d3c02410a8
* Misc fixes and improvements - Get rid of most critical sections on the Serial port drivers for AVR and DUE. Proper usage of FIFOs should allow interrupts to stay enabled without harm to queuing and dequeuing. Also, with 8-bit indices (for AVR) and up to 32-bit indices (for ARM), there is no need to protect reads and writes to those indices. - Simplify the XON/XOFF logic quite a bit. Much cleaner now (both for AVR and ARM) - Prevent a race condition (edge case) that could happen when estimating the proper value for the stepper timer (by reading it) and writing the calculated value for the time to the next ISR by disabling interrupts in those critical and small sections of the code - The problem could lead to lost steps. - Fix dual endstops not properly homing bug (maybe). * Set position immediately when possible
160 lines
4.0 KiB
C++
160 lines
4.0 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 "../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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#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() {
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return
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#if ENABLED(ENDSTOP_NOISE_FILTER)
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validated_live_state
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#else
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live_state
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#endif
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;
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}
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/**
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* Report endstop hits to serial. Called from loop().
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*/
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static void report_state();
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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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FORCE_INLINE static void hit_on_purpose() { hit_state = 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);
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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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