Merge pull request #5729 from Bob-the-Kuhn/guaranteed-BLTouch-detection
guaranteed BLTouch detection
This commit is contained in:
Scott Lahteine
GitHub
commit
701f4a6d9d
@ -1987,8 +1987,13 @@ static void clean_up_after_endstop_or_probe_move() {
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#define STOW_PROBE() set_probe_deployed(false)
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#if ENABLED(BLTOUCH)
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void bltouch_command(int angle) {
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servo[Z_ENDSTOP_SERVO_NR].move(angle); // Give the BL-Touch the command and wait
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safe_delay(375);
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}
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FORCE_INLINE void set_bltouch_deployed(const bool &deploy) {
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servo[Z_ENDSTOP_SERVO_NR].move(deploy ? BLTOUCH_DEPLOY : BLTOUCH_STOW);
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bltouch_command(deploy ? BLTOUCH_DEPLOY : BLTOUCH_STOW);
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) {
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SERIAL_ECHOPAIR("set_bltouch_deployed(", deploy);
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@ -2016,7 +2021,15 @@ static void clean_up_after_endstop_or_probe_move() {
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// When deploying make sure BLTOUCH is not already triggered
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#if ENABLED(BLTOUCH)
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if (deploy && TEST_BLTOUCH()) { stop(); return true; }
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if (deploy && TEST_BLTOUCH()) { // If BL-Touch says it's triggered
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bltouch_command(BLTOUCH_RESET); // try to reset it.
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set_bltouch_deployed(true); // Also needs to deploy and stow to
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set_bltouch_deployed(false); // clear the triggered condition.
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if (TEST_BLTOUCH()) { // If it still claims to be triggered...
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stop(); // punt!
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return true;
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}
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}
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#elif ENABLED(Z_PROBE_SLED)
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if (axis_unhomed_error(true, false, false)) { stop(); return true; }
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#elif ENABLED(Z_PROBE_ALLEN_KEY)
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@ -10435,6 +10448,12 @@ void setup() {
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mixing_virtual_tool_mix[t][i] = mixing_factor[i];
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#endif
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#if ENABLED(BLTOUCH)
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bltouch_command(BLTOUCH_RESET); // Just in case the BLTouch is in the error state, try to
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set_bltouch_deployed(true); // reset it. Also needs to deploy and stow to clear the
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set_bltouch_deployed(false); // error condition.
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#endif
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#if ENABLED(EXPERIMENTAL_I2CBUS) && I2C_SLAVE_ADDRESS > 0
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i2c.onReceive(i2c_on_receive);
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i2c.onRequest(i2c_on_request);
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@ -92,4 +92,11 @@ class Endstops {
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extern Endstops endstops;
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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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#else
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#define ENDSTOPS_ENABLED endstops.enabled
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#endif
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#endif // ENDSTOPS_H
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@ -345,13 +345,50 @@ ISR(TIMER1_COMPA_vect) {
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void Stepper::isr() {
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#define _ENABLE_ISRs() cli(); SBI(TIMSK0, OCIE0B); ENABLE_STEPPER_DRIVER_INTERRUPT()
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uint16_t timer, remainder, ocr_val;
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static uint32_t step_remaining = 0;
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#define ENDSTOP_NOMINAL_OCR_VAL 3000 // check endstops every 1.5ms to guarantee two stepper ISRs within 5ms for BLTouch
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#define OCR_VAL_TOLERANCE 1000 // First max delay is 2.0ms, last min delay is 0.5ms, all others 1.5ms
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#if DISABLED(ADVANCE) && DISABLED(LIN_ADVANCE)
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//Disable Timer0 ISRs and enable global ISR again to capture UART events (incoming chars)
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CBI(TIMSK0, OCIE0B); //Temperature ISR
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// Disable Timer0 ISRs and enable global ISR again to capture UART events (incoming chars)
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CBI(TIMSK0, OCIE0B); // Temperature ISR
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DISABLE_STEPPER_DRIVER_INTERRUPT();
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sei();
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#endif
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#define _SPLIT(L) (ocr_val = (uint16_t)L)
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#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
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#define SPLIT(L) _SPLIT(L)
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#else // sample endstops in between step pulses
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#define SPLIT(L) do { \
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_SPLIT(L); \
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if (ENDSTOPS_ENABLED && L > ENDSTOP_NOMINAL_OCR_VAL) { \
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remainder = (uint16_t)L % (ENDSTOP_NOMINAL_OCR_VAL); \
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ocr_val = (remainder < OCR_VAL_TOLERANCE) ? ENDSTOP_NOMINAL_OCR_VAL + remainder : ENDSTOP_NOMINAL_OCR_VAL; \
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step_remaining = (uint16_t)L - ocr_val; \
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} \
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} while(0)
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if (step_remaining && ENDSTOPS_ENABLED) { // Just check endstops - not yet time for a step
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endstops.update();
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ocr_val = step_remaining;
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if (step_remaining > ENDSTOP_NOMINAL_OCR_VAL) {
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step_remaining = step_remaining - ENDSTOP_NOMINAL_OCR_VAL;
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ocr_val = ENDSTOP_NOMINAL_OCR_VAL;
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}
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else step_remaining = 0; // last one before the ISR that does the step
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_NEXT_ISR(ocr_val); //
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NOLESS(OCR1A, TCNT1 + 16);
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_ENABLE_ISRs(); // re-enable ISRs
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return;
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}
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# endif
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if (cleaning_buffer_counter) {
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--cleaning_buffer_counter;
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current_block = NULL;
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@ -407,21 +444,16 @@ void Stepper::isr() {
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}
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// Update endstops state, if enabled
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if ((endstops.enabled
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#if HAS_BED_PROBE
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|| endstops.z_probe_enabled
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#endif
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)
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#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
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&& e_hit
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#endif
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) {
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endstops.update();
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#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
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#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
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if (ENDSTOPS_ENABLED && e_hit) {
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endstops.update();
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e_hit--;
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#endif
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}
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}
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#else
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if (ENDSTOPS_ENABLED) endstops.update();
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#endif
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// Take multiple steps per interrupt (For high speed moves)
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bool all_steps_done = false;
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@ -600,7 +632,10 @@ void Stepper::isr() {
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// step_rate to timer interval
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uint16_t timer = calc_timer(acc_step_rate);
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_NEXT_ISR(timer);
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SPLIT(timer); // split step into multiple ISRs if larger than ENDSTOP_NOMINAL_OCR_VAL
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_NEXT_ISR(ocr_val);
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acceleration_time += timer;
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#if ENABLED(LIN_ADVANCE)
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@ -653,7 +688,10 @@ void Stepper::isr() {
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// step_rate to timer interval
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uint16_t timer = calc_timer(step_rate);
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_NEXT_ISR(timer);
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SPLIT(timer); // split step into multiple ISRs if larger than ENDSTOP_NOMINAL_OCR_VAL
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_NEXT_ISR(ocr_val);
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deceleration_time += timer;
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#if ENABLED(LIN_ADVANCE)
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@ -702,7 +740,9 @@ void Stepper::isr() {
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#endif
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_NEXT_ISR(OCR1A_nominal);
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SPLIT(OCR1A_nominal); // split step into multiple ISRs if larger than ENDSTOP_NOMINAL_OCR_VAL
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_NEXT_ISR(ocr_val);
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// ensure we're running at the correct step rate, even if we just came off an acceleration
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step_loops = step_loops_nominal;
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}
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@ -33,6 +33,10 @@
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#include "stepper.h"
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#endif
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#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
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#include "endstops.h"
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#endif
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#if ENABLED(USE_WATCHDOG)
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#include "watchdog.h"
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#endif
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@ -1944,5 +1948,15 @@ void Temperature::isr() {
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}
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#endif
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#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
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extern volatile uint8_t e_hit;
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if (e_hit && ENDSTOPS_ENABLED) {
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endstops.update(); // call endstop update routine
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e_hit--;
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}
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#endif
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SBI(TIMSK0, OCIE0B); //re-enable Temperature ISR
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}
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