Created Probe Protection Feature

Grbl_Esp32/src/MotionControl.cpp

@@ -391,8 +391,10 @@ GCUpdatePos mc_probe_cycle(float* target, plan_line_data_t* pl_data, uint8_t par
         return GCUpdatePos::None;  // Return if system reset has been issued.
     }
 
+    probe_set_protection(false);
+
 #ifdef USE_I2S_STEPS
-    stepper_id_t save_stepper = current_stepper; /* remember the stepper */
+        stepper_id_t save_stepper = current_stepper; /* remember the stepper */
 #endif
     // Switch stepper mode to the I2S static (realtime mode)
     BACKUP_STEPPER(save_stepper);
@@ -410,8 +412,7 @@ GCUpdatePos mc_probe_cycle(float* target, plan_line_data_t* pl_data, uint8_t par
         RESTORE_STEPPER(save_stepper);  // Switch the stepper mode to the previous mode
         return GCUpdatePos::None;       // Nothing else to do but bail.
     }
-    // Setup and queue probing motion. Auto cycle-start should not start the cycle.
+    // Setup and queue probing motion. Auto cycle-start should not start the cycle.    
-    grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Found");
     mc_line_kins(target, pl_data, gc_state.position);
     // Activate the probing state monitor in the stepper module.
     sys_probe_state = Probe::Active;
@@ -442,9 +443,11 @@ GCUpdatePos mc_probe_cycle(float* target, plan_line_data_t* pl_data, uint8_t par
     sys_probe_state = Probe::Off;  // Ensure probe state monitor is disabled.
     protocol_execute_realtime();   // Check and execute run-time commands
     // Reset the stepper and planner buffers to remove the remainder of the probe motion.
-    st_reset();            // Reset step segment buffer.
+    st_reset();                 // Reset step segment buffer.
-    plan_reset();          // Reset planner buffer. Zero planner positions. Ensure probing motion is cleared.
+    plan_reset();               // Reset planner buffer. Zero planner positions. Ensure probing motion is cleared.
-    plan_sync_position();  // Sync planner position to current machine position.
+    plan_sync_position();       // Sync planner position to current machine position.
+    user_probe_notification();  // weak user can supply to get notification
+    probe_set_protection(true);
 #ifdef MESSAGE_PROBE_COORDINATES
     // All done! Output the probe position as message.
     report_probe_parameters(CLIENT_ALL);
@@ -541,3 +544,6 @@ void mc_reset() {
 #endif
     }
 }
+
+__attribute__((weak)) void user_probe_begin() {}         // called before probing starts
+__attribute__((weak)) void user_probe_notification() {}  // called after probing complete

Grbl_Esp32/src/MotionControl.h

@@ -77,3 +77,6 @@ enum class SquaringMode : uint8_t {
 };
 
 extern SquaringMode ganged_mode;
+
+void user_probe_begin();         // weak. User to supply if needed
+void user_probe_notification();  // weak. User to supply if needed

Grbl_Esp32/src/Probe.cpp

@@ -26,6 +26,25 @@
 // Inverts the probe pin state depending on user settings and probing cycle mode.
 static bool is_probe_away;
 
+void IRAM_ATTR isr_probe_protect() {
+    if (sys.state == State::Cycle || sys.state == State::Jog) {
+        if (probe_get_state()) {
+            switch (static_cast<ProbeProtection>(probe_protection->get())) {
+                case ProbeProtection::RESET:
+                    grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Probe contact:Reset");
+                    mc_reset();
+                    break;
+                case ProbeProtection::FEEDHOLD:
+                    grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Probe contact:Feedhold");
+                    sys_rt_exec_state.bit.feedHold = true;
+                    break;
+                default:
+                    return;
+            }
+        }
+    }
+}
+
 // Probe pin initialization routine.
 void probe_init() {
     static bool show_init_msg = true;  // used to show message only once.
@@ -37,6 +56,8 @@ void probe_init() {
         pinMode(PROBE_PIN, INPUT_PULLUP);  // Enable internal pull-up resistors. Normal high operation.
 #endif
 
+        probe_set_protection(true);
+
         if (show_init_msg) {
             grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Probe on pin %s", pinName(PROBE_PIN).c_str());
             show_init_msg = false;
@@ -63,3 +84,17 @@ void probe_state_monitor() {
         sys_rt_exec_state.bit.motionCancel = true;
     }
 }
+
+// Probe protection optionally motitors the probe for contact when the probe cycle is not running
+// This can stop motion to prevent damaging the probe when it is accidentally crashed into sometihng
+void probe_set_protection(bool on) {
+    if (PROBE_PIN != UNDEFINED_PIN) {
+        if (on) {
+            if (static_cast<ProbeProtection>(probe_protection->get()) != ProbeProtection::OFF) {
+                attachInterrupt(PROBE_PIN, isr_probe_protect, CHANGE);
+            }
+        } else {
+            detachInterrupt(PROBE_PIN);
+        }
+    }
+}

Grbl_Esp32/src/Probe.h

@@ -29,6 +29,16 @@ enum class Probe : uint8_t {
     Active = 1,  // Actively watching the input pin.
 };
 
+enum class ProbeProtection : int8_t {
+    OFF = 0,
+    RESET,
+    FEEDHOLD,
+};
+
+
+
+#define DEFAULT_PROBE_PROTECTION ProbeProtection::OFF
+
 // Probe pin initialization routine.
 void probe_init();
 
@@ -41,3 +51,6 @@ bool probe_get_state();
 // Monitors probe pin state and records the system position when detected. Called by the
 // stepper ISR per ISR tick.
 void probe_state_monitor();
+
+//
+void probe_set_protection(bool on);

Grbl_Esp32/src/SettingsDefinitions.cpp

@@ -22,7 +22,10 @@ AxisMaskSetting* stallguard_debug_mask;
 
 FlagSetting* step_enable_invert;
 FlagSetting* limit_invert;
+
 FlagSetting* probe_invert;
+EnumSetting* probe_protection;
+
 FlagSetting* report_inches;
 FlagSetting* soft_limits;
 // TODO Settings - need to check for HOMING_ENABLE
@@ -87,6 +90,14 @@ enum_opt_t messageLevels = {
     // clang-format on
 };
 
+enum_opt_t probeProtectionTypes = {
+    // clang-format off
+    { "Off", int8_t(ProbeProtection::OFF) },
+    { "Reset", int8_t(ProbeProtection::RESET) },
+    { "FeedHold", int8_t(ProbeProtection::FEEDHOLD) },
+    // clang-format on
+};
+
 AxisSettings* x_axis_settings;
 AxisSettings* y_axis_settings;
 AxisSettings* z_axis_settings;
@@ -202,6 +213,13 @@ static bool postMotorSetting(char* value) {
     return true;
 }
 
+static bool postProbeChange(char* value) {
+    if (!value) {
+        probe_set_protection(true);
+    }
+    return true;
+}
+
 static bool checkSpindleChange(char* val) {
     if (!val) {
         // if not in disable (M5) ...
@@ -393,7 +411,10 @@ void make_settings() {
     junction_deviation = new FloatSetting(GRBL, WG, "11", "GCode/JunctionDeviation", DEFAULT_JUNCTION_DEVIATION, 0, 10);
     status_mask        = new IntSetting(GRBL, WG, "10", "Report/Status", DEFAULT_STATUS_REPORT_MASK, 0, 3);
 
-    probe_invert                 = new FlagSetting(GRBL, WG, "6", "Probe/Invert", DEFAULT_INVERT_PROBE_PIN);
+    probe_invert     = new FlagSetting(GRBL, WG, "6", "Probe/Invert", DEFAULT_INVERT_PROBE_PIN);
+    probe_protection = new EnumSetting(
+        NULL, EXTENDED, WG, NULL, "Probe/Protection", static_cast<int8_t>(DEFAULT_PROBE_PROTECTION), &probeProtectionTypes, postProbeChange);
+
     limit_invert                 = new FlagSetting(GRBL, WG, "5", "Limits/Invert", DEFAULT_INVERT_LIMIT_PINS);
     step_enable_invert           = new FlagSetting(GRBL, WG, "4", "Stepper/EnableInvert", DEFAULT_INVERT_ST_ENABLE);
     dir_invert_mask              = new AxisMaskSetting(GRBL, WG, "3", "Stepper/DirInvert", DEFAULT_DIRECTION_INVERT_MASK, postMotorSetting);

Grbl_Esp32/src/SettingsDefinitions.h

@@ -30,6 +30,7 @@ extern AxisMaskSetting* homing_cycle[MAX_N_AXIS];
 extern FlagSetting* step_enable_invert;
 extern FlagSetting* limit_invert;
 extern FlagSetting* probe_invert;
+extern EnumSetting* probe_protection;
 extern FlagSetting* report_inches;
 extern FlagSetting* soft_limits;
 extern FlagSetting* hard_limits;