| 1 | /* |
| 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. |
| 5 | You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>. |
| 6 | */ |
| 7 | |
| 8 | #include "libs/Module.h" |
| 9 | #include "libs/Kernel.h" |
| 10 | #include "modules/communication/utils/Gcode.h" |
| 11 | #include "modules/robot/Player.h" |
| 12 | #include "Endstops.h" |
| 13 | #include "libs/nuts_bolts.h" |
| 14 | #include "libs/Pin.h" |
| 15 | #include "libs/StepperMotor.h" |
| 16 | #include "wait_api.h" // mbed.h lib |
| 17 | |
| 18 | Endstops::Endstops(){ |
| 19 | this->status = NOT_HOMING; |
| 20 | } |
| 21 | |
| 22 | void Endstops::on_module_loaded() { |
| 23 | this->register_for_event(ON_GCODE_RECEIVED); |
| 24 | |
| 25 | // Take StepperMotor objects from Robot and keep them here |
| 26 | this->steppers[0] = this->kernel->robot->alpha_stepper_motor; |
| 27 | this->steppers[1] = this->kernel->robot->beta_stepper_motor; |
| 28 | this->steppers[2] = this->kernel->robot->gamma_stepper_motor; |
| 29 | |
| 30 | // Settings |
| 31 | this->on_config_reload(this); |
| 32 | |
| 33 | } |
| 34 | |
| 35 | // Get config |
| 36 | void Endstops::on_config_reload(void* argument){ |
| 37 | this->pins[0] = this->kernel->config->value(alpha_min_endstop_checksum )->by_default("nc" )->as_pin()->as_input(); |
| 38 | this->pins[1] = this->kernel->config->value(beta_min_endstop_checksum )->by_default("nc" )->as_pin()->as_input(); |
| 39 | this->pins[2] = this->kernel->config->value(gamma_min_endstop_checksum )->by_default("nc" )->as_pin()->as_input(); |
| 40 | } |
| 41 | |
| 42 | // Start homing sequences by response to GCode commands |
| 43 | void Endstops::on_gcode_received(void* argument){ |
| 44 | Gcode* gcode = static_cast<Gcode*>(argument); |
| 45 | if( gcode->has_letter('G' )){ |
| 46 | if( gcode->get_value('G') == 28 ){ |
| 47 | // G28 is received, we have homing to do |
| 48 | |
| 49 | // First wait for the queue to be empty |
| 50 | while(this->kernel->player->queue.size() > 0) { wait_us(500); } |
| 51 | |
| 52 | // Do we move select axes or all of them |
| 53 | bool home_all_axes = true; |
| 54 | if( gcode->has_letter('X') || gcode->has_letter('Y') || gcode->has_letter('Z') ){ home_all_axes = false; } |
| 55 | |
| 56 | // Start moving the axes to the origin |
| 57 | this->status = MOVING_TO_ORIGIN_FAST; |
| 58 | for( char c = 'X'; c <= 'Z'; c++ ){ |
| 59 | if( ( home_all_axes || gcode->has_letter(c) ) && this->pins[c - 'X']->connected() ){ |
| 60 | this->steppers[c - 'X']->move(0,10000000); |
| 61 | this->steppers[c - 'X']->set_speed(10000); |
| 62 | } |
| 63 | } |
| 64 | |
| 65 | // Wait for all axes to have homed |
| 66 | bool running = true; |
| 67 | while(running){ |
| 68 | running = false; |
| 69 | for( char c = 'X'; c <= 'Z'; c++ ){ |
| 70 | if( ( home_all_axes || gcode->has_letter(c) ) && this->pins[c - 'X']->connected() ){ |
| 71 | if( this->pins[c - 'X']->get() ){ |
| 72 | // The endstop was hit, stop moving |
| 73 | if( this->steppers[c - 'X']->moving ){ |
| 74 | this->steppers[c - 'X']->move(0,0); |
| 75 | } |
| 76 | }else{ |
| 77 | // The endstop was not hit yet |
| 78 | running = true; |
| 79 | } |
| 80 | } |
| 81 | } |
| 82 | } |
| 83 | |
| 84 | |
| 85 | |
| 86 | // Homing is done |
| 87 | this->status = NOT_HOMING; |
| 88 | |
| 89 | } |
| 90 | } |
| 91 | } |
| 92 | |