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/*
* StallDetectionEndstop.h
*
* Created on: 15 Sep 2019
* Author: David
*/
#ifndef SRC_ENDSTOPS_STALLDETECTIONENDSTOP_H_
#define SRC_ENDSTOPS_STALLDETECTIONENDSTOP_H_
#include "Endstop.h"
#if HAS_STALL_DETECT
// Motor stall detection endstop
class StallDetectionEndstop final : public Endstop
{
public:
DECLARE_FREELIST_NEW_DELETE(StallDetectionEndstop)
StallDetectionEndstop(uint8_t p_axis, EndStopPosition pos, bool p_individualMotors) noexcept; // for creating axis endstops
StallDetectionEndstop() noexcept; // for creating the single extruders endstop
EndStopType GetEndstopType() const noexcept override { return (individualMotors) ? EndStopType::motorStallIndividual : EndStopType::motorStallAny; }
bool Stopped() const noexcept override;
bool Prime(const Kinematics& kin, const AxisDriversConfig& axisDrivers) noexcept override;
EndstopHitDetails CheckTriggered() noexcept override;
bool Acknowledge(EndstopHitDetails what) noexcept override;
void AppendDetails(const StringRef& str) noexcept override;
bool ShouldReduceAcceleration() const noexcept override { return true; }
void SetDrivers(DriversBitmap extruderDrivers) noexcept; // for setting which local extruder drives are active extruder endstops
private:
DriversBitmap driversMonitored;
unsigned int numDriversLeft;
bool individualMotors;
bool stopAll;
};
#endif
#endif /* SRC_ENDSTOPS_STALLDETECTIONENDSTOP_H_ */
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