250 lines
6.9 KiB
C++
250 lines
6.9 KiB
C++
/**
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* Marlin 3D Printer Firmware
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* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <https://www.gnu.org/licenses/>.
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*
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*/
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#pragma once
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/**
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* endstops.h - manages endstops
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*/
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#include "../inc/MarlinConfig.h"
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#include <stdint.h>
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#define __ES_ITEM(N) N,
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#define _ES_ITEM(K,N) TERN_(K,DEFER4(__ES_ITEM)(N))
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enum EndstopEnum : char {
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// Common XYZ (ABC) endstops. Defined according to USE_[XYZ](MIN|MAX)_PLUG settings.
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_ES_ITEM(HAS_X_MIN, X_MIN)
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_ES_ITEM(HAS_X_MAX, X_MAX)
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_ES_ITEM(HAS_Y_MIN, Y_MIN)
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_ES_ITEM(HAS_Y_MAX, Y_MAX)
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_ES_ITEM(HAS_Z_MIN, Z_MIN)
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_ES_ITEM(HAS_Z_MAX, Z_MAX)
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_ES_ITEM(HAS_I_MIN, I_MIN)
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_ES_ITEM(HAS_I_MAX, I_MAX)
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_ES_ITEM(HAS_J_MIN, J_MIN)
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_ES_ITEM(HAS_J_MAX, J_MAX)
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_ES_ITEM(HAS_K_MIN, K_MIN)
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_ES_ITEM(HAS_K_MAX, K_MAX)
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// Extra Endstops for XYZ
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#if ENABLED(X_DUAL_ENDSTOPS)
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_ES_ITEM(HAS_X_MIN, X2_MIN)
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_ES_ITEM(HAS_X_MAX, X2_MAX)
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#endif
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#if ENABLED(Y_DUAL_ENDSTOPS)
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_ES_ITEM(HAS_Y_MIN, Y2_MIN)
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_ES_ITEM(HAS_Y_MAX, Y2_MAX)
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#endif
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#if ENABLED(Z_MULTI_ENDSTOPS)
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_ES_ITEM(HAS_Z_MIN, Z2_MIN)
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_ES_ITEM(HAS_Z_MAX, Z2_MAX)
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#if NUM_Z_STEPPER_DRIVERS >= 3
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_ES_ITEM(HAS_Z_MIN, Z3_MIN)
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_ES_ITEM(HAS_Z_MAX, Z3_MAX)
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#endif
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#if NUM_Z_STEPPER_DRIVERS >= 4
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_ES_ITEM(HAS_Z_MIN, Z4_MIN)
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_ES_ITEM(HAS_Z_MAX, Z4_MAX)
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#endif
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#endif
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// Bed Probe state is distinct or shared with Z_MIN (i.e., when the probe is the only Z endstop)
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_ES_ITEM(HAS_BED_PROBE, Z_MIN_PROBE IF_DISABLED(HAS_CUSTOM_PROBE_PIN, = Z_MIN))
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// The total number of states
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NUM_ENDSTOP_STATES
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// Endstops can be either MIN or MAX but not both
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#if HAS_X_MIN || HAS_X_MAX
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, X_ENDSTOP = TERN(X_HOME_TO_MAX, X_MAX, X_MIN)
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#endif
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#if HAS_Y_MIN || HAS_Y_MAX
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, Y_ENDSTOP = TERN(Y_HOME_TO_MAX, Y_MAX, Y_MIN)
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#endif
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#if HAS_Z_MIN || HAS_Z_MAX || HOMING_Z_WITH_PROBE
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, Z_ENDSTOP = TERN(Z_HOME_TO_MAX, Z_MAX, TERN(HOMING_Z_WITH_PROBE, Z_MIN_PROBE, Z_MIN))
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#endif
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};
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#undef __ES_ITEM
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#undef _ES_ITEM
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class Endstops {
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public:
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typedef IF<(NUM_ENDSTOP_STATES > 8), uint16_t, uint8_t>::type endstop_mask_t;
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#if ENABLED(X_DUAL_ENDSTOPS)
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static float x2_endstop_adj;
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#endif
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#if ENABLED(Y_DUAL_ENDSTOPS)
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static float y2_endstop_adj;
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#endif
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#if ENABLED(Z_MULTI_ENDSTOPS)
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static float z2_endstop_adj;
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#endif
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#if ENABLED(Z_MULTI_ENDSTOPS) && NUM_Z_STEPPER_DRIVERS >= 3
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static float z3_endstop_adj;
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#endif
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#if ENABLED(Z_MULTI_ENDSTOPS) && NUM_Z_STEPPER_DRIVERS >= 4
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static float z4_endstop_adj;
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#endif
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private:
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static bool enabled, enabled_globally;
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static endstop_mask_t live_state;
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static volatile endstop_mask_t hit_state; // Use X_MIN, Y_MIN, Z_MIN and Z_MIN_PROBE as BIT index
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#if ENDSTOP_NOISE_THRESHOLD
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static endstop_mask_t validated_live_state;
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static uint8_t endstop_poll_count; // Countdown from threshold for polling
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#endif
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public:
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Endstops() {};
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/**
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* Initialize the endstop pins
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*/
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static void init();
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/**
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* Are endstops or the probe set to abort the move?
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*/
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FORCE_INLINE static bool abort_enabled() {
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return enabled || TERN0(HAS_BED_PROBE, z_probe_enabled);
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}
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static inline bool global_enabled() { return enabled_globally; }
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/**
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* Periodic call to poll endstops if required. Called from temperature ISR
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*/
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static void poll();
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/**
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* Update endstops bits from the pins. Apply filtering to get a verified state.
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* If abort_enabled() and moving towards a triggered switch, abort the current move.
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* Called from ISR contexts.
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*/
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static void update();
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/**
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* Get Endstop hit state.
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*/
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FORCE_INLINE static endstop_mask_t trigger_state() { return hit_state; }
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/**
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* Get current endstops state
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*/
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FORCE_INLINE static endstop_mask_t state() {
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return
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#if ENDSTOP_NOISE_THRESHOLD
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validated_live_state
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#else
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live_state
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#endif
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;
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}
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static inline bool probe_switch_activated() {
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return (true
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#if ENABLED(PROBE_ACTIVATION_SWITCH)
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&& READ(PROBE_ACTIVATION_SWITCH_PIN) == PROBE_ACTIVATION_SWITCH_STATE
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#endif
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);
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}
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/**
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* Report endstop hits to serial. Called from loop().
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*/
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static void event_handler();
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/**
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* Report endstop states in response to M119
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*/
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static void report_states();
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// Enable / disable endstop checking globally
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static void enable_globally(const bool onoff=true);
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// Enable / disable endstop checking
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static void enable(const bool onoff=true);
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// Disable / Enable endstops based on ENSTOPS_ONLY_FOR_HOMING and global enable
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static void not_homing();
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#if ENABLED(VALIDATE_HOMING_ENDSTOPS)
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// If the last move failed to trigger an endstop, call kill
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static void validate_homing_move();
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#else
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FORCE_INLINE static void validate_homing_move() { hit_on_purpose(); }
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#endif
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// Clear endstops (i.e., they were hit intentionally) to suppress the report
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FORCE_INLINE static void hit_on_purpose() { hit_state = 0; }
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// Enable / disable endstop z-probe checking
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#if HAS_BED_PROBE
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static volatile bool z_probe_enabled;
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static void enable_z_probe(const bool onoff=true);
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#endif
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static void resync();
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// Debugging of endstops
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#if ENABLED(PINS_DEBUGGING)
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static bool monitor_flag;
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static void monitor();
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static void run_monitor();
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#endif
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#if ENABLED(SPI_ENDSTOPS)
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typedef struct {
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union {
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bool any;
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struct { bool LINEAR_AXIS_LIST(x:1, y:1, z:1, i:1, j:1, k:1); };
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};
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} tmc_spi_homing_t;
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static tmc_spi_homing_t tmc_spi_homing;
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static void clear_endstop_state();
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static bool tmc_spi_homing_check();
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#endif
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};
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extern Endstops endstops;
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/**
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* A class to save and change the endstop state,
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* then restore it when it goes out of scope.
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*/
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class TemporaryGlobalEndstopsState {
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bool saved;
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public:
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TemporaryGlobalEndstopsState(const bool enable) : saved(endstops.global_enabled()) {
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endstops.enable_globally(enable);
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}
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~TemporaryGlobalEndstopsState() { endstops.enable_globally(saved); }
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};
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