// Initialize and start the stepper motor subsystem
void stepper_init() {
// Configure directions of interface pins
STEPPING_DDR |= (STEPPING_MASK | DIRECTION_MASK);
STEPPING_PORT = (STEPPING_PORT & ~(STEPPING_MASK | DIRECTION_MASK)) | INVERT_MASK;
// waveform generation = 0100 = CTC
TCCR1B &= ~(1<<WGM13);
TCCR1B |= (1<<WGM12);
TCCR1A &= ~(1<<WGM11);
TCCR1A &= ~(1<<WGM10);
// output mode = 00 (disconnected)
TCCR1A &= ~(3<<COM1A0);
TCCR1A &= ~(3<<COM1B0);
// Configure Timer 2
TCCR2A = 0; // Normal operation
TCCR2B = 0; // Disable timer until needed.
TIMSK2 |= (1<<TOIE2); // Enable Timer2 interrupt flag
adjust_speed(MINIMUM_STEPS_PER_MINUTE);
clear_vector(stepper_position);
stepper_set_position( CONFIG_X_ORIGIN_OFFSET,
CONFIG_Y_ORIGIN_OFFSET,
CONFIG_Z_ORIGIN_OFFSET );
acceleration_tick_counter = 0;
current_block = NULL;
stop_requested = false;
stop_status = STATUS_OK;
busy = false;
// start in the idle state
// The stepper interrupt gets started when blocks are being added.
stepper_go_idle();
}
void move_to_cell(StepperA* motor, VerticalActuatorA* va, unsigned char cell) {
vertical_actuator_transition_tier(va, cell / CELLS_PER_TIER);
timer_delay_ms(DELAY_BETWEEN_MOVEMENTS_MS);
stepper_set_position(motor, stepper_degrees_to_position((cell % CELLS_PER_TIER) * DEGREES_BETWEEN_CELLS));
timer_delay_ms(DELAY_BETWEEN_MOVEMENTS_MS);
}
void processGCode(const cmd_param param)
{
switch ((int)param.g)
{
case 0: // G0 = Rapid move
// Handle G0 as G1 (so no break here)
case 1: // G1 = Controlled move
if (param.f_set && (param.f != 0.0) )
{
stepper_set_feedrate(AXIS_X, param.f);
stepper_set_feedrate(AXIS_Y, param.f);
stepper_set_feedrate(AXIS_Z, param.f);
stepper_set_feedrate(AXIS_E, param.f);
}
if ( param.x_set || param.y_set || param.z_set || param.e_set )
{
float pos[AXIS_NUM] = {param.x, param.y, param.z, param.e};
bool set[AXIS_NUM] = {param.x_set, param.y_set, param.z_set, param.e_set};
stepper_move(pos, set);
}
else
{
puts("ok\n");
}
break;
case 4: // G4 = Dwell
puts("ok\n");
break;
case 10: // G10 = Head Offset
puts("ok\n");
break;
case 20: // G20 = Set Units to Inches
/// \todo to handle
puts("!!\n"); // Send Command Fail to block the system
break;
case 21: // G21 = Set Units to Millimeters
/// \todo to handle
puts("ok\n");
break;
case 28: // G28 = Move to Origin
stepper_reset(); /// \todo change to real move to origin
puts("ok\n");
break;
case 29:
case 30:
case 31:
case 32: // G29-32 = Bed probing
puts("ok\n");
break;
case 90: // G90 = Set to Absolute Positioning
stepper_set_absolute(AXIS_X);
stepper_set_absolute(AXIS_Y);
stepper_set_absolute(AXIS_Z);
puts("ok\n");
break;
case 91: // G91 = Set to Relative Positioning
stepper_set_relative(AXIS_X);
stepper_set_relative(AXIS_Y);
stepper_set_relative(AXIS_Z);
puts("ok\n");
break;
case 92: // G92 = Set Position
if (param.x_set)
{
stepper_set_position(AXIS_X, param.x);
}
if (param.y_set)
{
stepper_set_position(AXIS_Y, param.y);
}
if (param.z_set)
{
stepper_set_position(AXIS_Z, param.z);
}
if (param.e_set)
{
stepper_set_position(AXIS_E, param.e);
}
puts("ok\n");
break;
default:
puts("ok\n");
break;
}
}