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Implement triffid hunters flush queue code in Conveyor
[clinton/Smoothieware.git] / src / modules / tools / endstops / Endstops.cpp
CommitLineData
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")
69#define endstop_debounce_count_checksum CHECKSUM("endstop_debounce_count")
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
JM		 109#define max(a,b) (((a) > (b)) ? (a) : (b))
110#define min(a,b) (((a) <= (b)) ? (a) : (b))
111
3c947f85
JM		 112// Homing States
113enum{
2ddf75fd
JM		 114 MOVING_TO_ENDSTOP_FAST, // homing move
115 MOVING_BACK, // homing move
116 MOVING_TO_ENDSTOP_SLOW, // homing move
fafb45df 117 NOT_HOMING,
3c947f85 118 BACK_OFF_HOME,
2ddf75fd 119 MOVE_TO_ORIGIN,
3c947f85
JM		 120 LIMIT_TRIGGERED
121};
122
33e4cc02
JM		 123Endstops::Endstops()
124{
201bcb94 125 this->status = NOT_HOMING;
33e4cc02 126 home_offset[0] = home_offset[1] = home_offset[2] = 0.0F;
201bcb94
AW		 127}
128
33e4cc02
JM		 129void Endstops::on_module_loaded()
130{
7dee696d 131 // Do not do anything if not enabled
314ab8f7 132 if ( THEKERNEL->config->value( endstops_module_enable_checksum )->by_default(true)->as_bool() == false ) {
4e722c00 133 delete this;
33e4cc02
JM		 134 return;
135 }
7d62445b 136
9f6f04a5
JM		 137 register_for_event(ON_GCODE_RECEIVED);
138 register_for_event(ON_GET_PUBLIC_DATA);
7d6fe308 139 register_for_event(ON_SET_PUBLIC_DATA);
201bcb94 140
38bf9a1c 141 THEKERNEL->slow_ticker->attach( THEKERNEL->stepper->get_acceleration_ticks_per_second() , this, &Endstops::acceleration_tick );
201bcb94 142
750277f8
AW		 143 // Settings
144 this->on_config_reload(this);
201bcb94
AW		 145}
146
750277f8 147// Get config
33e4cc02
JM		 148void Endstops::on_config_reload(void *argument)
149{
56ce2b5a
JM		 150 this->pins[0].from_string( THEKERNEL->config->value(alpha_min_endstop_checksum )->by_default("nc" )->as_string())->as_input();
151 this->pins[1].from_string( THEKERNEL->config->value(beta_min_endstop_checksum )->by_default("nc" )->as_string())->as_input();
152 this->pins[2].from_string( THEKERNEL->config->value(gamma_min_endstop_checksum )->by_default("nc" )->as_string())->as_input();
153 this->pins[3].from_string( THEKERNEL->config->value(alpha_max_endstop_checksum )->by_default("nc" )->as_string())->as_input();
154 this->pins[4].from_string( THEKERNEL->config->value(beta_max_endstop_checksum )->by_default("nc" )->as_string())->as_input();
155 this->pins[5].from_string( THEKERNEL->config->value(gamma_max_endstop_checksum )->by_default("nc" )->as_string())->as_input();
156
157 // These are the old ones in steps still here for backwards compatibility
158 this->fast_rates[0] = THEKERNEL->config->value(alpha_fast_homing_rate_checksum )->by_default(4000 )->as_number() / STEPS_PER_MM(0);
159 this->fast_rates[1] = THEKERNEL->config->value(beta_fast_homing_rate_checksum )->by_default(4000 )->as_number() / STEPS_PER_MM(1);
160 this->fast_rates[2] = THEKERNEL->config->value(gamma_fast_homing_rate_checksum )->by_default(6400 )->as_number() / STEPS_PER_MM(2);
161 this->slow_rates[0] = THEKERNEL->config->value(alpha_slow_homing_rate_checksum )->by_default(2000 )->as_number() / STEPS_PER_MM(0);
162 this->slow_rates[1] = THEKERNEL->config->value(beta_slow_homing_rate_checksum )->by_default(2000 )->as_number() / STEPS_PER_MM(1);
163 this->slow_rates[2] = THEKERNEL->config->value(gamma_slow_homing_rate_checksum )->by_default(3200 )->as_number() / STEPS_PER_MM(2);
164 this->retract_mm[0] = THEKERNEL->config->value(alpha_homing_retract_checksum )->by_default(400 )->as_number() / STEPS_PER_MM(0);
165 this->retract_mm[1] = THEKERNEL->config->value(beta_homing_retract_checksum )->by_default(400 )->as_number() / STEPS_PER_MM(1);
166 this->retract_mm[2] = THEKERNEL->config->value(gamma_homing_retract_checksum )->by_default(1600 )->as_number() / STEPS_PER_MM(2);
5de98d7c
JM		 167
168 // 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		 169 this->fast_rates[0] = THEKERNEL->config->value(alpha_fast_homing_rate_mm_checksum )->by_default(this->fast_rates[0])->as_number();
170 this->fast_rates[1] = THEKERNEL->config->value(beta_fast_homing_rate_mm_checksum )->by_default(this->fast_rates[1])->as_number();
171 this->fast_rates[2] = THEKERNEL->config->value(gamma_fast_homing_rate_mm_checksum )->by_default(this->fast_rates[2])->as_number();
172 this->slow_rates[0] = THEKERNEL->config->value(alpha_slow_homing_rate_mm_checksum )->by_default(this->slow_rates[0])->as_number();
173 this->slow_rates[1] = THEKERNEL->config->value(beta_slow_homing_rate_mm_checksum )->by_default(this->slow_rates[1])->as_number();
174 this->slow_rates[2] = THEKERNEL->config->value(gamma_slow_homing_rate_mm_checksum )->by_default(this->slow_rates[2])->as_number();
175 this->retract_mm[0] = THEKERNEL->config->value(alpha_homing_retract_mm_checksum )->by_default(this->retract_mm[0])->as_number();
176 this->retract_mm[1] = THEKERNEL->config->value(beta_homing_retract_mm_checksum )->by_default(this->retract_mm[1])->as_number();
177 this->retract_mm[2] = THEKERNEL->config->value(gamma_homing_retract_mm_checksum )->by_default(this->retract_mm[2])->as_number();
5de98d7c 178
06c48ee8 179 this->debounce_count = THEKERNEL->config->value(endstop_debounce_count_checksum )->by_default(100)->as_number();
5de98d7c
JM		 180
181
409ff5b3 182 // get homing direction and convert to boolean where true is home to min, and false is home to max
314ab8f7 183 int home_dir = get_checksum(THEKERNEL->config->value(alpha_homing_direction_checksum)->by_default("home_to_min")->as_string());
eb09fdbf 184 this->home_direction[0] = home_dir != home_to_max_checksum;
47bbe224 185
314ab8f7 186 home_dir = get_checksum(THEKERNEL->config->value(beta_homing_direction_checksum)->by_default("home_to_min")->as_string());
eb09fdbf 187 this->home_direction[1] = home_dir != home_to_max_checksum;
47bbe224 188
314ab8f7 189 home_dir = get_checksum(THEKERNEL->config->value(gamma_homing_direction_checksum)->by_default("home_to_min")->as_string());
eb09fdbf 190 this->home_direction[2] = home_dir != home_to_max_checksum;
47bbe224 191
314ab8f7 192 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		 193 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();
194 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 195
314ab8f7
MM		 196 this->is_corexy = THEKERNEL->config->value(corexy_homing_checksum)->by_default(false)->as_bool();
197 this->is_delta = THEKERNEL->config->value(delta_homing_checksum)->by_default(false)->as_bool();
504f0e3e
JM		 198 this->is_scara = THEKERNEL->config->value(scara_homing_checksum)->by_default(false)->as_bool();
199
80605954
JM		 200 // see if an order has been specified, must be three characters, XYZ or YXZ etc
201 string order= THEKERNEL->config->value(homing_order_checksum)->by_default("")->as_string();
202 this->homing_order= 0;
203 if(order.size() == 3 && !this->is_delta) {
204 int shift= 0;
205 for(auto c : order) {
206 uint8_t i= toupper(c) - 'X';
207 if(i > 2) { // bad value
208 this->homing_order= 0;
209 break;
210 }
211 homing_order |= (i << shift);
212 shift += 2;
213 }
214 }
215
192bca32
JM		 216 // endstop trim used by deltas to do soft adjusting
217 // on a delta homing to max, a negative trim value will move the carriage down, and a positive will move it up
218 this->trim_mm[0] = THEKERNEL->config->value(alpha_trim_checksum )->by_default(0 )->as_number();
219 this->trim_mm[1] = THEKERNEL->config->value(beta_trim_checksum )->by_default(0 )->as_number();
220 this->trim_mm[2] = THEKERNEL->config->value(gamma_trim_checksum )->by_default(0 )->as_number();
3c947f85
JM		 221
222 // limits enabled
223 this->limit_enable[X_AXIS]= THEKERNEL->config->value(alpha_limit_enable_checksum)->by_default(false)->as_bool();
224 this->limit_enable[Y_AXIS]= THEKERNEL->config->value(beta_limit_enable_checksum)->by_default(false)->as_bool();
225 this->limit_enable[Z_AXIS]= THEKERNEL->config->value(gamma_limit_enable_checksum)->by_default(false)->as_bool();
226
2ddf75fd 227 this->move_to_origin_after_home= THEKERNEL->config->value(move_to_origin_checksum)->by_default(false)->as_bool();
2b3cedc7 228
3c947f85
JM		 229 if(this->limit_enable[X_AXIS] || this->limit_enable[Y_AXIS] || this->limit_enable[Z_AXIS]){
230 register_for_event(ON_IDLE);
231 }
232}
233
4d149ebb 234static const char *endstop_names[]= {"min_x", "min_y", "min_z", "max_x", "max_y", "max_z"};
3c947f85
JM		 235
236void Endstops::on_idle(void *argument)
237{
238 if(this->status != NOT_HOMING) return; // don't check while homing or if a LIMIT was triggered
239
240 for( int c = X_AXIS; c <= Z_AXIS; c++ ) {
241 if(this->limit_enable[c] && STEPPER[c]->is_moving()) {
242 std::array<int, 2> minmax{{0, 3}};
243 // check min and max endstops
244 for (int i : minmax) {
245 int n= c+i;
246 uint8_t debounce= 0;
247 while(this->pins[n].get()) {
248 if ( ++debounce >= debounce_count ) {
249 // endstop triggered
b375ba1d 250 THEKERNEL->streams->printf("Limit switch %s was hit - reset or M999 required\n", endstop_names[n]);
3c947f85 251 this->status= LIMIT_TRIGGERED;
b375ba1d 252 // disables heaters and motors, ignores incoming Gcode and flushes block queue
3d1a4519 253 THEKERNEL->call_event(ON_HALT);
3c947f85
JM		 254 return;
255 }
256 }
257 }
258 }
259 }
260}
261
262// if limit switches are enabled, then we must move off of the endstop otherwise we won't be able to move
5bfcd44a
JM		 263// checks if triggered and only backs off if triggered
264void Endstops::back_off_home(char axes_to_move)
3c947f85
JM		 265{
266 this->status = BACK_OFF_HOME;
267 for( int c = X_AXIS; c <= Z_AXIS; c++ ) {
5bfcd44a 268 if( ((axes_to_move >> c ) & 1) == 0) continue; // only for axes we asked to move
3c947f85 269 if(this->limit_enable[c]) {
5bfcd44a
JM		 270 if( !this->pins[c + (this->home_direction[c] ? 0 : 3)].get() ) continue; // if not triggered no need to move off
271
3c947f85
JM		 272 // Move off of the endstop using a regular relative move
273 char buf[32];
2b3cedc7 274 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		 275 Gcode gc(buf, &(StreamOutput::NullStream));
276 bool oldmode= THEKERNEL->robot->absolute_mode;
277 THEKERNEL->robot->absolute_mode= false; // needs to be relative mode
278 THEKERNEL->robot->on_gcode_received(&gc); // send to robot directly
279 THEKERNEL->robot->absolute_mode= oldmode; // restore mode
280 }
281 }
282 // Wait for above to finish
283 THEKERNEL->conveyor->wait_for_empty_queue();
284 this->status = NOT_HOMING;
a0e0d592
BG		 285}
286
2b3cedc7 287// If enabled will move the head to 0,0 after homing, but only if X and Y were set to home
2ddf75fd 288void Endstops::move_to_origin(char axes_to_move)
2b3cedc7
JM		 289{
290 if( (axes_to_move&0x03) != 3 ) return; // ignore if X and Y not homing
291
fafb45df
JM		 292 // Do we need to check if we are already at 0,0? probably not as the G0 will not do anything if we are
293 // float pos[3]; THEKERNEL->robot->get_axis_position(pos); if(pos[0] == 0 && pos[1] == 0) return;
294
2ddf75fd 295 this->status = MOVE_TO_ORIGIN;
2b3cedc7
JM		 296 // Move to center using a regular move, use slower of X and Y fast rate
297 float rate= min(this->fast_rates[0], this->fast_rates[1])*60.0F;
298 char buf[32];
299 snprintf(buf, sizeof(buf), "G0 X0 Y0 F%1.4f", rate);
300 Gcode gc(buf, &(StreamOutput::NullStream));
301 THEKERNEL->robot->on_gcode_received(&gc); // send to robot directly
302
303 // Wait for above to finish
304 THEKERNEL->conveyor->wait_for_empty_queue();
305 this->status = NOT_HOMING;
306}
307
33e4cc02
JM		 308void Endstops::wait_for_homed(char axes_to_move)
309{
a0e0d592 310 bool running = true;
33e4cc02
JM		 311 unsigned int debounce[3] = {0, 0, 0};
312 while (running) {
a0e0d592 313 running = false;
314ab8f7 314 THEKERNEL->call_event(ON_IDLE);
56ce2b5a
JM		 315 for ( int c = X_AXIS; c <= Z_AXIS; c++ ) {
316 if ( ( axes_to_move >> c ) & 1 ) {
317 if ( this->pins[c + (this->home_direction[c] ? 0 : 3)].get() ) {
318 if ( debounce[c] < debounce_count ) {
319 debounce[c]++;
a0e0d592 320 running = true;
dd0a7cfa
JM		 321 } else if ( STEPPER[c]->is_moving() ) {
322 STEPPER[c]->move(0, 0);
a0e0d592 323 }
33e4cc02 324 } else {
a0e0d592
BG		 325 // The endstop was not hit yet
326 running = true;
56ce2b5a 327 debounce[c] = 0;
323cca60 328 }
a0e0d592
BG		 329 }
330 }
331 }
750277f8 332}
201bcb94 333
81f02e89 334void Endstops::do_homing_cartesian(char axes_to_move)
33e4cc02 335{
80605954 336 // this homing works for cartesian and delta printers
f29b0272 337 // Start moving the axes to the origin
2ddf75fd 338 this->status = MOVING_TO_ENDSTOP_FAST;
56ce2b5a
JM		 339 for ( int c = X_AXIS; c <= Z_AXIS; c++ ) {
340 if ( ( axes_to_move >> c) & 1 ) {
341 this->feed_rate[c]= this->fast_rates[c];
dd0a7cfa
JM		 342 STEPPER[c]->set_speed(0);
343 STEPPER[c]->move(this->home_direction[c], 10000000);
f29b0272
JM		 344 }
345 }
346
347 // Wait for all axes to have homed
348 this->wait_for_homed(axes_to_move);
349
350 // Move back a small distance
351 this->status = MOVING_BACK;
352 bool inverted_dir;
56ce2b5a
JM		 353 for ( int c = X_AXIS; c <= Z_AXIS; c++ ) {
354 if ( ( axes_to_move >> c ) & 1 ) {
355 inverted_dir = !this->home_direction[c];
356 this->feed_rate[c]= this->slow_rates[c];
dd0a7cfa
JM		 357 STEPPER[c]->set_speed(0);
358 STEPPER[c]->move(inverted_dir, this->retract_mm[c]*STEPS_PER_MM(c));
f29b0272
JM		 359 }
360 }
361
33e4cc02 362 // Wait for moves to be done
56ce2b5a
JM		 363 for ( int c = X_AXIS; c <= Z_AXIS; c++ ) {
364 if ( ( axes_to_move >> c ) & 1 ) {
dd0a7cfa 365 while ( STEPPER[c]->is_moving() ) {
314ab8f7 366 THEKERNEL->call_event(ON_IDLE);
f29b0272
JM		 367 }
368 }
369 }
370
371 // Start moving the axes to the origin slowly
2ddf75fd 372 this->status = MOVING_TO_ENDSTOP_SLOW;
56ce2b5a
JM		 373 for ( int c = X_AXIS; c <= Z_AXIS; c++ ) {
374 if ( ( axes_to_move >> c ) & 1 ) {
375 this->feed_rate[c]= this->slow_rates[c];
dd0a7cfa
JM		 376 STEPPER[c]->set_speed(0);
377 STEPPER[c]->move(this->home_direction[c], 10000000);
f29b0272
JM		 378 }
379 }
380
381 // Wait for all axes to have homed
382 this->wait_for_homed(axes_to_move);
383
3e1f5b74 384 if (this->is_delta || this->is_scara) {
959ab59c
JM		 385 // move for soft trim
386 this->status = MOVING_BACK;
56ce2b5a
JM		 387 for ( int c = X_AXIS; c <= Z_AXIS; c++ ) {
388 if ( this->trim_mm[c] != 0.0F && ( axes_to_move >> c ) & 1 ) {
389 inverted_dir = this->home_direction[c];
390 // move up or down depending on sign of trim, -ive is down away from home
391 if (this->trim_mm[c] < 0) inverted_dir = !inverted_dir;
392 this->feed_rate[c]= this->slow_rates[c];
dd0a7cfa
JM		 393 STEPPER[c]->set_speed(0);
394 STEPPER[c]->move(inverted_dir, abs(round(this->trim_mm[c]*STEPS_PER_MM(c))));
959ab59c 395 }
f29b0272 396 }
f29b0272 397
959ab59c 398 // Wait for moves to be done
56ce2b5a
JM		 399 for ( int c = X_AXIS; c <= Z_AXIS; c++ ) {
400 if ( ( axes_to_move >> c ) & 1 ) {
314ab8f7 401 //THEKERNEL->streams->printf("axis %c \r\n", c );
dd0a7cfa 402 while ( STEPPER[c]->is_moving() ) {
314ab8f7 403 THEKERNEL->call_event(ON_IDLE);
959ab59c 404 }
f29b0272
JM		 405 }
406 }
407 }
408
409 // Homing is done
410 this->status = NOT_HOMING;
411}
412
33e4cc02
JM		 413void Endstops::wait_for_homed_corexy(int axis)
414{
3db88866 415 bool running = true;
33e4cc02
JM		 416 unsigned int debounce[3] = {0, 0, 0};
417 while (running) {
3db88866 418 running = false;
314ab8f7 419 THEKERNEL->call_event(ON_IDLE);
33e4cc02
JM		 420 if ( this->pins[axis + (this->home_direction[axis] ? 0 : 3)].get() ) {
421 if ( debounce[axis] < debounce_count ) {
3db88866
JM		 422 debounce[axis] ++;
423 running = true;
424 } else {
425 // turn both off if running
dd0a7cfa
JM		 426 if (STEPPER[X_AXIS]->is_moving()) STEPPER[X_AXIS]->move(0, 0);
427 if (STEPPER[Y_AXIS]->is_moving()) STEPPER[Y_AXIS]->move(0, 0);
3db88866 428 }
33e4cc02 429 } else {
3db88866
JM		 430 // The endstop was not hit yet
431 running = true;
432 debounce[axis] = 0;
433 }
434 }
435}
436
1ad23cd3 437void Endstops::corexy_home(int home_axis, bool dirx, bool diry, float fast_rate, float slow_rate, unsigned int retract_steps)
33e4cc02 438{
2ddf75fd 439 this->status = MOVING_TO_ENDSTOP_FAST;
64eaf21e 440 this->feed_rate[X_AXIS]= fast_rate;
dd0a7cfa
JM		 441 STEPPER[X_AXIS]->set_speed(0);
442 STEPPER[X_AXIS]->move(dirx, 10000000);
64eaf21e 443 this->feed_rate[Y_AXIS]= fast_rate;
dd0a7cfa
JM		 444 STEPPER[Y_AXIS]->set_speed(0);
445 STEPPER[Y_AXIS]->move(diry, 10000000);
f29b0272 446
33e4cc02
JM		 447 // wait for primary axis
448 this->wait_for_homed_corexy(home_axis);
f29b0272 449
33e4cc02
JM		 450 // Move back a small distance
451 this->status = MOVING_BACK;
64eaf21e 452 this->feed_rate[X_AXIS]= slow_rate;
dd0a7cfa
JM		 453 STEPPER[X_AXIS]->set_speed(0);
454 STEPPER[X_AXIS]->move(!dirx, retract_steps);
64eaf21e 455 this->feed_rate[Y_AXIS]= slow_rate;
dd0a7cfa
JM		 456 STEPPER[Y_AXIS]->set_speed(0);
457 STEPPER[Y_AXIS]->move(!diry, retract_steps);
33e4cc02
JM		 458
459 // wait until done
dd0a7cfa 460 while ( STEPPER[X_AXIS]->is_moving() || STEPPER[Y_AXIS]->is_moving()) {
314ab8f7 461 THEKERNEL->call_event(ON_IDLE);
f29b0272
JM		 462 }
463
33e4cc02 464 // Start moving the axes to the origin slowly
2ddf75fd 465 this->status = MOVING_TO_ENDSTOP_SLOW;
64eaf21e 466 this->feed_rate[X_AXIS]= slow_rate;
dd0a7cfa
JM		 467 STEPPER[X_AXIS]->set_speed(0);
468 STEPPER[X_AXIS]->move(dirx, 10000000);
64eaf21e 469 this->feed_rate[Y_AXIS]= slow_rate;
dd0a7cfa
JM		 470 STEPPER[Y_AXIS]->set_speed(0);
471 STEPPER[Y_AXIS]->move(diry, 10000000);
f29b0272 472
33e4cc02
JM		 473 // wait for primary axis
474 this->wait_for_homed_corexy(home_axis);
475}
f29b0272 476
33e4cc02
JM		 477// this homing works for HBots/CoreXY
478void Endstops::do_homing_corexy(char axes_to_move)
479{
03dffc07 480 // TODO should really make order configurable, and select whether to allow XY to home at the same time, diagonally
174d9961 481 // 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 482 // allow to move until an endstop triggers, then stop that motor. Speed up when moving diagonally to match X or Y speed
174d9961 483 // continue moving in the direction not yet triggered (which means two motors turning) until endstop hit
174d9961
JM		 484
485 if((axes_to_move & 0x03) == 0x03) { // both X and Y need Homing
486 // determine which motor to turn and which way
487 bool dirx= this->home_direction[X_AXIS];
488 bool diry= this->home_direction[Y_AXIS];
489 int motor;
490 bool dir;
491 if(dirx && diry) { // min/min
492 motor= X_AXIS;
493 dir= true;
494 }else if(dirx && !diry) { // min/max
495 motor= Y_AXIS;
496 dir= true;
497 }else if(!dirx && diry) { // max/min
498 motor= Y_AXIS;
499 dir= false;
500 }else if(!dirx && !diry) { // max/max
501 motor= X_AXIS;
502 dir= false;
503 }
504
505 // then move both X and Y until one hits the endstop
2ddf75fd 506 this->status = MOVING_TO_ENDSTOP_FAST;
64eaf21e 507 this->feed_rate[motor]= this->fast_rates[motor]*1.4142;
dd0a7cfa
JM		 508 STEPPER[motor]->set_speed(0); // need to allow for more ground covered when moving diagonally
509 STEPPER[motor]->move(dir, 10000000);
174d9961
JM		 510 // wait until either X or Y hits the endstop
511 bool running= true;
512 while (running) {
314ab8f7 513 THEKERNEL->call_event(ON_IDLE);
174d9961
JM		 514 for(int m=X_AXIS;m<=Y_AXIS;m++) {
515 if(this->pins[m + (this->home_direction[m] ? 0 : 3)].get()) {
516 // turn off motor
dd0a7cfa 517 if(STEPPER[motor]->is_moving()) STEPPER[motor]->move(0, 0);
174d9961
JM		 518 running= false;
519 break;
520 }
521 }
522 }
523 }
33e4cc02 524
174d9961 525 // move individual axis
33e4cc02 526 if (axes_to_move & 0x01) { // Home X, which means both X and Y in same direction
413dd90c 527 bool dir= this->home_direction[X_AXIS];
56ce2b5a 528 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		 529 }
530
65191d91
JM		 531 if (axes_to_move & 0x02) { // Home Y, which means both X and Y in different directions
532 bool dir= this->home_direction[Y_AXIS];
56ce2b5a 533 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		 534 }
535
33e4cc02 536 if (axes_to_move & 0x04) { // move Z
81f02e89 537 do_homing_cartesian(0x04); // just home normally for Z
f29b0272
JM		 538 }
539
540 // Homing is done
541 this->status = NOT_HOMING;
542}
543
81f02e89
JM		 544void Endstops::home(char axes_to_move)
545{
546 if (is_corexy){
547 // corexy/HBot homing
548 do_homing_corexy(axes_to_move);
549 }else{
550 // cartesian/delta homing
551 do_homing_cartesian(axes_to_move);
552 }
553}
554
201bcb94 555// Start homing sequences by response to GCode commands
33e4cc02 556void Endstops::on_gcode_received(void *argument)
c339d634 557{
33e4cc02
JM		 558 Gcode *gcode = static_cast<Gcode *>(argument);
559 if ( gcode->has_g) {
560 if ( gcode->g == 28 ) {
74b6303c 561 gcode->mark_as_taken();
df27a6a3 562 // G28 is received, we have homing to do
201bcb94
AW		 563
564 // First wait for the queue to be empty
314ab8f7 565 THEKERNEL->conveyor->wait_for_empty_queue();
201bcb94
AW		 566
567 // Do we move select axes or all of them
7dee696d 568 char axes_to_move = 0;
3e1f5b74
QH		 569 // only enable homing if the endstop is defined, deltas, scaras always home all axis
570 bool home_all = this->is_delta || this->is_scara || !( gcode->has_letter('X') || gcode->has_letter('Y') || gcode->has_letter('Z') );
47bbe224 571
56ce2b5a
JM		 572 for ( int c = X_AXIS; c <= Z_AXIS; c++ ) {
573 if ( (home_all || gcode->has_letter(c+'X')) && this->pins[c + (this->home_direction[c] ? 0 : 3)].connected() ) {
574 axes_to_move += ( 1 << c );
33e4cc02 575 }
df27a6a3 576 }
3b948656 577
f6c04440 578 // Enable the motors
314ab8f7 579 THEKERNEL->stepper->turn_enable_pins_on();
f6c04440 580
f29b0272 581 // do the actual homing
80605954
JM		 582 if(homing_order != 0){
583 // if an order has been specified do it in the specified order
584 // homing order is 0b00ccbbaa where aa is 0,1,2 to specify the first axis, bb is the second and cc is the third
585 // eg 0b00100001 would be Y X Z, 0b00100100 would be X Y Z
586 for (uint8_t m = homing_order; m != 0; m >>= 2) {
587 int a= (1 << (m & 0x03)); // axis to move
588 if((a & axes_to_move) != 0)
81f02e89 589 home(a);
80605954
JM		 590 }
591 }else {
592 // they all home at the same time
81f02e89 593 home(axes_to_move);
80605954 594 }
3ffe27fb 595
cef9acea
JM		 596 if(home_all) {
597 // for deltas this may be important rather than setting each individually
598 THEKERNEL->robot->reset_axis_position(
599 this->homing_position[X_AXIS] + this->home_offset[X_AXIS],
600 this->homing_position[Y_AXIS] + this->home_offset[Y_AXIS],
601 this->homing_position[Z_AXIS] + this->home_offset[Z_AXIS]);
602 }else{
603 // Zero the ax(i/e)s position, add in the home offset
604 for ( int c = X_AXIS; c <= Z_AXIS; c++ ) {
605 if ( (axes_to_move >> c) & 1 ) {
606 THEKERNEL->robot->reset_axis_position(this->homing_position[c] + this->home_offset[c], c);
607 }
3ffe27fb
AV		 608 }
609 }
3c947f85 610
2b3cedc7
JM		 611 // on some systems where 0,0 is bed center it is noce to have home goto 0,0 after homing
612 // default is off
2ddf75fd
JM		 613 if(this->move_to_origin_after_home)
614 move_to_origin(axes_to_move);
2b3cedc7 615
3c947f85 616 // if limit switches are enabled we must back off endstop after setting home
5bfcd44a 617 back_off_home(axes_to_move);
c339d634 618 }
81f02e89 619
33e4cc02
JM		 620 } else if (gcode->has_m) {
621 switch (gcode->m) {
622 case 119: {
ef7bd372
JM		 623 for (int i = 0; i < 6; ++i) {
624 if(this->pins[i].connected())
625 gcode->stream->printf("%s:%d ", endstop_names[i], this->pins[i].get());
626 }
bd96f4d7 627 gcode->add_nl= true;
33e4cc02
JM		 628 gcode->mark_as_taken();
629 }
630 break;
631
632 case 206: // M206 - set homing offset
504f0e3e
JM		 633 if (gcode->has_letter('X')) home_offset[0] = gcode->get_value('X');
634 if (gcode->has_letter('Y')) home_offset[1] = gcode->get_value('Y');
635 if (gcode->has_letter('Z')) home_offset[2] = gcode->get_value('Z');
636 gcode->stream->printf("X %5.3f Y %5.3f Z %5.3f\n", home_offset[0], home_offset[1], home_offset[2]);
637 gcode->mark_as_taken();
638 break;
0e4bf280 639
9ae8c7e4 640 case 306: // Similar to M206 and G92 but sets Homing offsets based on current position, Would be M207 but that is taken
504f0e3e
JM		 641 {
642 float cartesian[3];
0e4bf280 643 THEKERNEL->robot->get_axis_position(cartesian); // get actual position from robot
9ae8c7e4
JM		 644 if (gcode->has_letter('X')){
645 home_offset[0] -= (cartesian[X_AXIS] - gcode->get_value('X'));
646 THEKERNEL->robot->reset_axis_position(gcode->get_value('X'), X_AXIS);
647 }
648 if (gcode->has_letter('Y')) {
649 home_offset[1] -= (cartesian[Y_AXIS] - gcode->get_value('Y'));
650 THEKERNEL->robot->reset_axis_position(gcode->get_value('Y'), Y_AXIS);
651 }
652 if (gcode->has_letter('Z')) {
653 home_offset[2] -= (cartesian[Z_AXIS] - gcode->get_value('Z'));
654 THEKERNEL->robot->reset_axis_position(gcode->get_value('Z'), Z_AXIS);
655 }
656
657 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 658 gcode->mark_as_taken();
0e4bf280 659 }
33e4cc02
JM		 660 break;
661
662 case 500: // save settings
663 case 503: // print settings
664 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]);
665 if (is_delta) {
56ce2b5a
JM		 666 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]);
667 gcode->stream->printf(";Max Z\nM665 Z%1.3f\n", this->homing_position[2]);
7a8fe6e0 668 }
33e4cc02 669 gcode->mark_as_taken();
c339d634 670 break;
47bbe224 671
ec4773e5 672 case 665: { // M665 - set max gamma/z height
33e4cc02 673 gcode->mark_as_taken();
1ad23cd3 674 float gamma_max = this->homing_position[2];
33e4cc02
JM		 675 if (gcode->has_letter('Z')) {
676 this->homing_position[2] = gamma_max = gcode->get_value('Z');
ec4773e5 677 }
33e4cc02
JM		 678 gcode->stream->printf("Max Z %8.3f ", gamma_max);
679 gcode->add_nl = true;
680 }
681 break;
ec4773e5 682
47bbe224 683
56ce2b5a 684 case 666:
3e1f5b74 685 if(this->is_delta || this->is_scara) { // M666 - set trim for each axis in mm, NB negative mm trim is down
56ce2b5a
JM		 686 if (gcode->has_letter('X')) trim_mm[0] = gcode->get_value('X');
687 if (gcode->has_letter('Y')) trim_mm[1] = gcode->get_value('Y');
688 if (gcode->has_letter('Z')) trim_mm[2] = gcode->get_value('Z');
47bbe224 689
56ce2b5a
JM		 690 // print the current trim values in mm
691 gcode->stream->printf("X: %5.3f Y: %5.3f Z: %5.3f\n", trim_mm[0], trim_mm[1], trim_mm[2]);
692 gcode->mark_as_taken();
693 }
33e4cc02 694 break;
47bbe224 695
d4ee6ee2
JM		 696 // NOTE this is to test accuracy of lead screws etc.
697 case 910: { // M910 - move specific number of raw steps
a4b04adc
JM		 698 // Enable the motors
699 THEKERNEL->stepper->turn_enable_pins_on();
700
d4ee6ee2
JM		 701 int x= 0, y=0 , z= 0, f= 200*16;
702 if (gcode->has_letter('F')) f = gcode->get_value('F');
703 if (gcode->has_letter('X')) {
704 x = gcode->get_value('X');
dd0a7cfa
JM		 705 STEPPER[X_AXIS]->set_speed(f);
706 STEPPER[X_AXIS]->move(x<0, abs(x));
d4ee6ee2
JM		 707 }
708 if (gcode->has_letter('Y')) {
709 y = gcode->get_value('Y');
dd0a7cfa
JM		 710 STEPPER[Y_AXIS]->set_speed(f);
711 STEPPER[Y_AXIS]->move(y<0, abs(y));
d4ee6ee2
JM		 712 }
713 if (gcode->has_letter('Z')) {
714 z = gcode->get_value('Z');
dd0a7cfa
JM		 715 STEPPER[Z_AXIS]->set_speed(f);
716 STEPPER[Z_AXIS]->move(z<0, abs(z));
d4ee6ee2
JM		 717 }
718 gcode->stream->printf("Moved X %d Y %d Z %d F %d steps\n", x, y, z, f);
719 gcode->mark_as_taken();
720 break;
721 }
201bcb94
AW		 722 }
723 }
724}
725
64eaf21e
JM		 726// Called periodically to change the speed to match acceleration
727uint32_t Endstops::acceleration_tick(uint32_t dummy)
728{
fafb45df 729 if(this->status >= NOT_HOMING) return(0); // nothing to do, only do this when moving for homing sequence
64eaf21e
JM		 730
731 // foreach stepper that is moving
732 for ( int c = X_AXIS; c <= Z_AXIS; c++ ) {
dd0a7cfa 733 if( !STEPPER[c]->is_moving() ) continue;
64eaf21e 734
dd0a7cfa 735 uint32_t current_rate = STEPPER[c]->get_steps_per_second();
56ce2b5a 736 uint32_t target_rate = int(floor(this->feed_rate[c]*STEPS_PER_MM(c)));
c5fe1787 737 float acc= (c==Z_AXIS) ? THEKERNEL->planner->get_z_acceleration() : THEKERNEL->planner->get_acceleration();
64eaf21e 738 if( current_rate < target_rate ){
c5fe1787 739 uint32_t rate_increase = int(floor((acc/THEKERNEL->stepper->get_acceleration_ticks_per_second())*STEPS_PER_MM(c)));
64eaf21e
JM		 740 current_rate = min( target_rate, current_rate + rate_increase );
741 }
742 if( current_rate > target_rate ){ current_rate = target_rate; }
743
744 // steps per second
dd0a7cfa 745 STEPPER[c]->set_speed(max(current_rate, THEKERNEL->stepper->get_minimum_steps_per_second()));
64eaf21e
JM		 746 }
747
748 return 0;
749}
9f6f04a5
JM		 750
751void Endstops::on_get_public_data(void* argument){
752 PublicDataRequest* pdr = static_cast<PublicDataRequest*>(argument);
753
754 if(!pdr->starts_with(endstops_checksum)) return;
755
756 if(pdr->second_element_is(trim_checksum)) {
86fa0b93 757 pdr->set_data_ptr(&this->trim_mm);
ea5c6d92
JM		 758 pdr->set_taken();
759
760 }else if(pdr->second_element_is(home_offset_checksum)) {
86fa0b93 761 pdr->set_data_ptr(&this->home_offset);
9f6f04a5
JM		 762 pdr->set_taken();
763 }
764}
7d6fe308
JM		 765
766void Endstops::on_set_public_data(void* argument){
767 PublicDataRequest* pdr = static_cast<PublicDataRequest*>(argument);
768
769 if(!pdr->starts_with(endstops_checksum)) return;
770
771 if(pdr->second_element_is(trim_checksum)) {
772 float *t= static_cast<float*>(pdr->get_data_ptr());
773 this->trim_mm[0]= t[0];
774 this->trim_mm[1]= t[1];
775 this->trim_mm[2]= t[2];
776 pdr->set_taken();
ea5c6d92
JM		 777
778 }else if(pdr->second_element_is(home_offset_checksum)) {
779 float *t= static_cast<float*>(pdr->get_data_ptr());
780 if(!isnan(t[0])) this->home_offset[0]= t[0];
781 if(!isnan(t[1])) this->home_offset[1]= t[1];
782 if(!isnan(t[2])) this->home_offset[2]= t[2];
7d6fe308
JM		 783 }
784}
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