Commit | Line | Data |
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df27a6a3 | 1 | /* |
201bcb94 AW |
2 | This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl). |
3 | Smoothie is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. | |
4 | Smoothie is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. | |
df27a6a3 | 5 | You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>. |
201bcb94 AW |
6 | */ |
7 | ||
8 | #include "libs/Module.h" | |
9 | #include "libs/Kernel.h" | |
10 | #include "modules/communication/utils/Gcode.h" | |
3fceb8eb | 11 | #include "modules/robot/Conveyor.h" |
201bcb94 AW |
12 | #include "Endstops.h" |
13 | #include "libs/nuts_bolts.h" | |
750277f8 | 14 | #include "libs/Pin.h" |
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") | |
43 | ||
44 | #define alpha_min_endstop_checksum CHECKSUM("alpha_min_endstop") | |
45 | #define beta_min_endstop_checksum CHECKSUM("beta_min_endstop") | |
46 | #define gamma_min_endstop_checksum CHECKSUM("gamma_min_endstop") | |
47 | ||
48 | #define alpha_max_endstop_checksum CHECKSUM("alpha_max_endstop") | |
49 | #define beta_max_endstop_checksum CHECKSUM("beta_max_endstop") | |
50 | #define gamma_max_endstop_checksum CHECKSUM("gamma_max_endstop") | |
51 | ||
52 | #define alpha_trim_checksum CHECKSUM("alpha_trim") | |
53 | #define beta_trim_checksum CHECKSUM("beta_trim") | |
54 | #define gamma_trim_checksum CHECKSUM("gamma_trim") | |
55 | ||
56 | // these values are in steps and should be deprecated | |
57 | #define alpha_fast_homing_rate_checksum CHECKSUM("alpha_fast_homing_rate") | |
58 | #define beta_fast_homing_rate_checksum CHECKSUM("beta_fast_homing_rate") | |
59 | #define gamma_fast_homing_rate_checksum CHECKSUM("gamma_fast_homing_rate") | |
60 | ||
61 | #define alpha_slow_homing_rate_checksum CHECKSUM("alpha_slow_homing_rate") | |
62 | #define beta_slow_homing_rate_checksum CHECKSUM("beta_slow_homing_rate") | |
63 | #define gamma_slow_homing_rate_checksum CHECKSUM("gamma_slow_homing_rate") | |
64 | ||
65 | #define alpha_homing_retract_checksum CHECKSUM("alpha_homing_retract") | |
66 | #define beta_homing_retract_checksum CHECKSUM("beta_homing_retract") | |
67 | #define gamma_homing_retract_checksum CHECKSUM("gamma_homing_retract") | |
68 | #define endstop_debounce_count_checksum CHECKSUM("endstop_debounce_count") | |
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") |
2b3cedc7 | 103 | #define move_to_zero_checksum CHECKSUM("move_to_zero_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 JM |
108 | #define max(a,b) (((a) > (b)) ? (a) : (b)) |
109 | #define min(a,b) (((a) <= (b)) ? (a) : (b)) | |
110 | ||
3c947f85 JM |
111 | // Homing States |
112 | enum{ | |
3c947f85 JM |
113 | MOVING_TO_ORIGIN_FAST, |
114 | MOVING_BACK, | |
115 | MOVING_TO_ORIGIN_SLOW, | |
fafb45df | 116 | NOT_HOMING, |
3c947f85 | 117 | BACK_OFF_HOME, |
2b3cedc7 | 118 | MOVE_TO_ZERO, |
3c947f85 JM |
119 | LIMIT_TRIGGERED |
120 | }; | |
121 | ||
33e4cc02 JM |
122 | Endstops::Endstops() |
123 | { | |
201bcb94 | 124 | this->status = NOT_HOMING; |
33e4cc02 | 125 | home_offset[0] = home_offset[1] = home_offset[2] = 0.0F; |
201bcb94 AW |
126 | } |
127 | ||
33e4cc02 JM |
128 | void Endstops::on_module_loaded() |
129 | { | |
7dee696d | 130 | // Do not do anything if not enabled |
314ab8f7 | 131 | if ( THEKERNEL->config->value( endstops_module_enable_checksum )->by_default(true)->as_bool() == false ) { |
4e722c00 | 132 | delete this; |
33e4cc02 JM |
133 | return; |
134 | } | |
7d62445b | 135 | |
9f6f04a5 JM |
136 | register_for_event(ON_GCODE_RECEIVED); |
137 | register_for_event(ON_GET_PUBLIC_DATA); | |
7d6fe308 | 138 | register_for_event(ON_SET_PUBLIC_DATA); |
201bcb94 | 139 | |
38bf9a1c | 140 | THEKERNEL->slow_ticker->attach( THEKERNEL->stepper->get_acceleration_ticks_per_second() , this, &Endstops::acceleration_tick ); |
201bcb94 | 141 | |
750277f8 AW |
142 | // Settings |
143 | this->on_config_reload(this); | |
201bcb94 AW |
144 | } |
145 | ||
750277f8 | 146 | // Get config |
33e4cc02 JM |
147 | void Endstops::on_config_reload(void *argument) |
148 | { | |
56ce2b5a JM |
149 | this->pins[0].from_string( THEKERNEL->config->value(alpha_min_endstop_checksum )->by_default("nc" )->as_string())->as_input(); |
150 | this->pins[1].from_string( THEKERNEL->config->value(beta_min_endstop_checksum )->by_default("nc" )->as_string())->as_input(); | |
151 | this->pins[2].from_string( THEKERNEL->config->value(gamma_min_endstop_checksum )->by_default("nc" )->as_string())->as_input(); | |
152 | this->pins[3].from_string( THEKERNEL->config->value(alpha_max_endstop_checksum )->by_default("nc" )->as_string())->as_input(); | |
153 | this->pins[4].from_string( THEKERNEL->config->value(beta_max_endstop_checksum )->by_default("nc" )->as_string())->as_input(); | |
154 | this->pins[5].from_string( THEKERNEL->config->value(gamma_max_endstop_checksum )->by_default("nc" )->as_string())->as_input(); | |
155 | ||
156 | // These are the old ones in steps still here for backwards compatibility | |
157 | this->fast_rates[0] = THEKERNEL->config->value(alpha_fast_homing_rate_checksum )->by_default(4000 )->as_number() / STEPS_PER_MM(0); | |
158 | this->fast_rates[1] = THEKERNEL->config->value(beta_fast_homing_rate_checksum )->by_default(4000 )->as_number() / STEPS_PER_MM(1); | |
159 | this->fast_rates[2] = THEKERNEL->config->value(gamma_fast_homing_rate_checksum )->by_default(6400 )->as_number() / STEPS_PER_MM(2); | |
160 | this->slow_rates[0] = THEKERNEL->config->value(alpha_slow_homing_rate_checksum )->by_default(2000 )->as_number() / STEPS_PER_MM(0); | |
161 | this->slow_rates[1] = THEKERNEL->config->value(beta_slow_homing_rate_checksum )->by_default(2000 )->as_number() / STEPS_PER_MM(1); | |
162 | this->slow_rates[2] = THEKERNEL->config->value(gamma_slow_homing_rate_checksum )->by_default(3200 )->as_number() / STEPS_PER_MM(2); | |
163 | this->retract_mm[0] = THEKERNEL->config->value(alpha_homing_retract_checksum )->by_default(400 )->as_number() / STEPS_PER_MM(0); | |
164 | this->retract_mm[1] = THEKERNEL->config->value(beta_homing_retract_checksum )->by_default(400 )->as_number() / STEPS_PER_MM(1); | |
165 | this->retract_mm[2] = THEKERNEL->config->value(gamma_homing_retract_checksum )->by_default(1600 )->as_number() / STEPS_PER_MM(2); | |
5de98d7c JM |
166 | |
167 | // 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 |
168 | this->fast_rates[0] = THEKERNEL->config->value(alpha_fast_homing_rate_mm_checksum )->by_default(this->fast_rates[0])->as_number(); |
169 | this->fast_rates[1] = THEKERNEL->config->value(beta_fast_homing_rate_mm_checksum )->by_default(this->fast_rates[1])->as_number(); | |
170 | this->fast_rates[2] = THEKERNEL->config->value(gamma_fast_homing_rate_mm_checksum )->by_default(this->fast_rates[2])->as_number(); | |
171 | this->slow_rates[0] = THEKERNEL->config->value(alpha_slow_homing_rate_mm_checksum )->by_default(this->slow_rates[0])->as_number(); | |
172 | this->slow_rates[1] = THEKERNEL->config->value(beta_slow_homing_rate_mm_checksum )->by_default(this->slow_rates[1])->as_number(); | |
173 | this->slow_rates[2] = THEKERNEL->config->value(gamma_slow_homing_rate_mm_checksum )->by_default(this->slow_rates[2])->as_number(); | |
174 | this->retract_mm[0] = THEKERNEL->config->value(alpha_homing_retract_mm_checksum )->by_default(this->retract_mm[0])->as_number(); | |
175 | this->retract_mm[1] = THEKERNEL->config->value(beta_homing_retract_mm_checksum )->by_default(this->retract_mm[1])->as_number(); | |
176 | this->retract_mm[2] = THEKERNEL->config->value(gamma_homing_retract_mm_checksum )->by_default(this->retract_mm[2])->as_number(); | |
5de98d7c | 177 | |
06c48ee8 | 178 | this->debounce_count = THEKERNEL->config->value(endstop_debounce_count_checksum )->by_default(100)->as_number(); |
5de98d7c JM |
179 | |
180 | ||
409ff5b3 | 181 | // get homing direction and convert to boolean where true is home to min, and false is home to max |
314ab8f7 | 182 | int home_dir = get_checksum(THEKERNEL->config->value(alpha_homing_direction_checksum)->by_default("home_to_min")->as_string()); |
eb09fdbf | 183 | this->home_direction[0] = home_dir != home_to_max_checksum; |
47bbe224 | 184 | |
314ab8f7 | 185 | home_dir = get_checksum(THEKERNEL->config->value(beta_homing_direction_checksum)->by_default("home_to_min")->as_string()); |
eb09fdbf | 186 | this->home_direction[1] = home_dir != home_to_max_checksum; |
47bbe224 | 187 | |
314ab8f7 | 188 | home_dir = get_checksum(THEKERNEL->config->value(gamma_homing_direction_checksum)->by_default("home_to_min")->as_string()); |
eb09fdbf | 189 | this->home_direction[2] = home_dir != home_to_max_checksum; |
47bbe224 | 190 | |
314ab8f7 MM |
191 | 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(); |
192 | 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();; | |
193 | 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 | 194 | |
314ab8f7 MM |
195 | this->is_corexy = THEKERNEL->config->value(corexy_homing_checksum)->by_default(false)->as_bool(); |
196 | this->is_delta = THEKERNEL->config->value(delta_homing_checksum)->by_default(false)->as_bool(); | |
e678365e | 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 | ||
2b3cedc7 JM |
225 | this->move_to_zero_after_home= THEKERNEL->config->value(move_to_zero_checksum)->by_default(false)->as_bool(); |
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 | ||
232 | static const char *endstop_names[]= {"MIN_X", "MIN_Y", "MIN_Z", "MAX_X", "MAX_Y", "MAX_Z"}; | |
233 | ||
234 | void Endstops::on_idle(void *argument) | |
235 | { | |
236 | if(this->status != NOT_HOMING) return; // don't check while homing or if a LIMIT was triggered | |
237 | ||
238 | for( int c = X_AXIS; c <= Z_AXIS; c++ ) { | |
239 | if(this->limit_enable[c] && STEPPER[c]->is_moving()) { | |
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 | uint8_t debounce= 0; | |
245 | while(this->pins[n].get()) { | |
246 | if ( ++debounce >= debounce_count ) { | |
247 | // endstop triggered | |
248 | THEKERNEL->pauser->take(); | |
9895055f | 249 | THEKERNEL->streams->printf("Limit switch %s was hit - reset or press play button\n", endstop_names[n]); |
3c947f85 JM |
250 | this->status= LIMIT_TRIGGERED; |
251 | return; | |
252 | } | |
253 | } | |
254 | } | |
255 | } | |
256 | } | |
257 | } | |
258 | ||
259 | // if limit switches are enabled, then we must move off of the endstop otherwise we won't be able to move | |
5bfcd44a JM |
260 | // checks if triggered and only backs off if triggered |
261 | void Endstops::back_off_home(char axes_to_move) | |
3c947f85 JM |
262 | { |
263 | this->status = BACK_OFF_HOME; | |
264 | for( int c = X_AXIS; c <= Z_AXIS; c++ ) { | |
5bfcd44a | 265 | if( ((axes_to_move >> c ) & 1) == 0) continue; // only for axes we asked to move |
3c947f85 | 266 | if(this->limit_enable[c]) { |
5bfcd44a JM |
267 | if( !this->pins[c + (this->home_direction[c] ? 0 : 3)].get() ) continue; // if not triggered no need to move off |
268 | ||
3c947f85 JM |
269 | // Move off of the endstop using a regular relative move |
270 | char buf[32]; | |
2b3cedc7 | 271 | 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 |
272 | Gcode gc(buf, &(StreamOutput::NullStream)); |
273 | bool oldmode= THEKERNEL->robot->absolute_mode; | |
274 | THEKERNEL->robot->absolute_mode= false; // needs to be relative mode | |
275 | THEKERNEL->robot->on_gcode_received(&gc); // send to robot directly | |
276 | THEKERNEL->robot->absolute_mode= oldmode; // restore mode | |
277 | } | |
278 | } | |
279 | // Wait for above to finish | |
280 | THEKERNEL->conveyor->wait_for_empty_queue(); | |
281 | this->status = NOT_HOMING; | |
a0e0d592 BG |
282 | } |
283 | ||
2b3cedc7 JM |
284 | // If enabled will move the head to 0,0 after homing, but only if X and Y were set to home |
285 | void Endstops::move_to_zero(char axes_to_move) | |
286 | { | |
287 | if( (axes_to_move&0x03) != 3 ) return; // ignore if X and Y not homing | |
288 | ||
fafb45df JM |
289 | // Do we need to check if we are already at 0,0? probably not as the G0 will not do anything if we are |
290 | // float pos[3]; THEKERNEL->robot->get_axis_position(pos); if(pos[0] == 0 && pos[1] == 0) return; | |
291 | ||
2b3cedc7 JM |
292 | this->status = MOVE_TO_ZERO; |
293 | // Move to center using a regular move, use slower of X and Y fast rate | |
294 | float rate= min(this->fast_rates[0], this->fast_rates[1])*60.0F; | |
295 | char buf[32]; | |
296 | snprintf(buf, sizeof(buf), "G0 X0 Y0 F%1.4f", rate); | |
297 | Gcode gc(buf, &(StreamOutput::NullStream)); | |
298 | THEKERNEL->robot->on_gcode_received(&gc); // send to robot directly | |
299 | ||
300 | // Wait for above to finish | |
301 | THEKERNEL->conveyor->wait_for_empty_queue(); | |
302 | this->status = NOT_HOMING; | |
303 | } | |
304 | ||
33e4cc02 JM |
305 | void Endstops::wait_for_homed(char axes_to_move) |
306 | { | |
a0e0d592 | 307 | bool running = true; |
33e4cc02 JM |
308 | unsigned int debounce[3] = {0, 0, 0}; |
309 | while (running) { | |
a0e0d592 | 310 | running = false; |
314ab8f7 | 311 | THEKERNEL->call_event(ON_IDLE); |
56ce2b5a JM |
312 | for ( int c = X_AXIS; c <= Z_AXIS; c++ ) { |
313 | if ( ( axes_to_move >> c ) & 1 ) { | |
314 | if ( this->pins[c + (this->home_direction[c] ? 0 : 3)].get() ) { | |
315 | if ( debounce[c] < debounce_count ) { | |
316 | debounce[c]++; | |
a0e0d592 | 317 | running = true; |
dd0a7cfa JM |
318 | } else if ( STEPPER[c]->is_moving() ) { |
319 | STEPPER[c]->move(0, 0); | |
a0e0d592 | 320 | } |
33e4cc02 | 321 | } else { |
a0e0d592 BG |
322 | // The endstop was not hit yet |
323 | running = true; | |
56ce2b5a | 324 | debounce[c] = 0; |
323cca60 | 325 | } |
a0e0d592 BG |
326 | } |
327 | } | |
328 | } | |
750277f8 | 329 | } |
201bcb94 | 330 | |
81f02e89 | 331 | void Endstops::do_homing_cartesian(char axes_to_move) |
33e4cc02 | 332 | { |
80605954 | 333 | // this homing works for cartesian and delta printers |
f29b0272 JM |
334 | // Start moving the axes to the origin |
335 | this->status = MOVING_TO_ORIGIN_FAST; | |
56ce2b5a JM |
336 | for ( int c = X_AXIS; c <= Z_AXIS; c++ ) { |
337 | if ( ( axes_to_move >> c) & 1 ) { | |
338 | this->feed_rate[c]= this->fast_rates[c]; | |
dd0a7cfa JM |
339 | STEPPER[c]->set_speed(0); |
340 | STEPPER[c]->move(this->home_direction[c], 10000000); | |
f29b0272 JM |
341 | } |
342 | } | |
343 | ||
344 | // Wait for all axes to have homed | |
345 | this->wait_for_homed(axes_to_move); | |
346 | ||
347 | // Move back a small distance | |
348 | this->status = MOVING_BACK; | |
349 | bool inverted_dir; | |
56ce2b5a JM |
350 | for ( int c = X_AXIS; c <= Z_AXIS; c++ ) { |
351 | if ( ( axes_to_move >> c ) & 1 ) { | |
352 | inverted_dir = !this->home_direction[c]; | |
353 | this->feed_rate[c]= this->slow_rates[c]; | |
dd0a7cfa JM |
354 | STEPPER[c]->set_speed(0); |
355 | STEPPER[c]->move(inverted_dir, this->retract_mm[c]*STEPS_PER_MM(c)); | |
f29b0272 JM |
356 | } |
357 | } | |
358 | ||
33e4cc02 | 359 | // Wait for moves to be done |
56ce2b5a JM |
360 | for ( int c = X_AXIS; c <= Z_AXIS; c++ ) { |
361 | if ( ( axes_to_move >> c ) & 1 ) { | |
dd0a7cfa | 362 | while ( STEPPER[c]->is_moving() ) { |
314ab8f7 | 363 | THEKERNEL->call_event(ON_IDLE); |
f29b0272 JM |
364 | } |
365 | } | |
366 | } | |
367 | ||
368 | // Start moving the axes to the origin slowly | |
369 | this->status = MOVING_TO_ORIGIN_SLOW; | |
56ce2b5a JM |
370 | for ( int c = X_AXIS; c <= Z_AXIS; c++ ) { |
371 | if ( ( axes_to_move >> c ) & 1 ) { | |
372 | this->feed_rate[c]= this->slow_rates[c]; | |
dd0a7cfa JM |
373 | STEPPER[c]->set_speed(0); |
374 | STEPPER[c]->move(this->home_direction[c], 10000000); | |
f29b0272 JM |
375 | } |
376 | } | |
377 | ||
378 | // Wait for all axes to have homed | |
379 | this->wait_for_homed(axes_to_move); | |
380 | ||
33e4cc02 | 381 | if (this->is_delta) { |
959ab59c JM |
382 | // move for soft trim |
383 | this->status = MOVING_BACK; | |
56ce2b5a JM |
384 | for ( int c = X_AXIS; c <= Z_AXIS; c++ ) { |
385 | if ( this->trim_mm[c] != 0.0F && ( axes_to_move >> c ) & 1 ) { | |
386 | inverted_dir = this->home_direction[c]; | |
387 | // move up or down depending on sign of trim, -ive is down away from home | |
388 | if (this->trim_mm[c] < 0) inverted_dir = !inverted_dir; | |
389 | this->feed_rate[c]= this->slow_rates[c]; | |
dd0a7cfa JM |
390 | STEPPER[c]->set_speed(0); |
391 | STEPPER[c]->move(inverted_dir, abs(round(this->trim_mm[c]*STEPS_PER_MM(c)))); | |
959ab59c | 392 | } |
f29b0272 | 393 | } |
f29b0272 | 394 | |
959ab59c | 395 | // Wait for moves to be done |
56ce2b5a JM |
396 | for ( int c = X_AXIS; c <= Z_AXIS; c++ ) { |
397 | if ( ( axes_to_move >> c ) & 1 ) { | |
314ab8f7 | 398 | //THEKERNEL->streams->printf("axis %c \r\n", c ); |
dd0a7cfa | 399 | while ( STEPPER[c]->is_moving() ) { |
314ab8f7 | 400 | THEKERNEL->call_event(ON_IDLE); |
959ab59c | 401 | } |
f29b0272 JM |
402 | } |
403 | } | |
404 | } | |
405 | ||
406 | // Homing is done | |
407 | this->status = NOT_HOMING; | |
408 | } | |
409 | ||
33e4cc02 JM |
410 | void Endstops::wait_for_homed_corexy(int axis) |
411 | { | |
3db88866 | 412 | bool running = true; |
33e4cc02 JM |
413 | unsigned int debounce[3] = {0, 0, 0}; |
414 | while (running) { | |
3db88866 | 415 | running = false; |
314ab8f7 | 416 | THEKERNEL->call_event(ON_IDLE); |
33e4cc02 JM |
417 | if ( this->pins[axis + (this->home_direction[axis] ? 0 : 3)].get() ) { |
418 | if ( debounce[axis] < debounce_count ) { | |
3db88866 JM |
419 | debounce[axis] ++; |
420 | running = true; | |
421 | } else { | |
422 | // turn both off if running | |
dd0a7cfa JM |
423 | if (STEPPER[X_AXIS]->is_moving()) STEPPER[X_AXIS]->move(0, 0); |
424 | if (STEPPER[Y_AXIS]->is_moving()) STEPPER[Y_AXIS]->move(0, 0); | |
3db88866 | 425 | } |
33e4cc02 | 426 | } else { |
3db88866 JM |
427 | // The endstop was not hit yet |
428 | running = true; | |
429 | debounce[axis] = 0; | |
430 | } | |
431 | } | |
432 | } | |
433 | ||
1ad23cd3 | 434 | void Endstops::corexy_home(int home_axis, bool dirx, bool diry, float fast_rate, float slow_rate, unsigned int retract_steps) |
33e4cc02 JM |
435 | { |
436 | this->status = MOVING_TO_ORIGIN_FAST; | |
64eaf21e | 437 | this->feed_rate[X_AXIS]= fast_rate; |
dd0a7cfa JM |
438 | STEPPER[X_AXIS]->set_speed(0); |
439 | STEPPER[X_AXIS]->move(dirx, 10000000); | |
64eaf21e | 440 | this->feed_rate[Y_AXIS]= fast_rate; |
dd0a7cfa JM |
441 | STEPPER[Y_AXIS]->set_speed(0); |
442 | STEPPER[Y_AXIS]->move(diry, 10000000); | |
f29b0272 | 443 | |
33e4cc02 JM |
444 | // wait for primary axis |
445 | this->wait_for_homed_corexy(home_axis); | |
f29b0272 | 446 | |
33e4cc02 JM |
447 | // Move back a small distance |
448 | this->status = MOVING_BACK; | |
64eaf21e | 449 | this->feed_rate[X_AXIS]= slow_rate; |
dd0a7cfa JM |
450 | STEPPER[X_AXIS]->set_speed(0); |
451 | STEPPER[X_AXIS]->move(!dirx, retract_steps); | |
64eaf21e | 452 | this->feed_rate[Y_AXIS]= slow_rate; |
dd0a7cfa JM |
453 | STEPPER[Y_AXIS]->set_speed(0); |
454 | STEPPER[Y_AXIS]->move(!diry, retract_steps); | |
33e4cc02 JM |
455 | |
456 | // wait until done | |
dd0a7cfa | 457 | while ( STEPPER[X_AXIS]->is_moving() || STEPPER[Y_AXIS]->is_moving()) { |
314ab8f7 | 458 | THEKERNEL->call_event(ON_IDLE); |
f29b0272 JM |
459 | } |
460 | ||
33e4cc02 JM |
461 | // Start moving the axes to the origin slowly |
462 | this->status = MOVING_TO_ORIGIN_SLOW; | |
64eaf21e | 463 | this->feed_rate[X_AXIS]= slow_rate; |
dd0a7cfa JM |
464 | STEPPER[X_AXIS]->set_speed(0); |
465 | STEPPER[X_AXIS]->move(dirx, 10000000); | |
64eaf21e | 466 | this->feed_rate[Y_AXIS]= slow_rate; |
dd0a7cfa JM |
467 | STEPPER[Y_AXIS]->set_speed(0); |
468 | STEPPER[Y_AXIS]->move(diry, 10000000); | |
f29b0272 | 469 | |
33e4cc02 JM |
470 | // wait for primary axis |
471 | this->wait_for_homed_corexy(home_axis); | |
472 | } | |
f29b0272 | 473 | |
33e4cc02 JM |
474 | // this homing works for HBots/CoreXY |
475 | void Endstops::do_homing_corexy(char axes_to_move) | |
476 | { | |
03dffc07 | 477 | // TODO should really make order configurable, and select whether to allow XY to home at the same time, diagonally |
174d9961 | 478 | // 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 | 479 | // allow to move until an endstop triggers, then stop that motor. Speed up when moving diagonally to match X or Y speed |
174d9961 | 480 | // continue moving in the direction not yet triggered (which means two motors turning) until endstop hit |
174d9961 JM |
481 | |
482 | if((axes_to_move & 0x03) == 0x03) { // both X and Y need Homing | |
483 | // determine which motor to turn and which way | |
484 | bool dirx= this->home_direction[X_AXIS]; | |
485 | bool diry= this->home_direction[Y_AXIS]; | |
486 | int motor; | |
487 | bool dir; | |
488 | if(dirx && diry) { // min/min | |
489 | motor= X_AXIS; | |
490 | dir= true; | |
491 | }else if(dirx && !diry) { // min/max | |
492 | motor= Y_AXIS; | |
493 | dir= true; | |
494 | }else if(!dirx && diry) { // max/min | |
495 | motor= Y_AXIS; | |
496 | dir= false; | |
497 | }else if(!dirx && !diry) { // max/max | |
498 | motor= X_AXIS; | |
499 | dir= false; | |
500 | } | |
501 | ||
502 | // then move both X and Y until one hits the endstop | |
503 | this->status = MOVING_TO_ORIGIN_FAST; | |
64eaf21e | 504 | this->feed_rate[motor]= this->fast_rates[motor]*1.4142; |
dd0a7cfa JM |
505 | STEPPER[motor]->set_speed(0); // need to allow for more ground covered when moving diagonally |
506 | STEPPER[motor]->move(dir, 10000000); | |
174d9961 JM |
507 | // wait until either X or Y hits the endstop |
508 | bool running= true; | |
509 | while (running) { | |
314ab8f7 | 510 | THEKERNEL->call_event(ON_IDLE); |
174d9961 JM |
511 | for(int m=X_AXIS;m<=Y_AXIS;m++) { |
512 | if(this->pins[m + (this->home_direction[m] ? 0 : 3)].get()) { | |
513 | // turn off motor | |
dd0a7cfa | 514 | if(STEPPER[motor]->is_moving()) STEPPER[motor]->move(0, 0); |
174d9961 JM |
515 | running= false; |
516 | break; | |
517 | } | |
518 | } | |
519 | } | |
520 | } | |
33e4cc02 | 521 | |
174d9961 | 522 | // move individual axis |
33e4cc02 | 523 | if (axes_to_move & 0x01) { // Home X, which means both X and Y in same direction |
413dd90c | 524 | bool dir= this->home_direction[X_AXIS]; |
56ce2b5a | 525 | 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 |
526 | } |
527 | ||
65191d91 JM |
528 | if (axes_to_move & 0x02) { // Home Y, which means both X and Y in different directions |
529 | bool dir= this->home_direction[Y_AXIS]; | |
56ce2b5a | 530 | 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 |
531 | } |
532 | ||
33e4cc02 | 533 | if (axes_to_move & 0x04) { // move Z |
81f02e89 | 534 | do_homing_cartesian(0x04); // just home normally for Z |
f29b0272 JM |
535 | } |
536 | ||
537 | // Homing is done | |
538 | this->status = NOT_HOMING; | |
539 | } | |
540 | ||
81f02e89 JM |
541 | void Endstops::home(char axes_to_move) |
542 | { | |
543 | if (is_corexy){ | |
544 | // corexy/HBot homing | |
545 | do_homing_corexy(axes_to_move); | |
546 | }else{ | |
547 | // cartesian/delta homing | |
548 | do_homing_cartesian(axes_to_move); | |
549 | } | |
550 | } | |
551 | ||
201bcb94 | 552 | // Start homing sequences by response to GCode commands |
33e4cc02 | 553 | void Endstops::on_gcode_received(void *argument) |
c339d634 | 554 | { |
33e4cc02 JM |
555 | Gcode *gcode = static_cast<Gcode *>(argument); |
556 | if ( gcode->has_g) { | |
557 | if ( gcode->g == 28 ) { | |
74b6303c | 558 | gcode->mark_as_taken(); |
df27a6a3 | 559 | // G28 is received, we have homing to do |
201bcb94 AW |
560 | |
561 | // First wait for the queue to be empty | |
314ab8f7 | 562 | THEKERNEL->conveyor->wait_for_empty_queue(); |
201bcb94 AW |
563 | |
564 | // Do we move select axes or all of them | |
7dee696d | 565 | char axes_to_move = 0; |
959ab59c | 566 | // only enable homing if the endstop is defined, deltas always home all axis |
33e4cc02 | 567 | bool home_all = this->is_delta || !( gcode->has_letter('X') || gcode->has_letter('Y') || gcode->has_letter('Z') ); |
47bbe224 | 568 | |
56ce2b5a JM |
569 | for ( int c = X_AXIS; c <= Z_AXIS; c++ ) { |
570 | if ( (home_all || gcode->has_letter(c+'X')) && this->pins[c + (this->home_direction[c] ? 0 : 3)].connected() ) { | |
571 | axes_to_move += ( 1 << c ); | |
33e4cc02 | 572 | } |
df27a6a3 | 573 | } |
3b948656 | 574 | |
f6c04440 | 575 | // Enable the motors |
314ab8f7 | 576 | THEKERNEL->stepper->turn_enable_pins_on(); |
f6c04440 | 577 | |
f29b0272 | 578 | // do the actual homing |
80605954 JM |
579 | if(homing_order != 0){ |
580 | // if an order has been specified do it in the specified order | |
581 | // homing order is 0b00ccbbaa where aa is 0,1,2 to specify the first axis, bb is the second and cc is the third | |
582 | // eg 0b00100001 would be Y X Z, 0b00100100 would be X Y Z | |
583 | for (uint8_t m = homing_order; m != 0; m >>= 2) { | |
584 | int a= (1 << (m & 0x03)); // axis to move | |
585 | if((a & axes_to_move) != 0) | |
81f02e89 | 586 | home(a); |
80605954 JM |
587 | } |
588 | }else { | |
589 | // they all home at the same time | |
81f02e89 | 590 | home(axes_to_move); |
80605954 | 591 | } |
3ffe27fb | 592 | |
cef9acea JM |
593 | if(home_all) { |
594 | // for deltas this may be important rather than setting each individually | |
595 | THEKERNEL->robot->reset_axis_position( | |
596 | this->homing_position[X_AXIS] + this->home_offset[X_AXIS], | |
597 | this->homing_position[Y_AXIS] + this->home_offset[Y_AXIS], | |
598 | this->homing_position[Z_AXIS] + this->home_offset[Z_AXIS]); | |
599 | }else{ | |
600 | // Zero the ax(i/e)s position, add in the home offset | |
601 | for ( int c = X_AXIS; c <= Z_AXIS; c++ ) { | |
602 | if ( (axes_to_move >> c) & 1 ) { | |
603 | THEKERNEL->robot->reset_axis_position(this->homing_position[c] + this->home_offset[c], c); | |
604 | } | |
3ffe27fb AV |
605 | } |
606 | } | |
3c947f85 | 607 | |
2b3cedc7 JM |
608 | // on some systems where 0,0 is bed center it is noce to have home goto 0,0 after homing |
609 | // default is off | |
610 | if(this->move_to_zero_after_home) | |
611 | move_to_zero(axes_to_move); | |
612 | ||
3c947f85 | 613 | // if limit switches are enabled we must back off endstop after setting home |
5bfcd44a | 614 | back_off_home(axes_to_move); |
c339d634 | 615 | } |
81f02e89 | 616 | |
33e4cc02 JM |
617 | } else if (gcode->has_m) { |
618 | switch (gcode->m) { | |
619 | case 119: { | |
ef7bd372 JM |
620 | for (int i = 0; i < 6; ++i) { |
621 | if(this->pins[i].connected()) | |
622 | gcode->stream->printf("%s:%d ", endstop_names[i], this->pins[i].get()); | |
623 | } | |
bd96f4d7 | 624 | gcode->add_nl= true; |
33e4cc02 JM |
625 | gcode->mark_as_taken(); |
626 | } | |
627 | break; | |
628 | ||
629 | case 206: // M206 - set homing offset | |
630 | if (gcode->has_letter('X')) home_offset[0] = gcode->get_value('X'); | |
631 | if (gcode->has_letter('Y')) home_offset[1] = gcode->get_value('Y'); | |
632 | if (gcode->has_letter('Z')) home_offset[2] = gcode->get_value('Z'); | |
633 | gcode->stream->printf("X %5.3f Y %5.3f Z %5.3f\n", home_offset[0], home_offset[1], home_offset[2]); | |
634 | gcode->mark_as_taken(); | |
635 | break; | |
636 | ||
637 | case 500: // save settings | |
638 | case 503: // print settings | |
639 | 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]); | |
640 | if (is_delta) { | |
56ce2b5a JM |
641 | 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]); |
642 | gcode->stream->printf(";Max Z\nM665 Z%1.3f\n", this->homing_position[2]); | |
7a8fe6e0 | 643 | } |
33e4cc02 | 644 | gcode->mark_as_taken(); |
c339d634 | 645 | break; |
47bbe224 | 646 | |
ec4773e5 | 647 | case 665: { // M665 - set max gamma/z height |
33e4cc02 | 648 | gcode->mark_as_taken(); |
1ad23cd3 | 649 | float gamma_max = this->homing_position[2]; |
33e4cc02 JM |
650 | if (gcode->has_letter('Z')) { |
651 | this->homing_position[2] = gamma_max = gcode->get_value('Z'); | |
ec4773e5 | 652 | } |
33e4cc02 JM |
653 | gcode->stream->printf("Max Z %8.3f ", gamma_max); |
654 | gcode->add_nl = true; | |
655 | } | |
656 | break; | |
ec4773e5 | 657 | |
47bbe224 | 658 | |
56ce2b5a JM |
659 | case 666: |
660 | if(this->is_delta) { // M666 - set trim for each axis in mm, NB negative mm trim is down | |
661 | if (gcode->has_letter('X')) trim_mm[0] = gcode->get_value('X'); | |
662 | if (gcode->has_letter('Y')) trim_mm[1] = gcode->get_value('Y'); | |
663 | if (gcode->has_letter('Z')) trim_mm[2] = gcode->get_value('Z'); | |
47bbe224 | 664 | |
56ce2b5a JM |
665 | // print the current trim values in mm |
666 | gcode->stream->printf("X: %5.3f Y: %5.3f Z: %5.3f\n", trim_mm[0], trim_mm[1], trim_mm[2]); | |
667 | gcode->mark_as_taken(); | |
668 | } | |
33e4cc02 | 669 | break; |
47bbe224 | 670 | |
d4ee6ee2 JM |
671 | // NOTE this is to test accuracy of lead screws etc. |
672 | case 910: { // M910 - move specific number of raw steps | |
a4b04adc JM |
673 | // Enable the motors |
674 | THEKERNEL->stepper->turn_enable_pins_on(); | |
675 | ||
d4ee6ee2 JM |
676 | int x= 0, y=0 , z= 0, f= 200*16; |
677 | if (gcode->has_letter('F')) f = gcode->get_value('F'); | |
678 | if (gcode->has_letter('X')) { | |
679 | x = gcode->get_value('X'); | |
dd0a7cfa JM |
680 | STEPPER[X_AXIS]->set_speed(f); |
681 | STEPPER[X_AXIS]->move(x<0, abs(x)); | |
d4ee6ee2 JM |
682 | } |
683 | if (gcode->has_letter('Y')) { | |
684 | y = gcode->get_value('Y'); | |
dd0a7cfa JM |
685 | STEPPER[Y_AXIS]->set_speed(f); |
686 | STEPPER[Y_AXIS]->move(y<0, abs(y)); | |
d4ee6ee2 JM |
687 | } |
688 | if (gcode->has_letter('Z')) { | |
689 | z = gcode->get_value('Z'); | |
dd0a7cfa JM |
690 | STEPPER[Z_AXIS]->set_speed(f); |
691 | STEPPER[Z_AXIS]->move(z<0, abs(z)); | |
d4ee6ee2 JM |
692 | } |
693 | gcode->stream->printf("Moved X %d Y %d Z %d F %d steps\n", x, y, z, f); | |
694 | gcode->mark_as_taken(); | |
695 | break; | |
696 | } | |
201bcb94 AW |
697 | } |
698 | } | |
699 | } | |
700 | ||
64eaf21e JM |
701 | // Called periodically to change the speed to match acceleration |
702 | uint32_t Endstops::acceleration_tick(uint32_t dummy) | |
703 | { | |
fafb45df | 704 | if(this->status >= NOT_HOMING) return(0); // nothing to do, only do this when moving for homing sequence |
64eaf21e JM |
705 | |
706 | // foreach stepper that is moving | |
707 | for ( int c = X_AXIS; c <= Z_AXIS; c++ ) { | |
dd0a7cfa | 708 | if( !STEPPER[c]->is_moving() ) continue; |
64eaf21e | 709 | |
dd0a7cfa | 710 | uint32_t current_rate = STEPPER[c]->get_steps_per_second(); |
56ce2b5a | 711 | uint32_t target_rate = int(floor(this->feed_rate[c]*STEPS_PER_MM(c))); |
c5fe1787 | 712 | float acc= (c==Z_AXIS) ? THEKERNEL->planner->get_z_acceleration() : THEKERNEL->planner->get_acceleration(); |
64eaf21e | 713 | if( current_rate < target_rate ){ |
c5fe1787 | 714 | uint32_t rate_increase = int(floor((acc/THEKERNEL->stepper->get_acceleration_ticks_per_second())*STEPS_PER_MM(c))); |
64eaf21e JM |
715 | current_rate = min( target_rate, current_rate + rate_increase ); |
716 | } | |
717 | if( current_rate > target_rate ){ current_rate = target_rate; } | |
718 | ||
719 | // steps per second | |
dd0a7cfa | 720 | STEPPER[c]->set_speed(max(current_rate, THEKERNEL->stepper->get_minimum_steps_per_second())); |
64eaf21e JM |
721 | } |
722 | ||
723 | return 0; | |
724 | } | |
9f6f04a5 JM |
725 | |
726 | void Endstops::on_get_public_data(void* argument){ | |
727 | PublicDataRequest* pdr = static_cast<PublicDataRequest*>(argument); | |
728 | ||
729 | if(!pdr->starts_with(endstops_checksum)) return; | |
730 | ||
731 | if(pdr->second_element_is(trim_checksum)) { | |
86fa0b93 | 732 | pdr->set_data_ptr(&this->trim_mm); |
ea5c6d92 JM |
733 | pdr->set_taken(); |
734 | ||
735 | }else if(pdr->second_element_is(home_offset_checksum)) { | |
86fa0b93 | 736 | pdr->set_data_ptr(&this->home_offset); |
9f6f04a5 JM |
737 | pdr->set_taken(); |
738 | } | |
739 | } | |
7d6fe308 JM |
740 | |
741 | void Endstops::on_set_public_data(void* argument){ | |
742 | PublicDataRequest* pdr = static_cast<PublicDataRequest*>(argument); | |
743 | ||
744 | if(!pdr->starts_with(endstops_checksum)) return; | |
745 | ||
746 | if(pdr->second_element_is(trim_checksum)) { | |
747 | float *t= static_cast<float*>(pdr->get_data_ptr()); | |
748 | this->trim_mm[0]= t[0]; | |
749 | this->trim_mm[1]= t[1]; | |
750 | this->trim_mm[2]= t[2]; | |
751 | pdr->set_taken(); | |
ea5c6d92 JM |
752 | |
753 | }else if(pdr->second_element_is(home_offset_checksum)) { | |
754 | float *t= static_cast<float*>(pdr->get_data_ptr()); | |
755 | if(!isnan(t[0])) this->home_offset[0]= t[0]; | |
756 | if(!isnan(t[1])) this->home_offset[1]= t[1]; | |
757 | if(!isnan(t[2])) this->home_offset[2]= t[2]; | |
7d6fe308 JM |
758 | } |
759 | } |