bissen21/Marlin_Firmware
1
0
Fork 0
Code Issues Pull Requests Projects Releases 4 Wiki Activity

Seperate ENDSTOP_INVERTING for X Y and Z

Browse Source 
Added simple endstop filter.
Corrected M114 count display.
This commit is contained in:
Erik van der Zalm
2011-11-25 13:43:06 +01:00
parent 0db97b9c7f
commit c0f8c9fd72
6 changed files with 62 additions and 18 deletions
Download Patch File Download Diff File Expand all files Collapse all files

39
Marlin/stepper.cpp
View File

@ -70,6 +70,13 @@ static volatile bool endstop_x_hit=false;
static volatile bool endstop_y_hit=false;
static volatile bool endstop_z_hit=false;
static bool old_x_min_endstop=false;
static bool old_x_max_endstop=false;
static bool old_y_min_endstop=false;
static bool old_y_max_endstop=false;
static bool old_z_min_endstop=false;
static bool old_z_max_endstop=false;
volatile long count_position[NUM_AXIS] = { 0, 0, 0, 0};
volatile char count_direction[NUM_AXIS] = { 1, 1, 1, 1};
@ -260,6 +267,7 @@ ISR(TIMER1_COMPA_vect)
SERIAL_ERROR_START
SERIAL_ERROR(*(unsigned short *)OCR1A);
SERIAL_ERRORLNPGM(" ISR overtaking itself.");
OCR1A = 0x30000;
return;
} // The busy-flag is used to avoid reentering this interrupt
@ -295,22 +303,26 @@ ISR(TIMER1_COMPA_vect)
WRITE(X_DIR_PIN, INVERT_X_DIR);
count_direction[X_AXIS]=-1;
#if X_MIN_PIN > -1
if((READ(X_MIN_PIN) != ENDSTOPS_INVERTING) && (current_block->steps_x > 0)) {
bool x_min_endstop=(READ(X_MIN_PIN) != X_ENDSTOPS_INVERTING);
if(x_min_endstop && old_x_min_endstop && (current_block->steps_x > 0)) {
endstops_trigsteps[X_AXIS] = count_position[X_AXIS];
endstop_x_hit=true;
step_events_completed = current_block->step_event_count;
}
old_x_min_endstop = x_min_endstop;
#endif
}
else { // +direction
WRITE(X_DIR_PIN,!INVERT_X_DIR);
count_direction[X_AXIS]=1;
#if X_MAX_PIN > -1
if((READ(X_MAX_PIN) != ENDSTOPS_INVERTING) && (current_block->steps_x > 0)){
bool x_max_endstop=(READ(X_MAX_PIN) != X_ENDSTOPS_INVERTING);
if(x_max_endstop && old_x_max_endstop && (current_block->steps_x > 0)){
endstops_trigsteps[X_AXIS] = count_position[X_AXIS];
endstop_x_hit=true;
step_events_completed = current_block->step_event_count;
}
old_x_max_endstop = x_max_endstop;
#endif
}
@ -318,22 +330,26 @@ ISR(TIMER1_COMPA_vect)
WRITE(Y_DIR_PIN,INVERT_Y_DIR);
count_direction[Y_AXIS]=-1;
#if Y_MIN_PIN > -1
if((READ(Y_MIN_PIN) != ENDSTOPS_INVERTING) && (current_block->steps_y > 0)) {
bool y_min_endstop=(READ(Y_MIN_PIN) != Y_ENDSTOPS_INVERTING);
if(y_min_endstop && old_y_min_endstop && (current_block->steps_y > 0)) {
endstops_trigsteps[Y_AXIS] = count_position[Y_AXIS];
endstop_y_hit=true;
step_events_completed = current_block->step_event_count;
}
old_y_min_endstop = y_min_endstop;
#endif
}
else { // +direction
WRITE(Y_DIR_PIN,!INVERT_Y_DIR);
count_direction[Y_AXIS]=1;
#if Y_MAX_PIN > -1
if((READ(Y_MAX_PIN) != ENDSTOPS_INVERTING) && (current_block->steps_y > 0)){
bool y_max_endstop=(READ(Y_MAX_PIN) != Y_ENDSTOPS_INVERTING);
if(y_max_endstop && old_y_max_endstop && (current_block->steps_y > 0)){
endstops_trigsteps[Y_AXIS] = count_position[Y_AXIS];
endstop_y_hit=true;
step_events_completed = current_block->step_event_count;
}
old_y_max_endstop = y_max_endstop;
#endif
}
@ -341,22 +357,26 @@ ISR(TIMER1_COMPA_vect)
WRITE(Z_DIR_PIN,INVERT_Z_DIR);
count_direction[Z_AXIS]=-1;
#if Z_MIN_PIN > -1
if((READ(Z_MIN_PIN) != ENDSTOPS_INVERTING) && (current_block->steps_z > 0)) {
bool z_min_endstop=(READ(Z_MIN_PIN) != Z_ENDSTOPS_INVERTING);
if(z_min_endstop && old_z_min_endstop && (current_block->steps_z > 0)) {
endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
endstop_z_hit=true;
step_events_completed = current_block->step_event_count;
}
old_z_min_endstop = z_min_endstop;
#endif
}
else { // +direction
WRITE(Z_DIR_PIN,!INVERT_Z_DIR);
count_direction[Z_AXIS]=1;
#if Z_MAX_PIN > -1
if((READ(Z_MAX_PIN) != ENDSTOPS_INVERTING) && (current_block->steps_z > 0)){
bool z_max_endstop=(READ(Z_MAX_PIN) != Z_ENDSTOPS_INVERTING);
if(z_max_endstop && old_z_max_endstop && (current_block->steps_z > 0)) {
endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
endstop_z_hit=true;
step_events_completed = current_block->step_event_count;
}
old_z_max_endstop = z_max_endstop;
#endif
}
@ -654,6 +674,13 @@ void st_set_position(const long &x, const long &y, const long &z, const long &e)
CRITICAL_SECTION_END;
}
void st_set_e_position(const long &e)
{
CRITICAL_SECTION_START;
count_position[E_AXIS] = e;
CRITICAL_SECTION_END;
}
long st_get_position(char axis)
{
long count_pos;