static stat_t _verify_position(int8_t axis)
{
// abort if we aren't in the expected position (e.g. due to a user-initiated feedhold)
if (fp_NE(cm_get_absolute_position(MODEL, axis), hm.target_position)) {
_set_homing_func(_homing_abort);
return STAT_EAGAIN;
}
return STAT_OK;
}
static uint8_t _probing_init()
{
// so optimistic... ;)
// NOTE: it is *not* an error condition for the probe not to trigger.
// it is an error for the limit or homing switches to fire, or for some other configuration error.
cm.probe_state = PROBE_FAILED;
cm.machine_state = MACHINE_CYCLE;
cm.cycle_state = CYCLE_PROBE;
// save relevant non-axis parameters from Gcode model
pb.saved_coord_system = cm_get_coord_system(ACTIVE_MODEL);
pb.saved_distance_mode = cm_get_distance_mode(ACTIVE_MODEL);
// set working values
cm_set_distance_mode(ABSOLUTE_MODE);
cm_set_coord_system(ABSOLUTE_COORDS); // probing is done in machine coordinates
// initialize the axes - save the jerk settings & switch to the jerk_homing settings
for( uint8_t axis=0; axis<AXES; axis++ ) {
pb.saved_jerk[axis] = cm_get_axis_jerk(axis); // save the max jerk value
cm_set_axis_jerk(axis, cm.a[axis].jerk_high); // use the high-speed jerk for probe
pb.start_position[axis] = cm_get_absolute_position(ACTIVE_MODEL, axis);
}
// error if the probe target is too close to the current position
if (get_axis_vector_length(pb.start_position, pb.target) < MINIMUM_PROBE_TRAVEL) {
_probing_error_exit(-2);
}
// error if the probe target requires a move along the A/B/C axes
for ( uint8_t axis=AXIS_A; axis<AXES; axis++ ) {
if (fp_NE(pb.start_position[axis], pb.target[axis])) {
_probing_error_exit(axis);
}
}
// initialize the probe switch
// Get the probe input
// TODO -- for now we hard code it to zmin
pb.probe_input = 5;
// Set the input into probing mode
gpio_set_probing_mode(pb.probe_input, true);
cm_spindle_control(SPINDLE_OFF);
return (_set_pb_func(_probing_start)); // start the move
}
stat_t write_persistent_value(nvObj_t *nv)
{
if (cm.cycle_state != CYCLE_OFF)
return(rpt_exception(STAT_FILE_NOT_OPEN)); // can't write when machine is moving
/* not needed
if (nv->valuetype == TYPE_FLOAT) {
if (isnan((double)nv->value)) return(rpt_exception(STAT_FLOAT_IS_NAN)); // bad floating point value
if (isinf((double)nv->value)) return(rpt_exception(STAT_FLOAT_IS_INFINITE));// bad floating point value
}
*/
nvm.tmp_value = nv->value;
ritorno(read_persistent_value(nv));
if ((isnan((double)nv->value)) || (isinf((double)nv->value)) || (fp_NE(nv->value, nvm.tmp_value))) {
memcpy(&nvm.byte_array, &nvm.tmp_value, NVM_VALUE_LEN);
nvm.address = nvm.profile_base + (nv->index * NVM_VALUE_LEN);
(void)EEPROM_WriteBytes(nvm.address, nvm.byte_array, NVM_VALUE_LEN);
}
nv->value =nvm.tmp_value; // always restore value
return (STAT_OK);
}
