// 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 MotionGoHome(void)
{
plan_init();
uint16_t limitStatus;
uint16_t stepCount;
sys.state = STATE_HOMING; // Set system state variable
// LIMIT_PCMSK &= ~LIMIT_MASK; // Disable hard limits pin change register for cycle duration
xLimitDetected = FALSE;
yLimitDetected = FALSE;
BSP_SetStepSize(X_AXIS, QUARTER);
BSP_SetStepSize(Y_AXIS, QUARTER);
BSP_SetStepSize(Z_AXIS, QUARTER);
settings.steps_per_mm[X_AXIS] = X_STEPS_MM(QUARTER_STEP);
settings.steps_per_mm[Y_AXIS] = Y_STEPS_MM(QUARTER_STEP);
settings.steps_per_mm[Z_AXIS] = Z_STEPS_MM(QUARTER_STEP);
// Find out if X or Y axis are at limit
limitStatus = mPORTCReadBits(xLimitInput.pin||yLimitInput.pin);
if(limitStatus)
{
if(limitStatus & xLimitInput.pin) // If Xat Limit
{
stepCount = 0;
BSP_Timer3Start(100);
OpenOC2(XS_PWM_ENA, (ReadPeriod3()>>1), ReadPeriod3()>>1);
BSP_AxisEnable(X_AXIS, NEGATIVE);
while((mPORTCReadBits(xLimitInput.pin)))
{
stepCount++;
steps_X = 0x1;
if(stepCount >= 20)
mPORTGToggleBits(xAxis.directionPin.pin);
}
BSP_AxisDisable(X_AXIS);
if(mPORTGReadBits(xAxis.directionPin.pin) == POSITIVE)
gcode.position[X_AXIS] = 215.000;
else
gcode.position[X_AXIS] =0;
}
if(limitStatus & yLimitInput.pin) // If Xat Limit
{
stepCount = 0;
BSP_Timer2Start(100);
OpenOC1(XS_PWM_ENA, (ReadPeriod2()>>1), ReadPeriod2()>>1);
BSP_AxisEnable(Y_AXIS, NEGATIVE);
while((mPORTCReadBits(yLimitInput.pin)))
{
stepCount++;
steps_Y = 0x1;
if(stepCount >= 20)
mPORTEToggleBits(yAxis.directionPin.pin);
}
if(mPORTEReadBits(xAxis.directionPin.pin) == POSITIVE)
gcode.position[Y_AXIS] = 215.000;
else
gcode.position[Y_AXIS] =0;
}
/*
* Helper function for getting timer periods.
* The timer period is the maximum value for a output compare register.
* Setting the OCRn register to the timer period results in the fastest
* motor speed.
*/
static uint32_t get_timer_period(struct hbridge_info* hbridge)
{
uint32_t retval = 0;
switch(hbridge->tmrn)
{
case 1:
retval = ReadPeriod1();
break;
case 2:
retval = ReadPeriod2();
break;
case 3:
retval = ReadPeriod3();
break;
case 4:
retval = ReadPeriod4();
break;
case 5:
retval = ReadPeriod5();
break;
}
}
//Main Timer for total movement time and block handling
void __ISR(_TIMER_1_VECTOR, ipl3) _InterruptHandler_TMR1(void)
{
// clear the interrupt flag
mT1ClearIntFlag();
if(current_block == Null)
{
current_block = plan_get_current_block();
if(current_block != Null)
{
if(current_block->activeAxisCount == 3)
{
if(current_block->minStepAxis < N_AXIS) // If they are not all equal // TODO: If any of the step counts are equal we dont need Timer4
{
switch(current_block->minStepAxis) // Need to configure OC Module to be Single Pulse Output and other two OC modules to be continuous pulse
{
case X_AXIS:
BSP_Timer4Start((uint16_t)current_block->steppingFreq[X_AXIS]);// Use Timer4 Interrupt to trigger single output pulse
OpenOC2((OC_ON|OC_IDLE_STOP|OC_TIMER_MODE16 \
|OC_TIMER3_SRC|OC_SINGLE_PULSE), (ReadPeriod3()>>1), ReadPeriod3()); // X_AXIS = Single Pulse
BSP_Timer2Start((uint16_t)current_block->steppingFreq[Y_AXIS]);
OpenOC1((OC_ON|OC_IDLE_STOP|OC_TIMER_MODE16 \
|OC_TIMER2_SRC|OC_CONTINUE_PULSE), (ReadPeriod2()>>1), ReadPeriod2()); // Y_AXIS = Continuous Pulse
BSP_Timer3Start((uint16_t)current_block->steppingFreq[Z_AXIS]);
OpenOC3((OC_ON|OC_IDLE_STOP|OC_TIMER_MODE16 \
|OC_TIMER3_SRC|OC_CONTINUE_PULSE), (ReadPeriod3()>>1), ReadPeriod3()); // Z_AXIS = Continuous Pulse
break;
case Y_AXIS:
BSP_Timer4Start((uint16_t)current_block->steppingFreq[Y_AXIS]);// Use Timer4 Interrupt to trigger single output pulse
OpenOC1((OC_ON|OC_IDLE_STOP|OC_TIMER_MODE16 \
|OC_TIMER3_SRC|OC_SINGLE_PULSE), (ReadPeriod3()>>1), ReadPeriod3()); // Y_AXIS = Single Pulse
BSP_Timer2Start((uint16_t)current_block->steppingFreq[X_AXIS]);
OpenOC2((OC_ON|OC_IDLE_STOP|OC_TIMER_MODE16 \
|OC_TIMER2_SRC|OC_CONTINUE_PULSE), (ReadPeriod2()>>1), ReadPeriod2()); // X_AXIS = Continuous Pulse
BSP_Timer3Start((uint16_t)current_block->steppingFreq[Z_AXIS]);
OpenOC3((OC_ON|OC_IDLE_STOP|OC_TIMER_MODE16 \
|OC_TIMER3_SRC|OC_CONTINUE_PULSE), (ReadPeriod3()>>1), ReadPeriod3()); // Z_AXIS = Continuous Pulse
break;
case Z_AXIS:
BSP_Timer4Start((uint16_t)current_block->steppingFreq[Z_AXIS]);// Use Timer4 Interrupt to trigger single output pulse
OpenOC3((OC_ON|OC_IDLE_STOP|OC_TIMER_MODE16 \
|OC_TIMER3_SRC|OC_SINGLE_PULSE), (ReadPeriod3()>>1), ReadPeriod3()); // Z_AXIS = Single Pulse
BSP_Timer3Start((uint16_t)current_block->steppingFreq[X_AXIS]);
OpenOC2((OC_ON|OC_IDLE_STOP|OC_TIMER_MODE16 \
|OC_TIMER3_SRC|OC_CONTINUE_PULSE), (ReadPeriod3()>>1), ReadPeriod3()); // X_AXIS = Continuous Pulse
BSP_Timer2Start((uint16_t)current_block->steppingFreq[Y_AXIS]);
OpenOC1((OC_ON|OC_IDLE_STOP|OC_TIMER_MODE16 \
|OC_TIMER2_SRC|OC_CONTINUE_PULSE), (ReadPeriod2()>>1), ReadPeriod2()); // Y_AXIS = Continuous Pulse
break;
default:
// error
break;
}
}
else
{
BSP_Timer2Start((uint16_t)current_block->steppingFreq[X_AXIS]); // All Steps Counts are equal so just use on timer
OpenOC1((OC_ON|OC_IDLE_STOP|OC_TIMER_MODE16 \
|OC_TIMER2_SRC|OC_CONTINUE_PULSE), (ReadPeriod2()>>1), ReadPeriod2()); // Y_AXIS = Continuous Pulse
OpenOC2((OC_ON|OC_IDLE_STOP|OC_TIMER_MODE16 \
|OC_TIMER2_SRC|OC_CONTINUE_PULSE), (ReadPeriod2()>>1), ReadPeriod2()); // X_AXIS = Continuous Pulse
OpenOC3((OC_ON|OC_IDLE_STOP|OC_TIMER_MODE16 \
|OC_TIMER2_SRC|OC_CONTINUE_PULSE), (ReadPeriod2()>>1), ReadPeriod2()); // Z_AXIS = Continuous Pulse
}
BSP_AxisEnable(Y_AXIS, current_block->direction_bits[Y_AXIS]);
BSP_AxisEnable(X_AXIS, current_block->direction_bits[X_AXIS]);
BSP_AxisEnable(Z_AXIS, current_block->direction_bits[Z_AXIS]);
}
else if (current_block->activeAxisCount == 2) // 2 Axis Enabled
