#include "home.h"

/** \file

\brief Homing routines

*/

#include "dda.h"

#include "dda_queue.h"

#include "delay.h"

#include "pinio.h"

#include "gcode_parse.h"

/// home all 3 axes

void home() {

#if defined X_MIN_PIN

home_x_negative();

#elif defined X_MAX_PIN

home_x_positive();

#endif

#if defined Y_MIN_PIN

home_y_negative();

#elif defined Y_MAX_PIN

home_y_positive();

#endif

#if defined Z_MIN_PIN

home_z_negative();

#elif defined Z_MAX_PIN

home_z_positive();

#endif

}

/// find X MIN endstop

void home_x_negative() {

#if defined X_MIN_PIN

TARGET t = startpoint;

t.X = -1000000;

#ifdef SLOW_HOMING

// hit home soft

t.F = SEARCH_FEEDRATE_X;

#else

// hit home hard

t.F = MAXIMUM_FEEDRATE_X;

#endif

enqueue_home(&t, 0x1, 1);

#ifndef SLOW_HOMING

// back off slowly

t.X = +1000000;

t.F = SEARCH_FEEDRATE_X;

enqueue_home(&t, 0x1, 0);

#endif

// set X home

queue_wait(); // we have to wait here, see G92

#ifdef X_MIN

startpoint.X = next_target.target.X = (int32_t)(X_MIN * 1000.0);

#else

startpoint.X = next_target.target.X = 0;

#endif

dda_new_startpoint();

#endif

}

/// find X_MAX endstop

void home_x_positive() {

#if defined X_MAX_PIN && ! defined X_MAX

#warning X_MAX_PIN defined, but not X_MAX. home_x_positive() disabled.

#endif

#if defined X_MAX_PIN && defined X_MAX

TARGET t = startpoint;

t.X = +1000000;

#ifdef SLOW_HOMING

// hit home soft

t.F = SEARCH_FEEDRATE_X;

#else

// hit home hard

t.F = MAXIMUM_FEEDRATE_X;

#endif

enqueue_home(&t, 0x1, 1);

#ifndef SLOW_HOMING

// back off slowly

t.X = -1000000;

t.F = SEARCH_FEEDRATE_X;

enqueue_home(&t, 0x1, 0);

#endif

// set X home

queue_wait();

// set position to MAX

startpoint.X = next_target.target.X = (int32_t)(X_MAX * 1000.);

dda_new_startpoint();

// go to zero

t.X = 0;

t.F = MAXIMUM_FEEDRATE_X;

enqueue(&t);

#endif

}

/// fund Y MIN endstop

void home_y_negative() {

#if defined Y_MIN_PIN

TARGET t = startpoint;

t.Y = -1000000;

#ifdef SLOW_HOMING

// hit home soft

t.F = SEARCH_FEEDRATE_Y;

#else

// hit home hard

t.F = MAXIMUM_FEEDRATE_Y;

#endif

enqueue_home(&t, 0x2, 1);

#ifndef SLOW_HOMING

// back off slowly

t.Y = +1000000;

t.F = SEARCH_FEEDRATE_Y;

enqueue_home(&t, 0x2, 0);

#endif

// set Y home

queue_wait();

#ifdef Y_MIN

startpoint.Y = next_target.target.Y = (int32_t)(Y_MIN * 1000.);

#else

startpoint.Y = next_target.target.Y = 0;

#endif

dda_new_startpoint();

#endif

}

/// find Y MAX endstop

void home_y_positive() {

#if defined Y_MAX_PIN && ! defined Y_MAX

#warning Y_MAX_PIN defined, but not Y_MAX. home_y_positive() disabled.

#endif

#if defined Y_MAX_PIN && defined Y_MAX

TARGET t = startpoint;

t.Y = +1000000;

#ifdef SLOW_HOMING

// hit home soft

t.F = SEARCH_FEEDRATE_Y;

#else

// hit home hard

t.F = MAXIMUM_FEEDRATE_Y;

#endif

enqueue_home(&t, 0x2, 1);

#ifndef SLOW_HOMING

// back off slowly

t.Y = -1000000;

t.F = SEARCH_FEEDRATE_Y;

enqueue_home(&t, 0x2, 0);

#endif

// set Y home

queue_wait();

// set position to MAX

startpoint.Y = next_target.target.Y = (int32_t)(Y_MAX * 1000.);

dda_new_startpoint();

// go to zero

t.Y = 0;

t.F = MAXIMUM_FEEDRATE_Y;

enqueue(&t);

#endif

}

/// find Z MIN endstop

void home_z_negative() {

#if defined Z_MIN_PIN

TARGET t = startpoint;

t.Z = -1000000;

#ifdef SLOW_HOMING

// hit home soft

t.F = SEARCH_FEEDRATE_Z;

#else

// hit home hard

t.F = MAXIMUM_FEEDRATE_Z;

#endif

enqueue_home(&t, 0x4, 1);

#ifndef SLOW_HOMING

// back off slowly

t.Z = +1000000;

t.F = SEARCH_FEEDRATE_Z;

enqueue_home(&t, 0x4, 0);

#endif

// set Z home

queue_wait();

#ifdef Z_MIN

startpoint.Z = next_target.target.Z = (int32_t)(Z_MIN * 1000.);

#else

startpoint.Z = next_target.target.Z = 0;

#endif

dda_new_startpoint();

z_disable();

#endif

}

/// find Z MAX endstop

void home_z_positive() {

#if defined Z_MAX_PIN && ! defined Z_MAX

#warning Z_MAX_PIN defined, but not Z_MAX. home_z_positive() disabled.

#endif

#if defined Z_MAX_PIN && defined Z_MAX

TARGET t = startpoint;

t.Z = +1000000;

#ifdef SLOW_HOMING

// hit home soft

t.F = SEARCH_FEEDRATE_Z;

#else

// hit home hard

t.F = MAXIMUM_FEEDRATE_Z;

#endif

enqueue_home(&t, 0x4, 1);

#ifndef SLOW_HOMING

// back off slowly

t.Z = -1000000;

t.F = SEARCH_FEEDRATE_Z;

enqueue_home(&t, 0x4, 0);

#endif

// set Z home

queue_wait();

// set position to MAX

startpoint.Z = next_target.target.Z = (int32_t)(Z_MAX * 1000.);

dda_new_startpoint();

// go to zero

t.Z = 0;

t.F = MAXIMUM_FEEDRATE_Z;

enqueue(&t);

#endif

}