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endstop: Support oversampling of the endstop

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Some printers can show occasional noise on the endstop pin.  Support
sampling the endstop pin multiple times to attempt to filter out this
noise.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2017-10-01 16:31:05 -04:00
parent 776d8f9f79
commit ece1f71c64
3 changed files with 59 additions and 5 deletions
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50
src/endstop.c
View file

@ -13,9 +13,9 @@
struct end_stop {
struct timer time;
uint32_t rest_time;
uint32_t rest_time, sample_time;
struct gpio_in pin;
uint8_t flags, stepper_count;
uint8_t flags, stepper_count, sample_count, trigger_count;
struct stepper *steppers[0];
};
@ -34,6 +34,8 @@ stop_steppers(struct end_stop *e)
sched_wake_task(&endstop_wake);
}
static uint_fast8_t end_stop_oversample_event(struct timer *t);
// Timer callback for an end stop
static uint_fast8_t
end_stop_event(struct timer *t)
@ -45,8 +47,32 @@ end_stop_event(struct timer *t)
e->time.waketime += e->rest_time;
return SF_RESCHEDULE;
}
stop_steppers(e);
return SF_DONE;
e->time.func = end_stop_oversample_event;
return end_stop_oversample_event(t);
}
// Timer callback for an end stop this is sampling extra times
static uint_fast8_t
end_stop_oversample_event(struct timer *t)
{
struct end_stop *e = container_of(t, struct end_stop, time);
uint8_t val = gpio_in_read(e->pin);
if ((val ? ~e->flags : e->flags) & ESF_PIN_HIGH) {
// No longer matching - reschedule for the next attempt
e->time.func = end_stop_event;
uint8_t past_triggers = e->sample_count - e->trigger_count;
e->time.waketime += e->rest_time - past_triggers * e->sample_time;
e->trigger_count = e->sample_count;
return SF_RESCHEDULE;
}
uint8_t count = e->trigger_count - 1;
if (!count) {
stop_steppers(e);
return SF_DONE;
}
e->trigger_count = count;
e->time.waketime += e->sample_time;
return SF_RESCHEDULE;
}
void
@ -56,9 +82,9 @@ command_config_end_stop(uint32_t *args)
struct end_stop *e = oid_alloc(
args[0], command_config_end_stop
, sizeof(*e) + sizeof(e->steppers[0]) * stepper_count);
e->time.func = end_stop_event;
e->pin = gpio_in_setup(args[1], args[2]);
e->stepper_count = stepper_count;
e->sample_count = 1;
}
DECL_COMMAND(command_config_end_stop,
"config_end_stop oid=%c pin=%c pull_up=%c stepper_count=%c");
@ -75,6 +101,18 @@ command_end_stop_set_stepper(uint32_t *args)
DECL_COMMAND(command_end_stop_set_stepper,
"end_stop_set_stepper oid=%c pos=%c stepper_oid=%c");
void
command_end_stop_set_oversample(uint32_t *args)
{
struct end_stop *e = oid_lookup(args[0], command_config_end_stop);
e->sample_time = args[1];
e->sample_count = args[2];
if (!e->sample_count)
e->sample_count = 1;
}
DECL_COMMAND(command_end_stop_set_oversample,
"end_stop_set_oversample oid=%c sample_ticks=%u sample_count=%c");
// Home an axis
void
command_end_stop_home(uint32_t *args)
@ -88,6 +126,8 @@ command_end_stop_home(uint32_t *args)
e->flags = 0;
return;
}
e->time.func = end_stop_event;
e->trigger_count = e->sample_count;
e->flags = ESF_HOMING | (args[3] ? ESF_PIN_HIGH : 0);
sched_add_timer(&e->time);
}