/** * Marlin 3D Printer Firmware * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] * * Based on Sprinter and grbl. * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm * * This program 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. * * This program 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 this program. If not, see <http://www.gnu.org/licenses/>. * */ /** * endstops.h - manages endstops */ #ifndef ENDSTOPS_H #define ENDSTOPS_H #include "enum.h" class Endstops { public: static bool enabled, enabled_globally; static volatile char endstop_hit_bits; // use X_MIN, Y_MIN, Z_MIN and Z_MIN_PROBE as BIT value #if ENABLED(Z_DUAL_ENDSTOPS) static uint16_t #else static byte #endif current_endstop_bits, old_endstop_bits; Endstops() {}; /** * Initialize the endstop pins */ void init(); /** * Update the endstops bits from the pins */ static void update(); /** * Print an error message reporting the position when the endstops were last hit. */ static void report_state(); //call from somewhere to create an serial error message with the locations the endstops where hit, in case they were triggered /** * Report endstop positions in response to M119 */ static void M119(); // Enable / disable endstop checking globally static void enable_globally(bool onoff=true) { enabled_globally = enabled = onoff; } // Enable / disable endstop checking static void enable(bool onoff=true) { enabled = onoff; } // Disable / Enable endstops based on ENSTOPS_ONLY_FOR_HOMING and global enable static void not_homing() { enabled = enabled_globally; } // Clear endstops (i.e., they were hit intentionally) to suppress the report static void hit_on_purpose() { endstop_hit_bits = 0; } // Enable / disable endstop z-probe checking #if HAS_BED_PROBE static volatile bool z_probe_enabled; static void enable_z_probe(bool onoff=true) { z_probe_enabled = onoff; } #endif private: #if ENABLED(Z_DUAL_ENDSTOPS) static void test_dual_z_endstops(EndstopEnum es1, EndstopEnum es2); #endif }; extern Endstops endstops; #endif // ENDSTOPS_H