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201bcb94 AW |
1 | /* |
2 | This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl). | |
3 | Smoothie is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. | |
4 | Smoothie is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. | |
5 | You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>. | |
6 | */ | |
7 | ||
8 | #include "libs/Module.h" | |
9 | #include "libs/Kernel.h" | |
10 | #include "modules/communication/utils/Gcode.h" | |
11 | #include "modules/robot/Player.h" | |
12 | #include "Endstops.h" | |
13 | #include "libs/nuts_bolts.h" | |
750277f8 | 14 | #include "libs/Pin.h" |
201bcb94 AW |
15 | #include "libs/StepperMotor.h" |
16 | #include "wait_api.h" // mbed.h lib | |
17 | ||
18 | Endstops::Endstops(){ | |
19 | this->status = NOT_HOMING; | |
20 | } | |
21 | ||
22 | void Endstops::on_module_loaded() { | |
23 | this->register_for_event(ON_GCODE_RECEIVED); | |
24 | ||
25 | // Take StepperMotor objects from Robot and keep them here | |
26 | this->steppers[0] = this->kernel->robot->alpha_stepper_motor; | |
27 | this->steppers[1] = this->kernel->robot->beta_stepper_motor; | |
28 | this->steppers[2] = this->kernel->robot->gamma_stepper_motor; | |
29 | ||
750277f8 AW |
30 | // Settings |
31 | this->on_config_reload(this); | |
32 | ||
201bcb94 AW |
33 | } |
34 | ||
750277f8 AW |
35 | // Get config |
36 | void Endstops::on_config_reload(void* argument){ | |
37 | this->pins[0] = this->kernel->config->value(alpha_min_endstop_checksum )->by_default("nc" )->as_pin()->as_input(); | |
38 | this->pins[1] = this->kernel->config->value(beta_min_endstop_checksum )->by_default("nc" )->as_pin()->as_input(); | |
39 | this->pins[2] = this->kernel->config->value(gamma_min_endstop_checksum )->by_default("nc" )->as_pin()->as_input(); | |
40 | } | |
201bcb94 AW |
41 | |
42 | // Start homing sequences by response to GCode commands | |
43 | void Endstops::on_gcode_received(void* argument){ | |
44 | Gcode* gcode = static_cast<Gcode*>(argument); | |
45 | if( gcode->has_letter('G' )){ | |
46 | if( gcode->get_value('G') == 28 ){ | |
47 | // G28 is received, we have homing to do | |
48 | ||
49 | // First wait for the queue to be empty | |
50 | while(this->kernel->player->queue.size() > 0) { wait_us(500); } | |
51 | ||
52 | // Do we move select axes or all of them | |
53 | bool home_all_axes = true; | |
54 | if( gcode->has_letter('X') || gcode->has_letter('Y') || gcode->has_letter('Z') ){ home_all_axes = false; } | |
55 | ||
56 | // Start moving the axes to the origin | |
57 | this->status = MOVING_TO_ORIGIN_FAST; | |
58 | for( char c = 'X'; c <= 'Z'; c++ ){ | |
750277f8 | 59 | if( ( home_all_axes || gcode->has_letter(c) ) && this->pins[c - 'X']->connected() ){ |
201bcb94 | 60 | this->steppers[c - 'X']->move(0,10000000); |
750277f8 | 61 | this->steppers[c - 'X']->set_speed(10000); |
201bcb94 AW |
62 | } |
63 | } | |
64 | ||
65 | // Wait for all axes to have homed | |
750277f8 AW |
66 | bool running = true; |
67 | while(running){ | |
68 | running = false; | |
69 | for( char c = 'X'; c <= 'Z'; c++ ){ | |
70 | if( ( home_all_axes || gcode->has_letter(c) ) && this->pins[c - 'X']->connected() ){ | |
71 | if( this->pins[c - 'X']->get() ){ | |
72 | // The endstop was hit, stop moving | |
73 | if( this->steppers[c - 'X']->moving ){ | |
74 | this->steppers[c - 'X']->move(0,0); | |
75 | } | |
76 | }else{ | |
77 | // The endstop was not hit yet | |
78 | running = true; | |
79 | } | |
80 | } | |
81 | } | |
82 | } | |
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83 | |
84 | ||
85 | ||
86 | // Homing is done | |
87 | this->status = NOT_HOMING; | |
88 | ||
89 | } | |
90 | } | |
91 | } | |
92 |