From ad8d3150aa4d6b792b5e06a63d2645991136fc50 Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Sat, 2 Jun 2018 20:39:00 -0500 Subject: [PATCH] Cleanup for dual endstops homing --- Marlin/src/module/endstops.cpp | 3 +- Marlin/src/module/motion.cpp | 84 ++++++++++++++++++---------------- Marlin/src/module/stepper.cpp | 17 +++---- Marlin/src/module/stepper.h | 16 ++----- 4 files changed, 58 insertions(+), 62 deletions(-) diff --git a/Marlin/src/module/endstops.cpp b/Marlin/src/module/endstops.cpp index ee312da2d0..d6842a5800 100644 --- a/Marlin/src/module/endstops.cpp +++ b/Marlin/src/module/endstops.cpp @@ -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) diff --git a/Marlin/src/module/motion.cpp b/Marlin/src/module/motion.cpp index 94f810e7d2..846d99b2dd 100644 --- a/Marlin/src/module/motion.cpp +++ b/Marlin/src/module/motion.cpp @@ -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: diff --git a/Marlin/src/module/stepper.cpp b/Marlin/src/module/stepper.cpp index a69d65d419..e4e42eda25 100644 --- a/Marlin/src/module/stepper.cpp +++ b/Marlin/src/module/stepper.cpp @@ -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 diff --git a/Marlin/src/module/stepper.h b/Marlin/src/module/stepper.h index d3dd06aa5e..951847d54f 100644 --- a/Marlin/src/module/stepper.h +++ b/Marlin/src/module/stepper.h @@ -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(); }