165 lines
3.2 KiB
C
165 lines
3.2 KiB
C
#include "home.h"
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#include "dda.h"
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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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// F is mm/min
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// DELAY is clocks per step
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// 1 clock = 1 second/F_CPU
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// intermediaries are steps/mm and F_CPU per min
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// F mm/min * steps_per_mm = steps/min
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// clocks per min = 60 * F_CPU
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// clocks/min / (steps/min) = clocks per step
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// so delay = 60 * F_CPU / steps_per_mm / F
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// #define FEEDRATE_TO_DELAY(F) 60.0 * ((float) F_CPU) / STEPS_PER_MM_X / F
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void home() {
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queue_wait();
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uint8_t denoise_count = 0;
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// home X
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#if defined X_MIN_PIN || defined X_MAX_PIN
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// hit home hard
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#ifdef X_MIN_PIN
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x_direction(0);
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#else
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x_direction(1);
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#endif
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while (denoise_count < 8) {
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// denoise
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#ifdef X_MIN_PIN
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if (x_min())
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#else
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if (x_max())
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#endif
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denoise_count++;
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else
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denoise_count = 0;
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// step
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x_step();
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delay(5);
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unstep();
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// wait until next step time
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delay((uint32_t) (60.0 * ((float) F_CPU) / STEPS_PER_MM_X / ((float) MAXIMUM_FEEDRATE_X)));
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}
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denoise_count = 0;
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// back off slowly
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#ifdef X_MIN_PIN
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x_direction(1);
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while (x_min() != 0) {
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#else
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x_direction(0);
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while (x_max() != 0) {
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#endif
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// step
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x_step();
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delay(5);
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unstep();
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// wait until next step time
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delay((uint32_t) (60.0 * ((float) F_CPU) / STEPS_PER_MM_X / ((float) SEARCH_FEEDRATE_X)));
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}
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// set X home
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startpoint.X = current_position.X = 0;
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#endif
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// home Y
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#if defined Y_MIN_PIN || defined Y_MAX_PIN
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// hit home hard
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#ifdef Y_MIN_PIN
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y_direction(0);
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#else
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y_direction(1);
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#endif
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while (denoise_count < 8) {
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// denoise
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#ifdef Y_MIN_PIN
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if (y_min())
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#else
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if (y_max())
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#endif
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denoise_count++;
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else
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denoise_count = 0;
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// step
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y_step();
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delay(5);
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unstep();
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// wait until neyt step time
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delay((uint32_t) (60.0 * ((float) F_CPU) / STEPS_PER_MM_Y / ((float) MAXIMUM_FEEDRATE_Y)));
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}
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denoise_count = 0;
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// back off slowly
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#ifdef Y_MIN_PIN
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y_direction(1);
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while (y_min() != 0) {
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#else
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y_direction(0);
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while (y_max() != 0) {
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#endif
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// step
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y_step();
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delay(5);
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unstep();
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// wait until next step time
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delay((uint32_t) (60.0 * ((float) F_CPU) / STEPS_PER_MM_Y / ((float) SEARCH_FEEDRATE_Y)));
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}
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// set Y home
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startpoint.Y = current_position.Y = 0;
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#endif
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// home Z
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#if defined Z_MIN_PIN || defined Z_MAX_PIN
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// hit home hard
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#ifdef Z_MIN_PIN
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z_direction(0);
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#else
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z_direction(1);
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#endif
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while (denoise_count < 8) {
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// denoise
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#ifdef Z_MIN_PIN
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if (z_min())
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#else
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if (z_max())
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#endif
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denoise_count++;
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else
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denoise_count = 0;
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// step
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z_step();
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delay(5);
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unstep();
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// wait until next step time
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delay((uint32_t) (60.0 * ((float) F_CPU) / STEPS_PER_MM_Z / ((float) MAXIMUM_FEEDRATE_Z)));
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}
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denoise_count = 0;
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// back off slowly
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#ifdef Z_MIN_PIN
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z_direction(1);
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while (z_min() != 0) {
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#else
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z_direction(0);
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while (z_max() != 0) {
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#endif
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// step
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z_step();
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delay(5);
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unstep();
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// wait until next step time
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delay((uint32_t) (60.0 * ((float) F_CPU) / STEPS_PER_MM_Z / ((float) SEARCH_FEEDRATE_Z)));
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}
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// set Z home
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startpoint.Z = current_position.Z = 0;
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#endif
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}
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