From c48c9ac1fedb72bfe6916813b1ba76576e8d144d Mon Sep 17 00:00:00 2001
From: Ian Jackson <ijackson@chiark.greenend.org.uk>
Date: Wed, 8 Aug 2012 18:43:41 +0100
Subject: [PATCH] Refresh of homeaxis-function

---
 Marlin/Marlin.pde | 69 ++++++++++++++++++++++++++++-------------------
 1 file changed, 42 insertions(+), 27 deletions(-)

diff --git a/Marlin/Marlin.pde b/Marlin/Marlin.pde
index 1dec2b8..50abc18 100644
--- a/Marlin/Marlin.pde
+++ b/Marlin/Marlin.pde
@@ -551,40 +551,55 @@ bool code_seen(char code)
   return (strchr_pointer != NULL);  //Return True if a character was found
 }
 
-static const float base_min_pos[3] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS };
-static const float base_home_pos[3] = { X_HOME_POS, Y_HOME_POS, Z_HOME_POS };
+#define XYZ_CONSTS_FROM_CONFIG(type, array, CONFIG) \
+static const type array[3] = { X_##CONFIG, Y_##CONFIG, Z_##CONFIG };
+
+XYZ_CONSTS_FROM_CONFIG(float, base_min_pos,    MIN_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) {
   current_position[axis] = base_home_pos[axis] + add_homeing[axis];
   min_pos[axis] = base_min_pos[axis] + add_homeing[axis];
 }
 
-#define HOMEAXIS(LETTER) \
-  if ((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]); \
-    destination[LETTER##_AXIS] = 1.5 * LETTER##_MAX_LENGTH * LETTER##_HOME_DIR; \
-    feedrate = homing_feedrate[LETTER##_AXIS]; \
-    plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); \
-    st_synchronize();\
-    \
-    current_position[LETTER##_AXIS] = 0;\
-    plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_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); \
-    st_synchronize();\
-    \
-    destination[LETTER##_AXIS] = 2*LETTER##_HOME_RETRACT_MM * LETTER##_HOME_DIR;\
-    feedrate = homing_feedrate[LETTER##_AXIS]/2 ;  \
-    plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); \
-    st_synchronize();\
-    \
-    axis_is_at_home(LETTER##_AXIS);					\
-    destination[LETTER##_AXIS] = current_position[LETTER##_AXIS]; \
-    feedrate = 0.0;\
-    endstops_hit_on_purpose();\
+static void homeaxis(int axis) {
+#define HOMEAXIS_DO_BIT(LETTER) \
+  ((LETTER##_MIN_PIN > -1 && LETTER##_HOME_DIR==-1) || (LETTER##_MAX_PIN > -1 && LETTER##_HOME_DIR==1) ? 1 << LETTER##_AXIS : 0)
+
+  static const unsigned char doaxis =
+    HOMEAXIS_DO_BIT(X) | 
+    HOMEAXIS_DO_BIT(Y) |
+    HOMEAXIS_DO_BIT(Z);
+
+  if (doaxis & (1<<axis)) {
+    current_position[axis] = 0;
+    plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
+    destination[axis] = 1.5 * max_length[axis] * home_dir[axis];
+    feedrate = homing_feedrate[axis];
+    plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
+    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]);
+    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);
+    st_synchronize();
+   
+    destination[axis] = 2*home_retract_mm[axis] * home_dir[axis];
+    feedrate = homing_feedrate[axis]/2 ; 
+    plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
+    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()
 {
-- 
2.30.2