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df27a6a3 | 1 | /* |
201bcb94 AW |
2 | This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl). |
3 | Smoothie is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. | |
4 | Smoothie is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. | |
df27a6a3 | 5 | You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>. |
201bcb94 AW |
6 | */ |
7 | ||
8 | #include "libs/Module.h" | |
9 | #include "libs/Kernel.h" | |
10 | #include "modules/communication/utils/Gcode.h" | |
3fceb8eb | 11 | #include "modules/robot/Conveyor.h" |
201bcb94 AW |
12 | #include "Endstops.h" |
13 | #include "libs/nuts_bolts.h" | |
750277f8 | 14 | #include "libs/Pin.h" |
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() { | |
7dee696d | 23 | // Do not do anything if not enabled |
7d62445b L |
24 | if( this->kernel->config->value( endstops_module_enable_checksum )->by_default(true)->as_bool() == false ){ return; } |
25 | ||
476dcb96 | 26 | register_for_event(ON_CONFIG_RELOAD); |
201bcb94 AW |
27 | this->register_for_event(ON_GCODE_RECEIVED); |
28 | ||
29 | // Take StepperMotor objects from Robot and keep them here | |
30 | this->steppers[0] = this->kernel->robot->alpha_stepper_motor; | |
31 | this->steppers[1] = this->kernel->robot->beta_stepper_motor; | |
32 | this->steppers[2] = this->kernel->robot->gamma_stepper_motor; | |
33 | ||
750277f8 AW |
34 | // Settings |
35 | this->on_config_reload(this); | |
c339d634 | 36 | |
201bcb94 AW |
37 | } |
38 | ||
3857da41 AW |
39 | //#pragma GCC push_options |
40 | //#pragma GCC optimize ("O0") | |
41 | ||
750277f8 AW |
42 | // Get config |
43 | void Endstops::on_config_reload(void* argument){ | |
7400739d MM |
44 | this->pins[0].from_string( this->kernel->config->value(alpha_min_endstop_checksum )->by_default("nc" )->as_string())->as_input()->pull_up(); |
45 | this->pins[1].from_string( this->kernel->config->value(beta_min_endstop_checksum )->by_default("nc" )->as_string())->as_input()->pull_up(); | |
46 | this->pins[2].from_string( this->kernel->config->value(gamma_min_endstop_checksum )->by_default("nc" )->as_string())->as_input()->pull_up(); | |
47 | this->pins[3].from_string( this->kernel->config->value(alpha_max_endstop_checksum )->by_default("nc" )->as_string())->as_input()->pull_up(); | |
48 | this->pins[4].from_string( this->kernel->config->value(beta_max_endstop_checksum )->by_default("nc" )->as_string())->as_input()->pull_up(); | |
49 | this->pins[5].from_string( this->kernel->config->value(gamma_max_endstop_checksum )->by_default("nc" )->as_string())->as_input()->pull_up(); | |
3857da41 AW |
50 | this->fast_rates[0] = this->kernel->config->value(alpha_fast_homing_rate_checksum )->by_default(500 )->as_number(); |
51 | this->fast_rates[1] = this->kernel->config->value(beta_fast_homing_rate_checksum )->by_default(500 )->as_number(); | |
52 | this->fast_rates[2] = this->kernel->config->value(gamma_fast_homing_rate_checksum )->by_default(5 )->as_number(); | |
53 | this->slow_rates[0] = this->kernel->config->value(alpha_slow_homing_rate_checksum )->by_default(100 )->as_number(); | |
54 | this->slow_rates[1] = this->kernel->config->value(beta_slow_homing_rate_checksum )->by_default(100 )->as_number(); | |
55 | this->slow_rates[2] = this->kernel->config->value(gamma_slow_homing_rate_checksum )->by_default(5 )->as_number(); | |
56 | this->retract_steps[0] = this->kernel->config->value(alpha_homing_retract_checksum )->by_default(30 )->as_number(); | |
57 | this->retract_steps[1] = this->kernel->config->value(beta_homing_retract_checksum )->by_default(30 )->as_number(); | |
58 | this->retract_steps[2] = this->kernel->config->value(gamma_homing_retract_checksum )->by_default(10 )->as_number(); | |
59 | this->debounce_count = this->kernel->config->value(endstop_debounce_count_checksum )->by_default(100 )->as_number(); | |
409ff5b3 JM |
60 | |
61 | // get homing direction and convert to boolean where true is home to min, and false is home to max | |
62 | int home_dir = get_checksum(this->kernel->config->value(alpha_homing_direction_checksum)->by_default("home_to_min")->as_string()); | |
eb09fdbf | 63 | this->home_direction[0] = home_dir != home_to_max_checksum; |
409ff5b3 JM |
64 | |
65 | home_dir = get_checksum(this->kernel->config->value(beta_homing_direction_checksum)->by_default("home_to_min")->as_string()); | |
eb09fdbf | 66 | this->home_direction[1] = home_dir != home_to_max_checksum; |
409ff5b3 JM |
67 | |
68 | home_dir = get_checksum(this->kernel->config->value(gamma_homing_direction_checksum)->by_default("home_to_min")->as_string()); | |
eb09fdbf | 69 | this->home_direction[2] = home_dir != home_to_max_checksum; |
409ff5b3 JM |
70 | |
71 | this->homing_position[0] = this->home_direction[0]?this->kernel->config->value(alpha_min_checksum)->by_default(0)->as_number():this->kernel->config->value(alpha_max_checksum)->by_default(200)->as_number(); | |
72 | this->homing_position[1] = this->home_direction[1]?this->kernel->config->value(beta_min_checksum )->by_default(0)->as_number():this->kernel->config->value(beta_max_checksum )->by_default(200)->as_number();; | |
73 | this->homing_position[2] = this->home_direction[2]?this->kernel->config->value(gamma_min_checksum)->by_default(0)->as_number():this->kernel->config->value(gamma_max_checksum)->by_default(200)->as_number();; | |
a0e0d592 BG |
74 | } |
75 | ||
3857da41 AW |
76 | //#pragma GCC pop_options |
77 | ||
78 | void Endstops::wait_for_homed(char axes_to_move){ | |
a0e0d592 BG |
79 | bool running = true; |
80 | unsigned int debounce[3] = {0,0,0}; | |
81 | while(running){ | |
82 | running = false; | |
f3e93777 | 83 | this->kernel->call_event(ON_IDLE); |
a0e0d592 BG |
84 | for( char c = 'X'; c <= 'Z'; c++ ){ |
85 | if( ( axes_to_move >> ( c - 'X' ) ) & 1 ){ | |
409ff5b3 | 86 | if( this->pins[c - 'X' + (this->home_direction[c - 'X']?0:3)].get() ){ |
a0e0d592 BG |
87 | if( debounce[c - 'X'] < debounce_count ) { |
88 | debounce[c - 'X'] ++; | |
89 | running = true; | |
90 | } else if ( this->steppers[c - 'X']->moving ){ | |
91 | this->steppers[c - 'X']->move(0,0); | |
f3e93777 | 92 | //this->kernel->streams->printf("move done %c\r\n", c); |
a0e0d592 BG |
93 | } |
94 | }else{ | |
95 | // The endstop was not hit yet | |
96 | running = true; | |
97 | debounce[c - 'X'] = 0; | |
323cca60 | 98 | } |
a0e0d592 BG |
99 | } |
100 | } | |
101 | } | |
750277f8 | 102 | } |
201bcb94 AW |
103 | |
104 | // Start homing sequences by response to GCode commands | |
c339d634 MM |
105 | void Endstops::on_gcode_received(void* argument) |
106 | { | |
201bcb94 | 107 | Gcode* gcode = static_cast<Gcode*>(argument); |
c339d634 MM |
108 | if( gcode->has_g) |
109 | { | |
110 | if( gcode->g == 28 ) | |
111 | { | |
df27a6a3 | 112 | // G28 is received, we have homing to do |
201bcb94 AW |
113 | |
114 | // First wait for the queue to be empty | |
40de2562 | 115 | this->kernel->conveyor->wait_for_empty_queue(); |
201bcb94 AW |
116 | |
117 | // Do we move select axes or all of them | |
7dee696d JM |
118 | char axes_to_move = 0; |
119 | // only enable homing if the endstop is defined | |
120 | bool home_all= !( gcode->has_letter('X') || gcode->has_letter('Y') || gcode->has_letter('Z') ); | |
121 | ||
3b948656 | 122 | for( char c = 'X'; c <= 'Z'; c++ ){ |
60baf878 | 123 | if( (home_all || gcode->has_letter(c)) && this->pins[c - 'X' + (this->home_direction[c - 'X']?0:3)].connected() ){ axes_to_move += ( 1 << (c - 'X' ) ); } |
df27a6a3 | 124 | } |
3b948656 | 125 | |
f6c04440 AW |
126 | // Enable the motors |
127 | this->kernel->stepper->turn_enable_pins_on(); | |
128 | ||
201bcb94 | 129 | // Start moving the axes to the origin |
df27a6a3 | 130 | this->status = MOVING_TO_ORIGIN_FAST; |
201bcb94 | 131 | for( char c = 'X'; c <= 'Z'; c++ ){ |
3b948656 | 132 | if( ( axes_to_move >> ( c - 'X' ) ) & 1 ){ |
f3e93777 | 133 | gcode->stream->printf("homing axis %c\r\n", c); |
3ffe27fb | 134 | this->steppers[c - 'X']->set_speed(this->fast_rates[c - 'X']); |
409ff5b3 | 135 | this->steppers[c - 'X']->move(this->home_direction[c - 'X'],10000000); |
201bcb94 AW |
136 | } |
137 | } | |
138 | ||
139 | // Wait for all axes to have homed | |
a0e0d592 | 140 | this->wait_for_homed(axes_to_move); |
201bcb94 | 141 | |
f3e93777 | 142 | gcode->stream->printf("test a\r\n"); |
3b948656 | 143 | // Move back a small distance |
df27a6a3 | 144 | this->status = MOVING_BACK; |
3ffe27fb | 145 | int inverted_dir; |
3b948656 AW |
146 | for( char c = 'X'; c <= 'Z'; c++ ){ |
147 | if( ( axes_to_move >> ( c - 'X' ) ) & 1 ){ | |
409ff5b3 | 148 | inverted_dir = -(this->home_direction[c - 'X'] - 1); |
df27a6a3 | 149 | this->steppers[c - 'X']->set_speed(this->slow_rates[c - 'X']); |
3ffe27fb | 150 | this->steppers[c - 'X']->move(inverted_dir,this->retract_steps[c - 'X']); |
3b948656 AW |
151 | } |
152 | } | |
153 | ||
f3e93777 | 154 | gcode->stream->printf("test b\r\n"); |
3b948656 AW |
155 | // Wait for moves to be done |
156 | for( char c = 'X'; c <= 'Z'; c++ ){ | |
df27a6a3 | 157 | if( ( axes_to_move >> ( c - 'X' ) ) & 1 ){ |
06288536 | 158 | this->kernel->streams->printf("axis %c \r\n", c ); |
f3e93777 AW |
159 | while( this->steppers[c - 'X']->moving ){ |
160 | this->kernel->call_event(ON_IDLE); | |
161 | } | |
3b948656 AW |
162 | } |
163 | } | |
164 | ||
f3e93777 | 165 | gcode->stream->printf("test c\r\n"); |
201bcb94 | 166 | |
9b0ac510 | 167 | // Start moving the axes to the origin slowly |
df27a6a3 | 168 | this->status = MOVING_TO_ORIGIN_SLOW; |
9b0ac510 AW |
169 | for( char c = 'X'; c <= 'Z'; c++ ){ |
170 | if( ( axes_to_move >> ( c - 'X' ) ) & 1 ){ | |
df27a6a3 | 171 | this->steppers[c - 'X']->set_speed(this->slow_rates[c -'X']); |
409ff5b3 | 172 | this->steppers[c - 'X']->move(this->home_direction[c - 'X'],10000000); |
9b0ac510 AW |
173 | } |
174 | } | |
175 | ||
176 | // Wait for all axes to have homed | |
a0e0d592 | 177 | this->wait_for_homed(axes_to_move); |
9b0ac510 | 178 | |
201bcb94 AW |
179 | // Homing is done |
180 | this->status = NOT_HOMING; | |
3ffe27fb AV |
181 | |
182 | // Zero the ax(i/e)s position | |
183 | for( char c = 'X'; c <= 'Z'; c++ ){ | |
184 | if( ( axes_to_move >> ( c - 'X' ) ) & 1 ){ | |
185 | ||
186 | this->kernel->robot->reset_axis_position(this->homing_position[c - 'X'], c - 'X'); | |
187 | } | |
188 | } | |
189 | ||
c339d634 MM |
190 | } |
191 | } | |
f3e93777 AW |
192 | else if (gcode->has_m){ |
193 | switch(gcode->m){ | |
c339d634 | 194 | case 119: |
f3e93777 | 195 | gcode->stream->printf("X min:%d max:%d Y min:%d max:%d Z min:%d max:%d\n", this->pins[0].get(), this->pins[3].get(), this->pins[1].get(), this->pins[4].get(), this->pins[2].get(), this->pins[5].get() ); |
c339d634 | 196 | break; |
201bcb94 AW |
197 | } |
198 | } | |
199 | } | |
200 |