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Terminate current move after endstop hit - avoids lockup

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kliment 2011-04-13 11:17:56 +02:00
parent 6df9556de0
commit 853a295762
1 changed files with 14 additions and 12 deletions
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26
Tonokip_Firmware/Tonokip_Firmware.pde
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@ -741,12 +741,6 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin
if (destination_e > current_e) digitalWrite(E_DIR_PIN,!INVERT_E_DIR);
else digitalWrite(E_DIR_PIN,INVERT_E_DIR);
//Only enable axis that are moving. If the axis doesn't need to move then it can stay disabled depending on configuration.
if(x_steps_remaining) enable_x();
if(y_steps_remaining) enable_y();
if(z_steps_remaining) { enable_z(); do_z_step(); z_steps_remaining--;}
if(e_steps_remaining) {enable_e(); do_e_step(); e_steps_remaining--;}
if(X_MIN_PIN > -1) if(!direction_x) if(digitalRead(X_MIN_PIN) != ENDSTOPS_INVERTING) x_steps_remaining=0;
if(Y_MIN_PIN > -1) if(!direction_y) if(digitalRead(Y_MIN_PIN) != ENDSTOPS_INVERTING) y_steps_remaining=0;
if(Z_MIN_PIN > -1) if(!direction_z) if(digitalRead(Z_MIN_PIN) != ENDSTOPS_INVERTING) z_steps_remaining=0;
@ -754,6 +748,14 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin
if(Y_MAX_PIN > -1) if(direction_y) if(digitalRead(Y_MAX_PIN) != ENDSTOPS_INVERTING) y_steps_remaining=0;
if(Z_MAX_PIN > -1) if(direction_z) if(digitalRead(Z_MAX_PIN) != ENDSTOPS_INVERTING) z_steps_remaining=0;
//Only enable axis that are moving. If the axis doesn't need to move then it can stay disabled depending on configuration.
if(x_steps_remaining) enable_x();
if(y_steps_remaining) enable_y();
if(z_steps_remaining) { enable_z(); do_z_step(); z_steps_remaining--;}
if(e_steps_remaining) {enable_e(); do_e_step(); e_steps_remaining--;}
previous_millis_heater = millis();
unsigned long start_move_micros = micros();
@ -823,10 +825,10 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin
if(x_steps_remaining || y_steps_remaining) {
if(X_MIN_PIN > -1) if(!direction_x) if(digitalRead(X_MIN_PIN) != ENDSTOPS_INVERTING) x_steps_remaining=0;
if(Y_MIN_PIN > -1) if(!direction_y) if(digitalRead(Y_MIN_PIN) != ENDSTOPS_INVERTING) y_steps_remaining=0;
if(X_MAX_PIN > -1) if(direction_x) if(digitalRead(X_MAX_PIN) != ENDSTOPS_INVERTING) x_steps_remaining=0;
if(Y_MAX_PIN > -1) if(direction_y) if(digitalRead(Y_MAX_PIN) != ENDSTOPS_INVERTING) y_steps_remaining=0;
if(X_MIN_PIN > -1) if(!direction_x) if(digitalRead(X_MIN_PIN) != ENDSTOPS_INVERTING) break;
if(Y_MIN_PIN > -1) if(!direction_y) if(digitalRead(Y_MIN_PIN) != ENDSTOPS_INVERTING) break;
if(X_MAX_PIN > -1) if(direction_x) if(digitalRead(X_MAX_PIN) != ENDSTOPS_INVERTING) break;
if(Y_MAX_PIN > -1) if(direction_y) if(digitalRead(Y_MAX_PIN) != ENDSTOPS_INVERTING) break;
if(steep_y) {
timediff = micros() - previous_micros_y;
while(timediff >= interval && y_steps_remaining>0) {
@ -857,8 +859,8 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin
}
if(z_steps_remaining) {
if(Z_MIN_PIN > -1) if(!direction_z) if(digitalRead(Z_MIN_PIN) != ENDSTOPS_INVERTING) z_steps_remaining=0;
if(Z_MAX_PIN > -1) if(direction_z) if(digitalRead(Z_MAX_PIN) != ENDSTOPS_INVERTING) z_steps_remaining=0;
if(Z_MIN_PIN > -1) if(!direction_z) if(digitalRead(Z_MIN_PIN) != ENDSTOPS_INVERTING) break;
if(Z_MAX_PIN > -1) if(direction_z) if(digitalRead(Z_MAX_PIN) != ENDSTOPS_INVERTING) break;
timediff=micros()-previous_micros_z;
while(timediff >= z_interval && z_steps_remaining) { do_z_step(); z_steps_remaining--; timediff-=z_interval;}
}