diff options
| author | David Crocker <dcrocker@eschertech.com> | 2020-01-19 02:03:39 +0300 |
|---|---|---|
| committer | David Crocker <dcrocker@eschertech.com> | 2020-01-19 02:03:39 +0300 |
| commit | c812ce5e14cf476526d955edbce2effa9d922902 (patch) | |
| tree | da67dc55e46efdd38a0647318977a342da730345 /src/Endstops/SwitchEndstop.cpp | |
| parent | e0bbf71357b07c22e6d43be3cca5c7422163be32 (diff) | |
Major refactoring, bug fixes in function evaluation
Changed all bitmaps to use the bitmap class from RRFLibraries
Fixed bugs in functoin evaluation
Diffstat (limited to 'src/Endstops/SwitchEndstop.cpp')
| -rw-r--r-- | src/Endstops/SwitchEndstop.cpp | 10 |
1 files changed, 5 insertions, 5 deletions
diff --git a/src/Endstops/SwitchEndstop.cpp b/src/Endstops/SwitchEndstop.cpp index d8c5eca9..fa4a903a 100644 --- a/src/Endstops/SwitchEndstop.cpp +++ b/src/Endstops/SwitchEndstop.cpp @@ -133,9 +133,9 @@ EndStopHit SwitchEndstop::Stopped() const noexcept bool SwitchEndstop::Prime(const Kinematics& kin, const AxisDriversConfig& axisDrivers) noexcept { // Decide whether we stop just the driver, just the axis, or everything - stopAll = ((kin.GetConnectedAxes(GetAxis()) & ~MakeBitmap<AxesBitmap>(GetAxis())) != 0); + stopAll = kin.GetConnectedAxes(GetAxis()).Intersects(~AxesBitmap::MakeFromBits(GetAxis())); numPortsLeftToTrigger = (numPortsUsed != axisDrivers.numDrivers) ? 1 : numPortsUsed; - portsLeftToTrigger = LowestNBits<PortsBitmap>(numPortsUsed); + portsLeftToTrigger = PortsBitmap::MakeLowestNBits(numPortsUsed); #if SUPPORT_CAN_EXPANSION // For each remote switch, check that the expansion board knows about it, and make sure we have an up-to-date state @@ -163,11 +163,11 @@ bool SwitchEndstop::Prime(const Kinematics& kin, const AxisDriversConfig& axisDr EndstopHitDetails SwitchEndstop::CheckTriggered(bool goingSlow) noexcept { EndstopHitDetails rslt; // initialised by default constructor - if (portsLeftToTrigger != 0) + if (portsLeftToTrigger.IsNonEmpty()) { for (size_t i = 0; i < numPortsUsed; ++i) { - if (IsBitSet(portsLeftToTrigger, i) && IsTriggered(i)) + if (portsLeftToTrigger.IsBitSet(i) && IsTriggered(i)) { rslt.axis = GetAxis(); if (stopAll) @@ -219,7 +219,7 @@ bool SwitchEndstop::Acknowledge(EndstopHitDetails what) noexcept return true; case EndstopHitAction::stopDriver: - ClearBit(portsLeftToTrigger, what.internalUse); + portsLeftToTrigger.ClearBit(what.internalUse); --numPortsLeftToTrigger; return false; |