src/modules/tools/endstops/Endstops.cpp

   1 /*
   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.
   5       You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>.
   6 */
   7
   8 #include "libs/Module.h"
   9 #include "libs/Kernel.h"
  10 #include "modules/communication/utils/Gcode.h"
  11 #include "modules/robot/Conveyor.h"
  12 #include "Endstops.h"
  13 #include "libs/nuts_bolts.h"
  14 #include "libs/Pin.h"
  15 #include "libs/StepperMotor.h"
  16 #include "wait_api.h" // mbed.h lib
  17
  18 Endstops::Endstops(){
  19     this->status = NOT_HOMING;
  20 }
  21
  22 void Endstops::on_module_loaded() {
  23     // Do not do anything if not enabled
  24     if( this->kernel->config->value( endstops_module_enable_checksum )->by_default(true)->as_bool() == false ){ return; }
  25
  26     register_for_event(ON_CONFIG_RELOAD);
  27     this->register_for_event(ON_GCODE_RECEIVED);
  28
  29     // Take StepperMotor objects from Robot and keep them here
  30     this->steppers[0] = this->kernel->robot->alpha_stepper_motor;
  31     this->steppers[1] = this->kernel->robot->beta_stepper_motor;
  32     this->steppers[2] = this->kernel->robot->gamma_stepper_motor;
  33
  34     // Settings
  35     this->on_config_reload(this);
  36
  37 }
  38
  39 // Get config
  40 void Endstops::on_config_reload(void* argument){
  41     this->pins[0].from_string(         this->kernel->config->value(alpha_min_endstop_checksum          )->by_default("nc" )->as_string())->as_input();
  42     this->pins[1].from_string(         this->kernel->config->value(beta_min_endstop_checksum           )->by_default("nc" )->as_string())->as_input();
  43     this->pins[2].from_string(         this->kernel->config->value(gamma_min_endstop_checksum          )->by_default("nc" )->as_string())->as_input();
  44     this->pins[3].from_string(         this->kernel->config->value(alpha_max_endstop_checksum          )->by_default("nc" )->as_string())->as_input();
  45     this->pins[4].from_string(         this->kernel->config->value(beta_max_endstop_checksum           )->by_default("nc" )->as_string())->as_input();
  46     this->pins[5].from_string(         this->kernel->config->value(gamma_max_endstop_checksum          )->by_default("nc" )->as_string())->as_input();
  47
  48     // we need to know steps per mm for M206, also use them for all settings
  49     this->steps_per_mm[0]           =  this->kernel->config->value(alpha_steps_per_mm_checksum         )->as_number();
  50     this->steps_per_mm[1]           =  this->kernel->config->value(beta_steps_per_mm_checksum          )->as_number();
  51     this->steps_per_mm[2]           =  this->kernel->config->value(gamma_steps_per_mm_checksum         )->as_number();
  52
  53     this->fast_rates[0]             =  this->kernel->config->value(alpha_fast_homing_rate_checksum     )->by_default(4000 )->as_number();
  54     this->fast_rates[1]             =  this->kernel->config->value(beta_fast_homing_rate_checksum      )->by_default(4000 )->as_number();
  55     this->fast_rates[2]             =  this->kernel->config->value(gamma_fast_homing_rate_checksum     )->by_default(6400 )->as_number();
  56     this->slow_rates[0]             =  this->kernel->config->value(alpha_slow_homing_rate_checksum     )->by_default(2000 )->as_number();
  57     this->slow_rates[1]             =  this->kernel->config->value(beta_slow_homing_rate_checksum      )->by_default(2000 )->as_number();
  58     this->slow_rates[2]             =  this->kernel->config->value(gamma_slow_homing_rate_checksum     )->by_default(3200 )->as_number();
  59     this->retract_steps[0]          =  this->kernel->config->value(alpha_homing_retract_checksum       )->by_default(400  )->as_number();
  60     this->retract_steps[1]          =  this->kernel->config->value(beta_homing_retract_checksum        )->by_default(400  )->as_number();
  61     this->retract_steps[2]          =  this->kernel->config->value(gamma_homing_retract_checksum       )->by_default(1600 )->as_number();
  62
  63     // 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
  64     this->fast_rates[0]=    this->kernel->config->value(alpha_fast_homing_rate_mm_checksum )->by_default(this->fast_rates[0]  / steps_per_mm[0])->as_number() * steps_per_mm[0];
  65     this->fast_rates[1]=    this->kernel->config->value(beta_fast_homing_rate_mm_checksum  )->by_default(this->fast_rates[1]  / steps_per_mm[1])->as_number() * steps_per_mm[1];
  66     this->fast_rates[2]=    this->kernel->config->value(gamma_fast_homing_rate_mm_checksum )->by_default(this->fast_rates[2]  / steps_per_mm[2])->as_number() * steps_per_mm[2];
  67     this->slow_rates[0]=    this->kernel->config->value(alpha_slow_homing_rate_mm_checksum )->by_default(this->slow_rates[0]  / steps_per_mm[0])->as_number() * steps_per_mm[0];
  68     this->slow_rates[1]=    this->kernel->config->value(beta_slow_homing_rate_mm_checksum  )->by_default(this->slow_rates[1]  / steps_per_mm[1])->as_number() * steps_per_mm[1];
  69     this->slow_rates[2]=    this->kernel->config->value(gamma_slow_homing_rate_mm_checksum )->by_default(this->slow_rates[2]  / steps_per_mm[2])->as_number() * steps_per_mm[2];
  70     this->retract_steps[0]= this->kernel->config->value(alpha_homing_retract_mm_checksum   )->by_default(this->retract_steps[0]/steps_per_mm[0])->as_number() * steps_per_mm[0];
  71     this->retract_steps[1]= this->kernel->config->value(beta_homing_retract_mm_checksum    )->by_default(this->retract_steps[1]/steps_per_mm[1])->as_number() * steps_per_mm[1];
  72     this->retract_steps[2]= this->kernel->config->value(gamma_homing_retract_mm_checksum   )->by_default(this->retract_steps[2]/steps_per_mm[2])->as_number() * steps_per_mm[2];
  73
  74     // endstop trim used by deltas to do soft adjusting, in mm, convert to steps
  75     this->trim[0]         = this->kernel->config->value(alpha_trim_checksum                )->by_default(0  )->as_number() * steps_per_mm[0];
  76     this->trim[1]         = this->kernel->config->value(beta_trim_checksum                 )->by_default(0  )->as_number() * steps_per_mm[0];
  77     this->trim[2]         = this->kernel->config->value(gamma_trim_checksum                )->by_default(0  )->as_number() * steps_per_mm[0];
  78
  79     this->debounce_count  = this->kernel->config->value(endstop_debounce_count_checksum    )->by_default(100)->as_number();
  80
  81
  82     // get homing direction and convert to boolean where true is home to min, and false is home to max
  83     int home_dir                    = get_checksum(this->kernel->config->value(alpha_homing_direction_checksum)->by_default("home_to_min")->as_string());
  84     this->home_direction[0]         = home_dir != home_to_max_checksum;
  85
  86     home_dir                        = get_checksum(this->kernel->config->value(beta_homing_direction_checksum)->by_default("home_to_min")->as_string());
  87     this->home_direction[1]         = home_dir != home_to_max_checksum;
  88
  89     home_dir                        = get_checksum(this->kernel->config->value(gamma_homing_direction_checksum)->by_default("home_to_min")->as_string());
  90     this->home_direction[2]         = home_dir != home_to_max_checksum;
  91
  92     this->homing_position[0]        =  this->home_direction[0]?this->kernel->config->value(alpha_min_checksum)->by_default(0)->as_number():this->kernel->config->value(alpha_max_checksum)->by_default(200)->as_number();
  93     this->homing_position[1]        =  this->home_direction[1]?this->kernel->config->value(beta_min_checksum )->by_default(0)->as_number():this->kernel->config->value(beta_max_checksum )->by_default(200)->as_number();;
  94     this->homing_position[2]        =  this->home_direction[2]?this->kernel->config->value(gamma_min_checksum)->by_default(0)->as_number():this->kernel->config->value(gamma_max_checksum)->by_default(200)->as_number();;
  95
  96     this->is_corexy                 =  this->kernel->config->value(corexy_homing_checksum)->by_default(false)->as_bool();
  97 }
  98
  99 void Endstops::wait_for_homed(char axes_to_move){
 100     bool running = true;
 101     unsigned int debounce[3] = {0,0,0};
 102     while(running){
 103         running = false;
 104         this->kernel->call_event(ON_IDLE);
 105         for( char c = 'X'; c <= 'Z'; c++ ){
 106             if( ( axes_to_move >> ( c - 'X' ) ) & 1 ){
 107                 if( this->pins[c - 'X' + (this->home_direction[c - 'X']?0:3)].get() ){
 108                     if( debounce[c - 'X'] < debounce_count ) {
 109                         debounce[c - 'X'] ++;
 110                         running = true;
 111                     } else if ( this->steppers[c - 'X']->moving ){
 112                         this->steppers[c - 'X']->move(0,0);
 113                     }
 114                 }else{
 115                     // The endstop was not hit yet
 116                     running = true;
 117                     debounce[c - 'X'] = 0;
 118                 }
 119             }
 120         }
 121     }
 122 }
 123
 124 // this homing works for cartesian and delta printers, not for HBots/CoreXY
 125 void Endstops::do_homing(char axes_to_move) {
 126     // Start moving the axes to the origin
 127     this->status = MOVING_TO_ORIGIN_FAST;
 128     for( char c = 'X'; c <= 'Z'; c++ ){
 129         if( ( axes_to_move >> ( c - 'X' ) ) & 1 ){
 130             this->steppers[c - 'X']->set_speed(this->fast_rates[c - 'X']);
 131             this->steppers[c - 'X']->move(this->home_direction[c - 'X'],10000000);
 132         }
 133     }
 134
 135     // Wait for all axes to have homed
 136     this->wait_for_homed(axes_to_move);
 137
 138     // Move back a small distance
 139     this->status = MOVING_BACK;
 140     bool inverted_dir;
 141     for( char c = 'X'; c <= 'Z'; c++ ){
 142         if( ( axes_to_move >> ( c - 'X' ) ) & 1 ){
 143             inverted_dir = !this->home_direction[c - 'X'];
 144             this->steppers[c - 'X']->set_speed(this->slow_rates[c - 'X']);
 145             this->steppers[c - 'X']->move(inverted_dir,this->retract_steps[c - 'X']);
 146         }
 147     }
 148
 149      // Wait for moves to be done
 150     for( char c = 'X'; c <= 'Z'; c++ ){
 151         if(  ( axes_to_move >> ( c - 'X' ) ) & 1 ){
 152             while( this->steppers[c - 'X']->moving ){
 153                 this->kernel->call_event(ON_IDLE);
 154             }
 155         }
 156     }
 157
 158     // Start moving the axes to the origin slowly
 159     this->status = MOVING_TO_ORIGIN_SLOW;
 160     for( char c = 'X'; c <= 'Z'; c++ ){
 161         if( ( axes_to_move >> ( c - 'X' ) ) & 1 ){
 162             this->steppers[c - 'X']->set_speed(this->slow_rates[c -'X']);
 163             this->steppers[c - 'X']->move(this->home_direction[c - 'X'],10000000);
 164         }
 165     }
 166
 167     // Wait for all axes to have homed
 168     this->wait_for_homed(axes_to_move);
 169
 170     // move for soft trim
 171     this->status = MOVING_BACK;
 172     for( char c = 'X'; c <= 'Z'; c++ ){
 173         if( this->trim[c - 'X'] != 0 && ( axes_to_move >> ( c - 'X' ) ) & 1 ){
 174             inverted_dir = !this->home_direction[c - 'X'];
 175             // move up or down depending on sign of trim
 176             if(this->trim[c - 'X'] < 0) inverted_dir= !inverted_dir;
 177             this->steppers[c - 'X']->set_speed(this->slow_rates[c - 'X']);
 178             this->steppers[c - 'X']->move(inverted_dir,this->trim[c - 'X']);
 179         }
 180     }
 181
 182     // Wait for moves to be done
 183     for( char c = 'X'; c <= 'Z'; c++ ){
 184         if(  ( axes_to_move >> ( c - 'X' ) ) & 1 ){
 185             this->kernel->streams->printf("axis %c \r\n", c );
 186             while( this->steppers[c - 'X']->moving ){
 187                 this->kernel->call_event(ON_IDLE);
 188             }
 189         }
 190     }
 191
 192     // Homing is done
 193     this->status = NOT_HOMING;
 194 }
 195
 196 #define X_AXIS 0
 197 #define Y_AXIS 1
 198 #define Z_AXIS 2
 199
 200 // this homing works for HBots/CoreXY
 201 void Endstops::do_homing_corexy(char axes_to_move) {
 202     // Start moving the axes to the origin
 203     if(axes_to_move & 0x01) { // Home X, which means both X and Y in same direction
 204         this->status = MOVING_TO_ORIGIN_FAST;
 205         this->steppers[X_AXIS]->set_speed(this->fast_rates[X_AXIS]);
 206         this->steppers[X_AXIS]->move(this->home_direction[X_AXIS], 10000000);
 207         this->steppers[Y_AXIS]->set_speed(this->fast_rates[X_AXIS]);
 208         this->steppers[Y_AXIS]->move(this->home_direction[X_AXIS], 10000000);
 209
 210         // wait for X
 211         this->wait_for_homed(0x01);
 212
 213         // Move back a small distance
 214         this->status = MOVING_BACK;
 215         this->steppers[X_AXIS]->set_speed(this->slow_rates[X_AXIS]);
 216         this->steppers[X_AXIS]->move(!this->home_direction[X_AXIS], this->retract_steps[X_AXIS]);
 217         this->steppers[Y_AXIS]->set_speed(this->slow_rates[X_AXIS]);
 218         this->steppers[Y_AXIS]->move(!this->home_direction[X_AXIS], this->retract_steps[X_AXIS]);
 219
 220         // wait until done
 221         while( this->steppers[X_AXIS]->moving ){ this->kernel->call_event(ON_IDLE); }
 222
 223         // Start moving the axes to the origin slowly
 224         this->status = MOVING_TO_ORIGIN_SLOW;
 225         this->steppers[X_AXIS]->set_speed(this->slow_rates[X_AXIS]);
 226         this->steppers[X_AXIS]->move(this->home_direction[X_AXIS], 10000000);
 227         this->steppers[Y_AXIS]->set_speed(this->slow_rates[X_AXIS]);
 228         this->steppers[Y_AXIS]->move(this->home_direction[X_AXIS], 10000000);
 229
 230         // wait for X
 231         this->wait_for_homed(0x01);
 232     }
 233
 234     if(axes_to_move & 0x02) { // Home Y, which means both X and Y in different directions
 235         this->status = MOVING_TO_ORIGIN_FAST;
 236         this->steppers[X_AXIS]->set_speed(this->fast_rates[Y_AXIS]);
 237         this->steppers[X_AXIS]->move(this->home_direction[Y_AXIS], 10000000);
 238         this->steppers[Y_AXIS]->set_speed(this->fast_rates[Y_AXIS]); // yes I use X_axis speed as they need to go at the same speed
 239         this->steppers[Y_AXIS]->move(!this->home_direction[Y_AXIS], 10000000);
 240
 241         // wait for Y
 242         this->wait_for_homed(0x02);
 243
 244         // Move back a small distance
 245         this->status = MOVING_BACK;
 246         this->steppers[X_AXIS]->set_speed(this->slow_rates[Y_AXIS]);
 247         this->steppers[X_AXIS]->move(!this->home_direction[Y_AXIS], this->retract_steps[Y_AXIS]);
 248         this->steppers[Y_AXIS]->set_speed(this->slow_rates[Y_AXIS]);
 249         this->steppers[Y_AXIS]->move(this->home_direction[Y_AXIS], this->retract_steps[Y_AXIS]);
 250
 251         // wait until done
 252         while( this->steppers[Y_AXIS]->moving ){ this->kernel->call_event(ON_IDLE); }
 253
 254         // Start moving the axes to the origin slowly
 255         this->status = MOVING_TO_ORIGIN_SLOW;
 256         this->steppers[X_AXIS]->set_speed(this->slow_rates[Y_AXIS]);
 257         this->steppers[X_AXIS]->move(this->home_direction[Y_AXIS], 10000000);
 258         this->steppers[Y_AXIS]->set_speed(this->slow_rates[Y_AXIS]);
 259         this->steppers[Y_AXIS]->move(!this->home_direction[Y_AXIS], 10000000);
 260
 261         // wait for Y
 262         this->wait_for_homed(0x02);
 263     }
 264
 265     if(axes_to_move & 0x04) { // move Z
 266         do_homing(0x04); // just home normally for Z
 267     }
 268
 269     // Homing is done
 270     this->status = NOT_HOMING;
 271 }
 272
 273 // Start homing sequences by response to GCode commands
 274 void Endstops::on_gcode_received(void* argument)
 275 {
 276     Gcode* gcode = static_cast<Gcode*>(argument);
 277     if( gcode->has_g)
 278     {
 279         if( gcode->g == 28 )
 280         {
 281             gcode->mark_as_taken();
 282             // G28 is received, we have homing to do
 283
 284             // First wait for the queue to be empty
 285             this->kernel->conveyor->wait_for_empty_queue();
 286
 287             // Do we move select axes or all of them
 288             char axes_to_move = 0;
 289             // only enable homing if the endstop is defined
 290             bool home_all= !( gcode->has_letter('X') || gcode->has_letter('Y') || gcode->has_letter('Z') );
 291
 292             for( char c = 'X'; c <= 'Z'; c++ ){
 293                 if( (home_all || gcode->has_letter(c)) && this->pins[c - 'X' + (this->home_direction[c - 'X']?0:3)].connected() ){ axes_to_move += ( 1 << (c - 'X' ) ); }
 294             }
 295
 296             // Enable the motors
 297             this->kernel->stepper->turn_enable_pins_on();
 298
 299             // do the actual homing
 300             if(is_corexy)
 301                 do_homing_corexy(axes_to_move);
 302             else
 303                 do_homing(axes_to_move);
 304
 305             // Zero the ax(i/e)s position
 306             for( char c = 'X'; c <= 'Z'; c++ ){
 307                 if( ( axes_to_move >> ( c - 'X' ) ) & 1 ){
 308
 309                     this->kernel->robot->reset_axis_position(this->homing_position[c - 'X'], c - 'X');
 310                 }
 311             }
 312
 313         }
 314     }
 315     else if (gcode->has_m){
 316         switch(gcode->m){
 317             case 119:
 318                 {
 319
 320                     int px= this->home_direction[0] ? 0 : 3;
 321                     int py= this->home_direction[1] ? 1 : 4;
 322                     int pz= this->home_direction[2] ? 2 : 5;
 323                     const char* mx= this->home_direction[0] ? "min" : "max";
 324                     const char* my= this->home_direction[1] ? "min" : "max";
 325                     const char* mz= this->home_direction[2] ? "min" : "max";
 326
 327                     gcode->stream->printf("X %s:%d Y %s:%d Z %s:%d\n", mx, this->pins[px].get(), my, this->pins[py].get(), mz, this->pins[pz].get());
 328                     gcode->mark_as_taken();
 329                 }
 330                 break;
 331
 332             case 206: // M206 - set trim for each axis in mm
 333                 {
 334                     int dirx= (this->home_direction[0] ? 1 : -1);
 335                     int diry= (this->home_direction[1] ? 1 : -1);
 336                     int dirz= (this->home_direction[2] ? 1 : -1);
 337                     double mm[3];
 338                     mm[0]= trim[0]/steps_per_mm[0] * dirx; // convert to mm
 339                     mm[1]= trim[1]/steps_per_mm[1] * diry;
 340                     mm[2]= trim[2]/steps_per_mm[2] * dirz;
 341
 342                     if(gcode->has_letter('X')) mm[0]= gcode->get_value('X');
 343                     if(gcode->has_letter('Y')) mm[1]= gcode->get_value('Y');
 344                     if(gcode->has_letter('Z')) mm[2]= gcode->get_value('Z');
 345
 346                     trim[0]= lround(mm[0]*steps_per_mm[0]) * dirx; // convert back to steps
 347                     trim[1]= lround(mm[1]*steps_per_mm[1]) * diry;
 348                     trim[2]= lround(mm[2]*steps_per_mm[2]) * dirz;
 349
 350                     // print the current trim values in mm and steps
 351                     char buf[64];
 352                     int n= snprintf(buf, sizeof(buf), "X:%5.3f (%d) Y:%5.3f (%d) Z:%5.3f (%d) ", mm[0], trim[0], mm[1], trim[1], mm[2], trim[2]);
 353                     gcode->txt_after_ok.append(buf, n);
 354                     gcode->mark_as_taken();
 355                 }
 356                 break;
 357
 358         }
 359     }
 360 }
 361