From 05e1d6083b47c014f3db51d4ac132ef482517ef8 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Felipe=20Corr=C3=AAa=20da=20Silva=20Sanches?= Date: Mon, 18 Jun 2012 11:03:06 -0300 Subject: refactoring homing routine to avoid copy&pasted code --- Sprinter/Sprinter.pde | 134 +++++++++++++++----------------------------------- 1 file changed, 39 insertions(+), 95 deletions(-) diff --git a/Sprinter/Sprinter.pde b/Sprinter/Sprinter.pde index 94aa538..b423c32 100644 --- a/Sprinter/Sprinter.pde +++ b/Sprinter/Sprinter.pde @@ -1150,6 +1150,42 @@ 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; @@ -1169,105 +1205,13 @@ 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]))) - { - if ((X_MIN_PIN > -1 && X_HOME_DIR==-1) || (X_MAX_PIN > -1 && X_HOME_DIR==1)) - { - st_synchronize(); - current_position[X_AXIS] = -1.5 * X_MAX_LENGTH * X_HOME_DIR; - plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); - destination[X_AXIS] = 0; - feedrate = homing_feedrate[X_AXIS]; - prepare_move(); - - st_synchronize(); - current_position[X_AXIS] = 5 * X_HOME_DIR; - plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); - destination[X_AXIS] = 0; - prepare_move(); - - st_synchronize(); - current_position[X_AXIS] = -10 * X_HOME_DIR; - plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); - destination[X_AXIS] = 0; - feedrate = homing_feedrate[X_AXIS]/2 ; - prepare_move(); - st_synchronize(); - - current_position[X_AXIS] = (X_HOME_DIR == -1) ? 0 : X_MAX_LENGTH; - current_position[X_AXIS] += add_homing[0]; - plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); - destination[X_AXIS] = current_position[X_AXIS]; - feedrate = 0; - } - } - //showString(PSTR("HOME X AXIS\r\n")); + HOMING_ROUTINE(X) if((home_all_axis) || (code_seen(axis_codes[Y_AXIS]))) - { - if ((Y_MIN_PIN > -1 && Y_HOME_DIR==-1) || (Y_MAX_PIN > -1 && Y_HOME_DIR==1)) - { - current_position[Y_AXIS] = -1.5 * Y_MAX_LENGTH * Y_HOME_DIR; - plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); - destination[Y_AXIS] = 0; - feedrate = homing_feedrate[Y_AXIS]; - prepare_move(); - st_synchronize(); - - current_position[Y_AXIS] = 5 * Y_HOME_DIR; - plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); - destination[Y_AXIS] = 0; - prepare_move(); - st_synchronize(); - - current_position[Y_AXIS] = -10 * Y_HOME_DIR; - plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); - destination[Y_AXIS] = 0; - feedrate = homing_feedrate[Y_AXIS]/2; - prepare_move(); - st_synchronize(); - - current_position[Y_AXIS] = (Y_HOME_DIR == -1) ? 0 : Y_MAX_LENGTH; - current_position[Y_AXIS] += add_homing[1]; - plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); - destination[Y_AXIS] = current_position[Y_AXIS]; - feedrate = 0; - } - } - //showString(PSTR("HOME Y AXIS\r\n")); + HOMING_ROUTINE(Y) if((home_all_axis) || (code_seen(axis_codes[Z_AXIS]))) - { - if ((Z_MIN_PIN > -1 && Z_HOME_DIR==-1) || (Z_MAX_PIN > -1 && Z_HOME_DIR==1)) - { - current_position[Z_AXIS] = -1.5 * Z_MAX_LENGTH * Z_HOME_DIR; - plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); - destination[Z_AXIS] = 0; - feedrate = homing_feedrate[Z_AXIS]; - prepare_move(); - st_synchronize(); - - current_position[Z_AXIS] = 2 * Z_HOME_DIR; - plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); - destination[Z_AXIS] = 0; - prepare_move(); - st_synchronize(); - - current_position[Z_AXIS] = -3 * Z_HOME_DIR; - plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); - destination[Z_AXIS] = 0; - feedrate = homing_feedrate[Z_AXIS]/2; - prepare_move(); - st_synchronize(); - - current_position[Z_AXIS] = (Z_HOME_DIR == -1) ? 0 : Z_MAX_LENGTH; - current_position[Z_AXIS] += add_homing[2]; - plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); - destination[Z_AXIS] = current_position[Z_AXIS]; - feedrate = 0; - } - } - - //showString(PSTR("HOME Z AXIS\r\n")); + HOMING_ROUTINE(Z) #ifdef ENDSTOPS_ONLY_FOR_HOMING enable_endstops(false); -- cgit v1.2.1