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Merge pull request #190 from felipesanches/refactor_homing

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Refactor homing
This commit is contained in:
kliment 2012-06-18 12:55:25 -07:00
commit 7975010946
1 changed files with 64 additions and 95 deletions
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159
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
//------------------------------------------------
@ -1169,105 +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])))
{
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"));
homing_routine(X_AXIS);
if((home_all_axis) || (code_seen(axis_codes[Y_AXIS])))
{
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"));
homing_routine(Y_AXIS);
if((home_all_axis) || (code_seen(axis_codes[Z_AXIS])))
{
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"));
homing_routine(Z_AXIS);
#ifdef ENDSTOPS_ONLY_FOR_HOMING
enable_endstops(false);