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refactoring homing routine to avoid copy&pasted code

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This commit is contained in:
Felipe Corrêa da Silva Sanches 2012-06-18 11:03:06 -03:00
parent 1d4bc83291
commit 05e1d6083b
1 changed files with 39 additions and 95 deletions
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134
Sprinter/Sprinter.pde
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@ -1150,6 +1150,42 @@ FORCE_INLINE void process_commands()
manage_heater(); manage_heater();
} }
break; break;
#define X_HOME_BOUNCE 10
#define Y_HOME_BOUNCE 10
#define Z_HOME_BOUNCE 4
#define HOMING_ROUTINE(coord)\
if ((coord##_MIN_PIN > -1 && coord##_HOME_DIR==-1) || (coord##_MAX_PIN > -1 && coord##_HOME_DIR==1))\
{\
current_position[coord##_AXIS] = -1.5 * coord##_MAX_LENGTH * coord##_HOME_DIR;\
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);\
destination[coord##_AXIS] = 0;\
feedrate = homing_feedrate[coord##_AXIS];\
prepare_move();\
st_synchronize();\
\
current_position[coord##_AXIS] = coord##_HOME_BOUNCE/2 * coord##_HOME_DIR;\
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);\
destination[coord##_AXIS] = 0;\
prepare_move();\
st_synchronize();\
\
current_position[coord##_AXIS] = -coord##_HOME_BOUNCE * coord##_HOME_DIR;\
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);\
destination[coord##_AXIS] = 0;\
feedrate = homing_feedrate[coord##_AXIS]/2;\
prepare_move();\
st_synchronize();\
\
current_position[coord##_AXIS] = (coord##_HOME_DIR == -1) ? 0 : coord##_MAX_LENGTH;\
current_position[coord##_AXIS] += add_homing[coord##_AXIS];\
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);\
destination[coord##_AXIS] = current_position[coord##_AXIS];\
feedrate = 0;\
/*showString(PSTR("HOME " #coord " AXIS\r\n"));*/\
}
case 28: //G28 Home all Axis one at a time case 28: //G28 Home all Axis one at a time
saved_feedrate = feedrate; saved_feedrate = feedrate;
saved_feedmultiply = feedmultiply; saved_feedmultiply = feedmultiply;
@ -1169,105 +1205,13 @@ FORCE_INLINE void process_commands()
home_all_axis = !((code_seen(axis_codes[0])) || (code_seen(axis_codes[1])) || (code_seen(axis_codes[2]))); home_all_axis = !((code_seen(axis_codes[0])) || (code_seen(axis_codes[1])) || (code_seen(axis_codes[2])));
if((home_all_axis) || (code_seen(axis_codes[X_AXIS]))) if((home_all_axis) || (code_seen(axis_codes[X_AXIS])))
{ HOMING_ROUTINE(X)
if ((X_MIN_PIN > -1 && X_HOME_DIR==-1) || (X_MAX_PIN > -1 && X_HOME_DIR==1))
{
st_synchronize();
current_position[X_AXIS] = -1.5 * X_MAX_LENGTH * X_HOME_DIR;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
destination[X_AXIS] = 0;
feedrate = homing_feedrate[X_AXIS];
prepare_move();
st_synchronize();
current_position[X_AXIS] = 5 * X_HOME_DIR;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
destination[X_AXIS] = 0;
prepare_move();
st_synchronize();
current_position[X_AXIS] = -10 * X_HOME_DIR;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
destination[X_AXIS] = 0;
feedrate = homing_feedrate[X_AXIS]/2 ;
prepare_move();
st_synchronize();
current_position[X_AXIS] = (X_HOME_DIR == -1) ? 0 : X_MAX_LENGTH;
current_position[X_AXIS] += add_homing[0];
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
destination[X_AXIS] = current_position[X_AXIS];
feedrate = 0;
}
}
//showString(PSTR("HOME X AXIS\r\n"));
if((home_all_axis) || (code_seen(axis_codes[Y_AXIS]))) if((home_all_axis) || (code_seen(axis_codes[Y_AXIS])))
{ HOMING_ROUTINE(Y)
if ((Y_MIN_PIN > -1 && Y_HOME_DIR==-1) || (Y_MAX_PIN > -1 && Y_HOME_DIR==1))
{
current_position[Y_AXIS] = -1.5 * Y_MAX_LENGTH * Y_HOME_DIR;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
destination[Y_AXIS] = 0;
feedrate = homing_feedrate[Y_AXIS];
prepare_move();
st_synchronize();
current_position[Y_AXIS] = 5 * Y_HOME_DIR;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
destination[Y_AXIS] = 0;
prepare_move();
st_synchronize();
current_position[Y_AXIS] = -10 * Y_HOME_DIR;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
destination[Y_AXIS] = 0;
feedrate = homing_feedrate[Y_AXIS]/2;
prepare_move();
st_synchronize();
current_position[Y_AXIS] = (Y_HOME_DIR == -1) ? 0 : Y_MAX_LENGTH;
current_position[Y_AXIS] += add_homing[1];
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
destination[Y_AXIS] = current_position[Y_AXIS];
feedrate = 0;
}
}
//showString(PSTR("HOME Y AXIS\r\n"));
if((home_all_axis) || (code_seen(axis_codes[Z_AXIS]))) if((home_all_axis) || (code_seen(axis_codes[Z_AXIS])))
{ HOMING_ROUTINE(Z)
if ((Z_MIN_PIN > -1 && Z_HOME_DIR==-1) || (Z_MAX_PIN > -1 && Z_HOME_DIR==1))
{
current_position[Z_AXIS] = -1.5 * Z_MAX_LENGTH * Z_HOME_DIR;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
destination[Z_AXIS] = 0;
feedrate = homing_feedrate[Z_AXIS];
prepare_move();
st_synchronize();
current_position[Z_AXIS] = 2 * Z_HOME_DIR;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
destination[Z_AXIS] = 0;
prepare_move();
st_synchronize();
current_position[Z_AXIS] = -3 * Z_HOME_DIR;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
destination[Z_AXIS] = 0;
feedrate = homing_feedrate[Z_AXIS]/2;
prepare_move();
st_synchronize();
current_position[Z_AXIS] = (Z_HOME_DIR == -1) ? 0 : Z_MAX_LENGTH;
current_position[Z_AXIS] += add_homing[2];
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
destination[Z_AXIS] = current_position[Z_AXIS];
feedrate = 0;
}
}
//showString(PSTR("HOME Z AXIS\r\n"));
#ifdef ENDSTOPS_ONLY_FOR_HOMING #ifdef ENDSTOPS_ONLY_FOR_HOMING
enable_endstops(false); enable_endstops(false);