pingu_98/Sprinter
1
0
Fork 0
Code Issues Pull requests Projects Releases Packages Wiki Activity Actions

Use fastio for endstop checks during moves

Browse source
This commit is contained in:
kliment 2011-07-09 15:12:33 +02:00
parent 75edff00c4
commit 469e53475a
1 changed files with 18 additions and 6 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

24
Sprinter/Sprinter.pde
View file

@ -1197,12 +1197,24 @@ void linear_move(unsigned long axis_steps_remaining[]) // make linear move with
//If there are x or y steps remaining, perform Bresenham algorithm
if(axis_steps_remaining[primary_axis]) {
if(X_MIN_PIN > -1) if(!move_direction[0]) if(digitalRead(X_MIN_PIN) != ENDSTOPS_INVERTING) break;
if(Y_MIN_PIN > -1) if(!move_direction[1]) if(digitalRead(Y_MIN_PIN) != ENDSTOPS_INVERTING) break;
if(X_MAX_PIN > -1) if(move_direction[0]) if(digitalRead(X_MAX_PIN) != ENDSTOPS_INVERTING) break;
if(Y_MAX_PIN > -1) if(move_direction[1]) if(digitalRead(Y_MAX_PIN) != ENDSTOPS_INVERTING) break;
if(Z_MIN_PIN > -1) if(!move_direction[2]) if(digitalRead(Z_MIN_PIN) != ENDSTOPS_INVERTING) break;
if(Z_MAX_PIN > -1) if(move_direction[2]) if(digitalRead(Z_MAX_PIN) != ENDSTOPS_INVERTING) break;
#if (X_MIN_PIN > -1)
if(!move_direction[0]) if(READ(X_MIN_PIN) != ENDSTOPS_INVERTING) break;
#endif
#if (Y_MIN_PIN > -1)
if(!move_direction[1]) if(READ(Y_MIN_PIN) != ENDSTOPS_INVERTING) break;
#endif
#if (X_MAX_PIN > -1)
if(move_direction[0]) if(READ(X_MAX_PIN) != ENDSTOPS_INVERTING) break;
#endif
#if (Y_MAX_PIN > -1)
if(move_direction[1]) if(READ(Y_MAX_PIN) != ENDSTOPS_INVERTING) break;
#endif
#if (Z_MIN_PIN > -1)
if(!move_direction[2]) if(READ(Z_MIN_PIN) != ENDSTOPS_INVERTING) break;
#endif
#if (Z_MAX_PIN > -1)
if(move_direction[2]) if(READ(Z_MAX_PIN) != ENDSTOPS_INVERTING) break;
#endif
timediff = micros() * 100 - axis_previous_micros[primary_axis];
if(timediff<0){//check for overflow
axis_previous_micros[primary_axis]=micros()*100;