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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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18
Marlin/src/module/stepper.h
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@ -75,7 +75,10 @@ class Stepper {
private:
static uint8_t last_direction_bits; // The next stepping-bits to be output
static uint8_t last_direction_bits, // The next stepping-bits to be output
last_movement_extruder; // Last movement extruder, as computed when the last movement was fetched from planner
static bool abort_current_block, // Signals to the stepper that current block should be aborted
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)
static bool locked_x_motor, locked_x2_motor;
@ -189,13 +192,16 @@ class Stepper {
static void wake_up();
// Quickly stop all steppers
static void quick_stop();
FORCE_INLINE static void quick_stop() { abort_current_block = true; }
// The direction of a single motor
FORCE_INLINE static bool motor_direction(const AxisEnum axis) { return TEST(last_direction_bits, axis); }
// Kill current block
static void kill_current_block();
// The last movement direction was not null on the specified axis. Note that motor direction is not necessarily the same.
FORCE_INLINE static bool movement_non_null(const AxisEnum axis) { return last_movement_non_null[axis]; }
// The extruder associated to the last movement
FORCE_INLINE static uint8_t movement_extruder() { return last_movement_extruder; }
// Handle a triggered endstop
static void endstop_triggered(const AxisEnum axis);
@ -249,7 +255,7 @@ class Stepper {
FORCE_INLINE static uint32_t calc_timer_interval(uint32_t step_rate) {
uint32_t timer;
NOMORE(step_rate, MAX_STEP_FREQUENCY);
NOMORE(step_rate, uint32_t(MAX_STEP_FREQUENCY));
// TODO: HAL: tidy this up, use Conditionals_post.h
#ifdef CPU_32_BIT
@ -288,7 +294,7 @@ class Stepper {
timer = uint32_t(HAL_STEPPER_TIMER_RATE) / step_rate;
NOLESS(timer, min_time_per_step); // (STEP_DOUBLER_FREQUENCY * 2 kHz - this should never happen)
#else
NOLESS(step_rate, F_CPU / 500000);
NOLESS(step_rate, uint32_t(F_CPU / 500000U));
step_rate -= F_CPU / 500000; // Correct for minimal speed
if (step_rate >= (8 * 256)) { // higher step rate
uint8_t tmp_step_rate = (step_rate & 0x00FF);