71 lines
2.2 KiB
C
71 lines
2.2 KiB
C
/*
|
|
probe.c - code pertaining to probing methods
|
|
Part of Grbl v0.9
|
|
|
|
Copyright (c) 2014 Sungeun K. Jeon
|
|
|
|
Grbl 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.
|
|
|
|
Grbl 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 Grbl. If not, see <http://www.gnu.org/licenses/>.
|
|
*/
|
|
|
|
#include "system.h"
|
|
#include "settings.h"
|
|
#include "probe.h"
|
|
|
|
// Inverts the probe pin state depending on user settings.
|
|
uint8_t probe_invert_mask;
|
|
|
|
|
|
// Probe pin initialization routine.
|
|
void probe_init()
|
|
{
|
|
PROBE_DDR &= ~(PROBE_MASK); // Configure as input pins
|
|
if (bit_istrue(settings.flags,BITFLAG_INVERT_PROBE_PIN)) {
|
|
PROBE_PORT &= ~(PROBE_MASK); // Normal low operation. Requires external pull-down.
|
|
probe_invert_mask = 0;
|
|
} else {
|
|
PROBE_PORT |= PROBE_MASK; // Enable internal pull-up resistors. Normal high operation.
|
|
probe_invert_mask = PROBE_MASK;
|
|
}
|
|
}
|
|
|
|
|
|
// Returns the probe pin state. Triggered = true. Called by gcode parser and probe state monitor.
|
|
uint8_t probe_get_state(uint8_t mode) {
|
|
mode = ((mode >> PROBE_AWAY_BIT) & 1) << PROBE_BIT;
|
|
return mode ^ ((PROBE_PIN & PROBE_MASK) ^ probe_invert_mask);
|
|
}
|
|
|
|
uint8_t probe_errors_enabled(uint8_t mode) {
|
|
return !(mode & PROBE_NO_ERROR);
|
|
}
|
|
|
|
void probe_finalize(uint8_t probe_succeeded) {
|
|
sys.probe_state = PROBE_OFF;
|
|
sys.probe_succeeded = probe_succeeded;
|
|
memcpy(sys.probe_position, sys.position, sizeof(float)*N_AXIS);
|
|
bit_true(sys.execute, EXEC_FEED_HOLD);
|
|
}
|
|
|
|
// Monitors probe pin state and records the system position when detected. Called by the
|
|
// stepper ISR per ISR tick.
|
|
// NOTE: This function must be extremely efficient as to not bog down the stepper ISR.
|
|
void probe_state_monitor()
|
|
{
|
|
if (sys.probe_state != PROBE_OFF) {
|
|
if (probe_get_state(sys.probe_state)) {
|
|
probe_finalize(1);
|
|
}
|
|
}
|
|
}
|