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Regression: Endstops Core compatibility (#10823) 

Co-Authored-By: ejtagle <ejtagle@hotmail.com>
pull/1/head
Scott Lahteine 6 years ago
committed by GitHub
parent
c89649b46e
commit
3e3789da85
No known key found for this signature in database GPG Key ID: 4AEE18F83AFDEB23
4 changed files with 109 additions and 97 deletions
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  1. 1
      Marlin/src/core/macros.h
  2. 113
      Marlin/src/module/endstops.cpp
  3. 79
      Marlin/src/module/stepper.cpp
  4. 13
      Marlin/src/module/stepper.h

1
Marlin/src/core/macros.h
View File

@ -71,6 +71,7 @@
#define TEST(n,b) !!((n)&_BV(b))
#define SBI(n,b) (n |= _BV(b))
#define CBI(n,b) (n &= ~_BV(b))
#define SET_BIT(N,B,TF) do{ if (TF) SBI(N,B); else CBI(N,B); }while(0)
#define _BV32(b) (1UL << (b))
#define TEST32(n,b) !!((n)&_BV32(b))

113
Marlin/src/module/endstops.cpp
View File

@ -37,9 +37,9 @@
#endif
#if HAS_BED_PROBE
#define ENDSTOPS_ENABLED (endstops.enabled || endstops.z_probe_enabled)
#define ENDSTOPS_ENABLED (enabled || z_probe_enabled)
#else
#define ENDSTOPS_ENABLED endstops.enabled
#define ENDSTOPS_ENABLED enabled
#endif
Endstops endstops;
@ -223,17 +223,17 @@ void Endstops::init() {
} // Endstops::init
// Called from ISR. A change was detected. Find out what happened!
void Endstops::check_possible_change() { if (ENDSTOPS_ENABLED) endstops.update(); }
void Endstops::check_possible_change() { if (ENDSTOPS_ENABLED) update(); }
// Called from ISR: Poll endstop state if required
void Endstops::poll() {
#if ENABLED(PINS_DEBUGGING)
endstops.run_monitor(); // report changes in endstop status
run_monitor(); // report changes in endstop status
#endif
#if DISABLED(ENDSTOP_INTERRUPTS_FEATURE) || ENABLED(ENDSTOP_NOISE_FILTER)
if (ENDSTOPS_ENABLED) endstops.update();
if (ENDSTOPS_ENABLED) update();
#endif
}
@ -241,7 +241,7 @@ void Endstops::enable_globally(const bool onoff) {
enabled_globally = enabled = onoff;
#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
if (onoff) endstops.update(); // If enabling, update state now
if (onoff) update(); // If enabling, update state now
#endif
}
@ -250,17 +250,16 @@ void Endstops::enable(const bool onoff) {
enabled = onoff;
#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
if (onoff) endstops.update(); // If enabling, update state now
if (onoff) update(); // If enabling, update state now
#endif
}
// Disable / Enable endstops based on ENSTOPS_ONLY_FOR_HOMING and global enable
void Endstops::not_homing() {
enabled = enabled_globally;
#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
if (enabled) endstops.update(); // If enabling, update state now
if (enabled) update(); // If enabling, update state now
#endif
}
@ -269,7 +268,7 @@ void Endstops::hit_on_purpose() {
hit_state = 0;
#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
if (enabled) endstops.update(); // If enabling, update state now
if (enabled) update(); // If enabling, update state now
#endif
}
@ -279,7 +278,7 @@ void Endstops::hit_on_purpose() {
z_probe_enabled = onoff;
#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
if (enabled) endstops.update(); // If enabling, update state now
if (enabled) update(); // If enabling, update state now
#endif
}
#endif
@ -417,89 +416,37 @@ void Endstops::update() {
if (G38_move) UPDATE_ENDSTOP_BIT(Z, MIN_PROBE);
#endif
/**
* Define conditions for checking endstops
*/
#if IS_CORE
#define S_(N) stepper.movement_non_null(CORE_AXIS_##N)
#define D_(N) stepper.motor_direction(CORE_AXIS_##N)
// With Dual X, endstops are only checked in the homing direction for the active extruder
#if ENABLED(DUAL_X_CARRIAGE)
#define E0_ACTIVE stepper.movement_extruder() == 0
#define X_MIN_TEST ((X_HOME_DIR < 0 && E0_ACTIVE) || (X2_HOME_DIR < 0 && !E0_ACTIVE))
#define X_MAX_TEST ((X_HOME_DIR > 0 && E0_ACTIVE) || (X2_HOME_DIR > 0 && !E0_ACTIVE))
#else
#define X_MIN_TEST true
#define X_MAX_TEST true
#endif
// Use HEAD for core axes, AXIS for others
#if CORE_IS_XY || CORE_IS_XZ
/**
* Head direction in -X axis for CoreXY and CoreXZ bots.
*
* If steps differ, both axes are moving.
* If DeltaA == -DeltaB, the movement is only in the 2nd axis (Y or Z, handled below)
* If DeltaA == DeltaB, the movement is only in the 1st axis (X)
*/
#if ENABLED(COREXY) || ENABLED(COREXZ)
#define X_CMP ==
#else
#define X_CMP !=
#endif
#define X_MOVE_TEST ( S_(1) != S_(2) || (S_(1) > 0 && D_(1) X_CMP D_(2)) )
#define X_AXIS_HEAD X_HEAD
#else
#define X_MOVE_TEST stepper.movement_non_null(X_AXIS)
#define X_AXIS_HEAD X_AXIS
#endif
#if CORE_IS_XY || CORE_IS_YZ
/**
* Head direction in -Y axis for CoreXY / CoreYZ bots.
*
* If steps differ, both axes are moving
* If DeltaA == DeltaB, the movement is only in the 1st axis (X or Y)
* If DeltaA == -DeltaB, the movement is only in the 2nd axis (Y or Z)
*/
#if ENABLED(COREYX) || ENABLED(COREYZ)
#define Y_CMP ==
#else
#define Y_CMP !=
#endif
#define Y_MOVE_TEST ( S_(1) != S_(2) || (S_(1) > 0 && D_(1) Y_CMP D_(2)) )
#define Y_AXIS_HEAD Y_HEAD
#else
#define Y_MOVE_TEST stepper.movement_non_null(Y_AXIS)
#define Y_AXIS_HEAD Y_AXIS
#endif
#if CORE_IS_XZ || CORE_IS_YZ
/**
* Head direction in -Z axis for CoreXZ or CoreYZ bots.
*
* If steps differ, both axes are moving
* If DeltaA == DeltaB, the movement is only in the 1st axis (X or Y, already handled above)
* If DeltaA == -DeltaB, the movement is only in the 2nd axis (Z)
*/
#if ENABLED(COREZX) || ENABLED(COREZY)
#define Z_CMP ==
#else
#define Z_CMP !=
#endif
#define Z_MOVE_TEST ( S_(1) != S_(2) || (S_(1) > 0 && D_(1) Z_CMP D_(2)) )
#define Z_AXIS_HEAD Z_HEAD
#else
#define Z_MOVE_TEST stepper.movement_non_null(Z_AXIS)
#define Z_AXIS_HEAD Z_AXIS
#endif
// With Dual X, endstops are only checked in the homing direction for the active extruder
#if ENABLED(DUAL_X_CARRIAGE)
#define E0_ACTIVE stepper.movement_extruder() == 0
#define X_MIN_TEST ((X_HOME_DIR < 0 && E0_ACTIVE) || (X2_HOME_DIR < 0 && !E0_ACTIVE))
#define X_MAX_TEST ((X_HOME_DIR > 0 && E0_ACTIVE) || (X2_HOME_DIR > 0 && !E0_ACTIVE))
#else
#define X_MIN_TEST true
#define X_MAX_TEST true
#endif
/**
* Check and update endstops according to conditions
*/
if (X_MOVE_TEST) {
if (stepper.axis_is_moving(X_AXIS)) {
if (stepper.motor_direction(X_AXIS_HEAD)) { // -direction
#if HAS_X_MIN
#if ENABLED(X_DUAL_ENDSTOPS)
@ -530,7 +477,7 @@ void Endstops::update() {
}
}
if (Y_MOVE_TEST) {
if (stepper.axis_is_moving(Y_AXIS)) {
if (stepper.motor_direction(Y_AXIS_HEAD)) { // -direction
#if HAS_Y_MIN
#if ENABLED(Y_DUAL_ENDSTOPS)
@ -561,7 +508,7 @@ void Endstops::update() {
}
}
if (Z_MOVE_TEST) {
if (stepper.axis_is_moving(Z_AXIS)) {
if (stepper.motor_direction(Z_AXIS_HEAD)) { // Z -direction. Gantry down, bed up.
#if HAS_Z_MIN
#if ENABLED(Z_DUAL_ENDSTOPS)
@ -582,9 +529,7 @@ void Endstops::update() {
// When closing the gap check the enabled probe
#if ENABLED(Z_MIN_PROBE_ENDSTOP)
if (z_probe_enabled) {
UPDATE_ENDSTOP_BIT(Z, MIN_PROBE);
}
if (z_probe_enabled) UPDATE_ENDSTOP_BIT(Z, MIN_PROBE);
#endif
}
else { // Z +direction. Gantry up, bed down.
@ -660,16 +605,16 @@ void Endstops::update() {
// If G38 command is active check Z_MIN_PROBE for ALL movement
if (G38_move) {
if (TEST_ENDSTOP(_ENDSTOP(Z, MIN_PROBE))) {
if (stepper.movement_non_null(_AXIS(X))) { _ENDSTOP_HIT(X, MIN); planner.endstop_triggered(_AXIS(X)); }
else if (stepper.movement_non_null(_AXIS(Y))) { _ENDSTOP_HIT(Y, MIN); planner.endstop_triggered(_AXIS(Y)); }
else if (stepper.movement_non_null(_AXIS(Z))) { _ENDSTOP_HIT(Z, MIN); planner.endstop_triggered(_AXIS(Z)); }
if (stepper.axis_is_moving(_AXIS(X))) { _ENDSTOP_HIT(X, MIN); planner.endstop_triggered(_AXIS(X)); }
else if (stepper.axis_is_moving(_AXIS(Y))) { _ENDSTOP_HIT(Y, MIN); planner.endstop_triggered(_AXIS(Y)); }
else if (stepper.axis_is_moving(_AXIS(Z))) { _ENDSTOP_HIT(Z, MIN); planner.endstop_triggered(_AXIS(Z)); }
G38_endstop_hit = true;
}
}
#endif
// Now, we must signal, after validation, if an endstop limit is pressed or not
if (X_MOVE_TEST) {
if (stepper.axis_is_moving(X_AXIS)) {
if (stepper.motor_direction(X_AXIS_HEAD)) { // -direction
#if HAS_X_MIN
#if ENABLED(X_DUAL_ENDSTOPS)
@ -690,7 +635,7 @@ void Endstops::update() {
}
}
if (Y_MOVE_TEST) {
if (stepper.axis_is_moving(Y_AXIS)) {
if (stepper.motor_direction(Y_AXIS_HEAD)) { // -direction
#if HAS_Y_MIN
#if ENABLED(Y_DUAL_ENDSTOPS)
@ -711,7 +656,7 @@ void Endstops::update() {
}
}
if (Z_MOVE_TEST) {
if (stepper.axis_is_moving(Z_AXIS)) {
if (stepper.motor_direction(Z_AXIS_HEAD)) { // Z -direction. Gantry down, bed up.
#if HAS_Z_MIN
#if ENABLED(Z_DUAL_ENDSTOPS)

79
Marlin/src/module/stepper.cpp
View File

@ -96,10 +96,10 @@ block_t* Stepper::current_block = NULL; // A pointer to the block currently bei
// private:
uint8_t Stepper::last_direction_bits = 0, // The next stepping-bits to be output
Stepper::last_movement_extruder = 0xFF; // Last movement extruder, as computed when the last movement was fetched from planner
bool Stepper::abort_current_block, // Signals to the stepper that current block should be aborted
Stepper::last_movement_non_null[NUM_AXIS]; // Last Movement in the given direction is not null, as computed when the last movement was fetched from planner
uint8_t Stepper::last_direction_bits = 0,
Stepper::last_movement_extruder = 0xFF,
Stepper::axis_did_move;
bool Stepper::abort_current_block;
#if ENABLED(X_DUAL_ENDSTOPS)
bool Stepper::locked_x_motor = false, Stepper::locked_x2_motor = false;
@ -1566,8 +1566,75 @@ uint32_t Stepper::stepper_block_phase_isr() {
return interval; // No more queued movements!
}
// Compute movement direction for proper endstop handling
LOOP_NA(i) last_movement_non_null[i] = !!current_block->steps[i];
// Flag all moving axes for proper endstop handling
#if IS_CORE
// Define conditions for checking endstops
#define S_(N) current_block->steps[CORE_AXIS_##N]
#define D_(N) motor_direction(CORE_AXIS_##N)
#endif
#if CORE_IS_XY || CORE_IS_XZ
/**
* Head direction in -X axis for CoreXY and CoreXZ bots.
*
* If steps differ, both axes are moving.
* If DeltaA == -DeltaB, the movement is only in the 2nd axis (Y or Z, handled below)
* If DeltaA == DeltaB, the movement is only in the 1st axis (X)
*/
#if ENABLED(COREXY) || ENABLED(COREXZ)
#define X_CMP ==
#else
#define X_CMP !=
#endif
#define X_MOVE_TEST ( S_(1) != S_(2) || (S_(1) > 0 && D_(1) X_CMP D_(2)) )
#else
#define X_MOVE_TEST !!current_block->steps[X_AXIS]
#endif
#if CORE_IS_XY || CORE_IS_YZ
/**
* Head direction in -Y axis for CoreXY / CoreYZ bots.
*
* If steps differ, both axes are moving
* If DeltaA == DeltaB, the movement is only in the 1st axis (X or Y)
* If DeltaA == -DeltaB, the movement is only in the 2nd axis (Y or Z)
*/
#if ENABLED(COREYX) || ENABLED(COREYZ)
#define Y_CMP ==
#else
#define Y_CMP !=
#endif
#define Y_MOVE_TEST ( S_(1) != S_(2) || (S_(1) > 0 && D_(1) Y_CMP D_(2)) )
#else
#define Y_MOVE_TEST !!current_block->steps[Y_AXIS]
#endif
#if CORE_IS_XZ || CORE_IS_YZ
/**
* Head direction in -Z axis for CoreXZ or CoreYZ bots.
*
* If steps differ, both axes are moving
* If DeltaA == DeltaB, the movement is only in the 1st axis (X or Y, already handled above)
* If DeltaA == -DeltaB, the movement is only in the 2nd axis (Z)
*/
#if ENABLED(COREZX) || ENABLED(COREZY)
#define Z_CMP ==
#else
#define Z_CMP !=
#endif
#define Z_MOVE_TEST ( S_(1) != S_(2) || (S_(1) > 0 && D_(1) Z_CMP D_(2)) )
#else
#define Z_MOVE_TEST !!current_block->steps[Z_AXIS]
#endif
SET_BIT(axis_did_move, X_AXIS, X_MOVE_TEST);
SET_BIT(axis_did_move, Y_AXIS, Y_MOVE_TEST);
SET_BIT(axis_did_move, Z_AXIS, Z_MOVE_TEST);
SET_BIT(axis_did_move, E_AXIS, !!current_block->steps[E_AXIS]);
SET_BIT(axis_did_move, X_HEAD, !!current_block->steps[X_HEAD]);
SET_BIT(axis_did_move, Y_HEAD, !!current_block->steps[Y_HEAD]);
SET_BIT(axis_did_move, Z_HEAD, !!current_block->steps[Z_HEAD]);
// Initialize the trapezoid generator from the current block.
#if ENABLED(LIN_ADVANCE)

13
Marlin/src/module/stepper.h
View File

@ -75,10 +75,10 @@ class Stepper {
private:
static uint8_t last_direction_bits, // The next stepping-bits to be output
last_movement_extruder; // Last movement extruder, as computed when the last movement was fetched from planner
static bool abort_current_block, // Signals to the stepper that current block should be aborted
last_movement_non_null[NUM_AXIS]; // Last Movement in the given direction is not null, as computed when the last movement was fetched from planner
static uint8_t last_direction_bits, // The next stepping-bits to be output
last_movement_extruder, // Last movement extruder, as computed when the last movement was fetched from planner
axis_did_move; // Last Movement in the given direction is not null, as computed when the last movement was fetched from planner
static bool abort_current_block; // Signals to the stepper that current block should be aborted
#if ENABLED(X_DUAL_ENDSTOPS)
static bool locked_x_motor, locked_x2_motor;
@ -198,7 +198,7 @@ class Stepper {
FORCE_INLINE static bool motor_direction(const AxisEnum axis) { return TEST(last_direction_bits, axis); }
// The last movement direction was not null on the specified axis. Note that motor direction is not necessarily the same.
FORCE_INLINE static bool movement_non_null(const AxisEnum axis) { return last_movement_non_null[axis]; }
FORCE_INLINE static bool axis_is_moving(const AxisEnum axis) { return TEST(axis_did_move, axis); }
// The extruder associated to the last movement
FORCE_INLINE static uint8_t movement_extruder() { return last_movement_extruder; }
@ -326,8 +326,7 @@ class Stepper {
}
if (timer < 100) { // (20kHz - this should never happen)
timer = 100;
SERIAL_ECHOPGM(MSG_STEPPER_TOO_HIGH);
SERIAL_ECHOLN(step_rate);
SERIAL_ECHOLNPAIR(MSG_STEPPER_TOO_HIGH, step_rate);
}
#endif

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