static stat_t _homing_error_exit(int8_t axis)
{
// Generate the warning message. Since the error exit returns via the homing callback
// - and not the main controller - it requires its own display processing
cmd_reset_list();
if (axis == -2) {
cmd_add_conditional_message((const char_t *)"*** WARNING *** Homing error: Specified axis(es) cannot be homed");;
} else {
char message[CMD_MESSAGE_LEN];
sprintf_P(message, PSTR("*** WARNING *** Homing error: %c axis settings misconfigured"), cm_get_axis_char(axis));
cmd_add_conditional_message((char_t *)message);
}
cmd_print_list(STAT_HOMING_CYCLE_FAILED, TEXT_INLINE_VALUES, JSON_RESPONSE_FORMAT);
// clean up and exit
mp_flush_planner(); // should be stopped, but in case of switch closure
// don't use cm_request_queue_flush() here
cm_set_coord_system(hm.saved_coord_system); // restore to work coordinate system
cm_set_units_mode(hm.saved_units_mode);
cm_set_distance_mode(hm.saved_distance_mode);
cm_set_feed_rate(hm.saved_feed_rate);
cm_set_motion_mode(MODEL, MOTION_MODE_CANCEL_MOTION_MODE);
cm.cycle_state = CYCLE_OFF;
cm_cycle_end();
return (STAT_HOMING_CYCLE_FAILED); // homing state remains HOMING_NOT_HOMED
}
stat_t mp_runtime_command(mpBuf_t *bf)
{
bf->cm_func(bf->value_vector, bf->flag_vector); // 2 vectors used by callbacks
if (mp_free_run_buffer())
cm_cycle_end(); // free buffer & perform cycle_end if planner is empty
return (STAT_OK);
}
static stat_t _exec_dwell(mpBuf_t *bf)
{
// st_prep_dwell((uint32_t)(bf->gm.move_time * 1000000));// convert seconds to uSec
st_prep_dwell((uint32_t)(bf->gm.move_time));// convert seconds to uSec
if (mp_free_run_buffer()) cm_cycle_end(); // free buffer & perform cycle_end if planner is empty
return (STAT_OK);
}
static stat_t _homing_axis_start(int8_t axis)
{
// get the first or next axis
if ((axis = _get_next_axis(axis)) < 0) { // axes are done or error
if (axis == -1) { // -1 is done
return (_set_homing_func(_homing_finalize_exit));
} else if (axis == -2) { // -2 is error
cm_set_units_mode(hm.saved_units_mode);
cm_set_distance_mode(hm.saved_distance_mode);
cm.cycle_state = CYCLE_OFF;
cm_cycle_end();
return (_homing_error_exit(-2));
}
}
// trap gross mis-configurations
if ((fp_ZERO(cm.a[axis].search_velocity)) || (fp_ZERO(cm.a[axis].latch_velocity))) {
return (_homing_error_exit(axis));
}
if ((cm.a[axis].travel_max <= 0) || (cm.a[axis].latch_backoff <= 0)) {
return (_homing_error_exit(axis));
}
// determine the switch setup and that config is OK
hm.min_mode = get_switch_mode(MIN_SWITCH(axis));
hm.max_mode = get_switch_mode(MAX_SWITCH(axis));
if ( ((hm.min_mode & SW_HOMING_BIT) ^ (hm.max_mode & SW_HOMING_BIT)) == 0) {// one or the other must be homing
return (_homing_error_exit(axis)); // axis cannot be homed
}
hm.axis = axis; // persist the axis
hm.search_velocity = fabs(cm.a[axis].search_velocity); // search velocity is always positive
hm.latch_velocity = fabs(cm.a[axis].latch_velocity); // latch velocity is always positive
// setup parameters homing to the minimum switch
if (hm.min_mode & SW_HOMING_BIT) {
hm.homing_switch = MIN_SWITCH(axis); // the min is the homing switch
hm.limit_switch = MAX_SWITCH(axis); // the max would be the limit switch
hm.search_travel = -cm.a[axis].travel_max; // search travels in negative direction
hm.latch_backoff = cm.a[axis].latch_backoff; // latch travels in positive direction
hm.zero_backoff = cm.a[axis].zero_backoff;
// setup parameters for positive travel (homing to the maximum switch)
} else {
hm.homing_switch = MAX_SWITCH(axis); // the max is the homing switch
hm.limit_switch = MIN_SWITCH(axis); // the min would be the limit switch
hm.search_travel = cm.a[axis].travel_max; // search travels in positive direction
hm.latch_backoff = -cm.a[axis].latch_backoff; // latch travels in negative direction
hm.zero_backoff = -cm.a[axis].zero_backoff;
}
// if homing is disabled for the axis then skip to the next axis
uint8_t sw_mode = get_switch_mode(hm.homing_switch);
if ((sw_mode != SW_MODE_HOMING) && (sw_mode != SW_MODE_HOMING_LIMIT)) {
return (_set_homing_func(_homing_axis_start));
}
// disable the limit switch parameter if there is no limit switch
if (get_switch_mode(hm.limit_switch) == SW_MODE_DISABLED) { hm.limit_switch = -1;}
hm.saved_jerk = cm.a[axis].jerk_max; // save the max jerk value
return (_set_homing_func(_homing_axis_clear)); // start the clear
}
void mp_free_run_buffer() // EMPTY current run buf & adv to next
{
mp_clear_buffer(mb.r); // clear it out (& reset replannable)
// mb.r->buffer_state = MP_BUFFER_EMPTY; // redundant after the clear, above
mb.r = mb.r->nx; // advance to next run buffer
if (mb.r->buffer_state == MP_BUFFER_QUEUED) {// only if queued...
mb.r->buffer_state = MP_BUFFER_PENDING; // pend next buffer
}
if (mb.w == mb.r) cm_cycle_end(); // end the cycle if the queue empties
mb.buffers_available++;
rpt_request_queue_report(-1); // add to the "removed buffers" count
}
static stat_t _homing_finalize_exit(int8_t axis) // third part of return to home
{
mp_flush_planner(); // should be stopped, but in case of switch closure.
// don't use cm_request_queue_flush() here
cm_set_coord_system(hm.saved_coord_system); // restore to work coordinate system
cm_set_units_mode(hm.saved_units_mode);
cm_set_distance_mode(hm.saved_distance_mode);
cm_set_feed_rate(hm.saved_feed_rate);
cm_set_motion_mode(MODEL, MOTION_MODE_CANCEL_MOTION_MODE);
cm.cycle_state = CYCLE_OFF; // required
cm_cycle_end();
return (STAT_OK);
}
static stat_t _homing_finalize_exit(int8_t axis) // third part of return to home
{
mp_flush_planner(); // should be stopped, but in case of switch closure.
// don't use cm_request_queue_flush() here
cm_set_coord_system(hm.saved_coord_system); // restore to work coordinate system
cm_set_units_mode(hm.saved_units_mode);
cm_set_distance_mode(hm.saved_distance_mode);
cm_set_feed_rate(hm.saved_feed_rate);
cm_set_motion_mode(MODEL, MOTION_MODE_CANCEL_MOTION_MODE);
cm.homing_state = HOMING_HOMED;
cm.cycle_state = CYCLE_OFF; // required
cm_cycle_end();
//+++++ DIAGNOSTIC +++++
// printf("Homed: posX: %6.3f, posY: %6.3f\n", (double)gm.position[AXIS_X], (double)gm.target[AXIS_Y]);
return (STAT_OK);
}