Settings for adjusting out-of-square endtops

johnboiles · Jul 28, 2019 · e073de5 · e073de5
1 parent 927ebd1
commit e073de5
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Showing 5 changed files with 29 additions and 3 deletions.
diff --git a/grbl/config.h b/grbl/config.h
@@ -700,6 +700,13 @@
 #define DEFAULT_AXIS_4_CURRENT 135
 #define DEFAULT_AXIS_5_CURRENT 135
 
+#define DEFAULT_AXIS_1_ENDSTOP_ADJ 0
+#define DEFAULT_AXIS_2_ENDSTOP_ADJ 0
+#define DEFAULT_AXIS_3_ENDSTOP_ADJ 0
+#define DEFAULT_AXIS_4_ENDSTOP_ADJ 0
+#define DEFAULT_AXIS_5_ENDSTOP_ADJ 0
+#define DEFAULT_AXIS_6_ENDSTOP_ADJ 0
+
 // Paste CPU_MAP definitions here.
 
 // Paste default settings definitions here.

diff --git a/grbl/limits.c b/grbl/limits.c
@@ -380,12 +380,20 @@ void limits_go_home(uint8_t cycle_mask)
           #endif
           // Set target direction based on cycle mask and homing cycle approach state.
           // NOTE: This happens to compile smaller than any other implementation tried.
+          // Allow a per-stepper-axis offset to be set in to adjust for the machine
+          // or endstops not being perfectly square/aligned.
+          float axis_offset = 0;
+          if (n_cycle == 0 && N_AXIS == 5) {
+            if (settings.endstop_adj[idx] > 0) {
+              axis_offset = settings.endstop_adj[idx];
+            }
+          }
           if (bit_istrue(settings.homing_dir_mask,bit(idx))) {
             if (approach) { target[idx] = -max_travel; }
-            else { target[idx] = max_travel; }
+            else { target[idx] = max_travel + axis_offset; }
           } else {
             if (approach) { target[idx] = max_travel; }
-            else { target[idx] = -max_travel; }
+            else { target[idx] = -max_travel - axis_offset; }
           }
           // Apply axislock to the step port pins active in this cycle.
           axislock[idx] = step_pin[idx];

diff --git a/grbl/report.c b/grbl/report.c
@@ -216,6 +216,7 @@ void report_grbl_settings() {
         case 2: report_util_float_setting(val+idx,settings.acceleration[idx]/(60*60),N_DECIMAL_SETTINGVALUE); break;
         case 3: report_util_float_setting(val+idx,-settings.max_travel[idx],N_DECIMAL_SETTINGVALUE); break;
         case 4: report_util_float_setting(val+idx,settings.current[idx],N_DECIMAL_SETTINGVALUE); break;
+        case 5: report_util_float_setting(val+idx,settings.endstop_adj[idx],N_DECIMAL_SETTINGVALUE); break;
       }
     }
     val += AXIS_SETTINGS_INCREMENT;

diff --git a/grbl/settings.c b/grbl/settings.c
@@ -110,26 +110,32 @@ void settings_restore(uint8_t restore_flag) {
     settings.current[AXIS_1] = DEFAULT_AXIS_1_CURRENT;
     settings.current[AXIS_2] = DEFAULT_AXIS_2_CURRENT;
     settings.current[AXIS_3] = DEFAULT_AXIS_3_CURRENT;
+    settings.endstop_adj[AXIS_1] = DEFAULT_AXIS_1_ENDSTOP_ADJ;
+    settings.endstop_adj[AXIS_2] = DEFAULT_AXIS_2_ENDSTOP_ADJ;
+    settings.endstop_adj[AXIS_3] = DEFAULT_AXIS_3_ENDSTOP_ADJ;
     #if N_AXIS > 3
       settings.steps_per_mm[AXIS_4] = DEFAULT_AXIS4_STEPS_PER_UNIT;
       settings.max_rate[AXIS_4] = DEFAULT_AXIS4_MAX_RATE;
       settings.acceleration[AXIS_4] = DEFAULT_AXIS4_ACCELERATION;
       settings.max_travel[AXIS_4] = (-DEFAULT_AXIS4_MAX_TRAVEL);
       settings.current[AXIS_4] = DEFAULT_AXIS_4_CURRENT;
+      settings.endstop_adj[AXIS_4] = DEFAULT_AXIS_4_ENDSTOP_ADJ;
     #endif
     #if N_AXIS > 4
       settings.steps_per_mm[AXIS_5] = DEFAULT_AXIS5_STEPS_PER_UNIT;
       settings.max_rate[AXIS_5] = DEFAULT_AXIS5_MAX_RATE;
       settings.acceleration[AXIS_5] = DEFAULT_AXIS5_ACCELERATION;
       settings.max_travel[AXIS_5] = (-DEFAULT_AXIS5_MAX_TRAVEL);
       settings.current[AXIS_5] = DEFAULT_AXIS_5_CURRENT;
+      settings.endstop_adj[AXIS_5] = DEFAULT_AXIS_5_ENDSTOP_ADJ;
     #endif
     #if N_AXIS > 5
       settings.steps_per_mm[AXIS_6] = DEFAULT_AXIS6_STEPS_PER_UNIT;
       settings.max_rate[AXIS_6] = DEFAULT_AXIS6_MAX_RATE;
       settings.acceleration[AXIS_6] = DEFAULT_AXIS6_ACCELERATION;
       settings.max_travel[AXIS_6] = (-DEFAULT_AXIS6_MAX_TRAVEL);
       settings.current[AXIS_6] = DEFAULT_AXIS_6_CURRENT;
+      settings.endstop_adj[AXIS_6] = DEFAULT_AXIS_6_ENDSTOP_ADJ
     #endif
 
     write_global_settings();
@@ -247,6 +253,9 @@ uint8_t settings_store_global_setting(uint8_t parameter, float value) {
             settings.current[parameter] = value;
             set_current(parameter, settings.current[parameter]);
             break;
+          case 5:
+            settings.endstop_adj[parameter] = value;
+            break;
         }
         break; // Exit while-loop after setting has been configured and proceed to the EEPROM write call.
       } else {

diff --git a/grbl/settings.h b/grbl/settings.h
@@ -71,7 +71,7 @@
 // #define SETTING_INDEX_G92    N_COORDINATE_SYSTEM+2  // Coordinate offset (G92.2,G92.3 not supported)
 
 // Define Grbl axis settings numbering scheme. Starts at START_VAL, every INCREMENT, over N_SETTINGS.
-#define AXIS_N_SETTINGS          5
+#define AXIS_N_SETTINGS          6
 #define AXIS_SETTINGS_START_VAL  100 // NOTE: Reserving settings values >= 100 for axis settings. Up to 255.
 #define AXIS_SETTINGS_INCREMENT  10  // Must be greater than the number of axis settings
 
@@ -83,6 +83,7 @@ typedef struct {
   float acceleration[N_AXIS];
   float max_travel[N_AXIS];
   float current[N_AXIS];
+  float endstop_adj[N_AXIS];
 
   // Remaining Grbl settings
   uint8_t pulse_microseconds;