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_start(int8_t axis) { // get the first or next axis if ((axis = _get_next_axis(axis)) < 0) { // axes are done or error if (axis == -1) { // -1 is done return (_set_homing_func(_homing_finalize_exit)); } else if (axis == -2) { // -2 is error cm_set_units_mode(hm.saved_units_mode); cm_set_distance_mode(hm.saved_distance_mode); cm.cycle_state = CYCLE_OFF; cm_cycle_end(); return (_homing_error_exit(-2)); } } // trap gross mis-configurations if ((fp_ZERO(cm.a[axis].search_velocity)) || (fp_ZERO(cm.a[axis].latch_velocity))) { return (_homing_error_exit(axis)); } if ((cm.a[axis].travel_max <= 0) || (cm.a[axis].latch_backoff <= 0)) { return (_homing_error_exit(axis)); } // determine the switch setup and that config is OK hm.min_mode = get_switch_mode(MIN_SWITCH(axis)); hm.max_mode = get_switch_mode(MAX_SWITCH(axis)); if ( ((hm.min_mode & SW_HOMING_BIT) ^ (hm.max_mode & SW_HOMING_BIT)) == 0) {// one or the other must be homing return (_homing_error_exit(axis)); // axis cannot be homed } hm.axis = axis; // persist the axis hm.search_velocity = fabs(cm.a[axis].search_velocity); // search velocity is always positive hm.latch_velocity = fabs(cm.a[axis].latch_velocity); // latch velocity is always positive // setup parameters homing to the minimum switch if (hm.min_mode & SW_HOMING_BIT) { hm.homing_switch = MIN_SWITCH(axis); // the min is the homing switch hm.limit_switch = MAX_SWITCH(axis); // the max would be the limit switch hm.search_travel = -cm.a[axis].travel_max; // search travels in negative direction hm.latch_backoff = cm.a[axis].latch_backoff; // latch travels in positive direction hm.zero_backoff = cm.a[axis].zero_backoff; // setup parameters for positive travel (homing to the maximum switch) } else { hm.homing_switch = MAX_SWITCH(axis); // the max is the homing switch hm.limit_switch = MIN_SWITCH(axis); // the min would be the limit switch hm.search_travel = cm.a[axis].travel_max; // search travels in positive direction hm.latch_backoff = -cm.a[axis].latch_backoff; // latch travels in negative direction hm.zero_backoff = -cm.a[axis].zero_backoff; } // if homing is disabled for the axis then skip to the next axis uint8_t sw_mode = get_switch_mode(hm.homing_switch); if ((sw_mode != SW_MODE_HOMING) && (sw_mode != SW_MODE_HOMING_LIMIT)) { return (_set_homing_func(_homing_axis_start)); } // disable the limit switch parameter if there is no limit switch if (get_switch_mode(hm.limit_switch) == SW_MODE_DISABLED) { hm.limit_switch = -1;} hm.saved_jerk = cm.a[axis].jerk_max; // save the max jerk value return (_set_homing_func(_homing_axis_clear)); // start the clear }
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 void _set_defa(nvObj_t *nv) { cm_set_units_mode(MILLIMETERS); // must do inits in MM mode for (nv->index=0; nv_index_is_single(nv->index); nv->index++) { if (GET_TABLE_BYTE(flags) & F_INITIALIZE) { nv->value = GET_TABLE_FLOAT(def_value); strncpy_P(nv->token, cfgArray[nv->index].token, TOKEN_LEN); nv_set(nv); nv_persist(nv); } } sr_init_status_report(); // reset status reports rpt_print_initializing_message(); // don't start TX until all the NVM persistence is done }
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); }
/************************************************************************************ * config_init() - called once on hard reset * * Performs one of 2 actions: * (1) if persistence is set up or out-of-rev load RAM and NVM with settings.h defaults * (2) if persistence is set up and at current config version use NVM data for config * * You can assume the cfg struct has been zeroed by a hard reset. * Do not clear it as the version and build numbers have already been set by tg_init() * * NOTE: Config assertions are handled from the controller */ void config_init() { nvObj_t *nv = nv_reset_nv_list(); char *P_str_axis[3] = {"x","y", "z"}; config_init_assertions(); #ifdef __ARM // ++++ The following code is offered until persistence is implemented. // ++++ Then you can use the AVR code (or something like it) cfg.comm_mode = JSON_MODE; // initial value until EEPROM is read _set_defa(nv); #endif #ifdef __AVR cm_set_units_mode(MILLIMETERS); // must do inits in millimeter mode nv->index = 0; // this will read the first record in NVM read_persistent_value(nv); if (nv->value != cs.fw_build) { // case (1) NVM is not setup or not in revision // if (fp_NE(nv->value, cs.fw_build)) { _set_defa(nv); } else { // case (2) NVM is setup and in revision rpt_print_loading_configs_message(); for (nv->index=0; nv_index_is_single(nv->index); nv->index++) { if (GET_TABLE_BYTE(flags) & F_INITIALIZE) { strncpy_P(nv->token, cfgArray[nv->index].token, TOKEN_LEN); // read the token from the array read_persistent_value(nv); nv_set(nv); } } sr_init_status_report(); } #endif #ifdef __RX // ++++ The following code is offered until persistence is implemented. // ++++ Then you can use the AVR code (or something like it) cm_set_units_mode(MILLIMETERS); // must do inits in millimeter mode nv->index = 0; // this will read the first record in NVM spiffs_DIR sf_dir; struct spiffs_dirent e; struct spiffs_dirent *pe = &e; spiffs_file *fd = &uspiffs[0].f; spiffs *fs = &uspiffs[0].gSPIFFS; R_FlashDataAreaAccess(0xFFFF,0xFFFF); checkifParFlashed = (char *)(0x00100000); if (SPIFFS_opendir(fs, "/", &sf_dir) == NULL) { } pe = SPIFFS_readdir(&sf_dir, pe); *fd = SPIFFS_open(fs, "config.met", SPIFFS_RDWR | SPIFFS_DIRECT, 0); SPIFFS_close(fs, *fd); if (*fd == SPIFFS_ERR_NOT_FOUND && strcmp(checkifParFlashed,checkParPhrase)) { // case (1) NVM is not setup or not in revision *fd = SPIFFS_open(fs, "config.met", SPIFFS_CREAT | SPIFFS_RDWR | SPIFFS_DIRECT, 0); SPIFFS_close(fs, *fd); R_FlashEraseRange(0x00100000,0x20); R_FlashWrite(0x00100000,(uint32_t)checkParPhrase, 0x20); _set_defa(nv); } else { // case (2) NVM is setup and in revision rpt_print_loading_configs_message(); for (nv->index=0; nv_index_is_single(nv->index); nv->index++) { if (GET_TABLE_BYTE(flags) & F_INITIALIZE) { strncpy_P(nv->token, cfgArray[nv->index].token, TOKEN_LEN); // read the token from the array read_persistent_value(nv); nv_set(nv); } } sr_init_status_report(); } z_step_pulse = (M1_TRAVEL_PER_REV*M1_STEP_ANGLE)/(360*M1_MICROSTEPS); #endif }