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@ -42,7 +42,7 @@ Endstops endstops; |
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bool Endstops::enabled, Endstops::enabled_globally; // Initialized by settings.load()
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bool Endstops::enabled, Endstops::enabled_globally; // Initialized by settings.load()
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volatile char Endstops::endstop_hit_bits; // use X_MIN, Y_MIN, Z_MIN and Z_MIN_PROBE as BIT value
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volatile char Endstops::endstop_hit_bits; // use X_MIN, Y_MIN, Z_MIN and Z_MIN_PROBE as BIT value
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#if ENABLED(Z_DUAL_ENDSTOPS) |
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#if ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || ENABLED(Z_DUAL_ENDSTOPS) |
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uint16_t |
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uint16_t |
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#else |
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#else |
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byte |
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byte |
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@ -54,8 +54,14 @@ volatile char Endstops::endstop_hit_bits; // use X_MIN, Y_MIN, Z_MIN and Z_MIN_P |
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volatile bool Endstops::z_probe_enabled = false; |
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volatile bool Endstops::z_probe_enabled = false; |
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#endif |
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#endif |
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#if ENABLED(X_DUAL_ENDSTOPS) |
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float Endstops::x_endstop_adj; // Initialized by settings.load()
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#endif |
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#if ENABLED(Y_DUAL_ENDSTOPS) |
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float Endstops::y_endstop_adj; // Initialized by settings.load()
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#endif |
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#if ENABLED(Z_DUAL_ENDSTOPS) |
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#if ENABLED(Z_DUAL_ENDSTOPS) |
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float Endstops::z_endstop_adj; |
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float Endstops::z_endstop_adj; // Initialized by settings.load()
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#endif |
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#endif |
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/**
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/**
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@ -72,6 +78,14 @@ void Endstops::init() { |
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#endif |
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#endif |
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#endif |
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#endif |
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#if HAS_X2_MIN |
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#if ENABLED(ENDSTOPPULLUP_XMIN) |
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SET_INPUT_PULLUP(X2_MIN_PIN); |
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#else |
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SET_INPUT(X2_MIN_PIN); |
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#endif |
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#endif |
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#if HAS_Y_MIN |
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#if HAS_Y_MIN |
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#if ENABLED(ENDSTOPPULLUP_YMIN) |
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#if ENABLED(ENDSTOPPULLUP_YMIN) |
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SET_INPUT_PULLUP(Y_MIN_PIN); |
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SET_INPUT_PULLUP(Y_MIN_PIN); |
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@ -80,6 +94,14 @@ void Endstops::init() { |
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#endif |
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#endif |
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#endif |
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#endif |
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#if HAS_Y2_MIN |
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#if ENABLED(ENDSTOPPULLUP_YMIN) |
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SET_INPUT_PULLUP(Y2_MIN_PIN); |
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#else |
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SET_INPUT(Y2_MIN_PIN); |
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#endif |
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#endif |
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#if HAS_Z_MIN |
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#if HAS_Z_MIN |
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#if ENABLED(ENDSTOPPULLUP_ZMIN) |
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#if ENABLED(ENDSTOPPULLUP_ZMIN) |
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SET_INPUT_PULLUP(Z_MIN_PIN); |
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SET_INPUT_PULLUP(Z_MIN_PIN); |
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@ -104,6 +126,14 @@ void Endstops::init() { |
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#endif |
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#endif |
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#endif |
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#endif |
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#if HAS_X2_MAX |
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#if ENABLED(ENDSTOPPULLUP_XMAX) |
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SET_INPUT_PULLUP(X2_MAX_PIN); |
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#else |
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SET_INPUT(X2_MAX_PIN); |
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#endif |
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#endif |
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#if HAS_Y_MAX |
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#if HAS_Y_MAX |
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#if ENABLED(ENDSTOPPULLUP_YMAX) |
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#if ENABLED(ENDSTOPPULLUP_YMAX) |
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SET_INPUT_PULLUP(Y_MAX_PIN); |
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SET_INPUT_PULLUP(Y_MAX_PIN); |
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@ -112,6 +142,14 @@ void Endstops::init() { |
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#endif |
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#endif |
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#endif |
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#endif |
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#if HAS_Y2_MAX |
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#if ENABLED(ENDSTOPPULLUP_YMAX) |
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SET_INPUT_PULLUP(Y2_MAX_PIN); |
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#else |
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SET_INPUT(Y2_MAX_PIN); |
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#endif |
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#endif |
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#if HAS_Z_MAX |
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#if HAS_Z_MAX |
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#if ENABLED(ENDSTOPPULLUP_ZMAX) |
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#if ENABLED(ENDSTOPPULLUP_ZMAX) |
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SET_INPUT_PULLUP(Z_MAX_PIN); |
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SET_INPUT_PULLUP(Z_MAX_PIN); |
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@ -190,37 +228,45 @@ void Endstops::report_state() { |
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void Endstops::M119() { |
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void Endstops::M119() { |
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SERIAL_PROTOCOLLNPGM(MSG_M119_REPORT); |
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SERIAL_PROTOCOLLNPGM(MSG_M119_REPORT); |
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#define ES_REPORT(AXIS) do{ \ |
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SERIAL_PROTOCOLPGM(MSG_##AXIS); \ |
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SERIAL_PROTOCOLLN(((READ(AXIS##_PIN)^AXIS##_ENDSTOP_INVERTING) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN)); \ |
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}while(0) |
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#if HAS_X_MIN |
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#if HAS_X_MIN |
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SERIAL_PROTOCOLPGM(MSG_X_MIN); |
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ES_REPORT(X_MIN); |
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SERIAL_PROTOCOLLN(((READ(X_MIN_PIN)^X_MIN_ENDSTOP_INVERTING) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN)); |
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#endif |
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#if HAS_X2_MIN |
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ES_REPORT(X2_MIN); |
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#endif |
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#endif |
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#if HAS_X_MAX |
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#if HAS_X_MAX |
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SERIAL_PROTOCOLPGM(MSG_X_MAX); |
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ES_REPORT(X_MAX); |
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SERIAL_PROTOCOLLN(((READ(X_MAX_PIN)^X_MAX_ENDSTOP_INVERTING) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN)); |
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#endif |
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#if HAS_X2_MAX |
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ES_REPORT(X2_MAX); |
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#endif |
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#endif |
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#if HAS_Y_MIN |
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#if HAS_Y_MIN |
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SERIAL_PROTOCOLPGM(MSG_Y_MIN); |
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ES_REPORT(Y_MIN); |
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SERIAL_PROTOCOLLN(((READ(Y_MIN_PIN)^Y_MIN_ENDSTOP_INVERTING) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN)); |
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#endif |
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#if HAS_Y2_MIN |
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ES_REPORT(Y2_MIN); |
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#endif |
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#endif |
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#if HAS_Y_MAX |
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#if HAS_Y_MAX |
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SERIAL_PROTOCOLPGM(MSG_Y_MAX); |
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ES_REPORT(Y_MAX); |
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SERIAL_PROTOCOLLN(((READ(Y_MAX_PIN)^Y_MAX_ENDSTOP_INVERTING) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN)); |
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#endif |
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#if HAS_Y2_MAX |
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ES_REPORT(Y2_MAX); |
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#endif |
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#endif |
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#if HAS_Z_MIN |
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#if HAS_Z_MIN |
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SERIAL_PROTOCOLPGM(MSG_Z_MIN); |
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ES_REPORT(Z_MIN); |
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SERIAL_PROTOCOLLN(((READ(Z_MIN_PIN)^Z_MIN_ENDSTOP_INVERTING) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN)); |
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#endif |
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#endif |
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#if HAS_Z2_MIN |
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#if HAS_Z2_MIN |
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SERIAL_PROTOCOLPGM(MSG_Z2_MIN); |
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ES_REPORT(Z2_MIN); |
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SERIAL_PROTOCOLLN(((READ(Z2_MIN_PIN)^Z2_MIN_ENDSTOP_INVERTING) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN)); |
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#endif |
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#endif |
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#if HAS_Z_MAX |
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#if HAS_Z_MAX |
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SERIAL_PROTOCOLPGM(MSG_Z_MAX); |
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ES_REPORT(Z_MAX); |
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SERIAL_PROTOCOLLN(((READ(Z_MAX_PIN)^Z_MAX_ENDSTOP_INVERTING) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN)); |
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#endif |
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#endif |
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#if HAS_Z2_MAX |
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#if HAS_Z2_MAX |
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SERIAL_PROTOCOLPGM(MSG_Z2_MAX); |
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ES_REPORT(Z2_MAX); |
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SERIAL_PROTOCOLLN(((READ(Z2_MAX_PIN)^Z2_MAX_ENDSTOP_INVERTING) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN)); |
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#endif |
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#endif |
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#if ENABLED(Z_MIN_PROBE_ENDSTOP) |
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#if ENABLED(Z_MIN_PROBE_ENDSTOP) |
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SERIAL_PROTOCOLPGM(MSG_Z_PROBE); |
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SERIAL_PROTOCOLPGM(MSG_Z_PROBE); |
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@ -232,18 +278,35 @@ void Endstops::M119() { |
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#endif |
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#endif |
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} // Endstops::M119
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} // Endstops::M119
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#if ENABLED(X_DUAL_ENDSTOPS) |
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void Endstops::test_dual_x_endstops(const EndstopEnum es1, const EndstopEnum es2) { |
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const byte x_test = TEST_ENDSTOP(es1) | (TEST_ENDSTOP(es2) << 1); // bit 0 for X, bit 1 for X2
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if (x_test && stepper.current_block->steps[X_AXIS] > 0) { |
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SBI(endstop_hit_bits, X_MIN); |
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if (!stepper.performing_homing || (x_test == 0x3)) //if not performing home or if both endstops were trigged during homing...
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stepper.kill_current_block(); |
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} |
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} |
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#endif |
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#if ENABLED(Y_DUAL_ENDSTOPS) |
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void Endstops::test_dual_y_endstops(const EndstopEnum es1, const EndstopEnum es2) { |
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const byte y_test = TEST_ENDSTOP(es1) | (TEST_ENDSTOP(es2) << 1); // bit 0 for Y, bit 1 for Y2
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if (y_test && stepper.current_block->steps[Y_AXIS] > 0) { |
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SBI(endstop_hit_bits, Y_MIN); |
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if (!stepper.performing_homing || (y_test == 0x3)) //if not performing home or if both endstops were trigged during homing...
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stepper.kill_current_block(); |
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} |
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} |
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#endif |
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#if ENABLED(Z_DUAL_ENDSTOPS) |
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#if ENABLED(Z_DUAL_ENDSTOPS) |
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// Pass the result of the endstop test
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void Endstops::test_dual_z_endstops(const EndstopEnum es1, const EndstopEnum es2) { |
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void Endstops::test_dual_z_endstops(const EndstopEnum es1, const EndstopEnum es2) { |
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byte z_test = TEST_ENDSTOP(es1) | (TEST_ENDSTOP(es2) << 1); // bit 0 for Z, bit 1 for Z2
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const byte z_test = TEST_ENDSTOP(es1) | (TEST_ENDSTOP(es2) << 1); // bit 0 for Z, bit 1 for Z2
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if (z_test && stepper.current_block->steps[Z_AXIS] > 0) { |
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if (z_test && stepper.current_block->steps[Z_AXIS] > 0) { |
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SBI(endstop_hit_bits, Z_MIN); |
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SBI(endstop_hit_bits, Z_MIN); |
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if (!stepper.performing_homing || (z_test == 0x3)) //if not performing home or if both endstops were trigged during homing...
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if (!stepper.performing_homing || (z_test == 0x3)) //if not performing home or if both endstops were trigged during homing...
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stepper.kill_current_block(); |
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stepper.kill_current_block(); |
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} |
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} |
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} |
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} |
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#endif |
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#endif |
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// Check endstops - Called from ISR!
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// Check endstops - Called from ISR!
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@ -364,16 +427,35 @@ void Endstops::update() { |
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*/ |
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*/ |
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if (X_MOVE_TEST) { |
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if (X_MOVE_TEST) { |
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if (stepper.motor_direction(X_AXIS_HEAD)) { |
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if (stepper.motor_direction(X_AXIS_HEAD)) { // -direction
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if (X_MIN_TEST) { // -direction
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#if HAS_X_MIN |
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#if HAS_X_MIN |
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UPDATE_ENDSTOP(X, MIN); |
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#if ENABLED(X_DUAL_ENDSTOPS) |
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UPDATE_ENDSTOP_BIT(X, MIN); |
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#if HAS_X2_MIN |
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UPDATE_ENDSTOP_BIT(X2, MIN); |
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#else |
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COPY_BIT(current_endstop_bits, X_MIN, X2_MIN); |
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#endif |
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test_dual_x_endstops(X_MIN, X2_MIN); |
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#else |
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if (X_MIN_TEST) UPDATE_ENDSTOP(X, MIN); |
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#endif |
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#endif |
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#endif |
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} |
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} |
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} |
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else { // +direction
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else if (X_MAX_TEST) { // +direction
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#if HAS_X_MAX |
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#if HAS_X_MAX |
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UPDATE_ENDSTOP(X, MAX); |
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#if ENABLED(X_DUAL_ENDSTOPS) |
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UPDATE_ENDSTOP_BIT(X, MAX); |
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#if HAS_X2_MAX |
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UPDATE_ENDSTOP_BIT(X2, MAX); |
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#else |
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COPY_BIT(current_endstop_bits, X_MAX, X2_MAX); |
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#endif |
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test_dual_x_endstops(X_MAX, X2_MAX); |
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#else |
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if (X_MIN_TEST) UPDATE_ENDSTOP(X, MAX); |
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#endif |
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#endif |
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#endif |
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} |
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} |
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} |
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} |
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@ -381,13 +463,33 @@ void Endstops::update() { |
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if (Y_MOVE_TEST) { |
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if (Y_MOVE_TEST) { |
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if (stepper.motor_direction(Y_AXIS_HEAD)) { // -direction
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if (stepper.motor_direction(Y_AXIS_HEAD)) { // -direction
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#if HAS_Y_MIN |
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#if HAS_Y_MIN |
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#if ENABLED(Y_DUAL_ENDSTOPS) |
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UPDATE_ENDSTOP_BIT(Y, MIN); |
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#if HAS_Y2_MIN |
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UPDATE_ENDSTOP_BIT(Y2, MIN); |
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#else |
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COPY_BIT(current_endstop_bits, Y_MIN, Y2_MIN); |
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#endif |
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test_dual_y_endstops(Y_MIN, Y2_MIN); |
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#else |
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UPDATE_ENDSTOP(Y, MIN); |
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UPDATE_ENDSTOP(Y, MIN); |
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#endif |
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#endif |
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#endif |
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} |
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} |
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else { // +direction
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else { // +direction
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#if HAS_Y_MAX |
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#if HAS_Y_MAX |
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#if ENABLED(Y_DUAL_ENDSTOPS) |
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UPDATE_ENDSTOP_BIT(Y, MAX); |
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#if HAS_Y2_MAX |
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UPDATE_ENDSTOP_BIT(Y2, MAX); |
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#else |
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COPY_BIT(current_endstop_bits, Y_MAX, Y2_MAX); |
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#endif |
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test_dual_y_endstops(Y_MAX, Y2_MAX); |
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#else |
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UPDATE_ENDSTOP(Y, MAX); |
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UPDATE_ENDSTOP(Y, MAX); |
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#endif |
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#endif |
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#endif |
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} |
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} |
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} |
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} |
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@ -395,27 +497,21 @@ void Endstops::update() { |
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if (stepper.motor_direction(Z_AXIS_HEAD)) { // Z -direction. Gantry down, bed up.
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if (stepper.motor_direction(Z_AXIS_HEAD)) { // Z -direction. Gantry down, bed up.
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#if HAS_Z_MIN |
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#if HAS_Z_MIN |
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#if ENABLED(Z_DUAL_ENDSTOPS) |
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#if ENABLED(Z_DUAL_ENDSTOPS) |
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UPDATE_ENDSTOP_BIT(Z, MIN); |
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UPDATE_ENDSTOP_BIT(Z, MIN); |
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#if HAS_Z2_MIN |
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#if HAS_Z2_MIN |
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UPDATE_ENDSTOP_BIT(Z2, MIN); |
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UPDATE_ENDSTOP_BIT(Z2, MIN); |
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#else |
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#else |
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COPY_BIT(current_endstop_bits, Z_MIN, Z2_MIN); |
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COPY_BIT(current_endstop_bits, Z_MIN, Z2_MIN); |
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#endif |
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#endif |
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test_dual_z_endstops(Z_MIN, Z2_MIN); |
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test_dual_z_endstops(Z_MIN, Z2_MIN); |
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#else |
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#else // !Z_DUAL_ENDSTOPS
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#if ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN) |
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#if ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN) |
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if (z_probe_enabled) UPDATE_ENDSTOP(Z, MIN); |
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if (z_probe_enabled) UPDATE_ENDSTOP(Z, MIN); |
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#else |
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#else |
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UPDATE_ENDSTOP(Z, MIN); |
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UPDATE_ENDSTOP(Z, MIN); |
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#endif |
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#endif |
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#endif |
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#endif // !Z_DUAL_ENDSTOPS
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#endif |
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#endif // HAS_Z_MIN
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// When closing the gap check the enabled probe
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// When closing the gap check the enabled probe
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#if ENABLED(Z_MIN_PROBE_ENDSTOP) |
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#if ENABLED(Z_MIN_PROBE_ENDSTOP) |
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@ -427,27 +523,21 @@ void Endstops::update() { |
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} |
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} |
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else { // Z +direction. Gantry up, bed down.
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else { // Z +direction. Gantry up, bed down.
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#if HAS_Z_MAX |
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#if HAS_Z_MAX |
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// Check both Z dual endstops
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// Check both Z dual endstops
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#if ENABLED(Z_DUAL_ENDSTOPS) |
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#if ENABLED(Z_DUAL_ENDSTOPS) |
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UPDATE_ENDSTOP_BIT(Z, MAX); |
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UPDATE_ENDSTOP_BIT(Z, MAX); |
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#if HAS_Z2_MAX |
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#if HAS_Z2_MAX |
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UPDATE_ENDSTOP_BIT(Z2, MAX); |
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UPDATE_ENDSTOP_BIT(Z2, MAX); |
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#else |
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#else |
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COPY_BIT(current_endstop_bits, Z_MAX, Z2_MAX); |
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COPY_BIT(current_endstop_bits, Z_MAX, Z2_MAX); |
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#endif |
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#endif |
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test_dual_z_endstops(Z_MAX, Z2_MAX); |
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test_dual_z_endstops(Z_MAX, Z2_MAX); |
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// If this pin is not hijacked for the bed probe
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// If this pin is not hijacked for the bed probe
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// then it belongs to the Z endstop
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// then it belongs to the Z endstop
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#elif DISABLED(Z_MIN_PROBE_ENDSTOP) || Z_MAX_PIN != Z_MIN_PROBE_PIN |
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#elif DISABLED(Z_MIN_PROBE_ENDSTOP) || Z_MAX_PIN != Z_MIN_PROBE_PIN |
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UPDATE_ENDSTOP(Z, MAX); |
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UPDATE_ENDSTOP(Z, MAX); |
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#endif |
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#endif // !Z_MIN_PROBE_PIN...
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#endif |
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#endif // Z_MAX_PIN
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} |
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} |
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} |
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} |
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@ -496,6 +586,18 @@ void Endstops::update() { |
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#if HAS_Z_MIN_PROBE_PIN |
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#if HAS_Z_MIN_PROBE_PIN |
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if (READ(Z_MIN_PROBE_PIN)) SBI(current_endstop_bits_local, Z_MIN_PROBE); |
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if (READ(Z_MIN_PROBE_PIN)) SBI(current_endstop_bits_local, Z_MIN_PROBE); |
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#endif |
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#endif |
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#if HAS_X2_MIN |
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if (READ(X2_MIN_PIN)) SBI(current_endstop_bits_local, X2_MIN); |
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#endif |
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#if HAS_X2_MAX |
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if (READ(X2_MAX_PIN)) SBI(current_endstop_bits_local, X2_MAX); |
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#endif |
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#if HAS_Y2_MIN |
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if (READ(Y2_MIN_PIN)) SBI(current_endstop_bits_local, Y2_MIN); |
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#endif |
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#if HAS_Y2_MAX |
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if (READ(Y2_MAX_PIN)) SBI(current_endstop_bits_local, Y2_MAX); |
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#endif |
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#if HAS_Z2_MIN |
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#if HAS_Z2_MIN |
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if (READ(Z2_MIN_PIN)) SBI(current_endstop_bits_local, Z2_MIN); |
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if (READ(Z2_MIN_PIN)) SBI(current_endstop_bits_local, Z2_MIN); |
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#endif |
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#endif |
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@ -527,6 +629,18 @@ void Endstops::update() { |
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#if HAS_Z_MIN_PROBE_PIN |
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#if HAS_Z_MIN_PROBE_PIN |
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if (TEST(endstop_change, Z_MIN_PROBE)) SERIAL_PROTOCOLPAIR(" PROBE:", !!TEST(current_endstop_bits_local, Z_MIN_PROBE)); |
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if (TEST(endstop_change, Z_MIN_PROBE)) SERIAL_PROTOCOLPAIR(" PROBE:", !!TEST(current_endstop_bits_local, Z_MIN_PROBE)); |
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#endif |
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#endif |
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#if HAS_X2_MIN |
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if (TEST(endstop_change, X2_MIN)) SERIAL_PROTOCOLPAIR(" X2_MIN:", !!TEST(current_endstop_bits_local, X2_MIN)); |
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#endif |
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#if HAS_X2_MAX |
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if (TEST(endstop_change, X2_MAX)) SERIAL_PROTOCOLPAIR(" X2_MAX:", !!TEST(current_endstop_bits_local, X2_MAX)); |
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#endif |
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#if HAS_Y2_MIN |
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if (TEST(endstop_change, Y2_MIN)) SERIAL_PROTOCOLPAIR(" Y2_MIN:", !!TEST(current_endstop_bits_local, Y2_MIN)); |
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#endif |
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#if HAS_Y2_MAX |
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if (TEST(endstop_change, Y2_MAX)) SERIAL_PROTOCOLPAIR(" Y2_MAX:", !!TEST(current_endstop_bits_local, Y2_MAX)); |
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#endif |
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#if HAS_Z2_MIN |
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#if HAS_Z2_MIN |
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if (TEST(endstop_change, Z2_MIN)) SERIAL_PROTOCOLPAIR(" Z2_MIN:", !!TEST(current_endstop_bits_local, Z2_MIN)); |
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if (TEST(endstop_change, Z2_MIN)) SERIAL_PROTOCOLPAIR(" Z2_MIN:", !!TEST(current_endstop_bits_local, Z2_MIN)); |
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#endif |
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#endif |
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Scott Lahteine
8 years ago