Marlin_Firmware/Marlin/endstops.h
Bob-the-Kuhn 0369f97ec1 guaranteed BLTouch detection
To guarantee that the 5mS pulse from a BLTouch is recognized you need to
have the endstops.update() routine run twice in that 5mS period.

At 200 steps per mm, my system has problems  below a feedrate of 120 mm
per minute.

Two things were done to guarantee the two updates within 5mS:
1) In interrupt mode, a check was added to the temperature ISR.  If the
endstop interrupt flag/counter is active then it'll kick off the endstop
update routine every 1mS until the flag/counter is zero.  This
flag/counter is decremented by the temperature ISR AND by the stepper
ISR.

2) In poling mode, code was added to the stepper ISR that will make sure
the ISR runs about every 1.5mS.  The "extra" ISR runs only check the
endstops.  This was done by grabbing the intended ISR delay and, if it's
over 2.0mS, splitting the intended delay into multiple smaller delays.
The first delay can be up to 2.0mS, the next ones 1.5mS (as needed) and
the last no less than 0.5mS.

=========================================

BLTouch error state recovery

If BLTouch already active when deploying the probe then try to reset it
& clear the probe.

If that doesn't fix it then declare an error.

Also added BLTouch init routine to startup section
2017-02-11 12:01:34 -06:00

103 lines
2.8 KiB
C++

/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
/**
* endstops.h - manages endstops
*/
#ifndef ENDSTOPS_H
#define ENDSTOPS_H
#include "enum.h"
class Endstops {
public:
static bool enabled, enabled_globally;
static volatile char endstop_hit_bits; // use X_MIN, Y_MIN, Z_MIN and Z_MIN_PROBE as BIT value
#if ENABLED(Z_DUAL_ENDSTOPS)
static uint16_t
#else
static byte
#endif
current_endstop_bits, old_endstop_bits;
Endstops() {};
/**
* Initialize the endstop pins
*/
void init();
/**
* Update the endstops bits from the pins
*/
static void update();
/**
* Print an error message reporting the position when the endstops were last hit.
*/
static void report_state(); //call from somewhere to create an serial error message with the locations the endstops where hit, in case they were triggered
/**
* Report endstop positions in response to M119
*/
static void M119();
// Enable / disable endstop checking globally
static void enable_globally(bool onoff=true) { enabled_globally = enabled = onoff; }
// Enable / disable endstop checking
static void enable(bool onoff=true) { enabled = onoff; }
// Disable / Enable endstops based on ENSTOPS_ONLY_FOR_HOMING and global enable
static void not_homing() { enabled = enabled_globally; }
// Clear endstops (i.e., they were hit intentionally) to suppress the report
static void hit_on_purpose() { endstop_hit_bits = 0; }
// Enable / disable endstop z-probe checking
#if HAS_BED_PROBE
static volatile bool z_probe_enabled;
static void enable_z_probe(bool onoff=true) { z_probe_enabled = onoff; }
#endif
private:
#if ENABLED(Z_DUAL_ENDSTOPS)
static void test_dual_z_endstops(const EndstopEnum es1, const EndstopEnum es2);
#endif
};
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