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reimplement homing routine as an inline function

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This commit is contained in:
Felipe Corrêa da Silva Sanches 2012-06-18 13:07:42 -03:00
parent 05e1d6083b
commit 3cc48055c2
1 changed files with 64 additions and 39 deletions
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103
Sprinter/Sprinter.pde
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@ -1103,6 +1103,67 @@ FORCE_INLINE bool code_seen(char code)
return (strchr_pointer != NULL); //Return True if a character was found
}
FORCE_INLINE void homing_routine(char axis)
{
int min_pin, max_pin, home_dir, max_length, home_bounce;
switch(axis){
case X_AXIS:
min_pin = X_MIN_PIN;
max_pin = X_MAX_PIN;
home_dir = X_HOME_DIR;
max_length = X_MAX_LENGTH;
home_bounce = 10;
break;
case Y_AXIS:
min_pin = Y_MIN_PIN;
max_pin = Y_MAX_PIN;
home_dir = Y_HOME_DIR;
max_length = Y_MAX_LENGTH;
home_bounce = 10;
break;
case Z_AXIS:
min_pin = Z_MIN_PIN;
max_pin = Z_MAX_PIN;
home_dir = Z_HOME_DIR;
max_length = Z_MAX_LENGTH;
home_bounce = 4;
break;
default:
//never reached
break;
}
if ((min_pin > -1 && home_dir==-1) || (max_pin > -1 && home_dir==1))
{
current_position[axis] = -1.5 * max_length * home_dir;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
destination[axis] = 0;
feedrate = homing_feedrate[axis];
prepare_move();
st_synchronize();
current_position[axis] = home_bounce/2 * home_dir;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
destination[axis] = 0;
prepare_move();
st_synchronize();
current_position[axis] = -home_bounce * home_dir;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
destination[axis] = 0;
feedrate = homing_feedrate[axis]/2;
prepare_move();
st_synchronize();
current_position[axis] = (home_dir == -1) ? 0 : max_length;
current_position[axis] += add_homing[axis];
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
destination[axis] = current_position[axis];
feedrate = 0;
}
}
//------------------------------------------------
// CHECK COMMAND AND CONVERT VALUES
//------------------------------------------------
@ -1150,42 +1211,6 @@ FORCE_INLINE void process_commands()
manage_heater();
}
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
saved_feedrate = feedrate;
saved_feedmultiply = feedmultiply;
@ -1205,13 +1230,13 @@ FORCE_INLINE void process_commands()
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])))
HOMING_ROUTINE(X)
homing_routine(X_AXIS);
if((home_all_axis) || (code_seen(axis_codes[Y_AXIS])))
HOMING_ROUTINE(Y)
homing_routine(Y_AXIS);
if((home_all_axis) || (code_seen(axis_codes[Z_AXIS])))
HOMING_ROUTINE(Z)
homing_routine(Z_AXIS);
#ifdef ENDSTOPS_ONLY_FOR_HOMING
enable_endstops(false);