tschwery/reprapfirmware-dc42
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Homing modified to correspond with Ian's documentation...

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This commit is contained in:
Adrian Bowyer 2013-12-19 18:53:17 +00:00
parent e9539d97f0
commit 4feab9afce
6 changed files with 110 additions and 49 deletions
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4
Configuration.h
View file

@ -24,8 +24,8 @@ Licence: GPL
#define CONFIGURATION_H
#define NAME "RepRapFirmware"
#define VERSION "0.41"
#define DATE "2013-12-18"
#define VERSION "0.42"
#define DATE "2013-12-19"
#define LAST_AUTHOR "reprappro.com"
// Other firmware that we might switch to be compatible with.

147
GCodes.cpp
View file

@ -67,7 +67,7 @@ void GCodes::Init()
homeX = false;
homeY = false;
homeZ = false;
homeAxisFinalMove = false;
homeAxisMoveCount = 0;
offSetSet = false;
dwellWaiting = false;
stackPointer = 0;
@ -465,58 +465,98 @@ bool GCodes::DoHome()
if(homeX)
{
activeDrive[X_AXIS] = true;
moveToDo[DRIVES] = platform->HomeFeedRate(X_AXIS);
if(platform->HighStopButNotLow(X_AXIS))
{
if(homeAxisFinalMove)
{
moveToDo[X_AXIS] = 0.0;
if(DoCannedCycleMove(false))
{
homeAxisFinalMove = false;
homeX = false;
return NoHome();
}
}else
{
moveToDo[X_AXIS] = 2.0*platform->AxisLength(X_AXIS);
if(DoCannedCycleMove(true))
homeAxisFinalMove = true;
}
} else
// FIXME Need to reinstate this to deal with high endstop on X.
// activeDrive[X_AXIS] = true;
// moveToDo[DRIVES] = platform->HomeFeedRate(X_AXIS);
// if(platform->HighStopButNotLow(X_AXIS))
// {
// if(homeAxisFinalMove)
// {
// moveToDo[X_AXIS] = 0.0;
// if(DoCannedCycleMove(false))
// {
// homeAxisFinalMove = false;
// homeX = false;
// return NoHome();
// }
// }else
// {
// moveToDo[X_AXIS] = 2.0*platform->AxisLength(X_AXIS);
// if(DoCannedCycleMove(true))
// homeAxisFinalMove = true;
// }
// } else
// {
// moveToDo[X_AXIS] = -2.0*platform->AxisLength(X_AXIS);
// if(DoCannedCycleMove(true))
// {
// homeX = false;
// homeAxisFinalMove = false;
// return NoHome();
// }
// }
// return false;
switch(homeAxisMoveCount)
{
case 0:
if(!AllMovesAreFinishedAndMoveBufferIsLoaded())
return false;
activeDrive[Z_AXIS] = true;
moveToDo[DRIVES] = platform->HomeFeedRate(Z_AXIS);
moveToDo[Z_AXIS] = 5.0 + moveBuffer[Z_AXIS];
if(DoCannedCycleMove(false))
homeAxisMoveCount = 1;
return false;
case 1:
activeDrive[X_AXIS] = true;
moveToDo[DRIVES] = platform->HomeFeedRate(X_AXIS);
moveToDo[X_AXIS] = -2.0*platform->AxisLength(X_AXIS);
if(DoCannedCycleMove(true))
{
homeAxisMoveCount = 0;
homeX = false;
homeAxisFinalMove = false;
return NoHome();
}
return false;
default:
platform->Message(HOST_MESSAGE, "DoHome(): illegal move count.\n");
return true;
}
return false;
}
if(homeY)
{
activeDrive[Y_AXIS] = true;
moveToDo[DRIVES] = platform->HomeFeedRate(Y_AXIS);
if(platform->HighStopButNotLow(Y_AXIS))
{
if(homeAxisFinalMove)
switch(homeAxisMoveCount)
{
case 0:
moveToDo[Y_AXIS] = 2.0*platform->AxisLength(Y_AXIS);
if(DoCannedCycleMove(true))
homeAxisMoveCount = 1;
return false;
case 1:
moveToDo[Y_AXIS] = 0.0;
if(DoCannedCycleMove(false))
{
homeAxisFinalMove = false;
homeAxisMoveCount = 0;
homeY = false;
return NoHome();
}
}else
{
moveToDo[Y_AXIS] = 2.0*platform->AxisLength(Y_AXIS);
if(DoCannedCycleMove(true))
homeAxisFinalMove = true;
return false;
default:
platform->Message(HOST_MESSAGE, "DoHome(): illegal move count.\n");
return true;
}
} else
{
@ -524,40 +564,61 @@ bool GCodes::DoHome()
if(DoCannedCycleMove(true))
{
homeY = false;
homeAxisFinalMove = false;
homeAxisMoveCount = 0;
return NoHome();
}
}
return false;
}
if(homeZ)
{
activeDrive[Z_AXIS] = true;
moveToDo[DRIVES] = platform->HomeFeedRate(Z_AXIS);
if(homeAxisFinalMove)
switch(homeAxisMoveCount)
{
case 0:
if(!AllMovesAreFinishedAndMoveBufferIsLoaded())
return false;
activeDrive[X_AXIS] = true;
activeDrive[Y_AXIS] = true;
moveToDo[DRIVES] = platform->HomeFeedRate(X_AXIS);
moveToDo[X_AXIS] = reprap.GetMove()->xBedProbePoint(0);
moveToDo[Y_AXIS] = reprap.GetMove()->yBedProbePoint(0);
if(DoCannedCycleMove(false))
homeAxisMoveCount = 1;
return false;
case 1:
activeDrive[Z_AXIS] = true;
moveToDo[DRIVES] = platform->HomeFeedRate(Z_AXIS);
moveToDo[Z_AXIS] = -2.0*platform->AxisLength(Z_AXIS);
if(DoCannedCycleMove(true))
homeAxisMoveCount = 2;
return false;
case 2:
activeDrive[Z_AXIS] = true;
moveToDo[DRIVES] = platform->HomeFeedRate(Z_AXIS);
moveToDo[Z_AXIS] = 0.0;
if(DoCannedCycleMove(false))
{
homeAxisFinalMove = false;
homeAxisMoveCount = 0;
homeZ = false;
return NoHome();
}
}else
{
moveToDo[Z_AXIS] = -2.0*platform->AxisLength(Z_AXIS);
if(DoCannedCycleMove(true))
homeAxisFinalMove = true;
return false;
default:
platform->Message(HOST_MESSAGE, "DoHome(): illegal move count.\n");
return true;
}
return false;
}
// Should never get here
checkEndStops = false;
moveAvailable = false;
homeAxisFinalMove = false;
homeAxisMoveCount = 0;
return true;
}
@ -1165,7 +1226,7 @@ bool GCodes::ActOnGcode(GCodeBuffer *gb)
case 28: // Home
if(NoHome())
{
homeAxisFinalMove = false;
homeAxisMoveCount = 0;
homeX = gb->Seen(gCodeLetters[X_AXIS]);
homeY = gb->Seen(gCodeLetters[Y_AXIS]);
homeZ = gb->Seen(gCodeLetters[Z_AXIS]);

4
GCodes.h
View file

@ -142,7 +142,7 @@ class GCodes
bool homeX;
bool homeY;
bool homeZ;
bool homeAxisFinalMove;
int8_t homeAxisMoveCount;
float gFeedRate;
int probeCount;
int8_t cannedCycleMoveCount;
@ -192,7 +192,7 @@ inline bool GCodes::PrintingAFile()
inline bool GCodes::NoHome()
{
return !(homeX || homeY || homeZ || homeAxisFinalMove);
return !(homeX || homeY || homeZ || homeAxisMoveCount);
}
// This function takes care of the fact that the heater and head indices

4
Move.cpp
View file

@ -115,8 +115,8 @@ void Move::Init()
for(uint8_t point = 0; point < NUMBER_OF_PROBE_POINTS; point++)
{
xBedProbePoints[point] = (0.2 + 0.6*(float)(point%2))*platform->AxisLength(X_AXIS);
yBedProbePoints[point] = (0.2 + 0.6*(float)(point/2))*platform->AxisLength(Y_AXIS);
xBedProbePoints[point] = (0.3 + 0.6*(float)(point%2))*platform->AxisLength(X_AXIS);
yBedProbePoints[point] = (0.0 + 0.9*(float)(point/2))*platform->AxisLength(Y_AXIS);
zBedProbePoints[point] = 0.0;
probePointSet[point] = unset;
}

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Release/RepRapFirmware-040-17-12-2013.bin
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Release/RepRapFirmware.bin
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