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Filter endstops state at all times (#11066)

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Scott Lahteine 2018-06-21 20:14:16 -05:00 committed by GitHub
parent a5c11bf578
commit 99591dc20c
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GPG Key ID: 4AEE18F83AFDEB23
11 changed files with 58 additions and 62 deletions
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2
Marlin/src/HAL/HAL_AVR/endstop_interrupts.h
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@ -43,7 +43,7 @@
#include "../../module/endstops.h"
// One ISR for all EXT-Interrupts
void endstop_ISR(void) { endstops.check_possible_change(); }
void endstop_ISR(void) { endstops.update(); }
/**
* Patch for pins_arduino.h (...\Arduino\hardware\arduino\avr\variants\mega\pins_arduino.h)

2
Marlin/src/HAL/HAL_DUE/endstop_interrupts.h
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@ -40,7 +40,7 @@
#include "../../module/endstops.h"
// One ISR for all EXT-Interrupts
void endstop_ISR(void) { endstops.check_possible_change(); }
void endstop_ISR(void) { endstops.update(); }
/**
* Endstop interrupts for Due based targets.

4
Marlin/src/HAL/HAL_ESP32/endstop_interrupts.h
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@ -40,9 +40,7 @@
#include "../../module/endstops.h"
// One ISR for all EXT-Interrupts
void ICACHE_RAM_ATTR endstop_ISR(void) {
endstops.check_possible_change();
}
void ICACHE_RAM_ATTR endstop_ISR(void) { endstops.update(); }
void setup_endstop_interrupts(void) {
#if HAS_X_MAX

2
Marlin/src/HAL/HAL_LPC1768/endstop_interrupts.h
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@ -43,7 +43,7 @@
#include "../../module/endstops.h"
// One ISR for all EXT-Interrupts
void endstop_ISR(void) { endstops.check_possible_change(); }
void endstop_ISR(void) { endstops.update(); }
void setup_endstop_interrupts(void) {
#if HAS_X_MAX

2
Marlin/src/HAL/HAL_STM32F1/endstop_interrupts.h
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@ -52,7 +52,7 @@
#include "../../module/endstops.h"
// One ISR for all EXT-Interrupts
void endstop_ISR(void) { endstops.check_possible_change(); }
void endstop_ISR(void) { endstops.update(); }
void setup_endstop_interrupts(void) {
#if HAS_X_MAX

2
Marlin/src/HAL/HAL_STM32F4/endstop_interrupts.h
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@ -27,7 +27,7 @@
#include "../../module/endstops.h"
// One ISR for all EXT-Interrupts
void endstop_ISR(void) { endstops.check_possible_change(); }
void endstop_ISR(void) { endstops.update(); }
void setup_endstop_interrupts(void) {
#if HAS_X_MAX

2
Marlin/src/HAL/HAL_STM32F7/endstop_interrupts.h
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@ -29,7 +29,7 @@
#include "../../module/endstops.h"
// One ISR for all EXT-Interrupts
void endstop_ISR(void) { endstops.check_possible_change(); }
void endstop_ISR(void) { endstops.update(); }
void setup_endstop_interrupts(void) {
#if HAS_X_MAX

2
Marlin/src/HAL/HAL_TEENSY35_36/endstop_interrupts.h
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@ -40,7 +40,7 @@
#include "../../module/endstops.h"
// One ISR for all EXT-Interrupts
void endstop_ISR(void) { endstops.check_possible_change(); }
void endstop_ISR(void) { endstops.update(); }
/**
* Endstop interrupts for Due based targets.

80
Marlin/src/module/endstops.cpp
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@ -36,12 +36,6 @@
#include HAL_PATH(../HAL, endstop_interrupts.h)
#endif
#if HAS_BED_PROBE
#define ENDSTOPS_ENABLED (enabled || z_probe_enabled)
#else
#define ENDSTOPS_ENABLED enabled
#endif
Endstops endstops;
// public:
@ -50,9 +44,9 @@ bool Endstops::enabled, Endstops::enabled_globally; // Initialized by settings.l
volatile uint8_t Endstops::hit_state;
Endstops::esbits_t Endstops::live_state = 0;
#if ENABLED(ENDSTOP_NOISE_FILTER)
Endstops::esbits_t Endstops::old_live_state,
Endstops::validated_live_state;
Endstops::esbits_t Endstops::validated_live_state;
uint8_t Endstops::endstop_poll_count;
#endif
@ -222,9 +216,6 @@ void Endstops::init() {
} // Endstops::init
// Called from ISR. A change was detected. Find out what happened!
void Endstops::check_possible_change() { if (ENDSTOPS_ENABLED) update(); }
// Called from ISR: Poll endstop state if required
void Endstops::poll() {
@ -232,8 +223,10 @@ void Endstops::poll() {
run_monitor(); // report changes in endstop status
#endif
#if DISABLED(ENDSTOP_INTERRUPTS_FEATURE) || ENABLED(ENDSTOP_NOISE_FILTER)
if (ENDSTOPS_ENABLED) update();
#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE) && ENABLED(ENDSTOP_NOISE_FILTER)
if (endstop_poll_count) update();
#elif DISABLED(ENDSTOP_INTERRUPTS_FEATURE) || ENABLED(ENDSTOP_NOISE_FILTER)
update();
#endif
}
@ -241,7 +234,7 @@ void Endstops::enable_globally(const bool onoff) {
enabled_globally = enabled = onoff;
#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
if (onoff) update(); // If enabling, update state now
update();
#endif
}
@ -250,7 +243,7 @@ void Endstops::enable(const bool onoff) {
enabled = onoff;
#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
if (onoff) update(); // If enabling, update state now
update();
#endif
}
@ -259,7 +252,7 @@ void Endstops::not_homing() {
enabled = enabled_globally;
#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
if (enabled) update(); // If enabling, update state now
update();
#endif
}
@ -269,7 +262,7 @@ void Endstops::not_homing() {
z_probe_enabled = onoff;
#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
if (enabled) update(); // If enabling, update state now
update();
#endif
}
#endif
@ -396,10 +389,12 @@ void Endstops::M119() {
// Check endstops - Could be called from ISR!
void Endstops::update() {
// UPDATE_ENDSTOP_BIT: set the current endstop bits for an endstop to its status
#if DISABLED(ENDSTOP_NOISE_FILTER)
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)))
// COPY_BIT: copy the value of SRC_BIT to DST_BIT in DST
#define COPY_BIT(DST, SRC_BIT, DST_BIT) SET_BIT_TO(DST, DST_BIT, TEST(DST, SRC_BIT))
#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
@ -444,7 +439,7 @@ void Endstops::update() {
#if HAS_X2_MIN
UPDATE_ENDSTOP_BIT(X2, MIN);
#else
COPY_BIT(live_state, X_MIN, X2_MIN);
COPY_LIVE_STATE(X_MIN, X2_MIN);
#endif
#else
if (X_MIN_TEST) UPDATE_ENDSTOP_BIT(X, MIN);
@ -458,7 +453,7 @@ void Endstops::update() {
#if HAS_X2_MAX
UPDATE_ENDSTOP_BIT(X2, MAX);
#else
COPY_BIT(live_state, X_MAX, X2_MAX);
COPY_LIVE_STATE(X_MAX, X2_MAX);
#endif
#else
if (X_MAX_TEST) UPDATE_ENDSTOP_BIT(X, MAX);
@ -475,7 +470,7 @@ void Endstops::update() {
#if HAS_Y2_MIN
UPDATE_ENDSTOP_BIT(Y2, MIN);
#else
COPY_BIT(live_state, Y_MIN, Y2_MIN);
COPY_LIVE_STATE(Y_MIN, Y2_MIN);
#endif
#else
UPDATE_ENDSTOP_BIT(Y, MIN);
@ -489,7 +484,7 @@ void Endstops::update() {
#if HAS_Y2_MAX
UPDATE_ENDSTOP_BIT(Y2, MAX);
#else
COPY_BIT(live_state, Y_MAX, Y2_MAX);
COPY_LIVE_STATE(Y_MAX, Y2_MAX);
#endif
#else
UPDATE_ENDSTOP_BIT(Y, MAX);
@ -506,7 +501,7 @@ void Endstops::update() {
#if HAS_Z2_MIN
UPDATE_ENDSTOP_BIT(Z2, MIN);
#else
COPY_BIT(live_state, Z_MIN, Z2_MIN);
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);
@ -528,7 +523,7 @@ void Endstops::update() {
#if HAS_Z2_MAX
UPDATE_ENDSTOP_BIT(Z2, MAX);
#else
COPY_BIT(live_state, Z_MAX, Z2_MAX);
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
@ -538,36 +533,31 @@ void Endstops::update() {
}
}
// All endstops were updated.
#if ENABLED(ENDSTOP_NOISE_FILTER)
if (old_live_state != live_state) { // We detected a change. Reinit the timeout
/**
* 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).
*/
/**
* 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 = 7;
old_live_state = live_state;
}
else if (endstop_poll_count && !--endstop_poll_count)
validated_live_state = live_state;
#else
// Lets accept the new endstop values as valid - We assume hardware filtering of lines
esbits_t validated_live_state = live_state;
if (!abort_enabled()) return;
#endif
// Endstop readings are validated in validated_live_state
// Test the current status of an endstop
#define TEST_ENDSTOP(ENDSTOP) (TEST(validated_live_state, ENDSTOP))
#define TEST_ENDSTOP(ENDSTOP) (TEST(state(), ENDSTOP))
// Record endstop was hit
#define _ENDSTOP_HIT(AXIS, MINMAX) SBI(hit_state, _ENDSTOP(AXIS, MINMAX))

20
Marlin/src/module/endstops.h
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@ -70,9 +70,10 @@ class Endstops {
private:
static esbits_t live_state;
static volatile uint8_t hit_state; // Use X_MIN, Y_MIN, Z_MIN and Z_MIN_PROBE as BIT index
#if ENABLED(ENDSTOP_NOISE_FILTER)
static esbits_t old_live_state, // Old endstop value for debouncing and denoising
validated_live_state; // The validated (accepted as true) endstop bits
static esbits_t validated_live_state;
uint8_t Endstops::endstop_poll_count;
static uint8_t endstop_poll_count; // Countdown from threshold for polling
#endif
@ -85,10 +86,15 @@ class Endstops {
static void init();
/**
* A change was detected or presumed to be in endstops pins. Find out what
* changed, if anything. Called from ISR contexts
* Are endstops or the probe set to abort the move?
*/
static void check_possible_change();
FORCE_INLINE static bool abort_enabled() {
return (enabled
#if HAS_BED_PROBE
|| z_probe_enabled
#endif
);
}
/**
* Periodic call to poll endstops if required. Called from temperature ISR
@ -96,7 +102,9 @@ class Endstops {
static void poll();
/**
* Update the endstops bits from the pins
* Update endstops bits from the pins. Apply filtering to get a verified state.
* If abort_enabled() and moving towards a triggered switch, abort the current move.
* Called from ISR contexts.
*/
static void update();

2
Marlin/src/module/stepper.cpp
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@ -1742,7 +1742,7 @@ uint32_t Stepper::stepper_block_phase_isr() {
// done against the endstop. So, check the limits here: If the movement
// is against the limits, the block will be marked as to be killed, and
// on the next call to this ISR, will be discarded.
endstops.check_possible_change();
endstops.update();
#if ENABLED(Z_LATE_ENABLE)
// If delayed Z enable, enable it now. This option will severely interfere with