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https://github.com/grblHAL/core.git
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43691fca19
Some drivers will now only disable hard limits (if enabled) for axes that are homing, this includes max/min limit switches. HAL entry points and core handlers/events has been added and some have changed signatures in order to better support kinematics implementations. More work on delta kinematics: new and changed settings, some improved functionality. Still in progress.
130 lines
3.4 KiB
C
130 lines
3.4 KiB
C
/*
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crossbar.h - signal crossbar functions
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Part of grblHAL
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Copyright (c) 2023 Terje Io
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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 "hal.h"
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static limit_signals_t home_source = {0};
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axes_signals_t xbar_fn_to_axismask (pin_function_t fn)
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{
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axes_signals_t mask = {0};
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switch(fn) {
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case Input_LimitX:
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case Input_LimitX_Max:
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case Input_LimitX_2:
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case Input_HomeX:
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mask.x = On;
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break;
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case Input_LimitY:
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case Input_LimitY_Max:
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case Input_LimitY_2:
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case Input_HomeY:
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mask.y = On;
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break;
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case Input_LimitZ:
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case Input_LimitZ_Max:
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case Input_LimitZ_2:
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case Input_HomeZ:
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mask.z = On;
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break;
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#if N_AXIS > 3
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case Input_LimitA:
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case Input_LimitA_Max:
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case Input_HomeA:
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mask.a = On;
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break;
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#endif
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#if N_AXIS > 4
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case Input_LimitB:
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case Input_LimitB_Max:
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case Input_HomeB:
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mask.b = On;
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break;
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#endif
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#if N_AXIS > 5
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case Input_LimitC:
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case Input_LimitC_Max:
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case Input_HomeC:
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mask.c = On;
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break;
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#endif
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#if N_AXIS > 6
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case Input_LimitU:
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case Input_LimitU_Max:
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case Input_HomeU:
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mask.u = On;
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break;
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#endif
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#if N_AXIS == 8
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case Input_LimitV:
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case Input_LimitV_Max:
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case Input_HomeV:
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mask.v = On;
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break;
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#endif
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default:
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break;
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}
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return mask;
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}
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// Sets limit signals used by homing when home signals are not available.
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// For internal use, called by settings.c when homing direction mask is changed.
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void xbar_set_homing_source (void)
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{
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if(hal.home_cap.a.mask == 0) {
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home_source.max.mask = hal.limits_cap.max.mask & ((~settings.homing.dir_mask.mask) & AXES_BITMASK);
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home_source.min.mask = (~home_source.max.mask) & AXES_BITMASK;
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home_source.max2.mask = hal.limits_cap.max2.mask & ((~settings.homing.dir_mask.mask) & AXES_BITMASK);
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home_source.min2.mask = (~home_source.max2.mask) & AXES_BITMASK;
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}
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}
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// Returns limit signals used by homing when home signals are not available.
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limit_signals_t xbar_get_homing_source (void)
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{
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return home_source;
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}
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// Returns limit signals used by homing cycle when home signals are not available.
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limit_signals_t xbar_get_homing_source_from_cycle (axes_signals_t homing_cycle)
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{
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limit_signals_t source = home_source;
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if(hal.home_cap.a.mask == 0) {
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source.min.mask &= homing_cycle.mask;
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source.min2.mask &= homing_cycle.mask;
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source.min.mask |= source.min2.mask;
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source.max.mask &= homing_cycle.mask;
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source.max2.mask &= homing_cycle.mask;
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source.max.mask |= source.max2.mask;
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}
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return source;
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}
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