kopia lustrzana https://github.com/Schildkroet/GRBL-Advanced
85 wiersze
2.5 KiB
C
85 wiersze
2.5 KiB
C
/*
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Probe.c - code pertaining to probing methods
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Part of Grbl-Advanced
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Copyright (c) 2014-2016 Sungeun K. Jeon for Gnea Research LLC
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Copyright (c) 2017 Patrick F.
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Grbl-Advanced 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-Advanced 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-Advanced. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <string.h>
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#include "Probe.h"
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#include "Settings.h"
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#include "System.h"
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#include "GPIO.h"
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// Inverts the probe pin state depending on user settings and probing cycle mode.
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static uint8_t probe_invert_mask;
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// Probe pin initialization routine.
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void Probe_Init(void)
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{
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GPIO_InitGPIO(GPIO_PROBE);
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Probe_ConfigureInvertMask(false); // Initialize invert mask.*/
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}
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void Probe_Reset(void)
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{
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// Clear probe position.
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memset(sys_probe_position, 0 , sizeof(sys_probe_position));
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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_ConfigureInvertMask(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_IS_FALSE(settings.flags, BITFLAG_INVERT_PROBE_PIN))
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{
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probe_invert_mask ^= 1;
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}
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if(is_probe_away)
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{
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probe_invert_mask ^= 1;
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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_GetState(void)
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{
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return (GPIO_ReadInputDataBit(GPIO_PROBE_PORT, GPIO_PROBE_PIN) ^ 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_StateMonitor(void)
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{
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if(Probe_GetState())
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{
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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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