Seperate ENDSTOP_INVERTING for X Y and Z

Added simple endstop filter.
Corrected M114 count display.

diff --git a/Marlin/Configuration.h b/Marlin/Configuration.h
index da5372021ec383aebf305ec5a9362bce8d171d79..f8bb40e12eca2e91f3a3d31445317836a80d909f 100644 (file)
--- a/Marlin/Configuration.h
+++ b/Marlin/Configuration.h
@@ -157,7 +157,9 @@
 // Endstop Settings
 #define ENDSTOPPULLUPS // Comment this out (using // at the start of the line) to disable the endstop pullup resistors
 // The pullups are needed if you directly connect a mechanical endswitch between the signal and ground pins.
-const bool ENDSTOPS_INVERTING = true; // set to true to invert the logic of the endstops. 
+const bool X_ENDSTOPS_INVERTING = true; // set to true to invert the logic of the endstops. 
+const bool Y_ENDSTOPS_INVERTING = true; // set to true to invert the logic of the endstops. 
+const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of the endstops. 
 // For optos H21LOB set to true, for Mendel-Parts newer optos TCST2103 set to false
 
 

diff --git a/Marlin/Marlin.pde b/Marlin/Marlin.pde
index 1a2fadc5a042cea74a9dc2d389a846a9250ed4f7..61078eee7c27865c5ad38e09d3eefe4b89dec380 100644 (file)
--- a/Marlin/Marlin.pde
+++ b/Marlin/Marlin.pde
@@ -556,12 +556,19 @@ inline void process_commands()
       relative_mode = true;
       break;
     case 92: // G92
-      if(!code_seen(axis_codes[E_AXIS])) 
+      if(!code_seen(axis_codes[E_AXIS]))
         st_synchronize();
       for(int8_t i=0; i < NUM_AXIS; i++) {
-        if(code_seen(axis_codes[i])) current_position[i] = code_value();  
+        if(code_seen(axis_codes[i])) { 
+           current_position[i] = code_value();  
+           if(i == E_AXIS) {
+             plan_set_e_position(current_position[E_AXIS]);
+           }
+           else {
+             plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
+           }
+        }
       }
-      plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
       break;
     }
   }
@@ -865,27 +872,27 @@ inline void process_commands()
     case 119: // M119
       #if (X_MIN_PIN > -1)
         SERIAL_PROTOCOLPGM("x_min:");
-        SERIAL_PROTOCOL(((READ(X_MIN_PIN)^ENDSTOPS_INVERTING)?"H ":"L "));
+        SERIAL_PROTOCOL(((READ(X_MIN_PIN)^X_ENDSTOPS_INVERTING)?"H ":"L "));
       #endif
       #if (X_MAX_PIN > -1)
         SERIAL_PROTOCOLPGM("x_max:");
-        SERIAL_PROTOCOL(((READ(X_MAX_PIN)^ENDSTOPS_INVERTING)?"H ":"L "));
+        SERIAL_PROTOCOL(((READ(X_MAX_PIN)^X_ENDSTOPS_INVERTING)?"H ":"L "));
       #endif
       #if (Y_MIN_PIN > -1)
         SERIAL_PROTOCOLPGM("y_min:");
-        SERIAL_PROTOCOL(((READ(Y_MIN_PIN)^ENDSTOPS_INVERTING)?"H ":"L "));
+        SERIAL_PROTOCOL(((READ(Y_MIN_PIN)^Y_ENDSTOPS_INVERTING)?"H ":"L "));
       #endif
       #if (Y_MAX_PIN > -1)
         SERIAL_PROTOCOLPGM("y_max:");
-        SERIAL_PROTOCOL(((READ(Y_MAX_PIN)^ENDSTOPS_INVERTING)?"H ":"L "));
+        SERIAL_PROTOCOL(((READ(Y_MAX_PIN)^Y_ENDSTOPS_INVERTING)?"H ":"L "));
       #endif
       #if (Z_MIN_PIN > -1)
         SERIAL_PROTOCOLPGM("z_min:");
-        SERIAL_PROTOCOL(((READ(Z_MIN_PIN)^ENDSTOPS_INVERTING)?"H ":"L "));
+        SERIAL_PROTOCOL(((READ(Z_MIN_PIN)^Z_ENDSTOPS_INVERTING)?"H ":"L "));
       #endif
       #if (Z_MAX_PIN > -1)
         SERIAL_PROTOCOLPGM("z_max:");
-        SERIAL_PROTOCOL(((READ(Z_MAX_PIN)^ENDSTOPS_INVERTING)?"H ":"L "));
+        SERIAL_PROTOCOL(((READ(Z_MAX_PIN)^Z_ENDSTOPS_INVERTING)?"H ":"L "));
       #endif
       SERIAL_PROTOCOLLN("");
       break;

diff --git a/Marlin/planner.cpp b/Marlin/planner.cpp
index 214226e2c70008f824d085d8d4254b619312d3f6..8a27a2cc258a358bfd04ff1dd40036de055cfa77 100644 (file)
--- a/Marlin/planner.cpp
+++ b/Marlin/planner.cpp
@@ -762,7 +762,14 @@ void plan_set_position(const float &x, const float &y, const float &z, const flo
   previous_speed[3] = 0.0;
 }
 
+void plan_set_e_position(const float &e)
+{
+  position[E_AXIS] = lround(e*axis_steps_per_unit[E_AXIS]);  
+  st_set_e_position(position[E_AXIS]);
+}
+
 uint8_t movesplanned()
 {
  return (block_buffer_head-block_buffer_tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1);
 }
+

diff --git a/Marlin/planner.h b/Marlin/planner.h
index 95ca548c5fadbf034fa41991d1cfc3ef0b2b47d1..9aa121acae94e4ea5ba3d690f6b3b68b024b10cc 100644 (file)
--- a/Marlin/planner.h
+++ b/Marlin/planner.h
@@ -70,7 +70,7 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
 
 // Set position. Used for G92 instructions.
 void plan_set_position(const float &x, const float &y, const float &z, const float &e);
-
+void plan_set_e_position(const float &e);
 
 // Called when the current block is no longer needed. Discards the block and makes the memory
 // availible for new blocks.

diff --git a/Marlin/stepper.cpp b/Marlin/stepper.cpp
index 771bccfd4bf675b93a1af1091d5088b9a4a935ec..ad1fda9e09637b0122f8b3d37c6120b94036ade1 100644 (file)
--- a/Marlin/stepper.cpp
+++ b/Marlin/stepper.cpp
@@ -70,6 +70,13 @@ static volatile bool endstop_x_hit=false;
 static volatile bool endstop_y_hit=false;
 static volatile bool endstop_z_hit=false;
 
+static bool old_x_min_endstop=false;
+static bool old_x_max_endstop=false;
+static bool old_y_min_endstop=false;
+static bool old_y_max_endstop=false;
+static bool old_z_min_endstop=false;
+static bool old_z_max_endstop=false;
+
 volatile long count_position[NUM_AXIS] = { 0, 0, 0, 0};
 volatile char count_direction[NUM_AXIS] = { 1, 1, 1, 1};
 
@@ -260,6 +267,7 @@ ISR(TIMER1_COMPA_vect)
     SERIAL_ERROR_START
     SERIAL_ERROR(*(unsigned short *)OCR1A);
     SERIAL_ERRORLNPGM(" ISR overtaking itself.");
+    OCR1A = 0x30000;
     return; 
   } // The busy-flag is used to avoid reentering this interrupt
 
@@ -295,22 +303,26 @@ ISR(TIMER1_COMPA_vect)
       WRITE(X_DIR_PIN, INVERT_X_DIR);
       count_direction[X_AXIS]=-1;
       #if X_MIN_PIN > -1
-        if((READ(X_MIN_PIN) != ENDSTOPS_INVERTING) && (current_block->steps_x > 0)) {
+        bool x_min_endstop=(READ(X_MIN_PIN) != X_ENDSTOPS_INVERTING);
+        if(x_min_endstop && old_x_min_endstop && (current_block->steps_x > 0)) {
           endstops_trigsteps[X_AXIS] = count_position[X_AXIS];
           endstop_x_hit=true;
           step_events_completed = current_block->step_event_count;
         }
+        old_x_min_endstop = x_min_endstop;
       #endif
     }
     else { // +direction 
       WRITE(X_DIR_PIN,!INVERT_X_DIR);
       count_direction[X_AXIS]=1;
       #if X_MAX_PIN > -1
-        if((READ(X_MAX_PIN) != ENDSTOPS_INVERTING) && (current_block->steps_x > 0)){
+        bool x_max_endstop=(READ(X_MAX_PIN) != X_ENDSTOPS_INVERTING);
+        if(x_max_endstop && old_x_max_endstop && (current_block->steps_x > 0)){
           endstops_trigsteps[X_AXIS] = count_position[X_AXIS];
           endstop_x_hit=true;
           step_events_completed = current_block->step_event_count;
         }
+        old_x_max_endstop = x_max_endstop;
       #endif
     }
 
@@ -318,22 +330,26 @@ ISR(TIMER1_COMPA_vect)
       WRITE(Y_DIR_PIN,INVERT_Y_DIR);
       count_direction[Y_AXIS]=-1;
       #if Y_MIN_PIN > -1
-        if((READ(Y_MIN_PIN) != ENDSTOPS_INVERTING) && (current_block->steps_y > 0)) {
+        bool y_min_endstop=(READ(Y_MIN_PIN) != Y_ENDSTOPS_INVERTING);
+        if(y_min_endstop && old_y_min_endstop && (current_block->steps_y > 0)) {
           endstops_trigsteps[Y_AXIS] = count_position[Y_AXIS];
           endstop_y_hit=true;
           step_events_completed = current_block->step_event_count;
         }
+        old_y_min_endstop = y_min_endstop;
       #endif
     }
     else { // +direction
     WRITE(Y_DIR_PIN,!INVERT_Y_DIR);
       count_direction[Y_AXIS]=1;
       #if Y_MAX_PIN > -1
-      if((READ(Y_MAX_PIN) != ENDSTOPS_INVERTING) && (current_block->steps_y > 0)){
+        bool y_max_endstop=(READ(Y_MAX_PIN) != Y_ENDSTOPS_INVERTING);
+        if(y_max_endstop && old_y_max_endstop && (current_block->steps_y > 0)){
           endstops_trigsteps[Y_AXIS] = count_position[Y_AXIS];
           endstop_y_hit=true;
           step_events_completed = current_block->step_event_count;
         }
+        old_y_max_endstop = y_max_endstop;
       #endif
     }
 
@@ -341,22 +357,26 @@ ISR(TIMER1_COMPA_vect)
       WRITE(Z_DIR_PIN,INVERT_Z_DIR);
       count_direction[Z_AXIS]=-1;
       #if Z_MIN_PIN > -1
-        if((READ(Z_MIN_PIN) != ENDSTOPS_INVERTING) && (current_block->steps_z > 0)) {
+        bool z_min_endstop=(READ(Z_MIN_PIN) != Z_ENDSTOPS_INVERTING);
+        if(z_min_endstop && old_z_min_endstop && (current_block->steps_z > 0)) {
           endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
           endstop_z_hit=true;
           step_events_completed = current_block->step_event_count;
         }
+        old_z_min_endstop = z_min_endstop;
       #endif
     }
     else { // +direction
       WRITE(Z_DIR_PIN,!INVERT_Z_DIR);
         count_direction[Z_AXIS]=1;
       #if Z_MAX_PIN > -1
-        if((READ(Z_MAX_PIN) != ENDSTOPS_INVERTING)  && (current_block->steps_z > 0)){
+        bool z_max_endstop=(READ(Z_MAX_PIN) != Z_ENDSTOPS_INVERTING);
+        if(z_max_endstop && old_z_max_endstop && (current_block->steps_z > 0)) {
           endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
           endstop_z_hit=true;
           step_events_completed = current_block->step_event_count;
         }
+        old_z_max_endstop = z_max_endstop;
       #endif
     }
 
@@ -654,6 +674,13 @@ void st_set_position(const long &x, const long &y, const long &z, const long &e)
   CRITICAL_SECTION_END;
 }
 
+void st_set_e_position(const long &e)
+{
+  CRITICAL_SECTION_START;
+  count_position[E_AXIS] = e;
+  CRITICAL_SECTION_END;
+}
+
 long st_get_position(char axis)
 {
   long count_pos;

diff --git a/Marlin/stepper.h b/Marlin/stepper.h
index eb07fa9ce5d1ad8ad5662f47e70a04942ea94acd..468838486d0522aef2ba1cda3530bc4383681fd9 100644 (file)
--- a/Marlin/stepper.h
+++ b/Marlin/stepper.h
@@ -31,6 +31,7 @@ void st_synchronize();
 
 // Set current position in steps
 void st_set_position(const long &x, const long &y, const long &z, const long &e);
+void st_set_e_position(const long &e);
 
 // Get current position in steps
 long st_get_position(char axis);
@@ -48,4 +49,4 @@ void endstops_hit_on_purpose(); //avoid creation of the message, i.e. after home
 extern block_t *current_block;  // A pointer to the block currently being traced
 
 
-#endif\r
+#endif