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Apply int32_t to stepper

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This commit is contained in:
Scott Lahteine 2018-05-03 20:30:13 -05:00
parent 42180e25a3
commit 1682036533
2 changed files with 26 additions and 26 deletions
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32
Marlin/stepper.cpp
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@ -91,10 +91,10 @@ int16_t Stepper::cleaning_buffer_counter = 0;
bool Stepper::locked_z_motor = false, Stepper::locked_z2_motor = false; bool Stepper::locked_z_motor = false, Stepper::locked_z2_motor = false;
#endif #endif
long Stepper::counter_X = 0, int32_t Stepper::counter_X = 0,
Stepper::counter_Y = 0, Stepper::counter_Y = 0,
Stepper::counter_Z = 0, Stepper::counter_Z = 0,
Stepper::counter_E = 0; Stepper::counter_E = 0;
volatile uint32_t Stepper::step_events_completed = 0; // The number of step events executed in the current block volatile uint32_t Stepper::step_events_completed = 0; // The number of step events executed in the current block
@ -123,13 +123,13 @@ volatile uint32_t Stepper::step_events_completed = 0; // The number of step even
#endif // LIN_ADVANCE #endif // LIN_ADVANCE
long Stepper::acceleration_time, Stepper::deceleration_time; int32_t Stepper::acceleration_time, Stepper::deceleration_time;
volatile long Stepper::count_position[NUM_AXIS] = { 0 }; volatile int32_t Stepper::count_position[NUM_AXIS] = { 0 };
volatile signed char Stepper::count_direction[NUM_AXIS] = { 1, 1, 1, 1 }; volatile signed char Stepper::count_direction[NUM_AXIS] = { 1, 1, 1, 1 };
#if ENABLED(MIXING_EXTRUDER) #if ENABLED(MIXING_EXTRUDER)
long Stepper::counter_m[MIXING_STEPPERS]; int32_t Stepper::counter_m[MIXING_STEPPERS];
#endif #endif
uint8_t Stepper::step_loops, Stepper::step_loops_nominal; uint8_t Stepper::step_loops, Stepper::step_loops_nominal;
@ -137,7 +137,7 @@ uint8_t Stepper::step_loops, Stepper::step_loops_nominal;
uint16_t Stepper::OCR1A_nominal, uint16_t Stepper::OCR1A_nominal,
Stepper::acc_step_rate; // needed for deceleration start point Stepper::acc_step_rate; // needed for deceleration start point
volatile long Stepper::endstops_trigsteps[XYZ]; volatile int32_t Stepper::endstops_trigsteps[XYZ];
#if ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || ENABLED(Z_DUAL_ENDSTOPS) #if ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || ENABLED(Z_DUAL_ENDSTOPS)
#define LOCKED_X_MOTOR locked_x_motor #define LOCKED_X_MOTOR locked_x_motor
@ -1120,7 +1120,7 @@ void Stepper::synchronize() { while (planner.has_blocks_queued() || cleaning_buf
* This allows get_axis_position_mm to correctly * This allows get_axis_position_mm to correctly
* derive the current XYZ position later on. * derive the current XYZ position later on.
*/ */
void Stepper::set_position(const long &a, const long &b, const long &c, const long &e) { void Stepper::set_position(const int32_t &a, const int32_t &b, const int32_t &c, const int32_t &e) {
synchronize(); // Bad to set stepper counts in the middle of a move synchronize(); // Bad to set stepper counts in the middle of a move
@ -1153,13 +1153,13 @@ void Stepper::set_position(const long &a, const long &b, const long &c, const lo
CRITICAL_SECTION_END; CRITICAL_SECTION_END;
} }
void Stepper::set_position(const AxisEnum &axis, const long &v) { void Stepper::set_position(const AxisEnum &axis, const int32_t &v) {
CRITICAL_SECTION_START; CRITICAL_SECTION_START;
count_position[axis] = v; count_position[axis] = v;
CRITICAL_SECTION_END; CRITICAL_SECTION_END;
} }
void Stepper::set_e_position(const long &e) { void Stepper::set_e_position(const int32_t &e) {
CRITICAL_SECTION_START; CRITICAL_SECTION_START;
count_position[E_AXIS] = e; count_position[E_AXIS] = e;
CRITICAL_SECTION_END; CRITICAL_SECTION_END;
@ -1168,9 +1168,9 @@ void Stepper::set_e_position(const long &e) {
/** /**
* Get a stepper's position in steps. * Get a stepper's position in steps.
*/ */
long Stepper::position(const AxisEnum axis) { int32_t Stepper::position(const AxisEnum axis) {
CRITICAL_SECTION_START; CRITICAL_SECTION_START;
const long count_pos = count_position[axis]; const int32_t count_pos = count_position[axis];
CRITICAL_SECTION_END; CRITICAL_SECTION_END;
return count_pos; return count_pos;
} }
@ -1239,9 +1239,9 @@ void Stepper::endstop_triggered(const AxisEnum axis) {
void Stepper::report_positions() { void Stepper::report_positions() {
CRITICAL_SECTION_START; CRITICAL_SECTION_START;
const long xpos = count_position[X_AXIS], const int32_t xpos = count_position[X_AXIS],
ypos = count_position[Y_AXIS], ypos = count_position[Y_AXIS],
zpos = count_position[Z_AXIS]; zpos = count_position[Z_AXIS];
CRITICAL_SECTION_END; CRITICAL_SECTION_END;
#if CORE_IS_XY || CORE_IS_XZ || IS_DELTA || IS_SCARA #if CORE_IS_XY || CORE_IS_XZ || IS_DELTA || IS_SCARA

20
Marlin/stepper.h
View File

@ -119,7 +119,7 @@ class Stepper {
#endif #endif
// Counter variables for the Bresenham line tracer // Counter variables for the Bresenham line tracer
static long counter_X, counter_Y, counter_Z, counter_E; static int32_t counter_X, counter_Y, counter_Z, counter_E;
static volatile uint32_t step_events_completed; // The number of step events executed in the current block static volatile uint32_t step_events_completed; // The number of step events executed in the current block
#if ENABLED(LIN_ADVANCE) #if ENABLED(LIN_ADVANCE)
@ -142,19 +142,19 @@ class Stepper {
#endif // !LIN_ADVANCE #endif // !LIN_ADVANCE
static long acceleration_time, deceleration_time; static int32_t acceleration_time, deceleration_time;
static uint8_t step_loops, step_loops_nominal; static uint8_t step_loops, step_loops_nominal;
static uint16_t OCR1A_nominal, static uint16_t OCR1A_nominal,
acc_step_rate; // needed for deceleration start point acc_step_rate; // needed for deceleration start point
static volatile long endstops_trigsteps[XYZ]; static volatile int32_t endstops_trigsteps[XYZ];
static volatile long endstops_stepsTotal, endstops_stepsDone; static volatile int32_t endstops_stepsTotal, endstops_stepsDone;
// //
// Positions of stepper motors, in step units // Positions of stepper motors, in step units
// //
static volatile long count_position[NUM_AXIS]; static volatile int32_t count_position[NUM_AXIS];
// //
// Current direction of stepper motors (+1 or -1) // Current direction of stepper motors (+1 or -1)
@ -165,7 +165,7 @@ class Stepper {
// Mixing extruder mix counters // Mixing extruder mix counters
// //
#if ENABLED(MIXING_EXTRUDER) #if ENABLED(MIXING_EXTRUDER)
static long counter_m[MIXING_STEPPERS]; static int32_t counter_m[MIXING_STEPPERS];
#define MIXING_STEPPERS_LOOP(VAR) \ #define MIXING_STEPPERS_LOOP(VAR) \
for (uint8_t VAR = 0; VAR < MIXING_STEPPERS; VAR++) \ for (uint8_t VAR = 0; VAR < MIXING_STEPPERS; VAR++) \
if (current_block->mix_event_count[VAR]) if (current_block->mix_event_count[VAR])
@ -202,9 +202,9 @@ class Stepper {
// //
// Set the current position in steps // Set the current position in steps
// //
static void set_position(const long &a, const long &b, const long &c, const long &e); static void set_position(const int32_t &a, const int32_t &b, const int32_t &c, const int32_t &e);
static void set_position(const AxisEnum &a, const long &v); static void set_position(const AxisEnum &a, const int32_t &v);
static void set_e_position(const long &e); static void set_e_position(const int32_t &e);
// //
// Set direction bits for all steppers // Set direction bits for all steppers
@ -214,7 +214,7 @@ class Stepper {
// //
// Get the position of a stepper, in steps // Get the position of a stepper, in steps
// //
static long position(const AxisEnum axis); static int32_t position(const AxisEnum axis);
// //
// Report the positions of the steppers, in steps // Report the positions of the steppers, in steps