Homing against max endstop for Y (and X) implemented when there is a top

endstop but not a bottom one.

Configuration.h

@@ -24,7 +24,7 @@ Licence: GPL
 #define CONFIGURATION_H
 
 #define NAME "RepRapFirmware"
-#define VERSION "0.21"
+#define VERSION "0.22"
 #define DATE "2013-11-25"
 #define LAST_AUTHOR "reprappro.com"
 

GCodes.cpp

@@ -67,7 +67,7 @@ void GCodes::Init()
   homeX = false;
   homeY = false;
   homeZ = false;
-  homeZFinalMove = false;
+  homeAxisFinalMove = false;
   dwellWaiting = false;
   stackPointer = 0;
   selectedHead = -1;
@@ -355,12 +355,32 @@ bool GCodes::DoHome()
 	if(homeX)
 	{
 		action[X_AXIS] = true;
-		moveToDo[X_AXIS] = -2.0*platform->AxisLength(X_AXIS);
-		moveToDo[DRIVES] = platform->HomeFeedRate(X_AXIS);
-		if(DoCannedCycleMove(moveToDo, action, true))
+		if(platform->HighStopButNotLow(X_AXIS))
 		{
-			homeX = false;
-			return NoHome();
+			if(homeAxisFinalMove)
+			{
+				moveToDo[X_AXIS] = 0.0;
+				if(DoCannedCycleMove(moveToDo, action, false))
+				{
+					homeAxisFinalMove = false;
+					homeX = false;
+					return NoHome();
+				}
+			}else
+			{
+				moveToDo[X_AXIS] = 2.0*platform->AxisLength(X_AXIS);
+				if(DoCannedCycleMove(moveToDo, action, true))
+					homeAxisFinalMove = true;
+			}
+		} else
+		{
+			moveToDo[X_AXIS] = -2.0*platform->AxisLength(X_AXIS);
+			moveToDo[DRIVES] = platform->HomeFeedRate(X_AXIS);
+			if(DoCannedCycleMove(moveToDo, action, true))
+			{
+				homeX = false;
+				return NoHome();
+			}
 		}
 		return false;
 	}
@@ -368,12 +388,32 @@ bool GCodes::DoHome()
 	if(homeY)
 	{
 		action[Y_AXIS] = true;
-		moveToDo[Y_AXIS] = -2.0*platform->AxisLength(Y_AXIS);
-		moveToDo[DRIVES] = platform->HomeFeedRate(Y_AXIS);
-		if(DoCannedCycleMove(moveToDo, action, true))
+		if(platform->HighStopButNotLow(Y_AXIS))
 		{
-			homeY = false;
-			return NoHome();
+			if(homeAxisFinalMove)
+			{
+				moveToDo[Y_AXIS] = 0.0;
+				if(DoCannedCycleMove(moveToDo, action, false))
+				{
+					homeAxisFinalMove = false;
+					homeY = false;
+					return NoHome();
+				}
+			}else
+			{
+				moveToDo[Y_AXIS] = 2.0*platform->AxisLength(Y_AXIS);
+				if(DoCannedCycleMove(moveToDo, action, true))
+					homeAxisFinalMove = true;
+			}
+		} else
+		{
+			moveToDo[Y_AXIS] = -2.0*platform->AxisLength(Y_AXIS);
+			moveToDo[DRIVES] = platform->HomeFeedRate(Y_AXIS);
+			if(DoCannedCycleMove(moveToDo, action, true))
+			{
+				homeY = false;
+				return NoHome();
+			}
 		}
 		return false;
 	}
@@ -382,23 +422,22 @@ bool GCodes::DoHome()
 	{
 		action[Z_AXIS] = true;
 		moveToDo[DRIVES] = platform->HomeFeedRate(Z_AXIS);
-		if(homeZFinalMove)
+		if(homeAxisFinalMove)
 		{
 			moveToDo[Z_AXIS] = 0.0;
 			if(DoCannedCycleMove(moveToDo, action, false))
 			{
-				homeZFinalMove = false;
+				homeAxisFinalMove = false;
 				homeZ = false;
 				return NoHome();
 			}
-			return false;
 		}else
 		{
 			moveToDo[Z_AXIS] = -2.0*platform->AxisLength(Z_AXIS);
 			if(DoCannedCycleMove(moveToDo, action, true))
-				homeZFinalMove = true;
-			return false;
+				homeAxisFinalMove = true;
 		}
+		return false;
 	}
 
 	// Should never get here

GCodes.h

@@ -135,7 +135,7 @@ class GCodes
     bool homeX;
     bool homeY;
     bool homeZ;
-    bool homeZFinalMove;
+    bool homeAxisFinalMove;
     float gFeedRate;
     int probeCount;
     int8_t cannedCycleMoveCount;
@@ -186,7 +186,7 @@ inline bool GCodes::PrintingAFile()
 
 inline bool GCodes::NoHome()
 {
-   return !(homeX || homeY || homeZ || homeZFinalMove);
+   return !(homeX || homeY || homeZ || homeAxisFinalMove);
 }
 
 // This function takes care of the fact that the heater and head indices 

Platform.h

@@ -81,8 +81,8 @@ Licence: GPL
 #define ENABLE false      // What to send to enable... 
 #define DISABLE true     // ...and disable a drive
 #define DISABLE_DRIVES {false, false, true, false} // Set true to disable a drive when it becomes idle
-#define LOW_STOP_PINS {11, 28, 60, 31}
-#define HIGH_STOP_PINS {-1, -1, -1, -1}
+#define LOW_STOP_PINS {11, -1, 60, 31}
+#define HIGH_STOP_PINS {-1, 28, -1, -1}
 #define ENDSTOP_HIT 1 // when a stop == this it is hit
 #define POT_WIPES {0, 1, 2, 3} // Indices for motor current digipots (if any)
 #define SENSE_RESISTOR 0.1   // Stepper motor current sense resistor
@@ -459,6 +459,7 @@ class Platform
   EndStopHit Stopped(int8_t drive);
   float AxisLength(int8_t axis);
   void SetAxisLength(int8_t axis, float value);
+  bool HighStopButNotLow(int8_t axis);
   
   float ZProbeStopHeight();
   void SetZProbeStopHeight(float z);
@@ -686,6 +687,11 @@ inline float Platform::InstantDv(int8_t drive)
   return instantDvs[drive]; 
 }
 
+inline bool Platform::HighStopButNotLow(int8_t axis)
+{
+	return (lowStopPins[axis] < 0)  && (highStopPins[axis] >= 0);
+}
+
 inline void Platform::SetDirection(byte drive, bool direction)
 {
 	if(directionPins[drive] < 0)