// Perform homing cycle to locate and set machine zero. Only '$H' executes this command.
// NOTE: There should be no motions in the buffer and Grbl must be in an idle state before
// executing the homing cycle. This prevents incorrect buffered plans after homing.
void mc_go_home()
{
sys.state = STATE_HOMING; // Set system state variable
LIMIT_PCMSK &= ~LIMIT_MASK; // Disable hard limits pin change register for cycle duration
limits_go_home(); // Perform homing routine.
protocol_execute_runtime(); // Check for reset and set system abort.
if (sys.abort) { return; } // Did not complete. Alarm state set by mc_alarm.
// The machine should now be homed and machine zero has been located. Upon completion,
// reset system position and sync internal position vectors.
clear_vector_float(sys.position); // Set machine zero
sys_sync_current_position();
sys.state = STATE_IDLE; // Set system state to IDLE to complete motion and indicate homed.
// Pull-off axes (that have been homed) from limit switches before continuing motion.
// This provides some initial clearance off the switches and should also help prevent them
// from falsely tripping when hard limits are enabled.
/// 8c1
int8_t x_dir, y_dir, z_dir, t_dir;
x_dir = y_dir = z_dir = t_dir = 0;
if (HOMING_LOCATE_CYCLE & (1<<X_AXIS)) {
if (settings.homing_dir_mask & (1<<X_DIRECTION_BIT))
x_dir = 1;
else
x_dir = -1;
}
if (HOMING_LOCATE_CYCLE & (1<<Y_AXIS)) {
if (settings.homing_dir_mask & (1<<Y_DIRECTION_BIT)) { y_dir = 1; }
else { y_dir = -1; }
}
if (HOMING_LOCATE_CYCLE & (1<<Z_AXIS)) {
if (settings.homing_dir_mask & (1<<Z_DIRECTION_BIT)) { z_dir = 1; }
else { z_dir = -1; }
}
/// 8c1
if (HOMING_LOCATE_CYCLE & (1<<T_AXIS)) {
if (settings.homing_dir_mask & (1<<T_DIRECTION_BIT)) { t_dir = 1; }
else { t_dir = -1; }
}
/// 8c1 : line
mc_line(x_dir*settings.homing_pulloff, y_dir*settings.homing_pulloff,
z_dir*settings.homing_pulloff, t_dir*settings.homing_pulloff, settings.homing_seek_rate, false, C_LINE);
st_cycle_start(); // Move it. Nothing should be in the buffer except this motion.
plan_synchronize(); // Make sure the motion completes.
// The gcode parser position circumvented by the pull-off maneuver, so sync position vectors.
sys_sync_current_position();
// If hard limits feature enabled, re-enable hard limits pin change register after homing cycle.
if (bit_istrue(settings.flags,BITFLAG_HARD_LIMIT_ENABLE))
LIMIT_PCMSK |= LIMIT_MASK;
// Finished!
}
// Read selected coordinate data from EEPROM. Updates pointed coord_data value.
uint8_t settings_read_coord_data(uint8_t coord_select, float *coord_data)
{
uint32_t addr = coord_select*(sizeof(float)*N_AXIS+1) + EEPROM_ADDR_PARAMETERS;
if (!(memcpy_from_eeprom_with_checksum((char*)coord_data, addr, sizeof(float)*N_AXIS))) {
// Reset with default zero vector
clear_vector_float(coord_data);
settings_write_coord_data(coord_select,coord_data);
return(false);
}
return(true);
}
// Perform homing cycle to locate and set machine zero. Only '$H' executes this command.
// NOTE: There should be no motions in the buffer and Grbl must be in an idle state before
// executing the homing cycle. This prevents incorrect buffered plans after homing.
void mc_go_home()
{
sys.state = STATE_HOMING; // Set system state variable
LIMIT_PCMSK &= ~LIMIT_MASK; // Disable hard limits pin change register for cycle duration
limits_go_home(); // Perform homing routine.
protocol_execute_runtime(); // Check for reset and set system abort.
if (sys.abort) { return; } // Did not complete. Alarm state set by mc_alarm.
// The machine should now be homed and machine limits have been located. By default,
// grbl defines machine space as all negative, as do most CNCs. Since limit switches
// can be on either side of an axes, check and set machine zero appropriately.
// At the same time, set up pull-off maneuver from axes limit switches that have been homed.
// This provides some initial clearance off the switches and should also help prevent them
// from falsely tripping when hard limits are enabled.
// TODO: Need to improve dir_mask[] to be more axes independent.
float pulloff_target[N_AXIS];
clear_vector_float(pulloff_target); // Zero pulloff target.
clear_vector_long(sys.position); // Zero current position for now.
uint8_t dir_mask[N_AXIS];
dir_mask[X_AXIS] = (1<<X_DIRECTION_BIT);
dir_mask[Y_AXIS] = (1<<Y_DIRECTION_BIT);
dir_mask[Z_AXIS] = (1<<Z_DIRECTION_BIT);
uint8_t i;
for (i=0; i<N_AXIS; i++) {
// Set up pull off targets and machine positions for limit switches homed in the negative
// direction, rather than the traditional positive. Leave non-homed positions as zero and
// do not move them.
if (HOMING_LOCATE_CYCLE & bit(i)) {
if (settings.homing_dir_mask & dir_mask[i]) {
pulloff_target[i] = settings.homing_pulloff-settings.max_travel[i];
sys.position[i] = -lround(settings.max_travel[i]*settings.steps_per_mm[i]);
} else {
pulloff_target[i] = -settings.homing_pulloff;
}
}
}
sys_sync_current_position();
sys.state = STATE_IDLE; // Set system state to IDLE to complete motion and indicate homed.
mc_line(pulloff_target, settings.homing_seek_rate, false);
st_cycle_start(); // Move it. Nothing should be in the buffer except this motion.
plan_synchronize(); // Make sure the motion completes.
// The gcode parser position circumvented by the pull-off maneuver, so sync position vectors.
sys_sync_current_position();
// If hard limits feature enabled, re-enable hard limits pin change register after homing cycle.
if (bit_istrue(settings.flags,BITFLAG_HARD_LIMIT_ENABLE)) { LIMIT_PCMSK |= LIMIT_MASK; }
// Finished!
}
