ManuelW/grbl-LPC-CoreXY
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step, dir, enable ports

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This commit is contained in:
Todd Fleming
2017-01-04 19:04:38 -05:00
parent f5a117d0ba
commit bbbdb60076
7 changed files with 37 additions and 34 deletions
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22
grbl/stepper.c
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@ -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