151 lines
3.9 KiB
C++
151 lines
3.9 KiB
C++
/**
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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 "MarlinConfig.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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#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 uint8_t esbits_t;
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#endif
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private:
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static esbits_t live_state;
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static volatile uint8_t hit_state; // Use X_MIN, Y_MIN, Z_MIN and Z_MIN_PROBE as BIT index
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#if ENABLED(ENDSTOP_NOISE_FILTER)
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static esbits_t old_live_state, // Old endstop value for debouncing and denoising
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validated_live_state; // The validated (accepted as true) endstop bits
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static uint8_t endstop_poll_count; // Countdown from threshold for polling
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#endif
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public:
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Endstops() {};
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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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* A change was detected or presumed to be in endstops pins. Find out what
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* changed, if anything. Called from ISR contexts
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*/
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static void check_possible_change();
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/**
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* Periodic call to poll endstops if required. Called from temperature ISR
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*/
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static void poll();
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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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* Get Endstop hit state.
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*/
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FORCE_INLINE static uint8_t trigger_state() { return hit_state; }
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/**
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* Get current endstops state
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*/
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FORCE_INLINE static esbits_t state() { return live_state; }
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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(const bool onoff=true);
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// Enable / disable endstop checking
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static void enable(const bool onoff=true);
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// Disable / Enable endstops based on ENSTOPS_ONLY_FOR_HOMING and global enable
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static void not_homing();
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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();
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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);
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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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static void run_monitor();
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#endif
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};
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extern Endstops endstops;
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#endif // __ENDSTOPS_H__
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