Add support for Triple-Z steppers/endstops

2018-06-19 18:55:49 +02:00
parent bc06406d7d
commit 1a6f2b29b8
37 changed files with 901 additions and 155 deletions
--- a/Marlin/src/HAL/HAL_AVR/SanityCheck.h
+++ b/Marlin/src/HAL/HAL_AVR/SanityCheck.h
@ -106,6 +106,7 @@
    || defined(Y2_HARDWARE_SERIAL) \
    || defined(Z_HARDWARE_SERIAL ) \
    || defined(Z2_HARDWARE_SERIAL) \
+    || defined(Z3_HARDWARE_SERIAL) \
    || defined(E0_HARDWARE_SERIAL) \
    || defined(E1_HARDWARE_SERIAL) \
    || defined(E2_HARDWARE_SERIAL) \
--- a/Marlin/src/HAL/HAL_AVR/endstop_interrupts.h
+++ b/Marlin/src/HAL/HAL_AVR/endstop_interrupts.h
@ -225,6 +225,26 @@ void setup_endstop_interrupts( void ) {
    #endif
  #endif

+  #if HAS_Z3_MAX
+    #if (digitalPinToInterrupt(Z3_MAX_PIN) != NOT_AN_INTERRUPT)
+      attachInterrupt(digitalPinToInterrupt(Z3_MAX_PIN), endstop_ISR, CHANGE);
+    #else
+      // Not all used endstop/probe -pins can raise interrupts. Please deactivate ENDSTOP_INTERRUPTS or change the pin configuration!
+      static_assert(digitalPinToPCICR(Z3_MAX_PIN) != NULL, "Z3_MAX_PIN is not interrupt-capable");
+      pciSetup(Z3_MAX_PIN);
+    #endif
+  #endif
+
+  #if HAS_Z3_MIN
+    #if (digitalPinToInterrupt(Z3_MIN_PIN) != NOT_AN_INTERRUPT)
+      attachInterrupt(digitalPinToInterrupt(Z3_MIN_PIN), endstop_ISR, CHANGE);
+    #else
+      // Not all used endstop/probe -pins can raise interrupts. Please deactivate ENDSTOP_INTERRUPTS or change the pin configuration!
+      static_assert(digitalPinToPCICR(Z3_MIN_PIN) != NULL, "Z3_MIN_PIN is not interrupt-capable");
+      pciSetup(Z3_MIN_PIN);
+    #endif
+  #endif
+
  #if HAS_Z_MIN_PROBE_PIN
    #if (digitalPinToInterrupt(Z_MIN_PROBE_PIN) != NOT_AN_INTERRUPT)
      attachInterrupt(digitalPinToInterrupt(Z_MIN_PROBE_PIN), endstop_ISR, CHANGE);
--- a/Marlin/src/HAL/HAL_DUE/endstop_interrupts.h
+++ b/Marlin/src/HAL/HAL_DUE/endstop_interrupts.h
@ -72,6 +72,12 @@ void setup_endstop_interrupts(void) {
  #if HAS_Z2_MIN
    attachInterrupt(digitalPinToInterrupt(Z2_MIN_PIN), endstop_ISR, CHANGE);
  #endif
+  #if HAS_Z3_MAX
+    attachInterrupt(digitalPinToInterrupt(Z3_MAX_PIN), endstop_ISR, CHANGE);
+  #endif
+  #if HAS_Z3_MIN
+    attachInterrupt(digitalPinToInterrupt(Z3_MIN_PIN), endstop_ISR, CHANGE);
+  #endif
  #if HAS_Z_MIN_PROBE_PIN
    attachInterrupt(digitalPinToInterrupt(Z_MIN_PROBE_PIN), endstop_ISR, CHANGE);
  #endif
--- a/Marlin/src/HAL/HAL_ESP32/endstop_interrupts.h
+++ b/Marlin/src/HAL/HAL_ESP32/endstop_interrupts.h
@ -67,6 +67,12 @@ void setup_endstop_interrupts(void) {
  #if HAS_Z2_MIN
    attachInterrupt(digitalPinToInterrupt(Z2_MIN_PIN), endstop_ISR, CHANGE);
  #endif
+  #if HAS_Z3_MAX
+    attachInterrupt(digitalPinToInterrupt(Z3_MAX_PIN), endstop_ISR, CHANGE);
+  #endif
+  #if HAS_Z3_MIN
+    attachInterrupt(digitalPinToInterrupt(Z3_MIN_PIN), endstop_ISR, CHANGE);
+  #endif
  #if HAS_Z_MIN_PROBE_PIN
    attachInterrupt(digitalPinToInterrupt(Z_MIN_PROBE_PIN), endstop_ISR, CHANGE);
  #endif
--- a/Marlin/src/HAL/HAL_LPC1768/endstop_interrupts.h
+++ b/Marlin/src/HAL/HAL_LPC1768/endstop_interrupts.h
@ -91,6 +91,12 @@ void setup_endstop_interrupts(void) {
    #endif
    attachInterrupt(digitalPinToInterrupt(Z2_MIN_PIN), endstop_ISR, CHANGE);
  #endif
+  #if HAS_Z3_MAX
+    attachInterrupt(digitalPinToInterrupt(Z3_MAX_PIN), endstop_ISR, CHANGE);
+  #endif
+  #if HAS_Z3_MIN
+    attachInterrupt(digitalPinToInterrupt(Z3_MIN_PIN), endstop_ISR, CHANGE);
+  #endif
  #if HAS_Z_MIN_PROBE_PIN
    #if !LPC1768_PIN_INTERRUPT_M(Z_MIN_PROBE_PIN)
      #error "Z_MIN_PROBE_PIN is not an INTERRUPT capable pin."
--- a/Marlin/src/HAL/HAL_STM32F1/endstop_interrupts.h
+++ b/Marlin/src/HAL/HAL_STM32F1/endstop_interrupts.h
@ -79,6 +79,12 @@ void setup_endstop_interrupts(void) {
  #if HAS_Z2_MIN
    attachInterrupt(Z2_MIN_PIN, endstop_ISR, CHANGE);
  #endif
+  #if HAS_Z3_MAX
+    attachInterrupt(Z3_MAX_PIN, endstop_ISR, CHANGE);
+  #endif
+  #if HAS_Z3_MIN
+    attachInterrupt(Z3_MIN_PIN, endstop_ISR, CHANGE);
+  #endif
  #if HAS_Z_MIN_PROBE_PIN
    attachInterrupt(Z_MIN_PROBE_PIN, endstop_ISR, CHANGE);
  #endif
--- a/Marlin/src/HAL/HAL_STM32F4/endstop_interrupts.h
+++ b/Marlin/src/HAL/HAL_STM32F4/endstop_interrupts.h
@ -54,6 +54,12 @@ void setup_endstop_interrupts(void) {
  #if HAS_Z2_MIN
    attachInterrupt(Z2_MIN_PIN, endstop_ISR, CHANGE);
  #endif
+  #if HAS_Z3_MAX
+    attachInterrupt(Z3_MAX_PIN, endstop_ISR, CHANGE);
+  #endif
+  #if HAS_Z3_MIN
+    attachInterrupt(Z3_MIN_PIN, endstop_ISR, CHANGE);
+  #endif
  #if HAS_Z_MIN_PROBE_PIN
    attachInterrupt(Z_MIN_PROBE_PIN, endstop_ISR, CHANGE);
  #endif
--- a/Marlin/src/HAL/HAL_STM32F7/endstop_interrupts.h
+++ b/Marlin/src/HAL/HAL_STM32F7/endstop_interrupts.h
@ -56,6 +56,12 @@ void setup_endstop_interrupts(void) {
  #if HAS_Z2_MIN
    attachInterrupt(Z2_MIN_PIN, endstop_ISR, CHANGE);
  #endif
+  #if HAS_Z3_MAX
+    attachInterrupt(Z3_MAX_PIN, endstop_ISR, CHANGE);
+  #endif
+  #if HAS_Z3_MIN
+    attachInterrupt(Z3_MIN_PIN, endstop_ISR, CHANGE);
+  #endif
  #if HAS_Z_MIN_PROBE_PIN
    attachInterrupt(Z_MIN_PROBE_PIN, endstop_ISR, CHANGE);
  #endif
--- a/Marlin/src/HAL/HAL_TEENSY35_36/endstop_interrupts.h
+++ b/Marlin/src/HAL/HAL_TEENSY35_36/endstop_interrupts.h
@ -43,44 +43,40 @@
 void endstop_ISR(void) { endstops.update(); }

 /**
- *  Endstop interrupts for Due based targets.
- *  On Due, all pins support external interrupt capability.
+ * Endstop interrupts for Due based targets.
+ * On Due, all pins support external interrupt capability.
 */
-
 void setup_endstop_interrupts( void ) {
-
  #if HAS_X_MAX
    attachInterrupt(digitalPinToInterrupt(X_MAX_PIN), endstop_ISR, CHANGE); // assign it
  #endif
-
  #if HAS_X_MIN
    attachInterrupt(digitalPinToInterrupt(X_MIN_PIN), endstop_ISR, CHANGE);
  #endif
-
  #if HAS_Y_MAX
    attachInterrupt(digitalPinToInterrupt(Y_MAX_PIN), endstop_ISR, CHANGE);
  #endif
-
  #if HAS_Y_MIN
    attachInterrupt(digitalPinToInterrupt(Y_MIN_PIN), endstop_ISR, CHANGE);
  #endif
-
  #if HAS_Z_MAX
    attachInterrupt(digitalPinToInterrupt(Z_MAX_PIN), endstop_ISR, CHANGE);
  #endif
-
  #if HAS_Z_MIN
     attachInterrupt(digitalPinToInterrupt(Z_MIN_PIN), endstop_ISR, CHANGE);
  #endif
-
  #if HAS_Z2_MAX
    attachInterrupt(digitalPinToInterrupt(Z2_MAX_PIN), endstop_ISR, CHANGE);
  #endif
-
  #if HAS_Z2_MIN
    attachInterrupt(digitalPinToInterrupt(Z2_MIN_PIN), endstop_ISR, CHANGE);
  #endif
-
+  #if HAS_Z3_MAX
+    attachInterrupt(digitalPinToInterrupt(Z3_MAX_PIN), endstop_ISR, CHANGE);
+  #endif
+  #if HAS_Z3_MIN
+    attachInterrupt(digitalPinToInterrupt(Z3_MIN_PIN), endstop_ISR, CHANGE);
+  #endif
  #if HAS_Z_MIN_PROBE_PIN
    attachInterrupt(digitalPinToInterrupt(Z_MIN_PROBE_PIN), endstop_ISR, CHANGE);
  #endif