-/*
- This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl).
- 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.
- 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.
- You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>.
-*/
-
-#ifndef ENDSTOPS_MODULE_H
-#define ENDSTOPS_MODULE_H
-
-#include "libs/Module.h"
-#include "libs/Kernel.h"
-#include "modules/communication/utils/Gcode.h"
-#include "libs/StepperMotor.h"
-#include "libs/Pin.h"
-
-#define ALPHA_AXIS 0
-#define BETA_AXIS 1
-#define GAMMA_AXIS 2
-
-#define NOT_HOMING 0
-#define MOVING_TO_ORIGIN_FAST 1
-#define MOVING_BACK 2
-#define MOVING_TO_ORIGIN_SLOW 3
-
-#define endstops_module_enable_checksum CHECKSUM("endstops_enable")
-
-#define alpha_min_endstop_checksum CHECKSUM("alpha_min_endstop")
-#define beta_min_endstop_checksum CHECKSUM("beta_min_endstop")
-#define gamma_min_endstop_checksum CHECKSUM("gamma_min_endstop")
-
-#define alpha_max_endstop_checksum CHECKSUM("alpha_max_endstop")
-#define beta_max_endstop_checksum CHECKSUM("beta_max_endstop")
-#define gamma_max_endstop_checksum CHECKSUM("gamma_max_endstop")
-
-#define alpha_fast_homing_rate_checksum CHECKSUM("alpha_fast_homing_rate")
-#define beta_fast_homing_rate_checksum CHECKSUM("beta_fast_homing_rate")
-#define gamma_fast_homing_rate_checksum CHECKSUM("gamma_fast_homing_rate")
-
-#define alpha_slow_homing_rate_checksum CHECKSUM("alpha_slow_homing_rate")
-#define beta_slow_homing_rate_checksum CHECKSUM("beta_slow_homing_rate")
-#define gamma_slow_homing_rate_checksum CHECKSUM("gamma_slow_homing_rate")
-
-#define alpha_homing_retract_checksum CHECKSUM("alpha_homing_retract")
-#define beta_homing_retract_checksum CHECKSUM("beta_homing_retract")
-#define gamma_homing_retract_checksum CHECKSUM("gamma_homing_retract")
-#define endstop_debounce_count_checksum CHECKSUM("endstop_debounce_count")
-
-#define alpha_homing_direction_checksum CHECKSUM("alpha_homing_direction")
-#define beta_homing_direction_checksum CHECKSUM("beta_homing_direction")
-#define gamma_homing_direction_checksum CHECKSUM("gamma_homing_direction")
-
-#define alpha_min_checksum CHECKSUM("alpha_min")
-#define beta_min_checksum CHECKSUM("beta_min")
-#define gamma_min_checksum CHECKSUM("gamma_min")
-
-#define alpha_max_checksum CHECKSUM("alpha_max")
-#define beta_max_checksum CHECKSUM("beta_max")
-#define gamma_max_checksum CHECKSUM("gamma_max")
-
-
-class Endstops : public Module{
- private:
- void wait_for_homed(char axes_to_move);
-
- public:
- Endstops();
- void on_module_loaded();
- void on_gcode_received(void* argument);
- void on_config_reload(void* argument);
-
- StepperMotor* steppers[3];
- Pin pins[6];
- double slow_rates[3];
- double fast_rates[3];
- unsigned int retract_steps[3];
- unsigned int debounce_count;
- int direction[3];
- double homing_position[3];
- char status;
-};
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-#endif
+/*
+ This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl).
+ 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.
+ 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.
+ You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#ifndef ENDSTOPS_MODULE_H
+#define ENDSTOPS_MODULE_H
+
+#include "libs/Module.h"
+#include "libs/Pin.h"
+
+#include <bitset>
+
+class StepperMotor;
+
+class Endstops : public Module{
+ public:
+ Endstops();
+ void on_module_loaded();
+ void on_gcode_received(void* argument);
+ void on_config_reload(void* argument);
+ uint32_t acceleration_tick(uint32_t dummy);
+
+ private:
+ void do_homing(char axes_to_move);
+ void do_homing_corexy(char axes_to_move);
+ void wait_for_homed(char axes_to_move);
+ void wait_for_homed_corexy(int axis);
+ void corexy_home(int home_axis, bool dirx, bool diry, float fast_rate, float slow_rate, unsigned int retract_steps);
+ void back_off_home();
+ void on_get_public_data(void* argument);
+ void on_set_public_data(void* argument);
+ void on_idle(void *argument);
+
+ float homing_position[3];
+ float home_offset[3];
+ std::bitset<3> home_direction;
+ std::bitset<3> limit_enable;
+
+ unsigned int debounce_count;
+ float retract_mm[3];
+ float trim_mm[3];
+ float fast_rates[3];
+ float slow_rates[3];
+ float feed_rate[3];
+ Pin pins[6];
+ char status;
+ struct {
+ bool is_corexy:1;
+ bool is_delta:1;
+ };
+};
+
+#endif
HCoop / clinton / Smoothieware.git / blobdiff