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155 lines
4.2 KiB
155 lines
4.2 KiB
/**
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* Marlin 3D Printer Firmware
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* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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/**
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* endstops.h - manages endstops
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*/
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#ifndef __ENDSTOPS_H__
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#define __ENDSTOPS_H__
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#include "../inc/MarlinConfig.h"
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#include <stdint.h>
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enum EndstopEnum : char {
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X_MIN,
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Y_MIN,
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Z_MIN,
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Z_MIN_PROBE,
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X_MAX,
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Y_MAX,
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Z_MAX,
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X2_MIN,
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X2_MAX,
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Y2_MIN,
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Y2_MAX,
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Z2_MIN,
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Z2_MAX
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};
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class Endstops {
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public:
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static bool enabled, enabled_globally;
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static volatile char endstop_hit_bits; // use X_MIN, Y_MIN, Z_MIN and Z_MIN_PROBE as BIT value
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#if ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || ENABLED(Z_DUAL_ENDSTOPS)
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typedef uint16_t esbits_t;
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#if ENABLED(X_DUAL_ENDSTOPS)
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static float x_endstop_adj;
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#endif
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#if ENABLED(Y_DUAL_ENDSTOPS)
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static float y_endstop_adj;
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#endif
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#if ENABLED(Z_DUAL_ENDSTOPS)
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static float z_endstop_adj;
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#endif
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#else
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typedef byte esbits_t;
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#endif
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static esbits_t current_endstop_bits, old_endstop_bits;
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Endstops() {
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enable_globally(
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#if ENABLED(ENDSTOPS_ALWAYS_ON_DEFAULT)
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true
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#else
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false
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#endif
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);
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};
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/**
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* Initialize the endstop pins
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*/
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static void init();
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/**
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* Update the endstops bits from the pins
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*/
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static void update();
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/**
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* Print an error message reporting the position when the endstops were last hit.
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*/
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static void report_state(); //call from somewhere to create an serial error message with the locations the endstops where hit, in case they were triggered
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/**
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* Report endstop positions in response to M119
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*/
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static void M119();
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// Enable / disable endstop checking globally
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static void enable_globally(bool onoff=true) { enabled_globally = enabled = onoff; }
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// Enable / disable endstop checking
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static void enable(bool onoff=true) { enabled = onoff; }
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// Disable / Enable endstops based on ENSTOPS_ONLY_FOR_HOMING and global enable
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static void not_homing() { enabled = enabled_globally; }
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// Clear endstops (i.e., they were hit intentionally) to suppress the report
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static void hit_on_purpose() { endstop_hit_bits = 0; }
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// Enable / disable endstop z-probe checking
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#if HAS_BED_PROBE
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static volatile bool z_probe_enabled;
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static void enable_z_probe(bool onoff=true) { z_probe_enabled = onoff; }
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#endif
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// Debugging of endstops
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#if ENABLED(PINS_DEBUGGING)
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static bool monitor_flag;
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static void monitor();
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FORCE_INLINE static void run_monitor() {
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if (!monitor_flag) return;
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static uint8_t monitor_count = 16; // offset this check from the others
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monitor_count += _BV(1); // 15 Hz
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monitor_count &= 0x7F;
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if (!monitor_count) monitor(); // report changes in endstop status
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}
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#endif
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private:
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#if ENABLED(X_DUAL_ENDSTOPS)
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static void test_dual_x_endstops(const EndstopEnum es1, const EndstopEnum es2);
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#endif
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#if ENABLED(Y_DUAL_ENDSTOPS)
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static void test_dual_y_endstops(const EndstopEnum es1, const EndstopEnum es2);
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#endif
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#if ENABLED(Z_DUAL_ENDSTOPS)
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static void test_dual_z_endstops(const EndstopEnum es1, const EndstopEnum es2);
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#endif
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};
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extern Endstops endstops;
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#if HAS_BED_PROBE
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#define ENDSTOPS_ENABLED (endstops.enabled || endstops.z_probe_enabled)
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#else
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#define ENDSTOPS_ENABLED endstops.enabled
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#endif
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#endif // __ENDSTOPS_H__
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