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🧑‍💻 Move DIR inverting to *_DIR_WRITE

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This commit is contained in:
Scott Lahteine
2023-04-29 21:28:12 -05:00
parent 1234e6af52
commit 2538a7c4d6
6 changed files with 186 additions and 153 deletions
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66
Marlin/src/module/stepper.cpp
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@@ -477,6 +477,15 @@ xyze_int8_t Stepper::count_direction{0};
#define W_APPLY_STEP(v,Q) W_STEP_WRITE(v)
#endif
#define E0_APPLY_DIR(REV) do{ (REV) ? FWD_E_DIR(0) : REV_E_DIR(0); }while(0)
#define E1_APPLY_DIR(REV) do{ (REV) ? FWD_E_DIR(1) : REV_E_DIR(1); }while(0)
#define E2_APPLY_DIR(REV) do{ (REV) ? FWD_E_DIR(2) : REV_E_DIR(2); }while(0)
#define E3_APPLY_DIR(REV) do{ (REV) ? FWD_E_DIR(3) : REV_E_DIR(3); }while(0)
#define E4_APPLY_DIR(REV) do{ (REV) ? FWD_E_DIR(4) : REV_E_DIR(4); }while(0)
#define E5_APPLY_DIR(REV) do{ (REV) ? FWD_E_DIR(5) : REV_E_DIR(5); }while(0)
#define E6_APPLY_DIR(REV) do{ (REV) ? FWD_E_DIR(6) : REV_E_DIR(6); }while(0)
#define E7_APPLY_DIR(REV) do{ (REV) ? FWD_E_DIR(7) : REV_E_DIR(7); }while(0)
#if DISABLED(MIXING_EXTRUDER)
#define E_APPLY_STEP(v,Q) E_STEP_WRITE(stepper_extruder, v)
#endif
@@ -592,14 +601,16 @@ void Stepper::disable_all_steppers() {
TERN_(EXTENSIBLE_UI, ExtUI::onSteppersDisabled());
}
#define SET_STEP_DIR(A) \
if (motor_direction(_AXIS(A))) { \
A##_APPLY_DIR(INVERT_DIR(A, LOW), false); \
count_direction[_AXIS(A)] = -1; \
} \
else { \
A##_APPLY_DIR(INVERT_DIR(A, HIGH), false); \
count_direction[_AXIS(A)] = 1; \
// Set a single axis direction based on the last set flags.
// A direction bit of "1" indicates reverse or negative motion.
#define SET_STEP_DIR(A) \
if (motor_direction(_AXIS(A))) { \
A##_APPLY_DIR(LOW, false); \
count_direction[_AXIS(A)] = -1; \
} \
else { \
A##_APPLY_DIR(HIGH, false); \
count_direction[_AXIS(A)] = 1; \
}
/**
@@ -2402,7 +2413,7 @@ hal_timer_t Stepper::block_phase_isr() {
if (la_active) {
const uint32_t la_step_rate = la_advance_steps > current_block->final_adv_steps ? current_block->la_advance_rate : 0;
if (la_step_rate != step_rate) {
bool reverse_e = la_step_rate > step_rate;
const bool reverse_e = la_step_rate > step_rate;
la_interval = calc_timer_interval((reverse_e ? la_step_rate - step_rate : step_rate - la_step_rate) >> current_block->la_scaling);
if (reverse_e != motor_direction(E_AXIS)) {
@@ -3163,21 +3174,6 @@ void Stepper::init() {
sei();
#endif
// Init direction bits for first moves
set_directions(0
NUM_AXIS_GANG(
| TERN0(INVERT_X_DIR, _BV(X_AXIS)),
| TERN0(INVERT_Y_DIR, _BV(Y_AXIS)),
| TERN0(INVERT_Z_DIR, _BV(Z_AXIS)),
| TERN0(INVERT_I_DIR, _BV(I_AXIS)),
| TERN0(INVERT_J_DIR, _BV(J_AXIS)),
| TERN0(INVERT_K_DIR, _BV(K_AXIS)),
| TERN0(INVERT_U_DIR, _BV(U_AXIS)),
| TERN0(INVERT_V_DIR, _BV(V_AXIS)),
| TERN0(INVERT_W_DIR, _BV(W_AXIS))
)
);
#if HAS_MOTOR_CURRENT_SPI || HAS_MOTOR_CURRENT_PWM
initialized = true;
digipot_init();
@@ -3472,10 +3468,10 @@ void Stepper::report_positions() {
#endif
if (applyDir) {
TERN_(HAS_X_AXIS, X_DIR_WRITE(INVERT_DIR(X, TEST(command, FT_BIT_DIR_X))));
TERN_(HAS_Y_AXIS, Y_DIR_WRITE(INVERT_DIR(Y, TEST(command, FT_BIT_DIR_Y))));
TERN_(HAS_Z_AXIS, Z_DIR_WRITE(INVERT_DIR(Z, z_dir)));
TERN_(HAS_EXTRUDERS, E0_DIR_WRITE(INVERT_DIR(E0, TEST(command, FT_BIT_DIR_E))));
TERN_(HAS_X_AXIS, X_DIR_WRITE(TEST(command, FT_BIT_DIR_X)));
TERN_(HAS_Y_AXIS, Y_DIR_WRITE(TEST(command, FT_BIT_DIR_Y)));
TERN_(HAS_Z_AXIS, Z_DIR_WRITE(z_dir));
TERN_(HAS_EXTRUDERS, E0_DIR_WRITE(TEST(command, FT_BIT_DIR_E)));
DIR_WAIT_AFTER();
}
@@ -3632,7 +3628,7 @@ void Stepper::report_positions() {
const uint8_t old_dir = _READ_DIR(AXIS); \
_ENABLE_AXIS(AXIS); \
DIR_WAIT_BEFORE(); \
_APPLY_DIR(AXIS, INVERT_DIR(AXIS, (DIR)^(INV))); \
_APPLY_DIR(AXIS, (DIR)^(INV)); \
DIR_WAIT_AFTER(); \
_SAVE_START(); \
_APPLY_STEP(AXIS, _STEP_STATE(AXIS), true); \
@@ -3651,8 +3647,8 @@ void Stepper::report_positions() {
const xy_byte_t old_dir = { _READ_DIR(A), _READ_DIR(B) }; \
_ENABLE_AXIS(A); _ENABLE_AXIS(B); \
DIR_WAIT_BEFORE(); \
_APPLY_DIR(A, INVERT_DIR(A, (DIR)^(INV))); \
_APPLY_DIR(B, INVERT_DIR(B, (DIR)^(INV)^(ALT))); \
_APPLY_DIR(A, (DIR)^(INV)); \
_APPLY_DIR(B, (DIR)^(INV)^(ALT)); \
DIR_WAIT_AFTER(); \
_SAVE_START(); \
_APPLY_STEP(A, _STEP_STATE(A), true); \
@@ -3710,7 +3706,7 @@ void Stepper::report_positions() {
#else // DELTA
const bool z_direction = direction ^ BABYSTEP_INVERT_Z;
const bool z_direction = TERN_(BABYSTEP_INVERT_Z, !) direction;
NUM_AXIS_CODE(
enable_axis(X_AXIS), enable_axis(Y_AXIS), enable_axis(Z_AXIS),
@@ -3727,13 +3723,13 @@ void Stepper::report_positions() {
);
#ifdef X_DIR_WRITE
X_DIR_WRITE(INVERT_DIR(X, z_direction));
X_DIR_WRITE(z_direction);
#endif
#ifdef Y_DIR_WRITE
Y_DIR_WRITE(INVERT_DIR(Y, z_direction));
Y_DIR_WRITE(z_direction);
#endif
#ifdef Z_DIR_WRITE
Z_DIR_WRITE(INVERT_DIR(Z, z_direction));
Z_DIR_WRITE(z_direction);
#endif
DIR_WAIT_AFTER();