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
}
void cm_init()
{
memset(&cm, 0, sizeof(cm)); // reset canonicalMachineSingleton
memset(&gn, 0, sizeof(gn)); // clear all values, pointers and status
memset(&gf, 0, sizeof(gf));
memset(&gm, 0, sizeof(gm));
// set gcode defaults
cm_set_units_mode(cfg.units_mode);
cm_set_coord_system(cfg.coord_system);
cm_select_plane(cfg.select_plane);
cm_set_path_control(cfg.path_control);
cm_set_distance_mode(cfg.distance_mode);
}
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 uint8_t _probing_init()
{
float start_position[AXES];
// so optimistic... ;)
// NOTE: it is *not* an error condition for the probe not to trigger.
// it is an error for the limit or homing switches to fire, or for some other configuration error.
cm.probe_state = PROBE_FAILED;
cm.machine_state = MACHINE_CYCLE;
cm.cycle_state = CYCLE_PROBE;
// save relevant non-axis parameters from Gcode model
pb.saved_coord_system = cm_get_coord_system(ACTIVE_MODEL);
pb.saved_distance_mode = cm_get_distance_mode(ACTIVE_MODEL);
// set working values
cm_set_distance_mode(ABSOLUTE_MODE);
cm_set_coord_system(ABSOLUTE_COORDS); // probing is done in machine coordinates
// initialize the axes - save the jerk settings & switch to the jerk_homing settings
for( uint8_t axis=0; axis<AXES; axis++ ) {
pb.saved_jerk[axis] = cm_get_axis_jerk(axis); // save the max jerk value
cm_set_axis_jerk(axis, cm.a[axis].jerk_high); // use the high-speed jerk for probe
start_position[axis] = cm_get_absolute_position(ACTIVE_MODEL, axis);
}
// error if the probe target is too close to the current position
if (get_axis_vector_length(start_position, pb.target) < MINIMUM_PROBE_TRAVEL) {
_probing_error_exit(-2);
}
// error if the probe target requires a move along the A/B/C axes
for ( uint8_t axis=AXIS_A; axis<AXES; axis++ ) {
// if (fp_NE(start_position[axis], pb.target[axis])) { // old style
if (fp_TRUE(pb.flags[axis])) {
// if (pb.flags[axis]) { // will reduce to this once flags are booleans
_probing_error_exit(axis);
}
}
// initialize the probe switch
pb.probe_input = 5; // TODO -- for now we hard code it to zmin
gpio_set_probing_mode(pb.probe_input, true);
// turn off spindle and start the move
cm_spindle_optional_pause(true); // pause the spindle if it's on
return (_set_pb_func(_probing_start)); // start the probe move
}
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);
}
stat_t cm_homing_cycle_start(void)
{
// save relevant non-axis parameters from Gcode model
hm.saved_units_mode = gm.units_mode;
hm.saved_coord_system = gm.coord_system;
hm.saved_distance_mode = gm.distance_mode;
hm.saved_feed_rate = gm.feed_rate;
// set working values
cm_set_units_mode(MILLIMETERS);
cm_set_distance_mode(INCREMENTAL_MODE);
cm_set_coord_system(ABSOLUTE_COORDS); // homing is done in machine coordinates
hm.set_coordinates = true;
hm.axis = -1; // set to retrieve initial axis
hm.func = _homing_axis_start; // bind initial processing function
cm.cycle_state = CYCLE_HOMING;
cm.homing_state = HOMING_NOT_HOMED;
return (STAT_OK);
}
static void _probe_restore_settings()
{
mp_flush_planner();
// if (cm.hold_state == FEEDHOLD_HOLD);
// cm_end_hold();
cm_end_hold(); // ends hold if on is in effect
gpio_set_probing_mode(pb.probe_input, false);
// restore axis jerk
for (uint8_t axis=0; axis<AXES; axis++) {
cm.a[axis].jerk_max = pb.saved_jerk[axis];
}
// restore coordinate system and distance mode
cm_set_coord_system(pb.saved_coord_system);
cm_set_distance_mode(pb.saved_distance_mode);
// update the model with actual position
cm_set_motion_mode(MODEL, MOTION_MODE_CANCEL_MOTION_MODE);
cm_canned_cycle_end();
}
static void _probe_restore_settings()
{
// flush queue and end feedhold (if any)
cm_queue_flush();
// set input back to normal operation
gpio_set_probing_mode(pb.probe_input, false);
// restore axis jerk
for (uint8_t axis=0; axis<AXES; axis++) {
cm.a[axis].jerk_max = pb.saved_jerk[axis];
}
// restore coordinate system and distance mode
cm_set_coord_system(pb.saved_coord_system);
cm_set_distance_mode(pb.saved_distance_mode);
// restart spindle if it was paused
cm_spindle_resume(spindle.dwell_seconds);
// cancel the feed modes used during probing
cm_set_motion_mode(MODEL, MOTION_MODE_CANCEL_MOTION_MODE);
cm_canned_cycle_end();
}
