static stat_t _homing_axis_search(int8_t axis) // start the search
{
ritorno(_verify_position(axis));
cm.a[axis].jerk_max = cm.a[axis].jerk_homing; // use the homing jerk for search onward
_homing_axis_move(axis, hm.search_travel, hm.search_velocity);
return (_set_homing_func(_homing_axis_latch));
}
// Handle an initial switch closure by backing off switches
// NOTE: Relies on independent switches per axis (not shared)
static stat_t _homing_axis_clear(int8_t axis) // first clear move
{
//+++++ int8_t homing = read_switch(hm.homing_switch);
//+++++ int8_t limit = read_switch(hm.limit_switch);
int8_t homing = SW_OPEN; //+++++
int8_t limit = SW_OPEN; //+++++
if ((homing == SW_OPEN) && (limit != SW_CLOSED)) {
return (_set_homing_func(_homing_axis_search)); // OK to start the search
}
if (homing == SW_CLOSED) {
_homing_axis_move(axis, hm.latch_backoff, hm.search_velocity);
return (_set_homing_func(_homing_axis_backoff_home));// will backoff homing switch some more
}
_homing_axis_move(axis, -hm.latch_backoff, hm.search_velocity);
return (_set_homing_func(_homing_axis_backoff_limit)); // will backoff limit switch some more
}
// Handle an initial switch closure by backing off the closed switch
// NOTE: Relies on independent switches per axis (not shared)
static stat_t _homing_axis_clear(int8_t axis) // first clear move
{
#ifndef __NEW_SWITCHES
if (read_switch(hm.homing_switch) == SW_CLOSED) {
_homing_axis_move(axis, hm.latch_backoff, hm.search_velocity);
} else if (read_switch(hm.limit_switch) == SW_CLOSED) {
_homing_axis_move(axis, -hm.latch_backoff, hm.search_velocity);
} else { // no move needed, so target position is same as current position
hm.target_position = cm_get_absolute_position(MODEL, axis);
}
#else
if (read_switch(hm.homing_switch_axis, hm.homing_switch_position) == SW_CLOSED) {
_homing_axis_move(axis, hm.latch_backoff, hm.search_velocity);
} else if (read_switch(hm.limit_switch_axis, hm.limit_switch_position) == SW_CLOSED) {
_homing_axis_move(axis, -hm.latch_backoff, hm.search_velocity);
} else { // no move needed, so target position is same as current position
hm.target_position = cm_get_absolute_position(MODEL, axis);
}
#endif
return (_set_homing_func(_homing_axis_search));
}
static stat_t _homing_axis_latch(int8_t axis) // latch to switch open
{
/* // Removed this code section because if a NO homing switch opens before the
// search deceleration is complete the switch will (correctly) be open.
// Therefore the homing cycle should continue -- ASH (build 445.01)
//
// Still need to figure out how to tell the difference between a rapid switch opening
// condition (above) and a user- initiated feedhold during a homing operation.
// verify assumption that we arrived here because of homing switch closure
// rather than user-initiated feedhold or other disruption
#ifndef __NEW_SWITCHES
if (read_switch(hm.homing_switch) != SW_CLOSED)
return (_set_homing_func(_homing_abort));
#else
if (read_switch(hm.homing_switch_axis, hm.homing_switch_position) != SW_CLOSED)
return (_set_homing_func(_homing_abort));
#endif
*/
_homing_axis_move(axis, hm.latch_backoff, hm.latch_velocity);
return (_set_homing_func(_homing_axis_zero_backoff));
}
static stat_t _homing_axis_zero_backoff(int8_t axis) // backoff to zero position
{
_homing_axis_move(axis, hm.zero_backoff, hm.search_velocity);
return (_set_homing_func(_homing_axis_set_zero));
}
static stat_t _homing_axis_latch(int8_t axis) // latch to switch open
{
_homing_axis_move(axis, hm.latch_backoff, hm.latch_velocity);
return (_set_homing_func(_homing_axis_zero_backoff));
}
static stat_t _homing_axis_backoff_limit(int8_t axis) // back off cleared limit switch
{
_homing_axis_move(axis, -hm.latch_backoff, hm.search_velocity);
return (_set_homing_func(_homing_axis_search));
}
