Firmware/Marlin/endstops.h
Scott Lahteine a971cacb06 Add Endstop Noise Filter
Co-Authored-By: ejtagle <ejtagle@hotmail.com>
2018-05-21 15:32:26 -05:00

151 lines
3.9 KiB
C++

/**
* 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"
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:
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 old_live_state, // Old endstop value for debouncing and denoising
validated_live_state; // The validated (accepted as true) endstop bits
static uint8_t endstop_poll_count; // Countdown from threshold for polling
#endif
public:
Endstops() {};
/**
* Initialize the endstop pins
*/
static void init();
/**
* A change was detected or presumed to be in endstops pins. Find out what
* changed, if anything. Called from ISR contexts
*/
static void check_possible_change();
/**
* Periodic call to poll endstops if required. Called from temperature ISR
*/
static void poll();
/**
* Update the endstops bits from the pins
*/
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 live_state; }
/**
* Print an error message reporting the position when the endstops were last hit.
*/
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
/**
* Report endstop positions in response to M119
*/
static void M119();
// Enable / disable endstop checking globally
static void enable_globally(const bool onoff=true);
// Enable / disable endstop checking
static void enable(const bool onoff=true);
// Disable / Enable endstops based on ENSTOPS_ONLY_FOR_HOMING and global enable
static void not_homing();
// Clear endstops (i.e., they were hit intentionally) to suppress the report
static void hit_on_purpose();
// Enable / disable endstop z-probe checking
#if HAS_BED_PROBE
static volatile bool z_probe_enabled;
static void enable_z_probe(bool onoff=true);
#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__