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endstops.h
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endstops.h
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/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
/**
* endstops.h - manages endstops
*/
#ifndef ENDSTOPS_H
#define ENDSTOPS_H
#include "enum.h"
class Endstops {
public:
static bool enabled, enabled_globally;
static volatile char endstop_hit_bits; // use X_MIN, Y_MIN, Z_MIN and Z_MIN_PROBE as BIT value
#if ENABLED(Z_DUAL_ENDSTOPS)
static uint16_t
#else
static byte
#endif
current_endstop_bits, old_endstop_bits;
Endstops() {};
/**
* Initialize the endstop pins
*/
void init();
/**
* Update the endstops bits from the pins
*/
static void update();
/**
* Print an error message reporting the position when the endstops were last hit.
*/
static void report_state(); //call from somewhere to create an serial error message with the locations the endstops where hit, in case they were triggered
/**
* Report endstop positions in response to M119
*/
static void M119();
// Enable / disable endstop checking globally
static void enable_globally(bool onoff=true) { enabled_globally = enabled = onoff; }
// Enable / disable endstop checking
static void enable(bool onoff=true) { enabled = onoff; }
// Disable / Enable endstops based on ENSTOPS_ONLY_FOR_HOMING and global enable
static void not_homing() { enabled = enabled_globally; }
// Clear endstops (i.e., they were hit intentionally) to suppress the report
static void hit_on_purpose() { endstop_hit_bits = 0; }
// Enable / disable endstop z-probe checking
#if HAS_BED_PROBE
static volatile bool z_probe_enabled;
static void enable_z_probe(bool onoff=true) { z_probe_enabled = onoff; }
#endif
private:
#if ENABLED(Z_DUAL_ENDSTOPS)
static void test_dual_z_endstops(const EndstopEnum es1, const EndstopEnum es2);
#endif
};
extern Endstops endstops;
#if HAS_BED_PROBE
#define ENDSTOPS_ENABLED (endstops.enabled || endstops.z_probe_enabled)
#else
#define ENDSTOPS_ENABLED endstops.enabled
#endif
#endif // ENDSTOPS_H