Commit | Line | Data |
---|---|---|
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" |
807b9b57 | 12 | #include "modules/robot/ActuatorCoordinates.h" |
201bcb94 AW |
13 | #include "Endstops.h" |
14 | #include "libs/nuts_bolts.h" | |
750277f8 | 15 | #include "libs/Pin.h" |
670fa10b | 16 | #include "libs/StepperMotor.h" |
201bcb94 | 17 | #include "wait_api.h" // mbed.h lib |
61134a65 JM |
18 | #include "Robot.h" |
19 | #include "Stepper.h" | |
20 | #include "Config.h" | |
21 | #include "SlowTicker.h" | |
22 | #include "Planner.h" | |
7af0714f JM |
23 | #include "checksumm.h" |
24 | #include "utils.h" | |
8d54c34c | 25 | #include "ConfigValue.h" |
fc7b9a7b | 26 | #include "libs/StreamOutput.h" |
9f6f04a5 JM |
27 | #include "PublicDataRequest.h" |
28 | #include "EndstopsPublicAccess.h" | |
3c947f85 | 29 | #include "StreamOutputPool.h" |
a157d099 | 30 | #include "StepTicker.h" |
7552475b | 31 | #include "BaseSolution.h" |
201bcb94 | 32 | |
80605954 JM |
33 | #include <ctype.h> |
34 | ||
33e4cc02 JM |
35 | #define ALPHA_AXIS 0 |
36 | #define BETA_AXIS 1 | |
37 | #define GAMMA_AXIS 2 | |
9a993543 JM |
38 | #define X_AXIS 0 |
39 | #define Y_AXIS 1 | |
40 | #define Z_AXIS 2 | |
33e4cc02 | 41 | |
33e4cc02 JM |
42 | #define endstops_module_enable_checksum CHECKSUM("endstops_enable") |
43 | #define corexy_homing_checksum CHECKSUM("corexy_homing") | |
44 | #define delta_homing_checksum CHECKSUM("delta_homing") | |
3e1f5b74 | 45 | #define scara_homing_checksum CHECKSUM("scara_homing") |
33e4cc02 JM |
46 | |
47 | #define alpha_min_endstop_checksum CHECKSUM("alpha_min_endstop") | |
48 | #define beta_min_endstop_checksum CHECKSUM("beta_min_endstop") | |
49 | #define gamma_min_endstop_checksum CHECKSUM("gamma_min_endstop") | |
50 | ||
51 | #define alpha_max_endstop_checksum CHECKSUM("alpha_max_endstop") | |
52 | #define beta_max_endstop_checksum CHECKSUM("beta_max_endstop") | |
53 | #define gamma_max_endstop_checksum CHECKSUM("gamma_max_endstop") | |
54 | ||
55 | #define alpha_trim_checksum CHECKSUM("alpha_trim") | |
56 | #define beta_trim_checksum CHECKSUM("beta_trim") | |
57 | #define gamma_trim_checksum CHECKSUM("gamma_trim") | |
58 | ||
59 | // these values are in steps and should be deprecated | |
60 | #define alpha_fast_homing_rate_checksum CHECKSUM("alpha_fast_homing_rate") | |
61 | #define beta_fast_homing_rate_checksum CHECKSUM("beta_fast_homing_rate") | |
62 | #define gamma_fast_homing_rate_checksum CHECKSUM("gamma_fast_homing_rate") | |
63 | ||
64 | #define alpha_slow_homing_rate_checksum CHECKSUM("alpha_slow_homing_rate") | |
65 | #define beta_slow_homing_rate_checksum CHECKSUM("beta_slow_homing_rate") | |
66 | #define gamma_slow_homing_rate_checksum CHECKSUM("gamma_slow_homing_rate") | |
67 | ||
68 | #define alpha_homing_retract_checksum CHECKSUM("alpha_homing_retract") | |
69 | #define beta_homing_retract_checksum CHECKSUM("beta_homing_retract") | |
70 | #define gamma_homing_retract_checksum CHECKSUM("gamma_homing_retract") | |
33e4cc02 JM |
71 | |
72 | // same as above but in user friendly mm/s and mm | |
73 | #define alpha_fast_homing_rate_mm_checksum CHECKSUM("alpha_fast_homing_rate_mm_s") | |
74 | #define beta_fast_homing_rate_mm_checksum CHECKSUM("beta_fast_homing_rate_mm_s") | |
75 | #define gamma_fast_homing_rate_mm_checksum CHECKSUM("gamma_fast_homing_rate_mm_s") | |
76 | ||
77 | #define alpha_slow_homing_rate_mm_checksum CHECKSUM("alpha_slow_homing_rate_mm_s") | |
78 | #define beta_slow_homing_rate_mm_checksum CHECKSUM("beta_slow_homing_rate_mm_s") | |
79 | #define gamma_slow_homing_rate_mm_checksum CHECKSUM("gamma_slow_homing_rate_mm_s") | |
80 | ||
81 | #define alpha_homing_retract_mm_checksum CHECKSUM("alpha_homing_retract_mm") | |
82 | #define beta_homing_retract_mm_checksum CHECKSUM("beta_homing_retract_mm") | |
83 | #define gamma_homing_retract_mm_checksum CHECKSUM("gamma_homing_retract_mm") | |
84 | ||
85 | #define endstop_debounce_count_checksum CHECKSUM("endstop_debounce_count") | |
86 | ||
87 | #define alpha_homing_direction_checksum CHECKSUM("alpha_homing_direction") | |
88 | #define beta_homing_direction_checksum CHECKSUM("beta_homing_direction") | |
89 | #define gamma_homing_direction_checksum CHECKSUM("gamma_homing_direction") | |
90 | #define home_to_max_checksum CHECKSUM("home_to_max") | |
91 | #define home_to_min_checksum CHECKSUM("home_to_min") | |
92 | #define alpha_min_checksum CHECKSUM("alpha_min") | |
93 | #define beta_min_checksum CHECKSUM("beta_min") | |
94 | #define gamma_min_checksum CHECKSUM("gamma_min") | |
95 | ||
96 | #define alpha_max_checksum CHECKSUM("alpha_max") | |
97 | #define beta_max_checksum CHECKSUM("beta_max") | |
98 | #define gamma_max_checksum CHECKSUM("gamma_max") | |
99 | ||
3c947f85 JM |
100 | #define alpha_limit_enable_checksum CHECKSUM("alpha_limit_enable") |
101 | #define beta_limit_enable_checksum CHECKSUM("beta_limit_enable") | |
102 | #define gamma_limit_enable_checksum CHECKSUM("gamma_limit_enable") | |
103 | ||
80605954 | 104 | #define homing_order_checksum CHECKSUM("homing_order") |
2ddf75fd | 105 | #define move_to_origin_checksum CHECKSUM("move_to_origin_after_home") |
80605954 | 106 | |
dd0a7cfa JM |
107 | #define STEPPER THEKERNEL->robot->actuators |
108 | #define STEPS_PER_MM(a) (STEPPER[a]->get_steps_per_mm()) | |
56ce2b5a | 109 | |
2b3cedc7 | 110 | |
3c947f85 JM |
111 | // Homing States |
112 | enum{ | |
2ddf75fd JM |
113 | MOVING_TO_ENDSTOP_FAST, // homing move |
114 | MOVING_BACK, // homing move | |
115 | MOVING_TO_ENDSTOP_SLOW, // homing move | |
fafb45df | 116 | NOT_HOMING, |
3c947f85 | 117 | BACK_OFF_HOME, |
2ddf75fd | 118 | MOVE_TO_ORIGIN, |
3c947f85 JM |
119 | LIMIT_TRIGGERED |
120 | }; | |
121 | ||
33e4cc02 JM |
122 | Endstops::Endstops() |
123 | { | |
201bcb94 | 124 | this->status = NOT_HOMING; |
33e4cc02 | 125 | home_offset[0] = home_offset[1] = home_offset[2] = 0.0F; |
201bcb94 AW |
126 | } |
127 | ||
33e4cc02 JM |
128 | void Endstops::on_module_loaded() |
129 | { | |
7dee696d | 130 | // Do not do anything if not enabled |
314ab8f7 | 131 | if ( THEKERNEL->config->value( endstops_module_enable_checksum )->by_default(true)->as_bool() == false ) { |
4e722c00 | 132 | delete this; |
33e4cc02 JM |
133 | return; |
134 | } | |
7d62445b | 135 | |
9f6f04a5 JM |
136 | register_for_event(ON_GCODE_RECEIVED); |
137 | register_for_event(ON_GET_PUBLIC_DATA); | |
7d6fe308 | 138 | register_for_event(ON_SET_PUBLIC_DATA); |
201bcb94 | 139 | |
a157d099 | 140 | THEKERNEL->step_ticker->register_acceleration_tick_handler([this](){acceleration_tick(); }); |
201bcb94 | 141 | |
750277f8 AW |
142 | // Settings |
143 | this->on_config_reload(this); | |
201bcb94 AW |
144 | } |
145 | ||
750277f8 | 146 | // Get config |
33e4cc02 JM |
147 | void Endstops::on_config_reload(void *argument) |
148 | { | |
56ce2b5a JM |
149 | this->pins[0].from_string( THEKERNEL->config->value(alpha_min_endstop_checksum )->by_default("nc" )->as_string())->as_input(); |
150 | this->pins[1].from_string( THEKERNEL->config->value(beta_min_endstop_checksum )->by_default("nc" )->as_string())->as_input(); | |
151 | this->pins[2].from_string( THEKERNEL->config->value(gamma_min_endstop_checksum )->by_default("nc" )->as_string())->as_input(); | |
152 | this->pins[3].from_string( THEKERNEL->config->value(alpha_max_endstop_checksum )->by_default("nc" )->as_string())->as_input(); | |
153 | this->pins[4].from_string( THEKERNEL->config->value(beta_max_endstop_checksum )->by_default("nc" )->as_string())->as_input(); | |
154 | this->pins[5].from_string( THEKERNEL->config->value(gamma_max_endstop_checksum )->by_default("nc" )->as_string())->as_input(); | |
155 | ||
156 | // These are the old ones in steps still here for backwards compatibility | |
157 | this->fast_rates[0] = THEKERNEL->config->value(alpha_fast_homing_rate_checksum )->by_default(4000 )->as_number() / STEPS_PER_MM(0); | |
158 | this->fast_rates[1] = THEKERNEL->config->value(beta_fast_homing_rate_checksum )->by_default(4000 )->as_number() / STEPS_PER_MM(1); | |
159 | this->fast_rates[2] = THEKERNEL->config->value(gamma_fast_homing_rate_checksum )->by_default(6400 )->as_number() / STEPS_PER_MM(2); | |
160 | this->slow_rates[0] = THEKERNEL->config->value(alpha_slow_homing_rate_checksum )->by_default(2000 )->as_number() / STEPS_PER_MM(0); | |
161 | this->slow_rates[1] = THEKERNEL->config->value(beta_slow_homing_rate_checksum )->by_default(2000 )->as_number() / STEPS_PER_MM(1); | |
162 | this->slow_rates[2] = THEKERNEL->config->value(gamma_slow_homing_rate_checksum )->by_default(3200 )->as_number() / STEPS_PER_MM(2); | |
163 | this->retract_mm[0] = THEKERNEL->config->value(alpha_homing_retract_checksum )->by_default(400 )->as_number() / STEPS_PER_MM(0); | |
164 | this->retract_mm[1] = THEKERNEL->config->value(beta_homing_retract_checksum )->by_default(400 )->as_number() / STEPS_PER_MM(1); | |
165 | this->retract_mm[2] = THEKERNEL->config->value(gamma_homing_retract_checksum )->by_default(1600 )->as_number() / STEPS_PER_MM(2); | |
5de98d7c JM |
166 | |
167 | // 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 |
168 | this->fast_rates[0] = THEKERNEL->config->value(alpha_fast_homing_rate_mm_checksum )->by_default(this->fast_rates[0])->as_number(); |
169 | this->fast_rates[1] = THEKERNEL->config->value(beta_fast_homing_rate_mm_checksum )->by_default(this->fast_rates[1])->as_number(); | |
170 | this->fast_rates[2] = THEKERNEL->config->value(gamma_fast_homing_rate_mm_checksum )->by_default(this->fast_rates[2])->as_number(); | |
171 | this->slow_rates[0] = THEKERNEL->config->value(alpha_slow_homing_rate_mm_checksum )->by_default(this->slow_rates[0])->as_number(); | |
172 | this->slow_rates[1] = THEKERNEL->config->value(beta_slow_homing_rate_mm_checksum )->by_default(this->slow_rates[1])->as_number(); | |
173 | this->slow_rates[2] = THEKERNEL->config->value(gamma_slow_homing_rate_mm_checksum )->by_default(this->slow_rates[2])->as_number(); | |
174 | this->retract_mm[0] = THEKERNEL->config->value(alpha_homing_retract_mm_checksum )->by_default(this->retract_mm[0])->as_number(); | |
175 | this->retract_mm[1] = THEKERNEL->config->value(beta_homing_retract_mm_checksum )->by_default(this->retract_mm[1])->as_number(); | |
176 | this->retract_mm[2] = THEKERNEL->config->value(gamma_homing_retract_mm_checksum )->by_default(this->retract_mm[2])->as_number(); | |
5de98d7c | 177 | |
06c48ee8 | 178 | this->debounce_count = THEKERNEL->config->value(endstop_debounce_count_checksum )->by_default(100)->as_number(); |
5de98d7c | 179 | |
409ff5b3 | 180 | // get homing direction and convert to boolean where true is home to min, and false is home to max |
314ab8f7 | 181 | int home_dir = get_checksum(THEKERNEL->config->value(alpha_homing_direction_checksum)->by_default("home_to_min")->as_string()); |
eb09fdbf | 182 | this->home_direction[0] = home_dir != home_to_max_checksum; |
47bbe224 | 183 | |
314ab8f7 | 184 | home_dir = get_checksum(THEKERNEL->config->value(beta_homing_direction_checksum)->by_default("home_to_min")->as_string()); |
eb09fdbf | 185 | this->home_direction[1] = home_dir != home_to_max_checksum; |
47bbe224 | 186 | |
314ab8f7 | 187 | home_dir = get_checksum(THEKERNEL->config->value(gamma_homing_direction_checksum)->by_default("home_to_min")->as_string()); |
eb09fdbf | 188 | this->home_direction[2] = home_dir != home_to_max_checksum; |
47bbe224 | 189 | |
314ab8f7 | 190 | 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 |
191 | 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(); |
192 | 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 | 193 | |
314ab8f7 MM |
194 | this->is_corexy = THEKERNEL->config->value(corexy_homing_checksum)->by_default(false)->as_bool(); |
195 | this->is_delta = THEKERNEL->config->value(delta_homing_checksum)->by_default(false)->as_bool(); | |
504f0e3e JM |
196 | this->is_scara = THEKERNEL->config->value(scara_homing_checksum)->by_default(false)->as_bool(); |
197 | ||
80605954 JM |
198 | // see if an order has been specified, must be three characters, XYZ or YXZ etc |
199 | string order= THEKERNEL->config->value(homing_order_checksum)->by_default("")->as_string(); | |
200 | this->homing_order= 0; | |
201 | if(order.size() == 3 && !this->is_delta) { | |
202 | int shift= 0; | |
203 | for(auto c : order) { | |
204 | uint8_t i= toupper(c) - 'X'; | |
205 | if(i > 2) { // bad value | |
206 | this->homing_order= 0; | |
207 | break; | |
208 | } | |
209 | homing_order |= (i << shift); | |
210 | shift += 2; | |
211 | } | |
212 | } | |
213 | ||
192bca32 JM |
214 | // endstop trim used by deltas to do soft adjusting |
215 | // on a delta homing to max, a negative trim value will move the carriage down, and a positive will move it up | |
216 | this->trim_mm[0] = THEKERNEL->config->value(alpha_trim_checksum )->by_default(0 )->as_number(); | |
217 | this->trim_mm[1] = THEKERNEL->config->value(beta_trim_checksum )->by_default(0 )->as_number(); | |
218 | this->trim_mm[2] = THEKERNEL->config->value(gamma_trim_checksum )->by_default(0 )->as_number(); | |
3c947f85 JM |
219 | |
220 | // limits enabled | |
221 | this->limit_enable[X_AXIS]= THEKERNEL->config->value(alpha_limit_enable_checksum)->by_default(false)->as_bool(); | |
222 | this->limit_enable[Y_AXIS]= THEKERNEL->config->value(beta_limit_enable_checksum)->by_default(false)->as_bool(); | |
223 | this->limit_enable[Z_AXIS]= THEKERNEL->config->value(gamma_limit_enable_checksum)->by_default(false)->as_bool(); | |
224 | ||
2ddf75fd | 225 | this->move_to_origin_after_home= THEKERNEL->config->value(move_to_origin_checksum)->by_default(false)->as_bool(); |
2b3cedc7 | 226 | |
3c947f85 JM |
227 | if(this->limit_enable[X_AXIS] || this->limit_enable[Y_AXIS] || this->limit_enable[Z_AXIS]){ |
228 | register_for_event(ON_IDLE); | |
7f3e6350 JM |
229 | if(this->is_delta) { |
230 | // we must enable all the limits not just one | |
231 | this->limit_enable[X_AXIS]= true; | |
232 | this->limit_enable[Y_AXIS]= true; | |
233 | this->limit_enable[Z_AXIS]= true; | |
234 | } | |
3c947f85 | 235 | } |
44127aca JM |
236 | |
237 | // NOTE this may also be true of scara. TBD | |
238 | if(this->is_delta) { | |
239 | // some things must be the same or they will die, so force it here to avoid config errors | |
240 | this->fast_rates[1]= this->fast_rates[2]= this->fast_rates[0]; | |
241 | this->slow_rates[1]= this->slow_rates[2]= this->slow_rates[0]; | |
242 | this->retract_mm[1]= this->retract_mm[2]= this->retract_mm[0]; | |
243 | this->home_direction[1]= this->home_direction[2]= this->home_direction[0]; | |
244 | this->homing_position[0]= this->homing_position[1]= 0; | |
44127aca | 245 | } |
3c947f85 JM |
246 | } |
247 | ||
28166daf JM |
248 | bool Endstops::debounced_get(int pin) |
249 | { | |
250 | uint8_t debounce= 0; | |
251 | while(this->pins[pin].get()) { | |
252 | if ( ++debounce >= this->debounce_count ) { | |
253 | // pin triggered | |
254 | return true; | |
255 | } | |
256 | } | |
257 | return false; | |
258 | } | |
259 | ||
4d149ebb | 260 | static const char *endstop_names[]= {"min_x", "min_y", "min_z", "max_x", "max_y", "max_z"}; |
3c947f85 JM |
261 | |
262 | void Endstops::on_idle(void *argument) | |
263 | { | |
c3d7feb6 JM |
264 | if(this->status == LIMIT_TRIGGERED) { |
265 | // if we were in limit triggered see if it has been cleared | |
266 | for( int c = X_AXIS; c <= Z_AXIS; c++ ) { | |
267 | if(this->limit_enable[c]) { | |
268 | std::array<int, 2> minmax{{0, 3}}; | |
269 | // check min and max endstops | |
270 | for (int i : minmax) { | |
271 | int n= c+i; | |
272 | if(this->pins[n].get()) { | |
273 | // still triggered, so exit | |
ee1c3181 | 274 | bounce_cnt= 0; |
c3d7feb6 JM |
275 | return; |
276 | } | |
277 | } | |
278 | } | |
279 | } | |
ee1c3181 JM |
280 | if(++bounce_cnt > 10) { // can use less as it calls on_idle in between |
281 | // clear the state | |
282 | this->status= NOT_HOMING; | |
283 | } | |
4befe777 | 284 | return; |
c3d7feb6 JM |
285 | |
286 | }else if(this->status != NOT_HOMING) { | |
287 | // don't check while homing | |
288 | return; | |
289 | } | |
3c947f85 JM |
290 | |
291 | for( int c = X_AXIS; c <= Z_AXIS; c++ ) { | |
292 | if(this->limit_enable[c] && STEPPER[c]->is_moving()) { | |
293 | std::array<int, 2> minmax{{0, 3}}; | |
294 | // check min and max endstops | |
295 | for (int i : minmax) { | |
296 | int n= c+i; | |
28166daf JM |
297 | if(debounced_get(n)) { |
298 | // endstop triggered | |
299 | THEKERNEL->streams->printf("Limit switch %s was hit - reset or M999 required\n", endstop_names[n]); | |
300 | this->status= LIMIT_TRIGGERED; | |
301 | // disables heaters and motors, ignores incoming Gcode and flushes block queue | |
302 | THEKERNEL->call_event(ON_HALT, nullptr); | |
303 | return; | |
3c947f85 JM |
304 | } |
305 | } | |
306 | } | |
307 | } | |
308 | } | |
309 | ||
310 | // if limit switches are enabled, then we must move off of the endstop otherwise we won't be able to move | |
5bfcd44a JM |
311 | // checks if triggered and only backs off if triggered |
312 | void Endstops::back_off_home(char axes_to_move) | |
3c947f85 | 313 | { |
7c801094 | 314 | std::vector<std::pair<char,float>> params; |
3c947f85 | 315 | this->status = BACK_OFF_HOME; |
7f3e6350 JM |
316 | |
317 | // these are handled differently | |
1b5776bf | 318 | if(is_delta || is_scara) { |
7f3e6350 | 319 | // Move off of the endstop using a regular relative move in Z only |
7c801094 | 320 | params.push_back({'Z', this->retract_mm[Z_AXIS]*(this->home_direction[Z_AXIS]?1:-1)}); |
44127aca JM |
321 | |
322 | }else{ | |
7f3e6350 | 323 | // cartesians, concatenate all the moves we need to do into one gcode |
44127aca JM |
324 | for( int c = X_AXIS; c <= Z_AXIS; c++ ) { |
325 | if( ((axes_to_move >> c ) & 1) == 0) continue; // only for axes we asked to move | |
7f3e6350 JM |
326 | |
327 | // if not triggered no need to move off | |
28166daf | 328 | if(this->limit_enable[c] && debounced_get(c + (this->home_direction[c] ? 0 : 3)) ) { |
7c801094 | 329 | params.push_back({c+'X', this->retract_mm[c]*(this->home_direction[c]?1:-1)}); |
44127aca | 330 | } |
3c947f85 JM |
331 | } |
332 | } | |
7f3e6350 JM |
333 | |
334 | if(!params.empty()) { | |
335 | // Move off of the endstop using a regular relative move | |
7c801094 | 336 | params.insert(params.begin(), {'G', 0}); |
7f3e6350 | 337 | // use X slow rate to move, Z should have a max speed set anyway |
7c801094 JM |
338 | params.push_back({'F', this->slow_rates[X_AXIS]*60.0F}); |
339 | char gcode_buf[64]; | |
340 | append_parameters(gcode_buf, params, sizeof(gcode_buf)); | |
7f3e6350 JM |
341 | Gcode gc(gcode_buf, &(StreamOutput::NullStream)); |
342 | bool oldmode= THEKERNEL->robot->absolute_mode; | |
343 | THEKERNEL->robot->absolute_mode= false; // needs to be relative mode | |
344 | THEKERNEL->robot->on_gcode_received(&gc); // send to robot directly | |
345 | THEKERNEL->robot->absolute_mode= oldmode; // restore mode | |
346 | // Wait for above to finish | |
347 | THEKERNEL->conveyor->wait_for_empty_queue(); | |
348 | } | |
349 | ||
3c947f85 | 350 | this->status = NOT_HOMING; |
a0e0d592 BG |
351 | } |
352 | ||
2b3cedc7 | 353 | // If enabled will move the head to 0,0 after homing, but only if X and Y were set to home |
2ddf75fd | 354 | void Endstops::move_to_origin(char axes_to_move) |
2b3cedc7 JM |
355 | { |
356 | if( (axes_to_move&0x03) != 3 ) return; // ignore if X and Y not homing | |
357 | ||
fafb45df JM |
358 | // Do we need to check if we are already at 0,0? probably not as the G0 will not do anything if we are |
359 | // float pos[3]; THEKERNEL->robot->get_axis_position(pos); if(pos[0] == 0 && pos[1] == 0) return; | |
360 | ||
2ddf75fd | 361 | this->status = MOVE_TO_ORIGIN; |
2b3cedc7 | 362 | // Move to center using a regular move, use slower of X and Y fast rate |
2955fdbb | 363 | float rate= std::min(this->fast_rates[0], this->fast_rates[1])*60.0F; |
2b3cedc7 JM |
364 | char buf[32]; |
365 | snprintf(buf, sizeof(buf), "G0 X0 Y0 F%1.4f", rate); | |
366 | Gcode gc(buf, &(StreamOutput::NullStream)); | |
367 | THEKERNEL->robot->on_gcode_received(&gc); // send to robot directly | |
368 | ||
369 | // Wait for above to finish | |
370 | THEKERNEL->conveyor->wait_for_empty_queue(); | |
371 | this->status = NOT_HOMING; | |
372 | } | |
373 | ||
798295c1 | 374 | bool Endstops::wait_for_homed(char axes_to_move) |
33e4cc02 | 375 | { |
a0e0d592 | 376 | bool running = true; |
33e4cc02 JM |
377 | unsigned int debounce[3] = {0, 0, 0}; |
378 | while (running) { | |
a0e0d592 | 379 | running = false; |
314ab8f7 | 380 | THEKERNEL->call_event(ON_IDLE); |
798295c1 JM |
381 | |
382 | // check if on_halt (eg kill) | |
73706276 | 383 | if(THEKERNEL->is_halted()) return false; |
798295c1 | 384 | |
56ce2b5a JM |
385 | for ( int c = X_AXIS; c <= Z_AXIS; c++ ) { |
386 | if ( ( axes_to_move >> c ) & 1 ) { | |
387 | if ( this->pins[c + (this->home_direction[c] ? 0 : 3)].get() ) { | |
388 | if ( debounce[c] < debounce_count ) { | |
389 | debounce[c]++; | |
a0e0d592 | 390 | running = true; |
dd0a7cfa JM |
391 | } else if ( STEPPER[c]->is_moving() ) { |
392 | STEPPER[c]->move(0, 0); | |
e0b58122 | 393 | axes_to_move &= ~(1<<c); // no need to check it again |
a0e0d592 | 394 | } |
33e4cc02 | 395 | } else { |
a0e0d592 BG |
396 | // The endstop was not hit yet |
397 | running = true; | |
56ce2b5a | 398 | debounce[c] = 0; |
323cca60 | 399 | } |
a0e0d592 BG |
400 | } |
401 | } | |
402 | } | |
798295c1 | 403 | return true; |
750277f8 | 404 | } |
201bcb94 | 405 | |
81f02e89 | 406 | void Endstops::do_homing_cartesian(char axes_to_move) |
33e4cc02 | 407 | { |
798295c1 | 408 | // check if on_halt (eg kill) |
73706276 | 409 | if(THEKERNEL->is_halted()) return; |
798295c1 | 410 | |
80605954 | 411 | // this homing works for cartesian and delta printers |
f29b0272 | 412 | // Start moving the axes to the origin |
2ddf75fd | 413 | this->status = MOVING_TO_ENDSTOP_FAST; |
56ce2b5a JM |
414 | for ( int c = X_AXIS; c <= Z_AXIS; c++ ) { |
415 | if ( ( axes_to_move >> c) & 1 ) { | |
416 | this->feed_rate[c]= this->fast_rates[c]; | |
6f6677fc | 417 | STEPPER[c]->move(this->home_direction[c], 10000000, 0); |
f29b0272 JM |
418 | } |
419 | } | |
420 | ||
421 | // Wait for all axes to have homed | |
798295c1 | 422 | if(!this->wait_for_homed(axes_to_move)) return; |
f29b0272 JM |
423 | |
424 | // Move back a small distance | |
425 | this->status = MOVING_BACK; | |
426 | bool inverted_dir; | |
56ce2b5a JM |
427 | for ( int c = X_AXIS; c <= Z_AXIS; c++ ) { |
428 | if ( ( axes_to_move >> c ) & 1 ) { | |
429 | inverted_dir = !this->home_direction[c]; | |
430 | this->feed_rate[c]= this->slow_rates[c]; | |
6f6677fc | 431 | STEPPER[c]->move(inverted_dir, this->retract_mm[c]*STEPS_PER_MM(c), 0); |
f29b0272 JM |
432 | } |
433 | } | |
434 | ||
33e4cc02 | 435 | // Wait for moves to be done |
56ce2b5a JM |
436 | for ( int c = X_AXIS; c <= Z_AXIS; c++ ) { |
437 | if ( ( axes_to_move >> c ) & 1 ) { | |
dd0a7cfa | 438 | while ( STEPPER[c]->is_moving() ) { |
314ab8f7 | 439 | THEKERNEL->call_event(ON_IDLE); |
ca287785 | 440 | if(THEKERNEL->is_halted()) return; |
f29b0272 JM |
441 | } |
442 | } | |
443 | } | |
444 | ||
445 | // Start moving the axes to the origin slowly | |
2ddf75fd | 446 | this->status = MOVING_TO_ENDSTOP_SLOW; |
56ce2b5a JM |
447 | for ( int c = X_AXIS; c <= Z_AXIS; c++ ) { |
448 | if ( ( axes_to_move >> c ) & 1 ) { | |
449 | this->feed_rate[c]= this->slow_rates[c]; | |
6f6677fc | 450 | STEPPER[c]->move(this->home_direction[c], 10000000, 0); |
f29b0272 JM |
451 | } |
452 | } | |
453 | ||
454 | // Wait for all axes to have homed | |
798295c1 | 455 | if(!this->wait_for_homed(axes_to_move)) return; |
f29b0272 JM |
456 | } |
457 | ||
798295c1 | 458 | bool Endstops::wait_for_homed_corexy(int axis) |
33e4cc02 | 459 | { |
3db88866 | 460 | bool running = true; |
33e4cc02 JM |
461 | unsigned int debounce[3] = {0, 0, 0}; |
462 | while (running) { | |
3db88866 | 463 | running = false; |
314ab8f7 | 464 | THEKERNEL->call_event(ON_IDLE); |
798295c1 JM |
465 | |
466 | // check if on_halt (eg kill) | |
73706276 | 467 | if(THEKERNEL->is_halted()) return false; |
798295c1 | 468 | |
33e4cc02 JM |
469 | if ( this->pins[axis + (this->home_direction[axis] ? 0 : 3)].get() ) { |
470 | if ( debounce[axis] < debounce_count ) { | |
3db88866 JM |
471 | debounce[axis] ++; |
472 | running = true; | |
473 | } else { | |
474 | // turn both off if running | |
dd0a7cfa JM |
475 | if (STEPPER[X_AXIS]->is_moving()) STEPPER[X_AXIS]->move(0, 0); |
476 | if (STEPPER[Y_AXIS]->is_moving()) STEPPER[Y_AXIS]->move(0, 0); | |
3db88866 | 477 | } |
33e4cc02 | 478 | } else { |
3db88866 JM |
479 | // The endstop was not hit yet |
480 | running = true; | |
481 | debounce[axis] = 0; | |
482 | } | |
483 | } | |
798295c1 | 484 | return true; |
3db88866 JM |
485 | } |
486 | ||
1ad23cd3 | 487 | void Endstops::corexy_home(int home_axis, bool dirx, bool diry, float fast_rate, float slow_rate, unsigned int retract_steps) |
33e4cc02 | 488 | { |
798295c1 | 489 | // check if on_halt (eg kill) |
73706276 | 490 | if(THEKERNEL->is_halted()) return; |
798295c1 | 491 | |
2ddf75fd | 492 | this->status = MOVING_TO_ENDSTOP_FAST; |
64eaf21e | 493 | this->feed_rate[X_AXIS]= fast_rate; |
6f6677fc | 494 | STEPPER[X_AXIS]->move(dirx, 10000000, 0); |
64eaf21e | 495 | this->feed_rate[Y_AXIS]= fast_rate; |
6f6677fc | 496 | STEPPER[Y_AXIS]->move(diry, 10000000, 0); |
f29b0272 | 497 | |
33e4cc02 | 498 | // wait for primary axis |
798295c1 | 499 | if(!this->wait_for_homed_corexy(home_axis)) return; |
f29b0272 | 500 | |
33e4cc02 JM |
501 | // Move back a small distance |
502 | this->status = MOVING_BACK; | |
64eaf21e | 503 | this->feed_rate[X_AXIS]= slow_rate; |
6f6677fc | 504 | STEPPER[X_AXIS]->move(!dirx, retract_steps, 0); |
64eaf21e | 505 | this->feed_rate[Y_AXIS]= slow_rate; |
6f6677fc | 506 | STEPPER[Y_AXIS]->move(!diry, retract_steps, 0); |
33e4cc02 JM |
507 | |
508 | // wait until done | |
dd0a7cfa | 509 | while ( STEPPER[X_AXIS]->is_moving() || STEPPER[Y_AXIS]->is_moving()) { |
314ab8f7 | 510 | THEKERNEL->call_event(ON_IDLE); |
ca287785 | 511 | if(THEKERNEL->is_halted()) return; |
f29b0272 JM |
512 | } |
513 | ||
33e4cc02 | 514 | // Start moving the axes to the origin slowly |
2ddf75fd | 515 | this->status = MOVING_TO_ENDSTOP_SLOW; |
64eaf21e | 516 | this->feed_rate[X_AXIS]= slow_rate; |
6f6677fc | 517 | STEPPER[X_AXIS]->move(dirx, 10000000, 0); |
64eaf21e | 518 | this->feed_rate[Y_AXIS]= slow_rate; |
6f6677fc | 519 | STEPPER[Y_AXIS]->move(diry, 10000000, 0); |
f29b0272 | 520 | |
33e4cc02 | 521 | // wait for primary axis |
798295c1 | 522 | if(!this->wait_for_homed_corexy(home_axis)) return; |
33e4cc02 | 523 | } |
f29b0272 | 524 | |
33e4cc02 JM |
525 | // this homing works for HBots/CoreXY |
526 | void Endstops::do_homing_corexy(char axes_to_move) | |
527 | { | |
03dffc07 | 528 | // TODO should really make order configurable, and select whether to allow XY to home at the same time, diagonally |
174d9961 | 529 | // 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 | 530 | // allow to move until an endstop triggers, then stop that motor. Speed up when moving diagonally to match X or Y speed |
174d9961 | 531 | // continue moving in the direction not yet triggered (which means two motors turning) until endstop hit |
174d9961 JM |
532 | |
533 | if((axes_to_move & 0x03) == 0x03) { // both X and Y need Homing | |
534 | // determine which motor to turn and which way | |
535 | bool dirx= this->home_direction[X_AXIS]; | |
536 | bool diry= this->home_direction[Y_AXIS]; | |
537 | int motor; | |
538 | bool dir; | |
539 | if(dirx && diry) { // min/min | |
540 | motor= X_AXIS; | |
541 | dir= true; | |
542 | }else if(dirx && !diry) { // min/max | |
543 | motor= Y_AXIS; | |
544 | dir= true; | |
545 | }else if(!dirx && diry) { // max/min | |
546 | motor= Y_AXIS; | |
547 | dir= false; | |
548 | }else if(!dirx && !diry) { // max/max | |
549 | motor= X_AXIS; | |
550 | dir= false; | |
551 | } | |
552 | ||
553 | // then move both X and Y until one hits the endstop | |
2ddf75fd | 554 | this->status = MOVING_TO_ENDSTOP_FAST; |
6f6677fc | 555 | // need to allow for more ground covered when moving diagonally |
64eaf21e | 556 | this->feed_rate[motor]= this->fast_rates[motor]*1.4142; |
6f6677fc | 557 | STEPPER[motor]->move(dir, 10000000, 0); |
174d9961 JM |
558 | // wait until either X or Y hits the endstop |
559 | bool running= true; | |
560 | while (running) { | |
314ab8f7 | 561 | THEKERNEL->call_event(ON_IDLE); |
ca287785 | 562 | if(THEKERNEL->is_halted()) return; |
174d9961 JM |
563 | for(int m=X_AXIS;m<=Y_AXIS;m++) { |
564 | if(this->pins[m + (this->home_direction[m] ? 0 : 3)].get()) { | |
565 | // turn off motor | |
dd0a7cfa | 566 | if(STEPPER[motor]->is_moving()) STEPPER[motor]->move(0, 0); |
174d9961 JM |
567 | running= false; |
568 | break; | |
569 | } | |
570 | } | |
571 | } | |
572 | } | |
33e4cc02 | 573 | |
174d9961 | 574 | // move individual axis |
33e4cc02 | 575 | if (axes_to_move & 0x01) { // Home X, which means both X and Y in same direction |
413dd90c | 576 | bool dir= this->home_direction[X_AXIS]; |
56ce2b5a | 577 | 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 |
578 | } |
579 | ||
65191d91 JM |
580 | if (axes_to_move & 0x02) { // Home Y, which means both X and Y in different directions |
581 | bool dir= this->home_direction[Y_AXIS]; | |
56ce2b5a | 582 | 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 |
583 | } |
584 | ||
33e4cc02 | 585 | if (axes_to_move & 0x04) { // move Z |
81f02e89 | 586 | do_homing_cartesian(0x04); // just home normally for Z |
f29b0272 | 587 | } |
f29b0272 JM |
588 | } |
589 | ||
81f02e89 JM |
590 | void Endstops::home(char axes_to_move) |
591 | { | |
72833629 JM |
592 | // not a block move so disable the last tick setting |
593 | for ( int c = X_AXIS; c <= Z_AXIS; c++ ) { | |
594 | STEPPER[c]->set_moved_last_block(false); | |
595 | } | |
596 | ||
81f02e89 JM |
597 | if (is_corexy){ |
598 | // corexy/HBot homing | |
599 | do_homing_corexy(axes_to_move); | |
600 | }else{ | |
601 | // cartesian/delta homing | |
602 | do_homing_cartesian(axes_to_move); | |
603 | } | |
0058d8d4 JM |
604 | |
605 | // make sure all steppers are off (especially if aborted) | |
606 | for ( int c = X_AXIS; c <= Z_AXIS; c++ ) { | |
607 | STEPPER[c]->move(0, 0); | |
608 | } | |
ca287785 | 609 | this->status = NOT_HOMING; |
81f02e89 JM |
610 | } |
611 | ||
201bcb94 | 612 | // Start homing sequences by response to GCode commands |
33e4cc02 | 613 | void Endstops::on_gcode_received(void *argument) |
c339d634 | 614 | { |
33e4cc02 JM |
615 | Gcode *gcode = static_cast<Gcode *>(argument); |
616 | if ( gcode->has_g) { | |
617 | if ( gcode->g == 28 ) { | |
cbf7b053 | 618 | if(gcode->subcode == 1) { // G28.1 |
739e3e6f JM |
619 | if(gcode->get_num_args() == 0) { |
620 | THEKERNEL->robot->reset_axis_position(0, 0, 0); | |
621 | }else{ | |
622 | // do a manual homing based on current position, no endstops required | |
623 | if(gcode->has_letter('X')) THEKERNEL->robot->reset_axis_position(gcode->get_value('X'), X_AXIS); | |
624 | if(gcode->has_letter('Y')) THEKERNEL->robot->reset_axis_position(gcode->get_value('Y'), Y_AXIS); | |
625 | if(gcode->has_letter('Z')) THEKERNEL->robot->reset_axis_position(gcode->get_value('Z'), Z_AXIS); | |
626 | } | |
cbf7b053 JM |
627 | return; |
628 | } | |
6e92ab91 | 629 | |
df27a6a3 | 630 | // G28 is received, we have homing to do |
201bcb94 AW |
631 | |
632 | // First wait for the queue to be empty | |
314ab8f7 | 633 | THEKERNEL->conveyor->wait_for_empty_queue(); |
201bcb94 AW |
634 | |
635 | // Do we move select axes or all of them | |
7dee696d | 636 | char axes_to_move = 0; |
3e1f5b74 QH |
637 | // only enable homing if the endstop is defined, deltas, scaras always home all axis |
638 | bool home_all = this->is_delta || this->is_scara || !( gcode->has_letter('X') || gcode->has_letter('Y') || gcode->has_letter('Z') ); | |
47bbe224 | 639 | |
56ce2b5a JM |
640 | for ( int c = X_AXIS; c <= Z_AXIS; c++ ) { |
641 | if ( (home_all || gcode->has_letter(c+'X')) && this->pins[c + (this->home_direction[c] ? 0 : 3)].connected() ) { | |
642 | axes_to_move += ( 1 << c ); | |
33e4cc02 | 643 | } |
df27a6a3 | 644 | } |
3b948656 | 645 | |
f6c04440 | 646 | // Enable the motors |
314ab8f7 | 647 | THEKERNEL->stepper->turn_enable_pins_on(); |
f6c04440 | 648 | |
f29b0272 | 649 | // do the actual homing |
80605954 JM |
650 | if(homing_order != 0){ |
651 | // if an order has been specified do it in the specified order | |
652 | // homing order is 0b00ccbbaa where aa is 0,1,2 to specify the first axis, bb is the second and cc is the third | |
653 | // eg 0b00100001 would be Y X Z, 0b00100100 would be X Y Z | |
654 | for (uint8_t m = homing_order; m != 0; m >>= 2) { | |
655 | int a= (1 << (m & 0x03)); // axis to move | |
798295c1 | 656 | if((a & axes_to_move) != 0){ |
81f02e89 | 657 | home(a); |
798295c1 JM |
658 | } |
659 | // check if on_halt (eg kill) | |
aa896868 | 660 | if(THEKERNEL->is_halted()) break; |
80605954 | 661 | } |
798295c1 | 662 | |
80605954 JM |
663 | }else { |
664 | // they all home at the same time | |
81f02e89 | 665 | home(axes_to_move); |
80605954 | 666 | } |
3ffe27fb | 667 | |
798295c1 | 668 | // check if on_halt (eg kill) |
aa896868 JM |
669 | if(THEKERNEL->is_halted()){ |
670 | THEKERNEL->streams->printf("Homing cycle aborted by kill\n"); | |
671 | return; | |
672 | } | |
798295c1 | 673 | |
cef9acea | 674 | if(home_all) { |
7552475b OL |
675 | // Here's where we would have been if the endstops were perfectly trimmed |
676 | float ideal_position[3] = { | |
cef9acea JM |
677 | this->homing_position[X_AXIS] + this->home_offset[X_AXIS], |
678 | this->homing_position[Y_AXIS] + this->home_offset[Y_AXIS], | |
7552475b OL |
679 | this->homing_position[Z_AXIS] + this->home_offset[Z_AXIS] |
680 | }; | |
681 | ||
682 | bool has_endstop_trim = this->is_delta || this->is_scara; | |
683 | if (has_endstop_trim) { | |
807b9b57 | 684 | ActuatorCoordinates ideal_actuator_position; |
7552475b OL |
685 | THEKERNEL->robot->arm_solution->cartesian_to_actuator(ideal_position, ideal_actuator_position); |
686 | ||
687 | // We are actually not at the ideal position, but a trim away | |
807b9b57 | 688 | ActuatorCoordinates real_actuator_position = { |
7552475b OL |
689 | ideal_actuator_position[X_AXIS] - this->trim_mm[X_AXIS], |
690 | ideal_actuator_position[Y_AXIS] - this->trim_mm[Y_AXIS], | |
691 | ideal_actuator_position[Z_AXIS] - this->trim_mm[Z_AXIS] | |
692 | }; | |
693 | ||
694 | float real_position[3]; | |
695 | THEKERNEL->robot->arm_solution->actuator_to_cartesian(real_actuator_position, real_position); | |
696 | // Reset the actuator positions to correspond our real position | |
697 | THEKERNEL->robot->reset_axis_position(real_position[0], real_position[1], real_position[2]); | |
698 | } else { | |
699 | // without endstop trim, real_position == ideal_position | |
700 | // Reset the actuator positions to correspond our real position | |
701 | THEKERNEL->robot->reset_axis_position(ideal_position[0], ideal_position[1], ideal_position[2]); | |
702 | } | |
703 | } else { | |
cef9acea JM |
704 | // Zero the ax(i/e)s position, add in the home offset |
705 | for ( int c = X_AXIS; c <= Z_AXIS; c++ ) { | |
706 | if ( (axes_to_move >> c) & 1 ) { | |
707 | THEKERNEL->robot->reset_axis_position(this->homing_position[c] + this->home_offset[c], c); | |
708 | } | |
3ffe27fb AV |
709 | } |
710 | } | |
3c947f85 | 711 | |
1b5776bf | 712 | // on some systems where 0,0 is bed center it is nice to have home goto 0,0 after homing |
2b3cedc7 | 713 | // default is off |
1b5776bf JM |
714 | if(!is_delta) { |
715 | if(this->move_to_origin_after_home) move_to_origin(axes_to_move); | |
716 | // if limit switches are enabled we must back off endstop after setting home | |
717 | back_off_home(axes_to_move); | |
718 | ||
719 | }else if(this->move_to_origin_after_home || this->limit_enable[X_AXIS]) { | |
720 | // deltas are not left at 0,0 because of the trim settings, so move to 0,0 if requested, but we need to back off endstops first | |
721 | // also need to back off endstops if limits are enabled | |
722 | back_off_home(axes_to_move); | |
723 | if(this->move_to_origin_after_home) move_to_origin(axes_to_move); | |
724 | } | |
c339d634 | 725 | } |
81f02e89 | 726 | |
33e4cc02 JM |
727 | } else if (gcode->has_m) { |
728 | switch (gcode->m) { | |
729 | case 119: { | |
ef7bd372 JM |
730 | for (int i = 0; i < 6; ++i) { |
731 | if(this->pins[i].connected()) | |
732 | gcode->stream->printf("%s:%d ", endstop_names[i], this->pins[i].get()); | |
733 | } | |
bd96f4d7 | 734 | gcode->add_nl= true; |
6e92ab91 | 735 | |
33e4cc02 JM |
736 | } |
737 | break; | |
738 | ||
739 | case 206: // M206 - set homing offset | |
504f0e3e JM |
740 | if (gcode->has_letter('X')) home_offset[0] = gcode->get_value('X'); |
741 | if (gcode->has_letter('Y')) home_offset[1] = gcode->get_value('Y'); | |
742 | if (gcode->has_letter('Z')) home_offset[2] = gcode->get_value('Z'); | |
743 | gcode->stream->printf("X %5.3f Y %5.3f Z %5.3f\n", home_offset[0], home_offset[1], home_offset[2]); | |
6e92ab91 | 744 | |
504f0e3e | 745 | break; |
0e4bf280 | 746 | |
9ae8c7e4 | 747 | case 306: // Similar to M206 and G92 but sets Homing offsets based on current position, Would be M207 but that is taken |
504f0e3e JM |
748 | { |
749 | float cartesian[3]; | |
0e4bf280 | 750 | THEKERNEL->robot->get_axis_position(cartesian); // get actual position from robot |
9ae8c7e4 JM |
751 | if (gcode->has_letter('X')){ |
752 | home_offset[0] -= (cartesian[X_AXIS] - gcode->get_value('X')); | |
753 | THEKERNEL->robot->reset_axis_position(gcode->get_value('X'), X_AXIS); | |
754 | } | |
755 | if (gcode->has_letter('Y')) { | |
756 | home_offset[1] -= (cartesian[Y_AXIS] - gcode->get_value('Y')); | |
757 | THEKERNEL->robot->reset_axis_position(gcode->get_value('Y'), Y_AXIS); | |
758 | } | |
759 | if (gcode->has_letter('Z')) { | |
760 | home_offset[2] -= (cartesian[Z_AXIS] - gcode->get_value('Z')); | |
761 | THEKERNEL->robot->reset_axis_position(gcode->get_value('Z'), Z_AXIS); | |
762 | } | |
763 | ||
764 | 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 | 765 | |
0e4bf280 | 766 | } |
33e4cc02 JM |
767 | break; |
768 | ||
769 | case 500: // save settings | |
770 | case 503: // print settings | |
771 | 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 | 772 | if (this->is_delta || this->is_scara) { |
56ce2b5a JM |
773 | 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]); |
774 | gcode->stream->printf(";Max Z\nM665 Z%1.3f\n", this->homing_position[2]); | |
7a8fe6e0 | 775 | } |
c339d634 | 776 | break; |
47bbe224 | 777 | |
ec4773e5 | 778 | case 665: { // M665 - set max gamma/z height |
6e92ab91 | 779 | |
1ad23cd3 | 780 | float gamma_max = this->homing_position[2]; |
33e4cc02 JM |
781 | if (gcode->has_letter('Z')) { |
782 | this->homing_position[2] = gamma_max = gcode->get_value('Z'); | |
ec4773e5 | 783 | } |
33e4cc02 JM |
784 | gcode->stream->printf("Max Z %8.3f ", gamma_max); |
785 | gcode->add_nl = true; | |
786 | } | |
787 | break; | |
ec4773e5 | 788 | |
47bbe224 | 789 | |
56ce2b5a | 790 | case 666: |
3e1f5b74 | 791 | if(this->is_delta || this->is_scara) { // M666 - set trim for each axis in mm, NB negative mm trim is down |
56ce2b5a JM |
792 | if (gcode->has_letter('X')) trim_mm[0] = gcode->get_value('X'); |
793 | if (gcode->has_letter('Y')) trim_mm[1] = gcode->get_value('Y'); | |
794 | if (gcode->has_letter('Z')) trim_mm[2] = gcode->get_value('Z'); | |
47bbe224 | 795 | |
56ce2b5a JM |
796 | // print the current trim values in mm |
797 | gcode->stream->printf("X: %5.3f Y: %5.3f Z: %5.3f\n", trim_mm[0], trim_mm[1], trim_mm[2]); | |
6e92ab91 | 798 | |
56ce2b5a | 799 | } |
33e4cc02 | 800 | break; |
47bbe224 | 801 | |
d4ee6ee2 | 802 | // NOTE this is to test accuracy of lead screws etc. |
fc320ac5 | 803 | case 1910: { // M1910 - move specific number of raw steps |
b023850b JM |
804 | if(gcode->subcode == 0) { |
805 | // Enable the motors | |
806 | THEKERNEL->stepper->turn_enable_pins_on(); | |
807 | ||
808 | int x= 0, y=0 , z= 0, f= 200*16; | |
809 | if (gcode->has_letter('F')) f = gcode->get_value('F'); | |
810 | if (gcode->has_letter('X')) { | |
811 | x = gcode->get_value('X'); | |
812 | STEPPER[X_AXIS]->move(x<0, abs(x), f); | |
813 | } | |
814 | if (gcode->has_letter('Y')) { | |
815 | y = gcode->get_value('Y'); | |
816 | STEPPER[Y_AXIS]->move(y<0, abs(y), f); | |
817 | } | |
818 | if (gcode->has_letter('Z')) { | |
819 | z = gcode->get_value('Z'); | |
820 | STEPPER[Z_AXIS]->move(z<0, abs(z), f); | |
821 | } | |
822 | gcode->stream->printf("Moving X %d Y %d Z %d steps at F %d steps/sec\n", x, y, z, f); | |
823 | ||
824 | }else if(gcode->subcode == 1) { | |
825 | // stop any that are moving | |
826 | for (int i = 0; i < 3; ++i) { | |
827 | if(STEPPER[i]->is_moving()) STEPPER[i]->move(0, 0); | |
828 | } | |
d4ee6ee2 | 829 | } |
d4ee6ee2 JM |
830 | break; |
831 | } | |
201bcb94 AW |
832 | } |
833 | } | |
834 | } | |
835 | ||
64eaf21e | 836 | // Called periodically to change the speed to match acceleration |
a157d099 | 837 | void Endstops::acceleration_tick(void) |
64eaf21e | 838 | { |
a157d099 | 839 | if(this->status >= NOT_HOMING) return; // nothing to do, only do this when moving for homing sequence |
64eaf21e JM |
840 | |
841 | // foreach stepper that is moving | |
842 | for ( int c = X_AXIS; c <= Z_AXIS; c++ ) { | |
dd0a7cfa | 843 | if( !STEPPER[c]->is_moving() ) continue; |
64eaf21e | 844 | |
dd0a7cfa | 845 | uint32_t current_rate = STEPPER[c]->get_steps_per_second(); |
c8f4ee77 | 846 | uint32_t target_rate = floorf(this->feed_rate[c]*STEPS_PER_MM(c)); |
c5fe1787 | 847 | float acc= (c==Z_AXIS) ? THEKERNEL->planner->get_z_acceleration() : THEKERNEL->planner->get_acceleration(); |
64eaf21e | 848 | if( current_rate < target_rate ){ |
a157d099 | 849 | uint32_t rate_increase = floorf((acc/THEKERNEL->acceleration_ticks_per_second)*STEPS_PER_MM(c)); |
64eaf21e JM |
850 | current_rate = min( target_rate, current_rate + rate_increase ); |
851 | } | |
852 | if( current_rate > target_rate ){ current_rate = target_rate; } | |
853 | ||
854 | // steps per second | |
6f6677fc | 855 | STEPPER[c]->set_speed(current_rate); |
64eaf21e JM |
856 | } |
857 | ||
a157d099 | 858 | return; |
64eaf21e | 859 | } |
9f6f04a5 JM |
860 | |
861 | void Endstops::on_get_public_data(void* argument){ | |
862 | PublicDataRequest* pdr = static_cast<PublicDataRequest*>(argument); | |
863 | ||
864 | if(!pdr->starts_with(endstops_checksum)) return; | |
865 | ||
866 | if(pdr->second_element_is(trim_checksum)) { | |
86fa0b93 | 867 | pdr->set_data_ptr(&this->trim_mm); |
ea5c6d92 JM |
868 | pdr->set_taken(); |
869 | ||
870 | }else if(pdr->second_element_is(home_offset_checksum)) { | |
86fa0b93 | 871 | pdr->set_data_ptr(&this->home_offset); |
9f6f04a5 JM |
872 | pdr->set_taken(); |
873 | } | |
874 | } | |
7d6fe308 JM |
875 | |
876 | void Endstops::on_set_public_data(void* argument){ | |
877 | PublicDataRequest* pdr = static_cast<PublicDataRequest*>(argument); | |
878 | ||
879 | if(!pdr->starts_with(endstops_checksum)) return; | |
880 | ||
881 | if(pdr->second_element_is(trim_checksum)) { | |
882 | float *t= static_cast<float*>(pdr->get_data_ptr()); | |
883 | this->trim_mm[0]= t[0]; | |
884 | this->trim_mm[1]= t[1]; | |
885 | this->trim_mm[2]= t[2]; | |
886 | pdr->set_taken(); | |
ea5c6d92 JM |
887 | |
888 | }else if(pdr->second_element_is(home_offset_checksum)) { | |
889 | float *t= static_cast<float*>(pdr->get_data_ptr()); | |
890 | if(!isnan(t[0])) this->home_offset[0]= t[0]; | |
891 | if(!isnan(t[1])) this->home_offset[1]= t[1]; | |
892 | if(!isnan(t[2])) this->home_offset[2]= t[2]; | |
7d6fe308 JM |
893 | } |
894 | } |