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
}
static stat_t _homing_axis_move(int8_t axis, float target, float velocity)
{
float vect[] = {0,0,0,0,0,0};
float flags[] = {false, false, false, false, false, false};
vect[axis] = target;
flags[axis] = true;
cm_set_feed_rate(velocity);
mp_flush_planner(); // don't use cm_request_queue_flush() here
cm_request_cycle_start();
ritorno(cm_straight_feed(vect, flags));
return (STAT_EAGAIN);
}
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);
}
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();
}
