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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/>.
*
*/
#ifdef __PLAT_LINUX__
#include <random>
#include <stdio.h>
#include "Clock.h"
#include "LinearAxis.h"
LinearAxis::LinearAxis(pin_type enable, pin_type dir, pin_type step, pin_type end_min, pin_type end_max) {
enable_pin = enable;
dir_pin = dir;
step_pin = step;
min_pin = end_min;
max_pin = end_max;
min_position = 50;
max_position = (200*80) + min_position;
position = rand() % ((max_position - 40) - min_position) + (min_position + 20);
last_update = Clock::nanos();
Gpio::attachPeripheral(step_pin, this);
}
LinearAxis::~LinearAxis() {
}
void LinearAxis::update() {
}
void LinearAxis::interrupt(GpioEvent ev) {
if (ev.pin_id == step_pin && !Gpio::pin_map[enable_pin].value){
if (ev.event == GpioEvent::RISE) {
last_update = ev.timestamp;
position += -1 + 2 * Gpio::pin_map[dir_pin].value;
Gpio::pin_map[min_pin].value = (position < min_position);
//Gpio::pin_map[max_pin].value = (position > max_position);
//if (position < min_position) printf("axis(%d) endstop : pos: %d, mm: %f, min: %d\n", step_pin, position, position / 80.0, Gpio::pin_map[min_pin].value);
}
}
}
#endif // __PLAT_LINUX__
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