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/*
* ZProbeEndstop.cpp
*
* Created on: 15 Sep 2019
* Author: David
*/
#include "ZProbeEndstop.h"
#include "ZProbe.h"
#include <Platform/RepRap.h>
#include <Platform/Platform.h>
#include <Movement/Kinematics/Kinematics.h>
// Z probe endstop
ZProbeEndstop::ZProbeEndstop(uint8_t p_axis, EndStopPosition pos) noexcept : Endstop(p_axis, pos), zProbeNumber(0)
{
}
// Test whether we are at or near the stop
bool ZProbeEndstop::Stopped() const noexcept
{
const auto zp = reprap.GetPlatform().GetEndstops().GetZProbe(zProbeNumber);
return zp.IsNotNull() && zp->Stopped();
}
// This is called to prime axis endstops
bool ZProbeEndstop::Prime(const Kinematics& kin, const AxisDriversConfig& axisDrivers) noexcept
{
// Decide whether we stop just the driver, just the axis, or everything
stopAll = kin.GetConnectedAxes(GetAxis()).Intersects(~AxesBitmap::MakeFromBits(GetAxis()));
#if SUPPORT_CAN_EXPANSION
//TODO if the Z probe is remote, check that the expansion board knows about it
#endif
return true;
}
// Check whether the endstop is triggered and return the action that should be performed. Called from the step ISR.
EndstopHitDetails ZProbeEndstop::CheckTriggered() noexcept
{
EndstopHitDetails rslt; // initialised by default constructor
if (Stopped())
{
rslt.SetAction((stopAll) ? EndstopHitAction::stopAll : EndstopHitAction::stopAxis);
rslt.axis = GetAxis();
if (GetAtHighEnd())
{
rslt.setAxisHigh = true;
}
else
{
rslt.setAxisLow = true;
}
}
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) noexcept
{
return true;
}
void ZProbeEndstop::AppendDetails(const StringRef& str) noexcept
{
str.cat("Z probe");
}
// End
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