My Marlin configs for Fabrikator Mini and CTC i3 Pro B
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endstops.cpp 12KB

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  1. /**
  2. * Marlin 3D Printer Firmware
  3. * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
  4. *
  5. * Based on Sprinter and grbl.
  6. * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
  7. *
  8. * This program is free software: you can redistribute it and/or modify
  9. * it under the terms of the GNU General Public License as published by
  10. * the Free Software Foundation, either version 3 of the License, or
  11. * (at your option) any later version.
  12. *
  13. * This program is distributed in the hope that it will be useful,
  14. * but WITHOUT ANY WARRANTY; without even the implied warranty of
  15. * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
  16. * GNU General Public License for more details.
  17. *
  18. * You should have received a copy of the GNU General Public License
  19. * along with this program. If not, see <http://www.gnu.org/licenses/>.
  20. *
  21. */
  22. /**
  23. * endstops.cpp - A singleton object to manage endstops
  24. */
  25. #include "Marlin.h"
  26. #include "cardreader.h"
  27. #include "endstops.h"
  28. #include "temperature.h"
  29. #include "stepper.h"
  30. #include "ultralcd.h"
  31. // TEST_ENDSTOP: test the old and the current status of an endstop
  32. #define TEST_ENDSTOP(ENDSTOP) (TEST(current_endstop_bits & old_endstop_bits, ENDSTOP))
  33. Endstops endstops;
  34. // public:
  35. bool Endstops::enabled = true,
  36. Endstops::enabled_globally =
  37. #if ENABLED(ENDSTOPS_ONLY_FOR_HOMING)
  38. false
  39. #else
  40. true
  41. #endif
  42. ;
  43. volatile char Endstops::endstop_hit_bits; // use X_MIN, Y_MIN, Z_MIN and Z_MIN_PROBE as BIT value
  44. #if ENABLED(Z_DUAL_ENDSTOPS)
  45. uint16_t
  46. #else
  47. byte
  48. #endif
  49. Endstops::current_endstop_bits = 0,
  50. Endstops::old_endstop_bits = 0;
  51. #if HAS_BED_PROBE
  52. volatile bool Endstops::z_probe_enabled = false;
  53. #endif
  54. /**
  55. * Class and Instance Methods
  56. */
  57. Endstops::Endstops() {
  58. enable_globally(
  59. #if ENABLED(ENDSTOPS_ONLY_FOR_HOMING)
  60. false
  61. #else
  62. true
  63. #endif
  64. );
  65. enable(true);
  66. #if HAS_BED_PROBE
  67. enable_z_probe(false);
  68. #endif
  69. } // Endstops::Endstops
  70. void Endstops::init() {
  71. #if HAS_X_MIN
  72. SET_INPUT(X_MIN_PIN);
  73. #if ENABLED(ENDSTOPPULLUP_XMIN)
  74. WRITE(X_MIN_PIN,HIGH);
  75. #endif
  76. #endif
  77. #if HAS_Y_MIN
  78. SET_INPUT(Y_MIN_PIN);
  79. #if ENABLED(ENDSTOPPULLUP_YMIN)
  80. WRITE(Y_MIN_PIN,HIGH);
  81. #endif
  82. #endif
  83. #if HAS_Z_MIN
  84. SET_INPUT(Z_MIN_PIN);
  85. #if ENABLED(ENDSTOPPULLUP_ZMIN)
  86. WRITE(Z_MIN_PIN,HIGH);
  87. #endif
  88. #endif
  89. #if HAS_Z2_MIN
  90. SET_INPUT(Z2_MIN_PIN);
  91. #if ENABLED(ENDSTOPPULLUP_ZMIN)
  92. WRITE(Z2_MIN_PIN,HIGH);
  93. #endif
  94. #endif
  95. #if HAS_X_MAX
  96. SET_INPUT(X_MAX_PIN);
  97. #if ENABLED(ENDSTOPPULLUP_XMAX)
  98. WRITE(X_MAX_PIN,HIGH);
  99. #endif
  100. #endif
  101. #if HAS_Y_MAX
  102. SET_INPUT(Y_MAX_PIN);
  103. #if ENABLED(ENDSTOPPULLUP_YMAX)
  104. WRITE(Y_MAX_PIN,HIGH);
  105. #endif
  106. #endif
  107. #if HAS_Z_MAX
  108. SET_INPUT(Z_MAX_PIN);
  109. #if ENABLED(ENDSTOPPULLUP_ZMAX)
  110. WRITE(Z_MAX_PIN,HIGH);
  111. #endif
  112. #endif
  113. #if HAS_Z2_MAX
  114. SET_INPUT(Z2_MAX_PIN);
  115. #if ENABLED(ENDSTOPPULLUP_ZMAX)
  116. WRITE(Z2_MAX_PIN,HIGH);
  117. #endif
  118. #endif
  119. #if HAS_Z_MIN_PROBE_PIN && ENABLED(Z_MIN_PROBE_ENDSTOP) // Check for Z_MIN_PROBE_ENDSTOP so we don't pull a pin high unless it's to be used.
  120. SET_INPUT(Z_MIN_PROBE_PIN);
  121. #if ENABLED(ENDSTOPPULLUP_ZMIN_PROBE)
  122. WRITE(Z_MIN_PROBE_PIN,HIGH);
  123. #endif
  124. #endif
  125. } // Endstops::init
  126. void Endstops::report_state() {
  127. if (endstop_hit_bits) {
  128. #if ENABLED(ULTRA_LCD)
  129. char chrX = ' ', chrY = ' ', chrZ = ' ', chrP = ' ';
  130. #define _SET_STOP_CHAR(A,C) (chr## A = C)
  131. #else
  132. #define _SET_STOP_CHAR(A,C) ;
  133. #endif
  134. #define _ENDSTOP_HIT_ECHO(A,C) do{ \
  135. SERIAL_ECHOPAIR(" " STRINGIFY(A) ":", stepper.triggered_position_mm(A ##_AXIS)); \
  136. _SET_STOP_CHAR(A,C); }while(0)
  137. #define _ENDSTOP_HIT_TEST(A,C) \
  138. if (TEST(endstop_hit_bits, A ##_MIN) || TEST(endstop_hit_bits, A ##_MAX)) \
  139. _ENDSTOP_HIT_ECHO(A,C)
  140. SERIAL_ECHO_START;
  141. SERIAL_ECHOPGM(MSG_ENDSTOPS_HIT);
  142. _ENDSTOP_HIT_TEST(X, 'X');
  143. _ENDSTOP_HIT_TEST(Y, 'Y');
  144. _ENDSTOP_HIT_TEST(Z, 'Z');
  145. #if ENABLED(Z_MIN_PROBE_ENDSTOP)
  146. #define P_AXIS Z_AXIS
  147. if (TEST(endstop_hit_bits, Z_MIN_PROBE)) _ENDSTOP_HIT_ECHO(P, 'P');
  148. #endif
  149. SERIAL_EOL;
  150. #if ENABLED(ULTRA_LCD)
  151. char msg[3 * strlen(MSG_LCD_ENDSTOPS) + 8 + 1]; // Room for a UTF 8 string
  152. sprintf_P(msg, PSTR(MSG_LCD_ENDSTOPS " %c %c %c %c"), chrX, chrY, chrZ, chrP);
  153. lcd_setstatus(msg);
  154. #endif
  155. hit_on_purpose();
  156. #if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED) && ENABLED(SDSUPPORT)
  157. if (stepper.abort_on_endstop_hit) {
  158. card.sdprinting = false;
  159. card.closefile();
  160. stepper.quick_stop();
  161. #if DISABLED(DELTA) && DISABLED(SCARA)
  162. set_current_position_from_planner();
  163. #endif
  164. thermalManager.disable_all_heaters(); // switch off all heaters.
  165. }
  166. #endif
  167. }
  168. } // Endstops::report_state
  169. void Endstops::M119() {
  170. SERIAL_PROTOCOLLN(MSG_M119_REPORT);
  171. #if HAS_X_MIN
  172. SERIAL_PROTOCOLPGM(MSG_X_MIN);
  173. SERIAL_PROTOCOLLN(((READ(X_MIN_PIN)^X_MIN_ENDSTOP_INVERTING) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN));
  174. #endif
  175. #if HAS_X_MAX
  176. SERIAL_PROTOCOLPGM(MSG_X_MAX);
  177. SERIAL_PROTOCOLLN(((READ(X_MAX_PIN)^X_MAX_ENDSTOP_INVERTING) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN));
  178. #endif
  179. #if HAS_Y_MIN
  180. SERIAL_PROTOCOLPGM(MSG_Y_MIN);
  181. SERIAL_PROTOCOLLN(((READ(Y_MIN_PIN)^Y_MIN_ENDSTOP_INVERTING) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN));
  182. #endif
  183. #if HAS_Y_MAX
  184. SERIAL_PROTOCOLPGM(MSG_Y_MAX);
  185. SERIAL_PROTOCOLLN(((READ(Y_MAX_PIN)^Y_MAX_ENDSTOP_INVERTING) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN));
  186. #endif
  187. #if HAS_Z_MIN
  188. SERIAL_PROTOCOLPGM(MSG_Z_MIN);
  189. SERIAL_PROTOCOLLN(((READ(Z_MIN_PIN)^Z_MIN_ENDSTOP_INVERTING) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN));
  190. #endif
  191. #if HAS_Z_MAX
  192. SERIAL_PROTOCOLPGM(MSG_Z_MAX);
  193. SERIAL_PROTOCOLLN(((READ(Z_MAX_PIN)^Z_MAX_ENDSTOP_INVERTING) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN));
  194. #endif
  195. #if HAS_Z2_MAX
  196. SERIAL_PROTOCOLPGM(MSG_Z2_MAX);
  197. SERIAL_PROTOCOLLN(((READ(Z2_MAX_PIN)^Z2_MAX_ENDSTOP_INVERTING) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN));
  198. #endif
  199. #if HAS_Z_MIN_PROBE_PIN
  200. SERIAL_PROTOCOLPGM(MSG_Z_PROBE);
  201. SERIAL_PROTOCOLLN(((READ(Z_MIN_PROBE_PIN)^Z_MIN_PROBE_ENDSTOP_INVERTING) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN));
  202. #endif
  203. } // Endstops::M119
  204. #if ENABLED(Z_DUAL_ENDSTOPS)
  205. // Pass the result of the endstop test
  206. void Endstops::test_dual_z_endstops(EndstopEnum es1, EndstopEnum es2) {
  207. byte z_test = TEST_ENDSTOP(es1) | (TEST_ENDSTOP(es2) << 1); // bit 0 for Z, bit 1 for Z2
  208. if (stepper.current_block->steps[Z_AXIS] > 0) {
  209. stepper.endstop_triggered(Z_AXIS);
  210. SBI(endstop_hit_bits, Z_MIN);
  211. if (!stepper.performing_homing || (z_test == 0x3)) //if not performing home or if both endstops were trigged during homing...
  212. stepper.kill_current_block();
  213. }
  214. }
  215. #endif
  216. // Check endstops - Called from ISR!
  217. void Endstops::update() {
  218. #define _ENDSTOP_PIN(AXIS, MINMAX) AXIS ##_## MINMAX ##_PIN
  219. #define _ENDSTOP_INVERTING(AXIS, MINMAX) AXIS ##_## MINMAX ##_ENDSTOP_INVERTING
  220. #define _ENDSTOP_HIT(AXIS) SBI(endstop_hit_bits, _ENDSTOP(AXIS, MIN))
  221. #define _ENDSTOP(AXIS, MINMAX) AXIS ##_## MINMAX
  222. // UPDATE_ENDSTOP_BIT: set the current endstop bits for an endstop to its status
  223. #define UPDATE_ENDSTOP_BIT(AXIS, MINMAX) SET_BIT(current_endstop_bits, _ENDSTOP(AXIS, MINMAX), (READ(_ENDSTOP_PIN(AXIS, MINMAX)) != _ENDSTOP_INVERTING(AXIS, MINMAX)))
  224. // COPY_BIT: copy the value of COPY_BIT to BIT in bits
  225. #define COPY_BIT(bits, COPY_BIT, BIT) SET_BIT(bits, BIT, TEST(bits, COPY_BIT))
  226. #define UPDATE_ENDSTOP(AXIS,MINMAX) do { \
  227. UPDATE_ENDSTOP_BIT(AXIS, MINMAX); \
  228. if (TEST_ENDSTOP(_ENDSTOP(AXIS, MINMAX)) && stepper.current_block->steps[_AXIS(AXIS)] > 0) { \
  229. _ENDSTOP_HIT(AXIS); \
  230. stepper.endstop_triggered(_AXIS(AXIS)); \
  231. } \
  232. } while(0)
  233. #if ENABLED(COREXY) || ENABLED(COREXZ)
  234. // Head direction in -X axis for CoreXY and CoreXZ bots.
  235. // If DeltaA == -DeltaB, the movement is only in Y or Z axis
  236. if ((stepper.current_block->steps[CORE_AXIS_1] != stepper.current_block->steps[CORE_AXIS_2]) || (stepper.motor_direction(CORE_AXIS_1) == stepper.motor_direction(CORE_AXIS_2))) {
  237. if (stepper.motor_direction(X_HEAD))
  238. #else
  239. if (stepper.motor_direction(X_AXIS)) // stepping along -X axis (regular Cartesian bot)
  240. #endif
  241. { // -direction
  242. #if ENABLED(DUAL_X_CARRIAGE)
  243. // with 2 x-carriages, endstops are only checked in the homing direction for the active extruder
  244. if ((stepper.current_block->active_extruder == 0 && X_HOME_DIR == -1) || (stepper.current_block->active_extruder != 0 && X2_HOME_DIR == -1))
  245. #endif
  246. {
  247. #if HAS_X_MIN
  248. UPDATE_ENDSTOP(X, MIN);
  249. #endif
  250. }
  251. }
  252. else { // +direction
  253. #if ENABLED(DUAL_X_CARRIAGE)
  254. // with 2 x-carriages, endstops are only checked in the homing direction for the active extruder
  255. if ((stepper.current_block->active_extruder == 0 && X_HOME_DIR == 1) || (stepper.current_block->active_extruder != 0 && X2_HOME_DIR == 1))
  256. #endif
  257. {
  258. #if HAS_X_MAX
  259. UPDATE_ENDSTOP(X, MAX);
  260. #endif
  261. }
  262. }
  263. #if ENABLED(COREXY) || ENABLED(COREXZ)
  264. }
  265. #endif
  266. #if ENABLED(COREXY) || ENABLED(COREYZ)
  267. // Head direction in -Y axis for CoreXY / CoreYZ bots.
  268. // If DeltaA == DeltaB, the movement is only in X or Y axis
  269. if ((stepper.current_block->steps[CORE_AXIS_1] != stepper.current_block->steps[CORE_AXIS_2]) || (stepper.motor_direction(CORE_AXIS_1) != stepper.motor_direction(CORE_AXIS_2))) {
  270. if (stepper.motor_direction(Y_HEAD))
  271. #else
  272. if (stepper.motor_direction(Y_AXIS)) // -direction
  273. #endif
  274. { // -direction
  275. #if HAS_Y_MIN
  276. UPDATE_ENDSTOP(Y, MIN);
  277. #endif
  278. }
  279. else { // +direction
  280. #if HAS_Y_MAX
  281. UPDATE_ENDSTOP(Y, MAX);
  282. #endif
  283. }
  284. #if ENABLED(COREXY) || ENABLED(COREYZ)
  285. }
  286. #endif
  287. #if ENABLED(COREXZ) || ENABLED(COREYZ)
  288. // Head direction in -Z axis for CoreXZ or CoreYZ bots.
  289. // If DeltaA == DeltaB, the movement is only in X or Y axis
  290. if ((stepper.current_block->steps[CORE_AXIS_1] != stepper.current_block->steps[CORE_AXIS_2]) || (stepper.motor_direction(CORE_AXIS_1) != stepper.motor_direction(CORE_AXIS_2))) {
  291. if (stepper.motor_direction(Z_HEAD))
  292. #else
  293. if (stepper.motor_direction(Z_AXIS))
  294. #endif
  295. { // z -direction
  296. #if HAS_Z_MIN
  297. #if ENABLED(Z_DUAL_ENDSTOPS)
  298. UPDATE_ENDSTOP_BIT(Z, MIN);
  299. #if HAS_Z2_MIN
  300. UPDATE_ENDSTOP_BIT(Z2, MIN);
  301. #else
  302. COPY_BIT(current_endstop_bits, Z_MIN, Z2_MIN);
  303. #endif
  304. test_dual_z_endstops(Z_MIN, Z2_MIN);
  305. #else // !Z_DUAL_ENDSTOPS
  306. #if HAS_BED_PROBE && ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN)
  307. if (z_probe_enabled) UPDATE_ENDSTOP(Z, MIN);
  308. #else
  309. UPDATE_ENDSTOP(Z, MIN);
  310. #endif
  311. #endif // !Z_DUAL_ENDSTOPS
  312. #endif // HAS_Z_MIN
  313. #if HAS_BED_PROBE && ENABLED(Z_MIN_PROBE_ENDSTOP) && DISABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN)
  314. if (z_probe_enabled) {
  315. UPDATE_ENDSTOP(Z, MIN_PROBE);
  316. if (TEST_ENDSTOP(Z_MIN_PROBE)) SBI(endstop_hit_bits, Z_MIN_PROBE);
  317. }
  318. #endif
  319. }
  320. else { // z +direction
  321. #if HAS_Z_MAX
  322. #if ENABLED(Z_DUAL_ENDSTOPS)
  323. UPDATE_ENDSTOP_BIT(Z, MAX);
  324. #if HAS_Z2_MAX
  325. UPDATE_ENDSTOP_BIT(Z2, MAX);
  326. #else
  327. COPY_BIT(current_endstop_bits, Z_MAX, Z2_MAX);
  328. #endif
  329. test_dual_z_endstops(Z_MAX, Z2_MAX);
  330. #else // !Z_DUAL_ENDSTOPS
  331. UPDATE_ENDSTOP(Z, MAX);
  332. #endif // !Z_DUAL_ENDSTOPS
  333. #endif // Z_MAX_PIN
  334. }
  335. #if ENABLED(COREXZ)
  336. }
  337. #endif
  338. old_endstop_bits = current_endstop_bits;
  339. } // Endstops::update()