You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
118 lines
3.3 KiB
118 lines
3.3 KiB
/**
|
|
* 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 "enum.h"
|
|
#include "MarlinConfig.h"
|
|
|
|
class Endstops {
|
|
|
|
public:
|
|
|
|
static bool enabled, enabled_globally;
|
|
static volatile char endstop_hit_bits; // use X_MIN, Y_MIN, Z_MIN and Z_MIN_PROBE as BIT value
|
|
|
|
#if ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || ENABLED(Z_DUAL_ENDSTOPS)
|
|
static uint16_t
|
|
#else
|
|
static byte
|
|
#endif
|
|
current_endstop_bits, old_endstop_bits;
|
|
|
|
Endstops() {
|
|
enable_globally(
|
|
#if ENABLED(ENDSTOPS_ALWAYS_ON_DEFAULT)
|
|
true
|
|
#else
|
|
false
|
|
#endif
|
|
);
|
|
};
|
|
|
|
/**
|
|
* Initialize the endstop pins
|
|
*/
|
|
void init();
|
|
|
|
/**
|
|
* Update the endstops bits from the pins
|
|
*/
|
|
static void update();
|
|
|
|
/**
|
|
* 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(bool onoff=true) { enabled_globally = enabled = onoff; }
|
|
|
|
// Enable / disable endstop checking
|
|
static void enable(bool onoff=true) { enabled = onoff; }
|
|
|
|
// Disable / Enable endstops based on ENSTOPS_ONLY_FOR_HOMING and global enable
|
|
static void not_homing() { enabled = enabled_globally; }
|
|
|
|
// Clear endstops (i.e., they were hit intentionally) to suppress the report
|
|
static void hit_on_purpose() { endstop_hit_bits = 0; }
|
|
|
|
// Enable / disable endstop z-probe checking
|
|
#if HAS_BED_PROBE
|
|
static volatile bool z_probe_enabled;
|
|
static void enable_z_probe(bool onoff=true) { z_probe_enabled = onoff; }
|
|
#endif
|
|
|
|
private:
|
|
|
|
#if ENABLED(X_DUAL_ENDSTOPS)
|
|
static void test_dual_x_endstops(const EndstopEnum es1, const EndstopEnum es2);
|
|
#endif
|
|
#if ENABLED(Y_DUAL_ENDSTOPS)
|
|
static void test_dual_y_endstops(const EndstopEnum es1, const EndstopEnum es2);
|
|
#endif
|
|
#if ENABLED(Z_DUAL_ENDSTOPS)
|
|
static void test_dual_z_endstops(const EndstopEnum es1, const EndstopEnum es2);
|
|
#endif
|
|
};
|
|
|
|
extern Endstops endstops;
|
|
|
|
#if HAS_BED_PROBE
|
|
#define ENDSTOPS_ENABLED (endstops.enabled || endstops.z_probe_enabled)
|
|
#else
|
|
#define ENDSTOPS_ENABLED endstops.enabled
|
|
#endif
|
|
|
|
|
|
#endif // ENDSTOPS_H
|