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
  18 class Endstops : public Module{
  19     public:
  20         Endstops();
  21         void on_module_loaded();
  22         void on_gcode_received(void* argument);
  23         void on_config_reload(void* argument);
  24         uint32_t acceleration_tick(uint32_t dummy);
  25
  26     private:
  27         void do_homing(char axes_to_move);
  28         void do_homing_corexy(char axes_to_move);
  29         void wait_for_homed(char axes_to_move);
  30         void wait_for_homed_corexy(int axis);
  31         void corexy_home(int home_axis, bool dirx, bool diry, float fast_rate, float slow_rate, unsigned int retract_steps);
  32         void back_off_home();
  33         void on_get_public_data(void* argument);
  34         void on_set_public_data(void* argument);
  35         void on_idle(void *argument);
  36
  37         float homing_position[3];
  38         float home_offset[3];
  39         std::bitset<3> home_direction;
  40         std::bitset<3> limit_enable;
  41
  42         unsigned int  debounce_count;
  43         float  retract_mm[3];
  44         float  trim_mm[3];
  45         float  fast_rates[3];
  46         float  slow_rates[3];
  47         float  feed_rate[3];
  48         Pin    pins[6];
  49         char status;
  50         struct {
  51             bool is_corexy:1;
  52             bool is_delta:1;
  53         };
  54 };
  55
  56 #endif