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home.c: adaptive homing feedrates for all axes.

This commit is contained in:
Markus Hitter 2014-05-25 18:55:31 +02:00
parent a7adc66ae5
commit dc84e4dfe0
1 changed files with 38 additions and 50 deletions
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88
home.c
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@ -44,6 +44,14 @@
#define SEARCH_FAST_X (uint32_t)((double)60. * \
sqrt((double)2 * ACCELERATION * ENDSTOP_CLEARANCE_X / 1000.))
#endif
#ifdef ENDSTOP_CLEARANCE_Y
#define SEARCH_FAST_Y (uint32_t)((double)60. * \
sqrt((double)2 * ACCELERATION * ENDSTOP_CLEARANCE_Y / 1000.))
#endif
#ifdef ENDSTOP_CLEARANCE_Z
#define SEARCH_FAST_Z (uint32_t)((double)60. * \
sqrt((double)2 * ACCELERATION * ENDSTOP_CLEARANCE_Z / 1000.))
#endif
/// home all 3 axes
@ -106,21 +114,17 @@ void home_x_positive() {
TARGET t = startpoint;
t.X = +1000000;
#ifdef SLOW_HOMING
// hit home soft
t.F = SEARCH_FEEDRATE_X;
#else
// hit home hard
t.F = MAXIMUM_FEEDRATE_X;
#endif
if (SEARCH_FAST_X > SEARCH_FEEDRATE_X)
t.F = SEARCH_FAST_X;
else
t.F = SEARCH_FEEDRATE_X;
enqueue_home(&t, 0x1, 1);
#ifndef SLOW_HOMING
// back off slowly
if (SEARCH_FAST_X > SEARCH_FEEDRATE_X) {
t.X = -1000000;
t.F = SEARCH_FEEDRATE_X;
enqueue_home(&t, 0x1, 0);
#endif
}
// set X home
queue_wait();
@ -140,21 +144,17 @@ void home_y_negative() {
TARGET t = startpoint;
t.Y = -1000000;
#ifdef SLOW_HOMING
// hit home soft
t.F = SEARCH_FEEDRATE_Y;
#else
// hit home hard
t.F = MAXIMUM_FEEDRATE_Y;
#endif
if (SEARCH_FAST_Y > SEARCH_FEEDRATE_Y)
t.F = SEARCH_FAST_Y;
else
t.F = SEARCH_FEEDRATE_Y;
enqueue_home(&t, 0x2, 1);
#ifndef SLOW_HOMING
// back off slowly
if (SEARCH_FAST_Y > SEARCH_FEEDRATE_Y) {
t.Y = +1000000;
t.F = SEARCH_FEEDRATE_Y;
enqueue_home(&t, 0x2, 0);
#endif
}
// set Y home
queue_wait();
@ -176,21 +176,17 @@ void home_y_positive() {
TARGET t = startpoint;
t.Y = +1000000;
#ifdef SLOW_HOMING
// hit home soft
t.F = SEARCH_FEEDRATE_Y;
#else
// hit home hard
t.F = MAXIMUM_FEEDRATE_Y;
#endif
if (SEARCH_FAST_Y > SEARCH_FEEDRATE_Y)
t.F = SEARCH_FAST_Y;
else
t.F = SEARCH_FEEDRATE_Y;
enqueue_home(&t, 0x2, 1);
#ifndef SLOW_HOMING
// back off slowly
if (SEARCH_FAST_Y > SEARCH_FEEDRATE_Y) {
t.Y = -1000000;
t.F = SEARCH_FEEDRATE_Y;
enqueue_home(&t, 0x2, 0);
#endif
}
// set Y home
queue_wait();
@ -210,21 +206,17 @@ void home_z_negative() {
TARGET t = startpoint;
t.Z = -1000000;
#ifdef SLOW_HOMING
// hit home soft
t.F = SEARCH_FEEDRATE_Z;
#else
// hit home hard
t.F = MAXIMUM_FEEDRATE_Z;
#endif
if (SEARCH_FAST_Z > SEARCH_FEEDRATE_Z)
t.F = SEARCH_FAST_Z;
else
t.F = SEARCH_FEEDRATE_Z;
enqueue_home(&t, 0x4, 1);
#ifndef SLOW_HOMING
// back off slowly
if (SEARCH_FAST_Z > SEARCH_FEEDRATE_Z) {
t.Z = +1000000;
t.F = SEARCH_FEEDRATE_Z;
enqueue_home(&t, 0x4, 0);
#endif
}
// set Z home
queue_wait();
@ -247,21 +239,17 @@ void home_z_positive() {
TARGET t = startpoint;
t.Z = +1000000;
#ifdef SLOW_HOMING
// hit home soft
t.F = SEARCH_FEEDRATE_Z;
#else
// hit home hard
t.F = MAXIMUM_FEEDRATE_Z;
#endif
if (SEARCH_FAST_Z > SEARCH_FEEDRATE_Z)
t.F = SEARCH_FAST_Z;
else
t.F = SEARCH_FEEDRATE_Z;
enqueue_home(&t, 0x4, 1);
#ifndef SLOW_HOMING
// back off slowly
if (SEARCH_FAST_Z > SEARCH_FEEDRATE_Z) {
t.Z = -1000000;
t.F = SEARCH_FEEDRATE_Z;
enqueue_home(&t, 0x4, 0);
#endif
}
// set Z home
queue_wait();