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Merge upstream changes from Marlin 2.1.1

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This commit is contained in:
Stefan Kalscheuer
2022-09-03 09:23:32 +02:00
parent 626283aadb
commit 986e416c7f
1610 changed files with 73839 additions and 40857 deletions
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445
Marlin/src/module/endstops.cpp
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@@ -31,6 +31,9 @@
#include "temperature.h"
#include "../lcd/marlinui.h"
#define DEBUG_OUT BOTH(USE_SENSORLESS, DEBUG_LEVELING_FEATURE)
#include "../core/debug_out.h"
#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
#include HAL_PATH(../HAL, endstop_interrupts.h)
#endif
@@ -60,6 +63,13 @@ bool Endstops::enabled, Endstops::enabled_globally; // Initialized by settings.l
volatile Endstops::endstop_mask_t Endstops::hit_state;
Endstops::endstop_mask_t Endstops::live_state = 0;
#if ENABLED(BD_SENSOR)
bool Endstops::bdp_state; // = false
#define READ_ENDSTOP(P) ((P == Z_MIN_PIN) ? bdp_state : READ(P))
#else
#define READ_ENDSTOP(P) READ(P)
#endif
#if ENDSTOP_NOISE_THRESHOLD
Endstops::endstop_mask_t Endstops::validated_live_state;
uint8_t Endstops::endstop_poll_count;
@@ -78,9 +88,9 @@ Endstops::endstop_mask_t Endstops::live_state = 0;
#endif
#if ENABLED(Z_MULTI_ENDSTOPS)
float Endstops::z2_endstop_adj;
#if NUM_Z_STEPPER_DRIVERS >= 3
#if NUM_Z_STEPPERS >= 3
float Endstops::z3_endstop_adj;
#if NUM_Z_STEPPER_DRIVERS >= 4
#if NUM_Z_STEPPERS >= 4
float Endstops::z4_endstop_adj;
#endif
#endif
@@ -319,6 +329,66 @@ void Endstops::init() {
#endif
#endif
#if HAS_U_MIN
#if ENABLED(ENDSTOPPULLUP_UMIN)
SET_INPUT_PULLUP(U_MIN_PIN);
#elif ENABLED(ENDSTOPPULLDOWN_UMIN)
SET_INPUT_PULLDOWN(U_MIN_PIN);
#else
SET_INPUT(U_MIN_PIN);
#endif
#endif
#if HAS_U_MAX
#if ENABLED(ENDSTOPPULLUP_UMAX)
SET_INPUT_PULLUP(U_MAX_PIN);
#elif ENABLED(ENDSTOPPULLDOWN_UMIN)
SET_INPUT_PULLDOWN(U_MAX_PIN);
#else
SET_INPUT(U_MAX_PIN);
#endif
#endif
#if HAS_V_MIN
#if ENABLED(ENDSTOPPULLUP_VMIN)
SET_INPUT_PULLUP(V_MIN_PIN);
#elif ENABLED(ENDSTOPPULLDOWN_VMIN)
SET_INPUT_PULLDOWN(V_MIN_PIN);
#else
SET_INPUT(V_MIN_PIN);
#endif
#endif
#if HAS_V_MAX
#if ENABLED(ENDSTOPPULLUP_VMAX)
SET_INPUT_PULLUP(V_MAX_PIN);
#elif ENABLED(ENDSTOPPULLDOWN_VMIN)
SET_INPUT_PULLDOWN(V_MAX_PIN);
#else
SET_INPUT(V_MAX_PIN);
#endif
#endif
#if HAS_W_MIN
#if ENABLED(ENDSTOPPULLUP_WMIN)
SET_INPUT_PULLUP(W_MIN_PIN);
#elif ENABLED(ENDSTOPPULLDOWN_WMIN)
SET_INPUT_PULLDOWN(W_MIN_PIN);
#else
SET_INPUT(W_MIN_PIN);
#endif
#endif
#if HAS_W_MAX
#if ENABLED(ENDSTOPPULLUP_WMAX)
SET_INPUT_PULLUP(W_MAX_PIN);
#elif ENABLED(ENDSTOPPULLDOWN_WMIN)
SET_INPUT_PULLDOWN(W_MAX_PIN);
#else
SET_INPUT(W_MAX_PIN);
#endif
#endif
#if PIN_EXISTS(CALIBRATION)
#if ENABLED(CALIBRATION_PIN_PULLUP)
SET_INPUT_PULLUP(CALIBRATION_PIN);
@@ -352,7 +422,7 @@ void Endstops::init() {
} // Endstops::init
// Called at ~1KHz from Temperature ISR: Poll endstop state if required
// Called at ~1kHz from Temperature ISR: Poll endstop state if required
void Endstops::poll() {
TERN_(PINS_DEBUGGING, run_monitor()); // Report changes in endstop status
@@ -384,7 +454,7 @@ void Endstops::not_homing() {
// 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_KILL_HOMING_FAILED));
else kill(GET_TEXT_F(MSG_KILL_HOMING_FAILED));
}
#endif
@@ -392,6 +462,9 @@ void Endstops::not_homing() {
#if HAS_BED_PROBE
void Endstops::enable_z_probe(const bool onoff) {
z_probe_enabled = onoff;
#if PIN_EXISTS(PROBE_ENABLE)
WRITE(PROBE_ENABLE_PIN, onoff);
#endif
resync();
}
#endif
@@ -400,7 +473,7 @@ void Endstops::not_homing() {
void Endstops::resync() {
if (!abort_enabled()) return; // If endstops/probes are disabled the loop below can hang
// Wait for Temperature ISR to run at least once (runs at 1KHz)
// Wait for Temperature ISR to run at least once (runs at 1kHz)
TERN(ENDSTOP_INTERRUPTS_FEATURE, update(), safe_delay(2));
while (TERN0(ENDSTOP_NOISE_THRESHOLD, endstop_poll_count)) safe_delay(1);
}
@@ -421,7 +494,7 @@ void Endstops::event_handler() {
prev_hit_state = hit_state;
if (hit_state) {
#if HAS_STATUS_MESSAGE
char LINEAR_AXIS_LIST(chrX = ' ', chrY = ' ', chrZ = ' ', chrI = ' ', chrJ = ' ', chrK = ' '),
char NUM_AXIS_LIST(chrX = ' ', chrY = ' ', chrZ = ' ', chrI = ' ', chrJ = ' ', chrK = ' ', chrU = ' ', chrV = ' ', chrW = ' '),
chrP = ' ';
#define _SET_STOP_CHAR(A,C) (chr## A = C)
#else
@@ -441,16 +514,22 @@ void Endstops::event_handler() {
#define ENDSTOP_HIT_TEST_I() _ENDSTOP_HIT_TEST(I,'I')
#define ENDSTOP_HIT_TEST_J() _ENDSTOP_HIT_TEST(J,'J')
#define ENDSTOP_HIT_TEST_K() _ENDSTOP_HIT_TEST(K,'K')
#define ENDSTOP_HIT_TEST_U() _ENDSTOP_HIT_TEST(U,'U')
#define ENDSTOP_HIT_TEST_V() _ENDSTOP_HIT_TEST(V,'V')
#define ENDSTOP_HIT_TEST_W() _ENDSTOP_HIT_TEST(W,'W')
SERIAL_ECHO_START();
SERIAL_ECHOPGM(STR_ENDSTOPS_HIT);
LINEAR_AXIS_CODE(
NUM_AXIS_CODE(
ENDSTOP_HIT_TEST_X(),
ENDSTOP_HIT_TEST_Y(),
ENDSTOP_HIT_TEST_Z(),
_ENDSTOP_HIT_TEST(I,'I'),
_ENDSTOP_HIT_TEST(J,'J'),
_ENDSTOP_HIT_TEST(K,'K')
_ENDSTOP_HIT_TEST(K,'K'),
_ENDSTOP_HIT_TEST(U,'U'),
_ENDSTOP_HIT_TEST(V,'V'),
_ENDSTOP_HIT_TEST(W,'W')
);
#if USES_Z_MIN_PROBE_PIN
@@ -460,10 +539,10 @@ void Endstops::event_handler() {
SERIAL_EOL();
TERN_(HAS_STATUS_MESSAGE,
ui.status_printf_P(0,
PSTR(S_FMT GANG_N_1(LINEAR_AXES, " %c") " %c"),
ui.status_printf(0,
F(S_FMT GANG_N_1(NUM_AXES, " %c") " %c"),
GET_TEXT(MSG_LCD_ENDSTOPS),
LINEAR_AXIS_LIST(chrX, chrY, chrZ, chrI, chrJ, chrK), chrP
NUM_AXIS_LIST(chrX, chrY, chrZ, chrI, chrJ, chrK, chrU, chrV, chrW), chrP
)
);
@@ -472,31 +551,33 @@ void Endstops::event_handler() {
card.abortFilePrintNow();
quickstop_stepper();
thermalManager.disable_all_heaters();
#ifdef SD_ABORT_ON_ENDSTOP_HIT_GCODE
queue.clear();
queue.inject(F(SD_ABORT_ON_ENDSTOP_HIT_GCODE));
#endif
print_job_timer.stop();
}
#endif
}
}
#pragma GCC diagnostic push
#if GCC_VERSION <= 50000
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wunused-function"
#endif
static void print_es_state(const bool is_hit, PGM_P const label=nullptr) {
if (label) SERIAL_ECHOPGM_P(label);
static void print_es_state(const bool is_hit, FSTR_P const flabel=nullptr) {
if (flabel) SERIAL_ECHOF(flabel);
SERIAL_ECHOPGM(": ");
SERIAL_ECHOLNPGM_P(is_hit ? PSTR(STR_ENDSTOP_HIT) : PSTR(STR_ENDSTOP_OPEN));
SERIAL_ECHOLNF(is_hit ? F(STR_ENDSTOP_HIT) : F(STR_ENDSTOP_OPEN));
}
#if GCC_VERSION <= 50000
#pragma GCC diagnostic pop
#endif
#pragma GCC diagnostic pop
void _O2 Endstops::report_states() {
void __O2 Endstops::report_states() {
TERN_(BLTOUCH, bltouch._set_SW_mode());
SERIAL_ECHOLNPGM(STR_M119_REPORT);
#define ES_REPORT(S) print_es_state(READ(S##_PIN) != S##_ENDSTOP_INVERTING, PSTR(STR_##S))
#define ES_REPORT(S) print_es_state(READ_ENDSTOP(S##_PIN) != S##_ENDSTOP_INVERTING, F(STR_##S))
#if HAS_X_MIN
ES_REPORT(X_MIN);
#endif
@@ -557,17 +638,35 @@ void _O2 Endstops::report_states() {
#if HAS_J_MAX
ES_REPORT(J_MAX);
#endif
#if HAS_K_MIN
#if HAS_K_MIN
ES_REPORT(K_MIN);
#endif
#if HAS_K_MAX
ES_REPORT(K_MAX);
#endif
#if BOTH(MARLIN_DEV_MODE, PROBE_ACTIVATION_SWITCH)
print_es_state(probe_switch_activated(), PSTR(STR_PROBE_EN));
#if HAS_U_MIN
ES_REPORT(U_MIN);
#endif
#if HAS_U_MAX
ES_REPORT(U_MAX);
#endif
#if HAS_V_MIN
ES_REPORT(V_MIN);
#endif
#if HAS_V_MAX
ES_REPORT(V_MAX);
#endif
#if HAS_W_MIN
ES_REPORT(W_MIN);
#endif
#if HAS_W_MAX
ES_REPORT(W_MAX);
#endif
#if ENABLED(PROBE_ACTIVATION_SWITCH)
print_es_state(probe_switch_activated(), F(STR_PROBE_EN));
#endif
#if USES_Z_MIN_PROBE_PIN
print_es_state(PROBE_TRIGGERED(), PSTR(STR_Z_PROBE));
print_es_state(PROBE_TRIGGERED(), F(STR_Z_PROBE));
#endif
#if MULTI_FILAMENT_SENSOR
#define _CASE_RUNOUT(N) case N: pin = FIL_RUNOUT##N##_PIN; state = FIL_RUNOUT##N##_STATE; break;
@@ -584,7 +683,7 @@ void _O2 Endstops::report_states() {
}
#undef _CASE_RUNOUT
#elif HAS_FILAMENT_SENSOR
print_es_state(READ(FIL_RUNOUT1_PIN) != FIL_RUNOUT1_STATE, PSTR(STR_FILAMENT));
print_es_state(READ(FIL_RUNOUT1_PIN) != FIL_RUNOUT1_STATE, F(STR_FILAMENT));
#endif
TERN_(BLTOUCH, bltouch._reset_SW_mode());
@@ -592,9 +691,6 @@ void _O2 Endstops::report_states() {
} // 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.
#if HAS_DELTA_SENSORLESS_PROBING
#define __ENDSTOP(AXIS, ...) AXIS ##_MAX
#define _ENDSTOP_PIN(AXIS, ...) AXIS ##_MAX_PIN
@@ -606,17 +702,22 @@ void _O2 Endstops::report_states() {
#endif
#define _ENDSTOP(AXIS, MINMAX) __ENDSTOP(AXIS, MINMAX)
// Check endstops - Could be called from Temperature ISR!
/**
* Called from interrupt context by the Endstop ISR or Stepper ISR!
* Read endstops to get their current states, register hits for all
* axes moving in the direction of their endstops, and abort moves.
*/
void Endstops::update() {
#if !ENDSTOP_NOISE_THRESHOLD
if (!abort_enabled()) return;
#if !ENDSTOP_NOISE_THRESHOLD // If not debouncing...
if (!abort_enabled()) return; // ...and not enabled, exit.
#endif
#define UPDATE_ENDSTOP_BIT(AXIS, MINMAX) SET_BIT_TO(live_state, _ENDSTOP(AXIS, MINMAX), (READ(_ENDSTOP_PIN(AXIS, MINMAX)) != _ENDSTOP_INVERTING(AXIS, MINMAX)))
// Macros to update / copy the live_state
#define UPDATE_ENDSTOP_BIT(AXIS, MINMAX) SET_BIT_TO(live_state, _ENDSTOP(AXIS, MINMAX), (READ_ENDSTOP(_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) && NONE(CORE_IS_XY, CORE_IS_XZ, MARKFORGED_XY)
#if ENABLED(G38_PROBE_TARGET) && NONE(CORE_IS_XY, CORE_IS_XZ, MARKFORGED_XY, MARKFORGED_YX)
#define HAS_G38_PROBE 1
// For G38 moves check the probe's pin for ALL movement
if (G38_move) UPDATE_ENDSTOP_BIT(Z, TERN(USES_Z_MIN_PROBE_PIN, MIN_PROBE, MIN));
@@ -627,12 +728,12 @@ void Endstops::update() {
#define X_MAX_TEST() TERN1(DUAL_X_CARRIAGE, TERN0(X_HOME_TO_MAX, stepper.last_moved_extruder == 0) || TERN0(X2_HOME_TO_MAX, stepper.last_moved_extruder != 0))
// Use HEAD for core axes, AXIS for others
#if ANY(CORE_IS_XY, CORE_IS_XZ, MARKFORGED_XY)
#if ANY(CORE_IS_XY, CORE_IS_XZ, MARKFORGED_XY, MARKFORGED_YX)
#define X_AXIS_HEAD X_HEAD
#else
#define X_AXIS_HEAD X_AXIS
#endif
#if ANY(CORE_IS_XY, CORE_IS_YZ, MARKFORGED_XY)
#if ANY(CORE_IS_XY, CORE_IS_YZ, MARKFORGED_XY, MARKFORGED_YX)
#define Y_AXIS_HEAD Y_HEAD
#else
#define Y_AXIS_HEAD Y_AXIS
@@ -646,6 +747,9 @@ void Endstops::update() {
#define I_AXIS_HEAD I_AXIS
#define J_AXIS_HEAD J_AXIS
#define K_AXIS_HEAD K_AXIS
#define U_AXIS_HEAD U_AXIS
#define V_AXIS_HEAD V_AXIS
#define W_AXIS_HEAD W_AXIS
/**
* Check and update endstops
@@ -702,14 +806,14 @@ void Endstops::update() {
#else
COPY_LIVE_STATE(Z_MIN, Z2_MIN);
#endif
#if NUM_Z_STEPPER_DRIVERS >= 3
#if NUM_Z_STEPPERS >= 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 NUM_Z_STEPPERS >= 4
#if HAS_Z4_MIN
UPDATE_ENDSTOP_BIT(Z4, MIN);
#else
@@ -734,14 +838,14 @@ void Endstops::update() {
#else
COPY_LIVE_STATE(Z_MAX, Z2_MAX);
#endif
#if NUM_Z_STEPPER_DRIVERS >= 3
#if NUM_Z_STEPPERS >= 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 NUM_Z_STEPPERS >= 4
#if HAS_Z4_MAX
UPDATE_ENDSTOP_BIT(Z4, MAX);
#else
@@ -832,6 +936,82 @@ void Endstops::update() {
#endif
#endif
#if HAS_U_MIN && !U_SPI_SENSORLESS
#if ENABLED(U_DUAL_ENDSTOPS)
UPDATE_ENDSTOP_BIT(U, MIN);
#if HAS_U2_MIN
UPDATE_ENDSTOP_BIT(U2, MIN);
#else
COPY_LIVE_STATE(U_MIN, U2_MIN);
#endif
#else
UPDATE_ENDSTOP_BIT(U, MIN);
#endif
#endif
#if HAS_U_MAX && !U_SPI_SENSORLESS
#if ENABLED(U_DUAL_ENDSTOPS)
UPDATE_ENDSTOP_BIT(U, MAX);
#if HAS_U2_MAX
UPDATE_ENDSTOP_BIT(U2, MAX);
#else
COPY_LIVE_STATE(U_MAX, U2_MAX);
#endif
#else
UPDATE_ENDSTOP_BIT(U, MAX);
#endif
#endif
#if HAS_V_MIN && !V_SPI_SENSORLESS
#if ENABLED(V_DUAL_ENDSTOPS)
UPDATE_ENDSTOP_BIT(V, MIN);
#if HAS_V2_MIN
UPDATE_ENDSTOP_BIT(V2, MIN);
#else
COPY_LIVE_STATE(V_MIN, V2_MIN);
#endif
#else
UPDATE_ENDSTOP_BIT(V, MIN);
#endif
#endif
#if HAS_V_MAX && !V_SPI_SENSORLESS
#if ENABLED(O_DUAL_ENDSTOPS)
UPDATE_ENDSTOP_BIT(V, MAX);
#if HAS_V2_MAX
UPDATE_ENDSTOP_BIT(V2, MAX);
#else
COPY_LIVE_STATE(V_MAX, V2_MAX);
#endif
#else
UPDATE_ENDSTOP_BIT(V, MAX);
#endif
#endif
#if HAS_W_MIN && !W_SPI_SENSORLESS
#if ENABLED(W_DUAL_ENDSTOPS)
UPDATE_ENDSTOP_BIT(W, MIN);
#if HAS_W2_MIN
UPDATE_ENDSTOP_BIT(W2, MIN);
#else
COPY_LIVE_STATE(W_MIN, W2_MIN);
#endif
#else
UPDATE_ENDSTOP_BIT(W, MIN);
#endif
#endif
#if HAS_W_MAX && !W_SPI_SENSORLESS
#if ENABLED(W_DUAL_ENDSTOPS)
UPDATE_ENDSTOP_BIT(W, MAX);
#if HAS_W2_MAX
UPDATE_ENDSTOP_BIT(W2, MAX);
#else
COPY_LIVE_STATE(W_MAX, W2_MAX);
#endif
#else
UPDATE_ENDSTOP_BIT(W, MAX);
#endif
#endif
#if ENDSTOP_NOISE_THRESHOLD
/**
@@ -924,15 +1104,15 @@ void Endstops::update() {
#if DISABLED(Z_MULTI_ENDSTOPS)
#define PROCESS_ENDSTOP_Z(MINMAX) PROCESS_ENDSTOP(Z, MINMAX)
#elif NUM_Z_STEPPER_DRIVERS == 4
#elif NUM_Z_STEPPERS == 4
#define PROCESS_ENDSTOP_Z(MINMAX) PROCESS_QUAD_ENDSTOP(Z, MINMAX)
#elif NUM_Z_STEPPER_DRIVERS == 3
#elif NUM_Z_STEPPERS == 3
#define PROCESS_ENDSTOP_Z(MINMAX) PROCESS_TRIPLE_ENDSTOP(Z, MINMAX)
#else
#define PROCESS_ENDSTOP_Z(MINMAX) PROCESS_DUAL_ENDSTOP(Z, MINMAX)
#endif
#if HAS_G38_PROBE
#if HAS_G38_PROBE // TODO (DerAndere): Add support for HAS_I_AXIS
#define _G38_OPEN_STATE TERN(G38_PROBE_AWAY, (G38_move >= 4), LOW)
// For G38 moves check the probe's pin for ALL movement
if (G38_move && TEST_ENDSTOP(_ENDSTOP(Z, TERN(USES_Z_MIN_PROBE_PIN, MIN_PROBE, MIN))) != _G38_OPEN_STATE) {
@@ -1058,7 +1238,7 @@ void Endstops::update() {
}
#endif
#if LINEAR_AXES >= 4
#if HAS_I_AXIS
if (stepper.axis_is_moving(I_AXIS)) {
if (stepper.motor_direction(I_AXIS_HEAD)) { // -direction
#if HAS_I_MIN || (I_SPI_SENSORLESS && I_HOME_TO_MIN)
@@ -1073,7 +1253,7 @@ void Endstops::update() {
}
#endif
#if LINEAR_AXES >= 5
#if HAS_J_AXIS
if (stepper.axis_is_moving(J_AXIS)) {
if (stepper.motor_direction(J_AXIS_HEAD)) { // -direction
#if HAS_J_MIN || (J_SPI_SENSORLESS && J_HOME_TO_MIN)
@@ -1088,7 +1268,7 @@ void Endstops::update() {
}
#endif
#if LINEAR_AXES >= 6
#if HAS_K_AXIS
if (stepper.axis_is_moving(K_AXIS)) {
if (stepper.motor_direction(K_AXIS_HEAD)) { // -direction
#if HAS_K_MIN || (K_SPI_SENSORLESS && K_HOME_TO_MIN)
@@ -1102,15 +1282,61 @@ void Endstops::update() {
}
}
#endif
#if HAS_U_AXIS
if (stepper.axis_is_moving(U_AXIS)) {
if (stepper.motor_direction(U_AXIS_HEAD)) { // -direction
#if HAS_U_MIN || (U_SPI_SENSORLESS && U_HOME_TO_MIN)
PROCESS_ENDSTOP(U, MIN);
#endif
}
else { // +direction
#if HAS_U_MAX || (U_SPI_SENSORLESS && U_HOME_TO_MAX)
PROCESS_ENDSTOP(U, MAX);
#endif
}
}
#endif
#if HAS_V_AXIS
if (stepper.axis_is_moving(V_AXIS)) {
if (stepper.motor_direction(V_AXIS_HEAD)) { // -direction
#if HAS_V_MIN || (V_SPI_SENSORLESS && V_HOME_TO_MIN)
PROCESS_ENDSTOP(V, MIN);
#endif
}
else { // +direction
#if HAS_V_MAX || (V_SPI_SENSORLESS && V_HOME_TO_MAX)
PROCESS_ENDSTOP(V, MAX);
#endif
}
}
#endif
#if HAS_W_AXIS
if (stepper.axis_is_moving(W_AXIS)) {
if (stepper.motor_direction(W_AXIS_HEAD)) { // -direction
#if HAS_W_MIN || (W_SPI_SENSORLESS && W_HOME_TO_MIN)
PROCESS_ENDSTOP(W, MIN);
#endif
}
else { // +direction
#if HAS_W_MAX || (W_SPI_SENSORLESS && W_HOME_TO_MAX)
PROCESS_ENDSTOP(W, MAX);
#endif
}
}
#endif
} // Endstops::update()
#if ENABLED(SPI_ENDSTOPS)
// Called from idle() to read Trinamic stall states
bool Endstops::tmc_spi_homing_check() {
bool hit = false;
#if X_SPI_SENSORLESS
if (tmc_spi_homing.x && (stepperX.test_stall_status()
#if ANY(CORE_IS_XY, MARKFORGED_XY) && Y_SPI_SENSORLESS
#if ANY(CORE_IS_XY, MARKFORGED_XY, MARKFORGED_YX) && Y_SPI_SENSORLESS
|| stepperY.test_stall_status()
#elif CORE_IS_XZ && Z_SPI_SENSORLESS
|| stepperZ.test_stall_status()
@@ -1122,7 +1348,7 @@ void Endstops::update() {
#endif
#if Y_SPI_SENSORLESS
if (tmc_spi_homing.y && (stepperY.test_stall_status()
#if ANY(CORE_IS_XY, MARKFORGED_XY) && X_SPI_SENSORLESS
#if ANY(CORE_IS_XY, MARKFORGED_XY, MARKFORGED_YX) && X_SPI_SENSORLESS
|| stepperX.test_stall_status()
#elif CORE_IS_YZ && Z_SPI_SENSORLESS
|| stepperZ.test_stall_status()
@@ -1162,6 +1388,24 @@ void Endstops::update() {
hit = true;
}
#endif
#if U_SPI_SENSORLESS
if (tmc_spi_homing.u && stepperU.test_stall_status()) {
SBI(live_state, U_ENDSTOP);
hit = true;
}
#endif
#if V_SPI_SENSORLESS
if (tmc_spi_homing.v && stepperV.test_stall_status()) {
SBI(live_state, V_ENDSTOP);
hit = true;
}
#endif
#if W_SPI_SENSORLESS
if (tmc_spi_homing.w && stepperW.test_stall_status()) {
SBI(live_state, W_ENDSTOP);
hit = true;
}
#endif
if (TERN0(ENDSTOP_INTERRUPTS_FEATURE, hit)) update();
@@ -1175,6 +1419,9 @@ void Endstops::update() {
TERN_(I_SPI_SENSORLESS, CBI(live_state, I_ENDSTOP));
TERN_(J_SPI_SENSORLESS, CBI(live_state, J_ENDSTOP));
TERN_(K_SPI_SENSORLESS, CBI(live_state, K_ENDSTOP));
TERN_(U_SPI_SENSORLESS, CBI(live_state, U_ENDSTOP));
TERN_(V_SPI_SENSORLESS, CBI(live_state, V_ENDSTOP));
TERN_(W_SPI_SENSORLESS, CBI(live_state, W_ENDSTOP));
}
#endif // SPI_ENDSTOPS
@@ -1198,7 +1445,7 @@ void Endstops::update() {
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)
#define ES_GET_STATE(S) if (READ_ENDSTOP(S##_PIN)) SBI(live_state_local, S)
#if HAS_X_MIN
ES_GET_STATE(X_MIN);
@@ -1269,6 +1516,24 @@ void Endstops::update() {
#if HAS_K_MIN
ES_GET_STATE(K_MIN);
#endif
#if HAS_U_MAX
ES_GET_STATE(U_MAX);
#endif
#if HAS_U_MIN
ES_GET_STATE(U_MIN);
#endif
#if HAS_V_MAX
ES_GET_STATE(V_MAX);
#endif
#if HAS_V_MIN
ES_GET_STATE(V_MIN);
#endif
#if HAS_W_MAX
ES_GET_STATE(W_MAX);
#endif
#if HAS_W_MIN
ES_GET_STATE(W_MIN);
#endif
uint16_t endstop_change = live_state_local ^ old_live_state_local;
#define ES_REPORT_CHANGE(S) if (TEST(endstop_change, S)) SERIAL_ECHOPGM(" " STRINGIFY(S) ":", TEST(live_state_local, S))
@@ -1343,11 +1608,93 @@ void Endstops::update() {
#if HAS_K_MAX
ES_REPORT_CHANGE(K_MAX);
#endif
#if HAS_U_MIN
ES_REPORT_CHANGE(U_MIN);
#endif
#if HAS_U_MAX
ES_REPORT_CHANGE(U_MAX);
#endif
#if HAS_V_MIN
ES_REPORT_CHANGE(V_MIN);
#endif
#if HAS_V_MAX
ES_REPORT_CHANGE(V_MAX);
#endif
#if HAS_W_MIN
ES_REPORT_CHANGE(W_MIN);
#endif
#if HAS_W_MAX
ES_REPORT_CHANGE(W_MAX);
#endif
SERIAL_ECHOLNPGM("\n");
analogWrite(pin_t(LED_PIN), local_LED_status);
hal.set_pwm_duty(pin_t(LED_PIN), local_LED_status);
local_LED_status ^= 255;
old_live_state_local = live_state_local;
}
}
#endif // PINS_DEBUGGING
#if USE_SENSORLESS
/**
* Change TMC driver currents to N##_CURRENT_HOME, saving the current configuration of each.
*/
void Endstops::set_homing_current(const bool onoff) {
#define HAS_CURRENT_HOME(N) (defined(N##_CURRENT_HOME) && N##_CURRENT_HOME != N##_CURRENT)
#define HAS_DELTA_X_CURRENT (ENABLED(DELTA) && HAS_CURRENT_HOME(X))
#define HAS_DELTA_Y_CURRENT (ENABLED(DELTA) && HAS_CURRENT_HOME(Y))
#if HAS_DELTA_X_CURRENT || HAS_DELTA_Y_CURRENT || HAS_CURRENT_HOME(Z)
#if HAS_DELTA_X_CURRENT
static int16_t saved_current_x;
#endif
#if HAS_DELTA_Y_CURRENT
static int16_t saved_current_y;
#endif
#if HAS_CURRENT_HOME(Z)
static int16_t saved_current_z;
#endif
auto debug_current_on = [](PGM_P const s, const int16_t a, const int16_t b) {
if (DEBUGGING(LEVELING)) { DEBUG_ECHOPGM_P(s); DEBUG_ECHOLNPGM(" current: ", a, " -> ", b); }
};
if (onoff) {
#if HAS_DELTA_X_CURRENT
saved_current_x = stepperX.getMilliamps();
stepperX.rms_current(X_CURRENT_HOME);
debug_current_on(PSTR("X"), saved_current_x, X_CURRENT_HOME);
#endif
#if HAS_DELTA_Y_CURRENT
saved_current_y = stepperY.getMilliamps();
stepperY.rms_current(Y_CURRENT_HOME);
debug_current_on(PSTR("Y"), saved_current_y, Y_CURRENT_HOME);
#endif
#if HAS_CURRENT_HOME(Z)
saved_current_z = stepperZ.getMilliamps();
stepperZ.rms_current(Z_CURRENT_HOME);
debug_current_on(PSTR("Z"), saved_current_z, Z_CURRENT_HOME);
#endif
}
else {
#if HAS_DELTA_X_CURRENT
stepperX.rms_current(saved_current_x);
debug_current_on(PSTR("X"), X_CURRENT_HOME, saved_current_x);
#endif
#if HAS_DELTA_Y_CURRENT
stepperY.rms_current(saved_current_y);
debug_current_on(PSTR("Y"), Y_CURRENT_HOME, saved_current_y);
#endif
#if HAS_CURRENT_HOME(Z)
stepperZ.rms_current(saved_current_z);
debug_current_on(PSTR("Z"), Z_CURRENT_HOME, saved_current_z);
#endif
}
TERN_(IMPROVE_HOMING_RELIABILITY, planner.enable_stall_prevention(onoff));
#if SENSORLESS_STALLGUARD_DELAY
safe_delay(SENSORLESS_STALLGUARD_DELAY); // Short delay needed to settle
#endif
#endif // XYZ
}
#endif