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Restore cm_set_probe and {"prbs":true} that was broken in the merge.

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This commit is contained in:
Rob Giseburt
2017-03-14 21:47:04 -05:00
parent d2c6effb01
commit d3e980d42f
1 changed files with 48 additions and 14 deletions
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g2core/cycle_probing.cpp
+48 -14
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@@ -73,6 +73,50 @@ static stat_t _probing_exception_exit(stat_t status);
static stat_t _probe_move(const float target[], const bool flags[]);
static void _send_probe_report(void);
void _prepare_for_probe();
void _store_probe_position();
/**** JSON INTERFACE *******************************************************************
* cm_set_probe() - a command to tell it to store the current point as a probe point
*/
stat_t cm_set_probe(nvObj_t *nv)
{
if (!fp_ZERO(nv->value)) {
nv->valuetype = TYPE_BOOL;
nv->value = true;
_prepare_for_probe();
cm.probe_state[0] = PROBE_SUCCEEDED;
_store_probe_position();
}
return (STAT_OK);
}
/**** HELPERS ***************************************************************************
* _prepare_for_probe() - rotate the stored probes in preperation for storing a new probe
* _store_probe_position() - store the position as a finalized probe
*/
void _prepare_for_probe() {
// if the previous probe succeeded, roll probes to the next position
if (cm.probe_state[0] == PROBE_SUCCEEDED) {
for (uint8_t n = PROBES_STORED - 1; n > 0; n--) {
cm.probe_state[n] = cm.probe_state[n - 1];
for (uint8_t axis = 0; axis < AXES; axis++) {
cm.probe_results[n][axis] = cm.probe_results[n - 1][axis];
}
}
}
}
void _store_probe_position() {
for (uint8_t axis = 0; axis < AXES; axis++) {
cm.probe_results[0][axis] = cm_get_absolute_position(ACTIVE_MODEL, axis);
}
}
// helper
static void _motion_end_callback(float* vect, bool* flag)
{
@@ -159,15 +203,8 @@ uint8_t cm_straight_probe(float target[], bool flags[], bool trip_sense, bool al
copy_vector(pb.target, cm.gm.target); // cm_set_model_target() sets target in gm, move it to pb
copy_vector(pb.flags, flags); // set axes involved in the move
// if the previous probe succeeded, roll probes to the next position
if (cm.probe_state[0] == PROBE_SUCCEEDED) {
for (uint8_t n = PROBES_STORED - 1; n > 0; n--) {
cm.probe_state[n] = cm.probe_state[n - 1];
for (uint8_t axis = 0; axis < AXES; axis++) {
cm.probe_results[n][axis] = cm.probe_results[n - 1][axis];
}
}
}
_prepare_for_probe();
// clear the old probe results
clear_vector(cm.probe_results[0]); // NOTE: relying on cm.probe_results will not detect a probe to 0,0,0.
@@ -321,11 +358,8 @@ static stat_t _probing_finish()
{
_probe_restore_settings(); // cleanup first
// set absolute position in probe results vector
for (uint8_t axis = 0; axis < AXES; axis++) {
cm.probe_results[0][axis] = cm_get_absolute_position(ACTIVE_MODEL, axis);
}
_store_probe_position();
// handle failed probes - successful probes already set the flag
if (cm.probe_state[0] == PROBE_FAILED) {
if (pb.alarm_flag) {