blob: fbed7ed18893d50f3b1f35f9f93de8e3c92539cb (
plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
|
/*
* Endstop.h
*
* Created on: 4 Apr 2019
* Author: David
*/
#ifndef SRC_ENDSTOPS_ENDSTOP_H_
#define SRC_ENDSTOPS_ENDSTOP_H_
#include <RepRapFirmware.h>
#include <ObjectModel/ObjectModel.h>
#include "EndstopDefs.h"
#include <Hardware/IoPorts.h>
#include <General/FreelistManager.h>
#if SUPPORT_TMC22xx && HAS_STALL_DETECT
# include <Movement/StepperDrivers/TMC22xx.h>
#endif
class AxisDriversConfig;
class CanMessageBuffer;
// This is the base class for all types of endstops and for ZProbe.
class EndstopOrZProbe INHERIT_OBJECT_MODEL
{
public:
EndstopOrZProbe() noexcept : next(nullptr) {}
EndstopOrZProbe(const EndstopOrZProbe&) = delete;
virtual ~EndstopOrZProbe() noexcept {}
virtual bool Stopped() const noexcept = 0;
virtual EndstopHitDetails CheckTriggered() noexcept = 0;
virtual bool Acknowledge(EndstopHitDetails what) noexcept = 0;
EndstopOrZProbe *GetNext() const noexcept { return next; }
void SetNext(EndstopOrZProbe *e) noexcept { next = e; }
#if HAS_STALL_DETECT && (SUPPORT_TMC2660 || SUPPORT_TMC51xx)
static void SetDriversStalled(DriversBitmap drivers) noexcept;
static void SetDriversNotStalled(DriversBitmap drivers) noexcept;
#endif
protected:
#if HAS_STALL_DETECT
static DriversBitmap GetStalledDrivers(DriversBitmap driversOfInterest) noexcept;
#endif
private:
EndstopOrZProbe *next; // next endstop in linked list
#if HAS_STALL_DETECT && (SUPPORT_TMC2660 || SUPPORT_TMC51xx)
static DriversBitmap stalledDrivers; // used to track which drivers are reported as stalled, for stall detect endstops and stall detect Z probes
#endif
};
#if HAS_STALL_DETECT
# if SUPPORT_TMC2660 || SUPPORT_TMC51xx
// This is called by the TMC driver to tell us which drivers are stalled or not stalled
inline void EndstopOrZProbe::SetDriversStalled(DriversBitmap drivers) noexcept
{
stalledDrivers |= drivers;
}
// This is called by the TMC driver to tell us which drivers are stalled or not stalled
inline void EndstopOrZProbe::SetDriversNotStalled(DriversBitmap drivers) noexcept
{
stalledDrivers &= ~drivers;
}
// Return which drivers out of the set of interest are stalled
inline DriversBitmap EndstopOrZProbe::GetStalledDrivers(DriversBitmap driversOfInterest) noexcept
{
return stalledDrivers & driversOfInterest;
}
# elif SUPPORT_TMC22xx
// Return which drivers out of the set of interest are stalled
inline DriversBitmap EndstopOrZProbe::GetStalledDrivers(DriversBitmap driversOfInterest) noexcept
{
return SmartDrivers::GetStalledDrivers(driversOfInterest);
}
# endif
#endif
class Endstop : public EndstopOrZProbe
{
public:
virtual EndStopType GetEndstopType() const noexcept = 0;
virtual bool Prime(const Kinematics& kin, const AxisDriversConfig& axisDrivers) noexcept = 0;
virtual void AppendDetails(const StringRef& str) noexcept = 0;
virtual bool ShouldReduceAcceleration() const noexcept { return false; }
#if SUPPORT_CAN_EXPANSION
// Process a remote endstop input change that relates to this endstop
virtual void HandleRemoteInputChange(CanAddress src, uint8_t handleMinor, bool state) noexcept { }
#endif
unsigned int GetAxis() const noexcept { return axis; }
bool GetAtHighEnd() const noexcept { return atHighEnd; }
void SetAtHighEnd(bool b) noexcept { atHighEnd = b; }
protected:
Endstop(uint8_t p_axis, EndStopPosition pos) noexcept;
DECLARE_OBJECT_MODEL
private:
uint8_t axis; // which axis this endstop is on
bool atHighEnd; // whether this endstop is at the max (true) or the min (false)
};
#endif /* SRC_ENDSTOPS_ENDSTOP_H_ */
|
