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 #ifndef ENDSTOPS_MODULE_H
   9 #define ENDSTOPS_MODULE_H
  10
  11 #include "libs/Module.h"
  12 #include "libs/Pin.h"
  13
  14 #include <bitset>
  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         void on_config_reload(void* argument);
  25         void acceleration_tick(void);
  26
  27     private:
  28         void home(char axes_to_move);
  29         void do_homing_cartesian(char axes_to_move);
  30         void do_homing_corexy(char axes_to_move);
  31         bool wait_for_homed(char axes_to_move);
  32         bool wait_for_homed_corexy(int axis);
  33         void corexy_home(int home_axis, bool dirx, bool diry, float fast_rate, float slow_rate, unsigned int retract_steps);
  34         void back_off_home(char axes_to_move);
  35         void move_to_origin(char);
  36         void on_get_public_data(void* argument);
  37         void on_set_public_data(void* argument);
  38         void on_idle(void *argument);
  39         bool debounced_get(int pin);
  40         void process_home_command(Gcode* gcode);
  41         void set_homing_offset(Gcode* gcode);
  42
  43         float homing_position[3];
  44         float home_offset[3];
  45         uint8_t homing_order;
  46         std::bitset<3> home_direction;
  47         std::bitset<3> limit_enable;
  48         float saved_position[3]{0}; // save G28 (in grbl mode)
  49
  50         unsigned int  debounce_count;
  51         float  retract_mm[3];
  52         float  trim_mm[3];
  53         float  fast_rates[3];
  54         float  slow_rates[3];
  55         Pin    pins[6];
  56         volatile float feed_rate[3];
  57         struct {
  58             bool is_corexy:1;
  59             bool is_delta:1;
  60             bool is_rdelta:1;
  61             bool is_scara:1;
  62             bool move_to_origin_after_home:1;
  63             uint8_t bounce_cnt:4;
  64             volatile char status:3;
  65         };
  66 };
  67
  68 #endif