356 lines
11 KiB
C++
356 lines
11 KiB
C++
/**
|
|
* Marlin 3D Printer Firmware
|
|
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|
*
|
|
* Based on Sprinter and grbl.
|
|
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
|
|
*
|
|
* This program is free software: you can redistribute it and/or modify
|
|
* it under the terms of the GNU General Public License as published by
|
|
* the Free Software Foundation, either version 3 of the License, or
|
|
* (at your option) any later version.
|
|
*
|
|
* This program is distributed in the hope that it will be useful,
|
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
* GNU General Public License for more details.
|
|
*
|
|
* You should have received a copy of the GNU General Public License
|
|
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|
*
|
|
*/
|
|
|
|
/**
|
|
* endstops.cpp - A singleton object to manage endstops
|
|
*/
|
|
|
|
#include "Marlin.h"
|
|
#include "endstops.h"
|
|
#include "stepper.h"
|
|
#include "ultralcd.h"
|
|
|
|
// TEST_ENDSTOP: test the old and the current status of an endstop
|
|
#define TEST_ENDSTOP(ENDSTOP) (TEST(current_endstop_bits & old_endstop_bits, ENDSTOP))
|
|
|
|
Endstops endstops;
|
|
|
|
Endstops::Endstops() {
|
|
enable_globally(ENABLED(ENDSTOPS_ONLY_FOR_HOMING));
|
|
enable(true);
|
|
#if ENABLED(HAS_Z_MIN_PROBE)
|
|
enable_z_probe(false);
|
|
#endif
|
|
} // Endstops::Endstops
|
|
|
|
void Endstops::init() {
|
|
|
|
#if HAS_X_MIN
|
|
SET_INPUT(X_MIN_PIN);
|
|
#if ENABLED(ENDSTOPPULLUP_XMIN)
|
|
WRITE(X_MIN_PIN,HIGH);
|
|
#endif
|
|
#endif
|
|
|
|
#if HAS_Y_MIN
|
|
SET_INPUT(Y_MIN_PIN);
|
|
#if ENABLED(ENDSTOPPULLUP_YMIN)
|
|
WRITE(Y_MIN_PIN,HIGH);
|
|
#endif
|
|
#endif
|
|
|
|
#if HAS_Z_MIN
|
|
SET_INPUT(Z_MIN_PIN);
|
|
#if ENABLED(ENDSTOPPULLUP_ZMIN)
|
|
WRITE(Z_MIN_PIN,HIGH);
|
|
#endif
|
|
#endif
|
|
|
|
#if HAS_Z2_MIN
|
|
SET_INPUT(Z2_MIN_PIN);
|
|
#if ENABLED(ENDSTOPPULLUP_ZMIN)
|
|
WRITE(Z2_MIN_PIN,HIGH);
|
|
#endif
|
|
#endif
|
|
|
|
#if HAS_X_MAX
|
|
SET_INPUT(X_MAX_PIN);
|
|
#if ENABLED(ENDSTOPPULLUP_XMAX)
|
|
WRITE(X_MAX_PIN,HIGH);
|
|
#endif
|
|
#endif
|
|
|
|
#if HAS_Y_MAX
|
|
SET_INPUT(Y_MAX_PIN);
|
|
#if ENABLED(ENDSTOPPULLUP_YMAX)
|
|
WRITE(Y_MAX_PIN,HIGH);
|
|
#endif
|
|
#endif
|
|
|
|
#if HAS_Z_MAX
|
|
SET_INPUT(Z_MAX_PIN);
|
|
#if ENABLED(ENDSTOPPULLUP_ZMAX)
|
|
WRITE(Z_MAX_PIN,HIGH);
|
|
#endif
|
|
#endif
|
|
|
|
#if HAS_Z2_MAX
|
|
SET_INPUT(Z2_MAX_PIN);
|
|
#if ENABLED(ENDSTOPPULLUP_ZMAX)
|
|
WRITE(Z2_MAX_PIN,HIGH);
|
|
#endif
|
|
#endif
|
|
|
|
#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.
|
|
SET_INPUT(Z_MIN_PROBE_PIN);
|
|
#if ENABLED(ENDSTOPPULLUP_ZMIN_PROBE)
|
|
WRITE(Z_MIN_PROBE_PIN,HIGH);
|
|
#endif
|
|
#endif
|
|
|
|
} // Endstops::init
|
|
|
|
void Endstops::report_state() {
|
|
if (endstop_hit_bits) {
|
|
#if ENABLED(ULTRA_LCD)
|
|
char chrX = ' ', chrY = ' ', chrZ = ' ', chrP = ' ';
|
|
#define _SET_STOP_CHAR(A,C) (chr## A = C)
|
|
#else
|
|
#define _SET_STOP_CHAR(A,C) ;
|
|
#endif
|
|
|
|
#define _ENDSTOP_HIT_ECHO(A,C) do{ \
|
|
SERIAL_ECHOPAIR(" " STRINGIFY(A) ":", stepper.triggered_position_mm(A ##_AXIS)); \
|
|
_SET_STOP_CHAR(A,C); }while(0)
|
|
|
|
#define _ENDSTOP_HIT_TEST(A,C) \
|
|
if (TEST(endstop_hit_bits, A ##_MIN) || TEST(endstop_hit_bits, A ##_MAX)) \
|
|
_ENDSTOP_HIT_ECHO(A,C)
|
|
|
|
SERIAL_ECHO_START;
|
|
SERIAL_ECHOPGM(MSG_ENDSTOPS_HIT);
|
|
_ENDSTOP_HIT_TEST(X, 'X');
|
|
_ENDSTOP_HIT_TEST(Y, 'Y');
|
|
_ENDSTOP_HIT_TEST(Z, 'Z');
|
|
|
|
#if ENABLED(Z_MIN_PROBE_ENDSTOP)
|
|
#define P_AXIS Z_AXIS
|
|
if (TEST(endstop_hit_bits, Z_MIN_PROBE)) _ENDSTOP_HIT_ECHO(P, 'P');
|
|
#endif
|
|
SERIAL_EOL;
|
|
|
|
#if ENABLED(ULTRA_LCD)
|
|
char msg[3 * strlen(MSG_LCD_ENDSTOPS) + 8 + 1]; // Room for a UTF 8 string
|
|
sprintf_P(msg, PSTR(MSG_LCD_ENDSTOPS " %c %c %c %c"), chrX, chrY, chrZ, chrP);
|
|
lcd_setstatus(msg);
|
|
#endif
|
|
|
|
hit_on_purpose();
|
|
|
|
#if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED) && ENABLED(SDSUPPORT)
|
|
if (abort_on_endstop_hit) {
|
|
card.sdprinting = false;
|
|
card.closefile();
|
|
stepper.quick_stop();
|
|
disable_all_heaters(); // switch off all heaters.
|
|
}
|
|
#endif
|
|
}
|
|
} // Endstops::report_state
|
|
|
|
void Endstops::M119() {
|
|
SERIAL_PROTOCOLLN(MSG_M119_REPORT);
|
|
#if HAS_X_MIN
|
|
SERIAL_PROTOCOLPGM(MSG_X_MIN);
|
|
SERIAL_PROTOCOLLN(((READ(X_MIN_PIN)^X_MIN_ENDSTOP_INVERTING) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN));
|
|
#endif
|
|
#if HAS_X_MAX
|
|
SERIAL_PROTOCOLPGM(MSG_X_MAX);
|
|
SERIAL_PROTOCOLLN(((READ(X_MAX_PIN)^X_MAX_ENDSTOP_INVERTING) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN));
|
|
#endif
|
|
#if HAS_Y_MIN
|
|
SERIAL_PROTOCOLPGM(MSG_Y_MIN);
|
|
SERIAL_PROTOCOLLN(((READ(Y_MIN_PIN)^Y_MIN_ENDSTOP_INVERTING) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN));
|
|
#endif
|
|
#if HAS_Y_MAX
|
|
SERIAL_PROTOCOLPGM(MSG_Y_MAX);
|
|
SERIAL_PROTOCOLLN(((READ(Y_MAX_PIN)^Y_MAX_ENDSTOP_INVERTING) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN));
|
|
#endif
|
|
#if HAS_Z_MIN
|
|
SERIAL_PROTOCOLPGM(MSG_Z_MIN);
|
|
SERIAL_PROTOCOLLN(((READ(Z_MIN_PIN)^Z_MIN_ENDSTOP_INVERTING) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN));
|
|
#endif
|
|
#if HAS_Z_MAX
|
|
SERIAL_PROTOCOLPGM(MSG_Z_MAX);
|
|
SERIAL_PROTOCOLLN(((READ(Z_MAX_PIN)^Z_MAX_ENDSTOP_INVERTING) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN));
|
|
#endif
|
|
#if HAS_Z2_MAX
|
|
SERIAL_PROTOCOLPGM(MSG_Z2_MAX);
|
|
SERIAL_PROTOCOLLN(((READ(Z2_MAX_PIN)^Z2_MAX_ENDSTOP_INVERTING) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN));
|
|
#endif
|
|
#if HAS_Z_PROBE
|
|
SERIAL_PROTOCOLPGM(MSG_Z_PROBE);
|
|
SERIAL_PROTOCOLLN(((READ(Z_MIN_PROBE_PIN)^Z_MIN_PROBE_ENDSTOP_INVERTING) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN));
|
|
#endif
|
|
} // Endstops::M119
|
|
|
|
#if ENABLED(Z_DUAL_ENDSTOPS)
|
|
|
|
// Pass the result of the endstop test
|
|
void Endstops::test_dual_z_endstops(EndstopEnum es1, EndstopEnum es2) {
|
|
byte z_test = TEST_ENDSTOP(es1) | (TEST_ENDSTOP(es2) << 1); // bit 0 for Z, bit 1 for Z2
|
|
if (stepper.current_block->steps[Z_AXIS] > 0) {
|
|
stepper.endstop_triggered(Z_AXIS);
|
|
SBI(endstop_hit_bits, Z_MIN);
|
|
if (!stepper.performing_homing || (z_test == 0x3)) //if not performing home or if both endstops were trigged during homing...
|
|
stepper.kill_current_block();
|
|
}
|
|
}
|
|
|
|
#endif
|
|
|
|
// Check endstops - Called from ISR!
|
|
void Endstops::update() {
|
|
|
|
#define _ENDSTOP_PIN(AXIS, MINMAX) AXIS ##_## MINMAX ##_PIN
|
|
#define _ENDSTOP_INVERTING(AXIS, MINMAX) AXIS ##_## MINMAX ##_ENDSTOP_INVERTING
|
|
#define _ENDSTOP_HIT(AXIS) SBI(endstop_hit_bits, _ENDSTOP(AXIS, MIN))
|
|
#define _ENDSTOP(AXIS, MINMAX) AXIS ##_## MINMAX
|
|
|
|
// UPDATE_ENDSTOP_BIT: set the current endstop bits for an endstop to its status
|
|
#define UPDATE_ENDSTOP_BIT(AXIS, MINMAX) SET_BIT(current_endstop_bits, _ENDSTOP(AXIS, MINMAX), (READ(_ENDSTOP_PIN(AXIS, MINMAX)) != _ENDSTOP_INVERTING(AXIS, MINMAX)))
|
|
// COPY_BIT: copy the value of COPY_BIT to BIT in bits
|
|
#define COPY_BIT(bits, COPY_BIT, BIT) SET_BIT(bits, BIT, TEST(bits, COPY_BIT))
|
|
|
|
#define UPDATE_ENDSTOP(AXIS,MINMAX) do { \
|
|
UPDATE_ENDSTOP_BIT(AXIS, MINMAX); \
|
|
if (TEST_ENDSTOP(_ENDSTOP(AXIS, MINMAX)) && stepper.current_block->steps[_AXIS(AXIS)] > 0) { \
|
|
_ENDSTOP_HIT(AXIS); \
|
|
stepper.endstop_triggered(_AXIS(AXIS)); \
|
|
} \
|
|
} while(0)
|
|
|
|
#if ENABLED(COREXY) || ENABLED(COREXZ)
|
|
// Head direction in -X axis for CoreXY and CoreXZ bots.
|
|
// If Delta1 == -Delta2, the movement is only in Y or Z axis
|
|
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))) {
|
|
if (stepper.motor_direction(X_HEAD))
|
|
#else
|
|
if (stepper.motor_direction(X_AXIS)) // stepping along -X axis (regular Cartesian bot)
|
|
#endif
|
|
{ // -direction
|
|
#if ENABLED(DUAL_X_CARRIAGE)
|
|
// with 2 x-carriages, endstops are only checked in the homing direction for the active extruder
|
|
if ((stepper.current_block->active_extruder == 0 && X_HOME_DIR == -1) || (stepper.current_block->active_extruder != 0 && X2_HOME_DIR == -1))
|
|
#endif
|
|
{
|
|
#if HAS_X_MIN
|
|
UPDATE_ENDSTOP(X, MIN);
|
|
#endif
|
|
}
|
|
}
|
|
else { // +direction
|
|
#if ENABLED(DUAL_X_CARRIAGE)
|
|
// with 2 x-carriages, endstops are only checked in the homing direction for the active extruder
|
|
if ((stepper.current_block->active_extruder == 0 && X_HOME_DIR == 1) || (stepper.current_block->active_extruder != 0 && X2_HOME_DIR == 1))
|
|
#endif
|
|
{
|
|
#if HAS_X_MAX
|
|
UPDATE_ENDSTOP(X, MAX);
|
|
#endif
|
|
}
|
|
}
|
|
#if ENABLED(COREXY) || ENABLED(COREXZ)
|
|
}
|
|
#endif
|
|
|
|
#if ENABLED(COREXY)
|
|
// Head direction in -Y axis for CoreXY bots.
|
|
// If DeltaX == DeltaY, the movement is only in X axis
|
|
if ((stepper.current_block->steps[A_AXIS] != stepper.current_block->steps[B_AXIS]) || (stepper.motor_direction(A_AXIS) != stepper.motor_direction(B_AXIS))) {
|
|
if (stepper.motor_direction(Y_HEAD))
|
|
#else
|
|
if (stepper.motor_direction(Y_AXIS)) // -direction
|
|
#endif
|
|
{ // -direction
|
|
#if HAS_Y_MIN
|
|
UPDATE_ENDSTOP(Y, MIN);
|
|
#endif
|
|
}
|
|
else { // +direction
|
|
#if HAS_Y_MAX
|
|
UPDATE_ENDSTOP(Y, MAX);
|
|
#endif
|
|
}
|
|
#if ENABLED(COREXY)
|
|
}
|
|
#endif
|
|
|
|
#if ENABLED(COREXZ)
|
|
// Head direction in -Z axis for CoreXZ bots.
|
|
// If DeltaX == DeltaZ, the movement is only in X axis
|
|
if ((stepper.current_block->steps[A_AXIS] != stepper.current_block->steps[C_AXIS]) || (stepper.motor_direction(A_AXIS) != stepper.motor_direction(C_AXIS))) {
|
|
if (stepper.motor_direction(Z_HEAD))
|
|
#else
|
|
if (stepper.motor_direction(Z_AXIS))
|
|
#endif
|
|
{ // z -direction
|
|
#if HAS_Z_MIN
|
|
|
|
#if ENABLED(Z_DUAL_ENDSTOPS)
|
|
|
|
UPDATE_ENDSTOP_BIT(Z, MIN);
|
|
#if HAS_Z2_MIN
|
|
UPDATE_ENDSTOP_BIT(Z2, MIN);
|
|
#else
|
|
COPY_BIT(current_endstop_bits, Z_MIN, Z2_MIN);
|
|
#endif
|
|
|
|
test_dual_z_endstops(Z_MIN, Z2_MIN);
|
|
|
|
#else // !Z_DUAL_ENDSTOPS
|
|
|
|
#if ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN) && ENABLED(HAS_Z_MIN_PROBE)
|
|
if (z_probe_enabled) UPDATE_ENDSTOP(Z, MIN);
|
|
#else
|
|
UPDATE_ENDSTOP(Z, MIN);
|
|
#endif
|
|
|
|
#endif // !Z_DUAL_ENDSTOPS
|
|
|
|
#endif // HAS_Z_MIN
|
|
|
|
#if ENABLED(Z_MIN_PROBE_ENDSTOP) && DISABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN) && ENABLED(HAS_Z_MIN_PROBE)
|
|
if (z_probe_enabled) {
|
|
UPDATE_ENDSTOP(Z, MIN_PROBE);
|
|
if (TEST_ENDSTOP(Z_MIN_PROBE)) SBI(endstop_hit_bits, Z_MIN_PROBE);
|
|
}
|
|
#endif
|
|
}
|
|
else { // z +direction
|
|
#if HAS_Z_MAX
|
|
|
|
#if ENABLED(Z_DUAL_ENDSTOPS)
|
|
|
|
UPDATE_ENDSTOP_BIT(Z, MAX);
|
|
#if HAS_Z2_MAX
|
|
UPDATE_ENDSTOP_BIT(Z2, MAX);
|
|
#else
|
|
COPY_BIT(current_endstop_bits, Z_MAX, Z2_MAX);
|
|
#endif
|
|
|
|
test_dual_z_endstops(Z_MAX, Z2_MAX);
|
|
|
|
#else // !Z_DUAL_ENDSTOPS
|
|
|
|
UPDATE_ENDSTOP(Z, MAX);
|
|
|
|
#endif // !Z_DUAL_ENDSTOPS
|
|
#endif // Z_MAX_PIN
|
|
}
|
|
#if ENABLED(COREXZ)
|
|
}
|
|
#endif
|
|
|
|
old_endstop_bits = current_endstop_bits;
|
|
|
|
} // Endstops::update()
|