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Fix interrupt-based endstop detection

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- Also implemented real endstop reading on interrupt.
This commit is contained in:
etagle
2018-05-16 04:08:43 -03:00
committed by Scott Lahteine
parent a4af975873
commit 569df3fc0c
14 changed files with 319 additions and 324 deletions
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49
Marlin/src/module/endstops.h
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@ -51,7 +51,7 @@ class Endstops {
public:
static bool enabled, enabled_globally;
static volatile char endstop_hit_bits; // use X_MIN, Y_MIN, Z_MIN and Z_MIN_PROBE as BIT value
static volatile uint8_t endstop_hit_bits; // use X_MIN, Y_MIN, Z_MIN and Z_MIN_PROBE as BIT value
#if ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || ENABLED(Z_DUAL_ENDSTOPS)
typedef uint16_t esbits_t;
@ -68,23 +68,26 @@ class Endstops {
typedef byte esbits_t;
#endif
static esbits_t current_endstop_bits, old_endstop_bits;
static esbits_t current_endstop_bits;
Endstops() {
enable_globally(
#if ENABLED(ENDSTOPS_ALWAYS_ON_DEFAULT)
true
#else
false
#endif
);
};
Endstops() {};
/**
* Initialize the endstop pins
*/
static void init();
/**
* A change was detected or presumed to be in endstops pins. Find out what
* changed, if anything. Called from ISR contexts
*/
static void check_possible_change();
/**
* Periodic call to poll endstops if required. Called from temperature ISR
*/
static void poll();
/**
* Update the endstops bits from the pins
*/
@ -101,34 +104,28 @@ class Endstops {
static void M119();
// Enable / disable endstop checking globally
static void enable_globally(bool onoff=true) { enabled_globally = enabled = onoff; }
static void enable_globally(const bool onoff=true);
// Enable / disable endstop checking
static void enable(bool onoff=true) { enabled = onoff; }
static void enable(const bool onoff=true);
// Disable / Enable endstops based on ENSTOPS_ONLY_FOR_HOMING and global enable
static void not_homing() { enabled = enabled_globally; }
static void not_homing();
// Clear endstops (i.e., they were hit intentionally) to suppress the report
static void hit_on_purpose() { endstop_hit_bits = 0; }
static void hit_on_purpose();
// Enable / disable endstop z-probe checking
#if HAS_BED_PROBE
static volatile bool z_probe_enabled;
static void enable_z_probe(bool onoff=true) { z_probe_enabled = onoff; }
static void enable_z_probe(bool onoff=true);
#endif
// Debugging of endstops
#if ENABLED(PINS_DEBUGGING)
static bool monitor_flag;
static void monitor();
FORCE_INLINE static void run_monitor() {
if (!monitor_flag) return;
static uint8_t monitor_count = 16; // offset this check from the others
monitor_count += _BV(1); // 15 Hz
monitor_count &= 0x7F;
if (!monitor_count) monitor(); // report changes in endstop status
}
static void run_monitor();
#endif
private:
@ -146,10 +143,4 @@ class Endstops {
extern Endstops endstops;
#if HAS_BED_PROBE
#define ENDSTOPS_ENABLED (endstops.enabled || endstops.z_probe_enabled)
#else
#define ENDSTOPS_ENABLED endstops.enabled
#endif
#endif // __ENDSTOPS_H__