79 lines
2.4 KiB
C++
79 lines
2.4 KiB
C++
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/*
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probe.c - code pertaining to probing methods
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Part of Grbl
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Copyright (c) 2014-2016 Sungeun K. Jeon for Gnea Research LLC
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2018 - Bart Dring This file was modifed for use on the ESP32
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CPU. Do not use this with Grbl for atMega328P
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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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#ifdef PROBE_PIN
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#ifdef DISABLE_PROBE_PIN_PULL_UP
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pinMode(PROBE_PIN, INPUT);
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#else
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pinMode(PROBE_PIN, INPUT_PULLUP); // 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.
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#endif
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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()
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{
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#ifdef PROBE_PIN
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return((digitalRead(PROBE_PIN)) ^ probe_invert_mask);
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#else
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return false;
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#endif
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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 (probe_get_state()) {
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sys_probe_state = PROBE_OFF;
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memcpy(sys_probe_position, sys_position, sizeof(sys_position));
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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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