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HOMEAXIS: make into a function

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Replace the large macro HOMEAXIS with a function.  This avoids the
compiler generating three copies of largely identical code.  The
saving is 724 bytes of program memory.

We make use of XYZ_CONSTS_FROM_CONFIG to provide convenient
array-shaped access to MAX_LENGTH, HOME_RETRACT_MM and HOME_DIR.

Signed-off-by: Ian Jackson <ijackson@chiark.greenend.org.uk>
This commit is contained in:
Ian Jackson 2012-08-08 18:30:34 +01:00
parent 7bb326d389
commit 1dba212e18
1 changed files with 36 additions and 25 deletions
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61
Marlin/Marlin.pde
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@ -557,6 +557,7 @@ bool code_seen(char code)
{ return pgm_read_##reader##_near(p); } { return pgm_read_##reader##_near(p); }
DEFINE_PGM_READ_ANY(float, float); DEFINE_PGM_READ_ANY(float, float);
DEFINE_PGM_READ_ANY(signed char, byte);
#define XYZ_CONSTS_FROM_CONFIG(type, array, CONFIG) \ #define XYZ_CONSTS_FROM_CONFIG(type, array, CONFIG) \
static const PROGMEM type array##_P[3] = \ static const PROGMEM type array##_P[3] = \
@ -567,6 +568,9 @@ static inline type array(int axis) \
XYZ_CONSTS_FROM_CONFIG(float, base_min_pos, MIN_POS); XYZ_CONSTS_FROM_CONFIG(float, base_min_pos, MIN_POS);
XYZ_CONSTS_FROM_CONFIG(float, base_max_pos, MAX_POS); XYZ_CONSTS_FROM_CONFIG(float, base_max_pos, MAX_POS);
XYZ_CONSTS_FROM_CONFIG(float, base_home_pos, HOME_POS); XYZ_CONSTS_FROM_CONFIG(float, base_home_pos, HOME_POS);
XYZ_CONSTS_FROM_CONFIG(float, max_length, MAX_LENGTH);
XYZ_CONSTS_FROM_CONFIG(float, home_retract_mm, HOME_RETRACT_MM);
XYZ_CONSTS_FROM_CONFIG(signed char, home_dir, HOME_DIR);
static void axis_is_at_home(int axis) { static void axis_is_at_home(int axis) {
current_position[axis] = base_home_pos(axis) + add_homeing[axis]; current_position[axis] = base_home_pos(axis) + add_homeing[axis];
@ -574,32 +578,39 @@ static void axis_is_at_home(int axis) {
max_pos[axis] = base_max_pos(axis) + add_homeing[axis]; max_pos[axis] = base_max_pos(axis) + add_homeing[axis];
} }
#define HOMEAXIS(LETTER) \ static void homeaxis(int axis) {
if ((LETTER##_MIN_PIN > -1 && LETTER##_HOME_DIR==-1) || (LETTER##_MAX_PIN > -1 && LETTER##_HOME_DIR==1))\ #define HOMEAXIS_DO(LETTER) \
{ \ ((LETTER##_MIN_PIN > -1 && LETTER##_HOME_DIR==-1) || (LETTER##_MAX_PIN > -1 && LETTER##_HOME_DIR==1))
current_position[LETTER##_AXIS] = 0; \
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); \ if (axis==X_AXIS ? HOMEAXIS_DO(X) :
destination[LETTER##_AXIS] = 1.5 * LETTER##_MAX_LENGTH * LETTER##_HOME_DIR; \ axis==Y_AXIS ? HOMEAXIS_DO(Y) :
feedrate = homing_feedrate[LETTER##_AXIS]; \ axis==Z_AXIS ? HOMEAXIS_DO(Z) :
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); \ 0) {
st_synchronize();\ current_position[axis] = 0;
\ plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
current_position[LETTER##_AXIS] = 0;\ destination[axis] = 1.5 * max_length(axis) * home_dir(axis);
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);\ feedrate = homing_feedrate[axis];
destination[LETTER##_AXIS] = -LETTER##_HOME_RETRACT_MM * LETTER##_HOME_DIR;\ plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); \ st_synchronize();
st_synchronize();\
\ current_position[axis] = 0;
destination[LETTER##_AXIS] = 2*LETTER##_HOME_RETRACT_MM * LETTER##_HOME_DIR;\ plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
feedrate = homing_feedrate[LETTER##_AXIS]/2 ; \ destination[axis] = -home_retract_mm(axis) * home_dir(axis);
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); \ plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
st_synchronize();\ st_synchronize();
\
axis_is_at_home(LETTER##_AXIS); \ destination[axis] = 2*home_retract_mm(axis) * home_dir(axis);
destination[LETTER##_AXIS] = current_position[LETTER##_AXIS]; \ feedrate = homing_feedrate[axis]/2 ;
feedrate = 0.0;\ plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
endstops_hit_on_purpose();\ st_synchronize();
axis_is_at_home(axis);
destination[axis] = current_position[axis];
feedrate = 0.0;
endstops_hit_on_purpose();
} }
}
#define HOMEAXIS(LETTER) homeaxis(LETTER##_AXIS)
void process_commands() void process_commands()
{ {