Fix Baby Stepping on 32-Bit platforms (#8001)
Also, Max7219 debug code was used for this effort. It has been improved and hardened.
This commit is contained in:
Roxy-3D
parent
3b7b0492f8
commit
6cb26c98c8
6 changed files with 196 additions and 61 deletions
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@ -125,7 +125,7 @@
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// Optional custom name for your RepStrap or other custom machine
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// Displayed in the LCD "Ready" message
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#define CUSTOM_MACHINE_NAME "FT-2020 v2"
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#define CUSTOM_MACHINE_NAME "FT-2020 v3"
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// Define this to set a unique identifier for this printer, (Used by some programs to differentiate between machines)
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// You can use an online service to generate a random UUID. (eg http://www.uuidgenerator.net/version4)
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@ -691,6 +691,7 @@
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// X and Y axis travel speed (mm/m) between probes
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#define XY_PROBE_SPEED 7500
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// Speed for the first approach when double-probing (with PROBE_DOUBLE_TOUCH)
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#define Z_PROBE_SPEED_FAST HOMING_FEEDRATE_Z
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@ -750,6 +751,7 @@
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#define INVERT_X_DIR false
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#define INVERT_Y_DIR true
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#define INVERT_Z_DIR true
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// Enable this option for Toshiba stepper drivers
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//#define CONFIG_STEPPERS_TOSHIBA
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@ -789,16 +791,7 @@
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#define Y_MAX_POS 182
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#define Z_MAX_POS 175
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/**
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* Software Endstops
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*
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* - Prevent moves outside the set machine bounds.
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* - Individual axes can be disabled, if desired.
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* - X and Y only apply to Cartesian robots.
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* - Use 'M211' to set software endstops on/off or report current state
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*/
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// Min software endstops curtail movement below minimum coordinate bounds
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// If enabled, axes won't move below MIN_POS in response to movement commands.
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//#define MIN_SOFTWARE_ENDSTOPS
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#if ENABLED(MIN_SOFTWARE_ENDSTOPS)
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#define MIN_SOFTWARE_ENDSTOP_X
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@ -806,7 +799,7 @@
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#define MIN_SOFTWARE_ENDSTOP_Z
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#endif
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// Max software endstops curtail movement above maximum coordinate bounds
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// If enabled, axes won't move above MAX_POS in response to movement commands.
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#define MAX_SOFTWARE_ENDSTOPS
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#if ENABLED(MAX_SOFTWARE_ENDSTOPS)
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#define MAX_SOFTWARE_ENDSTOP_X
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@ -939,8 +932,6 @@
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#define ABL_PROBE_PT_3_X 170
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#define ABL_PROBE_PT_3_Y 10
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#elif ENABLED(AUTO_BED_LEVELING_UBL)
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//===========================================================================
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@ -1681,12 +1672,12 @@
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// leaving it undefined or defining as 0 will disable the servo subsystem
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// If unsure, leave commented / disabled
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//
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#define NUM_SERVOS 2 // Servo index starts with 0 for M280 command
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#define NUM_SERVOS 1 // Servo index starts with 0 for M280 command
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// Delay (in milliseconds) before the next move will start, to give the servo time to reach its target angle.
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// 300ms is a good value but you can try less delay.
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// If the servo can't reach the requested position, increase it.
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#define SERVO_DELAY { 500, 500 }
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#define SERVO_DELAY { 500 }
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// Servo deactivation
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//
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@ -534,7 +534,7 @@
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#endif
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// Show a progress bar on HD44780 LCDs for SD printing
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#define LCD_PROGRESS_BAR
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//#define LCD_PROGRESS_BAR
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#if ENABLED(LCD_PROGRESS_BAR)
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// Amount of time (ms) to show the bar
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@ -592,6 +592,7 @@
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// Enable this option and reduce the value to optimize screen updates.
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// The normal delay is 10µs. Use the lowest value that still gives a reliable display.
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//#define DOGM_SPI_DELAY_US 5
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#endif // DOGLCD
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// @section safety
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@ -620,7 +621,7 @@
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#if ENABLED(BABYSTEPPING)
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//#define BABYSTEP_XY // Also enable X/Y Babystepping. Not supported on DELTA!
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#define BABYSTEP_INVERT_Z false // Change if Z babysteps should go the other way
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#define BABYSTEP_MULTIPLICATOR 100 // Babysteps are very small. Increase for faster motion.
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#define BABYSTEP_MULTIPLICATOR 16 // Babysteps are very small. Increase for faster motion.
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//#define BABYSTEP_ZPROBE_OFFSET // Enable to combine M851 and Babystepping
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#define DOUBLECLICK_FOR_Z_BABYSTEPPING // Double-click on the Status Screen for Z Babystepping.
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#define DOUBLECLICK_MAX_INTERVAL 1250 // Maximum interval between clicks, in milliseconds.
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@ -1313,8 +1314,8 @@
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#define USER_DESC_4 "Heat Bed/Home/Level"
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#define USER_GCODE_4 "M140 S" STRINGIFY(PREHEAT_2_TEMP_BED) "\nG28\nG29"
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//#define USER_DESC_5 "Home & Info"
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//#define USER_GCODE_5 "G28\nM503"
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#define USER_DESC_5 "Home & Info"
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#define USER_GCODE_5 "G28\nM503"
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#endif
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/**
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@ -1423,15 +1424,20 @@
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//#define MAX7219_DIN_PIN 57 // on RAMPS
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//#define MAX7219_LOAD_PIN 44 // on RAMPS
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#define MAX7219_CLK_PIN 77 // on Re-ARM // Configuration of the 3 pins to control the display
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#define MAX7219_DIN_PIN 78 // on Re-ARM
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#define MAX7219_LOAD_PIN 79 // on Re-ARM
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//#define MAX7219_CLK_PIN 77 // on Re-ARM // Configuration of the 3 pins to control the display
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//#define MAX7219_DIN_PIN 78 // on Re-ARM
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//#define MAX7219_LOAD_PIN 79 // on Re-ARM
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#define MAX7219_CLK_PIN 30 // for RAMPS E1 // Configuration of the 3 pins to control the display
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#define MAX7219_DIN_PIN 34 // for RAMPS E1
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#define MAX7219_LOAD_PIN 36 // for RAMPS E1
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/**
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* Sample debug features
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* If you add more debug displays, be careful to avoid conflicts!
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*/
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#define MAX7219_DEBUG_PRINTER_ALIVE // Blink corner LED of 8x8 matrix to show that the firmware is functioning
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#define MAX7219_DEBUG_STEPPER_HEAD 3 // Show the stepper queue head position on this and the next LED matrix row
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#define MAX7219_DEBUG_STEPPER_TAIL 5 // Show the stepper queue tail position on this and the next LED matrix row
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@ -39,12 +39,14 @@
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* void Max7219_init();
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* void Max7219_PutByte(uint8_t data);
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* void Max7219(uint8_t reg, uint8_t data);
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* void Max7219_LED_On(uint8_t row, uint8_t col);
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* void Max7219_LED_Off(uint8_t row, uint8_t col);
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* void Max7219_LED_Toggle(uint8_t row, uint8_t col);
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* void Max7219_LED_On(uint8_t col, uint8_t row);
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* void Max7219_LED_Off(uint8_t col, uint8_t row);
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* void Max7219_LED_Toggle(uint8_t col, uint8_t row);
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* void Max7219_Clear_Row(uint8_t row);
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* void Max7219_Clear_Column(uint8_t col);
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* void Max7219_Set_Row(uint8_t row, uint8_t val);
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* void Max7219_Set_2_Rows(uint8_t row, uint16_t val);
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* void Max7219_Set_4_Rows(uint8_t row, uint32_t val);
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* void Max7219_Set_Column(uint8_t col, uint8_t val);
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* void Max7219_idle_tasks();
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*/
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@ -62,9 +64,10 @@
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static uint8_t LEDs[8] = { 0 };
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void Max7219_PutByte(uint8_t data) {
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CRITICAL_SECTION_START
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for (uint8_t i = 8; i--;) {
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#ifdef CPU_32_BIT // The 32-bit processors are so fast, a small delay in the code is needed
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// to let the signal wires stabilize.
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delayMicroseconds(5); // to let the signal wires stabilize.
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WRITE(MAX7219_CLK_PIN, LOW); // tick
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delayMicroseconds(5);
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WRITE(MAX7219_DIN_PIN, (data & 0x80) ? HIGH : LOW); // send 1 or 0 based on data bit
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@ -79,14 +82,22 @@ void Max7219_PutByte(uint8_t data) {
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data <<= 1;
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}
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CRITICAL_SECTION_END
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}
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void Max7219(const uint8_t reg, const uint8_t data) {
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#ifdef CPU_32_BIT
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delayMicroseconds(5);
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#endif
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CRITICAL_SECTION_START
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WRITE(MAX7219_LOAD_PIN, LOW); // begin
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#ifdef CPU_32_BIT // The 32-bit processors are so fast, a small delay in the code is needed
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delayMicroseconds(5); // to let the signal wires stabilize.
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#endif
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Max7219_PutByte(reg); // specify register
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#ifdef CPU_32_BIT
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delayMicroseconds(5);
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#endif
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Max7219_PutByte(data); // put data
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#ifdef CPU_32_BIT
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delayMicroseconds(5);
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@ -96,45 +107,103 @@ void Max7219(const uint8_t reg, const uint8_t data) {
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delayMicroseconds(5);
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#endif
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WRITE(MAX7219_LOAD_PIN, HIGH);
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CRITICAL_SECTION_END
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#ifdef CPU_32_BIT
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delayMicroseconds(5);
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#endif
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}
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void Max7219_LED_Set(const uint8_t row, const uint8_t col, const bool on) {
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if (row > 7 || col > 7) return;
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if (row > 7 || col > 7) {
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int r,c;
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r = row;
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c = col;
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SERIAL_ECHOPAIR("??? Max7219_LED_Set(",r);
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SERIAL_ECHOPAIR(",",c);
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SERIAL_ECHO(")\n");
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return;
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}
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if (TEST(LEDs[row], col) == on) return; // if LED is already on/off, leave alone
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if (on) SBI(LEDs[row], col); else CBI(LEDs[row], col);
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Max7219(8 - row, LEDs[row]);
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}
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void Max7219_LED_On(const uint8_t row, const uint8_t col) {
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Max7219_LED_Set(row, col, true);
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void Max7219_LED_On(const uint8_t col, const uint8_t row) {
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if (row > 7 || col > 7) {
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int r,c;
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r = row;
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c = col;
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SERIAL_ECHOPAIR("??? Max7219_LED_On(",c);
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SERIAL_ECHOPAIR(",",r);
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SERIAL_ECHO(")\n");
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return;
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}
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Max7219_LED_Set(col, row, true);
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}
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void Max7219_LED_Off(const uint8_t row, const uint8_t col) {
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Max7219_LED_Set(row, col, false);
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void Max7219_LED_Off(const uint8_t col, const uint8_t row) {
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if (row > 7 || col > 7) {
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int r,c;
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r = row;
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c = col;
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SERIAL_ECHOPAIR("??? Max7219_LED_Off(",r);
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SERIAL_ECHOPAIR(",",c);
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SERIAL_ECHO(")\n");
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return;
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}
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Max7219_LED_Set(col, row, false);
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}
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void Max7219_LED_Toggle(const uint8_t row, const uint8_t col) {
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if (row > 7 || col > 7) return;
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void Max7219_LED_Toggle(const uint8_t col, const uint8_t row) {
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if (row > 7 || col > 7) {
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int r,c;
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r = row;
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c = col;
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SERIAL_ECHOPAIR("??? Max7219_LED_Toggle(",r);
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SERIAL_ECHOPAIR(",",c);
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SERIAL_ECHO(")\n");
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return;
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}
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if (TEST(LEDs[row], col))
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Max7219_LED_Off(row, col);
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Max7219_LED_Off(col, row);
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else
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Max7219_LED_On(row, col);
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Max7219_LED_On(col, row);
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}
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void Max7219_Clear_Column(const uint8_t col) {
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if (col > 7) return;
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if (col > 7) {
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int c;
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c = col;
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SERIAL_ECHOPAIR("??? Max7219_Clear_Column(",c);
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SERIAL_ECHO(")\n");
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return;
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}
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LEDs[col] = 0;
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Max7219(8 - col, LEDs[col]);
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}
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void Max7219_Clear_Row(const uint8_t row) {
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if (row > 7) return;
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if (row > 7) {
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int r;
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r = row;
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SERIAL_ECHOPAIR("??? Max7219_Clear_Row(",r);
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SERIAL_ECHO(")\n");
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return;
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}
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for (uint8_t c = 0; c <= 7; c++)
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Max7219_LED_Off(c, row);
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}
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void Max7219_Set_Row(const uint8_t row, const uint8_t val) {
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if (row > 7) return;
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if (row > 7 || val>255) {
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int r, v;
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r = row;
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v = val;
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SERIAL_ECHOPAIR("??? Max7219_Set_Row(",r);
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SERIAL_ECHOPAIR(",",v);
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SERIAL_ECHO(")\n");
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return;
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}
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for (uint8_t b = 0; b <= 7; b++)
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if (TEST(val, b))
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Max7219_LED_On(7 - b, row);
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@ -142,8 +211,47 @@ void Max7219_Set_Row(const uint8_t row, const uint8_t val) {
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Max7219_LED_Off(7 - b, row);
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}
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void Max7219_Set_2_Rows(const uint8_t row, const uint16_t val) {
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if (row > 6 || val>65535) {
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int r, v;
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r = row;
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v = val;
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SERIAL_ECHOPAIR("??? Max7219_Set_2_Rows(",r);
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SERIAL_ECHOPAIR(",",v);
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SERIAL_ECHO(")\n");
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return;
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}
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Max7219_Set_Row(row+1, (val & 0xff00) >> 8 );
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Max7219_Set_Row(row+0, (val & 0xff));
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}
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void Max7219_Set_4_Rows(const uint8_t row, const uint32_t val) {
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if (row > 4 ) {
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int r;
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long v;
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r = row;
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v = val;
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SERIAL_ECHOPAIR("??? Max7219_Set_4_Rows(",r);
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SERIAL_ECHOPAIR(",",v);
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SERIAL_ECHO(")\n");
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return;
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}
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Max7219_Set_Row(row+3, (val & 0xff000000) >> 24);
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Max7219_Set_Row(row+2, (val & 0xff0000) >> 16);
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Max7219_Set_Row(row+1, (val & 0xff00) >> 8);
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Max7219_Set_Row(row+0, (val & 0xff));
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}
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void Max7219_Set_Column(const uint8_t col, const uint8_t val) {
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if (col > 7) return;
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if (val > 255 || col > 7) {
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int v,c;
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v = val;
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c = col;
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SERIAL_ECHOPAIR("??? Max7219_Column(",c);
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SERIAL_ECHOPAIR(",",v);
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SERIAL_ECHO(")\n");
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return;
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}
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LEDs[col] = val;
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Max7219(8 - col, LEDs[col]);
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}
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@ -206,10 +314,23 @@ void Max7219_init() {
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* or clear a row is not very significant.
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*/
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void Max7219_idle_tasks() {
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#if MAX7219_DEBUG_STEPPER_HEAD || MAX7219_DEBUG_STEPPER_TAIL || MAX7219_DEBUG_STEPPER_QUEUE
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CRITICAL_SECTION_START
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#if MAX7219_DEBUG_STEPPER_HEAD || MAX7219_DEBUG_STEPPER_QUEUE
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uint8_t head;
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head = planner.block_buffer_head;
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#endif
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#if MAX7219_DEBUG_STEPPER_TAIL || MAX7219_DEBUG_STEPPER_QUEUE
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uint8_t tail;
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tail = planner.block_buffer_tail;
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#endif
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CRITICAL_SECTION_END
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#endif
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#if ENABLED(MAX7219_DEBUG_PRINTER_ALIVE)
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static int debug_cnt = 0;
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#ifdef CPU_32_BIT
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if (debug_cnt++ > 400) {
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if (debug_cnt++ > 1000) {
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#else
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if (debug_cnt++ > 100) {
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#endif
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@ -219,26 +340,40 @@ void Max7219_idle_tasks() {
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#endif
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#ifdef MAX7219_DEBUG_STEPPER_HEAD
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Max7219_Clear_Row(MAX7219_DEBUG_STEPPER_HEAD);
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Max7219_Clear_Row(MAX7219_DEBUG_STEPPER_HEAD + 1);
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if ( planner.block_buffer_head < 8)
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Max7219_LED_On( planner.block_buffer_head, MAX7219_DEBUG_STEPPER_HEAD);
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else
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Max7219_LED_On( planner.block_buffer_head-8, MAX7219_DEBUG_STEPPER_HEAD+1);
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static int16_t last_head_cnt=0;
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if (last_head_cnt != head) {
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if ( last_head_cnt < 8)
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Max7219_LED_Off( last_head_cnt, MAX7219_DEBUG_STEPPER_HEAD);
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else
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Max7219_LED_Off( last_head_cnt-8, MAX7219_DEBUG_STEPPER_HEAD+1);
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last_head_cnt = head;
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if ( head < 8)
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Max7219_LED_On(head, MAX7219_DEBUG_STEPPER_HEAD);
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else
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Max7219_LED_On(head-8, MAX7219_DEBUG_STEPPER_HEAD+1);
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}
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#endif
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#ifdef MAX7219_DEBUG_STEPPER_TAIL
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Max7219_Clear_Row(MAX7219_DEBUG_STEPPER_TAIL);
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Max7219_Clear_Row(MAX7219_DEBUG_STEPPER_TAIL + 1);
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||||
if ( planner.block_buffer_tail < 8)
|
||||
Max7219_LED_On( planner.block_buffer_tail, MAX7219_DEBUG_STEPPER_TAIL );
|
||||
else
|
||||
Max7219_LED_On( planner.block_buffer_tail-8, MAX7219_DEBUG_STEPPER_TAIL+1 );
|
||||
static int16_t last_tail_cnt=0;
|
||||
if (last_tail_cnt != tail) {
|
||||
if ( last_tail_cnt < 8)
|
||||
Max7219_LED_Off( last_tail_cnt, MAX7219_DEBUG_STEPPER_TAIL);
|
||||
else
|
||||
Max7219_LED_Off( last_tail_cnt-8, MAX7219_DEBUG_STEPPER_TAIL+1);
|
||||
|
||||
last_tail_cnt = tail;
|
||||
if ( tail < 8)
|
||||
Max7219_LED_On(tail, MAX7219_DEBUG_STEPPER_TAIL);
|
||||
else
|
||||
Max7219_LED_On(tail-8, MAX7219_DEBUG_STEPPER_TAIL+1);
|
||||
}
|
||||
#endif
|
||||
|
||||
#ifdef MAX7219_DEBUG_STEPPER_QUEUE
|
||||
static int16_t last_depth = 0;
|
||||
int16_t current_depth = planner.block_buffer_head - planner.block_buffer_tail;
|
||||
int16_t current_depth = head - tail;
|
||||
if (current_depth != last_depth) { // usually, no update will be needed.
|
||||
if (current_depth < 0) current_depth += BLOCK_BUFFER_SIZE;
|
||||
NOMORE(current_depth, BLOCK_BUFFER_SIZE);
|
||||
|
|
@ -249,10 +384,10 @@ void Max7219_idle_tasks() {
|
|||
en = max(current_depth, last_depth);
|
||||
if (current_depth < last_depth)
|
||||
for (uint8_t i = st; i <= en; i++) // clear the highest order LEDs
|
||||
Max7219_LED_Off(i >> 1, MAX7219_DEBUG_STEPPER_QUEUE + (i & 1));
|
||||
Max7219_LED_Off(i/2, MAX7219_DEBUG_STEPPER_QUEUE + (i & 1));
|
||||
else
|
||||
for (uint8_t i = st; i <= en; i++) // set the highest order LEDs
|
||||
Max7219_LED_On(i >> 1, MAX7219_DEBUG_STEPPER_QUEUE + (i & 1));
|
||||
for (uint8_t i = st; i <= en; i++) // set the LEDs to current depth
|
||||
Max7219_LED_On(i/2, MAX7219_DEBUG_STEPPER_QUEUE + (i & 1));
|
||||
|
||||
last_depth = current_depth;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -40,12 +40,14 @@
|
|||
* void Max7219_PutByte(uint8_t data);
|
||||
* void Max7219(uint8_t reg, uint8_t data);
|
||||
* void Max7219_LED_Set(uint8_t row, uint8_t col, bool on);
|
||||
* void Max7219_LED_On(uint8_t row, uint8_t col);
|
||||
* void Max7219_LED_Off(uint8_t row, uint8_t col);
|
||||
* void Max7219_LED_On(uint8_t col, uint8_t row);
|
||||
* void Max7219_LED_Off(uint8_t col, uint8_t row);
|
||||
* void Max7219_LED_Toggle(uint8_t row, uint8_t col);
|
||||
* void Max7219_Clear_Row(uint8_t row);
|
||||
* void Max7219_Clear_Column(uint8_t col);
|
||||
* void Max7219_Set_Row(uint8_t row, uint8_t val);
|
||||
* void Max7219_Set_2_Rows(uint8_t row, uint16_t val);
|
||||
* void Max7219_Set_4_Rows(uint8_t row, uint32_t val);
|
||||
* void Max7219_Set_Column(uint8_t col, uint8_t val);
|
||||
* void Max7219_idle_tasks();
|
||||
*/
|
||||
|
|
|
|||
|
|
@ -1294,6 +1294,7 @@ void Stepper::report_positions() {
|
|||
_ENABLE(AXIS); \
|
||||
_SAVE_START; \
|
||||
_APPLY_DIR(AXIS, _INVERT_DIR(AXIS)^direction^INVERT); \
|
||||
_PULSE_WAIT; \
|
||||
_APPLY_STEP(AXIS)(!_INVERT_STEP_PIN(AXIS), true); \
|
||||
_PULSE_WAIT; \
|
||||
_APPLY_STEP(AXIS)(_INVERT_STEP_PIN(AXIS), true); \
|
||||
|
|
|
|||
|
|
@ -441,7 +441,7 @@ class Temperature {
|
|||
|
||||
#if ENABLED(BABYSTEPPING)
|
||||
|
||||
static void babystep_axis(const AxisEnum axis, const int distance) {
|
||||
static void babystep_axis(const AxisEnum axis, const int16_t distance) {
|
||||
if (axis_known_position[axis]) {
|
||||
#if IS_CORE
|
||||
#if ENABLED(BABYSTEP_XY)
|
||||
|
|
|
|||
Reference in a new issue