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When endstop is hit count virtual steps, so the print lose no position when endstop is hit

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midopple 2012-04-20 22:42:25 +02:00
parent d8b0ac3453
commit 378426c766
1 changed files with 104 additions and 17 deletions
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121
Sprinter/Sprinter.pde
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@ -106,7 +106,11 @@
- Added M93 command. Sends current steps for all axis.
- New Option --> FAN_SOFT_PWM, with this option the FAN PWM can use every digital I/O
Version 1.3.14T
- When endstop is hit count the virtual steps, so the print lose no position when endstop is hit
*/
@ -208,7 +212,7 @@ void __cxa_pure_virtual(){};
// M603 - Show Free Ram
#define _VERSION_TEXT "1.3.13T / 19.04.2012"
#define _VERSION_TEXT "1.3.14T / 20.04.2012"
//Stepper Movement Variables
char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'};
@ -251,6 +255,9 @@ volatile int extrudemultiply=100; //100->1 200->2
float destination[NUM_AXIS] = {0.0, 0.0, 0.0, 0.0};
float current_position[NUM_AXIS] = {0.0, 0.0, 0.0, 0.0};
static unsigned short virtual_steps_x = 0;
static unsigned short virtual_steps_y = 0;
static unsigned short virtual_steps_z = 0;
bool home_all_axis = true;
//unsigned ?? ToDo: Check
@ -2639,6 +2646,10 @@ void plan_set_position(float x, float y, float z, float e)
position[Z_AXIS] = lround(z*axis_steps_per_unit[Z_AXIS]);
position[E_AXIS] = lround(e*axis_steps_per_unit[E_AXIS]);
virtual_steps_x = 0;
virtual_steps_y = 0;
virtual_steps_z = 0;
previous_nominal_speed = 0.0; // Resets planner junction speeds. Assumes start from rest.
previous_speed[0] = 0.0;
previous_speed[1] = 0.0;
@ -2929,10 +2940,18 @@ ISR(TIMER1_COMPA_vect)
#if X_MIN_PIN > -1
bool x_min_endstop=(READ(X_MIN_PIN) != X_ENDSTOP_INVERT);
if(x_min_endstop && old_x_min_endstop && (current_block->steps_x > 0)) {
endstop_x_hit=true;
step_events_completed = current_block->step_event_count;
if(!is_homing)
endstop_x_hit=true;
else
step_events_completed = current_block->step_event_count;
}
else
{
endstop_x_hit=false;
}
old_x_min_endstop = x_min_endstop;
#else
endstop_x_hit=false;
#endif
}
}
@ -2943,10 +2962,18 @@ ISR(TIMER1_COMPA_vect)
#if X_MAX_PIN > -1
bool x_max_endstop=(READ(X_MAX_PIN) != X_ENDSTOP_INVERT);
if(x_max_endstop && old_x_max_endstop && (current_block->steps_x > 0)){
endstop_x_hit=true;
step_events_completed = current_block->step_event_count;
if(!is_homing)
endstop_x_hit=true;
else
step_events_completed = current_block->step_event_count;
}
else
{
endstop_x_hit=false;
}
old_x_max_endstop = x_max_endstop;
#else
endstop_x_hit=false;
#endif
}
}
@ -2958,10 +2985,18 @@ ISR(TIMER1_COMPA_vect)
#if Y_MIN_PIN > -1
bool y_min_endstop=(READ(Y_MIN_PIN) != Y_ENDSTOP_INVERT);
if(y_min_endstop && old_y_min_endstop && (current_block->steps_y > 0)) {
endstop_y_hit=true;
step_events_completed = current_block->step_event_count;
if(!is_homing)
endstop_y_hit=true;
else
step_events_completed = current_block->step_event_count;
}
else
{
endstop_y_hit=false;
}
old_y_min_endstop = y_min_endstop;
#else
endstop_y_hit=false;
#endif
}
}
@ -2972,10 +3007,18 @@ ISR(TIMER1_COMPA_vect)
#if Y_MAX_PIN > -1
bool y_max_endstop=(READ(Y_MAX_PIN) != Y_ENDSTOP_INVERT);
if(y_max_endstop && old_y_max_endstop && (current_block->steps_y > 0)){
endstop_y_hit=true;
step_events_completed = current_block->step_event_count;
if(!is_homing)
endstop_y_hit=true;
else
step_events_completed = current_block->step_event_count;
}
else
{
endstop_y_hit=false;
}
old_y_max_endstop = y_max_endstop;
#else
endstop_y_hit=false;
#endif
}
}
@ -2987,10 +3030,18 @@ ISR(TIMER1_COMPA_vect)
#if Z_MIN_PIN > -1
bool z_min_endstop=(READ(Z_MIN_PIN) != Z_ENDSTOP_INVERT);
if(z_min_endstop && old_z_min_endstop && (current_block->steps_z > 0)) {
endstop_z_hit=true;
step_events_completed = current_block->step_event_count;
if(!is_homing)
endstop_z_hit=true;
else
step_events_completed = current_block->step_event_count;
}
else
{
endstop_z_hit=false;
}
old_z_min_endstop = z_min_endstop;
#else
endstop_z_hit=false;
#endif
}
}
@ -3001,10 +3052,18 @@ ISR(TIMER1_COMPA_vect)
#if Z_MAX_PIN > -1
bool z_max_endstop=(READ(Z_MAX_PIN) != Z_ENDSTOP_INVERT);
if(z_max_endstop && old_z_max_endstop && (current_block->steps_z > 0)) {
endstop_z_hit=true;
step_events_completed = current_block->step_event_count;
if(!is_homing)
endstop_z_hit=true;
else
step_events_completed = current_block->step_event_count;
}
else
{
endstop_z_hit=false;
}
old_z_max_endstop = z_max_endstop;
#else
endstop_z_hit=false;
#endif
}
}
@ -3034,24 +3093,52 @@ ISR(TIMER1_COMPA_vect)
}
}
#endif //ADVANCE
counter_x += current_block->steps_x;
if (counter_x > 0) {
WRITE(X_STEP_PIN, HIGH);
if(!endstop_x_hit)
{
if(virtual_steps_x)
virtual_steps_x--;
else
WRITE(X_STEP_PIN, HIGH);
}
else
virtual_steps_x++;
counter_x -= current_block->step_event_count;
WRITE(X_STEP_PIN, LOW);
}
counter_y += current_block->steps_y;
if (counter_y > 0) {
WRITE(Y_STEP_PIN, HIGH);
if(!endstop_y_hit)
{
if(virtual_steps_y)
virtual_steps_y--;
else
WRITE(Y_STEP_PIN, HIGH);
}
else
virtual_steps_y++;
counter_y -= current_block->step_event_count;
WRITE(Y_STEP_PIN, LOW);
}
counter_z += current_block->steps_z;
if (counter_z > 0) {
WRITE(Z_STEP_PIN, HIGH);
if(!endstop_z_hit)
{
if(virtual_steps_z)
virtual_steps_z--;
else
WRITE(Z_STEP_PIN, HIGH);
}
else
virtual_steps_z++;
counter_z -= current_block->step_event_count;
WRITE(Z_STEP_PIN, LOW);
}