Homing search sequence now compile-time option. New defaults.h file. Tidying up.
- The homing sequence is now a compile-time option, where a user can choose which axes(s) move in sequence during the search phase. Up to 3 sequences. Works with the locating phase and the pull-off maneuver. - New defaults.h file to store user generated default settings for different machines. Mainly to be used as a central repo, but each set may be select to be compiled in as a config.h define.
This commit is contained in:
Sonny Jeon
parent
5dd6d90122
commit
d85238cc9b
48
config.h
48
config.h
@ -24,6 +24,10 @@
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// IMPORTANT: Any changes here requires a full re-compiling of the source code to propagate them.
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// Default settings. Used when resetting EEPROM. Change to desired name in defaults.h
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#define DEFAULTS_GENERIC
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// Serial baud rate
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#define BAUD_RATE 9600
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// Define pin-assignments
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@ -90,34 +94,6 @@
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#define PINOUT_PCMSK PCMSK1 // Pin change interrupt register
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#define PINOUT_MASK ((1<<PIN_RESET)|(1<<PIN_FEED_HOLD)|(1<<PIN_CYCLE_START))
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// Default settings (used when resetting eeprom-settings)
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// TODO: Begin to fill these out for various as-built machines, i.e. config_sherline5400.h
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#define MICROSTEPS 4
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#define DEFAULT_X_STEPS_PER_MM (94.488188976378*MICROSTEPS)
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#define DEFAULT_Y_STEPS_PER_MM (94.488188976378*MICROSTEPS)
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#define DEFAULT_Z_STEPS_PER_MM (94.488188976378*MICROSTEPS)
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#define DEFAULT_STEP_PULSE_MICROSECONDS 10
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#define DEFAULT_MM_PER_ARC_SEGMENT 0.1
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#define DEFAULT_RAPID_FEEDRATE 500.0 // mm/min
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#define DEFAULT_FEEDRATE 250.0
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#define DEFAULT_ACCELERATION (DEFAULT_FEEDRATE*60*60/10.0) // mm/min^2
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#define DEFAULT_JUNCTION_DEVIATION 0.05 // mm
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#define DEFAULT_STEPPING_INVERT_MASK ((1<<Y_DIRECTION_BIT)|(1<<Z_DIRECTION_BIT))
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#define DEFAULT_REPORT_INCHES 0 // false
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#define DEFAULT_AUTO_START 1 // true
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#define DEFAULT_INVERT_ST_ENABLE 0 // false
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#define DEFAULT_HARD_LIMIT_ENABLE 0 // false
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#define DEFAULT_HOMING_ENABLE 0 // false
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#define DEFAULT_HOMING_DIR_MASK 0 // move positive dir
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#define DEFAULT_HOMING_RAPID_FEEDRATE 250.0 // mm/min
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#define DEFAULT_HOMING_FEEDRATE 25 // mm/min
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#define DEFAULT_HOMING_DEBOUNCE_DELAY 100 // msec (0-65k)
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#define DEFAULT_HOMING_PULLOFF 1 // mm
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#define DEFAULT_STEPPER_IDLE_LOCK_TIME 25 // msec (0-255)
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#define DEFAULT_DECIMAL_PLACES 3
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#define DEFAULT_N_ARC_CORRECTION 25
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// Define runtime command special characters. These characters are 'picked-off' directly from the
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// serial read data stream and are not passed to the grbl line execution parser. Select characters
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// that do not and must not exist in the streamed g-code program. ASCII control characters may be
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@ -170,10 +146,24 @@
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// just moves them all at 100% speed.
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#define HOMING_RATE_ADJUST // Comment to disable
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// Define the homing cycle search patterns with bitmasks. The homing cycle first performs a search
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// to engage the limit switches. HOMING_SEARCH_CYCLE_x are executed in order starting with suffix 0
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// and searches the enabled axes in the bitmask. This allows for users with non-standard cartesian
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// machines, such as a lathe (x then z), to configure the homing cycle behavior to their needs.
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// Search cycle 0 is required, but cycles 1 and 2 are both optional and may be commented to disable.
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// After the search cycle, homing then performs a series of locating about the limit switches to hone
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// in on machine zero, followed by a pull-off maneuver. HOMING_LOCATE_CYCLE governs these final moves,
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// and this mask must contain all axes in the search.
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// NOTE: Later versions may have this installed in settings.
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#define HOMING_SEARCH_CYCLE_0 (1<<Z_AXIS) // First move Z to clear workspace.
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#define HOMING_SEARCH_CYCLE_1 ((1<<X_AXIS)|(1<<Y_AXIS)) // Then move X,Y at the same time.
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// #define HOMING_SEARCH_CYCLE_2 // Uncomment and add axes mask to enable
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#define HOMING_LOCATE_CYCLE ((1<<X_AXIS)|(1<<Y_AXIS)|(1<<Z_AXIS)) // Must contain ALL search axes
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// Number of homing cycles performed after when the machine initially jogs to limit switches.
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// This help in preventing overshoot and should improve repeatability. This value should be one or
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// greater.
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#define N_HOMING_CYCLE 2 // Integer (1-128)
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#define N_HOMING_LOCATE_CYCLE 2 // Integer (1-128)
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// Number of blocks Grbl executes upon startup. These blocks are stored in EEPROM, where the size
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// and addresses are defined in settings.h. With the current settings, up to 5 startup blocks may
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122
defaults.h
Normal file
122
defaults.h
Normal file
@ -0,0 +1,122 @@
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/*
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defaults.h - defaults settings configuration file
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Part of Grbl
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Copyright (c) 2012 Sungeun K. Jeon
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Grbl is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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Grbl is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with Grbl. If not, see <http://www.gnu.org/licenses/>.
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*/
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/* The defaults.h file serves as a central default settings file for different machine
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types, from DIY CNC mills to CNC conversions of off-the-shelf machines. The settings
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here are supplied by users, so your results may vary. However, this should give you
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a good starting point as you get to know your machine and tweak the settings for your
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our nefarious needs. */
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#ifndef defaults_h
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#define defaults_h
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#ifdef DEFAULTS_GENERIC
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// Grbl generic default settings. Should work across different machines.
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#define DEFAULT_X_STEPS_PER_MM 250
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#define DEFAULT_Y_STEPS_PER_MM 250
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#define DEFAULT_Z_STEPS_PER_MM 250
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#define DEFAULT_STEP_PULSE_MICROSECONDS 10
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#define DEFAULT_MM_PER_ARC_SEGMENT 0.1
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#define DEFAULT_RAPID_FEEDRATE 500.0 // mm/min
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#define DEFAULT_FEEDRATE 250.0
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#define DEFAULT_ACCELERATION 10*60*60 // 10 mm/sec^2
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#define DEFAULT_JUNCTION_DEVIATION 0.05 // mm
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#define DEFAULT_STEPPING_INVERT_MASK ((1<<Y_DIRECTION_BIT)|(1<<Z_DIRECTION_BIT))
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#define DEFAULT_REPORT_INCHES 0 // false
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#define DEFAULT_AUTO_START 1 // true
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#define DEFAULT_INVERT_ST_ENABLE 0 // false
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#define DEFAULT_HARD_LIMIT_ENABLE 0 // false
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#define DEFAULT_HOMING_ENABLE 0 // false
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#define DEFAULT_HOMING_DIR_MASK 0 // move positive dir
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#define DEFAULT_HOMING_RAPID_FEEDRATE 250.0 // mm/min
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#define DEFAULT_HOMING_FEEDRATE 25 // mm/min
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#define DEFAULT_HOMING_DEBOUNCE_DELAY 100 // msec (0-65k)
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#define DEFAULT_HOMING_PULLOFF 1 // mm
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#define DEFAULT_STEPPER_IDLE_LOCK_TIME 25 // msec (0-255)
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#define DEFAULT_DECIMAL_PLACES 3
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#define DEFAULT_N_ARC_CORRECTION 25
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#endif
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#ifdef DEFAULTS_SHERLINE_5400
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// Description: Sherline 5400 mill with three NEMA 23 185 oz-in stepper motors, driven by
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// three Pololu A4988 stepper drivers with a 30V, 6A power supply at 1.5A per winding.
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#define MICROSTEPS 4
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#define STEPS_PER_REV 200.0
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#define MM_PER_REV (0.050*MM_PER_INCH)) // 0.050 inch/rev leadscrew
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#define DEFAULT_X_STEPS_PER_MM (STEP_PER_REV*MICROSTEPS/MM_PER_REV)
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#define DEFAULT_Y_STEPS_PER_MM (STEP_PER_REV*MICROSTEPS/MM_PER_REV)
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#define DEFAULT_Z_STEPS_PER_MM (STEP_PER_REV*MICROSTEPS/MM_PER_REV)
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#define DEFAULT_STEP_PULSE_MICROSECONDS 10
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#define DEFAULT_MM_PER_ARC_SEGMENT 0.1
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#define DEFAULT_RAPID_FEEDRATE 635.0 // mm/min (25ipm)
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#define DEFAULT_FEEDRATE 254.0 // mm/min (10ipm)
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#define DEFAULT_ACCELERATION 50.0*60*60 // 50 mm/sec^2
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#define DEFAULT_JUNCTION_DEVIATION 0.05 // mm
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#define DEFAULT_STEPPING_INVERT_MASK ((1<<Y_DIRECTION_BIT)|(1<<Z_DIRECTION_BIT))
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#define DEFAULT_REPORT_INCHES 1 // false
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#define DEFAULT_AUTO_START 1 // true
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#define DEFAULT_INVERT_ST_ENABLE 0 // false
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#define DEFAULT_HARD_LIMIT_ENABLE 0 // false
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#define DEFAULT_HOMING_ENABLE 0 // false
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#define DEFAULT_HOMING_DIR_MASK 0 // move positive dir
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#define DEFAULT_HOMING_RAPID_FEEDRATE 254.0 // mm/min
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#define DEFAULT_HOMING_FEEDRATE 25 // mm/min
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#define DEFAULT_HOMING_DEBOUNCE_DELAY 100 // msec (0-65k)
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#define DEFAULT_HOMING_PULLOFF 1 // mm
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#define DEFAULT_STEPPER_IDLE_LOCK_TIME 25 // msec (0-255)
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#define DEFAULT_DECIMAL_PLACES 3
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#define DEFAULT_N_ARC_CORRECTION 25
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#endif
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#ifdef DEFAULTS_SHAPEOKO
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// Description: Shapeoko CNC mill with three NEMA 17 stepper motors, driven by Synthetos
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// grblShield with a 24V, 4.2A power supply.
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#define MICROSTEPS_XY 8
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#define STEP_REVS_XY 400
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#define MM_PER_REV_XY (0.08*18*MM_PER_INCH) // 0.08 in belt pitch, 18 pulley teeth
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#define MICROSTEPS_Z 2
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#define STEP_REVS_Z 400
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#define MM_PER_REV_Z 1.250 // 1.25 mm/rev leadscrew
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#define DEFAULT_X_STEPS_PER_MM (MICROSTEPS_XY*STEP_REVS_XY/MM_PER_REV_XY)
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#define DEFAULT_Y_STEPS_PER_MM (MICROSTEPS_XY*STEP_REVS_XY/MM_PER_REV_XY)
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#define DEFAULT_Z_STEPS_PER_MM (MICROSTEPS_Z*STEP_REVS_Z/MM_PER_REV_Z)
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#define DEFAULT_STEP_PULSE_MICROSECONDS 10
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#define DEFAULT_MM_PER_ARC_SEGMENT 0.1
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#define DEFAULT_RAPID_FEEDRATE 1000.0 // mm/min
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#define DEFAULT_FEEDRATE 250.0
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#define DEFAULT_ACCELERATION 15.0*60*60 // 15 mm/sec^2
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#define DEFAULT_JUNCTION_DEVIATION 0.05 // mm
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#define DEFAULT_STEPPING_INVERT_MASK ((1<<Y_DIRECTION_BIT)|(1<<Z_DIRECTION_BIT))
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#define DEFAULT_REPORT_INCHES 0 // false
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#define DEFAULT_AUTO_START 1 // true
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#define DEFAULT_INVERT_ST_ENABLE 0 // false
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#define DEFAULT_HARD_LIMIT_ENABLE 0 // false
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#define DEFAULT_HOMING_ENABLE 0 // false
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#define DEFAULT_HOMING_DIR_MASK 0 // move positive dir
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#define DEFAULT_HOMING_RAPID_FEEDRATE 250.0 // mm/min
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#define DEFAULT_HOMING_FEEDRATE 25 // mm/min
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#define DEFAULT_HOMING_DEBOUNCE_DELAY 100 // msec (0-65k)
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#define DEFAULT_HOMING_PULLOFF 1 // mm
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#define DEFAULT_STEPPER_IDLE_LOCK_TIME 255 // msec (0-255)
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#define DEFAULT_DECIMAL_PLACES 3
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#define DEFAULT_N_ARC_CORRECTION 25
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#endif
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#endif
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16
gcode.c
16
gcode.c
@ -250,14 +250,16 @@ uint8_t gc_execute_line(char *line)
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// ([F]: Set feed and seek rates.)
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// TODO: Seek rates can change depending on the direction and maximum speeds of each axes. When
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// max axis speed is installed, the calculation can be performed here, or maybe in the planner.
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if (sys.state != STATE_CHECK_MODE) {
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// ([M6]: Tool change should be executed here.)
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// [M3,M4,M5]: Update spindle state
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spindle_run(gc.spindle_direction);
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// ([M6]: Tool change should be executed here.)
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// [M3,M4,M5]: Update spindle state
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if (sys.state != STATE_CHECK_MODE) { spindle_run(gc.spindle_direction); }
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// [*M7,M8,M9]: Update coolant state
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if (sys.state != STATE_CHECK_MODE) { coolant_run(gc.coolant_mode); }
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// [*M7,M8,M9]: Update coolant state
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coolant_run(gc.coolant_mode);
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}
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// [G54,G55,...,G59]: Coordinate system selection
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if ( bit_istrue(modal_group_words,bit(MODAL_GROUP_12)) ) { // Check if called in block
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56
limits.c
56
limits.c
@ -39,7 +39,6 @@ void limits_init()
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{
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LIMIT_DDR &= ~(LIMIT_MASK); // Set as input pins
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LIMIT_PORT |= (LIMIT_MASK); // Enable internal pull-up resistors. Normal high operation.
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if (bit_istrue(settings.flags,BITFLAG_HARD_LIMIT_ENABLE)) {
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LIMIT_PCMSK |= LIMIT_MASK; // Enable specific pins of the Pin Change Interrupt
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PCICR |= (1 << LIMIT_INT); // Enable Pin Change Interrupt
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@ -88,8 +87,7 @@ ISR(LIMIT_INT_vect)
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// algorithm is written here. This also lets users hack and tune this code freely for
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// their own particular needs without affecting the rest of Grbl.
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// NOTE: Only the abort runtime command can interrupt this process.
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static void homing_cycle(bool x_axis, bool y_axis, bool z_axis, int8_t pos_dir,
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bool invert_pin, float homing_rate)
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static void homing_cycle(uint8_t cycle_mask, int8_t pos_dir, bool invert_pin, float homing_rate)
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{
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// Determine governing axes with finest step resolution per distance for the Bresenham
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// algorithm. This solves the issue when homing multiple axes that have different
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@ -99,10 +97,20 @@ static void homing_cycle(bool x_axis, bool y_axis, bool z_axis, int8_t pos_dir,
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// NOTE: For each axes enabled, the following calculations assume they physically move
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// an equal distance over each time step until they hit a limit switch, aka dogleg.
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uint32_t steps[3];
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uint8_t dist = 0;
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clear_vector(steps);
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if (x_axis) { steps[X_AXIS] = lround(settings.steps_per_mm[X_AXIS]); }
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if (y_axis) { steps[Y_AXIS] = lround(settings.steps_per_mm[Y_AXIS]); }
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if (z_axis) { steps[Z_AXIS] = lround(settings.steps_per_mm[Z_AXIS]); }
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if (cycle_mask & (1<<X_AXIS)) {
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dist++;
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steps[X_AXIS] = lround(settings.steps_per_mm[X_AXIS]);
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}
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if (cycle_mask & (1<<Y_AXIS)) {
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dist++;
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steps[Y_AXIS] = lround(settings.steps_per_mm[Y_AXIS]);
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}
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if (cycle_mask & (1<<Z_AXIS)) {
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dist++;
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steps[Z_AXIS] = lround(settings.steps_per_mm[Z_AXIS]);
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}
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uint32_t step_event_count = max(steps[X_AXIS], max(steps[Y_AXIS], steps[Z_AXIS]));
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// To ensure global acceleration is not exceeded, reduce the governing axes nominal rate
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@ -110,14 +118,14 @@ static void homing_cycle(bool x_axis, bool y_axis, bool z_axis, int8_t pos_dir,
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// used in the main planner to account for distance traveled when moving multiple axes.
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// NOTE: When axis acceleration independence is installed, this will be updated to move
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// all axes at their maximum acceleration and rate.
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float ds = step_event_count/sqrt(x_axis+y_axis+z_axis);
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float ds = step_event_count/sqrt(dist);
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// Compute the adjusted step rate change with each acceleration tick. (in step/min/acceleration_tick)
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uint32_t delta_rate = ceil( ds*settings.acceleration/(60*ACCELERATION_TICKS_PER_SECOND));
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#ifdef HOMING_RATE_ADJUST
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// Adjust homing rate so a multiple axes moves all at the homing rate independently.
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homing_rate *= sqrt(x_axis+y_axis+z_axis);
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homing_rate *= sqrt(dist); // Eq. only works if axes values are 1 or 0.
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#endif
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// Nominal and initial time increment per step. Nominal should always be greater then 3
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@ -153,34 +161,34 @@ static void homing_cycle(bool x_axis, bool y_axis, bool z_axis, int8_t pos_dir,
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// Set step pins by Bresenham line algorithm. If limit switch reached, disable and
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// flag for completion.
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if (x_axis) {
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if (cycle_mask & (1<<X_AXIS)) {
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counter_x += steps[X_AXIS];
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if (counter_x > 0) {
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if (limit_state & (1<<X_LIMIT_BIT)) { out_bits ^= (1<<X_STEP_BIT); }
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else { x_axis = false; }
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else { cycle_mask &= ~(1<<X_AXIS); }
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counter_x -= step_event_count;
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}
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}
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if (y_axis) {
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if (cycle_mask & (1<<Y_AXIS)) {
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counter_y += steps[Y_AXIS];
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if (counter_y > 0) {
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if (limit_state & (1<<Y_LIMIT_BIT)) { out_bits ^= (1<<Y_STEP_BIT); }
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else { y_axis = false; }
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else { cycle_mask &= ~(1<<Y_AXIS); }
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counter_y -= step_event_count;
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}
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}
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if (z_axis) {
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if (cycle_mask & (1<<Z_AXIS)) {
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counter_z += steps[Z_AXIS];
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if (counter_z > 0) {
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if (limit_state & (1<<Z_LIMIT_BIT)) { out_bits ^= (1<<Z_STEP_BIT); }
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else { z_axis = false; }
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else { cycle_mask &= ~(1<<Z_AXIS); }
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counter_z -= step_event_count;
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}
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}
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// Check if we are done or for system abort
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protocol_execute_runtime();
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if (!(x_axis || y_axis || z_axis) || sys.abort) { return; }
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if (!(cycle_mask) || sys.abort) { return; }
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// Perform step.
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STEPPING_PORT = (STEPPING_PORT & ~STEP_MASK) | (out_bits & STEP_MASK);
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@ -210,23 +218,27 @@ void limits_go_home()
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// Enable only the steppers, not the cycle. Cycle should be inactive/complete.
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st_wake_up();
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// Jog all axes toward home to engage their limit switches at faster homing seek rate.
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// First jog z-axis to clear workspace, then jog the x and y axis.
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homing_cycle(false, false, true, true, false, settings.homing_seek_rate); // z-axis
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homing_cycle(true, true, false, true, false, settings.homing_seek_rate); // xy-axes
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// Search to engage all axes limit switches at faster homing seek rate.
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homing_cycle(HOMING_SEARCH_CYCLE_0, true, false, settings.homing_seek_rate); // Search cycle 0
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#ifdef HOMING_SEARCH_CYCLE_1
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homing_cycle(HOMING_SEARCH_CYCLE_1, true, false, settings.homing_seek_rate); // Search cycle 1
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#endif
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#ifdef HOMING_SEARCH_CYCLE_2
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homing_cycle(HOMING_SEARCH_CYCLE_2, true, false, settings.homing_seek_rate); // Search cycle 2
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#endif
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delay_ms(settings.homing_debounce_delay); // Delay to debounce signal
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// Now in proximity of all limits. Carefully leave and approach switches in multiple cycles
|
||||
// to precisely hone in on the machine zero location. Moves at slower homing feed rate.
|
||||
int8_t n_cycle = N_HOMING_CYCLE;
|
||||
int8_t n_cycle = N_HOMING_LOCATE_CYCLE;
|
||||
while (n_cycle--) {
|
||||
// Leave all switches to release them. After cycles complete, this is machine zero.
|
||||
homing_cycle(true, true, true, false, true, settings.homing_feed_rate);
|
||||
homing_cycle(HOMING_LOCATE_CYCLE, false, true, settings.homing_feed_rate);
|
||||
delay_ms(settings.homing_debounce_delay);
|
||||
|
||||
if (n_cycle > 0) {
|
||||
// Re-approach all switches to re-engage them.
|
||||
homing_cycle(true, true, true, true, false, settings.homing_feed_rate);
|
||||
homing_cycle(HOMING_LOCATE_CYCLE, true, false, settings.homing_feed_rate);
|
||||
delay_ms(settings.homing_debounce_delay);
|
||||
}
|
||||
}
|
||||
|
||||
@ -49,6 +49,13 @@
|
||||
// backlash segment(s).
|
||||
void mc_line(float x, float y, float z, float feed_rate, uint8_t invert_feed_rate)
|
||||
{
|
||||
// TODO: Perform soft limit check here. Just check if the target x,y,z values are outside the
|
||||
// work envelope. Should be straightforward and efficient. By placing it here, rather than in
|
||||
// the g-code parser, it directly picks up motions from everywhere in Grbl.
|
||||
|
||||
// If in check gcode mode, prevent motion by blocking planner.
|
||||
if (sys.state == STATE_CHECK_MODE) { return; }
|
||||
|
||||
// TODO: Backlash compensation may be installed here. Only need direction info to track when
|
||||
// to insert a backlash line motion(s) before the intended line motion. Requires its own
|
||||
// plan_check_full_buffer() and check for system abort loop. Also for position reporting
|
||||
@ -62,25 +69,21 @@ void mc_line(float x, float y, float z, float feed_rate, uint8_t invert_feed_rat
|
||||
protocol_execute_runtime(); // Check for any run-time commands
|
||||
if (sys.abort) { return; } // Bail, if system abort.
|
||||
} while ( plan_check_full_buffer() );
|
||||
|
||||
// If in check gcode mode, prevent motion by blocking planner.
|
||||
if (sys.state != STATE_CHECK_MODE) {
|
||||
plan_buffer_line(x, y, z, feed_rate, invert_feed_rate);
|
||||
|
||||
// If idle, indicate to the system there is now a planned block in the buffer ready to cycle
|
||||
// start. Otherwise ignore and continue on.
|
||||
if (!sys.state) { sys.state = STATE_QUEUED; }
|
||||
|
||||
// Auto-cycle start immediately after planner finishes. Enabled/disabled by grbl settings. During
|
||||
// a feed hold, auto-start is disabled momentarily until the cycle is resumed by the cycle-start
|
||||
// runtime command.
|
||||
// NOTE: This is allows the user to decide to exclusively use the cycle start runtime command to
|
||||
// begin motion or let grbl auto-start it for them. This is useful when: manually cycle-starting
|
||||
// when the buffer is completely full and primed; auto-starting, if there was only one g-code
|
||||
// command sent during manual operation; or if a system is prone to buffer starvation, auto-start
|
||||
// helps make sure it minimizes any dwelling/motion hiccups and keeps the cycle going.
|
||||
if (sys.auto_start) { st_cycle_start(); }
|
||||
}
|
||||
plan_buffer_line(x, y, z, feed_rate, invert_feed_rate);
|
||||
|
||||
// If idle, indicate to the system there is now a planned block in the buffer ready to cycle
|
||||
// start. Otherwise ignore and continue on.
|
||||
if (!sys.state) { sys.state = STATE_QUEUED; }
|
||||
|
||||
// Auto-cycle start immediately after planner finishes. Enabled/disabled by grbl settings. During
|
||||
// a feed hold, auto-start is disabled momentarily until the cycle is resumed by the cycle-start
|
||||
// runtime command.
|
||||
// NOTE: This is allows the user to decide to exclusively use the cycle start runtime command to
|
||||
// begin motion or let grbl auto-start it for them. This is useful when: manually cycle-starting
|
||||
// when the buffer is completely full and primed; auto-starting, if there was only one g-code
|
||||
// command sent during manual operation; or if a system is prone to buffer starvation, auto-start
|
||||
// helps make sure it minimizes any dwelling/motion hiccups and keeps the cycle going.
|
||||
if (sys.auto_start) { st_cycle_start(); }
|
||||
}
|
||||
|
||||
|
||||
@ -223,20 +226,29 @@ void mc_go_home()
|
||||
sys_sync_current_position();
|
||||
sys.state = STATE_IDLE; // Set system state to IDLE to complete motion and indicate homed.
|
||||
|
||||
// Pull-off all axes from limit switches before continuing motion. This provides some initial
|
||||
// clearance off the switches and should also help prevent them from falsely tripping when
|
||||
// hard limits are enabled.
|
||||
// Pull-off axes (that have been homed) from limit switches before continuing motion.
|
||||
// This provides some initial clearance off the switches and should also help prevent them
|
||||
// from falsely tripping when hard limits are enabled.
|
||||
int8_t x_dir, y_dir, z_dir;
|
||||
x_dir = y_dir = z_dir = -1;
|
||||
if (bit_istrue(settings.homing_dir_mask,bit(X_DIRECTION_BIT))) { x_dir = 1; }
|
||||
if (bit_istrue(settings.homing_dir_mask,bit(Y_DIRECTION_BIT))) { y_dir = 1; }
|
||||
if (bit_istrue(settings.homing_dir_mask,bit(Z_DIRECTION_BIT))) { z_dir = 1; }
|
||||
x_dir = y_dir = z_dir = 0;
|
||||
if (HOMING_LOCATE_CYCLE & (1<<X_AXIS)) {
|
||||
if (settings.homing_dir_mask & (1<<X_DIRECTION_BIT)) { x_dir = 1; }
|
||||
else { x_dir = -1; }
|
||||
}
|
||||
if (HOMING_LOCATE_CYCLE & (1<<Y_AXIS)) {
|
||||
if (settings.homing_dir_mask & (1<<Y_DIRECTION_BIT)) { y_dir = 1; }
|
||||
else { y_dir = -1; }
|
||||
}
|
||||
if (HOMING_LOCATE_CYCLE & (1<<Z_AXIS)) {
|
||||
if (settings.homing_dir_mask & (1<<Z_DIRECTION_BIT)) { z_dir = 1; }
|
||||
else { z_dir = -1; }
|
||||
}
|
||||
mc_line(x_dir*settings.homing_pulloff, y_dir*settings.homing_pulloff,
|
||||
z_dir*settings.homing_pulloff, settings.homing_seek_rate, false);
|
||||
st_cycle_start(); // Move it. Nothing should be in the buffer except this motion.
|
||||
plan_synchronize(); // Make sure the motion completes.
|
||||
|
||||
// The gcode parser position was circumvented by the pull-off maneuver, so sync position vectors.
|
||||
// The gcode parser position circumvented by the pull-off maneuver, so sync position vectors.
|
||||
sys_sync_current_position();
|
||||
|
||||
// If hard limits feature enabled, re-enable hard limits pin change register after homing cycle.
|
||||
|
||||
@ -26,6 +26,7 @@
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
#include "config.h"
|
||||
#include "defaults.h"
|
||||
|
||||
#define false 0
|
||||
#define true 1
|
||||
|
||||
Loading…
Reference in New Issue
Block a user