ManuelW/grbl-LPC-CoreXY
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Edit hard limit check at start of homing cycle

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This commit is contained in:
Sonny Jeon 2014-09-20 10:41:31 -06:00
parent 041109410a
commit 39cf822944
3 changed files with 8 additions and 7 deletions
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1
gcode.h
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@ -164,6 +164,7 @@ typedef struct {
float spindle_speed; // RPM
float feed_rate; // Millimeters/min
uint8_t tool; // Tracks tool number. NOT USED.
// int32_t line_number; // Last line number sent
float position[N_AXIS]; // Where the interpreter considers the tool to be at this point in the code

1
limits.c
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@ -122,6 +122,7 @@ void limits_disable()
// mask, which prevents the stepper algorithm from executing step pulses. Homing motions typically
// circumvent the processes for executing motions in normal operation.
// NOTE: Only the abort runtime command can interrupt this process.
// TODO: Move limit pin-specific calls to a general function for portability.
void limits_go_home(uint8_t cycle_mask)
{
if (sys.abort) { return; } // Block if system reset has been issued.

13
motion_control.c
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@ -240,13 +240,12 @@ void mc_dwell(float seconds)
// executing the homing cycle. This prevents incorrect buffered plans after homing.
void mc_homing_cycle()
{
uint8_t limits_on;
if (bit_istrue(settings.flags,BITFLAG_INVERT_LIMIT_PINS)) {
limits_on = ((~LIMIT_PIN) & LIMIT_MASK);
} else {
limits_on = (LIMIT_PIN & LIMIT_MASK);
}
if (limits_on) {
// Check and abort homing cycle, if hard limits are already enabled. Helps prevent problems
// with machines with limits wired on both ends of travel to one limit pin.
// TODO: Move the pin-specific LIMIT_PIN call to limits.c as a function.
uint8_t limit_state = (LIMIT_PIN & LIMIT_MASK);
if (bit_isfalse(settings.flags,BITFLAG_INVERT_LIMIT_PINS)) { limit_state ^= LIMIT_MASK; }
if (limit_state) {
mc_reset(); // Issue system reset and ensure spindle and coolant are shutdown.
bit_true_atomic(sys.execute, (EXEC_ALARM | EXEC_CRIT_EVENT)); // Indicate homing limit critical event
return;