ManuelW/grbl-LPC-CoreXY
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Added comments throughout code

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B. Perry
2019-04-29 13:47:11 -06:00
parent ac6817f7e2
commit a7ba369987
11 changed files with 209 additions and 206 deletions
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30
grbl/limits.c
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@ -158,9 +158,9 @@ void limits_go_home(uint8_t cycle_mask)
// Initialize variables used for homing computations.
uint8_t n_cycle = (2*N_HOMING_LOCATE_CYCLE+1);
uint32_t step_pin[N_AXIS];
uint32_t step_pin[N_AXIS]; // Tracks which pins correspond to which axes (reduces calls to get_step_pin_mask())
float target[N_AXIS];
float max_travel = 0.0;
float max_travel = 0.0; // Maximum travel distance to move searching for limits
uint8_t idx;
for (idx=0; idx<N_AXIS; idx++) {
// Initialize step pin masks
@ -183,11 +183,12 @@ void limits_go_home(uint8_t cycle_mask)
uint32_t limit_state, axislock, n_active_axis;
do {
// convert current sys_position (steps) to target (mm) so unused axes remain in place
system_convert_array_steps_to_mpos(target,sys_position);
// Initialize and declare variables needed for homing routine.
axislock = 0;
n_active_axis = 0;
axislock = 0; // Track which pins still need to find limits. Lock these axes by clearing these bits.
n_active_axis = 0; // Track number of axes being homed
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))) {
@ -215,7 +216,7 @@ void limits_go_home(uint8_t cycle_mask)
if (approach) { target[idx] = max_travel; }
else { target[idx] = -max_travel; }
}
// Apply axislock to the step port pins active in this cycle.
// Apply axislock to the step port pins active in this cycle, allowing motion
axislock |= step_pin[idx];
}
@ -235,15 +236,14 @@ void limits_go_home(uint8_t cycle_mask)
// Check limit state. Lock out cycle axes when they change.
limit_state = limits_get_state();
for (idx=0; idx<N_AXIS; idx++) {
if (axislock & step_pin[idx]) {
if (limit_state & (1 << idx)) {
#ifdef COREXY
if (idx==Z_AXIS) { axislock &= ~(step_pin[Z_AXIS]); }
else { axislock &= ~(step_pin[A_MOTOR]|step_pin[B_MOTOR]); }
#else
axislock &= ~(step_pin[idx]);
#endif
}
if ((axislock & step_pin[idx]) && (limit_state & (1 << idx))) {
// Clear the axislock bits to prevent axis from moving after limit is hit
#ifdef COREXY
if (idx==Z_AXIS) { axislock &= ~(step_pin[Z_AXIS]); }
else { axislock &= ~(step_pin[A_MOTOR]|step_pin[B_MOTOR]); }
#else
axislock &= ~(step_pin[idx]);
#endif
}
}
sys.homing_axis_lock = axislock;
@ -297,7 +297,7 @@ void limits_go_home(uint8_t cycle_mask)
// can be on either side of an axes, check and set axes machine zero appropriately. Also,
// set up pull-off maneuver from axes limit switches that have been homed. This provides
// some initial clearance off the switches and should also help prevent them from falsely
// triggering when hard limits are enabled or when more than one axes shares a limit pin.
// triggering when hard limits are enabled or when more than one axis shares a limit pin.
int32_t set_axis_position;
// Set machine positions for homed limit switches. Don't update non-homed axes.
for (idx=0; idx<N_AXIS; idx++) {