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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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23
Marlin/src/module/planner.cpp
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@ -758,8 +758,8 @@ void Planner::calculate_trapezoid_for_block(block_t* const block, const float &e
final_rate = CEIL(block->nominal_rate * exit_factor); // (steps per second)
// Limit minimal step rate (Otherwise the timer will overflow.)
NOLESS(initial_rate, MINIMAL_STEP_RATE);
NOLESS(final_rate, MINIMAL_STEP_RATE);
NOLESS(initial_rate, uint32_t(MINIMAL_STEP_RATE));
NOLESS(final_rate, uint32_t(MINIMAL_STEP_RATE));
#if ENABLED(BEZIER_JERK_CONTROL)
uint32_t cruise_rate = initial_rate;
@ -1467,23 +1467,8 @@ void Planner::quick_stop() {
}
void Planner::endstop_triggered(const AxisEnum axis) {
/*NB: This will be called via endstops.update()
and endstops.update() can be called from the temperature
ISR. So Stepper interrupts are enabled */
// Disable stepper ISR
bool stepper_isr_enabled = STEPPER_ISR_ENABLED();
DISABLE_STEPPER_DRIVER_INTERRUPT();
// Record stepper position
// Record stepper position and discard the current block
stepper.endstop_triggered(axis);
// Discard the active block that led to the trigger
discard_current_block();
// Reenable stepper ISR if it was enabled
if (stepper_isr_enabled) ENABLE_STEPPER_DRIVER_INTERRUPT();
}
float Planner::triggered_position_mm(const AxisEnum axis) {
@ -1682,7 +1667,7 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
if (de < 0) SBI(dm, E_AXIS);
const float esteps_float = de * e_factor[extruder];
const int32_t esteps = ABS(esteps_float) + 0.5;
const uint32_t esteps = ABS(esteps_float) + 0.5;
// Clear all flags, including the "busy" bit
block->flag = 0x00;