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M119 now reports real values of hardware endstops, not SG status.

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michalprusa 2017-10-18 18:04:42 +02:00
parent 84bdc6c0e6
commit 1244b195f9
2 changed files with 69 additions and 28 deletions
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8
Firmware/pins_Einy_0_4.h
View file

@ -24,9 +24,9 @@
#define X_TMC2130_DIAG 64 // !!! changed from 40 (EINY03)
#define X_STEP_PIN 37
#define X_DIR_PIN 49
//#define X_MIN_PIN 12
#define X_MIN_PIN 12
//#define X_MAX_PIN 30
#define X_MIN_PIN X_TMC2130_DIAG
//#define X_MIN_PIN X_TMC2130_DIAG
#define X_MAX_PIN X_TMC2130_DIAG
#define X_ENABLE_PIN 29
#define X_MS1_PIN -1
@ -36,9 +36,9 @@
#define Y_TMC2130_DIAG 69
#define Y_STEP_PIN 36
#define Y_DIR_PIN 48
//#define Y_MIN_PIN 11
#define Y_MIN_PIN 11
//#define Y_MAX_PIN 24
#define Y_MIN_PIN Y_TMC2130_DIAG
//#define Y_MIN_PIN Y_TMC2130_DIAG
#define Y_MAX_PIN Y_TMC2130_DIAG
#define Y_ENABLE_PIN 28
#define Y_MS1_PIN -1

89
Firmware/stepper.cpp
View file

@ -436,12 +436,19 @@ void isr() {
CHECK_ENDSTOPS
{
{
#if defined(X_MIN_PIN) && (X_MIN_PIN > -1) && !defined(DEBUG_DISABLE_XMINLIMIT)
#ifndef TMC2130_SG_HOMING_SW_XY
x_min_endstop = (READ(X_MIN_PIN) != X_MIN_ENDSTOP_INVERTING);
#else //TMC2130_SG_HOMING_SW_XY
x_min_endstop = tmc2130_axis_stalled[X_AXIS];
#endif //TMC2130_SG_HOMING_SW_XY
#if ( (defined(X_MIN_PIN) && (X_MIN_PIN > -1)) || defined(TMC2130_SG_HOMING) ) && !defined(DEBUG_DISABLE_XMINLIMIT)
#ifdef TMC2130_SG_HOMING
// Stall guard homing turned on, now decide if software or hardware one
#ifndef TMC2130_SG_HOMING_SW_XY
x_min_endstop = (READ(X_TMC2130_DIAG) != X_MIN_ENDSTOP_INVERTING);
#else //TMC2130_SG_HOMING_SW_XY
x_min_endstop = tmc2130_axis_stalled[X_AXIS];
#endif //TMC2130_SG_HOMING_SW_XY
#else
// Normal homing
x_min_endstop = (READ(X_MIN_PIN) != X_MIN_ENDSTOP_INVERTING);
#endif
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;
@ -456,12 +463,19 @@ void isr() {
CHECK_ENDSTOPS
{
{
#if defined(X_MAX_PIN) && (X_MAX_PIN > -1) && !defined(DEBUG_DISABLE_XMAXLIMIT)
#ifndef TMC2130_SG_HOMING_SW_XY
x_max_endstop = (READ(X_MAX_PIN) != X_MAX_ENDSTOP_INVERTING);
#else //TMC2130_SG_HOMING_SW_XY
x_max_endstop = tmc2130_axis_stalled[X_AXIS];
#endif //TMC2130_SG_HOMING_SW_XY
#if ( (defined(X_MAX_PIN) && (X_MAX_PIN > -1)) || defined(TMC2130_SG_HOMING) ) && !defined(DEBUG_DISABLE_XMAXLIMIT)
#ifdef TMC2130_SG_HOMING
// Stall guard homing turned on, now decide if software or hardware one
#ifndef TMC2130_SG_HOMING_SW_XY
x_max_endstop = (READ(X_TMC2130_DIAG) != X_MAX_ENDSTOP_INVERTING);
#else //TMC2130_SG_HOMING_SW_XY
x_max_endstop = tmc2130_axis_stalled[X_AXIS];
#endif //TMC2130_SG_HOMING_SW_XY
#else
// Normal homing
x_max_endstop = (READ(X_MAX_PIN) != X_MAX_ENDSTOP_INVERTING);
#endif
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;
@ -480,12 +494,20 @@ void isr() {
#endif
CHECK_ENDSTOPS
{
#if defined(Y_MIN_PIN) && (Y_MIN_PIN > -1) && !defined(DEBUG_DISABLE_YMINLIMIT)
#ifndef TMC2130_SG_HOMING_SW_XY
y_min_endstop=(READ(Y_MIN_PIN) != Y_MIN_ENDSTOP_INVERTING);
#else //TMC2130_SG_HOMING_SW_XY
y_min_endstop = tmc2130_axis_stalled[Y_AXIS];
#endif //TMC2130_SG_HOMING_SW_XY
#if ( (defined(Y_MIN_PIN) && (Y_MIN_PIN > -1)) || defined(TMC2130_SG_HOMING) ) && !defined(DEBUG_DISABLE_YMINLIMIT)
#ifdef TMC2130_SG_HOMING
// Stall guard homing turned on, now decide if software or hardware one
#ifndef TMC2130_SG_HOMING_SW_XY
y_min_endstop = (READ(Y_TMC2130_DIAG) != Y_MIN_ENDSTOP_INVERTING);
#else //TMC2130_SG_HOMING_SW_XY
y_min_endstop = tmc2130_axis_stalled[Y_AXIS];
#endif //TMC2130_SG_HOMING_SW_XY
#else
// Normal homing
y_min_endstop = (READ(Y_MIN_PIN) != Y_MIN_ENDSTOP_INVERTING);
#endif
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;
@ -498,12 +520,19 @@ void isr() {
else { // +direction
CHECK_ENDSTOPS
{
#if defined(Y_MAX_PIN) && (Y_MAX_PIN > -1) && !defined(DEBUG_DISABLE_YMAXLIMIT)
#ifndef TMC2130_SG_HOMING_SW_XY
y_max_endstop=(READ(Y_MAX_PIN) != Y_MAX_ENDSTOP_INVERTING);
#else //TMC2130_SG_HOMING_SW_XY
y_max_endstop = tmc2130_axis_stalled[Y_AXIS];
#endif //TMC2130_SG_HOMING_SW_XY
#if ( (defined(Y_MAX_PIN) && (Y_MAX_PIN > -1)) || defined(TMC2130_SG_HOMING) ) && !defined(DEBUG_DISABLE_YMAXLIMIT)
#ifdef TMC2130_SG_HOMING
// Stall guard homing turned on, now decide if software or hardware one
#ifndef TMC2130_SG_HOMING_SW_XY
y_max_endstop = (READ(Y_TMC2130_DIAG) != Y_MAX_ENDSTOP_INVERTING);
#else //TMC2130_SG_HOMING_SW_XY
y_max_endstop = tmc2130_axis_stalled[Y_AXIS];
#endif //TMC2130_SG_HOMING_SW_XY
#else
// Normal homing
y_max_endstop = (READ(Y_MAX_PIN) != Y_MAX_ENDSTOP_INVERTING);
#endif
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;
@ -929,6 +958,18 @@ void st_init()
//endstops and pullups
#ifdef TMC2130_SG_HOMING
SET_INPUT(X_TMC2130_DIAG);
WRITE(X_TMC2130_DIAG,HIGH);
SET_INPUT(Y_TMC2130_DIAG);
WRITE(Y_TMC2130_DIAG,HIGH);
SET_INPUT(Z_TMC2130_DIAG);
WRITE(Z_TMC2130_DIAG,HIGH);
#endif
#if defined(X_MIN_PIN) && X_MIN_PIN > -1
SET_INPUT(X_MIN_PIN);
#ifdef ENDSTOPPULLUP_XMIN