Merge pull request #190 from felipesanches/refactor_homing
Refactor homing
This commit is contained in:
kliment
commit
7975010946
1 changed files with 64 additions and 95 deletions
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@ -1103,6 +1103,67 @@ FORCE_INLINE bool code_seen(char code)
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return (strchr_pointer != NULL); //Return True if a character was found
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return (strchr_pointer != NULL); //Return True if a character was found
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}
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}
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FORCE_INLINE void homing_routine(char axis)
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{
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int min_pin, max_pin, home_dir, max_length, home_bounce;
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switch(axis){
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case X_AXIS:
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min_pin = X_MIN_PIN;
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max_pin = X_MAX_PIN;
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home_dir = X_HOME_DIR;
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max_length = X_MAX_LENGTH;
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home_bounce = 10;
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break;
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case Y_AXIS:
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min_pin = Y_MIN_PIN;
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max_pin = Y_MAX_PIN;
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home_dir = Y_HOME_DIR;
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max_length = Y_MAX_LENGTH;
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home_bounce = 10;
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break;
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case Z_AXIS:
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min_pin = Z_MIN_PIN;
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max_pin = Z_MAX_PIN;
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home_dir = Z_HOME_DIR;
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max_length = Z_MAX_LENGTH;
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home_bounce = 4;
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break;
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default:
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//never reached
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break;
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}
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if ((min_pin > -1 && home_dir==-1) || (max_pin > -1 && home_dir==1))
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{
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current_position[axis] = -1.5 * max_length * home_dir;
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plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
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destination[axis] = 0;
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feedrate = homing_feedrate[axis];
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prepare_move();
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st_synchronize();
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current_position[axis] = home_bounce/2 * home_dir;
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plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
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destination[axis] = 0;
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prepare_move();
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st_synchronize();
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current_position[axis] = -home_bounce * home_dir;
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plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
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destination[axis] = 0;
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feedrate = homing_feedrate[axis]/2;
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prepare_move();
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st_synchronize();
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current_position[axis] = (home_dir == -1) ? 0 : max_length;
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current_position[axis] += add_homing[axis];
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plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
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destination[axis] = current_position[axis];
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feedrate = 0;
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}
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}
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//------------------------------------------------
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//------------------------------------------------
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// CHECK COMMAND AND CONVERT VALUES
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// CHECK COMMAND AND CONVERT VALUES
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//------------------------------------------------
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//------------------------------------------------
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@ -1169,105 +1230,13 @@ FORCE_INLINE void process_commands()
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home_all_axis = !((code_seen(axis_codes[0])) || (code_seen(axis_codes[1])) || (code_seen(axis_codes[2])));
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home_all_axis = !((code_seen(axis_codes[0])) || (code_seen(axis_codes[1])) || (code_seen(axis_codes[2])));
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if((home_all_axis) || (code_seen(axis_codes[X_AXIS])))
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if((home_all_axis) || (code_seen(axis_codes[X_AXIS])))
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{
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homing_routine(X_AXIS);
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if ((X_MIN_PIN > -1 && X_HOME_DIR==-1) || (X_MAX_PIN > -1 && X_HOME_DIR==1))
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{
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st_synchronize();
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current_position[X_AXIS] = -1.5 * X_MAX_LENGTH * X_HOME_DIR;
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plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
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destination[X_AXIS] = 0;
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feedrate = homing_feedrate[X_AXIS];
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prepare_move();
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st_synchronize();
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current_position[X_AXIS] = 5 * X_HOME_DIR;
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plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
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destination[X_AXIS] = 0;
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prepare_move();
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st_synchronize();
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current_position[X_AXIS] = -10 * X_HOME_DIR;
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plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
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destination[X_AXIS] = 0;
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feedrate = homing_feedrate[X_AXIS]/2 ;
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prepare_move();
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st_synchronize();
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current_position[X_AXIS] = (X_HOME_DIR == -1) ? 0 : X_MAX_LENGTH;
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current_position[X_AXIS] += add_homing[0];
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plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
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destination[X_AXIS] = current_position[X_AXIS];
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feedrate = 0;
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}
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}
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//showString(PSTR("HOME X AXIS\r\n"));
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if((home_all_axis) || (code_seen(axis_codes[Y_AXIS])))
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if((home_all_axis) || (code_seen(axis_codes[Y_AXIS])))
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{
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homing_routine(Y_AXIS);
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if ((Y_MIN_PIN > -1 && Y_HOME_DIR==-1) || (Y_MAX_PIN > -1 && Y_HOME_DIR==1))
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{
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current_position[Y_AXIS] = -1.5 * Y_MAX_LENGTH * Y_HOME_DIR;
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plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
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destination[Y_AXIS] = 0;
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feedrate = homing_feedrate[Y_AXIS];
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prepare_move();
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st_synchronize();
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current_position[Y_AXIS] = 5 * Y_HOME_DIR;
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plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
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destination[Y_AXIS] = 0;
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prepare_move();
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st_synchronize();
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current_position[Y_AXIS] = -10 * Y_HOME_DIR;
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plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
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destination[Y_AXIS] = 0;
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feedrate = homing_feedrate[Y_AXIS]/2;
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prepare_move();
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st_synchronize();
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current_position[Y_AXIS] = (Y_HOME_DIR == -1) ? 0 : Y_MAX_LENGTH;
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current_position[Y_AXIS] += add_homing[1];
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plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
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destination[Y_AXIS] = current_position[Y_AXIS];
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feedrate = 0;
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}
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}
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//showString(PSTR("HOME Y AXIS\r\n"));
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if((home_all_axis) || (code_seen(axis_codes[Z_AXIS])))
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if((home_all_axis) || (code_seen(axis_codes[Z_AXIS])))
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{
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homing_routine(Z_AXIS);
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if ((Z_MIN_PIN > -1 && Z_HOME_DIR==-1) || (Z_MAX_PIN > -1 && Z_HOME_DIR==1))
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{
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current_position[Z_AXIS] = -1.5 * Z_MAX_LENGTH * Z_HOME_DIR;
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plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
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destination[Z_AXIS] = 0;
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feedrate = homing_feedrate[Z_AXIS];
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prepare_move();
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st_synchronize();
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current_position[Z_AXIS] = 2 * Z_HOME_DIR;
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plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
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destination[Z_AXIS] = 0;
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prepare_move();
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st_synchronize();
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current_position[Z_AXIS] = -3 * Z_HOME_DIR;
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plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
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destination[Z_AXIS] = 0;
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feedrate = homing_feedrate[Z_AXIS]/2;
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prepare_move();
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st_synchronize();
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current_position[Z_AXIS] = (Z_HOME_DIR == -1) ? 0 : Z_MAX_LENGTH;
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current_position[Z_AXIS] += add_homing[2];
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plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
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destination[Z_AXIS] = current_position[Z_AXIS];
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feedrate = 0;
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}
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}
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//showString(PSTR("HOME Z AXIS\r\n"));
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#ifdef ENDSTOPS_ONLY_FOR_HOMING
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#ifdef ENDSTOPS_ONLY_FOR_HOMING
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enable_endstops(false);
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enable_endstops(false);
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