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Filter endstops state at all times (#11066)

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Scott Lahteine 6 years ago
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99591dc20c
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  1. 2
      Marlin/src/HAL/HAL_AVR/endstop_interrupts.h
  2. 2
      Marlin/src/HAL/HAL_DUE/endstop_interrupts.h
  3. 4
      Marlin/src/HAL/HAL_ESP32/endstop_interrupts.h
  4. 2
      Marlin/src/HAL/HAL_LPC1768/endstop_interrupts.h
  5. 2
      Marlin/src/HAL/HAL_STM32F1/endstop_interrupts.h
  6. 2
      Marlin/src/HAL/HAL_STM32F4/endstop_interrupts.h
  7. 2
      Marlin/src/HAL/HAL_STM32F7/endstop_interrupts.h
  8. 2
      Marlin/src/HAL/HAL_TEENSY35_36/endstop_interrupts.h
  9. 80
      Marlin/src/module/endstops.cpp
  10. 20
      Marlin/src/module/endstops.h
  11. 2
      Marlin/src/module/stepper.cpp

2
Marlin/src/HAL/HAL_AVR/endstop_interrupts.h

@ -43,7 +43,7 @@
#include "../../module/endstops.h" #include "../../module/endstops.h"
// One ISR for all EXT-Interrupts // One ISR for all EXT-Interrupts
void endstop_ISR(void) { endstops.check_possible_change(); } void endstop_ISR(void) { endstops.update(); }
/** /**
* Patch for pins_arduino.h (...\Arduino\hardware\arduino\avr\variants\mega\pins_arduino.h) * Patch for pins_arduino.h (...\Arduino\hardware\arduino\avr\variants\mega\pins_arduino.h)

2
Marlin/src/HAL/HAL_DUE/endstop_interrupts.h

@ -40,7 +40,7 @@
#include "../../module/endstops.h" #include "../../module/endstops.h"
// One ISR for all EXT-Interrupts // One ISR for all EXT-Interrupts
void endstop_ISR(void) { endstops.check_possible_change(); } void endstop_ISR(void) { endstops.update(); }
/** /**
* Endstop interrupts for Due based targets. * Endstop interrupts for Due based targets.

4
Marlin/src/HAL/HAL_ESP32/endstop_interrupts.h

@ -40,9 +40,7 @@
#include "../../module/endstops.h" #include "../../module/endstops.h"
// One ISR for all EXT-Interrupts // One ISR for all EXT-Interrupts
void ICACHE_RAM_ATTR endstop_ISR(void) { void ICACHE_RAM_ATTR endstop_ISR(void) { endstops.update(); }
endstops.check_possible_change();
}
void setup_endstop_interrupts(void) { void setup_endstop_interrupts(void) {
#if HAS_X_MAX #if HAS_X_MAX

2
Marlin/src/HAL/HAL_LPC1768/endstop_interrupts.h

@ -43,7 +43,7 @@
#include "../../module/endstops.h" #include "../../module/endstops.h"
// One ISR for all EXT-Interrupts // One ISR for all EXT-Interrupts
void endstop_ISR(void) { endstops.check_possible_change(); } void endstop_ISR(void) { endstops.update(); }
void setup_endstop_interrupts(void) { void setup_endstop_interrupts(void) {
#if HAS_X_MAX #if HAS_X_MAX

2
Marlin/src/HAL/HAL_STM32F1/endstop_interrupts.h

@ -52,7 +52,7 @@
#include "../../module/endstops.h" #include "../../module/endstops.h"
// One ISR for all EXT-Interrupts // One ISR for all EXT-Interrupts
void endstop_ISR(void) { endstops.check_possible_change(); } void endstop_ISR(void) { endstops.update(); }
void setup_endstop_interrupts(void) { void setup_endstop_interrupts(void) {
#if HAS_X_MAX #if HAS_X_MAX

2
Marlin/src/HAL/HAL_STM32F4/endstop_interrupts.h

@ -27,7 +27,7 @@
#include "../../module/endstops.h" #include "../../module/endstops.h"
// One ISR for all EXT-Interrupts // One ISR for all EXT-Interrupts
void endstop_ISR(void) { endstops.check_possible_change(); } void endstop_ISR(void) { endstops.update(); }
void setup_endstop_interrupts(void) { void setup_endstop_interrupts(void) {
#if HAS_X_MAX #if HAS_X_MAX

2
Marlin/src/HAL/HAL_STM32F7/endstop_interrupts.h

@ -29,7 +29,7 @@
#include "../../module/endstops.h" #include "../../module/endstops.h"
// One ISR for all EXT-Interrupts // One ISR for all EXT-Interrupts
void endstop_ISR(void) { endstops.check_possible_change(); } void endstop_ISR(void) { endstops.update(); }
void setup_endstop_interrupts(void) { void setup_endstop_interrupts(void) {
#if HAS_X_MAX #if HAS_X_MAX

2
Marlin/src/HAL/HAL_TEENSY35_36/endstop_interrupts.h

@ -40,7 +40,7 @@
#include "../../module/endstops.h" #include "../../module/endstops.h"
// One ISR for all EXT-Interrupts // One ISR for all EXT-Interrupts
void endstop_ISR(void) { endstops.check_possible_change(); } void endstop_ISR(void) { endstops.update(); }
/** /**
* Endstop interrupts for Due based targets. * Endstop interrupts for Due based targets.

80
Marlin/src/module/endstops.cpp

@ -36,12 +36,6 @@
#include HAL_PATH(../HAL, endstop_interrupts.h) #include HAL_PATH(../HAL, endstop_interrupts.h)
#endif #endif
#if HAS_BED_PROBE
#define ENDSTOPS_ENABLED (enabled || z_probe_enabled)
#else
#define ENDSTOPS_ENABLED enabled
#endif
Endstops endstops; Endstops endstops;
// public: // public:
@ -50,9 +44,9 @@ bool Endstops::enabled, Endstops::enabled_globally; // Initialized by settings.l
volatile uint8_t Endstops::hit_state; volatile uint8_t Endstops::hit_state;
Endstops::esbits_t Endstops::live_state = 0; Endstops::esbits_t Endstops::live_state = 0;
#if ENABLED(ENDSTOP_NOISE_FILTER) #if ENABLED(ENDSTOP_NOISE_FILTER)
Endstops::esbits_t Endstops::old_live_state, Endstops::esbits_t Endstops::validated_live_state;
Endstops::validated_live_state;
uint8_t Endstops::endstop_poll_count; uint8_t Endstops::endstop_poll_count;
#endif #endif
@ -222,9 +216,6 @@ void Endstops::init() {
} // Endstops::init } // Endstops::init
// Called from ISR. A change was detected. Find out what happened!
void Endstops::check_possible_change() { if (ENDSTOPS_ENABLED) update(); }
// Called from ISR: Poll endstop state if required // Called from ISR: Poll endstop state if required
void Endstops::poll() { void Endstops::poll() {
@ -232,8 +223,10 @@ void Endstops::poll() {
run_monitor(); // report changes in endstop status run_monitor(); // report changes in endstop status
#endif #endif
#if DISABLED(ENDSTOP_INTERRUPTS_FEATURE) || ENABLED(ENDSTOP_NOISE_FILTER) #if ENABLED(ENDSTOP_INTERRUPTS_FEATURE) && ENABLED(ENDSTOP_NOISE_FILTER)
if (ENDSTOPS_ENABLED) update(); if (endstop_poll_count) update();
#elif DISABLED(ENDSTOP_INTERRUPTS_FEATURE) || ENABLED(ENDSTOP_NOISE_FILTER)
update();
#endif #endif
} }
@ -241,7 +234,7 @@ void Endstops::enable_globally(const bool onoff) {
enabled_globally = enabled = onoff; enabled_globally = enabled = onoff;
#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE) #if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
if (onoff) update(); // If enabling, update state now update();
#endif #endif
} }
@ -250,7 +243,7 @@ void Endstops::enable(const bool onoff) {
enabled = onoff; enabled = onoff;
#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE) #if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
if (onoff) update(); // If enabling, update state now update();
#endif #endif
} }
@ -259,7 +252,7 @@ void Endstops::not_homing() {
enabled = enabled_globally; enabled = enabled_globally;
#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE) #if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
if (enabled) update(); // If enabling, update state now update();
#endif #endif
} }
@ -269,7 +262,7 @@ void Endstops::not_homing() {
z_probe_enabled = onoff; z_probe_enabled = onoff;
#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE) #if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
if (enabled) update(); // If enabling, update state now update();
#endif #endif
} }
#endif #endif
@ -396,10 +389,12 @@ void Endstops::M119() {
// Check endstops - Could be called from ISR! // Check endstops - Could be called from ISR!
void Endstops::update() { void Endstops::update() {
// UPDATE_ENDSTOP_BIT: set the current endstop bits for an endstop to its status #if DISABLED(ENDSTOP_NOISE_FILTER)
if (!abort_enabled()) return;
#endif
#define UPDATE_ENDSTOP_BIT(AXIS, MINMAX) SET_BIT_TO(live_state, _ENDSTOP(AXIS, MINMAX), (READ(_ENDSTOP_PIN(AXIS, MINMAX)) != _ENDSTOP_INVERTING(AXIS, MINMAX))) #define UPDATE_ENDSTOP_BIT(AXIS, MINMAX) SET_BIT_TO(live_state, _ENDSTOP(AXIS, MINMAX), (READ(_ENDSTOP_PIN(AXIS, MINMAX)) != _ENDSTOP_INVERTING(AXIS, MINMAX)))
// COPY_BIT: copy the value of SRC_BIT to DST_BIT in DST #define COPY_LIVE_STATE(SRC_BIT, DST_BIT) SET_BIT_TO(live_state, DST_BIT, TEST(live_state, SRC_BIT))
#define COPY_BIT(DST, SRC_BIT, DST_BIT) SET_BIT_TO(DST, DST_BIT, TEST(DST, SRC_BIT))
#if ENABLED(G38_PROBE_TARGET) && PIN_EXISTS(Z_MIN_PROBE) && !(CORE_IS_XY || CORE_IS_XZ) #if ENABLED(G38_PROBE_TARGET) && PIN_EXISTS(Z_MIN_PROBE) && !(CORE_IS_XY || CORE_IS_XZ)
// If G38 command is active check Z_MIN_PROBE for ALL movement // If G38 command is active check Z_MIN_PROBE for ALL movement
@ -444,7 +439,7 @@ void Endstops::update() {
#if HAS_X2_MIN #if HAS_X2_MIN
UPDATE_ENDSTOP_BIT(X2, MIN); UPDATE_ENDSTOP_BIT(X2, MIN);
#else #else
COPY_BIT(live_state, X_MIN, X2_MIN); COPY_LIVE_STATE(X_MIN, X2_MIN);
#endif #endif
#else #else
if (X_MIN_TEST) UPDATE_ENDSTOP_BIT(X, MIN); if (X_MIN_TEST) UPDATE_ENDSTOP_BIT(X, MIN);
@ -458,7 +453,7 @@ void Endstops::update() {
#if HAS_X2_MAX #if HAS_X2_MAX
UPDATE_ENDSTOP_BIT(X2, MAX); UPDATE_ENDSTOP_BIT(X2, MAX);
#else #else
COPY_BIT(live_state, X_MAX, X2_MAX); COPY_LIVE_STATE(X_MAX, X2_MAX);
#endif #endif
#else #else
if (X_MAX_TEST) UPDATE_ENDSTOP_BIT(X, MAX); if (X_MAX_TEST) UPDATE_ENDSTOP_BIT(X, MAX);
@ -475,7 +470,7 @@ void Endstops::update() {
#if HAS_Y2_MIN #if HAS_Y2_MIN
UPDATE_ENDSTOP_BIT(Y2, MIN); UPDATE_ENDSTOP_BIT(Y2, MIN);
#else #else
COPY_BIT(live_state, Y_MIN, Y2_MIN); COPY_LIVE_STATE(Y_MIN, Y2_MIN);
#endif #endif
#else #else
UPDATE_ENDSTOP_BIT(Y, MIN); UPDATE_ENDSTOP_BIT(Y, MIN);
@ -489,7 +484,7 @@ void Endstops::update() {
#if HAS_Y2_MAX #if HAS_Y2_MAX
UPDATE_ENDSTOP_BIT(Y2, MAX); UPDATE_ENDSTOP_BIT(Y2, MAX);
#else #else
COPY_BIT(live_state, Y_MAX, Y2_MAX); COPY_LIVE_STATE(Y_MAX, Y2_MAX);
#endif #endif
#else #else
UPDATE_ENDSTOP_BIT(Y, MAX); UPDATE_ENDSTOP_BIT(Y, MAX);
@ -506,7 +501,7 @@ void Endstops::update() {
#if HAS_Z2_MIN #if HAS_Z2_MIN
UPDATE_ENDSTOP_BIT(Z2, MIN); UPDATE_ENDSTOP_BIT(Z2, MIN);
#else #else
COPY_BIT(live_state, Z_MIN, Z2_MIN); COPY_LIVE_STATE(Z_MIN, Z2_MIN);
#endif #endif
#elif ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN) #elif ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN)
if (z_probe_enabled) UPDATE_ENDSTOP_BIT(Z, MIN); if (z_probe_enabled) UPDATE_ENDSTOP_BIT(Z, MIN);
@ -528,7 +523,7 @@ void Endstops::update() {
#if HAS_Z2_MAX #if HAS_Z2_MAX
UPDATE_ENDSTOP_BIT(Z2, MAX); UPDATE_ENDSTOP_BIT(Z2, MAX);
#else #else
COPY_BIT(live_state, Z_MAX, Z2_MAX); COPY_LIVE_STATE(Z_MAX, Z2_MAX);
#endif #endif
#elif DISABLED(Z_MIN_PROBE_ENDSTOP) || Z_MAX_PIN != Z_MIN_PROBE_PIN #elif DISABLED(Z_MIN_PROBE_ENDSTOP) || Z_MAX_PIN != Z_MIN_PROBE_PIN
// If this pin isn't the bed probe it's the Z endstop // If this pin isn't the bed probe it's the Z endstop
@ -538,36 +533,31 @@ void Endstops::update() {
} }
} }
// All endstops were updated.
#if ENABLED(ENDSTOP_NOISE_FILTER) #if ENABLED(ENDSTOP_NOISE_FILTER)
if (old_live_state != live_state) { // We detected a change. Reinit the timeout /**
/** * Filtering out noise on endstops requires a delayed decision. Let's assume, due to noise,
* Filtering out noise on endstops requires a delayed decision. Let's assume, due to noise, * that 50% of endstop signal samples are good and 50% are bad (assuming normal distribution
* that 50% of endstop signal samples are good and 50% are bad (assuming normal distribution * of random noise). Then the first sample has a 50% chance to be good or bad. The 2nd sample
* of random noise). Then the first sample has a 50% chance to be good or bad. The 2nd sample * also has a 50% chance to be good or bad. The chances of 2 samples both being bad becomes
* also has a 50% chance to be good or bad. The chances of 2 samples both being bad becomes * 50% of 50%, or 25%. That was the previous implementation of Marlin endstop handling. It
* 50% of 50%, or 25%. That was the previous implementation of Marlin endstop handling. It * reduces chances of bad readings in half, at the cost of 1 extra sample period, but chances
* reduces chances of bad readings in half, at the cost of 1 extra sample period, but chances * still exist. The only way to reduce them further is to increase the number of samples.
* still exist. The only way to reduce them further is to increase the number of samples. * To reduce the chance to 1% (1/128th) requires 7 samples (adding 7ms of delay).
* To reduce the chance to 1% (1/128th) requires 7 samples (adding 7ms of delay). */
*/ static esbits_t old_live_state;
if (old_live_state != live_state) {
endstop_poll_count = 7; endstop_poll_count = 7;
old_live_state = live_state; old_live_state = live_state;
} }
else if (endstop_poll_count && !--endstop_poll_count) else if (endstop_poll_count && !--endstop_poll_count)
validated_live_state = live_state; validated_live_state = live_state;
#else if (!abort_enabled()) return;
// Lets accept the new endstop values as valid - We assume hardware filtering of lines
esbits_t validated_live_state = live_state;
#endif #endif
// Endstop readings are validated in validated_live_state
// Test the current status of an endstop // Test the current status of an endstop
#define TEST_ENDSTOP(ENDSTOP) (TEST(validated_live_state, ENDSTOP)) #define TEST_ENDSTOP(ENDSTOP) (TEST(state(), ENDSTOP))
// Record endstop was hit // Record endstop was hit
#define _ENDSTOP_HIT(AXIS, MINMAX) SBI(hit_state, _ENDSTOP(AXIS, MINMAX)) #define _ENDSTOP_HIT(AXIS, MINMAX) SBI(hit_state, _ENDSTOP(AXIS, MINMAX))

20
Marlin/src/module/endstops.h

@ -70,9 +70,10 @@ class Endstops {
private: private:
static esbits_t live_state; static esbits_t live_state;
static volatile uint8_t hit_state; // Use X_MIN, Y_MIN, Z_MIN and Z_MIN_PROBE as BIT index static volatile uint8_t hit_state; // Use X_MIN, Y_MIN, Z_MIN and Z_MIN_PROBE as BIT index
#if ENABLED(ENDSTOP_NOISE_FILTER) #if ENABLED(ENDSTOP_NOISE_FILTER)
static esbits_t old_live_state, // Old endstop value for debouncing and denoising static esbits_t validated_live_state;
validated_live_state; // The validated (accepted as true) endstop bits uint8_t Endstops::endstop_poll_count;
static uint8_t endstop_poll_count; // Countdown from threshold for polling static uint8_t endstop_poll_count; // Countdown from threshold for polling
#endif #endif
@ -85,10 +86,15 @@ class Endstops {
static void init(); static void init();
/** /**
* A change was detected or presumed to be in endstops pins. Find out what * Are endstops or the probe set to abort the move?
* changed, if anything. Called from ISR contexts
*/ */
static void check_possible_change(); FORCE_INLINE static bool abort_enabled() {
return (enabled
#if HAS_BED_PROBE
|| z_probe_enabled
#endif
);
}
/** /**
* Periodic call to poll endstops if required. Called from temperature ISR * Periodic call to poll endstops if required. Called from temperature ISR
@ -96,7 +102,9 @@ class Endstops {
static void poll(); static void poll();
/** /**
* Update the endstops bits from the pins * Update endstops bits from the pins. Apply filtering to get a verified state.
* If abort_enabled() and moving towards a triggered switch, abort the current move.
* Called from ISR contexts.
*/ */
static void update(); static void update();

2
Marlin/src/module/stepper.cpp

@ -1742,7 +1742,7 @@ uint32_t Stepper::stepper_block_phase_isr() {
// done against the endstop. So, check the limits here: If the movement // 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 // is against the limits, the block will be marked as to be killed, and
// on the next call to this ISR, will be discarded. // on the next call to this ISR, will be discarded.
endstops.check_possible_change(); endstops.update();
#if ENABLED(Z_LATE_ENABLE) #if ENABLED(Z_LATE_ENABLE)
// If delayed Z enable, enable it now. This option will severely interfere with // If delayed Z enable, enable it now. This option will severely interfere with

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