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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" | |
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() { | |
476dcb96 | 23 | register_for_event(ON_CONFIG_RELOAD); |
201bcb94 AW |
24 | this->register_for_event(ON_GCODE_RECEIVED); |
25 | ||
26 | // Take StepperMotor objects from Robot and keep them here | |
27 | this->steppers[0] = this->kernel->robot->alpha_stepper_motor; | |
28 | this->steppers[1] = this->kernel->robot->beta_stepper_motor; | |
29 | this->steppers[2] = this->kernel->robot->gamma_stepper_motor; | |
30 | ||
750277f8 AW |
31 | // Settings |
32 | this->on_config_reload(this); | |
c339d634 | 33 | |
201bcb94 AW |
34 | } |
35 | ||
750277f8 AW |
36 | // Get config |
37 | void Endstops::on_config_reload(void* argument){ | |
c339d634 MM |
38 | this->pins[0] = this->kernel->config->value(alpha_min_endstop_checksum )->by_default("nc" )->as_pin()->as_input()->pull_up(); |
39 | this->pins[1] = this->kernel->config->value(beta_min_endstop_checksum )->by_default("nc" )->as_pin()->as_input()->pull_up(); | |
40 | this->pins[2] = this->kernel->config->value(gamma_min_endstop_checksum )->by_default("nc" )->as_pin()->as_input()->pull_up(); | |
41 | this->pins[3] = this->kernel->config->value(alpha_max_endstop_checksum )->by_default("nc" )->as_pin()->as_input()->pull_up(); | |
42 | this->pins[4] = this->kernel->config->value(beta_max_endstop_checksum )->by_default("nc" )->as_pin()->as_input()->pull_up(); | |
43 | this->pins[5] = this->kernel->config->value(gamma_max_endstop_checksum )->by_default("nc" )->as_pin()->as_input()->pull_up(); | |
4026a515 AW |
44 | this->fast_rates[0] = this->kernel->config->value(alpha_fast_homing_rate_checksum )->by_default("500" )->as_number(); |
45 | this->fast_rates[1] = this->kernel->config->value(beta_fast_homing_rate_checksum )->by_default("500" )->as_number(); | |
f6c04440 | 46 | this->fast_rates[2] = this->kernel->config->value(gamma_fast_homing_rate_checksum )->by_default("5" )->as_number(); |
4026a515 AW |
47 | this->slow_rates[0] = this->kernel->config->value(alpha_slow_homing_rate_checksum )->by_default("100" )->as_number(); |
48 | this->slow_rates[1] = this->kernel->config->value(beta_slow_homing_rate_checksum )->by_default("100" )->as_number(); | |
f6c04440 | 49 | this->slow_rates[2] = this->kernel->config->value(gamma_slow_homing_rate_checksum )->by_default("5" )->as_number(); |
4026a515 AW |
50 | this->retract_steps[0] = this->kernel->config->value(alpha_homing_retract_checksum )->by_default("30" )->as_number(); |
51 | this->retract_steps[1] = this->kernel->config->value(beta_homing_retract_checksum )->by_default("30" )->as_number(); | |
f6c04440 | 52 | this->retract_steps[2] = this->kernel->config->value(gamma_homing_retract_checksum )->by_default("10" )->as_number(); |
a0e0d592 BG |
53 | this->debounce_count = this->kernel->config->value(endstop_debounce_count_checksum )->by_default("100" )->as_number(); |
54 | } | |
55 | ||
56 | void Endstops::wait_for_homed(char axes_to_move) | |
57 | { | |
58 | bool running = true; | |
59 | unsigned int debounce[3] = {0,0,0}; | |
60 | while(running){ | |
61 | running = false; | |
62 | for( char c = 'X'; c <= 'Z'; c++ ){ | |
63 | if( ( axes_to_move >> ( c - 'X' ) ) & 1 ){ | |
323cca60 | 64 | if( this->pins[c - 'X']->get() ){ |
a0e0d592 BG |
65 | if( debounce[c - 'X'] < debounce_count ) { |
66 | debounce[c - 'X'] ++; | |
67 | running = true; | |
68 | } else if ( this->steppers[c - 'X']->moving ){ | |
69 | this->steppers[c - 'X']->move(0,0); | |
70 | printf("move done %c\r\n", c); | |
71 | } | |
72 | }else{ | |
73 | // The endstop was not hit yet | |
74 | running = true; | |
75 | debounce[c - 'X'] = 0; | |
323cca60 | 76 | } |
a0e0d592 BG |
77 | } |
78 | } | |
79 | } | |
750277f8 | 80 | } |
201bcb94 AW |
81 | |
82 | // Start homing sequences by response to GCode commands | |
c339d634 MM |
83 | void Endstops::on_gcode_received(void* argument) |
84 | { | |
201bcb94 | 85 | Gcode* gcode = static_cast<Gcode*>(argument); |
c339d634 MM |
86 | if( gcode->has_g) |
87 | { | |
88 | if( gcode->g == 28 ) | |
89 | { | |
df27a6a3 | 90 | // G28 is received, we have homing to do |
201bcb94 AW |
91 | |
92 | // First wait for the queue to be empty | |
93 | while(this->kernel->player->queue.size() > 0) { wait_us(500); } | |
94 | ||
95 | // Do we move select axes or all of them | |
3b948656 AW |
96 | char axes_to_move = ( ( gcode->has_letter('X') || gcode->has_letter('Y') || gcode->has_letter('Z') ) ? 0x00 : 0xff ); |
97 | for( char c = 'X'; c <= 'Z'; c++ ){ | |
98 | if( gcode->has_letter(c) && this->pins[c - 'X']->connected() ){ axes_to_move += ( 1 << (c - 'X' ) ); } | |
df27a6a3 | 99 | } |
3b948656 | 100 | |
f6c04440 AW |
101 | // Enable the motors |
102 | this->kernel->stepper->turn_enable_pins_on(); | |
103 | ||
201bcb94 | 104 | // Start moving the axes to the origin |
df27a6a3 | 105 | this->status = MOVING_TO_ORIGIN_FAST; |
201bcb94 | 106 | for( char c = 'X'; c <= 'Z'; c++ ){ |
3b948656 | 107 | if( ( axes_to_move >> ( c - 'X' ) ) & 1 ){ |
df27a6a3 | 108 | this->steppers[c - 'X']->set_speed(this->fast_rates[c -'X']); |
f6c04440 | 109 | this->steppers[c - 'X']->move(1,10000000); |
201bcb94 AW |
110 | } |
111 | } | |
112 | ||
113 | // Wait for all axes to have homed | |
a0e0d592 | 114 | this->wait_for_homed(axes_to_move); |
201bcb94 | 115 | |
3b948656 AW |
116 | printf("test a\r\n"); |
117 | // Move back a small distance | |
df27a6a3 | 118 | this->status = MOVING_BACK; |
3b948656 AW |
119 | for( char c = 'X'; c <= 'Z'; c++ ){ |
120 | if( ( axes_to_move >> ( c - 'X' ) ) & 1 ){ | |
df27a6a3 | 121 | this->steppers[c - 'X']->set_speed(this->slow_rates[c - 'X']); |
f6c04440 | 122 | this->steppers[c - 'X']->move(0,this->retract_steps[c - 'X']); |
3b948656 AW |
123 | } |
124 | } | |
125 | ||
126 | printf("test b\r\n"); | |
127 | // Wait for moves to be done | |
128 | for( char c = 'X'; c <= 'Z'; c++ ){ | |
df27a6a3 | 129 | if( ( axes_to_move >> ( c - 'X' ) ) & 1 ){ |
3b948656 AW |
130 | printf("axis %c \r\n", c ); |
131 | while( this->steppers[c - 'X']->moving ){ } | |
132 | } | |
133 | } | |
134 | ||
135 | printf("test c\r\n"); | |
201bcb94 | 136 | |
9b0ac510 | 137 | // Start moving the axes to the origin slowly |
df27a6a3 | 138 | this->status = MOVING_TO_ORIGIN_SLOW; |
9b0ac510 AW |
139 | for( char c = 'X'; c <= 'Z'; c++ ){ |
140 | if( ( axes_to_move >> ( c - 'X' ) ) & 1 ){ | |
df27a6a3 | 141 | this->steppers[c - 'X']->set_speed(this->slow_rates[c -'X']); |
f6c04440 | 142 | this->steppers[c - 'X']->move(1,10000000); |
9b0ac510 AW |
143 | } |
144 | } | |
145 | ||
146 | // Wait for all axes to have homed | |
a0e0d592 | 147 | this->wait_for_homed(axes_to_move); |
9b0ac510 | 148 | |
201bcb94 AW |
149 | // Homing is done |
150 | this->status = NOT_HOMING; | |
c339d634 MM |
151 | } |
152 | } | |
153 | else if (gcode->has_m) | |
154 | { | |
155 | switch(gcode->m) | |
156 | { | |
157 | case 119: | |
158 | gcode->stream->printf("X min:%d max:%d Y min:%d max:%d Z min:%d max:%d\n", | |
159 | this->pins[0]->get(), | |
160 | this->pins[3]->get(), | |
161 | this->pins[1]->get(), | |
162 | this->pins[4]->get(), | |
163 | this->pins[2]->get(), | |
164 | this->pins[5]->get() | |
165 | ); | |
166 | break; | |
201bcb94 AW |
167 | } |
168 | } | |
169 | } | |
170 |