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stepper: Default to a high direction pin meaning positive direction 

Invert the default meaning of the stepper direction pin.  Instead of
treating a low value as position motion, treat a high value as
positive motion.  This matches what other firmwares do, and it matches
what common stepper motor drivers document.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2016-11-08 10:39:32 -05:00
parent 5e6127869a
commit afecf7ce36
5 changed files with 14 additions and 14 deletions
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6
config/example.cfg
View File

@ -19,8 +19,8 @@
[stepper_x] [stepper_x]
step_pin: ar29 step_pin: ar29
# Step GPIO pin (triggered high) # Step GPIO pin (triggered high)
dir_pin: ar28 dir_pin: !ar28
# Direction GPIO pin (low indicates positive direction) # Direction GPIO pin (high indicates positive direction)
enable_pin: !ar25 enable_pin: !ar25
# Enable pin (default is enable high; use ! to indicate enable low) # Enable pin (default is enable high; use ! to indicate enable low)
step_distance: .0225 step_distance: .0225
@ -86,7 +86,7 @@ position_max: 200
# stepper_x section # stepper_x section
[stepper_z] [stepper_z]
step_pin: ar23 step_pin: ar23
dir_pin: ar22 dir_pin: !ar22
enable_pin: !ar25 enable_pin: !ar25
step_distance: .005 step_distance: .005
max_velocity: 250 max_velocity: 250

8
config/makergear-m2-2012.cfg
View File

@ -5,7 +5,7 @@
[stepper_x] [stepper_x]
step_pin: PC0 step_pin: PC0
dir_pin: PL1 dir_pin: !PL1
enable_pin: !PA7 enable_pin: !PA7
step_distance: .0225 step_distance: .0225
max_velocity: 500 max_velocity: 500
@ -20,7 +20,7 @@ position_max: 200
[stepper_y] [stepper_y]
step_pin: PC1 step_pin: PC1
dir_pin: !PL0 dir_pin: PL0
enable_pin: !PA6 enable_pin: !PA6
step_distance: .0225 step_distance: .0225
max_velocity: 500 max_velocity: 500
@ -35,7 +35,7 @@ position_max: 250
[stepper_z] [stepper_z]
step_pin: PC2 step_pin: PC2
dir_pin: PL2 dir_pin: !PL2
enable_pin: !PA5 enable_pin: !PA5
step_distance: .005 step_distance: .005
max_velocity: 250 max_velocity: 250
@ -51,7 +51,7 @@ position_max: 200
[extruder] [extruder]
step_pin: PC3 step_pin: PC3
dir_pin: !PL6 dir_pin: PL6
enable_pin: !PA4 enable_pin: !PA4
step_distance: .004242 step_distance: .004242
max_velocity: 200000 max_velocity: 200000

4
klippy/cartesian.py
View File

@ -105,9 +105,9 @@ class CartKinematics:
self.stepper_pos[i] = new_step_pos self.stepper_pos[i] = new_step_pos
steps = move.axes_d[i] * inv_step_dist steps = move.axes_d[i] * inv_step_dist
step_offset = step_pos - move.start_pos[i] * inv_step_dist + 0.5 step_offset = step_pos - move.start_pos[i] * inv_step_dist + 0.5
sdir = 0 sdir = 1
if steps < 0: if steps < 0:
sdir = 1 sdir = 0
steps = -steps steps = -steps
step_offset = 1. - step_offset step_offset = 1. - step_offset
mcu_time, so = self.steppers[i].prep_move(move_time, sdir) mcu_time, so = self.steppers[i].prep_move(move_time, sdir)

6
klippy/extruder.py
View File

@ -97,9 +97,9 @@ class PrinterExtruder:
steps = forward_d * inv_step_dist steps = forward_d * inv_step_dist
step_offset = self.stepper_pos - start_pos * inv_step_dist + 0.5 step_offset = self.stepper_pos - start_pos * inv_step_dist + 0.5
self.stepper_pos = new_step_pos self.stepper_pos = new_step_pos
sdir = 0 sdir = 1
if steps < 0: if steps < 0:
sdir = 1 sdir = 0
steps = -steps steps = -steps
step_offset = 1. - step_offset step_offset = 1. - step_offset
mcu_time, so = self.stepper.prep_move(move_time, sdir) mcu_time, so = self.stepper.prep_move(move_time, sdir)
@ -142,7 +142,7 @@ class PrinterExtruder:
step_offset = start_pos * inv_step_dist - self.stepper_pos + 0.5 step_offset = start_pos * inv_step_dist - self.stepper_pos + 0.5
self.stepper_pos = new_step_pos self.stepper_pos = new_step_pos
mcu_time, so = self.stepper.prep_move( mcu_time, so = self.stepper.prep_move(
move_time+accel_t+cruise_t+decel_t, 1) move_time+accel_t+cruise_t+decel_t, 0)
move_step_d = retract_d / steps move_step_d = retract_d / steps

4
src/stepper.c
View File

@ -144,7 +144,7 @@ command_config_stepper(uint32_t *args)
s->step_pin = gpio_out_setup(args[1], s->flags & SF_INVERT_STEP ? 1 : 0); s->step_pin = gpio_out_setup(args[1], s->flags & SF_INVERT_STEP ? 1 : 0);
s->dir_pin = gpio_out_setup(args[2], 0); s->dir_pin = gpio_out_setup(args[2], 0);
s->min_stop_interval = args[3]; s->min_stop_interval = args[3];
s->position = STEPPER_POSITION_BIAS; s->position = -STEPPER_POSITION_BIAS;
} }
DECL_COMMAND(command_config_stepper, DECL_COMMAND(command_config_stepper,
"config_stepper oid=%c step_pin=%c dir_pin=%c" "config_stepper oid=%c step_pin=%c dir_pin=%c"
@ -238,7 +238,7 @@ void
stepper_stop(struct stepper *s) stepper_stop(struct stepper *s)
{ {
sched_del_timer(&s->time); sched_del_timer(&s->time);
s->position = stepper_get_position(s); s->position = -stepper_get_position(s);
s->count = 0; s->count = 0;
s->flags &= SF_INVERT_STEP; s->flags &= SF_INVERT_STEP;
gpio_out_write(s->dir_pin, 0); gpio_out_write(s->dir_pin, 0);