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Update endstops only for homing. (use less resources when not used)

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This commit is contained in:
Erik van der Zalm 2011-12-04 21:03:02 +01:00
parent b99c49ec3b
commit 89e832c295
1 changed files with 18 additions and 7 deletions
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25
Marlin/stepper.cpp
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@ -87,7 +87,12 @@ volatile char count_direction[NUM_AXIS] = { 1, 1, 1, 1};
//=========================================================================== //===========================================================================
//=============================functions ============================ //=============================functions ============================
//=========================================================================== //===========================================================================
#ifdef ENDSTOPS_ONLY_FOR_HOMING
#define CHECK_ENDSTOPS if(check_endstops)
#else
#define CHECK_ENDSTOPS
#endif
// intRes = intIn1 * intIn2 >> 16 // intRes = intIn1 * intIn2 >> 16
// uses: // uses:
@ -316,7 +321,8 @@ ISR(TIMER1_COMPA_vect)
if ((out_bits & (1<<X_AXIS)) != 0) { // -direction if ((out_bits & (1<<X_AXIS)) != 0) { // -direction
WRITE(X_DIR_PIN, INVERT_X_DIR); WRITE(X_DIR_PIN, INVERT_X_DIR);
count_direction[X_AXIS]=-1; count_direction[X_AXIS]=-1;
if(check_endstops) { CHECK_ENDSTOPS
{
#if X_MIN_PIN > -1 #if X_MIN_PIN > -1
bool x_min_endstop=(READ(X_MIN_PIN) != X_ENDSTOPS_INVERTING); bool x_min_endstop=(READ(X_MIN_PIN) != X_ENDSTOPS_INVERTING);
if(x_min_endstop && old_x_min_endstop && (current_block->steps_x > 0)) { if(x_min_endstop && old_x_min_endstop && (current_block->steps_x > 0)) {
@ -331,7 +337,8 @@ ISR(TIMER1_COMPA_vect)
else { // +direction else { // +direction
WRITE(X_DIR_PIN,!INVERT_X_DIR); WRITE(X_DIR_PIN,!INVERT_X_DIR);
count_direction[X_AXIS]=1; count_direction[X_AXIS]=1;
if(check_endstops) { CHECK_ENDSTOPS
{
#if X_MAX_PIN > -1 #if X_MAX_PIN > -1
bool x_max_endstop=(READ(X_MAX_PIN) != X_ENDSTOPS_INVERTING); bool x_max_endstop=(READ(X_MAX_PIN) != X_ENDSTOPS_INVERTING);
if(x_max_endstop && old_x_max_endstop && (current_block->steps_x > 0)){ if(x_max_endstop && old_x_max_endstop && (current_block->steps_x > 0)){
@ -347,7 +354,8 @@ ISR(TIMER1_COMPA_vect)
if ((out_bits & (1<<Y_AXIS)) != 0) { // -direction if ((out_bits & (1<<Y_AXIS)) != 0) { // -direction
WRITE(Y_DIR_PIN,INVERT_Y_DIR); WRITE(Y_DIR_PIN,INVERT_Y_DIR);
count_direction[Y_AXIS]=-1; count_direction[Y_AXIS]=-1;
if(check_endstops) { CHECK_ENDSTOPS
{
#if Y_MIN_PIN > -1 #if Y_MIN_PIN > -1
bool y_min_endstop=(READ(Y_MIN_PIN) != Y_ENDSTOPS_INVERTING); bool y_min_endstop=(READ(Y_MIN_PIN) != Y_ENDSTOPS_INVERTING);
if(y_min_endstop && old_y_min_endstop && (current_block->steps_y > 0)) { if(y_min_endstop && old_y_min_endstop && (current_block->steps_y > 0)) {
@ -362,7 +370,8 @@ ISR(TIMER1_COMPA_vect)
else { // +direction else { // +direction
WRITE(Y_DIR_PIN,!INVERT_Y_DIR); WRITE(Y_DIR_PIN,!INVERT_Y_DIR);
count_direction[Y_AXIS]=1; count_direction[Y_AXIS]=1;
if(check_endstops) { CHECK_ENDSTOPS
{
#if Y_MAX_PIN > -1 #if Y_MAX_PIN > -1
bool y_max_endstop=(READ(Y_MAX_PIN) != Y_ENDSTOPS_INVERTING); bool y_max_endstop=(READ(Y_MAX_PIN) != Y_ENDSTOPS_INVERTING);
if(y_max_endstop && old_y_max_endstop && (current_block->steps_y > 0)){ if(y_max_endstop && old_y_max_endstop && (current_block->steps_y > 0)){
@ -378,7 +387,8 @@ ISR(TIMER1_COMPA_vect)
if ((out_bits & (1<<Z_AXIS)) != 0) { // -direction if ((out_bits & (1<<Z_AXIS)) != 0) { // -direction
WRITE(Z_DIR_PIN,INVERT_Z_DIR); WRITE(Z_DIR_PIN,INVERT_Z_DIR);
count_direction[Z_AXIS]=-1; count_direction[Z_AXIS]=-1;
if(check_endstops) { CHECK_ENDSTOPS
{
#if Z_MIN_PIN > -1 #if Z_MIN_PIN > -1
bool z_min_endstop=(READ(Z_MIN_PIN) != Z_ENDSTOPS_INVERTING); bool z_min_endstop=(READ(Z_MIN_PIN) != Z_ENDSTOPS_INVERTING);
if(z_min_endstop && old_z_min_endstop && (current_block->steps_z > 0)) { if(z_min_endstop && old_z_min_endstop && (current_block->steps_z > 0)) {
@ -393,7 +403,8 @@ ISR(TIMER1_COMPA_vect)
else { // +direction else { // +direction
WRITE(Z_DIR_PIN,!INVERT_Z_DIR); WRITE(Z_DIR_PIN,!INVERT_Z_DIR);
count_direction[Z_AXIS]=1; count_direction[Z_AXIS]=1;
if(check_endstops) { CHECK_ENDSTOPS
{
#if Z_MAX_PIN > -1 #if Z_MAX_PIN > -1
bool z_max_endstop=(READ(Z_MAX_PIN) != Z_ENDSTOPS_INVERTING); bool z_max_endstop=(READ(Z_MAX_PIN) != Z_ENDSTOPS_INVERTING);
if(z_max_endstop && old_z_max_endstop && (current_block->steps_z > 0)) { if(z_max_endstop && old_z_max_endstop && (current_block->steps_z > 0)) {