kopia lustrzana https://github.com/gnea/grbl
109 wiersze
3.5 KiB
C
Executable File
109 wiersze
3.5 KiB
C
Executable File
/*
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limits.c - code pertaining to limit-switches and performing the homing cycle
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Part of Grbl
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Copyright (c) 2009-2011 Simen Svale Skogsrud
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Grbl is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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Grbl is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with Grbl. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <util/delay.h>
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#include <avr/io.h>
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#include "stepper.h"
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#include "settings.h"
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#include "nuts_bolts.h"
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#include "config.h"
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#include "motion_control.h"
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#include "planner.h"
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// TODO: Deprecated. Need to update for new version. Sys.position now tracks position relative
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// to the home position. Limits should update this vector directly.
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void limits_init() {
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LIMIT_DDR &= ~(LIMIT_MASK);
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}
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static void homing_cycle(bool x_axis, bool y_axis, bool z_axis, bool reverse_direction, uint32_t microseconds_per_pulse) {
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// First home the Z axis
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uint32_t step_delay = microseconds_per_pulse - settings.pulse_microseconds;
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uint8_t out_bits = DIRECTION_MASK;
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uint8_t limit_bits;
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if (x_axis) { out_bits |= (1<<X_STEP_BIT); }
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if (y_axis) { out_bits |= (1<<Y_STEP_BIT); }
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if (z_axis) { out_bits |= (1<<Z_STEP_BIT); }
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// Invert direction bits if this is a reverse homing_cycle
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if (reverse_direction) {
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out_bits ^= DIRECTION_MASK;
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}
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// Apply the global invert mask
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out_bits ^= settings.invert_mask;
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// Set direction pins
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STEPPING_PORT = (STEPPING_PORT & ~DIRECTION_MASK) | (out_bits & DIRECTION_MASK);
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for(;;) {
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limit_bits = LIMIT_PIN;
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if (reverse_direction) {
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// Invert limit_bits if this is a reverse homing_cycle
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limit_bits ^= LIMIT_MASK;
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}
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if (x_axis && !(LIMIT_PIN & (1<<X_LIMIT_BIT))) {
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x_axis = false;
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out_bits ^= (1<<X_STEP_BIT);
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}
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if (y_axis && !(LIMIT_PIN & (1<<Y_LIMIT_BIT))) {
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y_axis = false;
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out_bits ^= (1<<Y_STEP_BIT);
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}
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if (z_axis && !(LIMIT_PIN & (1<<Z_LIMIT_BIT))) {
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z_axis = false;
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out_bits ^= (1<<Z_STEP_BIT);
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}
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// Check if we are done
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if(!(x_axis || y_axis || z_axis)) { return; }
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STEPPING_PORT |= out_bits & STEP_MASK;
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delay_us(settings.pulse_microseconds);
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STEPPING_PORT ^= out_bits & STEP_MASK;
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delay_us(step_delay);
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}
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return;
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}
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static void approach_limit_switch(bool x, bool y, bool z) {
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homing_cycle(x, y, z, false, 100000);
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}
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static void leave_limit_switch(bool x, bool y, bool z) {
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homing_cycle(x, y, z, true, 500000);
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}
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void limits_go_home() {
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plan_synchronize();
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// Store the current limit switch state
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uint8_t original_limit_state = LIMIT_PIN;
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approach_limit_switch(false, false, true); // First home the z axis
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approach_limit_switch(true, true, false); // Then home the x and y axis
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// Xor previous and current limit switch state to determine which were high then but have become
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// low now. These are the actual installed limit switches.
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uint8_t limit_switches_present = (original_limit_state ^ LIMIT_PIN) & LIMIT_MASK;
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// Now carefully leave the limit switches
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leave_limit_switch(
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limit_switches_present & (1<<X_LIMIT_BIT),
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limit_switches_present & (1<<Y_LIMIT_BIT),
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limit_switches_present & (1<<Z_LIMIT_BIT));
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}
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