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Cleanup for dual endstops homing

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This commit is contained in:
Scott Lahteine 2018-06-02 16:50:22 -05:00
parent d32beafd21
commit 9641bae325
4 changed files with 48 additions and 39 deletions
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69
Marlin/Marlin_main.cpp
View File

@ -1372,7 +1372,7 @@ bool get_target_extruder_from_command(const uint16_t code) {
#endif
#if ENABLED(DELTA)
switch(axis) {
switch (axis) {
#if HAS_SOFTWARE_ENDSTOPS
case X_AXIS:
case Y_AXIS:
@ -2937,9 +2937,14 @@ static void do_homing_move(const AxisEnum axis, const float distance, const floa
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR(">>> do_homing_move(", axis_codes[axis]);
SERIAL_ECHOPAIR(", ", distance);
SERIAL_ECHOPAIR(", ", fr_mm_s);
SERIAL_ECHOPAIR(" [", fr_mm_s ? fr_mm_s : homing_feedrate(axis));
SERIAL_ECHOLNPGM("])");
SERIAL_ECHOPGM(", ");
if (fr_mm_s)
SERIAL_ECHO(fr_mm_s);
else {
SERIAL_ECHOPAIR("[", homing_feedrate(axis));
SERIAL_CHAR(']');
}
SERIAL_ECHOLNPGM(")");
}
#endif
@ -3058,11 +3063,12 @@ static void homeaxis(const AxisEnum axis) {
}
#endif
const int axis_home_dir =
const int axis_home_dir = (
#if ENABLED(DUAL_X_CARRIAGE)
(axis == X_AXIS) ? x_home_dir(active_extruder) :
axis == X_AXIS ? x_home_dir(active_extruder) :
#endif
home_dir(axis);
home_dir(axis)
);
// Homing Z towards the bed? Deploy the Z probe or endstop.
#if HOMING_Z_WITH_PROBE
@ -3070,14 +3076,20 @@ static void homeaxis(const AxisEnum axis) {
#endif
// Set flags for X, Y, Z motor locking
#if ENABLED(X_DUAL_ENDSTOPS)
if (axis == X_AXIS) stepper.set_homing_flag_x(true);
#endif
#if ENABLED(Y_DUAL_ENDSTOPS)
if (axis == Y_AXIS) stepper.set_homing_flag_y(true);
#endif
#if ENABLED(Z_DUAL_ENDSTOPS)
if (axis == Z_AXIS) stepper.set_homing_flag_z(true);
#if ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || ENABLED(Z_DUAL_ENDSTOPS)
switch (axis) {
#if ENABLED(X_DUAL_ENDSTOPS)
case X_AXIS:
#endif
#if ENABLED(Y_DUAL_ENDSTOPS)
case Y_AXIS:
#endif
#if ENABLED(Z_DUAL_ENDSTOPS)
case Z_AXIS:
#endif
stepper.set_homing_dual_axis(true);
default: break;
}
#endif
// Fast move towards endstop until triggered
@ -3120,34 +3132,32 @@ static void homeaxis(const AxisEnum axis) {
const bool pos_dir = axis_home_dir > 0;
#if ENABLED(X_DUAL_ENDSTOPS)
if (axis == X_AXIS) {
const bool lock_x1 = pos_dir ? (endstops.x_endstop_adj > 0) : (endstops.x_endstop_adj < 0);
const float adj = ABS(endstops.x_endstop_adj);
if (lock_x1) stepper.set_x_lock(true); else stepper.set_x2_lock(true);
if (pos_dir ? (endstops.x_endstop_adj > 0) : (endstops.x_endstop_adj < 0)) stepper.set_x_lock(true); else stepper.set_x2_lock(true);
do_homing_move(axis, pos_dir ? -adj : adj);
if (lock_x1) stepper.set_x_lock(false); else stepper.set_x2_lock(false);
stepper.set_homing_flag_x(false);
stepper.set_x_lock(false);
stepper.set_x2_lock(false);
}
#endif
#if ENABLED(Y_DUAL_ENDSTOPS)
if (axis == Y_AXIS) {
const bool lock_y1 = pos_dir ? (endstops.y_endstop_adj > 0) : (endstops.y_endstop_adj < 0);
const float adj = ABS(endstops.y_endstop_adj);
if (lock_y1) stepper.set_y_lock(true); else stepper.set_y2_lock(true);
if (pos_dir ? (endstops.y_endstop_adj > 0) : (endstops.y_endstop_adj < 0)) stepper.set_y_lock(true); else stepper.set_y2_lock(true);
do_homing_move(axis, pos_dir ? -adj : adj);
if (lock_y1) stepper.set_y_lock(false); else stepper.set_y2_lock(false);
stepper.set_homing_flag_y(false);
stepper.set_y_lock(false);
stepper.set_y2_lock(false);
}
#endif
#if ENABLED(Z_DUAL_ENDSTOPS)
if (axis == Z_AXIS) {
const bool lock_z1 = pos_dir ? (endstops.z_endstop_adj > 0) : (endstops.z_endstop_adj < 0);
const float adj = ABS(endstops.z_endstop_adj);
if (lock_z1) stepper.set_z_lock(true); else stepper.set_z2_lock(true);
if (pos_dir ? (endstops.z_endstop_adj > 0) : (endstops.z_endstop_adj < 0)) stepper.set_z_lock(true); else stepper.set_z2_lock(true);
do_homing_move(axis, pos_dir ? -adj : adj);
if (lock_z1) stepper.set_z_lock(false); else stepper.set_z2_lock(false);
stepper.set_homing_flag_z(false);
stepper.set_z_lock(false);
stepper.set_z2_lock(false);
}
#endif
stepper.set_homing_dual_axis(false);
#endif
#if IS_SCARA
@ -3191,8 +3201,7 @@ static void homeaxis(const AxisEnum axis) {
// Clear retracted status if homing the Z axis
#if ENABLED(FWRETRACT)
if (axis == Z_AXIS)
fwretract.hop_amount = 0.0;
if (axis == Z_AXIS) fwretract.hop_amount = 0.0;
#endif
#if ENABLED(DEBUG_LEVELING_FEATURE)
@ -4442,7 +4451,7 @@ void home_all_axes() { gcode_G28(true); }
reset_bed_level();
break;
} // switch(state)
} // switch (state)
if (state == MeshNext) {
SERIAL_PROTOCOLPAIR("MBL G29 point ", MIN(mbl_probe_index, GRID_MAX_POINTS));

2
Marlin/endstops.cpp
View File

@ -562,7 +562,7 @@ void Endstops::update() {
if (dual_hit) { \
_ENDSTOP_HIT(AXIS1, MINMAX); \
/* if not performing home or if both endstops were trigged during homing... */ \
if (!stepper.performing_homing || dual_hit == 0x3) \
if (!stepper.homing_dual_axis || dual_hit == 0x3) \
planner.endstop_triggered(_AXIS(AXIS1)); \
} \
}while(0)

6
Marlin/stepper.cpp
View File

@ -76,7 +76,7 @@ Stepper stepper; // Singleton
block_t* Stepper::current_block = NULL; // A pointer to the block currently being traced
#if ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || ENABLED(Z_DUAL_ENDSTOPS)
bool Stepper::performing_homing = false;
bool Stepper::homing_dual_axis = false;
#endif
#if HAS_MOTOR_CURRENT_PWM
@ -153,7 +153,7 @@ bool Stepper::all_steps_done = false;
uint32_t Stepper::acceleration_time, Stepper::deceleration_time;
volatile int32_t Stepper::count_position[NUM_AXIS] = { 0 };
volatile signed char Stepper::count_direction[NUM_AXIS] = { 1, 1, 1, 1 };
int8_t Stepper::count_direction[NUM_AXIS] = { 1, 1, 1, 1 };
#if ENABLED(MIXING_EXTRUDER)
int32_t Stepper::counter_m[MIXING_STEPPERS];
@ -170,7 +170,7 @@ volatile int32_t Stepper::endstops_trigsteps[XYZ];
#if ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || ENABLED(Z_DUAL_ENDSTOPS)
#define DUAL_ENDSTOP_APPLY_STEP(A,V) \
if (performing_homing) { \
if (homing_dual_axis) { \
if (A##_HOME_DIR < 0) { \
if (!(TEST(endstops.state(), A##_MIN) && count_direction[_AXIS(A)] < 0) && !locked_##A##_motor) A##_STEP_WRITE(V); \
if (!(TEST(endstops.state(), A##2_MIN) && count_direction[_AXIS(A)] < 0) && !locked_##A##2_motor) A##2_STEP_WRITE(V); \

10
Marlin/stepper.h
View File

@ -86,7 +86,7 @@ class Stepper {
static block_t* current_block; // A pointer to the block currently being traced
#if ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || ENABLED(Z_DUAL_ENDSTOPS)
static bool performing_homing;
static bool homing_dual_axis;
#endif
#if HAS_MOTOR_CURRENT_PWM
@ -164,7 +164,7 @@ class Stepper {
//
// Current direction of stepper motors (+1 or -1)
//
static volatile signed char count_direction[NUM_AXIS];
static int8_t count_direction[NUM_AXIS];
//
// Mixing extruder mix counters
@ -241,18 +241,18 @@ class Stepper {
static void microstep_readings();
#endif
#if ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || ENABLED(Z_DUAL_ENDSTOPS)
FORCE_INLINE static void set_homing_dual_axis(const bool state) { homing_dual_axis = state; }
#endif
#if ENABLED(X_DUAL_ENDSTOPS)
FORCE_INLINE static void set_homing_flag_x(const bool state) { performing_homing = state; }
FORCE_INLINE static void set_x_lock(const bool state) { locked_X_motor = state; }
FORCE_INLINE static void set_x2_lock(const bool state) { locked_X2_motor = state; }
#endif
#if ENABLED(Y_DUAL_ENDSTOPS)
FORCE_INLINE static void set_homing_flag_y(const bool state) { performing_homing = state; }
FORCE_INLINE static void set_y_lock(const bool state) { locked_Y_motor = state; }
FORCE_INLINE static void set_y2_lock(const bool state) { locked_Y2_motor = state; }
#endif
#if ENABLED(Z_DUAL_ENDSTOPS)
FORCE_INLINE static void set_homing_flag_z(const bool state) { performing_homing = state; }
FORCE_INLINE static void set_z_lock(const bool state) { locked_Z_motor = state; }
FORCE_INLINE static void set_z2_lock(const bool state) { locked_Z2_motor = state; }
#endif