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@ -242,8 +242,8 @@ volatile signed char count_direction[NUM_AXIS] = { 1 };
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// Some useful constants
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#define ENABLE_STEPPER_DRIVER_INTERRUPT() TIMSK1 |= BIT(OCIE1A)
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#define DISABLE_STEPPER_DRIVER_INTERRUPT() TIMSK1 &= ~BIT(OCIE1A)
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#define ENABLE_STEPPER_DRIVER_INTERRUPT() SBI(TIMSK1, OCIE1A)
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#define DISABLE_STEPPER_DRIVER_INTERRUPT() CBI(TIMSK1, OCIE1A)
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void endstops_hit_on_purpose() {
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endstop_hit_bits = 0;
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@ -253,20 +253,20 @@ void checkHitEndstops() {
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if (endstop_hit_bits) {
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SERIAL_ECHO_START;
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SERIAL_ECHOPGM(MSG_ENDSTOPS_HIT);
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if (endstop_hit_bits & BIT(X_MIN)) {
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if (TEST(endstop_hit_bits, X_MIN)) {
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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_hit_bits & BIT(Y_MIN)) {
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if (TEST(endstop_hit_bits, Y_MIN)) {
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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_hit_bits & BIT(Z_MIN)) {
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if (TEST(endstop_hit_bits, Z_MIN)) {
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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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#if ENABLED(Z_MIN_PROBE_ENDSTOP)
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if (endstop_hit_bits & BIT(Z_MIN_PROBE)) {
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if (TEST(endstop_hit_bits, Z_MIN_PROBE)) {
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SERIAL_ECHOPAIR(" Z_MIN_PROBE:", (float)endstops_trigsteps[Z_AXIS] / axis_steps_per_unit[Z_AXIS]);
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LCD_MESSAGEPGM(MSG_ENDSTOPS_HIT "ZP");
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}
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@ -309,7 +309,7 @@ inline void update_endstops() {
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#define _ENDSTOP_PIN(AXIS, MINMAX) AXIS ##_## MINMAX ##_PIN
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#define _ENDSTOP_INVERTING(AXIS, MINMAX) AXIS ##_## MINMAX ##_ENDSTOP_INVERTING
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#define _AXIS(AXIS) AXIS ##_AXIS
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#define _ENDSTOP_HIT(AXIS) endstop_hit_bits |= BIT(_ENDSTOP(AXIS, MIN))
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#define _ENDSTOP_HIT(AXIS) SBI(endstop_hit_bits, _ENDSTOP(AXIS, MIN))
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#define _ENDSTOP(AXIS, MINMAX) AXIS ##_## MINMAX
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// SET_ENDSTOP_BIT: set the current endstop bits for an endstop to its status
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@ -424,7 +424,7 @@ inline void update_endstops() {
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if (z_test && current_block->steps[Z_AXIS] > 0) { // z_test = Z_MIN || Z2_MIN
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endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
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endstop_hit_bits |= BIT(Z_MIN);
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SBI(endstop_hit_bits, Z_MIN);
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if (!performing_homing || (z_test == 0x3)) //if not performing home or if both endstops were trigged during homing...
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step_events_completed = current_block->step_event_count;
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}
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@ -440,7 +440,7 @@ inline void update_endstops() {
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if (TEST_ENDSTOP(Z_MIN_PROBE)) {
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endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
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endstop_hit_bits |= BIT(Z_MIN_PROBE);
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SBI(endstop_hit_bits, Z_MIN_PROBE);
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}
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#endif
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}
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@ -460,7 +460,7 @@ inline void update_endstops() {
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if (z_test && current_block->steps[Z_AXIS] > 0) { // t_test = Z_MAX || Z2_MAX
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endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
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endstop_hit_bits |= BIT(Z_MIN);
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SBI(endstop_hit_bits, Z_MIN);
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if (!performing_homing || (z_test == 0x3)) //if not performing home or if both endstops were trigged during homing...
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step_events_completed = current_block->step_event_count;
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}
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@ -963,7 +963,7 @@ void st_init() {
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WRITE(Z_MIN_PIN,HIGH);
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#endif
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#endif
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#if HAS_Z2_MIN
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SET_INPUT(Z2_MIN_PIN);
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#if ENABLED(ENDSTOPPULLUP_ZMIN)
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@ -1052,10 +1052,10 @@ void st_init() {
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#endif
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// waveform generation = 0100 = CTC
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TCCR1B &= ~BIT(WGM13);
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TCCR1B |= BIT(WGM12);
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TCCR1A &= ~BIT(WGM11);
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TCCR1A &= ~BIT(WGM10);
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CBI(TCCR1B, WGM13);
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SBI(TCCR1B, WGM12);
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CBI(TCCR1A, WGM11);
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CBI(TCCR1A, WGM10);
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// output mode = 00 (disconnected)
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TCCR1A &= ~(3 << COM1A0);
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@ -1073,11 +1073,11 @@ void st_init() {
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#if ENABLED(ADVANCE)
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#if defined(TCCR0A) && defined(WGM01)
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TCCR0A &= ~BIT(WGM01);
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TCCR0A &= ~BIT(WGM00);
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CBI(TCCR0A, WGM01);
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CBI(TCCR0A, WGM00);
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#endif
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e_steps[0] = e_steps[1] = e_steps[2] = e_steps[3] = 0;
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TIMSK0 |= BIT(OCIE0A);
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SBI(TIMSK0, OCIE0A);
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#endif //ADVANCE
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enable_endstops(true); // Start with endstops active. After homing they can be disabled
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Scott Lahteine
9 years ago