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/*
* LocalZProbe.cpp
*
* Created on: 14 Sep 2019
* Author: David
*/
#include "LocalZProbe.h"
#include "GCodes/GCodeBuffer/GCodeBuffer.h"
#include "RepRap.h"
#include "Platform.h"
#include <AnalogIn.h>
using
#if SAME5x
AnalogIn
#else
LegacyAnalogIn
#endif
::AdcBits;
// Members of class LocalZProbe
LocalZProbe::~LocalZProbe() noexcept
{
inputPort.Release();
modulationPort.Release();
}
GCodeResult LocalZProbe::Configure(GCodeBuffer& gb, const StringRef &reply, bool& seen) THROWS(GCodeException)
{
// We must get and set the Z probe type first before setting the dive height etc. because different probe types need different port settings
if (gb.Seen('P'))
{
seen = true;
type = (ZProbeType)gb.GetUIValue();
}
// Determine the required pin access
PinAccess access[2];
switch (type)
{
case ZProbeType::analog:
case ZProbeType::dumbModulated:
access[0] = PinAccess::readAnalog;
access[1] = PinAccess::write1;
break;
case ZProbeType::alternateAnalog:
access[0] = PinAccess::readAnalog;
access[1] = PinAccess::write0;
break;
default:
access[0] = PinAccess::read;
access[1] = PinAccess::write0;
break;
}
if (gb.Seen('C')) // input channel
{
seen = true;
IoPort* const ports[] = { &inputPort, &modulationPort };
if (!IoPort::AssignPorts(gb, reply, PinUsedBy::zprobe, 2, ports, access))
{
return GCodeResult::error;
}
}
else if (seen) // the type may have changed, so set the correct pin modes
{
(void)inputPort.SetMode(access[0]);
(void)modulationPort.SetMode(access[1]);
}
if (seen)
{
reprap.GetPlatform().InitZProbeFilters();
}
return ZProbe::Configure(gb, reply, seen);
}
#if ALLOCATE_DEFAULT_PORTS
bool LocalZProbe::AssignPorts(const char* pinNames, const StringRef& reply) noexcept
{
IoPort* const ports[] = { &inputPort, &modulationPort };
const PinAccess access[] = { PinAccess::read, PinAccess::write0 };
return IoPort::AssignPorts(pinNames, reply, PinUsedBy::zprobe, 2, ports, access);
}
#endif
// This is called by the tick ISR to get the raw Z probe reading to feed to the filter
uint16_t LocalZProbe::GetRawReading() const noexcept
{
constexpr uint16_t MaxReading = 1000;
switch (type)
{
case ZProbeType::analog:
case ZProbeType::dumbModulated:
case ZProbeType::alternateAnalog:
return min<uint16_t>(inputPort.ReadAnalog() >> (AdcBits - 10), MaxReading);
case ZProbeType::digital:
case ZProbeType::unfilteredDigital:
case ZProbeType::blTouch:
return (inputPort.ReadDigital()) ? MaxReading : 0;
default:
return MaxReading;
}
}
bool LocalZProbe::SetProbing(bool isProbing) noexcept
{
// For Z probe types other than 1/2/3 and bltouch we set the modulation pin high at the start of a probing move and low at the end
// Don't do this for bltouch because on the Maestro, the MOD pin is normally used as the servo control output
if (type > ZProbeType::alternateAnalog && type != ZProbeType::blTouch)
{
modulationPort.WriteDigital(isProbing);
}
return true;
}
GCodeResult LocalZProbe::AppendPinNames(const StringRef& str) noexcept
{
if (type != ZProbeType::zMotorStall && type != ZProbeType::none)
{
str.cat(", input pin ");
inputPort.AppendPinName(str);
str.cat(", output pin ");
modulationPort.AppendPinName(str);
}
return GCodeResult::ok;
}
// Z probe programming functions
/*static*/ void LocalZProbe::TimerInterrupt(CallbackParameter param) noexcept
{
static_cast<LocalZProbe*>(param.vp)->Interrupt();
}
// Kick off sending some program bytes
GCodeResult LocalZProbe::SendProgram(const uint32_t zProbeProgram[], size_t len, const StringRef& reply) noexcept
{
timer.CancelCallback(); // make quite certain that this timer isn't already pending
for (size_t i = 0; i < len; ++i)
{
progBytes[i] = (uint8_t)zProbeProgram[i];
}
numBytes = len;
bytesSent = 0;
bitsSent = 0;
bitTime = StepTimer::GetTickRate()/bitsPerSecond;
modulationPort.WriteDigital(false); // start with 2 bits of zero
startTime = StepTimer::GetTimerTicks();
timer.SetCallback(LocalZProbe::TimerInterrupt, static_cast<void*>(this));
timer.ScheduleCallback(startTime + 2 * bitTime);
// TODO wait until all bytes sent or some error occurs, but for now we return immediately
return GCodeResult::ok;
}
void LocalZProbe::Interrupt() noexcept
{
if (timer.ScheduleCallbackFromIsr())
{
// The data format is:
// [0 0 1 0 b7 b6 b5 b4 /b4 b3 b2 b1 b0 /b0] repeated for each byte, where /b4 = inverse of b4, /b0 = inverse of b0
// After the last byte the line returns to 0
bool nextBit;
switch(bitsSent++)
{
case 0: // We sent 00, now send 1
nextBit = true;
break;
case 1: // We sent 001, now send 0
default:
nextBit = false;
break;
case 2:
case 3:
case 4:
case 5:
nextBit = (((progBytes[bytesSent] >> (10 - bitsSent)) & 1) != 0);
break;
case 6:
nextBit = (((progBytes[bytesSent] >> 4) & 1) == 0);
break;
case 7:
case 8:
case 9:
case 10:
nextBit = (((progBytes[bytesSent] >> (11 - bitsSent)) & 1) != 0);
break;
case 11:
nextBit = ((progBytes[bytesSent] & 1) == 0);
break;
case 12: // We sent 0010 + 10 data bits, now send 0
nextBit = false;
bitsSent = 0;
++bytesSent;
break;
}
modulationPort.WriteDigital(nextBit);
if (bytesSent < numBytes)
{
timer.ScheduleCallbackFromIsr(startTime + ((bytesSent * 14) + bitsSent + 2) * bitTime);
return;
}
bytesSent = numBytes = 0;
}
}
// End
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