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authorFelipe CorrĂȘa da Silva Sanches <juca@members.fsf.org>2012-06-18 13:07:42 -0300
committerFelipe CorrĂȘa da Silva Sanches <juca@members.fsf.org>2012-06-18 13:07:42 -0300
commit3cc48055c21cb18fd73b963a385c4b093625a9de (patch)
tree8376867452f2ff58e748070fe3404badbbae2799 /Sprinter
parent05e1d6083b47c014f3db51d4ac132ef482517ef8 (diff)
reimplement homing routine as an inline function
Diffstat (limited to 'Sprinter')
-rw-r--r--Sprinter/Sprinter.pde103
1 files changed, 64 insertions, 39 deletions
diff --git a/Sprinter/Sprinter.pde b/Sprinter/Sprinter.pde
index b423c32..f1940d9 100644
--- a/Sprinter/Sprinter.pde
+++ b/Sprinter/Sprinter.pde
@@ -1103,6 +1103,67 @@ FORCE_INLINE bool code_seen(char code)
return (strchr_pointer != NULL); //Return True if a character was found
}
+FORCE_INLINE void homing_routine(char axis)
+{
+ int min_pin, max_pin, home_dir, max_length, home_bounce;
+
+ switch(axis){
+ case X_AXIS:
+ min_pin = X_MIN_PIN;
+ max_pin = X_MAX_PIN;
+ home_dir = X_HOME_DIR;
+ max_length = X_MAX_LENGTH;
+ home_bounce = 10;
+ break;
+ case Y_AXIS:
+ min_pin = Y_MIN_PIN;
+ max_pin = Y_MAX_PIN;
+ home_dir = Y_HOME_DIR;
+ max_length = Y_MAX_LENGTH;
+ home_bounce = 10;
+ break;
+ case Z_AXIS:
+ min_pin = Z_MIN_PIN;
+ max_pin = Z_MAX_PIN;
+ home_dir = Z_HOME_DIR;
+ max_length = Z_MAX_LENGTH;
+ home_bounce = 4;
+ break;
+ default:
+ //never reached
+ break;
+ }
+
+ if ((min_pin > -1 && home_dir==-1) || (max_pin > -1 && home_dir==1))
+ {
+ current_position[axis] = -1.5 * max_length * home_dir;
+ plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
+ destination[axis] = 0;
+ feedrate = homing_feedrate[axis];
+ prepare_move();
+ st_synchronize();
+
+ current_position[axis] = home_bounce/2 * home_dir;
+ plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
+ destination[axis] = 0;
+ prepare_move();
+ st_synchronize();
+
+ current_position[axis] = -home_bounce * home_dir;
+ plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
+ destination[axis] = 0;
+ feedrate = homing_feedrate[axis]/2;
+ prepare_move();
+ st_synchronize();
+
+ current_position[axis] = (home_dir == -1) ? 0 : max_length;
+ current_position[axis] += add_homing[axis];
+ plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
+ destination[axis] = current_position[axis];
+ feedrate = 0;
+ }
+}
+
//------------------------------------------------
// CHECK COMMAND AND CONVERT VALUES
//------------------------------------------------
@@ -1150,42 +1211,6 @@ FORCE_INLINE void process_commands()
manage_heater();
}
break;
-
-#define X_HOME_BOUNCE 10
-#define Y_HOME_BOUNCE 10
-#define Z_HOME_BOUNCE 4
-
-#define HOMING_ROUTINE(coord)\
- if ((coord##_MIN_PIN > -1 && coord##_HOME_DIR==-1) || (coord##_MAX_PIN > -1 && coord##_HOME_DIR==1))\
- {\
- current_position[coord##_AXIS] = -1.5 * coord##_MAX_LENGTH * coord##_HOME_DIR;\
- plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);\
- destination[coord##_AXIS] = 0;\
- feedrate = homing_feedrate[coord##_AXIS];\
- prepare_move();\
- st_synchronize();\
- \
- current_position[coord##_AXIS] = coord##_HOME_BOUNCE/2 * coord##_HOME_DIR;\
- plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);\
- destination[coord##_AXIS] = 0;\
- prepare_move();\
- st_synchronize();\
- \
- current_position[coord##_AXIS] = -coord##_HOME_BOUNCE * coord##_HOME_DIR;\
- plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);\
- destination[coord##_AXIS] = 0;\
- feedrate = homing_feedrate[coord##_AXIS]/2;\
- prepare_move();\
- st_synchronize();\
- \
- current_position[coord##_AXIS] = (coord##_HOME_DIR == -1) ? 0 : coord##_MAX_LENGTH;\
- current_position[coord##_AXIS] += add_homing[coord##_AXIS];\
- plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);\
- destination[coord##_AXIS] = current_position[coord##_AXIS];\
- feedrate = 0;\
- /*showString(PSTR("HOME " #coord " AXIS\r\n"));*/\
- }
-
case 28: //G28 Home all Axis one at a time
saved_feedrate = feedrate;
saved_feedmultiply = feedmultiply;
@@ -1205,13 +1230,13 @@ FORCE_INLINE void process_commands()
home_all_axis = !((code_seen(axis_codes[0])) || (code_seen(axis_codes[1])) || (code_seen(axis_codes[2])));
if((home_all_axis) || (code_seen(axis_codes[X_AXIS])))
- HOMING_ROUTINE(X)
+ homing_routine(X_AXIS);
if((home_all_axis) || (code_seen(axis_codes[Y_AXIS])))
- HOMING_ROUTINE(Y)
+ homing_routine(Y_AXIS);
if((home_all_axis) || (code_seen(axis_codes[Z_AXIS])))
- HOMING_ROUTINE(Z)
+ homing_routine(Z_AXIS);
#ifdef ENDSTOPS_ONLY_FOR_HOMING
enable_endstops(false);