diff options
| author | Robert Pelnar <robert.pelnar@seznam.cz> | 2017-09-22 20:28:32 +0300 |
|---|---|---|
| committer | Robert Pelnar <robert.pelnar@seznam.cz> | 2017-09-22 20:28:32 +0300 |
| commit | df1aa8552652a5c176b15cb12d11cd1cbf6bfeab (patch) | |
| tree | c34abb9f6e2dfbfbc13c676d9097e683d3d82351 /Firmware/stepper.cpp | |
| parent | 10cd30b9c67eb62adca9db12c1dea1517daa9738 (diff) | |
Crashdetection + configuration file.
Diffstat (limited to 'Firmware/stepper.cpp')
| -rw-r--r-- | Firmware/stepper.cpp | 21 |
1 files changed, 14 insertions, 7 deletions
diff --git a/Firmware/stepper.cpp b/Firmware/stepper.cpp index 514c13df8..05fb1c7c7 100644 --- a/Firmware/stepper.cpp +++ b/Firmware/stepper.cpp @@ -94,11 +94,13 @@ static bool check_endstops = true; static bool check_z_endstop = false; -int8_t SilentMode; +int8_t SilentMode = 0; volatile long count_position[NUM_AXIS] = { 0, 0, 0, 0}; volatile signed char count_direction[NUM_AXIS] = { 1, 1, 1, 1}; +uint8_t LastStepMask = 0; + #ifdef LIN_ADVANCE uint16_t ADV_NEVER = 65535; @@ -390,6 +392,8 @@ void isr() { } } + LastStepMask = 0; + if (current_block != NULL) { // Set directions TO DO This should be done once during init of trapezoid. Endstops -> interrupt out_bits = current_block->direction_bits; @@ -623,6 +627,7 @@ void isr() { counter_x += current_block->steps_x; if (counter_x > 0) { WRITE(X_STEP_PIN, !INVERT_X_STEP_PIN); + LastStepMask |= X_AXIS_MASK; #ifdef DEBUG_XSTEP_DUP_PIN WRITE(DEBUG_XSTEP_DUP_PIN,!INVERT_X_STEP_PIN); #endif //DEBUG_XSTEP_DUP_PIN @@ -637,6 +642,7 @@ void isr() { counter_y += current_block->steps_y; if (counter_y > 0) { WRITE(Y_STEP_PIN, !INVERT_Y_STEP_PIN); + LastStepMask |= Y_AXIS_MASK; #ifdef DEBUG_YSTEP_DUP_PIN WRITE(DEBUG_YSTEP_DUP_PIN,!INVERT_Y_STEP_PIN); #endif //DEBUG_YSTEP_DUP_PIN @@ -660,7 +666,7 @@ void isr() { counter_z += current_block->steps_z; if (counter_z > 0) { WRITE(Z_STEP_PIN, !INVERT_Z_STEP_PIN); - + LastStepMask |= Z_AXIS_MASK; #ifdef Z_DUAL_STEPPER_DRIVERS WRITE(Z2_STEP_PIN, !INVERT_Z_STEP_PIN); #endif @@ -772,7 +778,9 @@ void isr() { plan_discard_current_block(); } } - check_fans(); +#ifdef TMC2130 + tmc2130_st_isr(LastStepMask); +#endif //TMC2130 } #ifdef LIN_ADVANCE @@ -1149,6 +1157,7 @@ void babystep(const uint8_t axis,const bool direction) //perform step WRITE(X_STEP_PIN, !INVERT_X_STEP_PIN); + LastStepMask |= X_AXIS_MASK; #ifdef DEBUG_XSTEP_DUP_PIN WRITE(DEBUG_XSTEP_DUP_PIN,!INVERT_X_STEP_PIN); #endif //DEBUG_XSTEP_DUP_PIN @@ -1174,6 +1183,7 @@ void babystep(const uint8_t axis,const bool direction) //perform step WRITE(Y_STEP_PIN, !INVERT_Y_STEP_PIN); + LastStepMask |= Y_AXIS_MASK; #ifdef DEBUG_YSTEP_DUP_PIN WRITE(DEBUG_YSTEP_DUP_PIN,!INVERT_Y_STEP_PIN); #endif //DEBUG_YSTEP_DUP_PIN @@ -1202,6 +1212,7 @@ void babystep(const uint8_t axis,const bool direction) #endif //perform step WRITE(Z_STEP_PIN, !INVERT_Z_STEP_PIN); + LastStepMask |= Z_AXIS_MASK; #ifdef Z_DUAL_STEPPER_DRIVERS WRITE(Z2_STEP_PIN, !INVERT_Z_STEP_PIN); #endif @@ -1387,7 +1398,3 @@ void microstep_readings() SERIAL_PROTOCOLLN( digitalRead(E1_MS2_PIN)); #endif } - - - - |