Merge pull request #117 from logxen/edge

[clinton/Smoothieware.git] / src / modules / tools / endstops / Endstops.cpp

/*
      This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl).
      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.
      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.
      You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>.
*/

#include "libs/Module.h"
#include "libs/Kernel.h"
#include "modules/communication/utils/Gcode.h"
#include "modules/robot/Player.h"
#include "Endstops.h"
#include "libs/nuts_bolts.h"
#include "libs/Pin.h"
#include "libs/StepperMotor.h"
#include "wait_api.h" // mbed.h lib

Endstops::Endstops(){
    this->status = NOT_HOMING;
}

void Endstops::on_module_loaded() {
    register_for_event(ON_CONFIG_RELOAD);
    this->register_for_event(ON_GCODE_RECEIVED);

    // Take StepperMotor objects from Robot and keep them here
    this->steppers[0] = this->kernel->robot->alpha_stepper_motor;
    this->steppers[1] = this->kernel->robot->beta_stepper_motor;
    this->steppers[2] = this->kernel->robot->gamma_stepper_motor;

    // Settings
    this->on_config_reload(this);

}

// Get config
void Endstops::on_config_reload(void* argument){
    this->pins[0].from_string(         this->kernel->config->value(alpha_min_endstop_checksum          )->by_default("nc" )->as_string())->as_input()->pull_up();
    this->pins[1].from_string(         this->kernel->config->value(beta_min_endstop_checksum           )->by_default("nc" )->as_string())->as_input()->pull_up();
    this->pins[2].from_string(         this->kernel->config->value(gamma_min_endstop_checksum          )->by_default("nc" )->as_string())->as_input()->pull_up();
    this->pins[3].from_string(         this->kernel->config->value(alpha_max_endstop_checksum          )->by_default("nc" )->as_string())->as_input()->pull_up();
    this->pins[4].from_string(         this->kernel->config->value(beta_max_endstop_checksum           )->by_default("nc" )->as_string())->as_input()->pull_up();
    this->pins[5].from_string(         this->kernel->config->value(gamma_max_endstop_checksum          )->by_default("nc" )->as_string())->as_input()->pull_up();
    this->fast_rates[0]             =  this->kernel->config->value(alpha_fast_homing_rate_checksum     )->by_default("500" )->as_number();
    this->fast_rates[1]             =  this->kernel->config->value(beta_fast_homing_rate_checksum      )->by_default("500" )->as_number();
    this->fast_rates[2]             =  this->kernel->config->value(gamma_fast_homing_rate_checksum     )->by_default("5" )->as_number();
    this->slow_rates[0]             =  this->kernel->config->value(alpha_slow_homing_rate_checksum     )->by_default("100" )->as_number();
    this->slow_rates[1]             =  this->kernel->config->value(beta_slow_homing_rate_checksum      )->by_default("100" )->as_number();
    this->slow_rates[2]             =  this->kernel->config->value(gamma_slow_homing_rate_checksum     )->by_default("5" )->as_number();
    this->retract_steps[0]          =  this->kernel->config->value(alpha_homing_retract_checksum       )->by_default("30" )->as_number();
    this->retract_steps[1]          =  this->kernel->config->value(beta_homing_retract_checksum        )->by_default("30" )->as_number();
    this->retract_steps[2]          =  this->kernel->config->value(gamma_homing_retract_checksum       )->by_default("10" )->as_number();
    this->debounce_count            =  this->kernel->config->value(endstop_debounce_count_checksum     )->by_default("100" )->as_number();
    this->direction[0]              =((-this->kernel->config->value(alpha_homing_direction_checksum     )->by_default("-1" )->as_number()) / 2.0) + 0.5;
    this->direction[1]              =((-this->kernel->config->value(beta_homing_direction_checksum      )->by_default("-1" )->as_number()) / 2.0) + 0.5;
    this->direction[2]              =((-this->kernel->config->value(gamma_homing_direction_checksum     )->by_default("1" )->as_number()) / 2.0) + 0.5;
    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();
    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();;
    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();;
}

void Endstops::wait_for_homed(char axes_to_move)
{
    bool running = true;
    unsigned int debounce[3] = {0,0,0};
    while(running){
        running = false;
        for( char c = 'X'; c <= 'Z'; c++ ){
            if( ( axes_to_move >> ( c - 'X' ) ) & 1 ){
                if( this->pins[c - 'X' + (this->direction[c - 'X']?0:3)].get() ){
                    if( debounce[c - 'X'] < debounce_count ) {
                        debounce[c - 'X'] ++;
                        running = true;
                    } else if ( this->steppers[c - 'X']->moving ){
                        this->steppers[c - 'X']->move(0,0);
                        printf("move done %c\r\n", c);
                    }
                }else{
                    // The endstop was not hit yet
                    running = true;
                    debounce[c - 'X'] = 0;
                }
            }
        }
    }
}

// Start homing sequences by response to GCode commands
void Endstops::on_gcode_received(void* argument)
{
    Gcode* gcode = static_cast<Gcode*>(argument);
    if( gcode->has_g)
    {
        if( gcode->g == 28 )
        {
            // G28 is received, we have homing to do

            // First wait for the queue to be empty
            while(this->kernel->player->queue.size() > 0) { wait_us(500); }

            // Do we move select axes or all of them
            char axes_to_move = ( ( gcode->has_letter('X') || gcode->has_letter('Y') || gcode->has_letter('Z') ) ? 0x00 : 0xff );
            for( char c = 'X'; c <= 'Z'; c++ ){
                if( gcode->has_letter(c) && this->pins[c - 'X'].connected() ){ axes_to_move += ( 1 << (c - 'X' ) ); }
            }

            // Enable the motors
            this->kernel->stepper->turn_enable_pins_on();

            // Start moving the axes to the origin
            this->status = MOVING_TO_ORIGIN_FAST;
            for( char c = 'X'; c <= 'Z'; c++ ){
                if( ( axes_to_move >> ( c - 'X' ) ) & 1 ){
                    this->steppers[c - 'X']->set_speed(this->fast_rates[c - 'X']);
                    this->steppers[c - 'X']->move(this->direction[c - 'X'],10000000);
                }
            }

            // Wait for all axes to have homed
            this->wait_for_homed(axes_to_move);

            printf("test a\r\n");
            // Move back a small distance
            this->status = MOVING_BACK;
            int inverted_dir;
            for( char c = 'X'; c <= 'Z'; c++ ){
                if( ( axes_to_move >> ( c - 'X' ) ) & 1 ){
                    inverted_dir = -(this->direction[c - 'X'] - 1);
                    this->steppers[c - 'X']->set_speed(this->slow_rates[c - 'X']);
                    this->steppers[c - 'X']->move(inverted_dir,this->retract_steps[c - 'X']);
                }
            }

            printf("test b\r\n");
            // Wait for moves to be done
            for( char c = 'X'; c <= 'Z'; c++ ){
                if(  ( axes_to_move >> ( c - 'X' ) ) & 1 ){
                    printf("axis %c \r\n", c );
                    while( this->steppers[c - 'X']->moving ){ }
                }
            }

            printf("test c\r\n");

            // Start moving the axes to the origin slowly
            this->status = MOVING_TO_ORIGIN_SLOW;
            for( char c = 'X'; c <= 'Z'; c++ ){
                if( ( axes_to_move >> ( c - 'X' ) ) & 1 ){
                    this->steppers[c - 'X']->set_speed(this->slow_rates[c -'X']);
                    this->steppers[c - 'X']->move(this->direction[c - 'X'],10000000);
                }
            }

            // Wait for all axes to have homed
            this->wait_for_homed(axes_to_move);

            // Homing is done
            this->status = NOT_HOMING;

            // Zero the ax(i/e)s position
            for( char c = 'X'; c <= 'Z'; c++ ){
                if( ( axes_to_move >> ( c - 'X' ) ) & 1 ){

                    this->kernel->robot->reset_axis_position(this->homing_position[c - 'X'], c - 'X');
                }
            }

        }
    }
    else if (gcode->has_m)
    {
        switch(gcode->m)
        {
            case 119:
                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()
                                        );
                break;
        }
    }
}