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fix to homing #26

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fix to homing #26

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7 changes: 4 additions & 3 deletions config.h
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Original file line number Diff line number Diff line change
Expand Up @@ -55,7 +55,7 @@
// If homing is enabled, homing init lock sets Grbl into an alarm state upon power up. This forces
// the user to perform the homing cycle (or override the locks) before doing anything else. This is
// mainly a safety feature to remind the user to home, since position is unknown to Grbl.
#define HOMING_INIT_LOCK // Comment to disable
//#define HOMING_INIT_LOCK // Comment to disable

// Define the homing cycle patterns with bitmasks. The homing cycle first performs a search mode
// to quickly engage the limit switches, followed by a slower locate mode, and finished by a short
Expand All @@ -74,7 +74,8 @@
// NOTE: Defaults are set for a traditional 3-axis CNC machine. Z-axis first to clear, followed by X & Y.
//#define HOMING_CYCLE_0 (1<<Z_AXIS) // REQUIRED: First move Z to clear workspace.
//#define HOMING_CYCLE_1 ((1<<X_AXIS)|(1<<Y_AXIS)) // OPTIONAL: Then move X,Y at the same time.
#define HOMING_CYCLE_0 ((1<<X_AXIS)|(1<<Y_AXIS))
#define HOMING_CYCLE_0 ((1<<X_AXIS))
#define HOMING_CYCLE_1 ((1<<Y_AXIS))
// #define HOMING_CYCLE_2 // OPTIONAL: Uncomment and add axes mask to enable

// Number of homing cycles performed after when the machine initially jogs to limit switches.
Expand Down Expand Up @@ -150,7 +151,7 @@
// defined at (http://corexy.com/theory.html). Motors are assumed to positioned and wired exactly as
// described, if not, motions may move in strange directions. Grbl assumes the CoreXY A and B motors
// have the same steps per mm internally.
// #define COREXY // Default disabled. Uncomment to enable.
#define COREXY // Default disabled. Uncomment to enable.

// Inverts pin logic of the control command pins. This essentially means when this option is enabled
// you can use normally-closed switches, rather than the default normally-open switches.
Expand Down
21 changes: 19 additions & 2 deletions limits.c
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Original file line number Diff line number Diff line change
Expand Up @@ -165,6 +165,12 @@ void limits_go_home(uint8_t cycle_mask)
}
}

#ifdef COREXY
sys.position[A_MOTOR] = 0;
sys.position[B_MOTOR] = 0;
plan_sync_position();
#endif

// Set search mode with approach at seek rate to quickly engage the specified cycle_mask limit switches.
bool approach = true;
float homing_rate = settings.homing_seek_rate;
Expand All @@ -181,7 +187,12 @@ void limits_go_home(uint8_t cycle_mask)
// Set target location for active axes and setup computation for homing rate.
if (bit_istrue(cycle_mask,bit(idx))) {
n_active_axis++;
sys.position[idx] = 0;
#ifndef COREXY
sys.position[idx] = 0;
#else
sys.position[A_MOTOR] = 0;
sys.position[B_MOTOR] = 0;
#endif
// Set target direction based on cycle mask and homing cycle approach state.
// NOTE: This happens to compile smaller than any other implementation tried.
if (bit_istrue(settings.homing_dir_mask,bit(idx))) {
Expand Down Expand Up @@ -216,7 +227,13 @@ void limits_go_home(uint8_t cycle_mask)
limit_state = limits_get_state();
for (idx=0; idx<N_AXIS; idx++) {
if (axislock & step_pin[idx]) {
if (limit_state & (1 << idx)) { axislock &= ~(step_pin[idx]); }
if (limit_state & (1 << idx)) {
#ifndef COREXY
axislock &= ~(step_pin[idx]);
#else
axislock &= ~(step_pin[A_MOTOR]|step_pin[B_MOTOR]);
#endif
}
}
}
sys.homing_axis_lock = axislock;
Expand Down