123456789101112131415161718192021222324252627282930313233343536373839404142434445464748495051525354555657585960616263646566676869707172737475767778798081828384858687888990919293949596979899100101102103104105106107108109110111112113114115116117118119120121122123124125126127128129130131132133134135136137138139140141142143144145146147148149150151152153154155156157158159160161162163164165166167168169170171172173174175176177178179180181182183184185186187188189190191192193194195196197198199200201202203204205206207208209210211212213214215216217218219220221222223224225226227228229230231232233234235236237238239240241242243244245246247248249250251252253254255256257258259260261262263264265266267268269270271272273274275276277278279280281282283284285286287288289290291292293294295296297298299300301302303304305306307308309310311312313314315316317318319320321322323324325326327328329330331332333334335336337338339340341342343344345346347348349350351352353354355356 |
-
-
-
-
- #include "Marlin.h"
- #include "endstops.h"
- #include "stepper.h"
- #include "ultralcd.h"
-
-
- #define TEST_ENDSTOP(ENDSTOP) (TEST(current_endstop_bits & old_endstop_bits, ENDSTOP))
-
- Endstops endstops;
-
- Endstops::Endstops() {
- enable_globally(ENABLED(ENDSTOPS_ONLY_FOR_HOMING));
- enable(true);
- #if ENABLED(HAS_Z_MIN_PROBE)
- enable_z_probe(false);
- #endif
- }
-
- void Endstops::init() {
-
- #if HAS_X_MIN
- SET_INPUT(X_MIN_PIN);
- #if ENABLED(ENDSTOPPULLUP_XMIN)
- WRITE(X_MIN_PIN,HIGH);
- #endif
- #endif
-
- #if HAS_Y_MIN
- SET_INPUT(Y_MIN_PIN);
- #if ENABLED(ENDSTOPPULLUP_YMIN)
- WRITE(Y_MIN_PIN,HIGH);
- #endif
- #endif
-
- #if HAS_Z_MIN
- SET_INPUT(Z_MIN_PIN);
- #if ENABLED(ENDSTOPPULLUP_ZMIN)
- WRITE(Z_MIN_PIN,HIGH);
- #endif
- #endif
-
- #if HAS_Z2_MIN
- SET_INPUT(Z2_MIN_PIN);
- #if ENABLED(ENDSTOPPULLUP_ZMIN)
- WRITE(Z2_MIN_PIN,HIGH);
- #endif
- #endif
-
- #if HAS_X_MAX
- SET_INPUT(X_MAX_PIN);
- #if ENABLED(ENDSTOPPULLUP_XMAX)
- WRITE(X_MAX_PIN,HIGH);
- #endif
- #endif
-
- #if HAS_Y_MAX
- SET_INPUT(Y_MAX_PIN);
- #if ENABLED(ENDSTOPPULLUP_YMAX)
- WRITE(Y_MAX_PIN,HIGH);
- #endif
- #endif
-
- #if HAS_Z_MAX
- SET_INPUT(Z_MAX_PIN);
- #if ENABLED(ENDSTOPPULLUP_ZMAX)
- WRITE(Z_MAX_PIN,HIGH);
- #endif
- #endif
-
- #if HAS_Z2_MAX
- SET_INPUT(Z2_MAX_PIN);
- #if ENABLED(ENDSTOPPULLUP_ZMAX)
- WRITE(Z2_MAX_PIN,HIGH);
- #endif
- #endif
-
- #if HAS_Z_PROBE && ENABLED(Z_MIN_PROBE_ENDSTOP)
- SET_INPUT(Z_MIN_PROBE_PIN);
- #if ENABLED(ENDSTOPPULLUP_ZMIN_PROBE)
- WRITE(Z_MIN_PROBE_PIN,HIGH);
- #endif
- #endif
-
- }
-
- 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];
- 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 (abort_on_endstop_hit) {
- card.sdprinting = false;
- card.closefile();
- stepper.quick_stop();
- disable_all_heaters();
- }
- #endif
- }
- }
-
- void Endstops::M119() {
- SERIAL_PROTOCOLLN(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_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 HAS_Z_PROBE
- 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(Z_DUAL_ENDSTOPS)
-
-
- void Endstops::test_dual_z_endstops(EndstopEnum es1, EndstopEnum es2) {
- byte z_test = TEST_ENDSTOP(es1) | (TEST_ENDSTOP(es2) << 1);
- if (stepper.current_block->steps[Z_AXIS] > 0) {
- stepper.endstop_triggered(Z_AXIS);
- SBI(endstop_hit_bits, Z_MIN);
- if (!stepper.performing_homing || (z_test == 0x3))
- stepper.kill_current_block();
- }
- }
-
- #endif
-
-
- void Endstops::update() {
-
- #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))
- #define _ENDSTOP(AXIS, MINMAX) AXIS ##_## MINMAX
-
-
- #define UPDATE_ENDSTOP_BIT(AXIS, MINMAX) SET_BIT(current_endstop_bits, _ENDSTOP(AXIS, MINMAX), (READ(_ENDSTOP_PIN(AXIS, MINMAX)) != _ENDSTOP_INVERTING(AXIS, MINMAX)))
-
- #define COPY_BIT(bits, COPY_BIT, BIT) SET_BIT(bits, BIT, TEST(bits, COPY_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(COREXY) || ENABLED(COREXZ)
-
-
- if ((stepper.current_block->steps[A_AXIS] != stepper.current_block->steps[CORE_AXIS_2]) || (stepper.motor_direction(A_AXIS) == stepper.motor_direction(CORE_AXIS_2))) {
- if (stepper.motor_direction(X_HEAD))
- #else
- if (stepper.motor_direction(X_AXIS))
- #endif
- {
- #if ENABLED(DUAL_X_CARRIAGE)
-
- if ((stepper.current_block->active_extruder == 0 && X_HOME_DIR == -1) || (stepper.current_block->active_extruder != 0 && X2_HOME_DIR == -1))
- #endif
- {
- #if HAS_X_MIN
- UPDATE_ENDSTOP(X, MIN);
- #endif
- }
- }
- else {
- #if ENABLED(DUAL_X_CARRIAGE)
-
- if ((stepper.current_block->active_extruder == 0 && X_HOME_DIR == 1) || (stepper.current_block->active_extruder != 0 && X2_HOME_DIR == 1))
- #endif
- {
- #if HAS_X_MAX
- UPDATE_ENDSTOP(X, MAX);
- #endif
- }
- }
- #if ENABLED(COREXY) || ENABLED(COREXZ)
- }
- #endif
-
- #if ENABLED(COREXY)
-
-
- if ((stepper.current_block->steps[A_AXIS] != stepper.current_block->steps[B_AXIS]) || (stepper.motor_direction(A_AXIS) != stepper.motor_direction(B_AXIS))) {
- if (stepper.motor_direction(Y_HEAD))
- #else
- if (stepper.motor_direction(Y_AXIS))
- #endif
- {
- #if HAS_Y_MIN
- UPDATE_ENDSTOP(Y, MIN);
- #endif
- }
- else {
- #if HAS_Y_MAX
- UPDATE_ENDSTOP(Y, MAX);
- #endif
- }
- #if ENABLED(COREXY)
- }
- #endif
-
- #if ENABLED(COREXZ)
-
-
- if ((stepper.current_block->steps[A_AXIS] != stepper.current_block->steps[C_AXIS]) || (stepper.motor_direction(A_AXIS) != stepper.motor_direction(C_AXIS))) {
- if (stepper.motor_direction(Z_HEAD))
- #else
- if (stepper.motor_direction(Z_AXIS))
- #endif
- {
- #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
-
- #if ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN) && ENABLED(HAS_Z_MIN_PROBE)
- if (z_probe_enabled) UPDATE_ENDSTOP(Z, MIN);
- #else
- UPDATE_ENDSTOP(Z, MIN);
- #endif
-
- #endif
-
- #endif
-
- #if ENABLED(Z_MIN_PROBE_ENDSTOP) && DISABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN) && ENABLED(HAS_Z_MIN_PROBE)
- if (z_probe_enabled) {
- UPDATE_ENDSTOP(Z, MIN_PROBE);
- if (TEST_ENDSTOP(Z_MIN_PROBE)) SBI(endstop_hit_bits, Z_MIN_PROBE);
- }
- #endif
- }
- else {
- #if HAS_Z_MAX
-
- #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);
-
- #else
-
- UPDATE_ENDSTOP(Z, MAX);
-
- #endif
- #endif
- }
- #if ENABLED(COREXZ)
- }
- #endif
-
- old_endstop_bits = current_endstop_bits;
-
- }
|