// Perform homing cycle to locate and set machine zero. Only '$H' executes this command.
// NOTE: There should be no motions in the buffer and Grbl must be in an idle state before
// executing the homing cycle. This prevents incorrect buffered plans after homing.
void mc_homing_cycle()
{
sys.state = STATE_HOMING; // Set system state variable
limits_disable(); // Disable hard limits pin change register for cycle duration
// -------------------------------------------------------------------------------------
// Perform homing routine. NOTE: Special motion case. Only system reset works.
// Search to engage all axes limit switches at faster homing seek rate.
limits_go_home(HOMING_CYCLE_0); // Homing cycle 0
#ifdef HOMING_CYCLE_1
limits_go_home(HOMING_CYCLE_1); // Homing cycle 1
#endif
#ifdef HOMING_CYCLE_2
limits_go_home(HOMING_CYCLE_2); // Homing cycle 2
#endif
protocol_execute_runtime(); // Check for reset and set system abort.
if (sys.abort) { return; } // Did not complete. Alarm state set by mc_alarm.
// Homing cycle complete! Setup system for normal operation.
// -------------------------------------------------------------------------------------
// Gcode parser position was circumvented by the limits_go_home() routine, so sync position now.
gc_sync_position();
// Set idle state after homing completes and before returning to main program.
sys.state = STATE_IDLE;
st_go_idle(); // Set idle state after homing completes
// If hard limits feature enabled, re-enable hard limits pin change register after homing cycle.
limits_init();
}
// Perform homing cycle to locate and set machine zero. Only '$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 mc_homing_cycle(uint8_t cycle_mask)
{
// Check and abort homing cycle, if hard limits are already enabled. Helps prevent problems
// with machines with limits wired on both ends of travel to one limit pin.
// TODO: Move the pin-specific LIMIT_PIN call to limits.c as a function.
#ifdef LIMITS_TWO_SWITCHES_ON_AXES
if (limits_get_state()) {
mc_reset(); // Issue system reset and ensure spindle and coolant are shutdown.
system_set_exec_alarm(EXEC_ALARM_HARD_LIMIT);
return;
}
#endif
limits_disable(); // Disable hard limits pin change register for cycle duration
// -------------------------------------------------------------------------------------
// Perform homing routine. NOTE: Special motion case. Only system reset works.
#ifdef HOMING_SINGLE_AXIS_COMMANDS
if (cycle_mask) { limits_go_home(cycle_mask); } // Perform homing cycle based on mask.
else
#endif
{
// Search to engage all axes limit switches at faster homing seek rate.
limits_go_home(HOMING_CYCLE_0); // Homing cycle 0
#ifdef HOMING_CYCLE_1
limits_go_home(HOMING_CYCLE_1); // Homing cycle 1
#endif
#ifdef HOMING_CYCLE_2
limits_go_home(HOMING_CYCLE_2); // Homing cycle 2
#endif
}
protocol_execute_realtime(); // Check for reset and set system abort.
if (sys.abort) { return; } // Did not complete. Alarm state set by mc_alarm.
// Homing cycle complete! Setup system for normal operation.
// -------------------------------------------------------------------------------------
// Sync gcode parser and planner positions to homed position.
gc_sync_position();
plan_sync_position();
// If hard limits feature enabled, re-enable hard limits pin change register after homing cycle.
limits_init();
}
// TODO: Update limits and homing cycle subprograms for better integration with new features.
void mc_go_home()
{
limits_go_home();
// Upon completion, reset all internal position vectors (g-code parser, planner, system)
gc_clear_position();
plan_clear_position();
clear_vector_double(sys.position);
}
// 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 mc_go_home()
{
sys.state = STATE_HOMING; // Set system state variable
LIMIT_PCMSK &= ~LIMIT_MASK; // Disable hard limits pin change register for cycle duration
limits_go_home(); // Perform homing routine.
protocol_execute_runtime(); // Check for reset and set system abort.
if (sys.abort) { return; } // Did not complete. Alarm state set by mc_alarm.
// The machine should now be homed and machine zero has been located. Upon completion,
// reset system position and sync internal position vectors.
clear_vector_float(sys.position); // Set machine zero
sys_sync_current_position();
sys.state = STATE_IDLE; // Set system state to IDLE to complete motion and indicate homed.
// Pull-off axes (that have been homed) from limit switches before continuing motion.
// This provides some initial clearance off the switches and should also help prevent them
// from falsely tripping when hard limits are enabled.
/// 8c1
int8_t x_dir, y_dir, z_dir, t_dir;
x_dir = y_dir = z_dir = t_dir = 0;
if (HOMING_LOCATE_CYCLE & (1<<X_AXIS)) {
if (settings.homing_dir_mask & (1<<X_DIRECTION_BIT))
x_dir = 1;
else
x_dir = -1;
}
if (HOMING_LOCATE_CYCLE & (1<<Y_AXIS)) {
if (settings.homing_dir_mask & (1<<Y_DIRECTION_BIT)) { y_dir = 1; }
else { y_dir = -1; }
}
if (HOMING_LOCATE_CYCLE & (1<<Z_AXIS)) {
if (settings.homing_dir_mask & (1<<Z_DIRECTION_BIT)) { z_dir = 1; }
else { z_dir = -1; }
}
/// 8c1
if (HOMING_LOCATE_CYCLE & (1<<T_AXIS)) {
if (settings.homing_dir_mask & (1<<T_DIRECTION_BIT)) { t_dir = 1; }
else { t_dir = -1; }
}
/// 8c1 : line
mc_line(x_dir*settings.homing_pulloff, y_dir*settings.homing_pulloff,
z_dir*settings.homing_pulloff, t_dir*settings.homing_pulloff, settings.homing_seek_rate, false, C_LINE);
st_cycle_start(); // Move it. Nothing should be in the buffer except this motion.
plan_synchronize(); // Make sure the motion completes.
// The gcode parser position circumvented by the pull-off maneuver, so sync position vectors.
sys_sync_current_position();
// If hard limits feature enabled, re-enable hard limits pin change register after homing cycle.
if (bit_istrue(settings.flags,BITFLAG_HARD_LIMIT_ENABLE))
LIMIT_PCMSK |= LIMIT_MASK;
// Finished!
}
// 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 mc_go_home()
{
sys.state = STATE_HOMING; // Set system state variable
LIMIT_PCMSK &= ~LIMIT_MASK; // Disable hard limits pin change register for cycle duration
limits_go_home(); // Perform homing routine.
protocol_execute_runtime(); // Check for reset and set system abort.
if (sys.abort) { return; } // Did not complete. Alarm state set by mc_alarm.
// The machine should now be homed and machine limits have been located. By default,
// grbl defines machine space as all negative, as do most CNCs. Since limit switches
// can be on either side of an axes, check and set machine zero appropriately.
// At the same time, set up pull-off maneuver from axes limit switches that have been homed.
// This provides some initial clearance off the switches and should also help prevent them
// from falsely tripping when hard limits are enabled.
// TODO: Need to improve dir_mask[] to be more axes independent.
float pulloff_target[N_AXIS];
clear_vector_float(pulloff_target); // Zero pulloff target.
clear_vector_long(sys.position); // Zero current position for now.
uint8_t dir_mask[N_AXIS];
dir_mask[X_AXIS] = (1<<X_DIRECTION_BIT);
dir_mask[Y_AXIS] = (1<<Y_DIRECTION_BIT);
dir_mask[Z_AXIS] = (1<<Z_DIRECTION_BIT);
uint8_t i;
for (i=0; i<N_AXIS; i++) {
// Set up pull off targets and machine positions for limit switches homed in the negative
// direction, rather than the traditional positive. Leave non-homed positions as zero and
// do not move them.
if (HOMING_LOCATE_CYCLE & bit(i)) {
if (settings.homing_dir_mask & dir_mask[i]) {
pulloff_target[i] = settings.homing_pulloff-settings.max_travel[i];
sys.position[i] = -lround(settings.max_travel[i]*settings.steps_per_mm[i]);
} else {
pulloff_target[i] = -settings.homing_pulloff;
}
}
}
sys_sync_current_position();
sys.state = STATE_IDLE; // Set system state to IDLE to complete motion and indicate homed.
mc_line(pulloff_target, settings.homing_seek_rate, false);
st_cycle_start(); // Move it. Nothing should be in the buffer except this motion.
plan_synchronize(); // Make sure the motion completes.
// The gcode parser position circumvented by the pull-off maneuver, so sync position vectors.
sys_sync_current_position();
// If hard limits feature enabled, re-enable hard limits pin change register after homing cycle.
if (bit_istrue(settings.flags,BITFLAG_HARD_LIMIT_ENABLE)) { LIMIT_PCMSK |= LIMIT_MASK; }
// Finished!
}
// 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 mc_homing_cycle()
{
// Check and abort homing cycle, if hard limits are already enabled. Helps prevent problems
// with machines with limits wired on both ends of travel to one limit pin.
// TODO: Move the pin-specific LIMIT_PIN call to limits.c as a function.
#ifdef LIMITS_TWO_SWITCHES_ON_AXES
if (limits_get_state()) {
mc_reset(); // Issue system reset and ensure spindle and coolant are shutdown.
bit_true_atomic(sys_rt_exec_alarm, (EXEC_ALARM_HARD_LIMIT|EXEC_CRITICAL_EVENT));
return;
}
#endif
limits_disable(); // Disable hard limits pin change register for cycle duration
// -------------------------------------------------------------------------------------
// Perform homing routine. NOTE: Special motion case. Only system reset works.
// Search to engage all axes limit switches at faster homing seek rate.
limits_go_home(HOMING_CYCLE_0); // Homing cycle 0
#ifdef HOMING_CYCLE_1
limits_go_home(HOMING_CYCLE_1); // Homing cycle 1
#endif
#ifdef HOMING_CYCLE_2
limits_go_home(HOMING_CYCLE_2); // Homing cycle 2
#endif
protocol_execute_realtime(); // Check for reset and set system abort.
if (sys.abort) { return; } // Did not complete. Alarm state set by mc_alarm.
// Homing cycle complete! Setup system for normal operation.
// -------------------------------------------------------------------------------------
// Gcode parser position was circumvented by the limits_go_home() routine, so sync position now.
gc_sync_position();
// If hard limits feature enabled, re-enable hard limits pin change register after homing cycle.
limits_init();
}
