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@ -70,6 +70,13 @@ static volatile bool endstop_x_hit=false;
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static volatile bool endstop_y_hit=false;
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static volatile bool endstop_z_hit=false;
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static bool old_x_min_endstop=false;
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static bool old_x_max_endstop=false;
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static bool old_y_min_endstop=false;
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static bool old_y_max_endstop=false;
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static bool old_z_min_endstop=false;
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static bool old_z_max_endstop=false;
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volatile long count_position[NUM_AXIS] = { 0, 0, 0, 0};
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volatile char count_direction[NUM_AXIS] = { 1, 1, 1, 1};
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@ -260,6 +267,7 @@ ISR(TIMER1_COMPA_vect)
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SERIAL_ERROR_START
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SERIAL_ERROR(*(unsigned short *)OCR1A);
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SERIAL_ERRORLNPGM(" ISR overtaking itself.");
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OCR1A = 0x30000;
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return;
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} // The busy-flag is used to avoid reentering this interrupt
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@ -295,22 +303,26 @@ ISR(TIMER1_COMPA_vect)
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WRITE(X_DIR_PIN, INVERT_X_DIR);
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count_direction[X_AXIS]=-1;
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#if X_MIN_PIN > -1
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if((READ(X_MIN_PIN) != ENDSTOPS_INVERTING) && (current_block->steps_x > 0)) {
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bool x_min_endstop=(READ(X_MIN_PIN) != X_ENDSTOPS_INVERTING);
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if(x_min_endstop && old_x_min_endstop && (current_block->steps_x > 0)) {
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endstops_trigsteps[X_AXIS] = count_position[X_AXIS];
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endstop_x_hit=true;
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step_events_completed = current_block->step_event_count;
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}
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old_x_min_endstop = x_min_endstop;
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#endif
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}
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else { // +direction
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WRITE(X_DIR_PIN,!INVERT_X_DIR);
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count_direction[X_AXIS]=1;
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#if X_MAX_PIN > -1
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if((READ(X_MAX_PIN) != ENDSTOPS_INVERTING) && (current_block->steps_x > 0)){
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bool x_max_endstop=(READ(X_MAX_PIN) != X_ENDSTOPS_INVERTING);
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if(x_max_endstop && old_x_max_endstop && (current_block->steps_x > 0)){
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endstops_trigsteps[X_AXIS] = count_position[X_AXIS];
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endstop_x_hit=true;
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step_events_completed = current_block->step_event_count;
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}
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old_x_max_endstop = x_max_endstop;
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#endif
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}
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@ -318,22 +330,26 @@ ISR(TIMER1_COMPA_vect)
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WRITE(Y_DIR_PIN,INVERT_Y_DIR);
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count_direction[Y_AXIS]=-1;
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#if Y_MIN_PIN > -1
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if((READ(Y_MIN_PIN) != ENDSTOPS_INVERTING) && (current_block->steps_y > 0)) {
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bool y_min_endstop=(READ(Y_MIN_PIN) != Y_ENDSTOPS_INVERTING);
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if(y_min_endstop && old_y_min_endstop && (current_block->steps_y > 0)) {
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endstops_trigsteps[Y_AXIS] = count_position[Y_AXIS];
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endstop_y_hit=true;
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step_events_completed = current_block->step_event_count;
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}
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old_y_min_endstop = y_min_endstop;
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#endif
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}
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else { // +direction
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WRITE(Y_DIR_PIN,!INVERT_Y_DIR);
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count_direction[Y_AXIS]=1;
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#if Y_MAX_PIN > -1
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if((READ(Y_MAX_PIN) != ENDSTOPS_INVERTING) && (current_block->steps_y > 0)){
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bool y_max_endstop=(READ(Y_MAX_PIN) != Y_ENDSTOPS_INVERTING);
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if(y_max_endstop && old_y_max_endstop && (current_block->steps_y > 0)){
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endstops_trigsteps[Y_AXIS] = count_position[Y_AXIS];
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endstop_y_hit=true;
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step_events_completed = current_block->step_event_count;
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}
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old_y_max_endstop = y_max_endstop;
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#endif
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}
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@ -341,22 +357,26 @@ ISR(TIMER1_COMPA_vect)
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WRITE(Z_DIR_PIN,INVERT_Z_DIR);
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count_direction[Z_AXIS]=-1;
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#if Z_MIN_PIN > -1
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if((READ(Z_MIN_PIN) != ENDSTOPS_INVERTING) && (current_block->steps_z > 0)) {
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bool z_min_endstop=(READ(Z_MIN_PIN) != Z_ENDSTOPS_INVERTING);
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if(z_min_endstop && old_z_min_endstop && (current_block->steps_z > 0)) {
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endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
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endstop_z_hit=true;
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step_events_completed = current_block->step_event_count;
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}
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old_z_min_endstop = z_min_endstop;
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#endif
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}
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else { // +direction
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WRITE(Z_DIR_PIN,!INVERT_Z_DIR);
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count_direction[Z_AXIS]=1;
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#if Z_MAX_PIN > -1
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if((READ(Z_MAX_PIN) != ENDSTOPS_INVERTING) && (current_block->steps_z > 0)){
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bool z_max_endstop=(READ(Z_MAX_PIN) != Z_ENDSTOPS_INVERTING);
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if(z_max_endstop && old_z_max_endstop && (current_block->steps_z > 0)) {
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endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
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endstop_z_hit=true;
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step_events_completed = current_block->step_event_count;
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}
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old_z_max_endstop = z_max_endstop;
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#endif
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}
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@ -654,6 +674,13 @@ void st_set_position(const long &x, const long &y, const long &z, const long &e)
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CRITICAL_SECTION_END;
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}
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void st_set_e_position(const long &e)
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{
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CRITICAL_SECTION_START;
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count_position[E_AXIS] = e;
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CRITICAL_SECTION_END;
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}
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long st_get_position(char axis)
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{
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long count_pos;
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