|
|
|
|
@ -342,34 +342,38 @@ FORCE_INLINE unsigned short calc_timer(unsigned short step_rate) {
|
|
|
|
|
return timer;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
// set the stepper direction of each axis
|
|
|
|
|
/**
|
|
|
|
|
* Set the stepper direction of each axis
|
|
|
|
|
*
|
|
|
|
|
* X_AXIS=A_AXIS and Y_AXIS=B_AXIS for COREXY
|
|
|
|
|
* X_AXIS=A_AXIS and Z_AXIS=C_AXIS for COREXZ
|
|
|
|
|
*/
|
|
|
|
|
void set_stepper_direction() {
|
|
|
|
|
|
|
|
|
|
// Set the direction bits (X_AXIS=A_AXIS and Y_AXIS=B_AXIS for COREXY)
|
|
|
|
|
if (TEST(out_bits, X_AXIS)) {
|
|
|
|
|
X_APPLY_DIR(INVERT_X_DIR,0);
|
|
|
|
|
|
|
|
|
|
if (TEST(out_bits, X_AXIS)) { // A_AXIS
|
|
|
|
|
X_APPLY_DIR(INVERT_X_DIR, 0);
|
|
|
|
|
count_direction[X_AXIS] = -1;
|
|
|
|
|
}
|
|
|
|
|
else {
|
|
|
|
|
X_APPLY_DIR(!INVERT_X_DIR,0);
|
|
|
|
|
X_APPLY_DIR(!INVERT_X_DIR, 0);
|
|
|
|
|
count_direction[X_AXIS] = 1;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
if (TEST(out_bits, Y_AXIS)) {
|
|
|
|
|
Y_APPLY_DIR(INVERT_Y_DIR,0);
|
|
|
|
|
if (TEST(out_bits, Y_AXIS)) { // B_AXIS
|
|
|
|
|
Y_APPLY_DIR(INVERT_Y_DIR, 0);
|
|
|
|
|
count_direction[Y_AXIS] = -1;
|
|
|
|
|
}
|
|
|
|
|
else {
|
|
|
|
|
Y_APPLY_DIR(!INVERT_Y_DIR,0);
|
|
|
|
|
Y_APPLY_DIR(!INVERT_Y_DIR, 0);
|
|
|
|
|
count_direction[Y_AXIS] = 1;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
if (TEST(out_bits, Z_AXIS)) {
|
|
|
|
|
Z_APPLY_DIR(INVERT_Z_DIR,0);
|
|
|
|
|
if (TEST(out_bits, Z_AXIS)) { // C_AXIS
|
|
|
|
|
Z_APPLY_DIR(INVERT_Z_DIR, 0);
|
|
|
|
|
count_direction[Z_AXIS] = -1;
|
|
|
|
|
}
|
|
|
|
|
else {
|
|
|
|
|
Z_APPLY_DIR(!INVERT_Z_DIR,0);
|
|
|
|
|
Z_APPLY_DIR(!INVERT_Z_DIR, 0);
|
|
|
|
|
count_direction[Z_AXIS] = 1;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
@ -503,6 +507,11 @@ ISR(TIMER1_COMPA_vect) {
|
|
|
|
|
// If DeltaX == -DeltaY, the movement is only in Y axis
|
|
|
|
|
if ((current_block->steps[A_AXIS] != current_block->steps[B_AXIS]) || (TEST(out_bits, A_AXIS) == TEST(out_bits, B_AXIS))) {
|
|
|
|
|
if (TEST(out_bits, X_HEAD))
|
|
|
|
|
#elif defined(COREXZ)
|
|
|
|
|
// Head direction in -X axis for CoreXZ bots.
|
|
|
|
|
// If DeltaX == -DeltaZ, the movement is only in Z axis
|
|
|
|
|
if ((current_block->steps[A_AXIS] != current_block->steps[C_AXIS]) || (TEST(out_bits, A_AXIS) == TEST(out_bits, C_AXIS))) {
|
|
|
|
|
if (TEST(out_bits, X_HEAD))
|
|
|
|
|
#else
|
|
|
|
|
if (TEST(out_bits, X_AXIS)) // stepping along -X axis (regular Cartesian bot)
|
|
|
|
|
#endif
|
|
|
|
|
@ -528,8 +537,11 @@ ISR(TIMER1_COMPA_vect) {
|
|
|
|
|
#endif
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
#ifdef COREXY
|
|
|
|
|
#if defined(COREXY) || defined(COREXZ)
|
|
|
|
|
}
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
#ifdef COREXY
|
|
|
|
|
// Head direction in -Y axis for CoreXY bots.
|
|
|
|
|
// If DeltaX == DeltaY, the movement is only in X axis
|
|
|
|
|
if ((current_block->steps[A_AXIS] != current_block->steps[B_AXIS]) || (TEST(out_bits, A_AXIS) != TEST(out_bits, B_AXIS))) {
|
|
|
|
|
@ -547,82 +559,91 @@ ISR(TIMER1_COMPA_vect) {
|
|
|
|
|
UPDATE_ENDSTOP(Y, MAX);
|
|
|
|
|
#endif
|
|
|
|
|
}
|
|
|
|
|
#ifdef COREXY
|
|
|
|
|
#if defined(COREXY) || defined(COREXZ)
|
|
|
|
|
}
|
|
|
|
|
#endif
|
|
|
|
|
if (TEST(out_bits, Z_AXIS)) { // z -direction
|
|
|
|
|
#if HAS_Z_MIN
|
|
|
|
|
|
|
|
|
|
#ifdef Z_DUAL_ENDSTOPS
|
|
|
|
|
SET_ENDSTOP_BIT(Z, MIN);
|
|
|
|
|
#if HAS_Z2_MIN
|
|
|
|
|
SET_ENDSTOP_BIT(Z2, MIN);
|
|
|
|
|
#else
|
|
|
|
|
COPY_BIT(current_endstop_bits, Z_MIN, Z2_MIN);
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
byte z_test = TEST_ENDSTOP(Z_MIN) << 0 + TEST_ENDSTOP(Z2_MIN) << 1; // bit 0 for Z, bit 1 for Z2
|
|
|
|
|
|
|
|
|
|
if (z_test && current_block->steps[Z_AXIS] > 0) { // z_test = Z_MIN || Z2_MIN
|
|
|
|
|
endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
|
|
|
|
|
endstop_hit_bits |= BIT(Z_MIN);
|
|
|
|
|
if (!performing_homing || (z_test == 0x3)) //if not performing home or if both endstops were trigged during homing...
|
|
|
|
|
step_events_completed = current_block->step_event_count;
|
|
|
|
|
}
|
|
|
|
|
#else // !Z_DUAL_ENDSTOPS
|
|
|
|
|
|
|
|
|
|
UPDATE_ENDSTOP(Z, MIN);
|
|
|
|
|
#endif // !Z_DUAL_ENDSTOPS
|
|
|
|
|
#endif // Z_MIN_PIN
|
|
|
|
|
|
|
|
|
|
#ifdef Z_PROBE_ENDSTOP
|
|
|
|
|
UPDATE_ENDSTOP(Z, PROBE);
|
|
|
|
|
|
|
|
|
|
if (TEST_ENDSTOP(Z_PROBE))
|
|
|
|
|
{
|
|
|
|
|
endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
|
|
|
|
|
endstop_hit_bits |= BIT(Z_PROBE);
|
|
|
|
|
|
|
|
|
|
#ifdef COREXZ
|
|
|
|
|
// Head direction in -Z axis for CoreXZ bots.
|
|
|
|
|
// If DeltaX == DeltaZ, the movement is only in X axis
|
|
|
|
|
if ((current_block->steps[A_AXIS] != current_block->steps[C_AXIS]) || (TEST(out_bits, A_AXIS) != TEST(out_bits, C_AXIS))) {
|
|
|
|
|
if (TEST(out_bits, Z_HEAD))
|
|
|
|
|
#else
|
|
|
|
|
if (TEST(out_bits, Z_AXIS))
|
|
|
|
|
#endif
|
|
|
|
|
{ // z -direction
|
|
|
|
|
#if HAS_Z_MIN
|
|
|
|
|
|
|
|
|
|
#ifdef Z_DUAL_ENDSTOPS
|
|
|
|
|
SET_ENDSTOP_BIT(Z, MIN);
|
|
|
|
|
#if HAS_Z2_MIN
|
|
|
|
|
SET_ENDSTOP_BIT(Z2, MIN);
|
|
|
|
|
#else
|
|
|
|
|
COPY_BIT(current_endstop_bits, Z_MIN, Z2_MIN);
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
byte z_test = TEST_ENDSTOP(Z_MIN) << 0 + TEST_ENDSTOP(Z2_MIN) << 1; // bit 0 for Z, bit 1 for Z2
|
|
|
|
|
|
|
|
|
|
if (z_test && current_block->steps[Z_AXIS] > 0) { // z_test = Z_MIN || Z2_MIN
|
|
|
|
|
endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
|
|
|
|
|
endstop_hit_bits |= BIT(Z_MIN);
|
|
|
|
|
if (!performing_homing || (z_test == 0x3)) //if not performing home or if both endstops were trigged during homing...
|
|
|
|
|
step_events_completed = current_block->step_event_count;
|
|
|
|
|
}
|
|
|
|
|
#else // !Z_DUAL_ENDSTOPS
|
|
|
|
|
|
|
|
|
|
UPDATE_ENDSTOP(Z, MIN);
|
|
|
|
|
#endif // !Z_DUAL_ENDSTOPS
|
|
|
|
|
#endif // Z_MIN_PIN
|
|
|
|
|
|
|
|
|
|
#ifdef Z_PROBE_ENDSTOP
|
|
|
|
|
UPDATE_ENDSTOP(Z, PROBE);
|
|
|
|
|
|
|
|
|
|
if (TEST_ENDSTOP(Z_PROBE))
|
|
|
|
|
{
|
|
|
|
|
endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
|
|
|
|
|
endstop_hit_bits |= BIT(Z_PROBE);
|
|
|
|
|
}
|
|
|
|
|
#endif
|
|
|
|
|
}
|
|
|
|
|
#endif
|
|
|
|
|
}
|
|
|
|
|
else { // z +direction
|
|
|
|
|
#if HAS_Z_MAX
|
|
|
|
|
|
|
|
|
|
#ifdef Z_DUAL_ENDSTOPS
|
|
|
|
|
|
|
|
|
|
SET_ENDSTOP_BIT(Z, MAX);
|
|
|
|
|
#if HAS_Z2_MAX
|
|
|
|
|
SET_ENDSTOP_BIT(Z2, MAX);
|
|
|
|
|
#else
|
|
|
|
|
COPY_BIT(current_endstop_bits, Z_MAX, Z2_MAX)
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
byte z_test = TEST_ENDSTOP(Z_MAX) << 0 + TEST_ENDSTOP(Z2_MAX) << 1; // bit 0 for Z, bit 1 for Z2
|
|
|
|
|
|
|
|
|
|
if (z_test && current_block->steps[Z_AXIS] > 0) { // t_test = Z_MAX || Z2_MAX
|
|
|
|
|
endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
|
|
|
|
|
endstop_hit_bits |= BIT(Z_MIN);
|
|
|
|
|
if (!performing_homing || (z_test == 0x3)) //if not performing home or if both endstops were trigged during homing...
|
|
|
|
|
step_events_completed = current_block->step_event_count;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
#else // !Z_DUAL_ENDSTOPS
|
|
|
|
|
|
|
|
|
|
UPDATE_ENDSTOP(Z, MAX);
|
|
|
|
|
|
|
|
|
|
#endif // !Z_DUAL_ENDSTOPS
|
|
|
|
|
#endif // Z_MAX_PIN
|
|
|
|
|
|
|
|
|
|
#ifdef Z_PROBE_ENDSTOP
|
|
|
|
|
UPDATE_ENDSTOP(Z, PROBE);
|
|
|
|
|
|
|
|
|
|
if (TEST_ENDSTOP(Z_PROBE))
|
|
|
|
|
{
|
|
|
|
|
endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
|
|
|
|
|
endstop_hit_bits |= BIT(Z_PROBE);
|
|
|
|
|
else { // z +direction
|
|
|
|
|
#if HAS_Z_MAX
|
|
|
|
|
|
|
|
|
|
#ifdef Z_DUAL_ENDSTOPS
|
|
|
|
|
|
|
|
|
|
SET_ENDSTOP_BIT(Z, MAX);
|
|
|
|
|
#if HAS_Z2_MAX
|
|
|
|
|
SET_ENDSTOP_BIT(Z2, MAX);
|
|
|
|
|
#else
|
|
|
|
|
COPY_BIT(current_endstop_bits, Z_MAX, Z2_MAX)
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
byte z_test = TEST_ENDSTOP(Z_MAX) << 0 + TEST_ENDSTOP(Z2_MAX) << 1; // bit 0 for Z, bit 1 for Z2
|
|
|
|
|
|
|
|
|
|
if (z_test && current_block->steps[Z_AXIS] > 0) { // t_test = Z_MAX || Z2_MAX
|
|
|
|
|
endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
|
|
|
|
|
endstop_hit_bits |= BIT(Z_MIN);
|
|
|
|
|
if (!performing_homing || (z_test == 0x3)) //if not performing home or if both endstops were trigged during homing...
|
|
|
|
|
step_events_completed = current_block->step_event_count;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
#else // !Z_DUAL_ENDSTOPS
|
|
|
|
|
|
|
|
|
|
UPDATE_ENDSTOP(Z, MAX);
|
|
|
|
|
|
|
|
|
|
#endif // !Z_DUAL_ENDSTOPS
|
|
|
|
|
#endif // Z_MAX_PIN
|
|
|
|
|
|
|
|
|
|
#ifdef Z_PROBE_ENDSTOP
|
|
|
|
|
UPDATE_ENDSTOP(Z, PROBE);
|
|
|
|
|
|
|
|
|
|
if (TEST_ENDSTOP(Z_PROBE))
|
|
|
|
|
{
|
|
|
|
|
endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
|
|
|
|
|
endstop_hit_bits |= BIT(Z_PROBE);
|
|
|
|
|
}
|
|
|
|
|
#endif
|
|
|
|
|
}
|
|
|
|
|
#endif
|
|
|
|
|
}
|
|
|
|
|
old_endstop_bits = current_endstop_bits;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
Richard Wackerbarth
10 years ago