Regression: Endstops Core compatibility (#10823)
Co-Authored-By: ejtagle <ejtagle@hotmail.com>
This commit is contained in:
Scott Lahteine
GitHub
parent
c89649b46e
commit
3e3789da85
@ -71,6 +71,7 @@
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#define TEST(n,b) !!((n)&_BV(b))
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#define SBI(n,b) (n |= _BV(b))
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#define CBI(n,b) (n &= ~_BV(b))
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#define SET_BIT(N,B,TF) do{ if (TF) SBI(N,B); else CBI(N,B); }while(0)
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#define _BV32(b) (1UL << (b))
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#define TEST32(n,b) !!((n)&_BV32(b))
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@ -37,9 +37,9 @@
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#endif
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#if HAS_BED_PROBE
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#define ENDSTOPS_ENABLED (endstops.enabled || endstops.z_probe_enabled)
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#define ENDSTOPS_ENABLED (enabled || z_probe_enabled)
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#else
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#define ENDSTOPS_ENABLED endstops.enabled
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#define ENDSTOPS_ENABLED enabled
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#endif
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Endstops endstops;
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@ -223,17 +223,17 @@ void Endstops::init() {
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} // Endstops::init
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// Called from ISR. A change was detected. Find out what happened!
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void Endstops::check_possible_change() { if (ENDSTOPS_ENABLED) endstops.update(); }
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void Endstops::check_possible_change() { if (ENDSTOPS_ENABLED) update(); }
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// Called from ISR: Poll endstop state if required
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void Endstops::poll() {
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#if ENABLED(PINS_DEBUGGING)
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endstops.run_monitor(); // report changes in endstop status
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run_monitor(); // report changes in endstop status
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#endif
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#if DISABLED(ENDSTOP_INTERRUPTS_FEATURE) || ENABLED(ENDSTOP_NOISE_FILTER)
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if (ENDSTOPS_ENABLED) endstops.update();
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if (ENDSTOPS_ENABLED) update();
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#endif
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}
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@ -241,7 +241,7 @@ void Endstops::enable_globally(const bool onoff) {
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enabled_globally = enabled = onoff;
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#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
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if (onoff) endstops.update(); // If enabling, update state now
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if (onoff) update(); // If enabling, update state now
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#endif
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}
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@ -250,17 +250,16 @@ void Endstops::enable(const bool onoff) {
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enabled = onoff;
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#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
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if (onoff) endstops.update(); // If enabling, update state now
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if (onoff) update(); // If enabling, update state now
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#endif
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}
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// Disable / Enable endstops based on ENSTOPS_ONLY_FOR_HOMING and global enable
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void Endstops::not_homing() {
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enabled = enabled_globally;
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#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
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if (enabled) endstops.update(); // If enabling, update state now
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if (enabled) update(); // If enabling, update state now
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#endif
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}
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@ -269,7 +268,7 @@ void Endstops::hit_on_purpose() {
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hit_state = 0;
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#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
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if (enabled) endstops.update(); // If enabling, update state now
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if (enabled) update(); // If enabling, update state now
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#endif
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}
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@ -279,7 +278,7 @@ void Endstops::hit_on_purpose() {
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z_probe_enabled = onoff;
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#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
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if (enabled) endstops.update(); // If enabling, update state now
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if (enabled) update(); // If enabling, update state now
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#endif
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}
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#endif
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@ -417,75 +416,6 @@ void Endstops::update() {
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if (G38_move) UPDATE_ENDSTOP_BIT(Z, MIN_PROBE);
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#endif
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/**
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* Define conditions for checking endstops
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*/
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#if IS_CORE
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#define S_(N) stepper.movement_non_null(CORE_AXIS_##N)
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#define D_(N) stepper.motor_direction(CORE_AXIS_##N)
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#endif
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#if CORE_IS_XY || CORE_IS_XZ
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/**
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* Head direction in -X axis for CoreXY and CoreXZ bots.
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*
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* If steps differ, both axes are moving.
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* If DeltaA == -DeltaB, the movement is only in the 2nd axis (Y or Z, handled below)
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* If DeltaA == DeltaB, the movement is only in the 1st axis (X)
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*/
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#if ENABLED(COREXY) || ENABLED(COREXZ)
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#define X_CMP ==
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#else
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#define X_CMP !=
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#endif
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#define X_MOVE_TEST ( S_(1) != S_(2) || (S_(1) > 0 && D_(1) X_CMP D_(2)) )
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#define X_AXIS_HEAD X_HEAD
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#else
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#define X_MOVE_TEST stepper.movement_non_null(X_AXIS)
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#define X_AXIS_HEAD X_AXIS
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#endif
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#if CORE_IS_XY || CORE_IS_YZ
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/**
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* Head direction in -Y axis for CoreXY / CoreYZ bots.
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*
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* If steps differ, both axes are moving
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* If DeltaA == DeltaB, the movement is only in the 1st axis (X or Y)
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* If DeltaA == -DeltaB, the movement is only in the 2nd axis (Y or Z)
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*/
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#if ENABLED(COREYX) || ENABLED(COREYZ)
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#define Y_CMP ==
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#else
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#define Y_CMP !=
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#endif
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#define Y_MOVE_TEST ( S_(1) != S_(2) || (S_(1) > 0 && D_(1) Y_CMP D_(2)) )
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#define Y_AXIS_HEAD Y_HEAD
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#else
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#define Y_MOVE_TEST stepper.movement_non_null(Y_AXIS)
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#define Y_AXIS_HEAD Y_AXIS
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#endif
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#if CORE_IS_XZ || CORE_IS_YZ
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/**
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* Head direction in -Z axis for CoreXZ or CoreYZ bots.
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*
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* If steps differ, both axes are moving
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* If DeltaA == DeltaB, the movement is only in the 1st axis (X or Y, already handled above)
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* If DeltaA == -DeltaB, the movement is only in the 2nd axis (Z)
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*/
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#if ENABLED(COREZX) || ENABLED(COREZY)
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#define Z_CMP ==
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#else
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#define Z_CMP !=
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#endif
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#define Z_MOVE_TEST ( S_(1) != S_(2) || (S_(1) > 0 && D_(1) Z_CMP D_(2)) )
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#define Z_AXIS_HEAD Z_HEAD
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#else
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#define Z_MOVE_TEST stepper.movement_non_null(Z_AXIS)
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#define Z_AXIS_HEAD Z_AXIS
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#endif
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// With Dual X, endstops are only checked in the homing direction for the active extruder
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#if ENABLED(DUAL_X_CARRIAGE)
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#define E0_ACTIVE stepper.movement_extruder() == 0
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@ -496,10 +426,27 @@ void Endstops::update() {
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#define X_MAX_TEST true
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#endif
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// Use HEAD for core axes, AXIS for others
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#if CORE_IS_XY || CORE_IS_XZ
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#define X_AXIS_HEAD X_HEAD
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#else
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#define X_AXIS_HEAD X_AXIS
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#endif
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#if CORE_IS_XY || CORE_IS_YZ
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#define Y_AXIS_HEAD Y_HEAD
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#else
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#define Y_AXIS_HEAD Y_AXIS
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#endif
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#if CORE_IS_XZ || CORE_IS_YZ
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#define Z_AXIS_HEAD Z_HEAD
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#else
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#define Z_AXIS_HEAD Z_AXIS
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#endif
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/**
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* Check and update endstops according to conditions
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*/
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if (X_MOVE_TEST) {
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if (stepper.axis_is_moving(X_AXIS)) {
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if (stepper.motor_direction(X_AXIS_HEAD)) { // -direction
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#if HAS_X_MIN
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#if ENABLED(X_DUAL_ENDSTOPS)
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@ -530,7 +477,7 @@ void Endstops::update() {
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}
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}
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if (Y_MOVE_TEST) {
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if (stepper.axis_is_moving(Y_AXIS)) {
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if (stepper.motor_direction(Y_AXIS_HEAD)) { // -direction
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#if HAS_Y_MIN
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#if ENABLED(Y_DUAL_ENDSTOPS)
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@ -561,7 +508,7 @@ void Endstops::update() {
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}
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}
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if (Z_MOVE_TEST) {
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if (stepper.axis_is_moving(Z_AXIS)) {
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if (stepper.motor_direction(Z_AXIS_HEAD)) { // Z -direction. Gantry down, bed up.
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#if HAS_Z_MIN
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#if ENABLED(Z_DUAL_ENDSTOPS)
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@ -582,9 +529,7 @@ void Endstops::update() {
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// When closing the gap check the enabled probe
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#if ENABLED(Z_MIN_PROBE_ENDSTOP)
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if (z_probe_enabled) {
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UPDATE_ENDSTOP_BIT(Z, MIN_PROBE);
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}
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if (z_probe_enabled) UPDATE_ENDSTOP_BIT(Z, MIN_PROBE);
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#endif
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}
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else { // Z +direction. Gantry up, bed down.
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@ -660,16 +605,16 @@ void Endstops::update() {
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// If G38 command is active check Z_MIN_PROBE for ALL movement
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if (G38_move) {
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if (TEST_ENDSTOP(_ENDSTOP(Z, MIN_PROBE))) {
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if (stepper.movement_non_null(_AXIS(X))) { _ENDSTOP_HIT(X, MIN); planner.endstop_triggered(_AXIS(X)); }
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else if (stepper.movement_non_null(_AXIS(Y))) { _ENDSTOP_HIT(Y, MIN); planner.endstop_triggered(_AXIS(Y)); }
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else if (stepper.movement_non_null(_AXIS(Z))) { _ENDSTOP_HIT(Z, MIN); planner.endstop_triggered(_AXIS(Z)); }
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if (stepper.axis_is_moving(_AXIS(X))) { _ENDSTOP_HIT(X, MIN); planner.endstop_triggered(_AXIS(X)); }
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else if (stepper.axis_is_moving(_AXIS(Y))) { _ENDSTOP_HIT(Y, MIN); planner.endstop_triggered(_AXIS(Y)); }
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else if (stepper.axis_is_moving(_AXIS(Z))) { _ENDSTOP_HIT(Z, MIN); planner.endstop_triggered(_AXIS(Z)); }
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G38_endstop_hit = true;
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}
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}
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#endif
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// Now, we must signal, after validation, if an endstop limit is pressed or not
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if (X_MOVE_TEST) {
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if (stepper.axis_is_moving(X_AXIS)) {
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if (stepper.motor_direction(X_AXIS_HEAD)) { // -direction
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#if HAS_X_MIN
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#if ENABLED(X_DUAL_ENDSTOPS)
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@ -690,7 +635,7 @@ void Endstops::update() {
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}
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}
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if (Y_MOVE_TEST) {
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if (stepper.axis_is_moving(Y_AXIS)) {
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if (stepper.motor_direction(Y_AXIS_HEAD)) { // -direction
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#if HAS_Y_MIN
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#if ENABLED(Y_DUAL_ENDSTOPS)
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@ -711,7 +656,7 @@ void Endstops::update() {
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}
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}
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if (Z_MOVE_TEST) {
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if (stepper.axis_is_moving(Z_AXIS)) {
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if (stepper.motor_direction(Z_AXIS_HEAD)) { // Z -direction. Gantry down, bed up.
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#if HAS_Z_MIN
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#if ENABLED(Z_DUAL_ENDSTOPS)
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@ -96,10 +96,10 @@ block_t* Stepper::current_block = NULL; // A pointer to the block currently bei
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// private:
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uint8_t Stepper::last_direction_bits = 0, // The next stepping-bits to be output
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Stepper::last_movement_extruder = 0xFF; // Last movement extruder, as computed when the last movement was fetched from planner
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bool Stepper::abort_current_block, // Signals to the stepper that current block should be aborted
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Stepper::last_movement_non_null[NUM_AXIS]; // Last Movement in the given direction is not null, as computed when the last movement was fetched from planner
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uint8_t Stepper::last_direction_bits = 0,
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Stepper::last_movement_extruder = 0xFF,
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Stepper::axis_did_move;
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bool Stepper::abort_current_block;
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#if ENABLED(X_DUAL_ENDSTOPS)
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bool Stepper::locked_x_motor = false, Stepper::locked_x2_motor = false;
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@ -1566,8 +1566,75 @@ uint32_t Stepper::stepper_block_phase_isr() {
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return interval; // No more queued movements!
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}
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// Compute movement direction for proper endstop handling
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LOOP_NA(i) last_movement_non_null[i] = !!current_block->steps[i];
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// Flag all moving axes for proper endstop handling
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#if IS_CORE
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// Define conditions for checking endstops
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#define S_(N) current_block->steps[CORE_AXIS_##N]
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#define D_(N) motor_direction(CORE_AXIS_##N)
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#endif
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#if CORE_IS_XY || CORE_IS_XZ
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/**
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* Head direction in -X axis for CoreXY and CoreXZ bots.
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*
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* If steps differ, both axes are moving.
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* If DeltaA == -DeltaB, the movement is only in the 2nd axis (Y or Z, handled below)
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* If DeltaA == DeltaB, the movement is only in the 1st axis (X)
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*/
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#if ENABLED(COREXY) || ENABLED(COREXZ)
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#define X_CMP ==
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#else
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#define X_CMP !=
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#endif
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#define X_MOVE_TEST ( S_(1) != S_(2) || (S_(1) > 0 && D_(1) X_CMP D_(2)) )
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#else
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#define X_MOVE_TEST !!current_block->steps[X_AXIS]
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#endif
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#if CORE_IS_XY || CORE_IS_YZ
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/**
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* Head direction in -Y axis for CoreXY / CoreYZ bots.
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*
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* If steps differ, both axes are moving
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* If DeltaA == DeltaB, the movement is only in the 1st axis (X or Y)
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* If DeltaA == -DeltaB, the movement is only in the 2nd axis (Y or Z)
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*/
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#if ENABLED(COREYX) || ENABLED(COREYZ)
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#define Y_CMP ==
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#else
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#define Y_CMP !=
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#endif
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#define Y_MOVE_TEST ( S_(1) != S_(2) || (S_(1) > 0 && D_(1) Y_CMP D_(2)) )
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#else
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#define Y_MOVE_TEST !!current_block->steps[Y_AXIS]
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#endif
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#if CORE_IS_XZ || CORE_IS_YZ
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/**
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* Head direction in -Z axis for CoreXZ or CoreYZ bots.
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*
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* If steps differ, both axes are moving
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* If DeltaA == DeltaB, the movement is only in the 1st axis (X or Y, already handled above)
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* If DeltaA == -DeltaB, the movement is only in the 2nd axis (Z)
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*/
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#if ENABLED(COREZX) || ENABLED(COREZY)
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#define Z_CMP ==
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#else
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#define Z_CMP !=
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#endif
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#define Z_MOVE_TEST ( S_(1) != S_(2) || (S_(1) > 0 && D_(1) Z_CMP D_(2)) )
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#else
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#define Z_MOVE_TEST !!current_block->steps[Z_AXIS]
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#endif
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SET_BIT(axis_did_move, X_AXIS, X_MOVE_TEST);
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SET_BIT(axis_did_move, Y_AXIS, Y_MOVE_TEST);
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SET_BIT(axis_did_move, Z_AXIS, Z_MOVE_TEST);
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SET_BIT(axis_did_move, E_AXIS, !!current_block->steps[E_AXIS]);
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SET_BIT(axis_did_move, X_HEAD, !!current_block->steps[X_HEAD]);
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SET_BIT(axis_did_move, Y_HEAD, !!current_block->steps[Y_HEAD]);
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SET_BIT(axis_did_move, Z_HEAD, !!current_block->steps[Z_HEAD]);
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// Initialize the trapezoid generator from the current block.
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#if ENABLED(LIN_ADVANCE)
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@ -75,10 +75,10 @@ class Stepper {
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private:
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static uint8_t last_direction_bits, // The next stepping-bits to be output
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last_movement_extruder; // Last movement extruder, as computed when the last movement was fetched from planner
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static bool abort_current_block, // Signals to the stepper that current block should be aborted
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last_movement_non_null[NUM_AXIS]; // Last Movement in the given direction is not null, as computed when the last movement was fetched from planner
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static uint8_t last_direction_bits, // The next stepping-bits to be output
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last_movement_extruder, // Last movement extruder, as computed when the last movement was fetched from planner
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axis_did_move; // Last Movement in the given direction is not null, as computed when the last movement was fetched from planner
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static bool abort_current_block; // Signals to the stepper that current block should be aborted
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#if ENABLED(X_DUAL_ENDSTOPS)
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static bool locked_x_motor, locked_x2_motor;
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@ -198,7 +198,7 @@ class Stepper {
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FORCE_INLINE static bool motor_direction(const AxisEnum axis) { return TEST(last_direction_bits, axis); }
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// The last movement direction was not null on the specified axis. Note that motor direction is not necessarily the same.
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FORCE_INLINE static bool movement_non_null(const AxisEnum axis) { return last_movement_non_null[axis]; }
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FORCE_INLINE static bool axis_is_moving(const AxisEnum axis) { return TEST(axis_did_move, axis); }
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// The extruder associated to the last movement
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FORCE_INLINE static uint8_t movement_extruder() { return last_movement_extruder; }
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@ -326,8 +326,7 @@ class Stepper {
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}
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if (timer < 100) { // (20kHz - this should never happen)
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timer = 100;
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SERIAL_ECHOPGM(MSG_STEPPER_TOO_HIGH);
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SERIAL_ECHOLN(step_rate);
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SERIAL_ECHOLNPAIR(MSG_STEPPER_TOO_HIGH, step_rate);
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}
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#endif
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