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Wip - Homing

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bdring
2021-07-24 20:33:35 -05:00
parent 37dfa314d5
commit f20506d726
3 changed files with 7 additions and 5 deletions
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6
Grbl_Esp32/data/config.yaml
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@@ -52,9 +52,9 @@ axes:
mpos: 10 mpos: 10
positive_direction: false positive_direction: false
feed_rate: 50.000 feed_rate: 50.000
seek_rate: 600.000 seek_rate: 200.000
debounce_ms: 500 debounce_ms: 500
pulloff: 1.500 pulloff: 1.00
gang0: gang0:
endstops: endstops:
@@ -65,7 +65,7 @@ axes:
step: gpio.26 step: gpio.26
gang1: gang1:
endstops: endstops:
limit_neg: gpio.16:low:pu limit_all: gpio.16:low:pu
hard_limits: true hard_limits: true
stepstick: stepstick:
direction: gpio.33 direction: gpio.33

4
Grbl_Esp32/src/Limits.cpp
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@@ -252,7 +252,8 @@ static void limits_go_home(uint8_t cycle_mask, uint32_t n_locate_cycles) {
if (approach) { if (approach) {
// Check limit state. Lock out cycle axes when they change. // Check limit state. Lock out cycle axes when they change.
// XXX do we check only the switch in the direction of motion? // XXX do we check only the switch in the direction of motion?
uint32_t limitedAxes = limits_check(-1); //uint32_t limitedAxes = limits_check(-1);
uint32_t limitedAxes = Machine::Axes::posLimitMask | Machine::Axes::negLimitMask;
if (old != remainingMotors) { if (old != remainingMotors) {
//log_info("remainingMotors: " << remainingMotors); //log_info("remainingMotors: " << remainingMotors);
@@ -452,6 +453,7 @@ void limits_init() {
// Return a mask of the switches that are engaged. // Return a mask of the switches that are engaged.
AxisMask limits_check(AxisMask check_mask) { AxisMask limits_check(AxisMask check_mask) {
// Expand the bitmask to include both gangs // Expand the bitmask to include both gangs
bit_true(check_mask, check_mask << 16); bit_true(check_mask, check_mask << 16);
return (Machine::Axes::posLimitMask & check_mask) | (Machine::Axes::negLimitMask & check_mask); return (Machine::Axes::posLimitMask & check_mask) | (Machine::Axes::negLimitMask & check_mask);
} }

2
platformio.ini
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@@ -14,7 +14,7 @@ include_dir = Grbl_Esp32
lib_dir = libraries lib_dir = libraries
test_dir = Grbl_Esp32/test test_dir = Grbl_Esp32/test
data_dir = Grbl_Esp32/data data_dir = Grbl_Esp32/data
default_envs = wifibt default_envs = wifi
;extra_configs=debug.ini ;extra_configs=debug.ini
[common_env_data] [common_env_data]