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/*
* Endstop.cpp
*
* Created on: 3 Apr 2019
* Author: David
*/
#include "EndstopsManager.h"
#include "Endstop.h"
#include "SwitchEndstop.h"
#include "StallDetectionEndstop.h"
#include "ZProbeEndstop.h"
#include "ZProbe.h"
#include "LocalZProbe.h"
#include "RemoteZProbe.h"
#include <Platform/RepRap.h>
#include <GCodes/GCodeBuffer/GCodeBuffer.h>
#include <GCodes/GCodes.h>
#include <Movement/Move.h>
#include <Platform/OutputMemory.h>
#include <Heating/Heat.h>
#include <Heating/Sensors/TemperatureSensor.h>
#if SUPPORT_CAN_EXPANSION
# include <CanMessageBuffer.h>
#endif
ReadWriteLock EndstopsManager::endstopsLock;
ReadWriteLock EndstopsManager::zProbesLock;
#if SUPPORT_OBJECT_MODEL
// Object model table and functions
// Note: if using GCC version 7.3.1 20180622 and lambda functions are used in this table, you must compile this file with option -std=gnu++17.
// Otherwise the table will be allocated in RAM instead of flash, which wastes too much RAM.
// Macro to build a standard lambda function that includes the necessary type conversions
#define OBJECT_MODEL_FUNC(...) OBJECT_MODEL_FUNC_BODY(EndstopsManager, __VA_ARGS__)
constexpr ObjectModelArrayDescriptor EndstopsManager::sensorsArrayDescriptor =
{
&Heat::sensorsLock,
[] (const ObjectModel *self, const ObjectExplorationContext&) noexcept -> size_t { return reprap.GetHeat().GetNumSensorsToReport(); },
[] (const ObjectModel *self, ObjectExplorationContext& context) noexcept -> ExpressionValue { return ExpressionValue(reprap.GetHeat().FindSensor(context.GetLastIndex()).Ptr()); }
};
constexpr ObjectModelArrayDescriptor EndstopsManager::endstopsArrayDescriptor =
{
&endstopsLock,
[] (const ObjectModel *self, const ObjectExplorationContext&) noexcept -> size_t { return reprap.GetGCodes().GetTotalAxes(); },
[] (const ObjectModel *self, ObjectExplorationContext& context) noexcept -> ExpressionValue
{ return ExpressionValue(((const EndstopsManager*)self)->FindEndstop(context.GetLastIndex()).Ptr()); }
};
constexpr ObjectModelArrayDescriptor EndstopsManager::filamentMonitorsArrayDescriptor =
{
&FilamentMonitor::filamentMonitorsLock,
[] (const ObjectModel *self, const ObjectExplorationContext&) noexcept -> size_t { return FilamentMonitor::GetNumMonitorsToReport(); },
[] (const ObjectModel *self, ObjectExplorationContext& context) noexcept -> ExpressionValue { return ExpressionValue(FilamentMonitor::GetMonitorAlreadyLocked(context.GetLastIndex())); }
};
constexpr ObjectModelArrayDescriptor EndstopsManager::gpinArrayDescriptor =
{
nullptr,
[] (const ObjectModel *self, const ObjectExplorationContext&) noexcept -> size_t { return reprap.GetPlatform().GetNumGpInputsToReport(); },
[] (const ObjectModel *self, ObjectExplorationContext& context) noexcept -> ExpressionValue
{
const GpInputPort& port = reprap.GetPlatform().GetGpInPort(context.GetLastIndex());
return (port.IsUnused()) ? ExpressionValue(nullptr) : ExpressionValue(&port);
}
};
constexpr ObjectModelArrayDescriptor EndstopsManager::probesArrayDescriptor =
{
&zProbesLock,
[] (const ObjectModel *self, const ObjectExplorationContext&) noexcept -> size_t { return ((const EndstopsManager*)self)->GetNumProbesToReport(); },
[] (const ObjectModel *self, ObjectExplorationContext& context) noexcept -> ExpressionValue
{ return ExpressionValue(((const EndstopsManager*)self)->GetZProbe(context.GetLastIndex()).Ptr()); }
};
constexpr ObjectModelTableEntry EndstopsManager::objectModelTable[] =
{
// Within each group, these entries must be in alphabetical order
// 0. sensors members
{ "analog", OBJECT_MODEL_FUNC_NOSELF(&sensorsArrayDescriptor), ObjectModelEntryFlags::live },
{ "endstops", OBJECT_MODEL_FUNC_NOSELF(&endstopsArrayDescriptor), ObjectModelEntryFlags::live },
{ "filamentMonitors", OBJECT_MODEL_FUNC_NOSELF(&filamentMonitorsArrayDescriptor), ObjectModelEntryFlags::live },
{ "gpIn", OBJECT_MODEL_FUNC_NOSELF(&gpinArrayDescriptor), ObjectModelEntryFlags::live },
{ "probes", OBJECT_MODEL_FUNC_NOSELF(&probesArrayDescriptor), ObjectModelEntryFlags::live },
};
constexpr uint8_t EndstopsManager::objectModelTableDescriptor[] = { 1, 5 };
DEFINE_GET_OBJECT_MODEL_TABLE(EndstopsManager)
#endif
EndstopsManager::EndstopsManager() noexcept
: activeEndstops(nullptr),
#if HAS_STALL_DETECT
extrudersEndstop(nullptr),
#endif
isHomingMove(false)
{
for (Endstop *& es : axisEndstops)
{
es = nullptr;
}
for (ZProbe *& zp : zProbes)
{
zp = nullptr;
}
}
void EndstopsManager::Init() noexcept
{
activeEndstops = nullptr;
#if ALLOCATE_DEFAULT_PORTS
// Configure default endstops
String<1> dummy;
for (size_t axis = 0; axis < ARRAY_SIZE(DefaultEndstopPinNames); ++axis)
{
SwitchEndstop * const sw = new SwitchEndstop(axis, EndStopPosition::lowEndStop);
sw->Configure(DefaultEndstopPinNames[axis], dummy.GetRef());
axisEndstops[axis] = sw;
}
#endif
// Z probes
reprap.GetPlatform().InitZProbeFilters();
#if ALLOCATE_DEFAULT_PORTS
LocalZProbe * const zp = new LocalZProbe(0);
zp->AssignPorts(DefaultZProbePinNames, dummy.GetRef());
zProbes[0] = zp;
#endif
defaultZProbe = new DummyZProbe(0); // we must always have a non-null current Z probe so we use this one if none is defined
}
ReadLockedPointer<Endstop> EndstopsManager::FindEndstop(size_t axis) const noexcept
{
ReadLocker lock(endstopsLock);
return ReadLockedPointer<Endstop>(lock, (axis < MaxAxes) ? axisEndstops[axis] : nullptr);
}
ReadLockedPointer<ZProbe> EndstopsManager::GetZProbe(size_t index) const noexcept
{
ReadLocker lock(zProbesLock);
return ReadLockedPointer<ZProbe>(lock, (index < ARRAY_SIZE(zProbes)) ? zProbes[index] : nullptr);
}
// Return the current Z probe if there is one, else a default Z probe
ReadLockedPointer<ZProbe> EndstopsManager::GetZProbeOrDefault(size_t index) const noexcept
{
ReadLocker lock(zProbesLock);
return ReadLockedPointer<ZProbe>(lock,
(index < ARRAY_SIZE(zProbes) && zProbes[index] != nullptr)
? zProbes[index]
: defaultZProbe);
}
ZProbe& EndstopsManager::GetDefaultZProbeFromISR() const noexcept
{
return (zProbes[0] != nullptr)
? *zProbes[0]
: *defaultZProbe;
}
// Add an endstop to the active list
void EndstopsManager::AddToActive(EndstopOrZProbe& e) noexcept
{
e.SetNext(activeEndstops);
activeEndstops = &e;
}
// Set up the active endstop list according to the axes commanded to move in a G0/G1 S1/S3 command. Return true if successful.
bool EndstopsManager::EnableAxisEndstops(AxesBitmap axes, bool forHoming) noexcept
{
activeEndstops = nullptr;
isHomingMove = forHoming && axes.IsNonEmpty();
const Kinematics& kin = reprap.GetMove().GetKinematics();
while (axes.IsNonEmpty())
{
const unsigned int axis = axes.LowestSetBit();
axes.ClearBit(axis);
if (axisEndstops[axis] != nullptr && axisEndstops[axis]->Prime(kin, reprap.GetPlatform().GetAxisDriversConfig(axis)))
{
AddToActive(*axisEndstops[axis]);
}
else
{
activeEndstops = nullptr;
return false;
}
}
return true;
}
// Set up the active endstops for Z probing, returning true if successful
bool EndstopsManager::EnableZProbe(size_t probeNumber, bool probingAway) noexcept
{
activeEndstops = nullptr;
isHomingMove = false;
if (probeNumber < MaxZProbes && zProbes[probeNumber] != nullptr)
{
zProbes[probeNumber]->SetProbingAway(probingAway);
AddToActive(*zProbes[probeNumber]);
}
return true;
}
// Enable extruder endstops. This adds to any existing axis endstops, so you must call EnableAxisEndstops before calling this.
bool EndstopsManager::EnableExtruderEndstops(ExtrudersBitmap extruders) noexcept
{
if (extruders.IsNonEmpty())
{
#if HAS_STALL_DETECT
if (extrudersEndstop == nullptr)
{
extrudersEndstop = new StallDetectionEndstop;
}
DriversBitmap drivers;
while (extruders.IsNonEmpty())
{
const unsigned int extruder = extruders.LowestSetBit();
extruders.ClearBit(extruder);
const DriverId driver = reprap.GetPlatform().GetExtruderDriver(extruder);
# if SUPPORT_CAN_EXPANSION
if (driver.IsLocal())
{
drivers.SetBit(driver.localDriver);
}
else
{
//TODO remote stall detect endstop
return false;
}
# else
drivers.SetBit(driver.localDriver);
# endif
}
extrudersEndstop->SetDrivers(drivers);
AddToActive(*extrudersEndstop);
#else
return false;
#endif
}
return true;
}
// Check the endstops.
// If an endstop has triggered, remove it from the active list and return its details
EndstopHitDetails EndstopsManager::CheckEndstops(bool goingSlow) noexcept
{
EndstopHitDetails ret; // the default constructor will clear all fields
EndstopOrZProbe *actioned = nullptr;
for (EndstopOrZProbe *esp = activeEndstops; esp != nullptr; esp = esp->GetNext())
{
EndstopHitDetails hd = esp->CheckTriggered(goingSlow);
if (hd.GetAction() == EndstopHitAction::stopAll)
{
activeEndstops = nullptr; // no need to do anything else
if (!isHomingMove)
{
hd.setAxisHigh = false;
hd.setAxisLow = false;
}
return hd;
}
if (hd.GetAction() > ret.GetAction())
{
ret = hd;
actioned = esp;
}
}
if (ret.GetAction() != EndstopHitAction::none)
{
if (actioned->Acknowledge(ret))
{
// The actioned endstop has completed so remove it from the active list
EndstopOrZProbe *prev = nullptr;
for (EndstopOrZProbe *es = activeEndstops; es != nullptr; )
{
if (es == actioned)
{
if (prev == nullptr)
{
activeEndstops = es->GetNext();
}
else
{
prev->SetNext(es->GetNext());
}
break;
}
prev = es;
es = es->GetNext();
}
}
if (!isHomingMove)
{
ret.setAxisHigh = false;
ret.setAxisLow = false;
}
}
return ret;
}
// Configure the endstops in response to M574
GCodeResult EndstopsManager::HandleM574(GCodeBuffer& gb, const StringRef& reply, OutputBuffer*& outbuf) noexcept
{
// First count how many axes we are configuring, and lock movement if necessary
unsigned int axesSeen = 0;
size_t lastAxisSeen = 0; // dummy initialisation to avoid compiler warnings
EndStopPosition lastPosSeen = EndStopPosition::noEndStop; // dummy initialisation to avoid compiler warnings
for (size_t axis = 0; axis < reprap.GetGCodes().GetTotalAxes(); ++axis)
{
if (gb.Seen(reprap.GetGCodes().GetAxisLetters()[axis]))
{
lastPosSeen = (EndStopPosition)gb.GetUIValue();
if (lastPosSeen >= EndStopPosition::numPositions)
{
reply.copy("Invalid endstop position");
return GCodeResult::error;
}
lastAxisSeen = axis;
++axesSeen;
}
}
if (axesSeen == 0)
{
// Report current configuration
// The response can get very long, so allocate an output buffer
if (outbuf == nullptr && !OutputBuffer::Allocate(outbuf))
{
return GCodeResult::notFinished;
}
outbuf->copy("Endstop configuration:");
ReadLocker lock(endstopsLock);
for (size_t axis = 0; axis < reprap.GetGCodes().GetTotalAxes(); ++axis)
{
outbuf->catf("\n%c: ", reprap.GetGCodes().GetAxisLetters()[axis]);
if (axisEndstops[axis] == nullptr)
{
outbuf->cat("none");
}
else
{
outbuf->cat((axisEndstops[axis]->GetAtHighEnd()) ? "high end " : "low end ");
reply.Clear();
axisEndstops[axis]->AppendDetails(reply);
outbuf->cat(reply.c_str());
}
}
return GCodeResult::ok;
}
// If we get here then axes were specified so we are setting endstop parameters
if (!reprap.GetGCodes().LockMovementAndWaitForStandstill(gb))
{
return GCodeResult::notFinished;
}
activeEndstops = nullptr; // we may be about to remove endstops, so make sure they are not in the active list
const EndStopType inputType = (gb.Seen('S')) ? (EndStopType)gb.GetUIValue() : EndStopType::inputPin;
if (inputType >= EndStopType::numInputTypes)
{
reply.copy("invalid input type");
return GCodeResult::error;
}
if (inputType == EndStopType::unused_wasActiveLow)
{
reply.copy("endstop type 0 is no longer supported. Use type 1 and invert the input pin instead.");
return GCodeResult::error;
}
if (gb.Seen('P')) // we use P not C, because C may be an axis
{
// Setting the port number(s), so there must be just one axis and we must be using switch-type endstops
if (axesSeen > 1 || inputType != EndStopType::inputPin)
{
reply.copy("Invalid use of P parameter");
return GCodeResult::error;
}
WriteLocker lock(endstopsLock);
delete axisEndstops[lastAxisSeen];
axisEndstops[lastAxisSeen] = nullptr;
SwitchEndstop * const sw = new SwitchEndstop(lastAxisSeen, lastPosSeen);
const GCodeResult rslt = sw->Configure(gb, reply);
if (rslt == GCodeResult::ok)
{
axisEndstops[lastAxisSeen] = sw;
}
else
{
delete sw;
}
return rslt;
}
// No P parameter, so there may be multiple axes
for (size_t axis = 0; axis < reprap.GetGCodes().GetTotalAxes(); ++axis)
{
const char c = reprap.GetGCodes().GetAxisLetters()[axis];
if (gb.Seen(c))
{
const EndStopPosition pos = (EndStopPosition)gb.GetUIValue(); // we range-checked this earlier
WriteLocker lock(endstopsLock);
if (pos == EndStopPosition::noEndStop)
{
Endstop *es = nullptr;
std::swap(es, axisEndstops[axis]);
delete es;
}
else
{
switch (inputType.ToBaseType())
{
#if HAS_STALL_DETECT
case EndStopType::motorStallAny:
// Asking for stall detection endstop, so we can delete any existing endstop(s) and create new ones
{
Endstop *es = new StallDetectionEndstop(axis, pos, false);
std::swap(es, axisEndstops[axis]);
delete es;
}
break;
case EndStopType::motorStallIndividual:
// Asking for stall detection endstop, so we can delete any existing endstop(s) and create new ones
{
Endstop *es = new StallDetectionEndstop(axis, pos, true);
std::swap(es, axisEndstops[axis]);
delete es;
}
break;
#else
case EndStopType::motorStallAny:
case EndStopType::motorStallIndividual:
{
Endstop *es = nullptr;
std::swap(es, axisEndstops[axis]);
delete es;
}
reply.copy("Stall detection not supported by this hardware");
return GCodeResult::error;
#endif
case EndStopType::zProbeAsEndstop:
// Asking for a ZProbe or stall detection endstop, so we can delete any existing endstop(s) and create new ones
{
Endstop *es = new ZProbeEndstop(axis, pos);
std::swap(es, axisEndstops[axis]);
delete es;
}
break;
case EndStopType::inputPin:
if ( axisEndstops[axis] == nullptr
|| axisEndstops[axis]->GetEndstopType() != EndStopType::inputPin
)
{
// Asking for a switch endstop but we don't already have one, so we don't know what pin number(s) it should use
reply.printf("Pin name needed for switch-type endstop on %c axis", c);
return GCodeResult::error;
}
else
{
axisEndstops[axis]->SetAtHighEnd(pos == EndStopPosition::highEndStop);
}
break;
default:
break;
}
}
}
}
return GCodeResult::ok;
}
EndStopPosition EndstopsManager::GetEndStopPosition(size_t axis) const noexcept
{
return (axisEndstops[axis] == nullptr) ? EndStopPosition::noEndStop
: (axisEndstops[axis]->GetAtHighEnd()) ? EndStopPosition::highEndStop
: EndStopPosition::lowEndStop;
}
// Return true if we are using a bed probe to home Z
bool EndstopsManager::HomingZWithProbe() const noexcept
{
return axisEndstops[Z_AXIS] == nullptr || axisEndstops[Z_AXIS]->GetEndstopType() == EndStopType::zProbeAsEndstop;
}
bool EndstopsManager::Stopped(size_t axis) const noexcept
{
return (axisEndstops[axis] != nullptr) && axisEndstops[axis]->Stopped();
}
void EndstopsManager::GetM119report(const StringRef& reply) noexcept
{
reply.copy("Endstops - ");
for (size_t axis = 0; axis < reprap.GetGCodes().GetTotalAxes(); ++axis)
{
const char * const status = (axisEndstops[axis] == nullptr)
? "no endstop"
: TranslateEndStopResult(axisEndstops[axis]->Stopped(), axisEndstops[axis]->GetAtHighEnd());
reply.catf("%c: %s, ", reprap.GetGCodes().GetAxisLetters()[axis], status);
}
reply.catf("Z probe: %s", TranslateEndStopResult(GetZProbeOrDefault(0)->Stopped(), false));
}
const char *EndstopsManager::TranslateEndStopResult(bool hit, bool atHighEnd) noexcept
{
if (hit)
{
return (atHighEnd) ? "at max stop" : "at min stop";
}
return "not stopped";
}
void EndstopsManager::SetZProbeDefaults() noexcept
{
zProbes[0]->SetDefaults();
for (size_t i = 0; i < MaxZProbes; ++i)
{
delete zProbes[i];
}
}
// Program the Z probe
GCodeResult EndstopsManager::ProgramZProbe(GCodeBuffer& gb, const StringRef& reply) THROWS(GCodeException)
{
const unsigned int probeNumber = (gb.Seen('K')) ? gb.GetLimitedUIValue('K', MaxZProbes) : 0;
ReadLocker lock(zProbesLock);
ZProbe * const zProbe = zProbes[probeNumber];
if (zProbe == nullptr)
{
reply.copy("Invalid Z probe index");
return GCodeResult::error;
}
if (gb.Seen('S'))
{
uint32_t zProbeProgram[MaxZProbeProgramBytes];
size_t len = MaxZProbeProgramBytes;
gb.GetUnsignedArray(zProbeProgram, len, false);
if (len != 0)
{
for (size_t i = 0; i < len; ++i)
{
if (zProbeProgram[i] > 255)
{
reply.copy("Out of range value in program bytes");
return GCodeResult::error;
}
}
return zProbe->SendProgram(zProbeProgram, len, reply);
}
}
reply.copy("No program bytes provided");
return GCodeResult::error;
}
#if HAS_MASS_STORAGE
bool EndstopsManager::WriteZProbeParameters(FileStore *f, bool includingG31) const noexcept
{
bool ok = true;
bool written = false;
for (size_t i = 0; i < MaxZProbes; ++i)
{
if (zProbes[i] != nullptr && (includingG31 || zProbes[i]->GetSaveToConfigOverride()))
{
if (!written)
{
ok = f->Write("; Z probe parameters\n");
written = true;
}
if (ok)
{
ok = zProbes[i]->WriteParameters(f, i);
}
}
}
return ok;
}
#endif
// Handle M558
GCodeResult EndstopsManager::HandleM558(GCodeBuffer& gb, const StringRef &reply) THROWS(GCodeException)
{
const unsigned int probeNumber = (gb.Seen('K')) ? gb.GetLimitedUIValue('K', MaxZProbes) : 0;
// Check what sort of Z probe we need and where it is, so see whether we need to delete any existing one and create a new one.
// If there is no probe, we need a new one; and if it is not a motor stall one then a port number must be given.
// If we are switching between motor stall and any other type, we need a new one. A port must be specified unless it is motor stall.
// If it not a motor stall probe and a port number is given, we need a new one in case it is on a different board.
// If it is a motor stall endstop, there should not be a port specified, but we can ignore the port if it is present
uint32_t probeType = (uint32_t)ZProbeType::none;
bool seenType = false;
gb.TryGetUIValue('P', probeType, seenType);
if ( seenType
&& ( probeType >= (uint32_t)ZProbeType::numTypes
|| probeType == (uint32_t)ZProbeType::e1Switch_obsolete
|| probeType == (uint32_t)ZProbeType::endstopSwitch_obsolete
|| probeType == (uint32_t)ZProbeType::zSwitch_obsolete
)
)
{
reply.printf("Invalid Z probe type %" PRIu32, probeType);
return GCodeResult::error;
}
WriteLocker lock(zProbesLock);
ZProbe * const existingProbe = zProbes[probeNumber];
if (existingProbe == nullptr && !seenType)
{
reply.printf("Z probe %u not found", probeNumber);
return GCodeResult::error;
}
const bool seenPort = gb.Seen('C');
bool seen = seenType || seenPort;
if (seen) // we need a new probe if we have seen either P or C
{
if (!seenType) // if a port is specified then the type must be specified too
{
reply.copy("Missing Z probe type number");
return GCodeResult::error;
}
zProbes[probeNumber] = nullptr;
delete existingProbe; // delete the old probe first, the new one might use the same ports
ZProbe *newProbe;
switch ((ZProbeType)probeType)
{
case ZProbeType::none:
newProbe = new DummyZProbe(probeNumber);
break;
case ZProbeType::zMotorStall:
newProbe = new MotorStallZProbe(probeNumber);
break;
default:
if (!seenPort)
{
reply.copy("Missing Z probe pin name(s)");
return GCodeResult::error;
}
{
#if SUPPORT_CAN_EXPANSION
String<StringLength20> pinNames;
gb.Seen('C');
gb.GetReducedString(pinNames.GetRef());
const CanAddress boardAddress = IoPort::RemoveBoardAddress(pinNames.GetRef());
if (boardAddress != CanInterface::GetCanAddress())
{
RemoteZProbe *newRemoteProbe = new RemoteZProbe(probeNumber, boardAddress, (ZProbeType)probeType);
const GCodeResult rslt = newRemoteProbe->Create(pinNames.GetRef(), reply);
if (rslt != GCodeResult::ok)
{
delete newRemoteProbe;
return rslt;
}
newProbe = newRemoteProbe;
}
else
#endif
{
newProbe = new LocalZProbe(probeNumber);
}
}
break;
}
const GCodeResult rslt = newProbe->Configure(gb, reply, seen);
if (rslt == GCodeResult::ok || rslt == GCodeResult::warning)
{
zProbes[probeNumber] = newProbe;
}
return rslt;
}
// If we get here then there is an existing probe of the correct type and we just need to change its configuration
return zProbes[probeNumber]->Configure(gb, reply, seen);
}
// Set or print the Z probe. Called by G31.
// Note that G31 P or G31 P0 prints the parameters of the currently-selected Z probe.
GCodeResult EndstopsManager::HandleG31(GCodeBuffer& gb, const StringRef& reply) THROWS(GCodeException)
{
const unsigned int probeNumber = (gb.Seen('K')) ? gb.GetLimitedUIValue('K', MaxZProbes) : 0;
ReadLocker lock(zProbesLock);
ZProbe * const zp = zProbes[probeNumber];
if (zp == nullptr)
{
reply.copy("Invalid Z probe index");
return GCodeResult::error;
}
return zp->HandleG31(gb, reply);
}
#if SUPPORT_OBJECT_MODEL
size_t EndstopsManager::GetNumProbesToReport() const noexcept
{
size_t ret = MaxZProbes;
while (ret != 0 && zProbes[ret - 1] == nullptr)
{
--ret;
}
return ret;
}
#endif
#if SUPPORT_CAN_EXPANSION
// Handle signalling of a remote switch change, when the handle indicates that it is being used as an endstop.
void EndstopsManager::HandleRemoteEndstopChange(CanAddress src, uint8_t handleMajor, uint8_t handleMinor, bool state) noexcept
{
if (handleMajor < ARRAY_SIZE(axisEndstops))
{
Endstop * const es = axisEndstops[handleMajor];
if (es != nullptr)
{
es->HandleRemoteInputChange(src, handleMinor, state);
}
}
}
// Handle signalling of a remote switch change, when the handle indicates that it is being used as a Z probe.
void EndstopsManager::HandleRemoteZProbeChange(CanAddress src, uint8_t handleMajor, uint8_t handleMinor, bool state) noexcept
{
if (handleMajor < ARRAY_SIZE(zProbes))
{
ZProbe * const zp = zProbes[handleMajor];
if (zp != nullptr)
{
zp->HandleRemoteInputChange(src, handleMinor, state);
}
}
}
// This is called when we update endstop states because of a message from a remote board.
// In time we may use it to help implement interrupt-driven local endstops too, but for now those are checked in the step ISR by a direct call to DDA::CheckEndstops().
void EndstopsManager::OnEndstopOrZProbeStatesChanged() noexcept
{
const uint32_t oldPrio = ChangeBasePriority(NvicPriorityStep); // shut out the step interrupt
DDA * const currentDda = reprap.GetMove().GetMainDDARing().GetCurrentDDA();
if (currentDda != nullptr && currentDda->IsCheckingEndstops())
{
Platform& p = reprap.GetPlatform();
currentDda->CheckEndstops(p);
if (currentDda->GetState() == DDA::completed)
{
reprap.GetMove().GetMainDDARing().OnMoveCompleted(currentDda, p);
}
}
RestoreBasePriority(oldPrio); // allow step interrupts again
}
#endif
// End
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