From bbbdb6007636376b976e59bd16ab44f68cd60eb3 Mon Sep 17 00:00:00 2001
From: Todd Fleming <tbfleming@gmail.com>
Date: Wed, 4 Jan 2017 19:04:38 -0500
Subject: [PATCH] step, dir, enable ports

---
 grbl/config.h   | 33 ++++++++++++++++++---------------
 grbl/limits.c   |  4 ++--
 grbl/planner.h  |  2 +-
 grbl/settings.c |  4 ++--
 grbl/settings.h |  4 ++--
 grbl/stepper.c  | 22 +++++++++++-----------
 grbl/system.h   |  2 +-
 7 files changed, 37 insertions(+), 34 deletions(-)

diff --git a/grbl/config.h b/grbl/config.h
index bb8b3f8..963e0e2 100644
--- a/grbl/config.h
+++ b/grbl/config.h
@@ -28,6 +28,7 @@
 #ifndef config_h
 #define config_h
 #include "grbl.h" // For Arduino IDE compatibility.
+#include "LPC17xx.h"
 
 
 // Define CPU pin map and default settings.
@@ -584,26 +585,28 @@
 #define SERIAL_UDRE   USART_UDRE_vect
 
 // Define step pulse output pins. NOTE: All step bit pins must be on the same port.
-#define STEP_DDR        DDRD
-#define STEP_PORT       PORTD
-#define X_STEP_BIT      2  // Uno Digital Pin 2
-#define Y_STEP_BIT      3  // Uno Digital Pin 3
-#define Z_STEP_BIT      4  // Uno Digital Pin 4
+#define STEP_DDR        LPC_GPIO2->FIODIR
+#define STEP_PORT       LPC_GPIO2->FIOPIN
+#define X_STEP_BIT      0
+#define Y_STEP_BIT      1
+#define Z_STEP_BIT      2
 #define STEP_MASK       ((1<<X_STEP_BIT)|(1<<Y_STEP_BIT)|(1<<Z_STEP_BIT)) // All step bits
 
 // Define step direction output pins. NOTE: All direction pins must be on the same port.
-#define DIRECTION_DDR     DDRD
-#define DIRECTION_PORT    PORTD
-#define X_DIRECTION_BIT   5  // Uno Digital Pin 5
-#define Y_DIRECTION_BIT   6  // Uno Digital Pin 6
-#define Z_DIRECTION_BIT   7  // Uno Digital Pin 7
+#define DIRECTION_DDR     LPC_GPIO0->FIODIR
+#define DIRECTION_PORT    LPC_GPIO0->FIOPIN
+#define X_DIRECTION_BIT   5
+#define Y_DIRECTION_BIT   11
+#define Z_DIRECTION_BIT   20
 #define DIRECTION_MASK    ((1<<X_DIRECTION_BIT)|(1<<Y_DIRECTION_BIT)|(1<<Z_DIRECTION_BIT)) // All direction bits
 
 // Define stepper driver enable/disable output pin.
-#define STEPPERS_DISABLE_DDR    DDRB
-#define STEPPERS_DISABLE_PORT   PORTB
-#define STEPPERS_DISABLE_BIT    0  // Uno Digital Pin 8
-#define STEPPERS_DISABLE_MASK   (1<<STEPPERS_DISABLE_BIT)
+#define STEPPERS_DISABLE_DDR    LPC_GPIO0->FIODIR
+#define STEPPERS_DISABLE_PORT   LPC_GPIO0->FIOPIN
+#define X_DISABLE_BIT           4
+#define Y_DISABLE_BIT           10
+#define Z_DISABLE_BIT           19
+#define STEPPERS_DISABLE_MASK   ((1<<X_DISABLE_BIT)|(1<<Y_DISABLE_BIT)|(1<<Z_DISABLE_BIT))
 
 // Define homing/hard limit switch input pins and limit interrupt vectors.
 // NOTE: All limit bit pins must be on the same port, but not on a port with other input pins (CONTROL).
@@ -725,7 +728,7 @@
 #define DEFAULT_SOFT_LIMIT_ENABLE 0 // false
 #define DEFAULT_HARD_LIMIT_ENABLE 0  // false
 #define DEFAULT_INVERT_PROBE_PIN 0 // false
-#define DEFAULT_LASER_MODE 0 // false
+#define DEFAULT_LASER_MODE 1 // true
 #define DEFAULT_HOMING_ENABLE 0  // false
 #define DEFAULT_HOMING_DIR_MASK 0 // move positive dir
 #define DEFAULT_HOMING_FEED_RATE 25.0 // mm/min
diff --git a/grbl/limits.c b/grbl/limits.c
index 3cc2556..9beee95 100644
--- a/grbl/limits.c
+++ b/grbl/limits.c
@@ -158,7 +158,7 @@ void limits_go_home(uint8_t cycle_mask)
 
   // Initialize variables used for homing computations.
   uint8_t n_cycle = (2*N_HOMING_LOCATE_CYCLE+1);
-  uint8_t step_pin[N_AXIS];
+  uint32_t step_pin[N_AXIS];
   float target[N_AXIS];
   float max_travel = 0.0;
   uint8_t idx;
@@ -180,7 +180,7 @@ void limits_go_home(uint8_t cycle_mask)
   bool approach = true;
   float homing_rate = settings.homing_seek_rate;
 
-  uint8_t limit_state, axislock, n_active_axis;
+  uint32_t limit_state, axislock, n_active_axis;
   do {
 
     system_convert_array_steps_to_mpos(target,sys_position);
diff --git a/grbl/planner.h b/grbl/planner.h
index 9379dc3..486fdb9 100644
--- a/grbl/planner.h
+++ b/grbl/planner.h
@@ -56,7 +56,7 @@ typedef struct {
   // NOTE: Used by stepper algorithm to execute the block correctly. Do not alter these values.
   uint32_t steps[N_AXIS];    // Step count along each axis
   uint32_t step_event_count; // The maximum step axis count and number of steps required to complete this block.
-  uint8_t direction_bits;    // The direction bit set for this block (refers to *_DIRECTION_BIT in config.h)
+  uint32_t direction_bits;   // The direction bit set for this block (refers to *_DIRECTION_BIT in config.h)
 
   // Block condition data to ensure correct execution depending on states and overrides.
   uint8_t condition;      // Block bitflag variable defining block run conditions. Copied from pl_line_data.
diff --git a/grbl/settings.c b/grbl/settings.c
index c3e907c..c8edc14 100644
--- a/grbl/settings.c
+++ b/grbl/settings.c
@@ -317,7 +317,7 @@ void settings_init() {
 
 
 // Returns step pin mask according to Grbl internal axis indexing.
-uint8_t get_step_pin_mask(uint8_t axis_idx)
+uint32_t get_step_pin_mask(uint8_t axis_idx)
 {
   if ( axis_idx == X_AXIS ) { return((1<<X_STEP_BIT)); }
   if ( axis_idx == Y_AXIS ) { return((1<<Y_STEP_BIT)); }
@@ -326,7 +326,7 @@ uint8_t get_step_pin_mask(uint8_t axis_idx)
 
 
 // Returns direction pin mask according to Grbl internal axis indexing.
-uint8_t get_direction_pin_mask(uint8_t axis_idx)
+uint32_t get_direction_pin_mask(uint8_t axis_idx)
 {
   if ( axis_idx == X_AXIS ) { return((1<<X_DIRECTION_BIT)); }
   if ( axis_idx == Y_AXIS ) { return((1<<Y_DIRECTION_BIT)); }
diff --git a/grbl/settings.h b/grbl/settings.h
index 0116b54..4c2cfa4 100644
--- a/grbl/settings.h
+++ b/grbl/settings.h
@@ -132,10 +132,10 @@ void settings_write_coord_data(uint8_t coord_select, float *coord_data);
 uint8_t settings_read_coord_data(uint8_t coord_select, float *coord_data);
 
 // Returns the step pin mask according to Grbl's internal axis numbering
-uint8_t get_step_pin_mask(uint8_t i);
+uint32_t get_step_pin_mask(uint8_t i);
 
 // Returns the direction pin mask according to Grbl's internal axis numbering
-uint8_t get_direction_pin_mask(uint8_t i);
+uint32_t get_direction_pin_mask(uint8_t i);
 
 // Returns the limit pin mask according to Grbl's internal axis numbering
 uint8_t get_limit_pin_mask(uint8_t i);
diff --git a/grbl/stepper.c b/grbl/stepper.c
index e7bb026..66fd01b 100644
--- a/grbl/stepper.c
+++ b/grbl/stepper.c
@@ -60,7 +60,7 @@
 typedef struct {
   uint32_t steps[N_AXIS];
   uint32_t step_event_count;
-  uint8_t direction_bits;
+  uint32_t direction_bits;
   #ifdef VARIABLE_SPINDLE
     uint8_t is_pwm_rate_adjusted; // Tracks motions that require constant laser power/rate
   #endif
@@ -93,13 +93,13 @@ typedef struct {
            counter_y,
            counter_z;
   #ifdef STEP_PULSE_DELAY
-    uint8_t step_bits;  // Stores out_bits output to complete the step pulse delay
+    uint32_t step_bits;  // Stores out_bits output to complete the step pulse delay
   #endif
 
   uint8_t execute_step;     // Flags step execution for each interrupt.
   uint8_t step_pulse_time;  // Step pulse reset time after step rise
-  uint8_t step_outbits;         // The next stepping-bits to be output
-  uint8_t dir_outbits;
+  uint32_t step_outbits;         // The next stepping-bits to be output
+  uint32_t dir_outbits;
   #ifdef ADAPTIVE_MULTI_AXIS_STEP_SMOOTHING
     uint32_t steps[N_AXIS];
   #endif
@@ -117,8 +117,8 @@ static uint8_t segment_buffer_head;
 static uint8_t segment_next_head;
 
 // Step and direction port invert masks.
-static uint8_t step_port_invert_mask;
-static uint8_t dir_port_invert_mask;
+static uint32_t step_port_invert_mask;
+static uint32_t dir_port_invert_mask;
 
 // Used to avoid ISR nesting of the "Stepper Driver Interrupt". Should never occur though.
 static volatile uint8_t busy;
@@ -207,8 +207,8 @@ static st_prep_t prep;
 void st_wake_up()
 {
   // Enable stepper drivers.
-  if (bit_istrue(settings.flags,BITFLAG_INVERT_ST_ENABLE)) { STEPPERS_DISABLE_PORT |= (1<<STEPPERS_DISABLE_BIT); }
-  else { STEPPERS_DISABLE_PORT &= ~(1<<STEPPERS_DISABLE_BIT); }
+  if (bit_istrue(settings.flags,BITFLAG_INVERT_ST_ENABLE)) { STEPPERS_DISABLE_PORT |= STEPPERS_DISABLE_MASK; }
+  else { STEPPERS_DISABLE_PORT &= ~STEPPERS_DISABLE_MASK; }
 
   // Initialize stepper output bits to ensure first ISR call does not step.
   st.step_outbits = step_port_invert_mask;
@@ -246,8 +246,8 @@ void st_go_idle()
     pin_state = true; // Override. Disable steppers.
   }
   if (bit_istrue(settings.flags,BITFLAG_INVERT_ST_ENABLE)) { pin_state = !pin_state; } // Apply pin invert.
-  if (pin_state) { STEPPERS_DISABLE_PORT |= (1<<STEPPERS_DISABLE_BIT); }
-  else { STEPPERS_DISABLE_PORT &= ~(1<<STEPPERS_DISABLE_BIT); }
+  if (pin_state) { STEPPERS_DISABLE_PORT |= STEPPERS_DISABLE_MASK; }
+  else { STEPPERS_DISABLE_PORT &= ~STEPPERS_DISABLE_MASK; }
 }
 
 
@@ -502,7 +502,7 @@ void stepper_init()
 {
   // Configure step and direction interface pins
   STEP_DDR |= STEP_MASK;
-  STEPPERS_DISABLE_DDR |= 1<<STEPPERS_DISABLE_BIT;
+  STEPPERS_DISABLE_DDR |= STEPPERS_DISABLE_MASK;
   DIRECTION_DDR |= DIRECTION_MASK;
 
   // Configure Timer 1: Stepper Driver Interrupt
diff --git a/grbl/system.h b/grbl/system.h
index c601193..a443f82 100644
--- a/grbl/system.h
+++ b/grbl/system.h
@@ -130,7 +130,7 @@ typedef struct {
   uint8_t soft_limit;          // Tracks soft limit errors for the state machine. (boolean)
   uint8_t step_control;        // Governs the step segment generator depending on system state.
   uint8_t probe_succeeded;     // Tracks if last probing cycle was successful.
-  uint8_t homing_axis_lock;    // Locks axes when limits engage. Used as an axis motion mask in the stepper ISR.
+  uint32_t homing_axis_lock;   // Locks axes when limits engage. Used as an axis motion mask in the stepper ISR.
   uint8_t f_override;          // Feed rate override value in percent
   uint8_t r_override;          // Rapids override value in percent
   uint8_t spindle_speed_ovr;   // Spindle speed value in percent