Firmware/Marlin/endstops.h

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/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
/**
* endstops.h - manages endstops
*/
#ifndef __ENDSTOPS_H__
#define __ENDSTOPS_H__
#include "MarlinConfig.h"
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enum EndstopEnum : char {
X_MIN,
Y_MIN,
Z_MIN,
Z_MIN_PROBE,
X_MAX,
Y_MAX,
Z_MAX,
X2_MIN,
X2_MAX,
Y2_MIN,
Y2_MAX,
Z2_MIN,
Z2_MAX
};
class Endstops {
public:
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static bool enabled, enabled_globally;
#if ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || ENABLED(Z_DUAL_ENDSTOPS)
typedef uint16_t esbits_t;
#if ENABLED(X_DUAL_ENDSTOPS)
static float x_endstop_adj;
#endif
#if ENABLED(Y_DUAL_ENDSTOPS)
static float y_endstop_adj;
#endif
#if ENABLED(Z_DUAL_ENDSTOPS)
static float z_endstop_adj;
#endif
#else
typedef uint8_t esbits_t;
#endif
private:
static esbits_t live_state;
static volatile uint8_t hit_state; // Use X_MIN, Y_MIN, Z_MIN and Z_MIN_PROBE as BIT index
#if ENABLED(ENDSTOP_NOISE_FILTER)
static esbits_t validated_live_state;
static uint8_t endstop_poll_count; // Countdown from threshold for polling
#endif
public:
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Endstops() {};
/**
* Initialize the endstop pins
*/
static void init();
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/**
* Are endstops or the probe set to abort the move?
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*/
FORCE_INLINE static bool abort_enabled() {
return (enabled
#if HAS_BED_PROBE
|| z_probe_enabled
#endif
);
}
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/**
* Periodic call to poll endstops if required. Called from temperature ISR
*/
static void poll();
/**
* Update endstops bits from the pins. Apply filtering to get a verified state.
* If abort_enabled() and moving towards a triggered switch, abort the current move.
* Called from ISR contexts.
*/
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static void update();
/**
* Get Endstop hit state.
*/
FORCE_INLINE static uint8_t trigger_state() { return hit_state; }
/**
* Get current endstops state
*/
FORCE_INLINE static esbits_t state() {
return
#if ENABLED(ENDSTOP_NOISE_FILTER)
validated_live_state
#else
live_state
#endif
;
}
/**
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* Report endstop hits to serial. Called from loop().
*/
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static void report_state();
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/**
* Report endstop positions in response to M119
*/
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static void M119();
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// Enable / disable endstop checking globally
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static void enable_globally(const bool onoff=true);
// Enable / disable endstop checking
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static void enable(const bool onoff=true);
// Disable / Enable endstops based on ENSTOPS_ONLY_FOR_HOMING and global enable
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static void not_homing();
// Clear endstops (i.e., they were hit intentionally) to suppress the report
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FORCE_INLINE static void hit_on_purpose() { hit_state = 0; }
// Enable / disable endstop z-probe checking
#if HAS_BED_PROBE
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static volatile bool z_probe_enabled;
static void enable_z_probe(const bool onoff=true);
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#endif
// Debugging of endstops
#if ENABLED(PINS_DEBUGGING)
static bool monitor_flag;
static void monitor();
static void run_monitor();
#endif
};
extern Endstops endstops;
#endif // __ENDSTOPS_H__