ManuelW/grbl-LPC-CoreXY
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Arduino IDE compatibility and minor homing fixes

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- Added an include in the right spot, if a user tries to compile and
upload Grbl through the Arduino IDE with the old way.

- Fixed a minor bug with homing max travel calculations. It was causing
simultaneous axes homing to move slow than it did before.
This commit is contained in:
Sonny Jeon
2015-03-04 06:50:26 -07:00
parent 85b0c7a8b4
commit 76730176da
5 changed files with 22 additions and 12 deletions
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25
grbl/limits.c
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@ -134,7 +134,8 @@ void limits_go_home(uint8_t cycle_mask)
float target[N_AXIS];
uint8_t limit_pin[N_AXIS], step_pin[N_AXIS];
float max_travel;
float max_travel = 0.0;
for (idx=0; idx<N_AXIS; idx++) {
// Initialize limit and step pin masks
limit_pin[idx] = get_limit_pin_mask(idx);
@ -142,6 +143,13 @@ void limits_go_home(uint8_t cycle_mask)
#ifdef COREXY
if ((idx==A_MOTOR)||(idx==B_MOTOR)) { step_pin[idx] = (get_step_pin_mask(X_AXIS)|get_step_pin_mask(Y_AXIS)); }
#endif
if (bit_istrue(cycle_mask,bit(idx))) {
// Set target based on max_travel setting. Ensure homing switches engaged with search scalar.
// NOTE: settings.max_travel[] is stored as a negative value.
max_travel = max(max_travel,(-HOMING_AXIS_SEARCH_SCALAR)*settings.max_travel[idx]);
}
}
plan_reset(); // Reset planner buffer to zero planner current position and to clear previous motions.
@ -153,25 +161,22 @@ void limits_go_home(uint8_t cycle_mask)
else { invert_pin = !approach; }
// Initialize and declare variables needed for homing routine.
uint8_t n_active_axis = 0;
uint8_t axislock = 0;
uint8_t n_active_axis = 0;
system_convert_array_steps_to_mpos(target,sys.position);
for (idx=0; idx<N_AXIS; idx++) {
// Set target location for active axes and setup computation for homing rate.
if (bit_istrue(cycle_mask,bit(idx))) {
n_active_axis++;
// Set target based on max_travel setting. Ensure homing switches engaged with search scalar.
// NOTE: settings.max_travel[] is stored as a negative value.
max_travel = (-HOMING_AXIS_SEARCH_SCALAR)*settings.max_travel[idx];
if (bit_istrue(settings.homing_dir_mask,bit(idx))) { max_travel = -max_travel; }
if (!approach) { max_travel = -max_travel; }
target[idx] += max_travel;
// Apply axislock to the step port pins active in this cycle.
axislock |= step_pin[idx];
}
// Apply axislock to the step port pins active in this cycle.
if (bit_istrue(cycle_mask,bit(idx))) { axislock |= step_pin[idx]; }
}
}
homing_rate *= sqrt(n_active_axis); // [sqrt(N_AXIS)] Adjust so individual axes all move at homing rate.
sys.homing_axis_lock = axislock;
@ -197,9 +202,9 @@ void limits_go_home(uint8_t cycle_mask)
}
sys.homing_axis_lock = axislock;
st_prep_buffer(); // Check and prep segment buffer. NOTE: Should take no longer than 200us.
// Check only for user reset. No time to run protocol_execute_realtime() in this loop.
// Exit routines: User abort homing and alarm upon safety door or no limit switch found.
// No time to run protocol_execute_realtime() in this loop.
if (sys.rt_exec_state & (EXEC_SAFETY_DOOR | EXEC_RESET | EXEC_CYCLE_STOP)) {
if (sys.rt_exec_state & (EXEC_SAFETY_DOOR | EXEC_CYCLE_STOP)) { mc_reset(); }
protocol_execute_realtime();