static int8_t _get_next_axis(int8_t axis) { if (axis == -1) { // inelegant brute force solution if (fp_TRUE(gf.target[AXIS_Z])) return (AXIS_Z); if (fp_TRUE(gf.target[AXIS_X])) return (AXIS_X); if (fp_TRUE(gf.target[AXIS_Y])) return (AXIS_Y); if (fp_TRUE(gf.target[AXIS_A])) return (AXIS_A); // if (fp_TRUE(gf.target[AXIS_B])) return (AXIS_B); // if (fp_TRUE(gf.target[AXIS_C])) return (AXIS_C); return (-2); // error } else if (axis == AXIS_Z) { if (fp_TRUE(gf.target[AXIS_X])) return (AXIS_X); if (fp_TRUE(gf.target[AXIS_Y])) return (AXIS_Y); if (fp_TRUE(gf.target[AXIS_A])) return (AXIS_A); // if (fp_TRUE(gf.target[AXIS_B])) return (AXIS_B); // if (fp_TRUE(gf.target[AXIS_C])) return (AXIS_C); } else if (axis == AXIS_X) { if (fp_TRUE(gf.target[AXIS_Y])) return (AXIS_Y); if (fp_TRUE(gf.target[AXIS_A])) return (AXIS_A); // if (fp_TRUE(gf.target[AXIS_B])) return (AXIS_B); // if (fp_TRUE(gf.target[AXIS_C])) return (AXIS_C); } else if (axis == AXIS_Y) { if (fp_TRUE(gf.target[AXIS_A])) return (AXIS_A); // if (fp_TRUE(gf.target[AXIS_B])) return (AXIS_B); // if (fp_TRUE(gf.target[AXIS_C])) return (AXIS_C); // } else if (axis == AXIS_A) { // if (fp_TRUE(gf.target[AXIS_B])) return (AXIS_B); // if (fp_TRUE(gf.target[AXIS_C])) return (AXIS_C); // } else if (axis == AXIS_B) { // if (fp_TRUE(gf.target[AXIS_C])) return (AXIS_C); } return (-1); // done }
static stat_t _probing_finish() { int8_t probe = gpio_read_input(pb.probe_input); cm.probe_state = (probe==true) ? PROBE_SUCCEEDED : PROBE_FAILED; for (uint8_t axis=0; axis<AXES; axis++ ) { // if we got here because of a feed hold we need to keep the model position correct cm_set_position(axis, cm_get_work_position(RUNTIME, axis)); // store the probe results cm.probe_results[axis] = cm_get_absolute_position(ACTIVE_MODEL, axis); } // If probe was successful the 'e' word == 1, otherwise e == 0 to signal an error printf_P(PSTR("{\"prb\":{\"e\":%i"), (int)cm.probe_state); if (fp_TRUE(pb.flags[AXIS_X])) printf_P(PSTR(",\"x\":%0.3f"), cm.probe_results[AXIS_X]); if (fp_TRUE(pb.flags[AXIS_Y])) printf_P(PSTR(",\"y\":%0.3f"), cm.probe_results[AXIS_Y]); if (fp_TRUE(pb.flags[AXIS_Z])) printf_P(PSTR(",\"z\":%0.3f"), cm.probe_results[AXIS_Z]); if (fp_TRUE(pb.flags[AXIS_A])) printf_P(PSTR(",\"a\":%0.3f"), cm.probe_results[AXIS_A]); if (fp_TRUE(pb.flags[AXIS_B])) printf_P(PSTR(",\"b\":%0.3f"), cm.probe_results[AXIS_B]); if (fp_TRUE(pb.flags[AXIS_C])) printf_P(PSTR(",\"c\":%0.3f"), cm.probe_results[AXIS_C]); printf_P(PSTR("}}\n")); return (_set_pb_func(_probing_finalize_exit)); }
static uint8_t _probing_init() { float start_position[AXES]; // 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 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(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(start_position[axis], pb.target[axis])) { // old style if (fp_TRUE(pb.flags[axis])) { // if (pb.flags[axis]) { // will reduce to this once flags are booleans _probing_error_exit(axis); } } // initialize the probe switch pb.probe_input = 5; // TODO -- for now we hard code it to zmin gpio_set_probing_mode(pb.probe_input, true); // turn off spindle and start the move cm_spindle_optional_pause(true); // pause the spindle if it's on return (_set_pb_func(_probing_start)); // start the probe move }