Merge pull request #2103 from Wurstnase/rework_out_bits

rework out_bits

Marlin/stepper.cpp

@@ -46,7 +46,7 @@ block_t *current_block;  // A pointer to the block currently being traced
 //static makes it impossible to be called from outside of this file by extern.!
 
 // Variables used by The Stepper Driver Interrupt
-static unsigned char out_bits;        // The next stepping-bits to be output
+static unsigned char out_bits = 0;        // The next stepping-bits to be output
 static unsigned int cleaning_buffer_counter;
 
 #ifdef Z_DUAL_ENDSTOPS
@@ -364,9 +364,58 @@ FORCE_INLINE unsigned short calc_timer(unsigned short step_rate) {
   return timer;
 }
 
+// set the stepper direction of each axis
+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);
+    count_direction[X_AXIS] = -1;
+  }
+  else {
+    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);
+    count_direction[Y_AXIS] = -1;
+  }
+  else {
+    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);
+    count_direction[Z_AXIS] = -1;
+  }
+  else {
+    Z_APPLY_DIR(!INVERT_Z_DIR,0);
+    count_direction[Z_AXIS] = 1;
+  }
+  
+  #ifndef ADVANCE
+    if (TEST(out_bits, E_AXIS)) {
+      REV_E_DIR();
+      count_direction[E_AXIS] = -1;
+    }
+    else {
+      NORM_E_DIR();
+      count_direction[E_AXIS] = 1;
+    }
+  #endif //!ADVANCE
+}
+
 // Initializes the trapezoid generator from the current block. Called whenever a new
 // block begins.
 FORCE_INLINE void trapezoid_generator_reset() {
+
+  if (current_block->direction_bits != out_bits) {
+    out_bits = current_block->direction_bits;
+    set_stepper_direction();
+  }
+  
   #ifdef ADVANCE
     advance = current_block->initial_advance;
     final_advance = current_block->final_advance;
@@ -439,48 +488,27 @@ ISR(TIMER1_COMPA_vect) {
   }
 
   if (current_block != NULL) {
-    // Set directions TO DO This should be done once during init of trapezoid. Endstops -> interrupt
-    out_bits = current_block->direction_bits;
-
-    // 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);
-      count_direction[X_AXIS] = -1;
-    }
-    else {
-      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);
-      count_direction[Y_AXIS] = -1;
-    }
-    else {
-      Y_APPLY_DIR(!INVERT_Y_DIR,0);
-      count_direction[Y_AXIS] = 1;
-    }
-
-    #define _ENDSTOP(axis, minmax) axis ##_## minmax ##_endstop
-    #define _ENDSTOP_PIN(AXIS, MINMAX) AXIS ##_## MINMAX ##_PIN
-    #define _ENDSTOP_INVERTING(AXIS, MINMAX) AXIS ##_## MINMAX ##_ENDSTOP_INVERTING
-    #define _OLD_ENDSTOP(axis, minmax) old_## axis ##_## minmax ##_endstop
-    #define _AXIS(AXIS) AXIS ##_AXIS
-    #define _HIT_BIT(AXIS) AXIS ##_MIN
-    #define _ENDSTOP_HIT(AXIS) endstop_hit_bits |= BIT(_HIT_BIT(AXIS))
-
-    #define UPDATE_ENDSTOP(axis,AXIS,minmax,MINMAX) \
-      bool _ENDSTOP(axis, minmax) = (READ(_ENDSTOP_PIN(AXIS, MINMAX)) != _ENDSTOP_INVERTING(AXIS, MINMAX)); \
-      if (_ENDSTOP(axis, minmax) && _OLD_ENDSTOP(axis, minmax) && (current_block->steps[_AXIS(AXIS)] > 0)) { \
-        endstops_trigsteps[_AXIS(AXIS)] = count_position[_AXIS(AXIS)]; \
-          _ENDSTOP_HIT(AXIS); \
-        step_events_completed = current_block->step_event_count; \
-      } \
-      _OLD_ENDSTOP(axis, minmax) = _ENDSTOP(axis, minmax);
 
-
+    // Check endstops
-    // Check X and Y endstops
     if (check_endstops) {
+      
+      #define _ENDSTOP(axis, minmax) axis ##_## minmax ##_endstop
+      #define _ENDSTOP_PIN(AXIS, MINMAX) AXIS ##_## MINMAX ##_PIN
+      #define _ENDSTOP_INVERTING(AXIS, MINMAX) AXIS ##_## MINMAX ##_ENDSTOP_INVERTING
+      #define _OLD_ENDSTOP(axis, minmax) old_## axis ##_## minmax ##_endstop
+      #define _AXIS(AXIS) AXIS ##_AXIS
+      #define _HIT_BIT(AXIS) AXIS ##_MIN
+      #define _ENDSTOP_HIT(AXIS) endstop_hit_bits |= BIT(_HIT_BIT(AXIS))
+
+      #define UPDATE_ENDSTOP(axis,AXIS,minmax,MINMAX) \
+        bool _ENDSTOP(axis, minmax) = (READ(_ENDSTOP_PIN(AXIS, MINMAX)) != _ENDSTOP_INVERTING(AXIS, MINMAX)); \
+        if (_ENDSTOP(axis, minmax) && _OLD_ENDSTOP(axis, minmax) && (current_block->steps[_AXIS(AXIS)] > 0)) { \
+          endstops_trigsteps[_AXIS(AXIS)] = count_position[_AXIS(AXIS)]; \
+          _ENDSTOP_HIT(AXIS); \
+          step_events_completed = current_block->step_event_count; \
+        } \
+        _OLD_ENDSTOP(axis, minmax) = _ENDSTOP(axis, minmax);
+      
       #ifdef COREXY
         // Head direction in -X axis for CoreXY bots.
         // If DeltaX == -DeltaY, the movement is only in Y axis
@@ -533,15 +561,7 @@ ISR(TIMER1_COMPA_vect) {
       #ifdef COREXY
         }
       #endif
-    }
+      if (TEST(out_bits, Z_AXIS)) { // z -direction
-
-    if (TEST(out_bits, Z_AXIS)) {   // -direction
-
-      Z_APPLY_DIR(INVERT_Z_DIR,0);
-      count_direction[Z_AXIS] = -1;
-
-      if (check_endstops) {
-
         #if HAS_Z_MIN
 
           #ifdef Z_DUAL_ENDSTOPS
@@ -581,22 +601,12 @@ ISR(TIMER1_COMPA_vect) {
           {
             endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
             endstop_hit_bits |= BIT(Z_PROBE);
-
+  //        if (z_probe_endstop && old_z_probe_endstop) SERIAL_ECHOLN("z_probe_endstop = true");
-//            if (z_probe_endstop && old_z_probe_endstop) SERIAL_ECHOLN("z_probe_endstop = true");
           }
           old_z_probe_endstop = z_probe_endstop;
         #endif
-
+      }
-      } // check_endstops
+      else { // z +direction
-
-    }
-    else { // +direction
-
-      Z_APPLY_DIR(!INVERT_Z_DIR,0);
-      count_direction[Z_AXIS] = 1;
-
-      if (check_endstops) {
-
         #if HAS_Z_MAX
 
           #ifdef Z_DUAL_ENDSTOPS
@@ -632,7 +642,7 @@ ISR(TIMER1_COMPA_vect) {
           #endif // !Z_DUAL_ENDSTOPS
 
         #endif // Z_MAX_PIN
-
+        
         #ifdef Z_PROBE_ENDSTOP
           UPDATE_ENDSTOP(z, Z, probe, PROBE);
           z_probe_endstop=(READ(Z_PROBE_PIN) != Z_PROBE_ENDSTOP_INVERTING);
@@ -640,25 +650,15 @@ ISR(TIMER1_COMPA_vect) {
           {
             endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
             endstop_hit_bits |= BIT(Z_PROBE);
-//            if (z_probe_endstop && old_z_probe_endstop) SERIAL_ECHOLN("z_probe_endstop = true");
+//          if (z_probe_endstop && old_z_probe_endstop) SERIAL_ECHOLN("z_probe_endstop = true");
           }
           old_z_probe_endstop = z_probe_endstop;
         #endif
+      }
 
-      } // check_endstops
+    }
 
-    } // +direction
 
-    #ifndef ADVANCE
-      if (TEST(out_bits, E_AXIS)) {  // -direction
-        REV_E_DIR();
-        count_direction[E_AXIS] = -1;
-      }
-      else { // +direction
-        NORM_E_DIR();
-        count_direction[E_AXIS] = 1;
-      }
-    #endif //!ADVANCE
 
     // Take multiple steps per interrupt (For high speed moves)
     for (int8_t i = 0; i < step_loops; i++) {
@@ -989,12 +989,12 @@ void st_init() {
     #endif
   #endif
 
-#if (defined(Z_PROBE_PIN) && Z_PROBE_PIN >= 0) && defined(Z_PROBE_ENDSTOP) // Check for Z_PROBE_ENDSTOP so we don't pull a pin high unless it's to be used.
+  #if (defined(Z_PROBE_PIN) && Z_PROBE_PIN >= 0) && defined(Z_PROBE_ENDSTOP) // Check for Z_PROBE_ENDSTOP so we don't pull a pin high unless it's to be used.
-  SET_INPUT(Z_PROBE_PIN);
+    SET_INPUT(Z_PROBE_PIN);
-  #ifdef ENDSTOPPULLUP_ZPROBE
+    #ifdef ENDSTOPPULLUP_ZPROBE
-    WRITE(Z_PROBE_PIN,HIGH);
+      WRITE(Z_PROBE_PIN,HIGH);
+    #endif
   #endif
-#endif
 
   #define _STEP_INIT(AXIS) AXIS ##_STEP_INIT
   #define _WRITE_STEP(AXIS, HIGHLOW) AXIS ##_STEP_WRITE(HIGHLOW)
@@ -1073,6 +1073,8 @@ void st_init() {
 
   enable_endstops(true); // Start with endstops active. After homing they can be disabled
   sei();
+  
+  set_stepper_direction(); // Init directions to out_bits = 0
 }