Filter endstops state at all times (#11066)
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a5c11bf578
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11 changed files with 58 additions and 62 deletions
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@ -43,7 +43,7 @@
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#include "../../module/endstops.h"
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// One ISR for all EXT-Interrupts
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void endstop_ISR(void) { endstops.check_possible_change(); }
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void endstop_ISR(void) { endstops.update(); }
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/**
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* Patch for pins_arduino.h (...\Arduino\hardware\arduino\avr\variants\mega\pins_arduino.h)
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@ -40,7 +40,7 @@
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#include "../../module/endstops.h"
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// One ISR for all EXT-Interrupts
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void endstop_ISR(void) { endstops.check_possible_change(); }
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void endstop_ISR(void) { endstops.update(); }
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/**
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* Endstop interrupts for Due based targets.
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@ -40,9 +40,7 @@
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#include "../../module/endstops.h"
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// One ISR for all EXT-Interrupts
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void ICACHE_RAM_ATTR endstop_ISR(void) {
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endstops.check_possible_change();
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}
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void ICACHE_RAM_ATTR endstop_ISR(void) { endstops.update(); }
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void setup_endstop_interrupts(void) {
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#if HAS_X_MAX
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@ -43,7 +43,7 @@
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#include "../../module/endstops.h"
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// One ISR for all EXT-Interrupts
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void endstop_ISR(void) { endstops.check_possible_change(); }
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void endstop_ISR(void) { endstops.update(); }
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void setup_endstop_interrupts(void) {
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#if HAS_X_MAX
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@ -52,7 +52,7 @@
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#include "../../module/endstops.h"
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// One ISR for all EXT-Interrupts
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void endstop_ISR(void) { endstops.check_possible_change(); }
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void endstop_ISR(void) { endstops.update(); }
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void setup_endstop_interrupts(void) {
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#if HAS_X_MAX
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@ -27,7 +27,7 @@
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#include "../../module/endstops.h"
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// One ISR for all EXT-Interrupts
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void endstop_ISR(void) { endstops.check_possible_change(); }
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void endstop_ISR(void) { endstops.update(); }
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void setup_endstop_interrupts(void) {
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#if HAS_X_MAX
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@ -29,7 +29,7 @@
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#include "../../module/endstops.h"
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// One ISR for all EXT-Interrupts
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void endstop_ISR(void) { endstops.check_possible_change(); }
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void endstop_ISR(void) { endstops.update(); }
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void setup_endstop_interrupts(void) {
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#if HAS_X_MAX
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@ -40,7 +40,7 @@
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#include "../../module/endstops.h"
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// One ISR for all EXT-Interrupts
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void endstop_ISR(void) { endstops.check_possible_change(); }
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void endstop_ISR(void) { endstops.update(); }
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/**
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* Endstop interrupts for Due based targets.
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@ -36,12 +36,6 @@
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#include HAL_PATH(../HAL, endstop_interrupts.h)
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#endif
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#if HAS_BED_PROBE
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#define ENDSTOPS_ENABLED (enabled || z_probe_enabled)
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#else
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#define ENDSTOPS_ENABLED enabled
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#endif
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Endstops endstops;
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// public:
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@ -50,9 +44,9 @@ bool Endstops::enabled, Endstops::enabled_globally; // Initialized by settings.l
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volatile uint8_t Endstops::hit_state;
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Endstops::esbits_t Endstops::live_state = 0;
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#if ENABLED(ENDSTOP_NOISE_FILTER)
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Endstops::esbits_t Endstops::old_live_state,
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Endstops::validated_live_state;
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Endstops::esbits_t Endstops::validated_live_state;
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uint8_t Endstops::endstop_poll_count;
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#endif
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@ -222,9 +216,6 @@ void Endstops::init() {
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} // Endstops::init
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// Called from ISR. A change was detected. Find out what happened!
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void Endstops::check_possible_change() { if (ENDSTOPS_ENABLED) update(); }
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// Called from ISR: Poll endstop state if required
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void Endstops::poll() {
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@ -232,8 +223,10 @@ void Endstops::poll() {
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run_monitor(); // report changes in endstop status
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#endif
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#if DISABLED(ENDSTOP_INTERRUPTS_FEATURE) || ENABLED(ENDSTOP_NOISE_FILTER)
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if (ENDSTOPS_ENABLED) update();
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#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE) && ENABLED(ENDSTOP_NOISE_FILTER)
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if (endstop_poll_count) update();
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#elif DISABLED(ENDSTOP_INTERRUPTS_FEATURE) || ENABLED(ENDSTOP_NOISE_FILTER)
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update();
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#endif
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}
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@ -241,7 +234,7 @@ void Endstops::enable_globally(const bool onoff) {
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enabled_globally = enabled = onoff;
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#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
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if (onoff) update(); // If enabling, update state now
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update();
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#endif
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}
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@ -250,7 +243,7 @@ void Endstops::enable(const bool onoff) {
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enabled = onoff;
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#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
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if (onoff) update(); // If enabling, update state now
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update();
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#endif
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}
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@ -259,7 +252,7 @@ void Endstops::not_homing() {
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enabled = enabled_globally;
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#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
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if (enabled) update(); // If enabling, update state now
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update();
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#endif
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}
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@ -269,7 +262,7 @@ void Endstops::not_homing() {
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z_probe_enabled = onoff;
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#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
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if (enabled) update(); // If enabling, update state now
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update();
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#endif
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}
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#endif
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@ -396,10 +389,12 @@ void Endstops::M119() {
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// Check endstops - Could be called from ISR!
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void Endstops::update() {
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// UPDATE_ENDSTOP_BIT: set the current endstop bits for an endstop to its status
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#if DISABLED(ENDSTOP_NOISE_FILTER)
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if (!abort_enabled()) return;
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#endif
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#define UPDATE_ENDSTOP_BIT(AXIS, MINMAX) SET_BIT_TO(live_state, _ENDSTOP(AXIS, MINMAX), (READ(_ENDSTOP_PIN(AXIS, MINMAX)) != _ENDSTOP_INVERTING(AXIS, MINMAX)))
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// COPY_BIT: copy the value of SRC_BIT to DST_BIT in DST
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#define COPY_BIT(DST, SRC_BIT, DST_BIT) SET_BIT_TO(DST, DST_BIT, TEST(DST, SRC_BIT))
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#define COPY_LIVE_STATE(SRC_BIT, DST_BIT) SET_BIT_TO(live_state, DST_BIT, TEST(live_state, SRC_BIT))
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#if ENABLED(G38_PROBE_TARGET) && PIN_EXISTS(Z_MIN_PROBE) && !(CORE_IS_XY || CORE_IS_XZ)
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// If G38 command is active check Z_MIN_PROBE for ALL movement
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@ -444,7 +439,7 @@ void Endstops::update() {
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#if HAS_X2_MIN
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UPDATE_ENDSTOP_BIT(X2, MIN);
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#else
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COPY_BIT(live_state, X_MIN, X2_MIN);
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COPY_LIVE_STATE(X_MIN, X2_MIN);
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#endif
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#else
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if (X_MIN_TEST) UPDATE_ENDSTOP_BIT(X, MIN);
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@ -458,7 +453,7 @@ void Endstops::update() {
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#if HAS_X2_MAX
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UPDATE_ENDSTOP_BIT(X2, MAX);
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#else
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COPY_BIT(live_state, X_MAX, X2_MAX);
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COPY_LIVE_STATE(X_MAX, X2_MAX);
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#endif
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#else
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if (X_MAX_TEST) UPDATE_ENDSTOP_BIT(X, MAX);
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@ -475,7 +470,7 @@ void Endstops::update() {
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#if HAS_Y2_MIN
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UPDATE_ENDSTOP_BIT(Y2, MIN);
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#else
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COPY_BIT(live_state, Y_MIN, Y2_MIN);
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COPY_LIVE_STATE(Y_MIN, Y2_MIN);
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#endif
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#else
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UPDATE_ENDSTOP_BIT(Y, MIN);
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@ -489,7 +484,7 @@ void Endstops::update() {
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#if HAS_Y2_MAX
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UPDATE_ENDSTOP_BIT(Y2, MAX);
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#else
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COPY_BIT(live_state, Y_MAX, Y2_MAX);
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COPY_LIVE_STATE(Y_MAX, Y2_MAX);
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#endif
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#else
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UPDATE_ENDSTOP_BIT(Y, MAX);
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@ -506,7 +501,7 @@ void Endstops::update() {
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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(live_state, Z_MIN, Z2_MIN);
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COPY_LIVE_STATE(Z_MIN, Z2_MIN);
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#endif
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#elif ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN)
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if (z_probe_enabled) UPDATE_ENDSTOP_BIT(Z, MIN);
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@ -528,7 +523,7 @@ void Endstops::update() {
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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(live_state, Z_MAX, Z2_MAX);
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COPY_LIVE_STATE(Z_MAX, Z2_MAX);
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#endif
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#elif DISABLED(Z_MIN_PROBE_ENDSTOP) || Z_MAX_PIN != Z_MIN_PROBE_PIN
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// If this pin isn't the bed probe it's the Z endstop
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@ -538,9 +533,7 @@ void Endstops::update() {
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}
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}
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// All endstops were updated.
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#if ENABLED(ENDSTOP_NOISE_FILTER)
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if (old_live_state != live_state) { // We detected a change. Reinit the timeout
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/**
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* Filtering out noise on endstops requires a delayed decision. Let's assume, due to noise,
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* that 50% of endstop signal samples are good and 50% are bad (assuming normal distribution
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@ -551,23 +544,20 @@ void Endstops::update() {
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* still exist. The only way to reduce them further is to increase the number of samples.
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* To reduce the chance to 1% (1/128th) requires 7 samples (adding 7ms of delay).
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*/
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static esbits_t old_live_state;
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if (old_live_state != live_state) {
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endstop_poll_count = 7;
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old_live_state = live_state;
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}
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else if (endstop_poll_count && !--endstop_poll_count)
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validated_live_state = live_state;
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#else
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// Lets accept the new endstop values as valid - We assume hardware filtering of lines
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esbits_t validated_live_state = live_state;
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if (!abort_enabled()) return;
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#endif
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// Endstop readings are validated in validated_live_state
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// Test the current status of an endstop
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#define TEST_ENDSTOP(ENDSTOP) (TEST(validated_live_state, ENDSTOP))
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#define TEST_ENDSTOP(ENDSTOP) (TEST(state(), ENDSTOP))
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// Record endstop was hit
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#define _ENDSTOP_HIT(AXIS, MINMAX) SBI(hit_state, _ENDSTOP(AXIS, MINMAX))
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@ -70,9 +70,10 @@ class Endstops {
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private:
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static esbits_t live_state;
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static volatile uint8_t hit_state; // Use X_MIN, Y_MIN, Z_MIN and Z_MIN_PROBE as BIT index
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#if ENABLED(ENDSTOP_NOISE_FILTER)
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static esbits_t old_live_state, // Old endstop value for debouncing and denoising
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validated_live_state; // The validated (accepted as true) endstop bits
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static esbits_t validated_live_state;
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uint8_t Endstops::endstop_poll_count;
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static uint8_t endstop_poll_count; // Countdown from threshold for polling
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#endif
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static void init();
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/**
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* A change was detected or presumed to be in endstops pins. Find out what
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* changed, if anything. Called from ISR contexts
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* Are endstops or the probe set to abort the move?
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*/
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static void check_possible_change();
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FORCE_INLINE static bool abort_enabled() {
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return (enabled
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#if HAS_BED_PROBE
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|| z_probe_enabled
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#endif
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);
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}
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/**
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* Periodic call to poll endstops if required. Called from temperature ISR
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@ -96,7 +102,9 @@ class Endstops {
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static void poll();
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/**
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* Update the endstops bits from the pins
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* Update endstops bits from the pins. Apply filtering to get a verified state.
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* If abort_enabled() and moving towards a triggered switch, abort the current move.
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* Called from ISR contexts.
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*/
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static void update();
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@ -1742,7 +1742,7 @@ uint32_t Stepper::stepper_block_phase_isr() {
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// done against the endstop. So, check the limits here: If the movement
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// is against the limits, the block will be marked as to be killed, and
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// on the next call to this ISR, will be discarded.
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endstops.check_possible_change();
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endstops.update();
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#if ENABLED(Z_LATE_ENABLE)
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// If delayed Z enable, enable it now. This option will severely interfere with
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