this->homing_position[0] = this->home_direction[0]?this->kernel->config->value(alpha_min_checksum)->by_default(0)->as_number():this->kernel->config->value(alpha_max_checksum)->by_default(200)->as_number();
this->homing_position[1] = this->home_direction[1]?this->kernel->config->value(beta_min_checksum )->by_default(0)->as_number():this->kernel->config->value(beta_max_checksum )->by_default(200)->as_number();;
this->homing_position[2] = this->home_direction[2]?this->kernel->config->value(gamma_min_checksum)->by_default(0)->as_number():this->kernel->config->value(gamma_max_checksum)->by_default(200)->as_number();;
+
+ this->is_corexy = this->kernel->config->value(corexy_homing_checksum)->by_default(false)->as_bool();
}
void Endstops::wait_for_homed(char axes_to_move){
running = true;
} else if ( this->steppers[c - 'X']->moving ){
this->steppers[c - 'X']->move(0,0);
- //this->kernel->streams->printf("move done %c\r\n", c);
}
}else{
// The endstop was not hit yet
}
}
+// this homing works for cartesian and delta printers, not for HBots/CoreXY
+void Endstops::do_homing(char axes_to_move) {
+ // Start moving the axes to the origin
+ this->status = MOVING_TO_ORIGIN_FAST;
+ for( char c = 'X'; c <= 'Z'; c++ ){
+ if( ( axes_to_move >> ( c - 'X' ) ) & 1 ){
+ this->steppers[c - 'X']->set_speed(this->fast_rates[c - 'X']);
+ this->steppers[c - 'X']->move(this->home_direction[c - 'X'],10000000);
+ }
+ }
+
+ // Wait for all axes to have homed
+ this->wait_for_homed(axes_to_move);
+
+ // Move back a small distance
+ this->status = MOVING_BACK;
+ bool inverted_dir;
+ for( char c = 'X'; c <= 'Z'; c++ ){
+ if( ( axes_to_move >> ( c - 'X' ) ) & 1 ){
+ inverted_dir = !this->home_direction[c - 'X'];
+ this->steppers[c - 'X']->set_speed(this->slow_rates[c - 'X']);
+ this->steppers[c - 'X']->move(inverted_dir,this->retract_steps[c - 'X']);
+ }
+ }
+
+ // Wait for moves to be done
+ for( char c = 'X'; c <= 'Z'; c++ ){
+ if( ( axes_to_move >> ( c - 'X' ) ) & 1 ){
+ while( this->steppers[c - 'X']->moving ){
+ this->kernel->call_event(ON_IDLE);
+ }
+ }
+ }
+
+ // Start moving the axes to the origin slowly
+ this->status = MOVING_TO_ORIGIN_SLOW;
+ for( char c = 'X'; c <= 'Z'; c++ ){
+ if( ( axes_to_move >> ( c - 'X' ) ) & 1 ){
+ this->steppers[c - 'X']->set_speed(this->slow_rates[c -'X']);
+ this->steppers[c - 'X']->move(this->home_direction[c - 'X'],10000000);
+ }
+ }
+
+ // Wait for all axes to have homed
+ this->wait_for_homed(axes_to_move);
+
+ // move for soft trim
+ this->status = MOVING_BACK;
+ for( char c = 'X'; c <= 'Z'; c++ ){
+ if( this->trim[c - 'X'] != 0 && ( axes_to_move >> ( c - 'X' ) ) & 1 ){
+ inverted_dir = !this->home_direction[c - 'X'];
+ // move up or down depending on sign of trim
+ if(this->trim[c - 'X'] < 0) inverted_dir= !inverted_dir;
+ this->steppers[c - 'X']->set_speed(this->slow_rates[c - 'X']);
+ this->steppers[c - 'X']->move(inverted_dir,this->trim[c - 'X']);
+ }
+ }
+
+ // Wait for moves to be done
+ for( char c = 'X'; c <= 'Z'; c++ ){
+ if( ( axes_to_move >> ( c - 'X' ) ) & 1 ){
+ this->kernel->streams->printf("axis %c \r\n", c );
+ while( this->steppers[c - 'X']->moving ){
+ this->kernel->call_event(ON_IDLE);
+ }
+ }
+ }
+
+ // Homing is done
+ this->status = NOT_HOMING;
+}
+
+#define X_AXIS 0
+#define Y_AXIS 1
+#define Z_AXIS 2
+
+// this homing works for HBots/CoreXY
+void Endstops::do_homing_corexy(char axes_to_move) {
+ // Start moving the axes to the origin
+ if(axes_to_move & 0x01) { // Home X, which means both X and Y in same direction
+ this->status = MOVING_TO_ORIGIN_FAST;
+ this->steppers[X_AXIS]->set_speed(this->fast_rates[X_AXIS]);
+ this->steppers[X_AXIS]->move(this->home_direction[X_AXIS], 10000000);
+ this->steppers[Y_AXIS]->set_speed(this->fast_rates[X_AXIS]);
+ this->steppers[Y_AXIS]->move(this->home_direction[X_AXIS], 10000000);
+
+ // wait for X
+ this->wait_for_homed(0x01);
+
+ // Move back a small distance
+ this->status = MOVING_BACK;
+ this->steppers[X_AXIS]->set_speed(this->slow_rates[X_AXIS]);
+ this->steppers[X_AXIS]->move(!this->home_direction[X_AXIS], this->retract_steps[X_AXIS]);
+ this->steppers[Y_AXIS]->set_speed(this->slow_rates[X_AXIS]);
+ this->steppers[Y_AXIS]->move(!this->home_direction[X_AXIS], this->retract_steps[X_AXIS]);
+
+ // wait until done
+ while( this->steppers[X_AXIS]->moving ){ this->kernel->call_event(ON_IDLE); }
+
+ // Start moving the axes to the origin slowly
+ this->status = MOVING_TO_ORIGIN_SLOW;
+ this->steppers[X_AXIS]->set_speed(this->slow_rates[X_AXIS]);
+ this->steppers[X_AXIS]->move(this->home_direction[X_AXIS], 10000000);
+ this->steppers[Y_AXIS]->set_speed(this->slow_rates[X_AXIS]);
+ this->steppers[Y_AXIS]->move(this->home_direction[X_AXIS], 10000000);
+
+ // wait for X
+ this->wait_for_homed(0x01);
+ }
+
+ if(axes_to_move & 0x02) { // Home Y, which means both X and Y in different directions
+ this->status = MOVING_TO_ORIGIN_FAST;
+ this->steppers[X_AXIS]->set_speed(this->fast_rates[Y_AXIS]);
+ this->steppers[X_AXIS]->move(this->home_direction[Y_AXIS], 10000000);
+ this->steppers[Y_AXIS]->set_speed(this->fast_rates[Y_AXIS]); // yes I use X_axis speed as they need to go at the same speed
+ this->steppers[Y_AXIS]->move(!this->home_direction[Y_AXIS], 10000000);
+
+ // wait for Y
+ this->wait_for_homed(0x02);
+
+ // Move back a small distance
+ this->status = MOVING_BACK;
+ this->steppers[X_AXIS]->set_speed(this->slow_rates[Y_AXIS]);
+ this->steppers[X_AXIS]->move(!this->home_direction[Y_AXIS], this->retract_steps[Y_AXIS]);
+ this->steppers[Y_AXIS]->set_speed(this->slow_rates[Y_AXIS]);
+ this->steppers[Y_AXIS]->move(this->home_direction[Y_AXIS], this->retract_steps[Y_AXIS]);
+
+ // wait until done
+ while( this->steppers[Y_AXIS]->moving ){ this->kernel->call_event(ON_IDLE); }
+
+ // Start moving the axes to the origin slowly
+ this->status = MOVING_TO_ORIGIN_SLOW;
+ this->steppers[X_AXIS]->set_speed(this->slow_rates[Y_AXIS]);
+ this->steppers[X_AXIS]->move(this->home_direction[Y_AXIS], 10000000);
+ this->steppers[Y_AXIS]->set_speed(this->slow_rates[Y_AXIS]);
+ this->steppers[Y_AXIS]->move(!this->home_direction[Y_AXIS], 10000000);
+
+ // wait for Y
+ this->wait_for_homed(0x02);
+ }
+
+ if(axes_to_move & 0x04) { // move Z
+ do_homing(0x04); // just home normally for Z
+ }
+
+ // Homing is done
+ this->status = NOT_HOMING;
+}
+
// Start homing sequences by response to GCode commands
void Endstops::on_gcode_received(void* argument)
{
// Enable the motors
this->kernel->stepper->turn_enable_pins_on();
- // Start moving the axes to the origin
- this->status = MOVING_TO_ORIGIN_FAST;
- for( char c = 'X'; c <= 'Z'; c++ ){
- if( ( axes_to_move >> ( c - 'X' ) ) & 1 ){
- gcode->stream->printf("homing axis %c\r\n", c);
- this->steppers[c - 'X']->set_speed(this->fast_rates[c - 'X']);
- this->steppers[c - 'X']->move(this->home_direction[c - 'X'],10000000);
- }
- }
-
- // Wait for all axes to have homed
- this->wait_for_homed(axes_to_move);
-
- gcode->stream->printf("test a\r\n");
- // Move back a small distance
- this->status = MOVING_BACK;
- bool inverted_dir;
- for( char c = 'X'; c <= 'Z'; c++ ){
- if( ( axes_to_move >> ( c - 'X' ) ) & 1 ){
- inverted_dir = !this->home_direction[c - 'X'];
- this->steppers[c - 'X']->set_speed(this->slow_rates[c - 'X']);
- this->steppers[c - 'X']->move(inverted_dir,this->retract_steps[c - 'X']);
- }
- }
-
- gcode->stream->printf("test b\r\n");
- // Wait for moves to be done
- for( char c = 'X'; c <= 'Z'; c++ ){
- if( ( axes_to_move >> ( c - 'X' ) ) & 1 ){
- this->kernel->streams->printf("axis %c \r\n", c );
- while( this->steppers[c - 'X']->moving ){
- this->kernel->call_event(ON_IDLE);
- }
- }
- }
-
- gcode->stream->printf("test c\r\n");
-
- // Start moving the axes to the origin slowly
- this->status = MOVING_TO_ORIGIN_SLOW;
- for( char c = 'X'; c <= 'Z'; c++ ){
- if( ( axes_to_move >> ( c - 'X' ) ) & 1 ){
- this->steppers[c - 'X']->set_speed(this->slow_rates[c -'X']);
- this->steppers[c - 'X']->move(this->home_direction[c - 'X'],10000000);
- }
- }
-
- // Wait for all axes to have homed
- this->wait_for_homed(axes_to_move);
-
- // move for soft trim
- this->status = MOVING_BACK;
- for( char c = 'X'; c <= 'Z'; c++ ){
- if( this->trim[c - 'X'] != 0 && ( axes_to_move >> ( c - 'X' ) ) & 1 ){
- inverted_dir = !this->home_direction[c - 'X'];
- // move up or down depending on sign of trim
- if(this->trim[c - 'X'] < 0) inverted_dir= !inverted_dir;
- this->steppers[c - 'X']->set_speed(this->slow_rates[c - 'X']);
- this->steppers[c - 'X']->move(inverted_dir,this->trim[c - 'X']);
- }
- }
-
- // Wait for moves to be done
- for( char c = 'X'; c <= 'Z'; c++ ){
- if( ( axes_to_move >> ( c - 'X' ) ) & 1 ){
- this->kernel->streams->printf("axis %c \r\n", c );
- while( this->steppers[c - 'X']->moving ){
- this->kernel->call_event(ON_IDLE);
- }
- }
- }
-
- // Homing is done
- this->status = NOT_HOMING;
+ // do the actual homing
+ if(is_corexy)
+ do_homing_corexy(axes_to_move);
+ else
+ do_homing(axes_to_move);
// Zero the ax(i/e)s position
for( char c = 'X'; c <= 'Z'; c++ ){
HCoop / clinton / Smoothieware.git / blobdiff