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/Kernel.h"
  13 #include "modules/communication/utils/Gcode.h"
  14 #include "libs/actuators/Actuator.h"
  15 #include "libs/Pin.h"
  16
  17 #define ALPHA_AXIS 0
  18 #define BETA_AXIS  1
  19 #define GAMMA_AXIS 2
  20
  21 #define NOT_HOMING 0
  22 #define MOVING_TO_ORIGIN_FAST 1
  23 #define MOVING_BACK 2
  24 #define MOVING_TO_ORIGIN_SLOW 3
  25
  26 #define endstops_module_enable_checksum         CHECKSUM("endstops_enable")
  27
  28 #define alpha_min_endstop_checksum       CHECKSUM("alpha_min_endstop")
  29 #define beta_min_endstop_checksum        CHECKSUM("beta_min_endstop")
  30 #define gamma_min_endstop_checksum       CHECKSUM("gamma_min_endstop")
  31
  32 #define alpha_max_endstop_checksum       CHECKSUM("alpha_max_endstop")
  33 #define beta_max_endstop_checksum        CHECKSUM("beta_max_endstop")
  34 #define gamma_max_endstop_checksum       CHECKSUM("gamma_max_endstop")
  35
  36 #define alpha_fast_homing_rate_checksum  CHECKSUM("alpha_fast_homing_rate")
  37 #define beta_fast_homing_rate_checksum   CHECKSUM("beta_fast_homing_rate")
  38 #define gamma_fast_homing_rate_checksum  CHECKSUM("gamma_fast_homing_rate")
  39
  40 #define alpha_slow_homing_rate_checksum  CHECKSUM("alpha_slow_homing_rate")
  41 #define beta_slow_homing_rate_checksum   CHECKSUM("beta_slow_homing_rate")
  42 #define gamma_slow_homing_rate_checksum  CHECKSUM("gamma_slow_homing_rate")
  43
  44 #define alpha_homing_retract_checksum    CHECKSUM("alpha_homing_retract")
  45 #define beta_homing_retract_checksum     CHECKSUM("beta_homing_retract")
  46 #define gamma_homing_retract_checksum    CHECKSUM("gamma_homing_retract")
  47 #define endstop_debounce_count_checksum  CHECKSUM("endstop_debounce_count")
  48
  49 #define alpha_homing_direction_checksum  CHECKSUM("alpha_homing_direction")
  50 #define beta_homing_direction_checksum   CHECKSUM("beta_homing_direction")
  51 #define gamma_homing_direction_checksum  CHECKSUM("gamma_homing_direction")
  52 #define home_to_max_checksum             CHECKSUM("home_to_max")
  53 #define home_to_min_checksum             CHECKSUM("home_to_min")
  54 #define alpha_min_checksum               CHECKSUM("alpha_min")
  55 #define beta_min_checksum                CHECKSUM("beta_min")
  56 #define gamma_min_checksum               CHECKSUM("gamma_min")
  57
  58 #define alpha_max_checksum               CHECKSUM("alpha_max")
  59 #define beta_max_checksum                CHECKSUM("beta_max")
  60 #define gamma_max_checksum               CHECKSUM("gamma_max")
  61
  62
  63 class Endstops : public Module{
  64     private:
  65         void wait_for_homed(char axes_to_move);
  66
  67     public:
  68         Endstops();
  69         void on_module_loaded();
  70         void on_gcode_received(void* argument);
  71         void on_config_reload(void* argument);
  72
  73         Actuator* steppers[3];
  74         Pin           pins[6];
  75         double  slow_rates[3];
  76         double  fast_rates[3];
  77         unsigned int  retract_steps[3];
  78         unsigned int  debounce_count;
  79         bool home_direction[3];
  80         double homing_position[3];
  81         char status;
  82 };
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 100 #endif