home.c: make queueing home movements while the machine is running work
current_position is the position at the start of the queue, startpoint is the position at the end of the queue and we add at the end, obviously.
This commit is contained in:
Markus Hitter
parent
129bdc64bc
commit
27a247646c
43
home.c
43
home.c
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@ -8,6 +8,7 @@
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#include "dda_queue.h"
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#include "delay.h"
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#include "pinio.h"
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#include "gcode_parse.h"
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/// home all 3 axes
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void home() {
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@ -33,7 +34,7 @@ void home() {
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/// find X MIN endstop
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void home_x_negative() {
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#if defined X_MIN_PIN
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TARGET t = {0, current_position.Y, current_position.Z};
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TARGET t = startpoint;
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t.X = -1000*STEPS_PER_MM_X;
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#ifdef SLOW_HOMING
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@ -53,10 +54,12 @@ void home_x_negative() {
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#endif
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// set X home
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queue_wait(); // we have to wait here, see G92
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#ifdef X_MIN
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startpoint.X = current_position.X = (int32_t) (X_MIN * STEPS_PER_MM_X);
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startpoint.X = current_position.X = next_target.target.X =
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(int32_t)(X_MIN * STEPS_PER_MM_X);
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#else
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startpoint.X = current_position.X = 0;
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startpoint.X = current_position.X = next_target.target.X = 0;
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#endif
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#endif
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}
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@ -64,7 +67,7 @@ void home_x_negative() {
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/// find X_MAX endstop
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void home_x_positive() {
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#if defined X_MAX_PIN
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TARGET t = {0, current_position.Y, current_position.Z};
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TARGET t = startpoint;
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t.X = +1000*STEPS_PER_MM_X;
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#ifdef SLOW_HOMING
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@ -84,8 +87,10 @@ void home_x_positive() {
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#endif
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// set X home
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queue_wait();
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// set position to MAX
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startpoint.X = current_position.X = (int32_t) (X_MAX * STEPS_PER_MM_X);
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startpoint.X = current_position.X = next_target.target.X =
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(int32_t)(X_MAX * STEPS_PER_MM_X);
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// go to zero
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t.X = 0;
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t.F = MAXIMUM_FEEDRATE_X;
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@ -96,7 +101,7 @@ void home_x_positive() {
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/// fund Y MIN endstop
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void home_y_negative() {
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#if defined Y_MIN_PIN
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TARGET t = {0, current_position.Y, current_position.Z};
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TARGET t = startpoint;
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t.Y = -1000*STEPS_PER_MM_Y;
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#ifdef SLOW_HOMING
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@ -116,10 +121,12 @@ void home_y_negative() {
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#endif
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// set Y home
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queue_wait();
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#ifdef Y_MIN
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startpoint.Y = current_position.Y = (int32_t) (Y_MIN * STEPS_PER_MM_Y);
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startpoint.Y = current_position.Y = next_target.target.Y =
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(int32_t)(Y_MIN * STEPS_PER_MM_Y);
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#else
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startpoint.Y = current_position.Y = 0;
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startpoint.Y = current_position.Y = next_target.target.Y = 0;
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#endif
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#endif
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}
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@ -127,7 +134,7 @@ void home_y_negative() {
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/// find Y MAX endstop
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void home_y_positive() {
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#if defined Y_MAX_PIN
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TARGET t = {0, current_position.Y, current_position.Z};
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TARGET t = startpoint;
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t.Y = +1000*STEPS_PER_MM_Y;
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#ifdef SLOW_HOMING
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@ -147,8 +154,10 @@ void home_y_positive() {
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#endif
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// set Y home
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queue_wait();
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// set position to MAX
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startpoint.Y = current_position.Y = (int32_t) (Y_MAX * STEPS_PER_MM_Y);
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startpoint.Y = current_position.Y = next_target.target.Y =
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(int32_t)(Y_MAX * STEPS_PER_MM_Y);
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// go to zero
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t.Y = 0;
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t.F = MAXIMUM_FEEDRATE_Y;
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@ -159,7 +168,7 @@ void home_y_positive() {
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/// find Z MIN endstop
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void home_z_negative() {
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#if defined Z_MIN_PIN
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TARGET t = {current_position.X, current_position.Y, 0};
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TARGET t = startpoint;
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t.Z = -1000*STEPS_PER_MM_Z;
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#ifdef SLOW_HOMING
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@ -179,10 +188,12 @@ void home_z_negative() {
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#endif
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// set Z home
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queue_wait();
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#ifdef Z_MIN
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startpoint.Z = current_position.Z = (int32_t) (Z_MIN * STEPS_PER_MM_Z);
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startpoint.Z = current_position.Z = next_target.target.Z =
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(int32_t)(Z_MIN * STEPS_PER_MM_Z);
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#else
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startpoint.Z = current_position.Z = 0;
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startpoint.Z = current_position.Z = next_target.target.Z = 0;
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#endif
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z_disable();
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#endif
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@ -191,7 +202,7 @@ void home_z_negative() {
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/// find Z MAX endstop
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void home_z_positive() {
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#if defined Z_MAX_PIN
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TARGET t = {current_position.X, current_position.Y, 0};
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TARGET t = startpoint;
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t.Z = +1000*STEPS_PER_MM_Z;
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#ifdef SLOW_HOMING
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@ -211,8 +222,10 @@ void home_z_positive() {
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#endif
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// set Z home
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queue_wait();
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// set position to MAX
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startpoint.Z = current_position.Z = (int32_t) (Z_MAX * STEPS_PER_MM_Z);
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startpoint.Z = current_position.Z = next_target.target.Z =
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(int32_t)(Z_MAX * STEPS_PER_MM_Z);
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// go to zero
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t.Z = 0;
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t.F = MAXIMUM_FEEDRATE_Z;
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