My Marlin configs for Fabrikator Mini and CTC i3 Pro B
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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 "speed_lookuptable.h"
  24. //===========================================================================
  25. //=============================public variables ============================
  26. //===========================================================================
  27. block_t *current_block; // A pointer to the block currently being traced
  28. //===========================================================================
  29. //=============================private variables ============================
  30. //===========================================================================
  31. //static makes it inpossible to be called from outside of this file by extern.!
  32. // Variables used by The Stepper Driver Interrupt
  33. static unsigned char out_bits; // The next stepping-bits to be output
  34. static long counter_x, // Counter variables for the bresenham line tracer
  35. counter_y,
  36. counter_z,
  37. counter_e;
  38. volatile static unsigned long step_events_completed; // The number of step events executed in the current block
  39. #ifdef ADVANCE
  40. static long advance_rate, advance, final_advance = 0;
  41. static long old_advance = 0;
  42. #endif
  43. static long e_steps[3];
  44. static unsigned char busy = false; // TRUE when SIG_OUTPUT_COMPARE1A is being serviced. Used to avoid retriggering that handler.
  45. static long acceleration_time, deceleration_time;
  46. //static unsigned long accelerate_until, decelerate_after, acceleration_rate, initial_rate, final_rate, nominal_rate;
  47. static unsigned short acc_step_rate; // needed for deccelaration start point
  48. static char step_loops;
  49. static unsigned short OCR1A_nominal;
  50. volatile long endstops_trigsteps[3]={0,0,0};
  51. volatile long endstops_stepsTotal,endstops_stepsDone;
  52. static volatile bool endstop_x_hit=false;
  53. static volatile bool endstop_y_hit=false;
  54. static volatile bool endstop_z_hit=false;
  55. static bool old_x_min_endstop=false;
  56. static bool old_x_max_endstop=false;
  57. static bool old_y_min_endstop=false;
  58. static bool old_y_max_endstop=false;
  59. static bool old_z_min_endstop=false;
  60. static bool old_z_max_endstop=false;
  61. static bool check_endstops = true;
  62. volatile long count_position[NUM_AXIS] = { 0, 0, 0, 0};
  63. volatile char count_direction[NUM_AXIS] = { 1, 1, 1, 1};
  64. //===========================================================================
  65. //=============================functions ============================
  66. //===========================================================================
  67. #ifdef ENDSTOPS_ONLY_FOR_HOMING
  68. #define CHECK_ENDSTOPS if(check_endstops)
  69. #else
  70. #define CHECK_ENDSTOPS
  71. #endif
  72. // intRes = intIn1 * intIn2 >> 16
  73. // uses:
  74. // r26 to store 0
  75. // r27 to store the byte 1 of the 24 bit result
  76. #define MultiU16X8toH16(intRes, charIn1, intIn2) \
  77. asm volatile ( \
  78. "clr r26 \n\t" \
  79. "mul %A1, %B2 \n\t" \
  80. "movw %A0, r0 \n\t" \
  81. "mul %A1, %A2 \n\t" \
  82. "add %A0, r1 \n\t" \
  83. "adc %B0, r26 \n\t" \
  84. "lsr r0 \n\t" \
  85. "adc %A0, r26 \n\t" \
  86. "adc %B0, r26 \n\t" \
  87. "clr r1 \n\t" \
  88. : \
  89. "=&r" (intRes) \
  90. : \
  91. "d" (charIn1), \
  92. "d" (intIn2) \
  93. : \
  94. "r26" \
  95. )
  96. // intRes = longIn1 * longIn2 >> 24
  97. // uses:
  98. // r26 to store 0
  99. // r27 to store the byte 1 of the 48bit result
  100. #define MultiU24X24toH16(intRes, longIn1, longIn2) \
  101. asm volatile ( \
  102. "clr r26 \n\t" \
  103. "mul %A1, %B2 \n\t" \
  104. "mov r27, r1 \n\t" \
  105. "mul %B1, %C2 \n\t" \
  106. "movw %A0, r0 \n\t" \
  107. "mul %C1, %C2 \n\t" \
  108. "add %B0, r0 \n\t" \
  109. "mul %C1, %B2 \n\t" \
  110. "add %A0, r0 \n\t" \
  111. "adc %B0, r1 \n\t" \
  112. "mul %A1, %C2 \n\t" \
  113. "add r27, r0 \n\t" \
  114. "adc %A0, r1 \n\t" \
  115. "adc %B0, r26 \n\t" \
  116. "mul %B1, %B2 \n\t" \
  117. "add r27, r0 \n\t" \
  118. "adc %A0, r1 \n\t" \
  119. "adc %B0, r26 \n\t" \
  120. "mul %C1, %A2 \n\t" \
  121. "add r27, r0 \n\t" \
  122. "adc %A0, r1 \n\t" \
  123. "adc %B0, r26 \n\t" \
  124. "mul %B1, %A2 \n\t" \
  125. "add r27, r1 \n\t" \
  126. "adc %A0, r26 \n\t" \
  127. "adc %B0, r26 \n\t" \
  128. "lsr r27 \n\t" \
  129. "adc %A0, r26 \n\t" \
  130. "adc %B0, r26 \n\t" \
  131. "clr r1 \n\t" \
  132. : \
  133. "=&r" (intRes) \
  134. : \
  135. "d" (longIn1), \
  136. "d" (longIn2) \
  137. : \
  138. "r26" , "r27" \
  139. )
  140. // Some useful constants
  141. #define ENABLE_STEPPER_DRIVER_INTERRUPT() TIMSK1 |= (1<<OCIE1A)
  142. #define DISABLE_STEPPER_DRIVER_INTERRUPT() TIMSK1 &= ~(1<<OCIE1A)
  143. void checkHitEndstops()
  144. {
  145. if( endstop_x_hit || endstop_y_hit || endstop_z_hit) {
  146. SERIAL_ECHO_START;
  147. SERIAL_ECHOPGM("endstops hit: ");
  148. if(endstop_x_hit) {
  149. SERIAL_ECHOPAIR(" X:",(float)endstops_trigsteps[X_AXIS]/axis_steps_per_unit[X_AXIS]);
  150. }
  151. if(endstop_y_hit) {
  152. SERIAL_ECHOPAIR(" Y:",(float)endstops_trigsteps[Y_AXIS]/axis_steps_per_unit[Y_AXIS]);
  153. }
  154. if(endstop_z_hit) {
  155. SERIAL_ECHOPAIR(" Z:",(float)endstops_trigsteps[Z_AXIS]/axis_steps_per_unit[Z_AXIS]);
  156. }
  157. SERIAL_ECHOLN("");
  158. endstop_x_hit=false;
  159. endstop_y_hit=false;
  160. endstop_z_hit=false;
  161. }
  162. }
  163. void endstops_hit_on_purpose()
  164. {
  165. endstop_x_hit=false;
  166. endstop_y_hit=false;
  167. endstop_z_hit=false;
  168. }
  169. void enable_endstops(bool check)
  170. {
  171. check_endstops = check;
  172. }
  173. // __________________________
  174. // /| |\ _________________ ^
  175. // / | | \ /| |\ |
  176. // / | | \ / | | \ s
  177. // / | | | | | \ p
  178. // / | | | | | \ e
  179. // +-----+------------------------+---+--+---------------+----+ e
  180. // | BLOCK 1 | BLOCK 2 | d
  181. //
  182. // time ----->
  183. //
  184. // The trapezoid is the shape the speed curve over time. It starts at block->initial_rate, accelerates
  185. // first block->accelerate_until step_events_completed, then keeps going at constant speed until
  186. // step_events_completed reaches block->decelerate_after after which it decelerates until the trapezoid generator is reset.
  187. // The slope of acceleration is calculated with the leib ramp alghorithm.
  188. void st_wake_up() {
  189. // TCNT1 = 0;
  190. if(busy == false)
  191. ENABLE_STEPPER_DRIVER_INTERRUPT();
  192. }
  193. FORCE_INLINE unsigned short calc_timer(unsigned short step_rate) {
  194. unsigned short timer;
  195. if(step_rate > MAX_STEP_FREQUENCY) step_rate = MAX_STEP_FREQUENCY;
  196. if(step_rate > 20000) { // If steprate > 20kHz >> step 4 times
  197. step_rate = (step_rate >> 2)&0x3fff;
  198. step_loops = 4;
  199. }
  200. else if(step_rate > 10000) { // If steprate > 10kHz >> step 2 times
  201. step_rate = (step_rate >> 1)&0x7fff;
  202. step_loops = 2;
  203. }
  204. else {
  205. step_loops = 1;
  206. }
  207. if(step_rate < 32) step_rate = 32;
  208. step_rate -= 32; // Correct for minimal speed
  209. if(step_rate >= (8*256)){ // higher step rate
  210. unsigned short table_address = (unsigned short)&speed_lookuptable_fast[(unsigned char)(step_rate>>8)][0];
  211. unsigned char tmp_step_rate = (step_rate & 0x00ff);
  212. unsigned short gain = (unsigned short)pgm_read_word_near(table_address+2);
  213. MultiU16X8toH16(timer, tmp_step_rate, gain);
  214. timer = (unsigned short)pgm_read_word_near(table_address) - timer;
  215. }
  216. else { // lower step rates
  217. unsigned short table_address = (unsigned short)&speed_lookuptable_slow[0][0];
  218. table_address += ((step_rate)>>1) & 0xfffc;
  219. timer = (unsigned short)pgm_read_word_near(table_address);
  220. timer -= (((unsigned short)pgm_read_word_near(table_address+2) * (unsigned char)(step_rate & 0x0007))>>3);
  221. }
  222. if(timer < 100) { timer = 100; SERIAL.print("Steprate to high : "); SERIAL.println(step_rate); }//(20kHz this should never happen)
  223. return timer;
  224. }
  225. // Initializes the trapezoid generator from the current block. Called whenever a new
  226. // block begins.
  227. FORCE_INLINE void trapezoid_generator_reset() {
  228. #ifdef ADVANCE
  229. advance = current_block->initial_advance;
  230. final_advance = current_block->final_advance;
  231. // Do E steps + advance steps
  232. e_steps[current_block->active_extruder] += ((advance >>8) - old_advance);
  233. old_advance = advance >>8;
  234. #endif
  235. deceleration_time = 0;
  236. // step_rate to timer interval
  237. acc_step_rate = current_block->initial_rate;
  238. acceleration_time = calc_timer(acc_step_rate);
  239. OCR1A = acceleration_time;
  240. OCR1A_nominal = calc_timer(current_block->nominal_rate);
  241. // SERIAL_ECHO_START;
  242. // SERIAL_ECHOPGM("advance :");
  243. // SERIAL_ECHO(current_block->advance/256.0);
  244. // SERIAL_ECHOPGM("advance rate :");
  245. // SERIAL_ECHO(current_block->advance_rate/256.0);
  246. // SERIAL_ECHOPGM("initial advance :");
  247. // SERIAL_ECHO(current_block->initial_advance/256.0);
  248. // SERIAL_ECHOPGM("final advance :");
  249. // SERIAL_ECHOLN(current_block->final_advance/256.0);
  250. }
  251. // "The Stepper Driver Interrupt" - This timer interrupt is the workhorse.
  252. // It pops blocks from the block_buffer and executes them by pulsing the stepper pins appropriately.
  253. ISR(TIMER1_COMPA_vect)
  254. {
  255. // If there is no current block, attempt to pop one from the buffer
  256. if (current_block == NULL) {
  257. // Anything in the buffer?
  258. current_block = plan_get_current_block();
  259. if (current_block != NULL) {
  260. trapezoid_generator_reset();
  261. counter_x = -(current_block->step_event_count >> 1);
  262. counter_y = counter_x;
  263. counter_z = counter_x;
  264. counter_e = counter_x;
  265. step_events_completed = 0;
  266. #ifdef Z_LATE_ENABLE
  267. if(current_block->steps_z > 0) {
  268. enable_z();
  269. OCR1A = 2000; //1ms wait
  270. return;
  271. }
  272. #endif
  273. // #ifdef ADVANCE
  274. // e_steps[current_block->active_extruder] = 0;
  275. // #endif
  276. }
  277. else {
  278. OCR1A=2000; // 1kHz.
  279. }
  280. }
  281. if (current_block != NULL) {
  282. // Set directions TO DO This should be done once during init of trapezoid. Endstops -> interrupt
  283. out_bits = current_block->direction_bits;
  284. // Set direction en check limit switches
  285. if ((out_bits & (1<<X_AXIS)) != 0) { // -direction
  286. WRITE(X_DIR_PIN, INVERT_X_DIR);
  287. count_direction[X_AXIS]=-1;
  288. CHECK_ENDSTOPS
  289. {
  290. #if X_MIN_PIN > -1
  291. bool x_min_endstop=(READ(X_MIN_PIN) != X_ENDSTOPS_INVERTING);
  292. if(x_min_endstop && old_x_min_endstop && (current_block->steps_x > 0)) {
  293. endstops_trigsteps[X_AXIS] = count_position[X_AXIS];
  294. endstop_x_hit=true;
  295. step_events_completed = current_block->step_event_count;
  296. }
  297. old_x_min_endstop = x_min_endstop;
  298. #endif
  299. }
  300. }
  301. else { // +direction
  302. WRITE(X_DIR_PIN,!INVERT_X_DIR);
  303. count_direction[X_AXIS]=1;
  304. CHECK_ENDSTOPS
  305. {
  306. #if X_MAX_PIN > -1
  307. bool x_max_endstop=(READ(X_MAX_PIN) != X_ENDSTOPS_INVERTING);
  308. if(x_max_endstop && old_x_max_endstop && (current_block->steps_x > 0)){
  309. endstops_trigsteps[X_AXIS] = count_position[X_AXIS];
  310. endstop_x_hit=true;
  311. step_events_completed = current_block->step_event_count;
  312. }
  313. old_x_max_endstop = x_max_endstop;
  314. #endif
  315. }
  316. }
  317. if ((out_bits & (1<<Y_AXIS)) != 0) { // -direction
  318. WRITE(Y_DIR_PIN,INVERT_Y_DIR);
  319. count_direction[Y_AXIS]=-1;
  320. CHECK_ENDSTOPS
  321. {
  322. #if Y_MIN_PIN > -1
  323. bool y_min_endstop=(READ(Y_MIN_PIN) != Y_ENDSTOPS_INVERTING);
  324. if(y_min_endstop && old_y_min_endstop && (current_block->steps_y > 0)) {
  325. endstops_trigsteps[Y_AXIS] = count_position[Y_AXIS];
  326. endstop_y_hit=true;
  327. step_events_completed = current_block->step_event_count;
  328. }
  329. old_y_min_endstop = y_min_endstop;
  330. #endif
  331. }
  332. }
  333. else { // +direction
  334. WRITE(Y_DIR_PIN,!INVERT_Y_DIR);
  335. count_direction[Y_AXIS]=1;
  336. CHECK_ENDSTOPS
  337. {
  338. #if Y_MAX_PIN > -1
  339. bool y_max_endstop=(READ(Y_MAX_PIN) != Y_ENDSTOPS_INVERTING);
  340. if(y_max_endstop && old_y_max_endstop && (current_block->steps_y > 0)){
  341. endstops_trigsteps[Y_AXIS] = count_position[Y_AXIS];
  342. endstop_y_hit=true;
  343. step_events_completed = current_block->step_event_count;
  344. }
  345. old_y_max_endstop = y_max_endstop;
  346. #endif
  347. }
  348. }
  349. if ((out_bits & (1<<Z_AXIS)) != 0) { // -direction
  350. WRITE(Z_DIR_PIN,INVERT_Z_DIR);
  351. count_direction[Z_AXIS]=-1;
  352. CHECK_ENDSTOPS
  353. {
  354. #if Z_MIN_PIN > -1
  355. bool z_min_endstop=(READ(Z_MIN_PIN) != Z_ENDSTOPS_INVERTING);
  356. if(z_min_endstop && old_z_min_endstop && (current_block->steps_z > 0)) {
  357. endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
  358. endstop_z_hit=true;
  359. step_events_completed = current_block->step_event_count;
  360. }
  361. old_z_min_endstop = z_min_endstop;
  362. #endif
  363. }
  364. }
  365. else { // +direction
  366. WRITE(Z_DIR_PIN,!INVERT_Z_DIR);
  367. count_direction[Z_AXIS]=1;
  368. CHECK_ENDSTOPS
  369. {
  370. #if Z_MAX_PIN > -1
  371. bool z_max_endstop=(READ(Z_MAX_PIN) != Z_ENDSTOPS_INVERTING);
  372. if(z_max_endstop && old_z_max_endstop && (current_block->steps_z > 0)) {
  373. endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
  374. endstop_z_hit=true;
  375. step_events_completed = current_block->step_event_count;
  376. }
  377. old_z_max_endstop = z_max_endstop;
  378. #endif
  379. }
  380. }
  381. #ifndef ADVANCE
  382. if ((out_bits & (1<<E_AXIS)) != 0) { // -direction
  383. REV_E_DIR();
  384. count_direction[E_AXIS]=-1;
  385. }
  386. else { // +direction
  387. NORM_E_DIR();
  388. count_direction[E_AXIS]=-1;
  389. }
  390. #endif //!ADVANCE
  391. for(int8_t i=0; i < step_loops; i++) { // Take multiple steps per interrupt (For high speed moves)
  392. #if MOTHERBOARD != 8 // !teensylu
  393. MSerial.checkRx(); // Check for serial chars.
  394. #endif
  395. #ifdef ADVANCE
  396. counter_e += current_block->steps_e;
  397. if (counter_e > 0) {
  398. counter_e -= current_block->step_event_count;
  399. if ((out_bits & (1<<E_AXIS)) != 0) { // - direction
  400. e_steps[current_block->active_extruder]--;
  401. }
  402. else {
  403. e_steps[current_block->active_extruder]++;
  404. }
  405. }
  406. #endif //ADVANCE
  407. counter_x += current_block->steps_x;
  408. if (counter_x > 0) {
  409. WRITE(X_STEP_PIN, HIGH);
  410. counter_x -= current_block->step_event_count;
  411. WRITE(X_STEP_PIN, LOW);
  412. count_position[X_AXIS]+=count_direction[X_AXIS];
  413. }
  414. counter_y += current_block->steps_y;
  415. if (counter_y > 0) {
  416. WRITE(Y_STEP_PIN, HIGH);
  417. counter_y -= current_block->step_event_count;
  418. WRITE(Y_STEP_PIN, LOW);
  419. count_position[Y_AXIS]+=count_direction[Y_AXIS];
  420. }
  421. counter_z += current_block->steps_z;
  422. if (counter_z > 0) {
  423. WRITE(Z_STEP_PIN, HIGH);
  424. counter_z -= current_block->step_event_count;
  425. WRITE(Z_STEP_PIN, LOW);
  426. count_position[Z_AXIS]+=count_direction[Z_AXIS];
  427. }
  428. #ifndef ADVANCE
  429. counter_e += current_block->steps_e;
  430. if (counter_e > 0) {
  431. WRITE_E_STEP(HIGH);
  432. counter_e -= current_block->step_event_count;
  433. WRITE_E_STEP(LOW);
  434. count_position[E_AXIS]+=count_direction[E_AXIS];
  435. }
  436. #endif //!ADVANCE
  437. step_events_completed += 1;
  438. if(step_events_completed >= current_block->step_event_count) break;
  439. }
  440. // Calculare new timer value
  441. unsigned short timer;
  442. unsigned short step_rate;
  443. if (step_events_completed <= (unsigned long int)current_block->accelerate_until) {
  444. MultiU24X24toH16(acc_step_rate, acceleration_time, current_block->acceleration_rate);
  445. acc_step_rate += current_block->initial_rate;
  446. // upper limit
  447. if(acc_step_rate > current_block->nominal_rate)
  448. acc_step_rate = current_block->nominal_rate;
  449. // step_rate to timer interval
  450. timer = calc_timer(acc_step_rate);
  451. OCR1A = timer;
  452. acceleration_time += timer;
  453. #ifdef ADVANCE
  454. for(int8_t i=0; i < step_loops; i++) {
  455. advance += advance_rate;
  456. }
  457. //if(advance > current_block->advance) advance = current_block->advance;
  458. // Do E steps + advance steps
  459. e_steps[current_block->active_extruder] += ((advance >>8) - old_advance);
  460. old_advance = advance >>8;
  461. #endif
  462. }
  463. else if (step_events_completed > (unsigned long int)current_block->decelerate_after) {
  464. MultiU24X24toH16(step_rate, deceleration_time, current_block->acceleration_rate);
  465. if(step_rate > acc_step_rate) { // Check step_rate stays positive
  466. step_rate = current_block->final_rate;
  467. }
  468. else {
  469. step_rate = acc_step_rate - step_rate; // Decelerate from aceleration end point.
  470. }
  471. // lower limit
  472. if(step_rate < current_block->final_rate)
  473. step_rate = current_block->final_rate;
  474. // step_rate to timer interval
  475. timer = calc_timer(step_rate);
  476. OCR1A = timer;
  477. deceleration_time += timer;
  478. #ifdef ADVANCE
  479. for(int8_t i=0; i < step_loops; i++) {
  480. advance -= advance_rate;
  481. }
  482. if(advance < final_advance) advance = final_advance;
  483. // Do E steps + advance steps
  484. e_steps[current_block->active_extruder] += ((advance >>8) - old_advance);
  485. old_advance = advance >>8;
  486. #endif //ADVANCE
  487. }
  488. else {
  489. OCR1A = OCR1A_nominal;
  490. }
  491. // If current block is finished, reset pointer
  492. if (step_events_completed >= current_block->step_event_count) {
  493. current_block = NULL;
  494. plan_discard_current_block();
  495. }
  496. }
  497. }
  498. #ifdef ADVANCE
  499. unsigned char old_OCR0A;
  500. // Timer interrupt for E. e_steps is set in the main routine;
  501. // Timer 0 is shared with millies
  502. ISR(TIMER0_COMPA_vect)
  503. {
  504. old_OCR0A += 52; // ~10kHz interrupt (250000 / 26 = 9615kHz)
  505. OCR0A = old_OCR0A;
  506. // Set E direction (Depends on E direction + advance)
  507. for(unsigned char i=0; i<4;i++) {
  508. if (e_steps[0] != 0) {
  509. WRITE(E0_STEP_PIN, LOW);
  510. if (e_steps[0] < 0) {
  511. WRITE(E0_DIR_PIN, INVERT_E0_DIR);
  512. e_steps[0]++;
  513. WRITE(E0_STEP_PIN, HIGH);
  514. }
  515. else if (e_steps[0] > 0) {
  516. WRITE(E0_DIR_PIN, !INVERT_E0_DIR);
  517. e_steps[0]--;
  518. WRITE(E0_STEP_PIN, HIGH);
  519. }
  520. }
  521. #if EXTRUDERS > 1
  522. if (e_steps[1] != 0) {
  523. WRITE(E1_STEP_PIN, LOW);
  524. if (e_steps[1] < 0) {
  525. WRITE(E1_DIR_PIN, INVERT_E1_DIR);
  526. e_steps[1]++;
  527. WRITE(E1_STEP_PIN, HIGH);
  528. }
  529. else if (e_steps[1] > 0) {
  530. WRITE(E1_DIR_PIN, !INVERT_E1_DIR);
  531. e_steps[1]--;
  532. WRITE(E1_STEP_PIN, HIGH);
  533. }
  534. }
  535. #endif
  536. #if EXTRUDERS > 2
  537. if (e_steps[2] != 0) {
  538. WRITE(E2_STEP_PIN, LOW);
  539. if (e_steps[2] < 0) {
  540. WRITE(E2_DIR_PIN, INVERT_E2_DIR);
  541. e_steps[2]++;
  542. WRITE(E2_STEP_PIN, HIGH);
  543. }
  544. else if (e_steps[2] > 0) {
  545. WRITE(E2_DIR_PIN, !INVERT_E2_DIR);
  546. e_steps[2]--;
  547. WRITE(E2_STEP_PIN, HIGH);
  548. }
  549. }
  550. #endif
  551. }
  552. }
  553. #endif // ADVANCE
  554. void st_init()
  555. {
  556. //Initialize Dir Pins
  557. #if X_DIR_PIN > -1
  558. SET_OUTPUT(X_DIR_PIN);
  559. #endif
  560. #if Y_DIR_PIN > -1
  561. SET_OUTPUT(Y_DIR_PIN);
  562. #endif
  563. #if Z_DIR_PIN > -1
  564. SET_OUTPUT(Z_DIR_PIN);
  565. #endif
  566. #if E0_DIR_PIN > -1
  567. SET_OUTPUT(E0_DIR_PIN);
  568. #endif
  569. #if defined(E1_DIR_PIN) && (E1_DIR_PIN > -1)
  570. SET_OUTPUT(E1_DIR_PIN);
  571. #endif
  572. #if defined(E2_DIR_PIN) && (E2_DIR_PIN > -1)
  573. SET_OUTPUT(E2_DIR_PIN);
  574. #endif
  575. //Initialize Enable Pins - steppers default to disabled.
  576. #if (X_ENABLE_PIN > -1)
  577. SET_OUTPUT(X_ENABLE_PIN);
  578. if(!X_ENABLE_ON) WRITE(X_ENABLE_PIN,HIGH);
  579. #endif
  580. #if (Y_ENABLE_PIN > -1)
  581. SET_OUTPUT(Y_ENABLE_PIN);
  582. if(!Y_ENABLE_ON) WRITE(Y_ENABLE_PIN,HIGH);
  583. #endif
  584. #if (Z_ENABLE_PIN > -1)
  585. SET_OUTPUT(Z_ENABLE_PIN);
  586. if(!Z_ENABLE_ON) WRITE(Z_ENABLE_PIN,HIGH);
  587. #endif
  588. #if (E0_ENABLE_PIN > -1)
  589. SET_OUTPUT(E0_ENABLE_PIN);
  590. if(!E_ENABLE_ON) WRITE(E0_ENABLE_PIN,HIGH);
  591. #endif
  592. #if defined(E1_ENABLE_PIN) && (E1_ENABLE_PIN > -1)
  593. SET_OUTPUT(E1_ENABLE_PIN);
  594. if(!E_ENABLE_ON) WRITE(E1_ENABLE_PIN,HIGH);
  595. #endif
  596. #if defined(E2_ENABLE_PIN) && (E2_ENABLE_PIN > -1)
  597. SET_OUTPUT(E2_ENABLE_PIN);
  598. if(!E_ENABLE_ON) WRITE(E2_ENABLE_PIN,HIGH);
  599. #endif
  600. //endstops and pullups
  601. #ifdef ENDSTOPPULLUPS
  602. #if X_MIN_PIN > -1
  603. SET_INPUT(X_MIN_PIN);
  604. WRITE(X_MIN_PIN,HIGH);
  605. #endif
  606. #if X_MAX_PIN > -1
  607. SET_INPUT(X_MAX_PIN);
  608. WRITE(X_MAX_PIN,HIGH);
  609. #endif
  610. #if Y_MIN_PIN > -1
  611. SET_INPUT(Y_MIN_PIN);
  612. WRITE(Y_MIN_PIN,HIGH);
  613. #endif
  614. #if Y_MAX_PIN > -1
  615. SET_INPUT(Y_MAX_PIN);
  616. WRITE(Y_MAX_PIN,HIGH);
  617. #endif
  618. #if Z_MIN_PIN > -1
  619. SET_INPUT(Z_MIN_PIN);
  620. WRITE(Z_MIN_PIN,HIGH);
  621. #endif
  622. #if Z_MAX_PIN > -1
  623. SET_INPUT(Z_MAX_PIN);
  624. WRITE(Z_MAX_PIN,HIGH);
  625. #endif
  626. #else //ENDSTOPPULLUPS
  627. #if X_MIN_PIN > -1
  628. SET_INPUT(X_MIN_PIN);
  629. #endif
  630. #if X_MAX_PIN > -1
  631. SET_INPUT(X_MAX_PIN);
  632. #endif
  633. #if Y_MIN_PIN > -1
  634. SET_INPUT(Y_MIN_PIN);
  635. #endif
  636. #if Y_MAX_PIN > -1
  637. SET_INPUT(Y_MAX_PIN);
  638. #endif
  639. #if Z_MIN_PIN > -1
  640. SET_INPUT(Z_MIN_PIN);
  641. #endif
  642. #if Z_MAX_PIN > -1
  643. SET_INPUT(Z_MAX_PIN);
  644. #endif
  645. #endif //ENDSTOPPULLUPS
  646. //Initialize Step Pins
  647. #if (X_STEP_PIN > -1)
  648. SET_OUTPUT(X_STEP_PIN);
  649. #endif
  650. #if (Y_STEP_PIN > -1)
  651. SET_OUTPUT(Y_STEP_PIN);
  652. #endif
  653. #if (Z_STEP_PIN > -1)
  654. SET_OUTPUT(Z_STEP_PIN);
  655. #endif
  656. #if (E0_STEP_PIN > -1)
  657. SET_OUTPUT(E0_STEP_PIN);
  658. #endif
  659. #if defined(E1_STEP_PIN) && (E1_STEP_PIN > -1)
  660. SET_OUTPUT(E1_STEP_PIN);
  661. #endif
  662. #if defined(E2_STEP_PIN) && (E2_STEP_PIN > -1)
  663. SET_OUTPUT(E2_STEP_PIN);
  664. #endif
  665. // waveform generation = 0100 = CTC
  666. TCCR1B &= ~(1<<WGM13);
  667. TCCR1B |= (1<<WGM12);
  668. TCCR1A &= ~(1<<WGM11);
  669. TCCR1A &= ~(1<<WGM10);
  670. // output mode = 00 (disconnected)
  671. TCCR1A &= ~(3<<COM1A0);
  672. TCCR1A &= ~(3<<COM1B0);
  673. TCCR1B = (TCCR1B & ~(0x07<<CS10)) | (2<<CS10); // 2MHz timer
  674. OCR1A = 0x4000;
  675. TCNT1 = 0;
  676. ENABLE_STEPPER_DRIVER_INTERRUPT();
  677. #ifdef ADVANCE
  678. #if defined(TCCR0A) && defined(WGM01)
  679. TCCR0A &= ~(1<<WGM01);
  680. TCCR0A &= ~(1<<WGM00);
  681. #endif
  682. e_steps[0] = 0;
  683. e_steps[1] = 0;
  684. e_steps[2] = 0;
  685. TIMSK0 |= (1<<OCIE0A);
  686. #endif //ADVANCE
  687. #ifdef ENDSTOPS_ONLY_FOR_HOMING
  688. enable_endstops(false);
  689. #else
  690. enable_endstops(true);
  691. #endif
  692. sei();
  693. }
  694. // Block until all buffered steps are executed
  695. void st_synchronize()
  696. {
  697. while( blocks_queued()) {
  698. manage_heater();
  699. manage_inactivity(1);
  700. LCD_STATUS;
  701. }
  702. }
  703. void st_set_position(const long &x, const long &y, const long &z, const long &e)
  704. {
  705. CRITICAL_SECTION_START;
  706. count_position[X_AXIS] = x;
  707. count_position[Y_AXIS] = y;
  708. count_position[Z_AXIS] = z;
  709. count_position[E_AXIS] = e;
  710. CRITICAL_SECTION_END;
  711. }
  712. void st_set_e_position(const long &e)
  713. {
  714. CRITICAL_SECTION_START;
  715. count_position[E_AXIS] = e;
  716. CRITICAL_SECTION_END;
  717. }
  718. long st_get_position(uint8_t axis)
  719. {
  720. long count_pos;
  721. CRITICAL_SECTION_START;
  722. count_pos = count_position[axis];
  723. CRITICAL_SECTION_END;
  724. return count_pos;
  725. }
  726. void finishAndDisableSteppers()
  727. {
  728. st_synchronize();
  729. LCD_MESSAGEPGM("Released.");
  730. disable_x();
  731. disable_y();
  732. disable_z();
  733. disable_e0();
  734. disable_e1();
  735. disable_e2();
  736. }
  737. void quickStop()
  738. {
  739. DISABLE_STEPPER_DRIVER_INTERRUPT();
  740. while(blocks_queued())
  741. plan_discard_current_block();
  742. ENABLE_STEPPER_DRIVER_INTERRUPT();
  743. }