ManuelW/grbl-LPC-CoreXY
1
0
Fork 0
Code Issues Pull Requests Releases 1 Wiki Activity

Homing search sequence now compile-time option. New defaults.h file. Tidying up.

Browse Source 
- 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
2012-11-18 19:52:16 -07:00
parent 5dd6d90122
commit d85238cc9b
6 changed files with 224 additions and 85 deletions
Download Patch File Download Diff File Expand all files Collapse all files

66
motion_control.c
View File

@ -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.