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/*
* ZProbe.h
*
* Created on: 13 Feb 2018
* Author: David
*/
#ifndef SRC_ZPROBE_H_
#define SRC_ZPROBE_H_
#include "Endstop.h"
class ZProbe : public EndstopOrZProbe
{
public:
ZProbe(unsigned int num, ZProbeType p_type) noexcept;
virtual void SetIREmitter(bool on) const noexcept = 0; // caution, this is called from within the tick ISR
virtual uint16_t GetRawReading() const noexcept = 0;
virtual bool SetProbing(bool isProbing) noexcept = 0; // put the probe in the probing state, returning true if successful
virtual GCodeResult AppendPinNames(const StringRef& str) noexcept = 0; // not const because it may update the state too
virtual GCodeResult Configure(GCodeBuffer& gb, const StringRef& reply, bool& seen) THROWS(GCodeException); // 'seen' is an in-out parameter
virtual GCodeResult SendProgram(const uint32_t zProbeProgram[], size_t len, const StringRef& reply) noexcept;
#if SUPPORT_CAN_EXPANSION
// Process a remote input change that relates to this Z probe
virtual void HandleRemoteInputChange(CanAddress src, uint8_t handleMinor, bool newState) noexcept { }
#endif
bool Stopped() const noexcept override;
EndstopHitDetails CheckTriggered() noexcept override;
bool Acknowledge(EndstopHitDetails what) noexcept override;
void SetDefaults() noexcept;
ZProbeType GetProbeType() const noexcept { return type; }
float GetOffset(size_t axisNumber) const noexcept { return offsets[axisNumber]; }
float GetConfiguredTriggerHeight() const noexcept { return -offsets[Z_AXIS]; }
float GetActualTriggerHeight() const noexcept;
float GetDiveHeight() const noexcept { return diveHeight; }
float GetStartingHeight() const noexcept { return diveHeight + GetActualTriggerHeight(); }
float GetProbingSpeed(int tapsDone) const noexcept { return probeSpeeds[(tapsDone < 0) ? 0 : 1]; }
float HasTwoProbingSpeeds() const noexcept { return probeSpeeds[1] != probeSpeeds[0]; }
float GetTravelSpeed() const noexcept { return travelSpeed; }
float GetRecoveryTime() const noexcept { return recoveryTime; }
float GetTolerance() const noexcept { return tolerance; }
float GetLastStoppedHeight() const noexcept { return lastStopHeight; }
bool GetTurnHeatersOff() const noexcept { return misc.parts.turnHeatersOff; }
bool GetSaveToConfigOverride() const noexcept { return misc.parts.saveToConfigOverride; }
int GetAdcValue() const noexcept { return adcValue; }
unsigned int GetMaxTaps() const { return misc.parts.maxTaps; }
int GetReading() const noexcept;
int GetSecondaryValues(int& v1) const noexcept;
bool IsDeployedByUser() const noexcept { return isDeployedByUser; }
void SetProbingAway(const bool probingAway) noexcept { misc.parts.probingAway = probingAway; }
GCodeResult HandleG31(GCodeBuffer& gb, const StringRef& reply) THROWS(GCodeException);
void SetTriggerHeight(float height) noexcept { offsets[Z_AXIS] = -height; }
void SetSaveToConfigOverride() noexcept { misc.parts.saveToConfigOverride = true; }
void SetDeployedByUser(bool b) noexcept { isDeployedByUser = b; }
void SetLastStoppedHeight(float h) noexcept;
#if HAS_MASS_STORAGE || HAS_SBC_INTERFACE
bool WriteParameters(FileStore *f, unsigned int probeNumber) const noexcept;
#endif
static constexpr unsigned int MaxTapsLimit = 31; // must be low enough to fit in the maxTaps field
protected:
DECLARE_OBJECT_MODEL
OBJECT_MODEL_ARRAY(offsets)
OBJECT_MODEL_ARRAY(value)
OBJECT_MODEL_ARRAY(temperatureCoefficients)
OBJECT_MODEL_ARRAY(speeds)
uint8_t number;
ZProbeType type;
int8_t sensor; // the sensor number used for temperature calibration
int16_t adcValue; // the target ADC value, after inversion if enabled
union
{
struct
{
uint16_t maxTaps : 5, // maximum probes at each point
probingAway : 1, // true if we are probing away, i.e. until contact lost
turnHeatersOff : 1, // true to turn heaters off while probing
saveToConfigOverride : 1; // true if the trigger height should be saved to config-override.g
} parts;
uint16_t all;
} misc;
float offsets[MaxAxes]; // the offset of the probe relative to the print head. The Z offset is the negation of the trigger height.
float calibTemperature; // the temperature at which we did the calibration
float temperatureCoefficients[2]; // the variation of height with bed temperature and with the square of temperature
float diveHeight; // the dive height we use when probing
float probeSpeeds[2]; // the initial speed of probing in mm per step clock
float travelSpeed; // the speed at which we travel to the probe point ni mm per step clock
float recoveryTime; // Z probe recovery time
float tolerance; // maximum difference between probe heights when doing >1 taps
float lastStopHeight; // the height at which the last G30 probe move stopped
bool isDeployedByUser; // true if the user has used the M401 command to deploy this probe and not sent M402 to retract it
};
// MotorStall Z probes have no port, also in a CAN environment the local and remote proxy versions are the same
class MotorStallZProbe final : public ZProbe
{
public:
void* operator new(size_t sz) noexcept { return FreelistManager::Allocate<MotorStallZProbe>(); }
void operator delete(void* p) noexcept { FreelistManager::Release<MotorStallZProbe>(p); }
MotorStallZProbe(unsigned int num) noexcept : ZProbe(num, ZProbeType::zMotorStall) { }
~MotorStallZProbe() override { }
void SetIREmitter(bool on) const noexcept override { }
uint16_t GetRawReading() const noexcept override { return 4000; }
bool SetProbing(bool isProbing) noexcept override { return true; }
GCodeResult AppendPinNames(const StringRef& str) noexcept override { return GCodeResult::ok; }
private:
};
// Dummy Z probes only exist locally
class DummyZProbe final : public ZProbe
{
public:
void* operator new(size_t sz) noexcept { return FreelistManager::Allocate<DummyZProbe>(); }
void operator delete(void* p) noexcept { FreelistManager::Release<DummyZProbe>(p); }
DummyZProbe(unsigned int num) noexcept : ZProbe(num, ZProbeType::none) { }
~DummyZProbe() noexcept override { }
void SetIREmitter(bool on) const noexcept override { }
uint16_t GetRawReading() const noexcept override { return 4000; }
bool SetProbing(bool isProbing) noexcept override { return true; }
GCodeResult AppendPinNames(const StringRef& str) noexcept override { return GCodeResult::ok; }
private:
};
#endif /* SRC_ZPROBE_H_ */
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