Diff: grbl/probe.c

Revision:

0:f1834a63f7c1

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/grbl/probe.c	Mon Sep 04 12:03:42 2017 +0000
@@ -0,0 +1,91 @@
+/*
+  probe.c - code pertaining to probing methods
+  Part of Grbl
+
+  Copyright (c) 2014-2016 Sungeun K. Jeon for Gnea Research LLC
+
+  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 "grbl.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()
+{
+#ifdef AVRTARGET
+  PROBE_DDR &= ~(PROBE_MASK); // Configure as input pins
+  #ifdef DISABLE_PROBE_PIN_PULL_UP
+    PROBE_PORT &= ~(PROBE_MASK); // Normal low operation. Requires external pull-down.
+  #else
+    PROBE_PORT |= PROBE_MASK;    // Enable internal pull-up resistors. Normal high operation.
+  #endif
+#endif
+#ifdef STM32F103C8
+	GPIO_InitTypeDef GPIO_InitStructure;
+	RCC_APB2PeriphClockCmd(RCC_PROBE_PORT, ENABLE);
+	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
+#ifdef DISABLE_PROBE_PIN_PULL_UP
+	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
+#else
+	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
+#endif
+	GPIO_InitStructure.GPIO_Pin = PROBE_MASK;
+	GPIO_Init(PROBE_PORT, &GPIO_InitStructure);
+#endif
+  probe_configure_invert_mask(false); // Initialize invert mask.
+}
+
+
+// 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() 
+{ 
+#ifdef AVRTARGET
+	return((PROBE_PIN & PROBE_MASK) ^ probe_invert_mask); 
+#endif
+#ifdef WIN32
+	return 0;
+#endif
+#ifdef STM32F103C8
+	return ((GPIO_ReadInputData(PROBE_PORT) & PROBE_MASK) ^ probe_invert_mask) != 0;
+#endif
+}
+
+
+// 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 (probe_get_state()) {
+    sys_probe_state = PROBE_OFF;
+    memcpy(sys_probe_position, sys_position, sizeof(sys_position));
+    bit_true(sys_rt_exec_state, EXEC_MOTION_CANCEL);
+  }
+}