1054 lines
32 KiB
C++
1054 lines
32 KiB
C++
/*
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stepper.c - stepper motor driver: executes motion plans using stepper motors
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Part of Grbl
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Copyright (c) 2009-2011 Simen Svale Skogsrud
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Grbl is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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Grbl is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with Grbl. If not, see <http://www.gnu.org/licenses/>.
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*/
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/* The timer calculations of this module informed by the 'RepRap cartesian firmware' by Zack Smith
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and Philipp Tiefenbacher. */
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#include "Marlin.h"
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#include "stepper.h"
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#include "planner.h"
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#include "temperature.h"
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#include "ultralcd.h"
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#include "language.h"
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#include "cardreader.h"
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#include "speed_lookuptable.h"
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#if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
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#include <SPI.h>
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#endif
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//===========================================================================
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//=============================public variables ============================
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//===========================================================================
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block_t *current_block; // A pointer to the block currently being traced
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//===========================================================================
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//=============================private variables ============================
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//===========================================================================
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//static makes it inpossible to be called from outside of this file by extern.!
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// Variables used by The Stepper Driver Interrupt
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static unsigned char out_bits; // The next stepping-bits to be output
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static long counter_x, // Counter variables for the bresenham line tracer
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counter_y,
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counter_z,
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counter_e;
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volatile static unsigned long step_events_completed; // The number of step events executed in the current block
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#ifdef ADVANCE
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static long advance_rate, advance, final_advance = 0;
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static long old_advance = 0;
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static long e_steps[3];
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#endif
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static long acceleration_time, deceleration_time;
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//static unsigned long accelerate_until, decelerate_after, acceleration_rate, initial_rate, final_rate, nominal_rate;
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static unsigned short acc_step_rate; // needed for deccelaration start point
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static char step_loops;
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static unsigned short OCR1A_nominal;
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static unsigned short step_loops_nominal;
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volatile long endstops_trigsteps[3]={0,0,0};
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volatile long endstops_stepsTotal,endstops_stepsDone;
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static volatile bool endstop_x_hit=false;
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static volatile bool endstop_y_hit=false;
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static volatile bool endstop_z_hit=false;
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#ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
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bool abort_on_endstop_hit = false;
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#endif
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static bool old_x_min_endstop=false;
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static bool old_x_max_endstop=false;
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static bool old_y_min_endstop=false;
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static bool old_y_max_endstop=false;
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static bool old_z_min_endstop=false;
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static bool old_z_max_endstop=false;
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static bool check_endstops = true;
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volatile long count_position[NUM_AXIS] = { 0, 0, 0, 0};
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volatile signed char count_direction[NUM_AXIS] = { 1, 1, 1, 1};
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//===========================================================================
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//=============================functions ============================
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//===========================================================================
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#define CHECK_ENDSTOPS if(check_endstops)
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// intRes = intIn1 * intIn2 >> 16
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// uses:
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// r26 to store 0
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// r27 to store the byte 1 of the 24 bit result
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#define MultiU16X8toH16(intRes, charIn1, intIn2) \
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asm volatile ( \
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"clr r26 \n\t" \
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"mul %A1, %B2 \n\t" \
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"movw %A0, r0 \n\t" \
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"mul %A1, %A2 \n\t" \
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"add %A0, r1 \n\t" \
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"adc %B0, r26 \n\t" \
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"lsr r0 \n\t" \
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"adc %A0, r26 \n\t" \
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"adc %B0, r26 \n\t" \
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"clr r1 \n\t" \
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: \
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"=&r" (intRes) \
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: \
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"d" (charIn1), \
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"d" (intIn2) \
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: \
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"r26" \
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)
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// intRes = longIn1 * longIn2 >> 24
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// uses:
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// r26 to store 0
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// r27 to store the byte 1 of the 48bit result
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#define MultiU24X24toH16(intRes, longIn1, longIn2) \
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asm volatile ( \
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"clr r26 \n\t" \
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"mul %A1, %B2 \n\t" \
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"mov r27, r1 \n\t" \
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"mul %B1, %C2 \n\t" \
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"movw %A0, r0 \n\t" \
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"mul %C1, %C2 \n\t" \
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"add %B0, r0 \n\t" \
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"mul %C1, %B2 \n\t" \
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"add %A0, r0 \n\t" \
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"adc %B0, r1 \n\t" \
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"mul %A1, %C2 \n\t" \
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"add r27, r0 \n\t" \
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"adc %A0, r1 \n\t" \
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"adc %B0, r26 \n\t" \
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"mul %B1, %B2 \n\t" \
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"add r27, r0 \n\t" \
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"adc %A0, r1 \n\t" \
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"adc %B0, r26 \n\t" \
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"mul %C1, %A2 \n\t" \
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"add r27, r0 \n\t" \
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"adc %A0, r1 \n\t" \
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"adc %B0, r26 \n\t" \
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"mul %B1, %A2 \n\t" \
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"add r27, r1 \n\t" \
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"adc %A0, r26 \n\t" \
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"adc %B0, r26 \n\t" \
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"lsr r27 \n\t" \
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"adc %A0, r26 \n\t" \
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"adc %B0, r26 \n\t" \
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"clr r1 \n\t" \
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: \
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"=&r" (intRes) \
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: \
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"d" (longIn1), \
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"d" (longIn2) \
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: \
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"r26" , "r27" \
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)
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// Some useful constants
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#define ENABLE_STEPPER_DRIVER_INTERRUPT() TIMSK1 |= (1<<OCIE1A)
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#define DISABLE_STEPPER_DRIVER_INTERRUPT() TIMSK1 &= ~(1<<OCIE1A)
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void checkHitEndstops()
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{
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if( endstop_x_hit || endstop_y_hit || endstop_z_hit) {
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SERIAL_ECHO_START;
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SERIAL_ECHOPGM(MSG_ENDSTOPS_HIT);
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if(endstop_x_hit) {
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SERIAL_ECHOPAIR(" X:",(float)endstops_trigsteps[X_AXIS]/axis_steps_per_unit[X_AXIS]);
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LCD_MESSAGEPGM(MSG_ENDSTOPS_HIT "X");
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}
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if(endstop_y_hit) {
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SERIAL_ECHOPAIR(" Y:",(float)endstops_trigsteps[Y_AXIS]/axis_steps_per_unit[Y_AXIS]);
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LCD_MESSAGEPGM(MSG_ENDSTOPS_HIT "Y");
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}
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if(endstop_z_hit) {
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SERIAL_ECHOPAIR(" Z:",(float)endstops_trigsteps[Z_AXIS]/axis_steps_per_unit[Z_AXIS]);
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LCD_MESSAGEPGM(MSG_ENDSTOPS_HIT "Z");
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}
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SERIAL_ECHOLN("");
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endstop_x_hit=false;
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endstop_y_hit=false;
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endstop_z_hit=false;
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#ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
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if (abort_on_endstop_hit)
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{
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card.sdprinting = false;
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card.closefile();
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quickStop();
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setTargetHotend0(0);
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setTargetHotend1(0);
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setTargetHotend2(0);
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}
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#endif
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}
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}
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void endstops_hit_on_purpose()
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{
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endstop_x_hit=false;
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endstop_y_hit=false;
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endstop_z_hit=false;
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}
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void enable_endstops(bool check)
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{
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check_endstops = check;
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}
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// __________________________
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// /| |\ _________________ ^
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// / | | \ /| |\ |
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// / | | \ / | | \ s
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// / | | | | | \ p
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// / | | | | | \ e
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// +-----+------------------------+---+--+---------------+----+ e
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// | BLOCK 1 | BLOCK 2 | d
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//
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// time ----->
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//
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// The trapezoid is the shape the speed curve over time. It starts at block->initial_rate, accelerates
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// first block->accelerate_until step_events_completed, then keeps going at constant speed until
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// step_events_completed reaches block->decelerate_after after which it decelerates until the trapezoid generator is reset.
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// The slope of acceleration is calculated with the leib ramp alghorithm.
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void st_wake_up() {
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// TCNT1 = 0;
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ENABLE_STEPPER_DRIVER_INTERRUPT();
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}
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void step_wait(){
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for(int8_t i=0; i < 6; i++){
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}
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}
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FORCE_INLINE unsigned short calc_timer(unsigned short step_rate) {
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unsigned short timer;
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if(step_rate > MAX_STEP_FREQUENCY) step_rate = MAX_STEP_FREQUENCY;
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if(step_rate > 20000) { // If steprate > 20kHz >> step 4 times
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step_rate = (step_rate >> 2)&0x3fff;
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step_loops = 4;
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}
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else if(step_rate > 10000) { // If steprate > 10kHz >> step 2 times
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step_rate = (step_rate >> 1)&0x7fff;
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step_loops = 2;
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}
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else {
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step_loops = 1;
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}
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if(step_rate < (F_CPU/500000)) step_rate = (F_CPU/500000);
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step_rate -= (F_CPU/500000); // Correct for minimal speed
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if(step_rate >= (8*256)){ // higher step rate
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unsigned short table_address = (unsigned short)&speed_lookuptable_fast[(unsigned char)(step_rate>>8)][0];
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unsigned char tmp_step_rate = (step_rate & 0x00ff);
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unsigned short gain = (unsigned short)pgm_read_word_near(table_address+2);
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MultiU16X8toH16(timer, tmp_step_rate, gain);
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timer = (unsigned short)pgm_read_word_near(table_address) - timer;
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}
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else { // lower step rates
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unsigned short table_address = (unsigned short)&speed_lookuptable_slow[0][0];
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table_address += ((step_rate)>>1) & 0xfffc;
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timer = (unsigned short)pgm_read_word_near(table_address);
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timer -= (((unsigned short)pgm_read_word_near(table_address+2) * (unsigned char)(step_rate & 0x0007))>>3);
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}
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if(timer < 100) { timer = 100; MYSERIAL.print(MSG_STEPPER_TOO_HIGH); MYSERIAL.println(step_rate); }//(20kHz this should never happen)
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return timer;
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}
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// Initializes the trapezoid generator from the current block. Called whenever a new
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// block begins.
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FORCE_INLINE void trapezoid_generator_reset() {
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#ifdef ADVANCE
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advance = current_block->initial_advance;
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final_advance = current_block->final_advance;
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// Do E steps + advance steps
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e_steps[current_block->active_extruder] += ((advance >>8) - old_advance);
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old_advance = advance >>8;
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#endif
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deceleration_time = 0;
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// step_rate to timer interval
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OCR1A_nominal = calc_timer(current_block->nominal_rate);
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// make a note of the number of step loops required at nominal speed
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step_loops_nominal = step_loops;
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acc_step_rate = current_block->initial_rate;
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acceleration_time = calc_timer(acc_step_rate);
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OCR1A = acceleration_time;
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// SERIAL_ECHO_START;
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// SERIAL_ECHOPGM("advance :");
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// SERIAL_ECHO(current_block->advance/256.0);
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// SERIAL_ECHOPGM("advance rate :");
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// SERIAL_ECHO(current_block->advance_rate/256.0);
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// SERIAL_ECHOPGM("initial advance :");
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// SERIAL_ECHO(current_block->initial_advance/256.0);
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// SERIAL_ECHOPGM("final advance :");
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// SERIAL_ECHOLN(current_block->final_advance/256.0);
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}
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// "The Stepper Driver Interrupt" - This timer interrupt is the workhorse.
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// It pops blocks from the block_buffer and executes them by pulsing the stepper pins appropriately.
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ISR(TIMER1_COMPA_vect)
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{
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// If there is no current block, attempt to pop one from the buffer
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if (current_block == NULL) {
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// Anything in the buffer?
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current_block = plan_get_current_block();
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if (current_block != NULL) {
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current_block->busy = true;
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trapezoid_generator_reset();
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counter_x = -(current_block->step_event_count >> 1);
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counter_y = counter_x;
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counter_z = counter_x;
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counter_e = counter_x;
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step_events_completed = 0;
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#ifdef Z_LATE_ENABLE
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if(current_block->steps_z > 0) {
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enable_z();
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OCR1A = 2000; //1ms wait
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return;
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}
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#endif
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// #ifdef ADVANCE
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// e_steps[current_block->active_extruder] = 0;
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// #endif
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}
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else {
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OCR1A=2000; // 1kHz.
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}
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}
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if (current_block != NULL) {
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// Set directions TO DO This should be done once during init of trapezoid. Endstops -> interrupt
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out_bits = current_block->direction_bits;
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// Set the direction bits (X_AXIS=A_AXIS and Y_AXIS=B_AXIS for COREXY)
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if((out_bits & (1<<X_AXIS))!=0){
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#ifdef DUAL_X_CARRIAGE
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if (active_extruder != 0)
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WRITE(X2_DIR_PIN,INVERT_X_DIR);
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else
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#endif
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WRITE(X_DIR_PIN, INVERT_X_DIR);
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count_direction[X_AXIS]=-1;
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}
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else{
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#ifdef DUAL_X_CARRIAGE
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if (active_extruder != 0)
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WRITE(X2_DIR_PIN,!INVERT_X_DIR);
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else
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#endif
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WRITE(X_DIR_PIN, !INVERT_X_DIR);
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count_direction[X_AXIS]=1;
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}
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if((out_bits & (1<<Y_AXIS))!=0){
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WRITE(Y_DIR_PIN, INVERT_Y_DIR);
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count_direction[Y_AXIS]=-1;
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}
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else{
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WRITE(Y_DIR_PIN, !INVERT_Y_DIR);
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count_direction[Y_AXIS]=1;
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}
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// Set direction en check limit switches
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#ifndef COREXY
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if ((out_bits & (1<<X_AXIS)) != 0) { // stepping along -X axis
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#else
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if ((((out_bits & (1<<X_AXIS)) != 0)&&(out_bits & (1<<Y_AXIS)) != 0)) { //-X occurs for -A and -B
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#endif
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CHECK_ENDSTOPS
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{
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#ifdef DUAL_X_CARRIAGE
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// with 2 x-carriages, endstops are only checked in the homing direction for the active extruder
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if ((active_extruder == 0 && X_HOME_DIR == -1) || (active_extruder != 0 && X2_HOME_DIR == -1))
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#endif
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{
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#if defined(X_MIN_PIN) && X_MIN_PIN > -1
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bool x_min_endstop=(READ(X_MIN_PIN) != X_MIN_ENDSTOP_INVERTING);
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if(x_min_endstop && old_x_min_endstop && (current_block->steps_x > 0)) {
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endstops_trigsteps[X_AXIS] = count_position[X_AXIS];
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endstop_x_hit=true;
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step_events_completed = current_block->step_event_count;
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}
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old_x_min_endstop = x_min_endstop;
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#endif
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}
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}
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}
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else { // +direction
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CHECK_ENDSTOPS
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{
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#ifdef DUAL_X_CARRIAGE
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// with 2 x-carriages, endstops are only checked in the homing direction for the active extruder
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if ((active_extruder == 0 && X_HOME_DIR == 1) || (active_extruder != 0 && X2_HOME_DIR == 1))
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#endif
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{
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#if defined(X_MAX_PIN) && X_MAX_PIN > -1
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bool x_max_endstop=(READ(X_MAX_PIN) != X_MAX_ENDSTOP_INVERTING);
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if(x_max_endstop && old_x_max_endstop && (current_block->steps_x > 0)){
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endstops_trigsteps[X_AXIS] = count_position[X_AXIS];
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endstop_x_hit=true;
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step_events_completed = current_block->step_event_count;
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}
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old_x_max_endstop = x_max_endstop;
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#endif
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}
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}
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}
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#ifndef COREXY
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if ((out_bits & (1<<Y_AXIS)) != 0) { // -direction
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#else
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if ((((out_bits & (1<<X_AXIS)) != 0)&&(out_bits & (1<<Y_AXIS)) == 0)) { // -Y occurs for -A and +B
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#endif
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CHECK_ENDSTOPS
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{
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#if defined(Y_MIN_PIN) && Y_MIN_PIN > -1
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bool y_min_endstop=(READ(Y_MIN_PIN) != Y_MIN_ENDSTOP_INVERTING);
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if(y_min_endstop && old_y_min_endstop && (current_block->steps_y > 0)) {
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endstops_trigsteps[Y_AXIS] = count_position[Y_AXIS];
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endstop_y_hit=true;
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step_events_completed = current_block->step_event_count;
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}
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old_y_min_endstop = y_min_endstop;
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#endif
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}
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}
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else { // +direction
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CHECK_ENDSTOPS
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{
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#if defined(Y_MAX_PIN) && Y_MAX_PIN > -1
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bool y_max_endstop=(READ(Y_MAX_PIN) != Y_MAX_ENDSTOP_INVERTING);
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if(y_max_endstop && old_y_max_endstop && (current_block->steps_y > 0)){
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endstops_trigsteps[Y_AXIS] = count_position[Y_AXIS];
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endstop_y_hit=true;
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step_events_completed = current_block->step_event_count;
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}
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old_y_max_endstop = y_max_endstop;
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#endif
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}
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|
}
|
|
|
|
if ((out_bits & (1<<Z_AXIS)) != 0) { // -direction
|
|
WRITE(Z_DIR_PIN,INVERT_Z_DIR);
|
|
|
|
#ifdef Z_DUAL_STEPPER_DRIVERS
|
|
WRITE(Z2_DIR_PIN,INVERT_Z_DIR);
|
|
#endif
|
|
|
|
count_direction[Z_AXIS]=-1;
|
|
CHECK_ENDSTOPS
|
|
{
|
|
#if defined(Z_MIN_PIN) && Z_MIN_PIN > -1
|
|
bool z_min_endstop=(READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING);
|
|
if(z_min_endstop && old_z_min_endstop && (current_block->steps_z > 0)) {
|
|
endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
|
|
endstop_z_hit=true;
|
|
step_events_completed = current_block->step_event_count;
|
|
}
|
|
old_z_min_endstop = z_min_endstop;
|
|
#endif
|
|
}
|
|
}
|
|
else { // +direction
|
|
WRITE(Z_DIR_PIN,!INVERT_Z_DIR);
|
|
|
|
#ifdef Z_DUAL_STEPPER_DRIVERS
|
|
WRITE(Z2_DIR_PIN,!INVERT_Z_DIR);
|
|
#endif
|
|
|
|
count_direction[Z_AXIS]=1;
|
|
CHECK_ENDSTOPS
|
|
{
|
|
#if defined(Z_MAX_PIN) && Z_MAX_PIN > -1
|
|
bool z_max_endstop=(READ(Z_MAX_PIN) != Z_MAX_ENDSTOP_INVERTING);
|
|
if(z_max_endstop && old_z_max_endstop && (current_block->steps_z > 0)) {
|
|
endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
|
|
endstop_z_hit=true;
|
|
step_events_completed = current_block->step_event_count;
|
|
}
|
|
old_z_max_endstop = z_max_endstop;
|
|
#endif
|
|
}
|
|
}
|
|
|
|
#ifndef ADVANCE
|
|
if ((out_bits & (1<<E_AXIS)) != 0) { // -direction
|
|
REV_E_DIR();
|
|
count_direction[E_AXIS]=-1;
|
|
}
|
|
else { // +direction
|
|
NORM_E_DIR();
|
|
count_direction[E_AXIS]=1;
|
|
}
|
|
#endif //!ADVANCE
|
|
|
|
|
|
|
|
for(int8_t i=0; i < step_loops; i++) { // Take multiple steps per interrupt (For high speed moves)
|
|
#ifndef AT90USB
|
|
MSerial.checkRx(); // Check for serial chars.
|
|
#endif
|
|
|
|
#ifdef ADVANCE
|
|
counter_e += current_block->steps_e;
|
|
if (counter_e > 0) {
|
|
counter_e -= current_block->step_event_count;
|
|
if ((out_bits & (1<<E_AXIS)) != 0) { // - direction
|
|
e_steps[current_block->active_extruder]--;
|
|
}
|
|
else {
|
|
e_steps[current_block->active_extruder]++;
|
|
}
|
|
}
|
|
#endif //ADVANCE
|
|
|
|
counter_x += current_block->steps_x;
|
|
if (counter_x > 0) {
|
|
#ifdef DUAL_X_CARRIAGE
|
|
if (active_extruder != 0)
|
|
WRITE(X2_STEP_PIN,!INVERT_X_STEP_PIN);
|
|
else
|
|
#endif
|
|
WRITE(X_STEP_PIN, !INVERT_X_STEP_PIN);
|
|
counter_x -= current_block->step_event_count;
|
|
count_position[X_AXIS]+=count_direction[X_AXIS];
|
|
#ifdef DUAL_X_CARRIAGE
|
|
if (active_extruder != 0)
|
|
WRITE(X2_STEP_PIN,INVERT_X_STEP_PIN);
|
|
else
|
|
#endif
|
|
WRITE(X_STEP_PIN, INVERT_X_STEP_PIN);
|
|
}
|
|
|
|
counter_y += current_block->steps_y;
|
|
if (counter_y > 0) {
|
|
WRITE(Y_STEP_PIN, !INVERT_Y_STEP_PIN);
|
|
counter_y -= current_block->step_event_count;
|
|
count_position[Y_AXIS]+=count_direction[Y_AXIS];
|
|
WRITE(Y_STEP_PIN, INVERT_Y_STEP_PIN);
|
|
}
|
|
|
|
counter_z += current_block->steps_z;
|
|
if (counter_z > 0) {
|
|
WRITE(Z_STEP_PIN, !INVERT_Z_STEP_PIN);
|
|
|
|
#ifdef Z_DUAL_STEPPER_DRIVERS
|
|
WRITE(Z2_STEP_PIN, !INVERT_Z_STEP_PIN);
|
|
#endif
|
|
|
|
counter_z -= current_block->step_event_count;
|
|
count_position[Z_AXIS]+=count_direction[Z_AXIS];
|
|
WRITE(Z_STEP_PIN, INVERT_Z_STEP_PIN);
|
|
|
|
#ifdef Z_DUAL_STEPPER_DRIVERS
|
|
WRITE(Z2_STEP_PIN, INVERT_Z_STEP_PIN);
|
|
#endif
|
|
}
|
|
|
|
#ifndef ADVANCE
|
|
counter_e += current_block->steps_e;
|
|
if (counter_e > 0) {
|
|
WRITE_E_STEP(!INVERT_E_STEP_PIN);
|
|
counter_e -= current_block->step_event_count;
|
|
count_position[E_AXIS]+=count_direction[E_AXIS];
|
|
WRITE_E_STEP(INVERT_E_STEP_PIN);
|
|
}
|
|
#endif //!ADVANCE
|
|
step_events_completed += 1;
|
|
if(step_events_completed >= current_block->step_event_count) break;
|
|
}
|
|
// Calculare new timer value
|
|
unsigned short timer;
|
|
unsigned short step_rate;
|
|
if (step_events_completed <= (unsigned long int)current_block->accelerate_until) {
|
|
|
|
MultiU24X24toH16(acc_step_rate, acceleration_time, current_block->acceleration_rate);
|
|
acc_step_rate += current_block->initial_rate;
|
|
|
|
// upper limit
|
|
if(acc_step_rate > current_block->nominal_rate)
|
|
acc_step_rate = current_block->nominal_rate;
|
|
|
|
// step_rate to timer interval
|
|
timer = calc_timer(acc_step_rate);
|
|
OCR1A = timer;
|
|
acceleration_time += timer;
|
|
#ifdef ADVANCE
|
|
for(int8_t i=0; i < step_loops; i++) {
|
|
advance += advance_rate;
|
|
}
|
|
//if(advance > current_block->advance) advance = current_block->advance;
|
|
// Do E steps + advance steps
|
|
e_steps[current_block->active_extruder] += ((advance >>8) - old_advance);
|
|
old_advance = advance >>8;
|
|
|
|
#endif
|
|
}
|
|
else if (step_events_completed > (unsigned long int)current_block->decelerate_after) {
|
|
MultiU24X24toH16(step_rate, deceleration_time, current_block->acceleration_rate);
|
|
|
|
if(step_rate > acc_step_rate) { // Check step_rate stays positive
|
|
step_rate = current_block->final_rate;
|
|
}
|
|
else {
|
|
step_rate = acc_step_rate - step_rate; // Decelerate from aceleration end point.
|
|
}
|
|
|
|
// lower limit
|
|
if(step_rate < current_block->final_rate)
|
|
step_rate = current_block->final_rate;
|
|
|
|
// step_rate to timer interval
|
|
timer = calc_timer(step_rate);
|
|
OCR1A = timer;
|
|
deceleration_time += timer;
|
|
#ifdef ADVANCE
|
|
for(int8_t i=0; i < step_loops; i++) {
|
|
advance -= advance_rate;
|
|
}
|
|
if(advance < final_advance) advance = final_advance;
|
|
// Do E steps + advance steps
|
|
e_steps[current_block->active_extruder] += ((advance >>8) - old_advance);
|
|
old_advance = advance >>8;
|
|
#endif //ADVANCE
|
|
}
|
|
else {
|
|
OCR1A = OCR1A_nominal;
|
|
// ensure we're running at the correct step rate, even if we just came off an acceleration
|
|
step_loops = step_loops_nominal;
|
|
}
|
|
|
|
// If current block is finished, reset pointer
|
|
if (step_events_completed >= current_block->step_event_count) {
|
|
current_block = NULL;
|
|
plan_discard_current_block();
|
|
}
|
|
}
|
|
}
|
|
|
|
#ifdef ADVANCE
|
|
unsigned char old_OCR0A;
|
|
// Timer interrupt for E. e_steps is set in the main routine;
|
|
// Timer 0 is shared with millies
|
|
ISR(TIMER0_COMPA_vect)
|
|
{
|
|
old_OCR0A += 52; // ~10kHz interrupt (250000 / 26 = 9615kHz)
|
|
OCR0A = old_OCR0A;
|
|
// Set E direction (Depends on E direction + advance)
|
|
for(unsigned char i=0; i<4;i++) {
|
|
if (e_steps[0] != 0) {
|
|
WRITE(E0_STEP_PIN, INVERT_E_STEP_PIN);
|
|
if (e_steps[0] < 0) {
|
|
WRITE(E0_DIR_PIN, INVERT_E0_DIR);
|
|
e_steps[0]++;
|
|
WRITE(E0_STEP_PIN, !INVERT_E_STEP_PIN);
|
|
}
|
|
else if (e_steps[0] > 0) {
|
|
WRITE(E0_DIR_PIN, !INVERT_E0_DIR);
|
|
e_steps[0]--;
|
|
WRITE(E0_STEP_PIN, !INVERT_E_STEP_PIN);
|
|
}
|
|
}
|
|
#if EXTRUDERS > 1
|
|
if (e_steps[1] != 0) {
|
|
WRITE(E1_STEP_PIN, INVERT_E_STEP_PIN);
|
|
if (e_steps[1] < 0) {
|
|
WRITE(E1_DIR_PIN, INVERT_E1_DIR);
|
|
e_steps[1]++;
|
|
WRITE(E1_STEP_PIN, !INVERT_E_STEP_PIN);
|
|
}
|
|
else if (e_steps[1] > 0) {
|
|
WRITE(E1_DIR_PIN, !INVERT_E1_DIR);
|
|
e_steps[1]--;
|
|
WRITE(E1_STEP_PIN, !INVERT_E_STEP_PIN);
|
|
}
|
|
}
|
|
#endif
|
|
#if EXTRUDERS > 2
|
|
if (e_steps[2] != 0) {
|
|
WRITE(E2_STEP_PIN, INVERT_E_STEP_PIN);
|
|
if (e_steps[2] < 0) {
|
|
WRITE(E2_DIR_PIN, INVERT_E2_DIR);
|
|
e_steps[2]++;
|
|
WRITE(E2_STEP_PIN, !INVERT_E_STEP_PIN);
|
|
}
|
|
else if (e_steps[2] > 0) {
|
|
WRITE(E2_DIR_PIN, !INVERT_E2_DIR);
|
|
e_steps[2]--;
|
|
WRITE(E2_STEP_PIN, !INVERT_E_STEP_PIN);
|
|
}
|
|
}
|
|
#endif
|
|
}
|
|
}
|
|
#endif // ADVANCE
|
|
|
|
void st_init()
|
|
{
|
|
digipot_init(); //Initialize Digipot Motor Current
|
|
microstep_init(); //Initialize Microstepping Pins
|
|
|
|
//Initialize Dir Pins
|
|
#if defined(X_DIR_PIN) && X_DIR_PIN > -1
|
|
SET_OUTPUT(X_DIR_PIN);
|
|
#endif
|
|
#if defined(X2_DIR_PIN) && X2_DIR_PIN > -1
|
|
SET_OUTPUT(X2_DIR_PIN);
|
|
#endif
|
|
#if defined(Y_DIR_PIN) && Y_DIR_PIN > -1
|
|
SET_OUTPUT(Y_DIR_PIN);
|
|
#endif
|
|
#if defined(Z_DIR_PIN) && Z_DIR_PIN > -1
|
|
SET_OUTPUT(Z_DIR_PIN);
|
|
|
|
#if defined(Z_DUAL_STEPPER_DRIVERS) && defined(Z2_DIR_PIN) && (Z2_DIR_PIN > -1)
|
|
SET_OUTPUT(Z2_DIR_PIN);
|
|
#endif
|
|
#endif
|
|
#if defined(E0_DIR_PIN) && E0_DIR_PIN > -1
|
|
SET_OUTPUT(E0_DIR_PIN);
|
|
#endif
|
|
#if defined(E1_DIR_PIN) && (E1_DIR_PIN > -1)
|
|
SET_OUTPUT(E1_DIR_PIN);
|
|
#endif
|
|
#if defined(E2_DIR_PIN) && (E2_DIR_PIN > -1)
|
|
SET_OUTPUT(E2_DIR_PIN);
|
|
#endif
|
|
|
|
//Initialize Enable Pins - steppers default to disabled.
|
|
|
|
#if defined(X_ENABLE_PIN) && X_ENABLE_PIN > -1
|
|
SET_OUTPUT(X_ENABLE_PIN);
|
|
if(!X_ENABLE_ON) WRITE(X_ENABLE_PIN,HIGH);
|
|
#endif
|
|
#if defined(X2_ENABLE_PIN) && X2_ENABLE_PIN > -1
|
|
SET_OUTPUT(X2_ENABLE_PIN);
|
|
if(!X_ENABLE_ON) WRITE(X2_ENABLE_PIN,HIGH);
|
|
#endif
|
|
#if defined(Y_ENABLE_PIN) && Y_ENABLE_PIN > -1
|
|
SET_OUTPUT(Y_ENABLE_PIN);
|
|
if(!Y_ENABLE_ON) WRITE(Y_ENABLE_PIN,HIGH);
|
|
#endif
|
|
#if defined(Z_ENABLE_PIN) && Z_ENABLE_PIN > -1
|
|
SET_OUTPUT(Z_ENABLE_PIN);
|
|
if(!Z_ENABLE_ON) WRITE(Z_ENABLE_PIN,HIGH);
|
|
|
|
#if defined(Z_DUAL_STEPPER_DRIVERS) && defined(Z2_ENABLE_PIN) && (Z2_ENABLE_PIN > -1)
|
|
SET_OUTPUT(Z2_ENABLE_PIN);
|
|
if(!Z_ENABLE_ON) WRITE(Z2_ENABLE_PIN,HIGH);
|
|
#endif
|
|
#endif
|
|
#if defined(E0_ENABLE_PIN) && (E0_ENABLE_PIN > -1)
|
|
SET_OUTPUT(E0_ENABLE_PIN);
|
|
if(!E_ENABLE_ON) WRITE(E0_ENABLE_PIN,HIGH);
|
|
#endif
|
|
#if defined(E1_ENABLE_PIN) && (E1_ENABLE_PIN > -1)
|
|
SET_OUTPUT(E1_ENABLE_PIN);
|
|
if(!E_ENABLE_ON) WRITE(E1_ENABLE_PIN,HIGH);
|
|
#endif
|
|
#if defined(E2_ENABLE_PIN) && (E2_ENABLE_PIN > -1)
|
|
SET_OUTPUT(E2_ENABLE_PIN);
|
|
if(!E_ENABLE_ON) WRITE(E2_ENABLE_PIN,HIGH);
|
|
#endif
|
|
|
|
//endstops and pullups
|
|
|
|
#if defined(X_MIN_PIN) && X_MIN_PIN > -1
|
|
SET_INPUT(X_MIN_PIN);
|
|
#ifdef ENDSTOPPULLUP_XMIN
|
|
WRITE(X_MIN_PIN,HIGH);
|
|
#endif
|
|
#endif
|
|
|
|
#if defined(Y_MIN_PIN) && Y_MIN_PIN > -1
|
|
SET_INPUT(Y_MIN_PIN);
|
|
#ifdef ENDSTOPPULLUP_YMIN
|
|
WRITE(Y_MIN_PIN,HIGH);
|
|
#endif
|
|
#endif
|
|
|
|
#if defined(Z_MIN_PIN) && Z_MIN_PIN > -1
|
|
SET_INPUT(Z_MIN_PIN);
|
|
#ifdef ENDSTOPPULLUP_ZMIN
|
|
WRITE(Z_MIN_PIN,HIGH);
|
|
#endif
|
|
#endif
|
|
|
|
#if defined(X_MAX_PIN) && X_MAX_PIN > -1
|
|
SET_INPUT(X_MAX_PIN);
|
|
#ifdef ENDSTOPPULLUP_XMAX
|
|
WRITE(X_MAX_PIN,HIGH);
|
|
#endif
|
|
#endif
|
|
|
|
#if defined(Y_MAX_PIN) && Y_MAX_PIN > -1
|
|
SET_INPUT(Y_MAX_PIN);
|
|
#ifdef ENDSTOPPULLUP_YMAX
|
|
WRITE(Y_MAX_PIN,HIGH);
|
|
#endif
|
|
#endif
|
|
|
|
#if defined(Z_MAX_PIN) && Z_MAX_PIN > -1
|
|
SET_INPUT(Z_MAX_PIN);
|
|
#ifdef ENDSTOPPULLUP_ZMAX
|
|
WRITE(Z_MAX_PIN,HIGH);
|
|
#endif
|
|
#endif
|
|
|
|
|
|
//Initialize Step Pins
|
|
#if defined(X_STEP_PIN) && (X_STEP_PIN > -1)
|
|
SET_OUTPUT(X_STEP_PIN);
|
|
WRITE(X_STEP_PIN,INVERT_X_STEP_PIN);
|
|
disable_x();
|
|
#endif
|
|
#if defined(X2_STEP_PIN) && (X2_STEP_PIN > -1)
|
|
SET_OUTPUT(X2_STEP_PIN);
|
|
WRITE(X2_STEP_PIN,INVERT_X_STEP_PIN);
|
|
disable_x();
|
|
#endif
|
|
#if defined(Y_STEP_PIN) && (Y_STEP_PIN > -1)
|
|
SET_OUTPUT(Y_STEP_PIN);
|
|
WRITE(Y_STEP_PIN,INVERT_Y_STEP_PIN);
|
|
disable_y();
|
|
#endif
|
|
#if defined(Z_STEP_PIN) && (Z_STEP_PIN > -1)
|
|
SET_OUTPUT(Z_STEP_PIN);
|
|
WRITE(Z_STEP_PIN,INVERT_Z_STEP_PIN);
|
|
#if defined(Z_DUAL_STEPPER_DRIVERS) && defined(Z2_STEP_PIN) && (Z2_STEP_PIN > -1)
|
|
SET_OUTPUT(Z2_STEP_PIN);
|
|
WRITE(Z2_STEP_PIN,INVERT_Z_STEP_PIN);
|
|
#endif
|
|
disable_z();
|
|
#endif
|
|
#if defined(E0_STEP_PIN) && (E0_STEP_PIN > -1)
|
|
SET_OUTPUT(E0_STEP_PIN);
|
|
WRITE(E0_STEP_PIN,INVERT_E_STEP_PIN);
|
|
disable_e0();
|
|
#endif
|
|
#if defined(E1_STEP_PIN) && (E1_STEP_PIN > -1)
|
|
SET_OUTPUT(E1_STEP_PIN);
|
|
WRITE(E1_STEP_PIN,INVERT_E_STEP_PIN);
|
|
disable_e1();
|
|
#endif
|
|
#if defined(E2_STEP_PIN) && (E2_STEP_PIN > -1)
|
|
SET_OUTPUT(E2_STEP_PIN);
|
|
WRITE(E2_STEP_PIN,INVERT_E_STEP_PIN);
|
|
disable_e2();
|
|
#endif
|
|
|
|
// waveform generation = 0100 = CTC
|
|
TCCR1B &= ~(1<<WGM13);
|
|
TCCR1B |= (1<<WGM12);
|
|
TCCR1A &= ~(1<<WGM11);
|
|
TCCR1A &= ~(1<<WGM10);
|
|
|
|
// output mode = 00 (disconnected)
|
|
TCCR1A &= ~(3<<COM1A0);
|
|
TCCR1A &= ~(3<<COM1B0);
|
|
|
|
// Set the timer pre-scaler
|
|
// Generally we use a divider of 8, resulting in a 2MHz timer
|
|
// frequency on a 16MHz MCU. If you are going to change this, be
|
|
// sure to regenerate speed_lookuptable.h with
|
|
// create_speed_lookuptable.py
|
|
TCCR1B = (TCCR1B & ~(0x07<<CS10)) | (2<<CS10);
|
|
|
|
OCR1A = 0x4000;
|
|
TCNT1 = 0;
|
|
ENABLE_STEPPER_DRIVER_INTERRUPT();
|
|
|
|
#ifdef ADVANCE
|
|
#if defined(TCCR0A) && defined(WGM01)
|
|
TCCR0A &= ~(1<<WGM01);
|
|
TCCR0A &= ~(1<<WGM00);
|
|
#endif
|
|
e_steps[0] = 0;
|
|
e_steps[1] = 0;
|
|
e_steps[2] = 0;
|
|
TIMSK0 |= (1<<OCIE0A);
|
|
#endif //ADVANCE
|
|
|
|
enable_endstops(true); // Start with endstops active. After homing they can be disabled
|
|
sei();
|
|
}
|
|
|
|
|
|
// Block until all buffered steps are executed
|
|
void st_synchronize()
|
|
{
|
|
while( blocks_queued()) {
|
|
manage_heater();
|
|
manage_inactivity();
|
|
lcd_update();
|
|
}
|
|
}
|
|
|
|
void st_set_position(const long &x, const long &y, const long &z, const long &e)
|
|
{
|
|
CRITICAL_SECTION_START;
|
|
count_position[X_AXIS] = x;
|
|
count_position[Y_AXIS] = y;
|
|
count_position[Z_AXIS] = z;
|
|
count_position[E_AXIS] = e;
|
|
CRITICAL_SECTION_END;
|
|
}
|
|
|
|
void st_set_e_position(const long &e)
|
|
{
|
|
CRITICAL_SECTION_START;
|
|
count_position[E_AXIS] = e;
|
|
CRITICAL_SECTION_END;
|
|
}
|
|
|
|
long st_get_position(uint8_t axis)
|
|
{
|
|
long count_pos;
|
|
CRITICAL_SECTION_START;
|
|
count_pos = count_position[axis];
|
|
CRITICAL_SECTION_END;
|
|
return count_pos;
|
|
}
|
|
|
|
void finishAndDisableSteppers()
|
|
{
|
|
st_synchronize();
|
|
disable_x();
|
|
disable_y();
|
|
disable_z();
|
|
disable_e0();
|
|
disable_e1();
|
|
disable_e2();
|
|
}
|
|
|
|
void quickStop()
|
|
{
|
|
DISABLE_STEPPER_DRIVER_INTERRUPT();
|
|
while(blocks_queued())
|
|
plan_discard_current_block();
|
|
current_block = NULL;
|
|
ENABLE_STEPPER_DRIVER_INTERRUPT();
|
|
}
|
|
|
|
void digitalPotWrite(int address, int value) // From Arduino DigitalPotControl example
|
|
{
|
|
#if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
|
|
digitalWrite(DIGIPOTSS_PIN,LOW); // take the SS pin low to select the chip
|
|
SPI.transfer(address); // send in the address and value via SPI:
|
|
SPI.transfer(value);
|
|
digitalWrite(DIGIPOTSS_PIN,HIGH); // take the SS pin high to de-select the chip:
|
|
//delay(10);
|
|
#endif
|
|
}
|
|
|
|
void digipot_init() //Initialize Digipot Motor Current
|
|
{
|
|
#if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
|
|
const uint8_t digipot_motor_current[] = DIGIPOT_MOTOR_CURRENT;
|
|
|
|
SPI.begin();
|
|
pinMode(DIGIPOTSS_PIN, OUTPUT);
|
|
for(int i=0;i<=4;i++)
|
|
//digitalPotWrite(digipot_ch[i], digipot_motor_current[i]);
|
|
digipot_current(i,digipot_motor_current[i]);
|
|
#endif
|
|
}
|
|
|
|
void digipot_current(uint8_t driver, int current)
|
|
{
|
|
#if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
|
|
const uint8_t digipot_ch[] = DIGIPOT_CHANNELS;
|
|
digitalPotWrite(digipot_ch[driver], current);
|
|
#endif
|
|
}
|
|
|
|
void microstep_init()
|
|
{
|
|
#if defined(X_MS1_PIN) && X_MS1_PIN > -1
|
|
const uint8_t microstep_modes[] = MICROSTEP_MODES;
|
|
pinMode(X_MS2_PIN,OUTPUT);
|
|
pinMode(Y_MS2_PIN,OUTPUT);
|
|
pinMode(Z_MS2_PIN,OUTPUT);
|
|
pinMode(E0_MS2_PIN,OUTPUT);
|
|
pinMode(E1_MS2_PIN,OUTPUT);
|
|
for(int i=0;i<=4;i++) microstep_mode(i,microstep_modes[i]);
|
|
#endif
|
|
}
|
|
|
|
void microstep_ms(uint8_t driver, int8_t ms1, int8_t ms2)
|
|
{
|
|
if(ms1 > -1) switch(driver)
|
|
{
|
|
case 0: digitalWrite( X_MS1_PIN,ms1); break;
|
|
case 1: digitalWrite( Y_MS1_PIN,ms1); break;
|
|
case 2: digitalWrite( Z_MS1_PIN,ms1); break;
|
|
case 3: digitalWrite(E0_MS1_PIN,ms1); break;
|
|
case 4: digitalWrite(E1_MS1_PIN,ms1); break;
|
|
}
|
|
if(ms2 > -1) switch(driver)
|
|
{
|
|
case 0: digitalWrite( X_MS2_PIN,ms2); break;
|
|
case 1: digitalWrite( Y_MS2_PIN,ms2); break;
|
|
case 2: digitalWrite( Z_MS2_PIN,ms2); break;
|
|
case 3: digitalWrite(E0_MS2_PIN,ms2); break;
|
|
case 4: digitalWrite(E1_MS2_PIN,ms2); break;
|
|
}
|
|
}
|
|
|
|
void microstep_mode(uint8_t driver, uint8_t stepping_mode)
|
|
{
|
|
switch(stepping_mode)
|
|
{
|
|
case 1: microstep_ms(driver,MICROSTEP1); break;
|
|
case 2: microstep_ms(driver,MICROSTEP2); break;
|
|
case 4: microstep_ms(driver,MICROSTEP4); break;
|
|
case 8: microstep_ms(driver,MICROSTEP8); break;
|
|
case 16: microstep_ms(driver,MICROSTEP16); break;
|
|
}
|
|
}
|
|
|
|
void microstep_readings()
|
|
{
|
|
SERIAL_PROTOCOLPGM("MS1,MS2 Pins\n");
|
|
SERIAL_PROTOCOLPGM("X: ");
|
|
SERIAL_PROTOCOL( digitalRead(X_MS1_PIN));
|
|
SERIAL_PROTOCOLLN( digitalRead(X_MS2_PIN));
|
|
SERIAL_PROTOCOLPGM("Y: ");
|
|
SERIAL_PROTOCOL( digitalRead(Y_MS1_PIN));
|
|
SERIAL_PROTOCOLLN( digitalRead(Y_MS2_PIN));
|
|
SERIAL_PROTOCOLPGM("Z: ");
|
|
SERIAL_PROTOCOL( digitalRead(Z_MS1_PIN));
|
|
SERIAL_PROTOCOLLN( digitalRead(Z_MS2_PIN));
|
|
SERIAL_PROTOCOLPGM("E0: ");
|
|
SERIAL_PROTOCOL( digitalRead(E0_MS1_PIN));
|
|
SERIAL_PROTOCOLLN( digitalRead(E0_MS2_PIN));
|
|
SERIAL_PROTOCOLPGM("E1: ");
|
|
SERIAL_PROTOCOL( digitalRead(E1_MS1_PIN));
|
|
SERIAL_PROTOCOLLN( digitalRead(E1_MS2_PIN));
|
|
}
|
|
|