Subversion Repositories MK-Marlin

/**

 * 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"

#define VALIDATE_HOMING_ENDSTOPS

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 validated_live_state;

      static uint8_t endstop_poll_count;    // Countdown from threshold for polling

    #endif

  public:

    Endstops() {};

    /**

     * Initialize the endstop pins

     */

    static void init();

    /**

     * Are endstops or the probe set to abort the move?

     */

    FORCE_INLINE static bool abort_enabled() {

      return (enabled

        #if HAS_BED_PROBE

          || z_probe_enabled

        #endif

      );

    }

    /**

     * Periodic call to poll endstops if required. Called from temperature ISR

     */

    static void poll();

    /**

     * Update endstops bits from the pins. Apply filtering to get a verified state.

     * If abort_enabled() and moving towards a triggered switch, abort the current move.

     * Called from ISR contexts.

     */

    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

        #if ENABLED(ENDSTOP_NOISE_FILTER)

          validated_live_state

        #else

          live_state

        #endif

      ;

    }

    /**

     * Report endstop hits to serial. Called from loop().

     */

    static void event_handler();

    /**

     * 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();

    #if ENABLED(VALIDATE_HOMING_ENDSTOPS)

      // If the last move failed to trigger an endstop, call kill

      static void validate_homing_move();

    #else

      FORCE_INLINE static void validate_homing_move() { hit_on_purpose(); }

    #endif

    // Clear endstops (i.e., they were hit intentionally) to suppress the report

    FORCE_INLINE static void hit_on_purpose() { hit_state = 0; }

    // Enable / disable endstop z-probe checking

    #if HAS_BED_PROBE

      static volatile bool z_probe_enabled;

      static void enable_z_probe(const 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__