67 lines
2.0 KiB
C++
67 lines
2.0 KiB
C++
/**
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* Marlin 3D Printer Firmware
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* Copyright (C) 2019 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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#ifdef __PLAT_LINUX__
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#include <random>
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#include <stdio.h>
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#include "Clock.h"
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#include "LinearAxis.h"
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LinearAxis::LinearAxis(pin_type enable, pin_type dir, pin_type step, pin_type end_min, pin_type end_max) {
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enable_pin = enable;
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dir_pin = dir;
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step_pin = step;
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min_pin = end_min;
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max_pin = end_max;
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min_position = 50;
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max_position = (200*80) + min_position;
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position = rand() % ((max_position - 40) - min_position) + (min_position + 20);
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last_update = Clock::nanos();
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Gpio::attachPeripheral(step_pin, this);
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}
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LinearAxis::~LinearAxis() {
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}
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void LinearAxis::update() {
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}
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void LinearAxis::interrupt(GpioEvent ev) {
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if (ev.pin_id == step_pin && !Gpio::pin_map[enable_pin].value){
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if (ev.event == GpioEvent::RISE) {
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last_update = ev.timestamp;
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position += -1 + 2 * Gpio::pin_map[dir_pin].value;
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Gpio::pin_map[min_pin].value = (position < min_position);
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//Gpio::pin_map[max_pin].value = (position > max_position);
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//if (position < min_position) printf("axis(%d) endstop : pos: %d, mm: %f, min: %d\n", step_pin, position, position / 80.0, Gpio::pin_map[min_pin].value);
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}
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}
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}
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#endif // __PLAT_LINUX__
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