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Poll all endstops, even when stationary (#11125)

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Co-Authored-By: ejtagle <ejtagle@hotmail.com>
This commit is contained in:
Scott Lahteine 2018-06-27 04:19:05 -04:00 committed by GitHub
parent e352c1e52d
commit cff2201629
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GPG Key ID: 4AEE18F83AFDEB23
2 changed files with 81 additions and 100 deletions
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2
Marlin/SanityCheck.h
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@ -1494,6 +1494,8 @@ static_assert(X_MAX_LENGTH >= X_BED_SIZE && Y_MAX_LENGTH >= Y_BED_SIZE,
#error "SENSORLESS_HOMING requires Z_MIN_ENDSTOP_INVERTING and ENDSTOPPULLUP_ZMIN when homing to Z_MIN." #error "SENSORLESS_HOMING requires Z_MIN_ENDSTOP_INVERTING and ENDSTOPPULLUP_ZMIN when homing to Z_MIN."
#elif Z_SENSORLESS && Z_HOME_DIR == 1 && (DISABLED(Z_MAX_ENDSTOP_INVERTING) || DISABLED(ENDSTOPPULLUP_ZMAX)) #elif Z_SENSORLESS && Z_HOME_DIR == 1 && (DISABLED(Z_MAX_ENDSTOP_INVERTING) || DISABLED(ENDSTOPPULLUP_ZMAX))
#error "SENSORLESS_HOMING requires Z_MAX_ENDSTOP_INVERTING and ENDSTOPPULLUP_ZMAX when homing to Z_MAX." #error "SENSORLESS_HOMING requires Z_MAX_ENDSTOP_INVERTING and ENDSTOPPULLUP_ZMAX when homing to Z_MAX."
#elif ENABLED(ENDSTOP_NOISE_FILTER)
#error "SENSORLESS_HOMING is incompatible with ENDSTOP_NOISE_FILTER."
#endif #endif
#endif #endif

179
Marlin/endstops.cpp
View File

@ -35,12 +35,6 @@
#include "endstop_interrupts.h" #include "endstop_interrupts.h"
#endif #endif
#if HAS_BED_PROBE
#define ENDSTOPS_ENABLED (enabled || z_probe_enabled)
#else
#define ENDSTOPS_ENABLED enabled
#endif
Endstops endstops; Endstops endstops;
// public: // public:
@ -408,109 +402,94 @@ void Endstops::update() {
#endif #endif
/** /**
* Check and update endstops according to conditions * Check and update endstops
*/ */
if (stepper.axis_is_moving(X_AXIS)) { #if HAS_X_MIN
if (stepper.motor_direction(X_AXIS_HEAD)) { // -direction #if ENABLED(X_DUAL_ENDSTOPS) && X_HOME_DIR < 0
#if HAS_X_MIN UPDATE_ENDSTOP_BIT(X, MIN);
#if ENABLED(X_DUAL_ENDSTOPS) && X_HOME_DIR < 0 #if HAS_X2_MIN
UPDATE_ENDSTOP_BIT(X, MIN); UPDATE_ENDSTOP_BIT(X2, MIN);
#if HAS_X2_MIN #else
UPDATE_ENDSTOP_BIT(X2, MIN); COPY_LIVE_STATE(X_MIN, X2_MIN);
#else
COPY_LIVE_STATE(X_MIN, X2_MIN);
#endif
#else
if (X_MIN_TEST) UPDATE_ENDSTOP_BIT(X, MIN);
#endif
#endif #endif
} #else
else { // +direction UPDATE_ENDSTOP_BIT(X, MIN);
#if HAS_X_MAX #endif
#if ENABLED(X_DUAL_ENDSTOPS) && X_HOME_DIR > 0 #endif
UPDATE_ENDSTOP_BIT(X, MAX);
#if HAS_X2_MAX
UPDATE_ENDSTOP_BIT(X2, MAX);
#else
COPY_LIVE_STATE(X_MAX, X2_MAX);
#endif
#else
if (X_MAX_TEST) UPDATE_ENDSTOP_BIT(X, MAX);
#endif
#endif
}
}
if (stepper.axis_is_moving(Y_AXIS)) { #if HAS_X_MAX
if (stepper.motor_direction(Y_AXIS_HEAD)) { // -direction #if ENABLED(X_DUAL_ENDSTOPS) && X_HOME_DIR > 0
#if HAS_Y_MIN && Y_HOME_DIR < 0 UPDATE_ENDSTOP_BIT(X, MAX);
#if ENABLED(Y_DUAL_ENDSTOPS) #if HAS_X2_MAX
UPDATE_ENDSTOP_BIT(Y, MIN); UPDATE_ENDSTOP_BIT(X2, MAX);
#if HAS_Y2_MIN #else
UPDATE_ENDSTOP_BIT(Y2, MIN); COPY_LIVE_STATE(X_MAX, X2_MAX);
#else
COPY_LIVE_STATE(Y_MIN, Y2_MIN);
#endif
#else
UPDATE_ENDSTOP_BIT(Y, MIN);
#endif
#endif #endif
} #else
else { // +direction UPDATE_ENDSTOP_BIT(X, MAX);
#if HAS_Y_MAX && Y_HOME_DIR > 0 #endif
#if ENABLED(Y_DUAL_ENDSTOPS) #endif
UPDATE_ENDSTOP_BIT(Y, MAX);
#if HAS_Y2_MAX
UPDATE_ENDSTOP_BIT(Y2, MAX);
#else
COPY_LIVE_STATE(Y_MAX, Y2_MAX);
#endif
#else
UPDATE_ENDSTOP_BIT(Y, MAX);
#endif
#endif
}
}
if (stepper.axis_is_moving(Z_AXIS)) { #if HAS_Y_MIN && Y_HOME_DIR < 0
if (stepper.motor_direction(Z_AXIS_HEAD)) { // Z -direction. Gantry down, bed up. #if ENABLED(Y_DUAL_ENDSTOPS)
#if HAS_Z_MIN UPDATE_ENDSTOP_BIT(Y, MIN);
#if ENABLED(Z_DUAL_ENDSTOPS) && Z_HOME_DIR < 0 #if HAS_Y2_MIN
UPDATE_ENDSTOP_BIT(Z, MIN); UPDATE_ENDSTOP_BIT(Y2, MIN);
#if HAS_Z2_MIN #else
UPDATE_ENDSTOP_BIT(Z2, MIN); COPY_LIVE_STATE(Y_MIN, Y2_MIN);
#else
COPY_LIVE_STATE(Z_MIN, Z2_MIN);
#endif
#elif ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN)
if (z_probe_enabled) UPDATE_ENDSTOP_BIT(Z, MIN);
#elif Z_HOME_DIR < 0
UPDATE_ENDSTOP_BIT(Z, MIN);
#endif
#endif #endif
#else
UPDATE_ENDSTOP_BIT(Y, MIN);
#endif
#endif
// When closing the gap check the enabled probe #if HAS_Y_MAX && Y_HOME_DIR > 0
#if ENABLED(Z_MIN_PROBE_ENDSTOP) #if ENABLED(Y_DUAL_ENDSTOPS)
if (z_probe_enabled) UPDATE_ENDSTOP_BIT(Z, MIN_PROBE); UPDATE_ENDSTOP_BIT(Y, MAX);
#if HAS_Y2_MAX
UPDATE_ENDSTOP_BIT(Y2, MAX);
#else
COPY_LIVE_STATE(Y_MAX, Y2_MAX);
#endif #endif
} #else
else { // Z +direction. Gantry up, bed down. UPDATE_ENDSTOP_BIT(Y, MAX);
#if HAS_Z_MAX && Z_HOME_DIR > 0 #endif
// Check both Z dual endstops #endif
#if ENABLED(Z_DUAL_ENDSTOPS)
UPDATE_ENDSTOP_BIT(Z, MAX); #if HAS_Z_MIN
#if HAS_Z2_MAX #if ENABLED(Z_DUAL_ENDSTOPS) && Z_HOME_DIR < 0
UPDATE_ENDSTOP_BIT(Z2, MAX); UPDATE_ENDSTOP_BIT(Z, MIN);
#else #if HAS_Z2_MIN
COPY_LIVE_STATE(Z_MAX, Z2_MAX); UPDATE_ENDSTOP_BIT(Z2, MIN);
#endif #else
#elif DISABLED(Z_MIN_PROBE_ENDSTOP) || Z_MAX_PIN != Z_MIN_PROBE_PIN COPY_LIVE_STATE(Z_MIN, Z2_MIN);
// If this pin isn't the bed probe it's the Z endstop
UPDATE_ENDSTOP_BIT(Z, MAX);
#endif
#endif #endif
} #elif ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN)
} UPDATE_ENDSTOP_BIT(Z, MIN);
#elif Z_HOME_DIR < 0
UPDATE_ENDSTOP_BIT(Z, MIN);
#endif
#endif
// When closing the gap check the enabled probe
#if ENABLED(Z_MIN_PROBE_ENDSTOP)
UPDATE_ENDSTOP_BIT(Z, MIN_PROBE);
#endif
#if HAS_Z_MAX && Z_HOME_DIR > 0
// Check both Z dual endstops
#if ENABLED(Z_DUAL_ENDSTOPS)
UPDATE_ENDSTOP_BIT(Z, MAX);
#if HAS_Z2_MAX
UPDATE_ENDSTOP_BIT(Z2, MAX);
#else
COPY_LIVE_STATE(Z_MAX, Z2_MAX);
#endif
#elif DISABLED(Z_MIN_PROBE_ENDSTOP) || 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 ENABLED(ENDSTOP_NOISE_FILTER) #if ENABLED(ENDSTOP_NOISE_FILTER)
/** /**