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Regression: Endstops Core compatibility (#10823)

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Co-Authored-By: ejtagle <ejtagle@hotmail.com>
This commit is contained in:
Scott Lahteine
2018-05-23 03:45:25 -05:00
committed by GitHub
parent c89649b46e
commit 3e3789da85
4 changed files with 117 additions and 105 deletions
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79
Marlin/src/module/stepper.cpp
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@ -96,10 +96,10 @@ block_t* Stepper::current_block = NULL; // A pointer to the block currently bei
// private:
uint8_t Stepper::last_direction_bits = 0, // The next stepping-bits to be output
Stepper::last_movement_extruder = 0xFF; // Last movement extruder, as computed when the last movement was fetched from planner
bool Stepper::abort_current_block, // Signals to the stepper that current block should be aborted
Stepper::last_movement_non_null[NUM_AXIS]; // Last Movement in the given direction is not null, as computed when the last movement was fetched from planner
uint8_t Stepper::last_direction_bits = 0,
Stepper::last_movement_extruder = 0xFF,
Stepper::axis_did_move;
bool Stepper::abort_current_block;
#if ENABLED(X_DUAL_ENDSTOPS)
bool Stepper::locked_x_motor = false, Stepper::locked_x2_motor = false;
@ -1566,8 +1566,75 @@ uint32_t Stepper::stepper_block_phase_isr() {
return interval; // No more queued movements!
}
// Compute movement direction for proper endstop handling
LOOP_NA(i) last_movement_non_null[i] = !!current_block->steps[i];
// Flag all moving axes for proper endstop handling
#if IS_CORE
// Define conditions for checking endstops
#define S_(N) current_block->steps[CORE_AXIS_##N]
#define D_(N) motor_direction(CORE_AXIS_##N)
#endif
#if CORE_IS_XY || CORE_IS_XZ
/**
* Head direction in -X axis for CoreXY and CoreXZ bots.
*
* If steps differ, both axes are moving.
* If DeltaA == -DeltaB, the movement is only in the 2nd axis (Y or Z, handled below)
* If DeltaA == DeltaB, the movement is only in the 1st axis (X)
*/
#if ENABLED(COREXY) || ENABLED(COREXZ)
#define X_CMP ==
#else
#define X_CMP !=
#endif
#define X_MOVE_TEST ( S_(1) != S_(2) || (S_(1) > 0 && D_(1) X_CMP D_(2)) )
#else
#define X_MOVE_TEST !!current_block->steps[X_AXIS]
#endif
#if CORE_IS_XY || CORE_IS_YZ
/**
* Head direction in -Y axis for CoreXY / CoreYZ bots.
*
* If steps differ, both axes are moving
* If DeltaA == DeltaB, the movement is only in the 1st axis (X or Y)
* If DeltaA == -DeltaB, the movement is only in the 2nd axis (Y or Z)
*/
#if ENABLED(COREYX) || ENABLED(COREYZ)
#define Y_CMP ==
#else
#define Y_CMP !=
#endif
#define Y_MOVE_TEST ( S_(1) != S_(2) || (S_(1) > 0 && D_(1) Y_CMP D_(2)) )
#else
#define Y_MOVE_TEST !!current_block->steps[Y_AXIS]
#endif
#if CORE_IS_XZ || CORE_IS_YZ
/**
* Head direction in -Z axis for CoreXZ or CoreYZ bots.
*
* If steps differ, both axes are moving
* If DeltaA == DeltaB, the movement is only in the 1st axis (X or Y, already handled above)
* If DeltaA == -DeltaB, the movement is only in the 2nd axis (Z)
*/
#if ENABLED(COREZX) || ENABLED(COREZY)
#define Z_CMP ==
#else
#define Z_CMP !=
#endif
#define Z_MOVE_TEST ( S_(1) != S_(2) || (S_(1) > 0 && D_(1) Z_CMP D_(2)) )
#else
#define Z_MOVE_TEST !!current_block->steps[Z_AXIS]
#endif
SET_BIT(axis_did_move, X_AXIS, X_MOVE_TEST);
SET_BIT(axis_did_move, Y_AXIS, Y_MOVE_TEST);
SET_BIT(axis_did_move, Z_AXIS, Z_MOVE_TEST);
SET_BIT(axis_did_move, E_AXIS, !!current_block->steps[E_AXIS]);
SET_BIT(axis_did_move, X_HEAD, !!current_block->steps[X_HEAD]);
SET_BIT(axis_did_move, Y_HEAD, !!current_block->steps[Y_HEAD]);
SET_BIT(axis_did_move, Z_HEAD, !!current_block->steps[Z_HEAD]);
// Initialize the trapezoid generator from the current block.
#if ENABLED(LIN_ADVANCE)