9be7b3d930
- Rudimentary CoreXY kinematics support. Didn’t test, but homing and feed holds should work. See config.h. Please report successes and issues as we find bugs. - G40 (disable cutter comp) is now “supported”. Meaning that Grbl will no longer issue an error when typically sent in g-code program header. - Refactored coolant and spindle state setting into separate functions for future features. - Configuration option for fixing homing behavior when there are two limit switches on the same axis sharing an input pin. - Created a new “grbl.h” that will eventually be used as the main include file for Grbl. Also will help simply uploading through the Arduino IDE - Separated out the alarms execution flags from the realtime (used be called runtime) execution flag variable. Now reports exactly what caused the alarm. Expandable for new alarms later on. - Refactored the homing cycle to support CoreXY. - Applied @EliteEng updates to Mega2560 support. Some pins were reconfigured. - Created a central step to position and vice versa function. Needed for non-traditional cartesian machines. Should make it easier later. - Removed the new CPU map for the Uno. No longer going to used. There will be only one configuration to keep things uniform.
70 lines
2.5 KiB
C
70 lines
2.5 KiB
C
/*
|
|
probe.c - code pertaining to probing methods
|
|
Part of Grbl v0.9
|
|
|
|
Copyright (c) 2014-2015 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 and probing cycle mode.
|
|
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.
|
|
} else {
|
|
PROBE_PORT |= PROBE_MASK; // Enable internal pull-up resistors. Normal high operation.
|
|
}
|
|
// probe_configure_invert_mask(false); // Initialize invert mask. Not required. Updated when in-use.
|
|
}
|
|
|
|
|
|
// Called by probe_init() and the mc_probe() routines. Sets up the probe pin invert mask to
|
|
// appropriately set the pin logic according to setting for normal-high/normal-low operation
|
|
// and the probing cycle modes for toward-workpiece/away-from-workpiece.
|
|
void probe_configure_invert_mask(uint8_t is_probe_away)
|
|
{
|
|
probe_invert_mask = 0; // Initialize as zero.
|
|
if (bit_isfalse(settings.flags,BITFLAG_INVERT_PROBE_PIN)) { probe_invert_mask ^= PROBE_MASK; }
|
|
if (is_probe_away) { 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() { return((PROBE_PIN & PROBE_MASK) ^ probe_invert_mask); }
|
|
|
|
|
|
// 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_ACTIVE) {
|
|
if (probe_get_state()) {
|
|
sys.probe_state = PROBE_OFF;
|
|
memcpy(sys.probe_position, sys.position, sizeof(float)*N_AXIS);
|
|
bit_true(sys.rt_exec_state, EXEC_FEED_HOLD);
|
|
}
|
|
}
|
|
}
|