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- /**
- * 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 "../inc/MarlinConfig.h"
- #include <stdint.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
- #if ENABLED(ENDSTOP_NOISE_FILTER)
- validated_live_state
- #else
- live_state
- #endif
- ;
- }
-
- /**
- * Report endstop hits to serial. Called from loop().
- */
- static void report_state();
-
- /**
- * 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
- 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(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__
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