andrey
/
Marlin_FB4S
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

Cleanup for dual endstops homing

pull/1/head
Scott Lahteine 7 years ago
parent
61181b7f24
commit
ad8d3150aa
4 changed files with 58 additions and 62 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 3
      Marlin/src/module/endstops.cpp
  2. 84
      Marlin/src/module/motion.cpp
  3. 17
      Marlin/src/module/stepper.cpp
  4. 16
      Marlin/src/module/stepper.h

3
Marlin/src/module/endstops.cpp
View File

@ -396,7 +396,6 @@ void Endstops::M119() {
// Check endstops - Could be called from ISR!
void Endstops::update() {
#define SET_BIT_TO(N,B,TF) do{ if (TF) SBI(N,B); else CBI(N,B); }while(0)
// UPDATE_ENDSTOP_BIT: set the current endstop bits for an endstop to its status
#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
@ -590,7 +589,7 @@ void Endstops::update() {
if (dual_hit) { \
_ENDSTOP_HIT(AXIS1, MINMAX); \
/* if not performing home or if both endstops were trigged during homing... */ \
if (!stepper.performing_homing || dual_hit == 0x3) \
if (!stepper.homing_dual_axis || dual_hit == 0x3) \
planner.endstop_triggered(_AXIS(AXIS1)); \
} \
}while(0)

84
Marlin/src/module/motion.cpp
View File

@ -1052,9 +1052,14 @@ static void do_homing_move(const AxisEnum axis, const float distance, const floa
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR(">>> do_homing_move(", axis_codes[axis]);
SERIAL_ECHOPAIR(", ", distance);
SERIAL_ECHOPAIR(", ", fr_mm_s);
SERIAL_ECHOPAIR(" [", fr_mm_s ? fr_mm_s : homing_feedrate(axis));
SERIAL_ECHOLNPGM("])");
SERIAL_ECHOPGM(", ");
if (fr_mm_s)
SERIAL_ECHO(fr_mm_s);
else {
SERIAL_ECHOPAIR("[", homing_feedrate(axis));
SERIAL_CHAR(']');
}
SERIAL_ECHOLNPGM(")");
}
#endif
@ -1262,11 +1267,12 @@ void homeaxis(const AxisEnum axis) {
}
#endif
const int axis_home_dir =
const int axis_home_dir = (
#if ENABLED(DUAL_X_CARRIAGE)
(axis == X_AXIS) ? x_home_dir(active_extruder) :
axis == X_AXIS ? x_home_dir(active_extruder) :
#endif
home_dir(axis);
home_dir(axis)
);
// Homing Z towards the bed? Deploy the Z probe or endstop.
#if HOMING_Z_WITH_PROBE
@ -1274,14 +1280,20 @@ void homeaxis(const AxisEnum axis) {
#endif
// Set flags for X, Y, Z motor locking
#if ENABLED(X_DUAL_ENDSTOPS)
if (axis == X_AXIS) stepper.set_homing_flag_x(true);
#endif
#if ENABLED(Y_DUAL_ENDSTOPS)
if (axis == Y_AXIS) stepper.set_homing_flag_y(true);
#endif
#if ENABLED(Z_DUAL_ENDSTOPS)
if (axis == Z_AXIS) stepper.set_homing_flag_z(true);
#if ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || ENABLED(Z_DUAL_ENDSTOPS)
switch (axis) {
#if ENABLED(X_DUAL_ENDSTOPS)
case X_AXIS:
#endif
#if ENABLED(Y_DUAL_ENDSTOPS)
case Y_AXIS:
#endif
#if ENABLED(Z_DUAL_ENDSTOPS)
case Z_AXIS:
#endif
stepper.set_homing_dual_axis(true);
default: break;
}
#endif
// Fast move towards endstop until triggered
@ -1321,37 +1333,32 @@ void homeaxis(const AxisEnum axis) {
const bool pos_dir = axis_home_dir > 0;
#if ENABLED(X_DUAL_ENDSTOPS)
if (axis == X_AXIS) {
const bool lock_x1 = pos_dir ? (endstops.x_endstop_adj > 0) : (endstops.x_endstop_adj < 0);
float adj = ABS(endstops.x_endstop_adj);
if (pos_dir) adj = -adj;
if (lock_x1) stepper.set_x_lock(true); else stepper.set_x2_lock(true);
do_homing_move(axis, adj);
if (lock_x1) stepper.set_x_lock(false); else stepper.set_x2_lock(false);
stepper.set_homing_flag_x(false);
const float adj = ABS(endstops.x_endstop_adj);
if (pos_dir ? (endstops.x_endstop_adj > 0) : (endstops.x_endstop_adj < 0)) stepper.set_x_lock(true); else stepper.set_x2_lock(true);
do_homing_move(axis, pos_dir ? adj : -adj);
stepper.set_x_lock(false);
stepper.set_x2_lock(false);
}
#endif
#if ENABLED(Y_DUAL_ENDSTOPS)
if (axis == Y_AXIS) {
const bool lock_y1 = pos_dir ? (endstops.y_endstop_adj > 0) : (endstops.y_endstop_adj < 0);
float adj = ABS(endstops.y_endstop_adj);
if (pos_dir) adj = -adj;
if (lock_y1) stepper.set_y_lock(true); else stepper.set_y2_lock(true);
do_homing_move(axis, adj);
if (lock_y1) stepper.set_y_lock(false); else stepper.set_y2_lock(false);
stepper.set_homing_flag_y(false);
const float adj = ABS(endstops.y_endstop_adj);
if (pos_dir ? (endstops.y_endstop_adj > 0) : (endstops.y_endstop_adj < 0)) stepper.set_y_lock(true); else stepper.set_y2_lock(true);
do_homing_move(axis, pos_dir ? adj : -adj);
stepper.set_y_lock(false);
stepper.set_y2_lock(false);
}
#endif
#if ENABLED(Z_DUAL_ENDSTOPS)
if (axis == Z_AXIS) {
const bool lock_z1 = pos_dir ? (endstops.z_endstop_adj > 0) : (endstops.z_endstop_adj < 0);
float adj = ABS(endstops.z_endstop_adj);
if (pos_dir) adj = -adj;
if (lock_z1) stepper.set_z_lock(true); else stepper.set_z2_lock(true);
do_homing_move(axis, adj);
if (lock_z1) stepper.set_z_lock(false); else stepper.set_z2_lock(false);
stepper.set_homing_flag_z(false);
const float adj = ABS(endstops.z_endstop_adj);
if (pos_dir ? (endstops.z_endstop_adj > 0) : (endstops.z_endstop_adj < 0)) stepper.set_z_lock(true); else stepper.set_z2_lock(true);
do_homing_move(axis, pos_dir ? adj : -adj);
stepper.set_z_lock(false);
stepper.set_z2_lock(false);
}
#endif
stepper.set_homing_dual_axis(false);
#endif
#if IS_SCARA
@ -1393,10 +1400,9 @@ void homeaxis(const AxisEnum axis) {
if (axis == Z_AXIS && STOW_PROBE()) return;
#endif
// Clear z_lift if homing the Z axis
// Clear retracted status if homing the Z axis
#if ENABLED(FWRETRACT)
if (axis == Z_AXIS)
fwretract.hop_amount = 0.0;
if (axis == Z_AXIS) fwretract.hop_amount = 0.0;
#endif
#if ENABLED(DEBUG_LEVELING_FEATURE)
@ -1470,7 +1476,7 @@ void homeaxis(const AxisEnum axis) {
#endif
#if ENABLED(DELTA)
switch(axis) {
switch (axis) {
#if HAS_SOFTWARE_ENDSTOPS
case X_AXIS:
case Y_AXIS:

17
Marlin/src/module/stepper.cpp
View File

@ -87,7 +87,7 @@ Stepper stepper; // Singleton
block_t* Stepper::current_block = NULL; // A pointer to the block currently being traced
#if ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || ENABLED(Z_DUAL_ENDSTOPS)
bool Stepper::performing_homing = false;
bool Stepper::homing_dual_axis = false;
#endif
#if HAS_MOTOR_CURRENT_PWM
@ -166,7 +166,7 @@ bool Stepper::all_steps_done = false;
uint32_t Stepper::acceleration_time, Stepper::deceleration_time;
volatile int32_t Stepper::count_position[NUM_AXIS] = { 0 };
volatile signed char Stepper::count_direction[NUM_AXIS] = { 1, 1, 1, 1 };
int8_t Stepper::count_direction[NUM_AXIS] = { 1, 1, 1, 1 };
#if ENABLED(MIXING_EXTRUDER)
int32_t Stepper::counter_m[MIXING_STEPPERS];
@ -183,7 +183,7 @@ volatile int32_t Stepper::endstops_trigsteps[XYZ];
#if ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || ENABLED(Z_DUAL_ENDSTOPS)
#define DUAL_ENDSTOP_APPLY_STEP(A,V) \
if (performing_homing) { \
if (homing_dual_axis) { \
if (A##_HOME_DIR < 0) { \
if (!(TEST(endstops.state(), A##_MIN) && count_direction[_AXIS(A)] < 0) && !locked_##A##_motor) A##_STEP_WRITE(V); \
if (!(TEST(endstops.state(), A##2_MIN) && count_direction[_AXIS(A)] < 0) && !locked_##A##2_motor) A##2_STEP_WRITE(V); \
@ -1144,7 +1144,6 @@ void Stepper::set_directions() {
HAL_STEP_TIMER_ISR {
HAL_timer_isr_prologue(STEP_TIMER_NUM);
// Call the ISR
Stepper::isr();
HAL_timer_isr_epilogue(STEP_TIMER_NUM);
@ -1175,7 +1174,7 @@ void Stepper::isr() {
// We need this variable here to be able to use it in the following loop
hal_timer_t min_ticks;
do {
// Enable ISRs so the USART processing latency is reduced
// Enable ISRs to reduce USART processing latency
ENABLE_ISRS();
// Run main stepping pulse phase ISR if we have to
@ -1193,11 +1192,9 @@ void Stepper::isr() {
uint32_t interval =
#if ENABLED(LIN_ADVANCE)
// Select the closest interval in time
MIN(nextAdvanceISR, nextMainISR)
MIN(nextAdvanceISR, nextMainISR) // Nearest time interval
#else
// The interval is just the remaining time to the stepper ISR
nextMainISR
nextMainISR // Remaining stepper ISR time
#endif
;
@ -1239,7 +1236,7 @@ void Stepper::isr() {
next_isr_ticks += interval;
/**
* The following section must be done with global interrupts disabled.
* The following section must be done with global interrupts disabled.
* We want nothing to interrupt it, as that could mess the calculations
* we do for the next value to program in the period register of the
* stepper timer and lead to skipped ISRs (if the value we happen to program

16
Marlin/src/module/stepper.h
View File

@ -63,7 +63,7 @@ class Stepper {
static block_t* current_block; // A pointer to the block currently being traced
#if ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || ENABLED(Z_DUAL_ENDSTOPS)
static bool performing_homing;
static bool homing_dual_axis;
#endif
#if HAS_MOTOR_CURRENT_PWM
@ -143,7 +143,7 @@ class Stepper {
//
// Current direction of stepper motors (+1 or -1)
//
static volatile signed char count_direction[NUM_AXIS];
static int8_t count_direction[NUM_AXIS];
//
// Mixing extruder mix counters
@ -220,18 +220,18 @@ class Stepper {
static void microstep_readings();
#endif
#if ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || ENABLED(Z_DUAL_ENDSTOPS)
FORCE_INLINE static void set_homing_dual_axis(const bool state) { homing_dual_axis = state; }
#endif
#if ENABLED(X_DUAL_ENDSTOPS)
FORCE_INLINE static void set_homing_flag_x(const bool state) { performing_homing = state; }
FORCE_INLINE static void set_x_lock(const bool state) { locked_X_motor = state; }
FORCE_INLINE static void set_x2_lock(const bool state) { locked_X2_motor = state; }
#endif
#if ENABLED(Y_DUAL_ENDSTOPS)
FORCE_INLINE static void set_homing_flag_y(const bool state) { performing_homing = state; }
FORCE_INLINE static void set_y_lock(const bool state) { locked_Y_motor = state; }
FORCE_INLINE static void set_y2_lock(const bool state) { locked_Y2_motor = state; }
#endif
#if ENABLED(Z_DUAL_ENDSTOPS)
FORCE_INLINE static void set_homing_flag_z(const bool state) { performing_homing = state; }
FORCE_INLINE static void set_z_lock(const bool state) { locked_Z_motor = state; }
FORCE_INLINE static void set_z2_lock(const bool state) { locked_Z2_motor = state; }
#endif
@ -247,15 +247,9 @@ class Stepper {
// Set the current position in steps
inline static void set_position(const int32_t &a, const int32_t &b, const int32_t &c, const int32_t &e) {
planner.synchronize();
// Disable stepper interrupts, to ensure atomic setting of all the position variables
const bool was_enabled = STEPPER_ISR_ENABLED();
if (was_enabled) DISABLE_STEPPER_DRIVER_INTERRUPT();
// Set position
_set_position(a, b, c, e);
// Reenable Stepper ISR
if (was_enabled) ENABLE_STEPPER_DRIVER_INTERRUPT();
}

Write Preview
Loading…
Cancel
Save