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Clean up, document home_axis

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This commit is contained in:
Scott Lahteine 2015-04-01 01:44:13 -07:00
parent 1c7391717e
commit 97a258b0b0
1 changed files with 71 additions and 62 deletions
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133
Marlin/Marlin_main.cpp
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@ -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)