#include <stdio.h>
-cmSingleton_t cm; // canonical machine controller singleton
+cmSingleton_t cm = {
+ .junction_acceleration = JUNCTION_ACCELERATION,
+ .chordal_tolerance = CHORDAL_TOLERANCE,
+ .soft_limit_enable = SOFT_LIMIT_ENABLE,
+
+ .arc_segment_len = ARC_SEGMENT_LENGTH,
+
+ .coord_system = GCODE_DEFAULT_COORD_SYSTEM,
+ .select_plane = GCODE_DEFAULT_PLANE,
+ .units_mode = GCODE_DEFAULT_UNITS,
+ .path_control = GCODE_DEFAULT_PATH_CONTROL,
+ .distance_mode = GCODE_DEFAULT_DISTANCE_MODE,
+
+ // Offsets
+ .offset = {
+ {}, // ABSOLUTE_COORDS
+
+ {G54_X_OFFSET, G54_Y_OFFSET, G54_Z_OFFSET,
+ G54_A_OFFSET, G54_B_OFFSET, G54_C_OFFSET},
+
+ {G55_X_OFFSET, G55_Y_OFFSET, G55_Z_OFFSET,
+ G55_A_OFFSET, G55_B_OFFSET, G55_C_OFFSET},
+
+ {G56_X_OFFSET, G56_Y_OFFSET, G56_Z_OFFSET,
+ G56_A_OFFSET, G56_B_OFFSET, G56_C_OFFSET},
+
+ {G57_X_OFFSET, G57_Y_OFFSET, G57_Z_OFFSET,
+ G57_A_OFFSET, G57_B_OFFSET, G57_C_OFFSET},
+
+ {G58_X_OFFSET, G58_Y_OFFSET, G58_Z_OFFSET,
+ G58_A_OFFSET, G58_B_OFFSET, G58_C_OFFSET},
+
+ {G59_X_OFFSET, G59_Y_OFFSET, G59_Z_OFFSET,
+ G59_A_OFFSET, G59_B_OFFSET, G59_C_OFFSET},
+ },
+
+ // Axes
+ .a = {
+ {
+ .axis_mode = X_AXIS_MODE,
+ .velocity_max = X_VELOCITY_MAX,
+ .feedrate_max = X_FEEDRATE_MAX,
+ .travel_min = X_TRAVEL_MIN,
+ .travel_max = X_TRAVEL_MAX,
+ .jerk_max = X_JERK_MAX,
+ .jerk_homing = X_JERK_HOMING,
+ .junction_dev = X_JUNCTION_DEVIATION,
+ .search_velocity = X_SEARCH_VELOCITY,
+ .latch_velocity = X_LATCH_VELOCITY,
+ .latch_backoff = X_LATCH_BACKOFF,
+ .zero_backoff = X_ZERO_BACKOFF,
+ }, {
+ .axis_mode = Y_AXIS_MODE,
+ .velocity_max = Y_VELOCITY_MAX,
+ .feedrate_max = Y_FEEDRATE_MAX,
+ .travel_min = Y_TRAVEL_MIN,
+ .travel_max = Y_TRAVEL_MAX,
+ .jerk_max = Y_JERK_MAX,
+ .jerk_homing = Y_JERK_HOMING,
+ .junction_dev = Y_JUNCTION_DEVIATION,
+ .search_velocity = Y_SEARCH_VELOCITY,
+ .latch_velocity = Y_LATCH_VELOCITY,
+ .latch_backoff = Y_LATCH_BACKOFF,
+ .zero_backoff = Y_ZERO_BACKOFF,
+ }, {
+ .axis_mode = Z_AXIS_MODE,
+ .velocity_max = Z_VELOCITY_MAX,
+ .feedrate_max = Z_FEEDRATE_MAX,
+ .travel_min = Z_TRAVEL_MIN,
+ .travel_max = Z_TRAVEL_MAX,
+ .jerk_max = Z_JERK_MAX,
+ .jerk_homing = Z_JERK_HOMING,
+ .junction_dev = Z_JUNCTION_DEVIATION,
+ .search_velocity = Z_SEARCH_VELOCITY,
+ .latch_velocity = Z_LATCH_VELOCITY,
+ .latch_backoff = Z_LATCH_BACKOFF,
+ .zero_backoff = Z_ZERO_BACKOFF,
+ }, {
+ .axis_mode = A_AXIS_MODE,
+ .velocity_max = A_VELOCITY_MAX,
+ .feedrate_max = A_FEEDRATE_MAX,
+ .travel_min = A_TRAVEL_MIN,
+ .travel_max = A_TRAVEL_MAX,
+ .jerk_max = A_JERK_MAX,
+ .jerk_homing = A_JERK_HOMING,
+ .junction_dev = A_JUNCTION_DEVIATION,
+ .radius = A_RADIUS,
+ .search_velocity = A_SEARCH_VELOCITY,
+ .latch_velocity = A_LATCH_VELOCITY,
+ .latch_backoff = A_LATCH_BACKOFF,
+ .zero_backoff = A_ZERO_BACKOFF,
+ }, {
+ .axis_mode = B_AXIS_MODE,
+ .velocity_max = B_VELOCITY_MAX,
+ .feedrate_max = B_FEEDRATE_MAX,
+ .travel_min = B_TRAVEL_MIN,
+ .travel_max = B_TRAVEL_MAX,
+ .jerk_max = B_JERK_MAX,
+ .junction_dev = B_JUNCTION_DEVIATION,
+ .radius = B_RADIUS,
+ }, {
+ .axis_mode = C_AXIS_MODE,
+ .velocity_max = C_VELOCITY_MAX,
+ .feedrate_max = C_FEEDRATE_MAX,
+ .travel_min = C_TRAVEL_MIN,
+ .travel_max = C_TRAVEL_MAX,
+ .jerk_max = C_JERK_MAX,
+ .junction_dev = C_JUNCTION_DEVIATION,
+ .radius = C_RADIUS,
+ }
+ },
+
+ .combined_state = COMBINED_READY,
+ .machine_state = MACHINE_READY,
+
+ // State
+ .gm = {.motion_mode = MOTION_MODE_CANCEL_MOTION_MODE},
+ .gmx = {.block_delete_switch = true},
+ .gn = {},
+ .gf = {},
+};
// Command execution callbacks from planner queue
/// Config init cfg_init() must have been run beforehand
void canonical_machine_init() {
- // If you can assume all memory has been zeroed by a hard reset you don't
- // need this code:
- memset(&cm.gm, 0, sizeof(GCodeState_t));
- memset(&cm.gn, 0, sizeof(GCodeInput_t));
- memset(&cm.gf, 0, sizeof(GCodeInput_t));
-
ACTIVE_MODEL = MODEL; // setup initial Gcode model pointer
- // axes defaults
- cm.a[AXIS_X].axis_mode = X_AXIS_MODE;
- cm.a[AXIS_X].velocity_max = X_VELOCITY_MAX;
- cm.a[AXIS_X].feedrate_max = X_FEEDRATE_MAX;
- cm.a[AXIS_X].travel_min = X_TRAVEL_MIN;
- cm.a[AXIS_X].travel_max = X_TRAVEL_MAX;
- cm.a[AXIS_X].jerk_max = X_JERK_MAX;
- cm.a[AXIS_X].jerk_homing = X_JERK_HOMING;
- cm.a[AXIS_X].junction_dev = X_JUNCTION_DEVIATION;
- cm.a[AXIS_X].search_velocity = X_SEARCH_VELOCITY;
- cm.a[AXIS_X].latch_velocity = X_LATCH_VELOCITY;
- cm.a[AXIS_X].latch_backoff = X_LATCH_BACKOFF;
- cm.a[AXIS_X].zero_backoff = X_ZERO_BACKOFF;
-
- cm.a[AXIS_Y].axis_mode = Y_AXIS_MODE;
- cm.a[AXIS_Y].velocity_max = Y_VELOCITY_MAX;
- cm.a[AXIS_Y].feedrate_max = Y_FEEDRATE_MAX;
- cm.a[AXIS_Y].travel_min = Y_TRAVEL_MIN;
- cm.a[AXIS_Y].travel_max = Y_TRAVEL_MAX;
- cm.a[AXIS_Y].jerk_max = Y_JERK_MAX;
- cm.a[AXIS_Y].jerk_homing = Y_JERK_HOMING;
- cm.a[AXIS_Y].junction_dev = Y_JUNCTION_DEVIATION;
- cm.a[AXIS_Y].search_velocity = Y_SEARCH_VELOCITY;
- cm.a[AXIS_Y].latch_velocity = Y_LATCH_VELOCITY;
- cm.a[AXIS_Y].latch_backoff = Y_LATCH_BACKOFF;
- cm.a[AXIS_Y].zero_backoff = Y_ZERO_BACKOFF;
-
- cm.a[AXIS_Z].axis_mode = Z_AXIS_MODE;
- cm.a[AXIS_Z].velocity_max = Z_VELOCITY_MAX;
- cm.a[AXIS_Z].feedrate_max = Z_FEEDRATE_MAX;
- cm.a[AXIS_Z].travel_min = Z_TRAVEL_MIN;
- cm.a[AXIS_Z].travel_max = Z_TRAVEL_MAX;
- cm.a[AXIS_Z].jerk_max = Z_JERK_MAX;
- cm.a[AXIS_Z].jerk_homing = Z_JERK_HOMING;
- cm.a[AXIS_Z].junction_dev = Z_JUNCTION_DEVIATION;
- cm.a[AXIS_Z].search_velocity = Z_SEARCH_VELOCITY;
- cm.a[AXIS_Z].latch_velocity = Z_LATCH_VELOCITY;
- cm.a[AXIS_Z].latch_backoff = Z_LATCH_BACKOFF;
- cm.a[AXIS_Z].zero_backoff = Z_ZERO_BACKOFF;
-
- cm.a[AXIS_A].axis_mode = A_AXIS_MODE;
- cm.a[AXIS_A].velocity_max = A_VELOCITY_MAX;
- cm.a[AXIS_A].feedrate_max = A_FEEDRATE_MAX;
- cm.a[AXIS_A].travel_min = A_TRAVEL_MIN;
- cm.a[AXIS_A].travel_max = A_TRAVEL_MAX;
- cm.a[AXIS_A].jerk_max = A_JERK_MAX;
- cm.a[AXIS_A].jerk_homing = A_JERK_HOMING;
- cm.a[AXIS_A].junction_dev = A_JUNCTION_DEVIATION;
- cm.a[AXIS_A].radius = A_RADIUS;
- cm.a[AXIS_A].search_velocity = A_SEARCH_VELOCITY;
- cm.a[AXIS_A].latch_velocity = A_LATCH_VELOCITY;
- cm.a[AXIS_A].latch_backoff = A_LATCH_BACKOFF;
- cm.a[AXIS_A].zero_backoff = A_ZERO_BACKOFF;
-
- cm.a[AXIS_B].axis_mode = B_AXIS_MODE;
- cm.a[AXIS_B].velocity_max = B_VELOCITY_MAX;
- cm.a[AXIS_B].feedrate_max = B_FEEDRATE_MAX;
- cm.a[AXIS_B].travel_min = B_TRAVEL_MIN;
- cm.a[AXIS_B].travel_max = B_TRAVEL_MAX;
- cm.a[AXIS_B].jerk_max = B_JERK_MAX;
- cm.a[AXIS_B].junction_dev = B_JUNCTION_DEVIATION;
- cm.a[AXIS_B].radius = B_RADIUS;
-
- cm.a[AXIS_C].axis_mode = C_AXIS_MODE;
- cm.a[AXIS_C].velocity_max = C_VELOCITY_MAX;
- cm.a[AXIS_C].feedrate_max = C_FEEDRATE_MAX;
- cm.a[AXIS_C].travel_min = C_TRAVEL_MIN;
- cm.a[AXIS_C].travel_max = C_TRAVEL_MAX;
- cm.a[AXIS_C].jerk_max = C_JERK_MAX;
- cm.a[AXIS_C].junction_dev = C_JUNCTION_DEVIATION;
- cm.a[AXIS_C].radius = C_RADIUS;
-
// Init 1/jerk
for (uint8_t axis = 0; axis < AXES; axis++)
cm.a[axis].recip_jerk = 1 / (cm.a[axis].jerk_max * JERK_MULTIPLIER);
- // Coordinate system offset defaults (G54-G59)
- cm.offset[G54][AXIS_X] = G54_X_OFFSET;
- cm.offset[G54][AXIS_Y] = G54_Y_OFFSET;
- cm.offset[G54][AXIS_Z] = G54_Z_OFFSET;
- cm.offset[G54][AXIS_A] = G54_A_OFFSET;
- cm.offset[G54][AXIS_B] = G54_B_OFFSET;
- cm.offset[G54][AXIS_C] = G54_C_OFFSET;
-
- cm.offset[G55][AXIS_X] = G55_X_OFFSET;
- cm.offset[G55][AXIS_Y] = G55_Y_OFFSET;
- cm.offset[G55][AXIS_Z] = G55_Z_OFFSET;
- cm.offset[G55][AXIS_A] = G55_A_OFFSET;
- cm.offset[G55][AXIS_B] = G55_B_OFFSET;
- cm.offset[G55][AXIS_C] = G55_C_OFFSET;
-
- cm.offset[G56][AXIS_X] = G56_X_OFFSET;
- cm.offset[G56][AXIS_Y] = G56_Y_OFFSET;
- cm.offset[G56][AXIS_Z] = G56_Z_OFFSET;
- cm.offset[G56][AXIS_A] = G56_A_OFFSET;
- cm.offset[G56][AXIS_B] = G56_B_OFFSET;
- cm.offset[G56][AXIS_C] = G56_C_OFFSET;
-
- cm.offset[G57][AXIS_X] = G57_X_OFFSET;
- cm.offset[G57][AXIS_Y] = G57_Y_OFFSET;
- cm.offset[G57][AXIS_Z] = G57_Z_OFFSET;
- cm.offset[G57][AXIS_A] = G57_A_OFFSET;
- cm.offset[G57][AXIS_B] = G57_B_OFFSET;
- cm.offset[G57][AXIS_C] = G57_C_OFFSET;
-
- cm.offset[G58][AXIS_X] = G58_X_OFFSET;
- cm.offset[G58][AXIS_Y] = G58_Y_OFFSET;
- cm.offset[G58][AXIS_Z] = G58_Z_OFFSET;
- cm.offset[G58][AXIS_A] = G58_A_OFFSET;
- cm.offset[G58][AXIS_B] = G58_B_OFFSET;
- cm.offset[G58][AXIS_C] = G58_C_OFFSET;
-
- cm.offset[G59][AXIS_X] = G59_X_OFFSET;
- cm.offset[G59][AXIS_Y] = G59_Y_OFFSET;
- cm.offset[G59][AXIS_Z] = G59_Z_OFFSET;
- cm.offset[G59][AXIS_A] = G59_A_OFFSET;
- cm.offset[G59][AXIS_B] = G59_B_OFFSET;
- cm.offset[G59][AXIS_C] = G59_C_OFFSET;
-
- // Machine defaults
- cm.junction_acceleration = JUNCTION_ACCELERATION;
- cm.chordal_tolerance = CHORDAL_TOLERANCE;
- cm.soft_limit_enable = SOFT_LIMIT_ENABLE;
- cm.arc_segment_len = ARC_SEGMENT_LENGTH;
-
- // GCode defaults
- cm.select_plane = GCODE_DEFAULT_PLANE;
- cm.units_mode = GCODE_DEFAULT_UNITS;
- cm.coord_system = GCODE_DEFAULT_COORD_SYSTEM;
- cm.path_control = GCODE_DEFAULT_PATH_CONTROL;
- cm.distance_mode = GCODE_DEFAULT_DISTANCE_MODE;
-
// Set gcode defaults
cm_set_units_mode(cm.units_mode);
cm_set_coord_system(cm.coord_system);
cm_set_distance_mode(cm.distance_mode);
cm_set_feed_rate_mode(UNITS_PER_MINUTE_MODE); // always the default
- cm.gmx.block_delete_switch = true;
-
- // Never start a machine in a motion mode
- cm.gm.motion_mode = MOTION_MODE_CANCEL_MOTION_MODE;
-
- // Reset request flags
- cm.feedhold_requested = false;
- cm.queue_flush_requested = false;
- cm.cycle_start_requested = false;
-
- // Signal that the machine is ready for action
- cm.machine_state = MACHINE_READY;
- cm.combined_state = COMBINED_READY;
-
// Sub-system inits
cm_spindle_init();
cm_arc_init();
#define __STEP_CORRECTION
//#define __JERK_EXEC // Use computed jerk (vs. forward difference)
//#define __KAHAN // Use Kahan summation in aline exec functions
+#define __CLOCK_EXTERNAL_16MHZ // uses PLL to provide 32 MHz system clock
+
+
+#define AXES 6 // number of axes
+#define MOTORS 4 // number of motors on the board
+#define COORDS 6 // number of supported coordinate systems
+#define SWITCHES 8 // number of supported limit switches
+#define PWMS 2 // number of supported PWM channels
-#define INPUT_BUFFER_LEN 255 // text buffer size (255 max)
+// Axes
+typedef enum {
+ AXIS_X, AXIS_Y, AXIS_Z,
+ AXIS_A, AXIS_B, AXIS_C,
+ AXIS_U, AXIS_V, AXIS_W // reserved
+} axis_t;
-#define AXES 6 // number of axes
-#define MOTORS 4 // number of motors on the board
-#define COORDS 6 // number of supported coordinate systems (1-6)
-#define SWITCHES 8 // number of supported limit switches
-#define PWMS 2 // number of supported PWM channels
// Motor settings
#define MOTOR_CURRENT 0.8 // 1.0 is full power
#define C_SWITCH_MODE_MAX SW_MODE_DISABLED
// Switch ISRs
-#define X_SWITCH_ISR_vect PORTA_INT0_vect
-#define Y_SWITCH_ISR_vect PORTD_INT0_vect
-#define Z_SWITCH_ISR_vect PORTE_INT0_vect
-#define A_SWITCH_ISR_vect PORTF_INT0_vect
-
-#define SWITCH_INTLVL PORT_INT0LVL_MED_gc
+#define X_SWITCH_ISR_vect PORTA_INT0_vect
+#define Y_SWITCH_ISR_vect PORTD_INT0_vect
+#define Z_SWITCH_ISR_vect PORTE_INT0_vect
+#define A_SWITCH_ISR_vect PORTF_INT0_vect
+#define SWITCH_INTLVL PORT_INT0LVL_MED_gc
// Timer for debouncing switches
-#define SW_LOCKOUT_TICKS 25 // 25=250ms. RTC ticks are ~10ms each
-#define SW_DEGLITCH_TICKS 3 // 3=30ms
+#define SW_LOCKOUT_TICKS 250 // ms
+#define SW_DEGLITCH_TICKS 30 // ms
// Machine settings
#define VELOCITY_MAX 15000 // mm/min
#define FEEDRATE_MAX VELOCITY_MAX
-// See canonical_machine.h cmAxisMode for valid values
-#define X_AXIS_MODE AXIS_STANDARD
+#define X_AXIS_MODE AXIS_STANDARD // See canonical_machine.h
#define X_VELOCITY_MAX VELOCITY_MAX // G0 max velocity in mm/min
#define X_FEEDRATE_MAX FEEDRATE_MAX // G1 max feed rate in mm/min
#define X_TRAVEL_MIN 0 // minimum travel for soft limits
#define GCODE_DEFAULT_PATH_CONTROL PATH_CONTINUOUS
#define GCODE_DEFAULT_DISTANCE_MODE ABSOLUTE_MODE
-#define AXIS_X 0
-#define AXIS_Y 1
-#define AXIS_Z 2
-#define AXIS_A 3
-#define AXIS_B 4
-#define AXIS_C 5
-#define AXIS_U 6 // reserved
-#define AXIS_V 7 // reserved
-#define AXIS_W 8 // reserved
-
-
-#define MILLISECONDS_PER_TICK 1 // MS for system tick (systick * N)
-#define SYS_ID_LEN 12 // length of system ID string from sys_get_id()
-
-// Clock Crystal Config. See clock.c
-#define __CLOCK_EXTERNAL_16MHZ // uses PLL to provide 32 MHz system clock
// Motors mapped to ports
-#define PORT_MOTOR_1 PORTA
-#define PORT_MOTOR_2 PORTF
-#define PORT_MOTOR_3 PORTE
-#define PORT_MOTOR_4 PORTD
+#define PORT_MOTOR_1 PORTA
+#define PORT_MOTOR_2 PORTF
+#define PORT_MOTOR_3 PORTE
+#define PORT_MOTOR_4 PORTD
// Motor fault ISRs
#define PORT_1_FAULT_ISR_vect PORTA_INT1_vect
#define PORT_4_FAULT_ISR_vect PORTF_INT1_vect
// Switch axes mapped to ports
-#define PORT_SWITCH_X PORTA
-#define PORT_SWITCH_Y PORTF
-#define PORT_SWITCH_Z PORTE
-#define PORT_SWITCH_A PORTD
+#define PORT_SWITCH_X PORT_MOTOR_1
+#define PORT_SWITCH_Y PORT_MOTOR_2
+#define PORT_SWITCH_Z PORT_MOTOR_3
+#define PORT_SWITCH_A PORT_MOTOR_4
// Axes mapped to output ports
-#define PORT_OUT_X PORTA
-#define PORT_OUT_Y PORTF
-#define PORT_OUT_Z PORTE
-#define PORT_OUT_A PORTD
+#define PORT_OUT_X PORT_MOTOR_1
+#define PORT_OUT_Y PORT_MOTOR_2
+#define PORT_OUT_Z PORT_MOTOR_3
+#define PORT_OUT_A PORT_MOTOR_4
#define MOTOR_PORT_DIR_gm 0x2f // pin dir settings
* instead of shrink (or oscillate).
*/
/// magnitude of forwarding error (in steps)
-#define STEP_CORRECTION_THRESHOLD (float)2.00
+#define STEP_CORRECTION_THRESHOLD 2.00
/// apply to step correction for a single segment
-#define STEP_CORRECTION_FACTOR (float)0.25
+#define STEP_CORRECTION_FACTOR 0.25
/// max step correction allowed in a single segment
-#define STEP_CORRECTION_MAX (float)0.60
+#define STEP_CORRECTION_MAX 0.60
/// minimum wait between error correction
#define STEP_CORRECTION_HOLDOFF 5
#define STEP_INITIAL_DIRECTION DIRECTION_CW
// TMC2660 driver settings
-#define TMC2660_SPI_PORT PORTC
-#define TMC2660_SPI_SS_PIN 4
-#define TMC2660_SPI_SCK_PIN 5
-#define TMC2660_SPI_MISO_PIN 6
-#define TMC2660_SPI_MOSI_PIN 7
-
-#define TMC2660_TIMER TCC1
-
+#define TMC2660_SPI_PORT PORTC
+#define TMC2660_SPI_SS_PIN 4
+#define TMC2660_SPI_SCK_PIN 5
+#define TMC2660_SPI_MISO_PIN 6
+#define TMC2660_SPI_MOSI_PIN 7
+#define TMC2660_TIMER TCC1
#define TMC2660_POLL_RATE 0.01 // sec. Must be in (0, 1]
#define TMC2660_STABILIZE_TIME 0.01 // sec. Must be at least 1ms
// PWM settings
-#define PWM1_CTRLB (3 | TC1_CCBEN_bm) // single slope PWM channel B
-#define PWM1_ISR_vect TCD1_CCB_vect
-#define PWM2_CTRLA_CLKSEL TC_CLKSEL_DIV1_gc
-#define PWM2_CTRLB 3 // single slope PWM no output
-#define PWM2_ISR_vect TCE1_CCB_vect
+#define PWM1_CTRLB (3 | TC1_CCBEN_bm) // single slope PWM channel B
+#define PWM1_ISR_vect TCD1_CCB_vect
+#define PWM2_CTRLA_CLKSEL TC_CLKSEL_DIV1_gc
+#define PWM2_CTRLB 3 // single slope PWM no output
+#define PWM2_ISR_vect TCE1_CCB_vect
+
+
+// Input
+#define INPUT_BUFFER_LEN 255 // text buffer size (255 max)
float corrected_steps; // accumulated for cycle (diagnostic)
} motor_t;
-static motor_t motors[MOTORS];
+
+static motor_t motors[MOTORS] = {
+ {
+ .motor_map = M1_MOTOR_MAP,
+ .step_angle = M1_STEP_ANGLE,
+ .travel_rev = M1_TRAVEL_PER_REV,
+ .microsteps = M1_MICROSTEPS,
+ .polarity = M1_POLARITY,
+ .power_mode = M1_POWER_MODE,
+ .timer = (TC0_t *)&M1_TIMER,
+ .prev_direction = STEP_INITIAL_DIRECTION
+ }, {
+ .motor_map = M2_MOTOR_MAP,
+ .step_angle = M2_STEP_ANGLE,
+ .travel_rev = M2_TRAVEL_PER_REV,
+ .microsteps = M2_MICROSTEPS,
+ .polarity = M2_POLARITY,
+ .power_mode = M2_POWER_MODE,
+ .timer = &M2_TIMER,
+ .prev_direction = STEP_INITIAL_DIRECTION
+ }, {
+ .motor_map = M3_MOTOR_MAP,
+ .step_angle = M3_STEP_ANGLE,
+ .travel_rev = M3_TRAVEL_PER_REV,
+ .microsteps = M3_MICROSTEPS,
+ .polarity = M3_POLARITY,
+ .power_mode = M3_POWER_MODE,
+ .timer = &M3_TIMER,
+ .prev_direction = STEP_INITIAL_DIRECTION
+ }, {
+ .motor_map = M4_MOTOR_MAP,
+ .step_angle = M4_STEP_ANGLE,
+ .travel_rev = M4_TRAVEL_PER_REV,
+ .microsteps = M4_MICROSTEPS,
+ .polarity = M4_POLARITY,
+ .power_mode = M4_POWER_MODE,
+ .timer = &M4_TIMER,
+ .prev_direction = STEP_INITIAL_DIRECTION
+ }
+};
/// Special interrupt for X-axis
void motor_init() {
- // Reset steppers to known state
- memset(&motors, 0, sizeof(motors));
-
- for (int motor = 0; motor < MOTORS; motor++)
- motors[motor].prev_direction = STEP_INITIAL_DIRECTION;
-
- // Defaults
- motors[0].motor_map = M1_MOTOR_MAP;
- motors[0].step_angle = M1_STEP_ANGLE;
- motors[0].travel_rev = M1_TRAVEL_PER_REV;
- motors[0].microsteps = M1_MICROSTEPS;
- motors[0].polarity = M1_POLARITY;
- motors[0].power_mode = M1_POWER_MODE;
- motors[0].timer = (TC0_t *)&M1_TIMER;
-
- motors[1].motor_map = M2_MOTOR_MAP;
- motors[1].step_angle = M2_STEP_ANGLE;
- motors[1].travel_rev = M2_TRAVEL_PER_REV;
- motors[1].microsteps = M2_MICROSTEPS;
- motors[1].polarity = M2_POLARITY;
- motors[1].power_mode = M2_POWER_MODE;
- motors[1].timer = &M2_TIMER;
-
- motors[2].motor_map = M3_MOTOR_MAP;
- motors[2].step_angle = M3_STEP_ANGLE;
- motors[2].travel_rev = M3_TRAVEL_PER_REV;
- motors[2].microsteps = M3_MICROSTEPS;
- motors[2].polarity = M3_POLARITY;
- motors[2].power_mode = M3_POWER_MODE;
- motors[2].timer = &M3_TIMER;
-
- motors[3].motor_map = M4_MOTOR_MAP;
- motors[3].step_angle = M4_STEP_ANGLE;
- motors[3].travel_rev = M4_TRAVEL_PER_REV;
- motors[3].microsteps = M4_MICROSTEPS;
- motors[3].polarity = M4_POLARITY;
- motors[3].power_mode = M4_POWER_MODE;
- motors[3].timer = &M4_TIMER;
-
// Reset position
mp_set_steps_to_runtime_position();
projects / bbctrl-firmware / commitdiff