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-
-
-
-
-
-
- #include "Marlin.h"
- #include "stepper.h"
- #include "endstops.h"
- #include "planner.h"
- #include "temperature.h"
- #include "ultralcd.h"
- #include "language.h"
- #include "cardreader.h"
- #include "speed_lookuptable.h"
-
- #if ENABLED(AUTO_BED_LEVELING_UBL) && ENABLED(ULTIPANEL)
- #include "ubl.h"
- #endif
-
- #if HAS_DIGIPOTSS
- #include <SPI.h>
- #endif
-
- Stepper stepper;
-
-
-
- block_t* Stepper::current_block = NULL;
-
- #if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
- bool Stepper::abort_on_endstop_hit = false;
- #endif
-
- #if ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || ENABLED(Z_DUAL_ENDSTOPS)
- bool Stepper::performing_homing = false;
- #endif
-
- #if HAS_MOTOR_CURRENT_PWM
- uint32_t Stepper::motor_current_setting[3];
- #endif
-
-
-
- uint8_t Stepper::last_direction_bits = 0;
- uint16_t Stepper::cleaning_buffer_counter = 0;
-
- #if ENABLED(X_DUAL_ENDSTOPS)
- bool Stepper::locked_x_motor = false, Stepper::locked_x2_motor = false;
- #endif
- #if ENABLED(Y_DUAL_ENDSTOPS)
- bool Stepper::locked_y_motor = false, Stepper::locked_y2_motor = false;
- #endif
- #if ENABLED(Z_DUAL_ENDSTOPS)
- bool Stepper::locked_z_motor = false, Stepper::locked_z2_motor = false;
- #endif
-
- long Stepper::counter_X = 0,
- Stepper::counter_Y = 0,
- Stepper::counter_Z = 0,
- Stepper::counter_E = 0;
-
- volatile uint32_t Stepper::step_events_completed = 0;
-
- #if ENABLED(LIN_ADVANCE)
-
- constexpr uint16_t ADV_NEVER = 65535;
-
- uint16_t Stepper::nextMainISR = 0,
- Stepper::nextAdvanceISR = ADV_NEVER,
- Stepper::eISR_Rate = ADV_NEVER;
-
- volatile int Stepper::e_steps[E_STEPPERS];
- int Stepper::final_estep_rate,
- Stepper::current_estep_rate[E_STEPPERS],
- Stepper::current_adv_steps[E_STEPPERS];
-
-
-
- FORCE_INLINE uint16_t adv_rate(const int steps, const uint16_t timer, const uint8_t loops) {
- if (steps) {
- const uint16_t rate = (timer * loops) / abs(steps);
-
- return rate ? rate : 1;
- }
- return ADV_NEVER;
- }
-
- #endif
-
- long Stepper::acceleration_time, Stepper::deceleration_time;
-
- volatile long Stepper::count_position[NUM_AXIS] = { 0 };
- volatile signed char Stepper::count_direction[NUM_AXIS] = { 1, 1, 1, 1 };
-
- #if ENABLED(MIXING_EXTRUDER)
- long Stepper::counter_m[MIXING_STEPPERS];
- #endif
-
- unsigned short Stepper::acc_step_rate;
- uint8_t Stepper::step_loops, Stepper::step_loops_nominal;
- unsigned short Stepper::OCR1A_nominal;
-
- volatile long Stepper::endstops_trigsteps[XYZ];
-
- #if ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || ENABLED(Z_DUAL_ENDSTOPS)
- #define LOCKED_X_MOTOR locked_x_motor
- #define LOCKED_Y_MOTOR locked_y_motor
- #define LOCKED_Z_MOTOR locked_z_motor
- #define LOCKED_X2_MOTOR locked_x2_motor
- #define LOCKED_Y2_MOTOR locked_y2_motor
- #define LOCKED_Z2_MOTOR locked_z2_motor
- #define DUAL_ENDSTOP_APPLY_STEP(AXIS,v) \
- if (performing_homing) { \
- if (AXIS##_HOME_DIR < 0) { \
- if (!(TEST(endstops.old_endstop_bits, AXIS##_MIN) && (count_direction[AXIS##_AXIS] < 0)) && !LOCKED_##AXIS##_MOTOR) AXIS##_STEP_WRITE(v); \
- if (!(TEST(endstops.old_endstop_bits, AXIS##2_MIN) && (count_direction[AXIS##_AXIS] < 0)) && !LOCKED_##AXIS##2_MOTOR) AXIS##2_STEP_WRITE(v); \
- } \
- else { \
- if (!(TEST(endstops.old_endstop_bits, AXIS##_MAX) && (count_direction[AXIS##_AXIS] > 0)) && !LOCKED_##AXIS##_MOTOR) AXIS##_STEP_WRITE(v); \
- if (!(TEST(endstops.old_endstop_bits, AXIS##2_MAX) && (count_direction[AXIS##_AXIS] > 0)) && !LOCKED_##AXIS##2_MOTOR) AXIS##2_STEP_WRITE(v); \
- } \
- } \
- else { \
- AXIS##_STEP_WRITE(v); \
- AXIS##2_STEP_WRITE(v); \
- }
- #endif
-
- #if ENABLED(X_DUAL_STEPPER_DRIVERS)
- #define X_APPLY_DIR(v,Q) do{ X_DIR_WRITE(v); X2_DIR_WRITE((v) != INVERT_X2_VS_X_DIR); }while(0)
- #if ENABLED(DUAL_X_CARRIAGE)
- #define X_APPLY_DIR(v,ALWAYS) \
- if (extruder_duplication_enabled || ALWAYS) { \
- X_DIR_WRITE(v); \
- X2_DIR_WRITE(v); \
- } \
- else { \
- if (current_block->active_extruder) X2_DIR_WRITE(v); else X_DIR_WRITE(v); \
- }
- #define X_APPLY_STEP(v,ALWAYS) \
- if (extruder_duplication_enabled || ALWAYS) { \
- X_STEP_WRITE(v); \
- X2_STEP_WRITE(v); \
- } \
- else { \
- if (current_block->active_extruder) X2_STEP_WRITE(v); else X_STEP_WRITE(v); \
- }
- #elif ENABLED(X_DUAL_ENDSTOPS)
- #define X_APPLY_STEP(v,Q) DUAL_ENDSTOP_APPLY_STEP(X,v)
- #else
- #define X_APPLY_STEP(v,Q) do{ X_STEP_WRITE(v); X2_STEP_WRITE(v); }while(0)
- #endif
- #else
- #define X_APPLY_DIR(v,Q) X_DIR_WRITE(v)
- #define X_APPLY_STEP(v,Q) X_STEP_WRITE(v)
- #endif
-
- #if ENABLED(Y_DUAL_STEPPER_DRIVERS)
- #define Y_APPLY_DIR(v,Q) do{ Y_DIR_WRITE(v); Y2_DIR_WRITE((v) != INVERT_Y2_VS_Y_DIR); }while(0)
- #if ENABLED(Y_DUAL_ENDSTOPS)
- #define Y_APPLY_STEP(v,Q) DUAL_ENDSTOP_APPLY_STEP(Y,v)
- #else
- #define Y_APPLY_STEP(v,Q) do{ Y_STEP_WRITE(v); Y2_STEP_WRITE(v); }while(0)
- #endif
- #else
- #define Y_APPLY_DIR(v,Q) Y_DIR_WRITE(v)
- #define Y_APPLY_STEP(v,Q) Y_STEP_WRITE(v)
- #endif
-
- #if ENABLED(Z_DUAL_STEPPER_DRIVERS)
- #define Z_APPLY_DIR(v,Q) do{ Z_DIR_WRITE(v); Z2_DIR_WRITE(v); }while(0)
- #if ENABLED(Z_DUAL_ENDSTOPS)
- #define Z_APPLY_STEP(v,Q) DUAL_ENDSTOP_APPLY_STEP(Z,v)
- #else
- #define Z_APPLY_STEP(v,Q) do{ Z_STEP_WRITE(v); Z2_STEP_WRITE(v); }while(0)
- #endif
- #else
- #define Z_APPLY_DIR(v,Q) Z_DIR_WRITE(v)
- #define Z_APPLY_STEP(v,Q) Z_STEP_WRITE(v)
- #endif
-
- #if DISABLED(MIXING_EXTRUDER)
- #define E_APPLY_STEP(v,Q) E_STEP_WRITE(v)
- #endif
-
-
-
-
-
-
-
-
-
-
-
- #define MultiU24X32toH16(intRes, longIn1, longIn2) \
- asm volatile ( \
- "clr r26 \n\t" \
- "mul %A1, %B2 \n\t" \
- "mov r27, r1 \n\t" \
- "mul %B1, %C2 \n\t" \
- "movw %A0, r0 \n\t" \
- "mul %C1, %C2 \n\t" \
- "add %B0, r0 \n\t" \
- "mul %C1, %B2 \n\t" \
- "add %A0, r0 \n\t" \
- "adc %B0, r1 \n\t" \
- "mul %A1, %C2 \n\t" \
- "add r27, r0 \n\t" \
- "adc %A0, r1 \n\t" \
- "adc %B0, r26 \n\t" \
- "mul %B1, %B2 \n\t" \
- "add r27, r0 \n\t" \
- "adc %A0, r1 \n\t" \
- "adc %B0, r26 \n\t" \
- "mul %C1, %A2 \n\t" \
- "add r27, r0 \n\t" \
- "adc %A0, r1 \n\t" \
- "adc %B0, r26 \n\t" \
- "mul %B1, %A2 \n\t" \
- "add r27, r1 \n\t" \
- "adc %A0, r26 \n\t" \
- "adc %B0, r26 \n\t" \
- "lsr r27 \n\t" \
- "adc %A0, r26 \n\t" \
- "adc %B0, r26 \n\t" \
- "mul %D2, %A1 \n\t" \
- "add %A0, r0 \n\t" \
- "adc %B0, r1 \n\t" \
- "mul %D2, %B1 \n\t" \
- "add %B0, r0 \n\t" \
- "clr r1 \n\t" \
- : \
- "=&r" (intRes) \
- : \
- "d" (longIn1), \
- "d" (longIn2) \
- : \
- "r26" , "r27" \
- )
-
-
-
- #define ENABLE_STEPPER_DRIVER_INTERRUPT() SBI(TIMSK1, OCIE1A)
- #define DISABLE_STEPPER_DRIVER_INTERRUPT() CBI(TIMSK1, OCIE1A)
-
-
- void Stepper::wake_up() {
-
- ENABLE_STEPPER_DRIVER_INTERRUPT();
- }
-
-
- void Stepper::set_directions() {
-
- #define SET_STEP_DIR(AXIS) \
- if (motor_direction(AXIS ##_AXIS)) { \
- AXIS ##_APPLY_DIR(INVERT_## AXIS ##_DIR, false); \
- count_direction[AXIS ##_AXIS] = -1; \
- } \
- else { \
- AXIS ##_APPLY_DIR(!INVERT_## AXIS ##_DIR, false); \
- count_direction[AXIS ##_AXIS] = 1; \
- }
-
- #if HAS_X_DIR
- SET_STEP_DIR(X);
- #endif
- #if HAS_Y_DIR
- SET_STEP_DIR(Y);
- #endif
- #if HAS_Z_DIR
- SET_STEP_DIR(Z);
- #endif
-
- #if DISABLED(LIN_ADVANCE)
- if (motor_direction(E_AXIS)) {
- REV_E_DIR();
- count_direction[E_AXIS] = -1;
- }
- else {
- NORM_E_DIR();
- count_direction[E_AXIS] = 1;
- }
- #endif
- }
-
- #if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
- extern volatile uint8_t e_hit;
- #endif
-
-
- ISR(TIMER1_COMPA_vect) {
- #if ENABLED(LIN_ADVANCE)
- Stepper::advance_isr_scheduler();
- #else
- Stepper::isr();
- #endif
- }
-
- #define _ENABLE_ISRs() do { cli(); if (thermalManager.in_temp_isr) CBI(TIMSK0, OCIE0B); else SBI(TIMSK0, OCIE0B); ENABLE_STEPPER_DRIVER_INTERRUPT(); } while(0)
-
- void Stepper::isr() {
-
- uint16_t ocr_val;
-
- #define ENDSTOP_NOMINAL_OCR_VAL 3000
- #define OCR_VAL_TOLERANCE 1000
-
- #if DISABLED(LIN_ADVANCE)
-
- CBI(TIMSK0, OCIE0B);
- DISABLE_STEPPER_DRIVER_INTERRUPT();
- sei();
- #endif
-
- #define _SPLIT(L) (ocr_val = (uint16_t)L)
- #if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
- #define SPLIT(L) _SPLIT(L)
- #else
- static uint32_t step_remaining = 0;
- #define SPLIT(L) do { \
- _SPLIT(L); \
- if (ENDSTOPS_ENABLED && L > ENDSTOP_NOMINAL_OCR_VAL) { \
- const uint16_t remainder = (uint16_t)L % (ENDSTOP_NOMINAL_OCR_VAL); \
- ocr_val = (remainder < OCR_VAL_TOLERANCE) ? ENDSTOP_NOMINAL_OCR_VAL + remainder : ENDSTOP_NOMINAL_OCR_VAL; \
- step_remaining = (uint16_t)L - ocr_val; \
- } \
- }while(0)
-
- if (step_remaining && ENDSTOPS_ENABLED) {
- endstops.update();
- if (step_remaining > ENDSTOP_NOMINAL_OCR_VAL) {
- step_remaining -= ENDSTOP_NOMINAL_OCR_VAL;
- ocr_val = ENDSTOP_NOMINAL_OCR_VAL;
- }
- else {
- ocr_val = step_remaining;
- step_remaining = 0;
- }
-
- _NEXT_ISR(ocr_val);
-
- NOLESS(OCR1A, TCNT1 + 16);
-
- _ENABLE_ISRs();
- return;
- }
- #endif
-
- if (cleaning_buffer_counter) {
- --cleaning_buffer_counter;
- current_block = NULL;
- planner.discard_current_block();
- #ifdef SD_FINISHED_RELEASECOMMAND
- if (!cleaning_buffer_counter && (SD_FINISHED_STEPPERRELEASE)) enqueue_and_echo_commands_P(PSTR(SD_FINISHED_RELEASECOMMAND));
- #endif
- _NEXT_ISR(200);
- _ENABLE_ISRs();
- return;
- }
-
-
- if (!current_block) {
-
- current_block = planner.get_current_block();
- if (current_block) {
- trapezoid_generator_reset();
-
-
- counter_X = counter_Y = counter_Z = counter_E = -(current_block->step_event_count >> 1);
-
- #if ENABLED(MIXING_EXTRUDER)
- MIXING_STEPPERS_LOOP(i)
- counter_m[i] = -(current_block->mix_event_count[i] >> 1);
- #endif
-
- step_events_completed = 0;
-
- #if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
- e_hit = 2;
-
- #endif
-
- #if ENABLED(Z_LATE_ENABLE)
- if (current_block->steps[Z_AXIS] > 0) {
- enable_Z();
- _NEXT_ISR(2000);
- _ENABLE_ISRs();
- return;
- }
- #endif
- }
- else {
- _NEXT_ISR(2000);
- _ENABLE_ISRs();
- return;
- }
- }
-
-
- #if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
- if (e_hit && ENDSTOPS_ENABLED) {
- endstops.update();
- e_hit--;
- }
- #else
- if (ENDSTOPS_ENABLED) endstops.update();
- #endif
-
-
- bool all_steps_done = false;
- for (uint8_t i = step_loops; i--;) {
- #if ENABLED(LIN_ADVANCE)
-
- counter_E += current_block->steps[E_AXIS];
- if (counter_E > 0) {
- counter_E -= current_block->step_event_count;
- #if DISABLED(MIXING_EXTRUDER)
-
- count_position[E_AXIS] += count_direction[E_AXIS];
- motor_direction(E_AXIS) ? --e_steps[TOOL_E_INDEX] : ++e_steps[TOOL_E_INDEX];
- #endif
- }
-
- #if ENABLED(MIXING_EXTRUDER)
-
- const bool dir = motor_direction(E_AXIS);
- MIXING_STEPPERS_LOOP(j) {
- counter_m[j] += current_block->steps[E_AXIS];
- if (counter_m[j] > 0) {
- counter_m[j] -= current_block->mix_event_count[j];
- dir ? --e_steps[j] : ++e_steps[j];
- }
- }
- #endif
-
- #endif
-
- #define _COUNTER(AXIS) counter_## AXIS
- #define _APPLY_STEP(AXIS) AXIS ##_APPLY_STEP
- #define _INVERT_STEP_PIN(AXIS) INVERT_## AXIS ##_STEP_PIN
-
-
- #define PULSE_START(AXIS) \
- _COUNTER(AXIS) += current_block->steps[_AXIS(AXIS)]; \
- if (_COUNTER(AXIS) > 0) { _APPLY_STEP(AXIS)(!_INVERT_STEP_PIN(AXIS),0); }
-
-
- #define PULSE_STOP(AXIS) \
- if (_COUNTER(AXIS) > 0) { \
- _COUNTER(AXIS) -= current_block->step_event_count; \
- count_position[_AXIS(AXIS)] += count_direction[_AXIS(AXIS)]; \
- _APPLY_STEP(AXIS)(_INVERT_STEP_PIN(AXIS),0); \
- }
-
-
-
- #if HAS_X_STEP
- #define _CYCLE_APPROX_1 5
- #else
- #define _CYCLE_APPROX_1 0
- #endif
- #if ENABLED(X_DUAL_STEPPER_DRIVERS)
- #define _CYCLE_APPROX_2 _CYCLE_APPROX_1 + 4
- #else
- #define _CYCLE_APPROX_2 _CYCLE_APPROX_1
- #endif
- #if HAS_Y_STEP
- #define _CYCLE_APPROX_3 _CYCLE_APPROX_2 + 5
- #else
- #define _CYCLE_APPROX_3 _CYCLE_APPROX_2
- #endif
- #if ENABLED(Y_DUAL_STEPPER_DRIVERS)
- #define _CYCLE_APPROX_4 _CYCLE_APPROX_3 + 4
- #else
- #define _CYCLE_APPROX_4 _CYCLE_APPROX_3
- #endif
- #if HAS_Z_STEP
- #define _CYCLE_APPROX_5 _CYCLE_APPROX_4 + 5
- #else
- #define _CYCLE_APPROX_5 _CYCLE_APPROX_4
- #endif
- #if ENABLED(Z_DUAL_STEPPER_DRIVERS)
- #define _CYCLE_APPROX_6 _CYCLE_APPROX_5 + 4
- #else
- #define _CYCLE_APPROX_6 _CYCLE_APPROX_5
- #endif
- #if DISABLED(LIN_ADVANCE)
- #if ENABLED(MIXING_EXTRUDER)
- #define _CYCLE_APPROX_7 _CYCLE_APPROX_6 + (MIXING_STEPPERS) * 6
- #else
- #define _CYCLE_APPROX_7 _CYCLE_APPROX_6 + 5
- #endif
- #else
- #define _CYCLE_APPROX_7 _CYCLE_APPROX_6
- #endif
-
- #define CYCLES_EATEN_XYZE _CYCLE_APPROX_7
- #define EXTRA_CYCLES_XYZE (STEP_PULSE_CYCLES - (CYCLES_EATEN_XYZE))
-
-
-
- #if EXTRA_CYCLES_XYZE > 20
- uint32_t pulse_start = TCNT0;
- #endif
-
- #if HAS_X_STEP
- PULSE_START(X);
- #endif
- #if HAS_Y_STEP
- PULSE_START(Y);
- #endif
- #if HAS_Z_STEP
- PULSE_START(Z);
- #endif
-
-
- #if DISABLED(LIN_ADVANCE)
- #if ENABLED(MIXING_EXTRUDER)
-
- counter_E += current_block->steps[E_AXIS];
-
- MIXING_STEPPERS_LOOP(j) {
-
- counter_m[j] += current_block->steps[E_AXIS];
-
- if (counter_m[j] > 0) En_STEP_WRITE(j, !INVERT_E_STEP_PIN);
- }
- #else
- PULSE_START(E);
- #endif
- #endif
-
-
- #if EXTRA_CYCLES_XYZE > 20
- while (EXTRA_CYCLES_XYZE > (uint32_t)(TCNT0 - pulse_start) * (INT0_PRESCALER)) { }
- pulse_start = TCNT0;
- #elif EXTRA_CYCLES_XYZE > 0
- DELAY_NOPS(EXTRA_CYCLES_XYZE);
- #endif
-
- #if HAS_X_STEP
- PULSE_STOP(X);
- #endif
- #if HAS_Y_STEP
- PULSE_STOP(Y);
- #endif
- #if HAS_Z_STEP
- PULSE_STOP(Z);
- #endif
-
- #if DISABLED(LIN_ADVANCE)
- #if ENABLED(MIXING_EXTRUDER)
-
- if (counter_E > 0) {
- counter_E -= current_block->step_event_count;
- count_position[E_AXIS] += count_direction[E_AXIS];
- }
- MIXING_STEPPERS_LOOP(j) {
- if (counter_m[j] > 0) {
- counter_m[j] -= current_block->mix_event_count[j];
- En_STEP_WRITE(j, INVERT_E_STEP_PIN);
- }
- }
- #else
- PULSE_STOP(E);
- #endif
- #endif
-
- if (++step_events_completed >= current_block->step_event_count) {
- all_steps_done = true;
- break;
- }
-
-
- #if EXTRA_CYCLES_XYZE > 20
- if (i) while (EXTRA_CYCLES_XYZE > (uint32_t)(TCNT0 - pulse_start) * (INT0_PRESCALER)) { }
- #elif EXTRA_CYCLES_XYZE > 0
- if (i) DELAY_NOPS(EXTRA_CYCLES_XYZE);
- #endif
-
- }
-
- #if ENABLED(LIN_ADVANCE)
-
- if (current_block->use_advance_lead) {
- const int delta_adv_steps = current_estep_rate[TOOL_E_INDEX] - current_adv_steps[TOOL_E_INDEX];
- current_adv_steps[TOOL_E_INDEX] += delta_adv_steps;
- #if ENABLED(MIXING_EXTRUDER)
-
- MIXING_STEPPERS_LOOP(j)
- e_steps[j] += delta_adv_steps * current_block->step_event_count / current_block->mix_event_count[j];
- #else
-
- e_steps[TOOL_E_INDEX] += delta_adv_steps;
- #endif
- }
-
- if (e_steps[TOOL_E_INDEX]) nextAdvanceISR = 0;
-
- #endif
-
-
- if (step_events_completed <= (uint32_t)current_block->accelerate_until) {
-
- MultiU24X32toH16(acc_step_rate, acceleration_time, current_block->acceleration_rate);
- acc_step_rate += current_block->initial_rate;
-
-
- NOMORE(acc_step_rate, current_block->nominal_rate);
-
-
- const uint16_t timer = calc_timer(acc_step_rate);
-
- SPLIT(timer);
- _NEXT_ISR(ocr_val);
-
- acceleration_time += timer;
-
- #if ENABLED(LIN_ADVANCE)
-
- if (current_block->use_advance_lead) {
- #if ENABLED(MIXING_EXTRUDER)
- MIXING_STEPPERS_LOOP(j)
- current_estep_rate[j] = ((uint32_t)acc_step_rate * current_block->abs_adv_steps_multiplier8 * current_block->step_event_count / current_block->mix_event_count[j]) >> 17;
- #else
- current_estep_rate[TOOL_E_INDEX] = ((uint32_t)acc_step_rate * current_block->abs_adv_steps_multiplier8) >> 17;
- #endif
- }
- eISR_Rate = adv_rate(e_steps[TOOL_E_INDEX], timer, step_loops);
-
- #endif
- }
- else if (step_events_completed > (uint32_t)current_block->decelerate_after) {
- uint16_t step_rate;
- MultiU24X32toH16(step_rate, deceleration_time, current_block->acceleration_rate);
-
- if (step_rate < acc_step_rate) {
- step_rate = acc_step_rate - step_rate;
- NOLESS(step_rate, current_block->final_rate);
- }
- else
- step_rate = current_block->final_rate;
-
-
- const uint16_t timer = calc_timer(step_rate);
-
- SPLIT(timer);
- _NEXT_ISR(ocr_val);
-
- deceleration_time += timer;
-
- #if ENABLED(LIN_ADVANCE)
-
- if (current_block->use_advance_lead) {
- #if ENABLED(MIXING_EXTRUDER)
- MIXING_STEPPERS_LOOP(j)
- current_estep_rate[j] = ((uint32_t)step_rate * current_block->abs_adv_steps_multiplier8 * current_block->step_event_count / current_block->mix_event_count[j]) >> 17;
- #else
- current_estep_rate[TOOL_E_INDEX] = ((uint32_t)step_rate * current_block->abs_adv_steps_multiplier8) >> 17;
- #endif
- }
- eISR_Rate = adv_rate(e_steps[TOOL_E_INDEX], timer, step_loops);
-
- #endif
- }
- else {
-
- #if ENABLED(LIN_ADVANCE)
-
- if (current_block->use_advance_lead)
- current_estep_rate[TOOL_E_INDEX] = final_estep_rate;
-
- eISR_Rate = adv_rate(e_steps[TOOL_E_INDEX], OCR1A_nominal, step_loops_nominal);
-
- #endif
-
- SPLIT(OCR1A_nominal);
- _NEXT_ISR(ocr_val);
-
-
- step_loops = step_loops_nominal;
- }
-
- #if DISABLED(LIN_ADVANCE)
- NOLESS(OCR1A, TCNT1 + 16);
- #endif
-
-
- if (all_steps_done) {
- current_block = NULL;
- planner.discard_current_block();
- }
- #if DISABLED(LIN_ADVANCE)
- _ENABLE_ISRs();
- #endif
- }
-
- #if ENABLED(LIN_ADVANCE)
-
- #define CYCLES_EATEN_E (E_STEPPERS * 5)
- #define EXTRA_CYCLES_E (STEP_PULSE_CYCLES - (CYCLES_EATEN_E))
-
-
-
- void Stepper::advance_isr() {
-
- nextAdvanceISR = eISR_Rate;
-
- #if ENABLED(MK2_MULTIPLEXER)
-
- #define SET_E_STEP_DIR(INDEX) \
- if (e_steps[INDEX]) E## INDEX ##_DIR_WRITE(e_steps[INDEX] < 0 ? !INVERT_E## INDEX ##_DIR ^ TEST(INDEX, 0) : INVERT_E## INDEX ##_DIR ^ TEST(INDEX, 0))
- #else
- #define SET_E_STEP_DIR(INDEX) \
- if (e_steps[INDEX]) E## INDEX ##_DIR_WRITE(e_steps[INDEX] < 0 ? INVERT_E## INDEX ##_DIR : !INVERT_E## INDEX ##_DIR)
- #endif
-
- #define START_E_PULSE(INDEX) \
- if (e_steps[INDEX]) E## INDEX ##_STEP_WRITE(!INVERT_E_STEP_PIN)
-
- #define STOP_E_PULSE(INDEX) \
- if (e_steps[INDEX]) { \
- e_steps[INDEX] < 0 ? ++e_steps[INDEX] : --e_steps[INDEX]; \
- E## INDEX ##_STEP_WRITE(INVERT_E_STEP_PIN); \
- }
-
- SET_E_STEP_DIR(0);
- #if E_STEPPERS > 1
- SET_E_STEP_DIR(1);
- #if E_STEPPERS > 2
- SET_E_STEP_DIR(2);
- #if E_STEPPERS > 3
- SET_E_STEP_DIR(3);
- #if E_STEPPERS > 4
- SET_E_STEP_DIR(4);
- #endif
- #endif
- #endif
- #endif
-
-
- for (uint8_t i = step_loops; i--;) {
-
- #if EXTRA_CYCLES_E > 20
- uint32_t pulse_start = TCNT0;
- #endif
-
- START_E_PULSE(0);
- #if E_STEPPERS > 1
- START_E_PULSE(1);
- #if E_STEPPERS > 2
- START_E_PULSE(2);
- #if E_STEPPERS > 3
- START_E_PULSE(3);
- #if E_STEPPERS > 4
- START_E_PULSE(4);
- #endif
- #endif
- #endif
- #endif
-
-
- #if EXTRA_CYCLES_E > 20
- while (EXTRA_CYCLES_E > (uint32_t)(TCNT0 - pulse_start) * (INT0_PRESCALER)) { }
- pulse_start = TCNT0;
- #elif EXTRA_CYCLES_E > 0
- DELAY_NOPS(EXTRA_CYCLES_E);
- #endif
-
- STOP_E_PULSE(0);
- #if E_STEPPERS > 1
- STOP_E_PULSE(1);
- #if E_STEPPERS > 2
- STOP_E_PULSE(2);
- #if E_STEPPERS > 3
- STOP_E_PULSE(3);
- #if E_STEPPERS > 4
- STOP_E_PULSE(4);
- #endif
- #endif
- #endif
- #endif
-
-
- #if EXTRA_CYCLES_E > 20
- if (i) while (EXTRA_CYCLES_E > (uint32_t)(TCNT0 - pulse_start) * (INT0_PRESCALER)) { }
- #elif EXTRA_CYCLES_E > 0
- if (i) DELAY_NOPS(EXTRA_CYCLES_E);
- #endif
-
- }
- }
-
- void Stepper::advance_isr_scheduler() {
-
- CBI(TIMSK0, OCIE0B);
- DISABLE_STEPPER_DRIVER_INTERRUPT();
- sei();
-
-
- if (!nextMainISR) isr();
-
-
- if (!nextAdvanceISR) advance_isr();
-
-
- if (nextAdvanceISR <= nextMainISR) {
-
- OCR1A = nextAdvanceISR;
-
- if (nextMainISR) nextMainISR -= nextAdvanceISR;
-
- nextAdvanceISR = 0;
- }
- else {
-
- OCR1A = nextMainISR;
-
- if (nextAdvanceISR && nextAdvanceISR != ADV_NEVER)
- nextAdvanceISR -= nextMainISR;
-
- nextMainISR = 0;
- }
-
-
- NOLESS(OCR1A, TCNT1 + 16);
-
-
- _ENABLE_ISRs();
- }
-
- #endif
-
- void Stepper::init() {
-
-
- #if HAS_DIGIPOTSS || HAS_MOTOR_CURRENT_PWM
- digipot_init();
- #endif
-
-
- #if HAS_MICROSTEPS
- microstep_init();
- #endif
-
-
- #if ENABLED(HAVE_TMCDRIVER)
- tmc_init();
- #endif
-
-
- #if ENABLED(HAVE_TMC2130)
- tmc2130_init();
- #endif
-
-
- #if ENABLED(HAVE_L6470DRIVER)
- L6470_init();
- #endif
-
-
- #if HAS_X_DIR
- X_DIR_INIT;
- #endif
- #if HAS_X2_DIR
- X2_DIR_INIT;
- #endif
- #if HAS_Y_DIR
- Y_DIR_INIT;
- #if ENABLED(Y_DUAL_STEPPER_DRIVERS) && HAS_Y2_DIR
- Y2_DIR_INIT;
- #endif
- #endif
- #if HAS_Z_DIR
- Z_DIR_INIT;
- #if ENABLED(Z_DUAL_STEPPER_DRIVERS) && HAS_Z2_DIR
- Z2_DIR_INIT;
- #endif
- #endif
- #if HAS_E0_DIR
- E0_DIR_INIT;
- #endif
- #if HAS_E1_DIR
- E1_DIR_INIT;
- #endif
- #if HAS_E2_DIR
- E2_DIR_INIT;
- #endif
- #if HAS_E3_DIR
- E3_DIR_INIT;
- #endif
- #if HAS_E4_DIR
- E4_DIR_INIT;
- #endif
-
-
- #if HAS_X_ENABLE
- X_ENABLE_INIT;
- if (!X_ENABLE_ON) X_ENABLE_WRITE(HIGH);
- #if ENABLED(DUAL_X_CARRIAGE) && HAS_X2_ENABLE
- X2_ENABLE_INIT;
- if (!X_ENABLE_ON) X2_ENABLE_WRITE(HIGH);
- #endif
- #endif
- #if HAS_Y_ENABLE
- Y_ENABLE_INIT;
- if (!Y_ENABLE_ON) Y_ENABLE_WRITE(HIGH);
- #if ENABLED(Y_DUAL_STEPPER_DRIVERS) && HAS_Y2_ENABLE
- Y2_ENABLE_INIT;
- if (!Y_ENABLE_ON) Y2_ENABLE_WRITE(HIGH);
- #endif
- #endif
- #if HAS_Z_ENABLE
- Z_ENABLE_INIT;
- if (!Z_ENABLE_ON) Z_ENABLE_WRITE(HIGH);
- #if ENABLED(Z_DUAL_STEPPER_DRIVERS) && HAS_Z2_ENABLE
- Z2_ENABLE_INIT;
- if (!Z_ENABLE_ON) Z2_ENABLE_WRITE(HIGH);
- #endif
- #endif
- #if HAS_E0_ENABLE
- E0_ENABLE_INIT;
- if (!E_ENABLE_ON) E0_ENABLE_WRITE(HIGH);
- #endif
- #if HAS_E1_ENABLE
- E1_ENABLE_INIT;
- if (!E_ENABLE_ON) E1_ENABLE_WRITE(HIGH);
- #endif
- #if HAS_E2_ENABLE
- E2_ENABLE_INIT;
- if (!E_ENABLE_ON) E2_ENABLE_WRITE(HIGH);
- #endif
- #if HAS_E3_ENABLE
- E3_ENABLE_INIT;
- if (!E_ENABLE_ON) E3_ENABLE_WRITE(HIGH);
- #endif
- #if HAS_E4_ENABLE
- E4_ENABLE_INIT;
- if (!E_ENABLE_ON) E4_ENABLE_WRITE(HIGH);
- #endif
-
-
- endstops.init();
-
- #define _STEP_INIT(AXIS) AXIS ##_STEP_INIT
- #define _WRITE_STEP(AXIS, HIGHLOW) AXIS ##_STEP_WRITE(HIGHLOW)
- #define _DISABLE(AXIS) disable_## AXIS()
-
- #define AXIS_INIT(AXIS, PIN) \
- _STEP_INIT(AXIS); \
- _WRITE_STEP(AXIS, _INVERT_STEP_PIN(PIN)); \
- _DISABLE(AXIS)
-
- #define E_AXIS_INIT(NUM) AXIS_INIT(E## NUM, E)
-
-
- #if HAS_X_STEP
- #if ENABLED(X_DUAL_STEPPER_DRIVERS) || ENABLED(DUAL_X_CARRIAGE)
- X2_STEP_INIT;
- X2_STEP_WRITE(INVERT_X_STEP_PIN);
- #endif
- AXIS_INIT(X, X);
- #endif
-
- #if HAS_Y_STEP
- #if ENABLED(Y_DUAL_STEPPER_DRIVERS)
- Y2_STEP_INIT;
- Y2_STEP_WRITE(INVERT_Y_STEP_PIN);
- #endif
- AXIS_INIT(Y, Y);
- #endif
-
- #if HAS_Z_STEP
- #if ENABLED(Z_DUAL_STEPPER_DRIVERS)
- Z2_STEP_INIT;
- Z2_STEP_WRITE(INVERT_Z_STEP_PIN);
- #endif
- AXIS_INIT(Z, Z);
- #endif
-
- #if HAS_E0_STEP
- E_AXIS_INIT(0);
- #endif
- #if HAS_E1_STEP
- E_AXIS_INIT(1);
- #endif
- #if HAS_E2_STEP
- E_AXIS_INIT(2);
- #endif
- #if HAS_E3_STEP
- E_AXIS_INIT(3);
- #endif
- #if HAS_E4_STEP
- E_AXIS_INIT(4);
- #endif
-
-
- SET_WGM(1, CTC_OCRnA);
-
-
- SET_COMA(1, NORMAL);
-
-
-
-
-
-
- SET_CS(1, PRESCALER_8);
-
-
- OCR1A = 0x4000;
- TCNT1 = 0;
- ENABLE_STEPPER_DRIVER_INTERRUPT();
-
- #if ENABLED(LIN_ADVANCE)
- for (uint8_t i = 0; i < COUNT(e_steps); i++) e_steps[i] = 0;
- ZERO(current_adv_steps);
- #endif
-
- endstops.enable(true);
- sei();
-
- set_directions();
- }
-
-
-
- void Stepper::synchronize() { while (planner.blocks_queued()) idle(); }
-
-
- void Stepper::set_position(const long &a, const long &b, const long &c, const long &e) {
-
- synchronize();
-
- CRITICAL_SECTION_START;
-
- #if CORE_IS_XY
-
-
- count_position[A_AXIS] = a + b;
- count_position[B_AXIS] = CORESIGN(a - b);
- count_position[Z_AXIS] = c;
- #elif CORE_IS_XZ
-
- count_position[A_AXIS] = a + c;
- count_position[Y_AXIS] = b;
- count_position[C_AXIS] = CORESIGN(a - c);
- #elif CORE_IS_YZ
-
- count_position[X_AXIS] = a;
- count_position[B_AXIS] = b + c;
- count_position[C_AXIS] = CORESIGN(b - c);
- #else
-
- count_position[X_AXIS] = a;
- count_position[Y_AXIS] = b;
- count_position[Z_AXIS] = c;
- #endif
-
- count_position[E_AXIS] = e;
- CRITICAL_SECTION_END;
- }
-
- void Stepper::set_position(const AxisEnum &axis, const long &v) {
- CRITICAL_SECTION_START;
- count_position[axis] = v;
- CRITICAL_SECTION_END;
- }
-
- void Stepper::set_e_position(const long &e) {
- CRITICAL_SECTION_START;
- count_position[E_AXIS] = e;
- CRITICAL_SECTION_END;
- }
-
-
- long Stepper::position(AxisEnum axis) {
- CRITICAL_SECTION_START;
- const long count_pos = count_position[axis];
- CRITICAL_SECTION_END;
- return count_pos;
- }
-
-
- float Stepper::get_axis_position_mm(AxisEnum axis) {
- float axis_steps;
- #if IS_CORE
-
- if (axis == CORE_AXIS_1 || axis == CORE_AXIS_2) {
- CRITICAL_SECTION_START;
-
-
- axis_steps = 0.5f * (
- axis == CORE_AXIS_2 ? CORESIGN(count_position[CORE_AXIS_1] - count_position[CORE_AXIS_2])
- : count_position[CORE_AXIS_1] + count_position[CORE_AXIS_2]
- );
- CRITICAL_SECTION_END;
- }
- else
- axis_steps = position(axis);
- #else
- axis_steps = position(axis);
- #endif
- return axis_steps * planner.steps_to_mm[axis];
- }
-
- void Stepper::finish_and_disable() {
- synchronize();
- disable_all_steppers();
- }
-
- void Stepper::quick_stop() {
- #if ENABLED(AUTO_BED_LEVELING_UBL) && ENABLED(ULTIPANEL)
- if (!ubl.lcd_map_control)
- cleaning_buffer_counter = 5000;
- #else
- cleaning_buffer_counter = 5000;
- #endif
- DISABLE_STEPPER_DRIVER_INTERRUPT();
- while (planner.blocks_queued()) planner.discard_current_block();
- current_block = NULL;
- ENABLE_STEPPER_DRIVER_INTERRUPT();
- #if ENABLED(ULTRA_LCD)
- planner.clear_block_buffer_runtime();
- #endif
- }
-
- void Stepper::endstop_triggered(AxisEnum axis) {
-
- #if IS_CORE
-
- endstops_trigsteps[axis] = 0.5f * (
- axis == CORE_AXIS_2 ? CORESIGN(count_position[CORE_AXIS_1] - count_position[CORE_AXIS_2])
- : count_position[CORE_AXIS_1] + count_position[CORE_AXIS_2]
- );
-
- #else
-
- endstops_trigsteps[axis] = count_position[axis];
-
- #endif
-
- kill_current_block();
- }
-
- void Stepper::report_positions() {
- CRITICAL_SECTION_START;
- const long xpos = count_position[X_AXIS],
- ypos = count_position[Y_AXIS],
- zpos = count_position[Z_AXIS];
- CRITICAL_SECTION_END;
-
- #if CORE_IS_XY || CORE_IS_XZ || IS_SCARA
- SERIAL_PROTOCOLPGM(MSG_COUNT_A);
- #else
- SERIAL_PROTOCOLPGM(MSG_COUNT_X);
- #endif
- SERIAL_PROTOCOL(xpos);
-
- #if CORE_IS_XY || CORE_IS_YZ || IS_SCARA
- SERIAL_PROTOCOLPGM(" B:");
- #else
- SERIAL_PROTOCOLPGM(" Y:");
- #endif
- SERIAL_PROTOCOL(ypos);
-
- #if CORE_IS_XZ || CORE_IS_YZ
- SERIAL_PROTOCOLPGM(" C:");
- #else
- SERIAL_PROTOCOLPGM(" Z:");
- #endif
- SERIAL_PROTOCOL(zpos);
-
- SERIAL_EOL();
- }
-
- #if ENABLED(BABYSTEPPING)
-
- #if ENABLED(DELTA)
- #define CYCLES_EATEN_BABYSTEP (2 * 15)
- #else
- #define CYCLES_EATEN_BABYSTEP 0
- #endif
- #define EXTRA_CYCLES_BABYSTEP (STEP_PULSE_CYCLES - (CYCLES_EATEN_BABYSTEP))
-
- #define _ENABLE(AXIS) enable_## AXIS()
- #define _READ_DIR(AXIS) AXIS ##_DIR_READ
- #define _INVERT_DIR(AXIS) INVERT_## AXIS ##_DIR
- #define _APPLY_DIR(AXIS, INVERT) AXIS ##_APPLY_DIR(INVERT, true)
-
- #if EXTRA_CYCLES_BABYSTEP > 20
- #define _SAVE_START const uint32_t pulse_start = TCNT0
- #define _PULSE_WAIT while (EXTRA_CYCLES_BABYSTEP > (uint32_t)(TCNT0 - pulse_start) * (INT0_PRESCALER)) { }
- #else
- #define _SAVE_START NOOP
- #if EXTRA_CYCLES_BABYSTEP > 0
- #define _PULSE_WAIT DELAY_NOPS(EXTRA_CYCLES_BABYSTEP)
- #elif STEP_PULSE_CYCLES > 0
- #define _PULSE_WAIT NOOP
- #elif ENABLED(DELTA)
- #define _PULSE_WAIT delayMicroseconds(2);
- #else
- #define _PULSE_WAIT delayMicroseconds(4);
- #endif
- #endif
-
- #define BABYSTEP_AXIS(AXIS, INVERT) { \
- const uint8_t old_dir = _READ_DIR(AXIS); \
- _ENABLE(AXIS); \
- _SAVE_START; \
- _APPLY_DIR(AXIS, _INVERT_DIR(AXIS)^direction^INVERT); \
- _APPLY_STEP(AXIS)(!_INVERT_STEP_PIN(AXIS), true); \
- _PULSE_WAIT; \
- _APPLY_STEP(AXIS)(_INVERT_STEP_PIN(AXIS), true); \
- _APPLY_DIR(AXIS, old_dir); \
- }
-
-
-
- void Stepper::babystep(const AxisEnum axis, const bool direction) {
- cli();
-
- switch (axis) {
-
- #if ENABLED(BABYSTEP_XY)
-
- case X_AXIS:
- BABYSTEP_AXIS(X, false);
- break;
-
- case Y_AXIS:
- BABYSTEP_AXIS(Y, false);
- break;
-
- #endif
-
- case Z_AXIS: {
-
- #if DISABLED(DELTA)
-
- BABYSTEP_AXIS(Z, BABYSTEP_INVERT_Z);
-
- #else
-
- const bool z_direction = direction ^ BABYSTEP_INVERT_Z;
-
- enable_X();
- enable_Y();
- enable_Z();
-
- const uint8_t old_x_dir_pin = X_DIR_READ,
- old_y_dir_pin = Y_DIR_READ,
- old_z_dir_pin = Z_DIR_READ;
-
- X_DIR_WRITE(INVERT_X_DIR ^ z_direction);
- Y_DIR_WRITE(INVERT_Y_DIR ^ z_direction);
- Z_DIR_WRITE(INVERT_Z_DIR ^ z_direction);
-
- _SAVE_START;
-
- X_STEP_WRITE(!INVERT_X_STEP_PIN);
- Y_STEP_WRITE(!INVERT_Y_STEP_PIN);
- Z_STEP_WRITE(!INVERT_Z_STEP_PIN);
-
- _PULSE_WAIT;
-
- X_STEP_WRITE(INVERT_X_STEP_PIN);
- Y_STEP_WRITE(INVERT_Y_STEP_PIN);
- Z_STEP_WRITE(INVERT_Z_STEP_PIN);
-
-
- X_DIR_WRITE(old_x_dir_pin);
- Y_DIR_WRITE(old_y_dir_pin);
- Z_DIR_WRITE(old_z_dir_pin);
-
- #endif
-
- } break;
-
- default: break;
- }
- sei();
- }
-
- #endif
-
-
-
- #if HAS_DIGIPOTSS
-
-
- void Stepper::digitalPotWrite(const int16_t address, const int16_t value) {
- WRITE(DIGIPOTSS_PIN, LOW);
- SPI.transfer(address);
- SPI.transfer(value);
- WRITE(DIGIPOTSS_PIN, HIGH);
-
- }
-
- #endif
-
- #if HAS_MOTOR_CURRENT_PWM
-
- void Stepper::refresh_motor_power() {
- for (uint8_t i = 0; i < COUNT(motor_current_setting); ++i) {
- switch (i) {
- #if PIN_EXISTS(MOTOR_CURRENT_PWM_XY)
- case 0:
- #endif
- #if PIN_EXISTS(MOTOR_CURRENT_PWM_Z)
- case 1:
- #endif
- #if PIN_EXISTS(MOTOR_CURRENT_PWM_E)
- case 2:
- #endif
- digipot_current(i, motor_current_setting[i]);
- default: break;
- }
- }
- }
-
- #endif
-
- #if HAS_DIGIPOTSS || HAS_MOTOR_CURRENT_PWM
-
- void Stepper::digipot_current(const uint8_t driver, const int current) {
-
- #if HAS_DIGIPOTSS
-
- const uint8_t digipot_ch[] = DIGIPOT_CHANNELS;
- digitalPotWrite(digipot_ch[driver], current);
-
- #elif HAS_MOTOR_CURRENT_PWM
-
- if (WITHIN(driver, 0, 2))
- motor_current_setting[driver] = current;
-
- #define _WRITE_CURRENT_PWM(P) analogWrite(MOTOR_CURRENT_PWM_## P ##_PIN, 255L * current / (MOTOR_CURRENT_PWM_RANGE))
- switch (driver) {
- #if PIN_EXISTS(MOTOR_CURRENT_PWM_XY)
- case 0: _WRITE_CURRENT_PWM(XY); break;
- #endif
- #if PIN_EXISTS(MOTOR_CURRENT_PWM_Z)
- case 1: _WRITE_CURRENT_PWM(Z); break;
- #endif
- #if PIN_EXISTS(MOTOR_CURRENT_PWM_E)
- case 2: _WRITE_CURRENT_PWM(E); break;
- #endif
- }
- #endif
- }
-
- void Stepper::digipot_init() {
-
- #if HAS_DIGIPOTSS
-
- static const uint8_t digipot_motor_current[] = DIGIPOT_MOTOR_CURRENT;
-
- SPI.begin();
- SET_OUTPUT(DIGIPOTSS_PIN);
-
- for (uint8_t i = 0; i < COUNT(digipot_motor_current); i++) {
-
- digipot_current(i, digipot_motor_current[i]);
- }
-
- #elif HAS_MOTOR_CURRENT_PWM
-
- #if PIN_EXISTS(MOTOR_CURRENT_PWM_XY)
- SET_OUTPUT(MOTOR_CURRENT_PWM_XY_PIN);
- #endif
- #if PIN_EXISTS(MOTOR_CURRENT_PWM_Z)
- SET_OUTPUT(MOTOR_CURRENT_PWM_Z_PIN);
- #endif
- #if PIN_EXISTS(MOTOR_CURRENT_PWM_E)
- SET_OUTPUT(MOTOR_CURRENT_PWM_E_PIN);
- #endif
-
- refresh_motor_power();
-
-
- SET_CS5(PRESCALER_1);
-
- #endif
- }
-
- #endif
-
- #if HAS_MICROSTEPS
-
-
-
-
- void Stepper::microstep_init() {
- SET_OUTPUT(X_MS1_PIN);
- SET_OUTPUT(X_MS2_PIN);
- #if HAS_Y_MICROSTEPS
- SET_OUTPUT(Y_MS1_PIN);
- SET_OUTPUT(Y_MS2_PIN);
- #endif
- #if HAS_Z_MICROSTEPS
- SET_OUTPUT(Z_MS1_PIN);
- SET_OUTPUT(Z_MS2_PIN);
- #endif
- #if HAS_E0_MICROSTEPS
- SET_OUTPUT(E0_MS1_PIN);
- SET_OUTPUT(E0_MS2_PIN);
- #endif
- #if HAS_E1_MICROSTEPS
- SET_OUTPUT(E1_MS1_PIN);
- SET_OUTPUT(E1_MS2_PIN);
- #endif
- #if HAS_E2_MICROSTEPS
- SET_OUTPUT(E2_MS1_PIN);
- SET_OUTPUT(E2_MS2_PIN);
- #endif
- #if HAS_E3_MICROSTEPS
- SET_OUTPUT(E3_MS1_PIN);
- SET_OUTPUT(E3_MS2_PIN);
- #endif
- #if HAS_E4_MICROSTEPS
- SET_OUTPUT(E4_MS1_PIN);
- SET_OUTPUT(E4_MS2_PIN);
- #endif
- static const uint8_t microstep_modes[] = MICROSTEP_MODES;
- for (uint16_t i = 0; i < COUNT(microstep_modes); i++)
- microstep_mode(i, microstep_modes[i]);
- }
-
- void Stepper::microstep_ms(const uint8_t driver, const int8_t ms1, const int8_t ms2) {
- if (ms1 >= 0) switch (driver) {
- case 0: WRITE(X_MS1_PIN, ms1); break;
- #if HAS_Y_MICROSTEPS
- case 1: WRITE(Y_MS1_PIN, ms1); break;
- #endif
- #if HAS_Z_MICROSTEPS
- case 2: WRITE(Z_MS1_PIN, ms1); break;
- #endif
- #if HAS_E0_MICROSTEPS
- case 3: WRITE(E0_MS1_PIN, ms1); break;
- #endif
- #if HAS_E1_MICROSTEPS
- case 4: WRITE(E1_MS1_PIN, ms1); break;
- #endif
- #if HAS_E2_MICROSTEPS
- case 5: WRITE(E2_MS1_PIN, ms1); break;
- #endif
- #if HAS_E3_MICROSTEPS
- case 6: WRITE(E3_MS1_PIN, ms1); break;
- #endif
- #if HAS_E4_MICROSTEPS
- case 7: WRITE(E4_MS1_PIN, ms1); break;
- #endif
- }
- if (ms2 >= 0) switch (driver) {
- case 0: WRITE(X_MS2_PIN, ms2); break;
- #if HAS_Y_MICROSTEPS
- case 1: WRITE(Y_MS2_PIN, ms2); break;
- #endif
- #if HAS_Z_MICROSTEPS
- case 2: WRITE(Z_MS2_PIN, ms2); break;
- #endif
- #if HAS_E0_MICROSTEPS
- case 3: WRITE(E0_MS2_PIN, ms2); break;
- #endif
- #if HAS_E1_MICROSTEPS
- case 4: WRITE(E1_MS2_PIN, ms2); break;
- #endif
- #if HAS_E2_MICROSTEPS
- case 5: WRITE(E2_MS2_PIN, ms2); break;
- #endif
- #if HAS_E3_MICROSTEPS
- case 6: WRITE(E3_MS2_PIN, ms2); break;
- #endif
- #if HAS_E4_MICROSTEPS
- case 7: WRITE(E4_MS2_PIN, ms2); break;
- #endif
- }
- }
-
- void Stepper::microstep_mode(const uint8_t driver, const uint8_t stepping_mode) {
- switch (stepping_mode) {
- case 1: microstep_ms(driver, MICROSTEP1); break;
- case 2: microstep_ms(driver, MICROSTEP2); break;
- case 4: microstep_ms(driver, MICROSTEP4); break;
- case 8: microstep_ms(driver, MICROSTEP8); break;
- case 16: microstep_ms(driver, MICROSTEP16); break;
- }
- }
-
- void Stepper::microstep_readings() {
- SERIAL_PROTOCOLLNPGM("MS1,MS2 Pins");
- SERIAL_PROTOCOLPGM("X: ");
- SERIAL_PROTOCOL(READ(X_MS1_PIN));
- SERIAL_PROTOCOLLN(READ(X_MS2_PIN));
- #if HAS_Y_MICROSTEPS
- SERIAL_PROTOCOLPGM("Y: ");
- SERIAL_PROTOCOL(READ(Y_MS1_PIN));
- SERIAL_PROTOCOLLN(READ(Y_MS2_PIN));
- #endif
- #if HAS_Z_MICROSTEPS
- SERIAL_PROTOCOLPGM("Z: ");
- SERIAL_PROTOCOL(READ(Z_MS1_PIN));
- SERIAL_PROTOCOLLN(READ(Z_MS2_PIN));
- #endif
- #if HAS_E0_MICROSTEPS
- SERIAL_PROTOCOLPGM("E0: ");
- SERIAL_PROTOCOL(READ(E0_MS1_PIN));
- SERIAL_PROTOCOLLN(READ(E0_MS2_PIN));
- #endif
- #if HAS_E1_MICROSTEPS
- SERIAL_PROTOCOLPGM("E1: ");
- SERIAL_PROTOCOL(READ(E1_MS1_PIN));
- SERIAL_PROTOCOLLN(READ(E1_MS2_PIN));
- #endif
- #if HAS_E2_MICROSTEPS
- SERIAL_PROTOCOLPGM("E2: ");
- SERIAL_PROTOCOL(READ(E2_MS1_PIN));
- SERIAL_PROTOCOLLN(READ(E2_MS2_PIN));
- #endif
- #if HAS_E3_MICROSTEPS
- SERIAL_PROTOCOLPGM("E3: ");
- SERIAL_PROTOCOL(READ(E3_MS1_PIN));
- SERIAL_PROTOCOLLN(READ(E3_MS2_PIN));
- #endif
- #if HAS_E4_MICROSTEPS
- SERIAL_PROTOCOLPGM("E4: ");
- SERIAL_PROTOCOL(READ(E4_MS1_PIN));
- SERIAL_PROTOCOLLN(READ(E4_MS2_PIN));
- #endif
- }
-
- #endif
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