Merge pull request #1168 from boelle/Marlin_v1

Adding Support for Toshiba Stepper Drivers

Marlin/Configuration_adv.h

@@ -219,9 +219,11 @@
 //#define QUICK_HOME  //if this is defined, if both x and y are to be homed, a diagonal move will be performed initially.
 
 #define AXIS_RELATIVE_MODES {false, false, false, false}
-
+#ifdef CONFIG_STEPPERS_TOSHIBA
+#define MAX_STEP_FREQUENCY 10000 // Max step frequency for Toshiba Stepper Controllers
+#else
 #define MAX_STEP_FREQUENCY 40000 // Max step frequency for Ultimaker (5000 pps / half step)
-
+#endif
 //By default pololu step drivers require an active high signal. However, some high power drivers require an active low signal as step.
 #define INVERT_X_STEP_PIN false
 #define INVERT_Y_STEP_PIN false

Marlin/stepper.cpp

@@ -559,6 +559,58 @@ ISR(TIMER1_COMPA_vect)
       #endif //ADVANCE
 
         counter_x += current_block->steps_x;
+        #ifdef CONFIG_STEPPERS_TOSHIBA
+	/* The toshiba stepper controller require much longer pulses
+	 * tjerfore we 'stage' decompose the pulses between high, and
+	 * low instead of doing each in turn. The extra tests add enough
+	 * lag to allow it work with without needing NOPs */ 
+      if (counter_x > 0) {
+        WRITE(X_STEP_PIN, HIGH);
+      }
+
+      counter_y += current_block->steps_y;
+      if (counter_y > 0) {
+        WRITE(Y_STEP_PIN, HIGH);
+      }
+
+      counter_z += current_block->steps_z;
+      if (counter_z > 0) {
+        WRITE(Z_STEP_PIN, HIGH);
+      }
+
+      #ifndef ADVANCE
+        counter_e += current_block->steps_e;
+        if (counter_e > 0) {
+          WRITE_E_STEP(HIGH);
+        }
+      #endif //!ADVANCE
+
+      if (counter_x > 0) {
+        counter_x -= current_block->step_event_count;
+        count_position[X_AXIS]+=count_direction[X_AXIS];   
+        WRITE(X_STEP_PIN, LOW);
+      }
+
+      if (counter_y > 0) {
+        counter_y -= current_block->step_event_count;
+        count_position[Y_AXIS]+=count_direction[Y_AXIS];
+        WRITE(Y_STEP_PIN, LOW);
+      }
+
+      if (counter_z > 0) {
+        counter_z -= current_block->step_event_count;
+        count_position[Z_AXIS]+=count_direction[Z_AXIS];
+        WRITE(Z_STEP_PIN, LOW);
+      }
+
+      #ifndef ADVANCE
+        if (counter_e > 0) {
+          counter_e -= current_block->step_event_count;
+          count_position[E_AXIS]+=count_direction[E_AXIS];
+          WRITE_E_STEP(LOW);
+        }
+      #endif //!ADVANCE
+#else
         if (counter_x > 0) {
         #ifdef DUAL_X_CARRIAGE
           if (extruder_duplication_enabled){
@@ -635,6 +687,7 @@ ISR(TIMER1_COMPA_vect)
           WRITE_E_STEP(INVERT_E_STEP_PIN);
         }
       #endif //!ADVANCE
+      #endif
       step_events_completed += 1;
       if(step_events_completed >= current_block->step_event_count) break;
     }