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" | |
a157d099 | 30 | #include "StepTicker.h" |
201bcb94 | 31 | |
80605954 JM |
32 | #include <ctype.h> |
33 | ||
33e4cc02 JM |
34 | #define ALPHA_AXIS 0 |
35 | #define BETA_AXIS 1 | |
36 | #define GAMMA_AXIS 2 | |
9a993543 JM |
37 | #define X_AXIS 0 |
38 | #define Y_AXIS 1 | |
39 | #define Z_AXIS 2 | |
33e4cc02 | 40 | |
33e4cc02 JM |
41 | #define endstops_module_enable_checksum CHECKSUM("endstops_enable") |
42 | #define corexy_homing_checksum CHECKSUM("corexy_homing") | |
43 | #define delta_homing_checksum CHECKSUM("delta_homing") | |
3e1f5b74 | 44 | #define scara_homing_checksum CHECKSUM("scara_homing") |
33e4cc02 JM |
45 | |
46 | #define alpha_min_endstop_checksum CHECKSUM("alpha_min_endstop") | |
47 | #define beta_min_endstop_checksum CHECKSUM("beta_min_endstop") | |
48 | #define gamma_min_endstop_checksum CHECKSUM("gamma_min_endstop") | |
49 | ||
50 | #define alpha_max_endstop_checksum CHECKSUM("alpha_max_endstop") | |
51 | #define beta_max_endstop_checksum CHECKSUM("beta_max_endstop") | |
52 | #define gamma_max_endstop_checksum CHECKSUM("gamma_max_endstop") | |
53 | ||
54 | #define alpha_trim_checksum CHECKSUM("alpha_trim") | |
55 | #define beta_trim_checksum CHECKSUM("beta_trim") | |
56 | #define gamma_trim_checksum CHECKSUM("gamma_trim") | |
57 | ||
58 | // these values are in steps and should be deprecated | |
59 | #define alpha_fast_homing_rate_checksum CHECKSUM("alpha_fast_homing_rate") | |
60 | #define beta_fast_homing_rate_checksum CHECKSUM("beta_fast_homing_rate") | |
61 | #define gamma_fast_homing_rate_checksum CHECKSUM("gamma_fast_homing_rate") | |
62 | ||
63 | #define alpha_slow_homing_rate_checksum CHECKSUM("alpha_slow_homing_rate") | |
64 | #define beta_slow_homing_rate_checksum CHECKSUM("beta_slow_homing_rate") | |
65 | #define gamma_slow_homing_rate_checksum CHECKSUM("gamma_slow_homing_rate") | |
66 | ||
67 | #define alpha_homing_retract_checksum CHECKSUM("alpha_homing_retract") | |
68 | #define beta_homing_retract_checksum CHECKSUM("beta_homing_retract") | |
69 | #define gamma_homing_retract_checksum CHECKSUM("gamma_homing_retract") | |
33e4cc02 JM |
70 | |
71 | // same as above but in user friendly mm/s and mm | |
72 | #define alpha_fast_homing_rate_mm_checksum CHECKSUM("alpha_fast_homing_rate_mm_s") | |
73 | #define beta_fast_homing_rate_mm_checksum CHECKSUM("beta_fast_homing_rate_mm_s") | |
74 | #define gamma_fast_homing_rate_mm_checksum CHECKSUM("gamma_fast_homing_rate_mm_s") | |
75 | ||
76 | #define alpha_slow_homing_rate_mm_checksum CHECKSUM("alpha_slow_homing_rate_mm_s") | |
77 | #define beta_slow_homing_rate_mm_checksum CHECKSUM("beta_slow_homing_rate_mm_s") | |
78 | #define gamma_slow_homing_rate_mm_checksum CHECKSUM("gamma_slow_homing_rate_mm_s") | |
79 | ||
80 | #define alpha_homing_retract_mm_checksum CHECKSUM("alpha_homing_retract_mm") | |
81 | #define beta_homing_retract_mm_checksum CHECKSUM("beta_homing_retract_mm") | |
82 | #define gamma_homing_retract_mm_checksum CHECKSUM("gamma_homing_retract_mm") | |
83 | ||
84 | #define endstop_debounce_count_checksum CHECKSUM("endstop_debounce_count") | |
85 | ||
86 | #define alpha_homing_direction_checksum CHECKSUM("alpha_homing_direction") | |
87 | #define beta_homing_direction_checksum CHECKSUM("beta_homing_direction") | |
88 | #define gamma_homing_direction_checksum CHECKSUM("gamma_homing_direction") | |
89 | #define home_to_max_checksum CHECKSUM("home_to_max") | |
90 | #define home_to_min_checksum CHECKSUM("home_to_min") | |
91 | #define alpha_min_checksum CHECKSUM("alpha_min") | |
92 | #define beta_min_checksum CHECKSUM("beta_min") | |
93 | #define gamma_min_checksum CHECKSUM("gamma_min") | |
94 | ||
95 | #define alpha_max_checksum CHECKSUM("alpha_max") | |
96 | #define beta_max_checksum CHECKSUM("beta_max") | |
97 | #define gamma_max_checksum CHECKSUM("gamma_max") | |
98 | ||
3c947f85 JM |
99 | #define alpha_limit_enable_checksum CHECKSUM("alpha_limit_enable") |
100 | #define beta_limit_enable_checksum CHECKSUM("beta_limit_enable") | |
101 | #define gamma_limit_enable_checksum CHECKSUM("gamma_limit_enable") | |
102 | ||
80605954 | 103 | #define homing_order_checksum CHECKSUM("homing_order") |
2ddf75fd | 104 | #define move_to_origin_checksum CHECKSUM("move_to_origin_after_home") |
80605954 | 105 | |
dd0a7cfa JM |
106 | #define STEPPER THEKERNEL->robot->actuators |
107 | #define STEPS_PER_MM(a) (STEPPER[a]->get_steps_per_mm()) | |
56ce2b5a | 108 | |
2b3cedc7 | 109 | |
3c947f85 JM |
110 | // Homing States |
111 | enum{ | |
2ddf75fd JM |
112 | MOVING_TO_ENDSTOP_FAST, // homing move |
113 | MOVING_BACK, // homing move | |
114 | MOVING_TO_ENDSTOP_SLOW, // homing move | |
fafb45df | 115 | NOT_HOMING, |
3c947f85 | 116 | BACK_OFF_HOME, |
2ddf75fd | 117 | MOVE_TO_ORIGIN, |
3c947f85 JM |
118 | LIMIT_TRIGGERED |
119 | }; | |
120 | ||
33e4cc02 JM |
121 | Endstops::Endstops() |
122 | { | |
201bcb94 | 123 | this->status = NOT_HOMING; |
33e4cc02 | 124 | home_offset[0] = home_offset[1] = home_offset[2] = 0.0F; |
201bcb94 AW |
125 | } |
126 | ||
33e4cc02 JM |
127 | void Endstops::on_module_loaded() |
128 | { | |
7dee696d | 129 | // Do not do anything if not enabled |
314ab8f7 | 130 | if ( THEKERNEL->config->value( endstops_module_enable_checksum )->by_default(true)->as_bool() == false ) { |
4e722c00 | 131 | delete this; |
33e4cc02 JM |
132 | return; |
133 | } | |
7d62445b | 134 | |
9f6f04a5 JM |
135 | register_for_event(ON_GCODE_RECEIVED); |
136 | register_for_event(ON_GET_PUBLIC_DATA); | |
7d6fe308 | 137 | register_for_event(ON_SET_PUBLIC_DATA); |
201bcb94 | 138 | |
a157d099 | 139 | THEKERNEL->step_ticker->register_acceleration_tick_handler([this](){acceleration_tick(); }); |
201bcb94 | 140 | |
750277f8 AW |
141 | // Settings |
142 | this->on_config_reload(this); | |
201bcb94 AW |
143 | } |
144 | ||
750277f8 | 145 | // Get config |
33e4cc02 JM |
146 | void Endstops::on_config_reload(void *argument) |
147 | { | |
56ce2b5a JM |
148 | this->pins[0].from_string( THEKERNEL->config->value(alpha_min_endstop_checksum )->by_default("nc" )->as_string())->as_input(); |
149 | this->pins[1].from_string( THEKERNEL->config->value(beta_min_endstop_checksum )->by_default("nc" )->as_string())->as_input(); | |
150 | this->pins[2].from_string( THEKERNEL->config->value(gamma_min_endstop_checksum )->by_default("nc" )->as_string())->as_input(); | |
151 | this->pins[3].from_string( THEKERNEL->config->value(alpha_max_endstop_checksum )->by_default("nc" )->as_string())->as_input(); | |
152 | this->pins[4].from_string( THEKERNEL->config->value(beta_max_endstop_checksum )->by_default("nc" )->as_string())->as_input(); | |
153 | this->pins[5].from_string( THEKERNEL->config->value(gamma_max_endstop_checksum )->by_default("nc" )->as_string())->as_input(); | |
154 | ||
155 | // These are the old ones in steps still here for backwards compatibility | |
156 | this->fast_rates[0] = THEKERNEL->config->value(alpha_fast_homing_rate_checksum )->by_default(4000 )->as_number() / STEPS_PER_MM(0); | |
157 | this->fast_rates[1] = THEKERNEL->config->value(beta_fast_homing_rate_checksum )->by_default(4000 )->as_number() / STEPS_PER_MM(1); | |
158 | this->fast_rates[2] = THEKERNEL->config->value(gamma_fast_homing_rate_checksum )->by_default(6400 )->as_number() / STEPS_PER_MM(2); | |
159 | this->slow_rates[0] = THEKERNEL->config->value(alpha_slow_homing_rate_checksum )->by_default(2000 )->as_number() / STEPS_PER_MM(0); | |
160 | this->slow_rates[1] = THEKERNEL->config->value(beta_slow_homing_rate_checksum )->by_default(2000 )->as_number() / STEPS_PER_MM(1); | |
161 | this->slow_rates[2] = THEKERNEL->config->value(gamma_slow_homing_rate_checksum )->by_default(3200 )->as_number() / STEPS_PER_MM(2); | |
162 | this->retract_mm[0] = THEKERNEL->config->value(alpha_homing_retract_checksum )->by_default(400 )->as_number() / STEPS_PER_MM(0); | |
163 | this->retract_mm[1] = THEKERNEL->config->value(beta_homing_retract_checksum )->by_default(400 )->as_number() / STEPS_PER_MM(1); | |
164 | this->retract_mm[2] = THEKERNEL->config->value(gamma_homing_retract_checksum )->by_default(1600 )->as_number() / STEPS_PER_MM(2); | |
5de98d7c JM |
165 | |
166 | // 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 |
167 | this->fast_rates[0] = THEKERNEL->config->value(alpha_fast_homing_rate_mm_checksum )->by_default(this->fast_rates[0])->as_number(); |
168 | this->fast_rates[1] = THEKERNEL->config->value(beta_fast_homing_rate_mm_checksum )->by_default(this->fast_rates[1])->as_number(); | |
169 | this->fast_rates[2] = THEKERNEL->config->value(gamma_fast_homing_rate_mm_checksum )->by_default(this->fast_rates[2])->as_number(); | |
170 | this->slow_rates[0] = THEKERNEL->config->value(alpha_slow_homing_rate_mm_checksum )->by_default(this->slow_rates[0])->as_number(); | |
171 | this->slow_rates[1] = THEKERNEL->config->value(beta_slow_homing_rate_mm_checksum )->by_default(this->slow_rates[1])->as_number(); | |
172 | this->slow_rates[2] = THEKERNEL->config->value(gamma_slow_homing_rate_mm_checksum )->by_default(this->slow_rates[2])->as_number(); | |
173 | this->retract_mm[0] = THEKERNEL->config->value(alpha_homing_retract_mm_checksum )->by_default(this->retract_mm[0])->as_number(); | |
174 | this->retract_mm[1] = THEKERNEL->config->value(beta_homing_retract_mm_checksum )->by_default(this->retract_mm[1])->as_number(); | |
175 | this->retract_mm[2] = THEKERNEL->config->value(gamma_homing_retract_mm_checksum )->by_default(this->retract_mm[2])->as_number(); | |
5de98d7c | 176 | |
06c48ee8 | 177 | this->debounce_count = THEKERNEL->config->value(endstop_debounce_count_checksum )->by_default(100)->as_number(); |
5de98d7c JM |
178 | |
179 | ||
409ff5b3 | 180 | // get homing direction and convert to boolean where true is home to min, and false is home to max |
314ab8f7 | 181 | int home_dir = get_checksum(THEKERNEL->config->value(alpha_homing_direction_checksum)->by_default("home_to_min")->as_string()); |
eb09fdbf | 182 | this->home_direction[0] = home_dir != home_to_max_checksum; |
47bbe224 | 183 | |
314ab8f7 | 184 | home_dir = get_checksum(THEKERNEL->config->value(beta_homing_direction_checksum)->by_default("home_to_min")->as_string()); |
eb09fdbf | 185 | this->home_direction[1] = home_dir != home_to_max_checksum; |
47bbe224 | 186 | |
314ab8f7 | 187 | home_dir = get_checksum(THEKERNEL->config->value(gamma_homing_direction_checksum)->by_default("home_to_min")->as_string()); |
eb09fdbf | 188 | this->home_direction[2] = home_dir != home_to_max_checksum; |
47bbe224 | 189 | |
314ab8f7 | 190 | 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 |
191 | 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(); |
192 | 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 | 193 | |
314ab8f7 MM |
194 | this->is_corexy = THEKERNEL->config->value(corexy_homing_checksum)->by_default(false)->as_bool(); |
195 | this->is_delta = THEKERNEL->config->value(delta_homing_checksum)->by_default(false)->as_bool(); | |
504f0e3e JM |
196 | this->is_scara = THEKERNEL->config->value(scara_homing_checksum)->by_default(false)->as_bool(); |
197 | ||
80605954 JM |
198 | // see if an order has been specified, must be three characters, XYZ or YXZ etc |
199 | string order= THEKERNEL->config->value(homing_order_checksum)->by_default("")->as_string(); | |
200 | this->homing_order= 0; | |
201 | if(order.size() == 3 && !this->is_delta) { | |
202 | int shift= 0; | |
203 | for(auto c : order) { | |
204 | uint8_t i= toupper(c) - 'X'; | |
205 | if(i > 2) { // bad value | |
206 | this->homing_order= 0; | |
207 | break; | |
208 | } | |
209 | homing_order |= (i << shift); | |
210 | shift += 2; | |
211 | } | |
212 | } | |
213 | ||
192bca32 JM |
214 | // endstop trim used by deltas to do soft adjusting |
215 | // on a delta homing to max, a negative trim value will move the carriage down, and a positive will move it up | |
216 | this->trim_mm[0] = THEKERNEL->config->value(alpha_trim_checksum )->by_default(0 )->as_number(); | |
217 | this->trim_mm[1] = THEKERNEL->config->value(beta_trim_checksum )->by_default(0 )->as_number(); | |
218 | this->trim_mm[2] = THEKERNEL->config->value(gamma_trim_checksum )->by_default(0 )->as_number(); | |
3c947f85 JM |
219 | |
220 | // limits enabled | |
221 | this->limit_enable[X_AXIS]= THEKERNEL->config->value(alpha_limit_enable_checksum)->by_default(false)->as_bool(); | |
222 | this->limit_enable[Y_AXIS]= THEKERNEL->config->value(beta_limit_enable_checksum)->by_default(false)->as_bool(); | |
223 | this->limit_enable[Z_AXIS]= THEKERNEL->config->value(gamma_limit_enable_checksum)->by_default(false)->as_bool(); | |
224 | ||
2ddf75fd | 225 | this->move_to_origin_after_home= THEKERNEL->config->value(move_to_origin_checksum)->by_default(false)->as_bool(); |
2b3cedc7 | 226 | |
3c947f85 JM |
227 | if(this->limit_enable[X_AXIS] || this->limit_enable[Y_AXIS] || this->limit_enable[Z_AXIS]){ |
228 | register_for_event(ON_IDLE); | |
229 | } | |
230 | } | |
231 | ||
4d149ebb | 232 | static const char *endstop_names[]= {"min_x", "min_y", "min_z", "max_x", "max_y", "max_z"}; |
3c947f85 JM |
233 | |
234 | void Endstops::on_idle(void *argument) | |
235 | { | |
c3d7feb6 JM |
236 | if(this->status == LIMIT_TRIGGERED) { |
237 | // if we were in limit triggered see if it has been cleared | |
238 | for( int c = X_AXIS; c <= Z_AXIS; c++ ) { | |
239 | if(this->limit_enable[c]) { | |
240 | std::array<int, 2> minmax{{0, 3}}; | |
241 | // check min and max endstops | |
242 | for (int i : minmax) { | |
243 | int n= c+i; | |
244 | if(this->pins[n].get()) { | |
245 | // still triggered, so exit | |
ee1c3181 | 246 | bounce_cnt= 0; |
c3d7feb6 JM |
247 | return; |
248 | } | |
249 | } | |
250 | } | |
251 | } | |
ee1c3181 JM |
252 | if(++bounce_cnt > 10) { // can use less as it calls on_idle in between |
253 | // clear the state | |
254 | this->status= NOT_HOMING; | |
255 | } | |
4befe777 | 256 | return; |
c3d7feb6 JM |
257 | |
258 | }else if(this->status != NOT_HOMING) { | |
259 | // don't check while homing | |
260 | return; | |
261 | } | |
3c947f85 JM |
262 | |
263 | for( int c = X_AXIS; c <= Z_AXIS; c++ ) { | |
264 | if(this->limit_enable[c] && STEPPER[c]->is_moving()) { | |
265 | std::array<int, 2> minmax{{0, 3}}; | |
266 | // check min and max endstops | |
267 | for (int i : minmax) { | |
268 | int n= c+i; | |
269 | uint8_t debounce= 0; | |
270 | while(this->pins[n].get()) { | |
271 | if ( ++debounce >= debounce_count ) { | |
272 | // endstop triggered | |
b375ba1d | 273 | THEKERNEL->streams->printf("Limit switch %s was hit - reset or M999 required\n", endstop_names[n]); |
3c947f85 | 274 | this->status= LIMIT_TRIGGERED; |
b375ba1d | 275 | // disables heaters and motors, ignores incoming Gcode and flushes block queue |
728477c4 | 276 | THEKERNEL->call_event(ON_HALT, nullptr); |
3c947f85 JM |
277 | return; |
278 | } | |
279 | } | |
280 | } | |
281 | } | |
282 | } | |
283 | } | |
284 | ||
285 | // if limit switches are enabled, then we must move off of the endstop otherwise we won't be able to move | |
5bfcd44a JM |
286 | // checks if triggered and only backs off if triggered |
287 | void Endstops::back_off_home(char axes_to_move) | |
3c947f85 JM |
288 | { |
289 | this->status = BACK_OFF_HOME; | |
290 | for( int c = X_AXIS; c <= Z_AXIS; c++ ) { | |
5bfcd44a | 291 | if( ((axes_to_move >> c ) & 1) == 0) continue; // only for axes we asked to move |
3c947f85 | 292 | if(this->limit_enable[c]) { |
5bfcd44a JM |
293 | if( !this->pins[c + (this->home_direction[c] ? 0 : 3)].get() ) continue; // if not triggered no need to move off |
294 | ||
3c947f85 JM |
295 | // Move off of the endstop using a regular relative move |
296 | char buf[32]; | |
2b3cedc7 | 297 | 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 |
298 | Gcode gc(buf, &(StreamOutput::NullStream)); |
299 | bool oldmode= THEKERNEL->robot->absolute_mode; | |
300 | THEKERNEL->robot->absolute_mode= false; // needs to be relative mode | |
301 | THEKERNEL->robot->on_gcode_received(&gc); // send to robot directly | |
302 | THEKERNEL->robot->absolute_mode= oldmode; // restore mode | |
303 | } | |
304 | } | |
305 | // Wait for above to finish | |
306 | THEKERNEL->conveyor->wait_for_empty_queue(); | |
307 | this->status = NOT_HOMING; | |
a0e0d592 BG |
308 | } |
309 | ||
2b3cedc7 | 310 | // If enabled will move the head to 0,0 after homing, but only if X and Y were set to home |
2ddf75fd | 311 | void Endstops::move_to_origin(char axes_to_move) |
2b3cedc7 JM |
312 | { |
313 | if( (axes_to_move&0x03) != 3 ) return; // ignore if X and Y not homing | |
314 | ||
fafb45df JM |
315 | // Do we need to check if we are already at 0,0? probably not as the G0 will not do anything if we are |
316 | // float pos[3]; THEKERNEL->robot->get_axis_position(pos); if(pos[0] == 0 && pos[1] == 0) return; | |
317 | ||
2ddf75fd | 318 | this->status = MOVE_TO_ORIGIN; |
2b3cedc7 JM |
319 | // Move to center using a regular move, use slower of X and Y fast rate |
320 | float rate= min(this->fast_rates[0], this->fast_rates[1])*60.0F; | |
321 | char buf[32]; | |
322 | snprintf(buf, sizeof(buf), "G0 X0 Y0 F%1.4f", rate); | |
323 | Gcode gc(buf, &(StreamOutput::NullStream)); | |
324 | THEKERNEL->robot->on_gcode_received(&gc); // send to robot directly | |
325 | ||
326 | // Wait for above to finish | |
327 | THEKERNEL->conveyor->wait_for_empty_queue(); | |
328 | this->status = NOT_HOMING; | |
329 | } | |
330 | ||
33e4cc02 JM |
331 | void Endstops::wait_for_homed(char axes_to_move) |
332 | { | |
a0e0d592 | 333 | bool running = true; |
33e4cc02 JM |
334 | unsigned int debounce[3] = {0, 0, 0}; |
335 | while (running) { | |
a0e0d592 | 336 | running = false; |
314ab8f7 | 337 | THEKERNEL->call_event(ON_IDLE); |
56ce2b5a JM |
338 | for ( int c = X_AXIS; c <= Z_AXIS; c++ ) { |
339 | if ( ( axes_to_move >> c ) & 1 ) { | |
340 | if ( this->pins[c + (this->home_direction[c] ? 0 : 3)].get() ) { | |
341 | if ( debounce[c] < debounce_count ) { | |
342 | debounce[c]++; | |
a0e0d592 | 343 | running = true; |
dd0a7cfa JM |
344 | } else if ( STEPPER[c]->is_moving() ) { |
345 | STEPPER[c]->move(0, 0); | |
e0b58122 | 346 | axes_to_move &= ~(1<<c); // no need to check it again |
a0e0d592 | 347 | } |
33e4cc02 | 348 | } else { |
a0e0d592 BG |
349 | // The endstop was not hit yet |
350 | running = true; | |
56ce2b5a | 351 | debounce[c] = 0; |
323cca60 | 352 | } |
a0e0d592 BG |
353 | } |
354 | } | |
355 | } | |
750277f8 | 356 | } |
201bcb94 | 357 | |
81f02e89 | 358 | void Endstops::do_homing_cartesian(char axes_to_move) |
33e4cc02 | 359 | { |
80605954 | 360 | // this homing works for cartesian and delta printers |
f29b0272 | 361 | // Start moving the axes to the origin |
2ddf75fd | 362 | this->status = MOVING_TO_ENDSTOP_FAST; |
56ce2b5a JM |
363 | for ( int c = X_AXIS; c <= Z_AXIS; c++ ) { |
364 | if ( ( axes_to_move >> c) & 1 ) { | |
365 | this->feed_rate[c]= this->fast_rates[c]; | |
6f6677fc | 366 | STEPPER[c]->move(this->home_direction[c], 10000000, 0); |
f29b0272 JM |
367 | } |
368 | } | |
369 | ||
370 | // Wait for all axes to have homed | |
371 | this->wait_for_homed(axes_to_move); | |
372 | ||
373 | // Move back a small distance | |
374 | this->status = MOVING_BACK; | |
375 | bool inverted_dir; | |
56ce2b5a JM |
376 | for ( int c = X_AXIS; c <= Z_AXIS; c++ ) { |
377 | if ( ( axes_to_move >> c ) & 1 ) { | |
378 | inverted_dir = !this->home_direction[c]; | |
379 | this->feed_rate[c]= this->slow_rates[c]; | |
6f6677fc | 380 | STEPPER[c]->move(inverted_dir, this->retract_mm[c]*STEPS_PER_MM(c), 0); |
f29b0272 JM |
381 | } |
382 | } | |
383 | ||
33e4cc02 | 384 | // Wait for moves to be done |
56ce2b5a JM |
385 | for ( int c = X_AXIS; c <= Z_AXIS; c++ ) { |
386 | if ( ( axes_to_move >> c ) & 1 ) { | |
dd0a7cfa | 387 | while ( STEPPER[c]->is_moving() ) { |
314ab8f7 | 388 | THEKERNEL->call_event(ON_IDLE); |
f29b0272 JM |
389 | } |
390 | } | |
391 | } | |
392 | ||
393 | // Start moving the axes to the origin slowly | |
2ddf75fd | 394 | this->status = MOVING_TO_ENDSTOP_SLOW; |
56ce2b5a JM |
395 | for ( int c = X_AXIS; c <= Z_AXIS; c++ ) { |
396 | if ( ( axes_to_move >> c ) & 1 ) { | |
397 | this->feed_rate[c]= this->slow_rates[c]; | |
6f6677fc | 398 | STEPPER[c]->move(this->home_direction[c], 10000000, 0); |
f29b0272 JM |
399 | } |
400 | } | |
401 | ||
402 | // Wait for all axes to have homed | |
403 | this->wait_for_homed(axes_to_move); | |
404 | ||
3e1f5b74 | 405 | if (this->is_delta || this->is_scara) { |
959ab59c JM |
406 | // move for soft trim |
407 | this->status = MOVING_BACK; | |
56ce2b5a JM |
408 | for ( int c = X_AXIS; c <= Z_AXIS; c++ ) { |
409 | if ( this->trim_mm[c] != 0.0F && ( axes_to_move >> c ) & 1 ) { | |
410 | inverted_dir = this->home_direction[c]; | |
411 | // move up or down depending on sign of trim, -ive is down away from home | |
412 | if (this->trim_mm[c] < 0) inverted_dir = !inverted_dir; | |
413 | this->feed_rate[c]= this->slow_rates[c]; | |
6f6677fc | 414 | STEPPER[c]->move(inverted_dir, abs(round(this->trim_mm[c]*STEPS_PER_MM(c))), 0); |
959ab59c | 415 | } |
f29b0272 | 416 | } |
f29b0272 | 417 | |
959ab59c | 418 | // Wait for moves to be done |
56ce2b5a JM |
419 | for ( int c = X_AXIS; c <= Z_AXIS; c++ ) { |
420 | if ( ( axes_to_move >> c ) & 1 ) { | |
314ab8f7 | 421 | //THEKERNEL->streams->printf("axis %c \r\n", c ); |
dd0a7cfa | 422 | while ( STEPPER[c]->is_moving() ) { |
314ab8f7 | 423 | THEKERNEL->call_event(ON_IDLE); |
959ab59c | 424 | } |
f29b0272 JM |
425 | } |
426 | } | |
427 | } | |
428 | ||
429 | // Homing is done | |
430 | this->status = NOT_HOMING; | |
431 | } | |
432 | ||
33e4cc02 JM |
433 | void Endstops::wait_for_homed_corexy(int axis) |
434 | { | |
3db88866 | 435 | bool running = true; |
33e4cc02 JM |
436 | unsigned int debounce[3] = {0, 0, 0}; |
437 | while (running) { | |
3db88866 | 438 | running = false; |
314ab8f7 | 439 | THEKERNEL->call_event(ON_IDLE); |
33e4cc02 JM |
440 | if ( this->pins[axis + (this->home_direction[axis] ? 0 : 3)].get() ) { |
441 | if ( debounce[axis] < debounce_count ) { | |
3db88866 JM |
442 | debounce[axis] ++; |
443 | running = true; | |
444 | } else { | |
445 | // turn both off if running | |
dd0a7cfa JM |
446 | if (STEPPER[X_AXIS]->is_moving()) STEPPER[X_AXIS]->move(0, 0); |
447 | if (STEPPER[Y_AXIS]->is_moving()) STEPPER[Y_AXIS]->move(0, 0); | |
3db88866 | 448 | } |
33e4cc02 | 449 | } else { |
3db88866 JM |
450 | // The endstop was not hit yet |
451 | running = true; | |
452 | debounce[axis] = 0; | |
453 | } | |
454 | } | |
455 | } | |
456 | ||
1ad23cd3 | 457 | void Endstops::corexy_home(int home_axis, bool dirx, bool diry, float fast_rate, float slow_rate, unsigned int retract_steps) |
33e4cc02 | 458 | { |
2ddf75fd | 459 | this->status = MOVING_TO_ENDSTOP_FAST; |
64eaf21e | 460 | this->feed_rate[X_AXIS]= fast_rate; |
6f6677fc | 461 | STEPPER[X_AXIS]->move(dirx, 10000000, 0); |
64eaf21e | 462 | this->feed_rate[Y_AXIS]= fast_rate; |
6f6677fc | 463 | STEPPER[Y_AXIS]->move(diry, 10000000, 0); |
f29b0272 | 464 | |
33e4cc02 JM |
465 | // wait for primary axis |
466 | this->wait_for_homed_corexy(home_axis); | |
f29b0272 | 467 | |
33e4cc02 JM |
468 | // Move back a small distance |
469 | this->status = MOVING_BACK; | |
64eaf21e | 470 | this->feed_rate[X_AXIS]= slow_rate; |
6f6677fc | 471 | STEPPER[X_AXIS]->move(!dirx, retract_steps, 0); |
64eaf21e | 472 | this->feed_rate[Y_AXIS]= slow_rate; |
6f6677fc | 473 | STEPPER[Y_AXIS]->move(!diry, retract_steps, 0); |
33e4cc02 JM |
474 | |
475 | // wait until done | |
dd0a7cfa | 476 | while ( STEPPER[X_AXIS]->is_moving() || STEPPER[Y_AXIS]->is_moving()) { |
314ab8f7 | 477 | THEKERNEL->call_event(ON_IDLE); |
f29b0272 JM |
478 | } |
479 | ||
33e4cc02 | 480 | // Start moving the axes to the origin slowly |
2ddf75fd | 481 | this->status = MOVING_TO_ENDSTOP_SLOW; |
64eaf21e | 482 | this->feed_rate[X_AXIS]= slow_rate; |
6f6677fc | 483 | STEPPER[X_AXIS]->move(dirx, 10000000, 0); |
64eaf21e | 484 | this->feed_rate[Y_AXIS]= slow_rate; |
6f6677fc | 485 | STEPPER[Y_AXIS]->move(diry, 10000000, 0); |
f29b0272 | 486 | |
33e4cc02 JM |
487 | // wait for primary axis |
488 | this->wait_for_homed_corexy(home_axis); | |
489 | } | |
f29b0272 | 490 | |
33e4cc02 JM |
491 | // this homing works for HBots/CoreXY |
492 | void Endstops::do_homing_corexy(char axes_to_move) | |
493 | { | |
03dffc07 | 494 | // TODO should really make order configurable, and select whether to allow XY to home at the same time, diagonally |
174d9961 | 495 | // 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 | 496 | // allow to move until an endstop triggers, then stop that motor. Speed up when moving diagonally to match X or Y speed |
174d9961 | 497 | // continue moving in the direction not yet triggered (which means two motors turning) until endstop hit |
174d9961 JM |
498 | |
499 | if((axes_to_move & 0x03) == 0x03) { // both X and Y need Homing | |
500 | // determine which motor to turn and which way | |
501 | bool dirx= this->home_direction[X_AXIS]; | |
502 | bool diry= this->home_direction[Y_AXIS]; | |
503 | int motor; | |
504 | bool dir; | |
505 | if(dirx && diry) { // min/min | |
506 | motor= X_AXIS; | |
507 | dir= true; | |
508 | }else if(dirx && !diry) { // min/max | |
509 | motor= Y_AXIS; | |
510 | dir= true; | |
511 | }else if(!dirx && diry) { // max/min | |
512 | motor= Y_AXIS; | |
513 | dir= false; | |
514 | }else if(!dirx && !diry) { // max/max | |
515 | motor= X_AXIS; | |
516 | dir= false; | |
517 | } | |
518 | ||
519 | // then move both X and Y until one hits the endstop | |
2ddf75fd | 520 | this->status = MOVING_TO_ENDSTOP_FAST; |
6f6677fc | 521 | // need to allow for more ground covered when moving diagonally |
64eaf21e | 522 | this->feed_rate[motor]= this->fast_rates[motor]*1.4142; |
6f6677fc | 523 | STEPPER[motor]->move(dir, 10000000, 0); |
174d9961 JM |
524 | // wait until either X or Y hits the endstop |
525 | bool running= true; | |
526 | while (running) { | |
314ab8f7 | 527 | THEKERNEL->call_event(ON_IDLE); |
174d9961 JM |
528 | for(int m=X_AXIS;m<=Y_AXIS;m++) { |
529 | if(this->pins[m + (this->home_direction[m] ? 0 : 3)].get()) { | |
530 | // turn off motor | |
dd0a7cfa | 531 | if(STEPPER[motor]->is_moving()) STEPPER[motor]->move(0, 0); |
174d9961 JM |
532 | running= false; |
533 | break; | |
534 | } | |
535 | } | |
536 | } | |
537 | } | |
33e4cc02 | 538 | |
174d9961 | 539 | // move individual axis |
33e4cc02 | 540 | if (axes_to_move & 0x01) { // Home X, which means both X and Y in same direction |
413dd90c | 541 | bool dir= this->home_direction[X_AXIS]; |
56ce2b5a | 542 | 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 |
543 | } |
544 | ||
65191d91 JM |
545 | if (axes_to_move & 0x02) { // Home Y, which means both X and Y in different directions |
546 | bool dir= this->home_direction[Y_AXIS]; | |
56ce2b5a | 547 | 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 |
548 | } |
549 | ||
33e4cc02 | 550 | if (axes_to_move & 0x04) { // move Z |
81f02e89 | 551 | do_homing_cartesian(0x04); // just home normally for Z |
f29b0272 JM |
552 | } |
553 | ||
554 | // Homing is done | |
555 | this->status = NOT_HOMING; | |
556 | } | |
557 | ||
81f02e89 JM |
558 | void Endstops::home(char axes_to_move) |
559 | { | |
560 | if (is_corexy){ | |
561 | // corexy/HBot homing | |
562 | do_homing_corexy(axes_to_move); | |
563 | }else{ | |
564 | // cartesian/delta homing | |
565 | do_homing_cartesian(axes_to_move); | |
566 | } | |
567 | } | |
568 | ||
201bcb94 | 569 | // Start homing sequences by response to GCode commands |
33e4cc02 | 570 | void Endstops::on_gcode_received(void *argument) |
c339d634 | 571 | { |
33e4cc02 JM |
572 | Gcode *gcode = static_cast<Gcode *>(argument); |
573 | if ( gcode->has_g) { | |
574 | if ( gcode->g == 28 ) { | |
74b6303c | 575 | gcode->mark_as_taken(); |
df27a6a3 | 576 | // G28 is received, we have homing to do |
201bcb94 AW |
577 | |
578 | // First wait for the queue to be empty | |
314ab8f7 | 579 | THEKERNEL->conveyor->wait_for_empty_queue(); |
201bcb94 AW |
580 | |
581 | // Do we move select axes or all of them | |
7dee696d | 582 | char axes_to_move = 0; |
3e1f5b74 QH |
583 | // only enable homing if the endstop is defined, deltas, scaras always home all axis |
584 | bool home_all = this->is_delta || this->is_scara || !( gcode->has_letter('X') || gcode->has_letter('Y') || gcode->has_letter('Z') ); | |
47bbe224 | 585 | |
56ce2b5a JM |
586 | for ( int c = X_AXIS; c <= Z_AXIS; c++ ) { |
587 | if ( (home_all || gcode->has_letter(c+'X')) && this->pins[c + (this->home_direction[c] ? 0 : 3)].connected() ) { | |
588 | axes_to_move += ( 1 << c ); | |
33e4cc02 | 589 | } |
df27a6a3 | 590 | } |
3b948656 | 591 | |
f6c04440 | 592 | // Enable the motors |
314ab8f7 | 593 | THEKERNEL->stepper->turn_enable_pins_on(); |
f6c04440 | 594 | |
f29b0272 | 595 | // do the actual homing |
80605954 JM |
596 | if(homing_order != 0){ |
597 | // if an order has been specified do it in the specified order | |
598 | // homing order is 0b00ccbbaa where aa is 0,1,2 to specify the first axis, bb is the second and cc is the third | |
599 | // eg 0b00100001 would be Y X Z, 0b00100100 would be X Y Z | |
600 | for (uint8_t m = homing_order; m != 0; m >>= 2) { | |
601 | int a= (1 << (m & 0x03)); // axis to move | |
602 | if((a & axes_to_move) != 0) | |
81f02e89 | 603 | home(a); |
80605954 JM |
604 | } |
605 | }else { | |
606 | // they all home at the same time | |
81f02e89 | 607 | home(axes_to_move); |
80605954 | 608 | } |
3ffe27fb | 609 | |
cef9acea JM |
610 | if(home_all) { |
611 | // for deltas this may be important rather than setting each individually | |
612 | THEKERNEL->robot->reset_axis_position( | |
613 | this->homing_position[X_AXIS] + this->home_offset[X_AXIS], | |
614 | this->homing_position[Y_AXIS] + this->home_offset[Y_AXIS], | |
615 | this->homing_position[Z_AXIS] + this->home_offset[Z_AXIS]); | |
616 | }else{ | |
617 | // Zero the ax(i/e)s position, add in the home offset | |
618 | for ( int c = X_AXIS; c <= Z_AXIS; c++ ) { | |
619 | if ( (axes_to_move >> c) & 1 ) { | |
620 | THEKERNEL->robot->reset_axis_position(this->homing_position[c] + this->home_offset[c], c); | |
621 | } | |
3ffe27fb AV |
622 | } |
623 | } | |
3c947f85 | 624 | |
2b3cedc7 JM |
625 | // on some systems where 0,0 is bed center it is noce to have home goto 0,0 after homing |
626 | // default is off | |
2ddf75fd JM |
627 | if(this->move_to_origin_after_home) |
628 | move_to_origin(axes_to_move); | |
2b3cedc7 | 629 | |
3c947f85 | 630 | // if limit switches are enabled we must back off endstop after setting home |
5bfcd44a | 631 | back_off_home(axes_to_move); |
c339d634 | 632 | } |
81f02e89 | 633 | |
33e4cc02 JM |
634 | } else if (gcode->has_m) { |
635 | switch (gcode->m) { | |
636 | case 119: { | |
ef7bd372 JM |
637 | for (int i = 0; i < 6; ++i) { |
638 | if(this->pins[i].connected()) | |
639 | gcode->stream->printf("%s:%d ", endstop_names[i], this->pins[i].get()); | |
640 | } | |
bd96f4d7 | 641 | gcode->add_nl= true; |
33e4cc02 JM |
642 | gcode->mark_as_taken(); |
643 | } | |
644 | break; | |
645 | ||
646 | case 206: // M206 - set homing offset | |
504f0e3e JM |
647 | if (gcode->has_letter('X')) home_offset[0] = gcode->get_value('X'); |
648 | if (gcode->has_letter('Y')) home_offset[1] = gcode->get_value('Y'); | |
649 | if (gcode->has_letter('Z')) home_offset[2] = gcode->get_value('Z'); | |
650 | gcode->stream->printf("X %5.3f Y %5.3f Z %5.3f\n", home_offset[0], home_offset[1], home_offset[2]); | |
651 | gcode->mark_as_taken(); | |
652 | break; | |
0e4bf280 | 653 | |
9ae8c7e4 | 654 | case 306: // Similar to M206 and G92 but sets Homing offsets based on current position, Would be M207 but that is taken |
504f0e3e JM |
655 | { |
656 | float cartesian[3]; | |
0e4bf280 | 657 | THEKERNEL->robot->get_axis_position(cartesian); // get actual position from robot |
9ae8c7e4 JM |
658 | if (gcode->has_letter('X')){ |
659 | home_offset[0] -= (cartesian[X_AXIS] - gcode->get_value('X')); | |
660 | THEKERNEL->robot->reset_axis_position(gcode->get_value('X'), X_AXIS); | |
661 | } | |
662 | if (gcode->has_letter('Y')) { | |
663 | home_offset[1] -= (cartesian[Y_AXIS] - gcode->get_value('Y')); | |
664 | THEKERNEL->robot->reset_axis_position(gcode->get_value('Y'), Y_AXIS); | |
665 | } | |
666 | if (gcode->has_letter('Z')) { | |
667 | home_offset[2] -= (cartesian[Z_AXIS] - gcode->get_value('Z')); | |
668 | THEKERNEL->robot->reset_axis_position(gcode->get_value('Z'), Z_AXIS); | |
669 | } | |
670 | ||
671 | 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 | 672 | gcode->mark_as_taken(); |
0e4bf280 | 673 | } |
33e4cc02 JM |
674 | break; |
675 | ||
676 | case 500: // save settings | |
677 | case 503: // print settings | |
678 | 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]); | |
679 | if (is_delta) { | |
56ce2b5a JM |
680 | 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]); |
681 | gcode->stream->printf(";Max Z\nM665 Z%1.3f\n", this->homing_position[2]); | |
7a8fe6e0 | 682 | } |
33e4cc02 | 683 | gcode->mark_as_taken(); |
c339d634 | 684 | break; |
47bbe224 | 685 | |
ec4773e5 | 686 | case 665: { // M665 - set max gamma/z height |
33e4cc02 | 687 | gcode->mark_as_taken(); |
1ad23cd3 | 688 | float gamma_max = this->homing_position[2]; |
33e4cc02 JM |
689 | if (gcode->has_letter('Z')) { |
690 | this->homing_position[2] = gamma_max = gcode->get_value('Z'); | |
ec4773e5 | 691 | } |
33e4cc02 JM |
692 | gcode->stream->printf("Max Z %8.3f ", gamma_max); |
693 | gcode->add_nl = true; | |
694 | } | |
695 | break; | |
ec4773e5 | 696 | |
47bbe224 | 697 | |
56ce2b5a | 698 | case 666: |
3e1f5b74 | 699 | if(this->is_delta || this->is_scara) { // M666 - set trim for each axis in mm, NB negative mm trim is down |
56ce2b5a JM |
700 | if (gcode->has_letter('X')) trim_mm[0] = gcode->get_value('X'); |
701 | if (gcode->has_letter('Y')) trim_mm[1] = gcode->get_value('Y'); | |
702 | if (gcode->has_letter('Z')) trim_mm[2] = gcode->get_value('Z'); | |
47bbe224 | 703 | |
56ce2b5a JM |
704 | // print the current trim values in mm |
705 | gcode->stream->printf("X: %5.3f Y: %5.3f Z: %5.3f\n", trim_mm[0], trim_mm[1], trim_mm[2]); | |
706 | gcode->mark_as_taken(); | |
707 | } | |
33e4cc02 | 708 | break; |
47bbe224 | 709 | |
d4ee6ee2 JM |
710 | // NOTE this is to test accuracy of lead screws etc. |
711 | case 910: { // M910 - move specific number of raw steps | |
a4b04adc JM |
712 | // Enable the motors |
713 | THEKERNEL->stepper->turn_enable_pins_on(); | |
714 | ||
d4ee6ee2 JM |
715 | int x= 0, y=0 , z= 0, f= 200*16; |
716 | if (gcode->has_letter('F')) f = gcode->get_value('F'); | |
717 | if (gcode->has_letter('X')) { | |
718 | x = gcode->get_value('X'); | |
6f6677fc | 719 | STEPPER[X_AXIS]->move(x<0, abs(x), f); |
d4ee6ee2 JM |
720 | } |
721 | if (gcode->has_letter('Y')) { | |
722 | y = gcode->get_value('Y'); | |
6f6677fc | 723 | STEPPER[Y_AXIS]->move(y<0, abs(y), f); |
d4ee6ee2 JM |
724 | } |
725 | if (gcode->has_letter('Z')) { | |
726 | z = gcode->get_value('Z'); | |
6f6677fc | 727 | STEPPER[Z_AXIS]->move(z<0, abs(z), f); |
d4ee6ee2 JM |
728 | } |
729 | gcode->stream->printf("Moved X %d Y %d Z %d F %d steps\n", x, y, z, f); | |
730 | gcode->mark_as_taken(); | |
731 | break; | |
732 | } | |
201bcb94 AW |
733 | } |
734 | } | |
735 | } | |
736 | ||
64eaf21e | 737 | // Called periodically to change the speed to match acceleration |
a157d099 | 738 | void Endstops::acceleration_tick(void) |
64eaf21e | 739 | { |
a157d099 | 740 | if(this->status >= NOT_HOMING) return; // nothing to do, only do this when moving for homing sequence |
64eaf21e JM |
741 | |
742 | // foreach stepper that is moving | |
743 | for ( int c = X_AXIS; c <= Z_AXIS; c++ ) { | |
dd0a7cfa | 744 | if( !STEPPER[c]->is_moving() ) continue; |
64eaf21e | 745 | |
dd0a7cfa | 746 | uint32_t current_rate = STEPPER[c]->get_steps_per_second(); |
c8f4ee77 | 747 | uint32_t target_rate = floorf(this->feed_rate[c]*STEPS_PER_MM(c)); |
c5fe1787 | 748 | float acc= (c==Z_AXIS) ? THEKERNEL->planner->get_z_acceleration() : THEKERNEL->planner->get_acceleration(); |
64eaf21e | 749 | if( current_rate < target_rate ){ |
a157d099 | 750 | uint32_t rate_increase = floorf((acc/THEKERNEL->acceleration_ticks_per_second)*STEPS_PER_MM(c)); |
64eaf21e JM |
751 | current_rate = min( target_rate, current_rate + rate_increase ); |
752 | } | |
753 | if( current_rate > target_rate ){ current_rate = target_rate; } | |
754 | ||
755 | // steps per second | |
6f6677fc | 756 | STEPPER[c]->set_speed(current_rate); |
64eaf21e JM |
757 | } |
758 | ||
a157d099 | 759 | return; |
64eaf21e | 760 | } |
9f6f04a5 JM |
761 | |
762 | void Endstops::on_get_public_data(void* argument){ | |
763 | PublicDataRequest* pdr = static_cast<PublicDataRequest*>(argument); | |
764 | ||
765 | if(!pdr->starts_with(endstops_checksum)) return; | |
766 | ||
767 | if(pdr->second_element_is(trim_checksum)) { | |
86fa0b93 | 768 | pdr->set_data_ptr(&this->trim_mm); |
ea5c6d92 JM |
769 | pdr->set_taken(); |
770 | ||
771 | }else if(pdr->second_element_is(home_offset_checksum)) { | |
86fa0b93 | 772 | pdr->set_data_ptr(&this->home_offset); |
9f6f04a5 JM |
773 | pdr->set_taken(); |
774 | } | |
775 | } | |
7d6fe308 JM |
776 | |
777 | void Endstops::on_set_public_data(void* argument){ | |
778 | PublicDataRequest* pdr = static_cast<PublicDataRequest*>(argument); | |
779 | ||
780 | if(!pdr->starts_with(endstops_checksum)) return; | |
781 | ||
782 | if(pdr->second_element_is(trim_checksum)) { | |
783 | float *t= static_cast<float*>(pdr->get_data_ptr()); | |
784 | this->trim_mm[0]= t[0]; | |
785 | this->trim_mm[1]= t[1]; | |
786 | this->trim_mm[2]= t[2]; | |
787 | pdr->set_taken(); | |
ea5c6d92 JM |
788 | |
789 | }else if(pdr->second_element_is(home_offset_checksum)) { | |
790 | float *t= static_cast<float*>(pdr->get_data_ptr()); | |
791 | if(!isnan(t[0])) this->home_offset[0]= t[0]; | |
792 | if(!isnan(t[1])) this->home_offset[1]= t[1]; | |
793 | if(!isnan(t[2])) this->home_offset[2]= t[2]; | |
7d6fe308 JM |
794 | } |
795 | } |