rework out_bits

Marlin/stepper.cpp

@@ -46,7 +46,7 @@ block_t *current_block;  // A pointer to the block currently being traced
 //static makes it impossible to be called from outside of this file by extern.!
 
 // Variables used by The Stepper Driver Interrupt
-static unsigned char out_bits;        // The next stepping-bits to be output
+static unsigned char out_bits = 0;        // The next stepping-bits to be output
 static unsigned int cleaning_buffer_counter;
 
 #ifdef Z_DUAL_ENDSTOPS
@@ -364,9 +364,58 @@ FORCE_INLINE unsigned short calc_timer(unsigned short step_rate) {
   return timer;
 }
 
+// set the stepper direction of each axis
+void set_stepper_direction() {
+  
+  // Set the direction bits (X_AXIS=A_AXIS and Y_AXIS=B_AXIS for COREXY)
+  if (TEST(out_bits, X_AXIS)) {
+    X_APPLY_DIR(INVERT_X_DIR,0);
+    count_direction[X_AXIS] = -1;
+  }
+  else {
+    X_APPLY_DIR(!INVERT_X_DIR,0);
+    count_direction[X_AXIS] = 1;
+  }
+
+  if (TEST(out_bits, Y_AXIS)) {
+    Y_APPLY_DIR(INVERT_Y_DIR,0);
+    count_direction[Y_AXIS] = -1;
+  }
+  else {
+    Y_APPLY_DIR(!INVERT_Y_DIR,0);
+    count_direction[Y_AXIS] = 1;
+  }
+  
+  if (TEST(out_bits, Z_AXIS)) {
+    Z_APPLY_DIR(INVERT_Z_DIR,0);
+    count_direction[Z_AXIS] = -1;
+  }
+  else {
+    Z_APPLY_DIR(!INVERT_Z_DIR,0);
+    count_direction[Z_AXIS] = 1;
+  }
+  
+  #ifndef ADVANCE
+    if (TEST(out_bits, E_AXIS)) {
+      REV_E_DIR();
+      count_direction[E_AXIS] = -1;
+    }
+    else {
+      NORM_E_DIR();
+      count_direction[E_AXIS] = 1;
+    }
+  #endif //!ADVANCE
+}
+
 // Initializes the trapezoid generator from the current block. Called whenever a new
 // block begins.
 FORCE_INLINE void trapezoid_generator_reset() {
+
+  if (current_block->direction_bits != out_bits) {
+    out_bits = current_block->direction_bits;
+    set_stepper_direction();
+  }
+  
   #ifdef ADVANCE
     advance = current_block->initial_advance;
     final_advance = current_block->final_advance;
@@ -439,27 +488,9 @@ ISR(TIMER1_COMPA_vect) {
   }
 
   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;
 
-    // Set the direction bits (X_AXIS=A_AXIS and Y_AXIS=B_AXIS for COREXY)
+    // Check endstops
-    if (TEST(out_bits, X_AXIS)) {
+    if (check_endstops) {
-      X_APPLY_DIR(INVERT_X_DIR,0);
-      count_direction[X_AXIS] = -1;
-    }
-    else {
-      X_APPLY_DIR(!INVERT_X_DIR,0);
-      count_direction[X_AXIS] = 1;
-    }
-
-    if (TEST(out_bits, Y_AXIS)) {
-      Y_APPLY_DIR(INVERT_Y_DIR,0);
-      count_direction[Y_AXIS] = -1;
-    }
-    else {
-      Y_APPLY_DIR(!INVERT_Y_DIR,0);
-      count_direction[Y_AXIS] = 1;
-    }
       
       #define _ENDSTOP(axis, minmax) axis ##_## minmax ##_endstop
       #define _ENDSTOP_PIN(AXIS, MINMAX) AXIS ##_## MINMAX ##_PIN
@@ -478,9 +509,6 @@ ISR(TIMER1_COMPA_vect) {
         } \
         _OLD_ENDSTOP(axis, minmax) = _ENDSTOP(axis, minmax);
       
-
-    // Check X and Y endstops
-    if (check_endstops) {
       #ifdef COREXY
         // Head direction in -X axis for CoreXY bots.
         // If DeltaX == -DeltaY, the movement is only in Y axis
@@ -533,15 +561,7 @@ ISR(TIMER1_COMPA_vect) {
       #ifdef COREXY
         }
       #endif
-    }
+      if (TEST(out_bits, Z_AXIS)) { // z -direction
-
-    if (TEST(out_bits, Z_AXIS)) {   // -direction
-
-      Z_APPLY_DIR(INVERT_Z_DIR,0);
-      count_direction[Z_AXIS] = -1;
-
-      if (check_endstops) {
-
         #if HAS_Z_MIN
 
           #ifdef Z_DUAL_ENDSTOPS
@@ -581,22 +601,12 @@ ISR(TIMER1_COMPA_vect) {
           {
             endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
             endstop_hit_bits |= BIT(Z_PROBE);
-
   //        if (z_probe_endstop && old_z_probe_endstop) SERIAL_ECHOLN("z_probe_endstop = true");
           }
           old_z_probe_endstop = z_probe_endstop;
         #endif
-
-      } // check_endstops
-
       }
-    else { // +direction
+      else { // z +direction
-
-      Z_APPLY_DIR(!INVERT_Z_DIR,0);
-      count_direction[Z_AXIS] = 1;
-
-      if (check_endstops) {
-
         #if HAS_Z_MAX
 
           #ifdef Z_DUAL_ENDSTOPS
@@ -644,21 +654,11 @@ ISR(TIMER1_COMPA_vect) {
           }
           old_z_probe_endstop = z_probe_endstop;
         #endif
+      }
 
-      } // check_endstops
+    }
 
-    } // +direction
 
-    #ifndef ADVANCE
-      if (TEST(out_bits, E_AXIS)) {  // -direction
-        REV_E_DIR();
-        count_direction[E_AXIS] = -1;
-      }
-      else { // +direction
-        NORM_E_DIR();
-        count_direction[E_AXIS] = 1;
-      }
-    #endif //!ADVANCE
 
     // Take multiple steps per interrupt (For high speed moves)
     for (int8_t i = 0; i < step_loops; i++) {
@@ -1073,6 +1073,8 @@ void st_init() {
 
   enable_endstops(true); // Start with endstops active. After homing they can be disabled
   sei();
+  
+  set_stepper_direction(); // Init directions to out_bits = 0
 }