mirror of
https://github.com/MarlinFirmware/Marlin.git
synced 2024-11-23 20:18:52 +00:00
Keep Stepper encapsulation, use static data and methods
This commit is contained in:
Scott Lahteine
parent
7ba8f2dbc3
commit
668d50f68e
@ -60,6 +60,55 @@
|
||||
|
||||
Stepper stepper; // Singleton
|
||||
|
||||
// public:
|
||||
|
||||
block_t* Stepper::current_block = NULL; // A pointer to the block currently being traced
|
||||
|
||||
#if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
|
||||
bool Stepper::abort_on_endstop_hit = false;
|
||||
#endif
|
||||
|
||||
#if ENABLED(Z_DUAL_ENDSTOPS)
|
||||
bool Stepper::performing_homing = false;
|
||||
#endif
|
||||
|
||||
// private:
|
||||
|
||||
unsigned char Stepper::last_direction_bits = 0; // The next stepping-bits to be output
|
||||
unsigned int Stepper::cleaning_buffer_counter = 0;
|
||||
|
||||
#if ENABLED(Z_DUAL_ENDSTOPS)
|
||||
bool Stepper::locked_z_motor = false;
|
||||
bool Stepper::locked_z2_motor = false;
|
||||
#endif
|
||||
|
||||
long Stepper::counter_X = 0,
|
||||
Stepper::counter_Y = 0,
|
||||
Stepper::counter_Z = 0,
|
||||
Stepper::counter_E = 0;
|
||||
|
||||
volatile unsigned long Stepper::step_events_completed = 0; // The number of step events executed in the current block
|
||||
|
||||
#if ENABLED(ADVANCE)
|
||||
unsigned char Stepper::old_OCR0A;
|
||||
long Stepper::final_advance = 0,
|
||||
Stepper::old_advance = 0,
|
||||
Stepper::e_steps[4],
|
||||
Stepper::advance_rate,
|
||||
Stepper::advance;
|
||||
#endif
|
||||
|
||||
long Stepper::acceleration_time, Stepper::deceleration_time;
|
||||
|
||||
volatile long Stepper::count_position[NUM_AXIS] = { 0 };
|
||||
volatile signed char Stepper::count_direction[NUM_AXIS] = { 1, 1, 1, 1 };
|
||||
|
||||
unsigned short Stepper::acc_step_rate; // needed for deceleration start point
|
||||
uint8_t Stepper::step_loops, Stepper::step_loops_nominal;
|
||||
unsigned short Stepper::OCR1A_nominal;
|
||||
|
||||
volatile long Stepper::endstops_trigsteps[3];
|
||||
|
||||
#if ENABLED(DUAL_X_CARRIAGE)
|
||||
#define X_APPLY_DIR(v,ALWAYS) \
|
||||
if (extruder_duplication_enabled || ALWAYS) { \
|
||||
@ -238,7 +287,7 @@ void Stepper::set_directions() {
|
||||
|
||||
// "The Stepper Driver Interrupt" - This timer interrupt is the workhorse.
|
||||
// It pops blocks from the block_buffer and executes them by pulsing the stepper pins appropriately.
|
||||
ISR(TIMER1_COMPA_vect) { stepper.isr(); }
|
||||
ISR(TIMER1_COMPA_vect) { Stepper::isr(); }
|
||||
|
||||
void Stepper::isr() {
|
||||
if (cleaning_buffer_counter) {
|
||||
@ -405,7 +454,7 @@ void Stepper::isr() {
|
||||
#if ENABLED(ADVANCE)
|
||||
// Timer interrupt for E. e_steps is set in the main routine;
|
||||
// Timer 0 is shared with millies
|
||||
ISR(TIMER0_COMPA_vect) { stepper.advance_isr(); }
|
||||
ISR(TIMER0_COMPA_vect) { Stepper::advance_isr(); }
|
||||
|
||||
void Stepper::advance_isr() {
|
||||
old_OCR0A += 52; // ~10kHz interrupt (250000 / 26 = 9615kHz)
|
||||
@ -443,6 +492,7 @@ void Stepper::isr() {
|
||||
#endif // ADVANCE
|
||||
|
||||
void Stepper::init() {
|
||||
|
||||
digipot_init(); //Initialize Digipot Motor Current
|
||||
microstep_init(); //Initialize Microstepping Pins
|
||||
|
||||
|
||||
@ -80,49 +80,46 @@ class Stepper {
|
||||
|
||||
public:
|
||||
|
||||
block_t* current_block = NULL; // A pointer to the block currently being traced
|
||||
static block_t* current_block; // A pointer to the block currently being traced
|
||||
|
||||
#if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
|
||||
bool abort_on_endstop_hit = false;
|
||||
static bool abort_on_endstop_hit;
|
||||
#endif
|
||||
|
||||
#if ENABLED(Z_DUAL_ENDSTOPS)
|
||||
bool performing_homing = false;
|
||||
static bool performing_homing;
|
||||
#endif
|
||||
|
||||
#if ENABLED(ADVANCE)
|
||||
long e_steps[4];
|
||||
static long e_steps[4];
|
||||
#endif
|
||||
|
||||
private:
|
||||
|
||||
unsigned char last_direction_bits = 0; // The next stepping-bits to be output
|
||||
unsigned int cleaning_buffer_counter = 0;
|
||||
static unsigned char last_direction_bits; // The next stepping-bits to be output
|
||||
static unsigned int cleaning_buffer_counter;
|
||||
|
||||
#if ENABLED(Z_DUAL_ENDSTOPS)
|
||||
bool locked_z_motor = false,
|
||||
locked_z2_motor = false;
|
||||
static bool locked_z_motor, locked_z2_motor;
|
||||
#endif
|
||||
|
||||
// Counter variables for the Bresenham line tracer
|
||||
long counter_X = 0, counter_Y = 0, counter_Z = 0, counter_E = 0;
|
||||
volatile unsigned long step_events_completed = 0; // The number of step events executed in the current block
|
||||
static long counter_X, counter_Y, counter_Z, counter_E;
|
||||
static volatile unsigned long step_events_completed; // The number of step events executed in the current block
|
||||
|
||||
#if ENABLED(ADVANCE)
|
||||
unsigned char old_OCR0A;
|
||||
long advance_rate, advance, final_advance = 0;
|
||||
long old_advance = 0;
|
||||
static unsigned char old_OCR0A;
|
||||
static long advance_rate, advance, old_advance, final_advance;
|
||||
#endif
|
||||
|
||||
long acceleration_time, deceleration_time;
|
||||
static long acceleration_time, deceleration_time;
|
||||
//unsigned long accelerate_until, decelerate_after, acceleration_rate, initial_rate, final_rate, nominal_rate;
|
||||
unsigned short acc_step_rate; // needed for deceleration start point
|
||||
uint8_t step_loops;
|
||||
uint8_t step_loops_nominal;
|
||||
unsigned short OCR1A_nominal;
|
||||
static unsigned short acc_step_rate; // needed for deceleration start point
|
||||
static uint8_t step_loops, step_loops_nominal;
|
||||
static unsigned short OCR1A_nominal;
|
||||
|
||||
volatile long endstops_trigsteps[3];
|
||||
volatile long endstops_stepsTotal, endstops_stepsDone;
|
||||
static volatile long endstops_trigsteps[3];
|
||||
static volatile long endstops_stepsTotal, endstops_stepsDone;
|
||||
|
||||
#if HAS_MOTOR_CURRENT_PWM
|
||||
#ifndef PWM_MOTOR_CURRENT
|
||||
@ -134,19 +131,19 @@ class Stepper {
|
||||
//
|
||||
// Positions of stepper motors, in step units
|
||||
//
|
||||
volatile long count_position[NUM_AXIS] = { 0 };
|
||||
static volatile long count_position[NUM_AXIS];
|
||||
|
||||
//
|
||||
// Current direction of stepper motors (+1 or -1)
|
||||
//
|
||||
volatile signed char count_direction[NUM_AXIS] = { 1, 1, 1, 1 };
|
||||
static volatile signed char count_direction[NUM_AXIS];
|
||||
|
||||
public:
|
||||
|
||||
//
|
||||
// Constructor / initializer
|
||||
//
|
||||
Stepper() {};
|
||||
Stepper() { };
|
||||
|
||||
//
|
||||
// Initialize stepper hardware
|
||||
@ -157,10 +154,10 @@ class Stepper {
|
||||
// Interrupt Service Routines
|
||||
//
|
||||
|
||||
void isr();
|
||||
static void isr();
|
||||
|
||||
#if ENABLED(ADVANCE)
|
||||
void advance_isr();
|
||||
static void advance_isr();
|
||||
#endif
|
||||
|
||||
//
|
||||
@ -177,7 +174,7 @@ class Stepper {
|
||||
//
|
||||
// Set direction bits for all steppers
|
||||
//
|
||||
void set_directions();
|
||||
static void set_directions();
|
||||
|
||||
//
|
||||
// Get the position of a stepper, in steps
|
||||
@ -213,7 +210,7 @@ class Stepper {
|
||||
//
|
||||
// The direction of a single motor
|
||||
//
|
||||
FORCE_INLINE bool motor_direction(AxisEnum axis) { return TEST(last_direction_bits, axis); }
|
||||
static FORCE_INLINE bool motor_direction(AxisEnum axis) { return TEST(last_direction_bits, axis); }
|
||||
|
||||
#if HAS_DIGIPOTSS
|
||||
void digitalPotWrite(int address, int value);
|
||||
@ -251,7 +248,7 @@ class Stepper {
|
||||
|
||||
private:
|
||||
|
||||
FORCE_INLINE unsigned short calc_timer(unsigned short step_rate) {
|
||||
static FORCE_INLINE unsigned short calc_timer(unsigned short step_rate) {
|
||||
unsigned short timer;
|
||||
|
||||
NOMORE(step_rate, MAX_STEP_FREQUENCY);
|
||||
@ -283,13 +280,17 @@ class Stepper {
|
||||
timer = (unsigned short)pgm_read_word_near(table_address);
|
||||
timer -= (((unsigned short)pgm_read_word_near(table_address + 2) * (unsigned char)(step_rate & 0x0007)) >> 3);
|
||||
}
|
||||
if (timer < 100) { timer = 100; MYSERIAL.print(MSG_STEPPER_TOO_HIGH); MYSERIAL.println(step_rate); }//(20kHz this should never happen)
|
||||
if (timer < 100) { // (20kHz - this should never happen)
|
||||
timer = 100;
|
||||
MYSERIAL.print(MSG_STEPPER_TOO_HIGH);
|
||||
MYSERIAL.println(step_rate);
|
||||
}
|
||||
return timer;
|
||||
}
|
||||
|
||||
// Initializes the trapezoid generator from the current block. Called whenever a new
|
||||
// block begins.
|
||||
FORCE_INLINE void trapezoid_generator_reset() {
|
||||
static FORCE_INLINE void trapezoid_generator_reset() {
|
||||
|
||||
static int8_t last_extruder = -1;
|
||||
|
||||
|
||||
Loading…
Reference in New Issue
Block a user