ManuelW/grbl-LPC-CoreXY
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Updated limit/homing routine. Works, but needs more TLC.

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- Added acceleration to the homing routine.

- Homing now accounts for different step rates when moving multiple
axes without exceeding acceleration limits.

- Homing now updates all internal positioning variables to machine zero
after completion.

- "Poor-man's" debounce delay added.

- Updated the delay_us() function to perform faster and more accurate
microsecond delays. Previously, the single increments would add
noticeable time drift for larger delays.

- Fix a bug in the stepper.c prescalar calculations that was changed in
the last commit.

- Other minor fixes.
This commit is contained in:
Sonny Jeon
2012-09-30 19:57:10 -06:00
parent 4224ab4999
commit d30cb906f8
10 changed files with 201 additions and 88 deletions
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51
config.h
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@ -40,29 +40,32 @@
#define STEPPERS_DISABLE_PORT PORTB
#define STEPPERS_DISABLE_BIT 0 // Uno Digital Pin 8
#define LIMIT_DDR DDRB
#define LIMIT_PIN PINB
#define X_LIMIT_BIT 1 // Uno Digital Pin 9
#define Y_LIMIT_BIT 2 // Uno Digital Pin 10
#define Z_LIMIT_BIT 3 // Uno Digital Pin 11
#define LIMIT_DDR DDRB
#define LIMIT_PIN PINB
#define X_LIMIT_BIT 1 // Uno Digital Pin 9
#define Y_LIMIT_BIT 2 // Uno Digital Pin 10
#define Z_LIMIT_BIT 3 // Uno Digital Pin 11
// #define LIMIT_INT PCIE0 // Pin change interrupt settings
// #define LIMIT_INT_vect PCINT0_vect
// #define LIMIT_PCMSK PCMSK0
#define SPINDLE_ENABLE_DDR DDRB
#define SPINDLE_ENABLE_PORT PORTB
#define SPINDLE_ENABLE_BIT 4 // Uno Digital Pin 12
#define SPINDLE_ENABLE_DDR DDRB
#define SPINDLE_ENABLE_PORT PORTB
#define SPINDLE_ENABLE_BIT 4 // Uno Digital Pin 12
#define SPINDLE_DIRECTION_DDR DDRB
#define SPINDLE_DIRECTION_PORT PORTB
#define SPINDLE_DIRECTION_BIT 5 // Uno Digital Pin 13
#define SPINDLE_DIRECTION_DDR DDRB
#define SPINDLE_DIRECTION_PORT PORTB
#define SPINDLE_DIRECTION_BIT 5 // Uno Digital Pin 13
#define COOLANT_FLOOD_DDR DDRC
#define COOLANT_FLOOD_PORT PORTC
#define COOLANT_FLOOD_BIT 0 // Uno Analog Pin 0
#define COOLANT_FLOOD_PORT PORTC
#define COOLANT_FLOOD_BIT 0 // Uno Analog Pin 0
// #define ENABLE_M7 // Mist coolant disabled by default. Uncomment to enable.
#ifdef ENABLE_M7
#define COOLANT_MIST_DDR DDRC
#define COOLANT_MIST_PORT PORTC
#define COOLANT_MIST_BIT 1 // Uno Analog Pin 1
#define COOLANT_MIST_PORT PORTC
#define COOLANT_MIST_BIT 1 // Uno Analog Pin 1
#endif
// Define runtime command special characters. These characters are 'picked-off' directly from the
@ -86,7 +89,7 @@
// entering g-code into grbl, i.e. locating part zero or simple manual machining. If the axes drift,
// grbl has no way to know this has happened, since stepper motors are open-loop control. Depending
// on the machine, this parameter may need to be larger or smaller than the default time.
// NOTE: If the define commented, the delay will not be compiled.
// NOTE: If the define commented, the stepper lock will be disabled upon compiling.
#define STEPPER_IDLE_LOCK_TIME 25 // (milliseconds) - Integer > 0
// The temporal resolution of the acceleration management subsystem. Higher number give smoother
@ -150,14 +153,15 @@
// of your successes or difficulties, as we will monitor this and possibly integrate this as a
// standard feature for future releases. However, we suggest to first try our direction delay
// hack/solution posted in the Wiki involving inverting the stepper pin mask.
// NOTE: Uncomment to enable. The recommended delay should be > 3us but not exceed a total
// time of 127us when added with the Grbl settings pulse microsecond.
// NOTE: Uncomment to enable. The recommended delay should be > 3us and the total step pulse
// time, which includes the Grbl settings pulse microseconds, should not exceed 127us.
// #define STEP_PULSE_DELAY 5 // Step pulse delay in microseconds. Default disabled.
// ---------------------------------------------------------------------------------------
// TODO: The following options are set as compile-time options for now, until the next EEPROM
// settings version has solidified.
// settings version has solidified. This is to prevent having to support dozens of different
// incremental settings versions.
#define CYCLE_AUTO_START 1 // Cycle auto-start boolean flag for the planner.
#define BLOCK_DELETE_ENABLE 0 // Block delete enable/disable flag during g-code parsing
#define REPORT_INCH_MODE 0 // Status reporting unit mode (1 = inch, 0 = mm)
@ -170,11 +174,8 @@
#endif
// Limit step rate for homing
#define LIMIT_STEP_RATE 1 // (mm/min)
// Debounce delay is the time delay the controller waits for a "good" signal from the limit switch.
// A delay of 3ms to 5ms is a good starting value.
#define LIMIT_DEBOUNCE_DELAY 5 // (milliseconds)
#define LIMIT_DEBOUNCE 50 // Limit switch debounce delay (in ms)
// #define LIMIT_INVERT_MASK 0 //
// #define LIMIT_NORMAL_HIGH 1 // Normal low 0 or normal high 1
#endif