Improve motion-based endstop triggering code
This commit is contained in:
Scott Lahteine
@@ -278,12 +278,16 @@ void Endstops::update() {
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}
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#endif
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#if ENABLED(COREXY) || ENABLED(COREXZ)
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#define CORE_X_CMP ==
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#elif ENABLED(COREYX) || ENABLED(COREZX)
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#define CORE_X_CMP !=
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#endif
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/**
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* Define conditions for checking endstops
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*/
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#if IS_CORE
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#define S_(N) stepper.current_block->steps[CORE_AXIS_##N]
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#define D_(N) stepper.motor_direction(CORE_AXIS_##N)
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#endif
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#if CORE_IS_XY || CORE_IS_XZ
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/**
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* Head direction in -X axis for CoreXY and CoreXZ bots.
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*
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@@ -291,52 +295,16 @@ void Endstops::update() {
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* If DeltaA == -DeltaB, the movement is only in the 2nd axis (Y or Z, handled below)
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* If DeltaA == DeltaB, the movement is only in the 1st axis (X)
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*/
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#if CORE_IS_XY || CORE_IS_XZ
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if (stepper.current_block->steps[CORE_AXIS_1] != stepper.current_block->steps[CORE_AXIS_2]
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|| ( stepper.current_block->steps[CORE_AXIS_1] > 0
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&& stepper.motor_direction(CORE_AXIS_1) CORE_X_CMP stepper.motor_direction(CORE_AXIS_2)
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)
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) {
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if (stepper.motor_direction(X_HEAD))
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#if ENABLED(COREXY) || ENABLED(COREXZ)
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#define X_CMP ==
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#else
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if (stepper.current_block->steps[X_AXIS] > 0)
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if (stepper.motor_direction(X_AXIS)) // stepping along -X axis (regular Cartesian bot)
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#define X_CMP !=
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#endif
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{ // -direction
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#if ENABLED(DUAL_X_CARRIAGE)
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// with 2 x-carriages, endstops are only checked in the homing direction for the active extruder
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if ( (stepper.current_block->active_extruder == 0 && X_HOME_DIR < 0)
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|| (stepper.current_block->active_extruder != 0 && X2_HOME_DIR < 0)
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)
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#endif
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{
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#if HAS_X_MIN
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UPDATE_ENDSTOP(X, MIN);
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#endif
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}
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}
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else { // +direction
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#if ENABLED(DUAL_X_CARRIAGE)
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// with 2 x-carriages, endstops are only checked in the homing direction for the active extruder
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if ( (stepper.current_block->active_extruder == 0 && X_HOME_DIR > 0)
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|| (stepper.current_block->active_extruder != 0 && X2_HOME_DIR > 0)
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)
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#endif
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{
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#if HAS_X_MAX
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UPDATE_ENDSTOP(X, MAX);
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#endif
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}
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}
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#if CORE_IS_XY || CORE_IS_XZ
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}
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#endif
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// Handle swapped vs. typical Core axis order
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#if ENABLED(COREYX) || ENABLED(COREYZ)
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#define CORE_YZ_CMP ==
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#elif ENABLED(COREXY) || ENABLED(COREZY)
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#define CORE_YZ_CMP !=
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#define X_MOVE_TEST ( S_(1) != S_(2) || (S_(1) > 0 && D_(1) X_CMP D_(2)) )
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#define X_AXIS_HEAD X_HEAD
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#else
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#define X_MOVE_TEST stepper.current_block->steps[X_AXIS] > 0
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#define X_AXIS_HEAD X_AXIS
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#endif
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#if CORE_IS_XY || CORE_IS_YZ
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@@ -347,35 +315,16 @@ void Endstops::update() {
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* If DeltaA == DeltaB, the movement is only in the 1st axis (X or Y)
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* If DeltaA == -DeltaB, the movement is only in the 2nd axis (Y or Z)
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*/
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if (stepper.current_block->steps[CORE_AXIS_1] != stepper.current_block->steps[CORE_AXIS_2]
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|| ( stepper.current_block->steps[CORE_AXIS_1] > 0
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&& stepper.motor_direction(CORE_AXIS_1) CORE_YZ_CMP stepper.motor_direction(CORE_AXIS_2)
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)
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) {
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if (stepper.motor_direction(Y_HEAD))
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#if ENABLED(COREYX) || ENABLED(COREYZ)
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#define Y_CMP ==
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#else
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#define Y_CMP !=
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#endif
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#define Y_MOVE_TEST ( S_(1) != S_(2) || (S_(1) > 0 && D_(1) Y_CMP D_(2)) )
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#define Y_AXIS_HEAD Y_HEAD
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#else
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if (stepper.current_block->steps[Y_AXIS] > 0)
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if (stepper.motor_direction(Y_AXIS)) // -direction
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#endif
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{ // -direction
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#if HAS_Y_MIN
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UPDATE_ENDSTOP(Y, MIN);
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#endif
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}
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else { // +direction
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#if HAS_Y_MAX
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UPDATE_ENDSTOP(Y, MAX);
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#endif
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}
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#if CORE_IS_XY || CORE_IS_YZ
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}
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#endif
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#if ENABLED(COREZX) || ENABLED(COREZY)
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#define CORE_YZ_CMP ==
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#elif ENABLED(COREXZ) || ENABLED(COREYZ)
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#define CORE_YZ_CMP !=
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#define Y_MOVE_TEST stepper.current_block->steps[Y_AXIS] > 0
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#define Y_AXIS_HEAD Y_AXIS
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#endif
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#if CORE_IS_XZ || CORE_IS_YZ
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@@ -386,76 +335,119 @@ void Endstops::update() {
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* If DeltaA == DeltaB, the movement is only in the 1st axis (X or Y, already handled above)
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* If DeltaA == -DeltaB, the movement is only in the 2nd axis (Z)
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*/
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if (stepper.current_block->steps[CORE_AXIS_1] != stepper.current_block->steps[CORE_AXIS_2]
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|| ( stepper.current_block->steps[CORE_AXIS_1] > 0
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&& stepper.motor_direction(CORE_AXIS_1) CORE_YZ_CMP stepper.motor_direction(CORE_AXIS_2)
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)
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) {
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if (stepper.motor_direction(Z_HEAD))
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#if ENABLED(COREZX) || ENABLED(COREZY)
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#define Z_CMP ==
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#else
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#define Z_CMP !=
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#endif
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#define Z_MOVE_TEST ( S_(1) != S_(2) || (S_(1) > 0 && D_(1) Z_CMP D_(2)) )
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#define Z_AXIS_HEAD Z_HEAD
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#else
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if (stepper.current_block->steps[Z_AXIS] > 0)
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if (stepper.motor_direction(Z_AXIS))
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#define Z_MOVE_TEST stepper.current_block->steps[Z_AXIS] > 0
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#define Z_AXIS_HEAD Z_AXIS
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#endif
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{ // Z -direction. Gantry down, bed up.
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#if HAS_Z_MIN
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#if ENABLED(Z_DUAL_ENDSTOPS)
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UPDATE_ENDSTOP_BIT(Z, MIN);
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#if HAS_Z2_MIN
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UPDATE_ENDSTOP_BIT(Z2, MIN);
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#else
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COPY_BIT(current_endstop_bits, Z_MIN, Z2_MIN);
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#endif
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// With Dual X, endstops are only checked in the homing direction for the active extruder
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#if ENABLED(DUAL_X_CARRIAGE)
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#define E0_ACTIVE stepper.current_block->active_extruder == 0
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#define X_MIN_TEST ((X_HOME_DIR < 0 && E0_ACTIVE) || (X2_HOME_DIR < 0 && !E0_ACTIVE))
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#define X_MAX_TEST ((X_HOME_DIR > 0 && E0_ACTIVE) || (X2_HOME_DIR > 0 && !E0_ACTIVE))
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#else
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#define X_MIN_TEST true
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#define X_MAX_TEST true
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#endif
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test_dual_z_endstops(Z_MIN, Z2_MIN);
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/**
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* Check and update endstops according to conditions
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*/
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#else // !Z_DUAL_ENDSTOPS
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#if ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN)
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if (z_probe_enabled) UPDATE_ENDSTOP(Z, MIN);
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#else
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UPDATE_ENDSTOP(Z, MIN);
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#endif
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#endif // !Z_DUAL_ENDSTOPS
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#endif // HAS_Z_MIN
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// When closing the gap check the enabled probe
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#if ENABLED(Z_MIN_PROBE_ENDSTOP)
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if (z_probe_enabled) {
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UPDATE_ENDSTOP(Z, MIN_PROBE);
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if (TEST_ENDSTOP(Z_MIN_PROBE)) SBI(endstop_hit_bits, Z_MIN_PROBE);
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}
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if (X_MOVE_TEST) {
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if (stepper.motor_direction(X_AXIS_HEAD)) {
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if (X_MIN_TEST) { // -direction
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#if HAS_X_MIN
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UPDATE_ENDSTOP(X, MIN);
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#endif
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}
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else { // Z +direction. Gantry up, bed down.
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#if HAS_Z_MAX
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// Check both Z dual endstops
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#if ENABLED(Z_DUAL_ENDSTOPS)
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UPDATE_ENDSTOP_BIT(Z, MAX);
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#if HAS_Z2_MAX
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UPDATE_ENDSTOP_BIT(Z2, MAX);
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#else
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COPY_BIT(current_endstop_bits, Z_MAX, Z2_MAX);
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#endif
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test_dual_z_endstops(Z_MAX, Z2_MAX);
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// If this pin is not hijacked for the bed probe
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// then it belongs to the Z endstop
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#elif DISABLED(Z_MIN_PROBE_ENDSTOP) || Z_MAX_PIN != Z_MIN_PROBE_PIN
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UPDATE_ENDSTOP(Z, MAX);
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#endif // !Z_MIN_PROBE_PIN...
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#endif // Z_MAX_PIN
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}
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#if CORE_IS_XZ || CORE_IS_YZ
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}
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#endif
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else if (X_MAX_TEST) { // +direction
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#if HAS_X_MAX
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UPDATE_ENDSTOP(X, MAX);
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#endif
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}
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}
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if (Y_MOVE_TEST) {
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if (stepper.motor_direction(Y_AXIS_HEAD)) { // -direction
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#if HAS_Y_MIN
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UPDATE_ENDSTOP(Y, MIN);
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#endif
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}
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else { // +direction
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#if HAS_Y_MAX
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UPDATE_ENDSTOP(Y, MAX);
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#endif
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}
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}
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if (Z_MOVE_TEST) {
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if (stepper.motor_direction(Z_AXIS_HEAD)) { // Z -direction. Gantry down, bed up.
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#if HAS_Z_MIN
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#if ENABLED(Z_DUAL_ENDSTOPS)
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UPDATE_ENDSTOP_BIT(Z, MIN);
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#if HAS_Z2_MIN
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UPDATE_ENDSTOP_BIT(Z2, MIN);
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#else
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COPY_BIT(current_endstop_bits, Z_MIN, Z2_MIN);
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#endif
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test_dual_z_endstops(Z_MIN, Z2_MIN);
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#else // !Z_DUAL_ENDSTOPS
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#if ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN)
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if (z_probe_enabled) UPDATE_ENDSTOP(Z, MIN);
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#else
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UPDATE_ENDSTOP(Z, MIN);
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#endif
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#endif // !Z_DUAL_ENDSTOPS
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#endif // HAS_Z_MIN
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// When closing the gap check the enabled probe
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#if ENABLED(Z_MIN_PROBE_ENDSTOP)
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if (z_probe_enabled) {
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UPDATE_ENDSTOP(Z, MIN_PROBE);
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if (TEST_ENDSTOP(Z_MIN_PROBE)) SBI(endstop_hit_bits, Z_MIN_PROBE);
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}
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#endif
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}
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else { // Z +direction. Gantry up, bed down.
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#if HAS_Z_MAX
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// Check both Z dual endstops
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#if ENABLED(Z_DUAL_ENDSTOPS)
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UPDATE_ENDSTOP_BIT(Z, MAX);
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#if HAS_Z2_MAX
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UPDATE_ENDSTOP_BIT(Z2, MAX);
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#else
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COPY_BIT(current_endstop_bits, Z_MAX, Z2_MAX);
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#endif
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test_dual_z_endstops(Z_MAX, Z2_MAX);
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// If this pin is not hijacked for the bed probe
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// then it belongs to the Z endstop
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#elif DISABLED(Z_MIN_PROBE_ENDSTOP) || Z_MAX_PIN != Z_MIN_PROBE_PIN
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UPDATE_ENDSTOP(Z, MAX);
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#endif // !Z_MIN_PROBE_PIN...
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#endif // Z_MAX_PIN
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}
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}
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old_endstop_bits = current_endstop_bits;
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