From 97a258b0b0ba87cbc5f36aabedcb830bdf015b3a Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Wed, 1 Apr 2015 01:44:13 -0700 Subject: [PATCH] Clean up, document home_axis --- Marlin/Marlin_main.cpp | 133 ++++++++++++++++++++++------------------- 1 file changed, 71 insertions(+), 62 deletions(-) diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp index 2c87bbd7f..07439309d 100644 --- a/Marlin/Marlin_main.cpp +++ b/Marlin/Marlin_main.cpp @@ -1109,7 +1109,7 @@ inline void sync_plan_position() { destination[Z_AXIS] = -10; prepare_move_raw(); st_synchronize(); - endstops_hit_on_purpose(); + endstops_hit_on_purpose(); // clear endstop hit flags // we have to let the planner know where we are right now as it is not where we said to go. long stop_steps = st_get_position(Z_AXIS); @@ -1135,7 +1135,7 @@ inline void sync_plan_position() { zPosition += home_retract_mm(Z_AXIS); line_to_z(zPosition); st_synchronize(); - endstops_hit_on_purpose(); + endstops_hit_on_purpose(); // clear endstop hit flags // move back down slowly to find bed if (homing_bump_divisor[Z_AXIS] >= 1) @@ -1148,7 +1148,7 @@ inline void sync_plan_position() { zPosition -= home_retract_mm(Z_AXIS) * 2; line_to_z(zPosition); st_synchronize(); - endstops_hit_on_purpose(); + endstops_hit_on_purpose(); // clear endstop hit flags current_position[Z_AXIS] = st_get_position_mm(Z_AXIS); // make sure the planner knows where we are as it may be a bit different than we last said to move to @@ -1435,13 +1435,17 @@ inline void sync_plan_position() { #endif // ENABLE_AUTO_BED_LEVELING +/** + * Home an individual axis + */ + +#define HOMEAXIS(LETTER) homeaxis(LETTER##_AXIS) + static void homeaxis(int axis) { #define HOMEAXIS_DO(LETTER) \ ((LETTER##_MIN_PIN > -1 && LETTER##_HOME_DIR==-1) || (LETTER##_MAX_PIN > -1 && LETTER##_HOME_DIR==1)) - if (axis == X_AXIS ? HOMEAXIS_DO(X) : - axis == Y_AXIS ? HOMEAXIS_DO(Y) : - axis == Z_AXIS ? HOMEAXIS_DO(Z) : 0) { + if (axis == X_AXIS ? HOMEAXIS_DO(X) : axis == Y_AXIS ? HOMEAXIS_DO(Y) : axis == Z_AXIS ? HOMEAXIS_DO(Z) : 0) { int axis_home_dir; @@ -1451,108 +1455,112 @@ static void homeaxis(int axis) { axis_home_dir = home_dir(axis); #endif + // Set the axis position as setup for the move current_position[axis] = 0; sync_plan_position(); - #ifndef Z_PROBE_SLED - // Engage Servo endstop if enabled - #ifdef SERVO_ENDSTOPS - #if SERVO_LEVELING - if (axis == Z_AXIS) { - engage_z_probe(); - } - else - #endif // SERVO_LEVELING + // Engage Servo endstop if enabled + #ifdef SERVO_ENDSTOPS && !defined(Z_PROBE_SLED) - if (servo_endstops[axis] > -1) - servos[servo_endstops[axis]].write(servo_endstop_angles[axis * 2]); + #if SERVO_LEVELING + if (axis == Z_AXIS) engage_z_probe(); else + #endif + { + if (servo_endstops[axis] > -1) + servos[servo_endstops[axis]].write(servo_endstop_angles[axis * 2]); + } - #endif // SERVO_ENDSTOPS - - #endif // Z_PROBE_SLED + #endif // SERVO_ENDSTOPS && !Z_PROBE_SLED #ifdef Z_DUAL_ENDSTOPS if (axis == Z_AXIS) In_Homing_Process(true); #endif + // Move towards the endstop until an endstop is triggered destination[axis] = 1.5 * max_length(axis) * axis_home_dir; feedrate = homing_feedrate[axis]; line_to_destination(); st_synchronize(); + // Set the axis position as setup for the move current_position[axis] = 0; sync_plan_position(); + + // Move away from the endstop by the axis HOME_RETRACT_MM destination[axis] = -home_retract_mm(axis) * axis_home_dir; line_to_destination(); st_synchronize(); - destination[axis] = 2 * home_retract_mm(axis) * axis_home_dir; - + // Slow down the feedrate for the next move if (homing_bump_divisor[axis] >= 1) feedrate = homing_feedrate[axis] / homing_bump_divisor[axis]; else { feedrate = homing_feedrate[axis] / 10; - SERIAL_ECHOLN("Warning: The Homing Bump Feedrate Divisor cannot be less than 1"); + SERIAL_ECHOLNPGM("Warning: The Homing Bump Feedrate Divisor cannot be less than 1"); } + // Move slowly towards the endstop until triggered + destination[axis] = 2 * home_retract_mm(axis) * axis_home_dir; line_to_destination(); st_synchronize(); + #ifdef Z_DUAL_ENDSTOPS - if (axis==Z_AXIS) - { - feedrate = homing_feedrate[axis]; - sync_plan_position(); - if (axis_home_dir > 0) - { - destination[axis] = (-1) * fabs(z_endstop_adj); - if (z_endstop_adj > 0) Lock_z_motor(true); else Lock_z2_motor(true); - } else { - destination[axis] = fabs(z_endstop_adj); - if (z_endstop_adj < 0) Lock_z_motor(true); else Lock_z2_motor(true); + if (axis == Z_AXIS) { + float adj = fabs(z_endstop_adj); + bool lockZ1; + if (axis_home_dir > 0) { + adj = -adj; + lockZ1 = (z_endstop_adj > 0); } + else + lockZ1 = (z_endstop_adj < 0); + + if (lockZ1) Lock_z_motor(true); else Lock_z2_motor(true); + sync_plan_position(); + + // Move to the adjusted endstop height + feedrate = homing_feedrate[axis]; + destination[Z_AXIS] = adj; line_to_destination(); st_synchronize(); - Lock_z_motor(false); - Lock_z2_motor(false); + + if (lockZ1) Lock_z_motor(false); else Lock_z2_motor(false); In_Homing_Process(false); + } // Z_AXIS + #endif + + #ifdef DELTA + // retrace by the amount specified in endstop_adj + if (endstop_adj[axis] * axis_home_dir < 0) { + sync_plan_position(); + destination[axis] = endstop_adj[axis]; + line_to_destination(); + st_synchronize(); } #endif -#ifdef DELTA - // retrace by the amount specified in endstop_adj - if (endstop_adj[axis] * axis_home_dir < 0) { - sync_plan_position(); - destination[axis] = endstop_adj[axis]; - line_to_destination(); - st_synchronize(); - } -#endif + // Set the axis position to its home position (plus home offsets) axis_is_at_home(axis); + destination[axis] = current_position[axis]; feedrate = 0.0; - endstops_hit_on_purpose(); + endstops_hit_on_purpose(); // clear endstop hit flags axis_known_position[axis] = true; // Retract Servo endstop if enabled #ifdef SERVO_ENDSTOPS - if (servo_endstops[axis] > -1) { + if (servo_endstops[axis] > -1) servos[servo_endstops[axis]].write(servo_endstop_angles[axis * 2 + 1]); - } #endif -#if SERVO_LEVELING - #ifndef Z_PROBE_SLED - if (axis==Z_AXIS) retract_z_probe(); - #endif -#endif + + #if SERVO_LEVELING && !defined(Z_PROBE_SLED) + if (axis == Z_AXIS) retract_z_probe(); + #endif } } -#define HOMEAXIS(LETTER) homeaxis(LETTER##_AXIS) -void refresh_cmd_timeout(void) -{ - previous_millis_cmd = millis(); -} +void refresh_cmd_timeout(void) { previous_millis_cmd = millis(); } #ifdef FWRETRACT @@ -1780,7 +1788,7 @@ inline void gcode_G28() { feedrate = 1.732 * homing_feedrate[X_AXIS]; line_to_destination(); st_synchronize(); - endstops_hit_on_purpose(); + endstops_hit_on_purpose(); // clear endstop hit flags // Destination reached for (int i = X_AXIS; i <= Z_AXIS; i++) current_position[i] = destination[i]; @@ -1798,7 +1806,7 @@ inline void gcode_G28() { homeY = code_seen(axis_codes[Y_AXIS]), homeZ = code_seen(axis_codes[Z_AXIS]); - home_all_axis = !homeX && !homeY && !homeZ; // No parameters means home all axes + home_all_axis = !(homeX || homeY || homeZ) || (homeX && homeY && homeZ); #if Z_HOME_DIR > 0 // If homing away from BED do Z first @@ -1849,7 +1857,7 @@ inline void gcode_G28() { line_to_destination(); feedrate = 0.0; st_synchronize(); - endstops_hit_on_purpose(); + endstops_hit_on_purpose(); // clear endstop hit flags current_position[X_AXIS] = destination[X_AXIS]; current_position[Y_AXIS] = destination[Y_AXIS]; @@ -1857,6 +1865,7 @@ inline void gcode_G28() { current_position[Z_AXIS] = destination[Z_AXIS]; #endif } + #endif // QUICK_HOME // Home X @@ -2005,7 +2014,7 @@ inline void gcode_G28() { feedrate = saved_feedrate; feedmultiply = saved_feedmultiply; previous_millis_cmd = millis(); - endstops_hit_on_purpose(); + endstops_hit_on_purpose(); // clear endstop hit flags } #if defined(MESH_BED_LEVELING) || defined(ENABLE_AUTO_BED_LEVELING)