62 lines
2.0 KiB
C
62 lines
2.0 KiB
C
/*
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probe.c - code pertaining to probing methods
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Part of Grbl v0.9
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Copyright (c) 2014 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 "system.h"
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#include "settings.h"
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#include "probe.h"
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// Inverts the probe pin state depending on user settings.
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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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if (bit_istrue(settings.flags,BITFLAG_INVERT_PROBE_PIN)) {
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PROBE_PORT &= ~(PROBE_MASK); // Normal low operation. Requires external pull-down.
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probe_invert_mask = 0;
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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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probe_invert_mask = PROBE_MASK;
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}
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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(uint8_t mode) {
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mode = ((mode >> PROBE_AWAY_BIT) & 1) << PROBE_BIT;
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return mode ^ ((PROBE_PIN & PROBE_MASK) ^ probe_invert_mask);
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}
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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_OFF) {
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if (probe_get_state(sys.probe_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.execute, EXEC_FEED_HOLD);
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}
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}
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}
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