diff options
Diffstat (limited to 'src/Platform.cpp')
| -rw-r--r-- | src/Platform.cpp | 362 |
1 files changed, 155 insertions, 207 deletions
diff --git a/src/Platform.cpp b/src/Platform.cpp index 95ca1edf..dbcb6f22 100644 --- a/src/Platform.cpp +++ b/src/Platform.cpp @@ -20,17 +20,13 @@ ****************************************************************************************************/ #include "RepRapFirmware.h" -#include "DueFlashStorage.h" #include "sam/drivers/tc/tc.h" #include "sam/drivers/hsmci/hsmci.h" #include "sd_mmc.h" -#if defined(DUET_NG) -# include "TMC2660.h" -#endif - #ifdef DUET_NG +# include "TMC2660.h" # include "FirmwareUpdater.h" #endif @@ -69,6 +65,8 @@ uint32_t nextInterruptScheduledAt = 0; uint32_t lastInterruptTime = 0; #endif +// Global functions + // Urgent initialisation function // This is called before general init has been done, and before constructors for C++ static data have been called. // Therefore, be very careful what you do here! @@ -115,26 +113,51 @@ extern "C" reprap.Tick(); return 0; } + + void NMI_Handler () { reprap.GetPlatform()->SoftwareReset((uint16_t)SoftwareResetReason::NMI); } + void HardFault_Handler () { reprap.GetPlatform()->SoftwareReset((uint16_t)SoftwareResetReason::hardFault); } + void MemManage_Handler () { reprap.GetPlatform()->SoftwareReset((uint16_t)SoftwareResetReason::memManage); } + void BusFault_Handler () { reprap.GetPlatform()->SoftwareReset((uint16_t)SoftwareResetReason::busFault); } + void UsageFault_Handler () { reprap.GetPlatform()->SoftwareReset((uint16_t)SoftwareResetReason::usageFault); } + void SVC_Handler () { reprap.GetPlatform()->SoftwareReset((uint16_t)SoftwareResetReason::otherFault); } + void DebugMon_Handler () { reprap.GetPlatform()->SoftwareReset((uint16_t)SoftwareResetReason::otherFault); } + void PendSV_Handler () { reprap.GetPlatform()->SoftwareReset((uint16_t)SoftwareResetReason::otherFault); } } -//************************************************************************************************* -// PidParameters class -bool PidParameters::UsePID() const + +// ZProbeParameters class + +void ZProbeParameters::Init(float h) +{ + adcValue = Z_PROBE_AD_VALUE; + xOffset = yOffset = 0.0; + height = h; + calibTemperature = 20.0; + temperatureCoefficient = 0.0; // no default temperature correction + diveHeight = DEFAULT_Z_DIVE; + probeSpeed = DEFAULT_PROBE_SPEED; + travelSpeed = DEFAULT_TRAVEL_SPEED; + recoveryTime = extraParam = 0.0; + invertReading = false; +} + +float ZProbeParameters::GetStopHeight(float temperature) const { - return kP >= 0; + return ((temperature - calibTemperature) * temperatureCoefficient) + height; } -bool PidParameters::operator==(const PidParameters& other) const +bool ZProbeParameters::WriteParameters(FileStore *f, unsigned int probeType) const { - return kI == other.kI && kD == other.kD && kP == other.kP && kT == other.kT && kS == other.kS; + scratchString.printf("G31 T%u P%d X%.1f Y%.1f Z%.2f\n", probeType, adcValue, xOffset, yOffset, height); + return f->Write(scratchString.Pointer()); } //************************************************************************************************* // Platform class Platform::Platform() : - autoSaveEnabled(false), board(DEFAULT_BOARD_TYPE), active(false), errorCodeBits(0), + board(DEFAULT_BOARD_TYPE), active(false), errorCodeBits(0), auxGCodeReply(nullptr), fileStructureInitialised(false), tickState(0), debugCode(0) { // Output @@ -165,7 +188,6 @@ void Platform::Init() realTime = 0; // Comms - baudRates[0] = MAIN_BAUD_RATE; baudRates[1] = AUX_BAUD_RATE; #if NUM_SERIAL_CHANNELS >= 2 @@ -186,9 +208,20 @@ void Platform::Init() SERIAL_AUX2_DEVICE.begin(baudRates[2]); #endif - static_assert(sizeof(FlashData) + sizeof(SoftwareResetData) <= FLASH_DATA_LENGTH, "NVData too large"); + compatibility = marlin; // default to Marlin because the common host programs expect the "OK" response to commands + ARRAY_INIT(ipAddress, IP_ADDRESS); + ARRAY_INIT(netMask, NET_MASK); + ARRAY_INIT(gateWay, GATE_WAY); + +#ifdef DUET_NG + memset(macAddress, 0xFF, sizeof(macAddress)); +#else + ARRAY_INIT(macAddress, MAC_ADDRESS); +#endif - ResetNvData(); + zProbeType = 0; // Default is to use no Z probe switch + zProbeAxes = Z_PROBE_AXES; + SetZProbeDefaults(); // We need to initialise at least some of the time stuff before we call MassStorage::Init() addToTime = 0.0; @@ -218,7 +251,7 @@ void Platform::Init() ARRAY_INIT(driveStepsPerUnit, DRIVE_STEPS_PER_UNIT); ARRAY_INIT(instantDvs, INSTANT_DVS); -#if !defined(DUET_NG) && !defined(RADDS) +#if !defined(DUET_NG) && !defined(__RADDS__) // Motor current setting on Duet 0.6 and 0.8.5 ARRAY_INIT(potWipes, POT_WIPES); senseResistor = SENSE_RESISTOR; @@ -403,12 +436,14 @@ void Platform::Init() #endif // MCU temperature and power monitoring +#ifndef __RADDS__ temperatureAdcChannel = GetTemperatureAdcChannel(); AnalogInEnableChannel(temperatureAdcChannel, true); currentMcuTemperature = highestMcuTemperature = 0; lowestMcuTemperature = 4095; - mcuTemperatureAdjust = 0.0; mcuAlarmTemperature = 80.0; // need to set the quite high here because the sensor is not be calibrated yet +#endif + mcuTemperatureAdjust = 0.0; #ifdef DUET_NG vInMonitorAdcChannel = PinToAdcChannel(PowerMonitorVinDetectPin); @@ -471,6 +506,13 @@ int Platform::GetThermistorNumber(size_t heater) const return heaterTempChannels[heater]; } +void Platform::SetZProbeDefaults() +{ + switchZProbeParameters.Init(0.0); + irZProbeParameters.Init(Z_PROBE_STOP_HEIGHT); + alternateZProbeParameters.Init(Z_PROBE_STOP_HEIGHT); +} + void Platform::InitZProbe() { zProbeOnFilter.Init(0); @@ -482,7 +524,7 @@ void Platform::InitZProbe() zProbeModulationPin = (board == BoardType::Duet_07 || board == BoardType::Duet_085) ? Z_PROBE_MOD_PIN07 : Z_PROBE_MOD_PIN; #endif - switch (nvData.zProbeType) + switch (zProbeType) { case 1: case 2: @@ -524,12 +566,12 @@ void Platform::InitZProbe() // Return the Z probe data. // The ADC readings are 12 bits, so we convert them to 10-bit readings for compatibility with the old firmware. -int Platform::ZProbe() const +int Platform::GetZProbeReading() const { int zProbeVal = 0; // initialised to avoid spurious compiler warning if (zProbeOnFilter.IsValid() && zProbeOffFilter.IsValid()) { - switch (nvData.zProbeType) + switch (zProbeType) { case 1: // Simple or intelligent IR sensor case 3: // Alternate sensor @@ -554,7 +596,7 @@ int Platform::ZProbe() const } } - return (GetZProbeParameters().invertReading) ? 1000 - zProbeVal : zProbeVal; + return (GetCurrentZProbeParameters().invertReading) ? 1000 - zProbeVal : zProbeVal; } // Return the Z probe secondary values. @@ -562,7 +604,7 @@ int Platform::GetZProbeSecondaryValues(int& v1, int& v2) { if (zProbeOnFilter.IsValid() && zProbeOffFilter.IsValid()) { - switch (nvData.zProbeType) + switch (zProbeType) { case 2: // modulated IR sensor v1 = (int) (zProbeOnFilter.GetSum() / (4 * Z_PROBE_AVERAGE_READINGS)); // pass back the reading with IR turned on @@ -574,18 +616,9 @@ int Platform::GetZProbeSecondaryValues(int& v1, int& v2) return 0; } -int Platform::GetZProbeType() const -{ - return nvData.zProbeType; -} - void Platform::SetZProbeAxes(uint32_t axes) { - nvData.zProbeAxes = axes; - if (autoSaveEnabled) - { - WriteNvData(); - } + zProbeAxes = axes; } // Get our best estimate of the Z probe temperature @@ -606,87 +639,77 @@ float Platform::GetZProbeTemperature() float Platform::ZProbeStopHeight() { - return GetZProbeParameters().GetStopHeight(GetZProbeTemperature()); + return GetCurrentZProbeParameters().GetStopHeight(GetZProbeTemperature()); } float Platform::GetZProbeDiveHeight() const { - return GetZProbeParameters().diveHeight; + return GetCurrentZProbeParameters().diveHeight; +} + +float Platform::GetZProbeStartingHeight() +{ + const ZProbeParameters& params = GetCurrentZProbeParameters(); + return params.diveHeight + max<float>(params.GetStopHeight(GetZProbeTemperature()), 0.0); } float Platform::GetZProbeTravelSpeed() const { - return GetZProbeParameters().travelSpeed; + return GetCurrentZProbeParameters().travelSpeed; } void Platform::SetZProbeType(int pt) { - int newZProbeType = (pt >= 0 && pt <= 7) ? pt : 0; - if (newZProbeType != nvData.zProbeType) - { - nvData.zProbeType = newZProbeType; - if (autoSaveEnabled) - { - WriteNvData(); - } - } + zProbeType = (pt >= 0 && pt <= 7) ? pt : 0; InitZProbe(); } -const ZProbeParameters& Platform::GetZProbeParameters() const +const ZProbeParameters& Platform::GetZProbeParameters(int32_t probeType) const { - switch (nvData.zProbeType) + switch (probeType) { case 1: case 2: - return nvData.irZProbeParameters; + case 5: + return irZProbeParameters; case 3: case 7: - return nvData.alternateZProbeParameters; + return alternateZProbeParameters; case 4: - case 5: case 6: default: - return nvData.switchZProbeParameters; + return switchZProbeParameters; } } -void Platform::SetZProbeParameters(const ZProbeParameters& params) +void Platform::SetZProbeParameters(int32_t probeType, const ZProbeParameters& params) { - if (GetZProbeParameters() != params) + switch (probeType) { - switch (nvData.zProbeType) - { - case 1: - case 2: - nvData.irZProbeParameters = params; - break; - - case 3: - case 7: - nvData.alternateZProbeParameters = params; - break; + case 1: + case 2: + case 5: + irZProbeParameters = params; + break; - case 4: - case 5: - case 6: - default: - nvData.switchZProbeParameters = params; - break; - } + case 3: + case 7: + alternateZProbeParameters = params; + break; - if (autoSaveEnabled) - { - WriteNvData(); - } + case 4: + case 6: + default: + switchZProbeParameters = params; + break; } } // Return true if the specified point is accessible to the Z probe bool Platform::IsAccessibleProbePoint(float x, float y) const { - x -= GetZProbeParameters().xOffset; - y -= GetZProbeParameters().yOffset; + x -= GetCurrentZProbeParameters().xOffset; + y -= GetCurrentZProbeParameters().yOffset; return (reprap.GetMove()->IsDeltaMode()) ? x * x + y * y < reprap.GetMove()->GetDeltaParams().GetPrintRadiusSquared() : x >= axisMinima[X_AXIS] && y >= axisMinima[Y_AXIS] && x <= axisMaxima[X_AXIS] && y <= axisMaxima[Y_AXIS]; @@ -695,75 +718,7 @@ bool Platform::IsAccessibleProbePoint(float x, float y) const // Return true if we must home X and Y before we home Z (i.e. we are using a bed probe) bool Platform::MustHomeXYBeforeZ() const { - return (nvData.zProbeType != 0) && ((nvData.zProbeAxes & (1 << Z_AXIS)) != 0); -} - -void Platform::ResetNvData() -{ - nvData.compatibility = marlin; // default to Marlin because the common host programs expect the "OK" response to commands - ARRAY_INIT(nvData.ipAddress, IP_ADDRESS); - ARRAY_INIT(nvData.netMask, NET_MASK); - ARRAY_INIT(nvData.gateWay, GATE_WAY); - -#ifdef DUET_NG - memset(nvData.macAddress, 0xFF, sizeof(nvData.macAddress)); -#else - ARRAY_INIT(nvData.macAddress, MAC_ADDRESS); -#endif - - nvData.zProbeType = 0; // Default is to use no Z probe switch - nvData.zProbeAxes = Z_PROBE_AXES; - nvData.switchZProbeParameters.Init(0.0); - nvData.irZProbeParameters.Init(Z_PROBE_STOP_HEIGHT); - nvData.alternateZProbeParameters.Init(Z_PROBE_STOP_HEIGHT); - - for (size_t i = 0; i < HEATERS; ++i) - { - PidParameters& pp = nvData.pidParams[i]; - pp.kI = defaultPidKis[i]; - pp.kD = defaultPidKds[i]; - pp.kP = defaultPidKps[i]; - pp.kT = defaultPidKts[i]; - pp.kS = defaultPidKss[i]; - } - -#if FLASH_SAVE_ENABLED - nvData.magic = FlashData::magicValue; - nvData.version = FlashData::versionValue; -#endif -} - -void Platform::ReadNvData() -{ -#if FLASH_SAVE_ENABLED - DueFlashStorage::read(FlashData::nvAddress, &nvData, sizeof(nvData)); - if (nvData.magic != FlashData::magicValue || nvData.version != FlashData::versionValue) - { - // Nonvolatile data has not been initialized since the firmware was last written, so set up default values - ResetNvData(); - // No point in writing it back here - } -#else - Message(BOTH_ERROR_MESSAGE, "Cannot load non-volatile data, because Flash support has been disabled!\n"); -#endif -} - -void Platform::WriteNvData() -{ -#if FLASH_SAVE_ENABLED - DueFlashStorage::write(FlashData::nvAddress, &nvData, sizeof(nvData)); -#else - Message(BOTH_ERROR_MESSAGE, "Cannot write non-volatile data, because Flash support has been disabled!\n"); -#endif -} - -void Platform::SetAutoSave(bool enabled) -{ -#if FLASH_SAVE_ENABLED - autoSaveEnabled = enabled; -#else - Message(BOTH_ERROR_MESSAGE, "Cannot enable auto-save, because Flash support has been disabled!\n"); -#endif + return (zProbeType != 0) && ((zProbeAxes & (1 << Z_AXIS)) != 0); } // Check the prerequisites for updating the main firmware. Return True if satisfied, else print as message and return false. @@ -1011,7 +966,7 @@ void Platform::Exit() Compatibility Platform::Emulating() const { - return (nvData.compatibility == reprapFirmware) ? me : nvData.compatibility; + return (compatibility == reprapFirmware) ? me : compatibility; } void Platform::SetEmulating(Compatibility c) @@ -1025,46 +980,30 @@ void Platform::SetEmulating(Compatibility c) { c = me; } - if (c != nvData.compatibility) - { - nvData.compatibility = c; - if (autoSaveEnabled) - { - WriteNvData(); - } - } + compatibility = c; } void Platform::UpdateNetworkAddress(byte dst[4], const byte src[4]) { - bool changed = false; for (uint8_t i = 0; i < 4; i++) { - if (dst[i] != src[i]) - { - dst[i] = src[i]; - changed = true; - } - } - if (changed && autoSaveEnabled) - { - WriteNvData(); + dst[i] = src[i]; } } void Platform::SetIPAddress(byte ip[]) { - UpdateNetworkAddress(nvData.ipAddress, ip); + UpdateNetworkAddress(ipAddress, ip); } void Platform::SetGateWay(byte gw[]) { - UpdateNetworkAddress(nvData.gateWay, gw); + UpdateNetworkAddress(gateWay, gw); } void Platform::SetNetMask(byte nm[]) { - UpdateNetworkAddress(nvData.netMask, nm); + UpdateNetworkAddress(netMask, nm); } // Flush messages to USB and aux, returning true if there is more to send @@ -1165,6 +1104,7 @@ void Platform::Spin() } // Check the MCU max and min temperatures +#ifndef __RADDS__ if (currentMcuTemperature > highestMcuTemperature) { highestMcuTemperature= currentMcuTemperature; @@ -1173,6 +1113,7 @@ void Platform::Spin() { lowestMcuTemperature = currentMcuTemperature; } +#endif // Diagnostics test if (debugCode == (int)DiagnosticTestType::TestSpinLockup) @@ -1218,6 +1159,7 @@ void Platform::Spin() void Platform::SoftwareReset(uint16_t reason) { + wdt_restart(WDT); // kick the watchdog if (reason == (uint16_t)SoftwareResetReason::erase) { EraseAndReset(); @@ -1403,13 +1345,19 @@ void Platform::Diagnostics(MessageType mtype) // Show the up time and reason for the last reset const uint32_t now = (uint32_t)Time(); // get up time in seconds - const char* resetReasons[8] = { "power up", "backup", "watchdog", "software", "reset button", "?", "?", "?" }; + const char* resetReasons[8] = { "power up", "backup", "watchdog", "software", +#ifdef DUET_NG + // On the SAM4E a watchdog reset may be reported as a user reset because of the capacitor on the NRST pin + "reset button or watchdog", +#else + "reset button", +#endif + "?", "?", "?" }; MessageF(mtype, "Last reset %02d:%02d:%02d ago, cause: %s\n", (unsigned int)(now/3600), (unsigned int)((now % 3600)/60), (unsigned int)(now % 60), resetReasons[(REG_RSTC_SR & RSTC_SR_RSTTYP_Msk) >> RSTC_SR_RSTTYP_Pos]); // Show the reset code stored at the last software reset - Message(mtype, "Last software reset code & available RAM: "); { SoftwareResetData srdBuf[SoftwareResetData::numberOfSlots]; memset(srdBuf, 0, sizeof(srdBuf)); @@ -1429,9 +1377,10 @@ void Platform::Diagnostics(MessageType mtype) } } + Message(mtype, "Last software reset code: "); if (slot >= 0 && srdBuf[slot].magic == SoftwareResetData::magicValue) { - MessageF(mtype, "0x%04x, %u (slot %d)\n", srdBuf[slot].resetReason, srdBuf[slot].neverUsedRam, slot); + MessageF(mtype, "0x%04x, available RAM %u bytes (slot %d)\n", srdBuf[slot].resetReason, srdBuf[slot].neverUsedRam, slot); MessageF(mtype, "Spinning module during software reset: %s\n", moduleName[srdBuf[slot].resetReason & 0x0F]); } else @@ -1455,15 +1404,21 @@ void Platform::Diagnostics(MessageType mtype) MessageF(mtype, "Free file entries: %u\n", numFreeFiles); // Show the HSMCI CD pin and speed +#ifdef __RADDS__ + MessageF(mtype, "SD card 0 %s\n", (sd_mmc_card_detected(0) ? "detected" : "not detected")); +#else MessageF(mtype, "SD card 0 %s, interface speed: %.1fMBytes/sec\n", (sd_mmc_card_detected(0) ? "detected" : "not detected"), (float)hsmci_get_speed()/1000000.0); +#endif // Show the longest SD card write time MessageF(mtype, "SD card longest block write time: %.1fms\n", FileStore::GetAndClearLongestWriteTime()); +#ifndef __RADDS__ // Show the MCU temperatures MessageF(mtype, "MCU temperature: min %.1f, current %.1f, max %.1f\n", AdcReadingToCpuTemperature(lowestMcuTemperature), AdcReadingToCpuTemperature(currentMcuTemperature), AdcReadingToCpuTemperature(highestMcuTemperature)); lowestMcuTemperature = highestMcuTemperature = currentMcuTemperature; +#endif #ifdef DUET_NG // Show the supply voltage @@ -1683,25 +1638,7 @@ bool Platform::AnyHeaterHot(uint16_t heaters, float t) return false; } -// Update the heater PID parameters or thermistor resistance etc. -void Platform::SetPidParameters(size_t heater, const PidParameters& params) -{ - if (heater < HEATERS && params != nvData.pidParams[heater]) - { - nvData.pidParams[heater] = params; - if (autoSaveEnabled) - { - WriteNvData(); - } - } -} -const PidParameters& Platform::GetPidParameters(size_t heater) const -{ - return nvData.pidParams[heater]; -} - -// power is a fraction in [0,1] - +// Power is a fraction in [0,1] void Platform::SetHeater(size_t heater, float power) { if (heatOnPins[heater] != NoPin) @@ -1755,7 +1692,7 @@ EndStopHit Platform::Stopped(size_t drive) const else if (endStopType[drive] == EndStopType::noEndStop) { // No homing switch is configured for this axis, so see if we should use the Z probe - if (nvData.zProbeType > 0 && drive < reprap.GetGCodes()->GetNumAxes() && (nvData.zProbeAxes & (1 << drive)) != 0) + if (zProbeType > 0 && drive < reprap.GetGCodes()->GetNumAxes() && (zProbeAxes & (1 << drive)) != 0) { return GetZProbeResult(); // using the Z probe as a low homing stop for this axis, so just get its result } @@ -1786,13 +1723,32 @@ uint32_t Platform::GetAllEndstopStates() const // Return the Z probe result. We assume that if the Z probe is used as an endstop, it is used as the low stop. EndStopHit Platform::GetZProbeResult() const { - const int zProbeVal = ZProbe(); - const int zProbeADValue = GetZProbeParameters().adcValue; + const int zProbeVal = GetZProbeReading(); + const int zProbeADValue = GetCurrentZProbeParameters().adcValue; return (zProbeVal >= zProbeADValue) ? EndStopHit::lowHit : (zProbeVal * 10 >= zProbeADValue * 9) ? EndStopHit::lowNear // if we are at/above 90% of the target value : EndStopHit::noStop; } +// Write the Z probe parameters to file +bool Platform::WriteZProbeParameters(FileStore *f) const +{ + bool ok = f->Write("; Z probe parameters\n"); + if (ok) + { + ok = irZProbeParameters.WriteParameters(f, 1); + } + if (ok) + { + ok = alternateZProbeParameters.WriteParameters(f, 3); + } + if (ok) + { + ok = switchZProbeParameters.WriteParameters(f, 4); + } + return ok; +} + // This is called from the step ISR as well as other places, so keep it fast void Platform::SetDirection(size_t drive, bool direction) { @@ -2230,18 +2186,9 @@ void Platform::InitFans() void Platform::SetMACAddress(uint8_t mac[]) { - bool changed = false; for (size_t i = 0; i < 6; i++) { - if (nvData.macAddress[i] != mac[i]) - { - nvData.macAddress[i] = mac[i]; - changed = true; - } - } - if (changed && autoSaveEnabled) - { - WriteNvData(); + macAddress[i] = mac[i]; } } @@ -2654,9 +2601,6 @@ const char* Platform::GetBoardString() const // User I/O and servo support bool Platform::GetFirmwarePin(int logicalPin, PinAccess access, Pin& firmwarePin, bool& invert) { -#ifdef __RADDS__ -# error This needs to be modified for RADDS -#endif firmwarePin = NoPin; // assume failure invert = false; // this is the common case if (logicalPin < 0 || logicalPin > HighestLogicalPin) @@ -2832,6 +2776,7 @@ char Platform::ReadFromSource(const SerialSource source) return 0; } +#ifndef __RADDS__ // CPU temperature void Platform::GetMcuTemperatures(float& minT, float& currT, float& maxT) const { @@ -2839,6 +2784,7 @@ void Platform::GetMcuTemperatures(float& minT, float& currT, float& maxT) const currT = AdcReadingToCpuTemperature(currentMcuTemperature); maxT = AdcReadingToCpuTemperature(highestMcuTemperature); } +#endif #ifdef DUET_NG // Power in voltage @@ -3035,13 +2981,15 @@ void Platform::Tick() case 2: // last conversion started was the Z probe, with IR LED on const_cast<ZProbeAveragingFilter&>(zProbeOnFilter).ProcessReading(GetRawZProbeReading()); - if (nvData.zProbeType == 2) // if using a modulated IR sensor + if (zProbeType == 2) // if using a modulated IR sensor { digitalWrite(zProbeModulationPin, LOW); // turn off the IR emitter } // Read the MCU temperature as well (no need to do it in every state) +#ifndef __RADDS__ currentMcuTemperature = AnalogInReadChannel(temperatureAdcChannel); +#endif ++tickState; break; @@ -3051,7 +2999,7 @@ void Platform::Tick() // no break case 0: // this is the state after initialisation, no conversion has been started default: - if (nvData.zProbeType == 2) // if using a modulated IR sensor + if (zProbeType == 2) // if using a modulated IR sensor { digitalWrite(zProbeModulationPin, HIGH); // turn on the IR emitter } |