int st_buffer_delay(uint32_t milliseconds, int16_t line_number) {
struct Block *block;
if (milliseconds==0) {
st_stop();
return 0;
}
while (st_buffer_full()) { sleep_mode();} // makes sure there are two
/* // slots left on buffer
printPgmString(PSTR("in st_buffer_delay. Delay = "));
printInteger(milliseconds);
printPgmString(PSTR("\r\n"));*/
// Setup block record
block = &block_buffer[block_buffer_head];
block->backlash=0;
block->line_number = line_number;
block->maximum_steps = milliseconds;
block->rate = 1000;
block->mode = SM_HALT;
// Move buffer head
block_buffer_head = (block_buffer_head + 1) % BLOCK_BUFFER_SIZE; //next_buffer_head;
// Ensure that blocks will be processed by enabling the Stepper Driver Interrupt
ENABLE_STEPPER_DRIVER_INTERRUPT();
return 1;
}
//*************************************************************************************
int main(void)
{
beginSerial(BAUD_RATE);
i2c_init();
// config_reset(); // This routine forces the eeprom config into its default state
// if something really messes it up. Uncomment to use.
config_init(); // Restore state from eeprom if it is there, else restore default.
st_init(); // initialize the stepper subsystem
mc_init(); // initialize motion control subsystem
spindle_init(); // initialize spindle controller
gc_init(); // initialize gcode-parser
sp_init(); // initialize the serial protocol
DDRD |= (1<<3)|(1<<4)|(1<<5);
for(;;){
i2c_report_position();
_delay_ms(1); // Delay is required, otherwise
// if mc_running and current_mode = SM_RUN then don't get buttons, else do
if (!(mc_running==0 & (st_current_mode!=SM_RUN))){
i2c_get_buttons(); // i2c_get doesn't work. 1ms seems to be enough
if (buttons[0]|buttons[1]|buttons[2]|buttons[3]){
mc_running=1;
STEPPERS_ENABLE_PORT |= (1<<STEPPERS_ENABLE_BIT);
ENABLE_STEPPER_DRIVER_INTERRUPT();
}
}
if (serialAvailable()) sp_process(); // process the serial protocol
if (mc_in_arc()) mc_continue_arc(); // if busy drawing an arc, keep drawing
}
return 0; /* never reached */
}
void st_wake_up() {
// TCNT1 = 0;
ENABLE_STEPPER_DRIVER_INTERRUPT();
}
// Check endstops
inline void update_endstops() {
#ifdef Z_DUAL_ENDSTOPS
uint16_t
#else
byte
#endif
current_endstop_bits = 0;
#define _ENDSTOP_PIN(AXIS, MINMAX) AXIS ##_## MINMAX ##_PIN
#define _ENDSTOP_INVERTING(AXIS, MINMAX) AXIS ##_## MINMAX ##_ENDSTOP_INVERTING
#define _AXIS(AXIS) AXIS ##_AXIS
#define _ENDSTOP_HIT(AXIS) endstop_hit_bits |= BIT(_ENDSTOP(AXIS, MIN))
#define _ENDSTOP(AXIS, MINMAX) AXIS ##_## MINMAX
// SET_ENDSTOP_BIT: set the current endstop bits for an endstop to its status
#define SET_ENDSTOP_BIT(AXIS, MINMAX) SET_BIT(current_endstop_bits, _ENDSTOP(AXIS, MINMAX), (READ(_ENDSTOP_PIN(AXIS, MINMAX)) != _ENDSTOP_INVERTING(AXIS, MINMAX)))
// COPY_BIT: copy the value of COPY_BIT to BIT in bits
#define COPY_BIT(bits, COPY_BIT, BIT) SET_BIT(bits, BIT, TEST(bits, COPY_BIT))
// TEST_ENDSTOP: test the old and the current status of an endstop
#define TEST_ENDSTOP(ENDSTOP) (TEST(current_endstop_bits, ENDSTOP) && TEST(old_endstop_bits, ENDSTOP))
#define UPDATE_ENDSTOP(AXIS,MINMAX) \
SET_ENDSTOP_BIT(AXIS, MINMAX); \
if (TEST_ENDSTOP(_ENDSTOP(AXIS, MINMAX)) && (current_block->steps[_AXIS(AXIS)] > 0)) { \
endstops_trigsteps[_AXIS(AXIS)] = count_position[_AXIS(AXIS)]; \
_ENDSTOP_HIT(AXIS); \
step_events_completed = current_block->step_event_count; \
}
#ifdef COREXY
// Head direction in -X axis for CoreXY bots.
// If DeltaX == -DeltaY, the movement is only in Y axis
if ((current_block->steps[A_AXIS] != current_block->steps[B_AXIS]) || (TEST(out_bits, A_AXIS) == TEST(out_bits, B_AXIS))) {
if (TEST(out_bits, X_HEAD))
#elif defined(COREXZ)
// Head direction in -X axis for CoreXZ bots.
// If DeltaX == -DeltaZ, the movement is only in Z axis
if ((current_block->steps[A_AXIS] != current_block->steps[C_AXIS]) || (TEST(out_bits, A_AXIS) == TEST(out_bits, C_AXIS))) {
if (TEST(out_bits, X_HEAD))
#else
if (TEST(out_bits, X_AXIS)) // stepping along -X axis (regular Cartesian bot)
#endif
{ // -direction
#ifdef DUAL_X_CARRIAGE
// with 2 x-carriages, endstops are only checked in the homing direction for the active extruder
if ((current_block->active_extruder == 0 && X_HOME_DIR == -1) || (current_block->active_extruder != 0 && X2_HOME_DIR == -1))
#endif
{
#if HAS_X_MIN
UPDATE_ENDSTOP(X, MIN);
#endif
}
}
else { // +direction
#ifdef DUAL_X_CARRIAGE
// with 2 x-carriages, endstops are only checked in the homing direction for the active extruder
if ((current_block->active_extruder == 0 && X_HOME_DIR == 1) || (current_block->active_extruder != 0 && X2_HOME_DIR == 1))
#endif
{
#if HAS_X_MAX
UPDATE_ENDSTOP(X, MAX);
#endif
}
}
#if defined(COREXY) || defined(COREXZ)
}
#endif
#ifdef COREXY
// Head direction in -Y axis for CoreXY bots.
// If DeltaX == DeltaY, the movement is only in X axis
if ((current_block->steps[A_AXIS] != current_block->steps[B_AXIS]) || (TEST(out_bits, A_AXIS) != TEST(out_bits, B_AXIS))) {
if (TEST(out_bits, Y_HEAD))
#else
if (TEST(out_bits, Y_AXIS)) // -direction
#endif
{ // -direction
#if HAS_Y_MIN
UPDATE_ENDSTOP(Y, MIN);
#endif
}
else { // +direction
#if HAS_Y_MAX
UPDATE_ENDSTOP(Y, MAX);
#endif
}
#if defined(COREXY)
}
#endif
#ifdef COREXZ
// Head direction in -Z axis for CoreXZ bots.
// If DeltaX == DeltaZ, the movement is only in X axis
if ((current_block->steps[A_AXIS] != current_block->steps[C_AXIS]) || (TEST(out_bits, A_AXIS) != TEST(out_bits, C_AXIS))) {
if (TEST(out_bits, Z_HEAD))
#else
if (TEST(out_bits, Z_AXIS))
#endif
{ // z -direction
#if HAS_Z_MIN
#ifdef Z_DUAL_ENDSTOPS
SET_ENDSTOP_BIT(Z, MIN);
#if HAS_Z2_MIN
SET_ENDSTOP_BIT(Z2, MIN);
#else
COPY_BIT(current_endstop_bits, Z_MIN, Z2_MIN);
#endif
byte z_test = TEST_ENDSTOP(Z_MIN) << 0 + TEST_ENDSTOP(Z2_MIN) << 1; // bit 0 for Z, bit 1 for Z2
if (z_test && current_block->steps[Z_AXIS] > 0) { // z_test = Z_MIN || Z2_MIN
endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
endstop_hit_bits |= BIT(Z_MIN);
if (!performing_homing || (z_test == 0x3)) //if not performing home or if both endstops were trigged during homing...
step_events_completed = current_block->step_event_count;
}
#else // !Z_DUAL_ENDSTOPS
UPDATE_ENDSTOP(Z, MIN);
#endif // !Z_DUAL_ENDSTOPS
#endif // Z_MIN_PIN
#ifdef Z_PROBE_ENDSTOP
#ifdef HAKANS_FSR
if (hakans_fsr_endstop_active) {
#endif
UPDATE_ENDSTOP(Z, PROBE);
if (TEST_ENDSTOP(Z_PROBE))
{
endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
endstop_hit_bits |= BIT(Z_PROBE);
}
#ifdef HAKANS_FSR
}
#endif
#endif
}
else { // z +direction
#if HAS_Z_MAX
#ifdef Z_DUAL_ENDSTOPS
SET_ENDSTOP_BIT(Z, MAX);
#if HAS_Z2_MAX
SET_ENDSTOP_BIT(Z2, MAX);
#else
COPY_BIT(current_endstop_bits, Z_MAX, Z2_MAX)
#endif
byte z_test = TEST_ENDSTOP(Z_MAX) << 0 + TEST_ENDSTOP(Z2_MAX) << 1; // bit 0 for Z, bit 1 for Z2
if (z_test && current_block->steps[Z_AXIS] > 0) { // t_test = Z_MAX || Z2_MAX
endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
endstop_hit_bits |= BIT(Z_MIN);
if (!performing_homing || (z_test == 0x3)) //if not performing home or if both endstops were trigged during homing...
step_events_completed = current_block->step_event_count;
}
#else // !Z_DUAL_ENDSTOPS
UPDATE_ENDSTOP(Z, MAX);
#endif // !Z_DUAL_ENDSTOPS
#endif // Z_MAX_PIN
#ifdef Z_PROBE_ENDSTOP
#ifdef HAKANS_FSR
if (hakans_fsr_endstop_active) {
#endif
UPDATE_ENDSTOP(Z, PROBE);
if (TEST_ENDSTOP(Z_PROBE))
{
endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
endstop_hit_bits |= BIT(Z_PROBE);
}
#ifdef HAKANS_FSR
}
#endif
#endif
}
#if defined(COREXZ)
}
#endif
old_endstop_bits = current_endstop_bits;
}
// __________________________
// /| |\ _________________ ^
// / | | \ /| |\ |
// / | | \ / | | \ s
// / | | | | | \ p
// / | | | | | \ e
// +-----+------------------------+---+--+---------------+----+ e
// | BLOCK 1 | BLOCK 2 | d
//
// time ----->
//
// The trapezoid is the shape the speed curve over time. It starts at block->initial_rate, accelerates
// first block->accelerate_until step_events_completed, then keeps going at constant speed until
// step_events_completed reaches block->decelerate_after after which it decelerates until the trapezoid generator is reset.
// The slope of acceleration is calculated using v = u + at where t is the accumulated timer values of the steps so far.
void st_wake_up() {
// TCNT1 = 0;
ENABLE_STEPPER_DRIVER_INTERRUPT();
}
FORCE_INLINE unsigned long calc_timer(unsigned long step_rate) {
unsigned long timer;
if (step_rate > MAX_STEP_FREQUENCY) step_rate = MAX_STEP_FREQUENCY;
#if defined(ENABLE_HIGH_SPEED_STEPPING)
if(step_rate > (2 * DOUBLE_STEP_FREQUENCY)) { // If steprate > 2*DOUBLE_STEP_FREQUENCY >> step 4 times
step_rate = (step_rate >> 2);
step_loops = 4;
}
void st_wake_up() {
STEPPERS_ENABLE_PORT &= ~(1<<STEPPERS_ENABLE_BIT);
ENABLE_STEPPER_DRIVER_INTERRUPT();
}
void st_wake_up() {
ENABLE_STEPPER_DRIVER_INTERRUPT();
}
int st_buffer_block(int32_t steps_x, int32_t steps_y, int32_t steps_z,
int32_t pos_x, int32_t pos_y, int32_t pos_z,
uint32_t microseconds,
int16_t line_number) {
uint8_t direction_bits = 0;
uint8_t changed_dir;
struct Block *block;
struct Block *comp_block=NULL;
uint32_t maximum_steps;
maximum_steps = max(labs(steps_x), max(labs(steps_y), labs(steps_z)));
// Don't process empty blocks
if (maximum_steps==0) {return 0;}
// Determine direction bits
if (steps_x < 0) { direction_bits |= (1<<X_DIRECTION_BIT); }
if (steps_y < 0) { direction_bits |= (1<<Y_DIRECTION_BIT); }
if (steps_z < 0) { direction_bits |= (1<<Z_DIRECTION_BIT); }
while (st_buffer_full()) { sleep_mode();} // makes sure there are two
// slots left on buffer
// If direction has changed, then put a backlash instruction
// on the queue:
if (direction_bits!=old_direction_bits){
comp_block = &block_buffer[block_buffer_head];
comp_block->backlash = 1;
comp_block->direction_bits = direction_bits;
comp_block->line_number = line_number;
comp_block->steps_x = 0;
comp_block->steps_y = 0;
comp_block->steps_z = 0;
comp_block->pos_x = pos_x;
comp_block->pos_y = pos_y;
comp_block->pos_z = pos_z;
changed_dir = direction_bits^old_direction_bits;
old_direction_bits = direction_bits;
if (changed_dir & (1<<X_DIRECTION_BIT)) comp_block->steps_x=settings.backlash_x_count;
if (changed_dir & (1<<Y_DIRECTION_BIT)) comp_block->steps_y=settings.backlash_y_count;
if (changed_dir & (1<<Z_DIRECTION_BIT)) comp_block->steps_z=settings.backlash_z_count;
// Use same rate for backlash compensation as for the block itself:
comp_block->rate = microseconds/maximum_steps;
comp_block->mode = SM_RUN;
comp_block->maximum_steps = max(comp_block->steps_x, max(comp_block->steps_y, comp_block->steps_z));
// If compensation is not empty, advance the end of the queue
if (comp_block->maximum_steps > 0) {
block_buffer_head = (block_buffer_head + 1) % BLOCK_BUFFER_SIZE;
}
}
// Setup block record
block = &block_buffer[block_buffer_head];
block->backlash=0;
block->line_number = line_number;
block->steps_x = labs(steps_x);
block->steps_y = labs(steps_y);
block->steps_z = labs(steps_z);
block->pos_x = pos_x;
block->pos_y = pos_y;
block->pos_z = pos_z;
block->maximum_steps = maximum_steps;
block->rate = microseconds/block->maximum_steps;
block->mode = SM_RUN;
// Compute direction bits for this block
block->direction_bits = direction_bits;
// Move buffer head
block_buffer_head = (block_buffer_head + 1) % BLOCK_BUFFER_SIZE; //next_buffer_head;
// Ensure that blocks will be processed by enabling The Stepper Driver Interrupt
ENABLE_STEPPER_DRIVER_INTERRUPT();
return 1;
}
