limits.c File Reference

#include "grbl.h"

Go to the source code of this file.

Macros
#define	HOMING_AXIS_SEARCH_SCALAR   1.5
	Homing axis search distance multiplier. Computed by this value times the cycle travel. More...
#define	HOMING_AXIS_LOCATE_SCALAR   5.0
	Must be > 1 to ensure limit switch is cleared. More...

Functions
void	limits_init ()
	Initialize the limits module. More...
void	limits_disable ()
	Disables hard limits. More...
uint8_t	limits_get_state ()
	Returns limit state as a bit-wise uint8 variable. Each bit indicates an axis limit, where. More...
	ISR (LIMIT_INT_vect)
	This is the Limit Pin Change Interrupt, which handles the hard limit feature. A bouncing. More...
void	limits_go_home (uint8_t cycle_mask)
	NOTE: Only the abort realtime command can interrupt this process. More...
void	limits_soft_check (float *target)
	Performs a soft limit check. Called from mc_line() only. Assumes the machine has been homed,. More...

Macro Definition Documentation

#define HOMING_AXIS_LOCATE_SCALAR   5.0

Must be > 1 to ensure limit switch is cleared.

Definition at line 29 of file limits.c.

#define HOMING_AXIS_SEARCH_SCALAR   1.5

Homing axis search distance multiplier. Computed by this value times the cycle travel.

Must be > 1 to ensure limit switch will be engaged.

Definition at line 26 of file limits.c.

Function Documentation

ISR

(

LIMIT_INT_vect

)

This is the Limit Pin Change Interrupt, which handles the hard limit feature. A bouncing.

NOTE: Do not attach an e-stop to the limit pins, because this interrupt is disabled during

< Initiate system kill.

< Indicate hard limit critical event

Definition at line 96 of file limits.c.

void limits_disable

(

)

Disables hard limits.

< Disable specific pins of the Pin Change Interrupt

< Disable Pin Change Interrupt

Definition at line 57 of file limits.c.

uint8_t limits_get_state

(

)

Returns limit state as a bit-wise uint8 variable. Each bit indicates an axis limit, where.

Returns limit state as a bit-wise uint8 variable.

Definition at line 66 of file limits.c.

void limits_go_home

(

uint8_t

cycle_mask

)

NOTE: Only the abort realtime command can interrupt this process.

Perform one portion of the homing cycle based on the input settings.

Todo:

Move limit pin-specific calls to a general function for portability.

NOTE: settings.max_travel[] is stored as a negative value.

NOTE: This happens to compile smaller than any other implementation tried.

< [sqrt(N_AXIS)] Adjust so individual axes all move at homing rate.

< Set current homing rate.

< Bypass mc_line(). Directly plan homing motion.

< Set to execute homing motion and clear existing flags.

< Prep and fill segment buffer from newly planned block.

< Initiate motion

< Check and prep segment buffer.

NOTE: Should take no longer than 200us.

< Stop motors, if they are running.

< Immediately force kill steppers and reset step segment buffer.

< Delay to allow transient dynamics to dissipate.

NOTE: settings.max_travel[] is stored as a negative value.

< Return step control to normal operation.

Definition at line 145 of file limits.c.

void limits_init

(

)

Initialize the limits module.

< Set as input pins

< Enable internal pull-up resistors. Normal high operation.

< Enable specific pins of the Pin Change Interrupt

< Enable Pin Change Interrupt

Definition at line 32 of file limits.c.

void limits_soft_check

(

float *

target

)

Performs a soft limit check. Called from mc_line() only. Assumes the machine has been homed,.

Check for soft limit violations.

NOTE: Used by jogging to limit travel within soft-limit volume.

< Issue system reset and ensure spindle and coolant are shutdown.

< Indicate soft limit critical event

< Execute to enter critical event loop and system abort

Definition at line 342 of file limits.c.