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Seperate ENDSTOP_INVERTING for X Y and Z 

Added simple endstop filter.
Corrected M114 count display.
pull/1/head
Erik van der Zalm 13 years ago
parent
0db97b9c7f
commit
c0f8c9fd72
6 changed files with 62 additions and 18 deletions
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  1. 4
      Marlin/Configuration.h
  2. 25
      Marlin/Marlin.pde
  3. 7
      Marlin/planner.cpp
  4. 2
      Marlin/planner.h
  5. 39
      Marlin/stepper.cpp
  6. 3
      Marlin/stepper.h

4
Marlin/Configuration.h
View File

@ -157,7 +157,9 @@
// Endstop Settings // Endstop Settings
#define ENDSTOPPULLUPS // Comment this out (using // at the start of the line) to disable the endstop pullup resistors #define ENDSTOPPULLUPS // Comment this out (using // at the start of the line) to disable the endstop pullup resistors
// The pullups are needed if you directly connect a mechanical endswitch between the signal and ground pins. // The pullups are needed if you directly connect a mechanical endswitch between the signal and ground pins.
const bool ENDSTOPS_INVERTING = true; // set to true to invert the logic of the endstops. const bool X_ENDSTOPS_INVERTING = true; // set to true to invert the logic of the endstops.
const bool Y_ENDSTOPS_INVERTING = true; // set to true to invert the logic of the endstops.
const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of the endstops.
// For optos H21LOB set to true, for Mendel-Parts newer optos TCST2103 set to false // For optos H21LOB set to true, for Mendel-Parts newer optos TCST2103 set to false

25
Marlin/Marlin.pde
View File

@ -556,12 +556,19 @@ inline void process_commands()
relative_mode = true; relative_mode = true;
break; break;
case 92: // G92 case 92: // G92
if(!code_seen(axis_codes[E_AXIS])) if(!code_seen(axis_codes[E_AXIS]))
st_synchronize(); st_synchronize();
for(int8_t i=0; i < NUM_AXIS; i++) { for(int8_t i=0; i < NUM_AXIS; i++) {
if(code_seen(axis_codes[i])) current_position[i] = code_value(); if(code_seen(axis_codes[i])) {
current_position[i] = code_value();
if(i == E_AXIS) {
plan_set_e_position(current_position[E_AXIS]);
}
else {
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
}
}
} }
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
break; break;
} }
} }
@ -865,27 +872,27 @@ inline void process_commands()
case 119: // M119 case 119: // M119
#if (X_MIN_PIN > -1) #if (X_MIN_PIN > -1)
SERIAL_PROTOCOLPGM("x_min:"); SERIAL_PROTOCOLPGM("x_min:");
SERIAL_PROTOCOL(((READ(X_MIN_PIN)^ENDSTOPS_INVERTING)?"H ":"L ")); SERIAL_PROTOCOL(((READ(X_MIN_PIN)^X_ENDSTOPS_INVERTING)?"H ":"L "));
#endif #endif
#if (X_MAX_PIN > -1) #if (X_MAX_PIN > -1)
SERIAL_PROTOCOLPGM("x_max:"); SERIAL_PROTOCOLPGM("x_max:");
SERIAL_PROTOCOL(((READ(X_MAX_PIN)^ENDSTOPS_INVERTING)?"H ":"L ")); SERIAL_PROTOCOL(((READ(X_MAX_PIN)^X_ENDSTOPS_INVERTING)?"H ":"L "));
#endif #endif
#if (Y_MIN_PIN > -1) #if (Y_MIN_PIN > -1)
SERIAL_PROTOCOLPGM("y_min:"); SERIAL_PROTOCOLPGM("y_min:");
SERIAL_PROTOCOL(((READ(Y_MIN_PIN)^ENDSTOPS_INVERTING)?"H ":"L ")); SERIAL_PROTOCOL(((READ(Y_MIN_PIN)^Y_ENDSTOPS_INVERTING)?"H ":"L "));
#endif #endif
#if (Y_MAX_PIN > -1) #if (Y_MAX_PIN > -1)
SERIAL_PROTOCOLPGM("y_max:"); SERIAL_PROTOCOLPGM("y_max:");
SERIAL_PROTOCOL(((READ(Y_MAX_PIN)^ENDSTOPS_INVERTING)?"H ":"L ")); SERIAL_PROTOCOL(((READ(Y_MAX_PIN)^Y_ENDSTOPS_INVERTING)?"H ":"L "));
#endif #endif
#if (Z_MIN_PIN > -1) #if (Z_MIN_PIN > -1)
SERIAL_PROTOCOLPGM("z_min:"); SERIAL_PROTOCOLPGM("z_min:");
SERIAL_PROTOCOL(((READ(Z_MIN_PIN)^ENDSTOPS_INVERTING)?"H ":"L ")); SERIAL_PROTOCOL(((READ(Z_MIN_PIN)^Z_ENDSTOPS_INVERTING)?"H ":"L "));
#endif #endif
#if (Z_MAX_PIN > -1) #if (Z_MAX_PIN > -1)
SERIAL_PROTOCOLPGM("z_max:"); SERIAL_PROTOCOLPGM("z_max:");
SERIAL_PROTOCOL(((READ(Z_MAX_PIN)^ENDSTOPS_INVERTING)?"H ":"L ")); SERIAL_PROTOCOL(((READ(Z_MAX_PIN)^Z_ENDSTOPS_INVERTING)?"H ":"L "));
#endif #endif
SERIAL_PROTOCOLLN(""); SERIAL_PROTOCOLLN("");
break; break;

7
Marlin/planner.cpp
View File

@ -762,7 +762,14 @@ void plan_set_position(const float &x, const float &y, const float &z, const flo
previous_speed[3] = 0.0; previous_speed[3] = 0.0;
} }
void plan_set_e_position(const float &e)
{
position[E_AXIS] = lround(e*axis_steps_per_unit[E_AXIS]);
st_set_e_position(position[E_AXIS]);
}
uint8_t movesplanned() uint8_t movesplanned()
{ {
return (block_buffer_head-block_buffer_tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1); return (block_buffer_head-block_buffer_tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1);
} }

2
Marlin/planner.h
View File

@ -70,7 +70,7 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
// Set position. Used for G92 instructions. // Set position. Used for G92 instructions.
void plan_set_position(const float &x, const float &y, const float &z, const float &e); void plan_set_position(const float &x, const float &y, const float &z, const float &e);
void plan_set_e_position(const float &e);
// Called when the current block is no longer needed. Discards the block and makes the memory // Called when the current block is no longer needed. Discards the block and makes the memory
// availible for new blocks. // availible for new blocks.

39
Marlin/stepper.cpp
View File

@ -70,6 +70,13 @@ static volatile bool endstop_x_hit=false;
static volatile bool endstop_y_hit=false; static volatile bool endstop_y_hit=false;
static volatile bool endstop_z_hit=false; static volatile bool endstop_z_hit=false;
static bool old_x_min_endstop=false;
static bool old_x_max_endstop=false;
static bool old_y_min_endstop=false;
static bool old_y_max_endstop=false;
static bool old_z_min_endstop=false;
static bool old_z_max_endstop=false;
volatile long count_position[NUM_AXIS] = { 0, 0, 0, 0}; volatile long count_position[NUM_AXIS] = { 0, 0, 0, 0};
volatile char count_direction[NUM_AXIS] = { 1, 1, 1, 1}; volatile char count_direction[NUM_AXIS] = { 1, 1, 1, 1};
@ -260,6 +267,7 @@ ISR(TIMER1_COMPA_vect)
SERIAL_ERROR_START SERIAL_ERROR_START
SERIAL_ERROR(*(unsigned short *)OCR1A); SERIAL_ERROR(*(unsigned short *)OCR1A);
SERIAL_ERRORLNPGM(" ISR overtaking itself."); SERIAL_ERRORLNPGM(" ISR overtaking itself.");
OCR1A = 0x30000;
return; return;
} // The busy-flag is used to avoid reentering this interrupt } // The busy-flag is used to avoid reentering this interrupt
@ -295,22 +303,26 @@ ISR(TIMER1_COMPA_vect)
WRITE(X_DIR_PIN, INVERT_X_DIR); WRITE(X_DIR_PIN, INVERT_X_DIR);
count_direction[X_AXIS]=-1; count_direction[X_AXIS]=-1;
#if X_MIN_PIN > -1 #if X_MIN_PIN > -1
if((READ(X_MIN_PIN) != ENDSTOPS_INVERTING) && (current_block->steps_x > 0)) { bool x_min_endstop=(READ(X_MIN_PIN) != X_ENDSTOPS_INVERTING);
if(x_min_endstop && old_x_min_endstop && (current_block->steps_x > 0)) {
endstops_trigsteps[X_AXIS] = count_position[X_AXIS]; endstops_trigsteps[X_AXIS] = count_position[X_AXIS];
endstop_x_hit=true; endstop_x_hit=true;
step_events_completed = current_block->step_event_count; step_events_completed = current_block->step_event_count;
} }
old_x_min_endstop = x_min_endstop;
#endif #endif
} }
else { // +direction else { // +direction
WRITE(X_DIR_PIN,!INVERT_X_DIR); WRITE(X_DIR_PIN,!INVERT_X_DIR);
count_direction[X_AXIS]=1; count_direction[X_AXIS]=1;
#if X_MAX_PIN > -1 #if X_MAX_PIN > -1
if((READ(X_MAX_PIN) != ENDSTOPS_INVERTING) && (current_block->steps_x > 0)){ bool x_max_endstop=(READ(X_MAX_PIN) != X_ENDSTOPS_INVERTING);
if(x_max_endstop && old_x_max_endstop && (current_block->steps_x > 0)){
endstops_trigsteps[X_AXIS] = count_position[X_AXIS]; endstops_trigsteps[X_AXIS] = count_position[X_AXIS];
endstop_x_hit=true; endstop_x_hit=true;
step_events_completed = current_block->step_event_count; step_events_completed = current_block->step_event_count;
} }
old_x_max_endstop = x_max_endstop;
#endif #endif
} }
@ -318,22 +330,26 @@ ISR(TIMER1_COMPA_vect)
WRITE(Y_DIR_PIN,INVERT_Y_DIR); WRITE(Y_DIR_PIN,INVERT_Y_DIR);
count_direction[Y_AXIS]=-1; count_direction[Y_AXIS]=-1;
#if Y_MIN_PIN > -1 #if Y_MIN_PIN > -1
if((READ(Y_MIN_PIN) != ENDSTOPS_INVERTING) && (current_block->steps_y > 0)) { bool y_min_endstop=(READ(Y_MIN_PIN) != Y_ENDSTOPS_INVERTING);
if(y_min_endstop && old_y_min_endstop && (current_block->steps_y > 0)) {
endstops_trigsteps[Y_AXIS] = count_position[Y_AXIS]; endstops_trigsteps[Y_AXIS] = count_position[Y_AXIS];
endstop_y_hit=true; endstop_y_hit=true;
step_events_completed = current_block->step_event_count; step_events_completed = current_block->step_event_count;
} }
old_y_min_endstop = y_min_endstop;
#endif #endif
} }
else { // +direction else { // +direction
WRITE(Y_DIR_PIN,!INVERT_Y_DIR); WRITE(Y_DIR_PIN,!INVERT_Y_DIR);
count_direction[Y_AXIS]=1; count_direction[Y_AXIS]=1;
#if Y_MAX_PIN > -1 #if Y_MAX_PIN > -1
if((READ(Y_MAX_PIN) != ENDSTOPS_INVERTING) && (current_block->steps_y > 0)){ bool y_max_endstop=(READ(Y_MAX_PIN) != Y_ENDSTOPS_INVERTING);
if(y_max_endstop && old_y_max_endstop && (current_block->steps_y > 0)){
endstops_trigsteps[Y_AXIS] = count_position[Y_AXIS]; endstops_trigsteps[Y_AXIS] = count_position[Y_AXIS];
endstop_y_hit=true; endstop_y_hit=true;
step_events_completed = current_block->step_event_count; step_events_completed = current_block->step_event_count;
} }
old_y_max_endstop = y_max_endstop;
#endif #endif
} }
@ -341,22 +357,26 @@ ISR(TIMER1_COMPA_vect)
WRITE(Z_DIR_PIN,INVERT_Z_DIR); WRITE(Z_DIR_PIN,INVERT_Z_DIR);
count_direction[Z_AXIS]=-1; count_direction[Z_AXIS]=-1;
#if Z_MIN_PIN > -1 #if Z_MIN_PIN > -1
if((READ(Z_MIN_PIN) != ENDSTOPS_INVERTING) && (current_block->steps_z > 0)) { bool z_min_endstop=(READ(Z_MIN_PIN) != Z_ENDSTOPS_INVERTING);
if(z_min_endstop && old_z_min_endstop && (current_block->steps_z > 0)) {
endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS]; endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
endstop_z_hit=true; endstop_z_hit=true;
step_events_completed = current_block->step_event_count; step_events_completed = current_block->step_event_count;
} }
old_z_min_endstop = z_min_endstop;
#endif #endif
} }
else { // +direction else { // +direction
WRITE(Z_DIR_PIN,!INVERT_Z_DIR); WRITE(Z_DIR_PIN,!INVERT_Z_DIR);
count_direction[Z_AXIS]=1; count_direction[Z_AXIS]=1;
#if Z_MAX_PIN > -1 #if Z_MAX_PIN > -1
if((READ(Z_MAX_PIN) != ENDSTOPS_INVERTING) && (current_block->steps_z > 0)){ bool z_max_endstop=(READ(Z_MAX_PIN) != Z_ENDSTOPS_INVERTING);
if(z_max_endstop && old_z_max_endstop && (current_block->steps_z > 0)) {
endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS]; endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
endstop_z_hit=true; endstop_z_hit=true;
step_events_completed = current_block->step_event_count; step_events_completed = current_block->step_event_count;
} }
old_z_max_endstop = z_max_endstop;
#endif #endif
} }
@ -654,6 +674,13 @@ void st_set_position(const long &x, const long &y, const long &z, const long &e)
CRITICAL_SECTION_END; CRITICAL_SECTION_END;
} }
void st_set_e_position(const long &e)
{
CRITICAL_SECTION_START;
count_position[E_AXIS] = e;
CRITICAL_SECTION_END;
}
long st_get_position(char axis) long st_get_position(char axis)
{ {
long count_pos; long count_pos;

3
Marlin/stepper.h
View File

@ -31,6 +31,7 @@ void st_synchronize();
// Set current position in steps // Set current position in steps
void st_set_position(const long &x, const long &y, const long &z, const long &e); void st_set_position(const long &x, const long &y, const long &z, const long &e);
void st_set_e_position(const long &e);
// Get current position in steps // Get current position in steps
long st_get_position(char axis); long st_get_position(char axis);
@ -48,4 +49,4 @@ void endstops_hit_on_purpose(); //avoid creation of the message, i.e. after home
extern block_t *current_block; // A pointer to the block currently being traced extern block_t *current_block; // A pointer to the block currently being traced
#endif #endif

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