47cd40c8dc
- NEW! An active multi-axis step smoothing algorithm that automatically adjusts dependent on step frequency. This solves the long standing issue to aliasing when moving with multiple axes. Similar in scheme to Smoothieware, but more advanced in ensuring a more consistent CPU overhead throughout all frequencies while maintaining step exactness. - Switched from Timer2 to Timer0 for the Step Port Reset Interrupt. Mainly to free up hardware PWM pins. - Seperated the direction and step pin assignments, so we can now move them to seperate ports. This means that we can more easily support 4+ axes in the future. - Added a setting for inverting the limit pins, as so many users have request. Better late than never. - Bug fix related to EEPROM calls when in cycle. The EEPROM would kill the stepper motion. Now protocol mandates that the system be either in IDLE or ALARM to access or change any settings. - Bug fix related to resuming the cycle after a spindle or dwell command if auto start has been disabled. This fix is somewhat temporary or more of a patch. Doesn’t work with a straight call-response streaming protocol, but works fine with serial buffer pre-filling streaming that most clients use. - Renamed the pin_map.h to cpu_map.h to more accurately describe what the file is. - Pushed an auto start bug fix upon re-initialization. - Much more polishing to do!
36 lines
1.1 KiB
C
36 lines
1.1 KiB
C
/*
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limits.h - code pertaining to limit-switches and performing the homing cycle
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Part of Grbl
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Copyright (c) 2009-2011 Simen Svale Skogsrud
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Copyright (c) 2013 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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#ifndef limits_h
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#define limits_h
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// Initialize the limits module
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void limits_init();
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void limits_disable();
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// Perform one portion of the homing cycle based on the input settings.
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void limits_go_home(uint8_t cycle_mask, bool approach, float homing_rate);
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// Check for soft limit violations
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void limits_soft_check(float *target);
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#endif |