1 files changed, 198 insertions, 0 deletions
diff --git a/Marlin/src/module/endstops.h b/Marlin/src/module/endstops.h
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+++ b/Marlin/src/module/endstops.h
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+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 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 <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+/**
+ * endstops.h - manages endstops
+ */
+
+#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,
+  Z3_MIN, Z3_MAX,
+  Z4_MIN, Z4_MAX
+};
+
+#define X_ENDSTOP (X_HOME_DIR < 0 ? X_MIN : X_MAX)
+#define Y_ENDSTOP (Y_HOME_DIR < 0 ? Y_MIN : Y_MAX)
+#define Z_ENDSTOP (Z_HOME_DIR < 0 ? TERN(HOMING_Z_WITH_PROBE, Z_MIN, Z_MIN_PROBE) : Z_MAX)
+
+class Endstops {
+  public:
+    #if HAS_EXTRA_ENDSTOPS
+      typedef uint16_t esbits_t;
+      TERN_(X_DUAL_ENDSTOPS, static float x2_endstop_adj);
+      TERN_(Y_DUAL_ENDSTOPS, static float y2_endstop_adj);
+      TERN_(Z_MULTI_ENDSTOPS, static float z2_endstop_adj);
+      #if ENABLED(Z_MULTI_ENDSTOPS) && NUM_Z_STEPPER_DRIVERS >= 3
+        static float z3_endstop_adj;
+      #endif
+      #if ENABLED(Z_MULTI_ENDSTOPS) && NUM_Z_STEPPER_DRIVERS >= 4
+        static float z4_endstop_adj;
+      #endif
+    #else
+      typedef uint8_t esbits_t;
+    #endif
+
+  private:
+    static bool enabled, enabled_globally;
+    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 ENDSTOP_NOISE_THRESHOLD
+      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 || TERN0(HAS_BED_PROBE, z_probe_enabled);
+    }
+
+    static inline bool global_enabled() { return enabled_globally; }
+
+    /**
+     * 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 ENDSTOP_NOISE_THRESHOLD
+          validated_live_state
+        #else
+          live_state
+        #endif
+      ;
+    }
+
+    static inline bool probe_switch_activated() {
+      return (true
+        #if ENABLED(PROBE_ACTIVATION_SWITCH)
+          && READ(PROBE_ACTIVATION_SWITCH_PIN) == PROBE_ACTIVATION_SWITCH_STATE
+        #endif
+      );
+    }
+
+    /**
+     * Report endstop hits to serial. Called from loop().
+     */
+    static void event_handler();
+
+    /**
+     * Report endstop states in response to M119
+     */
+    static void report_states();
+
+    // 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
+
+    static void resync();
+
+    // Debugging of endstops
+    #if ENABLED(PINS_DEBUGGING)
+      static bool monitor_flag;
+      static void monitor();
+      static void run_monitor();
+    #endif
+
+    #if ENABLED(SPI_ENDSTOPS)
+      typedef struct {
+        union {
+          bool any;
+          struct { bool x:1, y:1, z:1; };
+        };
+      } tmc_spi_homing_t;
+      static tmc_spi_homing_t tmc_spi_homing;
+      static void clear_endstop_state();
+      static bool tmc_spi_homing_check();
+    #endif
+};
+
+extern Endstops endstops;
+
+/**
+ * A class to save and change the endstop state,
+ * then restore it when it goes out of scope.
+ */
+class TemporaryGlobalEndstopsState {
+  bool saved;
+
+  public:
+    TemporaryGlobalEndstopsState(const bool enable) : saved(endstops.global_enabled()) {
+      endstops.enable_globally(enable);
+    }
+    ~TemporaryGlobalEndstopsState() { endstops.enable_globally(saved); }
+};