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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 2011-10-06 15:06:19 +02:00
parent 129bdc64bc
commit 27a247646c
1 changed files with 28 additions and 15 deletions
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43
home.c
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@ -8,6 +8,7 @@
#include "dda_queue.h" #include "dda_queue.h"
#include "delay.h" #include "delay.h"
#include "pinio.h" #include "pinio.h"
#include "gcode_parse.h"
/// home all 3 axes /// home all 3 axes
void home() { void home() {
@ -33,7 +34,7 @@ void home() {
/// find X MIN endstop /// find X MIN endstop
void home_x_negative() { void home_x_negative() {
#if defined X_MIN_PIN #if defined X_MIN_PIN
TARGET t = {0, current_position.Y, current_position.Z}; TARGET t = startpoint;
t.X = -1000*STEPS_PER_MM_X; t.X = -1000*STEPS_PER_MM_X;
#ifdef SLOW_HOMING #ifdef SLOW_HOMING
@ -53,10 +54,12 @@ void home_x_negative() {
#endif #endif
// set X home // set X home
queue_wait(); // we have to wait here, see G92
#ifdef X_MIN #ifdef X_MIN
startpoint.X = current_position.X = (int32_t) (X_MIN * STEPS_PER_MM_X); startpoint.X = current_position.X = next_target.target.X =
(int32_t)(X_MIN * STEPS_PER_MM_X);
#else #else
startpoint.X = current_position.X = 0; startpoint.X = current_position.X = next_target.target.X = 0;
#endif #endif
#endif #endif
} }
@ -64,7 +67,7 @@ void home_x_negative() {
/// find X_MAX endstop /// find X_MAX endstop
void home_x_positive() { void home_x_positive() {
#if defined X_MAX_PIN #if defined X_MAX_PIN
TARGET t = {0, current_position.Y, current_position.Z}; TARGET t = startpoint;
t.X = +1000*STEPS_PER_MM_X; t.X = +1000*STEPS_PER_MM_X;
#ifdef SLOW_HOMING #ifdef SLOW_HOMING
@ -84,8 +87,10 @@ void home_x_positive() {
#endif #endif
// set X home // set X home
queue_wait();
// set position to MAX // set position to MAX
startpoint.X = current_position.X = (int32_t) (X_MAX * STEPS_PER_MM_X); startpoint.X = current_position.X = next_target.target.X =
(int32_t)(X_MAX * STEPS_PER_MM_X);
// go to zero // go to zero
t.X = 0; t.X = 0;
t.F = MAXIMUM_FEEDRATE_X; t.F = MAXIMUM_FEEDRATE_X;
@ -96,7 +101,7 @@ void home_x_positive() {
/// fund Y MIN endstop /// fund Y MIN endstop
void home_y_negative() { void home_y_negative() {
#if defined Y_MIN_PIN #if defined Y_MIN_PIN
TARGET t = {0, current_position.Y, current_position.Z}; TARGET t = startpoint;
t.Y = -1000*STEPS_PER_MM_Y; t.Y = -1000*STEPS_PER_MM_Y;
#ifdef SLOW_HOMING #ifdef SLOW_HOMING
@ -116,10 +121,12 @@ void home_y_negative() {
#endif #endif
// set Y home // set Y home
queue_wait();
#ifdef Y_MIN #ifdef Y_MIN
startpoint.Y = current_position.Y = (int32_t) (Y_MIN * STEPS_PER_MM_Y); startpoint.Y = current_position.Y = next_target.target.Y =
(int32_t)(Y_MIN * STEPS_PER_MM_Y);
#else #else
startpoint.Y = current_position.Y = 0; startpoint.Y = current_position.Y = next_target.target.Y = 0;
#endif #endif
#endif #endif
} }
@ -127,7 +134,7 @@ void home_y_negative() {
/// find Y MAX endstop /// find Y MAX endstop
void home_y_positive() { void home_y_positive() {
#if defined Y_MAX_PIN #if defined Y_MAX_PIN
TARGET t = {0, current_position.Y, current_position.Z}; TARGET t = startpoint;
t.Y = +1000*STEPS_PER_MM_Y; t.Y = +1000*STEPS_PER_MM_Y;
#ifdef SLOW_HOMING #ifdef SLOW_HOMING
@ -147,8 +154,10 @@ void home_y_positive() {
#endif #endif
// set Y home // set Y home
queue_wait();
// set position to MAX // set position to MAX
startpoint.Y = current_position.Y = (int32_t) (Y_MAX * STEPS_PER_MM_Y); startpoint.Y = current_position.Y = next_target.target.Y =
(int32_t)(Y_MAX * STEPS_PER_MM_Y);
// go to zero // go to zero
t.Y = 0; t.Y = 0;
t.F = MAXIMUM_FEEDRATE_Y; t.F = MAXIMUM_FEEDRATE_Y;
@ -159,7 +168,7 @@ void home_y_positive() {
/// find Z MIN endstop /// find Z MIN endstop
void home_z_negative() { void home_z_negative() {
#if defined Z_MIN_PIN #if defined Z_MIN_PIN
TARGET t = {current_position.X, current_position.Y, 0}; TARGET t = startpoint;
t.Z = -1000*STEPS_PER_MM_Z; t.Z = -1000*STEPS_PER_MM_Z;
#ifdef SLOW_HOMING #ifdef SLOW_HOMING
@ -179,10 +188,12 @@ void home_z_negative() {
#endif #endif
// set Z home // set Z home
queue_wait();
#ifdef Z_MIN #ifdef Z_MIN
startpoint.Z = current_position.Z = (int32_t) (Z_MIN * STEPS_PER_MM_Z); startpoint.Z = current_position.Z = next_target.target.Z =
(int32_t)(Z_MIN * STEPS_PER_MM_Z);
#else #else
startpoint.Z = current_position.Z = 0; startpoint.Z = current_position.Z = next_target.target.Z = 0;
#endif #endif
z_disable(); z_disable();
#endif #endif
@ -191,7 +202,7 @@ void home_z_negative() {
/// find Z MAX endstop /// find Z MAX endstop
void home_z_positive() { void home_z_positive() {
#if defined Z_MAX_PIN #if defined Z_MAX_PIN
TARGET t = {current_position.X, current_position.Y, 0}; TARGET t = startpoint;
t.Z = +1000*STEPS_PER_MM_Z; t.Z = +1000*STEPS_PER_MM_Z;
#ifdef SLOW_HOMING #ifdef SLOW_HOMING
@ -211,8 +222,10 @@ void home_z_positive() {
#endif #endif
// set Z home // set Z home
queue_wait();
// set position to MAX // set position to MAX
startpoint.Z = current_position.Z = (int32_t) (Z_MAX * STEPS_PER_MM_Z); startpoint.Z = current_position.Z = next_target.target.Z =
(int32_t)(Z_MAX * STEPS_PER_MM_Z);
// go to zero // go to zero
t.Z = 0; t.Z = 0;
t.F = MAXIMUM_FEEDRATE_Z; t.F = MAXIMUM_FEEDRATE_Z;