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_ALWAYS_ON_DEFAULT)
  38. (true)
  39. #else
  40. (false)
  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. void Endstops::init() {
  58. #if HAS_X_MIN
  59. SET_INPUT(X_MIN_PIN);
  60. #if ENABLED(ENDSTOPPULLUP_XMIN)
  61. WRITE(X_MIN_PIN,HIGH);
  62. #endif
  63. #endif
  64. #if HAS_Y_MIN
  65. SET_INPUT(Y_MIN_PIN);
  66. #if ENABLED(ENDSTOPPULLUP_YMIN)
  67. WRITE(Y_MIN_PIN,HIGH);
  68. #endif
  69. #endif
  70. #if HAS_Z_MIN
  71. SET_INPUT(Z_MIN_PIN);
  72. #if ENABLED(ENDSTOPPULLUP_ZMIN)
  73. WRITE(Z_MIN_PIN,HIGH);
  74. #endif
  75. #endif
  76. #if HAS_Z2_MIN
  77. SET_INPUT(Z2_MIN_PIN);
  78. #if ENABLED(ENDSTOPPULLUP_ZMIN)
  79. WRITE(Z2_MIN_PIN,HIGH);
  80. #endif
  81. #endif
  82. #if HAS_X_MAX
  83. SET_INPUT(X_MAX_PIN);
  84. #if ENABLED(ENDSTOPPULLUP_XMAX)
  85. WRITE(X_MAX_PIN,HIGH);
  86. #endif
  87. #endif
  88. #if HAS_Y_MAX
  89. SET_INPUT(Y_MAX_PIN);
  90. #if ENABLED(ENDSTOPPULLUP_YMAX)
  91. WRITE(Y_MAX_PIN,HIGH);
  92. #endif
  93. #endif
  94. #if HAS_Z_MAX
  95. SET_INPUT(Z_MAX_PIN);
  96. #if ENABLED(ENDSTOPPULLUP_ZMAX)
  97. WRITE(Z_MAX_PIN,HIGH);
  98. #endif
  99. #endif
  100. #if HAS_Z2_MAX
  101. SET_INPUT(Z2_MAX_PIN);
  102. #if ENABLED(ENDSTOPPULLUP_ZMAX)
  103. WRITE(Z2_MAX_PIN,HIGH);
  104. #endif
  105. #endif
  106. #if ENABLED(Z_MIN_PROBE_ENDSTOP)
  107. SET_INPUT(Z_MIN_PROBE_PIN);
  108. #if ENABLED(ENDSTOPPULLUP_ZMIN_PROBE)
  109. WRITE(Z_MIN_PROBE_PIN,HIGH);
  110. #endif
  111. #endif
  112. } // Endstops::init
  113. void Endstops::report_state() {
  114. if (endstop_hit_bits) {
  115. #if ENABLED(ULTRA_LCD)
  116. char chrX = ' ', chrY = ' ', chrZ = ' ', chrP = ' ';
  117. #define _SET_STOP_CHAR(A,C) (chr## A = C)
  118. #else
  119. #define _SET_STOP_CHAR(A,C) ;
  120. #endif
  121. #define _ENDSTOP_HIT_ECHO(A,C) do{ \
  122. SERIAL_ECHOPAIR(" " STRINGIFY(A) ":", stepper.triggered_position_mm(A ##_AXIS)); \
  123. _SET_STOP_CHAR(A,C); }while(0)
  124. #define _ENDSTOP_HIT_TEST(A,C) \
  125. if (TEST(endstop_hit_bits, A ##_MIN) || TEST(endstop_hit_bits, A ##_MAX)) \
  126. _ENDSTOP_HIT_ECHO(A,C)
  127. SERIAL_ECHO_START;
  128. SERIAL_ECHOPGM(MSG_ENDSTOPS_HIT);
  129. _ENDSTOP_HIT_TEST(X, 'X');
  130. _ENDSTOP_HIT_TEST(Y, 'Y');
  131. _ENDSTOP_HIT_TEST(Z, 'Z');
  132. #if ENABLED(Z_MIN_PROBE_ENDSTOP)
  133. #define P_AXIS Z_AXIS
  134. if (TEST(endstop_hit_bits, Z_MIN_PROBE)) _ENDSTOP_HIT_ECHO(P, 'P');
  135. #endif
  136. SERIAL_EOL;
  137. #if ENABLED(ULTRA_LCD)
  138. char msg[3 * strlen(MSG_LCD_ENDSTOPS) + 8 + 1]; // Room for a UTF 8 string
  139. sprintf_P(msg, PSTR(MSG_LCD_ENDSTOPS " %c %c %c %c"), chrX, chrY, chrZ, chrP);
  140. lcd_setstatus(msg);
  141. #endif
  142. hit_on_purpose();
  143. #if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED) && ENABLED(SDSUPPORT)
  144. if (stepper.abort_on_endstop_hit) {
  145. card.sdprinting = false;
  146. card.closefile();
  147. quickstop_stepper();
  148. thermalManager.disable_all_heaters(); // switch off all heaters.
  149. }
  150. #endif
  151. }
  152. } // Endstops::report_state
  153. void Endstops::M119() {
  154. SERIAL_PROTOCOLLNPGM(MSG_M119_REPORT);
  155. #if HAS_X_MIN
  156. SERIAL_PROTOCOLPGM(MSG_X_MIN);
  157. SERIAL_PROTOCOLLN(((READ(X_MIN_PIN)^X_MIN_ENDSTOP_INVERTING) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN));
  158. #endif
  159. #if HAS_X_MAX
  160. SERIAL_PROTOCOLPGM(MSG_X_MAX);
  161. SERIAL_PROTOCOLLN(((READ(X_MAX_PIN)^X_MAX_ENDSTOP_INVERTING) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN));
  162. #endif
  163. #if HAS_Y_MIN
  164. SERIAL_PROTOCOLPGM(MSG_Y_MIN);
  165. SERIAL_PROTOCOLLN(((READ(Y_MIN_PIN)^Y_MIN_ENDSTOP_INVERTING) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN));
  166. #endif
  167. #if HAS_Y_MAX
  168. SERIAL_PROTOCOLPGM(MSG_Y_MAX);
  169. SERIAL_PROTOCOLLN(((READ(Y_MAX_PIN)^Y_MAX_ENDSTOP_INVERTING) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN));
  170. #endif
  171. #if HAS_Z_MIN
  172. SERIAL_PROTOCOLPGM(MSG_Z_MIN);
  173. SERIAL_PROTOCOLLN(((READ(Z_MIN_PIN)^Z_MIN_ENDSTOP_INVERTING) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN));
  174. #endif
  175. #if HAS_Z_MAX
  176. SERIAL_PROTOCOLPGM(MSG_Z_MAX);
  177. SERIAL_PROTOCOLLN(((READ(Z_MAX_PIN)^Z_MAX_ENDSTOP_INVERTING) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN));
  178. #endif
  179. #if HAS_Z2_MAX
  180. SERIAL_PROTOCOLPGM(MSG_Z2_MAX);
  181. SERIAL_PROTOCOLLN(((READ(Z2_MAX_PIN)^Z2_MAX_ENDSTOP_INVERTING) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN));
  182. #endif
  183. #if ENABLED(Z_MIN_PROBE_ENDSTOP)
  184. SERIAL_PROTOCOLPGM(MSG_Z_PROBE);
  185. SERIAL_PROTOCOLLN(((READ(Z_MIN_PROBE_PIN)^Z_MIN_PROBE_ENDSTOP_INVERTING) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN));
  186. #endif
  187. } // Endstops::M119
  188. #if ENABLED(Z_DUAL_ENDSTOPS)
  189. // Pass the result of the endstop test
  190. void Endstops::test_dual_z_endstops(EndstopEnum es1, EndstopEnum es2) {
  191. byte z_test = TEST_ENDSTOP(es1) | (TEST_ENDSTOP(es2) << 1); // bit 0 for Z, bit 1 for Z2
  192. if (z_test && stepper.current_block->steps[Z_AXIS] > 0) {
  193. SBI(endstop_hit_bits, Z_MIN);
  194. if (!stepper.performing_homing || (z_test == 0x3)) //if not performing home or if both endstops were trigged during homing...
  195. stepper.kill_current_block();
  196. }
  197. }
  198. #endif
  199. // Check endstops - Called from ISR!
  200. void Endstops::update() {
  201. #define _ENDSTOP(AXIS, MINMAX) AXIS ##_## MINMAX
  202. #define _ENDSTOP_PIN(AXIS, MINMAX) AXIS ##_## MINMAX ##_PIN
  203. #define _ENDSTOP_INVERTING(AXIS, MINMAX) AXIS ##_## MINMAX ##_ENDSTOP_INVERTING
  204. #define _ENDSTOP_HIT(AXIS) SBI(endstop_hit_bits, _ENDSTOP(AXIS, MIN))
  205. // UPDATE_ENDSTOP_BIT: set the current endstop bits for an endstop to its status
  206. #define UPDATE_ENDSTOP_BIT(AXIS, MINMAX) SET_BIT(current_endstop_bits, _ENDSTOP(AXIS, MINMAX), (READ(_ENDSTOP_PIN(AXIS, MINMAX)) != _ENDSTOP_INVERTING(AXIS, MINMAX)))
  207. // COPY_BIT: copy the value of SRC_BIT to DST_BIT in DST
  208. #define COPY_BIT(DST, SRC_BIT, DST_BIT) SET_BIT(DST, DST_BIT, TEST(DST, SRC_BIT))
  209. #define _UPDATE_ENDSTOP(AXIS,MINMAX,CODE) do { \
  210. UPDATE_ENDSTOP_BIT(AXIS, MINMAX); \
  211. if (TEST_ENDSTOP(_ENDSTOP(AXIS, MINMAX)) && stepper.current_block->steps[_AXIS(AXIS)] > 0) { \
  212. _ENDSTOP_HIT(AXIS); \
  213. stepper.endstop_triggered(_AXIS(AXIS)); \
  214. CODE; \
  215. } \
  216. } while(0)
  217. #if ENABLED(G38_PROBE_TARGET) && PIN_EXISTS(Z_MIN) // If G38 command then check Z_MIN for every axis and every direction
  218. #define UPDATE_ENDSTOP(AXIS,MINMAX) do { \
  219. _UPDATE_ENDSTOP(AXIS,MINMAX,NOOP); \
  220. if (G38_move) _UPDATE_ENDSTOP(Z, MIN, G38_endstop_hit = true); \
  221. } while(0)
  222. #else
  223. #define UPDATE_ENDSTOP(AXIS,MINMAX) _UPDATE_ENDSTOP(AXIS,MINMAX,NOOP)
  224. #endif
  225. #if ENABLED(COREXY) || ENABLED(COREXZ)
  226. // Head direction in -X axis for CoreXY and CoreXZ bots.
  227. // If DeltaA == -DeltaB, the movement is only in Y or Z axis
  228. 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))) {
  229. if (stepper.motor_direction(X_HEAD))
  230. #else
  231. if (stepper.motor_direction(X_AXIS)) // stepping along -X axis (regular Cartesian bot)
  232. #endif
  233. { // -direction
  234. #if ENABLED(DUAL_X_CARRIAGE)
  235. // with 2 x-carriages, endstops are only checked in the homing direction for the active extruder
  236. if ((stepper.current_block->active_extruder == 0 && X_HOME_DIR == -1) || (stepper.current_block->active_extruder != 0 && X2_HOME_DIR == -1))
  237. #endif
  238. {
  239. #if HAS_X_MIN
  240. UPDATE_ENDSTOP(X, MIN);
  241. #endif
  242. }
  243. }
  244. else { // +direction
  245. #if ENABLED(DUAL_X_CARRIAGE)
  246. // with 2 x-carriages, endstops are only checked in the homing direction for the active extruder
  247. if ((stepper.current_block->active_extruder == 0 && X_HOME_DIR == 1) || (stepper.current_block->active_extruder != 0 && X2_HOME_DIR == 1))
  248. #endif
  249. {
  250. #if HAS_X_MAX
  251. UPDATE_ENDSTOP(X, MAX);
  252. #endif
  253. }
  254. }
  255. #if ENABLED(COREXY) || ENABLED(COREXZ)
  256. }
  257. #endif
  258. #if ENABLED(COREXY) || ENABLED(COREYZ)
  259. // Head direction in -Y axis for CoreXY / CoreYZ bots.
  260. // If DeltaA == DeltaB, the movement is only in X or Y axis
  261. 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))) {
  262. if (stepper.motor_direction(Y_HEAD))
  263. #else
  264. if (stepper.motor_direction(Y_AXIS)) // -direction
  265. #endif
  266. { // -direction
  267. #if HAS_Y_MIN
  268. UPDATE_ENDSTOP(Y, MIN);
  269. #endif
  270. }
  271. else { // +direction
  272. #if HAS_Y_MAX
  273. UPDATE_ENDSTOP(Y, MAX);
  274. #endif
  275. }
  276. #if ENABLED(COREXY) || ENABLED(COREYZ)
  277. }
  278. #endif
  279. #if ENABLED(COREXZ) || ENABLED(COREYZ)
  280. // Head direction in -Z axis for CoreXZ or CoreYZ bots.
  281. // If DeltaA == DeltaB, the movement is only in X or Y axis
  282. 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))) {
  283. if (stepper.motor_direction(Z_HEAD))
  284. #else
  285. if (stepper.motor_direction(Z_AXIS))
  286. #endif
  287. { // Z -direction. Gantry down, bed up.
  288. #if HAS_Z_MIN
  289. #if ENABLED(Z_DUAL_ENDSTOPS)
  290. UPDATE_ENDSTOP_BIT(Z, MIN);
  291. #if HAS_Z2_MIN
  292. UPDATE_ENDSTOP_BIT(Z2, MIN);
  293. #else
  294. COPY_BIT(current_endstop_bits, Z_MIN, Z2_MIN);
  295. #endif
  296. test_dual_z_endstops(Z_MIN, Z2_MIN);
  297. #else // !Z_DUAL_ENDSTOPS
  298. #if ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN)
  299. if (z_probe_enabled) UPDATE_ENDSTOP(Z, MIN);
  300. #else
  301. UPDATE_ENDSTOP(Z, MIN);
  302. #endif
  303. #endif // !Z_DUAL_ENDSTOPS
  304. #endif // HAS_Z_MIN
  305. // When closing the gap check the enabled probe
  306. #if ENABLED(Z_MIN_PROBE_ENDSTOP)
  307. if (z_probe_enabled) {
  308. UPDATE_ENDSTOP(Z, MIN_PROBE);
  309. if (TEST_ENDSTOP(Z_MIN_PROBE)) SBI(endstop_hit_bits, Z_MIN_PROBE);
  310. }
  311. #endif
  312. }
  313. else { // Z +direction. Gantry up, bed down.
  314. #if HAS_Z_MAX
  315. // Check both Z dual endstops
  316. #if ENABLED(Z_DUAL_ENDSTOPS)
  317. UPDATE_ENDSTOP_BIT(Z, MAX);
  318. #if HAS_Z2_MAX
  319. UPDATE_ENDSTOP_BIT(Z2, MAX);
  320. #else
  321. COPY_BIT(current_endstop_bits, Z_MAX, Z2_MAX);
  322. #endif
  323. test_dual_z_endstops(Z_MAX, Z2_MAX);
  324. // If this pin is not hijacked for the bed probe
  325. // then it belongs to the Z endstop
  326. #elif DISABLED(Z_MIN_PROBE_ENDSTOP) || Z_MAX_PIN != Z_MIN_PROBE_PIN
  327. UPDATE_ENDSTOP(Z, MAX);
  328. #endif // !Z_MIN_PROBE_PIN...
  329. #endif // Z_MAX_PIN
  330. }
  331. #if ENABLED(COREXZ)
  332. }
  333. #endif
  334. old_endstop_bits = current_endstop_bits;
  335. } // Endstops::update()