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muele-marlin/Marlin/src/module/endstops.cpp
Eduardo José Tagle d3c02410a8 [2.0.x] Small assorted collection of fixes and improvements (#10911) 
* Misc fixes and improvements

- Get rid of most critical sections on the Serial port drivers for AVR and DUE. Proper usage of FIFOs should allow interrupts to stay enabled without harm to queuing and dequeuing.
  Also, with 8-bit indices (for AVR) and up to 32-bit indices (for ARM), there is no need to protect reads and writes to those indices.
- Simplify the XON/XOFF logic quite a bit. Much cleaner now (both for AVR and ARM)
- Prevent a race condition (edge case) that could happen when estimating the proper value for the stepper timer (by reading it) and writing the calculated value for the time to the next ISR by disabling interrupts in those critical and small sections of the code - The problem could lead to lost steps.
- Fix dual endstops not properly homing bug (maybe).

* Set position immediately when possible
2018-06-01 19:02:22 -05:00

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/**
* 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 "endstops.h"
#include "stepper.h"
#include "../Marlin.h"
#include "../sd/cardreader.h"
#include "../module/temperature.h"
#include "../lcd/ultralcd.h"
#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
#include HAL_PATH(../HAL, endstop_interrupts.h)
#endif
#if HAS_BED_PROBE
#define ENDSTOPS_ENABLED (enabled || z_probe_enabled)
#else
#define ENDSTOPS_ENABLED enabled
#endif
Endstops endstops;
// public:
bool Endstops::enabled, Endstops::enabled_globally; // Initialized by settings.load()
volatile uint8_t Endstops::hit_state;
Endstops::esbits_t Endstops::live_state = 0;
#if ENABLED(ENDSTOP_NOISE_FILTER)
Endstops::esbits_t Endstops::old_live_state,
Endstops::validated_live_state;
uint8_t Endstops::endstop_poll_count;
#endif
#if HAS_BED_PROBE
volatile bool Endstops::z_probe_enabled = false;
#endif
// Initialized by settings.load()
#if ENABLED(X_DUAL_ENDSTOPS)
float Endstops::x_endstop_adj;
#endif
#if ENABLED(Y_DUAL_ENDSTOPS)
float Endstops::y_endstop_adj;
#endif
#if ENABLED(Z_DUAL_ENDSTOPS)
float Endstops::z_endstop_adj;
#endif
/**
* Class and Instance Methods
*/
void Endstops::init() {
#if HAS_X_MIN
#if ENABLED(ENDSTOPPULLUP_XMIN)
SET_INPUT_PULLUP(X_MIN_PIN);
#elif ENABLED(ENDSTOPPULLDOWN_XMIN)
SET_INPUT_PULLDOWN(X_MIN_PIN);
#else
SET_INPUT(X_MIN_PIN);
#endif
#endif
#if HAS_X2_MIN
#if ENABLED(ENDSTOPPULLUP_XMIN)
SET_INPUT_PULLUP(X2_MIN_PIN);
#elif ENABLED(ENDSTOPPULLDOWN_XMIN)
SET_INPUT_PULLDOWN(X2_MIN_PIN);
#else
SET_INPUT(X2_MIN_PIN);
#endif
#endif
#if HAS_Y_MIN
#if ENABLED(ENDSTOPPULLUP_YMIN)
SET_INPUT_PULLUP(Y_MIN_PIN);
#elif ENABLED(ENDSTOPPULLDOWN_YMIN)
SET_INPUT_PULLDOWN(Y_MIN_PIN);
#else
SET_INPUT(Y_MIN_PIN);
#endif
#endif
#if HAS_Y2_MIN
#if ENABLED(ENDSTOPPULLUP_YMIN)
SET_INPUT_PULLUP(Y2_MIN_PIN);
#elif ENABLED(ENDSTOPPULLDOWN_YMIN)
SET_INPUT_PULLDOWN(Y2_MIN_PIN);
#else
SET_INPUT(Y2_MIN_PIN);
#endif
#endif
#if HAS_Z_MIN
#if ENABLED(ENDSTOPPULLUP_ZMIN)
SET_INPUT_PULLUP(Z_MIN_PIN);
#elif ENABLED(ENDSTOPPULLDOWN_ZMIN)
SET_INPUT_PULLDOWN(Z_MIN_PIN);
#else
SET_INPUT(Z_MIN_PIN);
#endif
#endif
#if HAS_Z2_MIN
#if ENABLED(ENDSTOPPULLUP_ZMIN)
SET_INPUT_PULLUP(Z2_MIN_PIN);
#elif ENABLED(ENDSTOPPULLDOWN_ZMIN)
SET_INPUT_PULLDOWN(Z2_MIN_PIN);
#else
SET_INPUT(Z2_MIN_PIN);
#endif
#endif
#if HAS_X_MAX
#if ENABLED(ENDSTOPPULLUP_XMAX)
SET_INPUT_PULLUP(X_MAX_PIN);
#elif ENABLED(ENDSTOPPULLDOWN_XMAX)
SET_INPUT_PULLDOWN(X_MAX_PIN);
#else
SET_INPUT(X_MAX_PIN);
#endif
#endif
#if HAS_X2_MAX
#if ENABLED(ENDSTOPPULLUP_XMAX)
SET_INPUT_PULLUP(X2_MAX_PIN);
#elif ENABLED(ENDSTOPPULLDOWN_XMAX)
SET_INPUT_PULLDOWN(X2_MAX_PIN);
#else
SET_INPUT(X2_MAX_PIN);
#endif
#endif
#if HAS_Y_MAX
#if ENABLED(ENDSTOPPULLUP_YMAX)
SET_INPUT_PULLUP(Y_MAX_PIN);
#elif ENABLED(ENDSTOPPULLDOWN_YMAX)
SET_INPUT_PULLDOWN(Y_MAX_PIN);
#else
SET_INPUT(Y_MAX_PIN);
#endif
#endif
#if HAS_Y2_MAX
#if ENABLED(ENDSTOPPULLUP_YMAX)
SET_INPUT_PULLUP(Y2_MAX_PIN);
#elif ENABLED(ENDSTOPPULLDOWN_YMAX)
SET_INPUT_PULLDOWN(Y2_MAX_PIN);
#else
SET_INPUT(Y2_MAX_PIN);
#endif
#endif
#if HAS_Z_MAX
#if ENABLED(ENDSTOPPULLUP_ZMAX)
SET_INPUT_PULLUP(Z_MAX_PIN);
#elif ENABLED(ENDSTOPPULLDOWN_ZMAX)
SET_INPUT_PULLDOWN(Z_MAX_PIN);
#else
SET_INPUT(Z_MAX_PIN);
#endif
#endif
#if HAS_Z2_MAX
#if ENABLED(ENDSTOPPULLUP_ZMAX)
SET_INPUT_PULLUP(Z2_MAX_PIN);
#elif ENABLED(ENDSTOPPULLDOWN_ZMAX)
SET_INPUT_PULLDOWN(Z2_MAX_PIN);
#else
SET_INPUT(Z2_MAX_PIN);
#endif
#endif
#if ENABLED(Z_MIN_PROBE_ENDSTOP)
#if ENABLED(ENDSTOPPULLUP_ZMIN_PROBE)
SET_INPUT_PULLUP(Z_MIN_PROBE_PIN);
#elif ENABLED(ENDSTOPPULLDOWN_ZMIN_PROBE)
SET_INPUT_PULLDOWN(Z_MIN_PROBE_PIN);
#else
SET_INPUT(Z_MIN_PROBE_PIN);
#endif
#endif
#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
setup_endstop_interrupts();
#endif
// Enable endstops
enable_globally(
#if ENABLED(ENDSTOPS_ALWAYS_ON_DEFAULT)
true
#else
false
#endif
);
} // Endstops::init
// Called from ISR. A change was detected. Find out what happened!
void Endstops::check_possible_change() { if (ENDSTOPS_ENABLED) update(); }
// Called from ISR: Poll endstop state if required
void Endstops::poll() {
#if ENABLED(PINS_DEBUGGING)
run_monitor(); // report changes in endstop status
#endif
#if DISABLED(ENDSTOP_INTERRUPTS_FEATURE) || ENABLED(ENDSTOP_NOISE_FILTER)
if (ENDSTOPS_ENABLED) update();
#endif
}
void Endstops::enable_globally(const bool onoff) {
enabled_globally = enabled = onoff;
#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
if (onoff) update(); // If enabling, update state now
#endif
}
// Enable / disable endstop checking
void Endstops::enable(const bool onoff) {
enabled = onoff;
#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
if (onoff) update(); // If enabling, update state now
#endif
}
// Disable / Enable endstops based on ENSTOPS_ONLY_FOR_HOMING and global enable
void Endstops::not_homing() {
enabled = enabled_globally;
#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
if (enabled) update(); // If enabling, update state now
#endif
}
// Enable / disable endstop z-probe checking
#if HAS_BED_PROBE
void Endstops::enable_z_probe(bool onoff) {
z_probe_enabled = onoff;
#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
if (enabled) update(); // If enabling, update state now
#endif
}
#endif
#if ENABLED(PINS_DEBUGGING)
void Endstops::run_monitor() {
if (!monitor_flag) return;
static uint8_t monitor_count = 16; // offset this check from the others
monitor_count += _BV(1); // 15 Hz
monitor_count &= 0x7F;
if (!monitor_count) monitor(); // report changes in endstop status
}
#endif
void Endstops::report_state() {
if (hit_state) {
#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) ":", planner.triggered_position_mm(_AXIS(A))); \
_SET_STOP_CHAR(A,C); }while(0)
#define _ENDSTOP_HIT_TEST(A,C) \
if (TEST(hit_state, A ##_MIN) || TEST(hit_state, A ##_MAX)) \
_ENDSTOP_HIT_ECHO(A,C)
#define ENDSTOP_HIT_TEST_X() _ENDSTOP_HIT_TEST(X,'X')
#define ENDSTOP_HIT_TEST_Y() _ENDSTOP_HIT_TEST(Y,'Y')
#define ENDSTOP_HIT_TEST_Z() _ENDSTOP_HIT_TEST(Z,'Z')
SERIAL_ECHO_START();
SERIAL_ECHOPGM(MSG_ENDSTOPS_HIT);
ENDSTOP_HIT_TEST_X();
ENDSTOP_HIT_TEST_Y();
ENDSTOP_HIT_TEST_Z();
#if ENABLED(Z_MIN_PROBE_ENDSTOP)
#define P_AXIS Z_AXIS
if (TEST(hit_state, Z_MIN_PROBE)) _ENDSTOP_HIT_ECHO(P, 'P');
#endif
SERIAL_EOL();
#if ENABLED(ULTRA_LCD)
lcd_status_printf_P(0, PSTR(MSG_LCD_ENDSTOPS " %c %c %c %c"), chrX, chrY, chrZ, chrP);
#endif
hit_on_purpose();
#if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED) && ENABLED(SDSUPPORT)
if (planner.abort_on_endstop_hit) {
card.sdprinting = false;
card.closefile();
quickstop_stepper();
thermalManager.disable_all_heaters(); // switch off all heaters.
}
#endif
}
} // Endstops::report_state
void Endstops::M119() {
SERIAL_PROTOCOLLNPGM(MSG_M119_REPORT);
#define ES_REPORT(AXIS) do{ \
SERIAL_PROTOCOLPGM(MSG_##AXIS); \
SERIAL_PROTOCOLLN(((READ(AXIS##_PIN)^AXIS##_ENDSTOP_INVERTING) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN)); \
}while(0)
#if HAS_X_MIN
ES_REPORT(X_MIN);
#endif
#if HAS_X2_MIN
ES_REPORT(X2_MIN);
#endif
#if HAS_X_MAX
ES_REPORT(X_MAX);
#endif
#if HAS_X2_MAX
ES_REPORT(X2_MAX);
#endif
#if HAS_Y_MIN
ES_REPORT(Y_MIN);
#endif
#if HAS_Y2_MIN
ES_REPORT(Y2_MIN);
#endif
#if HAS_Y_MAX
ES_REPORT(Y_MAX);
#endif
#if HAS_Y2_MAX
ES_REPORT(Y2_MAX);
#endif
#if HAS_Z_MIN
ES_REPORT(Z_MIN);
#endif
#if HAS_Z2_MIN
ES_REPORT(Z2_MIN);
#endif
#if HAS_Z_MAX
ES_REPORT(Z_MAX);
#endif
#if HAS_Z2_MAX
ES_REPORT(Z2_MAX);
#endif
#if ENABLED(Z_MIN_PROBE_ENDSTOP)
SERIAL_PROTOCOLPGM(MSG_Z_PROBE);
SERIAL_PROTOCOLLN(((READ(Z_MIN_PROBE_PIN)^Z_MIN_PROBE_ENDSTOP_INVERTING) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN));
#endif
#if ENABLED(FILAMENT_RUNOUT_SENSOR)
SERIAL_PROTOCOLPGM(MSG_FILAMENT_RUNOUT_SENSOR);
SERIAL_PROTOCOLLN(((READ(FIL_RUNOUT_PIN)^FIL_RUNOUT_INVERTING) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN));
#endif
} // Endstops::M119
// The following routines are called from an ISR context. It could be the temperature ISR, the
// endstop ISR or the Stepper ISR.
#define _ENDSTOP(AXIS, MINMAX) AXIS ##_## MINMAX
#define _ENDSTOP_PIN(AXIS, MINMAX) AXIS ##_## MINMAX ##_PIN
#define _ENDSTOP_INVERTING(AXIS, MINMAX) AXIS ##_## MINMAX ##_ENDSTOP_INVERTING
// Check endstops - Could be called from ISR!
void Endstops::update() {
#define SET_BIT_TO(N,B,TF) do{ if (TF) SBI(N,B); else CBI(N,B); }while(0)
// UPDATE_ENDSTOP_BIT: set the current endstop bits for an endstop to its status
#define UPDATE_ENDSTOP_BIT(AXIS, MINMAX) SET_BIT_TO(live_state, _ENDSTOP(AXIS, MINMAX), (READ(_ENDSTOP_PIN(AXIS, MINMAX)) != _ENDSTOP_INVERTING(AXIS, MINMAX)))
// COPY_BIT: copy the value of SRC_BIT to DST_BIT in DST
#define COPY_BIT(DST, SRC_BIT, DST_BIT) SET_BIT_TO(DST, DST_BIT, TEST(DST, SRC_BIT))
#if ENABLED(G38_PROBE_TARGET) && PIN_EXISTS(Z_MIN_PROBE) && !(CORE_IS_XY || CORE_IS_XZ)
// If G38 command is active check Z_MIN_PROBE for ALL movement
if (G38_move) UPDATE_ENDSTOP_BIT(Z, MIN_PROBE);
#endif
// 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))
#else
#define X_MIN_TEST true
#define X_MAX_TEST true
#endif
// Use HEAD for core axes, AXIS for others
#if CORE_IS_XY || CORE_IS_XZ
#define X_AXIS_HEAD X_HEAD
#else
#define X_AXIS_HEAD X_AXIS
#endif
#if CORE_IS_XY || CORE_IS_YZ
#define Y_AXIS_HEAD Y_HEAD
#else
#define Y_AXIS_HEAD Y_AXIS
#endif
#if CORE_IS_XZ || CORE_IS_YZ
#define Z_AXIS_HEAD Z_HEAD
#else
#define Z_AXIS_HEAD Z_AXIS
#endif
/**
* Check and update endstops according to conditions
*/
if (stepper.axis_is_moving(X_AXIS)) {
if (stepper.motor_direction(X_AXIS_HEAD)) { // -direction
#if HAS_X_MIN
#if ENABLED(X_DUAL_ENDSTOPS)
UPDATE_ENDSTOP_BIT(X, MIN);
#if HAS_X2_MIN
UPDATE_ENDSTOP_BIT(X2, MIN);
#else
COPY_BIT(live_state, X_MIN, X2_MIN);
#endif
#else
if (X_MIN_TEST) UPDATE_ENDSTOP_BIT(X, MIN);
#endif
#endif
}
else { // +direction
#if HAS_X_MAX
#if ENABLED(X_DUAL_ENDSTOPS)
UPDATE_ENDSTOP_BIT(X, MAX);
#if HAS_X2_MAX
UPDATE_ENDSTOP_BIT(X2, MAX);
#else
COPY_BIT(live_state, X_MAX, X2_MAX);
#endif
#else
if (X_MAX_TEST) UPDATE_ENDSTOP_BIT(X, MAX);
#endif
#endif
}
}
if (stepper.axis_is_moving(Y_AXIS)) {
if (stepper.motor_direction(Y_AXIS_HEAD)) { // -direction
#if HAS_Y_MIN
#if ENABLED(Y_DUAL_ENDSTOPS)
UPDATE_ENDSTOP_BIT(Y, MIN);
#if HAS_Y2_MIN
UPDATE_ENDSTOP_BIT(Y2, MIN);
#else
COPY_BIT(live_state, Y_MIN, Y2_MIN);
#endif
#else
UPDATE_ENDSTOP_BIT(Y, MIN);
#endif
#endif
}
else { // +direction
#if HAS_Y_MAX
#if ENABLED(Y_DUAL_ENDSTOPS)
UPDATE_ENDSTOP_BIT(Y, MAX);
#if HAS_Y2_MAX
UPDATE_ENDSTOP_BIT(Y2, MAX);
#else
COPY_BIT(live_state, Y_MAX, Y2_MAX);
#endif
#else
UPDATE_ENDSTOP_BIT(Y, MAX);
#endif
#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
#if ENABLED(Z_DUAL_ENDSTOPS)
UPDATE_ENDSTOP_BIT(Z, MIN);
#if HAS_Z2_MIN
UPDATE_ENDSTOP_BIT(Z2, MIN);
#else
COPY_BIT(live_state, Z_MIN, Z2_MIN);
#endif
#else
#if ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN)
if (z_probe_enabled) UPDATE_ENDSTOP_BIT(Z, MIN);
#else
UPDATE_ENDSTOP_BIT(Z, MIN);
#endif
#endif
#endif
// When closing the gap check the enabled probe
#if ENABLED(Z_MIN_PROBE_ENDSTOP)
if (z_probe_enabled) UPDATE_ENDSTOP_BIT(Z, MIN_PROBE);
#endif
}
else { // Z +direction. Gantry up, bed down.
#if HAS_Z_MAX
// Check both Z dual endstops
#if ENABLED(Z_DUAL_ENDSTOPS)
UPDATE_ENDSTOP_BIT(Z, MAX);
#if HAS_Z2_MAX
UPDATE_ENDSTOP_BIT(Z2, MAX);
#else
COPY_BIT(live_state, Z_MAX, Z2_MAX);
#endif
// If this pin is not hijacked for the bed probe
// then it belongs to the Z endstop
#elif DISABLED(Z_MIN_PROBE_ENDSTOP) || Z_MAX_PIN != Z_MIN_PROBE_PIN
UPDATE_ENDSTOP_BIT(Z, MAX);
#endif
#endif
}
}
// All endstops were updated.
#if ENABLED(ENDSTOP_NOISE_FILTER)
if (old_live_state != live_state) { // We detected a change. Reinit the timeout
/**
* Filtering out noise on endstops requires a delayed decision. Let's assume, due to noise,
* that 50% of endstop signal samples are good and 50% are bad (assuming normal distribution
* of random noise). Then the first sample has a 50% chance to be good or bad. The 2nd sample
* also has a 50% chance to be good or bad. The chances of 2 samples both being bad becomes
* 50% of 50%, or 25%. That was the previous implementation of Marlin endstop handling. It
* reduces chances of bad readings in half, at the cost of 1 extra sample period, but chances
* still exist. The only way to reduce them further is to increase the number of samples.
* To reduce the chance to 1% (1/128th) requires 7 samples (adding 7ms of delay).
*/
endstop_poll_count = 7;
old_live_state = live_state;
}
else if (endstop_poll_count && !--endstop_poll_count)
validated_live_state = live_state;
#else
// Lets accept the new endstop values as valid - We assume hardware filtering of lines
esbits_t validated_live_state = live_state;
#endif
// Endstop readings are validated in validated_live_state
// Test the current status of an endstop
#define TEST_ENDSTOP(ENDSTOP) (TEST(validated_live_state, ENDSTOP))
// Record endstop was hit
#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 { \
if (TEST_ENDSTOP(_ENDSTOP(AXIS, MINMAX))) { \
_ENDSTOP_HIT(AXIS, MINMAX); \
planner.endstop_triggered(_AXIS(AXIS)); \
} \
}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); \
if (dual_hit) { \
_ENDSTOP_HIT(AXIS1, MINMAX); \
/* if not performing home or if both endstops were trigged during homing... */ \
if (!stepper.performing_homing || dual_hit == 0x3) \
planner.endstop_triggered(_AXIS(AXIS1)); \
} \
}while(0)
#if ENABLED(G38_PROBE_TARGET) && PIN_EXISTS(Z_MIN_PROBE) && !(CORE_IS_XY || CORE_IS_XZ)
// If G38 command is active check Z_MIN_PROBE for ALL movement
if (G38_move) {
if (TEST_ENDSTOP(_ENDSTOP(Z, MIN_PROBE))) {
if (stepper.axis_is_moving(X_AXIS)) { _ENDSTOP_HIT(X, MIN); planner.endstop_triggered(X_AXIS); }
else if (stepper.axis_is_moving(Y_AXIS)) { _ENDSTOP_HIT(Y, MIN); planner.endstop_triggered(Y_AXIS); }
else if (stepper.axis_is_moving(Z_AXIS)) { _ENDSTOP_HIT(Z, MIN); planner.endstop_triggered(Z_AXIS); }
G38_endstop_hit = true;
}
}
#endif
// Now, we must signal, after validation, if an endstop limit is pressed or not
if (stepper.axis_is_moving(X_AXIS)) {
if (stepper.motor_direction(X_AXIS_HEAD)) { // -direction
#if HAS_X_MIN
#if ENABLED(X_DUAL_ENDSTOPS)
PROCESS_DUAL_ENDSTOP(X, X2, MIN);
#else
if (X_MIN_TEST) PROCESS_ENDSTOP(X, MIN);
#endif
#endif
}
else { // +direction
#if HAS_X_MAX
#if ENABLED(X_DUAL_ENDSTOPS)
PROCESS_DUAL_ENDSTOP(X, X2, MAX);
#else
if (X_MAX_TEST) PROCESS_ENDSTOP(X, MAX);
#endif
#endif
}
}
if (stepper.axis_is_moving(Y_AXIS)) {
if (stepper.motor_direction(Y_AXIS_HEAD)) { // -direction
#if HAS_Y_MIN
#if ENABLED(Y_DUAL_ENDSTOPS)
PROCESS_DUAL_ENDSTOP(Y, Y2, MIN);
#else
PROCESS_ENDSTOP(Y, MIN);
#endif
#endif
}
else { // +direction
#if HAS_Y_MAX
#if ENABLED(Y_DUAL_ENDSTOPS)
PROCESS_DUAL_ENDSTOP(Y, Y2, MAX);
#else
PROCESS_ENDSTOP(Y, MAX);
#endif
#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
#if ENABLED(Z_DUAL_ENDSTOPS)
PROCESS_DUAL_ENDSTOP(Z, Z2, MIN);
#else
#if ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN)
if (z_probe_enabled) PROCESS_ENDSTOP(Z, MIN);
#else
PROCESS_ENDSTOP(Z, MIN);
#endif
#endif
#endif
// When closing the gap check the enabled probe
#if ENABLED(Z_MIN_PROBE_ENDSTOP)
if (z_probe_enabled) PROCESS_ENDSTOP(Z, MIN_PROBE);
#endif
}
else { // Z +direction. Gantry up, bed down.
#if HAS_Z_MAX
#if ENABLED(Z_DUAL_ENDSTOPS)
PROCESS_DUAL_ENDSTOP(Z, Z2, MAX);
#elif DISABLED(Z_MIN_PROBE_ENDSTOP) || 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);
#endif
#endif
}
}
} // Endstops::update()
#if ENABLED(PINS_DEBUGGING)
bool Endstops::monitor_flag = false;
/**
* monitors endstops & Z probe for changes
*
* If a change is detected then the LED is toggled and
* a message is sent out the serial port
*
* Yes, we could miss a rapid back & forth change but
* that won't matter because this is all manual.
*
*/
void Endstops::monitor() {
static uint16_t old_live_state_local = 0;
static uint8_t local_LED_status = 0;
uint16_t live_state_local = 0;
#if HAS_X_MIN
if (READ(X_MIN_PIN)) SBI(live_state_local, X_MIN);
#endif
#if HAS_X_MAX
if (READ(X_MAX_PIN)) SBI(live_state_local, X_MAX);
#endif
#if HAS_Y_MIN
if (READ(Y_MIN_PIN)) SBI(live_state_local, Y_MIN);
#endif
#if HAS_Y_MAX
if (READ(Y_MAX_PIN)) SBI(live_state_local, Y_MAX);
#endif
#if HAS_Z_MIN
if (READ(Z_MIN_PIN)) SBI(live_state_local, Z_MIN);
#endif
#if HAS_Z_MAX
if (READ(Z_MAX_PIN)) SBI(live_state_local, Z_MAX);
#endif
#if HAS_Z_MIN_PROBE_PIN
if (READ(Z_MIN_PROBE_PIN)) SBI(live_state_local, Z_MIN_PROBE);
#endif
#if HAS_X2_MIN
if (READ(X2_MIN_PIN)) SBI(live_state_local, X2_MIN);
#endif
#if HAS_X2_MAX
if (READ(X2_MAX_PIN)) SBI(live_state_local, X2_MAX);
#endif
#if HAS_Y2_MIN
if (READ(Y2_MIN_PIN)) SBI(live_state_local, Y2_MIN);
#endif
#if HAS_Y2_MAX
if (READ(Y2_MAX_PIN)) SBI(live_state_local, Y2_MAX);
#endif
#if HAS_Z2_MIN
if (READ(Z2_MIN_PIN)) SBI(live_state_local, Z2_MIN);
#endif
#if HAS_Z2_MAX
if (READ(Z2_MAX_PIN)) SBI(live_state_local, Z2_MAX);
#endif
uint16_t endstop_change = live_state_local ^ old_live_state_local;
if (endstop_change) {
#if HAS_X_MIN
if (TEST(endstop_change, X_MIN)) SERIAL_PROTOCOLPAIR(" X_MIN:", TEST(live_state_local, X_MIN));
#endif
#if HAS_X_MAX
if (TEST(endstop_change, X_MAX)) SERIAL_PROTOCOLPAIR(" X_MAX:", TEST(live_state_local, X_MAX));
#endif
#if HAS_Y_MIN
if (TEST(endstop_change, Y_MIN)) SERIAL_PROTOCOLPAIR(" Y_MIN:", TEST(live_state_local, Y_MIN));
#endif
#if HAS_Y_MAX
if (TEST(endstop_change, Y_MAX)) SERIAL_PROTOCOLPAIR(" Y_MAX:", TEST(live_state_local, Y_MAX));
#endif
#if HAS_Z_MIN
if (TEST(endstop_change, Z_MIN)) SERIAL_PROTOCOLPAIR(" Z_MIN:", TEST(live_state_local, Z_MIN));
#endif
#if HAS_Z_MAX
if (TEST(endstop_change, Z_MAX)) SERIAL_PROTOCOLPAIR(" Z_MAX:", TEST(live_state_local, Z_MAX));
#endif
#if HAS_Z_MIN_PROBE_PIN
if (TEST(endstop_change, Z_MIN_PROBE)) SERIAL_PROTOCOLPAIR(" PROBE:", TEST(live_state_local, Z_MIN_PROBE));
#endif
#if HAS_X2_MIN
if (TEST(endstop_change, X2_MIN)) SERIAL_PROTOCOLPAIR(" X2_MIN:", TEST(live_state_local, X2_MIN));
#endif
#if HAS_X2_MAX
if (TEST(endstop_change, X2_MAX)) SERIAL_PROTOCOLPAIR(" X2_MAX:", TEST(live_state_local, X2_MAX));
#endif
#if HAS_Y2_MIN
if (TEST(endstop_change, Y2_MIN)) SERIAL_PROTOCOLPAIR(" Y2_MIN:", TEST(live_state_local, Y2_MIN));
#endif
#if HAS_Y2_MAX
if (TEST(endstop_change, Y2_MAX)) SERIAL_PROTOCOLPAIR(" Y2_MAX:", TEST(live_state_local, Y2_MAX));
#endif
#if HAS_Z2_MIN
if (TEST(endstop_change, Z2_MIN)) SERIAL_PROTOCOLPAIR(" Z2_MIN:", TEST(live_state_local, Z2_MIN));
#endif
#if HAS_Z2_MAX
if (TEST(endstop_change, Z2_MAX)) SERIAL_PROTOCOLPAIR(" Z2_MAX:", TEST(live_state_local, Z2_MAX));
#endif
SERIAL_PROTOCOLPGM("\n\n");
analogWrite(LED_PIN, local_LED_status);
local_LED_status ^= 255;
old_live_state_local = live_state_local;
}
}
#endif // PINS_DEBUGGING
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