Sergey Pastor / grbl1

grbl/probe.c@0:8f0d870509fe, 2017-09-04 (annotated)

Committer:
Sergunb
Date:
Mon Sep 04 12:04:13 2017 +0000
Revision:
0:8f0d870509fe
Initial commit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Sergunb 0:8f0d870509fe 1 /*
Sergunb 0:8f0d870509fe 2 probe.c - code pertaining to probing methods
Sergunb 0:8f0d870509fe 3 Part of Grbl
Sergunb 0:8f0d870509fe 4
Sergunb 0:8f0d870509fe 5 Copyright (c) 2014-2016 Sungeun K. Jeon for Gnea Research LLC
Sergunb 0:8f0d870509fe 6
Sergunb 0:8f0d870509fe 7 Grbl is free software: you can redistribute it and/or modify
Sergunb 0:8f0d870509fe 8 it under the terms of the GNU General Public License as published by
Sergunb 0:8f0d870509fe 9 the Free Software Foundation, either version 3 of the License, or
Sergunb 0:8f0d870509fe 10 (at your option) any later version.
Sergunb 0:8f0d870509fe 11
Sergunb 0:8f0d870509fe 12 Grbl is distributed in the hope that it will be useful,
Sergunb 0:8f0d870509fe 13 but WITHOUT ANY WARRANTY; without even the implied warranty of
Sergunb 0:8f0d870509fe 14 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
Sergunb 0:8f0d870509fe 15 GNU General Public License for more details.
Sergunb 0:8f0d870509fe 16
Sergunb 0:8f0d870509fe 17 You should have received a copy of the GNU General Public License
Sergunb 0:8f0d870509fe 18 along with Grbl. If not, see <http://www.gnu.org/licenses/>.
Sergunb 0:8f0d870509fe 19 */
Sergunb 0:8f0d870509fe 20
Sergunb 0:8f0d870509fe 21 #include "grbl.h"
Sergunb 0:8f0d870509fe 22
Sergunb 0:8f0d870509fe 23
Sergunb 0:8f0d870509fe 24 // Inverts the probe pin state depending on user settings and probing cycle mode.
Sergunb 0:8f0d870509fe 25 uint8_t probe_invert_mask;
Sergunb 0:8f0d870509fe 26
Sergunb 0:8f0d870509fe 27
Sergunb 0:8f0d870509fe 28 // Probe pin initialization routine.
Sergunb 0:8f0d870509fe 29 void probe_init()
Sergunb 0:8f0d870509fe 30 {
Sergunb 0:8f0d870509fe 31 #ifdef AVRTARGET
Sergunb 0:8f0d870509fe 32 PROBE_DDR &= ~(PROBE_MASK); // Configure as input pins
Sergunb 0:8f0d870509fe 33 #ifdef DISABLE_PROBE_PIN_PULL_UP
Sergunb 0:8f0d870509fe 34 PROBE_PORT &= ~(PROBE_MASK); // Normal low operation. Requires external pull-down.
Sergunb 0:8f0d870509fe 35 #else
Sergunb 0:8f0d870509fe 36 PROBE_PORT |= PROBE_MASK; // Enable internal pull-up resistors. Normal high operation.
Sergunb 0:8f0d870509fe 37 #endif
Sergunb 0:8f0d870509fe 38 #endif
Sergunb 0:8f0d870509fe 39 #ifdef STM32F103C8
Sergunb 0:8f0d870509fe 40 GPIO_InitTypeDef GPIO_InitStructure;
Sergunb 0:8f0d870509fe 41 RCC_APB2PeriphClockCmd(RCC_PROBE_PORT, ENABLE);
Sergunb 0:8f0d870509fe 42 GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
Sergunb 0:8f0d870509fe 43 #ifdef DISABLE_PROBE_PIN_PULL_UP
Sergunb 0:8f0d870509fe 44 GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
Sergunb 0:8f0d870509fe 45 #else
Sergunb 0:8f0d870509fe 46 GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
Sergunb 0:8f0d870509fe 47 #endif
Sergunb 0:8f0d870509fe 48 GPIO_InitStructure.GPIO_Pin = PROBE_MASK;
Sergunb 0:8f0d870509fe 49 GPIO_Init(PROBE_PORT, &GPIO_InitStructure);
Sergunb 0:8f0d870509fe 50 #endif
Sergunb 0:8f0d870509fe 51 probe_configure_invert_mask(false); // Initialize invert mask.
Sergunb 0:8f0d870509fe 52 }
Sergunb 0:8f0d870509fe 53
Sergunb 0:8f0d870509fe 54
Sergunb 0:8f0d870509fe 55 // Called by probe_init() and the mc_probe() routines. Sets up the probe pin invert mask to
Sergunb 0:8f0d870509fe 56 // appropriately set the pin logic according to setting for normal-high/normal-low operation
Sergunb 0:8f0d870509fe 57 // and the probing cycle modes for toward-workpiece/away-from-workpiece.
Sergunb 0:8f0d870509fe 58 void probe_configure_invert_mask(uint8_t is_probe_away)
Sergunb 0:8f0d870509fe 59 {
Sergunb 0:8f0d870509fe 60 probe_invert_mask = 0; // Initialize as zero.
Sergunb 0:8f0d870509fe 61 if (bit_isfalse(settings.flags,BITFLAG_INVERT_PROBE_PIN)) { probe_invert_mask ^= PROBE_MASK; }
Sergunb 0:8f0d870509fe 62 if (is_probe_away) { probe_invert_mask ^= PROBE_MASK; }
Sergunb 0:8f0d870509fe 63 }
Sergunb 0:8f0d870509fe 64
Sergunb 0:8f0d870509fe 65
Sergunb 0:8f0d870509fe 66 // Returns the probe pin state. Triggered = true. Called by gcode parser and probe state monitor.
Sergunb 0:8f0d870509fe 67 uint8_t probe_get_state()
Sergunb 0:8f0d870509fe 68 {
Sergunb 0:8f0d870509fe 69 #ifdef AVRTARGET
Sergunb 0:8f0d870509fe 70 return((PROBE_PIN & PROBE_MASK) ^ probe_invert_mask);
Sergunb 0:8f0d870509fe 71 #endif
Sergunb 0:8f0d870509fe 72 #ifdef WIN32
Sergunb 0:8f0d870509fe 73 return 0;
Sergunb 0:8f0d870509fe 74 #endif
Sergunb 0:8f0d870509fe 75 #ifdef STM32F103C8
Sergunb 0:8f0d870509fe 76 return ((GPIO_ReadInputData(PROBE_PORT) & PROBE_MASK) ^ probe_invert_mask) != 0;
Sergunb 0:8f0d870509fe 77 #endif
Sergunb 0:8f0d870509fe 78 }
Sergunb 0:8f0d870509fe 79
Sergunb 0:8f0d870509fe 80
Sergunb 0:8f0d870509fe 81 // Monitors probe pin state and records the system position when detected. Called by the
Sergunb 0:8f0d870509fe 82 // stepper ISR per ISR tick.
Sergunb 0:8f0d870509fe 83 // NOTE: This function must be extremely efficient as to not bog down the stepper ISR.
Sergunb 0:8f0d870509fe 84 void probe_state_monitor()
Sergunb 0:8f0d870509fe 85 {
Sergunb 0:8f0d870509fe 86 if (probe_get_state()) {
Sergunb 0:8f0d870509fe 87 sys_probe_state = PROBE_OFF;
Sergunb 0:8f0d870509fe 88 memcpy(sys_probe_position, sys_position, sizeof(sys_position));
Sergunb 0:8f0d870509fe 89 bit_true(sys_rt_exec_state, EXEC_MOTION_CANCEL);
Sergunb 0:8f0d870509fe 90 }
Sergunb 0:8f0d870509fe 91 }