  90. "adc %B0, r26 \n\t" \
  91. "lsr r0 \n\t" \
  92. "adc %A0, r26 \n\t" \
  93. "adc %B0, r26 \n\t" \
  94. "clr r1 \n\t" \
  95. : \
  96. "=&r" (intRes) \
  97. : \
  98. "d" (charIn1), \
  99. "d" (intIn2) \
  100. : \
  101. "r26" \
  102. )
  103. // intRes = longIn1 * longIn2 >> 24
  104. // uses:
  105. // r26 to store 0
  106. // r27 to store the byte 1 of the 48bit result
  107. #define MultiU24X24toH16(intRes, longIn1, longIn2) \
  108. asm volatile ( \
  109. "clr r26 \n\t" \
  110. "mul %A1, %B2 \n\t" \
  111. "mov r27, r1 \n\t" \
  112. "mul %B1, %C2 \n\t" \
  113. "movw %A0, r0 \n\t" \
  114. "mul %C1, %C2 \n\t" \
  115. "add %B0, r0 \n\t" \
  116. "mul %C1, %B2 \n\t" \
  117. "add %A0, r0 \n\t" \
  118. "adc %B0, r1 \n\t" \
  119. "mul %A1, %C2 \n\t" \
  120. "add r27, r0 \n\t" \
  121. "adc %A0, r1 \n\t" \
  122. "adc %B0, r26 \n\t" \
  123. "mul %B1, %B2 \n\t" \
  124. "add r27, r0 \n\t" \
  125. "adc %A0, r1 \n\t" \
  126. "adc %B0, r26 \n\t" \
  127. "mul %C1, %A2 \n\t" \
  128. "add r27, r0 \n\t" \
  129. "adc %A0, r1 \n\t" \
  130. "adc %B0, r26 \n\t" \
  131. "mul %B1, %A2 \n\t" \
  132. "add r27, r1 \n\t" \
  133. "adc %A0, r26 \n\t" \
  134. "adc %B0, r26 \n\t" \
  135. "lsr r27 \n\t" \
  136. "adc %A0, r26 \n\t" \
  137. "adc %B0, r26 \n\t" \
  138. "clr r1 \n\t" \
  139. : \
  140. "=&r" (intRes) \
  141. : \
  142. "d" (longIn1), \
  143. "d" (longIn2) \
  144. : \
  145. "r26" , "r27" \
  146. )
  147. // Some useful constants
  148. #define ENABLE_STEPPER_DRIVER_INTERRUPT() TIMSK1 |= (1<<OCIE1A)
  149. #define DISABLE_STEPPER_DRIVER_INTERRUPT() TIMSK1 &= ~(1<<OCIE1A)
  150. void checkHitEndstops()
  151. {
  152. if( endstop_x_hit || endstop_y_hit || endstop_z_hit) {
  153. SERIAL_ECHO_START;
  154. SERIAL_ECHOPGM(MSG_ENDSTOPS_HIT);
  155. if(endstop_x_hit) {
  156. SERIAL_ECHOPAIR(" X:",(float)endstops_trigsteps[X_AXIS]/axis_steps_per_unit[X_AXIS]);
  157. LCD_MESSAGEPGM(MSG_ENDSTOPS_HIT "X");
  158. }
  159. if(endstop_y_hit) {
  160. SERIAL_ECHOPAIR(" Y:",(float)endstops_trigsteps[Y_AXIS]/axis_steps_per_unit[Y_AXIS]);
  161. LCD_MESSAGEPGM(MSG_ENDSTOPS_HIT "Y");
  162. }
  163. if(endstop_z_hit) {
  164. SERIAL_ECHOPAIR(" Z:",(float)endstops_trigsteps[Z_AXIS]/axis_steps_per_unit[Z_AXIS]);
  165. LCD_MESSAGEPGM(MSG_ENDSTOPS_HIT "Z");
  166. }
  167. SERIAL_ECHOLN("");
  168. endstop_x_hit=false;
  169. endstop_y_hit=false;
  170. endstop_z_hit=false;
  171. #if defined(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED) && defined(SDSUPPORT)
  172. if (abort_on_endstop_hit)
  173. {
  174. card.sdprinting = false;
  175. card.closefile();
  176. quickStop();
  177. setTargetHotend0(0);
  178. setTargetHotend1(0);
  179. setTargetHotend2(0);
  180. setTargetHotend3(0);
  181. setTargetBed(0);
  182. }
  183. #endif
  184. }
  185. }
  186. void endstops_hit_on_purpose()
  187. {
  188. endstop_x_hit=false;
  189. endstop_y_hit=false;
  190. endstop_z_hit=false;
  191. }
  192. void enable_endstops(bool check)
  193. {
  194. check_endstops = check;
  195. }
  196. // __________________________
  197. // /| |\ _________________ ^
  198. // / | | \ /| |\ |
  199. // / | | \ / | | \ s
  200. // / | | | | | \ p
  201. // / | | | | | \ e
  202. // +-----+------------------------+---+--+---------------+----+ e
  203. // | BLOCK 1 | BLOCK 2 | d
  204. //
  205. // time ----->
  206. //
  207. // The trapezoid is the shape the speed curve over time. It starts at block->initial_rate, accelerates
  208. // first block->accelerate_until step_events_completed, then keeps going at constant speed until
  209. // step_events_completed reaches block->decelerate_after after which it decelerates until the trapezoid generator is reset.
  210. // The slope of acceleration is calculated with the leib ramp alghorithm.
  211. void st_wake_up() {
  212. // TCNT1 = 0;
  213. ENABLE_STEPPER_DRIVER_INTERRUPT();
  214. }
  215. FORCE_INLINE unsigned short calc_timer(unsigned short step_rate) {
  216. unsigned short timer;
  217. if(step_rate > MAX_STEP_FREQUENCY) step_rate = MAX_STEP_FREQUENCY;
  218. if(step_rate > 20000) { // If steprate > 20kHz >> step 4 times
  219. step_rate = (step_rate >> 2)&0x3fff;
  220. step_loops = 4;
  221. }
  222. else if(step_rate > 10000) { // If steprate > 10kHz >> step 2 times
  223. step_rate = (step_rate >> 1)&0x7fff;
  224. step_loops = 2;
  225. }
  226. else {
  227. step_loops = 1;
  228. }
  229. if(step_rate < (F_CPU/500000)) step_rate = (F_CPU/500000);
  230. step_rate -= (F_CPU/500000); // Correct for minimal speed
  231. if(step_rate >= (8*256)){ // higher step rate
  232. unsigned short table_address = (unsigned short)&speed_lookuptable_fast[(unsigned char)(step_rate>>8)][0];
  233. unsigned char tmp_step_rate = (step_rate & 0x00ff);
  234. unsigned short gain = (unsigned short)pgm_read_word_near(table_address+2);
  235. MultiU16X8toH16(timer, tmp_step_rate, gain);
  236. timer = (unsigned short)pgm_read_word_near(table_address) - timer;
  237. }
  238. else { // lower step rates
  239. unsigned short table_address = (unsigned short)&speed_lookuptable_slow[0][0];
  240. table_address += ((step_rate)>>1) & 0xfffc;
  241. timer = (unsigned short)pgm_read_word_near(table_address);
  242. timer -= (((unsigned short)pgm_read_word_near(table_address+2) * (unsigned char)(step_rate & 0x0007))>>3);
  243. }
  244. if(timer < 100) { timer = 100; MYSERIAL.print(MSG_STEPPER_TOO_HIGH); MYSERIAL.println(step_rate); }//(20kHz this should never happen)
  245. return timer;
  246. }
  247. // Initializes the trapezoid generator from the current block. Called whenever a new
  248. // block begins.
  249. FORCE_INLINE void trapezoid_generator_reset() {
  250. #ifdef ADVANCE
  251. advance = current_block->initial_advance;
  252. final_advance = current_block->final_advance;
  253. // Do E steps + advance steps
  254. e_steps[current_block->active_extruder] += ((advance >>8) - old_advance);
  255. old_advance = advance >>8;
  256. #endif
  257. deceleration_time = 0;
  258. // step_rate to timer interval
  259. OCR1A_nominal = calc_timer(current_block->nominal_rate);
  260. // make a note of the number of step loops required at nominal speed
  261. step_loops_nominal = step_loops;
  262. acc_step_rate = current_block->initial_rate;
  263. acceleration_time = calc_timer(acc_step_rate);
  264. OCR1A = acceleration_time;
  265. // SERIAL_ECHO_START;
  266. // SERIAL_ECHOPGM("advance :");
  267. // SERIAL_ECHO(current_block->advance/256.0);
  268. // SERIAL_ECHOPGM("advance rate :");
  269. // SERIAL_ECHO(current_block->advance_rate/256.0);
  270. // SERIAL_ECHOPGM("initial advance :");
  271. // SERIAL_ECHO(current_block->initial_advance/256.0);
  272. // SERIAL_ECHOPGM("final advance :");
  273. // SERIAL_ECHOLN(current_block->final_advance/256.0);
  274. }
  275. // "The Stepper Driver Interrupt" - This timer interrupt is the workhorse.
  276. // It pops blocks from the block_buffer and executes them by pulsing the stepper pins appropriately.
  277. ISR(TIMER1_COMPA_vect)
  278. {
  279. // If there is no current block, attempt to pop one from the buffer
  280. if (current_block == NULL) {
  281. // Anything in the buffer?
  282. current_block = plan_get_current_block();
  283. if (current_block != NULL) {
  284. current_block->busy = true;
  285. trapezoid_generator_reset();
  286. counter_x = -(current_block->step_event_count >> 1);
  287. counter_y = counter_x;
  288. counter_z = counter_x;
  289. counter_e = counter_x;
  290. step_events_completed = 0;
  291. #ifdef Z_LATE_ENABLE
  292. if(current_block->steps_z > 0) {
  293. enable_z();
  294. OCR1A = 2000; //1ms wait
  295. return;
  296. }
  297. #endif
  298. // #ifdef ADVANCE
  299. // e_steps[current_block->active_extruder] = 0;
  300. // #endif
  301. }
  302. else {
  303. OCR1A=2000; // 1kHz.
  304. }
  305. }
  306. if (current_block != NULL) {
  307. // Set directions TO DO This should be done once during init of trapezoid. Endstops -> interrupt
  308. out_bits = current_block->direction_bits;
  309. // Set the direction bits (X_AXIS=A_AXIS and Y_AXIS=B_AXIS for COREXY)
  310. if((out_bits & (1<<X_AXIS))!=0){
  311. #ifdef DUAL_X_CARRIAGE
  312. if (extruder_duplication_enabled){
  313. WRITE(X_DIR_PIN, INVERT_X_DIR);
  314. WRITE(X2_DIR_PIN, INVERT_X_DIR);
  315. }
  316. else{
  317. if (current_block->active_extruder != 0)
  318. WRITE(X2_DIR_PIN, INVERT_X_DIR);
  319. else
  320. WRITE(X_DIR_PIN, INVERT_X_DIR);
  321. }
  322. #else
  323. WRITE(X_DIR_PIN, INVERT_X_DIR);
  324. #endif
  325. count_direction[X_AXIS]=-1;
  326. }
  327. else{
  328. #ifdef DUAL_X_CARRIAGE
  329. if (extruder_duplication_enabled){
  330. WRITE(X_DIR_PIN, !INVERT_X_DIR);
  331. WRITE(X2_DIR_PIN, !INVERT_X_DIR);
  332. }
  333. else{
  334. if (current_block->active_extruder != 0)
  335. WRITE(X2_DIR_PIN, !INVERT_X_DIR);
  336. else
  337. WRITE(X_DIR_PIN, !INVERT_X_DIR);
  338. }
  339. #else
  340. WRITE(X_DIR_PIN, !INVERT_X_DIR);
  341. #endif
  342. count_direction[X_AXIS]=1;
  343. }
  344. if((out_bits & (1<<Y_AXIS))!=0){
  345. WRITE(Y_DIR_PIN, INVERT_Y_DIR);
  346. #ifdef Y_DUAL_STEPPER_DRIVERS
  347. WRITE(Y2_DIR_PIN, !(INVERT_Y_DIR == INVERT_Y2_VS_Y_DIR));
  348. #endif
  349. count_direction[Y_AXIS]=-1;
  350. }
  351. else{
  352. WRITE(Y_DIR_PIN, !INVERT_Y_DIR);
  353. #ifdef Y_DUAL_STEPPER_DRIVERS
  354. WRITE(Y2_DIR_PIN, (INVERT_Y_DIR == INVERT_Y2_VS_Y_DIR));
  355. #endif
  356. count_direction[Y_AXIS]=1;
  357. }
  358. // Set direction en check limit switches
  359. #ifndef COREXY
  360. if ((out_bits & (1<<X_AXIS)) != 0) { // stepping along -X axis
  361. #else
  362. if ((((out_bits & (1<<X_AXIS)) != 0)&&(out_bits & (1<<Y_AXIS)) != 0)) { //-X occurs for -A and -B
  363. #endif
  364. CHECK_ENDSTOPS
  365. {
  366. #ifdef DUAL_X_CARRIAGE
  367. // with 2 x-carriages, endstops are only checked in the homing direction for the active extruder
  368. if ((current_block->active_extruder == 0 && X_HOME_DIR == -1)
  369. || (current_block->active_extruder != 0 && X2_HOME_DIR == -1))
  370. #endif
  371. {
  372. #if defined(X_MIN_PIN) && X_MIN_PIN > -1
  373. bool x_min_endstop=(READ(X_MIN_PIN) != X_MIN_ENDSTOP_INVERTING);
  374. if(x_min_endstop && old_x_min_endstop && (current_block->steps_x > 0)) {
  375. endstops_trigsteps[X_AXIS] = count_position[X_AXIS];
  376. endstop_x_hit=true;
  377. step_events_completed = current_block->step_event_count;
  378. }
  379. old_x_min_endstop = x_min_endstop;
  380. #endif
  381. }
  382. }
  383. }
  384. else { // +direction
  385. CHECK_ENDSTOPS
  386. {
  387. #ifdef DUAL_X_CARRIAGE
  388. // with 2 x-carriages, endstops are only checked in the homing direction for the active extruder
  389. if ((current_block->active_extruder == 0 && X_HOME_DIR == 1)
  390. || (current_block->active_extruder != 0 && X2_HOME_DIR == 1))
  391. #endif
  392. {
  393. #if defined(X_MAX_PIN) && X_MAX_PIN > -1
  394. bool x_max_endstop=(READ(X_MAX_PIN) != X_MAX_ENDSTOP_INVERTING);
  395. if(x_max_endstop && old_x_max_endstop && (current_block->steps_x > 0)){
  396. endstops_trigsteps[X_AXIS] = count_position[X_AXIS];
  397. endstop_x_hit=true;
  398. step_events_completed = current_block->step_event_count;
  399. }
  400. old_x_max_endstop = x_max_endstop;
  401. #endif
  402. }
  403. }
  404. }
  405. #ifndef COREXY
  406. if ((out_bits & (1<<Y_AXIS)) != 0) { // -direction
  407. #else
  408. if ((((out_bits & (1<<X_AXIS)) != 0)&&(out_bits & (1<<Y_AXIS)) == 0)) { // -Y occurs for -A and +B
  409. #endif
  410. CHECK_ENDSTOPS
  411. {
  412. #if defined(Y_MIN_PIN) && Y_MIN_PIN > -1
  413. bool y_min_endstop=(READ(Y_MIN_PIN) != Y_MIN_ENDSTOP_INVERTING);
  414. if(y_min_endstop && old_y_min_endstop && (current_block->steps_y > 0)) {
  415. endstops_trigsteps[Y_AXIS] = count_position[Y_AXIS];
  416. endstop_y_hit=true;
  417. step_events_completed = current_block->step_event_count;
  418. }
  419. old_y_min_endstop = y_min_endstop;
  420. #endif
  421. }
  422. }
  423. else { // +direction
  424. CHECK_ENDSTOPS
  425. {
  426. #if defined(Y_MAX_PIN) && Y_MAX_PIN > -1
  427. bool y_max_endstop=(READ(Y_MAX_PIN) != Y_MAX_ENDSTOP_INVERTING);
  428. if(y_max_endstop && old_y_max_endstop && (current_block->steps_y > 0)){
  429. endstops_trigsteps[Y_AXIS] = count_position[Y_AXIS];
  430. endstop_y_hit=true;
  431. step_events_completed = current_block->step_event_count;
  432. }
  433. old_y_max_endstop = y_max_endstop;
  434. #endif
  435. }
  436. }
  437. if ((out_bits & (1<<Z_AXIS)) != 0) { // -direction
  438. WRITE(Z_DIR_PIN,INVERT_Z_DIR);
  439. #ifdef Z_DUAL_STEPPER_DRIVERS
  440. WRITE(Z2_DIR_PIN,INVERT_Z_DIR);
  441. #endif
  442. count_direction[Z_AXIS]=-1;
  443. CHECK_ENDSTOPS
  444. {
  445. #if defined(Z_MIN_PIN) && Z_MIN_PIN > -1
  446. bool z_min_endstop=(READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING);
  447. if(z_min_endstop && old_z_min_endstop && (current_block->steps_z > 0)) {
  448. endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
  449. endstop_z_hit=true;
  450. step_events_completed = current_block->step_event_count;
  451. }
  452. old_z_min_endstop = z_min_endstop;
  453. #endif
  454. }
  455. }
  456. else { // +direction
  457. WRITE(Z_DIR_PIN,!INVERT_Z_DIR);
  458. #ifdef Z_DUAL_STEPPER_DRIVERS
  459. WRITE(Z2_DIR_PIN,!INVERT_Z_DIR);
  460. #endif
  461. count_direction[Z_AXIS]=1;
  462. CHECK_ENDSTOPS
  463. {
  464. #if defined(Z_MAX_PIN) && Z_MAX_PIN > -1
  465. bool z_max_endstop=(READ(Z_MAX_PIN) != Z_MAX_ENDSTOP_INVERTING);
  466. if(z_max_endstop && old_z_max_endstop && (current_block->steps_z > 0)) {
  467. endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
  468. endstop_z_hit=true;
  469. step_events_completed = current_block->step_event_count;
  470. }
  471. old_z_max_endstop = z_max_endstop;
  472. #endif
  473. }
  474. }
  475. #ifndef ADVANCE
  476. if ((out_bits & (1<<E_AXIS)) != 0) { // -direction
  477. REV_E_DIR();
  478. count_direction[E_AXIS]=-1;
  479. }
  480. else { // +direction
  481. NORM_E_DIR();
  482. count_direction[E_AXIS]=1;
  483. }
  484. #endif //!ADVANCE
  485. for(int8_t i=0; i < step_loops; i++) { // Take multiple steps per interrupt (For high speed moves)
  486. #ifndef AT90USB
  487. MSerial.checkRx(); // Check for serial chars.
  488. #endif
  489. #ifdef ADVANCE
  490. counter_e += current_block->steps_e;
  491. if (counter_e > 0) {
  492. counter_e -= current_block->step_event_count;
  493. if ((out_bits & (1<<E_AXIS)) != 0) { // - direction
  494. e_steps[current_block->active_extruder]--;
  495. }
  496. else {
  497. e_steps[current_block->active_extruder]++;
  498. }
  499. }
  500. #endif //ADVANCE
  501. counter_x += current_block->steps_x;
  502. #ifdef CONFIG_STEPPERS_TOSHIBA
  503. /* The toshiba stepper controller require much longer pulses
  504. * tjerfore we 'stage' decompose the pulses between high, and
  505. * low instead of doing each in turn. The extra tests add enough
  506. * lag to allow it work with without needing NOPs */
  507. if (counter_x > 0) {
  508. WRITE(X_STEP_PIN, HIGH);
  509. }
  510. counter_y += current_block->steps_y;
  511. if (counter_y > 0) {
  512. WRITE(Y_STEP_PIN, HIGH);
  513. }
  514. counter_z += current_block->steps_z;
  515. if (counter_z > 0) {
  516. WRITE(Z_STEP_PIN, HIGH);
  517. }
  518. #ifndef ADVANCE
  519. counter_e += current_block->steps_e;
  520. if (counter_e > 0) {
  521. WRITE_E_STEP(HIGH);
  522. }
  523. #endif //!ADVANCE
  524. if (counter_x > 0) {
  525. counter_x -= current_block->step_event_count;
  526. count_position[X_AXIS]+=count_direction[X_AXIS];
  527. WRITE(X_STEP_PIN, LOW);
  528. }
  529. if (counter_y > 0) {
  530. counter_y -= current_block->step_event_count;
  531. count_position[Y_AXIS]+=count_direction[Y_AXIS];
  532. WRITE(Y_STEP_PIN, LOW);
  533. }
  534. if (counter_z > 0) {
  535. counter_z -= current_block->step_event_count;
  536. count_position[Z_AXIS]+=count_direction[Z_AXIS];
  537. WRITE(Z_STEP_PIN, LOW);
  538. }
  539. #ifndef ADVANCE
  540. if (counter_e > 0) {
  541. counter_e -= current_block->step_event_count;
  542. count_position[E_AXIS]+=count_direction[E_AXIS];
  543. WRITE_E_STEP(LOW);
  544. }
  545. #endif //!ADVANCE
  546. #else
  547. if (counter_x > 0) {
  548. #ifdef DUAL_X_CARRIAGE
  549. if (extruder_duplication_enabled){
  550. WRITE(X_STEP_PIN, !INVERT_X_STEP_PIN);
  551. WRITE(X2_STEP_PIN, !INVERT_X_STEP_PIN);
  552. }
  553. else {
  554. if (current_block->active_extruder != 0)
  555. WRITE(X2_STEP_PIN, !INVERT_X_STEP_PIN);
  556. else
  557. WRITE(X_STEP_PIN, !INVERT_X_STEP_PIN);
  558. }
  559. #else
  560. WRITE(X_STEP_PIN, !INVERT_X_STEP_PIN);
  561. #endif
  562. counter_x -= current_block->step_event_count;
  563. count_position[X_AXIS]+=count_direction[X_AXIS];
  564. #ifdef DUAL_X_CARRIAGE
  565. if (extruder_duplication_enabled){
  566. WRITE(X_STEP_PIN, INVERT_X_STEP_PIN);
  567. WRITE(X2_STEP_PIN, INVERT_X_STEP_PIN);
  568. }
  569. else {
  570. if (current_block->active_extruder != 0)
  571. WRITE(X2_STEP_PIN, INVERT_X_STEP_PIN);
  572. else
  573. WRITE(X_STEP_PIN, INVERT_X_STEP_PIN);
  574. }
  575. #else
  576. WRITE(X_STEP_PIN, INVERT_X_STEP_PIN);
  577. #endif
  578. }
  579. counter_y += current_block->steps_y;
  580. if (counter_y > 0) {
  581. WRITE(Y_STEP_PIN, !INVERT_Y_STEP_PIN);
  582. #ifdef Y_DUAL_STEPPER_DRIVERS
  583. WRITE(Y2_STEP_PIN, !INVERT_Y_STEP_PIN);
  584. #endif
  585. counter_y -= current_block->step_event_count;
  586. count_position[Y_AXIS]+=count_direction[Y_AXIS];
  587. WRITE(Y_STEP_PIN, INVERT_Y_STEP_PIN);
  588. #ifdef Y_DUAL_STEPPER_DRIVERS
  589. WRITE(Y2_STEP_PIN, INVERT_Y_STEP_PIN);
  590. #endif
  591. }
  592. counter_z += current_block->steps_z;
  593. if (counter_z > 0) {
  594. WRITE(Z_STEP_PIN, !INVERT_Z_STEP_PIN);
  595. #ifdef Z_DUAL_STEPPER_DRIVERS
  596. WRITE(Z2_STEP_PIN, !INVERT_Z_STEP_PIN);
  597. #endif
  598. counter_z -= current_block->step_event_count;
  599. count_position[Z_AXIS]+=count_direction[Z_AXIS];
  600. WRITE(Z_STEP_PIN, INVERT_Z_STEP_PIN);
  601. #ifdef Z_DUAL_STEPPER_DRIVERS
  602. WRITE(Z2_STEP_PIN, INVERT_Z_STEP_PIN);
  603. #endif
  604. }
  605. #ifndef ADVANCE
  606. counter_e += current_block->steps_e;
  607. if (counter_e > 0) {
  608. WRITE_E_STEP(!INVERT_E_STEP_PIN);
  609. counter_e -= current_block->step_event_count;
  610. count_position[E_AXIS]+=count_direction[E_AXIS];
  611. WRITE_E_STEP(INVERT_E_STEP_PIN);
  612. }
  613. #endif //!ADVANCE
  614. #endif // CONFIG_STEPPERS_TOSHIBA
  615. step_events_completed += 1;
  616. if(step_events_completed >= current_block->step_event_count) break;
  617. }
  618. // Calculare new timer value
  619. unsigned short timer;
  620. unsigned short step_rate;
  621. if (step_events_completed <= (unsigned long int)current_block->accelerate_until) {
  622. MultiU24X24toH16(acc_step_rate, acceleration_time, current_block->acceleration_rate);
  623. acc_step_rate += current_block->initial_rate;
  624. // upper limit
  625. if(acc_step_rate > current_block->nominal_rate)
  626. acc_step_rate = current_block->nominal_rate;
  627. // step_rate to timer interval
  628. timer = calc_timer(acc_step_rate);
  629. OCR1A = timer;
  630. acceleration_time += timer;
  631. #ifdef ADVANCE
  632. for(int8_t i=0; i < step_loops; i++) {
  633. advance += advance_rate;
  634. }
  635. //if(advance > current_block->advance) advance = current_block->advance;
  636. // Do E steps + advance steps
  637. e_steps[current_block->active_extruder] += ((advance >>8) - old_advance);
  638. old_advance = advance >>8;
  639. #endif
  640. }
  641. else if (step_events_completed > (unsigned long int)current_block->decelerate_after) {
  642. MultiU24X24toH16(step_rate, deceleration_time, current_block->acceleration_rate);
  643. if(step_rate > acc_step_rate) { // Check step_rate stays positive
  644. step_rate = current_block->final_rate;
  645. }
  646. else {
  647. step_rate = acc_step_rate - step_rate; // Decelerate from aceleration end point.
  648. }
  649. // lower limit
  650. if(step_rate < current_block->final_rate)
  651. step_rate = current_block->final_rate;
  652. // step_rate to timer interval
  653. timer = calc_timer(step_rate);
  654. OCR1A = timer;
  655. deceleration_time += timer;
  656. #ifdef ADVANCE
  657. for(int8_t i=0; i < step_loops; i++) {
  658. advance -= advance_rate;
  659. }
  660. if(advance < final_advance) advance = final_advance;
  661. // Do E steps + advance steps
  662. e_steps[current_block->active_extruder] += ((advance >>8) - old_advance);
  663. old_advance = advance >>8;
  664. #endif //ADVANCE
  665. }
  666. else {
  667. OCR1A = OCR1A_nominal;
  668. // ensure we're running at the correct step rate, even if we just came off an acceleration
  669. step_loops = step_loops_nominal;
  670. }
  671. // If current block is finished, reset pointer
  672. if (step_events_completed >= current_block->step_event_count) {
  673. current_block = NULL;
  674. plan_discard_current_block();
  675. }
  676. }
  677. }
  678. #ifdef ADVANCE
  679. unsigned char old_OCR0A;
  680. // Timer interrupt for E. e_steps is set in the main routine;
  681. // Timer 0 is shared with millies
  682. ISR(TIMER0_COMPA_vect)
  683. {
  684. old_OCR0A += 52; // ~10kHz interrupt (250000 / 26 = 9615kHz)
  685. OCR0A = old_OCR0A;
  686. // Set E direction (Depends on E direction + advance)
  687. for(unsigned char i=0; i<4;i++) {
  688. if (e_steps[0] != 0) {
  689. WRITE(E0_STEP_PIN, INVERT_E_STEP_PIN);
  690. if (e_steps[0] < 0) {
  691. WRITE(E0_DIR_PIN, INVERT_E0_DIR);
  692. e_steps[0]++;
  693. WRITE(E0_STEP_PIN, !INVERT_E_STEP_PIN);
  694. }
  695. else if (e_steps[0] > 0) {
  696. WRITE(E0_DIR_PIN, !INVERT_E0_DIR);
  697. e_steps[0]--;
  698. WRITE(E0_STEP_PIN, !INVERT_E_STEP_PIN);
  699. }
  700. }
  701. #if EXTRUDERS > 1
  702. if (e_steps[1] != 0) {
  703. WRITE(E1_STEP_PIN, INVERT_E_STEP_PIN);
  704. if (e_steps[1] < 0) {
  705. WRITE(E1_DIR_PIN, INVERT_E1_DIR);
  706. e_steps[1]++;
  707. WRITE(E1_STEP_PIN, !INVERT_E_STEP_PIN);
  708. }
  709. else if (e_steps[1] > 0) {
  710. WRITE(E1_DIR_PIN, !INVERT_E1_DIR);
  711. e_steps[1]--;
  712. WRITE(E1_STEP_PIN, !INVERT_E_STEP_PIN);
  713. }
  714. }
  715. #endif
  716. #if EXTRUDERS > 2
  717. if (e_steps[2] != 0) {
  718. WRITE(E2_STEP_PIN, INVERT_E_STEP_PIN);
  719. if (e_steps[2] < 0) {
  720. WRITE(E2_DIR_PIN, INVERT_E2_DIR);
  721. e_steps[2]++;
  722. WRITE(E2_STEP_PIN, !INVERT_E_STEP_PIN);
  723. }
  724. else if (e_steps[2] > 0) {
  725. WRITE(E2_DIR_PIN, !INVERT_E2_DIR);
  726. e_steps[2]--;
  727. WRITE(E2_STEP_PIN, !INVERT_E_STEP_PIN);
  728. }
  729. }
  730. #endif
  731. #if EXTRUDERS > 3
  732. if (e_steps[3] != 0) {
  733. WRITE(E3_STEP_PIN, INVERT_E_STEP_PIN);
  734. if (e_steps[3] < 0) {
  735. WRITE(E3_DIR_PIN, INVERT_E3_DIR);
  736. e_steps[3]++;
  737. WRITE(E3_STEP_PIN, !INVERT_E_STEP_PIN);
  738. }
  739. else if (e_steps[3] > 0) {
  740. WRITE(E3_DIR_PIN, !INVERT_E3_DIR);
  741. e_steps[3]--;
  742. WRITE(E3_STEP_PIN, !INVERT_E_STEP_PIN);
  743. }
  744. }
  745. #endif
  746. }
  747. }
  748. #endif // ADVANCE
  749. void st_init()
  750. {
  751. digipot_init(); //Initialize Digipot Motor Current
  752. microstep_init(); //Initialize Microstepping Pins
  753. //Initialize Dir Pins
  754. #if defined(X_DIR_PIN) && X_DIR_PIN > -1
  755. SET_OUTPUT(X_DIR_PIN);
  756. #endif
  757. #if defined(X2_DIR_PIN) && X2_DIR_PIN > -1
  758. SET_OUTPUT(X2_DIR_PIN);
  759. #endif
  760. #if defined(Y_DIR_PIN) && Y_DIR_PIN > -1
  761. SET_OUTPUT(Y_DIR_PIN);
  762. #if defined(Y_DUAL_STEPPER_DRIVERS) && defined(Y2_DIR_PIN) && (Y2_DIR_PIN > -1)
  763. SET_OUTPUT(Y2_DIR_PIN);
  764. #endif
  765. #endif
  766. #if defined(Z_DIR_PIN) && Z_DIR_PIN > -1
  767. SET_OUTPUT(Z_DIR_PIN);
  768. #if defined(Z_DUAL_STEPPER_DRIVERS) && defined(Z2_DIR_PIN) && (Z2_DIR_PIN > -1)
  769. SET_OUTPUT(Z2_DIR_PIN);
  770. #endif
  771. #endif
  772. #if defined(E0_DIR_PIN) && E0_DIR_PIN > -1
  773. SET_OUTPUT(E0_DIR_PIN);
  774. #endif
  775. #if defined(E1_DIR_PIN) && (E1_DIR_PIN > -1)
  776. SET_OUTPUT(E1_DIR_PIN);
  777. #endif
  778. #if defined(E2_DIR_PIN) && (E2_DIR_PIN > -1)
  779. SET_OUTPUT(E2_DIR_PIN);
  780. #endif
  781. #if defined(E3_DIR_PIN) && (E3_DIR_PIN > -1)
  782. SET_OUTPUT(E3_DIR_PIN);
  783. #endif
  784. //Initialize Enable Pins - steppers default to disabled.
  785. #if defined(X_ENABLE_PIN) && X_ENABLE_PIN > -1
  786. SET_OUTPUT(X_ENABLE_PIN);
  787. if(!X_ENABLE_ON) WRITE(X_ENABLE_PIN,HIGH);
  788. #endif
  789. #if defined(X2_ENABLE_PIN) && X2_ENABLE_PIN > -1
  790. SET_OUTPUT(X2_ENABLE_PIN);
  791. if(!X_ENABLE_ON) WRITE(X2_ENABLE_PIN,HIGH);
  792. #endif
  793. #if defined(Y_ENABLE_PIN) && Y_ENABLE_PIN > -1
  794. SET_OUTPUT(Y_ENABLE_PIN);
  795. if(!Y_ENABLE_ON) WRITE(Y_ENABLE_PIN,HIGH);
  796. #if defined(Y_DUAL_STEPPER_DRIVERS) && defined(Y2_ENABLE_PIN) && (Y2_ENABLE_PIN > -1)
  797. SET_OUTPUT(Y2_ENABLE_PIN);
  798. if(!Y_ENABLE_ON) WRITE(Y2_ENABLE_PIN,HIGH);
  799. #endif
  800. #endif
  801. #if defined(Z_ENABLE_PIN) && Z_ENABLE_PIN > -1
  802. SET_OUTPUT(Z_ENABLE_PIN);
  803. if(!Z_ENABLE_ON) WRITE(Z_ENABLE_PIN,HIGH);
  804. #if defined(Z_DUAL_STEPPER_DRIVERS) && defined(Z2_ENABLE_PIN) && (Z2_ENABLE_PIN > -1)
  805. SET_OUTPUT(Z2_ENABLE_PIN);
  806. if(!Z_ENABLE_ON) WRITE(Z2_ENABLE_PIN,HIGH);
  807. #endif
  808. #endif
  809. #if defined(E0_ENABLE_PIN) && (E0_ENABLE_PIN > -1)
  810. SET_OUTPUT(E0_ENABLE_PIN);
  811. if(!E_ENABLE_ON) WRITE(E0_ENABLE_PIN,HIGH);
  812. #endif
  813. #if defined(E1_ENABLE_PIN) && (E1_ENABLE_PIN > -1)
  814. SET_OUTPUT(E1_ENABLE_PIN);
  815. if(!E_ENABLE_ON) WRITE(E1_ENABLE_PIN,HIGH);
  816. #endif
  817. #if defined(E2_ENABLE_PIN) && (E2_ENABLE_PIN > -1)
  818. SET_OUTPUT(E2_ENABLE_PIN);
  819. if(!E_ENABLE_ON) WRITE(E2_ENABLE_PIN,HIGH);
  820. #endif
  821. #if defined(E3_ENABLE_PIN) && (E3_ENABLE_PIN > -1)
  822. SET_OUTPUT(E3_ENABLE_PIN);
  823. if(!E_ENABLE_ON) WRITE(E3_ENABLE_PIN,HIGH);
  824. #endif
  825. //endstops and pullups
  826. #if defined(X_MIN_PIN) && X_MIN_PIN > -1
  827. SET_INPUT(X_MIN_PIN);
  828. #ifdef ENDSTOPPULLUP_XMIN
  829. WRITE(X_MIN_PIN,HIGH);
  830. #endif
  831. #endif
  832. #if defined(Y_MIN_PIN) && Y_MIN_PIN > -1
  833. SET_INPUT(Y_MIN_PIN);
  834. #ifdef ENDSTOPPULLUP_YMIN
  835. WRITE(Y_MIN_PIN,HIGH);
  836. #endif
  837. #endif
  838. #if defined(Z_MIN_PIN) && Z_MIN_PIN > -1
  839. SET_INPUT(Z_MIN_PIN);
  840. #ifdef ENDSTOPPULLUP_ZMIN
  841. WRITE(Z_MIN_PIN,HIGH);
  842. #endif
  843. #endif
  844. #if defined(X_MAX_PIN) && X_MAX_PIN > -1
  845. SET_INPUT(X_MAX_PIN);
  846. #ifdef ENDSTOPPULLUP_XMAX
  847. WRITE(X_MAX_PIN,HIGH);
  848. #endif
  849. #endif
  850. #if defined(Y_MAX_PIN) && Y_MAX_PIN > -1
  851. SET_INPUT(Y_MAX_PIN);
  852. #ifdef ENDSTOPPULLUP_YMAX
  853. WRITE(Y_MAX_PIN,HIGH);
  854. #endif
  855. #endif
  856. #if defined(Z_MAX_PIN) && Z_MAX_PIN > -1
  857. SET_INPUT(Z_MAX_PIN);
  858. #ifdef ENDSTOPPULLUP_ZMAX
  859. WRITE(Z_MAX_PIN,HIGH);
  860. #endif
  861. #endif
  862. //Initialize Step Pins
  863. #if defined(X_STEP_PIN) && (X_STEP_PIN > -1)
  864. SET_OUTPUT(X_STEP_PIN);
  865. WRITE(X_STEP_PIN,INVERT_X_STEP_PIN);
  866. disable_x();
  867. #endif
  868. #if defined(X2_STEP_PIN) && (X2_STEP_PIN > -1)
  869. SET_OUTPUT(X2_STEP_PIN);
  870. WRITE(X2_STEP_PIN,INVERT_X_STEP_PIN);
  871. disable_x();
  872. #endif
  873. #if defined(Y_STEP_PIN) && (Y_STEP_PIN > -1)
  874. SET_OUTPUT(Y_STEP_PIN);
  875. WRITE(Y_STEP_PIN,INVERT_Y_STEP_PIN);
  876. #if defined(Y_DUAL_STEPPER_DRIVERS) && defined(Y2_STEP_PIN) && (Y2_STEP_PIN > -1)
  877. SET_OUTPUT(Y2_STEP_PIN);
  878. WRITE(Y2_STEP_PIN,INVERT_Y_STEP_PIN);
  879. #endif
  880. disable_y();
  881. #endif
  882. #if defined(Z_STEP_PIN) && (Z_STEP_PIN > -1)
  883. SET_OUTPUT(Z_STEP_PIN);
  884. WRITE(Z_STEP_PIN,INVERT_Z_STEP_PIN);
  885. #if defined(Z_DUAL_STEPPER_DRIVERS) && defined(Z2_STEP_PIN) && (Z2_STEP_PIN > -1)
  886. SET_OUTPUT(Z2_STEP_PIN);
  887. WRITE(Z2_STEP_PIN,INVERT_Z_STEP_PIN);
  888. #endif
  889. disable_z();
  890. #endif
  891. #if defined(E0_STEP_PIN) && (E0_STEP_PIN > -1)
  892. SET_OUTPUT(E0_STEP_PIN);
  893. WRITE(E0_STEP_PIN,INVERT_E_STEP_PIN);
  894. disable_e0();
  895. #endif
  896. #if defined(E1_STEP_PIN) && (E1_STEP_PIN > -1)
  897. SET_OUTPUT(E1_STEP_PIN);
  898. WRITE(E1_STEP_PIN,INVERT_E_STEP_PIN);
  899. disable_e1();
  900. #endif
  901. #if defined(E2_STEP_PIN) && (E2_STEP_PIN > -1)
  902. SET_OUTPUT(E2_STEP_PIN);
  903. WRITE(E2_STEP_PIN,INVERT_E_STEP_PIN);
  904. disable_e2();
  905. #endif
  906. #if defined(E3_STEP_PIN) && (E3_STEP_PIN > -1)
  907. SET_OUTPUT(E3_STEP_PIN);
  908. WRITE(E3_STEP_PIN,INVERT_E_STEP_PIN);
  909. disable_e3();
  910. #endif
  911. // waveform generation = 0100 = CTC
  912. TCCR1B &= ~(1<<WGM13);
  913. TCCR1B |= (1<<WGM12);
  914. TCCR1A &= ~(1<<WGM11);
  915. TCCR1A &= ~(1<<WGM10);
  916. // output mode = 00 (disconnected)
  917. TCCR1A &= ~(3<<COM1A0);
  918. TCCR1A &= ~(3<<COM1B0);
  919. // Set the timer pre-scaler
  920. // Generally we use a divider of 8, resulting in a 2MHz timer
  921. // frequency on a 16MHz MCU. If you are going to change this, be
  922. // sure to regenerate speed_lookuptable.h with
  923. // create_speed_lookuptable.py
  924. TCCR1B = (TCCR1B & ~(0x07<<CS10)) | (2<<CS10);
  925. OCR1A = 0x4000;
  926. TCNT1 = 0;
  927. ENABLE_STEPPER_DRIVER_INTERRUPT();
  928. #ifdef ADVANCE
  929. #if defined(TCCR0A) && defined(WGM01)
  930. TCCR0A &= ~(1<<WGM01);
  931. TCCR0A &= ~(1<<WGM00);
  932. #endif
  933. e_steps[0] = 0;
  934. e_steps[1] = 0;
  935. e_steps[2] = 0;
  936. e_steps[3] = 0;
  937. TIMSK0 |= (1<<OCIE0A);
  938. #endif //ADVANCE
  939. enable_endstops(true); // Start with endstops active. After homing they can be disabled
  940. sei();
  941. }
  942. // Block until all buffered steps are executed
  943. void st_synchronize()
  944. {
  945. while( blocks_queued()) {
  946. manage_heater();
  947. manage_inactivity();
  948. lcd_update();
  949. }
  950. }
  951. void st_set_position(const long &x, const long &y, const long &z, const long &e)
  952. {
  953. CRITICAL_SECTION_START;
  954. count_position[X_AXIS] = x;
  955. count_position[Y_AXIS] = y;
  956. count_position[Z_AXIS] = z;
  957. count_position[E_AXIS] = e;
  958. CRITICAL_SECTION_END;
  959. }
  960. void st_set_e_position(const long &e)
  961. {
  962. CRITICAL_SECTION_START;
  963. count_position[E_AXIS] = e;
  964. CRITICAL_SECTION_END;
  965. }
  966. long st_get_position(uint8_t axis)
  967. {
  968. long count_pos;
  969. CRITICAL_SECTION_START;
  970. count_pos = count_position[axis];
  971. CRITICAL_SECTION_END;
  972. return count_pos;
  973. }
  974. #ifdef ENABLE_AUTO_BED_LEVELING
  975. float st_get_position_mm(uint8_t axis)
  976. {
  977. float steper_position_in_steps = st_get_position(axis);
  978. return steper_position_in_steps / axis_steps_per_unit[axis];
  979. }
  980. #endif // ENABLE_AUTO_BED_LEVELING
  981. void finishAndDisableSteppers()
  982. {
  983. st_synchronize();
  984. disable_x();
  985. disable_y();
  986. disable_z();
  987. disable_e0();
  988. disable_e1();
  989. disable_e2();
  990. disable_e3();
  991. }
  992. void quickStop()
  993. {
  994. DISABLE_STEPPER_DRIVER_INTERRUPT();
  995. while(blocks_queued())
  996. plan_discard_current_block();
  997. current_block = NULL;
  998. ENABLE_STEPPER_DRIVER_INTERRUPT();
  999. }
  1000. #ifdef BABYSTEPPING
  1001. void babystep(const uint8_t axis,const bool direction)
  1002. {
  1003. //MUST ONLY BE CALLED BY A ISR, it depends on that no other ISR interrupts this
  1004. //store initial pin states
  1005. switch(axis)
  1006. {
  1007. case X_AXIS:
  1008. {
  1009. enable_x();
  1010. uint8_t old_x_dir_pin= READ(X_DIR_PIN); //if dualzstepper, both point to same direction.
  1011. //setup new step
  1012. WRITE(X_DIR_PIN,(INVERT_X_DIR)^direction);
  1013. #ifdef DUAL_X_CARRIAGE
  1014. WRITE(X2_DIR_PIN,(INVERT_X_DIR)^direction);
  1015. #endif
  1016. //perform step
  1017. WRITE(X_STEP_PIN, !INVERT_X_STEP_PIN);
  1018. #ifdef DUAL_X_CARRIAGE
  1019. WRITE(X2_STEP_PIN, !INVERT_X_STEP_PIN);
  1020. #endif
  1021. _delay_us(1U); // wait 1 microsecond
  1022. WRITE(X_STEP_PIN, INVERT_X_STEP_PIN);
  1023. #ifdef DUAL_X_CARRIAGE
  1024. WRITE(X2_STEP_PIN, INVERT_X_STEP_PIN);
  1025. #endif
  1026. //get old pin state back.
  1027. WRITE(X_DIR_PIN,old_x_dir_pin);
  1028. #ifdef DUAL_X_CARRIAGE
  1029. WRITE(X2_DIR_PIN,old_x_dir_pin);
  1030. #endif
  1031. }
  1032. break;
  1033. case Y_AXIS:
  1034. {
  1035. enable_y();
  1036. uint8_t old_y_dir_pin= READ(Y_DIR_PIN); //if dualzstepper, both point to same direction.
  1037. //setup new step
  1038. WRITE(Y_DIR_PIN,(INVERT_Y_DIR)^direction);
  1039. #ifdef DUAL_Y_CARRIAGE
  1040. WRITE(Y2_DIR_PIN,(INVERT_Y_DIR)^direction);
  1041. #endif
  1042. //perform step
  1043. WRITE(Y_STEP_PIN, !INVERT_Y_STEP_PIN);
  1044. #ifdef DUAL_Y_CARRIAGE
  1045. WRITE(Y2_STEP_PIN, !INVERT_Y_STEP_PIN);
  1046. #endif
  1047. _delay_us(1U); // wait 1 microsecond
  1048. WRITE(Y_STEP_PIN, INVERT_Y_STEP_PIN);
  1049. #ifdef DUAL_Y_CARRIAGE
  1050. WRITE(Y2_STEP_PIN, INVERT_Y_STEP_PIN);
  1051. #endif
  1052. //get old pin state back.
  1053. WRITE(Y_DIR_PIN,old_y_dir_pin);
  1054. #ifdef DUAL_Y_CARRIAGE
  1055. WRITE(Y2_DIR_PIN,old_y_dir_pin);
  1056. #endif
  1057. }
  1058. break;
  1059. #ifndef DELTA
  1060. case Z_AXIS:
  1061. {
  1062. enable_z();
  1063. uint8_t old_z_dir_pin= READ(Z_DIR_PIN); //if dualzstepper, both point to same direction.
  1064. //setup new step
  1065. WRITE(Z_DIR_PIN,(INVERT_Z_DIR)^direction^BABYSTEP_INVERT_Z);
  1066. #ifdef Z_DUAL_STEPPER_DRIVERS
  1067. WRITE(Z2_DIR_PIN,(INVERT_Z_DIR)^direction^BABYSTEP_INVERT_Z);
  1068. #endif
  1069. //perform step
  1070. WRITE(Z_STEP_PIN, !INVERT_Z_STEP_PIN);
  1071. #ifdef Z_DUAL_STEPPER_DRIVERS
  1072. WRITE(Z2_STEP_PIN, !INVERT_Z_STEP_PIN);
  1073. #endif
  1074. _delay_us(1U); // wait 1 microsecond
  1075. WRITE(Z_STEP_PIN, INVERT_Z_STEP_PIN);
  1076. #ifdef Z_DUAL_STEPPER_DRIVERS
  1077. WRITE(Z2_STEP_PIN, INVERT_Z_STEP_PIN);
  1078. #endif
  1079. //get old pin state back.
  1080. WRITE(Z_DIR_PIN,old_z_dir_pin);
  1081. #ifdef Z_DUAL_STEPPER_DRIVERS
  1082. WRITE(Z2_DIR_PIN,old_z_dir_pin);
  1083. #endif
  1084. }
  1085. break;
  1086. #else //DELTA
  1087. case Z_AXIS:
  1088. {
  1089. enable_x();
  1090. enable_y();
  1091. enable_z();
  1092. uint8_t old_x_dir_pin= READ(X_DIR_PIN);
  1093. uint8_t old_y_dir_pin= READ(Y_DIR_PIN);
  1094. uint8_t old_z_dir_pin= READ(Z_DIR_PIN);
  1095. //setup new step
  1096. WRITE(X_DIR_PIN,(INVERT_X_DIR)^direction^BABYSTEP_INVERT_Z);
  1097. WRITE(Y_DIR_PIN,(INVERT_Y_DIR)^direction^BABYSTEP_INVERT_Z);
  1098. WRITE(Z_DIR_PIN,(INVERT_Z_DIR)^direction^BABYSTEP_INVERT_Z);
  1099. //perform step
  1100. WRITE(X_STEP_PIN, !INVERT_X_STEP_PIN);
  1101. WRITE(Y_STEP_PIN, !INVERT_Y_STEP_PIN);
  1102. WRITE(Z_STEP_PIN, !INVERT_Z_STEP_PIN);
  1103. _delay_us(1U); // wait 1 microsecond
  1104. WRITE(X_STEP_PIN, INVERT_X_STEP_PIN);
  1105. WRITE(Y_STEP_PIN, INVERT_Y_STEP_PIN);
  1106. WRITE(Z_STEP_PIN, INVERT_Z_STEP_PIN);
  1107. //get old pin state back.
  1108. WRITE(X_DIR_PIN,old_x_dir_pin);
  1109. WRITE(Y_DIR_PIN,old_y_dir_pin);
  1110. WRITE(Z_DIR_PIN,old_z_dir_pin);
  1111. }
  1112. break;
  1113. #endif
  1114. default: break;
  1115. }
  1116. }
  1117. #endif //BABYSTEPPING
  1118. void digitalPotWrite(int address, int value) // From Arduino DigitalPotControl example
  1119. {
  1120. #if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
  1121. digitalWrite(DIGIPOTSS_PIN,LOW); // take the SS pin low to select the chip
  1122. SPI.transfer(address); // send in the address and value via SPI:
  1123. SPI.transfer(value);
  1124. digitalWrite(DIGIPOTSS_PIN,HIGH); // take the SS pin high to de-select the chip:
  1125. //delay(10);
  1126. #endif
  1127. }
  1128. void digipot_init() //Initialize Digipot Motor Current
  1129. {
  1130. #if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
  1131. const uint8_t digipot_motor_current[] = DIGIPOT_MOTOR_CURRENT;
  1132. SPI.begin();
  1133. pinMode(DIGIPOTSS_PIN, OUTPUT);
  1134. for(int i=0;i<=4;i++)
  1135. //digitalPotWrite(digipot_ch[i], digipot_motor_current[i]);
  1136. digipot_current(i,digipot_motor_current[i]);
  1137. #endif
  1138. #ifdef MOTOR_CURRENT_PWM_XY_PIN
  1139. pinMode(MOTOR_CURRENT_PWM_XY_PIN, OUTPUT);
  1140. pinMode(MOTOR_CURRENT_PWM_Z_PIN, OUTPUT);
  1141. pinMode(MOTOR_CURRENT_PWM_E_PIN, OUTPUT);
  1142. digipot_current(0, motor_current_setting[0]);
  1143. digipot_current(1, motor_current_setting[1]);
  1144. digipot_current(2, motor_current_setting[2]);
  1145. //Set timer5 to 31khz so the PWM of the motor power is as constant as possible. (removes a buzzing noise)
  1146. TCCR5B = (TCCR5B & ~(_BV(CS50) | _BV(CS51) | _BV(CS52))) | _BV(CS50);
  1147. #endif
  1148. }
  1149. void digipot_current(uint8_t driver, int current)
  1150. {
  1151. #if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
  1152. const uint8_t digipot_ch[] = DIGIPOT_CHANNELS;
  1153. digitalPotWrite(digipot_ch[driver], current);
  1154. #endif
  1155. #ifdef MOTOR_CURRENT_PWM_XY_PIN
  1156. if (driver == 0) analogWrite(MOTOR_CURRENT_PWM_XY_PIN, (long)current * 255L / (long)MOTOR_CURRENT_PWM_RANGE);
  1157. if (driver == 1) analogWrite(MOTOR_CURRENT_PWM_Z_PIN, (long)current * 255L / (long)MOTOR_CURRENT_PWM_RANGE);
  1158. if (driver == 2) analogWrite(MOTOR_CURRENT_PWM_E_PIN, (long)current * 255L / (long)MOTOR_CURRENT_PWM_RANGE);
  1159. #endif
  1160. }
  1161. void microstep_init()
  1162. {
  1163. const uint8_t microstep_modes[] = MICROSTEP_MODES;
  1164. #if defined(E1_MS1_PIN) && E1_MS1_PIN > -1
  1165. pinMode(E1_MS1_PIN,OUTPUT);
  1166. pinMode(E1_MS2_PIN,OUTPUT);
  1167. #endif
  1168. #if defined(X_MS1_PIN) && X_MS1_PIN > -1
  1169. pinMode(X_MS1_PIN,OUTPUT);
  1170. pinMode(X_MS2_PIN,OUTPUT);
  1171. pinMode(Y_MS1_PIN,OUTPUT);
  1172. pinMode(Y_MS2_PIN,OUTPUT);
  1173. pinMode(Z_MS1_PIN,OUTPUT);
  1174. pinMode(Z_MS2_PIN,OUTPUT);
  1175. pinMode(E0_MS1_PIN,OUTPUT);
  1176. pinMode(E0_MS2_PIN,OUTPUT);
  1177. for(int i=0;i<=4;i++) microstep_mode(i,microstep_modes[i]);
  1178. #endif
  1179. }
  1180. void microstep_ms(uint8_t driver, int8_t ms1, int8_t ms2)
  1181. {
  1182. if(ms1 > -1) switch(driver)
  1183. {
  1184. case 0: digitalWrite( X_MS1_PIN,ms1); break;
  1185. case 1: digitalWrite( Y_MS1_PIN,ms1); break;
  1186. case 2: digitalWrite( Z_MS1_PIN,ms1); break;
  1187. case 3: digitalWrite(E0_MS1_PIN,ms1); break;
  1188. #if defined(E1_MS1_PIN) && E1_MS1_PIN > -1
  1189. case 4: digitalWrite(E1_MS1_PIN,ms1); break;
  1190. #endif
  1191. }
  1192. if(ms2 > -1) switch(driver)
  1193. {
  1194. case 0: digitalWrite( X_MS2_PIN,ms2); break;
  1195. case 1: digitalWrite( Y_MS2_PIN,ms2); break;
  1196. case 2: digitalWrite( Z_MS2_PIN,ms2); break;
  1197. case 3: digitalWrite(E0_MS2_PIN,ms2); break;
  1198. #if defined(E1_MS2_PIN) && E1_MS2_PIN > -1
  1199. case 4: digitalWrite(E1_MS2_PIN,ms2); break;
  1200. #endif
  1201. }
  1202. }
  1203. void microstep_mode(uint8_t driver, uint8_t stepping_mode)
  1204. {
  1205. switch(stepping_mode)
  1206. {
  1207. case 1: microstep_ms(driver,MICROSTEP1); break;
  1208. case 2: microstep_ms(driver,MICROSTEP2); break;
  1209. case 4: microstep_ms(driver,MICROSTEP4); break;
  1210. case 8: microstep_ms(driver,MICROSTEP8); break;
  1211. case 16: microstep_ms(driver,MICROSTEP16); break;
  1212. }
  1213. }
  1214. void microstep_readings()
  1215. {
  1216. SERIAL_PROTOCOLPGM("MS1,MS2 Pins\n");
  1217. SERIAL_PROTOCOLPGM("X: ");
  1218. SERIAL_PROTOCOL( digitalRead(X_MS1_PIN));
  1219. SERIAL_PROTOCOLLN( digitalRead(X_MS2_PIN));
  1220. SERIAL_PROTOCOLPGM("Y: ");
  1221. SERIAL_PROTOCOL( digitalRead(Y_MS1_PIN));
  1222. SERIAL_PROTOCOLLN( digitalRead(Y_MS2_PIN));
  1223. SERIAL_PROTOCOLPGM("Z: ");
  1224. SERIAL_PROTOCOL( digitalRead(Z_MS1_PIN));
  1225. SERIAL_PROTOCOLLN( digitalRead(Z_MS2_PIN));
  1226. SERIAL_PROTOCOLPGM("E0: ");
  1227. SERIAL_PROTOCOL( digitalRead(E0_MS1_PIN));
  1228. SERIAL_PROTOCOLLN( digitalRead(E0_MS2_PIN));
  1229. #if defined(E1_MS1_PIN) && E1_MS1_PIN > -1
  1230. SERIAL_PROTOCOLPGM("E1: ");
  1231. SERIAL_PROTOCOL( digitalRead(E1_MS1_PIN));
  1232. SERIAL_PROTOCOLLN( digitalRead(E1_MS2_PIN));
  1233. #endif
  1234. }