Commit | Line | Data |
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df27a6a3 | 1 | /* |
201bcb94 AW |
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. | |
df27a6a3 | 5 | You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>. |
201bcb94 AW |
6 | */ |
7 | ||
8 | #ifndef ENDSTOPS_MODULE_H | |
9 | #define ENDSTOPS_MODULE_H | |
10 | ||
11 | #include "libs/Module.h" | |
750277f8 | 12 | #include "libs/Pin.h" |
201bcb94 | 13 | |
7d6fe308 JM |
14 | #include <bitset> |
15 | ||
9f6f04a5 | 16 | class StepperMotor; |
750277f8 | 17 | |
201bcb94 AW |
18 | class Endstops : public Module{ |
19 | public: | |
20 | Endstops(); | |
21 | void on_module_loaded(); | |
22 | void on_gcode_received(void* argument); | |
750277f8 | 23 | void on_config_reload(void* argument); |
64eaf21e | 24 | uint32_t acceleration_tick(uint32_t dummy); |
201bcb94 | 25 | |
47bbe224 | 26 | private: |
81f02e89 JM |
27 | void home(char axes_to_move); |
28 | void do_homing_cartesian(char axes_to_move); | |
f29b0272 | 29 | void do_homing_corexy(char axes_to_move); |
47bbe224 | 30 | void wait_for_homed(char axes_to_move); |
3db88866 | 31 | void wait_for_homed_corexy(int axis); |
1ad23cd3 | 32 | void corexy_home(int home_axis, bool dirx, bool diry, float fast_rate, float slow_rate, unsigned int retract_steps); |
5bfcd44a | 33 | void back_off_home(char axes_to_move); |
2ddf75fd | 34 | void move_to_origin(char); |
9f6f04a5 | 35 | void on_get_public_data(void* argument); |
7d6fe308 | 36 | void on_set_public_data(void* argument); |
3c947f85 | 37 | void on_idle(void *argument); |
33e4cc02 | 38 | |
1ad23cd3 | 39 | float homing_position[3]; |
33e4cc02 | 40 | float home_offset[3]; |
80605954 | 41 | uint8_t homing_order; |
7d6fe308 | 42 | std::bitset<3> home_direction; |
3c947f85 JM |
43 | std::bitset<3> limit_enable; |
44 | ||
47bbe224 | 45 | unsigned int debounce_count; |
56ce2b5a JM |
46 | float retract_mm[3]; |
47 | float trim_mm[3]; | |
1ad23cd3 MM |
48 | float fast_rates[3]; |
49 | float slow_rates[3]; | |
56ce2b5a | 50 | Pin pins[6]; |
81f02e89 | 51 | volatile float feed_rate[3]; |
5fdf2c47 | 52 | volatile char status; |
7d6fe308 JM |
53 | struct { |
54 | bool is_corexy:1; | |
55 | bool is_delta:1; | |
2ddf75fd | 56 | bool move_to_origin_after_home:1; |
7d6fe308 | 57 | }; |
201bcb94 AW |
58 | }; |
59 | ||
201bcb94 | 60 | #endif |