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Merge remote-tracking branch 'origin/Marlin_v1' into Marlin_v1

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This commit is contained in:
Erik van der Zalm
2011-11-13 20:46:44 +01:00
parent 65934eee9c 9980ceb4a3
commit ac82411c73
16 changed files with 1443 additions and 1156 deletions
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58
Marlin/stepper.cpp
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@ -33,12 +33,14 @@
#include "speed_lookuptable.h"
//===========================================================================
//=============================public variables ============================
//===========================================================================
block_t *current_block; // A pointer to the block currently being traced
//===========================================================================
//=============================private variables ============================
//===========================================================================
@ -62,7 +64,9 @@ static long acceleration_time, deceleration_time;
static unsigned short acc_step_rate; // needed for deccelaration start point
static char step_loops;
volatile long endstops_trigsteps[3]={0,0,0};
volatile long endstops_stepsTotal,endstops_stepsDone;
static volatile bool endstops_hit=false;
// if DEBUG_STEPS is enabled, M114 can be used to compare two methods of determining the X,Y,Z position of the printer.
// for debugging purposes only, should be disabled by default
@ -152,9 +156,49 @@ asm volatile ( \
#define DISABLE_STEPPER_DRIVER_INTERRUPT() TIMSK1 &= ~(1<<OCIE1A)
void endstops_triggered(const unsigned long &stepstaken)
{
//this will only work if there is no bufferig
//however, if you perform a move at which the endstops should be triggered, and wait for it to complete, i.e. by blocking command, it should work
//yes, it uses floats, but: if endstops are triggered, thats hopefully not critical anymore anyways.
//endstops_triggerpos;
if(endstops_hit) //hitting a second time while the first hit is not reported
return;
if(current_block == NULL)
return;
endstops_stepsTotal=current_block->step_event_count;
endstops_stepsDone=stepstaken;
endstops_trigsteps[0]=current_block->steps_x;
endstops_trigsteps[1]=current_block->steps_y;
endstops_trigsteps[2]=current_block->steps_z;
endstops_hit=true;
}
void checkHitEndstops()
{
if( !endstops_hit)
return;
float endstops_triggerpos[3]={0,0,0};
float ratiodone=endstops_stepsDone/float(endstops_stepsTotal); //ratio of current_block thas was performed
endstops_triggerpos[0]=current_position[0]-(endstops_trigsteps[0]*ratiodone)/float(axis_steps_per_unit[0]);
endstops_triggerpos[1]=current_position[1]-(endstops_trigsteps[1]*ratiodone)/float(axis_steps_per_unit[1]);
endstops_triggerpos[2]=current_position[2]-(endstops_trigsteps[2]*ratiodone)/float(axis_steps_per_unit[2]);
SERIAL_ECHO_START;
SERIAL_ECHOPGM("endstops hit: ");
SERIAL_ECHOPAIR(" X:",endstops_triggerpos[0]);
SERIAL_ECHOPAIR(" Y:",endstops_triggerpos[1]);
SERIAL_ECHOPAIR(" Z:",endstops_triggerpos[2]);
SERIAL_ECHOLN("");
endstops_hit=false;
}
void endstops_hit_on_purpose()
{
endstops_hit=false;
}
// __________________________
// /| |\ _________________ ^
@ -232,7 +276,9 @@ inline void trapezoid_generator_reset() {
ISR(TIMER1_COMPA_vect)
{
if(busy){
/* SERIAL_ERRORLN(*(unsigned short *)OCR1A<< " ISR overtaking itself.");*/
SERIAL_ERROR_START
SERIAL_ERROR(*(unsigned short *)OCR1A);
SERIAL_ERRORLNPGM(" ISR overtaking itself.");
return;
} // The busy-flag is used to avoid reentering this interrupt
@ -294,6 +340,7 @@ ISR(TIMER1_COMPA_vect)
#endif
#if X_MIN_PIN > -1
if(READ(X_MIN_PIN) != ENDSTOPS_INVERTING) {
endstops_triggered(step_events_completed);
step_events_completed = current_block->step_event_count;
}
#endif
@ -305,6 +352,7 @@ ISR(TIMER1_COMPA_vect)
#endif
#if X_MAX_PIN > -1
if((READ(X_MAX_PIN) != ENDSTOPS_INVERTING) && (current_block->steps_x >0)){
endstops_triggered(step_events_completed);
step_events_completed = current_block->step_event_count;
}
#endif
@ -317,6 +365,7 @@ ISR(TIMER1_COMPA_vect)
#endif
#if Y_MIN_PIN > -1
if(READ(Y_MIN_PIN) != ENDSTOPS_INVERTING) {
endstops_triggered(step_events_completed);
step_events_completed = current_block->step_event_count;
}
#endif
@ -328,6 +377,7 @@ ISR(TIMER1_COMPA_vect)
#endif
#if Y_MAX_PIN > -1
if((READ(Y_MAX_PIN) != ENDSTOPS_INVERTING) && (current_block->steps_y >0)){
endstops_triggered(step_events_completed);
step_events_completed = current_block->step_event_count;
}
#endif
@ -340,6 +390,7 @@ ISR(TIMER1_COMPA_vect)
#endif
#if Z_MIN_PIN > -1
if(READ(Z_MIN_PIN) != ENDSTOPS_INVERTING) {
endstops_triggered(step_events_completed);
step_events_completed = current_block->step_event_count;
}
#endif
@ -351,6 +402,7 @@ ISR(TIMER1_COMPA_vect)
#endif
#if Z_MAX_PIN > -1
if((READ(Z_MAX_PIN) != ENDSTOPS_INVERTING) && (current_block->steps_z >0)){
endstops_triggered(step_events_completed);
step_events_completed = current_block->step_event_count;
}
#endif
@ -614,4 +666,4 @@ void st_synchronize()
manage_inactivity(1);
LCD_STATUS;
}
}
}