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[2.0.x] Add endstop noise filter (#10796)

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Scott Lahteine
2018-05-21 15:51:38 -05:00
committed by GitHub
parent 65a004564c
commit 4b2f6e3b2b
73 changed files with 1379 additions and 132 deletions
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35
Marlin/src/module/endstops.h
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@ -51,7 +51,6 @@ class Endstops {
public:
static bool enabled, enabled_globally;
static volatile uint8_t 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)
typedef uint16_t esbits_t;
@ -65,11 +64,19 @@ class Endstops {
static float z_endstop_adj;
#endif
#else
typedef byte esbits_t;
typedef uint8_t esbits_t;
#endif
static esbits_t current_endstop_bits;
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() {};
/**
@ -93,6 +100,16 @@ class Endstops {
*/
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 live_state; }
/**
* Print an error message reporting the position when the endstops were last hit.
*/
@ -127,18 +144,6 @@ class Endstops {
static void monitor();
static void run_monitor();
#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;