My Marlin configs for Fabrikator Mini and CTC i3 Pro B
You can not select more than 25 topics Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.

1234567891011121314151617181920212223242526272829303132333435363738394041424344454647484950515253545556575859606162636465666768697071727374757677787980818283848586878889909192939495969798991001011021031041051061071081091101111121131141151161171181191201211221231241251261271281291301311321331341351361371381391401411421431441451461471481491501511521531541551561571581591601611621631641651661671681691701711721731741751761771781791801811821831841851861871881891901911921931941951961971981992002012022032042052062072082092102112122132142152162172182192202212222232242252262272282292302312322332342352362372382392402412422432442452462472482492502512522532542552562572582592602612622632642652662672682692702712722732742752762772782792802812822832842852862872882892902912922932942952962972982993003013023033043053063073083093103113123133143153163173183193203213223233243253263273283293303313323333343353363373383393403413423433443453463473483493503513523533543553563573583593603613623633643653663673683693703713723733743753763773783793803813823833843853863873883893903913923933943953963973983994004014024034044054064074084094104114124134144154164174184194204214224234244254264274284294304314324334344354364374384394404414424434444454464474484494504514524534544554564574584594604614624634644654664674684694704714724734744754764774784794804814824834844854864874884894904914924934944954964974984995005015025035045055065075085095105115125135145155165175185195205215225235245255265275285295305315325335345355365375385395405415425435445455465475485495505515525535545555565575585595605615625635645655665675685695705715725735745755765775785795805815825835845855865875885895905915925935945955965975985996006016026036046056066076086096106116126136146156166176186196206216226236246256266276286296306316326336346356366376386396406416426436446456466476486496506516526536546556566576586596606616626636646656666676686696706716726736746756766776786796806816826836846856866876886896906916926936946956966976986997007017027037047057067077087097107117127137147157167177187197207217227237247257267277287297307317327337347357367377387397407417427437447457467477487497507517527537547557567577587597607617627637647657667677687697707717727737747757767777787797807817827837847857867877887897907917927937947957967977987998008018028038048058068078088098108118128138148158168178188198208218228238248258268278288298308318328338348358368378388398408418428438448458468478488498508518528538548558568578588598608618628638648658668678688698708718728738748758768778788798808818828838848858868878888898908918928938948958968978988999009019029039049059069079089099109119129139149159169179189199209219229239249259269279289299309319329339349359369379389399409419429439449459469479489499509519529539549559569579589599609619629639649659669679689699709719729739749759769779789799809819829839849859869879889899909919929939949959969979989991000100110021003100410051006100710081009101010111012101310141015101610171018101910201021102210231024102510261027102810291030103110321033103410351036103710381039104010411042104310441045104610471048104910501051105210531054105510561057105810591060106110621063106410651066106710681069107010711072107310741075107610771078107910801081108210831084108510861087108810891090109110921093109410951096109710981099110011011102110311041105110611071108110911101111111211131114111511161117111811191120112111221123112411251126112711281129113011311132113311341135113611371138113911401141114211431144114511461147114811491150115111521153115411551156115711581159116011611162116311641165116611671168116911701171117211731174117511761177117811791180118111821183118411851186118711881189119011911192119311941195119611971198119912001201120212031204120512061207120812091210121112121213121412151216121712181219122012211222122312241225122612271228122912301231123212331234123512361237123812391240124112421243124412451246124712481249125012511252125312541255125612571258125912601261126212631264126512661267126812691270127112721273127412751276127712781279128012811282128312841285128612871288128912901291129212931294129512961297
  1. /**
  2. * stepper.cpp - stepper motor driver: executes motion plans using stepper motors
  3. * Marlin Firmware
  4. *
  5. * Derived from Grbl
  6. * Copyright (c) 2009-2011 Simen Svale Skogsrud
  7. *
  8. * Grbl is free software: you can redistribute it and/or modify
  9. * it under the terms of the GNU General Public License as published by
  10. * the Free Software Foundation, either version 3 of the License, or
  11. * (at your option) any later version.
  12. *
  13. * Grbl is distributed in the hope that it will be useful,
  14. * but WITHOUT ANY WARRANTY; without even the implied warranty of
  15. * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
  16. * GNU General Public License for more details.
  17. *
  18. * You should have received a copy of the GNU General Public License
  19. * along with Grbl. If not, see <http://www.gnu.org/licenses/>.
  20. */
  21. /* The timer calculations of this module informed by the 'RepRap cartesian firmware' by Zack Smith
  22. and Philipp Tiefenbacher. */
  23. #include "Marlin.h"
  24. #include "stepper.h"
  25. #include "planner.h"
  26. #include "temperature.h"
  27. #include "ultralcd.h"
  28. #include "language.h"
  29. #include "cardreader.h"
  30. #include "speed_lookuptable.h"
  31. #if HAS_DIGIPOTSS
  32. #include <SPI.h>
  33. #endif
  34. //===========================================================================
  35. //============================= public variables ============================
  36. //===========================================================================
  37. block_t *current_block; // A pointer to the block currently being traced
  38. //===========================================================================
  39. //============================= private variables ===========================
  40. //===========================================================================
  41. //static makes it impossible to be called from outside of this file by extern.!
  42. // Variables used by The Stepper Driver Interrupt
  43. static unsigned char out_bits = 0; // The next stepping-bits to be output
  44. static unsigned int cleaning_buffer_counter;
  45. #ifdef Z_DUAL_ENDSTOPS
  46. static bool performing_homing = false,
  47. locked_z_motor = false,
  48. locked_z2_motor = false;
  49. #endif
  50. // Counter variables for the Bresenham line tracer
  51. static long counter_x, counter_y, counter_z, counter_e;
  52. volatile static unsigned long step_events_completed; // The number of step events executed in the current block
  53. #ifdef ADVANCE
  54. static long advance_rate, advance, final_advance = 0;
  55. static long old_advance = 0;
  56. static long e_steps[4];
  57. #endif
  58. static long acceleration_time, deceleration_time;
  59. //static unsigned long accelerate_until, decelerate_after, acceleration_rate, initial_rate, final_rate, nominal_rate;
  60. static unsigned short acc_step_rate; // needed for deceleration start point
  61. static char step_loops;
  62. static unsigned short OCR1A_nominal;
  63. static unsigned short step_loops_nominal;
  64. volatile long endstops_trigsteps[3] = { 0 };
  65. volatile long endstops_stepsTotal, endstops_stepsDone;
  66. static volatile char endstop_hit_bits = 0; // use X_MIN, Y_MIN, Z_MIN and Z_PROBE as BIT value
  67. #ifndef Z_DUAL_ENDSTOPS
  68. static byte
  69. #else
  70. static uint16_t
  71. #endif
  72. old_endstop_bits = 0; // use X_MIN, X_MAX... Z_MAX, Z_PROBE, Z2_MIN, Z2_MAX
  73. #ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
  74. bool abort_on_endstop_hit = false;
  75. #endif
  76. #ifdef MOTOR_CURRENT_PWM_XY_PIN
  77. int motor_current_setting[3] = DEFAULT_PWM_MOTOR_CURRENT;
  78. #endif
  79. static bool check_endstops = true;
  80. volatile long count_position[NUM_AXIS] = { 0 };
  81. volatile signed char count_direction[NUM_AXIS] = { 1, 1, 1, 1 };
  82. //===========================================================================
  83. //================================ functions ================================
  84. //===========================================================================
  85. #ifdef DUAL_X_CARRIAGE
  86. #define X_APPLY_DIR(v,ALWAYS) \
  87. if (extruder_duplication_enabled || ALWAYS) { \
  88. X_DIR_WRITE(v); \
  89. X2_DIR_WRITE(v); \
  90. } \
  91. else { \
  92. if (current_block->active_extruder) X2_DIR_WRITE(v); else X_DIR_WRITE(v); \
  93. }
  94. #define X_APPLY_STEP(v,ALWAYS) \
  95. if (extruder_duplication_enabled || ALWAYS) { \
  96. X_STEP_WRITE(v); \
  97. X2_STEP_WRITE(v); \
  98. } \
  99. else { \
  100. if (current_block->active_extruder != 0) X2_STEP_WRITE(v); else X_STEP_WRITE(v); \
  101. }
  102. #else
  103. #define X_APPLY_DIR(v,Q) X_DIR_WRITE(v)
  104. #define X_APPLY_STEP(v,Q) X_STEP_WRITE(v)
  105. #endif
  106. #ifdef Y_DUAL_STEPPER_DRIVERS
  107. #define Y_APPLY_DIR(v,Q) { Y_DIR_WRITE(v); Y2_DIR_WRITE((v) != INVERT_Y2_VS_Y_DIR); }
  108. #define Y_APPLY_STEP(v,Q) { Y_STEP_WRITE(v); Y2_STEP_WRITE(v); }
  109. #else
  110. #define Y_APPLY_DIR(v,Q) Y_DIR_WRITE(v)
  111. #define Y_APPLY_STEP(v,Q) Y_STEP_WRITE(v)
  112. #endif
  113. #ifdef Z_DUAL_STEPPER_DRIVERS
  114. #define Z_APPLY_DIR(v,Q) { Z_DIR_WRITE(v); Z2_DIR_WRITE(v); }
  115. #ifdef Z_DUAL_ENDSTOPS
  116. #define Z_APPLY_STEP(v,Q) \
  117. if (performing_homing) { \
  118. if (Z_HOME_DIR > 0) {\
  119. if (!(TEST(old_endstop_bits, Z_MAX) && (count_direction[Z_AXIS] > 0)) && !locked_z_motor) Z_STEP_WRITE(v); \
  120. if (!(TEST(old_endstop_bits, Z2_MAX) && (count_direction[Z_AXIS] > 0)) && !locked_z2_motor) Z2_STEP_WRITE(v); \
  121. } else {\
  122. if (!(TEST(old_endstop_bits, Z_MIN) && (count_direction[Z_AXIS] < 0)) && !locked_z_motor) Z_STEP_WRITE(v); \
  123. if (!(TEST(old_endstop_bits, Z2_MIN) && (count_direction[Z_AXIS] < 0)) && !locked_z2_motor) Z2_STEP_WRITE(v); \
  124. } \
  125. } else { \
  126. Z_STEP_WRITE(v); \
  127. Z2_STEP_WRITE(v); \
  128. }
  129. #else
  130. #define Z_APPLY_STEP(v,Q) { Z_STEP_WRITE(v); Z2_STEP_WRITE(v); }
  131. #endif
  132. #else
  133. #define Z_APPLY_DIR(v,Q) Z_DIR_WRITE(v)
  134. #define Z_APPLY_STEP(v,Q) Z_STEP_WRITE(v)
  135. #endif
  136. #define E_APPLY_STEP(v,Q) E_STEP_WRITE(v)
  137. // intRes = intIn1 * intIn2 >> 16
  138. // uses:
  139. // r26 to store 0
  140. // r27 to store the byte 1 of the 24 bit result
  141. #define MultiU16X8toH16(intRes, charIn1, intIn2) \
  142. asm volatile ( \
  143. "clr r26 \n\t" \
  144. "mul %A1, %B2 \n\t" \
  145. "movw %A0, r0 \n\t" \
  146. "mul %A1, %A2 \n\t" \
  147. "add %A0, r1 \n\t" \
  148. "adc %B0, r26 \n\t" \
  149. "lsr r0 \n\t" \
  150. "adc %A0, r26 \n\t" \
  151. "adc %B0, r26 \n\t" \
  152. "clr r1 \n\t" \
  153. : \
  154. "=&r" (intRes) \
  155. : \
  156. "d" (charIn1), \
  157. "d" (intIn2) \
  158. : \
  159. "r26" \
  160. )
  161. // intRes = longIn1 * longIn2 >> 24
  162. // uses:
  163. // r26 to store 0
  164. // r27 to store bits 16-23 of the 48bit result. The top bit is used to round the two byte result.
  165. // note that the lower two bytes and the upper byte of the 48bit result are not calculated.
  166. // this can cause the result to be out by one as the lower bytes may cause carries into the upper ones.
  167. // B0 A0 are bits 24-39 and are the returned value
  168. // C1 B1 A1 is longIn1
  169. // D2 C2 B2 A2 is longIn2
  170. //
  171. #define MultiU24X32toH16(intRes, longIn1, longIn2) \
  172. asm volatile ( \
  173. "clr r26 \n\t" \
  174. "mul %A1, %B2 \n\t" \
  175. "mov r27, r1 \n\t" \
  176. "mul %B1, %C2 \n\t" \
  177. "movw %A0, r0 \n\t" \
  178. "mul %C1, %C2 \n\t" \
  179. "add %B0, r0 \n\t" \
  180. "mul %C1, %B2 \n\t" \
  181. "add %A0, r0 \n\t" \
  182. "adc %B0, r1 \n\t" \
  183. "mul %A1, %C2 \n\t" \
  184. "add r27, r0 \n\t" \
  185. "adc %A0, r1 \n\t" \
  186. "adc %B0, r26 \n\t" \
  187. "mul %B1, %B2 \n\t" \
  188. "add r27, r0 \n\t" \
  189. "adc %A0, r1 \n\t" \
  190. "adc %B0, r26 \n\t" \
  191. "mul %C1, %A2 \n\t" \
  192. "add r27, r0 \n\t" \
  193. "adc %A0, r1 \n\t" \
  194. "adc %B0, r26 \n\t" \
  195. "mul %B1, %A2 \n\t" \
  196. "add r27, r1 \n\t" \
  197. "adc %A0, r26 \n\t" \
  198. "adc %B0, r26 \n\t" \
  199. "lsr r27 \n\t" \
  200. "adc %A0, r26 \n\t" \
  201. "adc %B0, r26 \n\t" \
  202. "mul %D2, %A1 \n\t" \
  203. "add %A0, r0 \n\t" \
  204. "adc %B0, r1 \n\t" \
  205. "mul %D2, %B1 \n\t" \
  206. "add %B0, r0 \n\t" \
  207. "clr r1 \n\t" \
  208. : \
  209. "=&r" (intRes) \
  210. : \
  211. "d" (longIn1), \
  212. "d" (longIn2) \
  213. : \
  214. "r26" , "r27" \
  215. )
  216. // Some useful constants
  217. #define ENABLE_STEPPER_DRIVER_INTERRUPT() TIMSK1 |= BIT(OCIE1A)
  218. #define DISABLE_STEPPER_DRIVER_INTERRUPT() TIMSK1 &= ~BIT(OCIE1A)
  219. void endstops_hit_on_purpose() {
  220. endstop_hit_bits = 0;
  221. }
  222. void checkHitEndstops() {
  223. if (endstop_hit_bits) {
  224. SERIAL_ECHO_START;
  225. SERIAL_ECHOPGM(MSG_ENDSTOPS_HIT);
  226. if (endstop_hit_bits & BIT(X_MIN)) {
  227. SERIAL_ECHOPAIR(" X:", (float)endstops_trigsteps[X_AXIS] / axis_steps_per_unit[X_AXIS]);
  228. LCD_MESSAGEPGM(MSG_ENDSTOPS_HIT "X");
  229. }
  230. if (endstop_hit_bits & BIT(Y_MIN)) {
  231. SERIAL_ECHOPAIR(" Y:", (float)endstops_trigsteps[Y_AXIS] / axis_steps_per_unit[Y_AXIS]);
  232. LCD_MESSAGEPGM(MSG_ENDSTOPS_HIT "Y");
  233. }
  234. if (endstop_hit_bits & BIT(Z_MIN)) {
  235. SERIAL_ECHOPAIR(" Z:", (float)endstops_trigsteps[Z_AXIS] / axis_steps_per_unit[Z_AXIS]);
  236. LCD_MESSAGEPGM(MSG_ENDSTOPS_HIT "Z");
  237. }
  238. #ifdef Z_PROBE_ENDSTOP
  239. if (endstop_hit_bits & BIT(Z_PROBE)) {
  240. SERIAL_ECHOPAIR(" Z_PROBE:", (float)endstops_trigsteps[Z_AXIS] / axis_steps_per_unit[Z_AXIS]);
  241. LCD_MESSAGEPGM(MSG_ENDSTOPS_HIT "ZP");
  242. }
  243. #endif
  244. SERIAL_EOL;
  245. endstops_hit_on_purpose();
  246. #if defined(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED) && defined(SDSUPPORT)
  247. if (abort_on_endstop_hit) {
  248. card.sdprinting = false;
  249. card.closefile();
  250. quickStop();
  251. disable_all_heaters(); // switch off all heaters.
  252. }
  253. #endif
  254. }
  255. }
  256. void enable_endstops(bool check) { check_endstops = check; }
  257. // __________________________
  258. // /| |\ _________________ ^
  259. // / | | \ /| |\ |
  260. // / | | \ / | | \ s
  261. // / | | | | | \ p
  262. // / | | | | | \ e
  263. // +-----+------------------------+---+--+---------------+----+ e
  264. // | BLOCK 1 | BLOCK 2 | d
  265. //
  266. // time ----->
  267. //
  268. // The trapezoid is the shape the speed curve over time. It starts at block->initial_rate, accelerates
  269. // first block->accelerate_until step_events_completed, then keeps going at constant speed until
  270. // step_events_completed reaches block->decelerate_after after which it decelerates until the trapezoid generator is reset.
  271. // The slope of acceleration is calculated using v = u + at where t is the accumulated timer values of the steps so far.
  272. void st_wake_up() {
  273. // TCNT1 = 0;
  274. ENABLE_STEPPER_DRIVER_INTERRUPT();
  275. }
  276. FORCE_INLINE unsigned short calc_timer(unsigned short step_rate) {
  277. unsigned short timer;
  278. if (step_rate > MAX_STEP_FREQUENCY) step_rate = MAX_STEP_FREQUENCY;
  279. if (step_rate > 20000) { // If steprate > 20kHz >> step 4 times
  280. step_rate = (step_rate >> 2) & 0x3fff;
  281. step_loops = 4;
  282. }
  283. else if (step_rate > 10000) { // If steprate > 10kHz >> step 2 times
  284. step_rate = (step_rate >> 1) & 0x7fff;
  285. step_loops = 2;
  286. }
  287. else {
  288. step_loops = 1;
  289. }
  290. if (step_rate < (F_CPU / 500000)) step_rate = (F_CPU / 500000);
  291. step_rate -= (F_CPU / 500000); // Correct for minimal speed
  292. if (step_rate >= (8 * 256)) { // higher step rate
  293. unsigned short table_address = (unsigned short)&speed_lookuptable_fast[(unsigned char)(step_rate>>8)][0];
  294. unsigned char tmp_step_rate = (step_rate & 0x00ff);
  295. unsigned short gain = (unsigned short)pgm_read_word_near(table_address+2);
  296. MultiU16X8toH16(timer, tmp_step_rate, gain);
  297. timer = (unsigned short)pgm_read_word_near(table_address) - timer;
  298. }
  299. else { // lower step rates
  300. unsigned short table_address = (unsigned short)&speed_lookuptable_slow[0][0];
  301. table_address += ((step_rate)>>1) & 0xfffc;
  302. timer = (unsigned short)pgm_read_word_near(table_address);
  303. timer -= (((unsigned short)pgm_read_word_near(table_address+2) * (unsigned char)(step_rate & 0x0007))>>3);
  304. }
  305. if (timer < 100) { timer = 100; MYSERIAL.print(MSG_STEPPER_TOO_HIGH); MYSERIAL.println(step_rate); }//(20kHz this should never happen)
  306. return timer;
  307. }
  308. // set the stepper direction of each axis
  309. void set_stepper_direction() {
  310. // Set the direction bits (X_AXIS=A_AXIS and Y_AXIS=B_AXIS for COREXY)
  311. if (TEST(out_bits, X_AXIS)) {
  312. X_APPLY_DIR(INVERT_X_DIR,0);
  313. count_direction[X_AXIS] = -1;
  314. }
  315. else {
  316. X_APPLY_DIR(!INVERT_X_DIR,0);
  317. count_direction[X_AXIS] = 1;
  318. }
  319. if (TEST(out_bits, Y_AXIS)) {
  320. Y_APPLY_DIR(INVERT_Y_DIR,0);
  321. count_direction[Y_AXIS] = -1;
  322. }
  323. else {
  324. Y_APPLY_DIR(!INVERT_Y_DIR,0);
  325. count_direction[Y_AXIS] = 1;
  326. }
  327. if (TEST(out_bits, Z_AXIS)) {
  328. Z_APPLY_DIR(INVERT_Z_DIR,0);
  329. count_direction[Z_AXIS] = -1;
  330. }
  331. else {
  332. Z_APPLY_DIR(!INVERT_Z_DIR,0);
  333. count_direction[Z_AXIS] = 1;
  334. }
  335. #ifndef ADVANCE
  336. if (TEST(out_bits, E_AXIS)) {
  337. REV_E_DIR();
  338. count_direction[E_AXIS] = -1;
  339. }
  340. else {
  341. NORM_E_DIR();
  342. count_direction[E_AXIS] = 1;
  343. }
  344. #endif //!ADVANCE
  345. }
  346. // Initializes the trapezoid generator from the current block. Called whenever a new
  347. // block begins.
  348. FORCE_INLINE void trapezoid_generator_reset() {
  349. if (current_block->direction_bits != out_bits) {
  350. out_bits = current_block->direction_bits;
  351. set_stepper_direction();
  352. }
  353. #ifdef ADVANCE
  354. advance = current_block->initial_advance;
  355. final_advance = current_block->final_advance;
  356. // Do E steps + advance steps
  357. e_steps[current_block->active_extruder] += ((advance >>8) - old_advance);
  358. old_advance = advance >>8;
  359. #endif
  360. deceleration_time = 0;
  361. // step_rate to timer interval
  362. OCR1A_nominal = calc_timer(current_block->nominal_rate);
  363. // make a note of the number of step loops required at nominal speed
  364. step_loops_nominal = step_loops;
  365. acc_step_rate = current_block->initial_rate;
  366. acceleration_time = calc_timer(acc_step_rate);
  367. OCR1A = acceleration_time;
  368. // SERIAL_ECHO_START;
  369. // SERIAL_ECHOPGM("advance :");
  370. // SERIAL_ECHO(current_block->advance/256.0);
  371. // SERIAL_ECHOPGM("advance rate :");
  372. // SERIAL_ECHO(current_block->advance_rate/256.0);
  373. // SERIAL_ECHOPGM("initial advance :");
  374. // SERIAL_ECHO(current_block->initial_advance/256.0);
  375. // SERIAL_ECHOPGM("final advance :");
  376. // SERIAL_ECHOLN(current_block->final_advance/256.0);
  377. }
  378. // "The Stepper Driver Interrupt" - This timer interrupt is the workhorse.
  379. // It pops blocks from the block_buffer and executes them by pulsing the stepper pins appropriately.
  380. ISR(TIMER1_COMPA_vect) {
  381. if (cleaning_buffer_counter)
  382. {
  383. current_block = NULL;
  384. plan_discard_current_block();
  385. #ifdef SD_FINISHED_RELEASECOMMAND
  386. if ((cleaning_buffer_counter == 1) && (SD_FINISHED_STEPPERRELEASE)) enqueuecommands_P(PSTR(SD_FINISHED_RELEASECOMMAND));
  387. #endif
  388. cleaning_buffer_counter--;
  389. OCR1A = 200;
  390. return;
  391. }
  392. // If there is no current block, attempt to pop one from the buffer
  393. if (!current_block) {
  394. // Anything in the buffer?
  395. current_block = plan_get_current_block();
  396. if (current_block) {
  397. current_block->busy = true;
  398. trapezoid_generator_reset();
  399. counter_x = -(current_block->step_event_count >> 1);
  400. counter_y = counter_z = counter_e = counter_x;
  401. step_events_completed = 0;
  402. #ifdef Z_LATE_ENABLE
  403. if (current_block->steps[Z_AXIS] > 0) {
  404. enable_z();
  405. OCR1A = 2000; //1ms wait
  406. return;
  407. }
  408. #endif
  409. // #ifdef ADVANCE
  410. // e_steps[current_block->active_extruder] = 0;
  411. // #endif
  412. }
  413. else {
  414. OCR1A = 2000; // 1kHz.
  415. }
  416. }
  417. if (current_block != NULL) {
  418. // Check endstops
  419. if (check_endstops) {
  420. #ifdef Z_DUAL_ENDSTOPS
  421. uint16_t
  422. #else
  423. byte
  424. #endif
  425. current_endstop_bits;
  426. #define _ENDSTOP_PIN(AXIS, MINMAX) AXIS ##_## MINMAX ##_PIN
  427. #define _ENDSTOP_INVERTING(AXIS, MINMAX) AXIS ##_## MINMAX ##_ENDSTOP_INVERTING
  428. #define _AXIS(AXIS) AXIS ##_AXIS
  429. #define _ENDSTOP_HIT(AXIS) endstop_hit_bits |= BIT(_ENDSTOP(AXIS, MIN))
  430. #define _ENDSTOP(AXIS, MINMAX) AXIS ##_## MINMAX
  431. // SET_ENDSTOP_BIT: set the current endstop bits for an endstop to its status
  432. #define SET_ENDSTOP_BIT(AXIS, MINMAX) SET_BIT(current_endstop_bits, _ENDSTOP(AXIS, MINMAX), (READ(_ENDSTOP_PIN(AXIS, MINMAX)) != _ENDSTOP_INVERTING(AXIS, MINMAX)))
  433. // COPY_BIT: copy the value of COPY_BIT to BIT in bits
  434. #define COPY_BIT(bits, COPY_BIT, BIT) SET_BIT(bits, BIT, TEST(bits, COPY_BIT))
  435. // TEST_ENDSTOP: test the old and the current status of an endstop
  436. #define TEST_ENDSTOP(ENDSTOP) (TEST(current_endstop_bits, ENDSTOP) && TEST(old_endstop_bits, ENDSTOP))
  437. #define UPDATE_ENDSTOP(AXIS,MINMAX) \
  438. SET_ENDSTOP_BIT(AXIS, MINMAX); \
  439. if (TEST_ENDSTOP(_ENDSTOP(AXIS, MINMAX)) && (current_block->steps[_AXIS(AXIS)] > 0)) { \
  440. endstops_trigsteps[_AXIS(AXIS)] = count_position[_AXIS(AXIS)]; \
  441. _ENDSTOP_HIT(AXIS); \
  442. step_events_completed = current_block->step_event_count; \
  443. }
  444. #ifdef COREXY
  445. // Head direction in -X axis for CoreXY bots.
  446. // If DeltaX == -DeltaY, the movement is only in Y axis
  447. if ((current_block->steps[A_AXIS] != current_block->steps[B_AXIS]) || (TEST(out_bits, A_AXIS) == TEST(out_bits, B_AXIS))) {
  448. if (TEST(out_bits, X_HEAD))
  449. #else
  450. if (TEST(out_bits, X_AXIS)) // stepping along -X axis (regular Cartesian bot)
  451. #endif
  452. { // -direction
  453. #ifdef DUAL_X_CARRIAGE
  454. // with 2 x-carriages, endstops are only checked in the homing direction for the active extruder
  455. if ((current_block->active_extruder == 0 && X_HOME_DIR == -1) || (current_block->active_extruder != 0 && X2_HOME_DIR == -1))
  456. #endif
  457. {
  458. #if HAS_X_MIN
  459. UPDATE_ENDSTOP(X, MIN);
  460. #endif
  461. }
  462. }
  463. else { // +direction
  464. #ifdef DUAL_X_CARRIAGE
  465. // with 2 x-carriages, endstops are only checked in the homing direction for the active extruder
  466. if ((current_block->active_extruder == 0 && X_HOME_DIR == 1) || (current_block->active_extruder != 0 && X2_HOME_DIR == 1))
  467. #endif
  468. {
  469. #if HAS_X_MAX
  470. UPDATE_ENDSTOP(X, MAX);
  471. #endif
  472. }
  473. }
  474. #ifdef COREXY
  475. }
  476. // Head direction in -Y axis for CoreXY bots.
  477. // If DeltaX == DeltaY, the movement is only in X axis
  478. if ((current_block->steps[A_AXIS] != current_block->steps[B_AXIS]) || (TEST(out_bits, A_AXIS) != TEST(out_bits, B_AXIS))) {
  479. if (TEST(out_bits, Y_HEAD))
  480. #else
  481. if (TEST(out_bits, Y_AXIS)) // -direction
  482. #endif
  483. { // -direction
  484. #if HAS_Y_MIN
  485. UPDATE_ENDSTOP(Y, MIN);
  486. #endif
  487. }
  488. else { // +direction
  489. #if HAS_Y_MAX
  490. UPDATE_ENDSTOP(Y, MAX);
  491. #endif
  492. }
  493. #ifdef COREXY
  494. }
  495. #endif
  496. if (TEST(out_bits, Z_AXIS)) { // z -direction
  497. #if HAS_Z_MIN
  498. #ifdef Z_DUAL_ENDSTOPS
  499. SET_ENDSTOP_BIT(Z, MIN);
  500. #if HAS_Z2_MIN
  501. SET_ENDSTOP_BIT(Z2, MIN);
  502. #else
  503. COPY_BIT(current_endstop_bits, Z_MIN, Z2_MIN);
  504. #endif
  505. byte z_test = TEST_ENDSTOP(Z_MIN) << 0 + TEST_ENDSTOP(Z2_MIN) << 1; // bit 0 for Z, bit 1 for Z2
  506. if (z_test && current_block->steps[Z_AXIS] > 0) { // z_test = Z_MIN || Z2_MIN
  507. endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
  508. endstop_hit_bits |= BIT(Z_MIN);
  509. if (!performing_homing || (z_test == 0x3)) //if not performing home or if both endstops were trigged during homing...
  510. step_events_completed = current_block->step_event_count;
  511. }
  512. #else // !Z_DUAL_ENDSTOPS
  513. UPDATE_ENDSTOP(Z, MIN);
  514. #endif // !Z_DUAL_ENDSTOPS
  515. #endif // Z_MIN_PIN
  516. #ifdef Z_PROBE_ENDSTOP
  517. UPDATE_ENDSTOP(Z, PROBE);
  518. if (TEST_ENDSTOP(Z_PROBE))
  519. {
  520. endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
  521. endstop_hit_bits |= BIT(Z_PROBE);
  522. }
  523. #endif
  524. }
  525. else { // z +direction
  526. #if HAS_Z_MAX
  527. #ifdef Z_DUAL_ENDSTOPS
  528. SET_ENDSTOP_BIT(Z, MAX);
  529. #if HAS_Z2_MAX
  530. SET_ENDSTOP_BIT(Z2, MAX);
  531. #else
  532. COPY_BIT(current_endstop_bits, Z_MAX, Z2_MAX)
  533. #endif
  534. byte z_test = TEST_ENDSTOP(Z_MAX) << 0 + TEST_ENDSTOP(Z2_MAX) << 1; // bit 0 for Z, bit 1 for Z2
  535. if (z_test && current_block->steps[Z_AXIS] > 0) { // t_test = Z_MAX || Z2_MAX
  536. endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
  537. endstop_hit_bits |= BIT(Z_MIN);
  538. if (!performing_homing || (z_test == 0x3)) //if not performing home or if both endstops were trigged during homing...
  539. step_events_completed = current_block->step_event_count;
  540. }
  541. #else // !Z_DUAL_ENDSTOPS
  542. UPDATE_ENDSTOP(Z, MAX);
  543. #endif // !Z_DUAL_ENDSTOPS
  544. #endif // Z_MAX_PIN
  545. #ifdef Z_PROBE_ENDSTOP
  546. UPDATE_ENDSTOP(Z, PROBE);
  547. if (TEST_ENDSTOP(Z_PROBE))
  548. {
  549. endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
  550. endstop_hit_bits |= BIT(Z_PROBE);
  551. }
  552. #endif
  553. }
  554. old_endstop_bits = current_endstop_bits;
  555. }
  556. // Take multiple steps per interrupt (For high speed moves)
  557. for (int8_t i = 0; i < step_loops; i++) {
  558. #ifndef AT90USB
  559. MSerial.checkRx(); // Check for serial chars.
  560. #endif
  561. #ifdef ADVANCE
  562. counter_e += current_block->steps[E_AXIS];
  563. if (counter_e > 0) {
  564. counter_e -= current_block->step_event_count;
  565. e_steps[current_block->active_extruder] += TEST(out_bits, E_AXIS) ? -1 : 1;
  566. }
  567. #endif //ADVANCE
  568. #define _COUNTER(axis) counter_## axis
  569. #define _APPLY_STEP(AXIS) AXIS ##_APPLY_STEP
  570. #define _INVERT_STEP_PIN(AXIS) INVERT_## AXIS ##_STEP_PIN
  571. #define STEP_ADD(axis, AXIS) \
  572. _COUNTER(axis) += current_block->steps[_AXIS(AXIS)]; \
  573. if (_COUNTER(axis) > 0) { _APPLY_STEP(AXIS)(!_INVERT_STEP_PIN(AXIS),0); }
  574. STEP_ADD(x,X);
  575. STEP_ADD(y,Y);
  576. STEP_ADD(z,Z);
  577. #ifndef ADVANCE
  578. STEP_ADD(e,E);
  579. #endif
  580. #define STEP_IF_COUNTER(axis, AXIS) \
  581. if (_COUNTER(axis) > 0) { \
  582. _COUNTER(axis) -= current_block->step_event_count; \
  583. count_position[_AXIS(AXIS)] += count_direction[_AXIS(AXIS)]; \
  584. _APPLY_STEP(AXIS)(_INVERT_STEP_PIN(AXIS),0); \
  585. }
  586. STEP_IF_COUNTER(x, X);
  587. STEP_IF_COUNTER(y, Y);
  588. STEP_IF_COUNTER(z, Z);
  589. #ifndef ADVANCE
  590. STEP_IF_COUNTER(e, E);
  591. #endif
  592. step_events_completed++;
  593. if (step_events_completed >= current_block->step_event_count) break;
  594. }
  595. // Calculate new timer value
  596. unsigned short timer;
  597. unsigned short step_rate;
  598. if (step_events_completed <= (unsigned long)current_block->accelerate_until) {
  599. MultiU24X32toH16(acc_step_rate, acceleration_time, current_block->acceleration_rate);
  600. acc_step_rate += current_block->initial_rate;
  601. // upper limit
  602. if (acc_step_rate > current_block->nominal_rate)
  603. acc_step_rate = current_block->nominal_rate;
  604. // step_rate to timer interval
  605. timer = calc_timer(acc_step_rate);
  606. OCR1A = timer;
  607. acceleration_time += timer;
  608. #ifdef ADVANCE
  609. for(int8_t i=0; i < step_loops; i++) {
  610. advance += advance_rate;
  611. }
  612. //if (advance > current_block->advance) advance = current_block->advance;
  613. // Do E steps + advance steps
  614. e_steps[current_block->active_extruder] += ((advance >>8) - old_advance);
  615. old_advance = advance >>8;
  616. #endif
  617. }
  618. else if (step_events_completed > (unsigned long)current_block->decelerate_after) {
  619. MultiU24X32toH16(step_rate, deceleration_time, current_block->acceleration_rate);
  620. if (step_rate > acc_step_rate) { // Check step_rate stays positive
  621. step_rate = current_block->final_rate;
  622. }
  623. else {
  624. step_rate = acc_step_rate - step_rate; // Decelerate from aceleration end point.
  625. }
  626. // lower limit
  627. if (step_rate < current_block->final_rate)
  628. step_rate = current_block->final_rate;
  629. // step_rate to timer interval
  630. timer = calc_timer(step_rate);
  631. OCR1A = timer;
  632. deceleration_time += timer;
  633. #ifdef ADVANCE
  634. for(int8_t i=0; i < step_loops; i++) {
  635. advance -= advance_rate;
  636. }
  637. if (advance < final_advance) advance = final_advance;
  638. // Do E steps + advance steps
  639. e_steps[current_block->active_extruder] += ((advance >>8) - old_advance);
  640. old_advance = advance >>8;
  641. #endif //ADVANCE
  642. }
  643. else {
  644. OCR1A = OCR1A_nominal;
  645. // ensure we're running at the correct step rate, even if we just came off an acceleration
  646. step_loops = step_loops_nominal;
  647. }
  648. // If current block is finished, reset pointer
  649. if (step_events_completed >= current_block->step_event_count) {
  650. current_block = NULL;
  651. plan_discard_current_block();
  652. }
  653. }
  654. }
  655. #ifdef ADVANCE
  656. unsigned char old_OCR0A;
  657. // Timer interrupt for E. e_steps is set in the main routine;
  658. // Timer 0 is shared with millies
  659. ISR(TIMER0_COMPA_vect)
  660. {
  661. old_OCR0A += 52; // ~10kHz interrupt (250000 / 26 = 9615kHz)
  662. OCR0A = old_OCR0A;
  663. // Set E direction (Depends on E direction + advance)
  664. for(unsigned char i=0; i<4;i++) {
  665. if (e_steps[0] != 0) {
  666. E0_STEP_WRITE(INVERT_E_STEP_PIN);
  667. if (e_steps[0] < 0) {
  668. E0_DIR_WRITE(INVERT_E0_DIR);
  669. e_steps[0]++;
  670. E0_STEP_WRITE(!INVERT_E_STEP_PIN);
  671. }
  672. else if (e_steps[0] > 0) {
  673. E0_DIR_WRITE(!INVERT_E0_DIR);
  674. e_steps[0]--;
  675. E0_STEP_WRITE(!INVERT_E_STEP_PIN);
  676. }
  677. }
  678. #if EXTRUDERS > 1
  679. if (e_steps[1] != 0) {
  680. E1_STEP_WRITE(INVERT_E_STEP_PIN);
  681. if (e_steps[1] < 0) {
  682. E1_DIR_WRITE(INVERT_E1_DIR);
  683. e_steps[1]++;
  684. E1_STEP_WRITE(!INVERT_E_STEP_PIN);
  685. }
  686. else if (e_steps[1] > 0) {
  687. E1_DIR_WRITE(!INVERT_E1_DIR);
  688. e_steps[1]--;
  689. E1_STEP_WRITE(!INVERT_E_STEP_PIN);
  690. }
  691. }
  692. #endif
  693. #if EXTRUDERS > 2
  694. if (e_steps[2] != 0) {
  695. E2_STEP_WRITE(INVERT_E_STEP_PIN);
  696. if (e_steps[2] < 0) {
  697. E2_DIR_WRITE(INVERT_E2_DIR);
  698. e_steps[2]++;
  699. E2_STEP_WRITE(!INVERT_E_STEP_PIN);
  700. }
  701. else if (e_steps[2] > 0) {
  702. E2_DIR_WRITE(!INVERT_E2_DIR);
  703. e_steps[2]--;
  704. E2_STEP_WRITE(!INVERT_E_STEP_PIN);
  705. }
  706. }
  707. #endif
  708. #if EXTRUDERS > 3
  709. if (e_steps[3] != 0) {
  710. E3_STEP_WRITE(INVERT_E_STEP_PIN);
  711. if (e_steps[3] < 0) {
  712. E3_DIR_WRITE(INVERT_E3_DIR);
  713. e_steps[3]++;
  714. E3_STEP_WRITE(!INVERT_E_STEP_PIN);
  715. }
  716. else if (e_steps[3] > 0) {
  717. E3_DIR_WRITE(!INVERT_E3_DIR);
  718. e_steps[3]--;
  719. E3_STEP_WRITE(!INVERT_E_STEP_PIN);
  720. }
  721. }
  722. #endif
  723. }
  724. }
  725. #endif // ADVANCE
  726. void st_init() {
  727. digipot_init(); //Initialize Digipot Motor Current
  728. microstep_init(); //Initialize Microstepping Pins
  729. // initialise TMC Steppers
  730. #ifdef HAVE_TMCDRIVER
  731. tmc_init();
  732. #endif
  733. // initialise L6470 Steppers
  734. #ifdef HAVE_L6470DRIVER
  735. L6470_init();
  736. #endif
  737. // Initialize Dir Pins
  738. #if HAS_X_DIR
  739. X_DIR_INIT;
  740. #endif
  741. #if HAS_X2_DIR
  742. X2_DIR_INIT;
  743. #endif
  744. #if HAS_Y_DIR
  745. Y_DIR_INIT;
  746. #if defined(Y_DUAL_STEPPER_DRIVERS) && HAS_Y2_DIR
  747. Y2_DIR_INIT;
  748. #endif
  749. #endif
  750. #if HAS_Z_DIR
  751. Z_DIR_INIT;
  752. #if defined(Z_DUAL_STEPPER_DRIVERS) && HAS_Z2_DIR
  753. Z2_DIR_INIT;
  754. #endif
  755. #endif
  756. #if HAS_E0_DIR
  757. E0_DIR_INIT;
  758. #endif
  759. #if HAS_E1_DIR
  760. E1_DIR_INIT;
  761. #endif
  762. #if HAS_E2_DIR
  763. E2_DIR_INIT;
  764. #endif
  765. #if HAS_E3_DIR
  766. E3_DIR_INIT;
  767. #endif
  768. //Initialize Enable Pins - steppers default to disabled.
  769. #if HAS_X_ENABLE
  770. X_ENABLE_INIT;
  771. if (!X_ENABLE_ON) X_ENABLE_WRITE(HIGH);
  772. #endif
  773. #if HAS_X2_ENABLE
  774. X2_ENABLE_INIT;
  775. if (!X_ENABLE_ON) X2_ENABLE_WRITE(HIGH);
  776. #endif
  777. #if HAS_Y_ENABLE
  778. Y_ENABLE_INIT;
  779. if (!Y_ENABLE_ON) Y_ENABLE_WRITE(HIGH);
  780. #if defined(Y_DUAL_STEPPER_DRIVERS) && HAS_Y2_ENABLE
  781. Y2_ENABLE_INIT;
  782. if (!Y_ENABLE_ON) Y2_ENABLE_WRITE(HIGH);
  783. #endif
  784. #endif
  785. #if HAS_Z_ENABLE
  786. Z_ENABLE_INIT;
  787. if (!Z_ENABLE_ON) Z_ENABLE_WRITE(HIGH);
  788. #if defined(Z_DUAL_STEPPER_DRIVERS) && HAS_Z2_ENABLE
  789. Z2_ENABLE_INIT;
  790. if (!Z_ENABLE_ON) Z2_ENABLE_WRITE(HIGH);
  791. #endif
  792. #endif
  793. #if HAS_E0_ENABLE
  794. E0_ENABLE_INIT;
  795. if (!E_ENABLE_ON) E0_ENABLE_WRITE(HIGH);
  796. #endif
  797. #if HAS_E1_ENABLE
  798. E1_ENABLE_INIT;
  799. if (!E_ENABLE_ON) E1_ENABLE_WRITE(HIGH);
  800. #endif
  801. #if HAS_E2_ENABLE
  802. E2_ENABLE_INIT;
  803. if (!E_ENABLE_ON) E2_ENABLE_WRITE(HIGH);
  804. #endif
  805. #if HAS_E3_ENABLE
  806. E3_ENABLE_INIT;
  807. if (!E_ENABLE_ON) E3_ENABLE_WRITE(HIGH);
  808. #endif
  809. //endstops and pullups
  810. #if HAS_X_MIN
  811. SET_INPUT(X_MIN_PIN);
  812. #ifdef ENDSTOPPULLUP_XMIN
  813. WRITE(X_MIN_PIN,HIGH);
  814. #endif
  815. #endif
  816. #if HAS_Y_MIN
  817. SET_INPUT(Y_MIN_PIN);
  818. #ifdef ENDSTOPPULLUP_YMIN
  819. WRITE(Y_MIN_PIN,HIGH);
  820. #endif
  821. #endif
  822. #if HAS_Z_MIN
  823. SET_INPUT(Z_MIN_PIN);
  824. #ifdef ENDSTOPPULLUP_ZMIN
  825. WRITE(Z_MIN_PIN,HIGH);
  826. #endif
  827. #endif
  828. #if HAS_X_MAX
  829. SET_INPUT(X_MAX_PIN);
  830. #ifdef ENDSTOPPULLUP_XMAX
  831. WRITE(X_MAX_PIN,HIGH);
  832. #endif
  833. #endif
  834. #if HAS_Y_MAX
  835. SET_INPUT(Y_MAX_PIN);
  836. #ifdef ENDSTOPPULLUP_YMAX
  837. WRITE(Y_MAX_PIN,HIGH);
  838. #endif
  839. #endif
  840. #if HAS_Z_MAX
  841. SET_INPUT(Z_MAX_PIN);
  842. #ifdef ENDSTOPPULLUP_ZMAX
  843. WRITE(Z_MAX_PIN,HIGH);
  844. #endif
  845. #endif
  846. #if HAS_Z2_MAX
  847. SET_INPUT(Z2_MAX_PIN);
  848. #ifdef ENDSTOPPULLUP_ZMAX
  849. WRITE(Z2_MAX_PIN,HIGH);
  850. #endif
  851. #endif
  852. #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.
  853. SET_INPUT(Z_PROBE_PIN);
  854. #ifdef ENDSTOPPULLUP_ZPROBE
  855. WRITE(Z_PROBE_PIN,HIGH);
  856. #endif
  857. #endif
  858. #define _STEP_INIT(AXIS) AXIS ##_STEP_INIT
  859. #define _WRITE_STEP(AXIS, HIGHLOW) AXIS ##_STEP_WRITE(HIGHLOW)
  860. #define _DISABLE(axis) disable_## axis()
  861. #define AXIS_INIT(axis, AXIS, PIN) \
  862. _STEP_INIT(AXIS); \
  863. _WRITE_STEP(AXIS, _INVERT_STEP_PIN(PIN)); \
  864. _DISABLE(axis)
  865. #define E_AXIS_INIT(NUM) AXIS_INIT(e## NUM, E## NUM, E)
  866. // Initialize Step Pins
  867. #if HAS_X_STEP
  868. AXIS_INIT(x, X, X);
  869. #endif
  870. #if HAS_X2_STEP
  871. AXIS_INIT(x, X2, X);
  872. #endif
  873. #if HAS_Y_STEP
  874. #if defined(Y_DUAL_STEPPER_DRIVERS) && HAS_Y2_STEP
  875. Y2_STEP_INIT;
  876. Y2_STEP_WRITE(INVERT_Y_STEP_PIN);
  877. #endif
  878. AXIS_INIT(y, Y, Y);
  879. #endif
  880. #if HAS_Z_STEP
  881. #if defined(Z_DUAL_STEPPER_DRIVERS) && HAS_Z2_STEP
  882. Z2_STEP_INIT;
  883. Z2_STEP_WRITE(INVERT_Z_STEP_PIN);
  884. #endif
  885. AXIS_INIT(z, Z, Z);
  886. #endif
  887. #if HAS_E0_STEP
  888. E_AXIS_INIT(0);
  889. #endif
  890. #if HAS_E1_STEP
  891. E_AXIS_INIT(1);
  892. #endif
  893. #if HAS_E2_STEP
  894. E_AXIS_INIT(2);
  895. #endif
  896. #if HAS_E3_STEP
  897. E_AXIS_INIT(3);
  898. #endif
  899. // waveform generation = 0100 = CTC
  900. TCCR1B &= ~BIT(WGM13);
  901. TCCR1B |= BIT(WGM12);
  902. TCCR1A &= ~BIT(WGM11);
  903. TCCR1A &= ~BIT(WGM10);
  904. // output mode = 00 (disconnected)
  905. TCCR1A &= ~(3<<COM1A0);
  906. TCCR1A &= ~(3<<COM1B0);
  907. // Set the timer pre-scaler
  908. // Generally we use a divider of 8, resulting in a 2MHz timer
  909. // frequency on a 16MHz MCU. If you are going to change this, be
  910. // sure to regenerate speed_lookuptable.h with
  911. // create_speed_lookuptable.py
  912. TCCR1B = (TCCR1B & ~(0x07<<CS10)) | (2<<CS10);
  913. OCR1A = 0x4000;
  914. TCNT1 = 0;
  915. ENABLE_STEPPER_DRIVER_INTERRUPT();
  916. #ifdef ADVANCE
  917. #if defined(TCCR0A) && defined(WGM01)
  918. TCCR0A &= ~BIT(WGM01);
  919. TCCR0A &= ~BIT(WGM00);
  920. #endif
  921. e_steps[0] = e_steps[1] = e_steps[2] = e_steps[3] = 0;
  922. TIMSK0 |= BIT(OCIE0A);
  923. #endif //ADVANCE
  924. enable_endstops(true); // Start with endstops active. After homing they can be disabled
  925. sei();
  926. set_stepper_direction(); // Init directions to out_bits = 0
  927. }
  928. /**
  929. * Block until all buffered steps are executed
  930. */
  931. void st_synchronize() { while (blocks_queued()) idle(); }
  932. void st_set_position(const long &x, const long &y, const long &z, const long &e) {
  933. CRITICAL_SECTION_START;
  934. count_position[X_AXIS] = x;
  935. count_position[Y_AXIS] = y;
  936. count_position[Z_AXIS] = z;
  937. count_position[E_AXIS] = e;
  938. CRITICAL_SECTION_END;
  939. }
  940. void st_set_e_position(const long &e) {
  941. CRITICAL_SECTION_START;
  942. count_position[E_AXIS] = e;
  943. CRITICAL_SECTION_END;
  944. }
  945. long st_get_position(uint8_t axis) {
  946. long count_pos;
  947. CRITICAL_SECTION_START;
  948. count_pos = count_position[axis];
  949. CRITICAL_SECTION_END;
  950. return count_pos;
  951. }
  952. #ifdef ENABLE_AUTO_BED_LEVELING
  953. float st_get_position_mm(AxisEnum axis) {
  954. return st_get_position(axis) / axis_steps_per_unit[axis];
  955. }
  956. #endif // ENABLE_AUTO_BED_LEVELING
  957. void finishAndDisableSteppers() {
  958. st_synchronize();
  959. disable_all_steppers();
  960. }
  961. void quickStop() {
  962. cleaning_buffer_counter = 5000;
  963. DISABLE_STEPPER_DRIVER_INTERRUPT();
  964. while (blocks_queued()) plan_discard_current_block();
  965. current_block = NULL;
  966. ENABLE_STEPPER_DRIVER_INTERRUPT();
  967. }
  968. #ifdef BABYSTEPPING
  969. // MUST ONLY BE CALLED BY AN ISR,
  970. // No other ISR should ever interrupt this!
  971. void babystep(const uint8_t axis, const bool direction) {
  972. #define _ENABLE(axis) enable_## axis()
  973. #define _READ_DIR(AXIS) AXIS ##_DIR_READ
  974. #define _INVERT_DIR(AXIS) INVERT_## AXIS ##_DIR
  975. #define _APPLY_DIR(AXIS, INVERT) AXIS ##_APPLY_DIR(INVERT, true)
  976. #define BABYSTEP_AXIS(axis, AXIS, INVERT) { \
  977. _ENABLE(axis); \
  978. uint8_t old_pin = _READ_DIR(AXIS); \
  979. _APPLY_DIR(AXIS, _INVERT_DIR(AXIS)^direction^INVERT); \
  980. _APPLY_STEP(AXIS)(!_INVERT_STEP_PIN(AXIS), true); \
  981. delayMicroseconds(2); \
  982. _APPLY_STEP(AXIS)(_INVERT_STEP_PIN(AXIS), true); \
  983. _APPLY_DIR(AXIS, old_pin); \
  984. }
  985. switch(axis) {
  986. case X_AXIS:
  987. BABYSTEP_AXIS(x, X, false);
  988. break;
  989. case Y_AXIS:
  990. BABYSTEP_AXIS(y, Y, false);
  991. break;
  992. case Z_AXIS: {
  993. #ifndef DELTA
  994. BABYSTEP_AXIS(z, Z, BABYSTEP_INVERT_Z);
  995. #else // DELTA
  996. bool z_direction = direction ^ BABYSTEP_INVERT_Z;
  997. enable_x();
  998. enable_y();
  999. enable_z();
  1000. uint8_t old_x_dir_pin = X_DIR_READ,
  1001. old_y_dir_pin = Y_DIR_READ,
  1002. old_z_dir_pin = Z_DIR_READ;
  1003. //setup new step
  1004. X_DIR_WRITE(INVERT_X_DIR^z_direction);
  1005. Y_DIR_WRITE(INVERT_Y_DIR^z_direction);
  1006. Z_DIR_WRITE(INVERT_Z_DIR^z_direction);
  1007. //perform step
  1008. X_STEP_WRITE(!INVERT_X_STEP_PIN);
  1009. Y_STEP_WRITE(!INVERT_Y_STEP_PIN);
  1010. Z_STEP_WRITE(!INVERT_Z_STEP_PIN);
  1011. delayMicroseconds(2);
  1012. X_STEP_WRITE(INVERT_X_STEP_PIN);
  1013. Y_STEP_WRITE(INVERT_Y_STEP_PIN);
  1014. Z_STEP_WRITE(INVERT_Z_STEP_PIN);
  1015. //get old pin state back.
  1016. X_DIR_WRITE(old_x_dir_pin);
  1017. Y_DIR_WRITE(old_y_dir_pin);
  1018. Z_DIR_WRITE(old_z_dir_pin);
  1019. #endif
  1020. } break;
  1021. default: break;
  1022. }
  1023. }
  1024. #endif //BABYSTEPPING
  1025. // From Arduino DigitalPotControl example
  1026. void digitalPotWrite(int address, int value) {
  1027. #if HAS_DIGIPOTSS
  1028. digitalWrite(DIGIPOTSS_PIN,LOW); // take the SS pin low to select the chip
  1029. SPI.transfer(address); // send in the address and value via SPI:
  1030. SPI.transfer(value);
  1031. digitalWrite(DIGIPOTSS_PIN,HIGH); // take the SS pin high to de-select the chip:
  1032. //delay(10);
  1033. #endif
  1034. }
  1035. // Initialize Digipot Motor Current
  1036. void digipot_init() {
  1037. #if HAS_DIGIPOTSS
  1038. const uint8_t digipot_motor_current[] = DIGIPOT_MOTOR_CURRENT;
  1039. SPI.begin();
  1040. pinMode(DIGIPOTSS_PIN, OUTPUT);
  1041. for (int i = 0; i <= 4; i++) {
  1042. //digitalPotWrite(digipot_ch[i], digipot_motor_current[i]);
  1043. digipot_current(i,digipot_motor_current[i]);
  1044. }
  1045. #endif
  1046. #ifdef MOTOR_CURRENT_PWM_XY_PIN
  1047. pinMode(MOTOR_CURRENT_PWM_XY_PIN, OUTPUT);
  1048. pinMode(MOTOR_CURRENT_PWM_Z_PIN, OUTPUT);
  1049. pinMode(MOTOR_CURRENT_PWM_E_PIN, OUTPUT);
  1050. digipot_current(0, motor_current_setting[0]);
  1051. digipot_current(1, motor_current_setting[1]);
  1052. digipot_current(2, motor_current_setting[2]);
  1053. //Set timer5 to 31khz so the PWM of the motor power is as constant as possible. (removes a buzzing noise)
  1054. TCCR5B = (TCCR5B & ~(_BV(CS50) | _BV(CS51) | _BV(CS52))) | _BV(CS50);
  1055. #endif
  1056. }
  1057. void digipot_current(uint8_t driver, int current) {
  1058. #if HAS_DIGIPOTSS
  1059. const uint8_t digipot_ch[] = DIGIPOT_CHANNELS;
  1060. digitalPotWrite(digipot_ch[driver], current);
  1061. #endif
  1062. #ifdef MOTOR_CURRENT_PWM_XY_PIN
  1063. switch(driver) {
  1064. case 0: analogWrite(MOTOR_CURRENT_PWM_XY_PIN, 255L * current / MOTOR_CURRENT_PWM_RANGE); break;
  1065. case 1: analogWrite(MOTOR_CURRENT_PWM_Z_PIN, 255L * current / MOTOR_CURRENT_PWM_RANGE); break;
  1066. case 2: analogWrite(MOTOR_CURRENT_PWM_E_PIN, 255L * current / MOTOR_CURRENT_PWM_RANGE); break;
  1067. }
  1068. #endif
  1069. }
  1070. void microstep_init() {
  1071. #if HAS_MICROSTEPS_E1
  1072. pinMode(E1_MS1_PIN,OUTPUT);
  1073. pinMode(E1_MS2_PIN,OUTPUT);
  1074. #endif
  1075. #if HAS_MICROSTEPS
  1076. pinMode(X_MS1_PIN,OUTPUT);
  1077. pinMode(X_MS2_PIN,OUTPUT);
  1078. pinMode(Y_MS1_PIN,OUTPUT);
  1079. pinMode(Y_MS2_PIN,OUTPUT);
  1080. pinMode(Z_MS1_PIN,OUTPUT);
  1081. pinMode(Z_MS2_PIN,OUTPUT);
  1082. pinMode(E0_MS1_PIN,OUTPUT);
  1083. pinMode(E0_MS2_PIN,OUTPUT);
  1084. const uint8_t microstep_modes[] = MICROSTEP_MODES;
  1085. for (uint16_t i = 0; i < sizeof(microstep_modes) / sizeof(microstep_modes[0]); i++)
  1086. microstep_mode(i, microstep_modes[i]);
  1087. #endif
  1088. }
  1089. void microstep_ms(uint8_t driver, int8_t ms1, int8_t ms2) {
  1090. if (ms1 >= 0) switch(driver) {
  1091. case 0: digitalWrite(X_MS1_PIN, ms1); break;
  1092. case 1: digitalWrite(Y_MS1_PIN, ms1); break;
  1093. case 2: digitalWrite(Z_MS1_PIN, ms1); break;
  1094. case 3: digitalWrite(E0_MS1_PIN, ms1); break;
  1095. #if HAS_MICROSTEPS_E1
  1096. case 4: digitalWrite(E1_MS1_PIN, ms1); break;
  1097. #endif
  1098. }
  1099. if (ms2 >= 0) switch(driver) {
  1100. case 0: digitalWrite(X_MS2_PIN, ms2); break;
  1101. case 1: digitalWrite(Y_MS2_PIN, ms2); break;
  1102. case 2: digitalWrite(Z_MS2_PIN, ms2); break;
  1103. case 3: digitalWrite(E0_MS2_PIN, ms2); break;
  1104. #if defined(E1_MS2_PIN) && E1_MS2_PIN >= 0
  1105. case 4: digitalWrite(E1_MS2_PIN, ms2); break;
  1106. #endif
  1107. }
  1108. }
  1109. void microstep_mode(uint8_t driver, uint8_t stepping_mode) {
  1110. switch(stepping_mode) {
  1111. case 1: microstep_ms(driver,MICROSTEP1); break;
  1112. case 2: microstep_ms(driver,MICROSTEP2); break;
  1113. case 4: microstep_ms(driver,MICROSTEP4); break;
  1114. case 8: microstep_ms(driver,MICROSTEP8); break;
  1115. case 16: microstep_ms(driver,MICROSTEP16); break;
  1116. }
  1117. }
  1118. void microstep_readings() {
  1119. SERIAL_PROTOCOLPGM("MS1,MS2 Pins\n");
  1120. SERIAL_PROTOCOLPGM("X: ");
  1121. SERIAL_PROTOCOL(digitalRead(X_MS1_PIN));
  1122. SERIAL_PROTOCOLLN(digitalRead(X_MS2_PIN));
  1123. SERIAL_PROTOCOLPGM("Y: ");
  1124. SERIAL_PROTOCOL(digitalRead(Y_MS1_PIN));
  1125. SERIAL_PROTOCOLLN(digitalRead(Y_MS2_PIN));
  1126. SERIAL_PROTOCOLPGM("Z: ");
  1127. SERIAL_PROTOCOL(digitalRead(Z_MS1_PIN));
  1128. SERIAL_PROTOCOLLN(digitalRead(Z_MS2_PIN));
  1129. SERIAL_PROTOCOLPGM("E0: ");
  1130. SERIAL_PROTOCOL(digitalRead(E0_MS1_PIN));
  1131. SERIAL_PROTOCOLLN(digitalRead(E0_MS2_PIN));
  1132. #if HAS_MICROSTEPS_E1
  1133. SERIAL_PROTOCOLPGM("E1: ");
  1134. SERIAL_PROTOCOL(digitalRead(E1_MS1_PIN));
  1135. SERIAL_PROTOCOLLN(digitalRead(E1_MS2_PIN));
  1136. #endif
  1137. }
  1138. #ifdef Z_DUAL_ENDSTOPS
  1139. void In_Homing_Process(bool state) { performing_homing = state; }
  1140. void Lock_z_motor(bool state) { locked_z_motor = state; }
  1141. void Lock_z2_motor(bool state) { locked_z2_motor = state; }
  1142. #endif