|
|
|
@ -199,7 +199,7 @@ class Stepper {
|
|
|
|
|
// SCARA AB axes are in degrees, not mm
|
|
|
|
|
//
|
|
|
|
|
#if IS_SCARA
|
|
|
|
|
static FORCE_INLINE float get_axis_position_degrees(AxisEnum axis) { return get_axis_position_mm(axis); }
|
|
|
|
|
FORCE_INLINE static float get_axis_position_degrees(AxisEnum axis) { return get_axis_position_mm(axis); }
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
//
|
|
|
|
@ -221,7 +221,7 @@ class Stepper {
|
|
|
|
|
//
|
|
|
|
|
// The direction of a single motor
|
|
|
|
|
//
|
|
|
|
|
static FORCE_INLINE bool motor_direction(AxisEnum axis) { return TEST(last_direction_bits, axis); }
|
|
|
|
|
FORCE_INLINE static bool motor_direction(AxisEnum axis) { return TEST(last_direction_bits, axis); }
|
|
|
|
|
|
|
|
|
|
#if HAS_DIGIPOTSS || HAS_MOTOR_CURRENT_PWM
|
|
|
|
|
static void digitalPotWrite(const int16_t address, const int16_t value);
|
|
|
|
@ -235,21 +235,21 @@ class Stepper {
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
#if ENABLED(X_DUAL_ENDSTOPS)
|
|
|
|
|
static FORCE_INLINE void set_homing_flag_x(const bool state) { performing_homing = state; }
|
|
|
|
|
static FORCE_INLINE void set_x_lock(const bool state) { locked_x_motor = state; }
|
|
|
|
|
static FORCE_INLINE void set_x2_lock(const bool state) { locked_x2_motor = state; }
|
|
|
|
|
FORCE_INLINE static void set_homing_flag_x(const bool state) { performing_homing = state; }
|
|
|
|
|
FORCE_INLINE static void set_x_lock(const bool state) { locked_x_motor = state; }
|
|
|
|
|
FORCE_INLINE static void set_x2_lock(const bool state) { locked_x2_motor = state; }
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
#if ENABLED(Y_DUAL_ENDSTOPS)
|
|
|
|
|
static FORCE_INLINE void set_homing_flag_y(const bool state) { performing_homing = state; }
|
|
|
|
|
static FORCE_INLINE void set_y_lock(const bool state) { locked_y_motor = state; }
|
|
|
|
|
static FORCE_INLINE void set_y2_lock(const bool state) { locked_y2_motor = state; }
|
|
|
|
|
FORCE_INLINE static void set_homing_flag_y(const bool state) { performing_homing = state; }
|
|
|
|
|
FORCE_INLINE static void set_y_lock(const bool state) { locked_y_motor = state; }
|
|
|
|
|
FORCE_INLINE static void set_y2_lock(const bool state) { locked_y2_motor = state; }
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
#if ENABLED(Z_DUAL_ENDSTOPS)
|
|
|
|
|
static FORCE_INLINE void set_homing_flag_z(const bool state) { performing_homing = state; }
|
|
|
|
|
static FORCE_INLINE void set_z_lock(const bool state) { locked_z_motor = state; }
|
|
|
|
|
static FORCE_INLINE void set_z2_lock(const bool state) { locked_z2_motor = state; }
|
|
|
|
|
FORCE_INLINE static void set_homing_flag_z(const bool state) { performing_homing = state; }
|
|
|
|
|
FORCE_INLINE static void set_z_lock(const bool state) { locked_z_motor = state; }
|
|
|
|
|
FORCE_INLINE static void set_z2_lock(const bool state) { locked_z2_motor = state; }
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
#if ENABLED(BABYSTEPPING)
|
|
|
|
@ -268,7 +268,7 @@ class Stepper {
|
|
|
|
|
//
|
|
|
|
|
// Triggered position of an axis in mm (not core-savvy)
|
|
|
|
|
//
|
|
|
|
|
static FORCE_INLINE float triggered_position_mm(AxisEnum axis) {
|
|
|
|
|
FORCE_INLINE static float triggered_position_mm(AxisEnum axis) {
|
|
|
|
|
return endstops_trigsteps[axis] * planner.steps_to_mm[axis];
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
@ -278,7 +278,7 @@ class Stepper {
|
|
|
|
|
|
|
|
|
|
private:
|
|
|
|
|
|
|
|
|
|
static FORCE_INLINE hal_timer_t calc_timer(hal_timer_t step_rate) {
|
|
|
|
|
FORCE_INLINE static hal_timer_t calc_timer(hal_timer_t step_rate) {
|
|
|
|
|
hal_timer_t timer;
|
|
|
|
|
|
|
|
|
|
NOMORE(step_rate, MAX_STEP_FREQUENCY);
|
|
|
|
@ -347,7 +347,7 @@ class Stepper {
|
|
|
|
|
|
|
|
|
|
// Initialize the trapezoid generator from the current block.
|
|
|
|
|
// Called whenever a new block begins.
|
|
|
|
|
static FORCE_INLINE void trapezoid_generator_reset() {
|
|
|
|
|
FORCE_INLINE static void trapezoid_generator_reset() {
|
|
|
|
|
|
|
|
|
|
static int8_t last_extruder = -1;
|
|
|
|
|
|
|
|
|
|