Extract update_endstops from stepper ISR (PR#2474)
This commit is contained in:
Scott Lahteine
Richard Wackerbarth
parent
adfcfcba95
commit
000a6fce46
1 changed files with 179 additions and 178 deletions
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@ -286,6 +286,182 @@ void checkHitEndstops() {
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void enable_endstops(bool check) { check_endstops = check; }
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void enable_endstops(bool check) { check_endstops = check; }
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// Check endstops
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inline void update_endstops() {
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#ifdef Z_DUAL_ENDSTOPS
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uint16_t
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#else
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byte
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#endif
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current_endstop_bits = 0;
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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 _AXIS(AXIS) AXIS ##_AXIS
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#define _ENDSTOP_HIT(AXIS) endstop_hit_bits |= BIT(_ENDSTOP(AXIS, MIN))
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#define _ENDSTOP(AXIS, MINMAX) AXIS ##_## MINMAX
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// SET_ENDSTOP_BIT: set the current endstop bits for an endstop to its status
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#define SET_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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// TEST_ENDSTOP: test the old and the current status of an endstop
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#define TEST_ENDSTOP(ENDSTOP) (TEST(current_endstop_bits, ENDSTOP) && TEST(old_endstop_bits, ENDSTOP))
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#define UPDATE_ENDSTOP(AXIS,MINMAX) \
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SET_ENDSTOP_BIT(AXIS, MINMAX); \
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if (TEST_ENDSTOP(_ENDSTOP(AXIS, MINMAX)) && (current_block->steps[_AXIS(AXIS)] > 0)) { \
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endstops_trigsteps[_AXIS(AXIS)] = count_position[_AXIS(AXIS)]; \
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_ENDSTOP_HIT(AXIS); \
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step_events_completed = current_block->step_event_count; \
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}
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#ifdef COREXY
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// Head direction in -X axis for CoreXY bots.
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// If DeltaX == -DeltaY, the movement is only in Y axis
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if ((current_block->steps[A_AXIS] != current_block->steps[B_AXIS]) || (TEST(out_bits, A_AXIS) == TEST(out_bits, B_AXIS))) {
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if (TEST(out_bits, X_HEAD))
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#elif defined(COREXZ)
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// Head direction in -X axis for CoreXZ bots.
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// If DeltaX == -DeltaZ, the movement is only in Z axis
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if ((current_block->steps[A_AXIS] != current_block->steps[C_AXIS]) || (TEST(out_bits, A_AXIS) == TEST(out_bits, C_AXIS))) {
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if (TEST(out_bits, X_HEAD))
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#else
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if (TEST(out_bits, X_AXIS)) // stepping along -X axis (regular Cartesian bot)
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#endif
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{ // -direction
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#ifdef 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 ((current_block->active_extruder == 0 && X_HOME_DIR == -1) || (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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#ifdef 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 ((current_block->active_extruder == 0 && X_HOME_DIR == 1) || (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 defined(COREXY) || defined(COREXZ)
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}
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#endif
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#ifdef 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 ((current_block->steps[A_AXIS] != current_block->steps[B_AXIS]) || (TEST(out_bits, A_AXIS) != TEST(out_bits, B_AXIS))) {
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if (TEST(out_bits, Y_HEAD))
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#else
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if (TEST(out_bits, 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 defined(COREXY) || defined(COREXZ)
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}
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#endif
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#ifdef 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 ((current_block->steps[A_AXIS] != current_block->steps[C_AXIS]) || (TEST(out_bits, A_AXIS) != TEST(out_bits, C_AXIS))) {
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if (TEST(out_bits, Z_HEAD))
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#else
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if (TEST(out_bits, 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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#ifdef Z_DUAL_ENDSTOPS
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SET_ENDSTOP_BIT(Z, MIN);
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#if HAS_Z2_MIN
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SET_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) << 0 + TEST_ENDSTOP(Z2_MIN) << 1; // bit 0 for Z, bit 1 for Z2
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if (z_test && current_block->steps[Z_AXIS] > 0) { // z_test = Z_MIN || Z2_MIN
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endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
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endstop_hit_bits |= BIT(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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step_events_completed = current_block->step_event_count;
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}
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#else // !Z_DUAL_ENDSTOPS
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UPDATE_ENDSTOP(Z, MIN);
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#endif // !Z_DUAL_ENDSTOPS
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#endif // Z_MIN_PIN
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#ifdef Z_PROBE_ENDSTOP
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UPDATE_ENDSTOP(Z, PROBE);
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if (TEST_ENDSTOP(Z_PROBE))
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{
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endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
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endstop_hit_bits |= BIT(Z_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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#ifdef Z_DUAL_ENDSTOPS
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SET_ENDSTOP_BIT(Z, MAX);
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#if HAS_Z2_MAX
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SET_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) << 0 + TEST_ENDSTOP(Z2_MAX) << 1; // bit 0 for Z, bit 1 for Z2
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if (z_test && current_block->steps[Z_AXIS] > 0) { // t_test = Z_MAX || Z2_MAX
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endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
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endstop_hit_bits |= BIT(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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step_events_completed = current_block->step_event_count;
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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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#ifdef Z_PROBE_ENDSTOP
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UPDATE_ENDSTOP(Z, PROBE);
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if (TEST_ENDSTOP(Z_PROBE))
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{
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endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
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endstop_hit_bits |= BIT(Z_PROBE);
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}
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#endif
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}
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old_endstop_bits = current_endstop_bits;
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}
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// __________________________
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// __________________________
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// /| |\ _________________ ^
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// /| |\ _________________ ^
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// / | | \ /| |\ |
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// / | | \ /| |\ |
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@ -429,8 +605,7 @@ FORCE_INLINE void trapezoid_generator_reset() {
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// It pops blocks from the block_buffer and executes them by pulsing the stepper pins appropriately.
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// It pops blocks from the block_buffer and executes them by pulsing the stepper pins appropriately.
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ISR(TIMER1_COMPA_vect) {
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ISR(TIMER1_COMPA_vect) {
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if (cleaning_buffer_counter)
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if (cleaning_buffer_counter) {
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{
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current_block = NULL;
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current_block = NULL;
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plan_discard_current_block();
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plan_discard_current_block();
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#ifdef SD_FINISHED_RELEASECOMMAND
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#ifdef SD_FINISHED_RELEASECOMMAND
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@ -471,182 +646,8 @@ ISR(TIMER1_COMPA_vect) {
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if (current_block != NULL) {
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if (current_block != NULL) {
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// Check endstops
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// Update endstops state, if enabled
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if (check_endstops) {
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if (check_endstops) update_endstops();
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#ifdef Z_DUAL_ENDSTOPS
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uint16_t
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#else
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byte
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#endif
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current_endstop_bits = 0;
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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 _AXIS(AXIS) AXIS ##_AXIS
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#define _ENDSTOP_HIT(AXIS) endstop_hit_bits |= BIT(_ENDSTOP(AXIS, MIN))
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#define _ENDSTOP(AXIS, MINMAX) AXIS ##_## MINMAX
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// SET_ENDSTOP_BIT: set the current endstop bits for an endstop to its status
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#define SET_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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// TEST_ENDSTOP: test the old and the current status of an endstop
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#define TEST_ENDSTOP(ENDSTOP) (TEST(current_endstop_bits, ENDSTOP) && TEST(old_endstop_bits, ENDSTOP))
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#define UPDATE_ENDSTOP(AXIS,MINMAX) \
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SET_ENDSTOP_BIT(AXIS, MINMAX); \
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if (TEST_ENDSTOP(_ENDSTOP(AXIS, MINMAX)) && (current_block->steps[_AXIS(AXIS)] > 0)) { \
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endstops_trigsteps[_AXIS(AXIS)] = count_position[_AXIS(AXIS)]; \
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_ENDSTOP_HIT(AXIS); \
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step_events_completed = current_block->step_event_count; \
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}
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#ifdef COREXY
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// Head direction in -X axis for CoreXY bots.
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// If DeltaX == -DeltaY, the movement is only in Y axis
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if ((current_block->steps[A_AXIS] != current_block->steps[B_AXIS]) || (TEST(out_bits, A_AXIS) == TEST(out_bits, B_AXIS))) {
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if (TEST(out_bits, X_HEAD))
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#elif defined(COREXZ)
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// Head direction in -X axis for CoreXZ bots.
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// If DeltaX == -DeltaZ, the movement is only in Z axis
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if ((current_block->steps[A_AXIS] != current_block->steps[C_AXIS]) || (TEST(out_bits, A_AXIS) == TEST(out_bits, C_AXIS))) {
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if (TEST(out_bits, X_HEAD))
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#else
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if (TEST(out_bits, X_AXIS)) // stepping along -X axis (regular Cartesian bot)
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#endif
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{ // -direction
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#ifdef 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 ((current_block->active_extruder == 0 && X_HOME_DIR == -1) || (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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#ifdef 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 ((current_block->active_extruder == 0 && X_HOME_DIR == 1) || (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 defined(COREXY) || defined(COREXZ)
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}
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#endif
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#ifdef 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 ((current_block->steps[A_AXIS] != current_block->steps[B_AXIS]) || (TEST(out_bits, A_AXIS) != TEST(out_bits, B_AXIS))) {
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if (TEST(out_bits, Y_HEAD))
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#else
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if (TEST(out_bits, 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 defined(COREXY) || defined(COREXZ)
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}
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#endif
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#ifdef 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 ((current_block->steps[A_AXIS] != current_block->steps[C_AXIS]) || (TEST(out_bits, A_AXIS) != TEST(out_bits, C_AXIS))) {
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if (TEST(out_bits, Z_HEAD))
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#else
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if (TEST(out_bits, 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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#ifdef Z_DUAL_ENDSTOPS
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SET_ENDSTOP_BIT(Z, MIN);
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#if HAS_Z2_MIN
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SET_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) << 0 + TEST_ENDSTOP(Z2_MIN) << 1; // bit 0 for Z, bit 1 for Z2
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if (z_test && current_block->steps[Z_AXIS] > 0) { // z_test = Z_MIN || Z2_MIN
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endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
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endstop_hit_bits |= BIT(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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step_events_completed = current_block->step_event_count;
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}
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#else // !Z_DUAL_ENDSTOPS
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UPDATE_ENDSTOP(Z, MIN);
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#endif // !Z_DUAL_ENDSTOPS
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#endif // Z_MIN_PIN
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#ifdef Z_PROBE_ENDSTOP
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UPDATE_ENDSTOP(Z, PROBE);
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if (TEST_ENDSTOP(Z_PROBE))
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{
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endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
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endstop_hit_bits |= BIT(Z_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
|
|
||||||
|
|
||||||
#ifdef Z_DUAL_ENDSTOPS
|
|
||||||
|
|
||||||
SET_ENDSTOP_BIT(Z, MAX);
|
|
||||||
#if HAS_Z2_MAX
|
|
||||||
SET_ENDSTOP_BIT(Z2, MAX);
|
|
||||||
#else
|
|
||||||
COPY_BIT(current_endstop_bits, Z_MAX, Z2_MAX)
|
|
||||||
#endif
|
|
||||||
|
|
||||||
byte z_test = TEST_ENDSTOP(Z_MAX) << 0 + TEST_ENDSTOP(Z2_MAX) << 1; // bit 0 for Z, bit 1 for Z2
|
|
||||||
|
|
||||||
if (z_test && current_block->steps[Z_AXIS] > 0) { // t_test = Z_MAX || Z2_MAX
|
|
||||||
endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
|
|
||||||
endstop_hit_bits |= BIT(Z_MIN);
|
|
||||||
if (!performing_homing || (z_test == 0x3)) //if not performing home or if both endstops were trigged during homing...
|
|
||||||
step_events_completed = current_block->step_event_count;
|
|
||||||
}
|
|
||||||
|
|
||||||
#else // !Z_DUAL_ENDSTOPS
|
|
||||||
|
|
||||||
UPDATE_ENDSTOP(Z, MAX);
|
|
||||||
|
|
||||||
#endif // !Z_DUAL_ENDSTOPS
|
|
||||||
#endif // Z_MAX_PIN
|
|
||||||
|
|
||||||
#ifdef Z_PROBE_ENDSTOP
|
|
||||||
UPDATE_ENDSTOP(Z, PROBE);
|
|
||||||
|
|
||||||
if (TEST_ENDSTOP(Z_PROBE))
|
|
||||||
{
|
|
||||||
endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
|
|
||||||
endstop_hit_bits |= BIT(Z_PROBE);
|
|
||||||
}
|
|
||||||
#endif
|
|
||||||
}
|
|
||||||
old_endstop_bits = current_endstop_bits;
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
// Take multiple steps per interrupt (For high speed moves)
|
// Take multiple steps per interrupt (For high speed moves)
|
||||||
for (int8_t i = 0; i < step_loops; i++) {
|
for (int8_t i = 0; i < step_loops; i++) {
|
||||||
|
|
|
||||||
Reference in a new issue