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Pack endstop flags

This commit is contained in:
Alex Voinea 2022-02-04 15:24:24 +01:00
parent 21a0b53647
commit f068c3258f
2 changed files with 54 additions and 84 deletions
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134
Firmware/stepper.cpp
View File

@ -108,12 +108,7 @@ static_assert(TMC2130_MINIMUM_DELAY 1, // this will fail to compile when non-emp
//=============================public variables ============================
//===========================================================================
block_t *current_block; // A pointer to the block currently being traced
bool x_min_endstop = false;
bool x_max_endstop = false;
bool y_min_endstop = false;
bool y_max_endstop = false;
bool z_min_endstop = false;
bool z_max_endstop = false;
//===========================================================================
//=============================private variables ============================
//===========================================================================
@ -134,9 +129,7 @@ static uint16_t OCR1A_nominal;
static uint8_t step_loops_nominal;
volatile long endstops_trigsteps[3]={0,0,0};
static volatile bool endstop_x_hit=false;
static volatile bool endstop_y_hit=false;
static volatile bool endstop_z_hit=false;
static volatile uint8_t endstop_hit = 0;
#ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
bool abort_on_endstop_hit = false;
#endif
@ -146,17 +139,8 @@ bool abort_on_endstop_hit = false;
int motor_current_setting_loud[3] = DEFAULT_PWM_MOTOR_CURRENT_LOUD;
#endif
#if ( (defined(X_MAX_PIN) && (X_MAX_PIN > -1)) || defined(TMC2130_SG_HOMING) ) && !defined(DEBUG_DISABLE_XMAXLIMIT)
static bool old_x_max_endstop=false;
#endif
#if ( (defined(Y_MAX_PIN) && (Y_MAX_PIN > -1)) || defined(TMC2130_SG_HOMING) ) && !defined(DEBUG_DISABLE_YMAXLIMIT)
static bool old_y_max_endstop=false;
#endif
static bool old_x_min_endstop=false;
static bool old_y_min_endstop=false;
static bool old_z_min_endstop=false;
static bool old_z_max_endstop=false;
static uint8_t endstop = 0;
static uint8_t old_endstop = 0;
static bool check_endstops = true;
@ -205,25 +189,23 @@ extern uint16_t stepper_timer_overflow_last;
void checkHitEndstops()
{
if( endstop_x_hit || endstop_y_hit || endstop_z_hit) {
if( endstop_hit) {
SERIAL_ECHO_START;
SERIAL_ECHORPGM(MSG_ENDSTOPS_HIT);
if(endstop_x_hit) {
if(endstop_hit & _BV(X_AXIS)) {
SERIAL_ECHOPAIR(" X:",(float)endstops_trigsteps[X_AXIS]/cs.axis_steps_per_unit[X_AXIS]);
// LCD_MESSAGERPGM(CAT2((MSG_ENDSTOPS_HIT), PSTR("X")));
}
if(endstop_y_hit) {
if(endstop_hit & _BV(Y_AXIS)) {
SERIAL_ECHOPAIR(" Y:",(float)endstops_trigsteps[Y_AXIS]/cs.axis_steps_per_unit[Y_AXIS]);
// LCD_MESSAGERPGM(CAT2((MSG_ENDSTOPS_HIT), PSTR("Y")));
}
if(endstop_z_hit) {
if(endstop_hit & _BV(Z_AXIS)) {
SERIAL_ECHOPAIR(" Z:",(float)endstops_trigsteps[Z_AXIS]/cs.axis_steps_per_unit[Z_AXIS]);
// LCD_MESSAGERPGM(CAT2((MSG_ENDSTOPS_HIT),PSTR("Z")));
}
SERIAL_ECHOLN("");
endstop_x_hit=false;
endstop_y_hit=false;
endstop_z_hit=false;
endstop_hit = 0;
#if defined(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED) && defined(SDSUPPORT)
if (abort_on_endstop_hit)
{
@ -240,17 +222,15 @@ void checkHitEndstops()
bool endstops_hit_on_purpose()
{
bool hit = endstop_x_hit || endstop_y_hit || endstop_z_hit;
endstop_x_hit=false;
endstop_y_hit=false;
endstop_z_hit=false;
return hit;
uint8_t old = endstop_hit;
endstop_hit = 0;
return old;
}
bool endstop_z_hit_on_purpose()
{
bool hit = endstop_z_hit;
endstop_z_hit=false;
bool hit = endstop_hit & _BV(Z_AXIS);
endstop_hit &= ~_BV(Z_AXIS);
return hit;
}
@ -265,7 +245,7 @@ bool enable_z_endstop(bool check)
{
bool old = check_z_endstop;
check_z_endstop = check;
endstop_z_hit = false;
endstop_hit &= ~_BV(Z_AXIS);
return old;
}
@ -509,33 +489,31 @@ FORCE_INLINE void stepper_check_endstops()
#if ( (defined(X_MIN_PIN) && (X_MIN_PIN > -1)) || defined(TMC2130_SG_HOMING) ) && !defined(DEBUG_DISABLE_XMINLIMIT)
#ifdef TMC2130_SG_HOMING
// Stall guard homing turned on
x_min_endstop = (READ(X_TMC2130_DIAG) != 0);
SET_BIT_TO(endstop, X_AXIS, (READ(X_TMC2130_DIAG) != 0));
#else
// Normal homing
x_min_endstop = (READ(X_MIN_PIN) != X_MIN_ENDSTOP_INVERTING);
SET_BIT_TO(endstop, X_AXIS, (READ(X_MIN_PIN) != X_MIN_ENDSTOP_INVERTING));
#endif
if(x_min_endstop && old_x_min_endstop && (current_block->steps_x.wide > 0)) {
if((endstop & old_endstop & _BV(X_AXIS)) && (current_block->steps_x.wide > 0)) {
endstops_trigsteps[X_AXIS] = count_position[X_AXIS];
endstop_x_hit=true;
endstop_hit |= _BV(X_AXIS);
step_events_completed.wide = current_block->step_event_count.wide;
}
old_x_min_endstop = x_min_endstop;
#endif
} else { // +direction
#if ( (defined(X_MAX_PIN) && (X_MAX_PIN > -1)) || defined(TMC2130_SG_HOMING) ) && !defined(DEBUG_DISABLE_XMAXLIMIT)
#ifdef TMC2130_SG_HOMING
// Stall guard homing turned on
x_max_endstop = (READ(X_TMC2130_DIAG) != 0);
SET_BIT_TO(endstop, X_AXIS + 4, (READ(X_TMC2130_DIAG) != 0));
#else
// Normal homing
x_max_endstop = (READ(X_MAX_PIN) != X_MAX_ENDSTOP_INVERTING);
SET_BIT_TO(endstop, X_AXIS + 4, (READ(X_MAX_PIN) != X_MAX_ENDSTOP_INVERTING));
#endif
if(x_max_endstop && old_x_max_endstop && (current_block->steps_x.wide > 0)){
if((endstop & old_endstop & _BV(X_AXIS + 4)) && (current_block->steps_x.wide > 0)){
endstops_trigsteps[X_AXIS] = count_position[X_AXIS];
endstop_x_hit=true;
endstop_hit |= _BV(X_AXIS);
step_events_completed.wide = current_block->step_event_count.wide;
}
old_x_max_endstop = x_max_endstop;
#endif
}
@ -544,37 +522,35 @@ FORCE_INLINE void stepper_check_endstops()
#else
if ((((out_bits & (1<<X_AXIS)) != 0)&&(out_bits & (1<<Y_AXIS)) == 0)) // -Y occurs for -A and +B
#endif
{
{
#if ( (defined(Y_MIN_PIN) && (Y_MIN_PIN > -1)) || defined(TMC2130_SG_HOMING) ) && !defined(DEBUG_DISABLE_YMINLIMIT)
#ifdef TMC2130_SG_HOMING
// Stall guard homing turned on
y_min_endstop = (READ(Y_TMC2130_DIAG) != 0);
SET_BIT_TO(endstop, Y_AXIS, (READ(Y_TMC2130_DIAG) != 0));
#else
// Normal homing
y_min_endstop = (READ(Y_MIN_PIN) != Y_MIN_ENDSTOP_INVERTING);
SET_BIT_TO(endstop, Y_AXIS, (READ(Y_MIN_PIN) != Y_MIN_ENDSTOP_INVERTING));
#endif
if(y_min_endstop && old_y_min_endstop && (current_block->steps_y.wide > 0)) {
if((endstop & old_endstop & _BV(Y_AXIS)) && (current_block->steps_y.wide > 0)) {
endstops_trigsteps[Y_AXIS] = count_position[Y_AXIS];
endstop_y_hit=true;
endstop_hit |= _BV(Y_AXIS);
step_events_completed.wide = current_block->step_event_count.wide;
}
old_y_min_endstop = y_min_endstop;
#endif
} else { // +direction
#if ( (defined(Y_MAX_PIN) && (Y_MAX_PIN > -1)) || defined(TMC2130_SG_HOMING) ) && !defined(DEBUG_DISABLE_YMAXLIMIT)
#ifdef TMC2130_SG_HOMING
// Stall guard homing turned on
y_max_endstop = (READ(Y_TMC2130_DIAG) != 0);
SET_BIT_TO(endstop, Y_AXIS + 4, (READ(Y_TMC2130_DIAG) != 0));
#else
// Normal homing
y_max_endstop = (READ(Y_MAX_PIN) != Y_MAX_ENDSTOP_INVERTING);
SET_BIT_TO(endstop, Y_AXIS + 4, (READ(Y_MAX_PIN) != Y_MAX_ENDSTOP_INVERTING));
#endif
if(y_max_endstop && old_y_max_endstop && (current_block->steps_y.wide > 0)){
if((endstop & old_endstop & _BV(Y_AXIS + 4)) && (current_block->steps_y.wide > 0)){
endstops_trigsteps[Y_AXIS] = count_position[Y_AXIS];
endstop_y_hit=true;
endstop_hit |= _BV(Y_AXIS);
step_events_completed.wide = current_block->step_event_count.wide;
}
old_y_max_endstop = y_max_endstop;
#endif
}
@ -585,20 +561,19 @@ FORCE_INLINE void stepper_check_endstops()
#ifdef TMC2130_SG_HOMING
// Stall guard homing turned on
#ifdef TMC2130_STEALTH_Z
if ((tmc2130_mode == TMC2130_MODE_SILENT) && !(tmc2130_sg_homing_axes_mask & 0x04))
z_min_endstop = (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING);
else
if ((tmc2130_mode == TMC2130_MODE_SILENT) && !(tmc2130_sg_homing_axes_mask & 0x04))
SET_BIT_TO(endstop, Z_AXIS, (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING));
else
#endif //TMC2130_STEALTH_Z
z_min_endstop = (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING) || (READ(Z_TMC2130_DIAG) != 0);
SET_BIT_TO(endstop, Z_AXIS, (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING) || (READ(Z_TMC2130_DIAG) != 0));
#else
z_min_endstop = (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING);
SET_BIT_TO(endstop, Z_AXIS, (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING));
#endif //TMC2130_SG_HOMING
if(z_min_endstop && old_z_min_endstop && (current_block->steps_z.wide > 0)) {
if((endstop & old_endstop & _BV(Z_AXIS)) && (current_block->steps_z.wide > 0)) {
endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
endstop_z_hit=true;
endstop_hit |= _BV(Z_AXIS);
step_events_completed.wide = current_block->step_event_count.wide;
}
old_z_min_endstop = z_min_endstop;
}
#endif
} else { // +direction
@ -606,20 +581,19 @@ FORCE_INLINE void stepper_check_endstops()
#ifdef TMC2130_SG_HOMING
// Stall guard homing turned on
#ifdef TMC2130_STEALTH_Z
if ((tmc2130_mode == TMC2130_MODE_SILENT) && !(tmc2130_sg_homing_axes_mask & 0x04))
z_max_endstop = false;
else
if ((tmc2130_mode == TMC2130_MODE_SILENT) && !(tmc2130_sg_homing_axes_mask & 0x04))
SET_BIT_TO(endstop, Z_AXIS + 4, 0);
else
#endif //TMC2130_STEALTH_Z
z_max_endstop = (READ(Z_TMC2130_DIAG) != 0);
SET_BIT_TO(endstop, Z_AXIS + 4, (READ(Z_TMC2130_DIAG) != 0));
#else
z_max_endstop = (READ(Z_MAX_PIN) != Z_MAX_ENDSTOP_INVERTING);
SET_BIT_TO(endstop, Z_AXIS + 4, (READ(Z_MAX_PIN) != Z_MAX_ENDSTOP_INVERTING));
#endif //TMC2130_SG_HOMING
if(z_max_endstop && old_z_max_endstop && (current_block->steps_z.wide > 0)) {
if((endstop & old_endstop & _BV(Z_AXIS + 4)) && (current_block->steps_z.wide > 0)) {
endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
endstop_z_hit=true;
endstop_hit |= _BV(Z_AXIS);
step_events_completed.wide = current_block->step_event_count.wide;
}
old_z_max_endstop = z_max_endstop;
#endif
}
}
@ -632,22 +606,22 @@ FORCE_INLINE void stepper_check_endstops()
#ifdef TMC2130_SG_HOMING
// Stall guard homing turned on
#ifdef TMC2130_STEALTH_Z
if ((tmc2130_mode == TMC2130_MODE_SILENT) && !(tmc2130_sg_homing_axes_mask & 0x04))
z_min_endstop = (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING);
else
if ((tmc2130_mode == TMC2130_MODE_SILENT) && !(tmc2130_sg_homing_axes_mask & 0x04))
SET_BIT_TO(endstop, Z_AXIS, (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING));
else
#endif //TMC2130_STEALTH_Z
z_min_endstop = (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING) || (READ(Z_TMC2130_DIAG) != 0);
SET_BIT_TO(endstop, Z_AXIS, (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING) || (READ(Z_TMC2130_DIAG) != 0));
#else
z_min_endstop = (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING);
SET_BIT_TO(endstop, Z_AXIS, (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING));
#endif //TMC2130_SG_HOMING
if(z_min_endstop && old_z_min_endstop) {
if(endstop & old_endstop & _BV(Z_AXIS)) {
endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
endstop_z_hit=true;
endstop_hit |= _BV(Z_AXIS);
step_events_completed.wide = current_block->step_event_count.wide;
}
old_z_min_endstop = z_min_endstop;
}
#endif
old_endstop = endstop;
}

4
Firmware/stepper.h
View File

@ -70,10 +70,6 @@ void invert_z_endstop(bool endstop_invert);
void checkStepperErrors(); //Print errors detected by the stepper
extern block_t *current_block; // A pointer to the block currently being traced
extern bool x_min_endstop;
extern bool x_max_endstop;
extern bool y_min_endstop;
extern bool y_max_endstop;
extern volatile long count_position[NUM_AXIS];
void quickStop();