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Fixed homing

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This commit is contained in:
Erik van der Zalm
2012-02-27 18:31:40 +01:00
parent 071eec7aa7
commit b48d67ce10
4 changed files with 32 additions and 17 deletions
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20
Marlin/Marlin.pde
View File

@@ -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]<feedrate)
feedrate =homing_feedrate[Y_AXIS];
prepare_move();
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); \
st_synchronize();
current_position[X_AXIS] = (X_HOME_DIR == -1) ? X_HOME_POS : X_MAX_LENGTH;
current_position[Y_AXIS] = (Y_HOME_DIR == -1) ? Y_HOME_POS : Y_MAX_LENGTH;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
destination[X_AXIS] = current_position[X_AXIS];
destination[Y_AXIS] = current_position[Y_AXIS];
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); \
feedrate = 0.0;
st_synchronize();
endstops_hit_on_purpose();
@@ -1273,6 +1277,18 @@ void get_arc_coordinates()
void prepare_move()
{
if (min_software_endstops) {
if (destination[X_AXIS] < X_HOME_POS) destination[X_AXIS] = X_HOME_POS;
if (destination[Y_AXIS] < Y_HOME_POS) destination[Y_AXIS] = Y_HOME_POS;
if (destination[Z_AXIS] < Z_HOME_POS) destination[Z_AXIS] = Z_HOME_POS;
}
if (max_software_endstops) {
if (destination[X_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];

12
Marlin/motion_control.cpp
View File

@@ -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);
}

13
Marlin/planner.cpp
View File

@@ -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) {

4
Marlin/temperature.cpp
View File

@@ -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