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- /**
- * Marlin 3D Printer Firmware
- * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
- *
- * Based on Sprinter and grbl.
- * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <http://www.gnu.org/licenses/>.
- *
- */
-
- /**
- * endstops.cpp - A singleton object to manage endstops
- */
-
- #include "endstops.h"
- #include "stepper.h"
-
- #include "../MarlinCore.h"
- #include "../sd/cardreader.h"
- #include "temperature.h"
- #include "../lcd/ultralcd.h"
-
- #if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
- #include HAL_PATH(../HAL, endstop_interrupts.h)
- #endif
-
- #if BOTH(SD_ABORT_ON_ENDSTOP_HIT, SDSUPPORT)
- #include "printcounter.h" // for print_job_timer
- #endif
-
- #if ENABLED(BLTOUCH)
- #include "../feature/bltouch.h"
- #endif
-
- #if ENABLED(JOYSTICK)
- #include "../feature/joystick.h"
- #endif
-
- Endstops endstops;
-
- // private:
-
- bool Endstops::enabled, Endstops::enabled_globally; // Initialized by settings.load()
- volatile uint8_t Endstops::hit_state;
-
- Endstops::esbits_t Endstops::live_state = 0;
-
- #if ENDSTOP_NOISE_THRESHOLD
- Endstops::esbits_t Endstops::validated_live_state;
- uint8_t Endstops::endstop_poll_count;
- #endif
-
- #if HAS_BED_PROBE
- volatile bool Endstops::z_probe_enabled = false;
- #endif
-
- // Initialized by settings.load()
- #if ENABLED(X_DUAL_ENDSTOPS)
- float Endstops::x2_endstop_adj;
- #endif
- #if ENABLED(Y_DUAL_ENDSTOPS)
- float Endstops::y2_endstop_adj;
- #endif
- #if ENABLED(Z_MULTI_ENDSTOPS)
- float Endstops::z2_endstop_adj;
- #if NUM_Z_STEPPER_DRIVERS >= 3
- float Endstops::z3_endstop_adj;
- #if NUM_Z_STEPPER_DRIVERS >= 4
- float Endstops::z4_endstop_adj;
- #endif
- #endif
- #endif
-
- #if ENABLED(SPI_ENDSTOPS)
- Endstops::tmc_spi_homing_t Endstops::tmc_spi_homing; // = 0
- #endif
- #if ENABLED(IMPROVE_HOMING_RELIABILITY)
- millis_t sg_guard_period; // = 0
- #endif
-
- /**
- * Class and Instance Methods
- */
-
- void Endstops::init() {
-
- #if HAS_X_MIN
- #if ENABLED(ENDSTOPPULLUP_XMIN)
- SET_INPUT_PULLUP(X_MIN_PIN);
- #elif ENABLED(ENDSTOPPULLDOWN_XMIN)
- SET_INPUT_PULLDOWN(X_MIN_PIN);
- #else
- SET_INPUT(X_MIN_PIN);
- #endif
- #endif
-
- #if HAS_X2_MIN
- #if ENABLED(ENDSTOPPULLUP_XMIN)
- SET_INPUT_PULLUP(X2_MIN_PIN);
- #elif ENABLED(ENDSTOPPULLDOWN_XMIN)
- SET_INPUT_PULLDOWN(X2_MIN_PIN);
- #else
- SET_INPUT(X2_MIN_PIN);
- #endif
- #endif
-
- #if HAS_Y_MIN
- #if ENABLED(ENDSTOPPULLUP_YMIN)
- SET_INPUT_PULLUP(Y_MIN_PIN);
- #elif ENABLED(ENDSTOPPULLDOWN_YMIN)
- SET_INPUT_PULLDOWN(Y_MIN_PIN);
- #else
- SET_INPUT(Y_MIN_PIN);
- #endif
- #endif
-
- #if HAS_Y2_MIN
- #if ENABLED(ENDSTOPPULLUP_YMIN)
- SET_INPUT_PULLUP(Y2_MIN_PIN);
- #elif ENABLED(ENDSTOPPULLDOWN_YMIN)
- SET_INPUT_PULLDOWN(Y2_MIN_PIN);
- #else
- SET_INPUT(Y2_MIN_PIN);
- #endif
- #endif
-
- #if HAS_Z_MIN
- #if ENABLED(ENDSTOPPULLUP_ZMIN)
- SET_INPUT_PULLUP(Z_MIN_PIN);
- #elif ENABLED(ENDSTOPPULLDOWN_ZMIN)
- SET_INPUT_PULLDOWN(Z_MIN_PIN);
- #else
- SET_INPUT(Z_MIN_PIN);
- #endif
- #endif
-
- #if HAS_Z2_MIN
- #if ENABLED(ENDSTOPPULLUP_ZMIN)
- SET_INPUT_PULLUP(Z2_MIN_PIN);
- #elif ENABLED(ENDSTOPPULLDOWN_ZMIN)
- SET_INPUT_PULLDOWN(Z2_MIN_PIN);
- #else
- SET_INPUT(Z2_MIN_PIN);
- #endif
- #endif
-
- #if HAS_Z3_MIN
- #if ENABLED(ENDSTOPPULLUP_ZMIN)
- SET_INPUT_PULLUP(Z3_MIN_PIN);
- #elif ENABLED(ENDSTOPPULLDOWN_ZMIN)
- SET_INPUT_PULLDOWN(Z3_MIN_PIN);
- #else
- SET_INPUT(Z3_MIN_PIN);
- #endif
- #endif
-
- #if HAS_Z4_MIN
- #if ENABLED(ENDSTOPPULLUP_ZMIN)
- SET_INPUT_PULLUP(Z4_MIN_PIN);
- #elif ENABLED(ENDSTOPPULLDOWN_ZMIN)
- SET_INPUT_PULLDOWN(Z4_MIN_PIN);
- #else
- SET_INPUT(Z4_MIN_PIN);
- #endif
- #endif
-
- #if HAS_X_MAX
- #if ENABLED(ENDSTOPPULLUP_XMAX)
- SET_INPUT_PULLUP(X_MAX_PIN);
- #elif ENABLED(ENDSTOPPULLDOWN_XMAX)
- SET_INPUT_PULLDOWN(X_MAX_PIN);
- #else
- SET_INPUT(X_MAX_PIN);
- #endif
- #endif
-
- #if HAS_X2_MAX
- #if ENABLED(ENDSTOPPULLUP_XMAX)
- SET_INPUT_PULLUP(X2_MAX_PIN);
- #elif ENABLED(ENDSTOPPULLDOWN_XMAX)
- SET_INPUT_PULLDOWN(X2_MAX_PIN);
- #else
- SET_INPUT(X2_MAX_PIN);
- #endif
- #endif
-
- #if HAS_Y_MAX
- #if ENABLED(ENDSTOPPULLUP_YMAX)
- SET_INPUT_PULLUP(Y_MAX_PIN);
- #elif ENABLED(ENDSTOPPULLDOWN_YMAX)
- SET_INPUT_PULLDOWN(Y_MAX_PIN);
- #else
- SET_INPUT(Y_MAX_PIN);
- #endif
- #endif
-
- #if HAS_Y2_MAX
- #if ENABLED(ENDSTOPPULLUP_YMAX)
- SET_INPUT_PULLUP(Y2_MAX_PIN);
- #elif ENABLED(ENDSTOPPULLDOWN_YMAX)
- SET_INPUT_PULLDOWN(Y2_MAX_PIN);
- #else
- SET_INPUT(Y2_MAX_PIN);
- #endif
- #endif
-
- #if HAS_Z_MAX
- #if ENABLED(ENDSTOPPULLUP_ZMAX)
- SET_INPUT_PULLUP(Z_MAX_PIN);
- #elif ENABLED(ENDSTOPPULLDOWN_ZMAX)
- SET_INPUT_PULLDOWN(Z_MAX_PIN);
- #else
- SET_INPUT(Z_MAX_PIN);
- #endif
- #endif
-
- #if HAS_Z2_MAX
- #if ENABLED(ENDSTOPPULLUP_ZMAX)
- SET_INPUT_PULLUP(Z2_MAX_PIN);
- #elif ENABLED(ENDSTOPPULLDOWN_ZMAX)
- SET_INPUT_PULLDOWN(Z2_MAX_PIN);
- #else
- SET_INPUT(Z2_MAX_PIN);
- #endif
- #endif
-
- #if HAS_Z3_MAX
- #if ENABLED(ENDSTOPPULLUP_ZMAX)
- SET_INPUT_PULLUP(Z3_MAX_PIN);
- #elif ENABLED(ENDSTOPPULLDOWN_ZMAX)
- SET_INPUT_PULLDOWN(Z3_MAX_PIN);
- #else
- SET_INPUT(Z3_MAX_PIN);
- #endif
- #endif
-
- #if HAS_Z4_MAX
- #if ENABLED(ENDSTOPPULLUP_ZMAX)
- SET_INPUT_PULLUP(Z4_MAX_PIN);
- #elif ENABLED(ENDSTOPPULLDOWN_ZMAX)
- SET_INPUT_PULLDOWN(Z4_MAX_PIN);
- #else
- SET_INPUT(Z4_MAX_PIN);
- #endif
- #endif
-
- #if HAS_CALIBRATION_PIN
- #if ENABLED(CALIBRATION_PIN_PULLUP)
- SET_INPUT_PULLUP(CALIBRATION_PIN);
- #elif ENABLED(CALIBRATION_PIN_PULLDOWN)
- SET_INPUT_PULLDOWN(CALIBRATION_PIN);
- #else
- SET_INPUT(CALIBRATION_PIN);
- #endif
- #endif
-
- #if HAS_CUSTOM_PROBE_PIN
- #if ENABLED(ENDSTOPPULLUP_ZMIN_PROBE)
- SET_INPUT_PULLUP(Z_MIN_PROBE_PIN);
- #elif ENABLED(ENDSTOPPULLDOWN_ZMIN_PROBE)
- SET_INPUT_PULLDOWN(Z_MIN_PROBE_PIN);
- #else
- SET_INPUT(Z_MIN_PROBE_PIN);
- #endif
- #endif
-
- #if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
- setup_endstop_interrupts();
- #endif
-
- // Enable endstops
- enable_globally(
- #if ENABLED(ENDSTOPS_ALWAYS_ON_DEFAULT)
- true
- #else
- false
- #endif
- );
-
- } // Endstops::init
-
- // Called at ~1KHz from Temperature ISR: Poll endstop state if required
- void Endstops::poll() {
-
- #if ENABLED(PINS_DEBUGGING)
- run_monitor(); // report changes in endstop status
- #endif
-
- #if DISABLED(ENDSTOP_INTERRUPTS_FEATURE)
- update();
- #elif ENDSTOP_NOISE_THRESHOLD
- if (endstop_poll_count) update();
- #endif
- }
-
- void Endstops::enable_globally(const bool onoff) {
- enabled_globally = enabled = onoff;
- resync();
- }
-
- // Enable / disable endstop checking
- void Endstops::enable(const bool onoff) {
- enabled = onoff;
- resync();
- }
-
- // Disable / Enable endstops based on ENSTOPS_ONLY_FOR_HOMING and global enable
- void Endstops::not_homing() {
- enabled = enabled_globally;
- }
-
- #if ENABLED(VALIDATE_HOMING_ENDSTOPS)
- // If the last move failed to trigger an endstop, call kill
- void Endstops::validate_homing_move() {
- if (trigger_state()) hit_on_purpose();
- else kill(GET_TEXT(MSG_LCD_HOMING_FAILED));
- }
- #endif
-
- // Enable / disable endstop z-probe checking
- #if HAS_BED_PROBE
- void Endstops::enable_z_probe(const bool onoff) {
- z_probe_enabled = onoff;
- resync();
- }
- #endif
-
- // Get the stable endstop states when enabled
- void Endstops::resync() {
- if (!abort_enabled()) return; // If endstops/probes are disabled the loop below can hang
-
- #if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
- update();
- #else
- safe_delay(2); // Wait for Temperature ISR to run at least once (runs at 1KHz)
- #endif
- #if ENDSTOP_NOISE_THRESHOLD
- while (endstop_poll_count) safe_delay(1);
- #endif
- }
-
- #if ENABLED(PINS_DEBUGGING)
- void Endstops::run_monitor() {
- if (!monitor_flag) return;
- static uint8_t monitor_count = 16; // offset this check from the others
- monitor_count += _BV(1); // 15 Hz
- monitor_count &= 0x7F;
- if (!monitor_count) monitor(); // report changes in endstop status
- }
- #endif
-
- void Endstops::event_handler() {
- static uint8_t prev_hit_state; // = 0
- if (hit_state == prev_hit_state) return;
- prev_hit_state = hit_state;
- if (hit_state) {
- #if HAS_SPI_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) ":", planner.triggered_position_mm(_AXIS(A))); \
- _SET_STOP_CHAR(A,C); }while(0)
-
- #define _ENDSTOP_HIT_TEST(A,C) \
- if (TEST(hit_state, A ##_MIN) || TEST(hit_state, A ##_MAX)) \
- _ENDSTOP_HIT_ECHO(A,C)
-
- #define ENDSTOP_HIT_TEST_X() _ENDSTOP_HIT_TEST(X,'X')
- #define ENDSTOP_HIT_TEST_Y() _ENDSTOP_HIT_TEST(Y,'Y')
- #define ENDSTOP_HIT_TEST_Z() _ENDSTOP_HIT_TEST(Z,'Z')
-
- SERIAL_ECHO_START();
- SERIAL_ECHOPGM(MSG_ENDSTOPS_HIT);
- ENDSTOP_HIT_TEST_X();
- ENDSTOP_HIT_TEST_Y();
- ENDSTOP_HIT_TEST_Z();
-
- #if HAS_CUSTOM_PROBE_PIN
- #define P_AXIS Z_AXIS
- if (TEST(hit_state, Z_MIN_PROBE)) _ENDSTOP_HIT_ECHO(P, 'P');
- #endif
- SERIAL_EOL();
-
- #if HAS_SPI_LCD
- ui.status_printf_P(0, PSTR(S_FMT " %c %c %c %c"), GET_TEXT(MSG_LCD_ENDSTOPS), chrX, chrY, chrZ, chrP);
- #endif
-
- #if BOTH(SD_ABORT_ON_ENDSTOP_HIT, SDSUPPORT)
- if (planner.abort_on_endstop_hit) {
- card.stopSDPrint();
- quickstop_stepper();
- thermalManager.disable_all_heaters();
- print_job_timer.stop();
- }
- #endif
- }
- }
-
- static void print_es_state(const bool is_hit, PGM_P const label=nullptr) {
- if (label) serialprintPGM(label);
- SERIAL_ECHOPGM(": ");
- serialprintPGM(is_hit ? PSTR(MSG_ENDSTOP_HIT) : PSTR(MSG_ENDSTOP_OPEN));
- SERIAL_EOL();
- }
-
- void _O2 Endstops::report_states() {
- #if ENABLED(BLTOUCH)
- bltouch._set_SW_mode();
- #endif
- SERIAL_ECHOLNPGM(MSG_M119_REPORT);
- #define ES_REPORT(S) print_es_state(READ(S##_PIN) != S##_ENDSTOP_INVERTING, PSTR(MSG_##S))
- #if HAS_X_MIN
- ES_REPORT(X_MIN);
- #endif
- #if HAS_X2_MIN
- ES_REPORT(X2_MIN);
- #endif
- #if HAS_X_MAX
- ES_REPORT(X_MAX);
- #endif
- #if HAS_X2_MAX
- ES_REPORT(X2_MAX);
- #endif
- #if HAS_Y_MIN
- ES_REPORT(Y_MIN);
- #endif
- #if HAS_Y2_MIN
- ES_REPORT(Y2_MIN);
- #endif
- #if HAS_Y_MAX
- ES_REPORT(Y_MAX);
- #endif
- #if HAS_Y2_MAX
- ES_REPORT(Y2_MAX);
- #endif
- #if HAS_Z_MIN
- ES_REPORT(Z_MIN);
- #endif
- #if HAS_Z2_MIN
- ES_REPORT(Z2_MIN);
- #endif
- #if HAS_Z3_MIN
- ES_REPORT(Z3_MIN);
- #endif
- #if HAS_Z4_MIN
- ES_REPORT(Z4_MIN);
- #endif
- #if HAS_Z_MAX
- ES_REPORT(Z_MAX);
- #endif
- #if HAS_Z2_MAX
- ES_REPORT(Z2_MAX);
- #endif
- #if HAS_Z3_MAX
- ES_REPORT(Z3_MAX);
- #endif
- #if HAS_Z4_MAX
- ES_REPORT(Z4_MAX);
- #endif
- #if HAS_CUSTOM_PROBE_PIN
- print_es_state(READ(Z_MIN_PROBE_PIN) != Z_MIN_PROBE_ENDSTOP_INVERTING, PSTR(MSG_Z_PROBE));
- #endif
- #if HAS_FILAMENT_SENSOR
- #if NUM_RUNOUT_SENSORS == 1
- print_es_state(READ(FIL_RUNOUT_PIN) != FIL_RUNOUT_INVERTING, PSTR(MSG_FILAMENT_RUNOUT_SENSOR));
- #else
- #define _CASE_RUNOUT(N) case N: pin = FIL_RUNOUT##N##_PIN; break;
- for (uint8_t i = 1; i <= NUM_RUNOUT_SENSORS; i++) {
- pin_t pin;
- switch (i) {
- default: continue;
- REPEAT_S(1, INCREMENT(NUM_RUNOUT_SENSORS), _CASE_RUNOUT)
- }
- SERIAL_ECHOPGM(MSG_FILAMENT_RUNOUT_SENSOR);
- if (i > 1) SERIAL_CHAR(' ', '0' + i);
- print_es_state(extDigitalRead(pin) != FIL_RUNOUT_INVERTING);
- }
- #undef _CASE_RUNOUT
- #endif
- #endif
- #if ENABLED(BLTOUCH)
- bltouch._reset_SW_mode();
- #endif
-
- #if ENABLED(JOYSTICK_DEBUG)
- joystick.report();
- #endif
-
- } // Endstops::report_states
-
- // The following routines are called from an ISR context. It could be the temperature ISR, the
- // endstop ISR or the Stepper ISR.
-
- #define _ENDSTOP(AXIS, MINMAX) AXIS ##_## MINMAX
- #define _ENDSTOP_PIN(AXIS, MINMAX) AXIS ##_## MINMAX ##_PIN
- #define _ENDSTOP_INVERTING(AXIS, MINMAX) AXIS ##_## MINMAX ##_ENDSTOP_INVERTING
-
- // Check endstops - Could be called from Temperature ISR!
- void Endstops::update() {
-
- #if !ENDSTOP_NOISE_THRESHOLD
- if (!abort_enabled()) return;
- #endif
-
- #define UPDATE_ENDSTOP_BIT(AXIS, MINMAX) SET_BIT_TO(live_state, _ENDSTOP(AXIS, MINMAX), (READ(_ENDSTOP_PIN(AXIS, MINMAX)) != _ENDSTOP_INVERTING(AXIS, MINMAX)))
- #define COPY_LIVE_STATE(SRC_BIT, DST_BIT) SET_BIT_TO(live_state, DST_BIT, TEST(live_state, SRC_BIT))
-
- #if ENABLED(G38_PROBE_TARGET) && PIN_EXISTS(Z_MIN_PROBE) && !(CORE_IS_XY || CORE_IS_XZ)
- // If G38 command is active check Z_MIN_PROBE for ALL movement
- if (G38_move) UPDATE_ENDSTOP_BIT(Z, MIN_PROBE);
- #endif
-
- // With Dual X, endstops are only checked in the homing direction for the active extruder
- #if ENABLED(DUAL_X_CARRIAGE)
- #define E0_ACTIVE stepper.movement_extruder() == 0
- #define X_MIN_TEST ((X_HOME_DIR < 0 && E0_ACTIVE) || (X2_HOME_DIR < 0 && !E0_ACTIVE))
- #define X_MAX_TEST ((X_HOME_DIR > 0 && E0_ACTIVE) || (X2_HOME_DIR > 0 && !E0_ACTIVE))
- #else
- #define X_MIN_TEST true
- #define X_MAX_TEST true
- #endif
-
- // Use HEAD for core axes, AXIS for others
- #if CORE_IS_XY || CORE_IS_XZ
- #define X_AXIS_HEAD X_HEAD
- #else
- #define X_AXIS_HEAD X_AXIS
- #endif
- #if CORE_IS_XY || CORE_IS_YZ
- #define Y_AXIS_HEAD Y_HEAD
- #else
- #define Y_AXIS_HEAD Y_AXIS
- #endif
- #if CORE_IS_XZ || CORE_IS_YZ
- #define Z_AXIS_HEAD Z_HEAD
- #else
- #define Z_AXIS_HEAD Z_AXIS
- #endif
-
- /**
- * Check and update endstops
- */
- #if HAS_X_MIN && !X_SPI_SENSORLESS
- UPDATE_ENDSTOP_BIT(X, MIN);
- #if ENABLED(X_DUAL_ENDSTOPS)
- #if HAS_X2_MIN
- UPDATE_ENDSTOP_BIT(X2, MIN);
- #else
- COPY_LIVE_STATE(X_MIN, X2_MIN);
- #endif
- #endif
- #endif
-
- #if HAS_X_MAX && !X_SPI_SENSORLESS
- UPDATE_ENDSTOP_BIT(X, MAX);
- #if ENABLED(X_DUAL_ENDSTOPS)
- #if HAS_X2_MAX
- UPDATE_ENDSTOP_BIT(X2, MAX);
- #else
- COPY_LIVE_STATE(X_MAX, X2_MAX);
- #endif
- #endif
- #endif
-
- #if HAS_Y_MIN && !Y_SPI_SENSORLESS
- UPDATE_ENDSTOP_BIT(Y, MIN);
- #if ENABLED(Y_DUAL_ENDSTOPS)
- #if HAS_Y2_MIN
- UPDATE_ENDSTOP_BIT(Y2, MIN);
- #else
- COPY_LIVE_STATE(Y_MIN, Y2_MIN);
- #endif
- #endif
- #endif
-
- #if HAS_Y_MAX && !Y_SPI_SENSORLESS
- UPDATE_ENDSTOP_BIT(Y, MAX);
- #if ENABLED(Y_DUAL_ENDSTOPS)
- #if HAS_Y2_MAX
- UPDATE_ENDSTOP_BIT(Y2, MAX);
- #else
- COPY_LIVE_STATE(Y_MAX, Y2_MAX);
- #endif
- #endif
- #endif
-
- #if HAS_Z_MIN && !Z_SPI_SENSORLESS
- UPDATE_ENDSTOP_BIT(Z, MIN);
- #if ENABLED(Z_MULTI_ENDSTOPS)
- #if HAS_Z2_MIN
- UPDATE_ENDSTOP_BIT(Z2, MIN);
- #else
- COPY_LIVE_STATE(Z_MIN, Z2_MIN);
- #endif
- #if NUM_Z_STEPPER_DRIVERS >= 3
- #if HAS_Z3_MIN
- UPDATE_ENDSTOP_BIT(Z3, MIN);
- #else
- COPY_LIVE_STATE(Z_MIN, Z3_MIN);
- #endif
- #endif
- #if NUM_Z_STEPPER_DRIVERS >= 4
- #if HAS_Z4_MIN
- UPDATE_ENDSTOP_BIT(Z4, MIN);
- #else
- COPY_LIVE_STATE(Z_MIN, Z4_MIN);
- #endif
- #endif
- #endif
- #endif
-
- // When closing the gap check the enabled probe
- #if HAS_CUSTOM_PROBE_PIN
- UPDATE_ENDSTOP_BIT(Z, MIN_PROBE);
- #endif
-
- #if HAS_Z_MAX && !Z_SPI_SENSORLESS
- // Check both Z dual endstops
- #if ENABLED(Z_MULTI_ENDSTOPS)
- UPDATE_ENDSTOP_BIT(Z, MAX);
- #if HAS_Z2_MAX
- UPDATE_ENDSTOP_BIT(Z2, MAX);
- #else
- COPY_LIVE_STATE(Z_MAX, Z2_MAX);
- #endif
- #if NUM_Z_STEPPER_DRIVERS >= 3
- #if HAS_Z3_MAX
- UPDATE_ENDSTOP_BIT(Z3, MAX);
- #else
- COPY_LIVE_STATE(Z_MAX, Z3_MAX);
- #endif
- #endif
- #if NUM_Z_STEPPER_DRIVERS >= 4
- #if HAS_Z4_MAX
- UPDATE_ENDSTOP_BIT(Z4, MAX);
- #else
- COPY_LIVE_STATE(Z_MAX, Z4_MAX);
- #endif
- #endif
- #elif !HAS_CUSTOM_PROBE_PIN || Z_MAX_PIN != Z_MIN_PROBE_PIN
- // If this pin isn't the bed probe it's the Z endstop
- UPDATE_ENDSTOP_BIT(Z, MAX);
- #endif
- #endif
-
- #if ENDSTOP_NOISE_THRESHOLD
-
- /**
- * Filtering out noise on endstops requires a delayed decision. Let's assume, due to noise,
- * that 50% of endstop signal samples are good and 50% are bad (assuming normal distribution
- * of random noise). Then the first sample has a 50% chance to be good or bad. The 2nd sample
- * also has a 50% chance to be good or bad. The chances of 2 samples both being bad becomes
- * 50% of 50%, or 25%. That was the previous implementation of Marlin endstop handling. It
- * reduces chances of bad readings in half, at the cost of 1 extra sample period, but chances
- * still exist. The only way to reduce them further is to increase the number of samples.
- * To reduce the chance to 1% (1/128th) requires 7 samples (adding 7ms of delay).
- */
- static esbits_t old_live_state;
- if (old_live_state != live_state) {
- endstop_poll_count = ENDSTOP_NOISE_THRESHOLD;
- old_live_state = live_state;
- }
- else if (endstop_poll_count && !--endstop_poll_count)
- validated_live_state = live_state;
-
- if (!abort_enabled()) return;
-
- #endif
-
- // Test the current status of an endstop
- #define TEST_ENDSTOP(ENDSTOP) (TEST(state(), ENDSTOP))
-
- // Record endstop was hit
- #define _ENDSTOP_HIT(AXIS, MINMAX) SBI(hit_state, _ENDSTOP(AXIS, MINMAX))
-
- // Call the endstop triggered routine for single endstops
- #define PROCESS_ENDSTOP(AXIS,MINMAX) do { \
- if (TEST_ENDSTOP(_ENDSTOP(AXIS, MINMAX))) { \
- _ENDSTOP_HIT(AXIS, MINMAX); \
- planner.endstop_triggered(_AXIS(AXIS)); \
- } \
- }while(0)
-
- // Call the endstop triggered routine for dual endstops
- #define PROCESS_DUAL_ENDSTOP(AXIS1, AXIS2, MINMAX) do { \
- const byte dual_hit = TEST_ENDSTOP(_ENDSTOP(AXIS1, MINMAX)) | (TEST_ENDSTOP(_ENDSTOP(AXIS2, MINMAX)) << 1); \
- if (dual_hit) { \
- _ENDSTOP_HIT(AXIS1, MINMAX); \
- /* if not performing home or if both endstops were trigged during homing... */ \
- if (!stepper.separate_multi_axis || dual_hit == 0b11) \
- planner.endstop_triggered(_AXIS(AXIS1)); \
- } \
- }while(0)
-
- #define PROCESS_TRIPLE_ENDSTOP(AXIS1, AXIS2, AXIS3, MINMAX) do { \
- const byte triple_hit = TEST_ENDSTOP(_ENDSTOP(AXIS1, MINMAX)) | (TEST_ENDSTOP(_ENDSTOP(AXIS2, MINMAX)) << 1) | (TEST_ENDSTOP(_ENDSTOP(AXIS3, MINMAX)) << 2); \
- if (triple_hit) { \
- _ENDSTOP_HIT(AXIS1, MINMAX); \
- /* if not performing home or if both endstops were trigged during homing... */ \
- if (!stepper.separate_multi_axis || triple_hit == 0b111) \
- planner.endstop_triggered(_AXIS(AXIS1)); \
- } \
- }while(0)
-
- #define PROCESS_QUAD_ENDSTOP(AXIS1, AXIS2, AXIS3, AXIS4, MINMAX) do { \
- const byte quad_hit = TEST_ENDSTOP(_ENDSTOP(AXIS1, MINMAX)) | (TEST_ENDSTOP(_ENDSTOP(AXIS2, MINMAX)) << 1) | (TEST_ENDSTOP(_ENDSTOP(AXIS3, MINMAX)) << 2) | (TEST_ENDSTOP(_ENDSTOP(AXIS4, MINMAX)) << 3); \
- if (quad_hit) { \
- _ENDSTOP_HIT(AXIS1, MINMAX); \
- /* if not performing home or if both endstops were trigged during homing... */ \
- if (!stepper.separate_multi_axis || quad_hit == 0b1111) \
- planner.endstop_triggered(_AXIS(AXIS1)); \
- } \
- }while(0)
-
- #if ENABLED(G38_PROBE_TARGET) && PIN_EXISTS(Z_MIN_PROBE) && !(CORE_IS_XY || CORE_IS_XZ)
- #if ENABLED(G38_PROBE_AWAY)
- #define _G38_OPEN_STATE (G38_move >= 4)
- #else
- #define _G38_OPEN_STATE LOW
- #endif
- // If G38 command is active check Z_MIN_PROBE for ALL movement
- if (G38_move && TEST_ENDSTOP(_ENDSTOP(Z, MIN_PROBE)) != _G38_OPEN_STATE) {
- if (stepper.axis_is_moving(X_AXIS)) { _ENDSTOP_HIT(X, MIN); planner.endstop_triggered(X_AXIS); }
- else if (stepper.axis_is_moving(Y_AXIS)) { _ENDSTOP_HIT(Y, MIN); planner.endstop_triggered(Y_AXIS); }
- else if (stepper.axis_is_moving(Z_AXIS)) { _ENDSTOP_HIT(Z, MIN); planner.endstop_triggered(Z_AXIS); }
- G38_did_trigger = true;
- }
- #endif
-
- // Now, we must signal, after validation, if an endstop limit is pressed or not
- if (stepper.axis_is_moving(X_AXIS)) {
- if (stepper.motor_direction(X_AXIS_HEAD)) { // -direction
- #if HAS_X_MIN || (X_SPI_SENSORLESS && X_HOME_DIR < 0)
- #if ENABLED(X_DUAL_ENDSTOPS)
- PROCESS_DUAL_ENDSTOP(X, X2, MIN);
- #else
- if (X_MIN_TEST) PROCESS_ENDSTOP(X, MIN);
- #endif
- #endif
- }
- else { // +direction
- #if HAS_X_MAX || (X_SPI_SENSORLESS && X_HOME_DIR > 0)
- #if ENABLED(X_DUAL_ENDSTOPS)
- PROCESS_DUAL_ENDSTOP(X, X2, MAX);
- #else
- if (X_MAX_TEST) PROCESS_ENDSTOP(X, MAX);
- #endif
- #endif
- }
- }
-
- if (stepper.axis_is_moving(Y_AXIS)) {
- if (stepper.motor_direction(Y_AXIS_HEAD)) { // -direction
- #if HAS_Y_MIN || (Y_SPI_SENSORLESS && Y_HOME_DIR < 0)
- #if ENABLED(Y_DUAL_ENDSTOPS)
- PROCESS_DUAL_ENDSTOP(Y, Y2, MIN);
- #else
- PROCESS_ENDSTOP(Y, MIN);
- #endif
- #endif
- }
- else { // +direction
- #if HAS_Y_MAX || (Y_SPI_SENSORLESS && Y_HOME_DIR > 0)
- #if ENABLED(Y_DUAL_ENDSTOPS)
- PROCESS_DUAL_ENDSTOP(Y, Y2, MAX);
- #else
- PROCESS_ENDSTOP(Y, MAX);
- #endif
- #endif
- }
- }
-
- if (stepper.axis_is_moving(Z_AXIS)) {
- if (stepper.motor_direction(Z_AXIS_HEAD)) { // Z -direction. Gantry down, bed up.
- #if HAS_Z_MIN || (Z_SPI_SENSORLESS && Z_HOME_DIR < 0)
- #if ENABLED(Z_MULTI_ENDSTOPS)
- #if NUM_Z_STEPPER_DRIVERS == 4
- PROCESS_QUAD_ENDSTOP(Z, Z2, Z3, Z4, MIN);
- #elif NUM_Z_STEPPER_DRIVERS == 3
- PROCESS_TRIPLE_ENDSTOP(Z, Z2, Z3, MIN);
- #else
- PROCESS_DUAL_ENDSTOP(Z, Z2, MIN);
- #endif
- #else
- #if ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN)
- if (z_probe_enabled) PROCESS_ENDSTOP(Z, MIN);
- #elif HAS_CUSTOM_PROBE_PIN
- if (!z_probe_enabled) PROCESS_ENDSTOP(Z, MIN);
- #else
- PROCESS_ENDSTOP(Z, MIN);
- #endif
- #endif
- #endif
-
- // When closing the gap check the enabled probe
- #if HAS_CUSTOM_PROBE_PIN
- if (z_probe_enabled) PROCESS_ENDSTOP(Z, MIN_PROBE);
- #endif
- }
- else { // Z +direction. Gantry up, bed down.
- #if HAS_Z_MAX || (Z_SPI_SENSORLESS && Z_HOME_DIR > 0)
- #if ENABLED(Z_MULTI_ENDSTOPS)
- #if NUM_Z_STEPPER_DRIVERS == 4
- PROCESS_QUAD_ENDSTOP(Z, Z2, Z3, Z4, MAX);
- #elif NUM_Z_STEPPER_DRIVERS == 3
- PROCESS_TRIPLE_ENDSTOP(Z, Z2, Z3, MAX);
- #else
- PROCESS_DUAL_ENDSTOP(Z, Z2, MAX);
- #endif
- #elif !HAS_CUSTOM_PROBE_PIN || Z_MAX_PIN != Z_MIN_PROBE_PIN
- // If this pin is not hijacked for the bed probe
- // then it belongs to the Z endstop
- PROCESS_ENDSTOP(Z, MAX);
- #endif
- #endif
- }
- }
- } // Endstops::update()
-
- #if ENABLED(SPI_ENDSTOPS)
-
- #define X_STOP (X_HOME_DIR < 0 ? X_MIN : X_MAX)
- #define Y_STOP (Y_HOME_DIR < 0 ? Y_MIN : Y_MAX)
- #define Z_STOP (Z_HOME_DIR < 0 ? Z_MIN : Z_MAX)
-
- bool Endstops::tmc_spi_homing_check() {
- bool hit = false;
- #if X_SPI_SENSORLESS
- if (tmc_spi_homing.x && stepperX.test_stall_status()) {
- SBI(live_state, X_STOP);
- hit = true;
- }
- #endif
- #if Y_SPI_SENSORLESS
- if (tmc_spi_homing.y && stepperY.test_stall_status()) {
- SBI(live_state, Y_STOP);
- hit = true;
- }
- #endif
- #if Z_SPI_SENSORLESS
- if (tmc_spi_homing.z && stepperZ.test_stall_status()) {
- SBI(live_state, Z_STOP);
- hit = true;
- }
- #endif
- return hit;
- }
-
- void Endstops::clear_endstop_state() {
- #if X_SPI_SENSORLESS
- CBI(live_state, X_STOP);
- #endif
- #if Y_SPI_SENSORLESS
- CBI(live_state, Y_STOP);
- #endif
- #if Z_SPI_SENSORLESS
- CBI(live_state, Z_STOP);
- #endif
- }
-
- #endif // SPI_ENDSTOPS
-
- #if ENABLED(PINS_DEBUGGING)
-
- bool Endstops::monitor_flag = false;
-
- /**
- * Monitor Endstops and Z Probe for changes
- *
- * If a change is detected then the LED is toggled and
- * a message is sent out the serial port.
- *
- * Yes, we could miss a rapid back & forth change but
- * that won't matter because this is all manual.
- */
- void Endstops::monitor() {
-
- static uint16_t old_live_state_local = 0;
- static uint8_t local_LED_status = 0;
- uint16_t live_state_local = 0;
-
- #define ES_GET_STATE(S) if (READ(S##_PIN)) SBI(live_state_local, S)
-
- #if HAS_X_MIN
- ES_GET_STATE(X_MIN);
- #endif
- #if HAS_X_MAX
- ES_GET_STATE(X_MAX);
- #endif
- #if HAS_Y_MIN
- ES_GET_STATE(Y_MIN);
- #endif
- #if HAS_Y_MAX
- ES_GET_STATE(Y_MAX);
- #endif
- #if HAS_Z_MIN
- ES_GET_STATE(Z_MIN);
- #endif
- #if HAS_Z_MAX
- ES_GET_STATE(Z_MAX);
- #endif
- #if HAS_Z_MIN_PROBE_PIN
- ES_GET_STATE(Z_MIN_PROBE);
- #endif
- #if HAS_X2_MIN
- ES_GET_STATE(X2_MIN);
- #endif
- #if HAS_X2_MAX
- ES_GET_STATE(X2_MAX);
- #endif
- #if HAS_Y2_MIN
- ES_GET_STATE(Y2_MIN);
- #endif
- #if HAS_Y2_MAX
- ES_GET_STATE(Y2_MAX);
- #endif
- #if HAS_Z2_MIN
- ES_GET_STATE(Z2_MIN);
- #endif
- #if HAS_Z2_MAX
- ES_GET_STATE(Z2_MAX);
- #endif
- #if HAS_Z3_MIN
- ES_GET_STATE(Z3_MIN);
- #endif
- #if HAS_Z3_MAX
- ES_GET_STATE(Z3_MAX);
- #endif
- #if HAS_Z4_MIN
- ES_GET_STATE(Z4_MIN);
- #endif
- #if HAS_Z4_MAX
- ES_GET_STATE(Z4_MAX);
- #endif
-
- uint16_t endstop_change = live_state_local ^ old_live_state_local;
- #define ES_REPORT_CHANGE(S) if (TEST(endstop_change, S)) SERIAL_ECHOPAIR(" " STRINGIFY(S) ":", TEST(live_state_local, S))
-
- if (endstop_change) {
- #if HAS_X_MIN
- ES_REPORT_CHANGE(X_MIN);
- #endif
- #if HAS_X_MAX
- ES_REPORT_CHANGE(X_MAX);
- #endif
- #if HAS_Y_MIN
- ES_REPORT_CHANGE(Y_MIN);
- #endif
- #if HAS_Y_MAX
- ES_REPORT_CHANGE(Y_MAX);
- #endif
- #if HAS_Z_MIN
- ES_REPORT_CHANGE(Z_MIN);
- #endif
- #if HAS_Z_MAX
- ES_REPORT_CHANGE(Z_MAX);
- #endif
- #if HAS_Z_MIN_PROBE_PIN
- ES_REPORT_CHANGE(Z_MIN_PROBE);
- #endif
- #if HAS_X2_MIN
- ES_REPORT_CHANGE(X2_MIN);
- #endif
- #if HAS_X2_MAX
- ES_REPORT_CHANGE(X2_MAX);
- #endif
- #if HAS_Y2_MIN
- ES_REPORT_CHANGE(Y2_MIN);
- #endif
- #if HAS_Y2_MAX
- ES_REPORT_CHANGE(Y2_MAX);
- #endif
- #if HAS_Z2_MIN
- ES_REPORT_CHANGE(Z2_MIN);
- #endif
- #if HAS_Z2_MAX
- ES_REPORT_CHANGE(Z2_MAX);
- #endif
- #if HAS_Z3_MIN
- ES_REPORT_CHANGE(Z3_MIN);
- #endif
- #if HAS_Z3_MAX
- ES_REPORT_CHANGE(Z3_MAX);
- #endif
- #if HAS_Z4_MIN
- ES_REPORT_CHANGE(Z4_MIN);
- #endif
- #if HAS_Z4_MAX
- ES_REPORT_CHANGE(Z4_MAX);
- #endif
- SERIAL_ECHOLNPGM("\n");
- analogWrite(pin_t(LED_PIN), local_LED_status);
- local_LED_status ^= 255;
- old_live_state_local = live_state_local;
- }
- }
-
- #endif // PINS_DEBUGGING
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