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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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92
Marlin/src/module/stepper.cpp
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@ -96,7 +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
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
#if ENABLED(X_DUAL_ENDSTOPS)
bool Stepper::locked_x_motor = false, Stepper::locked_x2_motor = false;
@ -181,12 +184,12 @@ volatile int32_t Stepper::endstops_trigsteps[XYZ];
#define DUAL_ENDSTOP_APPLY_STEP(A,V) \
if (performing_homing) { \
if (A##_HOME_DIR < 0) { \
if (!(TEST(endstops.old_endstop_bits, A##_MIN) && count_direction[_AXIS(A)] < 0) && !LOCKED_##A##_MOTOR) A##_STEP_WRITE(V); \
if (!(TEST(endstops.old_endstop_bits, A##2_MIN) && count_direction[_AXIS(A)] < 0) && !LOCKED_##A##2_MOTOR) A##2_STEP_WRITE(V); \
if (!(TEST(endstops.current_endstop_bits, A##_MIN) && count_direction[_AXIS(A)] < 0) && !LOCKED_##A##_MOTOR) A##_STEP_WRITE(V); \
if (!(TEST(endstops.current_endstop_bits, A##2_MIN) && count_direction[_AXIS(A)] < 0) && !LOCKED_##A##2_MOTOR) A##2_STEP_WRITE(V); \
} \
else { \
if (!(TEST(endstops.old_endstop_bits, A##_MAX) && count_direction[_AXIS(A)] > 0) && !LOCKED_##A##_MOTOR) A##_STEP_WRITE(V); \
if (!(TEST(endstops.old_endstop_bits, A##2_MAX) && count_direction[_AXIS(A)] > 0) && !LOCKED_##A##2_MOTOR) A##2_STEP_WRITE(V); \
if (!(TEST(endstops.current_endstop_bits, A##_MAX) && count_direction[_AXIS(A)] > 0) && !LOCKED_##A##_MOTOR) A##_STEP_WRITE(V); \
if (!(TEST(endstops.current_endstop_bits, A##2_MAX) && count_direction[_AXIS(A)] > 0) && !LOCKED_##A##2_MOTOR) A##2_STEP_WRITE(V); \
} \
} \
else { \
@ -315,10 +318,6 @@ void Stepper::set_directions() {
#endif // !LIN_ADVANCE
}
#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
extern volatile uint8_t e_hit;
#endif
#if ENABLED(BEZIER_JERK_CONTROL)
/**
* We are using a quintic (fifth-degree) Bézier polynomial for the velocity curve.
@ -1229,6 +1228,15 @@ hal_timer_t Stepper::isr_scheduler() {
// as constant as possible!!!!
void Stepper::stepper_pulse_phase_isr() {
// If we must abort the current block, do so!
if (abort_current_block) {
abort_current_block = false;
if (current_block) {
current_block = NULL;
planner.discard_current_block();
}
}
// If there is no current block, do nothing
if (!current_block) return;
@ -1558,12 +1566,13 @@ uint32_t Stepper::stepper_block_phase_isr() {
return interval; // No more queued movements!
}
// Initialize the trapezoid generator from the current block.
static int8_t last_extruder = -1;
// Compute movement direction for proper endstop handling
LOOP_NA(i) last_movement_non_null[i] = !!current_block->steps[i];
// Initialize the trapezoid generator from the current block.
#if ENABLED(LIN_ADVANCE)
#if E_STEPPERS > 1
if (current_block->active_extruder != last_extruder) {
if (current_block->active_extruder != last_movement_extruder) {
current_adv_steps = 0; // If the now active extruder wasn't in use during the last move, its pressure is most likely gone.
LA_active_extruder = current_block->active_extruder;
}
@ -1576,12 +1585,21 @@ uint32_t Stepper::stepper_block_phase_isr() {
}
#endif
if (current_block->direction_bits != last_direction_bits || current_block->active_extruder != last_extruder) {
if (current_block->direction_bits != last_direction_bits || current_block->active_extruder != last_movement_extruder) {
last_direction_bits = current_block->direction_bits;
last_extruder = current_block->active_extruder;
last_movement_extruder = current_block->active_extruder;
set_directions();
}
// At this point, we must ensure the movement about to execute isn't
// trying to force the head against a limit switch. If using interrupt-
// driven change detection, and already against a limit then no call to
// the endstop_triggered method will be done and the movement will be
// done against the endstop. So, check the limits here: If the movement
// is against the limits, the block will be marked as to be killed, and
// on the next call to this ISR, will be discarded.
endstops.check_possible_change();
// No acceleration / deceleration time elapsed so far
acceleration_time = deceleration_time = 0;
@ -1614,11 +1632,6 @@ uint32_t Stepper::stepper_block_phase_isr() {
counter_m[i] = -(current_block->mix_event_count[i] >> 1);
#endif
#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
e_hit = 2; // Needed for the case an endstop is already triggered before the new move begins.
// No 'change' can be detected.
#endif
#if ENABLED(Z_LATE_ENABLE)
// If delayed Z enable, enable it now. This option will severely interfere with
// timing between pulses when chaining motion between blocks, and it could lead
@ -1894,9 +1907,6 @@ void Stepper::init() {
if (!E_ENABLE_ON) E4_ENABLE_WRITE(HIGH);
#endif
// Init endstops and pullups
endstops.init();
#define _STEP_INIT(AXIS) AXIS ##_STEP_INIT
#define _WRITE_STEP(AXIS, HIGHLOW) AXIS ##_STEP_WRITE(HIGHLOW)
#define _DISABLE(AXIS) disable_## AXIS()
@ -2034,29 +2044,14 @@ int32_t Stepper::position(const AxisEnum axis) {
return v;
}
void Stepper::quick_stop() {
const bool was_enabled = STEPPER_ISR_ENABLED();
DISABLE_STEPPER_DRIVER_INTERRUPT();
if (current_block) {
step_events_completed = current_block->step_event_count;
current_block = NULL;
}
if (was_enabled) ENABLE_STEPPER_DRIVER_INTERRUPT();
}
void Stepper::kill_current_block() {
const bool was_enabled = STEPPER_ISR_ENABLED();
DISABLE_STEPPER_DRIVER_INTERRUPT();
if (current_block)
step_events_completed = current_block->step_event_count;
if (was_enabled) ENABLE_STEPPER_DRIVER_INTERRUPT();
}
// Signal endstops were triggered - This function can be called from
// an ISR context (Temperature, Stepper or limits ISR), so we must
// be very careful here. If the interrupt being preempted was the
// Stepper ISR (this CAN happen with the endstop limits ISR) then
// when the stepper ISR resumes, we must be very sure that the movement
// is properly cancelled
void Stepper::endstop_triggered(const AxisEnum axis) {
const bool was_enabled = STEPPER_ISR_ENABLED();
if (was_enabled) DISABLE_STEPPER_DRIVER_INTERRUPT();
@ -2074,14 +2069,7 @@ void Stepper::endstop_triggered(const AxisEnum axis) {
#endif // !COREXY && !COREXZ && !COREYZ
// Discard the rest of the move if there is a current block
if (current_block) {
// Kill the current block being executed
step_events_completed = current_block->step_event_count;
// Prep to get a new block after cleaning
current_block = NULL;
}
quick_stop();
if (was_enabled) ENABLE_STEPPER_DRIVER_INTERRUPT();
}