From 3a3429b1ef2fdaf1e793fff17a89b069e3384fbc Mon Sep 17 00:00:00 2001 From: Robert Stein Date: Thu, 6 Feb 2020 22:28:46 +0100 Subject: [PATCH] Fix probe with multi-endstops (#16793) --- Marlin/src/module/endstops.cpp | 111 +++++++++++++++------------------ 1 file changed, 50 insertions(+), 61 deletions(-) diff --git a/Marlin/src/module/endstops.cpp b/Marlin/src/module/endstops.cpp index f3f73f3da..1491d881d 100644 --- a/Marlin/src/module/endstops.cpp +++ b/Marlin/src/module/endstops.cpp @@ -529,11 +529,11 @@ void Endstops::update() { // With Dual X, endstops are only checked in the homing direction for the active extruder #if ENABLED(DUAL_X_CARRIAGE) #define E0_ACTIVE stepper.movement_extruder() == 0 - #define X_MIN_TEST ((X_HOME_DIR < 0 && E0_ACTIVE) || (X2_HOME_DIR < 0 && !E0_ACTIVE)) - #define X_MAX_TEST ((X_HOME_DIR > 0 && E0_ACTIVE) || (X2_HOME_DIR > 0 && !E0_ACTIVE)) + #define X_MIN_TEST() ((X_HOME_DIR < 0 && E0_ACTIVE) || (X2_HOME_DIR < 0 && !E0_ACTIVE)) + #define X_MAX_TEST() ((X_HOME_DIR > 0 && E0_ACTIVE) || (X2_HOME_DIR > 0 && !E0_ACTIVE)) #else - #define X_MIN_TEST true - #define X_MAX_TEST true + #define X_MIN_TEST() true + #define X_MAX_TEST() true #endif // Use HEAD for core axes, AXIS for others @@ -690,7 +690,7 @@ void Endstops::update() { #define _ENDSTOP_HIT(AXIS, MINMAX) SBI(hit_state, _ENDSTOP(AXIS, MINMAX)) // Call the endstop triggered routine for single endstops - #define PROCESS_ENDSTOP(AXIS,MINMAX) do { \ + #define PROCESS_ENDSTOP(AXIS, MINMAX) do { \ if (TEST_ENDSTOP(_ENDSTOP(AXIS, MINMAX))) { \ _ENDSTOP_HIT(AXIS, MINMAX); \ planner.endstop_triggered(_AXIS(AXIS)); \ @@ -698,36 +698,58 @@ void Endstops::update() { }while(0) // Call the endstop triggered routine for dual endstops - #define PROCESS_DUAL_ENDSTOP(AXIS1, AXIS2, MINMAX) do { \ - const byte dual_hit = TEST_ENDSTOP(_ENDSTOP(AXIS1, MINMAX)) | (TEST_ENDSTOP(_ENDSTOP(AXIS2, MINMAX)) << 1); \ + #define PROCESS_DUAL_ENDSTOP(A, MINMAX) do { \ + const byte dual_hit = TEST_ENDSTOP(_ENDSTOP(A, MINMAX)) | (TEST_ENDSTOP(_ENDSTOP(A##2, MINMAX)) << 1); \ if (dual_hit) { \ - _ENDSTOP_HIT(AXIS1, MINMAX); \ + _ENDSTOP_HIT(A, MINMAX); \ /* if not performing home or if both endstops were trigged during homing... */ \ if (!stepper.separate_multi_axis || dual_hit == 0b11) \ - planner.endstop_triggered(_AXIS(AXIS1)); \ + planner.endstop_triggered(_AXIS(A)); \ } \ }while(0) - #define PROCESS_TRIPLE_ENDSTOP(AXIS1, AXIS2, AXIS3, MINMAX) do { \ - const byte triple_hit = TEST_ENDSTOP(_ENDSTOP(AXIS1, MINMAX)) | (TEST_ENDSTOP(_ENDSTOP(AXIS2, MINMAX)) << 1) | (TEST_ENDSTOP(_ENDSTOP(AXIS3, MINMAX)) << 2); \ + #define PROCESS_TRIPLE_ENDSTOP(A, MINMAX) do { \ + const byte triple_hit = TEST_ENDSTOP(_ENDSTOP(A, MINMAX)) | (TEST_ENDSTOP(_ENDSTOP(A##2, MINMAX)) << 1) | (TEST_ENDSTOP(_ENDSTOP(A##3, MINMAX)) << 2); \ if (triple_hit) { \ - _ENDSTOP_HIT(AXIS1, MINMAX); \ + _ENDSTOP_HIT(A, MINMAX); \ /* if not performing home or if both endstops were trigged during homing... */ \ if (!stepper.separate_multi_axis || triple_hit == 0b111) \ - planner.endstop_triggered(_AXIS(AXIS1)); \ + planner.endstop_triggered(_AXIS(A)); \ } \ }while(0) - #define PROCESS_QUAD_ENDSTOP(AXIS1, AXIS2, AXIS3, AXIS4, MINMAX) do { \ - const byte quad_hit = TEST_ENDSTOP(_ENDSTOP(AXIS1, MINMAX)) | (TEST_ENDSTOP(_ENDSTOP(AXIS2, MINMAX)) << 1) | (TEST_ENDSTOP(_ENDSTOP(AXIS3, MINMAX)) << 2) | (TEST_ENDSTOP(_ENDSTOP(AXIS4, MINMAX)) << 3); \ + #define PROCESS_QUAD_ENDSTOP(A, MINMAX) do { \ + const byte quad_hit = TEST_ENDSTOP(_ENDSTOP(A, MINMAX)) | (TEST_ENDSTOP(_ENDSTOP(A##2, MINMAX)) << 1) | (TEST_ENDSTOP(_ENDSTOP(A##3, MINMAX)) << 2) | (TEST_ENDSTOP(_ENDSTOP(A##4, MINMAX)) << 3); \ if (quad_hit) { \ - _ENDSTOP_HIT(AXIS1, MINMAX); \ + _ENDSTOP_HIT(A, MINMAX); \ /* if not performing home or if both endstops were trigged during homing... */ \ if (!stepper.separate_multi_axis || quad_hit == 0b1111) \ - planner.endstop_triggered(_AXIS(AXIS1)); \ + planner.endstop_triggered(_AXIS(A)); \ } \ }while(0) + #if ENABLED(X_DUAL_ENDSTOPS) + #define PROCESS_ENDSTOP_X(MINMAX) PROCESS_DUAL_ENDSTOP(X, MINMAX) + #else + #define PROCESS_ENDSTOP_X(MINMAX) if (X_##MINMAX##_TEST()) PROCESS_ENDSTOP(X, MINMAX) + #endif + + #if ENABLED(Y_DUAL_ENDSTOPS) + #define PROCESS_ENDSTOP_Y(MINMAX) PROCESS_DUAL_ENDSTOP(Y, MINMAX) + #else + #define PROCESS_ENDSTOP_Y(MINMAX) PROCESS_ENDSTOP(Y, MINMAX) + #endif + + #if DISABLED(Z_MULTI_ENDSTOPS) + #define PROCESS_ENDSTOP_Z(MINMAX) PROCESS_ENDSTOP(Z, MINMAX) + #elif NUM_Z_STEPPER_DRIVERS == 4 + #define PROCESS_ENDSTOP_Z(MINMAX) PROCESS_QUAD_ENDSTOP(Z, MINMAX) + #elif NUM_Z_STEPPER_DRIVERS == 3 + #define PROCESS_ENDSTOP_Z(MINMAX) PROCESS_TRIPLE_ENDSTOP(Z, MINMAX) + #else + #define PROCESS_ENDSTOP_Z(MINMAX) PROCESS_DUAL_ENDSTOP(Z, MINMAX) + #endif + #if ENABLED(G38_PROBE_TARGET) && PIN_EXISTS(Z_MIN_PROBE) && !(CORE_IS_XY || CORE_IS_XZ) #if ENABLED(G38_PROBE_AWAY) #define _G38_OPEN_STATE (G38_move >= 4) @@ -747,20 +769,12 @@ void Endstops::update() { if (stepper.axis_is_moving(X_AXIS)) { if (stepper.motor_direction(X_AXIS_HEAD)) { // -direction #if HAS_X_MIN || (X_SPI_SENSORLESS && X_HOME_DIR < 0) - #if ENABLED(X_DUAL_ENDSTOPS) - PROCESS_DUAL_ENDSTOP(X, X2, MIN); - #else - if (X_MIN_TEST) PROCESS_ENDSTOP(X, MIN); - #endif + PROCESS_ENDSTOP_X(MIN); #endif } else { // +direction #if HAS_X_MAX || (X_SPI_SENSORLESS && X_HOME_DIR > 0) - #if ENABLED(X_DUAL_ENDSTOPS) - PROCESS_DUAL_ENDSTOP(X, X2, MAX); - #else - if (X_MAX_TEST) PROCESS_ENDSTOP(X, MAX); - #endif + PROCESS_ENDSTOP_X(MAX); #endif } } @@ -768,44 +782,27 @@ void Endstops::update() { if (stepper.axis_is_moving(Y_AXIS)) { if (stepper.motor_direction(Y_AXIS_HEAD)) { // -direction #if HAS_Y_MIN || (Y_SPI_SENSORLESS && Y_HOME_DIR < 0) - #if ENABLED(Y_DUAL_ENDSTOPS) - PROCESS_DUAL_ENDSTOP(Y, Y2, MIN); - #else - PROCESS_ENDSTOP(Y, MIN); - #endif + PROCESS_ENDSTOP_Y(MIN); #endif } else { // +direction #if HAS_Y_MAX || (Y_SPI_SENSORLESS && Y_HOME_DIR > 0) - #if ENABLED(Y_DUAL_ENDSTOPS) - PROCESS_DUAL_ENDSTOP(Y, Y2, MAX); - #else - PROCESS_ENDSTOP(Y, MAX); - #endif + PROCESS_ENDSTOP_Y(MAX); #endif } } if (stepper.axis_is_moving(Z_AXIS)) { if (stepper.motor_direction(Z_AXIS_HEAD)) { // Z -direction. Gantry down, bed up. + #if HAS_Z_MIN || (Z_SPI_SENSORLESS && Z_HOME_DIR < 0) - #if ENABLED(Z_MULTI_ENDSTOPS) - #if NUM_Z_STEPPER_DRIVERS == 4 - PROCESS_QUAD_ENDSTOP(Z, Z2, Z3, Z4, MIN); - #elif NUM_Z_STEPPER_DRIVERS == 3 - PROCESS_TRIPLE_ENDSTOP(Z, Z2, Z3, MIN); - #else - PROCESS_DUAL_ENDSTOP(Z, Z2, MIN); - #endif - #else + if (true #if ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN) - if (z_probe_enabled) PROCESS_ENDSTOP(Z, MIN); + && z_probe_enabled #elif HAS_CUSTOM_PROBE_PIN - if (!z_probe_enabled) PROCESS_ENDSTOP(Z, MIN); - #else - PROCESS_ENDSTOP(Z, MIN); + && !z_probe_enabled #endif - #endif + ) PROCESS_ENDSTOP_Z(MIN); #endif // When closing the gap check the enabled probe @@ -816,16 +813,8 @@ void Endstops::update() { else { // Z +direction. Gantry up, bed down. #if HAS_Z_MAX || (Z_SPI_SENSORLESS && Z_HOME_DIR > 0) #if ENABLED(Z_MULTI_ENDSTOPS) - #if NUM_Z_STEPPER_DRIVERS == 4 - PROCESS_QUAD_ENDSTOP(Z, Z2, Z3, Z4, MAX); - #elif NUM_Z_STEPPER_DRIVERS == 3 - PROCESS_TRIPLE_ENDSTOP(Z, Z2, Z3, MAX); - #else - PROCESS_DUAL_ENDSTOP(Z, Z2, MAX); - #endif - #elif !HAS_CUSTOM_PROBE_PIN || Z_MAX_PIN != Z_MIN_PROBE_PIN - // If this pin is not hijacked for the bed probe - // then it belongs to the Z endstop + PROCESS_ENDSTOP_Z(MAX); + #elif !HAS_CUSTOM_PROBE_PIN || Z_MAX_PIN != Z_MIN_PROBE_PIN // No probe or probe is Z_MIN || Probe is not Z_MAX PROCESS_ENDSTOP(Z, MAX); #endif #endif