Stepper and Endstops as singleton objects
Scott Lahteine
9 years ago
parent
98f30283fa
commit
5e4e535ce8
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/**
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* Marlin 3D Printer Firmware
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* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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/**
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* endstops.cpp - A singleton object to manage endstops
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*/
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#include "Marlin.h"
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#include "endstops.h"
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#include "stepper.h"
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#include "ultralcd.h"
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// TEST_ENDSTOP: test the old and the current status of an endstop
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#define TEST_ENDSTOP(ENDSTOP) (TEST(current_endstop_bits & old_endstop_bits, ENDSTOP))
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Endstops endstops;
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Endstops::Endstops() {
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enable_globally(ENABLED(ENDSTOPS_ONLY_FOR_HOMING));
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enable(true);
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#if ENABLED(HAS_Z_MIN_PROBE)
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enable_z_probe(false);
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#endif
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} // Endstops::Endstops
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void Endstops::init() {
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#if HAS_X_MIN
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SET_INPUT(X_MIN_PIN);
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#if ENABLED(ENDSTOPPULLUP_XMIN)
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WRITE(X_MIN_PIN,HIGH);
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#endif
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#endif
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#if HAS_Y_MIN
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SET_INPUT(Y_MIN_PIN);
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#if ENABLED(ENDSTOPPULLUP_YMIN)
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WRITE(Y_MIN_PIN,HIGH);
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#endif
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#endif
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#if HAS_Z_MIN
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SET_INPUT(Z_MIN_PIN);
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#if ENABLED(ENDSTOPPULLUP_ZMIN)
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WRITE(Z_MIN_PIN,HIGH);
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#endif
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#endif
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#if HAS_Z2_MIN
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SET_INPUT(Z2_MIN_PIN);
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#if ENABLED(ENDSTOPPULLUP_ZMIN)
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WRITE(Z2_MIN_PIN,HIGH);
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#endif
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#endif
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#if HAS_X_MAX
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SET_INPUT(X_MAX_PIN);
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#if ENABLED(ENDSTOPPULLUP_XMAX)
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WRITE(X_MAX_PIN,HIGH);
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#endif
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#endif
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#if HAS_Y_MAX
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SET_INPUT(Y_MAX_PIN);
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#if ENABLED(ENDSTOPPULLUP_YMAX)
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WRITE(Y_MAX_PIN,HIGH);
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#endif
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#endif
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#if HAS_Z_MAX
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SET_INPUT(Z_MAX_PIN);
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#if ENABLED(ENDSTOPPULLUP_ZMAX)
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WRITE(Z_MAX_PIN,HIGH);
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#endif
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#endif
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#if HAS_Z2_MAX
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SET_INPUT(Z2_MAX_PIN);
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#if ENABLED(ENDSTOPPULLUP_ZMAX)
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WRITE(Z2_MAX_PIN,HIGH);
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#endif
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#endif
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#if HAS_Z_PROBE && ENABLED(Z_MIN_PROBE_ENDSTOP) // Check for Z_MIN_PROBE_ENDSTOP so we don't pull a pin high unless it's to be used.
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SET_INPUT(Z_MIN_PROBE_PIN);
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#if ENABLED(ENDSTOPPULLUP_ZMIN_PROBE)
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WRITE(Z_MIN_PROBE_PIN,HIGH);
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#endif
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#endif
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} // Endstops::init
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void Endstops::report_state() {
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if (endstop_hit_bits) {
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#if ENABLED(ULTRA_LCD)
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char chrX = ' ', chrY = ' ', chrZ = ' ', chrP = ' ';
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#define _SET_STOP_CHAR(A,C) (chr## A = C)
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#else
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#define _SET_STOP_CHAR(A,C) ;
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#endif
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#define _ENDSTOP_HIT_ECHO(A,C) do{ \
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SERIAL_ECHOPAIR(" " STRINGIFY(A) ":", stepper.triggered_position_mm(A ##_AXIS)); \
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_SET_STOP_CHAR(A,C); }while(0)
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#define _ENDSTOP_HIT_TEST(A,C) \
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if (TEST(endstop_hit_bits, A ##_MIN) || TEST(endstop_hit_bits, A ##_MAX)) \
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_ENDSTOP_HIT_ECHO(A,C)
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SERIAL_ECHO_START;
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SERIAL_ECHOPGM(MSG_ENDSTOPS_HIT);
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_ENDSTOP_HIT_TEST(X, 'X');
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_ENDSTOP_HIT_TEST(Y, 'Y');
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_ENDSTOP_HIT_TEST(Z, 'Z');
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#if ENABLED(Z_MIN_PROBE_ENDSTOP)
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#define P_AXIS Z_AXIS
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if (TEST(endstop_hit_bits, Z_MIN_PROBE)) _ENDSTOP_HIT_ECHO(P, 'P');
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#endif
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SERIAL_EOL;
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#if ENABLED(ULTRA_LCD)
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char msg[3 * strlen(MSG_LCD_ENDSTOPS) + 8 + 1]; // Room for a UTF 8 string
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sprintf_P(msg, PSTR(MSG_LCD_ENDSTOPS " %c %c %c %c"), chrX, chrY, chrZ, chrP);
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lcd_setstatus(msg);
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#endif
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hit_on_purpose();
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#if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED) && ENABLED(SDSUPPORT)
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if (abort_on_endstop_hit) {
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card.sdprinting = false;
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card.closefile();
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stepper.quick_stop();
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disable_all_heaters(); // switch off all heaters.
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}
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#endif
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}
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} // Endstops::report_state
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// Check endstops - Called from ISR!
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void Endstops::update() {
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#define _ENDSTOP_PIN(AXIS, MINMAX) AXIS ##_## MINMAX ##_PIN
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#define _ENDSTOP_INVERTING(AXIS, MINMAX) AXIS ##_## MINMAX ##_ENDSTOP_INVERTING
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#define _ENDSTOP_HIT(AXIS) SBI(endstop_hit_bits, _ENDSTOP(AXIS, MIN))
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#define _ENDSTOP(AXIS, MINMAX) AXIS ##_## MINMAX
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// UPDATE_ENDSTOP_BIT: set the current endstop bits for an endstop to its status
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#define UPDATE_ENDSTOP_BIT(AXIS, MINMAX) SET_BIT(current_endstop_bits, _ENDSTOP(AXIS, MINMAX), (READ(_ENDSTOP_PIN(AXIS, MINMAX)) != _ENDSTOP_INVERTING(AXIS, MINMAX)))
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// COPY_BIT: copy the value of COPY_BIT to BIT in bits
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#define COPY_BIT(bits, COPY_BIT, BIT) SET_BIT(bits, BIT, TEST(bits, COPY_BIT))
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#define UPDATE_ENDSTOP(AXIS,MINMAX) do { \
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UPDATE_ENDSTOP_BIT(AXIS, MINMAX); \
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if (TEST_ENDSTOP(_ENDSTOP(AXIS, MINMAX)) && stepper.current_block->steps[_AXIS(AXIS)] > 0) { \
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_ENDSTOP_HIT(AXIS); \
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stepper.endstop_triggered(_AXIS(AXIS)); \
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} \
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} while(0)
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#if ENABLED(COREXY) || ENABLED(COREXZ)
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// Head direction in -X axis for CoreXY and CoreXZ bots.
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// If Delta1 == -Delta2, the movement is only in Y or Z axis
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if ((stepper.current_block->steps[A_AXIS] != stepper.current_block->steps[CORE_AXIS_2]) || (stepper.motor_direction(A_AXIS) == stepper.motor_direction(CORE_AXIS_2))) {
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if (stepper.motor_direction(X_HEAD))
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#else
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if (stepper.motor_direction(X_AXIS)) // stepping along -X axis (regular Cartesian bot)
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#endif
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{ // -direction
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#if ENABLED(DUAL_X_CARRIAGE)
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// with 2 x-carriages, endstops are only checked in the homing direction for the active extruder
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if ((stepper.current_block->active_extruder == 0 && X_HOME_DIR == -1) || (stepper.current_block->active_extruder != 0 && X2_HOME_DIR == -1))
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#endif
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{
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#if HAS_X_MIN
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UPDATE_ENDSTOP(X, MIN);
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#endif
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}
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}
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else { // +direction
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#if ENABLED(DUAL_X_CARRIAGE)
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// with 2 x-carriages, endstops are only checked in the homing direction for the active extruder
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if ((stepper.current_block->active_extruder == 0 && X_HOME_DIR == 1) || (stepper.current_block->active_extruder != 0 && X2_HOME_DIR == 1))
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#endif
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{
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#if HAS_X_MAX
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UPDATE_ENDSTOP(X, MAX);
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#endif
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}
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}
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#if ENABLED(COREXY) || ENABLED(COREXZ)
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}
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#endif
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#if ENABLED(COREXY)
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// Head direction in -Y axis for CoreXY bots.
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// If DeltaX == DeltaY, the movement is only in X axis
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if ((stepper.current_block->steps[A_AXIS] != stepper.current_block->steps[B_AXIS]) || (stepper.motor_direction(A_AXIS) != stepper.motor_direction(B_AXIS))) {
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if (stepper.motor_direction(Y_HEAD))
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#else
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if (stepper.motor_direction(Y_AXIS)) // -direction
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#endif
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{ // -direction
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#if HAS_Y_MIN
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UPDATE_ENDSTOP(Y, MIN);
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#endif
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}
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else { // +direction
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#if HAS_Y_MAX
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UPDATE_ENDSTOP(Y, MAX);
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#endif
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}
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#if ENABLED(COREXY)
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}
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#endif
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#if ENABLED(COREXZ)
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// Head direction in -Z axis for CoreXZ bots.
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// If DeltaX == DeltaZ, the movement is only in X axis
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if ((stepper.current_block->steps[A_AXIS] != stepper.current_block->steps[C_AXIS]) || (stepper.motor_direction(A_AXIS) != stepper.motor_direction(C_AXIS))) {
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if (stepper.motor_direction(Z_HEAD))
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#else
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if (stepper.motor_direction(Z_AXIS))
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#endif
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{ // z -direction
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#if HAS_Z_MIN
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#if ENABLED(Z_DUAL_ENDSTOPS)
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UPDATE_ENDSTOP_BIT(Z, MIN);
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#if HAS_Z2_MIN
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UPDATE_ENDSTOP_BIT(Z2, MIN);
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#else
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COPY_BIT(current_endstop_bits, Z_MIN, Z2_MIN);
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#endif
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byte z_test = TEST_ENDSTOP(Z_MIN) | (TEST_ENDSTOP(Z2_MIN) << 1); // bit 0 for Z, bit 1 for Z2
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if (z_test && stepper.current_block->steps[Z_AXIS] > 0) { // z_test = Z_MIN || Z2_MIN
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stepper.endstop_triggered(Z_AXIS);
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SBI(endstop_hit_bits, Z_MIN);
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if (!performing_homing || (z_test == 0x3)) //if not performing home or if both endstops were trigged during homing...
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stepper.kill_current_block();
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}
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#else // !Z_DUAL_ENDSTOPS
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#if ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN) && ENABLED(HAS_Z_MIN_PROBE)
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if (z_probe_enabled) UPDATE_ENDSTOP(Z, MIN);
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#else
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UPDATE_ENDSTOP(Z, MIN);
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#endif
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#endif // !Z_DUAL_ENDSTOPS
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#endif // HAS_Z_MIN
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#if ENABLED(Z_MIN_PROBE_ENDSTOP) && DISABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN) && ENABLED(HAS_Z_MIN_PROBE)
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if (z_probe_enabled) {
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UPDATE_ENDSTOP(Z, MIN_PROBE);
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if (TEST_ENDSTOP(Z_MIN_PROBE)) SBI(endstop_hit_bits, Z_MIN_PROBE);
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}
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#endif
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}
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else { // z +direction
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#if HAS_Z_MAX
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#if ENABLED(Z_DUAL_ENDSTOPS)
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UPDATE_ENDSTOP_BIT(Z, MAX);
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#if HAS_Z2_MAX
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UPDATE_ENDSTOP_BIT(Z2, MAX);
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#else
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COPY_BIT(current_endstop_bits, Z_MAX, Z2_MAX);
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#endif
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byte z_test = TEST_ENDSTOP(Z_MAX) | (TEST_ENDSTOP(Z2_MAX) << 1); // bit 0 for Z, bit 1 for Z2
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if (z_test && stepper.current_block->steps[Z_AXIS] > 0) { // t_test = Z_MAX || Z2_MAX
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stepper.endstop_triggered(Z_AXIS);
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SBI(endstop_hit_bits, Z_MIN);
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if (!performing_homing || (z_test == 0x3)) //if not performing home or if both endstops were trigged during homing...
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stepper.kill_current_block();
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}
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#else // !Z_DUAL_ENDSTOPS
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UPDATE_ENDSTOP(Z, MAX);
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#endif // !Z_DUAL_ENDSTOPS
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#endif // Z_MAX_PIN
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}
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#if ENABLED(COREXZ)
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}
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#endif
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old_endstop_bits = current_endstop_bits;
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} // Endstops::update()
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@ -0,0 +1,94 @@
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/**
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* Marlin 3D Printer Firmware
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* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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/**
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* endstops.h - manages endstops
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*/
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#ifndef ENDSTOPS_H
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#define ENDSTOPS_H
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enum EndstopEnum {X_MIN = 0, Y_MIN = 1, Z_MIN = 2, Z_MIN_PROBE = 3, X_MAX = 4, Y_MAX = 5, Z_MAX = 6, Z2_MIN = 7, Z2_MAX = 8};
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class Endstops {
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public:
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volatile char endstop_hit_bits; // use X_MIN, Y_MIN, Z_MIN and Z_MIN_PROBE as BIT value
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#if ENABLED(Z_DUAL_ENDSTOPS)
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uint16_t current_endstop_bits = 0,
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old_endstop_bits = 0;
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#else
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byte current_endstop_bits = 0,
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old_endstop_bits = 0;
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#endif
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bool enabled = true;
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bool enabled_globally =
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#if ENABLED(ENDSTOPS_ONLY_FOR_HOMING)
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false
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#else
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true
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#endif
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;
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Endstops();
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/**
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* Initialize the endstop pins
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*/
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void init();
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/**
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* Update the endstops bits from the pins
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*/
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void update();
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/**
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* Print an error message reporting the position when the endstops were last hit.
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*/
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void report_state(); //call from somewhere to create an serial error message with the locations the endstops where hit, in case they were triggered
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// Enable / disable endstop checking globally
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FORCE_INLINE void enable_globally(bool onoff=true) { enabled_globally = enabled = onoff; }
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// Enable / disable endstop checking
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FORCE_INLINE void enable(bool onoff=true) { enabled = onoff; }
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// Disable / Enable endstops based on ENSTOPS_ONLY_FOR_HOMING and global enable
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FORCE_INLINE void not_homing() { enabled = enabled_globally; }
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// Clear endstops (i.e., they were hit intentionally) to suppress the report
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FORCE_INLINE void hit_on_purpose() { endstop_hit_bits = 0; }
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// Enable / disable endstop z-probe checking
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#if ENABLED(HAS_Z_MIN_PROBE)
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volatile bool z_probe_enabled = false;
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FORCE_INLINE void enable_z_probe(bool onoff=true) { z_probe_enabled = onoff; }
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#endif
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};
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extern Endstops endstops;
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#endif // ENDSTOPS_H
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