Refactoring

Refactored endstop source files in preparation for supporting remote endstops on Duet 3

1 files changed, 79 insertions, 0 deletions

diff --git a/src/Endstops/ZProbeEndstop.cpp b/src/Endstops/ZProbeEndstop.cpp
new file mode 100644
index 00000000..6bb55b60
--- /dev/null
+++ b/src/Endstops/ZProbeEndstop.cpp
@@ -0,0 +1,79 @@
+/*
+ * ZProbeEndstop.cpp
+ *
+ *  Created on: 15 Sep 2019
+ *      Author: David
+ */
+
+#include "ZProbeEndstop.h"
+
+#include "ZProbe.h"
+#include "RepRap.h"
+#include "Platform.h"
+#include "Movement/Kinematics/Kinematics.h"
+
+// Z probe endstop
+ZProbeEndstop::ZProbeEndstop(uint8_t axis, EndStopPosition pos) : Endstop(axis, pos), zProbeNumber(0)
+{
+}
+
+// Test whether we are at or near the stop
+EndStopHit ZProbeEndstop::Stopped() const
+{
+	const ZProbe * const zp = reprap.GetPlatform().GetEndstops().GetZProbe(zProbeNumber);
+	return (zp != nullptr) ? zp->Stopped() : EndStopHit::atStop;
+}
+
+// This is called to prime axis endstops
+void ZProbeEndstop::Prime(const Kinematics& kin, const AxisDriversConfig& axisDrivers)
+{
+	// Decide whether we stop just the driver, just the axis, or everything
+	stopAll = (kin.GetConnectedAxes(GetAxis()) & ~MakeBitmap<AxesBitmap>(GetAxis())) != 0;
+}
+
+// Check whether the endstop is triggered and return the action that should be performed. Called from the step ISR.
+EndstopHitDetails ZProbeEndstop::CheckTriggered(bool goingSlow)
+{
+	EndstopHitDetails rslt;				// initialised by default constructor
+	switch (Stopped())
+	{
+	case EndStopHit::atStop:
+		rslt.SetAction((stopAll) ? EndstopHitAction::stopAll : EndstopHitAction::stopAxis);
+		rslt.axis = GetAxis();
+		if (GetAtHighEnd())
+		{
+			rslt.setAxisHigh = true;
+		}
+		else
+		{
+			rslt.setAxisLow = true;
+		}
+		break;
+
+	case EndStopHit::nearStop:
+		if (!goingSlow)
+		{
+			rslt.SetAction(EndstopHitAction::reduceSpeed);
+		}
+		break;
+
+	default:
+		break;
+	}
+	return rslt;
+}
+
+// This is called by the ISR to acknowledge that it is acting on the return from calling CheckTriggered. Called from the step ISR.
+// Return true if we have finished with this endstop or probe in this move.
+bool ZProbeEndstop::Acknowledge(EndstopHitDetails what)
+{
+	return what.GetAction() != EndstopHitAction::reduceSpeed;
+}
+
+void ZProbeEndstop::AppendDetails(const StringRef& str)
+{
+	str.cat("Z probe");
+}
+
+// End
+