8c9fc7943e
- Homing cycle failure reports alarm feedback when the homing cycle is exited via a reset, interrupted by a safety door switch, or does not find the limit switch. - Homing cycle bug fix when not finding the limit switch. It would just idle before, but now will exit with an alarm. - Licensing update. Corrected licensing according to lawyer recommendations. Removed references to other Grbl versions.
69 lines
2.4 KiB
C
69 lines
2.4 KiB
C
/*
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probe.c - code pertaining to probing methods
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Part of Grbl
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Copyright (c) 2014-2015 Sungeun K. Jeon
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Grbl is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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Grbl is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with Grbl. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "grbl.h"
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// Inverts the probe pin state depending on user settings and probing cycle mode.
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uint8_t probe_invert_mask;
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// Probe pin initialization routine.
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void probe_init()
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{
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PROBE_DDR &= ~(PROBE_MASK); // Configure as input pins
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#ifdef DISABLE_PROBE_PIN_PULL_UP
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PROBE_PORT &= ~(PROBE_MASK); // Normal low operation. Requires external pull-down.
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#else
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PROBE_PORT |= PROBE_MASK; // Enable internal pull-up resistors. Normal high operation.
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#endif
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// probe_configure_invert_mask(false); // Initialize invert mask. Not required. Updated when in-use.
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}
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// Called by probe_init() and the mc_probe() routines. Sets up the probe pin invert mask to
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// appropriately set the pin logic according to setting for normal-high/normal-low operation
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// and the probing cycle modes for toward-workpiece/away-from-workpiece.
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void probe_configure_invert_mask(uint8_t is_probe_away)
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{
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probe_invert_mask = 0; // Initialize as zero.
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if (bit_isfalse(settings.flags,BITFLAG_INVERT_PROBE_PIN)) { probe_invert_mask ^= PROBE_MASK; }
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if (is_probe_away) { probe_invert_mask ^= PROBE_MASK; }
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}
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// Returns the probe pin state. Triggered = true. Called by gcode parser and probe state monitor.
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uint8_t probe_get_state() { return((PROBE_PIN & PROBE_MASK) ^ probe_invert_mask); }
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// Monitors probe pin state and records the system position when detected. Called by the
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// stepper ISR per ISR tick.
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// NOTE: This function must be extremely efficient as to not bog down the stepper ISR.
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void probe_state_monitor()
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{
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if (sys.probe_state == PROBE_ACTIVE) {
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if (probe_get_state()) {
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sys.probe_state = PROBE_OFF;
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memcpy(sys.probe_position, sys.position, sizeof(float)*N_AXIS);
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bit_true(sys.rt_exec_state, EXEC_MOTION_CANCEL);
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}
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}
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}
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