mirror/Grbl_Esp32
1
0
Fork 0
mirror of https://github.com/bdring/Grbl_Esp32.git synced 2025-08-30 17:49:56 +02:00
Code Issues Releases Wiki Activity

Fixed homing. I broke it yesterday.

Browse Source
This commit is contained in:
Mitch Bradley
2021-07-02 18:39:35 -10:00
parent 06d5d7b51e
commit b7a1546c30
2 changed files with 9 additions and 16 deletions
Download Patch File Download Diff File Expand all files Collapse all files

21
Grbl_Esp32/src/Limits.cpp
View File

@@ -118,13 +118,7 @@ static void limits_go_home(uint8_t cycle_mask, uint32_t n_locate_cycles) {
auto axes = config->_axes;
auto n_axis = axes->_numberAxis;
// Remove axes with no homing setup from cycle_mask
for (int axis = 0; axis < n_axis; axis++) {
if (bitnum_istrue(cycle_mask, axis) && axes->_axis[axis]->_homing == nullptr) {
debug_all("Homing is not configured for the %d axis", axes->axisName(axis));
bitnum_false(cycle_mask, axis);
}
}
cycle_mask &= homingAxes;
// Initialize plan data struct for homing motion. Spindle and coolant are disabled.
@@ -184,6 +178,7 @@ static void limits_go_home(uint8_t cycle_mask, uint32_t n_locate_cycles) {
float limitingRate = 0.0;
int debounce = 0;
// Find the axis that will take the longest
for (int axis = 0; axis < n_axis; axis++) {
if (bitnum_isfalse(cycle_mask, axis)) {
continue;
@@ -217,13 +212,12 @@ static void limits_go_home(uint8_t cycle_mask, uint32_t n_locate_cycles) {
// Record the axis as active
bitnum_true(axislock, axis);
}
// Scale the target array, currently in units of time, back to positions
// Add a small fudge factor to ensure that the limit is reached
for (int axis = 0; axis < n_axis; axis++) {
auto homing = config->_axes->_axis[axis]->_homing;
auto scaler = approach ? homing->_seek_scaler : homing->_locate_scaler;
if (bitnum_istrue(axislock, axis)) {
auto homing = config->_axes->_axis[axis]->_homing;
auto scaler = approach ? homing->_seek_scaler : homing->_feed_scaler;
target[axis] *= limitingRate * scaler;
}
}
@@ -241,10 +235,9 @@ static void limits_go_home(uint8_t cycle_mask, uint32_t n_locate_cycles) {
do {
if (approach) {
// Check limit state. Lock out cycle axes when they change.
axislock = limits_check(axislock);
bit_false(axislock, limits_check(axislock));
sys.homing_axis_lock = axislock;
}
st_prep_buffer(); // Check and prep segment buffer. NOTE: Should take no longer than 200us.
ExecAlarm alarm = limits_handle_errors(approach, cycle_mask);
@@ -490,7 +483,7 @@ void limits_run_mode() {
}
}
bool limits_check_axis(int axis) {
static bool limits_check_axis(int axis) {
for (int gang_index = 0; gang_index < 2; gang_index++) {
auto gangConfig = config->_axes->_axis[axis]->_gangs[gang_index];
if (gangConfig->_endstops != nullptr && gangConfig->_endstops->_dual.defined()) {
@@ -510,7 +503,7 @@ AxisMask limits_check(AxisMask check_mask) {
auto n_axis = config->_axes->_numberAxis;
for (int axis = 0; axis < n_axis; axis++) {
if (bitnum_istrue(check_mask, axis)) {
if (!limits_check_axis(axis)) {
if (limits_check_axis(axis)) {
bitnum_true(pinMask, axis);
}
}

4
Grbl_Esp32/src/Machine/Homing.h
View File

@@ -36,7 +36,7 @@ namespace Machine {
float _pulloff = 1.0f; // mm
int _debounce = 250; // ms settling time for homing switches after motion
float _seek_scaler = 1.1f; // multiplied by max travel for max homing distance on first touch
float _locate_scaler = 1.0f;
float _feed_scaler = 1.0f;
// Configuration system helpers:
void validate() const override { Assert(_cycle >= 0, "Homing cycle must be defined"); }
@@ -51,7 +51,7 @@ namespace Machine {
handler.item("pulloff", _pulloff);
handler.item("square", _square);
handler.item("seek_scaler", _seek_scaler);
handler.item("locate_scaler", _locate_scaler);
handler.item("feed_scaler", _feed_scaler);
}
};
}