More work on remote endstops + enabled MPU

Remote endstops now working properly
M950 H# C"nil" now deletes a heater and doesn;t require a sensor number
MPU is now enabled
M574 report includes remote endstop pin names

1 files changed, 71 insertions, 0 deletions

diff --git a/src/Endstops/SwitchEndstop.h b/src/Endstops/SwitchEndstop.h
new file mode 100644
index 00000000..480aed8d
--- /dev/null
+++ b/src/Endstops/SwitchEndstop.h
@@ -0,0 +1,71 @@
+/*
+ * LocalSwitchEndstop.h
+ *
+ *  Created on: 15 Sep 2019
+ *      Author: David
+ */
+
+#ifndef SRC_ENDSTOPS_SWITCHENDSTOP_H_
+#define SRC_ENDSTOPS_SWITCHENDSTOP_H_
+
+#include "Endstop.h"
+
+#include "GCodes/GCodeResult.h"
+
+// Switch-type endstop, either on the main board or on a CAN-connected board
+class SwitchEndstop : public Endstop
+{
+public:
+	void* operator new(size_t sz) { return Allocate<SwitchEndstop>(); }
+	void operator delete(void* p) { Release<SwitchEndstop>(p); }
+	~SwitchEndstop() override;
+
+	SwitchEndstop(uint8_t axis, EndStopPosition pos);
+
+	EndStopInputType GetEndstopType() const override;
+	EndStopHit Stopped() const override;
+	void Prime(const Kinematics& kin, const AxisDriversConfig& axisDrivers) override;
+	EndstopHitDetails CheckTriggered(bool goingSlow) override;
+	bool Acknowledge(EndstopHitDetails what) override;
+	void AppendDetails(const StringRef& str) override;
+
+#if SUPPORT_CAN_EXPANSION
+	// Process a remote endstop input change that relates to this endstop. Return true if the buffer has been freed.
+	void HandleRemoteInputChange(CanAddress src, uint8_t handleMinor, bool state) override;
+#endif
+
+	GCodeResult Configure(GCodeBuffer& gb, const StringRef& reply, EndStopInputType inputType);
+	GCodeResult Configure(const char *pinNames, const StringRef& reply, EndStopInputType inputType);
+	void Reconfigure(EndStopPosition pos, EndStopInputType inputType);
+
+private:
+	typedef uint16_t PortsBitmap;
+
+	void ReleasePorts();
+
+	inline bool IsTriggered(size_t index) const
+	{
+#if SUPPORT_CAN_EXPANSION
+		return (boardNumbers[index] == CanId::MasterAddress) ? ports[index].Read() : states[index] != activeLow;
+#else
+		return ports[index].Read();
+#endif
+	}
+
+#if SUPPORT_CAN_EXPANSION
+	static constexpr uint16_t MinimumSwitchReportInterval = 30;
+#endif
+
+	IoPort ports[MaxDriversPerAxis];
+#if SUPPORT_CAN_EXPANSION
+	CanAddress boardNumbers[MaxDriversPerAxis];
+	bool states[MaxDriversPerAxis];
+	bool activeLow;
+#endif
+	size_t numPortsUsed;
+	PortsBitmap portsLeftToTrigger;
+	size_t numPortsLeftToTrigger;
+	bool stopAll;
+};
+
+#endif /* SRC_ENDSTOPS_SWITCHENDSTOP_H_ */