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Merge pull request #5729 from Bob-the-Kuhn/guaranteed-BLTouch-detection

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guaranteed BLTouch detection
This commit is contained in:
Scott Lahteine 2017-02-12 01:13:35 -06:00 committed by GitHub
commit 701f4a6d9d
4 changed files with 106 additions and 26 deletions
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23
Marlin/Marlin_main.cpp
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@ -1987,8 +1987,13 @@ static void clean_up_after_endstop_or_probe_move() {
#define STOW_PROBE() set_probe_deployed(false)
#if ENABLED(BLTOUCH)
void bltouch_command(int angle) {
servo[Z_ENDSTOP_SERVO_NR].move(angle); // Give the BL-Touch the command and wait
safe_delay(375);
}
FORCE_INLINE void set_bltouch_deployed(const bool &deploy) {
servo[Z_ENDSTOP_SERVO_NR].move(deploy ? BLTOUCH_DEPLOY : BLTOUCH_STOW);
bltouch_command(deploy ? BLTOUCH_DEPLOY : BLTOUCH_STOW);
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("set_bltouch_deployed(", deploy);
@ -2016,7 +2021,15 @@ static void clean_up_after_endstop_or_probe_move() {
// When deploying make sure BLTOUCH is not already triggered
#if ENABLED(BLTOUCH)
if (deploy && TEST_BLTOUCH()) { stop(); return true; }
if (deploy && TEST_BLTOUCH()) { // If BL-Touch says it's triggered
bltouch_command(BLTOUCH_RESET); // try to reset it.
set_bltouch_deployed(true); // Also needs to deploy and stow to
set_bltouch_deployed(false); // clear the triggered condition.
if (TEST_BLTOUCH()) { // If it still claims to be triggered...
stop(); // punt!
return true;
}
}
#elif ENABLED(Z_PROBE_SLED)
if (axis_unhomed_error(true, false, false)) { stop(); return true; }
#elif ENABLED(Z_PROBE_ALLEN_KEY)
@ -10435,6 +10448,12 @@ void setup() {
mixing_virtual_tool_mix[t][i] = mixing_factor[i];
#endif
#if ENABLED(BLTOUCH)
bltouch_command(BLTOUCH_RESET); // Just in case the BLTouch is in the error state, try to
set_bltouch_deployed(true); // reset it. Also needs to deploy and stow to clear the
set_bltouch_deployed(false); // error condition.
#endif
#if ENABLED(EXPERIMENTAL_I2CBUS) && I2C_SLAVE_ADDRESS > 0
i2c.onReceive(i2c_on_receive);
i2c.onRequest(i2c_on_request);

7
Marlin/endstops.h
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@ -92,4 +92,11 @@ 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

72
Marlin/stepper.cpp
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@ -345,13 +345,50 @@ ISR(TIMER1_COMPA_vect) {
void Stepper::isr() {
#define _ENABLE_ISRs() cli(); SBI(TIMSK0, OCIE0B); ENABLE_STEPPER_DRIVER_INTERRUPT()
uint16_t timer, remainder, ocr_val;
static uint32_t step_remaining = 0;
#define ENDSTOP_NOMINAL_OCR_VAL 3000 // check endstops every 1.5ms to guarantee two stepper ISRs within 5ms for BLTouch
#define OCR_VAL_TOLERANCE 1000 // First max delay is 2.0ms, last min delay is 0.5ms, all others 1.5ms
#if DISABLED(ADVANCE) && DISABLED(LIN_ADVANCE)
//Disable Timer0 ISRs and enable global ISR again to capture UART events (incoming chars)
CBI(TIMSK0, OCIE0B); //Temperature ISR
// Disable Timer0 ISRs and enable global ISR again to capture UART events (incoming chars)
CBI(TIMSK0, OCIE0B); // Temperature ISR
DISABLE_STEPPER_DRIVER_INTERRUPT();
sei();
#endif
#define _SPLIT(L) (ocr_val = (uint16_t)L)
#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
#define SPLIT(L) _SPLIT(L)
#else // sample endstops in between step pulses
#define SPLIT(L) do { \
_SPLIT(L); \
if (ENDSTOPS_ENABLED && L > ENDSTOP_NOMINAL_OCR_VAL) { \
remainder = (uint16_t)L % (ENDSTOP_NOMINAL_OCR_VAL); \
ocr_val = (remainder < OCR_VAL_TOLERANCE) ? ENDSTOP_NOMINAL_OCR_VAL + remainder : ENDSTOP_NOMINAL_OCR_VAL; \
step_remaining = (uint16_t)L - ocr_val; \
} \
} while(0)
if (step_remaining && ENDSTOPS_ENABLED) { // Just check endstops - not yet time for a step
endstops.update();
ocr_val = step_remaining;
if (step_remaining > ENDSTOP_NOMINAL_OCR_VAL) {
step_remaining = step_remaining - ENDSTOP_NOMINAL_OCR_VAL;
ocr_val = ENDSTOP_NOMINAL_OCR_VAL;
}
else step_remaining = 0; // last one before the ISR that does the step
_NEXT_ISR(ocr_val); //
NOLESS(OCR1A, TCNT1 + 16);
_ENABLE_ISRs(); // re-enable ISRs
return;
}
# endif
if (cleaning_buffer_counter) {
--cleaning_buffer_counter;
current_block = NULL;
@ -407,21 +444,16 @@ void Stepper::isr() {
}
// Update endstops state, if enabled
if ((endstops.enabled
#if HAS_BED_PROBE
|| endstops.z_probe_enabled
#endif
)
#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
&& e_hit
#endif
) {
endstops.update();
#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
if (ENDSTOPS_ENABLED && e_hit) {
endstops.update();
e_hit--;
#endif
}
#else
if (ENDSTOPS_ENABLED) endstops.update();
#endif
// Take multiple steps per interrupt (For high speed moves)
bool all_steps_done = false;
@ -600,7 +632,10 @@ void Stepper::isr() {
// step_rate to timer interval
uint16_t timer = calc_timer(acc_step_rate);
_NEXT_ISR(timer);
SPLIT(timer); // split step into multiple ISRs if larger than ENDSTOP_NOMINAL_OCR_VAL
_NEXT_ISR(ocr_val);
acceleration_time += timer;
#if ENABLED(LIN_ADVANCE)
@ -653,7 +688,10 @@ void Stepper::isr() {
// step_rate to timer interval
uint16_t timer = calc_timer(step_rate);
_NEXT_ISR(timer);
SPLIT(timer); // split step into multiple ISRs if larger than ENDSTOP_NOMINAL_OCR_VAL
_NEXT_ISR(ocr_val);
deceleration_time += timer;
#if ENABLED(LIN_ADVANCE)
@ -702,7 +740,9 @@ void Stepper::isr() {
#endif
_NEXT_ISR(OCR1A_nominal);
SPLIT(OCR1A_nominal); // split step into multiple ISRs if larger than ENDSTOP_NOMINAL_OCR_VAL
_NEXT_ISR(ocr_val);
// ensure we're running at the correct step rate, even if we just came off an acceleration
step_loops = step_loops_nominal;
}

14
Marlin/temperature.cpp
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@ -33,6 +33,10 @@
#include "stepper.h"
#endif
#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
#include "endstops.h"
#endif
#if ENABLED(USE_WATCHDOG)
#include "watchdog.h"
#endif
@ -1944,5 +1948,15 @@ void Temperature::isr() {
}
#endif
#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
extern volatile uint8_t e_hit;
if (e_hit && ENDSTOPS_ENABLED) {
endstops.update(); // call endstop update routine
e_hit--;
}
#endif
SBI(TIMSK0, OCIE0B); //re-enable Temperature ISR
}