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Optimize endstop flags even more

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This commit is contained in:
Alex Voinea 2022-02-10 10:35:25 +01:00
parent 380377db0f
commit dee8da61f6
1 changed files with 41 additions and 32 deletions
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73
Firmware/stepper.cpp
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@ -230,7 +230,9 @@ bool endstops_hit_on_purpose()
bool endstop_z_hit_on_purpose()
{
bool hit = endstop_hit & _BV(Z_AXIS);
CRITICAL_SECTION_START;
endstop_hit &= ~_BV(Z_AXIS);
CRITICAL_SECTION_END;
return hit;
}
@ -245,7 +247,9 @@ bool enable_z_endstop(bool check)
{
bool old = check_z_endstop;
check_z_endstop = check;
CRITICAL_SECTION_START;
endstop_hit &= ~_BV(Z_AXIS);
CRITICAL_SECTION_END;
return old;
}
@ -478,6 +482,9 @@ FORCE_INLINE void stepper_next_block()
// Check limit switches.
FORCE_INLINE void stepper_check_endstops()
{
uint8_t _endstop_hit = endstop_hit;
uint8_t _endstop = endstop;
uint8_t _old_endstop = old_endstop;
if(check_endstops)
{
#ifndef COREXY
@ -489,14 +496,14 @@ FORCE_INLINE void stepper_check_endstops()
#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
SET_BIT_TO(endstop, X_AXIS, (READ(X_TMC2130_DIAG) != 0));
SET_BIT_TO(_endstop, X_AXIS, (READ(X_TMC2130_DIAG) != 0));
#else
// Normal homing
SET_BIT_TO(endstop, X_AXIS, (READ(X_MIN_PIN) != X_MIN_ENDSTOP_INVERTING));
SET_BIT_TO(_endstop, X_AXIS, (READ(X_MIN_PIN) != X_MIN_ENDSTOP_INVERTING));
#endif
if((endstop & old_endstop & _BV(X_AXIS)) && (current_block->steps_x.wide > 0)) {
if((_endstop & _old_endstop & _BV(X_AXIS)) && (current_block->steps_x.wide > 0)) {
endstops_trigsteps[X_AXIS] = count_position[X_AXIS];
endstop_hit |= _BV(X_AXIS);
_endstop_hit |= _BV(X_AXIS);
step_events_completed.wide = current_block->step_event_count.wide;
}
#endif
@ -504,14 +511,14 @@ FORCE_INLINE void stepper_check_endstops()
#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
SET_BIT_TO(endstop, X_AXIS + 4, (READ(X_TMC2130_DIAG) != 0));
SET_BIT_TO(_endstop, X_AXIS + 4, (READ(X_TMC2130_DIAG) != 0));
#else
// Normal homing
SET_BIT_TO(endstop, X_AXIS + 4, (READ(X_MAX_PIN) != X_MAX_ENDSTOP_INVERTING));
SET_BIT_TO(_endstop, X_AXIS + 4, (READ(X_MAX_PIN) != X_MAX_ENDSTOP_INVERTING));
#endif
if((endstop & old_endstop & _BV(X_AXIS + 4)) && (current_block->steps_x.wide > 0)){
if((_endstop & _old_endstop & _BV(X_AXIS + 4)) && (current_block->steps_x.wide > 0)){
endstops_trigsteps[X_AXIS] = count_position[X_AXIS];
endstop_hit |= _BV(X_AXIS);
_endstop_hit |= _BV(X_AXIS);
step_events_completed.wide = current_block->step_event_count.wide;
}
#endif
@ -526,14 +533,14 @@ FORCE_INLINE void stepper_check_endstops()
#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
SET_BIT_TO(endstop, Y_AXIS, (READ(Y_TMC2130_DIAG) != 0));
SET_BIT_TO(_endstop, Y_AXIS, (READ(Y_TMC2130_DIAG) != 0));
#else
// Normal homing
SET_BIT_TO(endstop, Y_AXIS, (READ(Y_MIN_PIN) != Y_MIN_ENDSTOP_INVERTING));
SET_BIT_TO(_endstop, Y_AXIS, (READ(Y_MIN_PIN) != Y_MIN_ENDSTOP_INVERTING));
#endif
if((endstop & old_endstop & _BV(Y_AXIS)) && (current_block->steps_y.wide > 0)) {
if((_endstop & _old_endstop & _BV(Y_AXIS)) && (current_block->steps_y.wide > 0)) {
endstops_trigsteps[Y_AXIS] = count_position[Y_AXIS];
endstop_hit |= _BV(Y_AXIS);
_endstop_hit |= _BV(Y_AXIS);
step_events_completed.wide = current_block->step_event_count.wide;
}
#endif
@ -541,14 +548,14 @@ FORCE_INLINE void stepper_check_endstops()
#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
SET_BIT_TO(endstop, Y_AXIS + 4, (READ(Y_TMC2130_DIAG) != 0));
SET_BIT_TO(_endstop, Y_AXIS + 4, (READ(Y_TMC2130_DIAG) != 0));
#else
// Normal homing
SET_BIT_TO(endstop, Y_AXIS + 4, (READ(Y_MAX_PIN) != Y_MAX_ENDSTOP_INVERTING));
SET_BIT_TO(_endstop, Y_AXIS + 4, (READ(Y_MAX_PIN) != Y_MAX_ENDSTOP_INVERTING));
#endif
if((endstop & old_endstop & _BV(Y_AXIS + 4)) && (current_block->steps_y.wide > 0)){
if((_endstop & _old_endstop & _BV(Y_AXIS + 4)) && (current_block->steps_y.wide > 0)){
endstops_trigsteps[Y_AXIS] = count_position[Y_AXIS];
endstop_hit |= _BV(Y_AXIS);
_endstop_hit |= _BV(Y_AXIS);
step_events_completed.wide = current_block->step_event_count.wide;
}
#endif
@ -562,16 +569,16 @@ FORCE_INLINE void stepper_check_endstops()
// Stall guard homing turned on
#ifdef TMC2130_STEALTH_Z
if ((tmc2130_mode == TMC2130_MODE_SILENT) && !(tmc2130_sg_homing_axes_mask & 0x04))
SET_BIT_TO(endstop, Z_AXIS, (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING));
SET_BIT_TO(_endstop, Z_AXIS, (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING));
else
#endif //TMC2130_STEALTH_Z
SET_BIT_TO(endstop, Z_AXIS, (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING) || (READ(Z_TMC2130_DIAG) != 0));
SET_BIT_TO(_endstop, Z_AXIS, (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING) || (READ(Z_TMC2130_DIAG) != 0));
#else
SET_BIT_TO(endstop, Z_AXIS, (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING));
SET_BIT_TO(_endstop, Z_AXIS, (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING));
#endif //TMC2130_SG_HOMING
if((endstop & old_endstop & _BV(Z_AXIS)) && (current_block->steps_z.wide > 0)) {
if((_endstop & _old_endstop & _BV(Z_AXIS)) && (current_block->steps_z.wide > 0)) {
endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
endstop_hit |= _BV(Z_AXIS);
_endstop_hit |= _BV(Z_AXIS);
step_events_completed.wide = current_block->step_event_count.wide;
}
}
@ -582,16 +589,16 @@ FORCE_INLINE void stepper_check_endstops()
// Stall guard homing turned on
#ifdef TMC2130_STEALTH_Z
if ((tmc2130_mode == TMC2130_MODE_SILENT) && !(tmc2130_sg_homing_axes_mask & 0x04))
SET_BIT_TO(endstop, Z_AXIS + 4, 0);
SET_BIT_TO(_endstop, Z_AXIS + 4, 0);
else
#endif //TMC2130_STEALTH_Z
SET_BIT_TO(endstop, Z_AXIS + 4, (READ(Z_TMC2130_DIAG) != 0));
SET_BIT_TO(_endstop, Z_AXIS + 4, (READ(Z_TMC2130_DIAG) != 0));
#else
SET_BIT_TO(endstop, Z_AXIS + 4, (READ(Z_MAX_PIN) != Z_MAX_ENDSTOP_INVERTING));
SET_BIT_TO(_endstop, Z_AXIS + 4, (READ(Z_MAX_PIN) != Z_MAX_ENDSTOP_INVERTING));
#endif //TMC2130_SG_HOMING
if((endstop & old_endstop & _BV(Z_AXIS + 4)) && (current_block->steps_z.wide > 0)) {
if((_endstop & _old_endstop & _BV(Z_AXIS + 4)) && (current_block->steps_z.wide > 0)) {
endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
endstop_hit |= _BV(Z_AXIS);
_endstop_hit |= _BV(Z_AXIS);
step_events_completed.wide = current_block->step_event_count.wide;
}
#endif
@ -607,21 +614,23 @@ FORCE_INLINE void stepper_check_endstops()
// Stall guard homing turned on
#ifdef TMC2130_STEALTH_Z
if ((tmc2130_mode == TMC2130_MODE_SILENT) && !(tmc2130_sg_homing_axes_mask & 0x04))
SET_BIT_TO(endstop, Z_AXIS, (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING));
SET_BIT_TO(_endstop, Z_AXIS, (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING));
else
#endif //TMC2130_STEALTH_Z
SET_BIT_TO(endstop, Z_AXIS, (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING) || (READ(Z_TMC2130_DIAG) != 0));
SET_BIT_TO(_endstop, Z_AXIS, (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING) || (READ(Z_TMC2130_DIAG) != 0));
#else
SET_BIT_TO(endstop, Z_AXIS, (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING));
SET_BIT_TO(_endstop, Z_AXIS, (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING));
#endif //TMC2130_SG_HOMING
if(endstop & old_endstop & _BV(Z_AXIS)) {
if(_endstop & _old_endstop & _BV(Z_AXIS)) {
endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
endstop_hit |= _BV(Z_AXIS);
_endstop_hit |= _BV(Z_AXIS);
step_events_completed.wide = current_block->step_event_count.wide;
}
}
#endif
old_endstop = endstop;
endstop = _endstop;
old_endstop = _endstop; //apply current endstop state to the old endstop
endstop_hit = _endstop_hit;
}