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Fix interrupt-based endstop detection

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This commit is contained in:
Scott Lahteine
2018-05-20 10:59:58 -05:00
parent d2f8971045
commit 3a4a229721
9 changed files with 332 additions and 283 deletions
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14
Marlin/stepper.h
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@@ -98,7 +98,10 @@ class Stepper {
private:
static uint8_t last_direction_bits; // The next stepping-bits to be output
static uint8_t last_direction_bits, // The next stepping-bits to be output
last_movement_extruder; // Last movement extruder, as computed when the last movement was fetched from planner
static bool abort_current_block, // Signals to the stepper that current block should be aborted
last_movement_non_null[NUM_AXIS]; // Last Movement in the given direction is not null, as computed when the last movement was fetched from planner
#if ENABLED(X_DUAL_ENDSTOPS)
static bool locked_x_motor, locked_x2_motor;
@@ -210,13 +213,16 @@ class Stepper {
static void wake_up();
// Quickly stop all steppers
static void quick_stop();
FORCE_INLINE static void quick_stop() { abort_current_block = true; }
// The direction of a single motor
FORCE_INLINE static bool motor_direction(const AxisEnum axis) { return TEST(last_direction_bits, axis); }
// Kill current block
static void kill_current_block();
// The last movement direction was not null on the specified axis. Note that motor direction is not necessarily the same.
FORCE_INLINE static bool movement_non_null(const AxisEnum axis) { return last_movement_non_null[axis]; }
// The extruder associated to the last movement
FORCE_INLINE static uint8_t movement_extruder() { return last_movement_extruder; }
// Handle a triggered endstop
static void endstop_triggered(const AxisEnum axis);