// 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();
}
void limits_init()
{
// LIMIT_DDR &= ~(LIMIT_MASK); // Set as input pins
//
// #ifdef DISABLE_LIMIT_PIN_PULL_UP
// LIMIT_PORT &= ~(LIMIT_MASK); // Normal low operation. Requires external pull-down.
// #else
// LIMIT_PORT |= (LIMIT_MASK); // Enable internal pull-up resistors. Normal high operation.
// #endif
//
// if (bit_istrue(settings.flags,BITFLAG_HARD_LIMIT_ENABLE)) {
// LIMIT_PCMSK |= LIMIT_MASK; // Enable specific pins of the Pin Change Interrupt
// PCICR |= (1 << LIMIT_INT); // Enable Pin Change Interrupt
// } else {
// limits_disable();
// }
//
// #ifdef ENABLE_SOFTWARE_DEBOUNCE
// MCUSR &= ~(1<<WDRF);
// WDTCSR |= (1<<WDCE) | (1<<WDE);
// WDTCSR = (1<<WDP0); // Set time-out at ~32msec.
// #endif
set_as_input(LIMX);
set_as_input(LIMY);
set_as_input(LIMZ);
if (bit_istrue(settings.flags,BITFLAG_HARD_LIMIT_ENABLE)) {
limits_enable();
} else {
limits_disable();
}
}
// 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
#ifdef HOMING_CYCLE_3
limits_go_home(HOMING_CYCLE_3); // Homing cycle 3
#endif
#ifdef HOMING_CYCLE_4
limits_go_home(HOMING_CYCLE_4); // Homing cycle 4
#endif
#ifdef HOMING_CYCLE_5
limits_go_home(HOMING_CYCLE_5); // Homing cycle 5
#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();
}
// 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();
}
void limits_init()
{
LIMIT_DDR &= ~(LIMIT_MASK); // Set as input pins
#ifdef DISABLE_LIMIT_PIN_PULL_UP
LIMIT_PORT &= ~(LIMIT_MASK); // Normal low operation. Requires external pull-down.
#else
LIMIT_PORT |= (LIMIT_MASK); // Enable internal pull-up resistors. Normal high operation.
#endif
if (bit_istrue(settings.flags,BITFLAG_HARD_LIMIT_ENABLE)) {
LIMIT_PCMSK |= LIMIT_MASK; // Enable specific pins of the Pin Change Interrupt
PCICR |= (1 << LIMIT_INT); // Enable Pin Change Interrupt
} else {
limits_disable();
}
#ifdef ENABLE_SOFTWARE_DEBOUNCE
MCUSR &= ~(1<<WDRF);
WDTCSR |= (1<<WDCE) | (1<<WDE);
WDTCSR = (1<<WDP0); // Set time-out at ~32msec.
#endif
}
void limits_init()
{
///////////////////##########################
#if MotherBoard==3 && !defined(limit_int_style) ///*** MB==3
#if defined(X_MIN_PIN) && X_MIN_PIN>-1 //////##############
SET_INPUT(X_MIN_PIN);
#endif
#if defined(Y_MIN_PIN) && Y_MIN_PIN>-1 //////##############
SET_INPUT(Y_MIN_PIN);
#endif
#if defined(Z_MIN_PIN) && Z_MIN_PIN>-1 //////##############
SET_INPUT(Z_MIN_PIN);
#endif
#if defined(X_MAX_PIN) && X_MAX_PIN>-1 //////##############
SET_INPUT(X_MAX_PIN);
#endif
#if defined(Y_MAX_PIN) && Y_MAX_PIN>-1 //////##############
SET_INPUT(Y_MAX_PIN);
#endif
#if defined(Z_MAX_PIN) && Z_MAX_PIN>-1 //////##############
SET_INPUT(Z_MAX_PIN);
#endif
/*
#if(ENDSTOP_X_MIN_INVERTING)
#else
#endif*/
if (bit_istrue(settings.flags,BITFLAG_INVERT_LIMIT_PINS))
{
PULLUP(X_MIN_PIN,LOW); /////***** invert as machine SET LOW
PULLUP(Y_MIN_PIN,LOW);
PULLUP(Z_MIN_PIN,LOW);
PULLUP(X_MAX_PIN,LOW); /////***** invert as machine SET LOW
PULLUP(Y_MAX_PIN,LOW);
PULLUP(Z_MAX_PIN,LOW);
}
else
{
PULLUP(X_MIN_PIN,HIGH); /////***** invert as machine SET HIGH
PULLUP(Y_MIN_PIN,HIGH);
PULLUP(Z_MIN_PIN,HIGH);
PULLUP(X_MAX_PIN,HIGH); /////***** invert as machine SET HIGH
PULLUP(Y_MAX_PIN,HIGH);
PULLUP(Z_MAX_PIN,HIGH);
}
if (bit_istrue(settings.flags,BITFLAG_HARD_LIMIT_ENABLE)) {
LIMIT_PCMSK |= LIMIT_MASK; // Enable specific pins of the Pin Change Interrupt ///****7=0x00000111
PCICR |= (1 << LIMIT_INT); // Enable Pin Change Interrupt
} else {
limits_disable();
}
#else ///*** MB!=3
LIMIT_DDR &= ~(LIMIT_MASK); // Set as input pins
if (bit_istrue(settings.flags,BITFLAG_INVERT_LIMIT_PINS)) {
LIMIT_PORT &= ~(LIMIT_MASK); // Normal low operation. Requires external pull-down.
} else {
LIMIT_PORT |= (LIMIT_MASK); // Enable internal pull-up resistors. Normal high operation.
}
if (bit_istrue(settings.flags,BITFLAG_HARD_LIMIT_ENABLE)) {
LIMIT_PCMSK |= LIMIT_MASK; // Enable specific pins of the Pin Change Interrupt
PCICR |= (1 << LIMIT_INT); // Enable Pin Change Interrupt
} else {
limits_disable();
}
#ifdef ENABLE_SOFTWARE_DEBOUNCE
MCUSR &= ~(1<<WDRF);
WDTCSR |= (1<<WDCE) | (1<<WDE);
WDTCSR = (1<<WDP0); // Set time-out at ~32msec.
#endif
#endif ///*** MB==3
//////###############################
}
