Stepper and Endstops as singleton objects

2016-04-27 07:15:20 -07:00
parent 98f30283fa
commit 5e4e535ce8
10 changed files with 950 additions and 762 deletions
--- a/Marlin/endstops.h
+++ b/Marlin/endstops.h
@ -0,0 +1,94 @@
+/**
+ * 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
+
+enum EndstopEnum {X_MIN = 0, Y_MIN = 1, Z_MIN = 2, Z_MIN_PROBE = 3, X_MAX = 4, Y_MAX = 5, Z_MAX = 6, Z2_MIN = 7, Z2_MAX = 8};
+
+class Endstops {
+
+  public:
+
+    volatile char endstop_hit_bits; // use X_MIN, Y_MIN, Z_MIN and Z_MIN_PROBE as BIT value
+
+    #if ENABLED(Z_DUAL_ENDSTOPS)
+      uint16_t current_endstop_bits = 0,
+                   old_endstop_bits = 0;
+    #else
+      byte current_endstop_bits = 0,
+               old_endstop_bits = 0;
+    #endif
+        
+
+    bool enabled = true;
+    bool enabled_globally =
+      #if ENABLED(ENDSTOPS_ONLY_FOR_HOMING)
+        false
+      #else
+        true
+      #endif
+    ;
+
+    Endstops();
+
+    /**
+     * Initialize the endstop pins
+     */
+    void init();
+
+    /**
+     * Update the endstops bits from the pins
+     */
+    void update();
+
+    /**
+     * Print an error message reporting the position when the endstops were last hit.
+     */
+    void report_state(); //call from somewhere to create an serial error message with the locations the endstops where hit, in case they were triggered
+
+    // Enable / disable endstop checking globally
+    FORCE_INLINE void enable_globally(bool onoff=true) { enabled_globally = enabled = onoff; }
+
+    // Enable / disable endstop checking
+    FORCE_INLINE void enable(bool onoff=true) { enabled = onoff; }
+
+    // Disable / Enable endstops based on ENSTOPS_ONLY_FOR_HOMING and global enable
+    FORCE_INLINE void not_homing() { enabled = enabled_globally; }
+
+    // Clear endstops (i.e., they were hit intentionally) to suppress the report
+    FORCE_INLINE void hit_on_purpose() { endstop_hit_bits = 0; }
+
+    // Enable / disable endstop z-probe checking
+    #if ENABLED(HAS_Z_MIN_PROBE)
+      volatile bool z_probe_enabled = false;
+      FORCE_INLINE void enable_z_probe(bool onoff=true) { z_probe_enabled = onoff; }
+    #endif
+};
+
+extern Endstops endstops;
+
+#endif // ENDSTOPS_H