My Marlin configs for Fabrikator Mini and CTC i3 Pro B
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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 HAS_DIGIPOTSS
  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 impossible 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 unsigned int cleaning_buffer_counter;
  40. #ifdef Z_DUAL_ENDSTOPS
  41. static bool performing_homing = false,
  42. locked_z_motor = false,
  43. locked_z2_motor = false;
  44. #endif
  45. // Counter variables for the bresenham line tracer
  46. static long counter_x, counter_y, counter_z, counter_e;
  47. volatile static unsigned long step_events_completed; // The number of step events executed in the current block
  48. #ifdef ADVANCE
  49. static long advance_rate, advance, final_advance = 0;
  50. static long old_advance = 0;
  51. static long e_steps[4];
  52. #endif
  53. static long acceleration_time, deceleration_time;
  54. //static unsigned long accelerate_until, decelerate_after, acceleration_rate, initial_rate, final_rate, nominal_rate;
  55. static unsigned short acc_step_rate; // needed for deccelaration start point
  56. static char step_loops;
  57. static unsigned short OCR1A_nominal;
  58. static unsigned short step_loops_nominal;
  59. volatile long endstops_trigsteps[3] = { 0 };
  60. volatile long endstops_stepsTotal, endstops_stepsDone;
  61. static volatile bool endstop_x_hit = false;
  62. static volatile bool endstop_y_hit = false;
  63. static volatile bool endstop_z_hit = false;
  64. #ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
  65. bool abort_on_endstop_hit = false;
  66. #endif
  67. #ifdef MOTOR_CURRENT_PWM_XY_PIN
  68. int motor_current_setting[3] = DEFAULT_PWM_MOTOR_CURRENT;
  69. #endif
  70. static bool old_x_min_endstop = false,
  71. old_x_max_endstop = false,
  72. old_y_min_endstop = false,
  73. old_y_max_endstop = false,
  74. old_z_min_endstop = false,
  75. #ifndef Z_DUAL_ENDSTOPS
  76. old_z_max_endstop = false;
  77. #else
  78. old_z_max_endstop = false,
  79. old_z2_min_endstop = false,
  80. old_z2_max_endstop = false;
  81. #endif
  82. #ifdef Z_PROBE_AND_ENDSTOP
  83. static bool old_z_probe_endstop = false;
  84. #endif
  85. static bool check_endstops = true;
  86. volatile long count_position[NUM_AXIS] = { 0 };
  87. volatile signed char count_direction[NUM_AXIS] = { 1, 1, 1, 1 };
  88. //===========================================================================
  89. //================================ functions ================================
  90. //===========================================================================
  91. #ifdef DUAL_X_CARRIAGE
  92. #define X_APPLY_DIR(v,ALWAYS) \
  93. if (extruder_duplication_enabled || ALWAYS) { \
  94. X_DIR_WRITE(v); \
  95. X2_DIR_WRITE(v); \
  96. } \
  97. else { \
  98. if (current_block->active_extruder) X2_DIR_WRITE(v); else X_DIR_WRITE(v); \
  99. }
  100. #define X_APPLY_STEP(v,ALWAYS) \
  101. if (extruder_duplication_enabled || ALWAYS) { \
  102. X_STEP_WRITE(v); \
  103. X2_STEP_WRITE(v); \
  104. } \
  105. else { \
  106. if (current_block->active_extruder != 0) X2_STEP_WRITE(v); else X_STEP_WRITE(v); \
  107. }
  108. #else
  109. #define X_APPLY_DIR(v,Q) X_DIR_WRITE(v)
  110. #define X_APPLY_STEP(v,Q) X_STEP_WRITE(v)
  111. #endif
  112. #ifdef Y_DUAL_STEPPER_DRIVERS
  113. #define Y_APPLY_DIR(v,Q) { Y_DIR_WRITE(v); Y2_DIR_WRITE((v) != INVERT_Y2_VS_Y_DIR); }
  114. #define Y_APPLY_STEP(v,Q) { Y_STEP_WRITE(v); Y2_STEP_WRITE(v); }
  115. #else
  116. #define Y_APPLY_DIR(v,Q) Y_DIR_WRITE(v)
  117. #define Y_APPLY_STEP(v,Q) Y_STEP_WRITE(v)
  118. #endif
  119. #ifdef Z_DUAL_STEPPER_DRIVERS
  120. #define Z_APPLY_DIR(v,Q) { Z_DIR_WRITE(v); Z2_DIR_WRITE(v); }
  121. #ifdef Z_DUAL_ENDSTOPS
  122. #define Z_APPLY_STEP(v,Q) \
  123. if (performing_homing) { \
  124. if (Z_HOME_DIR > 0) {\
  125. if (!(old_z_max_endstop && (count_direction[Z_AXIS] > 0)) && !locked_z_motor) Z_STEP_WRITE(v); \
  126. if (!(old_z2_max_endstop && (count_direction[Z_AXIS] > 0)) && !locked_z2_motor) Z2_STEP_WRITE(v); \
  127. } else {\
  128. if (!(old_z_min_endstop && (count_direction[Z_AXIS] < 0)) && !locked_z_motor) Z_STEP_WRITE(v); \
  129. if (!(old_z2_min_endstop && (count_direction[Z_AXIS] < 0)) && !locked_z2_motor) Z2_STEP_WRITE(v); \
  130. } \
  131. } else { \
  132. Z_STEP_WRITE(v); \
  133. Z2_STEP_WRITE(v); \
  134. }
  135. #else
  136. #define Z_APPLY_STEP(v,Q) { Z_STEP_WRITE(v); Z2_STEP_WRITE(v); }
  137. #endif
  138. #else
  139. #define Z_APPLY_DIR(v,Q) Z_DIR_WRITE(v)
  140. #define Z_APPLY_STEP(v,Q) Z_STEP_WRITE(v)
  141. #endif
  142. #define E_APPLY_STEP(v,Q) E_STEP_WRITE(v)
  143. // intRes = intIn1 * intIn2 >> 16
  144. // uses:
  145. // r26 to store 0
  146. // r27 to store the byte 1 of the 24 bit result
  147. #define MultiU16X8toH16(intRes, charIn1, intIn2) \
  148. asm volatile ( \
  149. "clr r26 \n\t" \
  150. "mul %A1, %B2 \n\t" \
  151. "movw %A0, r0 \n\t" \
  152. "mul %A1, %A2 \n\t" \
  153. "add %A0, r1 \n\t" \
  154. "adc %B0, r26 \n\t" \
  155. "lsr r0 \n\t" \
  156. "adc %A0, r26 \n\t" \
  157. "adc %B0, r26 \n\t" \
  158. "clr r1 \n\t" \
  159. : \
  160. "=&r" (intRes) \
  161. : \
  162. "d" (charIn1), \
  163. "d" (intIn2) \
  164. : \
  165. "r26" \
  166. )
  167. // intRes = longIn1 * longIn2 >> 24
  168. // uses:
  169. // r26 to store 0
  170. // r27 to store the byte 1 of the 48bit result
  171. #define MultiU24X24toH16(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. "clr r1 \n\t" \
  203. : \
  204. "=&r" (intRes) \
  205. : \
  206. "d" (longIn1), \
  207. "d" (longIn2) \
  208. : \
  209. "r26" , "r27" \
  210. )
  211. // Some useful constants
  212. #define ENABLE_STEPPER_DRIVER_INTERRUPT() TIMSK1 |= BIT(OCIE1A)
  213. #define DISABLE_STEPPER_DRIVER_INTERRUPT() TIMSK1 &= ~BIT(OCIE1A)
  214. void endstops_hit_on_purpose() {
  215. endstop_x_hit = endstop_y_hit = endstop_z_hit = false;
  216. }
  217. void checkHitEndstops() {
  218. if (endstop_x_hit || endstop_y_hit || endstop_z_hit) {
  219. SERIAL_ECHO_START;
  220. SERIAL_ECHOPGM(MSG_ENDSTOPS_HIT);
  221. if (endstop_x_hit) {
  222. SERIAL_ECHOPAIR(" X:", (float)endstops_trigsteps[X_AXIS] / axis_steps_per_unit[X_AXIS]);
  223. LCD_MESSAGEPGM(MSG_ENDSTOPS_HIT "X");
  224. }
  225. if (endstop_y_hit) {
  226. SERIAL_ECHOPAIR(" Y:", (float)endstops_trigsteps[Y_AXIS] / axis_steps_per_unit[Y_AXIS]);
  227. LCD_MESSAGEPGM(MSG_ENDSTOPS_HIT "Y");
  228. }
  229. if (endstop_z_hit) {
  230. SERIAL_ECHOPAIR(" Z:", (float)endstops_trigsteps[Z_AXIS] / axis_steps_per_unit[Z_AXIS]);
  231. LCD_MESSAGEPGM(MSG_ENDSTOPS_HIT "Z");
  232. }
  233. SERIAL_EOL;
  234. endstops_hit_on_purpose();
  235. #if defined(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED) && defined(SDSUPPORT)
  236. if (abort_on_endstop_hit) {
  237. card.sdprinting = false;
  238. card.closefile();
  239. quickStop();
  240. setTargetHotend0(0);
  241. setTargetHotend1(0);
  242. setTargetHotend2(0);
  243. setTargetHotend3(0);
  244. setTargetBed(0);
  245. }
  246. #endif
  247. }
  248. }
  249. void enable_endstops(bool check) { check_endstops = check; }
  250. // __________________________
  251. // /| |\ _________________ ^
  252. // / | | \ /| |\ |
  253. // / | | \ / | | \ s
  254. // / | | | | | \ p
  255. // / | | | | | \ e
  256. // +-----+------------------------+---+--+---------------+----+ e
  257. // | BLOCK 1 | BLOCK 2 | d
  258. //
  259. // time ----->
  260. //
  261. // The trapezoid is the shape the speed curve over time. It starts at block->initial_rate, accelerates
  262. // first block->accelerate_until step_events_completed, then keeps going at constant speed until
  263. // step_events_completed reaches block->decelerate_after after which it decelerates until the trapezoid generator is reset.
  264. // The slope of acceleration is calculated with the leib ramp alghorithm.
  265. void st_wake_up() {
  266. // TCNT1 = 0;
  267. ENABLE_STEPPER_DRIVER_INTERRUPT();
  268. }
  269. FORCE_INLINE unsigned short calc_timer(unsigned short step_rate) {
  270. unsigned short timer;
  271. if (step_rate > MAX_STEP_FREQUENCY) step_rate = MAX_STEP_FREQUENCY;
  272. if (step_rate > 20000) { // If steprate > 20kHz >> step 4 times
  273. step_rate = (step_rate >> 2) & 0x3fff;
  274. step_loops = 4;
  275. }
  276. else if (step_rate > 10000) { // If steprate > 10kHz >> step 2 times
  277. step_rate = (step_rate >> 1) & 0x7fff;
  278. step_loops = 2;
  279. }
  280. else {
  281. step_loops = 1;
  282. }
  283. if (step_rate < (F_CPU / 500000)) step_rate = (F_CPU / 500000);
  284. step_rate -= (F_CPU / 500000); // Correct for minimal speed
  285. if (step_rate >= (8 * 256)) { // higher step rate
  286. unsigned short table_address = (unsigned short)&speed_lookuptable_fast[(unsigned char)(step_rate>>8)][0];
  287. unsigned char tmp_step_rate = (step_rate & 0x00ff);
  288. unsigned short gain = (unsigned short)pgm_read_word_near(table_address+2);
  289. MultiU16X8toH16(timer, tmp_step_rate, gain);
  290. timer = (unsigned short)pgm_read_word_near(table_address) - timer;
  291. }
  292. else { // lower step rates
  293. unsigned short table_address = (unsigned short)&speed_lookuptable_slow[0][0];
  294. table_address += ((step_rate)>>1) & 0xfffc;
  295. timer = (unsigned short)pgm_read_word_near(table_address);
  296. timer -= (((unsigned short)pgm_read_word_near(table_address+2) * (unsigned char)(step_rate & 0x0007))>>3);
  297. }
  298. if (timer < 100) { timer = 100; MYSERIAL.print(MSG_STEPPER_TOO_HIGH); MYSERIAL.println(step_rate); }//(20kHz this should never happen)
  299. return timer;
  300. }
  301. // Initializes the trapezoid generator from the current block. Called whenever a new
  302. // block begins.
  303. FORCE_INLINE void trapezoid_generator_reset() {
  304. #ifdef ADVANCE
  305. advance = current_block->initial_advance;
  306. final_advance = current_block->final_advance;
  307. // Do E steps + advance steps
  308. e_steps[current_block->active_extruder] += ((advance >>8) - old_advance);
  309. old_advance = advance >>8;
  310. #endif
  311. deceleration_time = 0;
  312. // step_rate to timer interval
  313. OCR1A_nominal = calc_timer(current_block->nominal_rate);
  314. // make a note of the number of step loops required at nominal speed
  315. step_loops_nominal = step_loops;
  316. acc_step_rate = current_block->initial_rate;
  317. acceleration_time = calc_timer(acc_step_rate);
  318. OCR1A = acceleration_time;
  319. // SERIAL_ECHO_START;
  320. // SERIAL_ECHOPGM("advance :");
  321. // SERIAL_ECHO(current_block->advance/256.0);
  322. // SERIAL_ECHOPGM("advance rate :");
  323. // SERIAL_ECHO(current_block->advance_rate/256.0);
  324. // SERIAL_ECHOPGM("initial advance :");
  325. // SERIAL_ECHO(current_block->initial_advance/256.0);
  326. // SERIAL_ECHOPGM("final advance :");
  327. // SERIAL_ECHOLN(current_block->final_advance/256.0);
  328. }
  329. // "The Stepper Driver Interrupt" - This timer interrupt is the workhorse.
  330. // It pops blocks from the block_buffer and executes them by pulsing the stepper pins appropriately.
  331. ISR(TIMER1_COMPA_vect) {
  332. if(cleaning_buffer_counter)
  333. {
  334. current_block = NULL;
  335. plan_discard_current_block();
  336. if ((cleaning_buffer_counter == 1) && (SD_FINISHED_STEPPERRELEASE)) enquecommands_P(PSTR(SD_FINISHED_RELEASECOMMAND));
  337. cleaning_buffer_counter--;
  338. OCR1A = 200;
  339. return;
  340. }
  341. // If there is no current block, attempt to pop one from the buffer
  342. if (!current_block) {
  343. // Anything in the buffer?
  344. current_block = plan_get_current_block();
  345. if (current_block) {
  346. current_block->busy = true;
  347. trapezoid_generator_reset();
  348. counter_x = -(current_block->step_event_count >> 1);
  349. counter_y = counter_z = counter_e = counter_x;
  350. step_events_completed = 0;
  351. #ifdef Z_LATE_ENABLE
  352. if (current_block->steps[Z_AXIS] > 0) {
  353. enable_z();
  354. OCR1A = 2000; //1ms wait
  355. return;
  356. }
  357. #endif
  358. // #ifdef ADVANCE
  359. // e_steps[current_block->active_extruder] = 0;
  360. // #endif
  361. }
  362. else {
  363. OCR1A = 2000; // 1kHz.
  364. }
  365. }
  366. if (current_block != NULL) {
  367. // Set directions TO DO This should be done once during init of trapezoid. Endstops -> interrupt
  368. out_bits = current_block->direction_bits;
  369. // Set the direction bits (X_AXIS=A_AXIS and Y_AXIS=B_AXIS for COREXY)
  370. if (TEST(out_bits, X_AXIS)) {
  371. X_APPLY_DIR(INVERT_X_DIR,0);
  372. count_direction[X_AXIS] = -1;
  373. }
  374. else {
  375. X_APPLY_DIR(!INVERT_X_DIR,0);
  376. count_direction[X_AXIS] = 1;
  377. }
  378. if (TEST(out_bits, Y_AXIS)) {
  379. Y_APPLY_DIR(INVERT_Y_DIR,0);
  380. count_direction[Y_AXIS] = -1;
  381. }
  382. else {
  383. Y_APPLY_DIR(!INVERT_Y_DIR,0);
  384. count_direction[Y_AXIS] = 1;
  385. }
  386. #define UPDATE_ENDSTOP(axis,AXIS,minmax,MINMAX) \
  387. bool axis ##_## minmax ##_endstop = (READ(AXIS ##_## MINMAX ##_PIN) != AXIS ##_## MINMAX ##_ENDSTOP_INVERTING); \
  388. if (axis ##_## minmax ##_endstop && old_## axis ##_## minmax ##_endstop && (current_block->steps[AXIS ##_AXIS] > 0)) { \
  389. endstops_trigsteps[AXIS ##_AXIS] = count_position[AXIS ##_AXIS]; \
  390. endstop_## axis ##_hit = true; \
  391. step_events_completed = current_block->step_event_count; \
  392. } \
  393. old_## axis ##_## minmax ##_endstop = axis ##_## minmax ##_endstop;
  394. // Check X and Y endstops
  395. if (check_endstops) {
  396. #ifdef COREXY
  397. // Head direction in -X axis for CoreXY bots.
  398. // If DeltaX == -DeltaY, the movement is only in Y axis
  399. if (current_block->steps[A_AXIS] != current_block->steps[B_AXIS] || (TEST(out_bits, A_AXIS) == TEST(out_bits, B_AXIS)))
  400. if (TEST(out_bits, X_HEAD))
  401. #else
  402. if (TEST(out_bits, X_AXIS)) // stepping along -X axis (regular cartesians bot)
  403. #endif
  404. { // -direction
  405. #ifdef DUAL_X_CARRIAGE
  406. // with 2 x-carriages, endstops are only checked in the homing direction for the active extruder
  407. if ((current_block->active_extruder == 0 && X_HOME_DIR == -1) || (current_block->active_extruder != 0 && X2_HOME_DIR == -1))
  408. #endif
  409. {
  410. #if defined(X_MIN_PIN) && X_MIN_PIN >= 0
  411. UPDATE_ENDSTOP(x, X, min, MIN);
  412. #endif
  413. }
  414. }
  415. else { // +direction
  416. #ifdef DUAL_X_CARRIAGE
  417. // with 2 x-carriages, endstops are only checked in the homing direction for the active extruder
  418. if ((current_block->active_extruder == 0 && X_HOME_DIR == 1) || (current_block->active_extruder != 0 && X2_HOME_DIR == 1))
  419. #endif
  420. {
  421. #if defined(X_MAX_PIN) && X_MAX_PIN >= 0
  422. UPDATE_ENDSTOP(x, X, max, MAX);
  423. #endif
  424. }
  425. }
  426. #ifdef COREXY
  427. // Head direction in -Y axis for CoreXY bots.
  428. // If DeltaX == DeltaY, the movement is only in X axis
  429. if (current_block->steps[A_AXIS] != current_block->steps[B_AXIS] || (TEST(out_bits, A_AXIS) != TEST(out_bits, B_AXIS)))
  430. if (TEST(out_bits, Y_HEAD))
  431. #else
  432. if (TEST(out_bits, Y_AXIS)) // -direction
  433. #endif
  434. { // -direction
  435. #if defined(Y_MIN_PIN) && Y_MIN_PIN >= 0
  436. UPDATE_ENDSTOP(y, Y, min, MIN);
  437. #endif
  438. }
  439. else { // +direction
  440. #if defined(Y_MAX_PIN) && Y_MAX_PIN >= 0
  441. UPDATE_ENDSTOP(y, Y, max, MAX);
  442. #endif
  443. }
  444. }
  445. if (TEST(out_bits, Z_AXIS)) { // -direction
  446. Z_APPLY_DIR(INVERT_Z_DIR,0);
  447. count_direction[Z_AXIS] = -1;
  448. if (check_endstops)
  449. {
  450. #if defined(Z_MIN_PIN) && Z_MIN_PIN > -1
  451. #ifndef Z_DUAL_ENDSTOPS
  452. UPDATE_ENDSTOP(z, Z, min, MIN);
  453. #else
  454. bool z_min_endstop=(READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING);
  455. #if defined(Z2_MIN_PIN) && Z2_MIN_PIN > -1
  456. bool z2_min_endstop=(READ(Z2_MIN_PIN) != Z2_MIN_ENDSTOP_INVERTING);
  457. #else
  458. bool z2_min_endstop=z_min_endstop;
  459. #endif
  460. if(((z_min_endstop && old_z_min_endstop) || (z2_min_endstop && old_z2_min_endstop)) && (current_block->steps[Z_AXIS] > 0))
  461. {
  462. endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
  463. endstop_z_hit=true;
  464. if (!(performing_homing) || ((performing_homing)&&(z_min_endstop && old_z_min_endstop)&&(z2_min_endstop && old_z2_min_endstop))) //if not performing home or if both endstops were trigged during homing...
  465. {
  466. step_events_completed = current_block->step_event_count;
  467. }
  468. }
  469. old_z_min_endstop = z_min_endstop;
  470. old_z2_min_endstop = z2_min_endstop;
  471. #endif
  472. #endif
  473. #if defined(Z_PROBE_PIN) && Z_PROBE_PIN > -1
  474. UPDATE_ENDSTOP(z, Z, probe, PROBE);
  475. z_probe_endstop=(READ(Z_PROBE_PIN) != Z_MIN_ENDSTOP_INVERTING);
  476. if(z_probe_endstop && old_z_probe_endstop)
  477. {
  478. endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
  479. endstop_z_hit=true;
  480. // if (z_probe_endstop && old_z_probe_endstop) SERIAL_ECHOLN("z_probe_endstop = true");
  481. }
  482. old_z_probe_endstop = z_probe_endstop;
  483. #endif
  484. }
  485. }
  486. else { // +direction
  487. Z_APPLY_DIR(!INVERT_Z_DIR,0);
  488. count_direction[Z_AXIS] = 1;
  489. if (check_endstops) {
  490. #if defined(Z_MAX_PIN) && Z_MAX_PIN >= 0
  491. #ifndef Z_DUAL_ENDSTOPS
  492. UPDATE_ENDSTOP(z, Z, max, MAX);
  493. #else
  494. bool z_max_endstop=(READ(Z_MAX_PIN) != Z_MAX_ENDSTOP_INVERTING);
  495. #if defined(Z2_MAX_PIN) && Z2_MAX_PIN > -1
  496. bool z2_max_endstop=(READ(Z2_MAX_PIN) != Z2_MAX_ENDSTOP_INVERTING);
  497. #else
  498. bool z2_max_endstop=z_max_endstop;
  499. #endif
  500. if(((z_max_endstop && old_z_max_endstop) || (z2_max_endstop && old_z2_max_endstop)) && (current_block->steps[Z_AXIS] > 0))
  501. {
  502. endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
  503. endstop_z_hit=true;
  504. // if (z_max_endstop && old_z_max_endstop) SERIAL_ECHOLN("z_max_endstop = true");
  505. // if (z2_max_endstop && old_z2_max_endstop) SERIAL_ECHOLN("z2_max_endstop = true");
  506. if (!(performing_homing) || ((performing_homing)&&(z_max_endstop && old_z_max_endstop)&&(z2_max_endstop && old_z2_max_endstop))) //if not performing home or if both endstops were trigged during homing...
  507. {
  508. step_events_completed = current_block->step_event_count;
  509. }
  510. }
  511. old_z_max_endstop = z_max_endstop;
  512. old_z2_max_endstop = z2_max_endstop;
  513. #endif
  514. #endif
  515. #if defined(Z_PROBE_PIN) && Z_PROBE_PIN > -1
  516. UPDATE_ENDSTOP(z, Z, probe, PROBE);
  517. z_probe_endstop=(READ(Z_PROBE_PIN) != Z_MAX_ENDSTOP_INVERTING);
  518. if(z_probe_endstop && old_z_probe_endstop)
  519. {
  520. endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
  521. endstop_z_hit=true;
  522. // if (z_probe_endstop && old_z_probe_endstop) SERIAL_ECHOLN("z_probe_endstop = true");
  523. }
  524. old_z_probe_endstop = z_probe_endstop;
  525. #endif
  526. }
  527. }
  528. #ifndef ADVANCE
  529. if (TEST(out_bits, E_AXIS)) { // -direction
  530. REV_E_DIR();
  531. count_direction[E_AXIS]=-1;
  532. }
  533. else { // +direction
  534. NORM_E_DIR();
  535. count_direction[E_AXIS]=1;
  536. }
  537. #endif //!ADVANCE
  538. // Take multiple steps per interrupt (For high speed moves)
  539. for (int8_t i=0; i < step_loops; i++) {
  540. #ifndef AT90USB
  541. MSerial.checkRx(); // Check for serial chars.
  542. #endif
  543. #ifdef ADVANCE
  544. counter_e += current_block->steps[E_AXIS];
  545. if (counter_e > 0) {
  546. counter_e -= current_block->step_event_count;
  547. e_steps[current_block->active_extruder] += TEST(out_bits, E_AXIS) ? -1 : 1;
  548. }
  549. #endif //ADVANCE
  550. #ifdef CONFIG_STEPPERS_TOSHIBA
  551. /**
  552. * The Toshiba stepper controller require much longer pulses.
  553. * So we 'stage' decompose the pulses between high and low
  554. * instead of doing each in turn. The extra tests add enough
  555. * lag to allow it work with without needing NOPs
  556. */
  557. #define STEP_ADD(axis, AXIS) \
  558. counter_## axis += current_block->steps[AXIS ##_AXIS]; \
  559. if (counter_## axis > 0) { AXIS ##_STEP_WRITE(HIGH); }
  560. STEP_ADD(x,X);
  561. STEP_ADD(y,Y);
  562. STEP_ADD(z,Z);
  563. #ifndef ADVANCE
  564. STEP_ADD(e,E);
  565. #endif
  566. #define STEP_IF_COUNTER(axis, AXIS) \
  567. if (counter_## axis > 0) { \
  568. counter_## axis -= current_block->step_event_count; \
  569. count_position[AXIS ##_AXIS] += count_direction[AXIS ##_AXIS]; \
  570. AXIS ##_STEP_WRITE(LOW); \
  571. }
  572. STEP_IF_COUNTER(x, X);
  573. STEP_IF_COUNTER(y, Y);
  574. STEP_IF_COUNTER(z, Z);
  575. #ifndef ADVANCE
  576. STEP_IF_COUNTER(e, E);
  577. #endif
  578. #else // !CONFIG_STEPPERS_TOSHIBA
  579. #define APPLY_MOVEMENT(axis, AXIS) \
  580. counter_## axis += current_block->steps[AXIS ##_AXIS]; \
  581. if (counter_## axis > 0) { \
  582. AXIS ##_APPLY_STEP(!INVERT_## AXIS ##_STEP_PIN,0); \
  583. counter_## axis -= current_block->step_event_count; \
  584. count_position[AXIS ##_AXIS] += count_direction[AXIS ##_AXIS]; \
  585. AXIS ##_APPLY_STEP(INVERT_## AXIS ##_STEP_PIN,0); \
  586. }
  587. APPLY_MOVEMENT(x, X);
  588. APPLY_MOVEMENT(y, Y);
  589. APPLY_MOVEMENT(z, Z);
  590. #ifndef ADVANCE
  591. APPLY_MOVEMENT(e, E);
  592. #endif
  593. #endif // CONFIG_STEPPERS_TOSHIBA
  594. step_events_completed++;
  595. if (step_events_completed >= current_block->step_event_count) break;
  596. }
  597. // Calculate new timer value
  598. unsigned short timer;
  599. unsigned short step_rate;
  600. if (step_events_completed <= (unsigned long int)current_block->accelerate_until) {
  601. MultiU24X24toH16(acc_step_rate, acceleration_time, current_block->acceleration_rate);
  602. acc_step_rate += current_block->initial_rate;
  603. // upper limit
  604. if (acc_step_rate > current_block->nominal_rate)
  605. acc_step_rate = current_block->nominal_rate;
  606. // step_rate to timer interval
  607. timer = calc_timer(acc_step_rate);
  608. OCR1A = timer;
  609. acceleration_time += timer;
  610. #ifdef ADVANCE
  611. for(int8_t i=0; i < step_loops; i++) {
  612. advance += advance_rate;
  613. }
  614. //if (advance > current_block->advance) advance = current_block->advance;
  615. // Do E steps + advance steps
  616. e_steps[current_block->active_extruder] += ((advance >>8) - old_advance);
  617. old_advance = advance >>8;
  618. #endif
  619. }
  620. else if (step_events_completed > (unsigned long int)current_block->decelerate_after) {
  621. MultiU24X24toH16(step_rate, deceleration_time, current_block->acceleration_rate);
  622. if (step_rate > acc_step_rate) { // Check step_rate stays positive
  623. step_rate = current_block->final_rate;
  624. }
  625. else {
  626. step_rate = acc_step_rate - step_rate; // Decelerate from aceleration end point.
  627. }
  628. // lower limit
  629. if (step_rate < current_block->final_rate)
  630. step_rate = current_block->final_rate;
  631. // step_rate to timer interval
  632. timer = calc_timer(step_rate);
  633. OCR1A = timer;
  634. deceleration_time += timer;
  635. #ifdef ADVANCE
  636. for(int8_t i=0; i < step_loops; i++) {
  637. advance -= advance_rate;
  638. }
  639. if (advance < final_advance) advance = final_advance;
  640. // Do E steps + advance steps
  641. e_steps[current_block->active_extruder] += ((advance >>8) - old_advance);
  642. old_advance = advance >>8;
  643. #endif //ADVANCE
  644. }
  645. else {
  646. OCR1A = OCR1A_nominal;
  647. // ensure we're running at the correct step rate, even if we just came off an acceleration
  648. step_loops = step_loops_nominal;
  649. }
  650. // If current block is finished, reset pointer
  651. if (step_events_completed >= current_block->step_event_count) {
  652. current_block = NULL;
  653. plan_discard_current_block();
  654. }
  655. }
  656. }
  657. #ifdef ADVANCE
  658. unsigned char old_OCR0A;
  659. // Timer interrupt for E. e_steps is set in the main routine;
  660. // Timer 0 is shared with millies
  661. ISR(TIMER0_COMPA_vect)
  662. {
  663. old_OCR0A += 52; // ~10kHz interrupt (250000 / 26 = 9615kHz)
  664. OCR0A = old_OCR0A;
  665. // Set E direction (Depends on E direction + advance)
  666. for(unsigned char i=0; i<4;i++) {
  667. if (e_steps[0] != 0) {
  668. E0_STEP_WRITE(INVERT_E_STEP_PIN);
  669. if (e_steps[0] < 0) {
  670. E0_DIR_WRITE(INVERT_E0_DIR);
  671. e_steps[0]++;
  672. E0_STEP_WRITE(!INVERT_E_STEP_PIN);
  673. }
  674. else if (e_steps[0] > 0) {
  675. E0_DIR_WRITE(!INVERT_E0_DIR);
  676. e_steps[0]--;
  677. E0_STEP_WRITE(!INVERT_E_STEP_PIN);
  678. }
  679. }
  680. #if EXTRUDERS > 1
  681. if (e_steps[1] != 0) {
  682. E1_STEP_WRITE(INVERT_E_STEP_PIN);
  683. if (e_steps[1] < 0) {
  684. E1_DIR_WRITE(INVERT_E1_DIR);
  685. e_steps[1]++;
  686. E1_STEP_WRITE(!INVERT_E_STEP_PIN);
  687. }
  688. else if (e_steps[1] > 0) {
  689. E1_DIR_WRITE(!INVERT_E1_DIR);
  690. e_steps[1]--;
  691. E1_STEP_WRITE(!INVERT_E_STEP_PIN);
  692. }
  693. }
  694. #endif
  695. #if EXTRUDERS > 2
  696. if (e_steps[2] != 0) {
  697. E2_STEP_WRITE(INVERT_E_STEP_PIN);
  698. if (e_steps[2] < 0) {
  699. E2_DIR_WRITE(INVERT_E2_DIR);
  700. e_steps[2]++;
  701. E2_STEP_WRITE(!INVERT_E_STEP_PIN);
  702. }
  703. else if (e_steps[2] > 0) {
  704. E2_DIR_WRITE(!INVERT_E2_DIR);
  705. e_steps[2]--;
  706. E2_STEP_WRITE(!INVERT_E_STEP_PIN);
  707. }
  708. }
  709. #endif
  710. #if EXTRUDERS > 3
  711. if (e_steps[3] != 0) {
  712. E3_STEP_WRITE(INVERT_E_STEP_PIN);
  713. if (e_steps[3] < 0) {
  714. E3_DIR_WRITE(INVERT_E3_DIR);
  715. e_steps[3]++;
  716. E3_STEP_WRITE(!INVERT_E_STEP_PIN);
  717. }
  718. else if (e_steps[3] > 0) {
  719. E3_DIR_WRITE(!INVERT_E3_DIR);
  720. e_steps[3]--;
  721. E3_STEP_WRITE(!INVERT_E_STEP_PIN);
  722. }
  723. }
  724. #endif
  725. }
  726. }
  727. #endif // ADVANCE
  728. void st_init() {
  729. digipot_init(); //Initialize Digipot Motor Current
  730. microstep_init(); //Initialize Microstepping Pins
  731. // initialise TMC Steppers
  732. #ifdef HAVE_TMCDRIVER
  733. tmc_init();
  734. #endif
  735. // initialise L6470 Steppers
  736. #ifdef HAVE_L6470DRIVER
  737. L6470_init();
  738. #endif
  739. // Initialize Dir Pins
  740. #if defined(X_DIR_PIN) && X_DIR_PIN >= 0
  741. X_DIR_INIT;
  742. #endif
  743. #if defined(X2_DIR_PIN) && X2_DIR_PIN >= 0
  744. X2_DIR_INIT;
  745. #endif
  746. #if defined(Y_DIR_PIN) && Y_DIR_PIN >= 0
  747. Y_DIR_INIT;
  748. #if defined(Y_DUAL_STEPPER_DRIVERS) && defined(Y2_DIR_PIN) && Y2_DIR_PIN >= 0
  749. Y2_DIR_INIT;
  750. #endif
  751. #endif
  752. #if defined(Z_DIR_PIN) && Z_DIR_PIN >= 0
  753. Z_DIR_INIT;
  754. #if defined(Z_DUAL_STEPPER_DRIVERS) && defined(Z2_DIR_PIN) && Z2_DIR_PIN >= 0
  755. Z2_DIR_INIT;
  756. #endif
  757. #endif
  758. #if defined(E0_DIR_PIN) && E0_DIR_PIN >= 0
  759. E0_DIR_INIT;
  760. #endif
  761. #if defined(E1_DIR_PIN) && E1_DIR_PIN >= 0
  762. E1_DIR_INIT;
  763. #endif
  764. #if defined(E2_DIR_PIN) && E2_DIR_PIN >= 0
  765. E2_DIR_INIT;
  766. #endif
  767. #if defined(E3_DIR_PIN) && E3_DIR_PIN >= 0
  768. E3_DIR_INIT;
  769. #endif
  770. //Initialize Enable Pins - steppers default to disabled.
  771. #if defined(X_ENABLE_PIN) && X_ENABLE_PIN >= 0
  772. X_ENABLE_INIT;
  773. if (!X_ENABLE_ON) X_ENABLE_WRITE(HIGH);
  774. #endif
  775. #if defined(X2_ENABLE_PIN) && X2_ENABLE_PIN >= 0
  776. X2_ENABLE_INIT;
  777. if (!X_ENABLE_ON) X2_ENABLE_WRITE(HIGH);
  778. #endif
  779. #if defined(Y_ENABLE_PIN) && Y_ENABLE_PIN >= 0
  780. Y_ENABLE_INIT;
  781. if (!Y_ENABLE_ON) Y_ENABLE_WRITE(HIGH);
  782. #if defined(Y_DUAL_STEPPER_DRIVERS) && defined(Y2_ENABLE_PIN) && Y2_ENABLE_PIN >= 0
  783. Y2_ENABLE_INIT;
  784. if (!Y_ENABLE_ON) Y2_ENABLE_WRITE(HIGH);
  785. #endif
  786. #endif
  787. #if defined(Z_ENABLE_PIN) && Z_ENABLE_PIN >= 0
  788. Z_ENABLE_INIT;
  789. if (!Z_ENABLE_ON) Z_ENABLE_WRITE(HIGH);
  790. #if defined(Z_DUAL_STEPPER_DRIVERS) && defined(Z2_ENABLE_PIN) && Z2_ENABLE_PIN >= 0
  791. Z2_ENABLE_INIT;
  792. if (!Z_ENABLE_ON) Z2_ENABLE_WRITE(HIGH);
  793. #endif
  794. #endif
  795. #if defined(E0_ENABLE_PIN) && E0_ENABLE_PIN >= 0
  796. E0_ENABLE_INIT;
  797. if (!E_ENABLE_ON) E0_ENABLE_WRITE(HIGH);
  798. #endif
  799. #if defined(E1_ENABLE_PIN) && E1_ENABLE_PIN >= 0
  800. E1_ENABLE_INIT;
  801. if (!E_ENABLE_ON) E1_ENABLE_WRITE(HIGH);
  802. #endif
  803. #if defined(E2_ENABLE_PIN) && E2_ENABLE_PIN >= 0
  804. E2_ENABLE_INIT;
  805. if (!E_ENABLE_ON) E2_ENABLE_WRITE(HIGH);
  806. #endif
  807. #if defined(E3_ENABLE_PIN) && E3_ENABLE_PIN >= 0
  808. E3_ENABLE_INIT;
  809. if (!E_ENABLE_ON) E3_ENABLE_WRITE(HIGH);
  810. #endif
  811. //endstops and pullups
  812. #if defined(X_MIN_PIN) && X_MIN_PIN >= 0
  813. SET_INPUT(X_MIN_PIN);
  814. #ifdef ENDSTOPPULLUP_XMIN
  815. WRITE(X_MIN_PIN,HIGH);
  816. #endif
  817. #endif
  818. #if defined(Y_MIN_PIN) && Y_MIN_PIN >= 0
  819. SET_INPUT(Y_MIN_PIN);
  820. #ifdef ENDSTOPPULLUP_YMIN
  821. WRITE(Y_MIN_PIN,HIGH);
  822. #endif
  823. #endif
  824. #if defined(Z_MIN_PIN) && Z_MIN_PIN >= 0
  825. SET_INPUT(Z_MIN_PIN);
  826. #ifdef ENDSTOPPULLUP_ZMIN
  827. WRITE(Z_MIN_PIN,HIGH);
  828. #endif
  829. #endif
  830. #if defined(X_MAX_PIN) && X_MAX_PIN >= 0
  831. SET_INPUT(X_MAX_PIN);
  832. #ifdef ENDSTOPPULLUP_XMAX
  833. WRITE(X_MAX_PIN,HIGH);
  834. #endif
  835. #endif
  836. #if defined(Y_MAX_PIN) && Y_MAX_PIN >= 0
  837. SET_INPUT(Y_MAX_PIN);
  838. #ifdef ENDSTOPPULLUP_YMAX
  839. WRITE(Y_MAX_PIN,HIGH);
  840. #endif
  841. #endif
  842. #if defined(Z_MAX_PIN) && Z_MAX_PIN >= 0
  843. SET_INPUT(Z_MAX_PIN);
  844. #ifdef ENDSTOPPULLUP_ZMAX
  845. WRITE(Z_MAX_PIN,HIGH);
  846. #endif
  847. #endif
  848. #if defined(Z2_MAX_PIN) && Z2_MAX_PIN >= 0
  849. SET_INPUT(Z2_MAX_PIN);
  850. #ifdef ENDSTOPPULLUP_ZMAX
  851. WRITE(Z2_MAX_PIN,HIGH);
  852. #endif
  853. #endif
  854. #if defined(Z_PROBE_PIN) && Z_PROBE_PIN >= 0
  855. SET_INPUT(Z_PROBE_PIN);
  856. #ifdef ENDSTOPPULLUP_ZPROBE
  857. WRITE(Z_PROBE_PIN,HIGH);
  858. #endif
  859. #endif
  860. #define AXIS_INIT(axis, AXIS, PIN) \
  861. AXIS ##_STEP_INIT; \
  862. AXIS ##_STEP_WRITE(INVERT_## PIN ##_STEP_PIN); \
  863. disable_## axis()
  864. #define E_AXIS_INIT(NUM) AXIS_INIT(e## NUM, E## NUM, E)
  865. // Initialize Step Pins
  866. #if defined(X_STEP_PIN) && X_STEP_PIN >= 0
  867. AXIS_INIT(x, X, X);
  868. #endif
  869. #if defined(X2_STEP_PIN) && X2_STEP_PIN >= 0
  870. AXIS_INIT(x, X2, X);
  871. #endif
  872. #if defined(Y_STEP_PIN) && Y_STEP_PIN >= 0
  873. #if defined(Y_DUAL_STEPPER_DRIVERS) && defined(Y2_STEP_PIN) && Y2_STEP_PIN >= 0
  874. Y2_STEP_INIT;
  875. Y2_STEP_WRITE(INVERT_Y_STEP_PIN);
  876. #endif
  877. AXIS_INIT(y, Y, Y);
  878. #endif
  879. #if defined(Z_STEP_PIN) && Z_STEP_PIN >= 0
  880. #if defined(Z_DUAL_STEPPER_DRIVERS) && defined(Z2_STEP_PIN) && Z2_STEP_PIN >= 0
  881. Z2_STEP_INIT;
  882. Z2_STEP_WRITE(INVERT_Z_STEP_PIN);
  883. #endif
  884. AXIS_INIT(z, Z, Z);
  885. #endif
  886. #if defined(E0_STEP_PIN) && E0_STEP_PIN >= 0
  887. E_AXIS_INIT(0);
  888. #endif
  889. #if defined(E1_STEP_PIN) && E1_STEP_PIN >= 0
  890. E_AXIS_INIT(1);
  891. #endif
  892. #if defined(E2_STEP_PIN) && E2_STEP_PIN >= 0
  893. E_AXIS_INIT(2);
  894. #endif
  895. #if defined(E3_STEP_PIN) && E3_STEP_PIN >= 0
  896. E_AXIS_INIT(3);
  897. #endif
  898. // waveform generation = 0100 = CTC
  899. TCCR1B &= ~BIT(WGM13);
  900. TCCR1B |= BIT(WGM12);
  901. TCCR1A &= ~BIT(WGM11);
  902. TCCR1A &= ~BIT(WGM10);
  903. // output mode = 00 (disconnected)
  904. TCCR1A &= ~(3<<COM1A0);
  905. TCCR1A &= ~(3<<COM1B0);
  906. // Set the timer pre-scaler
  907. // Generally we use a divider of 8, resulting in a 2MHz timer
  908. // frequency on a 16MHz MCU. If you are going to change this, be
  909. // sure to regenerate speed_lookuptable.h with
  910. // create_speed_lookuptable.py
  911. TCCR1B = (TCCR1B & ~(0x07<<CS10)) | (2<<CS10);
  912. OCR1A = 0x4000;
  913. TCNT1 = 0;
  914. ENABLE_STEPPER_DRIVER_INTERRUPT();
  915. #ifdef ADVANCE
  916. #if defined(TCCR0A) && defined(WGM01)
  917. TCCR0A &= ~BIT(WGM01);
  918. TCCR0A &= ~BIT(WGM00);
  919. #endif
  920. e_steps[0] = 0;
  921. e_steps[1] = 0;
  922. e_steps[2] = 0;
  923. e_steps[3] = 0;
  924. TIMSK0 |= BIT(OCIE0A);
  925. #endif //ADVANCE
  926. enable_endstops(true); // Start with endstops active. After homing they can be disabled
  927. sei();
  928. }
  929. // Block until all buffered steps are executed
  930. void st_synchronize() {
  931. while (blocks_queued()) {
  932. manage_heater();
  933. manage_inactivity();
  934. lcd_update();
  935. }
  936. }
  937. void st_set_position(const long &x, const long &y, const long &z, const long &e) {
  938. CRITICAL_SECTION_START;
  939. count_position[X_AXIS] = x;
  940. count_position[Y_AXIS] = y;
  941. count_position[Z_AXIS] = z;
  942. count_position[E_AXIS] = e;
  943. CRITICAL_SECTION_END;
  944. }
  945. void st_set_e_position(const long &e) {
  946. CRITICAL_SECTION_START;
  947. count_position[E_AXIS] = e;
  948. CRITICAL_SECTION_END;
  949. }
  950. long st_get_position(uint8_t axis) {
  951. long count_pos;
  952. CRITICAL_SECTION_START;
  953. count_pos = count_position[axis];
  954. CRITICAL_SECTION_END;
  955. return count_pos;
  956. }
  957. #ifdef ENABLE_AUTO_BED_LEVELING
  958. float st_get_position_mm(uint8_t axis) {
  959. float steper_position_in_steps = st_get_position(axis);
  960. return steper_position_in_steps / axis_steps_per_unit[axis];
  961. }
  962. #endif // ENABLE_AUTO_BED_LEVELING
  963. void finishAndDisableSteppers() {
  964. st_synchronize();
  965. disable_x();
  966. disable_y();
  967. disable_z();
  968. disable_e0();
  969. disable_e1();
  970. disable_e2();
  971. disable_e3();
  972. }
  973. void quickStop() {
  974. cleaning_buffer_counter = 5000;
  975. DISABLE_STEPPER_DRIVER_INTERRUPT();
  976. while (blocks_queued()) plan_discard_current_block();
  977. current_block = NULL;
  978. ENABLE_STEPPER_DRIVER_INTERRUPT();
  979. }
  980. #ifdef BABYSTEPPING
  981. // MUST ONLY BE CALLED BY AN ISR,
  982. // No other ISR should ever interrupt this!
  983. void babystep(const uint8_t axis, const bool direction) {
  984. #define BABYSTEP_AXIS(axis, AXIS, INVERT) { \
  985. enable_## axis(); \
  986. uint8_t old_pin = AXIS ##_DIR_READ; \
  987. AXIS ##_APPLY_DIR(INVERT_## AXIS ##_DIR^direction^INVERT, true); \
  988. AXIS ##_APPLY_STEP(!INVERT_## AXIS ##_STEP_PIN, true); \
  989. _delay_us(1U); \
  990. AXIS ##_APPLY_STEP(INVERT_## AXIS ##_STEP_PIN, true); \
  991. AXIS ##_APPLY_DIR(old_pin, true); \
  992. }
  993. switch(axis) {
  994. case X_AXIS:
  995. BABYSTEP_AXIS(x, X, false);
  996. break;
  997. case Y_AXIS:
  998. BABYSTEP_AXIS(y, Y, false);
  999. break;
  1000. case Z_AXIS: {
  1001. #ifndef DELTA
  1002. BABYSTEP_AXIS(z, Z, BABYSTEP_INVERT_Z);
  1003. #else // DELTA
  1004. bool z_direction = direction ^ BABYSTEP_INVERT_Z;
  1005. enable_x();
  1006. enable_y();
  1007. enable_z();
  1008. uint8_t old_x_dir_pin = X_DIR_READ,
  1009. old_y_dir_pin = Y_DIR_READ,
  1010. old_z_dir_pin = Z_DIR_READ;
  1011. //setup new step
  1012. X_DIR_WRITE(INVERT_X_DIR^z_direction);
  1013. Y_DIR_WRITE(INVERT_Y_DIR^z_direction);
  1014. Z_DIR_WRITE(INVERT_Z_DIR^z_direction);
  1015. //perform step
  1016. X_STEP_WRITE(!INVERT_X_STEP_PIN);
  1017. Y_STEP_WRITE(!INVERT_Y_STEP_PIN);
  1018. Z_STEP_WRITE(!INVERT_Z_STEP_PIN);
  1019. _delay_us(1U);
  1020. X_STEP_WRITE(INVERT_X_STEP_PIN);
  1021. Y_STEP_WRITE(INVERT_Y_STEP_PIN);
  1022. Z_STEP_WRITE(INVERT_Z_STEP_PIN);
  1023. //get old pin state back.
  1024. X_DIR_WRITE(old_x_dir_pin);
  1025. Y_DIR_WRITE(old_y_dir_pin);
  1026. Z_DIR_WRITE(old_z_dir_pin);
  1027. #endif
  1028. } break;
  1029. default: break;
  1030. }
  1031. }
  1032. #endif //BABYSTEPPING
  1033. // From Arduino DigitalPotControl example
  1034. void digitalPotWrite(int address, int value) {
  1035. #if HAS_DIGIPOTSS
  1036. digitalWrite(DIGIPOTSS_PIN,LOW); // take the SS pin low to select the chip
  1037. SPI.transfer(address); // send in the address and value via SPI:
  1038. SPI.transfer(value);
  1039. digitalWrite(DIGIPOTSS_PIN,HIGH); // take the SS pin high to de-select the chip:
  1040. //delay(10);
  1041. #endif
  1042. }
  1043. // Initialize Digipot Motor Current
  1044. void digipot_init() {
  1045. #if HAS_DIGIPOTSS
  1046. const uint8_t digipot_motor_current[] = DIGIPOT_MOTOR_CURRENT;
  1047. SPI.begin();
  1048. pinMode(DIGIPOTSS_PIN, OUTPUT);
  1049. for (int i = 0; i <= 4; i++) {
  1050. //digitalPotWrite(digipot_ch[i], digipot_motor_current[i]);
  1051. digipot_current(i,digipot_motor_current[i]);
  1052. }
  1053. #endif
  1054. #ifdef MOTOR_CURRENT_PWM_XY_PIN
  1055. pinMode(MOTOR_CURRENT_PWM_XY_PIN, OUTPUT);
  1056. pinMode(MOTOR_CURRENT_PWM_Z_PIN, OUTPUT);
  1057. pinMode(MOTOR_CURRENT_PWM_E_PIN, OUTPUT);
  1058. digipot_current(0, motor_current_setting[0]);
  1059. digipot_current(1, motor_current_setting[1]);
  1060. digipot_current(2, motor_current_setting[2]);
  1061. //Set timer5 to 31khz so the PWM of the motor power is as constant as possible. (removes a buzzing noise)
  1062. TCCR5B = (TCCR5B & ~(_BV(CS50) | _BV(CS51) | _BV(CS52))) | _BV(CS50);
  1063. #endif
  1064. }
  1065. void digipot_current(uint8_t driver, int current) {
  1066. #if HAS_DIGIPOTSS
  1067. const uint8_t digipot_ch[] = DIGIPOT_CHANNELS;
  1068. digitalPotWrite(digipot_ch[driver], current);
  1069. #endif
  1070. #ifdef MOTOR_CURRENT_PWM_XY_PIN
  1071. switch(driver) {
  1072. case 0: analogWrite(MOTOR_CURRENT_PWM_XY_PIN, 255L * current / MOTOR_CURRENT_PWM_RANGE); break;
  1073. case 1: analogWrite(MOTOR_CURRENT_PWM_Z_PIN, 255L * current / MOTOR_CURRENT_PWM_RANGE); break;
  1074. case 2: analogWrite(MOTOR_CURRENT_PWM_E_PIN, 255L * current / MOTOR_CURRENT_PWM_RANGE); break;
  1075. }
  1076. #endif
  1077. }
  1078. void microstep_init() {
  1079. #if defined(E1_MS1_PIN) && E1_MS1_PIN >= 0
  1080. pinMode(E1_MS1_PIN,OUTPUT);
  1081. pinMode(E1_MS2_PIN,OUTPUT);
  1082. #endif
  1083. #if defined(X_MS1_PIN) && X_MS1_PIN >= 0
  1084. pinMode(X_MS1_PIN,OUTPUT);
  1085. pinMode(X_MS2_PIN,OUTPUT);
  1086. pinMode(Y_MS1_PIN,OUTPUT);
  1087. pinMode(Y_MS2_PIN,OUTPUT);
  1088. pinMode(Z_MS1_PIN,OUTPUT);
  1089. pinMode(Z_MS2_PIN,OUTPUT);
  1090. pinMode(E0_MS1_PIN,OUTPUT);
  1091. pinMode(E0_MS2_PIN,OUTPUT);
  1092. const uint8_t microstep_modes[] = MICROSTEP_MODES;
  1093. for (int i = 0; i < sizeof(microstep_modes) / sizeof(microstep_modes[0]); i++)
  1094. microstep_mode(i, microstep_modes[i]);
  1095. #endif
  1096. }
  1097. void microstep_ms(uint8_t driver, int8_t ms1, int8_t ms2) {
  1098. if (ms1 >= 0) switch(driver) {
  1099. case 0: digitalWrite(X_MS1_PIN, ms1); break;
  1100. case 1: digitalWrite(Y_MS1_PIN, ms1); break;
  1101. case 2: digitalWrite(Z_MS1_PIN, ms1); break;
  1102. case 3: digitalWrite(E0_MS1_PIN, ms1); break;
  1103. #if defined(E1_MS1_PIN) && E1_MS1_PIN >= 0
  1104. case 4: digitalWrite(E1_MS1_PIN, ms1); break;
  1105. #endif
  1106. }
  1107. if (ms2 >= 0) switch(driver) {
  1108. case 0: digitalWrite(X_MS2_PIN, ms2); break;
  1109. case 1: digitalWrite(Y_MS2_PIN, ms2); break;
  1110. case 2: digitalWrite(Z_MS2_PIN, ms2); break;
  1111. case 3: digitalWrite(E0_MS2_PIN, ms2); break;
  1112. #if defined(E1_MS2_PIN) && E1_MS2_PIN >= 0
  1113. case 4: digitalWrite(E1_MS2_PIN, ms2); break;
  1114. #endif
  1115. }
  1116. }
  1117. void microstep_mode(uint8_t driver, uint8_t stepping_mode) {
  1118. switch(stepping_mode) {
  1119. case 1: microstep_ms(driver,MICROSTEP1); break;
  1120. case 2: microstep_ms(driver,MICROSTEP2); break;
  1121. case 4: microstep_ms(driver,MICROSTEP4); break;
  1122. case 8: microstep_ms(driver,MICROSTEP8); break;
  1123. case 16: microstep_ms(driver,MICROSTEP16); break;
  1124. }
  1125. }
  1126. void microstep_readings() {
  1127. SERIAL_PROTOCOLPGM("MS1,MS2 Pins\n");
  1128. SERIAL_PROTOCOLPGM("X: ");
  1129. SERIAL_PROTOCOL(digitalRead(X_MS1_PIN));
  1130. SERIAL_PROTOCOLLN(digitalRead(X_MS2_PIN));
  1131. SERIAL_PROTOCOLPGM("Y: ");
  1132. SERIAL_PROTOCOL(digitalRead(Y_MS1_PIN));
  1133. SERIAL_PROTOCOLLN(digitalRead(Y_MS2_PIN));
  1134. SERIAL_PROTOCOLPGM("Z: ");
  1135. SERIAL_PROTOCOL(digitalRead(Z_MS1_PIN));
  1136. SERIAL_PROTOCOLLN(digitalRead(Z_MS2_PIN));
  1137. SERIAL_PROTOCOLPGM("E0: ");
  1138. SERIAL_PROTOCOL(digitalRead(E0_MS1_PIN));
  1139. SERIAL_PROTOCOLLN(digitalRead(E0_MS2_PIN));
  1140. #if defined(E1_MS1_PIN) && E1_MS1_PIN >= 0
  1141. SERIAL_PROTOCOLPGM("E1: ");
  1142. SERIAL_PROTOCOL(digitalRead(E1_MS1_PIN));
  1143. SERIAL_PROTOCOLLN(digitalRead(E1_MS2_PIN));
  1144. #endif
  1145. }
  1146. #ifdef Z_DUAL_ENDSTOPS
  1147. void In_Homing_Process(bool state) { performing_homing = state; }
  1148. void Lock_z_motor(bool state) { locked_z_motor = state; }
  1149. void Lock_z2_motor(bool state) { locked_z2_motor = state; }
  1150. #endif