From b48d67ce10d85f8ae0af6335c55e9e3c074dc24f Mon Sep 17 00:00:00 2001 From: Erik van der Zalm Date: Mon, 27 Feb 2012 18:31:40 +0100 Subject: [PATCH] Fixed homing --- Marlin/Marlin.pde | 20 ++++++++++++++++++-- Marlin/motion_control.cpp | 12 ++++++++++++ Marlin/planner.cpp | 13 ------------- Marlin/temperature.cpp | 4 ++-- 4 files changed, 32 insertions(+), 17 deletions(-) diff --git a/Marlin/Marlin.pde b/Marlin/Marlin.pde index 3d906cc0ac..0ff3464b5e 100644 --- a/Marlin/Marlin.pde +++ b/Marlin/Marlin.pde @@ -513,20 +513,22 @@ bool code_seen(char code) destination[LETTER##_AXIS] = 1.5 * LETTER##_MAX_LENGTH * LETTER##_HOME_DIR; \ feedrate = homing_feedrate[LETTER##_AXIS]; \ plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); \ + st_synchronize();\ \ current_position[LETTER##_AXIS] = 0;\ plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);\ destination[LETTER##_AXIS] = -LETTER##_HOME_RETRACT_MM * LETTER##_HOME_DIR;\ plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); \ + st_synchronize();\ \ destination[LETTER##_AXIS] = 2*LETTER##_HOME_RETRACT_MM * LETTER##_HOME_DIR;\ feedrate = homing_feedrate[LETTER##_AXIS]/2 ; \ plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); \ + st_synchronize();\ \ current_position[LETTER##_AXIS] = (LETTER##_HOME_DIR == -1) ? LETTER##_HOME_POS : LETTER##_MAX_LENGTH;\ destination[LETTER##_AXIS] = current_position[LETTER##_AXIS];\ feedrate = 0.0;\ - st_synchronize();\ endstops_hit_on_purpose();\ } @@ -589,13 +591,15 @@ void process_commands() feedrate = homing_feedrate[X_AXIS]; if(homing_feedrate[Y_AXIS] X_MAX_LENGTH) destination[X_AXIS] = X_MAX_LENGTH; + if (destination[Y_AXIS] > Y_MAX_LENGTH) destination[Y_AXIS] = Y_MAX_LENGTH; + if (destination[Z_AXIS] > Z_MAX_LENGTH) destination[Z_AXIS] = Z_MAX_LENGTH; + } + plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate*feedmultiply/60/100.0, active_extruder); for(int8_t i=0; i < NUM_AXIS; i++) { current_position[i] = destination[i]; diff --git a/Marlin/motion_control.cpp b/Marlin/motion_control.cpp index a24b2b782c..67619b86f3 100644 --- a/Marlin/motion_control.cpp +++ b/Marlin/motion_control.cpp @@ -122,6 +122,18 @@ void mc_arc(float *position, float *target, float *offset, uint8_t axis_0, uint8 arc_target[axis_1] = center_axis1 + r_axis1; arc_target[axis_linear] += linear_per_segment; arc_target[E_AXIS] += extruder_per_segment; + + if (min_software_endstops) { + if (arc_target[X_AXIS] < X_HOME_POS) arc_target[X_AXIS] = X_HOME_POS; + if (arc_target[Y_AXIS] < Y_HOME_POS) arc_target[Y_AXIS] = Y_HOME_POS; + if (arc_target[Z_AXIS] < Z_HOME_POS) arc_target[Z_AXIS] = Z_HOME_POS; + } + + if (max_software_endstops) { + if (arc_target[X_AXIS] > X_MAX_LENGTH) arc_target[X_AXIS] = X_MAX_LENGTH; + if (arc_target[Y_AXIS] > Y_MAX_LENGTH) arc_target[Y_AXIS] = Y_MAX_LENGTH; + if (arc_target[Z_AXIS] > Z_MAX_LENGTH) arc_target[Z_AXIS] = Z_MAX_LENGTH; + } plan_buffer_line(arc_target[X_AXIS], arc_target[Y_AXIS], arc_target[Z_AXIS], arc_target[E_AXIS], feed_rate, extruder); } diff --git a/Marlin/planner.cpp b/Marlin/planner.cpp index d78e1d9991..00fead1288 100644 --- a/Marlin/planner.cpp +++ b/Marlin/planner.cpp @@ -446,19 +446,6 @@ void plan_buffer_line(float &x, float &y, float &z, float &e, float feed_rate, u // Calculate the buffer head after we push this byte int next_buffer_head = next_block_index(block_buffer_head); - - if (min_software_endstops) { - if (x < X_HOME_POS) x = X_HOME_POS; - if (y < Y_HOME_POS) y = Y_HOME_POS; - if (z < Z_HOME_POS) z = Z_HOME_POS; - } - - if (max_software_endstops) { - if (x > X_MAX_LENGTH) x = X_MAX_LENGTH; - if (y > Y_MAX_LENGTH) y = Y_MAX_LENGTH; - if (z > Z_MAX_LENGTH) z = Z_MAX_LENGTH; - } - // If the buffer is full: good! That means we are well ahead of the robot. // Rest here until there is room in the buffer. while(block_buffer_tail == next_buffer_head) { diff --git a/Marlin/temperature.cpp b/Marlin/temperature.cpp index 069674be90..1155d88cf4 100644 --- a/Marlin/temperature.cpp +++ b/Marlin/temperature.cpp @@ -851,18 +851,18 @@ ISR(TIMER0_COMPB_vect) for(unsigned char e = 0; e < EXTRUDERS; e++) { if(current_raw[e] >= maxttemp[e]) { target_raw[e] = 0; + max_temp_error(e); #ifndef BOGUS_TEMPERATURE_FAILSAFE_OVERRIDE { - max_temp_error(e); kill();; } #endif } if(current_raw[e] <= minttemp[e]) { target_raw[e] = 0; + min_temp_error(e); #ifndef BOGUS_TEMPERATURE_FAILSAFE_OVERRIDE { - min_temp_error(e); kill(); } #endif