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Use fastio for endstop check at start of move

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kliment 2011-07-09 15:03:49 +02:00
parent 8cfb01ae75
commit 75edff00c4
1 changed files with 19 additions and 6 deletions
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25
Sprinter/Sprinter.pde
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@ -1009,12 +1009,25 @@ void linear_move(unsigned long axis_steps_remaining[]) // make linear move with
else WRITE(Z_DIR_PIN,INVERT_Z_DIR);
if (destination[3] > current_position[3]) WRITE(E_DIR_PIN,!INVERT_E_DIR);
else WRITE(E_DIR_PIN,INVERT_E_DIR);
if(X_MIN_PIN > -1) if(!move_direction[0]) if(digitalRead(X_MIN_PIN) != ENDSTOPS_INVERTING) axis_steps_remaining[0]=0;
if(Y_MIN_PIN > -1) if(!move_direction[1]) if(digitalRead(Y_MIN_PIN) != ENDSTOPS_INVERTING) axis_steps_remaining[1]=0;
if(Z_MIN_PIN > -1) if(!move_direction[2]) if(digitalRead(Z_MIN_PIN) != ENDSTOPS_INVERTING) axis_steps_remaining[2]=0;
if(X_MAX_PIN > -1) if(move_direction[0]) if(digitalRead(X_MAX_PIN) != ENDSTOPS_INVERTING) axis_steps_remaining[0]=0;
if(Y_MAX_PIN > -1) if(move_direction[1]) if(digitalRead(Y_MAX_PIN) != ENDSTOPS_INVERTING) axis_steps_remaining[1]=0;
if(Z_MAX_PIN > -1) if(move_direction[2]) if(digitalRead(Z_MAX_PIN) != ENDSTOPS_INVERTING) axis_steps_remaining[2]=0;
movereset:
#if (X_MIN_PIN > -1)
if(!move_direction[0]) if(READ(X_MIN_PIN) != ENDSTOPS_INVERTING) axis_steps_remaining[0]=0;
#endif
#if (Y_MIN_PIN > -1)
if(!move_direction[1]) if(READ(Y_MIN_PIN) != ENDSTOPS_INVERTING) axis_steps_remaining[1]=0;
#endif
#if (Z_MIN_PIN > -1)
if(!move_direction[2]) if(READ(Z_MIN_PIN) != ENDSTOPS_INVERTING) axis_steps_remaining[2]=0;
#endif
#if (X_MAX_PIN > -1)
if(move_direction[0]) if(READ(X_MAX_PIN) != ENDSTOPS_INVERTING) axis_steps_remaining[0]=0;
#endif
#if (Y_MAX_PIN > -1)
if(move_direction[1]) if(READ(Y_MAX_PIN) != ENDSTOPS_INVERTING) axis_steps_remaining[1]=0;
#endif
# if(Z_MAX_PIN > -1)
if(move_direction[2]) if(READ(Z_MAX_PIN) != ENDSTOPS_INVERTING) axis_steps_remaining[2]=0;
#endif
//Only enable axis that are moving. If the axis doesn't need to move then it can stay disabled depending on configuration.