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" |
201bcb94 AW |
12 | #include "Endstops.h" |
13 | #include "libs/nuts_bolts.h" | |
750277f8 | 14 | #include "libs/Pin.h" |
670fa10b | 15 | #include "libs/StepperMotor.h" |
201bcb94 | 16 | #include "wait_api.h" // mbed.h lib |
61134a65 JM |
17 | #include "Robot.h" |
18 | #include "Stepper.h" | |
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 JM |
28 | #include "StreamOutputPool.h" |
29 | #include "Pauser.h" | |
201bcb94 | 30 | |
80605954 JM |
31 | #include <ctype.h> |
32 | ||
33e4cc02 JM |
33 | #define ALPHA_AXIS 0 |
34 | #define BETA_AXIS 1 | |
35 | #define GAMMA_AXIS 2 | |
9a993543 JM |
36 | #define X_AXIS 0 |
37 | #define Y_AXIS 1 | |
38 | #define Z_AXIS 2 | |
33e4cc02 | 39 | |
33e4cc02 JM |
40 | #define endstops_module_enable_checksum CHECKSUM("endstops_enable") |
41 | #define corexy_homing_checksum CHECKSUM("corexy_homing") | |
42 | #define delta_homing_checksum CHECKSUM("delta_homing") | |
3e1f5b74 | 43 | #define scara_homing_checksum CHECKSUM("scara_homing") |
33e4cc02 JM |
44 | |
45 | #define alpha_min_endstop_checksum CHECKSUM("alpha_min_endstop") | |
46 | #define beta_min_endstop_checksum CHECKSUM("beta_min_endstop") | |
47 | #define gamma_min_endstop_checksum CHECKSUM("gamma_min_endstop") | |
48 | ||
49 | #define alpha_max_endstop_checksum CHECKSUM("alpha_max_endstop") | |
50 | #define beta_max_endstop_checksum CHECKSUM("beta_max_endstop") | |
51 | #define gamma_max_endstop_checksum CHECKSUM("gamma_max_endstop") | |
52 | ||
53 | #define alpha_trim_checksum CHECKSUM("alpha_trim") | |
54 | #define beta_trim_checksum CHECKSUM("beta_trim") | |
55 | #define gamma_trim_checksum CHECKSUM("gamma_trim") | |
56 | ||
57 | // these values are in steps and should be deprecated | |
58 | #define alpha_fast_homing_rate_checksum CHECKSUM("alpha_fast_homing_rate") | |
59 | #define beta_fast_homing_rate_checksum CHECKSUM("beta_fast_homing_rate") | |
60 | #define gamma_fast_homing_rate_checksum CHECKSUM("gamma_fast_homing_rate") | |
61 | ||
62 | #define alpha_slow_homing_rate_checksum CHECKSUM("alpha_slow_homing_rate") | |
63 | #define beta_slow_homing_rate_checksum CHECKSUM("beta_slow_homing_rate") | |
64 | #define gamma_slow_homing_rate_checksum CHECKSUM("gamma_slow_homing_rate") | |
65 | ||
66 | #define alpha_homing_retract_checksum CHECKSUM("alpha_homing_retract") | |
67 | #define beta_homing_retract_checksum CHECKSUM("beta_homing_retract") | |
68 | #define gamma_homing_retract_checksum CHECKSUM("gamma_homing_retract") | |
33e4cc02 JM |
69 | |
70 | // same as above but in user friendly mm/s and mm | |
71 | #define alpha_fast_homing_rate_mm_checksum CHECKSUM("alpha_fast_homing_rate_mm_s") | |
72 | #define beta_fast_homing_rate_mm_checksum CHECKSUM("beta_fast_homing_rate_mm_s") | |
73 | #define gamma_fast_homing_rate_mm_checksum CHECKSUM("gamma_fast_homing_rate_mm_s") | |
74 | ||
75 | #define alpha_slow_homing_rate_mm_checksum CHECKSUM("alpha_slow_homing_rate_mm_s") | |
76 | #define beta_slow_homing_rate_mm_checksum CHECKSUM("beta_slow_homing_rate_mm_s") | |
77 | #define gamma_slow_homing_rate_mm_checksum CHECKSUM("gamma_slow_homing_rate_mm_s") | |
78 | ||
79 | #define alpha_homing_retract_mm_checksum CHECKSUM("alpha_homing_retract_mm") | |
80 | #define beta_homing_retract_mm_checksum CHECKSUM("beta_homing_retract_mm") | |
81 | #define gamma_homing_retract_mm_checksum CHECKSUM("gamma_homing_retract_mm") | |
82 | ||
83 | #define endstop_debounce_count_checksum CHECKSUM("endstop_debounce_count") | |
84 | ||
85 | #define alpha_homing_direction_checksum CHECKSUM("alpha_homing_direction") | |
86 | #define beta_homing_direction_checksum CHECKSUM("beta_homing_direction") | |
87 | #define gamma_homing_direction_checksum CHECKSUM("gamma_homing_direction") | |
88 | #define home_to_max_checksum CHECKSUM("home_to_max") | |
89 | #define home_to_min_checksum CHECKSUM("home_to_min") | |
90 | #define alpha_min_checksum CHECKSUM("alpha_min") | |
91 | #define beta_min_checksum CHECKSUM("beta_min") | |
92 | #define gamma_min_checksum CHECKSUM("gamma_min") | |
93 | ||
94 | #define alpha_max_checksum CHECKSUM("alpha_max") | |
95 | #define beta_max_checksum CHECKSUM("beta_max") | |
96 | #define gamma_max_checksum CHECKSUM("gamma_max") | |
97 | ||
3c947f85 JM |
98 | #define alpha_limit_enable_checksum CHECKSUM("alpha_limit_enable") |
99 | #define beta_limit_enable_checksum CHECKSUM("beta_limit_enable") | |
100 | #define gamma_limit_enable_checksum CHECKSUM("gamma_limit_enable") | |
101 | ||
80605954 | 102 | #define homing_order_checksum CHECKSUM("homing_order") |
2ddf75fd | 103 | #define move_to_origin_checksum CHECKSUM("move_to_origin_after_home") |
80605954 | 104 | |
dd0a7cfa JM |
105 | #define STEPPER THEKERNEL->robot->actuators |
106 | #define STEPS_PER_MM(a) (STEPPER[a]->get_steps_per_mm()) | |
56ce2b5a | 107 | |
2b3cedc7 | 108 | |
3c947f85 JM |
109 | // Homing States |
110 | enum{ | |
2ddf75fd JM |
111 | MOVING_TO_ENDSTOP_FAST, // homing move |
112 | MOVING_BACK, // homing move | |
113 | MOVING_TO_ENDSTOP_SLOW, // homing move | |
fafb45df | 114 | NOT_HOMING, |
3c947f85 | 115 | BACK_OFF_HOME, |
2ddf75fd | 116 | MOVE_TO_ORIGIN, |
3c947f85 JM |
117 | LIMIT_TRIGGERED |
118 | }; | |
119 | ||
33e4cc02 JM |
120 | Endstops::Endstops() |
121 | { | |
201bcb94 | 122 | this->status = NOT_HOMING; |
33e4cc02 | 123 | home_offset[0] = home_offset[1] = home_offset[2] = 0.0F; |
201bcb94 AW |
124 | } |
125 | ||
33e4cc02 JM |
126 | void Endstops::on_module_loaded() |
127 | { | |
7dee696d | 128 | // Do not do anything if not enabled |
314ab8f7 | 129 | if ( THEKERNEL->config->value( endstops_module_enable_checksum )->by_default(true)->as_bool() == false ) { |
4e722c00 | 130 | delete this; |
33e4cc02 JM |
131 | return; |
132 | } | |
7d62445b | 133 | |
9f6f04a5 JM |
134 | register_for_event(ON_GCODE_RECEIVED); |
135 | register_for_event(ON_GET_PUBLIC_DATA); | |
7d6fe308 | 136 | register_for_event(ON_SET_PUBLIC_DATA); |
201bcb94 | 137 | |
38bf9a1c | 138 | THEKERNEL->slow_ticker->attach( THEKERNEL->stepper->get_acceleration_ticks_per_second() , this, &Endstops::acceleration_tick ); |
201bcb94 | 139 | |
750277f8 AW |
140 | // Settings |
141 | this->on_config_reload(this); | |
201bcb94 AW |
142 | } |
143 | ||
750277f8 | 144 | // Get config |
33e4cc02 JM |
145 | void Endstops::on_config_reload(void *argument) |
146 | { | |
56ce2b5a JM |
147 | this->pins[0].from_string( THEKERNEL->config->value(alpha_min_endstop_checksum )->by_default("nc" )->as_string())->as_input(); |
148 | this->pins[1].from_string( THEKERNEL->config->value(beta_min_endstop_checksum )->by_default("nc" )->as_string())->as_input(); | |
149 | this->pins[2].from_string( THEKERNEL->config->value(gamma_min_endstop_checksum )->by_default("nc" )->as_string())->as_input(); | |
150 | this->pins[3].from_string( THEKERNEL->config->value(alpha_max_endstop_checksum )->by_default("nc" )->as_string())->as_input(); | |
151 | this->pins[4].from_string( THEKERNEL->config->value(beta_max_endstop_checksum )->by_default("nc" )->as_string())->as_input(); | |
152 | this->pins[5].from_string( THEKERNEL->config->value(gamma_max_endstop_checksum )->by_default("nc" )->as_string())->as_input(); | |
153 | ||
154 | // These are the old ones in steps still here for backwards compatibility | |
155 | this->fast_rates[0] = THEKERNEL->config->value(alpha_fast_homing_rate_checksum )->by_default(4000 )->as_number() / STEPS_PER_MM(0); | |
156 | this->fast_rates[1] = THEKERNEL->config->value(beta_fast_homing_rate_checksum )->by_default(4000 )->as_number() / STEPS_PER_MM(1); | |
157 | this->fast_rates[2] = THEKERNEL->config->value(gamma_fast_homing_rate_checksum )->by_default(6400 )->as_number() / STEPS_PER_MM(2); | |
158 | this->slow_rates[0] = THEKERNEL->config->value(alpha_slow_homing_rate_checksum )->by_default(2000 )->as_number() / STEPS_PER_MM(0); | |
159 | this->slow_rates[1] = THEKERNEL->config->value(beta_slow_homing_rate_checksum )->by_default(2000 )->as_number() / STEPS_PER_MM(1); | |
160 | this->slow_rates[2] = THEKERNEL->config->value(gamma_slow_homing_rate_checksum )->by_default(3200 )->as_number() / STEPS_PER_MM(2); | |
161 | this->retract_mm[0] = THEKERNEL->config->value(alpha_homing_retract_checksum )->by_default(400 )->as_number() / STEPS_PER_MM(0); | |
162 | this->retract_mm[1] = THEKERNEL->config->value(beta_homing_retract_checksum )->by_default(400 )->as_number() / STEPS_PER_MM(1); | |
163 | this->retract_mm[2] = THEKERNEL->config->value(gamma_homing_retract_checksum )->by_default(1600 )->as_number() / STEPS_PER_MM(2); | |
5de98d7c JM |
164 | |
165 | // 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 |
166 | this->fast_rates[0] = THEKERNEL->config->value(alpha_fast_homing_rate_mm_checksum )->by_default(this->fast_rates[0])->as_number(); |
167 | this->fast_rates[1] = THEKERNEL->config->value(beta_fast_homing_rate_mm_checksum )->by_default(this->fast_rates[1])->as_number(); | |
168 | this->fast_rates[2] = THEKERNEL->config->value(gamma_fast_homing_rate_mm_checksum )->by_default(this->fast_rates[2])->as_number(); | |
169 | this->slow_rates[0] = THEKERNEL->config->value(alpha_slow_homing_rate_mm_checksum )->by_default(this->slow_rates[0])->as_number(); | |
170 | this->slow_rates[1] = THEKERNEL->config->value(beta_slow_homing_rate_mm_checksum )->by_default(this->slow_rates[1])->as_number(); | |
171 | this->slow_rates[2] = THEKERNEL->config->value(gamma_slow_homing_rate_mm_checksum )->by_default(this->slow_rates[2])->as_number(); | |
172 | this->retract_mm[0] = THEKERNEL->config->value(alpha_homing_retract_mm_checksum )->by_default(this->retract_mm[0])->as_number(); | |
173 | this->retract_mm[1] = THEKERNEL->config->value(beta_homing_retract_mm_checksum )->by_default(this->retract_mm[1])->as_number(); | |
174 | this->retract_mm[2] = THEKERNEL->config->value(gamma_homing_retract_mm_checksum )->by_default(this->retract_mm[2])->as_number(); | |
5de98d7c | 175 | |
06c48ee8 | 176 | this->debounce_count = THEKERNEL->config->value(endstop_debounce_count_checksum )->by_default(100)->as_number(); |
5de98d7c JM |
177 | |
178 | ||
409ff5b3 | 179 | // get homing direction and convert to boolean where true is home to min, and false is home to max |
314ab8f7 | 180 | int home_dir = get_checksum(THEKERNEL->config->value(alpha_homing_direction_checksum)->by_default("home_to_min")->as_string()); |
eb09fdbf | 181 | this->home_direction[0] = home_dir != home_to_max_checksum; |
47bbe224 | 182 | |
314ab8f7 | 183 | home_dir = get_checksum(THEKERNEL->config->value(beta_homing_direction_checksum)->by_default("home_to_min")->as_string()); |
eb09fdbf | 184 | this->home_direction[1] = home_dir != home_to_max_checksum; |
47bbe224 | 185 | |
314ab8f7 | 186 | home_dir = get_checksum(THEKERNEL->config->value(gamma_homing_direction_checksum)->by_default("home_to_min")->as_string()); |
eb09fdbf | 187 | this->home_direction[2] = home_dir != home_to_max_checksum; |
47bbe224 | 188 | |
314ab8f7 | 189 | 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(); |
f3b66360 JM |
190 | 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(); |
191 | 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 | 192 | |
314ab8f7 MM |
193 | this->is_corexy = THEKERNEL->config->value(corexy_homing_checksum)->by_default(false)->as_bool(); |
194 | this->is_delta = THEKERNEL->config->value(delta_homing_checksum)->by_default(false)->as_bool(); | |
504f0e3e JM |
195 | this->is_scara = THEKERNEL->config->value(scara_homing_checksum)->by_default(false)->as_bool(); |
196 | ||
80605954 JM |
197 | // see if an order has been specified, must be three characters, XYZ or YXZ etc |
198 | string order= THEKERNEL->config->value(homing_order_checksum)->by_default("")->as_string(); | |
199 | this->homing_order= 0; | |
200 | if(order.size() == 3 && !this->is_delta) { | |
201 | int shift= 0; | |
202 | for(auto c : order) { | |
203 | uint8_t i= toupper(c) - 'X'; | |
204 | if(i > 2) { // bad value | |
205 | this->homing_order= 0; | |
206 | break; | |
207 | } | |
208 | homing_order |= (i << shift); | |
209 | shift += 2; | |
210 | } | |
211 | } | |
212 | ||
192bca32 JM |
213 | // endstop trim used by deltas to do soft adjusting |
214 | // on a delta homing to max, a negative trim value will move the carriage down, and a positive will move it up | |
215 | this->trim_mm[0] = THEKERNEL->config->value(alpha_trim_checksum )->by_default(0 )->as_number(); | |
216 | this->trim_mm[1] = THEKERNEL->config->value(beta_trim_checksum )->by_default(0 )->as_number(); | |
217 | this->trim_mm[2] = THEKERNEL->config->value(gamma_trim_checksum )->by_default(0 )->as_number(); | |
3c947f85 JM |
218 | |
219 | // limits enabled | |
220 | this->limit_enable[X_AXIS]= THEKERNEL->config->value(alpha_limit_enable_checksum)->by_default(false)->as_bool(); | |
221 | this->limit_enable[Y_AXIS]= THEKERNEL->config->value(beta_limit_enable_checksum)->by_default(false)->as_bool(); | |
222 | this->limit_enable[Z_AXIS]= THEKERNEL->config->value(gamma_limit_enable_checksum)->by_default(false)->as_bool(); | |
223 | ||
2ddf75fd | 224 | this->move_to_origin_after_home= THEKERNEL->config->value(move_to_origin_checksum)->by_default(false)->as_bool(); |
2b3cedc7 | 225 | |
3c947f85 JM |
226 | if(this->limit_enable[X_AXIS] || this->limit_enable[Y_AXIS] || this->limit_enable[Z_AXIS]){ |
227 | register_for_event(ON_IDLE); | |
228 | } | |
229 | } | |
230 | ||
4d149ebb | 231 | static const char *endstop_names[]= {"min_x", "min_y", "min_z", "max_x", "max_y", "max_z"}; |
3c947f85 JM |
232 | |
233 | void Endstops::on_idle(void *argument) | |
234 | { | |
c3d7feb6 JM |
235 | if(this->status == LIMIT_TRIGGERED) { |
236 | // if we were in limit triggered see if it has been cleared | |
237 | for( int c = X_AXIS; c <= Z_AXIS; c++ ) { | |
238 | if(this->limit_enable[c]) { | |
239 | std::array<int, 2> minmax{{0, 3}}; | |
240 | // check min and max endstops | |
241 | for (int i : minmax) { | |
242 | int n= c+i; | |
243 | if(this->pins[n].get()) { | |
244 | // still triggered, so exit | |
ee1c3181 | 245 | bounce_cnt= 0; |
c3d7feb6 JM |
246 | return; |
247 | } | |
248 | } | |
249 | } | |
250 | } | |
ee1c3181 JM |
251 | if(++bounce_cnt > 10) { // can use less as it calls on_idle in between |
252 | // clear the state | |
253 | this->status= NOT_HOMING; | |
254 | } | |
4befe777 | 255 | return; |
c3d7feb6 JM |
256 | |
257 | }else if(this->status != NOT_HOMING) { | |
258 | // don't check while homing | |
259 | return; | |
260 | } | |
3c947f85 JM |
261 | |
262 | for( int c = X_AXIS; c <= Z_AXIS; c++ ) { | |
263 | if(this->limit_enable[c] && STEPPER[c]->is_moving()) { | |
264 | std::array<int, 2> minmax{{0, 3}}; | |
265 | // check min and max endstops | |
266 | for (int i : minmax) { | |
267 | int n= c+i; | |
268 | uint8_t debounce= 0; | |
269 | while(this->pins[n].get()) { | |
270 | if ( ++debounce >= debounce_count ) { | |
271 | // endstop triggered | |
b375ba1d | 272 | THEKERNEL->streams->printf("Limit switch %s was hit - reset or M999 required\n", endstop_names[n]); |
3c947f85 | 273 | this->status= LIMIT_TRIGGERED; |
b375ba1d | 274 | // disables heaters and motors, ignores incoming Gcode and flushes block queue |
728477c4 | 275 | THEKERNEL->call_event(ON_HALT, nullptr); |
3c947f85 JM |
276 | return; |
277 | } | |
278 | } | |
279 | } | |
280 | } | |
281 | } | |
282 | } | |
283 | ||
284 | // if limit switches are enabled, then we must move off of the endstop otherwise we won't be able to move | |
5bfcd44a JM |
285 | // checks if triggered and only backs off if triggered |
286 | void Endstops::back_off_home(char axes_to_move) | |
3c947f85 JM |
287 | { |
288 | this->status = BACK_OFF_HOME; | |
289 | for( int c = X_AXIS; c <= Z_AXIS; c++ ) { | |
5bfcd44a | 290 | if( ((axes_to_move >> c ) & 1) == 0) continue; // only for axes we asked to move |
3c947f85 | 291 | if(this->limit_enable[c]) { |
5bfcd44a JM |
292 | if( !this->pins[c + (this->home_direction[c] ? 0 : 3)].get() ) continue; // if not triggered no need to move off |
293 | ||
3c947f85 JM |
294 | // Move off of the endstop using a regular relative move |
295 | char buf[32]; | |
2b3cedc7 | 296 | snprintf(buf, sizeof(buf), "G0 %c%1.4f F%1.4f", c+'X', this->retract_mm[c]*(this->home_direction[c]?1:-1), this->fast_rates[c]*60.0F); |
3c947f85 JM |
297 | Gcode gc(buf, &(StreamOutput::NullStream)); |
298 | bool oldmode= THEKERNEL->robot->absolute_mode; | |
299 | THEKERNEL->robot->absolute_mode= false; // needs to be relative mode | |
300 | THEKERNEL->robot->on_gcode_received(&gc); // send to robot directly | |
301 | THEKERNEL->robot->absolute_mode= oldmode; // restore mode | |
302 | } | |
303 | } | |
304 | // Wait for above to finish | |
305 | THEKERNEL->conveyor->wait_for_empty_queue(); | |
306 | this->status = NOT_HOMING; | |
a0e0d592 BG |
307 | } |
308 | ||
2b3cedc7 | 309 | // If enabled will move the head to 0,0 after homing, but only if X and Y were set to home |
2ddf75fd | 310 | void Endstops::move_to_origin(char axes_to_move) |
2b3cedc7 JM |
311 | { |
312 | if( (axes_to_move&0x03) != 3 ) return; // ignore if X and Y not homing | |
313 | ||
fafb45df JM |
314 | // Do we need to check if we are already at 0,0? probably not as the G0 will not do anything if we are |
315 | // float pos[3]; THEKERNEL->robot->get_axis_position(pos); if(pos[0] == 0 && pos[1] == 0) return; | |
316 | ||
2ddf75fd | 317 | this->status = MOVE_TO_ORIGIN; |
2b3cedc7 JM |
318 | // Move to center using a regular move, use slower of X and Y fast rate |
319 | float rate= min(this->fast_rates[0], this->fast_rates[1])*60.0F; | |
320 | char buf[32]; | |
321 | snprintf(buf, sizeof(buf), "G0 X0 Y0 F%1.4f", rate); | |
322 | Gcode gc(buf, &(StreamOutput::NullStream)); | |
323 | THEKERNEL->robot->on_gcode_received(&gc); // send to robot directly | |
324 | ||
325 | // Wait for above to finish | |
326 | THEKERNEL->conveyor->wait_for_empty_queue(); | |
327 | this->status = NOT_HOMING; | |
328 | } | |
329 | ||
33e4cc02 JM |
330 | void Endstops::wait_for_homed(char axes_to_move) |
331 | { | |
a0e0d592 | 332 | bool running = true; |
33e4cc02 JM |
333 | unsigned int debounce[3] = {0, 0, 0}; |
334 | while (running) { | |
a0e0d592 | 335 | running = false; |
314ab8f7 | 336 | THEKERNEL->call_event(ON_IDLE); |
56ce2b5a JM |
337 | for ( int c = X_AXIS; c <= Z_AXIS; c++ ) { |
338 | if ( ( axes_to_move >> c ) & 1 ) { | |
339 | if ( this->pins[c + (this->home_direction[c] ? 0 : 3)].get() ) { | |
340 | if ( debounce[c] < debounce_count ) { | |
341 | debounce[c]++; | |
a0e0d592 | 342 | running = true; |
dd0a7cfa JM |
343 | } else if ( STEPPER[c]->is_moving() ) { |
344 | STEPPER[c]->move(0, 0); | |
e0b58122 | 345 | axes_to_move &= ~(1<<c); // no need to check it again |
a0e0d592 | 346 | } |
33e4cc02 | 347 | } else { |
a0e0d592 BG |
348 | // The endstop was not hit yet |
349 | running = true; | |
56ce2b5a | 350 | debounce[c] = 0; |
323cca60 | 351 | } |
a0e0d592 BG |
352 | } |
353 | } | |
354 | } | |
750277f8 | 355 | } |
201bcb94 | 356 | |
81f02e89 | 357 | void Endstops::do_homing_cartesian(char axes_to_move) |
33e4cc02 | 358 | { |
80605954 | 359 | // this homing works for cartesian and delta printers |
f29b0272 | 360 | // Start moving the axes to the origin |
2ddf75fd | 361 | this->status = MOVING_TO_ENDSTOP_FAST; |
56ce2b5a JM |
362 | for ( int c = X_AXIS; c <= Z_AXIS; c++ ) { |
363 | if ( ( axes_to_move >> c) & 1 ) { | |
364 | this->feed_rate[c]= this->fast_rates[c]; | |
6f6677fc | 365 | STEPPER[c]->move(this->home_direction[c], 10000000, 0); |
f29b0272 JM |
366 | } |
367 | } | |
368 | ||
369 | // Wait for all axes to have homed | |
370 | this->wait_for_homed(axes_to_move); | |
371 | ||
372 | // Move back a small distance | |
373 | this->status = MOVING_BACK; | |
374 | bool inverted_dir; | |
56ce2b5a JM |
375 | for ( int c = X_AXIS; c <= Z_AXIS; c++ ) { |
376 | if ( ( axes_to_move >> c ) & 1 ) { | |
377 | inverted_dir = !this->home_direction[c]; | |
378 | this->feed_rate[c]= this->slow_rates[c]; | |
6f6677fc | 379 | STEPPER[c]->move(inverted_dir, this->retract_mm[c]*STEPS_PER_MM(c), 0); |
f29b0272 JM |
380 | } |
381 | } | |
382 | ||
33e4cc02 | 383 | // Wait for moves to be done |
56ce2b5a JM |
384 | for ( int c = X_AXIS; c <= Z_AXIS; c++ ) { |
385 | if ( ( axes_to_move >> c ) & 1 ) { | |
dd0a7cfa | 386 | while ( STEPPER[c]->is_moving() ) { |
314ab8f7 | 387 | THEKERNEL->call_event(ON_IDLE); |
f29b0272 JM |
388 | } |
389 | } | |
390 | } | |
391 | ||
392 | // Start moving the axes to the origin slowly | |
2ddf75fd | 393 | this->status = MOVING_TO_ENDSTOP_SLOW; |
56ce2b5a JM |
394 | for ( int c = X_AXIS; c <= Z_AXIS; c++ ) { |
395 | if ( ( axes_to_move >> c ) & 1 ) { | |
396 | this->feed_rate[c]= this->slow_rates[c]; | |
6f6677fc | 397 | STEPPER[c]->move(this->home_direction[c], 10000000, 0); |
f29b0272 JM |
398 | } |
399 | } | |
400 | ||
401 | // Wait for all axes to have homed | |
402 | this->wait_for_homed(axes_to_move); | |
403 | ||
3e1f5b74 | 404 | if (this->is_delta || this->is_scara) { |
959ab59c JM |
405 | // move for soft trim |
406 | this->status = MOVING_BACK; | |
56ce2b5a JM |
407 | for ( int c = X_AXIS; c <= Z_AXIS; c++ ) { |
408 | if ( this->trim_mm[c] != 0.0F && ( axes_to_move >> c ) & 1 ) { | |
409 | inverted_dir = this->home_direction[c]; | |
410 | // move up or down depending on sign of trim, -ive is down away from home | |
411 | if (this->trim_mm[c] < 0) inverted_dir = !inverted_dir; | |
412 | this->feed_rate[c]= this->slow_rates[c]; | |
6f6677fc | 413 | STEPPER[c]->move(inverted_dir, abs(round(this->trim_mm[c]*STEPS_PER_MM(c))), 0); |
959ab59c | 414 | } |
f29b0272 | 415 | } |
f29b0272 | 416 | |
959ab59c | 417 | // Wait for moves to be done |
56ce2b5a JM |
418 | for ( int c = X_AXIS; c <= Z_AXIS; c++ ) { |
419 | if ( ( axes_to_move >> c ) & 1 ) { | |
314ab8f7 | 420 | //THEKERNEL->streams->printf("axis %c \r\n", c ); |
dd0a7cfa | 421 | while ( STEPPER[c]->is_moving() ) { |
314ab8f7 | 422 | THEKERNEL->call_event(ON_IDLE); |
959ab59c | 423 | } |
f29b0272 JM |
424 | } |
425 | } | |
426 | } | |
427 | ||
428 | // Homing is done | |
429 | this->status = NOT_HOMING; | |
430 | } | |
431 | ||
33e4cc02 JM |
432 | void Endstops::wait_for_homed_corexy(int axis) |
433 | { | |
3db88866 | 434 | bool running = true; |
33e4cc02 JM |
435 | unsigned int debounce[3] = {0, 0, 0}; |
436 | while (running) { | |
3db88866 | 437 | running = false; |
314ab8f7 | 438 | THEKERNEL->call_event(ON_IDLE); |
33e4cc02 JM |
439 | if ( this->pins[axis + (this->home_direction[axis] ? 0 : 3)].get() ) { |
440 | if ( debounce[axis] < debounce_count ) { | |
3db88866 JM |
441 | debounce[axis] ++; |
442 | running = true; | |
443 | } else { | |
444 | // turn both off if running | |
dd0a7cfa JM |
445 | if (STEPPER[X_AXIS]->is_moving()) STEPPER[X_AXIS]->move(0, 0); |
446 | if (STEPPER[Y_AXIS]->is_moving()) STEPPER[Y_AXIS]->move(0, 0); | |
3db88866 | 447 | } |
33e4cc02 | 448 | } else { |
3db88866 JM |
449 | // The endstop was not hit yet |
450 | running = true; | |
451 | debounce[axis] = 0; | |
452 | } | |
453 | } | |
454 | } | |
455 | ||
1ad23cd3 | 456 | void Endstops::corexy_home(int home_axis, bool dirx, bool diry, float fast_rate, float slow_rate, unsigned int retract_steps) |
33e4cc02 | 457 | { |
2ddf75fd | 458 | this->status = MOVING_TO_ENDSTOP_FAST; |
64eaf21e | 459 | this->feed_rate[X_AXIS]= fast_rate; |
6f6677fc | 460 | STEPPER[X_AXIS]->move(dirx, 10000000, 0); |
64eaf21e | 461 | this->feed_rate[Y_AXIS]= fast_rate; |
6f6677fc | 462 | STEPPER[Y_AXIS]->move(diry, 10000000, 0); |
f29b0272 | 463 | |
33e4cc02 JM |
464 | // wait for primary axis |
465 | this->wait_for_homed_corexy(home_axis); | |
f29b0272 | 466 | |
33e4cc02 JM |
467 | // Move back a small distance |
468 | this->status = MOVING_BACK; | |
64eaf21e | 469 | this->feed_rate[X_AXIS]= slow_rate; |
6f6677fc | 470 | STEPPER[X_AXIS]->move(!dirx, retract_steps, 0); |
64eaf21e | 471 | this->feed_rate[Y_AXIS]= slow_rate; |
6f6677fc | 472 | STEPPER[Y_AXIS]->move(!diry, retract_steps, 0); |
33e4cc02 JM |
473 | |
474 | // wait until done | |
dd0a7cfa | 475 | while ( STEPPER[X_AXIS]->is_moving() || STEPPER[Y_AXIS]->is_moving()) { |
314ab8f7 | 476 | THEKERNEL->call_event(ON_IDLE); |
f29b0272 JM |
477 | } |
478 | ||
33e4cc02 | 479 | // Start moving the axes to the origin slowly |
2ddf75fd | 480 | this->status = MOVING_TO_ENDSTOP_SLOW; |
64eaf21e | 481 | this->feed_rate[X_AXIS]= slow_rate; |
6f6677fc | 482 | STEPPER[X_AXIS]->move(dirx, 10000000, 0); |
64eaf21e | 483 | this->feed_rate[Y_AXIS]= slow_rate; |
6f6677fc | 484 | STEPPER[Y_AXIS]->move(diry, 10000000, 0); |
f29b0272 | 485 | |
33e4cc02 JM |
486 | // wait for primary axis |
487 | this->wait_for_homed_corexy(home_axis); | |
488 | } | |
f29b0272 | 489 | |
33e4cc02 JM |
490 | // this homing works for HBots/CoreXY |
491 | void Endstops::do_homing_corexy(char axes_to_move) | |
492 | { | |
03dffc07 | 493 | // TODO should really make order configurable, and select whether to allow XY to home at the same time, diagonally |
174d9961 | 494 | // To move XY at the same time only one motor needs to turn, determine which motor and which direction based on min or max directions |
03dffc07 | 495 | // allow to move until an endstop triggers, then stop that motor. Speed up when moving diagonally to match X or Y speed |
174d9961 | 496 | // continue moving in the direction not yet triggered (which means two motors turning) until endstop hit |
174d9961 JM |
497 | |
498 | if((axes_to_move & 0x03) == 0x03) { // both X and Y need Homing | |
499 | // determine which motor to turn and which way | |
500 | bool dirx= this->home_direction[X_AXIS]; | |
501 | bool diry= this->home_direction[Y_AXIS]; | |
502 | int motor; | |
503 | bool dir; | |
504 | if(dirx && diry) { // min/min | |
505 | motor= X_AXIS; | |
506 | dir= true; | |
507 | }else if(dirx && !diry) { // min/max | |
508 | motor= Y_AXIS; | |
509 | dir= true; | |
510 | }else if(!dirx && diry) { // max/min | |
511 | motor= Y_AXIS; | |
512 | dir= false; | |
513 | }else if(!dirx && !diry) { // max/max | |
514 | motor= X_AXIS; | |
515 | dir= false; | |
516 | } | |
517 | ||
518 | // then move both X and Y until one hits the endstop | |
2ddf75fd | 519 | this->status = MOVING_TO_ENDSTOP_FAST; |
6f6677fc | 520 | // need to allow for more ground covered when moving diagonally |
64eaf21e | 521 | this->feed_rate[motor]= this->fast_rates[motor]*1.4142; |
6f6677fc | 522 | STEPPER[motor]->move(dir, 10000000, 0); |
174d9961 JM |
523 | // wait until either X or Y hits the endstop |
524 | bool running= true; | |
525 | while (running) { | |
314ab8f7 | 526 | THEKERNEL->call_event(ON_IDLE); |
174d9961 JM |
527 | for(int m=X_AXIS;m<=Y_AXIS;m++) { |
528 | if(this->pins[m + (this->home_direction[m] ? 0 : 3)].get()) { | |
529 | // turn off motor | |
dd0a7cfa | 530 | if(STEPPER[motor]->is_moving()) STEPPER[motor]->move(0, 0); |
174d9961 JM |
531 | running= false; |
532 | break; | |
533 | } | |
534 | } | |
535 | } | |
536 | } | |
33e4cc02 | 537 | |
174d9961 | 538 | // move individual axis |
33e4cc02 | 539 | if (axes_to_move & 0x01) { // Home X, which means both X and Y in same direction |
413dd90c | 540 | bool dir= this->home_direction[X_AXIS]; |
56ce2b5a | 541 | corexy_home(X_AXIS, dir, dir, this->fast_rates[X_AXIS], this->slow_rates[X_AXIS], this->retract_mm[X_AXIS]*STEPS_PER_MM(X_AXIS)); |
f29b0272 JM |
542 | } |
543 | ||
65191d91 JM |
544 | if (axes_to_move & 0x02) { // Home Y, which means both X and Y in different directions |
545 | bool dir= this->home_direction[Y_AXIS]; | |
56ce2b5a | 546 | corexy_home(Y_AXIS, dir, !dir, this->fast_rates[Y_AXIS], this->slow_rates[Y_AXIS], this->retract_mm[Y_AXIS]*STEPS_PER_MM(Y_AXIS)); |
65191d91 JM |
547 | } |
548 | ||
33e4cc02 | 549 | if (axes_to_move & 0x04) { // move Z |
81f02e89 | 550 | do_homing_cartesian(0x04); // just home normally for Z |
f29b0272 JM |
551 | } |
552 | ||
553 | // Homing is done | |
554 | this->status = NOT_HOMING; | |
555 | } | |
556 | ||
81f02e89 JM |
557 | void Endstops::home(char axes_to_move) |
558 | { | |
559 | if (is_corexy){ | |
560 | // corexy/HBot homing | |
561 | do_homing_corexy(axes_to_move); | |
562 | }else{ | |
563 | // cartesian/delta homing | |
564 | do_homing_cartesian(axes_to_move); | |
565 | } | |
566 | } | |
567 | ||
201bcb94 | 568 | // Start homing sequences by response to GCode commands |
33e4cc02 | 569 | void Endstops::on_gcode_received(void *argument) |
c339d634 | 570 | { |
33e4cc02 JM |
571 | Gcode *gcode = static_cast<Gcode *>(argument); |
572 | if ( gcode->has_g) { | |
573 | if ( gcode->g == 28 ) { | |
74b6303c | 574 | gcode->mark_as_taken(); |
df27a6a3 | 575 | // G28 is received, we have homing to do |
201bcb94 AW |
576 | |
577 | // First wait for the queue to be empty | |
314ab8f7 | 578 | THEKERNEL->conveyor->wait_for_empty_queue(); |
201bcb94 AW |
579 | |
580 | // Do we move select axes or all of them | |
7dee696d | 581 | char axes_to_move = 0; |
3e1f5b74 QH |
582 | // only enable homing if the endstop is defined, deltas, scaras always home all axis |
583 | bool home_all = this->is_delta || this->is_scara || !( gcode->has_letter('X') || gcode->has_letter('Y') || gcode->has_letter('Z') ); | |
47bbe224 | 584 | |
56ce2b5a JM |
585 | for ( int c = X_AXIS; c <= Z_AXIS; c++ ) { |
586 | if ( (home_all || gcode->has_letter(c+'X')) && this->pins[c + (this->home_direction[c] ? 0 : 3)].connected() ) { | |
587 | axes_to_move += ( 1 << c ); | |
33e4cc02 | 588 | } |
df27a6a3 | 589 | } |
3b948656 | 590 | |
f6c04440 | 591 | // Enable the motors |
314ab8f7 | 592 | THEKERNEL->stepper->turn_enable_pins_on(); |
f6c04440 | 593 | |
f29b0272 | 594 | // do the actual homing |
80605954 JM |
595 | if(homing_order != 0){ |
596 | // if an order has been specified do it in the specified order | |
597 | // homing order is 0b00ccbbaa where aa is 0,1,2 to specify the first axis, bb is the second and cc is the third | |
598 | // eg 0b00100001 would be Y X Z, 0b00100100 would be X Y Z | |
599 | for (uint8_t m = homing_order; m != 0; m >>= 2) { | |
600 | int a= (1 << (m & 0x03)); // axis to move | |
601 | if((a & axes_to_move) != 0) | |
81f02e89 | 602 | home(a); |
80605954 JM |
603 | } |
604 | }else { | |
605 | // they all home at the same time | |
81f02e89 | 606 | home(axes_to_move); |
80605954 | 607 | } |
3ffe27fb | 608 | |
cef9acea JM |
609 | if(home_all) { |
610 | // for deltas this may be important rather than setting each individually | |
611 | THEKERNEL->robot->reset_axis_position( | |
612 | this->homing_position[X_AXIS] + this->home_offset[X_AXIS], | |
613 | this->homing_position[Y_AXIS] + this->home_offset[Y_AXIS], | |
614 | this->homing_position[Z_AXIS] + this->home_offset[Z_AXIS]); | |
615 | }else{ | |
616 | // Zero the ax(i/e)s position, add in the home offset | |
617 | for ( int c = X_AXIS; c <= Z_AXIS; c++ ) { | |
618 | if ( (axes_to_move >> c) & 1 ) { | |
619 | THEKERNEL->robot->reset_axis_position(this->homing_position[c] + this->home_offset[c], c); | |
620 | } | |
3ffe27fb AV |
621 | } |
622 | } | |
3c947f85 | 623 | |
2b3cedc7 JM |
624 | // on some systems where 0,0 is bed center it is noce to have home goto 0,0 after homing |
625 | // default is off | |
2ddf75fd JM |
626 | if(this->move_to_origin_after_home) |
627 | move_to_origin(axes_to_move); | |
2b3cedc7 | 628 | |
3c947f85 | 629 | // if limit switches are enabled we must back off endstop after setting home |
5bfcd44a | 630 | back_off_home(axes_to_move); |
c339d634 | 631 | } |
81f02e89 | 632 | |
33e4cc02 JM |
633 | } else if (gcode->has_m) { |
634 | switch (gcode->m) { | |
635 | case 119: { | |
ef7bd372 JM |
636 | for (int i = 0; i < 6; ++i) { |
637 | if(this->pins[i].connected()) | |
638 | gcode->stream->printf("%s:%d ", endstop_names[i], this->pins[i].get()); | |
639 | } | |
bd96f4d7 | 640 | gcode->add_nl= true; |
33e4cc02 JM |
641 | gcode->mark_as_taken(); |
642 | } | |
643 | break; | |
644 | ||
645 | case 206: // M206 - set homing offset | |
504f0e3e JM |
646 | if (gcode->has_letter('X')) home_offset[0] = gcode->get_value('X'); |
647 | if (gcode->has_letter('Y')) home_offset[1] = gcode->get_value('Y'); | |
648 | if (gcode->has_letter('Z')) home_offset[2] = gcode->get_value('Z'); | |
649 | gcode->stream->printf("X %5.3f Y %5.3f Z %5.3f\n", home_offset[0], home_offset[1], home_offset[2]); | |
650 | gcode->mark_as_taken(); | |
651 | break; | |
0e4bf280 | 652 | |
9ae8c7e4 | 653 | case 306: // Similar to M206 and G92 but sets Homing offsets based on current position, Would be M207 but that is taken |
504f0e3e JM |
654 | { |
655 | float cartesian[3]; | |
0e4bf280 | 656 | THEKERNEL->robot->get_axis_position(cartesian); // get actual position from robot |
9ae8c7e4 JM |
657 | if (gcode->has_letter('X')){ |
658 | home_offset[0] -= (cartesian[X_AXIS] - gcode->get_value('X')); | |
659 | THEKERNEL->robot->reset_axis_position(gcode->get_value('X'), X_AXIS); | |
660 | } | |
661 | if (gcode->has_letter('Y')) { | |
662 | home_offset[1] -= (cartesian[Y_AXIS] - gcode->get_value('Y')); | |
663 | THEKERNEL->robot->reset_axis_position(gcode->get_value('Y'), Y_AXIS); | |
664 | } | |
665 | if (gcode->has_letter('Z')) { | |
666 | home_offset[2] -= (cartesian[Z_AXIS] - gcode->get_value('Z')); | |
667 | THEKERNEL->robot->reset_axis_position(gcode->get_value('Z'), Z_AXIS); | |
668 | } | |
669 | ||
670 | gcode->stream->printf("Homing Offset: X %5.3f Y %5.3f Z %5.3f\n", home_offset[0], home_offset[1], home_offset[2]); | |
504f0e3e | 671 | gcode->mark_as_taken(); |
0e4bf280 | 672 | } |
33e4cc02 JM |
673 | break; |
674 | ||
675 | case 500: // save settings | |
676 | case 503: // print settings | |
677 | 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]); | |
678 | if (is_delta) { | |
56ce2b5a JM |
679 | 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]); |
680 | gcode->stream->printf(";Max Z\nM665 Z%1.3f\n", this->homing_position[2]); | |
7a8fe6e0 | 681 | } |
33e4cc02 | 682 | gcode->mark_as_taken(); |
c339d634 | 683 | break; |
47bbe224 | 684 | |
ec4773e5 | 685 | case 665: { // M665 - set max gamma/z height |
33e4cc02 | 686 | gcode->mark_as_taken(); |
1ad23cd3 | 687 | float gamma_max = this->homing_position[2]; |
33e4cc02 JM |
688 | if (gcode->has_letter('Z')) { |
689 | this->homing_position[2] = gamma_max = gcode->get_value('Z'); | |
ec4773e5 | 690 | } |
33e4cc02 JM |
691 | gcode->stream->printf("Max Z %8.3f ", gamma_max); |
692 | gcode->add_nl = true; | |
693 | } | |
694 | break; | |
ec4773e5 | 695 | |
47bbe224 | 696 | |
56ce2b5a | 697 | case 666: |
3e1f5b74 | 698 | if(this->is_delta || this->is_scara) { // M666 - set trim for each axis in mm, NB negative mm trim is down |
56ce2b5a JM |
699 | if (gcode->has_letter('X')) trim_mm[0] = gcode->get_value('X'); |
700 | if (gcode->has_letter('Y')) trim_mm[1] = gcode->get_value('Y'); | |
701 | if (gcode->has_letter('Z')) trim_mm[2] = gcode->get_value('Z'); | |
47bbe224 | 702 | |
56ce2b5a JM |
703 | // print the current trim values in mm |
704 | gcode->stream->printf("X: %5.3f Y: %5.3f Z: %5.3f\n", trim_mm[0], trim_mm[1], trim_mm[2]); | |
705 | gcode->mark_as_taken(); | |
706 | } | |
33e4cc02 | 707 | break; |
47bbe224 | 708 | |
d4ee6ee2 JM |
709 | // NOTE this is to test accuracy of lead screws etc. |
710 | case 910: { // M910 - move specific number of raw steps | |
a4b04adc JM |
711 | // Enable the motors |
712 | THEKERNEL->stepper->turn_enable_pins_on(); | |
713 | ||
d4ee6ee2 JM |
714 | int x= 0, y=0 , z= 0, f= 200*16; |
715 | if (gcode->has_letter('F')) f = gcode->get_value('F'); | |
716 | if (gcode->has_letter('X')) { | |
717 | x = gcode->get_value('X'); | |
6f6677fc | 718 | STEPPER[X_AXIS]->move(x<0, abs(x), f); |
d4ee6ee2 JM |
719 | } |
720 | if (gcode->has_letter('Y')) { | |
721 | y = gcode->get_value('Y'); | |
6f6677fc | 722 | STEPPER[Y_AXIS]->move(y<0, abs(y), f); |
d4ee6ee2 JM |
723 | } |
724 | if (gcode->has_letter('Z')) { | |
725 | z = gcode->get_value('Z'); | |
6f6677fc | 726 | STEPPER[Z_AXIS]->move(z<0, abs(z), f); |
d4ee6ee2 JM |
727 | } |
728 | gcode->stream->printf("Moved X %d Y %d Z %d F %d steps\n", x, y, z, f); | |
729 | gcode->mark_as_taken(); | |
730 | break; | |
731 | } | |
201bcb94 AW |
732 | } |
733 | } | |
734 | } | |
735 | ||
64eaf21e JM |
736 | // Called periodically to change the speed to match acceleration |
737 | uint32_t Endstops::acceleration_tick(uint32_t dummy) | |
738 | { | |
fafb45df | 739 | if(this->status >= NOT_HOMING) return(0); // nothing to do, only do this when moving for homing sequence |
64eaf21e JM |
740 | |
741 | // foreach stepper that is moving | |
742 | for ( int c = X_AXIS; c <= Z_AXIS; c++ ) { | |
dd0a7cfa | 743 | if( !STEPPER[c]->is_moving() ) continue; |
64eaf21e | 744 | |
dd0a7cfa | 745 | uint32_t current_rate = STEPPER[c]->get_steps_per_second(); |
56ce2b5a | 746 | uint32_t target_rate = int(floor(this->feed_rate[c]*STEPS_PER_MM(c))); |
c5fe1787 | 747 | float acc= (c==Z_AXIS) ? THEKERNEL->planner->get_z_acceleration() : THEKERNEL->planner->get_acceleration(); |
64eaf21e | 748 | if( current_rate < target_rate ){ |
6f6677fc | 749 | uint32_t rate_increase = floor((acc/THEKERNEL->stepper->get_acceleration_ticks_per_second())*STEPS_PER_MM(c)); |
64eaf21e JM |
750 | current_rate = min( target_rate, current_rate + rate_increase ); |
751 | } | |
752 | if( current_rate > target_rate ){ current_rate = target_rate; } | |
753 | ||
754 | // steps per second | |
6f6677fc | 755 | STEPPER[c]->set_speed(current_rate); |
64eaf21e JM |
756 | } |
757 | ||
758 | return 0; | |
759 | } | |
9f6f04a5 JM |
760 | |
761 | void Endstops::on_get_public_data(void* argument){ | |
762 | PublicDataRequest* pdr = static_cast<PublicDataRequest*>(argument); | |
763 | ||
764 | if(!pdr->starts_with(endstops_checksum)) return; | |
765 | ||
766 | if(pdr->second_element_is(trim_checksum)) { | |
86fa0b93 | 767 | pdr->set_data_ptr(&this->trim_mm); |
ea5c6d92 JM |
768 | pdr->set_taken(); |
769 | ||
770 | }else if(pdr->second_element_is(home_offset_checksum)) { | |
86fa0b93 | 771 | pdr->set_data_ptr(&this->home_offset); |
9f6f04a5 JM |
772 | pdr->set_taken(); |
773 | } | |
774 | } | |
7d6fe308 JM |
775 | |
776 | void Endstops::on_set_public_data(void* argument){ | |
777 | PublicDataRequest* pdr = static_cast<PublicDataRequest*>(argument); | |
778 | ||
779 | if(!pdr->starts_with(endstops_checksum)) return; | |
780 | ||
781 | if(pdr->second_element_is(trim_checksum)) { | |
782 | float *t= static_cast<float*>(pdr->get_data_ptr()); | |
783 | this->trim_mm[0]= t[0]; | |
784 | this->trim_mm[1]= t[1]; | |
785 | this->trim_mm[2]= t[2]; | |
786 | pdr->set_taken(); | |
ea5c6d92 JM |
787 | |
788 | }else if(pdr->second_element_is(home_offset_checksum)) { | |
789 | float *t= static_cast<float*>(pdr->get_data_ptr()); | |
790 | if(!isnan(t[0])) this->home_offset[0]= t[0]; | |
791 | if(!isnan(t[1])) this->home_offset[1]= t[1]; | |
792 | if(!isnan(t[2])) this->home_offset[2]= t[2]; | |
7d6fe308 JM |
793 | } |
794 | } |