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#include "home.h"
/** \file
\brief Homing routines
*/
#include "dda.h"
#include "dda_queue.h"
#include "delay.h"
#include "pinio.h"
#include "gcode_parse.h"
/// home all 3 axes
void home() {
#if defined X_MIN_PIN
home_x_negative();
#elif defined X_MAX_PIN
home_x_positive();
#endif
#if defined Y_MIN_PIN
home_y_negative();
#elif defined Y_MAX_PIN
home_y_positive();
#endif
#if defined Z_MIN_PIN
home_z_negative();
#elif defined Z_MAX_PIN
home_z_positive();
#endif
}
/// find X MIN endstop
void home_x_negative() {
#if defined X_MIN_PIN
TARGET t = startpoint;
t.X = -1000000;
#ifdef SLOW_HOMING
// hit home soft
t.F = SEARCH_FEEDRATE_X;
#else
// hit home hard
t.F = MAXIMUM_FEEDRATE_X;
#endif
enqueue_home(&t, 0x1, 1);
#ifndef SLOW_HOMING
// back off slowly
t.X = +1000000;
t.F = SEARCH_FEEDRATE_X;
enqueue_home(&t, 0x1, 0);
#endif
// set X home
queue_wait(); // we have to wait here, see G92
#ifdef X_MIN
startpoint.X = next_target.target.X = (int32_t)(X_MIN * 1000.0);
#else
startpoint.X = next_target.target.X = 0;
#endif
dda_new_startpoint();
#endif
}
/// find X_MAX endstop
void home_x_positive() {
#if defined X_MAX_PIN && ! defined X_MAX
#warning X_MAX_PIN defined, but not X_MAX. home_x_positive() disabled.
#endif
#if defined X_MAX_PIN && defined X_MAX
TARGET t = startpoint;
t.X = +1000000;
#ifdef SLOW_HOMING
// hit home soft
t.F = SEARCH_FEEDRATE_X;
#else
// hit home hard
t.F = MAXIMUM_FEEDRATE_X;
#endif
enqueue_home(&t, 0x1, 1);
#ifndef SLOW_HOMING
// back off slowly
t.X = -1000000;
t.F = SEARCH_FEEDRATE_X;
enqueue_home(&t, 0x1, 0);
#endif
// set X home
queue_wait();
// set position to MAX
startpoint.X = next_target.target.X = (int32_t)(X_MAX * 1000.);
dda_new_startpoint();
// go to zero
t.X = 0;
t.F = MAXIMUM_FEEDRATE_X;
enqueue(&t);
#endif
}
/// fund Y MIN endstop
void home_y_negative() {
#if defined Y_MIN_PIN
TARGET t = startpoint;
t.Y = -1000000;
#ifdef SLOW_HOMING
// hit home soft
t.F = SEARCH_FEEDRATE_Y;
#else
// hit home hard
t.F = MAXIMUM_FEEDRATE_Y;
#endif
enqueue_home(&t, 0x2, 1);
#ifndef SLOW_HOMING
// back off slowly
t.Y = +1000000;
t.F = SEARCH_FEEDRATE_Y;
enqueue_home(&t, 0x2, 0);
#endif
// set Y home
queue_wait();
#ifdef Y_MIN
startpoint.Y = next_target.target.Y = (int32_t)(Y_MIN * 1000.);
#else
startpoint.Y = next_target.target.Y = 0;
#endif
dda_new_startpoint();
#endif
}
/// find Y MAX endstop
void home_y_positive() {
#if defined Y_MAX_PIN && ! defined Y_MAX
#warning Y_MAX_PIN defined, but not Y_MAX. home_y_positive() disabled.
#endif
#if defined Y_MAX_PIN && defined Y_MAX
TARGET t = startpoint;
t.Y = +1000000;
#ifdef SLOW_HOMING
// hit home soft
t.F = SEARCH_FEEDRATE_Y;
#else
// hit home hard
t.F = MAXIMUM_FEEDRATE_Y;
#endif
enqueue_home(&t, 0x2, 1);
#ifndef SLOW_HOMING
// back off slowly
t.X = -1000000;
t.F = SEARCH_FEEDRATE_Y;
enqueue_home(&t, 0x2, 0);
#endif
// set Y home
queue_wait();
// set position to MAX
startpoint.Y = next_target.target.Y = (int32_t)(Y_MAX * 1000.);
dda_new_startpoint();
// go to zero
t.Y = 0;
t.F = MAXIMUM_FEEDRATE_Y;
enqueue(&t);
#endif
}
/// find Z MIN endstop
void home_z_negative() {
#if defined Z_MIN_PIN
TARGET t = startpoint;
t.Z = -1000000;
#ifdef SLOW_HOMING
// hit home soft
t.F = SEARCH_FEEDRATE_Z;
#else
// hit home hard
t.F = MAXIMUM_FEEDRATE_Z;
#endif
enqueue_home(&t, 0x4, 1);
#ifndef SLOW_HOMING
// back off slowly
t.Z = +1000000;
t.F = SEARCH_FEEDRATE_Z;
enqueue_home(&t, 0x4, 0);
#endif
// set Z home
queue_wait();
#ifdef Z_MIN
startpoint.Z = next_target.target.Z = (int32_t)(Z_MIN * 1000.);
#else
startpoint.Z = next_target.target.Z = 0;
#endif
dda_new_startpoint();
z_disable();
#endif
}
/// find Z MAX endstop
void home_z_positive() {
#if defined Z_MAX_PIN && ! defined Z_MAX
#warning Z_MAX_PIN defined, but not Z_MAX. home_z_positive() disabled.
#endif
#if defined Z_MAX_PIN && defined Z_MAX
TARGET t = startpoint;
t.Z = +1000000;
#ifdef SLOW_HOMING
// hit home soft
t.F = SEARCH_FEEDRATE_Z;
#else
// hit home hard
t.F = MAXIMUM_FEEDRATE_Z;
#endif
enqueue_home(&t, 0x4, 1);
#ifndef SLOW_HOMING
// back off slowly
t.Z = -1000000;
t.F = SEARCH_FEEDRATE_Z;
enqueue_home(&t, 0x4, 0);
#endif
// set Z home
queue_wait();
// set position to MAX
startpoint.Z = next_target.target.Z = (int32_t)(Z_MAX * 1000.);
dda_new_startpoint();
// go to zero
t.Z = 0;
t.F = MAXIMUM_FEEDRATE_Z;
enqueue(&t);
#endif
}
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