src/modules/tools/endstops/Endstops.h

   1 /*
   2       This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl).
   3       Smoothie 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.
   4       Smoothie 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.
   5       You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>.
   6 */
   7
   8 #pragma once
   9
  10 #include "libs/Module.h"
  11 #include "libs/Pin.h"
  12
  13 #include <bitset>
  14 #include <array>
  15
  16 class StepperMotor;
  17 class Gcode;
  18
  19 class Endstops : public Module{
  20     public:
  21         Endstops();
  22         void on_module_loaded();
  23         void on_gcode_received(void* argument);
  24
  25     private:
  26         void load_config();
  27         void home();
  28         bool wait_for_homed();
  29         bool wait_for_homed_corexy(int axis);
  30         void corexy_home(int home_axis, bool dirx, bool diry, float fast_rate, float slow_rate, unsigned int retract_steps);
  31         void back_off_home();
  32         void move_to_origin();
  33         void on_get_public_data(void* argument);
  34         void on_set_public_data(void* argument);
  35         void on_idle(void *argument);
  36         bool debounced_get(int pin);
  37         void process_home_command(Gcode* gcode);
  38         void set_homing_offset(Gcode* gcode);
  39         uint32_t read_endstops(uint32_t dummy);
  40
  41         float homing_position[3];
  42         float home_offset[3];
  43         float saved_position[3]{0}; // save G28 (in grbl mode)
  44         float alpha_max, beta_max, gamma_max;
  45
  46         unsigned int  debounce_count;
  47         float  retract_mm[3];
  48         float  trim_mm[3];
  49         float  fast_rates[3];
  50         float  slow_rates[3];
  51         Pin    pins[6];
  52         std::array<uint16_t, 3> debounce;
  53
  54         std::bitset<3> home_direction;
  55         std::bitset<3> limit_enable;
  56         std::bitset<3> axis_to_home;
  57
  58         struct {
  59             uint8_t homing_order:6;
  60             uint8_t bounce_cnt:4;
  61             volatile char status:3;
  62             bool is_corexy:1;
  63             bool is_delta:1;
  64             bool is_rdelta:1;
  65             bool is_scara:1;
  66             bool move_to_origin_after_home:1;
  67         };
  68 };