diff --git a/Marlin/stepper.cpp b/Marlin/stepper.cpp
index e1a06be8b553fa78ce9d234dc8ed6c2045063c73..3df97cd525244547593c746fbe915fd460abfaa9 100644
--- a/Marlin/stepper.cpp
+++ b/Marlin/stepper.cpp
@@ -60,6 +60,55 @@
Stepper stepper; // Singleton
+// public:
+
+block_t* Stepper::current_block = NULL; // A pointer to the block currently being traced
+
+#if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
+ bool Stepper::abort_on_endstop_hit = false;
+#endif
+
+#if ENABLED(Z_DUAL_ENDSTOPS)
+ bool Stepper::performing_homing = false;
+#endif
+
+// private:
+
+unsigned char Stepper::last_direction_bits = 0; // The next stepping-bits to be output
+unsigned int Stepper::cleaning_buffer_counter = 0;
+
+#if ENABLED(Z_DUAL_ENDSTOPS)
+ bool Stepper::locked_z_motor = false;
+ bool Stepper::locked_z2_motor = false;
+#endif
+
+long Stepper::counter_X = 0,
+ Stepper::counter_Y = 0,
+ Stepper::counter_Z = 0,
+ Stepper::counter_E = 0;
+
+volatile unsigned long Stepper::step_events_completed = 0; // The number of step events executed in the current block
+
+#if ENABLED(ADVANCE)
+ unsigned char Stepper::old_OCR0A;
+ long Stepper::final_advance = 0,
+ Stepper::old_advance = 0,
+ Stepper::e_steps[4],
+ Stepper::advance_rate,
+ Stepper::advance;
+#endif
+
+long Stepper::acceleration_time, Stepper::deceleration_time;
+
+volatile long Stepper::count_position[NUM_AXIS] = { 0 };
+volatile signed char Stepper::count_direction[NUM_AXIS] = { 1, 1, 1, 1 };
+
+unsigned short Stepper::acc_step_rate; // needed for deceleration start point
+uint8_t Stepper::step_loops, Stepper::step_loops_nominal;
+unsigned short Stepper::OCR1A_nominal;
+
+volatile long Stepper::endstops_trigsteps[3];
+
#if ENABLED(DUAL_X_CARRIAGE)
#define X_APPLY_DIR(v,ALWAYS) \
if (extruder_duplication_enabled || ALWAYS) { \
@@ -238,7 +287,7 @@ void Stepper::set_directions() {
// "The Stepper Driver Interrupt" - This timer interrupt is the workhorse.
// It pops blocks from the block_buffer and executes them by pulsing the stepper pins appropriately.
-ISR(TIMER1_COMPA_vect) { stepper.isr(); }
+ISR(TIMER1_COMPA_vect) { Stepper::isr(); }
void Stepper::isr() {
if (cleaning_buffer_counter) {
@@ -405,7 +454,7 @@ void Stepper::isr() {
#if ENABLED(ADVANCE)
// Timer interrupt for E. e_steps is set in the main routine;
// Timer 0 is shared with millies
- ISR(TIMER0_COMPA_vect) { stepper.advance_isr(); }
+ ISR(TIMER0_COMPA_vect) { Stepper::advance_isr(); }
void Stepper::advance_isr() {
old_OCR0A += 52; // ~10kHz interrupt (250000 / 26 = 9615kHz)
@@ -443,6 +492,7 @@ void Stepper::isr() {
#endif // ADVANCE
void Stepper::init() {
+
digipot_init(); //Initialize Digipot Motor Current
microstep_init(); //Initialize Microstepping Pins
diff --git a/Marlin/stepper.h b/Marlin/stepper.h
index ae1051c193d0f340dd28c69ca2d05c34d9a8c917..30223b55b191a18eb8c3d6e3e903a513d7faa948 100644
--- a/Marlin/stepper.h
+++ b/Marlin/stepper.h
@@ -80,49 +80,46 @@ class Stepper {
public:
- block_t* current_block = NULL; // A pointer to the block currently being traced
+ static block_t* current_block; // A pointer to the block currently being traced
#if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
- bool abort_on_endstop_hit = false;
+ static bool abort_on_endstop_hit;
#endif
#if ENABLED(Z_DUAL_ENDSTOPS)
- bool performing_homing = false;
+ static bool performing_homing;
#endif
#if ENABLED(ADVANCE)
- long e_steps[4];
+ static long e_steps[4];
#endif
private:
- unsigned char last_direction_bits = 0; // The next stepping-bits to be output
- unsigned int cleaning_buffer_counter = 0;
+ static unsigned char last_direction_bits; // The next stepping-bits to be output
+ static unsigned int cleaning_buffer_counter;
#if ENABLED(Z_DUAL_ENDSTOPS)
- bool locked_z_motor = false,
- locked_z2_motor = false;
+ static bool locked_z_motor, locked_z2_motor;
#endif
// Counter variables for the Bresenham line tracer
- long counter_X = 0, counter_Y = 0, counter_Z = 0, counter_E = 0;
- volatile unsigned long step_events_completed = 0; // The number of step events executed in the current block
+ static long counter_X, counter_Y, counter_Z, counter_E;
+ static volatile unsigned long step_events_completed; // The number of step events executed in the current block
#if ENABLED(ADVANCE)
- unsigned char old_OCR0A;
- long advance_rate, advance, final_advance = 0;
- long old_advance = 0;
+ static unsigned char old_OCR0A;
+ static long advance_rate, advance, old_advance, final_advance;
#endif
- long acceleration_time, deceleration_time;
+ static long acceleration_time, deceleration_time;
//unsigned long accelerate_until, decelerate_after, acceleration_rate, initial_rate, final_rate, nominal_rate;
- unsigned short acc_step_rate; // needed for deceleration start point
- uint8_t step_loops;
- uint8_t step_loops_nominal;
- unsigned short OCR1A_nominal;
+ static unsigned short acc_step_rate; // needed for deceleration start point
+ static uint8_t step_loops, step_loops_nominal;
+ static unsigned short OCR1A_nominal;
- volatile long endstops_trigsteps[3];
- volatile long endstops_stepsTotal, endstops_stepsDone;
+ static volatile long endstops_trigsteps[3];
+ static volatile long endstops_stepsTotal, endstops_stepsDone;
#if HAS_MOTOR_CURRENT_PWM
#ifndef PWM_MOTOR_CURRENT
@@ -134,19 +131,19 @@ class Stepper {
//
// Positions of stepper motors, in step units
//
- volatile long count_position[NUM_AXIS] = { 0 };
+ static volatile long count_position[NUM_AXIS];
//
// Current direction of stepper motors (+1 or -1)
//
- volatile signed char count_direction[NUM_AXIS] = { 1, 1, 1, 1 };
+ static volatile signed char count_direction[NUM_AXIS];
public:
//
// Constructor / initializer
//
- Stepper() {};
+ Stepper() { };
//
// Initialize stepper hardware
@@ -157,10 +154,10 @@ class Stepper {
// Interrupt Service Routines
//
- void isr();
+ static void isr();
#if ENABLED(ADVANCE)
- void advance_isr();
+ static void advance_isr();
#endif
//
@@ -177,7 +174,7 @@ class Stepper {
//
// Set direction bits for all steppers
//
- void set_directions();
+ static void set_directions();
//
// Get the position of a stepper, in steps
@@ -213,7 +210,7 @@ class Stepper {
//
// The direction of a single motor
//
- FORCE_INLINE bool motor_direction(AxisEnum axis) { return TEST(last_direction_bits, axis); }
+ static FORCE_INLINE bool motor_direction(AxisEnum axis) { return TEST(last_direction_bits, axis); }
#if HAS_DIGIPOTSS
void digitalPotWrite(int address, int value);
@@ -251,7 +248,7 @@ class Stepper {
private:
- FORCE_INLINE unsigned short calc_timer(unsigned short step_rate) {
+ static FORCE_INLINE unsigned short calc_timer(unsigned short step_rate) {
unsigned short timer;
NOMORE(step_rate, MAX_STEP_FREQUENCY);
@@ -283,13 +280,17 @@ class Stepper {
timer = (unsigned short)pgm_read_word_near(table_address);
timer -= (((unsigned short)pgm_read_word_near(table_address + 2) * (unsigned char)(step_rate & 0x0007)) >> 3);
}
- if (timer < 100) { timer = 100; MYSERIAL.print(MSG_STEPPER_TOO_HIGH); MYSERIAL.println(step_rate); }//(20kHz this should never happen)
+ if (timer < 100) { // (20kHz - this should never happen)
+ timer = 100;
+ MYSERIAL.print(MSG_STEPPER_TOO_HIGH);
+ MYSERIAL.println(step_rate);
+ }
return timer;
}
// Initializes the trapezoid generator from the current block. Called whenever a new
// block begins.
- FORCE_INLINE void trapezoid_generator_reset() {
+ static FORCE_INLINE void trapezoid_generator_reset() {
static int8_t last_extruder = -1;