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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() { | |
7d62445b L |
23 | // Do not do anything if not enabledd |
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(); | |
fa598bec AW |
60 | this->direction[0] = this->kernel->config->value(alpha_homing_direction_checksum )->by_default(1 )->as_number(); |
61 | this->direction[1] = this->kernel->config->value(beta_homing_direction_checksum )->by_default(1 )->as_number(); | |
3857da41 | 62 | this->direction[2] = this->kernel->config->value(gamma_homing_direction_checksum )->by_default(1 )->as_number(); |
3066ba0d | 63 | for (int i=0; i<3; i++) direction[i] = direction[i] > 0; |
3857da41 AW |
64 | this->homing_position[0] = this->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(); |
65 | this->homing_position[1] = this->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();; | |
66 | this->homing_position[2] = this->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 |
67 | } |
68 | ||
3857da41 AW |
69 | //#pragma GCC pop_options |
70 | ||
71 | void Endstops::wait_for_homed(char axes_to_move){ | |
a0e0d592 BG |
72 | bool running = true; |
73 | unsigned int debounce[3] = {0,0,0}; | |
74 | while(running){ | |
75 | running = false; | |
f3e93777 | 76 | this->kernel->call_event(ON_IDLE); |
a0e0d592 BG |
77 | for( char c = 'X'; c <= 'Z'; c++ ){ |
78 | if( ( axes_to_move >> ( c - 'X' ) ) & 1 ){ | |
3ffe27fb | 79 | if( this->pins[c - 'X' + (this->direction[c - 'X']?0:3)].get() ){ |
a0e0d592 BG |
80 | if( debounce[c - 'X'] < debounce_count ) { |
81 | debounce[c - 'X'] ++; | |
82 | running = true; | |
83 | } else if ( this->steppers[c - 'X']->moving ){ | |
84 | this->steppers[c - 'X']->move(0,0); | |
f3e93777 | 85 | //this->kernel->streams->printf("move done %c\r\n", c); |
a0e0d592 BG |
86 | } |
87 | }else{ | |
88 | // The endstop was not hit yet | |
89 | running = true; | |
90 | debounce[c - 'X'] = 0; | |
323cca60 | 91 | } |
a0e0d592 BG |
92 | } |
93 | } | |
94 | } | |
750277f8 | 95 | } |
201bcb94 AW |
96 | |
97 | // Start homing sequences by response to GCode commands | |
c339d634 MM |
98 | void Endstops::on_gcode_received(void* argument) |
99 | { | |
201bcb94 | 100 | Gcode* gcode = static_cast<Gcode*>(argument); |
c339d634 MM |
101 | if( gcode->has_g) |
102 | { | |
103 | if( gcode->g == 28 ) | |
104 | { | |
df27a6a3 | 105 | // G28 is received, we have homing to do |
201bcb94 AW |
106 | |
107 | // First wait for the queue to be empty | |
40de2562 | 108 | this->kernel->conveyor->wait_for_empty_queue(); |
201bcb94 AW |
109 | |
110 | // Do we move select axes or all of them | |
3b948656 AW |
111 | char axes_to_move = ( ( gcode->has_letter('X') || gcode->has_letter('Y') || gcode->has_letter('Z') ) ? 0x00 : 0xff ); |
112 | for( char c = 'X'; c <= 'Z'; c++ ){ | |
7400739d | 113 | if( gcode->has_letter(c) && this->pins[c - 'X'].connected() ){ axes_to_move += ( 1 << (c - 'X' ) ); } |
df27a6a3 | 114 | } |
3b948656 | 115 | |
f6c04440 AW |
116 | // Enable the motors |
117 | this->kernel->stepper->turn_enable_pins_on(); | |
118 | ||
201bcb94 | 119 | // Start moving the axes to the origin |
df27a6a3 | 120 | this->status = MOVING_TO_ORIGIN_FAST; |
201bcb94 | 121 | for( char c = 'X'; c <= 'Z'; c++ ){ |
3b948656 | 122 | if( ( axes_to_move >> ( c - 'X' ) ) & 1 ){ |
f3e93777 | 123 | gcode->stream->printf("homing axis %c\r\n", c); |
3ffe27fb AV |
124 | this->steppers[c - 'X']->set_speed(this->fast_rates[c - 'X']); |
125 | this->steppers[c - 'X']->move(this->direction[c - 'X'],10000000); | |
201bcb94 AW |
126 | } |
127 | } | |
128 | ||
129 | // Wait for all axes to have homed | |
a0e0d592 | 130 | this->wait_for_homed(axes_to_move); |
201bcb94 | 131 | |
f3e93777 | 132 | gcode->stream->printf("test a\r\n"); |
3b948656 | 133 | // Move back a small distance |
df27a6a3 | 134 | this->status = MOVING_BACK; |
3ffe27fb | 135 | int inverted_dir; |
3b948656 AW |
136 | for( char c = 'X'; c <= 'Z'; c++ ){ |
137 | if( ( axes_to_move >> ( c - 'X' ) ) & 1 ){ | |
3ffe27fb | 138 | inverted_dir = -(this->direction[c - 'X'] - 1); |
df27a6a3 | 139 | this->steppers[c - 'X']->set_speed(this->slow_rates[c - 'X']); |
3ffe27fb | 140 | this->steppers[c - 'X']->move(inverted_dir,this->retract_steps[c - 'X']); |
3b948656 AW |
141 | } |
142 | } | |
143 | ||
f3e93777 | 144 | gcode->stream->printf("test b\r\n"); |
3b948656 AW |
145 | // Wait for moves to be done |
146 | for( char c = 'X'; c <= 'Z'; c++ ){ | |
df27a6a3 | 147 | if( ( axes_to_move >> ( c - 'X' ) ) & 1 ){ |
06288536 | 148 | this->kernel->streams->printf("axis %c \r\n", c ); |
f3e93777 AW |
149 | while( this->steppers[c - 'X']->moving ){ |
150 | this->kernel->call_event(ON_IDLE); | |
151 | } | |
3b948656 AW |
152 | } |
153 | } | |
154 | ||
f3e93777 | 155 | gcode->stream->printf("test c\r\n"); |
201bcb94 | 156 | |
9b0ac510 | 157 | // Start moving the axes to the origin slowly |
df27a6a3 | 158 | this->status = MOVING_TO_ORIGIN_SLOW; |
9b0ac510 AW |
159 | for( char c = 'X'; c <= 'Z'; c++ ){ |
160 | if( ( axes_to_move >> ( c - 'X' ) ) & 1 ){ | |
df27a6a3 | 161 | this->steppers[c - 'X']->set_speed(this->slow_rates[c -'X']); |
3ffe27fb | 162 | this->steppers[c - 'X']->move(this->direction[c - 'X'],10000000); |
9b0ac510 AW |
163 | } |
164 | } | |
165 | ||
166 | // Wait for all axes to have homed | |
a0e0d592 | 167 | this->wait_for_homed(axes_to_move); |
9b0ac510 | 168 | |
201bcb94 AW |
169 | // Homing is done |
170 | this->status = NOT_HOMING; | |
3ffe27fb AV |
171 | |
172 | // Zero the ax(i/e)s position | |
173 | for( char c = 'X'; c <= 'Z'; c++ ){ | |
174 | if( ( axes_to_move >> ( c - 'X' ) ) & 1 ){ | |
175 | ||
176 | this->kernel->robot->reset_axis_position(this->homing_position[c - 'X'], c - 'X'); | |
177 | } | |
178 | } | |
179 | ||
c339d634 MM |
180 | } |
181 | } | |
f3e93777 AW |
182 | else if (gcode->has_m){ |
183 | switch(gcode->m){ | |
c339d634 | 184 | case 119: |
f3e93777 | 185 | 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 | 186 | break; |
201bcb94 AW |
187 | } |
188 | } | |
189 | } | |
190 |