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Fix interrupt-based endstop detection 

- Also implemented real endstop reading on interrupt.
pull/1/head
etagle 6 years ago
committed by Scott Lahteine
parent
a4af975873
commit
569df3fc0c
14 changed files with 311 additions and 316 deletions
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  1. 21
      Marlin/src/HAL/HAL_AVR/endstop_interrupts.h
  2. 12
      Marlin/src/HAL/HAL_DUE/endstop_interrupts.h
  3. 12
      Marlin/src/HAL/HAL_LPC1768/endstop_interrupts.h
  4. 12
      Marlin/src/HAL/HAL_STM32F1/endstop_interrupts.h
  5. 10
      Marlin/src/HAL/HAL_STM32F4/endstop_interrupts.h
  6. 10
      Marlin/src/HAL/HAL_STM32F7/endstop_interrupts.h
  7. 12
      Marlin/src/HAL/HAL_TEENSY35_36/endstop_interrupts.h
  8. 12
      Marlin/src/Marlin.cpp
  9. 324
      Marlin/src/module/endstops.cpp
  10. 49
      Marlin/src/module/endstops.h
  11. 23
      Marlin/src/module/planner.cpp
  12. 92
      Marlin/src/module/stepper.cpp
  13. 18
      Marlin/src/module/stepper.h
  14. 20
      Marlin/src/module/temperature.cpp

21
Marlin/src/HAL/HAL_AVR/endstop_interrupts.h
View File

@ -24,7 +24,7 @@
* Endstop Interrupts
*
* Without endstop interrupts the endstop pins must be polled continually in
* the stepper-ISR via endstops.update(), most of the time finding no change.
* the temperature-ISR via endstops.update(), most of the time finding no change.
* With this feature endstops.update() is called only when we know that at
* least one endstop has changed state, saving valuable CPU cycles.
*
@ -40,17 +40,10 @@
#include "../../core/macros.h"
#include <stdint.h>
volatile uint8_t e_hit = 0; // Different from 0 when the endstops should be tested in detail.
// Must be reset to 0 by the test function when finished.
// This is what is really done inside the interrupts.
FORCE_INLINE void endstop_ISR_worker( void ) {
e_hit = 2; // Because the detection of a e-stop hit has a 1 step debouncer it has to be called at least twice.
}
#include "../../module/endstops.h"
// One ISR for all EXT-Interrupts
void endstop_ISR(void) { endstop_ISR_worker(); }
void endstop_ISR(void) { endstops.check_possible_change(); }
/**
* Patch for pins_arduino.h (...\Arduino\hardware\arduino\avr\variants\mega\pins_arduino.h)
@ -95,19 +88,19 @@ void pciSetup(const int8_t pin) {
// Handlers for pin change interrupts
#ifdef PCINT0_vect
ISR(PCINT0_vect) { endstop_ISR_worker(); }
ISR(PCINT0_vect) { endstop_ISR(); }
#endif
#ifdef PCINT1_vect
ISR(PCINT1_vect) { endstop_ISR_worker(); }
ISR(PCINT1_vect) { endstop_ISR(); }
#endif
#ifdef PCINT2_vect
ISR(PCINT2_vect) { endstop_ISR_worker(); }
ISR(PCINT2_vect) { endstop_ISR(); }
#endif
#ifdef PCINT3_vect
ISR(PCINT3_vect) { endstop_ISR_worker(); }
ISR(PCINT3_vect) { endstop_ISR(); }
#endif
void setup_endstop_interrupts( void ) {

12
Marlin/src/HAL/HAL_DUE/endstop_interrupts.h
View File

@ -24,7 +24,7 @@
* Endstop Interrupts
*
* Without endstop interrupts the endstop pins must be polled continually in
* the stepper-ISR via endstops.update(), most of the time finding no change.
* the temperature-ISR via endstops.update(), most of the time finding no change.
* With this feature endstops.update() is called only when we know that at
* least one endstop has changed state, saving valuable CPU cycles.
*
@ -37,16 +37,10 @@
#ifndef _ENDSTOP_INTERRUPTS_H_
#define _ENDSTOP_INTERRUPTS_H_
volatile uint8_t e_hit = 0; // Different from 0 when the endstops should be tested in detail.
// Must be reset to 0 by the test function when finished.
// This is what is really done inside the interrupts.
FORCE_INLINE void endstop_ISR_worker( void ) {
e_hit = 2; // Because the detection of a e-stop hit has a 1 step debouncer it has to be called at least twice.
}
#include "../../module/endstops.h"
// One ISR for all EXT-Interrupts
void endstop_ISR(void) { endstop_ISR_worker(); }
void endstop_ISR(void) { endstops.check_possible_change(); }
/**
* Endstop interrupts for Due based targets.

12
Marlin/src/HAL/HAL_LPC1768/endstop_interrupts.h
View File

@ -24,7 +24,7 @@
* Endstop Interrupts
*
* Without endstop interrupts the endstop pins must be polled continually in
* the stepper-ISR via endstops.update(), most of the time finding no change.
* the temperature-ISR via endstops.update(), most of the time finding no change.
* With this feature endstops.update() is called only when we know that at
* least one endstop has changed state, saving valuable CPU cycles.
*
@ -40,16 +40,10 @@
//Currently this is untested and broken
#error "Please disable Endstop Interrupts LPC176x is currently an unsupported platform"
volatile uint8_t e_hit = 0; // Different from 0 when the endstops should be tested in detail.
// Must be reset to 0 by the test function when finished.
// This is what is really done inside the interrupts.
FORCE_INLINE void endstop_ISR_worker( void ) {
e_hit = 2; // Because the detection of a e-stop hit has a 1 step debouncer it has to be called at least twice.
}
#include "../../module/endstops.h"
// One ISR for all EXT-Interrupts
void endstop_ISR(void) { endstop_ISR_worker(); }
void endstop_ISR(void) { endstops.check_possible_change(); }
void setup_endstop_interrupts(void) {
#if HAS_X_MAX

12
Marlin/src/HAL/HAL_STM32F1/endstop_interrupts.h
View File

@ -36,7 +36,7 @@
* Endstop Interrupts
*
* Without endstop interrupts the endstop pins must be polled continually in
* the stepper-ISR via endstops.update(), most of the time finding no change.
* the temperature-ISR via endstops.update(), most of the time finding no change.
* With this feature endstops.update() is called only when we know that at
* least one endstop has changed state, saving valuable CPU cycles.
*
@ -49,16 +49,10 @@
#ifndef _ENDSTOP_INTERRUPTS_H_
#define _ENDSTOP_INTERRUPTS_H_
volatile uint8_t e_hit = 0; // Different from 0 when the endstops should be tested in detail.
// Must be reset to 0 by the test function when finished.
// This is what is really done inside the interrupts.
FORCE_INLINE void endstop_ISR_worker( void ) {
e_hit = 2; // Because the detection of a e-stop hit has a 1 step debouncer it has to be called at least twice.
}
#include "../../module/endstops.h"
// One ISR for all EXT-Interrupts
void endstop_ISR(void) { endstop_ISR_worker(); }
void endstop_ISR(void) { endstops.check_possible_change(); }
void setup_endstop_interrupts(void) {
#if HAS_X_MAX

10
Marlin/src/HAL/HAL_STM32F4/endstop_interrupts.h
View File

@ -24,16 +24,10 @@
#ifndef _ENDSTOP_INTERRUPTS_H_
#define _ENDSTOP_INTERRUPTS_H_
volatile uint8_t e_hit = 0; // Different from 0 when the endstops should be tested in detail.
// Must be reset to 0 by the test function when finished.
// This is what is really done inside the interrupts.
FORCE_INLINE void endstop_ISR_worker( void ) {
e_hit = 2; // Because the detection of a e-stop hit has a 1 step debouncer it has to be called at least twice.
}
#include "../../module/endstops.h"
// One ISR for all EXT-Interrupts
void endstop_ISR(void) { endstop_ISR_worker(); }
void endstop_ISR(void) { endstops.check_possible_change(); }
void setup_endstop_interrupts(void) {
#if HAS_X_MAX

10
Marlin/src/HAL/HAL_STM32F7/endstop_interrupts.h
View File

@ -26,16 +26,10 @@
#ifndef _ENDSTOP_INTERRUPTS_H_
#define _ENDSTOP_INTERRUPTS_H_
volatile uint8_t e_hit = 0; // Different from 0 when the endstops should be tested in detail.
// Must be reset to 0 by the test function when finished.
// This is what is really done inside the interrupts.
FORCE_INLINE void endstop_ISR_worker( void ) {
e_hit = 2; // Because the detection of a e-stop hit has a 1 step debouncer it has to be called at least twice.
}
#include "../../module/endstops.h"
// One ISR for all EXT-Interrupts
void endstop_ISR(void) { endstop_ISR_worker(); }
void endstop_ISR(void) { endstops.check_possible_change(); }
void setup_endstop_interrupts(void) {
#if HAS_X_MAX

12
Marlin/src/HAL/HAL_TEENSY35_36/endstop_interrupts.h
View File

@ -24,7 +24,7 @@
* Endstop Interrupts
*
* Without endstop interrupts the endstop pins must be polled continually in
* the stepper-ISR via endstops.update(), most of the time finding no change.
* the temperature-ISR via endstops.update(), most of the time finding no change.
* With this feature endstops.update() is called only when we know that at
* least one endstop has changed state, saving valuable CPU cycles.
*
@ -37,16 +37,10 @@
#ifndef _ENDSTOP_INTERRUPTS_H_
#define _ENDSTOP_INTERRUPTS_H_
volatile uint8_t e_hit = 0; // Different from 0 when the endstops should be tested in detail.
// Must be reset to 0 by the test function when finished.
// This is what is really done inside the interrupts.
FORCE_INLINE void endstop_ISR_worker( void ) {
e_hit = 2; // Because the detection of a e-stop hit has a 1 step debouncer it has to be called at least twice.
}
#include "../../module/endstops.h"
// One ISR for all EXT-Interrupts
void endstop_ISR(void) { endstop_ISR_worker(); }
void endstop_ISR(void) { endstops.check_possible_change(); }
/**
* Endstop interrupts for Due based targets.

12
Marlin/src/Marlin.cpp
View File

@ -95,10 +95,6 @@
#include "feature/I2CPositionEncoder.h"
#endif
#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
#include HAL_PATH(HAL, endstop_interrupts.h)
#endif
#if HAS_TRINAMIC
#include "feature/tmc_util.h"
#endif
@ -748,7 +744,9 @@ void setup() {
print_job_timer.init(); // Initial setup of print job timer
stepper.init(); // Initialize stepper, this enables interrupts!
endstops.init(); // Init endstops and pullups
stepper.init(); // Init stepper. This enables interrupts!
#if HAS_SERVOS
servo_init();
@ -860,10 +858,6 @@ void setup() {
i2c.onRequest(i2c_on_request);
#endif
#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
setup_endstop_interrupts();
#endif
#if DO_SWITCH_EXTRUDER
move_extruder_servo(0); // Initialize extruder servo
#endif

324
Marlin/src/module/endstops.cpp
View File

@ -32,18 +32,27 @@
#include "../module/temperature.h"
#include "../lcd/ultralcd.h"
// TEST_ENDSTOP: test the old and the current status of an endstop
#define TEST_ENDSTOP(ENDSTOP) (TEST(current_endstop_bits & old_endstop_bits, ENDSTOP))
#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
#include HAL_PATH(../HAL, endstop_interrupts.h)
#endif
// TEST_ENDSTOP: test the current status of an endstop
#define TEST_ENDSTOP(ENDSTOP) (TEST(current_endstop_bits, ENDSTOP))
#if HAS_BED_PROBE
#define ENDSTOPS_ENABLED (endstops.enabled || endstops.z_probe_enabled)
#else
#define ENDSTOPS_ENABLED endstops.enabled
#endif
Endstops endstops;
// public:
bool Endstops::enabled, Endstops::enabled_globally; // Initialized by settings.load()
volatile char Endstops::endstop_hit_bits; // use X_MIN, Y_MIN, Z_MIN and Z_MIN_PROBE as BIT value
volatile uint8_t Endstops::endstop_hit_bits; // use X_MIN, Y_MIN, Z_MIN and Z_MIN_PROBE as BIT value
Endstops::esbits_t Endstops::current_endstop_bits = 0,
Endstops::old_endstop_bits = 0;
Endstops::esbits_t Endstops::current_endstop_bits = 0;
#if HAS_BED_PROBE
volatile bool Endstops::z_probe_enabled = false;
@ -196,8 +205,93 @@ void Endstops::init() {
#endif
#endif
#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
setup_endstop_interrupts();
#endif
// Enable endstops
enable_globally(
#if ENABLED(ENDSTOPS_ALWAYS_ON_DEFAULT)
true
#else
false
#endif
);
} // Endstops::init
// Called from ISR. A change was detected. Find out what happened!
void Endstops::check_possible_change() { if (ENDSTOPS_ENABLED) endstops.update(); }
// Called from ISR: Poll endstop state if required
void Endstops::poll() {
#if ENABLED(PINS_DEBUGGING)
endstops.run_monitor(); // report changes in endstop status
#endif
#if DISABLED(ENDSTOP_INTERRUPTS_FEATURE)
if (ENDSTOPS_ENABLED) endstops.update();
#endif
}
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
#endif
}
// Enable / disable endstop checking
void Endstops::enable(const bool onoff) {
enabled = onoff;
#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
if (onoff) endstops.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
#endif
}
// Clear endstops (i.e., they were hit intentionally) to suppress the report
void Endstops::hit_on_purpose() {
endstop_hit_bits = 0;
#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
if (enabled) endstops.update(); // If enabling, update state now
#endif
}
// Enable / disable endstop z-probe checking
#if HAS_BED_PROBE
void Endstops::enable_z_probe(bool onoff) {
z_probe_enabled = onoff;
#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
if (enabled) endstops.update(); // If enabling, update state now
#endif
}
#endif
#if ENABLED(PINS_DEBUGGING)
void Endstops::run_monitor() {
if (!monitor_flag) return;
static uint8_t monitor_count = 16; // offset this check from the others
monitor_count += _BV(1); // 15 Hz
monitor_count &= 0x7F;
if (!monitor_count) monitor(); // report changes in endstop status
}
#endif
void Endstops::report_state() {
if (endstop_hit_bits) {
#if ENABLED(ULTRA_LCD)
@ -300,38 +394,41 @@ void Endstops::M119() {
#endif
} // Endstops::M119
// The following routines are called from an ISR context. It could be the temperature ISR, the
// endstop ISR or the Stepper ISR.
#if ENABLED(X_DUAL_ENDSTOPS)
void Endstops::test_dual_x_endstops(const EndstopEnum es1, const EndstopEnum es2) {
const byte x_test = TEST_ENDSTOP(es1) | (TEST_ENDSTOP(es2) << 1); // bit 0 for X, bit 1 for X2
if (x_test && stepper.current_block->steps[X_AXIS] > 0) {
if (x_test && stepper.movement_non_null(X_AXIS)) {
SBI(endstop_hit_bits, X_MIN);
if (!stepper.performing_homing || (x_test == 0x3)) //if not performing home or if both endstops were trigged during homing...
stepper.kill_current_block();
stepper.quick_stop();
}
}
#endif
#if ENABLED(Y_DUAL_ENDSTOPS)
void Endstops::test_dual_y_endstops(const EndstopEnum es1, const EndstopEnum es2) {
const byte y_test = TEST_ENDSTOP(es1) | (TEST_ENDSTOP(es2) << 1); // bit 0 for Y, bit 1 for Y2
if (y_test && stepper.current_block->steps[Y_AXIS] > 0) {
if (y_test && stepper.movement_non_null(Y_AXIS)) {
SBI(endstop_hit_bits, Y_MIN);
if (!stepper.performing_homing || (y_test == 0x3)) //if not performing home or if both endstops were trigged during homing...
stepper.kill_current_block();
stepper.quick_stop();
}
}
#endif
#if ENABLED(Z_DUAL_ENDSTOPS)
void Endstops::test_dual_z_endstops(const EndstopEnum es1, const EndstopEnum es2) {
const byte z_test = TEST_ENDSTOP(es1) | (TEST_ENDSTOP(es2) << 1); // bit 0 for Z, bit 1 for Z2
if (z_test && stepper.current_block->steps[Z_AXIS] > 0) {
if (z_test && stepper.movement_non_null(Z_AXIS)) {
SBI(endstop_hit_bits, Z_MIN);
if (!stepper.performing_homing || (z_test == 0x3)) //if not performing home or if both endstops were trigged during homing...
stepper.kill_current_block();
stepper.quick_stop();
}
}
#endif
// Check endstops - Called from ISR!
// Check endstops - Could be called from ISR!
void Endstops::update() {
#define _ENDSTOP(AXIS, MINMAX) AXIS ##_## MINMAX
@ -358,9 +455,9 @@ void Endstops::update() {
if (G38_move) {
UPDATE_ENDSTOP_BIT(Z, MIN_PROBE);
if (TEST_ENDSTOP(_ENDSTOP(Z, MIN_PROBE))) {
if (stepper.current_block->steps[_AXIS(X)] > 0) { _ENDSTOP_HIT(X, MIN); planner.endstop_triggered(_AXIS(X)); }
else if (stepper.current_block->steps[_AXIS(Y)] > 0) { _ENDSTOP_HIT(Y, MIN); planner.endstop_triggered(_AXIS(Y)); }
else if (stepper.current_block->steps[_AXIS(Z)] > 0) { _ENDSTOP_HIT(Z, MIN); planner.endstop_triggered(_AXIS(Z)); }
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)); }
G38_endstop_hit = true;
}
}
@ -371,7 +468,7 @@ void Endstops::update() {
*/
#if IS_CORE
#define S_(N) stepper.current_block->steps[CORE_AXIS_##N]
#define S_(N) stepper.movement_non_null(CORE_AXIS_##N)
#define D_(N) stepper.motor_direction(CORE_AXIS_##N)
#endif
@ -391,7 +488,7 @@ void Endstops::update() {
#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.current_block->steps[X_AXIS] > 0
#define X_MOVE_TEST stepper.movement_non_null(X_AXIS)
#define X_AXIS_HEAD X_AXIS
#endif
@ -411,7 +508,7 @@ void Endstops::update() {
#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.current_block->steps[Y_AXIS] > 0
#define Y_MOVE_TEST stepper.movement_non_null(Y_AXIS)
#define Y_AXIS_HEAD Y_AXIS
#endif
@ -431,13 +528,13 @@ void Endstops::update() {
#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.current_block->steps[Z_AXIS] > 0
#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.current_block->active_extruder == 0
#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
@ -448,126 +545,119 @@ void Endstops::update() {
/**
* Check and update endstops according to conditions
*/
if (stepper.current_block) {
if (X_MOVE_TEST) {
if (stepper.motor_direction(X_AXIS_HEAD)) { // -direction
#if HAS_X_MIN
#if ENABLED(X_DUAL_ENDSTOPS)
UPDATE_ENDSTOP_BIT(X, MIN);
#if HAS_X2_MIN
UPDATE_ENDSTOP_BIT(X2, MIN);
#else
COPY_BIT(current_endstop_bits, X_MIN, X2_MIN);
#endif
test_dual_x_endstops(X_MIN, X2_MIN);
if (X_MOVE_TEST) {
if (stepper.motor_direction(X_AXIS_HEAD)) { // -direction
#if HAS_X_MIN
#if ENABLED(X_DUAL_ENDSTOPS)
UPDATE_ENDSTOP_BIT(X, MIN);
#if HAS_X2_MIN
UPDATE_ENDSTOP_BIT(X2, MIN);
#else
if (X_MIN_TEST) UPDATE_ENDSTOP(X, MIN);
COPY_BIT(current_endstop_bits, X_MIN, X2_MIN);
#endif
test_dual_x_endstops(X_MIN, X2_MIN);
#else
if (X_MIN_TEST) UPDATE_ENDSTOP(X, MIN);
#endif
}
else { // +direction
#if HAS_X_MAX
#if ENABLED(X_DUAL_ENDSTOPS)
UPDATE_ENDSTOP_BIT(X, MAX);
#if HAS_X2_MAX
UPDATE_ENDSTOP_BIT(X2, MAX);
#else
COPY_BIT(current_endstop_bits, X_MAX, X2_MAX);
#endif
test_dual_x_endstops(X_MAX, X2_MAX);
#endif
}
else { // +direction
#if HAS_X_MAX
#if ENABLED(X_DUAL_ENDSTOPS)
UPDATE_ENDSTOP_BIT(X, MAX);
#if HAS_X2_MAX
UPDATE_ENDSTOP_BIT(X2, MAX);
#else
if (X_MAX_TEST) UPDATE_ENDSTOP(X, MAX);
COPY_BIT(current_endstop_bits, X_MAX, X2_MAX);
#endif
test_dual_x_endstops(X_MAX, X2_MAX);
#else
if (X_MAX_TEST) UPDATE_ENDSTOP(X, MAX);
#endif
}
#endif
}
}
if (Y_MOVE_TEST) {
if (stepper.motor_direction(Y_AXIS_HEAD)) { // -direction
#if HAS_Y_MIN
#if ENABLED(Y_DUAL_ENDSTOPS)
UPDATE_ENDSTOP_BIT(Y, MIN);
#if HAS_Y2_MIN
UPDATE_ENDSTOP_BIT(Y2, MIN);
#else
COPY_BIT(current_endstop_bits, Y_MIN, Y2_MIN);
#endif
test_dual_y_endstops(Y_MIN, Y2_MIN);
if (Y_MOVE_TEST) {
if (stepper.motor_direction(Y_AXIS_HEAD)) { // -direction
#if HAS_Y_MIN
#if ENABLED(Y_DUAL_ENDSTOPS)
UPDATE_ENDSTOP_BIT(Y, MIN);
#if HAS_Y2_MIN
UPDATE_ENDSTOP_BIT(Y2, MIN);
#else
UPDATE_ENDSTOP(Y, MIN);
COPY_BIT(current_endstop_bits, Y_MIN, Y2_MIN);
#endif
test_dual_y_endstops(Y_MIN, Y2_MIN);
#else
UPDATE_ENDSTOP(Y, MIN);
#endif
}
else { // +direction
#if HAS_Y_MAX
#if ENABLED(Y_DUAL_ENDSTOPS)
UPDATE_ENDSTOP_BIT(Y, MAX);
#if HAS_Y2_MAX
UPDATE_ENDSTOP_BIT(Y2, MAX);
#else
COPY_BIT(current_endstop_bits, Y_MAX, Y2_MAX);
#endif
test_dual_y_endstops(Y_MAX, Y2_MAX);
#endif
}
else { // +direction
#if HAS_Y_MAX
#if ENABLED(Y_DUAL_ENDSTOPS)
UPDATE_ENDSTOP_BIT(Y, MAX);
#if HAS_Y2_MAX
UPDATE_ENDSTOP_BIT(Y2, MAX);
#else
UPDATE_ENDSTOP(Y, MAX);
COPY_BIT(current_endstop_bits, Y_MAX, Y2_MAX);
#endif
test_dual_y_endstops(Y_MAX, Y2_MAX);
#else
UPDATE_ENDSTOP(Y, MAX);
#endif
}
#endif
}
}
if (Z_MOVE_TEST) {
if (stepper.motor_direction(Z_AXIS_HEAD)) { // Z -direction. Gantry down, bed up.
#if HAS_Z_MIN
#if ENABLED(Z_DUAL_ENDSTOPS)
UPDATE_ENDSTOP_BIT(Z, MIN);
#if HAS_Z2_MIN
UPDATE_ENDSTOP_BIT(Z2, MIN);
#else
COPY_BIT(current_endstop_bits, Z_MIN, Z2_MIN);
#endif
test_dual_z_endstops(Z_MIN, Z2_MIN);
if (Z_MOVE_TEST) {
if (stepper.motor_direction(Z_AXIS_HEAD)) { // Z -direction. Gantry down, bed up.
#if HAS_Z_MIN
#if ENABLED(Z_DUAL_ENDSTOPS)
UPDATE_ENDSTOP_BIT(Z, MIN);
#if HAS_Z2_MIN
UPDATE_ENDSTOP_BIT(Z2, MIN);
#else
COPY_BIT(current_endstop_bits, Z_MIN, Z2_MIN);
#endif
test_dual_z_endstops(Z_MIN, Z2_MIN);
#else
#if ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN)
if (z_probe_enabled) UPDATE_ENDSTOP(Z, MIN);
#else
#if ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN)
if (z_probe_enabled) UPDATE_ENDSTOP(Z, MIN);
#else
UPDATE_ENDSTOP(Z, MIN);
#endif
UPDATE_ENDSTOP(Z, MIN);
#endif
#endif
#endif
// When closing the gap check the enabled probe
#if ENABLED(Z_MIN_PROBE_ENDSTOP)
if (z_probe_enabled) {
UPDATE_ENDSTOP(Z, MIN_PROBE);
if (TEST_ENDSTOP(Z_MIN_PROBE)) SBI(endstop_hit_bits, Z_MIN_PROBE);
}
#endif
}
else { // Z +direction. Gantry up, bed down.
#if HAS_Z_MAX
// Check both Z dual endstops
#if ENABLED(Z_DUAL_ENDSTOPS)
UPDATE_ENDSTOP_BIT(Z, MAX);
#if HAS_Z2_MAX
UPDATE_ENDSTOP_BIT(Z2, MAX);
#else
COPY_BIT(current_endstop_bits, Z_MAX, Z2_MAX);
#endif
test_dual_z_endstops(Z_MAX, Z2_MAX);
// If this pin is not hijacked for the bed probe
// then it belongs to the Z endstop
#elif DISABLED(Z_MIN_PROBE_ENDSTOP) || Z_MAX_PIN != Z_MIN_PROBE_PIN
UPDATE_ENDSTOP(Z, MAX);
// When closing the gap check the enabled probe
#if ENABLED(Z_MIN_PROBE_ENDSTOP)
if (z_probe_enabled) {
UPDATE_ENDSTOP(Z, MIN_PROBE);
if (TEST_ENDSTOP(Z_MIN_PROBE)) SBI(endstop_hit_bits, Z_MIN_PROBE);
}
#endif
}
else { // Z +direction. Gantry up, bed down.
#if HAS_Z_MAX
// Check both Z dual endstops
#if ENABLED(Z_DUAL_ENDSTOPS)
UPDATE_ENDSTOP_BIT(Z, MAX);
#if HAS_Z2_MAX
UPDATE_ENDSTOP_BIT(Z2, MAX);
#else
COPY_BIT(current_endstop_bits, Z_MAX, Z2_MAX);
#endif
test_dual_z_endstops(Z_MAX, Z2_MAX);
// If this pin is not hijacked for the bed probe
// then it belongs to the Z endstop
#elif DISABLED(Z_MIN_PROBE_ENDSTOP) || Z_MAX_PIN != Z_MIN_PROBE_PIN
UPDATE_ENDSTOP(Z, MAX);
#endif
}
#endif
}
} // stepper.current_block
old_endstop_bits = current_endstop_bits;
}
} // Endstops::update()
#if ENABLED(PINS_DEBUGGING)

49
Marlin/src/module/endstops.h
View File

@ -51,7 +51,7 @@ 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
static volatile uint8_t endstop_hit_bits; // use X_MIN, Y_MIN, Z_MIN and Z_MIN_PROBE as BIT value
#if ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || ENABLED(Z_DUAL_ENDSTOPS)
typedef uint16_t esbits_t;
@ -68,23 +68,26 @@ class Endstops {
typedef byte esbits_t;
#endif
static esbits_t current_endstop_bits, old_endstop_bits;
static esbits_t current_endstop_bits;
Endstops() {
enable_globally(
#if ENABLED(ENDSTOPS_ALWAYS_ON_DEFAULT)
true
#else
false
#endif
);
};
Endstops() {};
/**
* Initialize the endstop pins
*/
static void init();
/**
* A change was detected or presumed to be in endstops pins. Find out what
* changed, if anything. Called from ISR contexts
*/
static void check_possible_change();
/**
* Periodic call to poll endstops if required. Called from temperature ISR
*/
static void poll();
/**
* Update the endstops bits from the pins
*/
@ -101,34 +104,28 @@ class Endstops {
static void M119();
// Enable / disable endstop checking globally
static void enable_globally(bool onoff=true) { enabled_globally = enabled = onoff; }
static void enable_globally(const bool onoff=true);
// Enable / disable endstop checking
static void enable(bool onoff=true) { enabled = onoff; }
static void enable(const bool onoff=true);
// Disable / Enable endstops based on ENSTOPS_ONLY_FOR_HOMING and global enable
static void not_homing() { enabled = enabled_globally; }
static void not_homing();
// Clear endstops (i.e., they were hit intentionally) to suppress the report
static void hit_on_purpose() { endstop_hit_bits = 0; }
static void hit_on_purpose();
// 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; }
static void enable_z_probe(bool onoff=true);
#endif
// Debugging of endstops
#if ENABLED(PINS_DEBUGGING)
static bool monitor_flag;
static void monitor();
FORCE_INLINE static void run_monitor() {
if (!monitor_flag) return;
static uint8_t monitor_count = 16; // offset this check from the others
monitor_count += _BV(1); // 15 Hz
monitor_count &= 0x7F;
if (!monitor_count) monitor(); // report changes in endstop status
}
static void run_monitor();
#endif
private:
@ -146,10 +143,4 @@ class Endstops {
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__

23
Marlin/src/module/planner.cpp
View File

@ -758,8 +758,8 @@ void Planner::calculate_trapezoid_for_block(block_t* const block, const float &e
final_rate = CEIL(block->nominal_rate * exit_factor); // (steps per second)
// Limit minimal step rate (Otherwise the timer will overflow.)
NOLESS(initial_rate, MINIMAL_STEP_RATE);
NOLESS(final_rate, MINIMAL_STEP_RATE);
NOLESS(initial_rate, uint32_t(MINIMAL_STEP_RATE));
NOLESS(final_rate, uint32_t(MINIMAL_STEP_RATE));
#if ENABLED(BEZIER_JERK_CONTROL)
uint32_t cruise_rate = initial_rate;
@ -1467,23 +1467,8 @@ void Planner::quick_stop() {
}
void Planner::endstop_triggered(const AxisEnum axis) {
/*NB: This will be called via endstops.update()
and endstops.update() can be called from the temperature
ISR. So Stepper interrupts are enabled */
// Disable stepper ISR
bool stepper_isr_enabled = STEPPER_ISR_ENABLED();
DISABLE_STEPPER_DRIVER_INTERRUPT();
// Record stepper position
// Record stepper position and discard the current block
stepper.endstop_triggered(axis);
// Discard the active block that led to the trigger
discard_current_block();
// Reenable stepper ISR if it was enabled
if (stepper_isr_enabled) ENABLE_STEPPER_DRIVER_INTERRUPT();
}
float Planner::triggered_position_mm(const AxisEnum axis) {
@ -1682,7 +1667,7 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
if (de < 0) SBI(dm, E_AXIS);
const float esteps_float = de * e_factor[extruder];
const int32_t esteps = ABS(esteps_float) + 0.5;
const uint32_t esteps = ABS(esteps_float) + 0.5;
// Clear all flags, including the "busy" bit
block->flag = 0x00;

92
Marlin/src/module/stepper.cpp
View File

@ -96,7 +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
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
#if ENABLED(X_DUAL_ENDSTOPS)
bool Stepper::locked_x_motor = false, Stepper::locked_x2_motor = false;
@ -181,12 +184,12 @@ volatile int32_t Stepper::endstops_trigsteps[XYZ];
#define DUAL_ENDSTOP_APPLY_STEP(A,V) \
if (performing_homing) { \
if (A##_HOME_DIR < 0) { \
if (!(TEST(endstops.old_endstop_bits, A##_MIN) && count_direction[_AXIS(A)] < 0) && !LOCKED_##A##_MOTOR) A##_STEP_WRITE(V); \
if (!(TEST(endstops.old_endstop_bits, A##2_MIN) && count_direction[_AXIS(A)] < 0) && !LOCKED_##A##2_MOTOR) A##2_STEP_WRITE(V); \
if (!(TEST(endstops.current_endstop_bits, A##_MIN) && count_direction[_AXIS(A)] < 0) && !LOCKED_##A##_MOTOR) A##_STEP_WRITE(V); \
if (!(TEST(endstops.current_endstop_bits, A##2_MIN) && count_direction[_AXIS(A)] < 0) && !LOCKED_##A##2_MOTOR) A##2_STEP_WRITE(V); \
} \
else { \
if (!(TEST(endstops.old_endstop_bits, A##_MAX) && count_direction[_AXIS(A)] > 0) && !LOCKED_##A##_MOTOR) A##_STEP_WRITE(V); \
if (!(TEST(endstops.old_endstop_bits, A##2_MAX) && count_direction[_AXIS(A)] > 0) && !LOCKED_##A##2_MOTOR) A##2_STEP_WRITE(V); \
if (!(TEST(endstops.current_endstop_bits, A##_MAX) && count_direction[_AXIS(A)] > 0) && !LOCKED_##A##_MOTOR) A##_STEP_WRITE(V); \
if (!(TEST(endstops.current_endstop_bits, A##2_MAX) && count_direction[_AXIS(A)] > 0) && !LOCKED_##A##2_MOTOR) A##2_STEP_WRITE(V); \
} \
} \
else { \
@ -315,10 +318,6 @@ void Stepper::set_directions() {
#endif // !LIN_ADVANCE
}
#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
extern volatile uint8_t e_hit;
#endif
#if ENABLED(BEZIER_JERK_CONTROL)
/**
* We are using a quintic (fifth-degree) Bézier polynomial for the velocity curve.
@ -1229,6 +1228,15 @@ hal_timer_t Stepper::isr_scheduler() {
// as constant as possible!!!!
void Stepper::stepper_pulse_phase_isr() {
// If we must abort the current block, do so!
if (abort_current_block) {
abort_current_block = false;
if (current_block) {
current_block = NULL;
planner.discard_current_block();
}
}
// If there is no current block, do nothing
if (!current_block) return;
@ -1558,12 +1566,13 @@ uint32_t Stepper::stepper_block_phase_isr() {
return interval; // No more queued movements!
}
// Initialize the trapezoid generator from the current block.
static int8_t last_extruder = -1;
// Compute movement direction for proper endstop handling
LOOP_NA(i) last_movement_non_null[i] = !!current_block->steps[i];
// Initialize the trapezoid generator from the current block.
#if ENABLED(LIN_ADVANCE)
#if E_STEPPERS > 1
if (current_block->active_extruder != last_extruder) {
if (current_block->active_extruder != last_movement_extruder) {
current_adv_steps = 0; // If the now active extruder wasn't in use during the last move, its pressure is most likely gone.
LA_active_extruder = current_block->active_extruder;
}
@ -1576,12 +1585,21 @@ uint32_t Stepper::stepper_block_phase_isr() {
}
#endif
if (current_block->direction_bits != last_direction_bits || current_block->active_extruder != last_extruder) {
if (current_block->direction_bits != last_direction_bits || current_block->active_extruder != last_movement_extruder) {
last_direction_bits = current_block->direction_bits;
last_extruder = current_block->active_extruder;
last_movement_extruder = current_block->active_extruder;
set_directions();
}
// At this point, we must ensure the movement about to execute isn't
// trying to force the head against a limit switch. If using interrupt-
// driven change detection, and already against a limit then no call to
// the endstop_triggered method will be done and the movement will be
// done against the endstop. So, check the limits here: If the movement
// is against the limits, the block will be marked as to be killed, and
// on the next call to this ISR, will be discarded.
endstops.check_possible_change();
// No acceleration / deceleration time elapsed so far
acceleration_time = deceleration_time = 0;
@ -1614,11 +1632,6 @@ uint32_t Stepper::stepper_block_phase_isr() {
counter_m[i] = -(current_block->mix_event_count[i] >> 1);
#endif
#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
e_hit = 2; // Needed for the case an endstop is already triggered before the new move begins.
// No 'change' can be detected.
#endif
#if ENABLED(Z_LATE_ENABLE)
// If delayed Z enable, enable it now. This option will severely interfere with
// timing between pulses when chaining motion between blocks, and it could lead
@ -1894,9 +1907,6 @@ void Stepper::init() {
if (!E_ENABLE_ON) E4_ENABLE_WRITE(HIGH);
#endif
// Init endstops and pullups
endstops.init();
#define _STEP_INIT(AXIS) AXIS ##_STEP_INIT
#define _WRITE_STEP(AXIS, HIGHLOW) AXIS ##_STEP_WRITE(HIGHLOW)
#define _DISABLE(AXIS) disable_## AXIS()
@ -2034,29 +2044,14 @@ int32_t Stepper::position(const AxisEnum axis) {
return v;
}
void Stepper::quick_stop() {
const bool was_enabled = STEPPER_ISR_ENABLED();
DISABLE_STEPPER_DRIVER_INTERRUPT();
if (current_block) {
step_events_completed = current_block->step_event_count;
current_block = NULL;
}
if (was_enabled) ENABLE_STEPPER_DRIVER_INTERRUPT();
}
void Stepper::kill_current_block() {
const bool was_enabled = STEPPER_ISR_ENABLED();
DISABLE_STEPPER_DRIVER_INTERRUPT();
if (current_block)
step_events_completed = current_block->step_event_count;
if (was_enabled) ENABLE_STEPPER_DRIVER_INTERRUPT();
}
// Signal endstops were triggered - This function can be called from
// an ISR context (Temperature, Stepper or limits ISR), so we must
// be very careful here. If the interrupt being preempted was the
// Stepper ISR (this CAN happen with the endstop limits ISR) then
// when the stepper ISR resumes, we must be very sure that the movement
// is properly cancelled
void Stepper::endstop_triggered(const AxisEnum axis) {
const bool was_enabled = STEPPER_ISR_ENABLED();
if (was_enabled) DISABLE_STEPPER_DRIVER_INTERRUPT();
@ -2074,14 +2069,7 @@ void Stepper::endstop_triggered(const AxisEnum axis) {
#endif // !COREXY && !COREXZ && !COREYZ
// Discard the rest of the move if there is a current block
if (current_block) {
// Kill the current block being executed
step_events_completed = current_block->step_event_count;
// Prep to get a new block after cleaning
current_block = NULL;
}
quick_stop();
if (was_enabled) ENABLE_STEPPER_DRIVER_INTERRUPT();
}

18
Marlin/src/module/stepper.h
View File

@ -75,7 +75,10 @@ class Stepper {
private:
static uint8_t last_direction_bits; // The next stepping-bits to be output
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
#if ENABLED(X_DUAL_ENDSTOPS)
static bool locked_x_motor, locked_x2_motor;
@ -189,13 +192,16 @@ class Stepper {
static void wake_up();
// Quickly stop all steppers
static void quick_stop();
FORCE_INLINE static void quick_stop() { abort_current_block = true; }
// The direction of a single motor
FORCE_INLINE static bool motor_direction(const AxisEnum axis) { return TEST(last_direction_bits, axis); }
// Kill current block
static void kill_current_block();
// 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]; }
// The extruder associated to the last movement
FORCE_INLINE static uint8_t movement_extruder() { return last_movement_extruder; }
// Handle a triggered endstop
static void endstop_triggered(const AxisEnum axis);
@ -249,7 +255,7 @@ class Stepper {
FORCE_INLINE static uint32_t calc_timer_interval(uint32_t step_rate) {
uint32_t timer;
NOMORE(step_rate, MAX_STEP_FREQUENCY);
NOMORE(step_rate, uint32_t(MAX_STEP_FREQUENCY));
// TODO: HAL: tidy this up, use Conditionals_post.h
#ifdef CPU_32_BIT
@ -288,7 +294,7 @@ class Stepper {
timer = uint32_t(HAL_STEPPER_TIMER_RATE) / step_rate;
NOLESS(timer, min_time_per_step); // (STEP_DOUBLER_FREQUENCY * 2 kHz - this should never happen)
#else
NOLESS(step_rate, F_CPU / 500000);
NOLESS(step_rate, uint32_t(F_CPU / 500000U));
step_rate -= F_CPU / 500000; // Correct for minimal speed
if (step_rate >= (8 * 256)) { // higher step rate
uint8_t tmp_step_rate = (step_rate & 0x00FF);

20
Marlin/src/module/temperature.cpp
View File

@ -41,10 +41,6 @@
#include "stepper.h"
#endif
#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE) || ENABLED(PINS_DEBUGGING)
#include "endstops.h"
#endif
#include "printcounter.h"
#if ENABLED(FILAMENT_WIDTH_SENSOR)
@ -2247,20 +2243,8 @@ void Temperature::isr() {
}
#endif // BABYSTEPPING
#if ENABLED(PINS_DEBUGGING)
endstops.run_monitor(); // report changes in endstop status
#endif
// Update endstops state, if enabled
#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
extern volatile uint8_t e_hit;
if (e_hit && ENDSTOPS_ENABLED) {
endstops.update();
e_hit--;
}
#else
if (ENDSTOPS_ENABLED) endstops.update();
#endif
// Poll endstops state, if required
endstops.poll();
// Periodically call the planner timer
planner.tick();

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