Implement adaptive homing feedrates.
For now for X min only, but it works excellently already. Tested quite a few combinations and raising acceleration or endstop clearance raises homing feedrate just as expected. Quite a chunk of the code is for testing the given configuration, only. A thing which would ideally be done for every macro used in each code file.
This commit is contained in:
Markus Hitter
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7611872baa
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b275bfcc32
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@ -82,17 +82,37 @@
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#define MAXIMUM_FEEDRATE_Z 100
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#define MAXIMUM_FEEDRATE_E 200
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/// used when searching endstops and as default feedrate
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/// Used when doing precision endstop search and as default feedrate.
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#define SEARCH_FEEDRATE_X 50
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#define SEARCH_FEEDRATE_Y 50
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#define SEARCH_FEEDRATE_Z 50
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// no SEARCH_FEEDRATE_E, as E can't be searched
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/** \def SLOW_HOMING
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wether to search the home point slowly
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With some endstop configurations, like when probing for the surface of a PCB, you can't deal with overrunning the endstop. In such a case, uncomment this definition.
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/** \def ENDSTOP_CLEARANCE_X
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\def ENDSTOP_CLEARANCE_Y
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\def ENDSTOP_CLEARANCE_Z
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When hitting an endstop, Teacup properly decelerates instead of doing an
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aprupt stop to save your mechanics. Ineviteably, this means it overshoots
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the endstop trigger point by some distance.
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To deal with this, Teacup adapts homing movement speeds to what your
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endstops can deal with. The higher the allowed acceleration ( = deceleration,
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see #define ACCELERATION) and the more clearance the endstop comes with,
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the faster Teacup will do homing movements.
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Set here how many micrometers (mm * 1000) your endstop allows the carriage
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to overshoot the trigger point. Typically 1000 or 2000 for mechanical
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endstops, more for optical ones. You can set it to zero, in which case
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SEARCH_FEEDRATE_{XYZ} is used, but expect very slow homing movements.
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Units: micrometers
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Sane values: 0 to 20000 (0 to 20 mm)
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Valid range: 0 to 1000000
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*/
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// #define SLOW_HOMING
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#define ENDSTOP_CLEARANCE_X 1000
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#define ENDSTOP_CLEARANCE_Y 1000
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#define ENDSTOP_CLEARANCE_Z 100
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/**
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Soft axis limits, in mm.
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52
home.c
52
home.c
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@ -4,11 +4,48 @@
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\brief Homing routines
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*/
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#include <math.h>
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#include "dda.h"
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#include "dda_queue.h"
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#include "pinio.h"
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#include "gcode_parse.h"
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// Check configuration.
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#if defined X_MIN_PIN || defined X_MAX_PIN
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#ifndef SEARCH_FEEDRATE_X
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#error SEARCH_FEEDRATE_X undefined. It should be defined in config.h.
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#endif
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#ifndef ENDSTOP_CLEARANCE_X
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#error ENDSTOP_CLEARANCE_X undefined. It should be defined in config.h.
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#endif
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#endif
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#if defined Y_MIN_PIN || defined Y_MAX_PIN
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#ifndef SEARCH_FEEDRATE_Y
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#error SEARCH_FEEDRATE_Y undefined. It should be defined in config.h.
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#endif
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#ifndef ENDSTOP_CLEARANCE_Y
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#error ENDSTOP_CLEARANCE_Y undefined. It should be defined in config.h.
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#endif
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#endif
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#if defined Z_MIN_PIN || defined Z_MAX_PIN
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#ifndef SEARCH_FEEDRATE_Z
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#error SEARCH_FEEDRATE_Z undefined. It should be defined in config.h.
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#endif
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#ifndef ENDSTOP_CLEARANCE_Z
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#error ENDSTOP_CLEARANCE_Z undefined. It should be defined in config.h.
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#endif
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#endif
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// Calculate feedrates according to clearance and deceleration.
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// For a description, see #define ENDSTOP_CLEARANCE_{XYZ} in config.h.
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// s = 1/2 * a * t^2; t = v / a <==> v = sqrt(2 * a * s))
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// units: / 1000 for um -> mm; * 60 for mm/s -> mm/min
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#ifdef ENDSTOP_CLEARANCE_X
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#define SEARCH_FAST_X (uint32_t)((double)60. * \
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sqrt((double)2 * ACCELERATION * ENDSTOP_CLEARANCE_X / 1000.))
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#endif
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/// home all 3 axes
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void home() {
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#if defined X_MIN_PIN
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@ -36,21 +73,18 @@ void home_x_negative() {
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TARGET t = startpoint;
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t.X = -1000000;
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#ifdef SLOW_HOMING
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// hit home soft
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t.F = SEARCH_FEEDRATE_X;
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#else
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// hit home hard
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t.F = MAXIMUM_FEEDRATE_X;
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#endif
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if (SEARCH_FAST_X > SEARCH_FEEDRATE_X) // Preprocessor can't check this :-/
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t.F = SEARCH_FAST_X;
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else
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t.F = SEARCH_FEEDRATE_X;
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enqueue_home(&t, 0x1, 1);
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#ifndef SLOW_HOMING
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if (SEARCH_FAST_X > SEARCH_FEEDRATE_X) {
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// back off slowly
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t.X = +1000000;
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t.F = SEARCH_FEEDRATE_X;
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enqueue_home(&t, 0x1, 0);
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#endif
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}
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// set X home
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queue_wait(); // we have to wait here, see G92
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