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- #ifndef stepper_h
- #define stepper_h
- #include "planner.h"
- #define ENABLE_STEPPER_DRIVER_INTERRUPT() TIMSK1 |= (1<<OCIE1A)
- #define DISABLE_STEPPER_DRIVER_INTERRUPT() TIMSK1 &= ~(1<<OCIE1A)
- #if EXTRUDERS > 2
- #define WRITE_E_STEP(v) { if(current_block->active_extruder == 2) { WRITE(E2_STEP_PIN, v); } else { if(current_block->active_extruder == 1) { WRITE(E1_STEP_PIN, v); } else { WRITE(E0_STEP_PIN, v); }}}
- #define NORM_E_DIR() { if(current_block->active_extruder == 2) { WRITE(E2_DIR_PIN, !INVERT_E2_DIR); } else { if(current_block->active_extruder == 1) { WRITE(E1_DIR_PIN, !INVERT_E1_DIR); } else { WRITE(E0_DIR_PIN, !INVERT_E0_DIR); }}}
- #define REV_E_DIR() { if(current_block->active_extruder == 2) { WRITE(E2_DIR_PIN, INVERT_E2_DIR); } else { if(current_block->active_extruder == 1) { WRITE(E1_DIR_PIN, INVERT_E1_DIR); } else { WRITE(E0_DIR_PIN, INVERT_E0_DIR); }}}
- #elif EXTRUDERS > 1
- #define WRITE_E_STEP(v) { if(current_block->active_extruder == 1) { WRITE(E1_STEP_PIN, v); } else { WRITE(E0_STEP_PIN, v); }}
- #define NORM_E_DIR() { if(current_block->active_extruder == 1) { WRITE(E1_DIR_PIN, !INVERT_E1_DIR); } else { WRITE(E0_DIR_PIN, !INVERT_E0_DIR); }}
- #define REV_E_DIR() { if(current_block->active_extruder == 1) { WRITE(E1_DIR_PIN, INVERT_E1_DIR); } else { WRITE(E0_DIR_PIN, INVERT_E0_DIR); }}
- #else
- #define WRITE_E_STEP(v) WRITE(E0_STEP_PIN, v)
- #define NORM_E_DIR() WRITE(E0_DIR_PIN, !INVERT_E0_DIR)
- #define REV_E_DIR() WRITE(E0_DIR_PIN, INVERT_E0_DIR)
- #endif
- #ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
- extern bool abort_on_endstop_hit;
- #endif
- void st_init();
- void isr();
- #ifdef LIN_ADVANCE
- void advance_isr();
- void advance_isr_scheduler();
- void clear_current_adv_vars();
- #endif
- void st_synchronize();
- void st_set_position(const long &x, const long &y, const long &z, const long &e);
- void st_set_e_position(const long &e);
- long st_get_position(uint8_t axis);
- void st_get_position_xy(long &x, long &y);
- float st_get_position_mm(uint8_t axis);
- FORCE_INLINE void st_reset_timer()
- {
-
- TIFR1 |= 1 << OCF1A;
-
- TCNT1 = 0;
-
- OCR1A = 2000;
- }
- void checkHitEndstops();
- bool endstops_hit_on_purpose();
- bool endstop_z_hit_on_purpose();
- bool enable_endstops(bool check);
- bool enable_z_endstop(bool check);
- void checkStepperErrors();
- void finishAndDisableSteppers();
- extern block_t *current_block;
- extern bool x_min_endstop;
- extern bool x_max_endstop;
- extern bool y_min_endstop;
- extern bool y_max_endstop;
- void quickStop();
- void digitalPotWrite(int address, int value);
- void microstep_ms(uint8_t driver, int8_t ms1, int8_t ms2);
- void microstep_mode(uint8_t driver, uint8_t stepping);
- void digipot_init();
- void digipot_current(uint8_t driver, int current);
- void microstep_init();
- void microstep_readings();
- #ifdef BABYSTEPPING
- void babystep(const uint8_t axis,const bool direction);
- #endif
-
- #endif
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