Commit | Line | Data |
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df27a6a3 | 1 | /* |
201bcb94 AW |
2 | This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl). |
3 | Smoothie is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. | |
4 | Smoothie is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. | |
df27a6a3 | 5 | You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>. |
201bcb94 AW |
6 | */ |
7 | ||
8 | #include "libs/Module.h" | |
9 | #include "libs/Kernel.h" | |
10 | #include "modules/communication/utils/Gcode.h" | |
3fceb8eb | 11 | #include "modules/robot/Conveyor.h" |
201bcb94 AW |
12 | #include "Endstops.h" |
13 | #include "libs/nuts_bolts.h" | |
750277f8 | 14 | #include "libs/Pin.h" |
670fa10b | 15 | #include "libs/StepperMotor.h" |
201bcb94 | 16 | #include "wait_api.h" // mbed.h lib |
61134a65 JM |
17 | #include "Robot.h" |
18 | #include "Stepper.h" | |
19 | #include "Config.h" | |
20 | #include "SlowTicker.h" | |
21 | #include "Planner.h" | |
7af0714f JM |
22 | #include "checksumm.h" |
23 | #include "utils.h" | |
8d54c34c | 24 | #include "ConfigValue.h" |
fc7b9a7b | 25 | #include "libs/StreamOutput.h" |
9f6f04a5 JM |
26 | #include "PublicDataRequest.h" |
27 | #include "EndstopsPublicAccess.h" | |
3c947f85 | 28 | #include "StreamOutputPool.h" |
a157d099 | 29 | #include "StepTicker.h" |
7552475b | 30 | #include "BaseSolution.h" |
201bcb94 | 31 | |
80605954 JM |
32 | #include <ctype.h> |
33 | ||
33e4cc02 JM |
34 | #define ALPHA_AXIS 0 |
35 | #define BETA_AXIS 1 | |
36 | #define GAMMA_AXIS 2 | |
9a993543 JM |
37 | #define X_AXIS 0 |
38 | #define Y_AXIS 1 | |
39 | #define Z_AXIS 2 | |
33e4cc02 | 40 | |
33e4cc02 JM |
41 | #define endstops_module_enable_checksum CHECKSUM("endstops_enable") |
42 | #define corexy_homing_checksum CHECKSUM("corexy_homing") | |
43 | #define delta_homing_checksum CHECKSUM("delta_homing") | |
3e1f5b74 | 44 | #define scara_homing_checksum CHECKSUM("scara_homing") |
33e4cc02 JM |
45 | |
46 | #define alpha_min_endstop_checksum CHECKSUM("alpha_min_endstop") | |
47 | #define beta_min_endstop_checksum CHECKSUM("beta_min_endstop") | |
48 | #define gamma_min_endstop_checksum CHECKSUM("gamma_min_endstop") | |
49 | ||
50 | #define alpha_max_endstop_checksum CHECKSUM("alpha_max_endstop") | |
51 | #define beta_max_endstop_checksum CHECKSUM("beta_max_endstop") | |
52 | #define gamma_max_endstop_checksum CHECKSUM("gamma_max_endstop") | |
53 | ||
54 | #define alpha_trim_checksum CHECKSUM("alpha_trim") | |
55 | #define beta_trim_checksum CHECKSUM("beta_trim") | |
56 | #define gamma_trim_checksum CHECKSUM("gamma_trim") | |
57 | ||
58 | // these values are in steps and should be deprecated | |
59 | #define alpha_fast_homing_rate_checksum CHECKSUM("alpha_fast_homing_rate") | |
60 | #define beta_fast_homing_rate_checksum CHECKSUM("beta_fast_homing_rate") | |
61 | #define gamma_fast_homing_rate_checksum CHECKSUM("gamma_fast_homing_rate") | |
62 | ||
63 | #define alpha_slow_homing_rate_checksum CHECKSUM("alpha_slow_homing_rate") | |
64 | #define beta_slow_homing_rate_checksum CHECKSUM("beta_slow_homing_rate") | |
65 | #define gamma_slow_homing_rate_checksum CHECKSUM("gamma_slow_homing_rate") | |
66 | ||
67 | #define alpha_homing_retract_checksum CHECKSUM("alpha_homing_retract") | |
68 | #define beta_homing_retract_checksum CHECKSUM("beta_homing_retract") | |
69 | #define gamma_homing_retract_checksum CHECKSUM("gamma_homing_retract") | |
33e4cc02 JM |
70 | |
71 | // same as above but in user friendly mm/s and mm | |
72 | #define alpha_fast_homing_rate_mm_checksum CHECKSUM("alpha_fast_homing_rate_mm_s") | |
73 | #define beta_fast_homing_rate_mm_checksum CHECKSUM("beta_fast_homing_rate_mm_s") | |
74 | #define gamma_fast_homing_rate_mm_checksum CHECKSUM("gamma_fast_homing_rate_mm_s") | |
75 | ||
76 | #define alpha_slow_homing_rate_mm_checksum CHECKSUM("alpha_slow_homing_rate_mm_s") | |
77 | #define beta_slow_homing_rate_mm_checksum CHECKSUM("beta_slow_homing_rate_mm_s") | |
78 | #define gamma_slow_homing_rate_mm_checksum CHECKSUM("gamma_slow_homing_rate_mm_s") | |
79 | ||
80 | #define alpha_homing_retract_mm_checksum CHECKSUM("alpha_homing_retract_mm") | |
81 | #define beta_homing_retract_mm_checksum CHECKSUM("beta_homing_retract_mm") | |
82 | #define gamma_homing_retract_mm_checksum CHECKSUM("gamma_homing_retract_mm") | |
83 | ||
84 | #define endstop_debounce_count_checksum CHECKSUM("endstop_debounce_count") | |
85 | ||
86 | #define alpha_homing_direction_checksum CHECKSUM("alpha_homing_direction") | |
87 | #define beta_homing_direction_checksum CHECKSUM("beta_homing_direction") | |
88 | #define gamma_homing_direction_checksum CHECKSUM("gamma_homing_direction") | |
89 | #define home_to_max_checksum CHECKSUM("home_to_max") | |
90 | #define home_to_min_checksum CHECKSUM("home_to_min") | |
91 | #define alpha_min_checksum CHECKSUM("alpha_min") | |
92 | #define beta_min_checksum CHECKSUM("beta_min") | |
93 | #define gamma_min_checksum CHECKSUM("gamma_min") | |
94 | ||
95 | #define alpha_max_checksum CHECKSUM("alpha_max") | |
96 | #define beta_max_checksum CHECKSUM("beta_max") | |
97 | #define gamma_max_checksum CHECKSUM("gamma_max") | |
98 | ||
3c947f85 JM |
99 | #define alpha_limit_enable_checksum CHECKSUM("alpha_limit_enable") |
100 | #define beta_limit_enable_checksum CHECKSUM("beta_limit_enable") | |
101 | #define gamma_limit_enable_checksum CHECKSUM("gamma_limit_enable") | |
102 | ||
80605954 | 103 | #define homing_order_checksum CHECKSUM("homing_order") |
2ddf75fd | 104 | #define move_to_origin_checksum CHECKSUM("move_to_origin_after_home") |
80605954 | 105 | |
dd0a7cfa JM |
106 | #define STEPPER THEKERNEL->robot->actuators |
107 | #define STEPS_PER_MM(a) (STEPPER[a]->get_steps_per_mm()) | |
56ce2b5a | 108 | |
2b3cedc7 | 109 | |
3c947f85 JM |
110 | // Homing States |
111 | enum{ | |
2ddf75fd JM |
112 | MOVING_TO_ENDSTOP_FAST, // homing move |
113 | MOVING_BACK, // homing move | |
114 | MOVING_TO_ENDSTOP_SLOW, // homing move | |
fafb45df | 115 | NOT_HOMING, |
3c947f85 | 116 | BACK_OFF_HOME, |
2ddf75fd | 117 | MOVE_TO_ORIGIN, |
3c947f85 JM |
118 | LIMIT_TRIGGERED |
119 | }; | |
120 | ||
33e4cc02 JM |
121 | Endstops::Endstops() |
122 | { | |
201bcb94 | 123 | this->status = NOT_HOMING; |
33e4cc02 | 124 | home_offset[0] = home_offset[1] = home_offset[2] = 0.0F; |
201bcb94 AW |
125 | } |
126 | ||
33e4cc02 JM |
127 | void Endstops::on_module_loaded() |
128 | { | |
7dee696d | 129 | // Do not do anything if not enabled |
314ab8f7 | 130 | if ( THEKERNEL->config->value( endstops_module_enable_checksum )->by_default(true)->as_bool() == false ) { |
4e722c00 | 131 | delete this; |
33e4cc02 JM |
132 | return; |
133 | } | |
7d62445b | 134 | |
9f6f04a5 JM |
135 | register_for_event(ON_GCODE_RECEIVED); |
136 | register_for_event(ON_GET_PUBLIC_DATA); | |
7d6fe308 | 137 | register_for_event(ON_SET_PUBLIC_DATA); |
201bcb94 | 138 | |
a157d099 | 139 | THEKERNEL->step_ticker->register_acceleration_tick_handler([this](){acceleration_tick(); }); |
201bcb94 | 140 | |
750277f8 AW |
141 | // Settings |
142 | this->on_config_reload(this); | |
201bcb94 AW |
143 | } |
144 | ||
750277f8 | 145 | // Get config |
33e4cc02 JM |
146 | void Endstops::on_config_reload(void *argument) |
147 | { | |
56ce2b5a JM |
148 | this->pins[0].from_string( THEKERNEL->config->value(alpha_min_endstop_checksum )->by_default("nc" )->as_string())->as_input(); |
149 | this->pins[1].from_string( THEKERNEL->config->value(beta_min_endstop_checksum )->by_default("nc" )->as_string())->as_input(); | |
150 | this->pins[2].from_string( THEKERNEL->config->value(gamma_min_endstop_checksum )->by_default("nc" )->as_string())->as_input(); | |
151 | this->pins[3].from_string( THEKERNEL->config->value(alpha_max_endstop_checksum )->by_default("nc" )->as_string())->as_input(); | |
152 | this->pins[4].from_string( THEKERNEL->config->value(beta_max_endstop_checksum )->by_default("nc" )->as_string())->as_input(); | |
153 | this->pins[5].from_string( THEKERNEL->config->value(gamma_max_endstop_checksum )->by_default("nc" )->as_string())->as_input(); | |
154 | ||
155 | // These are the old ones in steps still here for backwards compatibility | |
156 | this->fast_rates[0] = THEKERNEL->config->value(alpha_fast_homing_rate_checksum )->by_default(4000 )->as_number() / STEPS_PER_MM(0); | |
157 | this->fast_rates[1] = THEKERNEL->config->value(beta_fast_homing_rate_checksum )->by_default(4000 )->as_number() / STEPS_PER_MM(1); | |
158 | this->fast_rates[2] = THEKERNEL->config->value(gamma_fast_homing_rate_checksum )->by_default(6400 )->as_number() / STEPS_PER_MM(2); | |
159 | this->slow_rates[0] = THEKERNEL->config->value(alpha_slow_homing_rate_checksum )->by_default(2000 )->as_number() / STEPS_PER_MM(0); | |
160 | this->slow_rates[1] = THEKERNEL->config->value(beta_slow_homing_rate_checksum )->by_default(2000 )->as_number() / STEPS_PER_MM(1); | |
161 | this->slow_rates[2] = THEKERNEL->config->value(gamma_slow_homing_rate_checksum )->by_default(3200 )->as_number() / STEPS_PER_MM(2); | |
162 | this->retract_mm[0] = THEKERNEL->config->value(alpha_homing_retract_checksum )->by_default(400 )->as_number() / STEPS_PER_MM(0); | |
163 | this->retract_mm[1] = THEKERNEL->config->value(beta_homing_retract_checksum )->by_default(400 )->as_number() / STEPS_PER_MM(1); | |
164 | this->retract_mm[2] = THEKERNEL->config->value(gamma_homing_retract_checksum )->by_default(1600 )->as_number() / STEPS_PER_MM(2); | |
5de98d7c JM |
165 | |
166 | // newer mm based config values override the old ones, convert to steps/mm and steps, defaults to what was set in the older config settings above | |
56ce2b5a JM |
167 | this->fast_rates[0] = THEKERNEL->config->value(alpha_fast_homing_rate_mm_checksum )->by_default(this->fast_rates[0])->as_number(); |
168 | this->fast_rates[1] = THEKERNEL->config->value(beta_fast_homing_rate_mm_checksum )->by_default(this->fast_rates[1])->as_number(); | |
169 | this->fast_rates[2] = THEKERNEL->config->value(gamma_fast_homing_rate_mm_checksum )->by_default(this->fast_rates[2])->as_number(); | |
170 | this->slow_rates[0] = THEKERNEL->config->value(alpha_slow_homing_rate_mm_checksum )->by_default(this->slow_rates[0])->as_number(); | |
171 | this->slow_rates[1] = THEKERNEL->config->value(beta_slow_homing_rate_mm_checksum )->by_default(this->slow_rates[1])->as_number(); | |
172 | this->slow_rates[2] = THEKERNEL->config->value(gamma_slow_homing_rate_mm_checksum )->by_default(this->slow_rates[2])->as_number(); | |
173 | this->retract_mm[0] = THEKERNEL->config->value(alpha_homing_retract_mm_checksum )->by_default(this->retract_mm[0])->as_number(); | |
174 | this->retract_mm[1] = THEKERNEL->config->value(beta_homing_retract_mm_checksum )->by_default(this->retract_mm[1])->as_number(); | |
175 | this->retract_mm[2] = THEKERNEL->config->value(gamma_homing_retract_mm_checksum )->by_default(this->retract_mm[2])->as_number(); | |
5de98d7c | 176 | |
06c48ee8 | 177 | this->debounce_count = THEKERNEL->config->value(endstop_debounce_count_checksum )->by_default(100)->as_number(); |
5de98d7c | 178 | |
409ff5b3 | 179 | // get homing direction and convert to boolean where true is home to min, and false is home to max |
314ab8f7 | 180 | int home_dir = get_checksum(THEKERNEL->config->value(alpha_homing_direction_checksum)->by_default("home_to_min")->as_string()); |
eb09fdbf | 181 | this->home_direction[0] = home_dir != home_to_max_checksum; |
47bbe224 | 182 | |
314ab8f7 | 183 | home_dir = get_checksum(THEKERNEL->config->value(beta_homing_direction_checksum)->by_default("home_to_min")->as_string()); |
eb09fdbf | 184 | this->home_direction[1] = home_dir != home_to_max_checksum; |
47bbe224 | 185 | |
314ab8f7 | 186 | home_dir = get_checksum(THEKERNEL->config->value(gamma_homing_direction_checksum)->by_default("home_to_min")->as_string()); |
eb09fdbf | 187 | this->home_direction[2] = home_dir != home_to_max_checksum; |
47bbe224 | 188 | |
314ab8f7 | 189 | this->homing_position[0] = this->home_direction[0] ? THEKERNEL->config->value(alpha_min_checksum)->by_default(0)->as_number() : THEKERNEL->config->value(alpha_max_checksum)->by_default(200)->as_number(); |
f3b66360 JM |
190 | this->homing_position[1] = this->home_direction[1] ? THEKERNEL->config->value(beta_min_checksum )->by_default(0)->as_number() : THEKERNEL->config->value(beta_max_checksum )->by_default(200)->as_number(); |
191 | this->homing_position[2] = this->home_direction[2] ? THEKERNEL->config->value(gamma_min_checksum)->by_default(0)->as_number() : THEKERNEL->config->value(gamma_max_checksum)->by_default(200)->as_number(); | |
f29b0272 | 192 | |
314ab8f7 MM |
193 | this->is_corexy = THEKERNEL->config->value(corexy_homing_checksum)->by_default(false)->as_bool(); |
194 | this->is_delta = THEKERNEL->config->value(delta_homing_checksum)->by_default(false)->as_bool(); | |
504f0e3e JM |
195 | this->is_scara = THEKERNEL->config->value(scara_homing_checksum)->by_default(false)->as_bool(); |
196 | ||
80605954 JM |
197 | // see if an order has been specified, must be three characters, XYZ or YXZ etc |
198 | string order= THEKERNEL->config->value(homing_order_checksum)->by_default("")->as_string(); | |
199 | this->homing_order= 0; | |
200 | if(order.size() == 3 && !this->is_delta) { | |
201 | int shift= 0; | |
202 | for(auto c : order) { | |
203 | uint8_t i= toupper(c) - 'X'; | |
204 | if(i > 2) { // bad value | |
205 | this->homing_order= 0; | |
206 | break; | |
207 | } | |
208 | homing_order |= (i << shift); | |
209 | shift += 2; | |
210 | } | |
211 | } | |
212 | ||
192bca32 JM |
213 | // endstop trim used by deltas to do soft adjusting |
214 | // on a delta homing to max, a negative trim value will move the carriage down, and a positive will move it up | |
215 | this->trim_mm[0] = THEKERNEL->config->value(alpha_trim_checksum )->by_default(0 )->as_number(); | |
216 | this->trim_mm[1] = THEKERNEL->config->value(beta_trim_checksum )->by_default(0 )->as_number(); | |
217 | this->trim_mm[2] = THEKERNEL->config->value(gamma_trim_checksum )->by_default(0 )->as_number(); | |
3c947f85 JM |
218 | |
219 | // limits enabled | |
220 | this->limit_enable[X_AXIS]= THEKERNEL->config->value(alpha_limit_enable_checksum)->by_default(false)->as_bool(); | |
221 | this->limit_enable[Y_AXIS]= THEKERNEL->config->value(beta_limit_enable_checksum)->by_default(false)->as_bool(); | |
222 | this->limit_enable[Z_AXIS]= THEKERNEL->config->value(gamma_limit_enable_checksum)->by_default(false)->as_bool(); | |
223 | ||
2ddf75fd | 224 | this->move_to_origin_after_home= THEKERNEL->config->value(move_to_origin_checksum)->by_default(false)->as_bool(); |
2b3cedc7 | 225 | |
3c947f85 JM |
226 | if(this->limit_enable[X_AXIS] || this->limit_enable[Y_AXIS] || this->limit_enable[Z_AXIS]){ |
227 | register_for_event(ON_IDLE); | |
7f3e6350 JM |
228 | if(this->is_delta) { |
229 | // we must enable all the limits not just one | |
230 | this->limit_enable[X_AXIS]= true; | |
231 | this->limit_enable[Y_AXIS]= true; | |
232 | this->limit_enable[Z_AXIS]= true; | |
233 | } | |
3c947f85 | 234 | } |
44127aca JM |
235 | |
236 | // NOTE this may also be true of scara. TBD | |
237 | if(this->is_delta) { | |
238 | // some things must be the same or they will die, so force it here to avoid config errors | |
239 | this->fast_rates[1]= this->fast_rates[2]= this->fast_rates[0]; | |
240 | this->slow_rates[1]= this->slow_rates[2]= this->slow_rates[0]; | |
241 | this->retract_mm[1]= this->retract_mm[2]= this->retract_mm[0]; | |
242 | this->home_direction[1]= this->home_direction[2]= this->home_direction[0]; | |
243 | this->homing_position[0]= this->homing_position[1]= 0; | |
44127aca | 244 | } |
3c947f85 JM |
245 | } |
246 | ||
28166daf JM |
247 | bool Endstops::debounced_get(int pin) |
248 | { | |
249 | uint8_t debounce= 0; | |
250 | while(this->pins[pin].get()) { | |
251 | if ( ++debounce >= this->debounce_count ) { | |
252 | // pin triggered | |
253 | return true; | |
254 | } | |
255 | } | |
256 | return false; | |
257 | } | |
258 | ||
4d149ebb | 259 | static const char *endstop_names[]= {"min_x", "min_y", "min_z", "max_x", "max_y", "max_z"}; |
3c947f85 JM |
260 | |
261 | void Endstops::on_idle(void *argument) | |
262 | { | |
c3d7feb6 JM |
263 | if(this->status == LIMIT_TRIGGERED) { |
264 | // if we were in limit triggered see if it has been cleared | |
265 | for( int c = X_AXIS; c <= Z_AXIS; c++ ) { | |
266 | if(this->limit_enable[c]) { | |
267 | std::array<int, 2> minmax{{0, 3}}; | |
268 | // check min and max endstops | |
269 | for (int i : minmax) { | |
270 | int n= c+i; | |
271 | if(this->pins[n].get()) { | |
272 | // still triggered, so exit | |
ee1c3181 | 273 | bounce_cnt= 0; |
c3d7feb6 JM |
274 | return; |
275 | } | |
276 | } | |
277 | } | |
278 | } | |
ee1c3181 JM |
279 | if(++bounce_cnt > 10) { // can use less as it calls on_idle in between |
280 | // clear the state | |
281 | this->status= NOT_HOMING; | |
282 | } | |
4befe777 | 283 | return; |
c3d7feb6 JM |
284 | |
285 | }else if(this->status != NOT_HOMING) { | |
286 | // don't check while homing | |
287 | return; | |
288 | } | |
3c947f85 JM |
289 | |
290 | for( int c = X_AXIS; c <= Z_AXIS; c++ ) { | |
291 | if(this->limit_enable[c] && STEPPER[c]->is_moving()) { | |
292 | std::array<int, 2> minmax{{0, 3}}; | |
293 | // check min and max endstops | |
294 | for (int i : minmax) { | |
295 | int n= c+i; | |
28166daf JM |
296 | if(debounced_get(n)) { |
297 | // endstop triggered | |
298 | THEKERNEL->streams->printf("Limit switch %s was hit - reset or M999 required\n", endstop_names[n]); | |
299 | this->status= LIMIT_TRIGGERED; | |
300 | // disables heaters and motors, ignores incoming Gcode and flushes block queue | |
301 | THEKERNEL->call_event(ON_HALT, nullptr); | |
302 | return; | |
3c947f85 JM |
303 | } |
304 | } | |
305 | } | |
306 | } | |
307 | } | |
308 | ||
309 | // if limit switches are enabled, then we must move off of the endstop otherwise we won't be able to move | |
5bfcd44a JM |
310 | // checks if triggered and only backs off if triggered |
311 | void Endstops::back_off_home(char axes_to_move) | |
3c947f85 | 312 | { |
7c801094 | 313 | std::vector<std::pair<char,float>> params; |
3c947f85 | 314 | this->status = BACK_OFF_HOME; |
7f3e6350 JM |
315 | |
316 | // these are handled differently | |
44127aca | 317 | if((is_delta || is_scara) && this->limit_enable[X_AXIS]) { |
7f3e6350 | 318 | // Move off of the endstop using a regular relative move in Z only |
7c801094 | 319 | params.push_back({'Z', this->retract_mm[Z_AXIS]*(this->home_direction[Z_AXIS]?1:-1)}); |
44127aca JM |
320 | |
321 | }else{ | |
7f3e6350 | 322 | // cartesians, concatenate all the moves we need to do into one gcode |
44127aca JM |
323 | for( int c = X_AXIS; c <= Z_AXIS; c++ ) { |
324 | if( ((axes_to_move >> c ) & 1) == 0) continue; // only for axes we asked to move | |
7f3e6350 JM |
325 | |
326 | // if not triggered no need to move off | |
28166daf | 327 | if(this->limit_enable[c] && debounced_get(c + (this->home_direction[c] ? 0 : 3)) ) { |
7c801094 | 328 | params.push_back({c+'X', this->retract_mm[c]*(this->home_direction[c]?1:-1)}); |
44127aca | 329 | } |
3c947f85 JM |
330 | } |
331 | } | |
7f3e6350 JM |
332 | |
333 | if(!params.empty()) { | |
334 | // Move off of the endstop using a regular relative move | |
7c801094 | 335 | params.insert(params.begin(), {'G', 0}); |
7f3e6350 | 336 | // use X slow rate to move, Z should have a max speed set anyway |
7c801094 JM |
337 | params.push_back({'F', this->slow_rates[X_AXIS]*60.0F}); |
338 | char gcode_buf[64]; | |
339 | append_parameters(gcode_buf, params, sizeof(gcode_buf)); | |
7f3e6350 JM |
340 | Gcode gc(gcode_buf, &(StreamOutput::NullStream)); |
341 | bool oldmode= THEKERNEL->robot->absolute_mode; | |
342 | THEKERNEL->robot->absolute_mode= false; // needs to be relative mode | |
343 | THEKERNEL->robot->on_gcode_received(&gc); // send to robot directly | |
344 | THEKERNEL->robot->absolute_mode= oldmode; // restore mode | |
345 | // Wait for above to finish | |
346 | THEKERNEL->conveyor->wait_for_empty_queue(); | |
347 | } | |
348 | ||
3c947f85 | 349 | this->status = NOT_HOMING; |
a0e0d592 BG |
350 | } |
351 | ||
2b3cedc7 | 352 | // If enabled will move the head to 0,0 after homing, but only if X and Y were set to home |
2ddf75fd | 353 | void Endstops::move_to_origin(char axes_to_move) |
2b3cedc7 JM |
354 | { |
355 | if( (axes_to_move&0x03) != 3 ) return; // ignore if X and Y not homing | |
356 | ||
fafb45df JM |
357 | // Do we need to check if we are already at 0,0? probably not as the G0 will not do anything if we are |
358 | // float pos[3]; THEKERNEL->robot->get_axis_position(pos); if(pos[0] == 0 && pos[1] == 0) return; | |
359 | ||
2ddf75fd | 360 | this->status = MOVE_TO_ORIGIN; |
2b3cedc7 | 361 | // Move to center using a regular move, use slower of X and Y fast rate |
2955fdbb | 362 | float rate= std::min(this->fast_rates[0], this->fast_rates[1])*60.0F; |
2b3cedc7 JM |
363 | char buf[32]; |
364 | snprintf(buf, sizeof(buf), "G0 X0 Y0 F%1.4f", rate); | |
365 | Gcode gc(buf, &(StreamOutput::NullStream)); | |
366 | THEKERNEL->robot->on_gcode_received(&gc); // send to robot directly | |
367 | ||
368 | // Wait for above to finish | |
369 | THEKERNEL->conveyor->wait_for_empty_queue(); | |
370 | this->status = NOT_HOMING; | |
371 | } | |
372 | ||
798295c1 | 373 | bool Endstops::wait_for_homed(char axes_to_move) |
33e4cc02 | 374 | { |
a0e0d592 | 375 | bool running = true; |
33e4cc02 JM |
376 | unsigned int debounce[3] = {0, 0, 0}; |
377 | while (running) { | |
a0e0d592 | 378 | running = false; |
314ab8f7 | 379 | THEKERNEL->call_event(ON_IDLE); |
798295c1 JM |
380 | |
381 | // check if on_halt (eg kill) | |
73706276 | 382 | if(THEKERNEL->is_halted()) return false; |
798295c1 | 383 | |
56ce2b5a JM |
384 | for ( int c = X_AXIS; c <= Z_AXIS; c++ ) { |
385 | if ( ( axes_to_move >> c ) & 1 ) { | |
386 | if ( this->pins[c + (this->home_direction[c] ? 0 : 3)].get() ) { | |
387 | if ( debounce[c] < debounce_count ) { | |
388 | debounce[c]++; | |
a0e0d592 | 389 | running = true; |
dd0a7cfa JM |
390 | } else if ( STEPPER[c]->is_moving() ) { |
391 | STEPPER[c]->move(0, 0); | |
e0b58122 | 392 | axes_to_move &= ~(1<<c); // no need to check it again |
a0e0d592 | 393 | } |
33e4cc02 | 394 | } else { |
a0e0d592 BG |
395 | // The endstop was not hit yet |
396 | running = true; | |
56ce2b5a | 397 | debounce[c] = 0; |
323cca60 | 398 | } |
a0e0d592 BG |
399 | } |
400 | } | |
401 | } | |
798295c1 | 402 | return true; |
750277f8 | 403 | } |
201bcb94 | 404 | |
81f02e89 | 405 | void Endstops::do_homing_cartesian(char axes_to_move) |
33e4cc02 | 406 | { |
798295c1 | 407 | // check if on_halt (eg kill) |
73706276 | 408 | if(THEKERNEL->is_halted()) return; |
798295c1 | 409 | |
80605954 | 410 | // this homing works for cartesian and delta printers |
f29b0272 | 411 | // Start moving the axes to the origin |
2ddf75fd | 412 | this->status = MOVING_TO_ENDSTOP_FAST; |
56ce2b5a JM |
413 | for ( int c = X_AXIS; c <= Z_AXIS; c++ ) { |
414 | if ( ( axes_to_move >> c) & 1 ) { | |
415 | this->feed_rate[c]= this->fast_rates[c]; | |
6f6677fc | 416 | STEPPER[c]->move(this->home_direction[c], 10000000, 0); |
f29b0272 JM |
417 | } |
418 | } | |
419 | ||
420 | // Wait for all axes to have homed | |
798295c1 | 421 | if(!this->wait_for_homed(axes_to_move)) return; |
f29b0272 JM |
422 | |
423 | // Move back a small distance | |
424 | this->status = MOVING_BACK; | |
425 | bool inverted_dir; | |
56ce2b5a JM |
426 | for ( int c = X_AXIS; c <= Z_AXIS; c++ ) { |
427 | if ( ( axes_to_move >> c ) & 1 ) { | |
428 | inverted_dir = !this->home_direction[c]; | |
429 | this->feed_rate[c]= this->slow_rates[c]; | |
6f6677fc | 430 | STEPPER[c]->move(inverted_dir, this->retract_mm[c]*STEPS_PER_MM(c), 0); |
f29b0272 JM |
431 | } |
432 | } | |
433 | ||
33e4cc02 | 434 | // Wait for moves to be done |
56ce2b5a JM |
435 | for ( int c = X_AXIS; c <= Z_AXIS; c++ ) { |
436 | if ( ( axes_to_move >> c ) & 1 ) { | |
dd0a7cfa | 437 | while ( STEPPER[c]->is_moving() ) { |
314ab8f7 | 438 | THEKERNEL->call_event(ON_IDLE); |
ca287785 | 439 | if(THEKERNEL->is_halted()) return; |
f29b0272 JM |
440 | } |
441 | } | |
442 | } | |
443 | ||
444 | // Start moving the axes to the origin slowly | |
2ddf75fd | 445 | this->status = MOVING_TO_ENDSTOP_SLOW; |
56ce2b5a JM |
446 | for ( int c = X_AXIS; c <= Z_AXIS; c++ ) { |
447 | if ( ( axes_to_move >> c ) & 1 ) { | |
448 | this->feed_rate[c]= this->slow_rates[c]; | |
6f6677fc | 449 | STEPPER[c]->move(this->home_direction[c], 10000000, 0); |
f29b0272 JM |
450 | } |
451 | } | |
452 | ||
453 | // Wait for all axes to have homed | |
798295c1 | 454 | if(!this->wait_for_homed(axes_to_move)) return; |
f29b0272 JM |
455 | } |
456 | ||
798295c1 | 457 | bool Endstops::wait_for_homed_corexy(int axis) |
33e4cc02 | 458 | { |
3db88866 | 459 | bool running = true; |
33e4cc02 JM |
460 | unsigned int debounce[3] = {0, 0, 0}; |
461 | while (running) { | |
3db88866 | 462 | running = false; |
314ab8f7 | 463 | THEKERNEL->call_event(ON_IDLE); |
798295c1 JM |
464 | |
465 | // check if on_halt (eg kill) | |
73706276 | 466 | if(THEKERNEL->is_halted()) return false; |
798295c1 | 467 | |
33e4cc02 JM |
468 | if ( this->pins[axis + (this->home_direction[axis] ? 0 : 3)].get() ) { |
469 | if ( debounce[axis] < debounce_count ) { | |
3db88866 JM |
470 | debounce[axis] ++; |
471 | running = true; | |
472 | } else { | |
473 | // turn both off if running | |
dd0a7cfa JM |
474 | if (STEPPER[X_AXIS]->is_moving()) STEPPER[X_AXIS]->move(0, 0); |
475 | if (STEPPER[Y_AXIS]->is_moving()) STEPPER[Y_AXIS]->move(0, 0); | |
3db88866 | 476 | } |
33e4cc02 | 477 | } else { |
3db88866 JM |
478 | // The endstop was not hit yet |
479 | running = true; | |
480 | debounce[axis] = 0; | |
481 | } | |
482 | } | |
798295c1 | 483 | return true; |
3db88866 JM |
484 | } |
485 | ||
1ad23cd3 | 486 | void Endstops::corexy_home(int home_axis, bool dirx, bool diry, float fast_rate, float slow_rate, unsigned int retract_steps) |
33e4cc02 | 487 | { |
798295c1 | 488 | // check if on_halt (eg kill) |
73706276 | 489 | if(THEKERNEL->is_halted()) return; |
798295c1 | 490 | |
2ddf75fd | 491 | this->status = MOVING_TO_ENDSTOP_FAST; |
64eaf21e | 492 | this->feed_rate[X_AXIS]= fast_rate; |
6f6677fc | 493 | STEPPER[X_AXIS]->move(dirx, 10000000, 0); |
64eaf21e | 494 | this->feed_rate[Y_AXIS]= fast_rate; |
6f6677fc | 495 | STEPPER[Y_AXIS]->move(diry, 10000000, 0); |
f29b0272 | 496 | |
33e4cc02 | 497 | // wait for primary axis |
798295c1 | 498 | if(!this->wait_for_homed_corexy(home_axis)) return; |
f29b0272 | 499 | |
33e4cc02 JM |
500 | // Move back a small distance |
501 | this->status = MOVING_BACK; | |
64eaf21e | 502 | this->feed_rate[X_AXIS]= slow_rate; |
6f6677fc | 503 | STEPPER[X_AXIS]->move(!dirx, retract_steps, 0); |
64eaf21e | 504 | this->feed_rate[Y_AXIS]= slow_rate; |
6f6677fc | 505 | STEPPER[Y_AXIS]->move(!diry, retract_steps, 0); |
33e4cc02 JM |
506 | |
507 | // wait until done | |
dd0a7cfa | 508 | while ( STEPPER[X_AXIS]->is_moving() || STEPPER[Y_AXIS]->is_moving()) { |
314ab8f7 | 509 | THEKERNEL->call_event(ON_IDLE); |
ca287785 | 510 | if(THEKERNEL->is_halted()) return; |
f29b0272 JM |
511 | } |
512 | ||
33e4cc02 | 513 | // Start moving the axes to the origin slowly |
2ddf75fd | 514 | this->status = MOVING_TO_ENDSTOP_SLOW; |
64eaf21e | 515 | this->feed_rate[X_AXIS]= slow_rate; |
6f6677fc | 516 | STEPPER[X_AXIS]->move(dirx, 10000000, 0); |
64eaf21e | 517 | this->feed_rate[Y_AXIS]= slow_rate; |
6f6677fc | 518 | STEPPER[Y_AXIS]->move(diry, 10000000, 0); |
f29b0272 | 519 | |
33e4cc02 | 520 | // wait for primary axis |
798295c1 | 521 | if(!this->wait_for_homed_corexy(home_axis)) return; |
33e4cc02 | 522 | } |
f29b0272 | 523 | |
33e4cc02 JM |
524 | // this homing works for HBots/CoreXY |
525 | void Endstops::do_homing_corexy(char axes_to_move) | |
526 | { | |
03dffc07 | 527 | // TODO should really make order configurable, and select whether to allow XY to home at the same time, diagonally |
174d9961 | 528 | // To move XY at the same time only one motor needs to turn, determine which motor and which direction based on min or max directions |
03dffc07 | 529 | // allow to move until an endstop triggers, then stop that motor. Speed up when moving diagonally to match X or Y speed |
174d9961 | 530 | // continue moving in the direction not yet triggered (which means two motors turning) until endstop hit |
174d9961 JM |
531 | |
532 | if((axes_to_move & 0x03) == 0x03) { // both X and Y need Homing | |
533 | // determine which motor to turn and which way | |
534 | bool dirx= this->home_direction[X_AXIS]; | |
535 | bool diry= this->home_direction[Y_AXIS]; | |
536 | int motor; | |
537 | bool dir; | |
538 | if(dirx && diry) { // min/min | |
539 | motor= X_AXIS; | |
540 | dir= true; | |
541 | }else if(dirx && !diry) { // min/max | |
542 | motor= Y_AXIS; | |
543 | dir= true; | |
544 | }else if(!dirx && diry) { // max/min | |
545 | motor= Y_AXIS; | |
546 | dir= false; | |
547 | }else if(!dirx && !diry) { // max/max | |
548 | motor= X_AXIS; | |
549 | dir= false; | |
550 | } | |
551 | ||
552 | // then move both X and Y until one hits the endstop | |
2ddf75fd | 553 | this->status = MOVING_TO_ENDSTOP_FAST; |
6f6677fc | 554 | // need to allow for more ground covered when moving diagonally |
64eaf21e | 555 | this->feed_rate[motor]= this->fast_rates[motor]*1.4142; |
6f6677fc | 556 | STEPPER[motor]->move(dir, 10000000, 0); |
174d9961 JM |
557 | // wait until either X or Y hits the endstop |
558 | bool running= true; | |
559 | while (running) { | |
314ab8f7 | 560 | THEKERNEL->call_event(ON_IDLE); |
ca287785 | 561 | if(THEKERNEL->is_halted()) return; |
174d9961 JM |
562 | for(int m=X_AXIS;m<=Y_AXIS;m++) { |
563 | if(this->pins[m + (this->home_direction[m] ? 0 : 3)].get()) { | |
564 | // turn off motor | |
dd0a7cfa | 565 | if(STEPPER[motor]->is_moving()) STEPPER[motor]->move(0, 0); |
174d9961 JM |
566 | running= false; |
567 | break; | |
568 | } | |
569 | } | |
570 | } | |
571 | } | |
33e4cc02 | 572 | |
174d9961 | 573 | // move individual axis |
33e4cc02 | 574 | if (axes_to_move & 0x01) { // Home X, which means both X and Y in same direction |
413dd90c | 575 | bool dir= this->home_direction[X_AXIS]; |
56ce2b5a | 576 | corexy_home(X_AXIS, dir, dir, this->fast_rates[X_AXIS], this->slow_rates[X_AXIS], this->retract_mm[X_AXIS]*STEPS_PER_MM(X_AXIS)); |
f29b0272 JM |
577 | } |
578 | ||
65191d91 JM |
579 | if (axes_to_move & 0x02) { // Home Y, which means both X and Y in different directions |
580 | bool dir= this->home_direction[Y_AXIS]; | |
56ce2b5a | 581 | corexy_home(Y_AXIS, dir, !dir, this->fast_rates[Y_AXIS], this->slow_rates[Y_AXIS], this->retract_mm[Y_AXIS]*STEPS_PER_MM(Y_AXIS)); |
65191d91 JM |
582 | } |
583 | ||
33e4cc02 | 584 | if (axes_to_move & 0x04) { // move Z |
81f02e89 | 585 | do_homing_cartesian(0x04); // just home normally for Z |
f29b0272 | 586 | } |
f29b0272 JM |
587 | } |
588 | ||
81f02e89 JM |
589 | void Endstops::home(char axes_to_move) |
590 | { | |
72833629 JM |
591 | // not a block move so disable the last tick setting |
592 | for ( int c = X_AXIS; c <= Z_AXIS; c++ ) { | |
593 | STEPPER[c]->set_moved_last_block(false); | |
594 | } | |
595 | ||
81f02e89 JM |
596 | if (is_corexy){ |
597 | // corexy/HBot homing | |
598 | do_homing_corexy(axes_to_move); | |
599 | }else{ | |
600 | // cartesian/delta homing | |
601 | do_homing_cartesian(axes_to_move); | |
602 | } | |
0058d8d4 JM |
603 | |
604 | // make sure all steppers are off (especially if aborted) | |
605 | for ( int c = X_AXIS; c <= Z_AXIS; c++ ) { | |
606 | STEPPER[c]->move(0, 0); | |
607 | } | |
ca287785 | 608 | this->status = NOT_HOMING; |
81f02e89 JM |
609 | } |
610 | ||
201bcb94 | 611 | // Start homing sequences by response to GCode commands |
33e4cc02 | 612 | void Endstops::on_gcode_received(void *argument) |
c339d634 | 613 | { |
33e4cc02 JM |
614 | Gcode *gcode = static_cast<Gcode *>(argument); |
615 | if ( gcode->has_g) { | |
616 | if ( gcode->g == 28 ) { | |
6e92ab91 | 617 | |
df27a6a3 | 618 | // G28 is received, we have homing to do |
201bcb94 AW |
619 | |
620 | // First wait for the queue to be empty | |
314ab8f7 | 621 | THEKERNEL->conveyor->wait_for_empty_queue(); |
201bcb94 AW |
622 | |
623 | // Do we move select axes or all of them | |
7dee696d | 624 | char axes_to_move = 0; |
3e1f5b74 QH |
625 | // only enable homing if the endstop is defined, deltas, scaras always home all axis |
626 | bool home_all = this->is_delta || this->is_scara || !( gcode->has_letter('X') || gcode->has_letter('Y') || gcode->has_letter('Z') ); | |
47bbe224 | 627 | |
56ce2b5a JM |
628 | for ( int c = X_AXIS; c <= Z_AXIS; c++ ) { |
629 | if ( (home_all || gcode->has_letter(c+'X')) && this->pins[c + (this->home_direction[c] ? 0 : 3)].connected() ) { | |
630 | axes_to_move += ( 1 << c ); | |
33e4cc02 | 631 | } |
df27a6a3 | 632 | } |
3b948656 | 633 | |
f6c04440 | 634 | // Enable the motors |
314ab8f7 | 635 | THEKERNEL->stepper->turn_enable_pins_on(); |
f6c04440 | 636 | |
f29b0272 | 637 | // do the actual homing |
80605954 JM |
638 | if(homing_order != 0){ |
639 | // if an order has been specified do it in the specified order | |
640 | // homing order is 0b00ccbbaa where aa is 0,1,2 to specify the first axis, bb is the second and cc is the third | |
641 | // eg 0b00100001 would be Y X Z, 0b00100100 would be X Y Z | |
642 | for (uint8_t m = homing_order; m != 0; m >>= 2) { | |
643 | int a= (1 << (m & 0x03)); // axis to move | |
798295c1 | 644 | if((a & axes_to_move) != 0){ |
81f02e89 | 645 | home(a); |
798295c1 JM |
646 | } |
647 | // check if on_halt (eg kill) | |
aa896868 | 648 | if(THEKERNEL->is_halted()) break; |
80605954 | 649 | } |
798295c1 | 650 | |
80605954 JM |
651 | }else { |
652 | // they all home at the same time | |
81f02e89 | 653 | home(axes_to_move); |
80605954 | 654 | } |
3ffe27fb | 655 | |
798295c1 | 656 | // check if on_halt (eg kill) |
aa896868 JM |
657 | if(THEKERNEL->is_halted()){ |
658 | THEKERNEL->streams->printf("Homing cycle aborted by kill\n"); | |
659 | return; | |
660 | } | |
798295c1 | 661 | |
cef9acea JM |
662 | if(home_all) { |
663 | // for deltas this may be important rather than setting each individually | |
7552475b OL |
664 | |
665 | // Here's where we would have been if the endstops were perfectly trimmed | |
666 | float ideal_position[3] = { | |
cef9acea JM |
667 | this->homing_position[X_AXIS] + this->home_offset[X_AXIS], |
668 | this->homing_position[Y_AXIS] + this->home_offset[Y_AXIS], | |
7552475b OL |
669 | this->homing_position[Z_AXIS] + this->home_offset[Z_AXIS] |
670 | }; | |
671 | ||
672 | bool has_endstop_trim = this->is_delta || this->is_scara; | |
673 | if (has_endstop_trim) { | |
674 | float ideal_actuator_position[3]; | |
675 | THEKERNEL->robot->arm_solution->cartesian_to_actuator(ideal_position, ideal_actuator_position); | |
676 | ||
677 | // We are actually not at the ideal position, but a trim away | |
678 | float real_actuator_position[3] = { | |
679 | ideal_actuator_position[X_AXIS] - this->trim_mm[X_AXIS], | |
680 | ideal_actuator_position[Y_AXIS] - this->trim_mm[Y_AXIS], | |
681 | ideal_actuator_position[Z_AXIS] - this->trim_mm[Z_AXIS] | |
682 | }; | |
683 | ||
684 | float real_position[3]; | |
685 | THEKERNEL->robot->arm_solution->actuator_to_cartesian(real_actuator_position, real_position); | |
686 | // Reset the actuator positions to correspond our real position | |
687 | THEKERNEL->robot->reset_axis_position(real_position[0], real_position[1], real_position[2]); | |
688 | } else { | |
689 | // without endstop trim, real_position == ideal_position | |
690 | // Reset the actuator positions to correspond our real position | |
691 | THEKERNEL->robot->reset_axis_position(ideal_position[0], ideal_position[1], ideal_position[2]); | |
692 | } | |
693 | } else { | |
cef9acea JM |
694 | // Zero the ax(i/e)s position, add in the home offset |
695 | for ( int c = X_AXIS; c <= Z_AXIS; c++ ) { | |
696 | if ( (axes_to_move >> c) & 1 ) { | |
697 | THEKERNEL->robot->reset_axis_position(this->homing_position[c] + this->home_offset[c], c); | |
698 | } | |
3ffe27fb AV |
699 | } |
700 | } | |
3c947f85 | 701 | |
2b3cedc7 JM |
702 | // on some systems where 0,0 is bed center it is noce to have home goto 0,0 after homing |
703 | // default is off | |
7942fa09 | 704 | if(!is_delta && this->move_to_origin_after_home) move_to_origin(axes_to_move); |
2b3cedc7 | 705 | |
3c947f85 | 706 | // if limit switches are enabled we must back off endstop after setting home |
5bfcd44a | 707 | back_off_home(axes_to_move); |
7942fa09 JM |
708 | |
709 | // deltas are not left at 0,0 becuase of the trim settings, so move to 0,0 if requested | |
710 | if(is_delta && this->move_to_origin_after_home) move_to_origin(axes_to_move); | |
c339d634 | 711 | } |
81f02e89 | 712 | |
33e4cc02 JM |
713 | } else if (gcode->has_m) { |
714 | switch (gcode->m) { | |
715 | case 119: { | |
ef7bd372 JM |
716 | for (int i = 0; i < 6; ++i) { |
717 | if(this->pins[i].connected()) | |
718 | gcode->stream->printf("%s:%d ", endstop_names[i], this->pins[i].get()); | |
719 | } | |
bd96f4d7 | 720 | gcode->add_nl= true; |
6e92ab91 | 721 | |
33e4cc02 JM |
722 | } |
723 | break; | |
724 | ||
725 | case 206: // M206 - set homing offset | |
504f0e3e JM |
726 | if (gcode->has_letter('X')) home_offset[0] = gcode->get_value('X'); |
727 | if (gcode->has_letter('Y')) home_offset[1] = gcode->get_value('Y'); | |
728 | if (gcode->has_letter('Z')) home_offset[2] = gcode->get_value('Z'); | |
729 | gcode->stream->printf("X %5.3f Y %5.3f Z %5.3f\n", home_offset[0], home_offset[1], home_offset[2]); | |
6e92ab91 | 730 | |
504f0e3e | 731 | break; |
0e4bf280 | 732 | |
9ae8c7e4 | 733 | case 306: // Similar to M206 and G92 but sets Homing offsets based on current position, Would be M207 but that is taken |
504f0e3e JM |
734 | { |
735 | float cartesian[3]; | |
0e4bf280 | 736 | THEKERNEL->robot->get_axis_position(cartesian); // get actual position from robot |
9ae8c7e4 JM |
737 | if (gcode->has_letter('X')){ |
738 | home_offset[0] -= (cartesian[X_AXIS] - gcode->get_value('X')); | |
739 | THEKERNEL->robot->reset_axis_position(gcode->get_value('X'), X_AXIS); | |
740 | } | |
741 | if (gcode->has_letter('Y')) { | |
742 | home_offset[1] -= (cartesian[Y_AXIS] - gcode->get_value('Y')); | |
743 | THEKERNEL->robot->reset_axis_position(gcode->get_value('Y'), Y_AXIS); | |
744 | } | |
745 | if (gcode->has_letter('Z')) { | |
746 | home_offset[2] -= (cartesian[Z_AXIS] - gcode->get_value('Z')); | |
747 | THEKERNEL->robot->reset_axis_position(gcode->get_value('Z'), Z_AXIS); | |
748 | } | |
749 | ||
750 | gcode->stream->printf("Homing Offset: X %5.3f Y %5.3f Z %5.3f\n", home_offset[0], home_offset[1], home_offset[2]); | |
6e92ab91 | 751 | |
0e4bf280 | 752 | } |
33e4cc02 JM |
753 | break; |
754 | ||
755 | case 500: // save settings | |
756 | case 503: // print settings | |
757 | gcode->stream->printf(";Home offset (mm):\nM206 X%1.2f Y%1.2f Z%1.2f\n", home_offset[0], home_offset[1], home_offset[2]); | |
d0280b9d | 758 | if (this->is_delta || this->is_scara) { |
56ce2b5a JM |
759 | gcode->stream->printf(";Trim (mm):\nM666 X%1.3f Y%1.3f Z%1.3f\n", trim_mm[0], trim_mm[1], trim_mm[2]); |
760 | gcode->stream->printf(";Max Z\nM665 Z%1.3f\n", this->homing_position[2]); | |
7a8fe6e0 | 761 | } |
c339d634 | 762 | break; |
47bbe224 | 763 | |
ec4773e5 | 764 | case 665: { // M665 - set max gamma/z height |
6e92ab91 | 765 | |
1ad23cd3 | 766 | float gamma_max = this->homing_position[2]; |
33e4cc02 JM |
767 | if (gcode->has_letter('Z')) { |
768 | this->homing_position[2] = gamma_max = gcode->get_value('Z'); | |
ec4773e5 | 769 | } |
33e4cc02 JM |
770 | gcode->stream->printf("Max Z %8.3f ", gamma_max); |
771 | gcode->add_nl = true; | |
772 | } | |
773 | break; | |
ec4773e5 | 774 | |
47bbe224 | 775 | |
56ce2b5a | 776 | case 666: |
3e1f5b74 | 777 | if(this->is_delta || this->is_scara) { // M666 - set trim for each axis in mm, NB negative mm trim is down |
56ce2b5a JM |
778 | if (gcode->has_letter('X')) trim_mm[0] = gcode->get_value('X'); |
779 | if (gcode->has_letter('Y')) trim_mm[1] = gcode->get_value('Y'); | |
780 | if (gcode->has_letter('Z')) trim_mm[2] = gcode->get_value('Z'); | |
47bbe224 | 781 | |
56ce2b5a JM |
782 | // print the current trim values in mm |
783 | gcode->stream->printf("X: %5.3f Y: %5.3f Z: %5.3f\n", trim_mm[0], trim_mm[1], trim_mm[2]); | |
6e92ab91 | 784 | |
56ce2b5a | 785 | } |
33e4cc02 | 786 | break; |
47bbe224 | 787 | |
d4ee6ee2 | 788 | // NOTE this is to test accuracy of lead screws etc. |
fc320ac5 | 789 | case 1910: { // M1910 - move specific number of raw steps |
b023850b JM |
790 | if(gcode->subcode == 0) { |
791 | // Enable the motors | |
792 | THEKERNEL->stepper->turn_enable_pins_on(); | |
793 | ||
794 | int x= 0, y=0 , z= 0, f= 200*16; | |
795 | if (gcode->has_letter('F')) f = gcode->get_value('F'); | |
796 | if (gcode->has_letter('X')) { | |
797 | x = gcode->get_value('X'); | |
798 | STEPPER[X_AXIS]->move(x<0, abs(x), f); | |
799 | } | |
800 | if (gcode->has_letter('Y')) { | |
801 | y = gcode->get_value('Y'); | |
802 | STEPPER[Y_AXIS]->move(y<0, abs(y), f); | |
803 | } | |
804 | if (gcode->has_letter('Z')) { | |
805 | z = gcode->get_value('Z'); | |
806 | STEPPER[Z_AXIS]->move(z<0, abs(z), f); | |
807 | } | |
808 | gcode->stream->printf("Moving X %d Y %d Z %d steps at F %d steps/sec\n", x, y, z, f); | |
809 | ||
810 | }else if(gcode->subcode == 1) { | |
811 | // stop any that are moving | |
812 | for (int i = 0; i < 3; ++i) { | |
813 | if(STEPPER[i]->is_moving()) STEPPER[i]->move(0, 0); | |
814 | } | |
d4ee6ee2 | 815 | } |
d4ee6ee2 JM |
816 | break; |
817 | } | |
201bcb94 AW |
818 | } |
819 | } | |
820 | } | |
821 | ||
64eaf21e | 822 | // Called periodically to change the speed to match acceleration |
a157d099 | 823 | void Endstops::acceleration_tick(void) |
64eaf21e | 824 | { |
a157d099 | 825 | if(this->status >= NOT_HOMING) return; // nothing to do, only do this when moving for homing sequence |
64eaf21e JM |
826 | |
827 | // foreach stepper that is moving | |
828 | for ( int c = X_AXIS; c <= Z_AXIS; c++ ) { | |
dd0a7cfa | 829 | if( !STEPPER[c]->is_moving() ) continue; |
64eaf21e | 830 | |
dd0a7cfa | 831 | uint32_t current_rate = STEPPER[c]->get_steps_per_second(); |
c8f4ee77 | 832 | uint32_t target_rate = floorf(this->feed_rate[c]*STEPS_PER_MM(c)); |
c5fe1787 | 833 | float acc= (c==Z_AXIS) ? THEKERNEL->planner->get_z_acceleration() : THEKERNEL->planner->get_acceleration(); |
64eaf21e | 834 | if( current_rate < target_rate ){ |
a157d099 | 835 | uint32_t rate_increase = floorf((acc/THEKERNEL->acceleration_ticks_per_second)*STEPS_PER_MM(c)); |
64eaf21e JM |
836 | current_rate = min( target_rate, current_rate + rate_increase ); |
837 | } | |
838 | if( current_rate > target_rate ){ current_rate = target_rate; } | |
839 | ||
840 | // steps per second | |
6f6677fc | 841 | STEPPER[c]->set_speed(current_rate); |
64eaf21e JM |
842 | } |
843 | ||
a157d099 | 844 | return; |
64eaf21e | 845 | } |
9f6f04a5 JM |
846 | |
847 | void Endstops::on_get_public_data(void* argument){ | |
848 | PublicDataRequest* pdr = static_cast<PublicDataRequest*>(argument); | |
849 | ||
850 | if(!pdr->starts_with(endstops_checksum)) return; | |
851 | ||
852 | if(pdr->second_element_is(trim_checksum)) { | |
86fa0b93 | 853 | pdr->set_data_ptr(&this->trim_mm); |
ea5c6d92 JM |
854 | pdr->set_taken(); |
855 | ||
856 | }else if(pdr->second_element_is(home_offset_checksum)) { | |
86fa0b93 | 857 | pdr->set_data_ptr(&this->home_offset); |
9f6f04a5 JM |
858 | pdr->set_taken(); |
859 | } | |
860 | } | |
7d6fe308 JM |
861 | |
862 | void Endstops::on_set_public_data(void* argument){ | |
863 | PublicDataRequest* pdr = static_cast<PublicDataRequest*>(argument); | |
864 | ||
865 | if(!pdr->starts_with(endstops_checksum)) return; | |
866 | ||
867 | if(pdr->second_element_is(trim_checksum)) { | |
868 | float *t= static_cast<float*>(pdr->get_data_ptr()); | |
869 | this->trim_mm[0]= t[0]; | |
870 | this->trim_mm[1]= t[1]; | |
871 | this->trim_mm[2]= t[2]; | |
872 | pdr->set_taken(); | |
ea5c6d92 JM |
873 | |
874 | }else if(pdr->second_element_is(home_offset_checksum)) { | |
875 | float *t= static_cast<float*>(pdr->get_data_ptr()); | |
876 | if(!isnan(t[0])) this->home_offset[0]= t[0]; | |
877 | if(!isnan(t[1])) this->home_offset[1]= t[1]; | |
878 | if(!isnan(t[2])) this->home_offset[2]= t[2]; | |
7d6fe308 JM |
879 | } |
880 | } |