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0934563b97
MarlinFirmware/Marlin/endstops.cpp
Bob-the-Kuhn 0934563b97 G38 optional double touch 
Made the double touch portion a conditional compile based on the
PROBE_DOUBLE_TOUCH flag.

==============================================

Bugfix

The current G38 only stopped a move if it involved the Z axis.

Moved all the G38 code to it's own section and put it where it would
always be executed no matter what axis was moving or if the endstop was
enabled.

Also added a comment to configuration_adv to alert the user the double
tap had to be turned on.

==============================================

Change G38 back to using Z_MIN_PROBE

There's no Z_MIN endstop if Z_DUAL_ENDSTOPS is enabled and you have them
set to the top of the gantry.

G38 started out as using the Z_MIN_PROBE pin.  I don't remember why we
changed it to the Z_MIN endstop.
2017-03-22 15:08:49 -05:00

434 lines
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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 "Marlin.h"
#include "cardreader.h"
#include "endstops.h"
#include "temperature.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;
// public:
bool Endstops::enabled = true,
Endstops::enabled_globally =
#if ENABLED(ENDSTOPS_ALWAYS_ON_DEFAULT)
(true)
#else
(false)
#endif
;
volatile char Endstops::endstop_hit_bits; // use X_MIN, Y_MIN, Z_MIN and Z_MIN_PROBE as BIT value
#if ENABLED(Z_DUAL_ENDSTOPS)
uint16_t
#else
byte
#endif
Endstops::current_endstop_bits = 0,
Endstops::old_endstop_bits = 0;
#if HAS_BED_PROBE
volatile bool Endstops::z_probe_enabled = false;
#endif
/**
* Class and Instance Methods
*/
void Endstops::init() {
#if HAS_X_MIN
#if ENABLED(ENDSTOPPULLUP_XMIN)
SET_INPUT_PULLUP(X_MIN_PIN);
#else
SET_INPUT(X_MIN_PIN);
#endif
#endif
#if HAS_Y_MIN
#if ENABLED(ENDSTOPPULLUP_YMIN)
SET_INPUT_PULLUP(Y_MIN_PIN);
#else
SET_INPUT(Y_MIN_PIN);
#endif
#endif
#if HAS_Z_MIN
#if ENABLED(ENDSTOPPULLUP_ZMIN)
SET_INPUT_PULLUP(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);
#else
SET_INPUT(Z2_MIN_PIN);
#endif
#endif
#if HAS_X_MAX
#if ENABLED(ENDSTOPPULLUP_XMAX)
SET_INPUT_PULLUP(X_MAX_PIN);
#else
SET_INPUT(X_MAX_PIN);
#endif
#endif
#if HAS_Y_MAX
#if ENABLED(ENDSTOPPULLUP_YMAX)
SET_INPUT_PULLUP(Y_MAX_PIN);
#else
SET_INPUT(Y_MAX_PIN);
#endif
#endif
#if HAS_Z_MAX
#if ENABLED(ENDSTOPPULLUP_ZMAX)
SET_INPUT_PULLUP(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);
#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);
#else
SET_INPUT(Z_MIN_PROBE_PIN);
#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 (stepper.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);
#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_Z2_MIN
SERIAL_PROTOCOLPGM(MSG_Z2_MIN);
SERIAL_PROTOCOLLN(((READ(Z2_MIN_PIN)^Z2_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 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
#if ENABLED(Z_DUAL_ENDSTOPS)
// Pass the result of the endstop test
void Endstops::test_dual_z_endstops(const EndstopEnum es1, const EndstopEnum es2) {
byte z_test = TEST_ENDSTOP(es1) | (TEST_ENDSTOP(es2) << 1); // bit 0 for Z, bit 1 for Z2
if (z_test && stepper.current_block->steps[Z_AXIS] > 0) {
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(AXIS, MINMAX) AXIS ##_## MINMAX
#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))
// 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 SRC_BIT to DST_BIT in DST
#define COPY_BIT(DST, SRC_BIT, DST_BIT) SET_BIT(DST, DST_BIT, TEST(DST, SRC_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(G38_PROBE_TARGET) && PIN_EXISTS(Z_MIN_PROBE) && !(CORE_IS_XY || CORE_IS_XZ)
// If G38 command then check Z_MIN_PROBE for every axis and every direction
if (G38_move) {
UPDATE_ENDSTOP_BIT(Z, MIN_PROBE);
if (TEST_ENDSTOP(_ENDSTOP(Z, MIN_PROBE))) {
if (stepper.current_block->steps[_AXIS(X)] > 0) {_ENDSTOP_HIT(X); stepper.endstop_triggered(_AXIS(X));}
else if (stepper.current_block->steps[_AXIS(Y)] > 0) {_ENDSTOP_HIT(Y); stepper.endstop_triggered(_AXIS(Y));}
else if (stepper.current_block->steps[_AXIS(Z)] > 0) {_ENDSTOP_HIT(Z); stepper.endstop_triggered(_AXIS(Z));}
G38_endstop_hit = true;
}
}
#endif
#if CORE_IS_XY || CORE_IS_XZ
#if ENABLED(COREYX) || ENABLED(COREZX)
#define CORE_X_CMP !=
#define CORE_X_NOT !
#else
#define CORE_X_CMP ==
#define CORE_X_NOT
#endif
// Head direction in -X axis for CoreXY and CoreXZ bots.
// If steps differ, both axes are moving.
// If DeltaA == -DeltaB, the movement is only in the 2nd axis (Y or Z, handled below)
// If DeltaA == DeltaB, the movement is only in the 1st axis (X)
if (stepper.current_block->steps[CORE_AXIS_1] != stepper.current_block->steps[CORE_AXIS_2] || stepper.motor_direction(CORE_AXIS_1) CORE_X_CMP stepper.motor_direction(CORE_AXIS_2)) {
if (CORE_X_NOT 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 < 0) || (stepper.current_block->active_extruder != 0 && X2_HOME_DIR < 0))
#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 > 0) || (stepper.current_block->active_extruder != 0 && X2_HOME_DIR > 0))
#endif
{
#if HAS_X_MAX
UPDATE_ENDSTOP(X, MAX);
#endif
}
}
#if CORE_IS_XY || CORE_IS_XZ
}
#endif
// Handle swapped vs. typical Core axis order
#if ENABLED(COREYX) || ENABLED(COREZY) || ENABLED(COREZX)
#define CORE_YZ_CMP ==
#define CORE_YZ_NOT !
#elif CORE_IS_XY || CORE_IS_YZ || CORE_IS_XZ
#define CORE_YZ_CMP !=
#define CORE_YZ_NOT
#endif
#if CORE_IS_XY || CORE_IS_YZ
// Head direction in -Y axis for CoreXY / CoreYZ bots.
// If steps differ, both axes are moving
// If DeltaA == DeltaB, the movement is only in the 1st axis (X or Y)
// If DeltaA == -DeltaB, the movement is only in the 2nd axis (Y or Z)
if (stepper.current_block->steps[CORE_AXIS_1] != stepper.current_block->steps[CORE_AXIS_2] || stepper.motor_direction(CORE_AXIS_1) CORE_YZ_CMP stepper.motor_direction(CORE_AXIS_2)) {
if (CORE_YZ_NOT 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 CORE_IS_XY || CORE_IS_YZ
}
#endif
#if CORE_IS_XZ || CORE_IS_YZ
// Head direction in -Z axis for CoreXZ or CoreYZ bots.
// If steps differ, both axes are moving
// If DeltaA == DeltaB, the movement is only in the 1st axis (X or Y, already handled above)
// If DeltaA == -DeltaB, the movement is only in the 2nd axis (Z)
if (stepper.current_block->steps[CORE_AXIS_1] != stepper.current_block->steps[CORE_AXIS_2] || stepper.motor_direction(CORE_AXIS_1) CORE_YZ_CMP stepper.motor_direction(CORE_AXIS_2)) {
if (CORE_YZ_NOT stepper.motor_direction(Z_HEAD))
#else
if (stepper.motor_direction(Z_AXIS))
#endif
{ // 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(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)
if (z_probe_enabled) UPDATE_ENDSTOP(Z, MIN);
#else
UPDATE_ENDSTOP(Z, MIN);
#endif
#endif // !Z_DUAL_ENDSTOPS
#endif // HAS_Z_MIN
// When closing the gap check the enabled probe
#if ENABLED(Z_MIN_PROBE_ENDSTOP)
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. 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(current_endstop_bits, Z_MAX, Z2_MAX);
#endif
test_dual_z_endstops(Z_MAX, Z2_MAX);
// 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(Z, MAX);
#endif // !Z_MIN_PROBE_PIN...
#endif // Z_MAX_PIN
}
#if CORE_IS_XZ || CORE_IS_YZ
}
#endif
old_endstop_bits = current_endstop_bits;
} // Endstops::update()
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