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 | 18 | #include "Robot.h" |
61134a65 JM |
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" |
e551657a | 31 | #include "SerialMessage.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") | |
11a39396 | 45 | #define rdelta_homing_checksum CHECKSUM("rdelta_homing") |
3e1f5b74 | 46 | #define scara_homing_checksum CHECKSUM("scara_homing") |
33e4cc02 JM |
47 | |
48 | #define alpha_min_endstop_checksum CHECKSUM("alpha_min_endstop") | |
49 | #define beta_min_endstop_checksum CHECKSUM("beta_min_endstop") | |
50 | #define gamma_min_endstop_checksum CHECKSUM("gamma_min_endstop") | |
51 | ||
52 | #define alpha_max_endstop_checksum CHECKSUM("alpha_max_endstop") | |
53 | #define beta_max_endstop_checksum CHECKSUM("beta_max_endstop") | |
54 | #define gamma_max_endstop_checksum CHECKSUM("gamma_max_endstop") | |
55 | ||
56 | #define alpha_trim_checksum CHECKSUM("alpha_trim") | |
57 | #define beta_trim_checksum CHECKSUM("beta_trim") | |
58 | #define gamma_trim_checksum CHECKSUM("gamma_trim") | |
59 | ||
abf706e6 JM |
60 | #define alpha_max_travel_checksum CHECKSUM("alpha_max_travel") |
61 | #define beta_max_travel_checksum CHECKSUM("beta_max_travel") | |
62 | #define gamma_max_travel_checksum CHECKSUM("gamma_max_travel") | |
63 | ||
33e4cc02 JM |
64 | // these values are in steps and should be deprecated |
65 | #define alpha_fast_homing_rate_checksum CHECKSUM("alpha_fast_homing_rate") | |
66 | #define beta_fast_homing_rate_checksum CHECKSUM("beta_fast_homing_rate") | |
67 | #define gamma_fast_homing_rate_checksum CHECKSUM("gamma_fast_homing_rate") | |
68 | ||
69 | #define alpha_slow_homing_rate_checksum CHECKSUM("alpha_slow_homing_rate") | |
70 | #define beta_slow_homing_rate_checksum CHECKSUM("beta_slow_homing_rate") | |
71 | #define gamma_slow_homing_rate_checksum CHECKSUM("gamma_slow_homing_rate") | |
72 | ||
73 | #define alpha_homing_retract_checksum CHECKSUM("alpha_homing_retract") | |
74 | #define beta_homing_retract_checksum CHECKSUM("beta_homing_retract") | |
75 | #define gamma_homing_retract_checksum CHECKSUM("gamma_homing_retract") | |
33e4cc02 JM |
76 | |
77 | // same as above but in user friendly mm/s and mm | |
78 | #define alpha_fast_homing_rate_mm_checksum CHECKSUM("alpha_fast_homing_rate_mm_s") | |
79 | #define beta_fast_homing_rate_mm_checksum CHECKSUM("beta_fast_homing_rate_mm_s") | |
80 | #define gamma_fast_homing_rate_mm_checksum CHECKSUM("gamma_fast_homing_rate_mm_s") | |
81 | ||
82 | #define alpha_slow_homing_rate_mm_checksum CHECKSUM("alpha_slow_homing_rate_mm_s") | |
83 | #define beta_slow_homing_rate_mm_checksum CHECKSUM("beta_slow_homing_rate_mm_s") | |
84 | #define gamma_slow_homing_rate_mm_checksum CHECKSUM("gamma_slow_homing_rate_mm_s") | |
85 | ||
86 | #define alpha_homing_retract_mm_checksum CHECKSUM("alpha_homing_retract_mm") | |
87 | #define beta_homing_retract_mm_checksum CHECKSUM("beta_homing_retract_mm") | |
88 | #define gamma_homing_retract_mm_checksum CHECKSUM("gamma_homing_retract_mm") | |
89 | ||
90 | #define endstop_debounce_count_checksum CHECKSUM("endstop_debounce_count") | |
7778d1ce | 91 | #define endstop_debounce_ms_checksum CHECKSUM("endstop_debounce_ms") |
33e4cc02 JM |
92 | |
93 | #define alpha_homing_direction_checksum CHECKSUM("alpha_homing_direction") | |
94 | #define beta_homing_direction_checksum CHECKSUM("beta_homing_direction") | |
95 | #define gamma_homing_direction_checksum CHECKSUM("gamma_homing_direction") | |
1c658603 | 96 | |
33e4cc02 JM |
97 | #define alpha_min_checksum CHECKSUM("alpha_min") |
98 | #define beta_min_checksum CHECKSUM("beta_min") | |
99 | #define gamma_min_checksum CHECKSUM("gamma_min") | |
100 | ||
101 | #define alpha_max_checksum CHECKSUM("alpha_max") | |
102 | #define beta_max_checksum CHECKSUM("beta_max") | |
103 | #define gamma_max_checksum CHECKSUM("gamma_max") | |
104 | ||
3c947f85 JM |
105 | #define alpha_limit_enable_checksum CHECKSUM("alpha_limit_enable") |
106 | #define beta_limit_enable_checksum CHECKSUM("beta_limit_enable") | |
107 | #define gamma_limit_enable_checksum CHECKSUM("gamma_limit_enable") | |
108 | ||
374d0777 | 109 | #define home_z_first_checksum CHECKSUM("home_z_first") |
80605954 | 110 | #define homing_order_checksum CHECKSUM("homing_order") |
2ddf75fd | 111 | #define move_to_origin_checksum CHECKSUM("move_to_origin_after_home") |
80605954 | 112 | |
c8bac202 | 113 | #define STEPPER THEROBOT->actuators |
dd0a7cfa | 114 | #define STEPS_PER_MM(a) (STEPPER[a]->get_steps_per_mm()) |
56ce2b5a | 115 | |
2b3cedc7 | 116 | |
3c947f85 | 117 | // Homing States |
e714bd32 | 118 | enum { |
2ddf75fd | 119 | MOVING_TO_ENDSTOP_FAST, // homing move |
2ddf75fd | 120 | MOVING_TO_ENDSTOP_SLOW, // homing move |
98e30679 | 121 | MOVING_BACK, // homing move |
fafb45df | 122 | NOT_HOMING, |
3c947f85 | 123 | BACK_OFF_HOME, |
2ddf75fd | 124 | MOVE_TO_ORIGIN, |
3c947f85 JM |
125 | LIMIT_TRIGGERED |
126 | }; | |
127 | ||
33e4cc02 JM |
128 | Endstops::Endstops() |
129 | { | |
201bcb94 | 130 | this->status = NOT_HOMING; |
33e4cc02 | 131 | home_offset[0] = home_offset[1] = home_offset[2] = 0.0F; |
c8bac202 | 132 | debounce.fill(0); |
201bcb94 AW |
133 | } |
134 | ||
33e4cc02 JM |
135 | void Endstops::on_module_loaded() |
136 | { | |
7dee696d | 137 | // Do not do anything if not enabled |
314ab8f7 | 138 | if ( THEKERNEL->config->value( endstops_module_enable_checksum )->by_default(true)->as_bool() == false ) { |
4e722c00 | 139 | delete this; |
33e4cc02 JM |
140 | return; |
141 | } | |
7d62445b | 142 | |
9f6f04a5 JM |
143 | register_for_event(ON_GCODE_RECEIVED); |
144 | register_for_event(ON_GET_PUBLIC_DATA); | |
7d6fe308 | 145 | register_for_event(ON_SET_PUBLIC_DATA); |
201bcb94 | 146 | |
750277f8 | 147 | // Settings |
7492a02e | 148 | this->load_config(); |
c8bac202 JM |
149 | |
150 | THEKERNEL->slow_ticker->attach(1000, this, &Endstops::read_endstops); | |
201bcb94 AW |
151 | } |
152 | ||
750277f8 | 153 | // Get config |
7492a02e | 154 | void Endstops::load_config() |
33e4cc02 | 155 | { |
56ce2b5a JM |
156 | this->pins[0].from_string( THEKERNEL->config->value(alpha_min_endstop_checksum )->by_default("nc" )->as_string())->as_input(); |
157 | this->pins[1].from_string( THEKERNEL->config->value(beta_min_endstop_checksum )->by_default("nc" )->as_string())->as_input(); | |
158 | this->pins[2].from_string( THEKERNEL->config->value(gamma_min_endstop_checksum )->by_default("nc" )->as_string())->as_input(); | |
159 | this->pins[3].from_string( THEKERNEL->config->value(alpha_max_endstop_checksum )->by_default("nc" )->as_string())->as_input(); | |
160 | this->pins[4].from_string( THEKERNEL->config->value(beta_max_endstop_checksum )->by_default("nc" )->as_string())->as_input(); | |
161 | this->pins[5].from_string( THEKERNEL->config->value(gamma_max_endstop_checksum )->by_default("nc" )->as_string())->as_input(); | |
162 | ||
163 | // These are the old ones in steps still here for backwards compatibility | |
164 | this->fast_rates[0] = THEKERNEL->config->value(alpha_fast_homing_rate_checksum )->by_default(4000 )->as_number() / STEPS_PER_MM(0); | |
165 | this->fast_rates[1] = THEKERNEL->config->value(beta_fast_homing_rate_checksum )->by_default(4000 )->as_number() / STEPS_PER_MM(1); | |
166 | this->fast_rates[2] = THEKERNEL->config->value(gamma_fast_homing_rate_checksum )->by_default(6400 )->as_number() / STEPS_PER_MM(2); | |
167 | this->slow_rates[0] = THEKERNEL->config->value(alpha_slow_homing_rate_checksum )->by_default(2000 )->as_number() / STEPS_PER_MM(0); | |
168 | this->slow_rates[1] = THEKERNEL->config->value(beta_slow_homing_rate_checksum )->by_default(2000 )->as_number() / STEPS_PER_MM(1); | |
169 | this->slow_rates[2] = THEKERNEL->config->value(gamma_slow_homing_rate_checksum )->by_default(3200 )->as_number() / STEPS_PER_MM(2); | |
170 | this->retract_mm[0] = THEKERNEL->config->value(alpha_homing_retract_checksum )->by_default(400 )->as_number() / STEPS_PER_MM(0); | |
171 | this->retract_mm[1] = THEKERNEL->config->value(beta_homing_retract_checksum )->by_default(400 )->as_number() / STEPS_PER_MM(1); | |
172 | this->retract_mm[2] = THEKERNEL->config->value(gamma_homing_retract_checksum )->by_default(1600 )->as_number() / STEPS_PER_MM(2); | |
5de98d7c JM |
173 | |
174 | // 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 |
175 | this->fast_rates[0] = THEKERNEL->config->value(alpha_fast_homing_rate_mm_checksum )->by_default(this->fast_rates[0])->as_number(); |
176 | this->fast_rates[1] = THEKERNEL->config->value(beta_fast_homing_rate_mm_checksum )->by_default(this->fast_rates[1])->as_number(); | |
177 | this->fast_rates[2] = THEKERNEL->config->value(gamma_fast_homing_rate_mm_checksum )->by_default(this->fast_rates[2])->as_number(); | |
178 | this->slow_rates[0] = THEKERNEL->config->value(alpha_slow_homing_rate_mm_checksum )->by_default(this->slow_rates[0])->as_number(); | |
179 | this->slow_rates[1] = THEKERNEL->config->value(beta_slow_homing_rate_mm_checksum )->by_default(this->slow_rates[1])->as_number(); | |
180 | this->slow_rates[2] = THEKERNEL->config->value(gamma_slow_homing_rate_mm_checksum )->by_default(this->slow_rates[2])->as_number(); | |
181 | this->retract_mm[0] = THEKERNEL->config->value(alpha_homing_retract_mm_checksum )->by_default(this->retract_mm[0])->as_number(); | |
182 | this->retract_mm[1] = THEKERNEL->config->value(beta_homing_retract_mm_checksum )->by_default(this->retract_mm[1])->as_number(); | |
183 | this->retract_mm[2] = THEKERNEL->config->value(gamma_homing_retract_mm_checksum )->by_default(this->retract_mm[2])->as_number(); | |
5de98d7c | 184 | |
7778d1ce | 185 | // NOTE the debouce count is in milliseconds so probably does not need to beset anymore |
1c658603 JM |
186 | this->debounce_ms= THEKERNEL->config->value(endstop_debounce_ms_checksum )->by_default(0)->as_number(); |
187 | this->debounce_count= THEKERNEL->config->value(endstop_debounce_count_checksum )->by_default(100)->as_number(); | |
5de98d7c | 188 | |
409ff5b3 | 189 | // get homing direction and convert to boolean where true is home to min, and false is home to max |
1c658603 JM |
190 | this->home_direction[0]= THEKERNEL->config->value(alpha_homing_direction_checksum)->by_default("home_to_min")->as_string() != "home_to_max"; |
191 | this->home_direction[1]= THEKERNEL->config->value(beta_homing_direction_checksum)->by_default("home_to_min")->as_string() != "home_to_max"; | |
192 | this->home_direction[2]= THEKERNEL->config->value(gamma_homing_direction_checksum)->by_default("home_to_min")->as_string() != "home_to_max"; | |
47bbe224 | 193 | |
1c658603 JM |
194 | 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(); |
195 | 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(); | |
196 | 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 | 197 | |
abf706e6 | 198 | // used to set maximum movement on homing, set by alpha_max_travel if defined |
831abf97 | 199 | // for backward compatibility uses alpha_max if not defined. |
abf706e6 | 200 | // TO BE deprecated |
c8bac202 JM |
201 | this->alpha_max= THEKERNEL->config->value(alpha_max_checksum)->by_default(500)->as_number(); |
202 | this->beta_max= THEKERNEL->config->value(beta_max_checksum)->by_default(500)->as_number(); | |
203 | this->gamma_max= THEKERNEL->config->value(gamma_max_checksum)->by_default(500)->as_number(); | |
204 | ||
831abf97 JM |
205 | this->alpha_max= THEKERNEL->config->value(alpha_max_travel_checksum)->by_default(alpha_max*2)->as_number(); |
206 | this->beta_max= THEKERNEL->config->value(beta_max_travel_checksum)->by_default(beta_max*2)->as_number(); | |
207 | this->gamma_max= THEKERNEL->config->value(gamma_max_travel_checksum)->by_default(gamma_max*2)->as_number(); | |
abf706e6 | 208 | |
314ab8f7 MM |
209 | this->is_corexy = THEKERNEL->config->value(corexy_homing_checksum)->by_default(false)->as_bool(); |
210 | this->is_delta = THEKERNEL->config->value(delta_homing_checksum)->by_default(false)->as_bool(); | |
11a39396 | 211 | this->is_rdelta = THEKERNEL->config->value(rdelta_homing_checksum)->by_default(false)->as_bool(); |
504f0e3e JM |
212 | this->is_scara = THEKERNEL->config->value(scara_homing_checksum)->by_default(false)->as_bool(); |
213 | ||
374d0777 JM |
214 | this->home_z_first = THEKERNEL->config->value(home_z_first_checksum)->by_default(false)->as_bool(); |
215 | ||
80605954 | 216 | // see if an order has been specified, must be three characters, XYZ or YXZ etc |
e714bd32 JM |
217 | string order = THEKERNEL->config->value(homing_order_checksum)->by_default("")->as_string(); |
218 | this->homing_order = 0; | |
6ded1a99 | 219 | if(order.size() == 3 && !(this->is_delta || this->is_rdelta)) { |
e714bd32 | 220 | int shift = 0; |
80605954 | 221 | for(auto c : order) { |
e714bd32 | 222 | uint8_t i = toupper(c) - 'X'; |
80605954 | 223 | if(i > 2) { // bad value |
e714bd32 | 224 | this->homing_order = 0; |
80605954 JM |
225 | break; |
226 | } | |
227 | homing_order |= (i << shift); | |
228 | shift += 2; | |
229 | } | |
230 | } | |
231 | ||
192bca32 JM |
232 | // endstop trim used by deltas to do soft adjusting |
233 | // on a delta homing to max, a negative trim value will move the carriage down, and a positive will move it up | |
234 | this->trim_mm[0] = THEKERNEL->config->value(alpha_trim_checksum )->by_default(0 )->as_number(); | |
235 | this->trim_mm[1] = THEKERNEL->config->value(beta_trim_checksum )->by_default(0 )->as_number(); | |
236 | this->trim_mm[2] = THEKERNEL->config->value(gamma_trim_checksum )->by_default(0 )->as_number(); | |
3c947f85 JM |
237 | |
238 | // limits enabled | |
e714bd32 JM |
239 | this->limit_enable[X_AXIS] = THEKERNEL->config->value(alpha_limit_enable_checksum)->by_default(false)->as_bool(); |
240 | this->limit_enable[Y_AXIS] = THEKERNEL->config->value(beta_limit_enable_checksum)->by_default(false)->as_bool(); | |
241 | this->limit_enable[Z_AXIS] = THEKERNEL->config->value(gamma_limit_enable_checksum)->by_default(false)->as_bool(); | |
3c947f85 | 242 | |
c8bac202 | 243 | // set to true by default for deltas due to trim, false on cartesians |
e714bd32 | 244 | this->move_to_origin_after_home = THEKERNEL->config->value(move_to_origin_checksum)->by_default(is_delta)->as_bool(); |
2b3cedc7 | 245 | |
e714bd32 | 246 | if(this->limit_enable[X_AXIS] || this->limit_enable[Y_AXIS] || this->limit_enable[Z_AXIS]) { |
3c947f85 | 247 | register_for_event(ON_IDLE); |
6ded1a99 | 248 | if(this->is_delta || this->is_rdelta) { |
7f3e6350 | 249 | // we must enable all the limits not just one |
e714bd32 JM |
250 | this->limit_enable[X_AXIS] = true; |
251 | this->limit_enable[Y_AXIS] = true; | |
252 | this->limit_enable[Z_AXIS] = true; | |
7f3e6350 | 253 | } |
3c947f85 | 254 | } |
44127aca | 255 | |
11a39396 JM |
256 | // |
257 | if(this->is_delta || this->is_rdelta) { | |
44127aca | 258 | // some things must be the same or they will die, so force it here to avoid config errors |
e714bd32 JM |
259 | this->fast_rates[1] = this->fast_rates[2] = this->fast_rates[0]; |
260 | this->slow_rates[1] = this->slow_rates[2] = this->slow_rates[0]; | |
261 | this->retract_mm[1] = this->retract_mm[2] = this->retract_mm[0]; | |
262 | this->home_direction[1] = this->home_direction[2] = this->home_direction[0]; | |
42bbc035 JM |
263 | // NOTE homing_position for rdelta is the angle of the actuator not the cartesian position |
264 | if(!this->is_rdelta) this->homing_position[0] = this->homing_position[1] = 0; | |
44127aca | 265 | } |
3c947f85 JM |
266 | } |
267 | ||
28166daf JM |
268 | bool Endstops::debounced_get(int pin) |
269 | { | |
e714bd32 | 270 | uint8_t debounce = 0; |
28166daf JM |
271 | while(this->pins[pin].get()) { |
272 | if ( ++debounce >= this->debounce_count ) { | |
273 | // pin triggered | |
274 | return true; | |
275 | } | |
276 | } | |
277 | return false; | |
278 | } | |
279 | ||
e714bd32 | 280 | static const char *endstop_names[] = {"min_x", "min_y", "min_z", "max_x", "max_y", "max_z"}; |
3c947f85 JM |
281 | |
282 | void Endstops::on_idle(void *argument) | |
283 | { | |
c3d7feb6 JM |
284 | if(this->status == LIMIT_TRIGGERED) { |
285 | // if we were in limit triggered see if it has been cleared | |
286 | for( int c = X_AXIS; c <= Z_AXIS; c++ ) { | |
287 | if(this->limit_enable[c]) { | |
288 | std::array<int, 2> minmax{{0, 3}}; | |
289 | // check min and max endstops | |
290 | for (int i : minmax) { | |
e714bd32 | 291 | int n = c + i; |
c3d7feb6 JM |
292 | if(this->pins[n].get()) { |
293 | // still triggered, so exit | |
e714bd32 | 294 | bounce_cnt = 0; |
c3d7feb6 JM |
295 | return; |
296 | } | |
297 | } | |
298 | } | |
299 | } | |
ee1c3181 JM |
300 | if(++bounce_cnt > 10) { // can use less as it calls on_idle in between |
301 | // clear the state | |
e714bd32 | 302 | this->status = NOT_HOMING; |
ee1c3181 | 303 | } |
4befe777 | 304 | return; |
c3d7feb6 | 305 | |
e714bd32 | 306 | } else if(this->status != NOT_HOMING) { |
c3d7feb6 JM |
307 | // don't check while homing |
308 | return; | |
309 | } | |
3c947f85 JM |
310 | |
311 | for( int c = X_AXIS; c <= Z_AXIS; c++ ) { | |
312 | if(this->limit_enable[c] && STEPPER[c]->is_moving()) { | |
313 | std::array<int, 2> minmax{{0, 3}}; | |
314 | // check min and max endstops | |
315 | for (int i : minmax) { | |
e714bd32 | 316 | int n = c + i; |
28166daf JM |
317 | if(debounced_get(n)) { |
318 | // endstop triggered | |
319 | THEKERNEL->streams->printf("Limit switch %s was hit - reset or M999 required\n", endstop_names[n]); | |
e714bd32 | 320 | this->status = LIMIT_TRIGGERED; |
28166daf JM |
321 | // disables heaters and motors, ignores incoming Gcode and flushes block queue |
322 | THEKERNEL->call_event(ON_HALT, nullptr); | |
323 | return; | |
3c947f85 JM |
324 | } |
325 | } | |
326 | } | |
327 | } | |
328 | } | |
329 | ||
330 | // if limit switches are enabled, then we must move off of the endstop otherwise we won't be able to move | |
5bfcd44a | 331 | // checks if triggered and only backs off if triggered |
98e30679 | 332 | void Endstops::back_off_home(std::bitset<3> axis) |
3c947f85 | 333 | { |
e714bd32 | 334 | std::vector<std::pair<char, float>> params; |
3c947f85 | 335 | this->status = BACK_OFF_HOME; |
7f3e6350 JM |
336 | |
337 | // these are handled differently | |
1a6870b3 | 338 | if(is_delta) { |
7f3e6350 | 339 | // Move off of the endstop using a regular relative move in Z only |
e714bd32 | 340 | params.push_back({'Z', this->retract_mm[Z_AXIS] * (this->home_direction[Z_AXIS] ? 1 : -1)}); |
44127aca | 341 | |
e714bd32 | 342 | } else { |
7f3e6350 | 343 | // cartesians, concatenate all the moves we need to do into one gcode |
44127aca | 344 | for( int c = X_AXIS; c <= Z_AXIS; c++ ) { |
98e30679 | 345 | if(!axis[c]) continue; // only for axes we asked to move |
7f3e6350 JM |
346 | |
347 | // if not triggered no need to move off | |
28166daf | 348 | if(this->limit_enable[c] && debounced_get(c + (this->home_direction[c] ? 0 : 3)) ) { |
e714bd32 | 349 | params.push_back({c + 'X', this->retract_mm[c] * (this->home_direction[c] ? 1 : -1)}); |
44127aca | 350 | } |
3c947f85 JM |
351 | } |
352 | } | |
7f3e6350 JM |
353 | |
354 | if(!params.empty()) { | |
355 | // Move off of the endstop using a regular relative move | |
7c801094 | 356 | params.insert(params.begin(), {'G', 0}); |
addf2490 JM |
357 | // use X slow rate to move, Z should have a max speed set anyway |
358 | params.push_back({'F', this->slow_rates[X_AXIS] * 60.0F}); | |
7c801094 JM |
359 | char gcode_buf[64]; |
360 | append_parameters(gcode_buf, params, sizeof(gcode_buf)); | |
7f3e6350 | 361 | Gcode gc(gcode_buf, &(StreamOutput::NullStream)); |
1d323f9a JM |
362 | THEROBOT->push_state(); |
363 | THEROBOT->inch_mode = false; // needs to be in mm | |
364 | THEROBOT->absolute_mode = false; // needs to be relative mode | |
365 | THEROBOT->on_gcode_received(&gc); // send to robot directly | |
7f3e6350 | 366 | // Wait for above to finish |
04782655 | 367 | THECONVEYOR->wait_for_idle(); |
c8bac202 | 368 | THEROBOT->pop_state(); |
7f3e6350 JM |
369 | } |
370 | ||
3c947f85 | 371 | this->status = NOT_HOMING; |
a0e0d592 BG |
372 | } |
373 | ||
2b3cedc7 | 374 | // If enabled will move the head to 0,0 after homing, but only if X and Y were set to home |
1d323f9a | 375 | void Endstops::move_to_origin(std::bitset<3> axis) |
2b3cedc7 | 376 | { |
1d323f9a | 377 | if(!is_delta && (!axis[X_AXIS] || !axis[Y_AXIS])) return; // ignore if X and Y not homing, unless delta |
2b3cedc7 | 378 | |
fafb45df | 379 | // Do we need to check if we are already at 0,0? probably not as the G0 will not do anything if we are |
c8bac202 | 380 | // float pos[3]; THEROBOT->get_axis_position(pos); if(pos[0] == 0 && pos[1] == 0) return; |
fafb45df | 381 | |
2ddf75fd | 382 | this->status = MOVE_TO_ORIGIN; |
2b3cedc7 | 383 | // Move to center using a regular move, use slower of X and Y fast rate |
e714bd32 | 384 | float rate = std::min(this->fast_rates[0], this->fast_rates[1]) * 60.0F; |
2b3cedc7 | 385 | char buf[32]; |
1d323f9a JM |
386 | THEROBOT->push_state(); |
387 | THEROBOT->inch_mode = false; // needs to be in mm | |
5209dd4d | 388 | THEROBOT->absolute_mode = true; |
e551657a JM |
389 | snprintf(buf, sizeof(buf), "G53 G0 X0 Y0 F%1.4f", rate); // must use machine coordinates in case G92 or WCS is in effect |
390 | struct SerialMessage message; | |
391 | message.message = buf; | |
392 | message.stream = &(StreamOutput::NullStream); | |
393 | THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message ); // as it is a multi G code command | |
2b3cedc7 | 394 | // Wait for above to finish |
04782655 | 395 | THECONVEYOR->wait_for_idle(); |
c8bac202 | 396 | THEROBOT->pop_state(); |
2b3cedc7 JM |
397 | this->status = NOT_HOMING; |
398 | } | |
399 | ||
c8bac202 JM |
400 | // Called every millisecond in an ISR |
401 | uint32_t Endstops::read_endstops(uint32_t dummy) | |
33e4cc02 | 402 | { |
98e30679 | 403 | if(this->status != MOVING_TO_ENDSTOP_SLOW && this->status != MOVING_TO_ENDSTOP_FAST) return 0; // not doing anything we need to monitor for |
798295c1 | 404 | |
c8bac202 JM |
405 | if(!is_corexy) { |
406 | // check each axis | |
407 | for ( int m = X_AXIS; m <= Z_AXIS; m++ ) { | |
408 | if(STEPPER[m]->is_moving()) { | |
409 | // if it is moving then we check the associated endstop, and debounce it | |
410 | if(this->pins[m + (this->home_direction[m] ? 0 : 3)].get()) { | |
7778d1ce | 411 | if(debounce[m] < debounce_ms) { |
c8bac202 JM |
412 | debounce[m]++; |
413 | } else { | |
414 | // we signal the motor to stop, which will preempt any moves on that axis | |
415 | STEPPER[m]->stop_moving(); | |
a0e0d592 | 416 | } |
c8bac202 | 417 | |
33e4cc02 | 418 | } else { |
a0e0d592 | 419 | // The endstop was not hit yet |
c8bac202 | 420 | debounce[m] = 0; |
323cca60 | 421 | } |
a0e0d592 BG |
422 | } |
423 | } | |
798295c1 | 424 | |
c8bac202 JM |
425 | } else { |
426 | // corexy is different as the actuators are not directly related to the XY axis | |
427 | // so we check the axis that is currently homing then stop all motors | |
428 | for ( int m = X_AXIS; m <= Z_AXIS; m++ ) { | |
429 | if(axis_to_home[m]) { | |
430 | if(this->pins[m + (this->home_direction[m] ? 0 : 3)].get()) { | |
7778d1ce | 431 | if(debounce[m] < debounce_ms) { |
c8bac202 JM |
432 | debounce[m]++; |
433 | } else { | |
434 | // we signal all the motors to stop, as on corexy X and Y motors will move for X and Y axis homing and we only hom eone axis at a time | |
435 | STEPPER[X_AXIS]->stop_moving(); | |
436 | STEPPER[Y_AXIS]->stop_moving(); | |
437 | STEPPER[Z_AXIS]->stop_moving(); | |
438 | } | |
f29b0272 | 439 | |
c8bac202 JM |
440 | } else { |
441 | // The endstop was not hit yet | |
442 | debounce[m] = 0; | |
443 | } | |
f29b0272 JM |
444 | } |
445 | } | |
446 | } | |
447 | ||
c8bac202 | 448 | return 0; |
3db88866 JM |
449 | } |
450 | ||
374d0777 | 451 | void Endstops::home_xy() |
33e4cc02 | 452 | { |
c8bac202 JM |
453 | if(axis_to_home[X_AXIS] && axis_to_home[Y_AXIS]) { |
454 | // Home XY first so as not to slow them down by homing Z at the same time | |
abf706e6 | 455 | float delta[3] {alpha_max, beta_max, 0}; |
98e30679 JM |
456 | if(this->home_direction[X_AXIS]) delta[X_AXIS]= -delta[X_AXIS]; |
457 | if(this->home_direction[Y_AXIS]) delta[Y_AXIS]= -delta[Y_AXIS]; | |
c8bac202 | 458 | float feed_rate = std::min(fast_rates[X_AXIS], fast_rates[Y_AXIS]); |
121094a5 | 459 | THEROBOT->delta_move(delta, feed_rate, 3); |
c8bac202 | 460 | |
c8bac202 JM |
461 | } else if(axis_to_home[X_AXIS]) { |
462 | // now home X only | |
abf706e6 | 463 | float delta[3] {alpha_max, 0, 0}; |
98e30679 | 464 | if(this->home_direction[X_AXIS]) delta[X_AXIS]= -delta[X_AXIS]; |
121094a5 | 465 | THEROBOT->delta_move(delta, fast_rates[X_AXIS], 3); |
c8bac202 JM |
466 | |
467 | } else if(axis_to_home[Y_AXIS]) { | |
468 | // now home Y only | |
abf706e6 | 469 | float delta[3] {0, beta_max, 0}; |
98e30679 | 470 | if(this->home_direction[Y_AXIS]) delta[Y_AXIS]= -delta[Y_AXIS]; |
121094a5 | 471 | THEROBOT->delta_move(delta, fast_rates[Y_AXIS], 3); |
c8bac202 | 472 | } |
2441ba94 JM |
473 | |
474 | // Wait for axis to have homed | |
475 | THECONVEYOR->wait_for_idle(); | |
374d0777 JM |
476 | } |
477 | ||
478 | void Endstops::home(std::bitset<3> a) | |
479 | { | |
480 | // reset debounce counts | |
481 | debounce.fill(0); | |
482 | ||
c1ebb1fe JM |
483 | // turn off any compensation transform |
484 | auto savect= THEROBOT->compensationTransform; | |
485 | THEROBOT->compensationTransform= nullptr; | |
486 | ||
374d0777 JM |
487 | this->axis_to_home= a; |
488 | ||
489 | // Start moving the axes to the origin | |
490 | this->status = MOVING_TO_ENDSTOP_FAST; | |
491 | ||
492 | THEROBOT->disable_segmentation= true; // we must disable segmentation as this won't work with it enabled | |
493 | ||
494 | if(!home_z_first) home_xy(); | |
c8bac202 JM |
495 | |
496 | if(axis_to_home[Z_AXIS]) { | |
497 | // now home z | |
1c658603 | 498 | float delta[3] {0, 0, gamma_max}; // we go the max z |
98e30679 | 499 | if(this->home_direction[Z_AXIS]) delta[Z_AXIS]= -delta[Z_AXIS]; |
121094a5 | 500 | THEROBOT->delta_move(delta, fast_rates[Z_AXIS], 3); |
c8bac202 | 501 | // wait for Z |
04782655 | 502 | THECONVEYOR->wait_for_idle(); |
c8bac202 JM |
503 | } |
504 | ||
374d0777 JM |
505 | if(home_z_first) home_xy(); |
506 | ||
95bb7f04 | 507 | // TODO should check that the endstops were hit and it did not stop short for some reason |
04782655 JM |
508 | // we did not complete movement the full distance if we hit the endstops |
509 | THEROBOT->reset_position_from_current_actuator_position(); | |
95bb7f04 | 510 | |
c8bac202 | 511 | // Move back a small distance for all homing axis |
33e4cc02 | 512 | this->status = MOVING_BACK; |
95bb7f04 JM |
513 | float delta[3]{0,0,0}; |
514 | // use minimum feed rate of all three axes that are being homed (sub optimal, but necessary) | |
515 | float feed_rate= slow_rates[X_AXIS]; | |
c8bac202 JM |
516 | for ( int c = X_AXIS; c <= Z_AXIS; c++ ) { |
517 | if(axis_to_home[c]) { | |
518 | delta[c]= this->retract_mm[c]; | |
98e30679 JM |
519 | if(!this->home_direction[c]) delta[c]= -delta[c]; |
520 | feed_rate= std::min(slow_rates[c], feed_rate); | |
174d9961 JM |
521 | } |
522 | } | |
33e4cc02 | 523 | |
121094a5 | 524 | THEROBOT->delta_move(delta, feed_rate, 3); |
c8bac202 | 525 | // wait until finished |
04782655 | 526 | THECONVEYOR->wait_for_idle(); |
f29b0272 | 527 | |
04782655 | 528 | // Start moving the axes towards the endstops slowly |
c8bac202 | 529 | this->status = MOVING_TO_ENDSTOP_SLOW; |
72833629 | 530 | for ( int c = X_AXIS; c <= Z_AXIS; c++ ) { |
98e30679 | 531 | if(axis_to_home[c]) { |
04782655 | 532 | delta[c]= this->retract_mm[c]*2; // move further than we moved off to make sure we hit it cleanly |
98e30679 JM |
533 | if(this->home_direction[c]) delta[c]= -delta[c]; |
534 | }else{ | |
535 | delta[c]= 0; | |
536 | } | |
81f02e89 | 537 | } |
121094a5 | 538 | THEROBOT->delta_move(delta, feed_rate, 3); |
c8bac202 | 539 | // wait until finished |
04782655 JM |
540 | THECONVEYOR->wait_for_idle(); |
541 | ||
542 | // TODO should check that the endstops were hit and it did not stop short for some reason | |
543 | // we did not complete movement the full distance if we hit the endstops | |
544 | THEROBOT->reset_position_from_current_actuator_position(); | |
0058d8d4 | 545 | |
04782655 | 546 | THEROBOT->disable_segmentation= false; |
6d142b73 | 547 | |
c1ebb1fe JM |
548 | // restore compensationTransform |
549 | THEROBOT->compensationTransform= savect; | |
550 | ||
ca287785 | 551 | this->status = NOT_HOMING; |
81f02e89 JM |
552 | } |
553 | ||
a2f1ce04 | 554 | void Endstops::process_home_command(Gcode* gcode) |
c339d634 | 555 | { |
a2f1ce04 JM |
556 | if( (gcode->subcode == 0 && THEKERNEL->is_grbl_mode()) || (gcode->subcode == 2 && !THEKERNEL->is_grbl_mode()) ) { |
557 | // G28 in grbl mode or G28.2 in normal mode will do a rapid to the predefined position | |
558 | // TODO spec says if XYZ specified move to them first then move to MCS of specifed axis | |
6a95dd48 JM |
559 | THEROBOT->push_state(); |
560 | THEROBOT->inch_mode = false; // needs to be in mm | |
5209dd4d | 561 | THEROBOT->absolute_mode = true; |
a2f1ce04 JM |
562 | char buf[32]; |
563 | snprintf(buf, sizeof(buf), "G53 G0 X%f Y%f", saved_position[X_AXIS], saved_position[Y_AXIS]); // must use machine coordinates in case G92 or WCS is in effect | |
564 | struct SerialMessage message; | |
565 | message.message = buf; | |
566 | message.stream = &(StreamOutput::NullStream); | |
567 | THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message ); // as it is a multi G code command | |
6a95dd48 JM |
568 | // Wait for above to finish |
569 | THECONVEYOR->wait_for_idle(); | |
570 | THEROBOT->pop_state(); | |
a2f1ce04 JM |
571 | return; |
572 | ||
573 | } else if(THEKERNEL->is_grbl_mode() && gcode->subcode == 2) { // G28.2 in grbl mode forces homing (triggered by $H) | |
574 | // fall through so it does homing cycle | |
6e92ab91 | 575 | |
a2f1ce04 JM |
576 | } else if(gcode->subcode == 1) { // G28.1 set pre defined position |
577 | // saves current position in absolute machine coordinates | |
08beee45 JM |
578 | THEROBOT->get_axis_position(saved_position); // Only XY are used |
579 | // Note the following is only meant to be used for recovering a saved position from config-override | |
5af383e2 | 580 | // Not a standard Gcode and not to be relied on |
08beee45 JM |
581 | if (gcode->has_letter('X')) saved_position[X_AXIS] = gcode->get_value('X'); |
582 | if (gcode->has_letter('Y')) saved_position[Y_AXIS] = gcode->get_value('Y'); | |
a2f1ce04 JM |
583 | return; |
584 | ||
585 | } else if(gcode->subcode == 3) { // G28.3 is a smoothie special it sets manual homing | |
586 | if(gcode->get_num_args() == 0) { | |
c8bac202 | 587 | THEROBOT->reset_axis_position(0, 0, 0); |
a2f1ce04 | 588 | } else { |
586cc733 | 589 | // do a manual homing based on given coordinates, no endstops required |
c8bac202 JM |
590 | if(gcode->has_letter('X')) THEROBOT->reset_axis_position(gcode->get_value('X'), X_AXIS); |
591 | if(gcode->has_letter('Y')) THEROBOT->reset_axis_position(gcode->get_value('Y'), Y_AXIS); | |
592 | if(gcode->has_letter('Z')) THEROBOT->reset_axis_position(gcode->get_value('Z'), Z_AXIS); | |
e714bd32 | 593 | } |
a2f1ce04 | 594 | return; |
201bcb94 | 595 | |
a2f1ce04 | 596 | } else if(gcode->subcode == 4) { // G28.4 is a smoothie special it sets manual homing based on the actuator position (used for rotary delta) |
2441ba94 | 597 | // do a manual homing based on given coordinates, no endstops required |
93f20a8c | 598 | ActuatorCoordinates ac; |
9869200b JM |
599 | if(gcode->has_letter('X')) ac[0] = gcode->get_value('X'); |
600 | if(gcode->has_letter('Y')) ac[1] = gcode->get_value('Y'); | |
601 | if(gcode->has_letter('Z')) ac[2] = gcode->get_value('Z'); | |
c8bac202 | 602 | THEROBOT->reset_actuator_position(ac); |
a2f1ce04 | 603 | return; |
47bbe224 | 604 | |
a2f1ce04 JM |
605 | } else if(THEKERNEL->is_grbl_mode()) { |
606 | gcode->stream->printf("error:Unsupported command\n"); | |
607 | return; | |
608 | } | |
e714bd32 | 609 | |
a2f1ce04 | 610 | // G28 is received, we have homing to do |
3b948656 | 611 | |
a2f1ce04 | 612 | // First wait for the queue to be empty |
04782655 | 613 | THECONVEYOR->wait_for_idle(); |
7484e84a | 614 | |
3811aa80 JM |
615 | // deltas always home Z axis only, which moves all three actuators |
616 | bool home_in_z = this->is_delta || this->is_rdelta; | |
6ded1a99 | 617 | |
95bb7f04 | 618 | // figure out which axis to home |
ceeb9155 JM |
619 | bitset<3> haxis; |
620 | haxis.reset(); | |
621 | ||
a35788ee | 622 | if(!home_in_z) { // ie not a delta |
c8bac202 | 623 | bool axis_speced = ( gcode->has_letter('X') || gcode->has_letter('Y') || gcode->has_letter('Z') ); |
6ded1a99 JM |
624 | // only enable homing if the endstop is defined, |
625 | for ( int c = X_AXIS; c <= Z_AXIS; c++ ) { | |
626 | if (this->pins[c + (this->home_direction[c] ? 0 : 3)].connected() && (!axis_speced || gcode->has_letter(c + 'X')) ) { | |
ceeb9155 | 627 | haxis.set(c); |
8cc5173e JM |
628 | // now reset axis to 0 as we do not know what state we are in |
629 | THEROBOT->reset_axis_position(0, c); | |
6ded1a99 | 630 | } |
e714bd32 | 631 | } |
6ded1a99 | 632 | |
c8bac202 | 633 | } else { |
a35788ee | 634 | // Only Z axis homes (even though all actuators move this is handled by arm solution) |
ceeb9155 | 635 | haxis.set(Z_AXIS); |
1c658603 JM |
636 | // we also set the kinematics to a known good position, this is necessary for a rotary delta, but doesn't hurt for linear delta |
637 | THEROBOT->reset_axis_position(0, 0, 0); | |
a2f1ce04 | 638 | } |
e714bd32 | 639 | |
a2f1ce04 JM |
640 | // do the actual homing |
641 | if(homing_order != 0) { | |
642 | // if an order has been specified do it in the specified order | |
643 | // homing order is 0b00ccbbaa where aa is 0,1,2 to specify the first axis, bb is the second and cc is the third | |
644 | // eg 0b00100001 would be Y X Z, 0b00100100 would be X Y Z | |
645 | for (uint8_t m = homing_order; m != 0; m >>= 2) { | |
c8bac202 | 646 | int a= (m & 0x03); // axis to home |
ceeb9155 JM |
647 | if(haxis[a]) { // if axis is selected to home |
648 | std::bitset<3> bs; | |
649 | bs.set(a); | |
650 | home(bs); | |
07186543 | 651 | } |
a2f1ce04 JM |
652 | // check if on_halt (eg kill) |
653 | if(THEKERNEL->is_halted()) break; | |
e714bd32 | 654 | } |
c8bac202 JM |
655 | |
656 | } else if(is_corexy) { | |
657 | // corexy must home each axis individually | |
c8bac202 | 658 | for (int a = X_AXIS; a <= Z_AXIS; ++a) { |
ceeb9155 JM |
659 | if(haxis[a]) { |
660 | std::bitset<3> bs; | |
661 | bs.set(a); | |
662 | home(bs); | |
c8bac202 JM |
663 | } |
664 | } | |
798295c1 | 665 | |
a2f1ce04 | 666 | } else { |
c8bac202 | 667 | // they could all home at the same time |
ceeb9155 | 668 | home(haxis); |
a2f1ce04 | 669 | } |
e714bd32 | 670 | |
a2f1ce04 JM |
671 | // check if on_halt (eg kill) |
672 | if(THEKERNEL->is_halted()) { | |
673 | if(!THEKERNEL->is_grbl_mode()) { | |
674 | THEKERNEL->streams->printf("Homing cycle aborted by kill\n"); | |
675 | } | |
676 | return; | |
677 | } | |
e714bd32 | 678 | |
a35788ee | 679 | if(home_in_z) { // deltas only |
a2f1ce04 JM |
680 | // Here's where we would have been if the endstops were perfectly trimmed |
681 | // NOTE on a rotary delta home_offset is actuator position in degrees when homed and | |
682 | // home_offset is the theta offset for each actuator, so M206 is used to set theta offset for each actuator in degrees | |
683 | float ideal_position[3] = { | |
684 | this->homing_position[X_AXIS] + this->home_offset[X_AXIS], | |
685 | this->homing_position[Y_AXIS] + this->home_offset[Y_AXIS], | |
686 | this->homing_position[Z_AXIS] + this->home_offset[Z_AXIS] | |
687 | }; | |
7552475b | 688 | |
3811aa80 | 689 | bool has_endstop_trim = this->is_delta; |
a2f1ce04 JM |
690 | if (has_endstop_trim) { |
691 | ActuatorCoordinates ideal_actuator_position; | |
c8bac202 | 692 | THEROBOT->arm_solution->cartesian_to_actuator(ideal_position, ideal_actuator_position); |
42bbc035 | 693 | |
a2f1ce04 JM |
694 | // We are actually not at the ideal position, but a trim away |
695 | ActuatorCoordinates real_actuator_position = { | |
696 | ideal_actuator_position[X_AXIS] - this->trim_mm[X_AXIS], | |
697 | ideal_actuator_position[Y_AXIS] - this->trim_mm[Y_AXIS], | |
698 | ideal_actuator_position[Z_AXIS] - this->trim_mm[Z_AXIS] | |
699 | }; | |
700 | ||
701 | float real_position[3]; | |
c8bac202 | 702 | THEROBOT->arm_solution->actuator_to_cartesian(real_actuator_position, real_position); |
a2f1ce04 | 703 | // Reset the actuator positions to correspond our real position |
c8bac202 | 704 | THEROBOT->reset_axis_position(real_position[0], real_position[1], real_position[2]); |
42bbc035 | 705 | |
e714bd32 | 706 | } else { |
a2f1ce04 JM |
707 | // without endstop trim, real_position == ideal_position |
708 | if(is_rdelta) { | |
709 | // with a rotary delta we set the actuators angle then use the FK to calculate the resulting cartesian coordinates | |
93f20a8c | 710 | ActuatorCoordinates real_actuator_position = {ideal_position[0], ideal_position[1], ideal_position[2]}; |
c8bac202 | 711 | THEROBOT->reset_actuator_position(real_actuator_position); |
a2f1ce04 JM |
712 | |
713 | } else { | |
714 | // Reset the actuator positions to correspond our real position | |
c8bac202 | 715 | THEROBOT->reset_axis_position(ideal_position[0], ideal_position[1], ideal_position[2]); |
3ffe27fb | 716 | } |
e714bd32 | 717 | } |
3c947f85 | 718 | |
a2f1ce04 JM |
719 | } else { |
720 | // Zero the ax(i/e)s position, add in the home offset | |
721 | for ( int c = X_AXIS; c <= Z_AXIS; c++ ) { | |
04782655 | 722 | if (haxis[c]) { // if we requested this axis to home |
c8bac202 | 723 | THEROBOT->reset_axis_position(this->homing_position[c] + this->home_offset[c], c); |
a2f1ce04 | 724 | } |
c339d634 | 725 | } |
e714bd32 | 726 | } |
81f02e89 | 727 | |
a2f1ce04 JM |
728 | // on some systems where 0,0 is bed center it is nice to have home goto 0,0 after homing |
729 | // default is off for cartesian on for deltas | |
730 | if(!is_delta) { | |
731 | // NOTE a rotary delta usually has optical or hall-effect endstops so it is safe to go past them a little bit | |
1d323f9a | 732 | if(this->move_to_origin_after_home) move_to_origin(haxis); |
a2f1ce04 | 733 | // if limit switches are enabled we must back off endstop after setting home |
98e30679 | 734 | back_off_home(haxis); |
a2f1ce04 JM |
735 | |
736 | } else if(this->move_to_origin_after_home || this->limit_enable[X_AXIS]) { | |
737 | // 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 | |
738 | // also need to back off endstops if limits are enabled | |
98e30679 | 739 | back_off_home(haxis); |
1d323f9a | 740 | if(this->move_to_origin_after_home) move_to_origin(haxis); |
a2f1ce04 JM |
741 | } |
742 | } | |
743 | ||
078f76e0 JM |
744 | void Endstops::set_homing_offset(Gcode *gcode) |
745 | { | |
7492a02e JM |
746 | // Similar to M206 and G92 but sets Homing offsets based on current position |
747 | float cartesian[3]; | |
c8bac202 | 748 | THEROBOT->get_axis_position(cartesian); // get actual position from robot |
7492a02e JM |
749 | if (gcode->has_letter('X')) { |
750 | home_offset[0] -= (cartesian[X_AXIS] - gcode->get_value('X')); | |
c8bac202 | 751 | THEROBOT->reset_axis_position(gcode->get_value('X'), X_AXIS); |
078f76e0 | 752 | } |
7492a02e JM |
753 | if (gcode->has_letter('Y')) { |
754 | home_offset[1] -= (cartesian[Y_AXIS] - gcode->get_value('Y')); | |
c8bac202 | 755 | THEROBOT->reset_axis_position(gcode->get_value('Y'), Y_AXIS); |
7492a02e JM |
756 | } |
757 | if (gcode->has_letter('Z')) { | |
758 | home_offset[2] -= (cartesian[Z_AXIS] - gcode->get_value('Z')); | |
c8bac202 | 759 | THEROBOT->reset_axis_position(gcode->get_value('Z'), Z_AXIS); |
7492a02e JM |
760 | } |
761 | ||
762 | gcode->stream->printf("Homing Offset: X %5.3f Y %5.3f Z %5.3f\n", home_offset[0], home_offset[1], home_offset[2]); | |
078f76e0 JM |
763 | } |
764 | ||
a2f1ce04 JM |
765 | // Start homing sequences by response to GCode commands |
766 | void Endstops::on_gcode_received(void *argument) | |
767 | { | |
768 | Gcode *gcode = static_cast<Gcode *>(argument); | |
769 | if ( gcode->has_g && gcode->g == 28) { | |
770 | process_home_command(gcode); | |
771 | ||
8b261cdc | 772 | } else if (gcode->has_m) { |
a2f1ce04 | 773 | |
33e4cc02 JM |
774 | switch (gcode->m) { |
775 | case 119: { | |
ef7bd372 JM |
776 | for (int i = 0; i < 6; ++i) { |
777 | if(this->pins[i].connected()) | |
778 | gcode->stream->printf("%s:%d ", endstop_names[i], this->pins[i].get()); | |
779 | } | |
e714bd32 | 780 | gcode->add_nl = true; |
6e92ab91 | 781 | |
33e4cc02 JM |
782 | } |
783 | break; | |
784 | ||
785 | case 206: // M206 - set homing offset | |
0c18b666 | 786 | if(is_rdelta) return; // RotaryDeltaCalibration module will handle this |
932a3995 | 787 | |
7492a02e JM |
788 | if (gcode->has_letter('X')) home_offset[0] = gcode->get_value('X'); |
789 | if (gcode->has_letter('Y')) home_offset[1] = gcode->get_value('Y'); | |
790 | if (gcode->has_letter('Z')) home_offset[2] = gcode->get_value('Z'); | |
791 | gcode->stream->printf("X %5.3f Y %5.3f Z %5.3f\n", home_offset[0], home_offset[1], home_offset[2]); | |
504f0e3e | 792 | break; |
0e4bf280 | 793 | |
078f76e0 | 794 | case 306: // set homing offset based on current position |
0c18b666 JM |
795 | if(is_rdelta) return; // RotaryDeltaCalibration module will handle this |
796 | ||
078f76e0 | 797 | set_homing_offset(gcode); |
42bbc035 | 798 | break; |
33e4cc02 JM |
799 | |
800 | case 500: // save settings | |
801 | case 503: // print settings | |
932a3995 JM |
802 | if(!is_rdelta) |
803 | 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]); | |
804 | else | |
805 | gcode->stream->printf(";Theta offset (degrees):\nM206 A%1.5f B%1.5f C%1.5f\n", home_offset[0], home_offset[1], home_offset[2]); | |
806 | ||
d0280b9d | 807 | if (this->is_delta || this->is_scara) { |
42bbc035 | 808 | 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]); |
56ce2b5a | 809 | gcode->stream->printf(";Max Z\nM665 Z%1.3f\n", this->homing_position[2]); |
7a8fe6e0 | 810 | } |
e714bd32 | 811 | if(saved_position[X_AXIS] != 0 || saved_position[Y_AXIS] != 0) { |
5af383e2 | 812 | gcode->stream->printf(";predefined position:\nG28.1 X%1.4f Y%1.4f\n", saved_position[X_AXIS], saved_position[Y_AXIS]); |
e714bd32 | 813 | } |
c339d634 | 814 | break; |
47bbe224 | 815 | |
42bbc035 JM |
816 | case 665: |
817 | if (this->is_delta || this->is_scara) { // M665 - set max gamma/z height | |
818 | float gamma_max = this->homing_position[2]; | |
819 | if (gcode->has_letter('Z')) { | |
820 | this->homing_position[2] = gamma_max = gcode->get_value('Z'); | |
821 | } | |
822 | gcode->stream->printf("Max Z %8.3f ", gamma_max); | |
823 | gcode->add_nl = true; | |
ec4773e5 | 824 | } |
42bbc035 | 825 | break; |
47bbe224 | 826 | |
56ce2b5a | 827 | case 666: |
3e1f5b74 | 828 | if(this->is_delta || this->is_scara) { // M666 - set trim for each axis in mm, NB negative mm trim is down |
56ce2b5a JM |
829 | if (gcode->has_letter('X')) trim_mm[0] = gcode->get_value('X'); |
830 | if (gcode->has_letter('Y')) trim_mm[1] = gcode->get_value('Y'); | |
831 | if (gcode->has_letter('Z')) trim_mm[2] = gcode->get_value('Z'); | |
47bbe224 | 832 | |
56ce2b5a JM |
833 | // print the current trim values in mm |
834 | gcode->stream->printf("X: %5.3f Y: %5.3f Z: %5.3f\n", trim_mm[0], trim_mm[1], trim_mm[2]); | |
6e92ab91 | 835 | |
56ce2b5a | 836 | } |
e714bd32 | 837 | break; |
47bbe224 | 838 | |
64eaf21e | 839 | } |
64eaf21e | 840 | } |
64eaf21e | 841 | } |
9f6f04a5 | 842 | |
e714bd32 JM |
843 | void Endstops::on_get_public_data(void* argument) |
844 | { | |
9f6f04a5 JM |
845 | PublicDataRequest* pdr = static_cast<PublicDataRequest*>(argument); |
846 | ||
847 | if(!pdr->starts_with(endstops_checksum)) return; | |
848 | ||
849 | if(pdr->second_element_is(trim_checksum)) { | |
86fa0b93 | 850 | pdr->set_data_ptr(&this->trim_mm); |
ea5c6d92 JM |
851 | pdr->set_taken(); |
852 | ||
e714bd32 | 853 | } else if(pdr->second_element_is(home_offset_checksum)) { |
86fa0b93 | 854 | pdr->set_data_ptr(&this->home_offset); |
9f6f04a5 | 855 | pdr->set_taken(); |
e714bd32 JM |
856 | |
857 | } else if(pdr->second_element_is(saved_position_checksum)) { | |
858 | pdr->set_data_ptr(&this->saved_position); | |
859 | pdr->set_taken(); | |
07186543 JM |
860 | |
861 | } else if(pdr->second_element_is(get_homing_status_checksum)) { | |
a2f1ce04 JM |
862 | bool *homing = static_cast<bool *>(pdr->get_data_ptr()); |
863 | *homing = this->status != NOT_HOMING; | |
07186543 | 864 | pdr->set_taken(); |
9f6f04a5 JM |
865 | } |
866 | } | |
7d6fe308 | 867 | |
e714bd32 JM |
868 | void Endstops::on_set_public_data(void* argument) |
869 | { | |
7d6fe308 JM |
870 | PublicDataRequest* pdr = static_cast<PublicDataRequest*>(argument); |
871 | ||
872 | if(!pdr->starts_with(endstops_checksum)) return; | |
873 | ||
874 | if(pdr->second_element_is(trim_checksum)) { | |
e714bd32 JM |
875 | float *t = static_cast<float*>(pdr->get_data_ptr()); |
876 | this->trim_mm[0] = t[0]; | |
877 | this->trim_mm[1] = t[1]; | |
878 | this->trim_mm[2] = t[2]; | |
7d6fe308 | 879 | pdr->set_taken(); |
ea5c6d92 | 880 | |
e714bd32 JM |
881 | } else if(pdr->second_element_is(home_offset_checksum)) { |
882 | float *t = static_cast<float*>(pdr->get_data_ptr()); | |
883 | if(!isnan(t[0])) this->home_offset[0] = t[0]; | |
884 | if(!isnan(t[1])) this->home_offset[1] = t[1]; | |
885 | if(!isnan(t[2])) this->home_offset[2] = t[2]; | |
7d6fe308 JM |
886 | } |
887 | } |