ManuelW/grbl-LPC-CoreXY
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added support for limit switches and homing action

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This commit is contained in:
Simen Svale Skogsrud
2011-02-20 00:29:56 +01:00
parent 9c8c259153
commit d5d6298de3
11 changed files with 158 additions and 8 deletions
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7
stepper.c
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@ -31,13 +31,12 @@
#include <avr/interrupt.h>
#include "planner.h"
#include "wiring_serial.h"
#include "limits.h"
// Some useful constants
#define STEP_MASK ((1<<X_STEP_BIT)|(1<<Y_STEP_BIT)|(1<<Z_STEP_BIT)) // All step bits
#define DIRECTION_MASK ((1<<X_DIRECTION_BIT)|(1<<Y_DIRECTION_BIT)|(1<<Z_DIRECTION_BIT)) // All direction bits
#define STEPPING_MASK (STEP_MASK | DIRECTION_MASK) // All stepping-related bits (step/direction)
#define LIMIT_MASK ((1<<X_LIMIT_BIT)|(1<<Y_LIMIT_BIT)|(1<<Z_LIMIT_BIT)) // All limit bits
#define TICKS_PER_MICROSECOND (F_CPU/1000000)
#define CYCLES_PER_ACCELERATION_TICK ((TICKS_PER_MICROSECOND*1000000)/ACCELERATION_TICKS_PER_SECOND)
@ -212,7 +211,6 @@ void st_init()
// Configure directions of interface pins
STEPPING_DDR |= STEPPING_MASK;
STEPPING_PORT = (STEPPING_PORT & ~STEPPING_MASK) | settings.invert_mask;
LIMIT_DDR &= ~(LIMIT_MASK);
STEPPERS_ENABLE_DDR |= 1<<STEPPERS_ENABLE_BIT;
// waveform generation = 0100 = CTC
@ -293,5 +291,6 @@ static void set_step_events_per_minute(uint32_t steps_per_minute) {
void st_go_home()
{
// Todo: Perform the homing cycle
limits_go_home();
plan_set_current_position(0,0,0);
}