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Fix Endstops Core compatibility (#10822)

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Co-Authored-By: ejtagle <ejtagle@hotmail.com>
This commit is contained in:
Scott Lahteine
2018-05-23 03:45:12 -05:00
committed by GitHub
parent 25b3511241
commit 58a6eb656c
4 changed files with 116 additions and 108 deletions
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130
Marlin/endstops.cpp
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@@ -36,9 +36,9 @@
#endif
#if HAS_BED_PROBE
#define ENDSTOPS_ENABLED (endstops.enabled || endstops.z_probe_enabled)
#define ENDSTOPS_ENABLED (enabled || z_probe_enabled)
#else
#define ENDSTOPS_ENABLED endstops.enabled
#define ENDSTOPS_ENABLED enabled
#endif
Endstops endstops;
@@ -196,17 +196,17 @@ void Endstops::init() {
} // Endstops::init
// Called from ISR. A change was detected. Find out what happened!
void Endstops::check_possible_change() { if (ENDSTOPS_ENABLED) endstops.update(); }
void Endstops::check_possible_change() { if (ENDSTOPS_ENABLED) update(); }
// Called from ISR: Poll endstop state if required
void Endstops::poll() {
#if ENABLED(PINS_DEBUGGING)
endstops.run_monitor(); // report changes in endstop status
run_monitor(); // report changes in endstop status
#endif
#if DISABLED(ENDSTOP_INTERRUPTS_FEATURE) || ENABLED(ENDSTOP_NOISE_FILTER)
if (ENDSTOPS_ENABLED) endstops.update();
if (ENDSTOPS_ENABLED) update();
#endif
}
@@ -214,7 +214,7 @@ void Endstops::enable_globally(const bool onoff) {
enabled_globally = enabled = onoff;
#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
if (onoff) endstops.update(); // If enabling, update state now
if (onoff) update(); // If enabling, update state now
#endif
}
@@ -223,17 +223,16 @@ void Endstops::enable(const bool onoff) {
enabled = onoff;
#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
if (onoff) endstops.update(); // If enabling, update state now
if (onoff) update(); // If enabling, update state now
#endif
}
// Disable / Enable endstops based on ENSTOPS_ONLY_FOR_HOMING and global enable
void Endstops::not_homing() {
enabled = enabled_globally;
#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
if (enabled) endstops.update(); // If enabling, update state now
if (enabled) update(); // If enabling, update state now
#endif
}
@@ -242,7 +241,7 @@ void Endstops::hit_on_purpose() {
hit_state = 0;
#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
if (enabled) endstops.update(); // If enabling, update state now
if (enabled) update(); // If enabling, update state now
#endif
}
@@ -252,7 +251,7 @@ void Endstops::hit_on_purpose() {
z_probe_enabled = onoff;
#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
if (enabled) endstops.update(); // If enabling, update state now
if (enabled) update(); // If enabling, update state now
#endif
}
#endif
@@ -379,7 +378,6 @@ void Endstops::M119() {
// Check endstops - Could be called from ISR!
void Endstops::update() {
#define SET_BIT(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(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
@@ -390,75 +388,6 @@ void Endstops::update() {
if (G38_move) UPDATE_ENDSTOP_BIT(Z, MIN_PROBE);
#endif
/**
* Define conditions for checking endstops
*/
#if IS_CORE
#define S_(N) stepper.movement_non_null(CORE_AXIS_##N)
#define D_(N) stepper.motor_direction(CORE_AXIS_##N)
#endif
#if CORE_IS_XY || CORE_IS_XZ
/**
* Head direction in -X axis for CoreXY and CoreXZ bots.
*
* If steps differ, both axes are moving.
* If DeltaA == -DeltaB, the movement is only in the 2nd axis (Y or Z, handled below)
* If DeltaA == DeltaB, the movement is only in the 1st axis (X)
*/
#if ENABLED(COREXY) || ENABLED(COREXZ)
#define X_CMP ==
#else
#define X_CMP !=
#endif
#define X_MOVE_TEST ( S_(1) != S_(2) || (S_(1) > 0 && D_(1) X_CMP D_(2)) )
#define X_AXIS_HEAD X_HEAD
#else
#define X_MOVE_TEST stepper.movement_non_null(X_AXIS)
#define X_AXIS_HEAD X_AXIS
#endif
#if CORE_IS_XY || CORE_IS_YZ
/**
* Head direction in -Y axis for CoreXY / CoreYZ bots.
*
* If steps differ, both axes are moving
* If DeltaA == DeltaB, the movement is only in the 1st axis (X or Y)
* If DeltaA == -DeltaB, the movement is only in the 2nd axis (Y or Z)
*/
#if ENABLED(COREYX) || ENABLED(COREYZ)
#define Y_CMP ==
#else
#define Y_CMP !=
#endif
#define Y_MOVE_TEST ( S_(1) != S_(2) || (S_(1) > 0 && D_(1) Y_CMP D_(2)) )
#define Y_AXIS_HEAD Y_HEAD
#else
#define Y_MOVE_TEST stepper.movement_non_null(Y_AXIS)
#define Y_AXIS_HEAD Y_AXIS
#endif
#if CORE_IS_XZ || CORE_IS_YZ
/**
* Head direction in -Z axis for CoreXZ or CoreYZ bots.
*
* If steps differ, both axes are moving
* If DeltaA == DeltaB, the movement is only in the 1st axis (X or Y, already handled above)
* If DeltaA == -DeltaB, the movement is only in the 2nd axis (Z)
*/
#if ENABLED(COREZX) || ENABLED(COREZY)
#define Z_CMP ==
#else
#define Z_CMP !=
#endif
#define Z_MOVE_TEST ( S_(1) != S_(2) || (S_(1) > 0 && D_(1) Z_CMP D_(2)) )
#define Z_AXIS_HEAD Z_HEAD
#else
#define Z_MOVE_TEST stepper.movement_non_null(Z_AXIS)
#define Z_AXIS_HEAD Z_AXIS
#endif
// With Dual X, endstops are only checked in the homing direction for the active extruder
#if ENABLED(DUAL_X_CARRIAGE)
#define E0_ACTIVE stepper.movement_extruder() == 0
@@ -469,10 +398,27 @@ void Endstops::update() {
#define X_MAX_TEST true
#endif
// Use HEAD for core axes, AXIS for others
#if CORE_IS_XY || CORE_IS_XZ
#define X_AXIS_HEAD X_HEAD
#else
#define X_AXIS_HEAD X_AXIS
#endif
#if CORE_IS_XY || CORE_IS_YZ
#define Y_AXIS_HEAD Y_HEAD
#else
#define Y_AXIS_HEAD Y_AXIS
#endif
#if CORE_IS_XZ || CORE_IS_YZ
#define Z_AXIS_HEAD Z_HEAD
#else
#define Z_AXIS_HEAD Z_AXIS
#endif
/**
* Check and update endstops according to conditions
*/
if (X_MOVE_TEST) {
if (stepper.axis_is_moving(X_AXIS)) {
if (stepper.motor_direction(X_AXIS_HEAD)) { // -direction
#if HAS_X_MIN
#if ENABLED(X_DUAL_ENDSTOPS)
@@ -503,7 +449,7 @@ void Endstops::update() {
}
}
if (Y_MOVE_TEST) {
if (stepper.axis_is_moving(Y_AXIS)) {
if (stepper.motor_direction(Y_AXIS_HEAD)) { // -direction
#if HAS_Y_MIN
#if ENABLED(Y_DUAL_ENDSTOPS)
@@ -534,7 +480,7 @@ void Endstops::update() {
}
}
if (Z_MOVE_TEST) {
if (stepper.axis_is_moving(Z_AXIS)) {
if (stepper.motor_direction(Z_AXIS_HEAD)) { // Z -direction. Gantry down, bed up.
#if HAS_Z_MIN
#if ENABLED(Z_DUAL_ENDSTOPS)
@@ -555,9 +501,7 @@ void Endstops::update() {
// When closing the gap check the enabled probe
#if ENABLED(Z_MIN_PROBE_ENDSTOP)
if (z_probe_enabled) {
UPDATE_ENDSTOP_BIT(Z, MIN_PROBE);
}
if (z_probe_enabled) UPDATE_ENDSTOP_BIT(Z, MIN_PROBE);
#endif
}
else { // Z +direction. Gantry up, bed down.
@@ -633,16 +577,16 @@ void Endstops::update() {
// If G38 command is active check Z_MIN_PROBE for ALL movement
if (G38_move) {
if (TEST_ENDSTOP(_ENDSTOP(Z, MIN_PROBE))) {
if (stepper.movement_non_null(_AXIS(X))) { _ENDSTOP_HIT(X, MIN); planner.endstop_triggered(_AXIS(X)); }
else if (stepper.movement_non_null(_AXIS(Y))) { _ENDSTOP_HIT(Y, MIN); planner.endstop_triggered(_AXIS(Y)); }
else if (stepper.movement_non_null(_AXIS(Z))) { _ENDSTOP_HIT(Z, MIN); planner.endstop_triggered(_AXIS(Z)); }
if (stepper.axis_is_moving(_AXIS(X))) { _ENDSTOP_HIT(X, MIN); planner.endstop_triggered(_AXIS(X)); }
else if (stepper.axis_is_moving(_AXIS(Y))) { _ENDSTOP_HIT(Y, MIN); planner.endstop_triggered(_AXIS(Y)); }
else if (stepper.axis_is_moving(_AXIS(Z))) { _ENDSTOP_HIT(Z, MIN); planner.endstop_triggered(_AXIS(Z)); }
G38_endstop_hit = true;
}
}
#endif
// Now, we must signal, after validation, if an endstop limit is pressed or not
if (X_MOVE_TEST) {
if (stepper.axis_is_moving(X_AXIS)) {
if (stepper.motor_direction(X_AXIS_HEAD)) { // -direction
#if HAS_X_MIN
#if ENABLED(X_DUAL_ENDSTOPS)
@@ -663,7 +607,7 @@ void Endstops::update() {
}
}
if (Y_MOVE_TEST) {
if (stepper.axis_is_moving(Y_AXIS)) {
if (stepper.motor_direction(Y_AXIS_HEAD)) { // -direction
#if HAS_Y_MIN
#if ENABLED(Y_DUAL_ENDSTOPS)
@@ -684,7 +628,7 @@ void Endstops::update() {
}
}
if (Z_MOVE_TEST) {
if (stepper.axis_is_moving(Z_AXIS)) {
if (stepper.motor_direction(Z_AXIS_HEAD)) { // Z -direction. Gantry down, bed up.
#if HAS_Z_MIN
#if ENABLED(Z_DUAL_ENDSTOPS)