Fix interrupt-based endstop detection
- Also implemented real endstop reading on interrupt.
This commit is contained in:
etagle
Scott Lahteine
@ -32,18 +32,27 @@
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#include "../module/temperature.h"
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#include "../lcd/ultralcd.h"
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// TEST_ENDSTOP: test the old and the current status of an endstop
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#define TEST_ENDSTOP(ENDSTOP) (TEST(current_endstop_bits & old_endstop_bits, ENDSTOP))
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#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
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#include HAL_PATH(../HAL, endstop_interrupts.h)
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#endif
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// TEST_ENDSTOP: test the current status of an endstop
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#define TEST_ENDSTOP(ENDSTOP) (TEST(current_endstop_bits, ENDSTOP))
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#if HAS_BED_PROBE
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#define ENDSTOPS_ENABLED (endstops.enabled || endstops.z_probe_enabled)
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#else
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#define ENDSTOPS_ENABLED endstops.enabled
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#endif
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Endstops endstops;
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// public:
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bool Endstops::enabled, Endstops::enabled_globally; // Initialized by settings.load()
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volatile char Endstops::endstop_hit_bits; // use X_MIN, Y_MIN, Z_MIN and Z_MIN_PROBE as BIT value
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volatile uint8_t Endstops::endstop_hit_bits; // use X_MIN, Y_MIN, Z_MIN and Z_MIN_PROBE as BIT value
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Endstops::esbits_t Endstops::current_endstop_bits = 0,
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Endstops::old_endstop_bits = 0;
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Endstops::esbits_t Endstops::current_endstop_bits = 0;
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#if HAS_BED_PROBE
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volatile bool Endstops::z_probe_enabled = false;
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@ -196,8 +205,93 @@ void Endstops::init() {
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#endif
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#endif
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#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
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setup_endstop_interrupts();
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#endif
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// Enable endstops
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enable_globally(
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#if ENABLED(ENDSTOPS_ALWAYS_ON_DEFAULT)
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true
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#else
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false
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#endif
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);
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} // Endstops::init
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// Called from ISR. A change was detected. Find out what happened!
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void Endstops::check_possible_change() { if (ENDSTOPS_ENABLED) endstops.update(); }
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// Called from ISR: Poll endstop state if required
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void Endstops::poll() {
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#if ENABLED(PINS_DEBUGGING)
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endstops.run_monitor(); // report changes in endstop status
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#endif
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#if DISABLED(ENDSTOP_INTERRUPTS_FEATURE)
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if (ENDSTOPS_ENABLED) endstops.update();
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#endif
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}
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void Endstops::enable_globally(const bool onoff) {
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enabled_globally = enabled = onoff;
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#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
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if (onoff) endstops.update(); // If enabling, update state now
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#endif
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}
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// Enable / disable endstop checking
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void Endstops::enable(const bool onoff) {
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enabled = onoff;
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#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
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if (onoff) endstops.update(); // If enabling, update state now
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#endif
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}
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// Disable / Enable endstops based on ENSTOPS_ONLY_FOR_HOMING and global enable
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void Endstops::not_homing() {
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enabled = enabled_globally;
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#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
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if (enabled) endstops.update(); // If enabling, update state now
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#endif
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}
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// Clear endstops (i.e., they were hit intentionally) to suppress the report
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void Endstops::hit_on_purpose() {
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endstop_hit_bits = 0;
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#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
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if (enabled) endstops.update(); // If enabling, update state now
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#endif
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}
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// Enable / disable endstop z-probe checking
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#if HAS_BED_PROBE
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void Endstops::enable_z_probe(bool onoff) {
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z_probe_enabled = onoff;
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#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
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if (enabled) endstops.update(); // If enabling, update state now
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#endif
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}
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#endif
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#if ENABLED(PINS_DEBUGGING)
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void Endstops::run_monitor() {
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if (!monitor_flag) return;
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static uint8_t monitor_count = 16; // offset this check from the others
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monitor_count += _BV(1); // 15 Hz
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monitor_count &= 0x7F;
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if (!monitor_count) monitor(); // report changes in endstop status
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}
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#endif
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void Endstops::report_state() {
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if (endstop_hit_bits) {
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#if ENABLED(ULTRA_LCD)
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@ -300,38 +394,41 @@ void Endstops::M119() {
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#endif
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} // Endstops::M119
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// The following routines are called from an ISR context. It could be the temperature ISR, the
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// endstop ISR or the Stepper ISR.
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#if ENABLED(X_DUAL_ENDSTOPS)
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void Endstops::test_dual_x_endstops(const EndstopEnum es1, const EndstopEnum es2) {
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const byte x_test = TEST_ENDSTOP(es1) | (TEST_ENDSTOP(es2) << 1); // bit 0 for X, bit 1 for X2
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if (x_test && stepper.current_block->steps[X_AXIS] > 0) {
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if (x_test && stepper.movement_non_null(X_AXIS)) {
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SBI(endstop_hit_bits, X_MIN);
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if (!stepper.performing_homing || (x_test == 0x3)) //if not performing home or if both endstops were trigged during homing...
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stepper.kill_current_block();
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stepper.quick_stop();
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}
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}
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#endif
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#if ENABLED(Y_DUAL_ENDSTOPS)
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void Endstops::test_dual_y_endstops(const EndstopEnum es1, const EndstopEnum es2) {
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const byte y_test = TEST_ENDSTOP(es1) | (TEST_ENDSTOP(es2) << 1); // bit 0 for Y, bit 1 for Y2
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if (y_test && stepper.current_block->steps[Y_AXIS] > 0) {
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if (y_test && stepper.movement_non_null(Y_AXIS)) {
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SBI(endstop_hit_bits, Y_MIN);
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if (!stepper.performing_homing || (y_test == 0x3)) //if not performing home or if both endstops were trigged during homing...
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stepper.kill_current_block();
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stepper.quick_stop();
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}
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}
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#endif
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#if ENABLED(Z_DUAL_ENDSTOPS)
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void Endstops::test_dual_z_endstops(const EndstopEnum es1, const EndstopEnum es2) {
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const byte z_test = TEST_ENDSTOP(es1) | (TEST_ENDSTOP(es2) << 1); // bit 0 for Z, bit 1 for Z2
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if (z_test && stepper.current_block->steps[Z_AXIS] > 0) {
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if (z_test && stepper.movement_non_null(Z_AXIS)) {
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SBI(endstop_hit_bits, Z_MIN);
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if (!stepper.performing_homing || (z_test == 0x3)) //if not performing home or if both endstops were trigged during homing...
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stepper.kill_current_block();
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stepper.quick_stop();
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}
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}
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#endif
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// Check endstops - Called from ISR!
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// Check endstops - Could be called from ISR!
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void Endstops::update() {
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#define _ENDSTOP(AXIS, MINMAX) AXIS ##_## MINMAX
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@ -358,9 +455,9 @@ void Endstops::update() {
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if (G38_move) {
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UPDATE_ENDSTOP_BIT(Z, MIN_PROBE);
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if (TEST_ENDSTOP(_ENDSTOP(Z, MIN_PROBE))) {
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if (stepper.current_block->steps[_AXIS(X)] > 0) { _ENDSTOP_HIT(X, MIN); planner.endstop_triggered(_AXIS(X)); }
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else if (stepper.current_block->steps[_AXIS(Y)] > 0) { _ENDSTOP_HIT(Y, MIN); planner.endstop_triggered(_AXIS(Y)); }
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else if (stepper.current_block->steps[_AXIS(Z)] > 0) { _ENDSTOP_HIT(Z, MIN); planner.endstop_triggered(_AXIS(Z)); }
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if (stepper.movement_non_null(_AXIS(X))) { _ENDSTOP_HIT(X, MIN); planner.endstop_triggered(_AXIS(X)); }
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else if (stepper.movement_non_null(_AXIS(Y))) { _ENDSTOP_HIT(Y, MIN); planner.endstop_triggered(_AXIS(Y)); }
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else if (stepper.movement_non_null(_AXIS(Z))) { _ENDSTOP_HIT(Z, MIN); planner.endstop_triggered(_AXIS(Z)); }
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G38_endstop_hit = true;
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}
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}
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@ -371,7 +468,7 @@ void Endstops::update() {
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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 S_(N) stepper.movement_non_null(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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@ -391,7 +488,7 @@ void Endstops::update() {
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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_MOVE_TEST stepper.movement_non_null(X_AXIS)
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#define X_AXIS_HEAD X_AXIS
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#endif
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@ -411,7 +508,7 @@ void Endstops::update() {
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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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#define Y_MOVE_TEST stepper.current_block->steps[Y_AXIS] > 0
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#define Y_MOVE_TEST stepper.movement_non_null(Y_AXIS)
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#define Y_AXIS_HEAD Y_AXIS
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#endif
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@ -431,13 +528,13 @@ void Endstops::update() {
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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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#define Z_MOVE_TEST stepper.current_block->steps[Z_AXIS] > 0
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#define Z_MOVE_TEST stepper.movement_non_null(Z_AXIS)
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#define Z_AXIS_HEAD Z_AXIS
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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 E0_ACTIVE stepper.movement_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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@ -448,126 +545,119 @@ void Endstops::update() {
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/**
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* Check and update endstops according to conditions
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*/
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if (stepper.current_block) {
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if (X_MOVE_TEST) {
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if (stepper.motor_direction(X_AXIS_HEAD)) { // -direction
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#if HAS_X_MIN
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#if ENABLED(X_DUAL_ENDSTOPS)
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UPDATE_ENDSTOP_BIT(X, MIN);
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#if HAS_X2_MIN
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UPDATE_ENDSTOP_BIT(X2, MIN);
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#else
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COPY_BIT(current_endstop_bits, X_MIN, X2_MIN);
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#endif
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test_dual_x_endstops(X_MIN, X2_MIN);
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if (X_MOVE_TEST) {
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if (stepper.motor_direction(X_AXIS_HEAD)) { // -direction
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#if HAS_X_MIN
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#if ENABLED(X_DUAL_ENDSTOPS)
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UPDATE_ENDSTOP_BIT(X, MIN);
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#if HAS_X2_MIN
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UPDATE_ENDSTOP_BIT(X2, MIN);
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#else
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if (X_MIN_TEST) UPDATE_ENDSTOP(X, MIN);
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COPY_BIT(current_endstop_bits, X_MIN, X2_MIN);
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#endif
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test_dual_x_endstops(X_MIN, X2_MIN);
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#else
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if (X_MIN_TEST) UPDATE_ENDSTOP(X, MIN);
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#endif
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}
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else { // +direction
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#if HAS_X_MAX
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#if ENABLED(X_DUAL_ENDSTOPS)
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UPDATE_ENDSTOP_BIT(X, MAX);
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#if HAS_X2_MAX
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UPDATE_ENDSTOP_BIT(X2, MAX);
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#else
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COPY_BIT(current_endstop_bits, X_MAX, X2_MAX);
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#endif
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test_dual_x_endstops(X_MAX, X2_MAX);
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#else
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if (X_MAX_TEST) UPDATE_ENDSTOP(X, MAX);
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#endif
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#endif
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}
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#endif
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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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#if ENABLED(Y_DUAL_ENDSTOPS)
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UPDATE_ENDSTOP_BIT(Y, MIN);
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#if HAS_Y2_MIN
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UPDATE_ENDSTOP_BIT(Y2, MIN);
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#else
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COPY_BIT(current_endstop_bits, Y_MIN, Y2_MIN);
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#endif
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test_dual_y_endstops(Y_MIN, Y2_MIN);
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else { // +direction
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#if HAS_X_MAX
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#if ENABLED(X_DUAL_ENDSTOPS)
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UPDATE_ENDSTOP_BIT(X, MAX);
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#if HAS_X2_MAX
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UPDATE_ENDSTOP_BIT(X2, MAX);
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#else
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UPDATE_ENDSTOP(Y, MIN);
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COPY_BIT(current_endstop_bits, X_MAX, X2_MAX);
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#endif
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test_dual_x_endstops(X_MAX, X2_MAX);
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#else
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if (X_MAX_TEST) UPDATE_ENDSTOP(X, MAX);
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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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#if ENABLED(Y_DUAL_ENDSTOPS)
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UPDATE_ENDSTOP_BIT(Y, MAX);
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#if HAS_Y2_MAX
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UPDATE_ENDSTOP_BIT(Y2, MAX);
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#else
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COPY_BIT(current_endstop_bits, Y_MAX, Y2_MAX);
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#endif
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test_dual_y_endstops(Y_MAX, Y2_MAX);
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#else
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UPDATE_ENDSTOP(Y, MAX);
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#endif
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#endif
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}
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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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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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#if ENABLED(Y_DUAL_ENDSTOPS)
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UPDATE_ENDSTOP_BIT(Y, MIN);
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#if HAS_Y2_MIN
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UPDATE_ENDSTOP_BIT(Y2, MIN);
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#else
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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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COPY_BIT(current_endstop_bits, Y_MIN, Y2_MIN);
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#endif
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test_dual_y_endstops(Y_MIN, Y2_MIN);
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#else
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UPDATE_ENDSTOP(Y, MIN);
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#endif
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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
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#endif
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}
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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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#if ENABLED(Y_DUAL_ENDSTOPS)
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UPDATE_ENDSTOP_BIT(Y, MAX);
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#if HAS_Y2_MAX
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UPDATE_ENDSTOP_BIT(Y2, MAX);
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#else
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COPY_BIT(current_endstop_bits, Y_MAX, Y2_MAX);
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#endif
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test_dual_y_endstops(Y_MAX, Y2_MAX);
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#else
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UPDATE_ENDSTOP(Y, MAX);
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#endif
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#endif
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}
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}
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} // stepper.current_block
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old_endstop_bits = current_endstop_bits;
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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);
|
||||
#endif
|
||||
test_dual_z_endstops(Z_MIN, Z2_MIN);
|
||||
#else
|
||||
#if ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN)
|
||||
if (z_probe_enabled) UPDATE_ENDSTOP(Z, MIN);
|
||||
#else
|
||||
UPDATE_ENDSTOP(Z, MIN);
|
||||
#endif
|
||||
#endif
|
||||
#endif
|
||||
|
||||
// When closing the gap check the enabled probe
|
||||
#if ENABLED(Z_MIN_PROBE_ENDSTOP)
|
||||
if (z_probe_enabled) {
|
||||
UPDATE_ENDSTOP(Z, MIN_PROBE);
|
||||
if (TEST_ENDSTOP(Z_MIN_PROBE)) SBI(endstop_hit_bits, Z_MIN_PROBE);
|
||||
}
|
||||
#endif
|
||||
}
|
||||
else { // Z +direction. Gantry up, bed down.
|
||||
#if HAS_Z_MAX
|
||||
// Check both Z dual endstops
|
||||
#if ENABLED(Z_DUAL_ENDSTOPS)
|
||||
UPDATE_ENDSTOP_BIT(Z, MAX);
|
||||
#if HAS_Z2_MAX
|
||||
UPDATE_ENDSTOP_BIT(Z2, MAX);
|
||||
#else
|
||||
COPY_BIT(current_endstop_bits, Z_MAX, Z2_MAX);
|
||||
#endif
|
||||
test_dual_z_endstops(Z_MAX, Z2_MAX);
|
||||
// If this pin is not hijacked for the bed probe
|
||||
// then it belongs to the Z endstop
|
||||
#elif DISABLED(Z_MIN_PROBE_ENDSTOP) || Z_MAX_PIN != Z_MIN_PROBE_PIN
|
||||
UPDATE_ENDSTOP(Z, MAX);
|
||||
#endif
|
||||
#endif
|
||||
}
|
||||
}
|
||||
} // Endstops::update()
|
||||
|
||||
#if ENABLED(PINS_DEBUGGING)
|
||||
|
||||
Reference in New Issue
Block a user