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Fixed endstop implementation (position is where it stops now), M601 - continue from change filament added.

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master
gralco 9 years ago
parent 13bf24ee50
commit cdb021e425
3 changed files with 348 additions and 58 deletions
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122
Marlin/Marlin_main.cpp
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@ -169,6 +169,7 @@
// M503 - print the current settings (from memory not from EEPROM)
// M540 - Use S[0|1] to enable or disable the stop SD card print on endstop hit (requires ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
// M600 - Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
// M601 - Resume the print from filament change
// M665 - set delta configurations
// M666 - set delta endstop adjustment
// M605 - Set dual x-carriage movement mode: S<mode> [ X<duplication x-offset> R<duplication temp offset> ]
@ -243,6 +244,8 @@ float max_pos[3] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS };
bool axis_known_position[3] = {false, false, false};
float zprobe_zoffset;
bool probing = false;
// Extruder offset
#if EXTRUDERS > 1
#ifndef DUAL_X_CARRIAGE
@ -344,7 +347,11 @@ const char echomagic[] PROGMEM = "echo:";
//===========================================================================
//=============================Private Variables=============================
//===========================================================================
bool change_filament = false;
const char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'};
const uint8_t axis_max_pin[] = {X_MAX_PIN, Y_MAX_PIN, Z_MAX_PIN};
const bool axis_max_endstop_inverting[] = {X_MAX_ENDSTOP_INVERTING, Y_MAX_ENDSTOP_INVERTING, Z_MAX_ENDSTOP_INVERTING};
static float destination[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0};
#ifndef DELTA
@ -608,9 +615,28 @@ void setup()
lcd_init();
_delay_ms(1000); // wait 1sec to display the splash screen
#if defined(CONTROLLERFAN_PIN) && CONTROLLERFAN_PIN > -1
#if defined(CONTROLLERFAN_PIN) && CONTROLLERFAN_PIN > -1
#ifdef CONTROLLERFAN_SPEED_START
SET_OUTPUT(CONTROLLERFAN_PIN); //Set pin used for driver cooling fan
#endif
digitalWrite(CONTROLLERFAN_PIN, CONTROLLERFAN_SPEED_START); // kickstart for controller fan
analogWrite(CONTROLLERFAN_PIN, CONTROLLERFAN_SPEED_START);
#endif //CONTROLLERFAN_SPEED_START
#endif //CONTROLLERFAN_PIN
#if defined(CONTROLLERFAN_PIN) && CONTROLLERFAN_PIN > -1
//SET_OUTPUT(CONTROLLERFAN_PIN); //Set pin used for driver cooling fan
// set case fan to normal speed
if (CONTROLLERFAN_SPEED_FULL <= CONTROLLERFAN_SPEED_MAX)
{
digitalWrite(CONTROLLERFAN_PIN, CONTROLLERFAN_SPEED_FULL);
analogWrite(CONTROLLERFAN_PIN, CONTROLLERFAN_SPEED_FULL);
}
else
{
digitalWrite(CONTROLLERFAN_PIN, CONTROLLERFAN_SPEED_MAX);
analogWrite(CONTROLLERFAN_PIN, CONTROLLERFAN_SPEED_MAX);
}
#endif //CONTROLLERFAN_PIN
#ifdef DIGIPOT_I2C
digipot_i2c_init();
@ -763,6 +789,9 @@ void get_command()
//If command was e-stop process now
if(strcmp(cmdbuffer[bufindw], "M112") == 0)
kill();
//If command was M601 stop change filament mode
if(strcmp(cmdbuffer[bufindw], "M601") == 0)
change_filament = false;
bufindw = (bufindw + 1)%BUFSIZE;
buflen += 1;
@ -1065,7 +1094,7 @@ static void run_z_probe() {
st_synchronize();
// move back down slowly to find bed
feedrate = homing_feedrate[Z_AXIS]/4;
feedrate = homing_feedrate[Z_AXIS]/40;
zPosition -= home_retract_mm(Z_AXIS) * 2;
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
st_synchronize();
@ -1152,13 +1181,17 @@ static void retract_z_probe() {
/// Probe bed height at position (x,y), returns the measured z value
static float probe_pt(float x, float y, float z_before) {
// move to right place
probing = true;
do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z_before);
do_blocking_move_to(x - X_PROBE_OFFSET_FROM_EXTRUDER, y - Y_PROBE_OFFSET_FROM_EXTRUDER, current_position[Z_AXIS]);
probing = false;
#ifndef Z_PROBE_SLED
engage_z_probe(); // Engage Z Servo endstop if available
#endif // Z_PROBE_SLED
probing = true;
run_z_probe();
probing = false;
float measured_z = current_position[Z_AXIS];
#ifndef Z_PROBE_SLED
retract_z_probe();
@ -1436,6 +1469,11 @@ void process_commands()
plan_bed_level_matrix.set_to_identity(); //Reset the plane ("erase" all leveling data)
#endif //ENABLE_AUTO_BED_LEVELING
probing = false;
//set endstop switch trigger period to less
endstop_trig_period = HOME_PROBE_ENDSTOP_PERIOD;
saved_feedrate = feedrate;
saved_feedmultiply = feedmultiply;
feedmultiply = 100;
@ -1630,14 +1668,26 @@ void process_commands()
}
#endif
#endif
#ifdef Z_RAISE_AFTER_HOMING
if((home_all_axis) || (code_seen(axis_codes[Z_AXIS]))) {
destination[Z_AXIS] = Z_RAISE_AFTER_HOMING * home_dir(Z_AXIS) * (-1); // Set destination away from bed
feedrate = max_feedrate[Z_AXIS];
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
st_synchronize();
}
#endif
if(code_seen(axis_codes[Z_AXIS])) {
if(code_value_long() != 0) {
current_position[Z_AXIS]=code_value()+add_homing[Z_AXIS];
}
}
#ifdef Z_RAISE_AFTER_HOMING
if((home_all_axis) || (code_seen(axis_codes[Z_AXIS]))) {
current_position[Z_AXIS] += Z_RAISE_AFTER_HOMING + zprobe_zoffset; //Sets Z distance back to 0 for auto leveling
}
#endif
#ifdef ENABLE_AUTO_BED_LEVELING
if((home_all_axis) || (code_seen(axis_codes[Z_AXIS]))) {
current_position[Z_AXIS] += zprobe_zoffset; //Add Z_Probe offset (the distance is negative)
@ -1659,6 +1709,8 @@ void process_commands()
feedmultiply = saved_feedmultiply;
previous_millis_cmd = millis();
endstops_hit_on_purpose();
//set endstop switch trigger back to std period
endstop_trig_period = STD_ENDSTOP_PERIOD;
break;
#ifdef ENABLE_AUTO_BED_LEVELING
@ -1667,6 +1719,9 @@ void process_commands()
#if Z_MIN_PIN == -1
#error "You must have a Z_MIN endstop in order to enable Auto Bed Leveling feature!!! Z_MIN_PIN must point to a valid hardware pin."
#endif
//set endstop switch trigger period to less
endstop_trig_period = HOME_PROBE_ENDSTOP_PERIOD;
// Prevent user from running a G29 without first homing in X and Y
if (! (axis_known_position[X_AXIS] && axis_known_position[Y_AXIS]) )
@ -1744,6 +1799,7 @@ void process_commands()
{
// raise extruder
z_before = current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS;
LCD_MESSAGEPGM(MSG_AUTO_LEVEL);
}
float measured_z = probe_pt(xProbe, yProbe, z_before);
@ -1805,6 +1861,11 @@ void process_commands()
apply_rotation_xyz(plan_bed_level_matrix, x_tmp, y_tmp, z_tmp); //Apply the correction sending the probe offset
current_position[Z_AXIS] = z_tmp - real_z + current_position[Z_AXIS]; //The difference is added to current position and sent to planner.
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
//set endstop switch trigger back to std period
endstop_trig_period = STD_ENDSTOP_PERIOD;
SERIAL_ECHOLNPGM("Probing done!");
#ifdef Z_PROBE_SLED
dock_sled(true, -SLED_DOCKING_OFFSET); // correct for over travel.
#endif // Z_PROBE_SLED
@ -1820,7 +1881,9 @@ void process_commands()
feedrate = homing_feedrate[Z_AXIS];
probing = true;
run_z_probe();
probing = false;
SERIAL_PROTOCOLPGM(MSG_BED);
SERIAL_PROTOCOLPGM(" X: ");
SERIAL_PROTOCOL(current_position[X_AXIS]);
@ -2221,7 +2284,9 @@ void process_commands()
engage_z_probe();
setup_for_endstop_move();
probing = true;
run_z_probe();
probing = false;
current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
Z_start_location = st_get_position_mm(Z_AXIS) + Z_RAISE_BEFORE_PROBING;
@ -2293,7 +2358,9 @@ void process_commands()
}
setup_for_endstop_move();
probing = true;
run_z_probe();
probing = false;
sample_set[n] = current_position[Z_AXIS];
@ -2809,6 +2876,10 @@ Sigma_Exit:
SERIAL_PROTOCOLPGM(MSG_Z_MIN);
SERIAL_PROTOCOLLN(((READ(Z_MIN_PIN)^Z_MIN_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
#endif
#if defined(Z2_MIN_PIN) && Z2_MIN_PIN > -1
SERIAL_PROTOCOLPGM(MSG_Z2_MIN);
SERIAL_PROTOCOLLN(((READ(Z2_MIN_PIN)^Z2_MIN_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
#endif
#if defined(Z_MAX_PIN) && Z_MAX_PIN > -1
SERIAL_PROTOCOLPGM(MSG_Z_MAX);
SERIAL_PROTOCOLLN(((READ(Z_MAX_PIN)^Z_MAX_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
@ -3551,6 +3622,7 @@ case 404: //M404 Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or disp
#ifdef FILAMENTCHANGEENABLE
case 600: //Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
{
change_filament = true;
float target[4];
float lastpos[4];
target[X_AXIS]=current_position[X_AXIS];
@ -3633,7 +3705,7 @@ case 404: //M404 Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or disp
delay(100);
LCD_ALERTMESSAGEPGM(MSG_FILAMENTCHANGE);
uint8_t cnt=0;
while(!lcd_clicked()){
while(!lcd_clicked() && change_filament){
cnt++;
manage_heater();
manage_inactivity(true);
@ -3936,7 +4008,11 @@ void get_coordinates()
for(int8_t i=0; i < NUM_AXIS; i++) {
if(code_seen(axis_codes[i]))
{
destination[i] = (float)code_value() + (axis_relative_modes[i] || relative_mode)*current_position[i];
float check_destination = (float)code_value() + (axis_relative_modes[i] || relative_mode)*current_position[i];
if(i == E_AXIS || check_destination <= current_position[i] || !(digitalRead(axis_max_pin[i])^axis_max_endstop_inverting[i])/* || probing*/)
destination[i] = check_destination;
else
destination[i] = current_position[i];
seen[i]=true;
}
else destination[i] = current_position[i]; //Are these else lines really needed?
@ -4196,9 +4272,9 @@ void controllerFan()
|| !READ(E2_ENABLE_PIN)
#endif
#if EXTRUDER > 1
#if defined(X2_ENABLE_PIN) && X2_ENABLE_PIN > -1
|| !READ(X2_ENABLE_PIN)
#endif
//~ #if defined(X2_ENABLE_PIN) && X2_ENABLE_PIN > -1
//~ || !READ(X2_ENABLE_PIN)
//~ #endif
|| !READ(E1_ENABLE_PIN)
#endif
|| !READ(E0_ENABLE_PIN)) //If any of the drivers are enabled...
@ -4208,14 +4284,30 @@ void controllerFan()
if ((millis() - lastMotor) >= (CONTROLLERFAN_SECS*1000UL) || lastMotor == 0) //If the last time any driver was enabled, is longer since than CONTROLLERSEC...
{
digitalWrite(CONTROLLERFAN_PIN, 0);
analogWrite(CONTROLLERFAN_PIN, 0);
if (CONTROLLERFAN_SPEED_IDLE >= CONTROLLERFAN_SPEED_MIN)
{
digitalWrite(CONTROLLERFAN_PIN, CONTROLLERFAN_SPEED_IDLE);
analogWrite(CONTROLLERFAN_PIN, CONTROLLERFAN_SPEED_IDLE);
}
else
{
// allows digital or PWM fan output to be used (see M42 handling)
digitalWrite(CONTROLLERFAN_PIN, CONTROLLERFAN_SPEED);
analogWrite(CONTROLLERFAN_PIN, CONTROLLERFAN_SPEED);
digitalWrite(CONTROLLERFAN_PIN, CONTROLLERFAN_SPEED_MIN);
analogWrite(CONTROLLERFAN_PIN, CONTROLLERFAN_SPEED_MIN);
}
}
else
{
if (CONTROLLERFAN_SPEED_FULL <= CONTROLLERFAN_SPEED_MAX)
{
digitalWrite(CONTROLLERFAN_PIN, CONTROLLERFAN_SPEED_FULL);
analogWrite(CONTROLLERFAN_PIN, CONTROLLERFAN_SPEED_FULL);
}
else
{
digitalWrite(CONTROLLERFAN_PIN, CONTROLLERFAN_SPEED_MAX);
analogWrite(CONTROLLERFAN_PIN, CONTROLLERFAN_SPEED_MAX);
}
}
}
}

277
Marlin/stepper.cpp
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@ -69,6 +69,7 @@ volatile long endstops_stepsTotal,endstops_stepsDone;
static volatile bool endstop_x_hit=false;
static volatile bool endstop_y_hit=false;
static volatile bool endstop_z_hit=false;
static volatile bool endstop_z2_hit=false;
#ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
bool abort_on_endstop_hit = false;
#endif
@ -76,11 +77,14 @@ bool abort_on_endstop_hit = false;
int motor_current_setting[3] = DEFAULT_PWM_MOTOR_CURRENT;
#endif
unsigned int endstop_trig_period = STD_ENDSTOP_PERIOD; // time in ms
static unsigned int x_min,y_min,z_min,z2_min,x_max,y_max,z_max = 0;
static bool old_x_min_endstop=false;
static bool old_x_max_endstop=false;
static bool old_y_min_endstop=false;
static bool old_y_max_endstop=false;
static bool old_z_min_endstop=false;
static bool old_z2_min_endstop=false;
static bool old_z_max_endstop=false;
static bool check_endstops = true;
@ -191,6 +195,7 @@ void checkHitEndstops()
endstop_x_hit=false;
endstop_y_hit=false;
endstop_z_hit=false;
endstop_z2_hit=false;
#if defined(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED) && defined(SDSUPPORT)
if (abort_on_endstop_hit)
{
@ -210,6 +215,7 @@ void endstops_hit_on_purpose()
endstop_x_hit=false;
endstop_y_hit=false;
endstop_z_hit=false;
endstop_z2_hit=false;
}
void enable_endstops(bool check)
@ -403,7 +409,7 @@ ISR(TIMER1_COMPA_vect)
count_direction[Y_AXIS]=1;
}
// Set direction en check limit switches
// Set direction en check limit switches
#ifndef COREXY
if ((out_bits & (1<<X_AXIS)) != 0) { // stepping along -X axis
#else
@ -418,13 +424,38 @@ ISR(TIMER1_COMPA_vect)
#endif
{
#if defined(X_MIN_PIN) && X_MIN_PIN > -1
bool x_min_endstop=(READ(X_MIN_PIN) != X_MIN_ENDSTOP_INVERTING);
if(x_min_endstop && old_x_min_endstop && (current_block->steps_x > 0)) {
endstops_trigsteps[X_AXIS] = count_position[X_AXIS];
endstop_x_hit=true;
step_events_completed = current_block->step_event_count;
}
old_x_min_endstop = x_min_endstop;
//bool x_min_endstop=(READ(X_MIN_PIN) != X_MIN_ENDSTOP_INVERTING);
if(READ(X_MIN_PIN) != X_MIN_ENDSTOP_INVERTING)
{
if(old_x_min_endstop)
{
//if((current_block->steps_x > 0) && (millis() > (tx_min + SWITCH_PERIOD))) {
if((current_block->steps_x > 0) && (x_min > endstop_trig_period)) {
//SERIAL_ECHOLN("X_MIN triggered!");
endstops_trigsteps[X_AXIS] = count_position[X_AXIS];
if(!probing)
{
current_position[X_AXIS] = X_MIN_POS;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
}
endstop_x_hit=true;
step_events_completed = current_block->step_event_count;
}
x_min++;
}
else
{
//SERIAL_ECHOLN("Reseting X_MIN variables!");
old_x_min_endstop = true;
//tx_min = millis();
}
}
else
{
old_x_min_endstop = false;
//tx_min = 0;
x_min = 0;
}
#endif
}
}
@ -438,14 +469,39 @@ ISR(TIMER1_COMPA_vect)
|| (current_block->active_extruder != 0 && X2_HOME_DIR == 1))
#endif
{
#if defined(X_MAX_PIN) && X_MAX_PIN > -1
bool x_max_endstop=(READ(X_MAX_PIN) != X_MAX_ENDSTOP_INVERTING);
if(x_max_endstop && old_x_max_endstop && (current_block->steps_x > 0)){
endstops_trigsteps[X_AXIS] = count_position[X_AXIS];
endstop_x_hit=true;
step_events_completed = current_block->step_event_count;
}
old_x_max_endstop = x_max_endstop;
#if defined(X_MAX_PIN) && X_MAX_PIN > -1
//bool x_max_endstop=(READ(X_MAX_PIN) != X_MAX_ENDSTOP_INVERTING);
if(READ(X_MAX_PIN) != X_MAX_ENDSTOP_INVERTING)
{
if(old_x_max_endstop)
{
//if((current_block->steps_x > 0) && (millis() > (tx_max + SWITCH_PERIOD))){
if((current_block->steps_x > 0) && (x_max > endstop_trig_period)){
//SERIAL_ECHOLN("X_MAX triggered!");
endstops_trigsteps[X_AXIS] = count_position[X_AXIS];
if(!probing)
{
current_position[X_AXIS] = (float)endstops_trigsteps[X_AXIS]/axis_steps_per_unit[X_AXIS];
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
}
endstop_x_hit=true;
step_events_completed = current_block->step_event_count;
}
x_max++;
}
else
{
//SERIAL_ECHOLN("Reseting X_MAX variables!");
old_x_max_endstop = true;
//tx_max = millis();
}
}
else
{
old_x_max_endstop = false;
//tx_max = 0;
x_max = 0;
}
#endif
}
}
@ -459,13 +515,38 @@ ISR(TIMER1_COMPA_vect)
CHECK_ENDSTOPS
{
#if defined(Y_MIN_PIN) && Y_MIN_PIN > -1
bool y_min_endstop=(READ(Y_MIN_PIN) != Y_MIN_ENDSTOP_INVERTING);
if(y_min_endstop && old_y_min_endstop && (current_block->steps_y > 0)) {
endstops_trigsteps[Y_AXIS] = count_position[Y_AXIS];
endstop_y_hit=true;
step_events_completed = current_block->step_event_count;
//bool y_min_endstop=(READ(Y_MIN_PIN) != Y_MIN_ENDSTOP_INVERTING);
if(READ(Y_MIN_PIN) != Y_MIN_ENDSTOP_INVERTING)
{
if(old_y_min_endstop)
{
//if((current_block->steps_y > 0) && (millis() > (ty_min + SWITCH_PERIOD))) {
if((current_block->steps_y > 0) && (y_min > endstop_trig_period)) {
//SERIAL_ECHOLN("Y_MIN triggered!");
endstops_trigsteps[Y_AXIS] = count_position[Y_AXIS];
if(!probing)
{
current_position[Y_AXIS] = Y_MIN_POS;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
}
endstop_y_hit=true;
step_events_completed = current_block->step_event_count;
}
y_min++;
}
else
{
//SERIAL_ECHOLN("Reseting Y_MIN variables!");
old_y_min_endstop = true;
//ty_min = millis();
}
}
old_y_min_endstop = y_min_endstop;
else
{
old_y_min_endstop = false;
//ty_min = 0;
y_min = 0;
}
#endif
}
}
@ -473,17 +554,41 @@ ISR(TIMER1_COMPA_vect)
CHECK_ENDSTOPS
{
#if defined(Y_MAX_PIN) && Y_MAX_PIN > -1
bool y_max_endstop=(READ(Y_MAX_PIN) != Y_MAX_ENDSTOP_INVERTING);
if(y_max_endstop && old_y_max_endstop && (current_block->steps_y > 0)){
endstops_trigsteps[Y_AXIS] = count_position[Y_AXIS];
endstop_y_hit=true;
step_events_completed = current_block->step_event_count;
}
old_y_max_endstop = y_max_endstop;
//bool y_max_endstop=(READ(Y_MAX_PIN) != Y_MAX_ENDSTOP_INVERTING);
if(READ(Y_MAX_PIN) != Y_MAX_ENDSTOP_INVERTING)
{
if(old_y_max_endstop)
{
//if((current_block->steps_y > 0) && (millis() > (ty_min + SWITCH_PERIOD))){
if((current_block->steps_y > 0) && (y_max > endstop_trig_period)){
//SERIAL_ECHOLN("Y_MAX triggered!");
endstops_trigsteps[Y_AXIS] = count_position[Y_AXIS];
if(!probing)
{
current_position[Y_AXIS] = (float)endstops_trigsteps[Y_AXIS]/axis_steps_per_unit[Y_AXIS];
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
}
endstop_y_hit=true;
step_events_completed = current_block->step_event_count;
}
y_max++;
}
else
{
//SERIAL_ECHOLN("Reseting Y_MAX variables!");
old_y_max_endstop = true;
//ty_max = millis();
}
}
else
{
old_y_max_endstop = false;
//ty_max = 0;
y_max = 0;
}
#endif
}
}
if ((out_bits & (1<<Z_AXIS)) != 0) { // -direction
WRITE(Z_DIR_PIN,INVERT_Z_DIR);
@ -493,18 +598,72 @@ ISR(TIMER1_COMPA_vect)
count_direction[Z_AXIS]=-1;
CHECK_ENDSTOPS
{
#if defined(Z2_MIN_PIN) && Z2_MIN_PIN > -1
//bool z_min_endstop=(READ(Z2_MIN_PIN) != Z2_MIN_ENDSTOP_INVERTING);
if(READ(Z2_MIN_PIN) != Z2_MIN_ENDSTOP_INVERTING)
{
if(old_z2_min_endstop)
{
//if((current_block->steps_z > 0) && (millis() > (tz_min + SWITCH_PERIOD))) {
if((current_block->steps_z > 0) && (z2_min > endstop_trig_period)) {
//SERIAL_ECHOLN("Z_MIN triggered!");
endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
//current_position[Z_AXIS] = Z_MIN_POS;
//plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
endstop_z2_hit=true;
step_events_completed = current_block->step_event_count;
}
z2_min++;
}
else
{
//SERIAL_ECHOLN("Reseting Z2_MIN variables!");
old_z2_min_endstop = true;
//tz_min = millis();
}
}
else
{
old_z2_min_endstop = false;
//tz_min = 0;
z2_min = 0;
}
#endif
}
{
#if defined(Z_MIN_PIN) && Z_MIN_PIN > -1
bool z_min_endstop=(READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING);
if(z_min_endstop && old_z_min_endstop && (current_block->steps_z > 0)) {
endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
endstop_z_hit=true;
step_events_completed = current_block->step_event_count;
//bool z_min_endstop=(READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING);
if(READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING)
{
if(old_z_min_endstop)
{
//if((current_block->steps_z > 0) && (millis() > (tz_min + SWITCH_PERIOD))) {
if((current_block->steps_z > 0) && (z_min > endstop_trig_period)) {
//SERIAL_ECHOLN("Z_MIN triggered!");
endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
endstop_z_hit=true;
step_events_completed = current_block->step_event_count;
}
z_min++;
}
else
{
//SERIAL_ECHOLN("Reseting Z_MIN variables!");
old_z_min_endstop = true;
//tz_min = millis();
}
}
old_z_min_endstop = z_min_endstop;
else
{
old_z_min_endstop = false;
//tz_min = 0;
z_min = 0;
}
#endif
}
}
else { // +direction
WRITE(Z_DIR_PIN,!INVERT_Z_DIR);
@ -516,13 +675,38 @@ ISR(TIMER1_COMPA_vect)
CHECK_ENDSTOPS
{
#if defined(Z_MAX_PIN) && Z_MAX_PIN > -1
bool z_max_endstop=(READ(Z_MAX_PIN) != Z_MAX_ENDSTOP_INVERTING);
if(z_max_endstop && old_z_max_endstop && (current_block->steps_z > 0)) {
endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
endstop_z_hit=true;
step_events_completed = current_block->step_event_count;
}
old_z_max_endstop = z_max_endstop;
//bool z_max_endstop=(READ(Z_MAX_PIN) != Z_MAX_ENDSTOP_INVERTING);
if(READ(Z_MAX_PIN) != Z_MAX_ENDSTOP_INVERTING)
{
if(old_z_max_endstop)
{
//if((current_block->steps_z > 0) && (millis() > (tz_max + SWITCH_PERIOD))) {
if((current_block->steps_z > 0) && (z_max > endstop_trig_period)) {
//SERIAL_ECHOLN("Z_MAX triggered!");
endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
if(!probing)
{
current_position[Z_AXIS] = (float)endstops_trigsteps[Z_AXIS]/axis_steps_per_unit[Z_AXIS];
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
}
endstop_z_hit=true;
step_events_completed = current_block->step_event_count;
}
z_max++;
}
else
{
//SERIAL_ECHOLN("Reseting Z_MAX variables!");
old_z_max_endstop = true;
//tz_max = millis();
}
}
else
{
old_z_max_endstop = false;
//tz_max = 0;
z_max = 0;
}
#endif
}
}
@ -916,6 +1100,13 @@ void st_init()
WRITE(Z_MIN_PIN,HIGH);
#endif
#endif
#if defined(Z2_MIN_PIN) && Z2_MIN_PIN > -1
SET_INPUT(Z2_MIN_PIN);
#ifdef ENDSTOPPULLUP_Z2MIN
WRITE(Z2_MIN_PIN,HIGH);
#endif
#endif
#if defined(X_MAX_PIN) && X_MAX_PIN > -1
SET_INPUT(X_MAX_PIN);

7
Marlin/stepper.h
Unescape View File

@ -48,6 +48,11 @@
extern bool abort_on_endstop_hit;
#endif
// Switch endstop variables
#define STD_ENDSTOP_PERIOD 50
#define HOME_PROBE_ENDSTOP_PERIOD 20
extern unsigned int endstop_trig_period;
// Initialize and start the stepper motor subsystem
void st_init();
@ -66,6 +71,8 @@ long st_get_position(uint8_t axis);
float st_get_position_mm(uint8_t axis);
#endif //ENABLE_AUTO_BED_LEVELING
extern bool probing;
// The stepper subsystem goes to sleep when it runs out of things to execute. Call this
// to notify the subsystem that it is time to go to work.
void st_wake_up();

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