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Homing dead code elimination

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This commit is contained in:
Mitch Bradley
2021-07-25 07:49:22 -10:00
parent dfc7060569
commit b63c7a36cd
4 changed files with 5 additions and 86 deletions
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77
Grbl_Esp32/src/Limits.cpp
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@@ -183,7 +183,10 @@ static ExecAlarm limits_handle_errors(bool approach, uint8_t cycle_mask) {
// mask, which prevents the stepper algorithm from executing step pulses. Homing motions typically
// circumvent the processes for executing motions in normal operation.
// NOTE: Only the abort realtime command can interrupt this process.
static void limits_go_home(uint8_t cycle_mask, uint32_t n_locate_cycles) {
// cycle_mask cannot be 0. The 0 case - run all cycles - is
// handled by the caller mc_homing_cycle()
static void limits_run_one_homing_cycle(AxisMask cycle_mask) {
if (sys.abort) {
return; // Block if system reset has been issued.
}
@@ -207,7 +210,7 @@ static void limits_go_home(uint8_t cycle_mask, uint32_t n_locate_cycles) {
}
// Initialize variables used for homing computations.
uint8_t n_cycle = (2 * n_locate_cycles + 1);
uint8_t n_cycle = (2 * NHomingLocateCycle + 1);
// approach is the direction of motion; it cycles between true and false
bool approach = true;
@@ -318,76 +321,6 @@ static void limits_go_home(uint8_t cycle_mask, uint32_t n_locate_cycles) {
config->_axes->set_homing_mode(cycle_mask, false); // tell motors homing is done
}
// return true if the mask has exactly one bit set,
// so it refers to exactly one axis
static bool mask_is_single_axis(AxisMask axis_mask) {
// This code depends on the fact that, for binary numberes
// with only one bit set - and only for such numbers -
// the bits in one less than the number are disjoint
// with that bit. For a number like B100, if you
// subtract one, the low order 00 bits will have to
// borrow from the high 1 bit and thus clear it.
// If any lower bits are 1, then there will be no
// borrow to clear the highest 1 bit.
return axis_mask && ((axis_mask & (axis_mask - 1)) == 0);
}
static AxisMask squaredAxes() {
AxisMask mask = 0;
auto axes = config->_axes;
auto n_axis = axes->_numberAxis;
for (int axis = 0; axis < n_axis; axis++) {
auto homing = axes->_axis[axis]->_homing;
if (homing && homing->_square) {
set_bitnum(mask, axis);
}
}
return mask;
}
static bool axis_is_squared(AxisMask axis_mask) {
// Squaring can only be done if it is the only axis in the mask
// cases:
// axis_mask has one bit:
// axis is squared: return true
// else: return false
// else:
// one of the axes is squared: message and return false
// else return false
if (axis_mask & squaredAxes()) {
if (mask_is_single_axis(axis_mask)) {
return true;
}
log_info("Cannot multi-axis home with squared axes. Homing normally");
}
return false;
}
// For this routine, homing_mask cannot be 0. The 0 case,
// meaning run all cycles, is handled by the caller mc_homing_cycle()
static void limits_run_one_homing_cycle(AxisMask homing_mask) {
if (axis_is_squared(homing_mask)) {
// For squaring, we first do the fast seek using both motors,
// skipping the second slow moving phase.
ganged_mode = gangDual;
limits_go_home(homing_mask, 0); // Do not do a second touch cycle
// Then we do the slow motion on the individual motors
ganged_mode = gangA;
limits_go_home(homing_mask, NHomingLocateCycle);
ganged_mode = gangB;
limits_go_home(homing_mask, NHomingLocateCycle);
ganged_mode = gangDual; // always return to dual
} else {
limits_go_home(homing_mask, NHomingLocateCycle);
}
}
void limits_run_homing_cycles(AxisMask axis_mask) {
// -------------------------------------------------------------------------------------
// Perform homing routine. NOTE: Special motion case. Only system reset works.

2
Grbl_Esp32/src/Machine/Homing.h
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@@ -28,7 +28,6 @@ namespace Machine {
// The homing cycles are 1,2,3 etc. 0 means not homed as part of home-all,
// but you can still home it manually with e.g. $HA
int _cycle = -1; // what auto-homing cycle does this axis home on?
bool _square = false;
bool _positiveDirection = true;
float _mpos = 0.0f; // After homing this will be the mpos of the switch location
float _feedRate = 50.0f; // pulloff and second touch speed
@@ -49,7 +48,6 @@ namespace Machine {
handler.item("seek_rate", _seekRate);
handler.item("debounce_ms", _debounce_ms);
handler.item("pulloff", _pulloff);
handler.item("square", _square);
handler.item("seek_scaler", _seek_scaler);
handler.item("feed_scaler", _feed_scaler);
}

4
Grbl_Esp32/src/MotionControl.cpp
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@@ -40,8 +40,6 @@
# define M_PI 3.14159265358979323846
#endif
GangMask ganged_mode = gangDual; // Run both motors at once
// mc_pl_data_inflight keeps track of a jog command sent to mc_line() so we can cancel it.
// this is needed if a jogCancel comes along after we have already parsed a jog and it is in-flight.
static volatile void* mc_pl_data_inflight; // holds a plan_line_data_t while cartesian_to_motors has taken ownership of a line motion
@@ -463,8 +461,6 @@ void mc_reset() {
}
Stepper::go_idle(); // Force kill steppers. Position has likely been lost.
}
ganged_mode = gangDual; // in case an error occurred during squaring
config->_stepping->reset();
}
}

8
Grbl_Esp32/src/MotionControl.h
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@@ -74,11 +74,3 @@ void mc_reset();
void mc_cancel_jog();
void mc_init();
typedef uint8_t GangMask;
const GangMask gangA = bit(0);
const GangMask gangB = bit(1);
const GangMask gangDual = gangA | gangB;
// TODO: Ideally, ganged_mode would be in the planner block instead of global
extern GangMask ganged_mode;