ManuelW/grbl-LPC-CoreXY
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Improved homing limit search handling.

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- Instead of a single overall max travel for a search distance for the
homing limit switches. The homing cycle now applies the max travel of
each axis to the search target. Generally makes more sense this way and
saved more than a 100bytes of flash too.
This commit is contained in:
Sonny Jeon
2015-02-15 19:23:16 -07:00
parent 8c9fc7943e
commit d034dc2181
3 changed files with 10 additions and 18 deletions
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2
grbl/grbl.h
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@ -23,7 +23,7 @@
// Grbl versioning system
#define GRBL_VERSION "0.9h"
#define GRBL_VERSION_BUILD "20150210"
#define GRBL_VERSION_BUILD "20150215"
// Define standard libraries used by Grbl.
#include <avr/io.h>

22
grbl/limits.c
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@ -124,7 +124,7 @@ 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 = 0.0;
float max_travel;
for (idx=0; idx<N_AXIS; idx++) {
// Initialize limit and step pin masks
limit_pin[idx] = get_limit_pin_mask(idx);
@ -132,12 +132,7 @@ 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
// Determine travel distance to the furthest homing switch based on user max travel settings.
// NOTE: settings.max_travel[] is stored as a negative value.
if (max_travel > settings.max_travel[idx]) { max_travel = settings.max_travel[idx]; }
}
max_travel *= -HOMING_AXIS_SEARCH_SCALAR; // Ensure homing switches engaged by over-estimating max travel.
plan_reset(); // Reset planner buffer to zero planner current position and to clear previous motions.
plan_sync_position(); // Sync planner position to current machine position.
@ -156,15 +151,12 @@ void limits_go_home(uint8_t cycle_mask)
// Set target location for active axes and setup computation for homing rate.
if (bit_istrue(cycle_mask,bit(idx))) {
n_active_axis++;
if (approach) {
// Set target direction based on cycle mask
if (bit_istrue(settings.homing_dir_mask,bit(idx))) { target[idx] -= max_travel; }
else { target[idx] += max_travel; }
} else {
// Set target direction based on cycle mask
if (bit_istrue(settings.homing_dir_mask,bit(idx))) { target[idx] += max_travel; }
else { target[idx] -= max_travel; }
}
// 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.