tschwery/reprapfirmware-dc42
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All axis homing now done with canned cycle files.

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This commit is contained in:
Adrian Bowyer 2013-12-23 18:07:16 +00:00
parent 10bf338aa4
commit c12ebed79c
8 changed files with 58 additions and 148 deletions
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8
Configuration.h
View file

@ -24,8 +24,8 @@ Licence: GPL
#define CONFIGURATION_H
#define NAME "RepRapFirmware"
#define VERSION "0.44"
#define DATE "2013-12-21"
#define VERSION "0.45"
#define DATE "2013-12-23"
#define LAST_AUTHOR "reprappro.com"
// Other firmware that we might switch to be compatible with.
@ -74,6 +74,10 @@ enum Compatibility
#define INDEX_PAGE "reprap.htm"
#define MESSAGE_FILE "messages.txt"
#define FOUR04_FILE "html404.htm"
#define CONFIG_FILE "config.g" // The file that sets the machine's parameters
#define HOME_X_G "homex.g"
#define HOME_Y_G "homey.g"
#define HOME_Z_G "homez.g"
#define LONG_TIME 300.0 // Seconds

184
GCodes.cpp
View file

@ -551,167 +551,37 @@ bool GCodes::DoHome()
if(homeX)
{
if(DoFileCannedCycles("homex.g"))
if(DoFileCannedCycles(HOME_X_G))
{
homeAxisMoveCount = 0;
homeX = false;
return NoHome();
}
return false;
// 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;
// return NoHome();
// }
// return false;
//
// default:
// platform->Message(HOST_MESSAGE, "DoHome(): illegal move count.\n");
// return true;
// }
}
if(homeY)
{
if(DoFileCannedCycles("homey.g"))
if(DoFileCannedCycles(HOME_Y_G))
{
homeAxisMoveCount = 0;
homeY = false;
return NoHome();
}
return false;
// activeDrive[Y_AXIS] = true;
// moveToDo[DRIVES] = platform->HomeFeedRate(Y_AXIS);
// if(platform->HighStopButNotLow(Y_AXIS))
// {
// 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))
// {
// homeAxisMoveCount = 0;
// homeY = false;
// return NoHome();
// }
// return false;
//
// default:
// platform->Message(HOST_MESSAGE, "DoHome(): illegal move count.\n");
// return true;
// }
// } else
// {
// moveToDo[Y_AXIS] = -2.0*platform->AxisLength(Y_AXIS);
// if(DoCannedCycleMove(true))
// {
// homeY = false;
// homeAxisMoveCount = 0;
// return NoHome();
// }
// }
// return false;
}
if(homeZ)
{
switch(homeAxisMoveCount)
if(DoFileCannedCycles(HOME_Z_G))
{
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))
{
homeAxisMoveCount = 0;
homeZ = false;
return NoHome();
}
return false;
default:
platform->Message(HOST_MESSAGE, "DoHome(): illegal move count.\n");
return true;
homeAxisMoveCount = 0;
homeZ = false;
return NoHome();
}
return false;
}
// Should never get here
@ -727,7 +597,7 @@ bool GCodes::DoHome()
// probes the bed height, and records the Z coordinate probed. If you want to program any general
// internal canned cycle, this shows how to do it.
bool GCodes::DoSingleZProbe()
bool GCodes::DoSingleZProbeAtPoint()
{
float x, y, z;
@ -787,6 +657,30 @@ bool GCodes::DoSingleZProbe()
}
}
// This simply moves down till the Z probe/switch is triggered.
bool GCodes::DoSingleZProbe()
{
if(!AllMovesAreFinishedAndMoveBufferIsLoaded())
return false;
for(int8_t drive = 0; drive <= DRIVES; drive++)
activeDrive[drive] = false;
moveToDo[Z_AXIS] = -1.1*platform->AxisLength(Z_AXIS);
activeDrive[Z_AXIS] = true;
moveToDo[DRIVES] = platform->HomeFeedRate(Z_AXIS);
activeDrive[DRIVES] = true;
if(DoCannedCycleMove(true))
{
cannedCycleMoveCount = 0;
probeCount = 0;
return true;
}
return false;
}
// This sets wherever we are as the probe point P (probePointIndex)
// then probes the bed, or gets all its parameters from the arguments.
// If X or Y are specified, use those; otherwise use the machine's
@ -797,14 +691,14 @@ bool GCodes::DoSingleZProbe()
bool GCodes::SetSingleZProbeAtAPosition(GCodeBuffer *gb)
{
if(!gb->Seen('P'))
return true;
int probePointIndex = gb->GetIValue();
if(!AllMovesAreFinishedAndMoveBufferIsLoaded())
return false;
if(!gb->Seen('P'))
return DoSingleZProbe();
int probePointIndex = gb->GetIValue();
float x, y, z;
if(gb->Seen(gCodeLetters[X_AXIS]))
x = gb->GetFValue();
@ -836,7 +730,7 @@ bool GCodes::SetSingleZProbeAtAPosition(GCodeBuffer *gb)
return true;
} else
{
if(DoSingleZProbe())
if(DoSingleZProbeAtPoint())
{
probeCount = 0;
reprap.GetMove()->SetZProbing(false);
@ -864,7 +758,7 @@ bool GCodes::DoMultipleZProbe()
return true;
}
if(DoSingleZProbe())
if(DoSingleZProbeAtPoint())
probeCount++;
if(probeCount >= reprap.GetMove()->NumberOfXYProbePoints())
{

1
GCodes.h
View file

@ -88,6 +88,7 @@ class GCodes
bool SetUpMove(GCodeBuffer* gb);
bool DoDwell(GCodeBuffer *gb);
bool DoHome();
bool DoSingleZProbeAtPoint();
bool DoSingleZProbe();
bool SetSingleZProbeAtAPosition(GCodeBuffer *gb);
bool DoMultipleZProbe();

1
Platform.h
View file

@ -146,7 +146,6 @@ Licence: GPL
#define GCODE_DIR "0:/gcodes/" // Ditto - g-codes
#define SYS_DIR "0:/sys/" // Ditto - system files
#define TEMP_DIR "0:/tmp/" // Ditto - temporary files
#define CONFIG_FILE "config.g" // The file that sets the machine's parameters
#define FILE_LIST_SEPARATOR ','
#define FILE_LIST_BRACKET '"'
#define FILE_LIST_LENGTH 1000 // Maximum length of file list

BIN
Release/RepRapFirmware-044-21-12-2013.bin → Release/RepRapFirmware-045-23-12-2013.bin
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BIN
Release/RepRapFirmware.bin
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3
SD-image/sys/homex.g
View file

@ -7,5 +7,8 @@ G92 X0
G1 X3 F200
G1 X-30 S1
G92 X0
G91
G1 Z-5 F200
G90
M121

9
SD-image/sys/homez.g Normal file
View file

@ -0,0 +1,9 @@
M120 ; Push
G91
G1 Z5 F200
G90
G1 X55 Y0
G30
G1 Z0 F200
M121