Merge pull request #6309 from thinkyhead/rc_fix_minimum_pulse
Fix MINIMUM_STEPPER_PULSE calculations
This commit is contained in:
Scott Lahteine
GitHub
commit
944218f7da
104
Marlin/Marlin.h
104
Marlin/Marlin.h
@ -60,36 +60,36 @@ void manage_inactivity(bool ignore_stepper_queue = false);
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#endif
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#if HAS_X2_ENABLE
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#define enable_x() do{ X_ENABLE_WRITE( X_ENABLE_ON); X2_ENABLE_WRITE( X_ENABLE_ON); }while(0)
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#define disable_x() do{ X_ENABLE_WRITE(!X_ENABLE_ON); X2_ENABLE_WRITE(!X_ENABLE_ON); axis_known_position[X_AXIS] = false; }while(0)
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#define enable_X() do{ X_ENABLE_WRITE( X_ENABLE_ON); X2_ENABLE_WRITE( X_ENABLE_ON); }while(0)
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#define disable_X() do{ X_ENABLE_WRITE(!X_ENABLE_ON); X2_ENABLE_WRITE(!X_ENABLE_ON); axis_known_position[X_AXIS] = false; }while(0)
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#elif HAS_X_ENABLE
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#define enable_x() X_ENABLE_WRITE( X_ENABLE_ON)
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#define disable_x() do{ X_ENABLE_WRITE(!X_ENABLE_ON); axis_known_position[X_AXIS] = false; }while(0)
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#define enable_X() X_ENABLE_WRITE( X_ENABLE_ON)
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#define disable_X() do{ X_ENABLE_WRITE(!X_ENABLE_ON); axis_known_position[X_AXIS] = false; }while(0)
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#else
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#define enable_x() NOOP
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#define disable_x() NOOP
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#define enable_X() NOOP
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#define disable_X() NOOP
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#endif
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#if HAS_Y2_ENABLE
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#define enable_y() do{ Y_ENABLE_WRITE( Y_ENABLE_ON); Y2_ENABLE_WRITE(Y_ENABLE_ON); }while(0)
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#define disable_y() do{ Y_ENABLE_WRITE(!Y_ENABLE_ON); Y2_ENABLE_WRITE(!Y_ENABLE_ON); axis_known_position[Y_AXIS] = false; }while(0)
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#define enable_Y() do{ Y_ENABLE_WRITE( Y_ENABLE_ON); Y2_ENABLE_WRITE(Y_ENABLE_ON); }while(0)
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#define disable_Y() do{ Y_ENABLE_WRITE(!Y_ENABLE_ON); Y2_ENABLE_WRITE(!Y_ENABLE_ON); axis_known_position[Y_AXIS] = false; }while(0)
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#elif HAS_Y_ENABLE
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#define enable_y() Y_ENABLE_WRITE( Y_ENABLE_ON)
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#define disable_y() do{ Y_ENABLE_WRITE(!Y_ENABLE_ON); axis_known_position[Y_AXIS] = false; }while(0)
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#define enable_Y() Y_ENABLE_WRITE( Y_ENABLE_ON)
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#define disable_Y() do{ Y_ENABLE_WRITE(!Y_ENABLE_ON); axis_known_position[Y_AXIS] = false; }while(0)
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#else
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#define enable_y() NOOP
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#define disable_y() NOOP
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#define enable_Y() NOOP
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#define disable_Y() NOOP
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#endif
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#if HAS_Z2_ENABLE
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#define enable_z() do{ Z_ENABLE_WRITE( Z_ENABLE_ON); Z2_ENABLE_WRITE(Z_ENABLE_ON); }while(0)
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#define disable_z() do{ Z_ENABLE_WRITE(!Z_ENABLE_ON); Z2_ENABLE_WRITE(!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }while(0)
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#define enable_Z() do{ Z_ENABLE_WRITE( Z_ENABLE_ON); Z2_ENABLE_WRITE(Z_ENABLE_ON); }while(0)
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#define disable_Z() do{ Z_ENABLE_WRITE(!Z_ENABLE_ON); Z2_ENABLE_WRITE(!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }while(0)
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#elif HAS_Z_ENABLE
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#define enable_z() Z_ENABLE_WRITE( Z_ENABLE_ON)
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#define disable_z() do{ Z_ENABLE_WRITE(!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }while(0)
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#define enable_Z() Z_ENABLE_WRITE( Z_ENABLE_ON)
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#define disable_Z() do{ Z_ENABLE_WRITE(!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }while(0)
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#else
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#define enable_z() NOOP
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#define disable_z() NOOP
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#define enable_Z() NOOP
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#define disable_Z() NOOP
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#endif
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#if ENABLED(MIXING_EXTRUDER)
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@ -98,64 +98,64 @@ void manage_inactivity(bool ignore_stepper_queue = false);
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* Mixing steppers synchronize their enable (and direction) together
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*/
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#if MIXING_STEPPERS > 3
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#define enable_e0() { E0_ENABLE_WRITE( E_ENABLE_ON); E1_ENABLE_WRITE( E_ENABLE_ON); E2_ENABLE_WRITE( E_ENABLE_ON); E3_ENABLE_WRITE( E_ENABLE_ON); }
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#define disable_e0() { E0_ENABLE_WRITE(!E_ENABLE_ON); E1_ENABLE_WRITE(!E_ENABLE_ON); E2_ENABLE_WRITE(!E_ENABLE_ON); E3_ENABLE_WRITE(!E_ENABLE_ON); }
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#define enable_E0() { E0_ENABLE_WRITE( E_ENABLE_ON); E1_ENABLE_WRITE( E_ENABLE_ON); E2_ENABLE_WRITE( E_ENABLE_ON); E3_ENABLE_WRITE( E_ENABLE_ON); }
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#define disable_E0() { E0_ENABLE_WRITE(!E_ENABLE_ON); E1_ENABLE_WRITE(!E_ENABLE_ON); E2_ENABLE_WRITE(!E_ENABLE_ON); E3_ENABLE_WRITE(!E_ENABLE_ON); }
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#elif MIXING_STEPPERS > 2
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#define enable_e0() { E0_ENABLE_WRITE( E_ENABLE_ON); E1_ENABLE_WRITE( E_ENABLE_ON); E2_ENABLE_WRITE( E_ENABLE_ON); }
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#define disable_e0() { E0_ENABLE_WRITE(!E_ENABLE_ON); E1_ENABLE_WRITE(!E_ENABLE_ON); E2_ENABLE_WRITE(!E_ENABLE_ON); }
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#define enable_E0() { E0_ENABLE_WRITE( E_ENABLE_ON); E1_ENABLE_WRITE( E_ENABLE_ON); E2_ENABLE_WRITE( E_ENABLE_ON); }
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#define disable_E0() { E0_ENABLE_WRITE(!E_ENABLE_ON); E1_ENABLE_WRITE(!E_ENABLE_ON); E2_ENABLE_WRITE(!E_ENABLE_ON); }
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#else
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#define enable_e0() { E0_ENABLE_WRITE( E_ENABLE_ON); E1_ENABLE_WRITE( E_ENABLE_ON); }
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#define disable_e0() { E0_ENABLE_WRITE(!E_ENABLE_ON); E1_ENABLE_WRITE(!E_ENABLE_ON); }
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#define enable_E0() { E0_ENABLE_WRITE( E_ENABLE_ON); E1_ENABLE_WRITE( E_ENABLE_ON); }
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#define disable_E0() { E0_ENABLE_WRITE(!E_ENABLE_ON); E1_ENABLE_WRITE(!E_ENABLE_ON); }
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#endif
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#define enable_e1() NOOP
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#define disable_e1() NOOP
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#define enable_e2() NOOP
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#define disable_e2() NOOP
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#define enable_e3() NOOP
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#define disable_e3() NOOP
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#define enable_e4() NOOP
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#define disable_e4() NOOP
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#define enable_E1() NOOP
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#define disable_E1() NOOP
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#define enable_E2() NOOP
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#define disable_E2() NOOP
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#define enable_E3() NOOP
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#define disable_E3() NOOP
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#define enable_E4() NOOP
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#define disable_E4() NOOP
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#else // !MIXING_EXTRUDER
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#if HAS_E0_ENABLE
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#define enable_e0() E0_ENABLE_WRITE( E_ENABLE_ON)
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#define disable_e0() E0_ENABLE_WRITE(!E_ENABLE_ON)
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#define enable_E0() E0_ENABLE_WRITE( E_ENABLE_ON)
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#define disable_E0() E0_ENABLE_WRITE(!E_ENABLE_ON)
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#else
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#define enable_e0() NOOP
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#define disable_e0() NOOP
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#define enable_E0() NOOP
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#define disable_E0() NOOP
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#endif
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#if E_STEPPERS > 1 && HAS_E1_ENABLE
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#define enable_e1() E1_ENABLE_WRITE( E_ENABLE_ON)
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#define disable_e1() E1_ENABLE_WRITE(!E_ENABLE_ON)
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#define enable_E1() E1_ENABLE_WRITE( E_ENABLE_ON)
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#define disable_E1() E1_ENABLE_WRITE(!E_ENABLE_ON)
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#else
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#define enable_e1() NOOP
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#define disable_e1() NOOP
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#define enable_E1() NOOP
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#define disable_E1() NOOP
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#endif
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#if E_STEPPERS > 2 && HAS_E2_ENABLE
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#define enable_e2() E2_ENABLE_WRITE( E_ENABLE_ON)
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#define disable_e2() E2_ENABLE_WRITE(!E_ENABLE_ON)
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#define enable_E2() E2_ENABLE_WRITE( E_ENABLE_ON)
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#define disable_E2() E2_ENABLE_WRITE(!E_ENABLE_ON)
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#else
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#define enable_e2() NOOP
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#define disable_e2() NOOP
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#define enable_E2() NOOP
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#define disable_E2() NOOP
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#endif
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#if E_STEPPERS > 3 && HAS_E3_ENABLE
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#define enable_e3() E3_ENABLE_WRITE( E_ENABLE_ON)
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#define disable_e3() E3_ENABLE_WRITE(!E_ENABLE_ON)
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#define enable_E3() E3_ENABLE_WRITE( E_ENABLE_ON)
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#define disable_E3() E3_ENABLE_WRITE(!E_ENABLE_ON)
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#else
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#define enable_e3() NOOP
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#define disable_e3() NOOP
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#define enable_E3() NOOP
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#define disable_E3() NOOP
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#endif
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#if E_STEPPERS > 4 && HAS_E4_ENABLE
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#define enable_e4() E4_ENABLE_WRITE( E_ENABLE_ON)
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#define disable_e4() E4_ENABLE_WRITE(!E_ENABLE_ON)
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#define enable_E4() E4_ENABLE_WRITE( E_ENABLE_ON)
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#define disable_E4() E4_ENABLE_WRITE(!E_ENABLE_ON)
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#else
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#define enable_e4() NOOP
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#define disable_e4() NOOP
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#define enable_E4() NOOP
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#define disable_E4() NOOP
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#endif
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#endif // !MIXING_EXTRUDER
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@ -6489,9 +6489,9 @@ inline void gcode_M18_M84() {
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}
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else {
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stepper.synchronize();
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if (code_seen('X')) disable_x();
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if (code_seen('Y')) disable_y();
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if (code_seen('Z')) disable_z();
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if (code_seen('X')) disable_X();
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if (code_seen('Y')) disable_Y();
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if (code_seen('Z')) disable_Z();
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#if ((E0_ENABLE_PIN != X_ENABLE_PIN) && (E1_ENABLE_PIN != Y_ENABLE_PIN)) // Only enable on boards that have seperate ENABLE_PINS
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if (code_seen('E')) disable_e_steppers();
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#endif
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@ -10888,28 +10888,28 @@ void calculate_volumetric_multipliers() {
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}
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void enable_all_steppers() {
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enable_x();
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enable_y();
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enable_z();
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enable_e0();
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enable_e1();
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enable_e2();
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enable_e3();
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enable_e4();
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enable_X();
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enable_Y();
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enable_Z();
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enable_E0();
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enable_E1();
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enable_E2();
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enable_E3();
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enable_E4();
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}
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void disable_e_steppers() {
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disable_e0();
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disable_e1();
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disable_e2();
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disable_e3();
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disable_e4();
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disable_E0();
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disable_E1();
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disable_E2();
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disable_E3();
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disable_E4();
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}
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void disable_all_steppers() {
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disable_x();
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disable_y();
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disable_z();
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disable_X();
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disable_Y();
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disable_Z();
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disable_e_steppers();
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}
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@ -11011,13 +11011,13 @@ void manage_inactivity(bool ignore_stepper_queue/*=false*/) {
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if (M600_TEST && stepper_inactive_time && ELAPSED(ms, previous_cmd_ms + stepper_inactive_time)
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&& !ignore_stepper_queue && !planner.blocks_queued()) {
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#if ENABLED(DISABLE_INACTIVE_X)
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disable_x();
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disable_X();
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#endif
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#if ENABLED(DISABLE_INACTIVE_Y)
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disable_y();
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disable_Y();
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#endif
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#if ENABLED(DISABLE_INACTIVE_Z)
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disable_z();
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disable_Z();
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#endif
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#if ENABLED(DISABLE_INACTIVE_E)
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disable_e_steppers();
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@ -11080,32 +11080,32 @@ void manage_inactivity(bool ignore_stepper_queue/*=false*/) {
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bool oldstatus;
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#if ENABLED(SWITCHING_EXTRUDER)
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oldstatus = E0_ENABLE_READ;
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enable_e0();
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enable_E0();
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#else // !SWITCHING_EXTRUDER
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switch (active_extruder) {
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case 0:
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oldstatus = E0_ENABLE_READ;
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enable_e0();
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enable_E0();
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break;
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#if E_STEPPERS > 1
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case 1:
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oldstatus = E1_ENABLE_READ;
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enable_e1();
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enable_E1();
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break;
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#if E_STEPPERS > 2
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case 2:
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oldstatus = E2_ENABLE_READ;
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enable_e2();
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enable_E2();
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break;
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#if E_STEPPERS > 3
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case 3:
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oldstatus = E3_ENABLE_READ;
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enable_e3();
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enable_E3();
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break;
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#if E_STEPPERS > 4
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case 4:
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oldstatus = E4_ENABLE_READ;
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enable_e4();
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enable_E4();
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break;
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#endif // E_STEPPERS > 4
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#endif // E_STEPPERS > 3
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@ -36,8 +36,49 @@
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#define CRITICAL_SECTION_END SREG = _sreg;
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#endif
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// Clock speed factor
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#define CYCLES_PER_MICROSECOND (F_CPU / 1000000UL) // 16 or 20
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// Clock speed factors
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#define CYCLES_PER_MICROSECOND (F_CPU / 1000000L) // 16 or 20
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#define INT0_PRESCALER 8
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// Highly granular delays for step pulses, etc.
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#define DELAY_0_NOP NOOP
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#define DELAY_1_NOP __asm__("nop\n\t")
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#define DELAY_2_NOP DELAY_1_NOP; DELAY_1_NOP
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#define DELAY_3_NOP DELAY_1_NOP; DELAY_2_NOP
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#define DELAY_4_NOP DELAY_1_NOP; DELAY_3_NOP
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#define DELAY_5_NOP DELAY_1_NOP; DELAY_4_NOP
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#define DELAY_NOPS(X) \
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switch (X) { \
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case 20: DELAY_1_NOP; case 19: DELAY_1_NOP; \
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case 18: DELAY_1_NOP; case 17: DELAY_1_NOP; \
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case 16: DELAY_1_NOP; case 15: DELAY_1_NOP; \
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case 14: DELAY_1_NOP; case 13: DELAY_1_NOP; \
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case 12: DELAY_1_NOP; case 11: DELAY_1_NOP; \
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case 10: DELAY_1_NOP; case 9: DELAY_1_NOP; \
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case 8: DELAY_1_NOP; case 7: DELAY_1_NOP; \
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case 6: DELAY_1_NOP; case 5: DELAY_1_NOP; \
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case 4: DELAY_1_NOP; case 3: DELAY_1_NOP; \
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case 2: DELAY_1_NOP; case 1: DELAY_1_NOP; \
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}
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#define DELAY_10_NOP DELAY_5_NOP; DELAY_5_NOP
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#define DELAY_20_NOP DELAY_10_NOP; DELAY_10_NOP
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#if CYCLES_PER_MICROSECOND == 16
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#define DELAY_1US DELAY_10_NOP; DELAY_5_NOP; DELAY_1_NOP
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#else
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#define DELAY_1US DELAY_20_NOP
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#endif
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#define DELAY_2US DELAY_1US; DELAY_1US
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#define DELAY_3US DELAY_1US; DELAY_2US
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#define DELAY_4US DELAY_1US; DELAY_3US
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#define DELAY_5US DELAY_1US; DELAY_4US
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#define DELAY_6US DELAY_1US; DELAY_5US
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#define DELAY_7US DELAY_1US; DELAY_6US
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#define DELAY_8US DELAY_1US; DELAY_7US
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#define DELAY_9US DELAY_1US; DELAY_8US
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#define DELAY_10US DELAY_1US; DELAY_9US
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// Remove compiler warning on an unused variable
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#define UNUSED(x) (void) (x)
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@ -441,13 +441,13 @@ void Planner::check_axes_activity() {
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}
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}
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#if ENABLED(DISABLE_X)
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if (!axis_active[X_AXIS]) disable_x();
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if (!axis_active[X_AXIS]) disable_X();
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#endif
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#if ENABLED(DISABLE_Y)
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if (!axis_active[Y_AXIS]) disable_y();
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if (!axis_active[Y_AXIS]) disable_Y();
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#endif
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#if ENABLED(DISABLE_Z)
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if (!axis_active[Z_AXIS]) disable_z();
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if (!axis_active[Z_AXIS]) disable_Z();
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#endif
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#if ENABLED(DISABLE_E)
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if (!axis_active[E_AXIS]) disable_e_steppers();
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@ -832,29 +832,29 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
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//enable active axes
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#if CORE_IS_XY
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if (block->steps[A_AXIS] || block->steps[B_AXIS]) {
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enable_x();
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enable_y();
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enable_X();
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enable_Y();
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}
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#if DISABLED(Z_LATE_ENABLE)
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if (block->steps[Z_AXIS]) enable_z();
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if (block->steps[Z_AXIS]) enable_Z();
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#endif
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#elif CORE_IS_XZ
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if (block->steps[A_AXIS] || block->steps[C_AXIS]) {
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enable_x();
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enable_z();
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enable_X();
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enable_Z();
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}
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if (block->steps[Y_AXIS]) enable_y();
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if (block->steps[Y_AXIS]) enable_Y();
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#elif CORE_IS_YZ
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if (block->steps[B_AXIS] || block->steps[C_AXIS]) {
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enable_y();
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enable_z();
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enable_Y();
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enable_Z();
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}
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if (block->steps[X_AXIS]) enable_x();
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if (block->steps[X_AXIS]) enable_X();
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#else
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if (block->steps[X_AXIS]) enable_x();
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if (block->steps[Y_AXIS]) enable_y();
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if (block->steps[X_AXIS]) enable_X();
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if (block->steps[Y_AXIS]) enable_Y();
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#if DISABLED(Z_LATE_ENABLE)
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if (block->steps[Z_AXIS]) enable_z();
|
||||
if (block->steps[Z_AXIS]) enable_Z();
|
||||
#endif
|
||||
#endif
|
||||
|
||||
@ -868,22 +868,22 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
|
||||
|
||||
switch(extruder) {
|
||||
case 0:
|
||||
enable_e0();
|
||||
enable_E0();
|
||||
#if ENABLED(DUAL_X_CARRIAGE)
|
||||
if (extruder_duplication_enabled) {
|
||||
enable_e1();
|
||||
enable_E1();
|
||||
g_uc_extruder_last_move[1] = (BLOCK_BUFFER_SIZE) * 2;
|
||||
}
|
||||
#endif
|
||||
g_uc_extruder_last_move[0] = (BLOCK_BUFFER_SIZE) * 2;
|
||||
#if EXTRUDERS > 1
|
||||
if (g_uc_extruder_last_move[1] == 0) disable_e1();
|
||||
if (g_uc_extruder_last_move[1] == 0) disable_E1();
|
||||
#if EXTRUDERS > 2
|
||||
if (g_uc_extruder_last_move[2] == 0) disable_e2();
|
||||
if (g_uc_extruder_last_move[2] == 0) disable_E2();
|
||||
#if EXTRUDERS > 3
|
||||
if (g_uc_extruder_last_move[3] == 0) disable_e3();
|
||||
if (g_uc_extruder_last_move[3] == 0) disable_E3();
|
||||
#if EXTRUDERS > 4
|
||||
if (g_uc_extruder_last_move[4] == 0) disable_e4();
|
||||
if (g_uc_extruder_last_move[4] == 0) disable_E4();
|
||||
#endif // EXTRUDERS > 4
|
||||
#endif // EXTRUDERS > 3
|
||||
#endif // EXTRUDERS > 2
|
||||
@ -891,51 +891,51 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
|
||||
break;
|
||||
#if EXTRUDERS > 1
|
||||
case 1:
|
||||
enable_e1();
|
||||
enable_E1();
|
||||
g_uc_extruder_last_move[1] = (BLOCK_BUFFER_SIZE) * 2;
|
||||
if (g_uc_extruder_last_move[0] == 0) disable_e0();
|
||||
if (g_uc_extruder_last_move[0] == 0) disable_E0();
|
||||
#if EXTRUDERS > 2
|
||||
if (g_uc_extruder_last_move[2] == 0) disable_e2();
|
||||
if (g_uc_extruder_last_move[2] == 0) disable_E2();
|
||||
#if EXTRUDERS > 3
|
||||
if (g_uc_extruder_last_move[3] == 0) disable_e3();
|
||||
if (g_uc_extruder_last_move[3] == 0) disable_E3();
|
||||
#if EXTRUDERS > 4
|
||||
if (g_uc_extruder_last_move[4] == 0) disable_e4();
|
||||
if (g_uc_extruder_last_move[4] == 0) disable_E4();
|
||||
#endif // EXTRUDERS > 4
|
||||
#endif // EXTRUDERS > 3
|
||||
#endif // EXTRUDERS > 2
|
||||
break;
|
||||
#if EXTRUDERS > 2
|
||||
case 2:
|
||||
enable_e2();
|
||||
enable_E2();
|
||||
g_uc_extruder_last_move[2] = (BLOCK_BUFFER_SIZE) * 2;
|
||||
if (g_uc_extruder_last_move[0] == 0) disable_e0();
|
||||
if (g_uc_extruder_last_move[1] == 0) disable_e1();
|
||||
if (g_uc_extruder_last_move[0] == 0) disable_E0();
|
||||
if (g_uc_extruder_last_move[1] == 0) disable_E1();
|
||||
#if EXTRUDERS > 3
|
||||
if (g_uc_extruder_last_move[3] == 0) disable_e3();
|
||||
if (g_uc_extruder_last_move[3] == 0) disable_E3();
|
||||
#if EXTRUDERS > 4
|
||||
if (g_uc_extruder_last_move[4] == 0) disable_e4();
|
||||
if (g_uc_extruder_last_move[4] == 0) disable_E4();
|
||||
#endif
|
||||
#endif
|
||||
break;
|
||||
#if EXTRUDERS > 3
|
||||
case 3:
|
||||
enable_e3();
|
||||
enable_E3();
|
||||
g_uc_extruder_last_move[3] = (BLOCK_BUFFER_SIZE) * 2;
|
||||
if (g_uc_extruder_last_move[0] == 0) disable_e0();
|
||||
if (g_uc_extruder_last_move[1] == 0) disable_e1();
|
||||
if (g_uc_extruder_last_move[2] == 0) disable_e2();
|
||||
if (g_uc_extruder_last_move[0] == 0) disable_E0();
|
||||
if (g_uc_extruder_last_move[1] == 0) disable_E1();
|
||||
if (g_uc_extruder_last_move[2] == 0) disable_E2();
|
||||
#if EXTRUDERS > 4
|
||||
if (g_uc_extruder_last_move[4] == 0) disable_e4();
|
||||
if (g_uc_extruder_last_move[4] == 0) disable_E4();
|
||||
#endif
|
||||
break;
|
||||
#if EXTRUDERS > 4
|
||||
case 4:
|
||||
enable_e4();
|
||||
enable_E4();
|
||||
g_uc_extruder_last_move[4] = (BLOCK_BUFFER_SIZE) * 2;
|
||||
if (g_uc_extruder_last_move[0] == 0) disable_e0();
|
||||
if (g_uc_extruder_last_move[1] == 0) disable_e1();
|
||||
if (g_uc_extruder_last_move[2] == 0) disable_e2();
|
||||
if (g_uc_extruder_last_move[3] == 0) disable_e3();
|
||||
if (g_uc_extruder_last_move[0] == 0) disable_E0();
|
||||
if (g_uc_extruder_last_move[1] == 0) disable_E1();
|
||||
if (g_uc_extruder_last_move[2] == 0) disable_E2();
|
||||
if (g_uc_extruder_last_move[3] == 0) disable_E3();
|
||||
break;
|
||||
#endif // EXTRUDERS > 4
|
||||
#endif // EXTRUDERS > 3
|
||||
@ -943,11 +943,11 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
|
||||
#endif // EXTRUDERS > 1
|
||||
}
|
||||
#else
|
||||
enable_e0();
|
||||
enable_e1();
|
||||
enable_e2();
|
||||
enable_e3();
|
||||
enable_e4();
|
||||
enable_E0();
|
||||
enable_E1();
|
||||
enable_E2();
|
||||
enable_E3();
|
||||
enable_E4();
|
||||
#endif
|
||||
}
|
||||
|
||||
|
||||
@ -82,7 +82,7 @@
|
||||
|
||||
// Say which 16 bit timers can be used and in what order
|
||||
#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
|
||||
//#define _useTimer1
|
||||
//#define _useTimer1 // Timer 1 is used by the stepper ISR
|
||||
#define _useTimer3
|
||||
#define _useTimer4
|
||||
#if !HAS_MOTOR_CURRENT_PWM
|
||||
|
||||
@ -428,7 +428,7 @@ void Stepper::isr() {
|
||||
|
||||
#if ENABLED(Z_LATE_ENABLE)
|
||||
if (current_block->steps[Z_AXIS] > 0) {
|
||||
enable_z();
|
||||
enable_Z();
|
||||
_NEXT_ISR(2000); // Run at slow speed - 1 KHz
|
||||
_ENABLE_ISRs(); // re-enable ISRs
|
||||
return;
|
||||
@ -460,7 +460,7 @@ void Stepper::isr() {
|
||||
|
||||
// Take multiple steps per interrupt (For high speed moves)
|
||||
bool all_steps_done = false;
|
||||
for (int8_t i = 0; i < step_loops; i++) {
|
||||
for (uint8_t i = step_loops; i--;) {
|
||||
#if ENABLED(LIN_ADVANCE)
|
||||
|
||||
counter_E += current_block->steps[E_AXIS];
|
||||
@ -530,10 +530,34 @@ void Stepper::isr() {
|
||||
_APPLY_STEP(AXIS)(_INVERT_STEP_PIN(AXIS),0); \
|
||||
}
|
||||
|
||||
#define CYCLES_EATEN_BY_CODE 240
|
||||
#if HAS_X_STEP
|
||||
#define _COUNT_STEPPERS_1 1
|
||||
#else
|
||||
#define _COUNT_STEPPERS_1 0
|
||||
#endif
|
||||
#if HAS_Y_STEP
|
||||
#define _COUNT_STEPPERS_2 _COUNT_STEPPERS_1 + 1
|
||||
#else
|
||||
#define _COUNT_STEPPERS_2 _COUNT_STEPPERS_1
|
||||
#endif
|
||||
#if HAS_Z_STEP
|
||||
#define _COUNT_STEPPERS_3 _COUNT_STEPPERS_2 + 1
|
||||
#else
|
||||
#define _COUNT_STEPPERS_3 _COUNT_STEPPERS_2
|
||||
#endif
|
||||
#if DISABLED(ADVANCE) && DISABLED(LIN_ADVANCE)
|
||||
#define _COUNT_STEPPERS_4 _COUNT_STEPPERS_3 + 1
|
||||
#else
|
||||
#define _COUNT_STEPPERS_4 _COUNT_STEPPERS_3
|
||||
#endif
|
||||
|
||||
// If a minimum pulse time was specified get the CPU clock
|
||||
#if STEP_PULSE_CYCLES > CYCLES_EATEN_BY_CODE
|
||||
#define CYCLES_EATEN_XYZE ((_COUNT_STEPPERS_4) * 5)
|
||||
#define EXTRA_CYCLES_XYZE (STEP_PULSE_CYCLES - (CYCLES_EATEN_XYZE))
|
||||
|
||||
// If a minimum pulse time was specified get the timer 0 value
|
||||
// which increments every 4µs on 16MHz and every 3.2µs on 20MHz.
|
||||
// Two or 3 counts of TCNT0 should be a sufficient delay.
|
||||
#if EXTRA_CYCLES_XYZE > 20
|
||||
uint32_t pulse_start = TCNT0;
|
||||
#endif
|
||||
|
||||
@ -564,9 +588,12 @@ void Stepper::isr() {
|
||||
#endif
|
||||
#endif // !ADVANCE && !LIN_ADVANCE
|
||||
|
||||
// For a minimum pulse time wait before stopping pulses
|
||||
#if STEP_PULSE_CYCLES > CYCLES_EATEN_BY_CODE
|
||||
while ((uint32_t)(TCNT0 - pulse_start) < STEP_PULSE_CYCLES - CYCLES_EATEN_BY_CODE) { /* nada */ }
|
||||
// For minimum pulse time wait before stopping pulses
|
||||
#if EXTRA_CYCLES_XYZE > 20
|
||||
while (EXTRA_CYCLES_XYZE > (uint32_t)(TCNT0 - pulse_start) * (INT0_PRESCALER)) { /* nada */ }
|
||||
pulse_start = TCNT0;
|
||||
#elif EXTRA_CYCLES_XYZE > 0
|
||||
DELAY_NOPS(EXTRA_CYCLES_XYZE);
|
||||
#endif
|
||||
|
||||
#if HAS_X_STEP
|
||||
@ -601,7 +628,15 @@ void Stepper::isr() {
|
||||
all_steps_done = true;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
// For minimum pulse time wait before stopping pulses
|
||||
#if EXTRA_CYCLES_XYZE > 20
|
||||
if (i) while (EXTRA_CYCLES_XYZE > (uint32_t)(TCNT0 - pulse_start) * (INT0_PRESCALER)) { /* nada */ }
|
||||
#elif EXTRA_CYCLES_XYZE > 0
|
||||
if (i) DELAY_NOPS(EXTRA_CYCLES_XYZE);
|
||||
#endif
|
||||
|
||||
} // steps_loop
|
||||
|
||||
#if ENABLED(LIN_ADVANCE)
|
||||
if (current_block->use_advance_lead) {
|
||||
@ -765,6 +800,9 @@ void Stepper::isr() {
|
||||
|
||||
#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
|
||||
|
||||
#define CYCLES_EATEN_E (E_STEPPERS * 5)
|
||||
#define EXTRA_CYCLES_E (STEP_PULSE_CYCLES - (CYCLES_EATEN_E))
|
||||
|
||||
// Timer interrupt for E. e_steps is set in the main routine;
|
||||
|
||||
void Stepper::advance_isr() {
|
||||
@ -794,12 +832,10 @@ void Stepper::isr() {
|
||||
#endif
|
||||
#endif
|
||||
|
||||
#define CYCLES_EATEN_BY_E 60
|
||||
|
||||
// Step all E steppers that have steps
|
||||
for (uint8_t i = 0; i < step_loops; i++) {
|
||||
for (uint8_t i = step_loops; i--;) {
|
||||
|
||||
#if STEP_PULSE_CYCLES > CYCLES_EATEN_BY_E
|
||||
#if EXTRA_CYCLES_E > 20
|
||||
uint32_t pulse_start = TCNT0;
|
||||
#endif
|
||||
|
||||
@ -814,9 +850,12 @@ void Stepper::isr() {
|
||||
#endif
|
||||
#endif
|
||||
|
||||
// For a minimum pulse time wait before stopping pulses
|
||||
#if STEP_PULSE_CYCLES > CYCLES_EATEN_BY_E
|
||||
while ((uint32_t)(TCNT0 - pulse_start) < STEP_PULSE_CYCLES - CYCLES_EATEN_BY_E) { /* nada */ }
|
||||
// For minimum pulse time wait before stopping pulses
|
||||
#if EXTRA_CYCLES_E > 20
|
||||
while (EXTRA_CYCLES_E > (uint32_t)(TCNT0 - pulse_start) * (INT0_PRESCALER)) { /* nada */ }
|
||||
pulse_start = TCNT0;
|
||||
#elif EXTRA_CYCLES_E > 0
|
||||
DELAY_NOPS(EXTRA_CYCLES_E);
|
||||
#endif
|
||||
|
||||
STOP_E_PULSE(0);
|
||||
@ -829,8 +868,15 @@ void Stepper::isr() {
|
||||
#endif
|
||||
#endif
|
||||
#endif
|
||||
}
|
||||
|
||||
// For minimum pulse time wait before looping
|
||||
#if EXTRA_CYCLES_E > 20
|
||||
if (i) while (EXTRA_CYCLES_E > (uint32_t)(TCNT0 - pulse_start) * (INT0_PRESCALER)) { /* nada */ }
|
||||
#elif EXTRA_CYCLES_E > 0
|
||||
if (i) DELAY_NOPS(EXTRA_CYCLES_E);
|
||||
#endif
|
||||
|
||||
} // steps_loop
|
||||
}
|
||||
|
||||
void Stepper::advance_isr_scheduler() {
|
||||
@ -986,14 +1032,14 @@ void Stepper::init() {
|
||||
|
||||
#define _STEP_INIT(AXIS) AXIS ##_STEP_INIT
|
||||
#define _WRITE_STEP(AXIS, HIGHLOW) AXIS ##_STEP_WRITE(HIGHLOW)
|
||||
#define _DISABLE(axis) disable_## axis()
|
||||
#define _DISABLE(AXIS) disable_## AXIS()
|
||||
|
||||
#define AXIS_INIT(axis, AXIS, PIN) \
|
||||
#define AXIS_INIT(AXIS, PIN) \
|
||||
_STEP_INIT(AXIS); \
|
||||
_WRITE_STEP(AXIS, _INVERT_STEP_PIN(PIN)); \
|
||||
_DISABLE(axis)
|
||||
_DISABLE(AXIS)
|
||||
|
||||
#define E_AXIS_INIT(NUM) AXIS_INIT(e## NUM, E## NUM, E)
|
||||
#define E_AXIS_INIT(NUM) AXIS_INIT(E## NUM, E)
|
||||
|
||||
// Init Step Pins
|
||||
#if HAS_X_STEP
|
||||
@ -1001,7 +1047,7 @@ void Stepper::init() {
|
||||
X2_STEP_INIT;
|
||||
X2_STEP_WRITE(INVERT_X_STEP_PIN);
|
||||
#endif
|
||||
AXIS_INIT(x, X, X);
|
||||
AXIS_INIT(X, X);
|
||||
#endif
|
||||
|
||||
#if HAS_Y_STEP
|
||||
@ -1009,7 +1055,7 @@ void Stepper::init() {
|
||||
Y2_STEP_INIT;
|
||||
Y2_STEP_WRITE(INVERT_Y_STEP_PIN);
|
||||
#endif
|
||||
AXIS_INIT(y, Y, Y);
|
||||
AXIS_INIT(Y, Y);
|
||||
#endif
|
||||
|
||||
#if HAS_Z_STEP
|
||||
@ -1017,7 +1063,7 @@ void Stepper::init() {
|
||||
Z2_STEP_INIT;
|
||||
Z2_STEP_WRITE(INVERT_Z_STEP_PIN);
|
||||
#endif
|
||||
AXIS_INIT(z, Z, Z);
|
||||
AXIS_INIT(Z, Z);
|
||||
#endif
|
||||
|
||||
#if HAS_E0_STEP
|
||||
@ -1056,15 +1102,11 @@ void Stepper::init() {
|
||||
ENABLE_STEPPER_DRIVER_INTERRUPT();
|
||||
|
||||
#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
|
||||
|
||||
for (int i = 0; i < E_STEPPERS; i++) {
|
||||
e_steps[i] = 0;
|
||||
ZERO(e_steps);
|
||||
#if ENABLED(LIN_ADVANCE)
|
||||
current_adv_steps[i] = 0;
|
||||
ZERO(current_adv_steps);
|
||||
#endif
|
||||
}
|
||||
|
||||
#endif // ADVANCE or LIN_ADVANCE
|
||||
#endif // ADVANCE || LIN_ADVANCE
|
||||
|
||||
endstops.enable(true); // Start with endstops active. After homing they can be disabled
|
||||
sei();
|
||||
@ -1235,29 +1277,40 @@ void Stepper::report_positions() {
|
||||
|
||||
#if ENABLED(BABYSTEPPING)
|
||||
|
||||
#define CYCLES_EATEN_BY_BABYSTEP 60
|
||||
#if ENABLED(DELTA)
|
||||
#define CYCLES_EATEN_BABYSTEP (2 * 15)
|
||||
#else
|
||||
#define CYCLES_EATEN_BABYSTEP 0
|
||||
#endif
|
||||
#define EXTRA_CYCLES_BABYSTEP (STEP_PULSE_CYCLES - (CYCLES_EATEN_BABYSTEP))
|
||||
|
||||
#define _ENABLE(axis) enable_## axis()
|
||||
#define _ENABLE(AXIS) enable_## AXIS()
|
||||
#define _READ_DIR(AXIS) AXIS ##_DIR_READ
|
||||
#define _INVERT_DIR(AXIS) INVERT_## AXIS ##_DIR
|
||||
#define _APPLY_DIR(AXIS, INVERT) AXIS ##_APPLY_DIR(INVERT, true)
|
||||
|
||||
#if STEP_PULSE_CYCLES > CYCLES_EATEN_BY_BABYSTEP
|
||||
#if EXTRA_CYCLES_BABYSTEP > 20
|
||||
#define _SAVE_START (pulse_start = TCNT0)
|
||||
#define _PULSE_WAIT while ((uint32_t)(TCNT0 - pulse_start) < STEP_PULSE_CYCLES - CYCLES_EATEN_BY_BABYSTEP) { /* nada */ }
|
||||
#define _PULSE_WAIT while (EXTRA_CYCLES_BABYSTEP > (uint32_t)(TCNT0 - pulse_start) * (INT0_PRESCALER)) { /* nada */ }
|
||||
#else
|
||||
#define _SAVE_START NOOP
|
||||
#if EXTRA_CYCLES_BABYSTEP > 0
|
||||
#define _PULSE_WAIT DELAY_NOPS(EXTRA_CYCLES_BABYSTEP)
|
||||
#elif STEP_PULSE_CYCLES > 0
|
||||
#define _PULSE_WAIT NOOP
|
||||
#elif ENABLED(DELTA)
|
||||
#define _PULSE_WAIT delayMicroseconds(2);
|
||||
#else
|
||||
#define _PULSE_WAIT delayMicroseconds(4);
|
||||
#endif
|
||||
#endif
|
||||
|
||||
#define START_BABYSTEP_AXIS(AXIS, INVERT) { \
|
||||
old_dir = _READ_DIR(AXIS); \
|
||||
#define BABYSTEP_AXIS(AXIS, INVERT) { \
|
||||
const uint8_t old_dir = _READ_DIR(AXIS); \
|
||||
_ENABLE(AXIS); \
|
||||
_SAVE_START; \
|
||||
_APPLY_DIR(AXIS, _INVERT_DIR(AXIS)^direction^INVERT); \
|
||||
_APPLY_STEP(AXIS)(!_INVERT_STEP_PIN(AXIS), true); \
|
||||
}
|
||||
|
||||
#define STOP_BABYSTEP_AXIS(AXIS) { \
|
||||
_PULSE_WAIT; \
|
||||
_APPLY_STEP(AXIS)(_INVERT_STEP_PIN(AXIS), true); \
|
||||
_APPLY_DIR(AXIS, old_dir); \
|
||||
@ -1268,60 +1321,60 @@ void Stepper::report_positions() {
|
||||
void Stepper::babystep(const AxisEnum axis, const bool direction) {
|
||||
cli();
|
||||
uint8_t old_dir;
|
||||
#if STEP_PULSE_CYCLES > CYCLES_EATEN_BY_BABYSTEP
|
||||
|
||||
#if EXTRA_CYCLES_BABYSTEP > 20
|
||||
uint32_t pulse_start;
|
||||
#endif
|
||||
|
||||
switch (axis) {
|
||||
|
||||
#if ENABLED(BABYSTEP_XY)
|
||||
|
||||
case X_AXIS:
|
||||
_ENABLE(x);
|
||||
START_BABYSTEP_AXIS(X, false);
|
||||
STOP_BABYSTEP_AXIS(X);
|
||||
BABYSTEP_AXIS(X, false);
|
||||
break;
|
||||
|
||||
case Y_AXIS:
|
||||
_ENABLE(y);
|
||||
START_BABYSTEP_AXIS(Y, false);
|
||||
STOP_BABYSTEP_AXIS(Y);
|
||||
BABYSTEP_AXIS(Y, false);
|
||||
break;
|
||||
|
||||
#endif
|
||||
|
||||
case Z_AXIS: {
|
||||
|
||||
#if DISABLED(DELTA)
|
||||
|
||||
_ENABLE(z);
|
||||
START_BABYSTEP_AXIS(Z, BABYSTEP_INVERT_Z);
|
||||
STOP_BABYSTEP_AXIS(Z);
|
||||
BABYSTEP_AXIS(Z, BABYSTEP_INVERT_Z);
|
||||
|
||||
#else // DELTA
|
||||
|
||||
bool z_direction = direction ^ BABYSTEP_INVERT_Z;
|
||||
|
||||
enable_x();
|
||||
enable_y();
|
||||
enable_z();
|
||||
enable_X();
|
||||
enable_Y();
|
||||
enable_Z();
|
||||
|
||||
uint8_t old_x_dir_pin = X_DIR_READ,
|
||||
old_y_dir_pin = Y_DIR_READ,
|
||||
old_z_dir_pin = Z_DIR_READ;
|
||||
//setup new step
|
||||
|
||||
X_DIR_WRITE(INVERT_X_DIR ^ z_direction);
|
||||
Y_DIR_WRITE(INVERT_Y_DIR ^ z_direction);
|
||||
Z_DIR_WRITE(INVERT_Z_DIR ^ z_direction);
|
||||
//perform step
|
||||
#if STEP_PULSE_CYCLES > CYCLES_EATEN_BY_BABYSTEP
|
||||
pulse_start = TCNT0;
|
||||
#endif
|
||||
|
||||
_SAVE_START;
|
||||
|
||||
X_STEP_WRITE(!INVERT_X_STEP_PIN);
|
||||
Y_STEP_WRITE(!INVERT_Y_STEP_PIN);
|
||||
Z_STEP_WRITE(!INVERT_Z_STEP_PIN);
|
||||
#if STEP_PULSE_CYCLES > CYCLES_EATEN_BY_BABYSTEP
|
||||
while ((uint32_t)(TCNT0 - pulse_start) < STEP_PULSE_CYCLES - CYCLES_EATEN_BY_BABYSTEP) { /* nada */ }
|
||||
#endif
|
||||
|
||||
_PULSE_WAIT;
|
||||
|
||||
X_STEP_WRITE(INVERT_X_STEP_PIN);
|
||||
Y_STEP_WRITE(INVERT_Y_STEP_PIN);
|
||||
Z_STEP_WRITE(INVERT_Z_STEP_PIN);
|
||||
//get old pin state back.
|
||||
|
||||
// Restore direction bits
|
||||
X_DIR_WRITE(old_x_dir_pin);
|
||||
Y_DIR_WRITE(old_y_dir_pin);
|
||||
Z_DIR_WRITE(old_z_dir_pin);
|
||||
|
||||
@ -43,13 +43,6 @@
|
||||
//set optimization so ARDUINO optimizes this file
|
||||
#pragma GCC optimize (3)
|
||||
|
||||
#define DELAY_0_NOP NOOP
|
||||
#define DELAY_1_NOP __asm__("nop\n\t")
|
||||
#define DELAY_2_NOP __asm__("nop\n\t" "nop\n\t")
|
||||
#define DELAY_3_NOP __asm__("nop\n\t" "nop\n\t" "nop\n\t")
|
||||
#define DELAY_4_NOP __asm__("nop\n\t" "nop\n\t" "nop\n\t" "nop\n\t")
|
||||
|
||||
|
||||
// If you want you can define your own set of delays in Configuration.h
|
||||
//#define ST7920_DELAY_1 DELAY_0_NOP
|
||||
//#define ST7920_DELAY_2 DELAY_0_NOP
|
||||
|
||||
Loading…
Reference in New Issue
Block a user