Merge pull request #2135 from Wurstnase/new_endstop_bits
new endstop bits
This commit is contained in:
Scott Lahteine
commit
834747deb7
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@ -33,6 +33,7 @@
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#define BIT(b) (1<<(b))
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#define TEST(n,b) (((n)&BIT(b))!=0)
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#define SET_BIT(n,b,value) (n) ^= ((-value)^(n)) & (BIT(b))
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#define RADIANS(d) ((d)*M_PI/180.0)
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#define DEGREES(r) ((d)*180.0/M_PI)
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#define NOLESS(v,n) do{ if (v < n) v = n; }while(0)
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@ -198,7 +199,7 @@ void manage_inactivity(bool ignore_stepper_queue=false);
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*/
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enum AxisEnum {X_AXIS=0, Y_AXIS=1, A_AXIS=0, B_AXIS=1, Z_AXIS=2, E_AXIS=3, X_HEAD=4, Y_HEAD=5};
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enum EndstopEnum {X_MIN=0, Y_MIN=1, Z_MIN=2, Z_PROBE=3, X_MAX=4, Y_MAX=5, Z_MAX=6};
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enum EndstopEnum {X_MIN=0, Y_MIN=1, Z_MIN=2, Z_PROBE=3, X_MAX=4, Y_MAX=5, Z_MAX=6, Z2_MIN=7, Z2_MAX=8};
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void enable_all_steppers();
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void disable_all_steppers();
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@ -76,6 +76,13 @@ volatile long endstops_trigsteps[3] = { 0 };
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volatile long endstops_stepsTotal, endstops_stepsDone;
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static volatile char endstop_hit_bits = 0; // use X_MIN, Y_MIN, Z_MIN and Z_PROBE as BIT value
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#ifndef Z_DUAL_ENDSTOPS
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static byte
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#else
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static uint16_t
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#endif
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old_endstop_bits = 0; // use X_MIN, X_MAX... Z_MAX, Z_PROBE, Z2_MIN, Z2_MAX
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#ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
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bool abort_on_endstop_hit = false;
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#endif
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@ -84,31 +91,6 @@ static volatile char endstop_hit_bits = 0; // use X_MIN, Y_MIN, Z_MIN and Z_PROB
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int motor_current_setting[3] = DEFAULT_PWM_MOTOR_CURRENT;
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#endif
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#if HAS_X_MIN
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static bool old_x_min_endstop = false;
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#endif
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#if HAS_X_MAX
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static bool old_x_max_endstop = false;
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#endif
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#if HAS_Y_MIN
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static bool old_y_min_endstop = false;
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#endif
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#if HAS_Y_MAX
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static bool old_y_max_endstop = false;
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#endif
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static bool old_z_min_endstop = false;
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static bool old_z_max_endstop = false;
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#ifdef Z_DUAL_ENDSTOPS
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static bool old_z2_min_endstop = false;
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static bool old_z2_max_endstop = false;
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#endif
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#ifdef Z_PROBE_ENDSTOP // No need to check for valid pin, SanityCheck.h already does this.
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static bool old_z_probe_endstop = false;
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#endif
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static bool check_endstops = true;
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volatile long count_position[NUM_AXIS] = { 0 };
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@ -155,11 +137,11 @@ volatile signed char count_direction[NUM_AXIS] = { 1, 1, 1, 1 };
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#define Z_APPLY_STEP(v,Q) \
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if (performing_homing) { \
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if (Z_HOME_DIR > 0) {\
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if (!(old_z_max_endstop && (count_direction[Z_AXIS] > 0)) && !locked_z_motor) Z_STEP_WRITE(v); \
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if (!(old_z2_max_endstop && (count_direction[Z_AXIS] > 0)) && !locked_z2_motor) Z2_STEP_WRITE(v); \
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if (!(TEST(old_endstop_bits, Z_MAX) && (count_direction[Z_AXIS] > 0)) && !locked_z_motor) Z_STEP_WRITE(v); \
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if (!(TEST(old_endstop_bits, Z2_MAX) && (count_direction[Z_AXIS] > 0)) && !locked_z2_motor) Z2_STEP_WRITE(v); \
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} else {\
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if (!(old_z_min_endstop && (count_direction[Z_AXIS] < 0)) && !locked_z_motor) Z_STEP_WRITE(v); \
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if (!(old_z2_min_endstop && (count_direction[Z_AXIS] < 0)) && !locked_z2_motor) Z2_STEP_WRITE(v); \
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if (!(TEST(old_endstop_bits, Z_MIN) && (count_direction[Z_AXIS] < 0)) && !locked_z_motor) Z_STEP_WRITE(v); \
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if (!(TEST(old_endstop_bits, Z2_MIN) && (count_direction[Z_AXIS] < 0)) && !locked_z2_motor) Z2_STEP_WRITE(v); \
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} \
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} else { \
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Z_STEP_WRITE(v); \
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@ -266,7 +248,7 @@ void endstops_hit_on_purpose() {
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}
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void checkHitEndstops() {
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if (endstop_hit_bits) { // #ifdef || endstop_z_probe_hit to save space if needed.
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if (endstop_hit_bits) {
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SERIAL_ECHO_START;
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SERIAL_ECHOPGM(MSG_ENDSTOPS_HIT);
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if (endstop_hit_bits & BIT(X_MIN)) {
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@ -447,7 +429,7 @@ FORCE_INLINE void trapezoid_generator_reset() {
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// It pops blocks from the block_buffer and executes them by pulsing the stepper pins appropriately.
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ISR(TIMER1_COMPA_vect) {
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if(cleaning_buffer_counter)
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if (cleaning_buffer_counter)
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{
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current_block = NULL;
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plan_discard_current_block();
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@ -492,22 +474,33 @@ ISR(TIMER1_COMPA_vect) {
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// Check endstops
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if (check_endstops) {
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#define _ENDSTOP(axis, minmax) axis ##_## minmax ##_endstop
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#ifdef Z_DUAL_ENDSTOPS
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uint16_t
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#else
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byte
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#endif
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current_endstop_bits;
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#define _ENDSTOP_PIN(AXIS, MINMAX) AXIS ##_## MINMAX ##_PIN
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#define _ENDSTOP_INVERTING(AXIS, MINMAX) AXIS ##_## MINMAX ##_ENDSTOP_INVERTING
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#define _OLD_ENDSTOP(axis, minmax) old_## axis ##_## minmax ##_endstop
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#define _AXIS(AXIS) AXIS ##_AXIS
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#define _HIT_BIT(AXIS) AXIS ##_MIN
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#define _ENDSTOP_HIT(AXIS) endstop_hit_bits |= BIT(_HIT_BIT(AXIS))
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#define _ENDSTOP_HIT(AXIS) endstop_hit_bits |= BIT(_ENDSTOP(AXIS, MIN))
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#define _ENDSTOP(AXIS, MINMAX) AXIS ##_## MINMAX
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#define UPDATE_ENDSTOP(axis,AXIS,minmax,MINMAX) \
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bool _ENDSTOP(axis, minmax) = (READ(_ENDSTOP_PIN(AXIS, MINMAX)) != _ENDSTOP_INVERTING(AXIS, MINMAX)); \
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if (_ENDSTOP(axis, minmax) && _OLD_ENDSTOP(axis, minmax) && (current_block->steps[_AXIS(AXIS)] > 0)) { \
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// SET_ENDSTOP_BIT: set the current endstop bits for an endstop to its status
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#define SET_ENDSTOP_BIT(AXIS, MINMAX) SET_BIT(current_endstop_bits, _ENDSTOP(AXIS, MINMAX), (READ(_ENDSTOP_PIN(AXIS, MINMAX)) != _ENDSTOP_INVERTING(AXIS, MINMAX)))
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// COPY_BIT: copy the value of COPY_BIT to BIT in bits
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#define COPY_BIT(bits, COPY_BIT, BIT) SET_BIT(bits, BIT, TEST(bits, COPY_BIT))
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// TEST_ENDSTOP: test the old and the current status of an endstop
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#define TEST_ENDSTOP(ENDSTOP) (TEST(current_endstop_bits, ENDSTOP) && TEST(old_endstop_bits, ENDSTOP))
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#define UPDATE_ENDSTOP(AXIS,MINMAX) \
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SET_ENDSTOP_BIT(AXIS, MINMAX); \
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if (TEST_ENDSTOP(_ENDSTOP(AXIS, MINMAX)) && (current_block->steps[_AXIS(AXIS)] > 0)) { \
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endstops_trigsteps[_AXIS(AXIS)] = count_position[_AXIS(AXIS)]; \
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_ENDSTOP_HIT(AXIS); \
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step_events_completed = current_block->step_event_count; \
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} \
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_OLD_ENDSTOP(axis, minmax) = _ENDSTOP(axis, minmax);
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}
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#ifdef COREXY
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// Head direction in -X axis for CoreXY bots.
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@ -524,7 +517,7 @@ ISR(TIMER1_COMPA_vect) {
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#endif
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{
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#if HAS_X_MIN
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UPDATE_ENDSTOP(x, X, min, MIN);
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UPDATE_ENDSTOP(X, MIN);
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#endif
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}
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}
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@ -535,7 +528,7 @@ ISR(TIMER1_COMPA_vect) {
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#endif
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{
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#if HAS_X_MAX
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UPDATE_ENDSTOP(x, X, max, MAX);
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UPDATE_ENDSTOP(X, MAX);
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#endif
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}
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}
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@ -550,12 +543,12 @@ ISR(TIMER1_COMPA_vect) {
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#endif
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{ // -direction
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#if HAS_Y_MIN
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UPDATE_ENDSTOP(y, Y, min, MIN);
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UPDATE_ENDSTOP(Y, MIN);
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#endif
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}
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else { // +direction
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#if HAS_Y_MAX
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UPDATE_ENDSTOP(y, Y, max, MAX);
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UPDATE_ENDSTOP(Y, MAX);
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#endif
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}
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#ifdef COREXY
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@ -565,45 +558,36 @@ ISR(TIMER1_COMPA_vect) {
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#if HAS_Z_MIN
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#ifdef Z_DUAL_ENDSTOPS
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SET_ENDSTOP_BIT(Z, MIN);
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#if HAS_Z2_MIN
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SET_ENDSTOP_BIT(Z2, MIN);
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#else
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COPY_BIT(current_endstop_bits, Z_MIN, Z2_MIN)
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#endif
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bool z_min_endstop = READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING,
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z2_min_endstop =
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#if HAS_Z2_MIN
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READ(Z2_MIN_PIN) != Z2_MIN_ENDSTOP_INVERTING
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#else
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z_min_endstop
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#endif
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;
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byte z_test = TEST_ENDSTOP(Z_MIN) << 0 + TEST_ENDSTOP(Z2_MIN) << 1; // bit 0 for Z, bit 1 for Z2
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bool z_min_both = z_min_endstop && old_z_min_endstop,
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z2_min_both = z2_min_endstop && old_z2_min_endstop;
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if ((z_min_both || z2_min_both) && current_block->steps[Z_AXIS] > 0) {
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if (z_test && current_block->steps[Z_AXIS] > 0) { // z_test = Z_MIN || Z2_MIN
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endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
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endstop_hit_bits |= BIT(Z_MIN);
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if (!performing_homing || (performing_homing && z_min_both && z2_min_both)) //if not performing home or if both endstops were trigged during homing...
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step_events_completed = current_block->step_event_count;
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if (!performing_homing || (performing_homing && !((~z_test) & 0x3))) //if not performing home or if both endstops were trigged during homing...
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step_events_completed = current_block->step_event_count; //!((~z_test) & 0x3) = Z_MIN && Z2_MIN
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}
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old_z_min_endstop = z_min_endstop;
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old_z2_min_endstop = z2_min_endstop;
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#else // !Z_DUAL_ENDSTOPS
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UPDATE_ENDSTOP(z, Z, min, MIN);
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UPDATE_ENDSTOP(Z, MIN);
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#endif // !Z_DUAL_ENDSTOPS
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#endif // Z_MIN_PIN
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#ifdef Z_PROBE_ENDSTOP
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UPDATE_ENDSTOP(z, Z, probe, PROBE);
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z_probe_endstop=(READ(Z_PROBE_PIN) != Z_PROBE_ENDSTOP_INVERTING);
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if(z_probe_endstop && old_z_probe_endstop)
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UPDATE_ENDSTOP(Z, PROBE);
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SET_ENDSTOP_BIT(Z, PROBE);
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if (TEST_ENDSTOP(Z_PROBE))
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{
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endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
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endstop_hit_bits |= BIT(Z_PROBE);
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// if (z_probe_endstop && old_z_probe_endstop) SERIAL_ECHOLN("z_probe_endstop = true");
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}
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old_z_probe_endstop = z_probe_endstop;
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#endif
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}
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else { // z +direction
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@ -611,55 +595,43 @@ ISR(TIMER1_COMPA_vect) {
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#ifdef Z_DUAL_ENDSTOPS
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bool z_max_endstop = READ(Z_MAX_PIN) != Z_MAX_ENDSTOP_INVERTING,
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z2_max_endstop =
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#if HAS_Z2_MAX
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READ(Z2_MAX_PIN) != Z2_MAX_ENDSTOP_INVERTING
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#else
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z_max_endstop
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#endif
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;
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SET_ENDSTOP_BIT(Z, MAX);
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#if HAS_Z2_MAX
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SET_ENDSTOP_BIT(Z2, MAX);
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#else
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COPY_BIT(current_endstop_bits, Z_MAX, Z2_MAX)
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#endif
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bool z_max_both = z_max_endstop && old_z_max_endstop,
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z2_max_both = z2_max_endstop && old_z2_max_endstop;
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if ((z_max_both || z2_max_both) && current_block->steps[Z_AXIS] > 0) {
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byte z_test = TEST_ENDSTOP(Z_MAX) << 0 + TEST_ENDSTOP(Z2_MAX) << 1; // bit 0 for Z, bit 1 for Z2
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if (z_test && current_block->steps[Z_AXIS] > 0) { // t_test = Z_MAX || Z2_MAX
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endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
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endstop_hit_bits |= BIT(Z_MIN);
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// if (z_max_both) SERIAL_ECHOLN("z_max_endstop = true");
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// if (z2_max_both) SERIAL_ECHOLN("z2_max_endstop = true");
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if (!performing_homing || (performing_homing && z_max_both && z2_max_both)) //if not performing home or if both endstops were trigged during homing...
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step_events_completed = current_block->step_event_count;
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if (!performing_homing || (performing_homing && !((~z_test) & 0x3))) //if not performing home or if both endstops were trigged during homing...
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step_events_completed = current_block->step_event_count; //!((~z_test) & 0x3) = Z_MAX && Z2_MAX
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}
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old_z_max_endstop = z_max_endstop;
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old_z2_max_endstop = z2_max_endstop;
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#else // !Z_DUAL_ENDSTOPS
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UPDATE_ENDSTOP(z, Z, max, MAX);
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UPDATE_ENDSTOP(Z, MAX);
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#endif // !Z_DUAL_ENDSTOPS
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#endif // Z_MAX_PIN
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#ifdef Z_PROBE_ENDSTOP
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UPDATE_ENDSTOP(z, Z, probe, PROBE);
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z_probe_endstop=(READ(Z_PROBE_PIN) != Z_PROBE_ENDSTOP_INVERTING);
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if(z_probe_endstop && old_z_probe_endstop)
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UPDATE_ENDSTOP(Z, PROBE);
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SET_ENDSTOP_BIT(Z, PROBE);
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if (TEST_ENDSTOP(Z_PROBE))
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{
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endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
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endstop_hit_bits |= BIT(Z_PROBE);
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// if (z_probe_endstop && old_z_probe_endstop) SERIAL_ECHOLN("z_probe_endstop = true");
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}
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old_z_probe_endstop = z_probe_endstop;
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#endif
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}
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old_endstop_bits = current_endstop_bits;
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}
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// Take multiple steps per interrupt (For high speed moves)
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for (int8_t i = 0; i < step_loops; i++) {
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#ifndef AT90USB
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