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Fix for probe with multiple endstops #16793

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merged 7 commits into from
Feb 6, 2020
Merged

Fix for probe with multiple endstops #16793

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8e960a5
Bugfix for probe end multiply endstops
StoneColdCrazy Feb 6, 2020
8daf7cb
Cleanup
thinkyhead Feb 6, 2020
c3e19ee
Update endstops.cpp
thinkyhead Feb 6, 2020
048bca5
Update endstops.cpp
thinkyhead Feb 6, 2020
2f6b254
Update endstops.cpp
thinkyhead Feb 6, 2020
421f7e6
Update endstops.cpp
thinkyhead Feb 6, 2020
0904456
Update endstops.cpp
thinkyhead Feb 6, 2020
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111 changes: 50 additions & 61 deletions Marlin/src/module/endstops.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -529,11 +529,11 @@ void Endstops::update() {
// 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))
#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
#define X_MIN_TEST() true
#define X_MAX_TEST() true
#endif

// Use HEAD for core axes, AXIS for others
Expand Down Expand Up @@ -690,44 +690,66 @@ void Endstops::update() {
#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 { \
#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); \
#define PROCESS_DUAL_ENDSTOP(A, MINMAX) do { \
const byte dual_hit = TEST_ENDSTOP(_ENDSTOP(A, MINMAX)) | (TEST_ENDSTOP(_ENDSTOP(A##2, MINMAX)) << 1); \
if (dual_hit) { \
_ENDSTOP_HIT(AXIS1, MINMAX); \
_ENDSTOP_HIT(A, 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)); \
planner.endstop_triggered(_AXIS(A)); \
} \
}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); \
#define PROCESS_TRIPLE_ENDSTOP(A, MINMAX) do { \
const byte triple_hit = TEST_ENDSTOP(_ENDSTOP(A, MINMAX)) | (TEST_ENDSTOP(_ENDSTOP(A##2, MINMAX)) << 1) | (TEST_ENDSTOP(_ENDSTOP(A##3, MINMAX)) << 2); \
if (triple_hit) { \
_ENDSTOP_HIT(AXIS1, MINMAX); \
_ENDSTOP_HIT(A, 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)); \
planner.endstop_triggered(_AXIS(A)); \
} \
}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); \
#define PROCESS_QUAD_ENDSTOP(A, MINMAX) do { \
const byte quad_hit = TEST_ENDSTOP(_ENDSTOP(A, MINMAX)) | (TEST_ENDSTOP(_ENDSTOP(A##2, MINMAX)) << 1) | (TEST_ENDSTOP(_ENDSTOP(A##3, MINMAX)) << 2) | (TEST_ENDSTOP(_ENDSTOP(A##4, MINMAX)) << 3); \
if (quad_hit) { \
_ENDSTOP_HIT(AXIS1, MINMAX); \
_ENDSTOP_HIT(A, 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)); \
planner.endstop_triggered(_AXIS(A)); \
} \
}while(0)

#if ENABLED(X_DUAL_ENDSTOPS)
#define PROCESS_ENDSTOP_X(MINMAX) PROCESS_DUAL_ENDSTOP(X, MINMAX)
#else
#define PROCESS_ENDSTOP_X(MINMAX) if (X_##MINMAX##_TEST()) PROCESS_ENDSTOP(X, MINMAX)
#endif

#if ENABLED(Y_DUAL_ENDSTOPS)
#define PROCESS_ENDSTOP_Y(MINMAX) PROCESS_DUAL_ENDSTOP(Y, MINMAX)
#else
#define PROCESS_ENDSTOP_Y(MINMAX) PROCESS_ENDSTOP(Y, MINMAX)
#endif

#if DISABLED(Z_MULTI_ENDSTOPS)
#define PROCESS_ENDSTOP_Z(MINMAX) PROCESS_ENDSTOP(Z, MINMAX)
#elif NUM_Z_STEPPER_DRIVERS == 4
#define PROCESS_ENDSTOP_Z(MINMAX) PROCESS_QUAD_ENDSTOP(Z, MINMAX)
#elif NUM_Z_STEPPER_DRIVERS == 3
#define PROCESS_ENDSTOP_Z(MINMAX) PROCESS_TRIPLE_ENDSTOP(Z, MINMAX)
#else
#define PROCESS_ENDSTOP_Z(MINMAX) PROCESS_DUAL_ENDSTOP(Z, MINMAX)
#endif

#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)
Expand All @@ -747,65 +769,40 @@ void Endstops::update() {
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
PROCESS_ENDSTOP_X(MIN);
#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
PROCESS_ENDSTOP_X(MAX);
#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
PROCESS_ENDSTOP_Y(MIN);
#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
PROCESS_ENDSTOP_Y(MAX);
#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 (true
#if ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN)
if (z_probe_enabled) PROCESS_ENDSTOP(Z, MIN);
&& z_probe_enabled
#elif HAS_CUSTOM_PROBE_PIN
if (!z_probe_enabled) PROCESS_ENDSTOP(Z, MIN);
#else
PROCESS_ENDSTOP(Z, MIN);
&& !z_probe_enabled
#endif
#endif
) PROCESS_ENDSTOP_Z(MIN);
#endif

// When closing the gap check the enabled probe
Expand All @@ -816,16 +813,8 @@ void Endstops::update() {
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);
#elif !HAS_CUSTOM_PROBE_PIN || Z_MAX_PIN != Z_MIN_PROBE_PIN // No probe or probe is Z_MIN || Probe is not Z_MAX
PROCESS_ENDSTOP(Z, MAX);
#endif
#endif
Expand Down