| 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/Conveyor.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 | #define ALPHA_AXIS 0 |
| 19 | #define BETA_AXIS 1 |
| 20 | #define GAMMA_AXIS 2 |
| 21 | |
| 22 | #define NOT_HOMING 0 |
| 23 | #define MOVING_TO_ORIGIN_FAST 1 |
| 24 | #define MOVING_BACK 2 |
| 25 | #define MOVING_TO_ORIGIN_SLOW 3 |
| 26 | |
| 27 | #define endstops_module_enable_checksum CHECKSUM("endstops_enable") |
| 28 | #define corexy_homing_checksum CHECKSUM("corexy_homing") |
| 29 | #define delta_homing_checksum CHECKSUM("delta_homing") |
| 30 | |
| 31 | #define alpha_min_endstop_checksum CHECKSUM("alpha_min_endstop") |
| 32 | #define beta_min_endstop_checksum CHECKSUM("beta_min_endstop") |
| 33 | #define gamma_min_endstop_checksum CHECKSUM("gamma_min_endstop") |
| 34 | |
| 35 | #define alpha_max_endstop_checksum CHECKSUM("alpha_max_endstop") |
| 36 | #define beta_max_endstop_checksum CHECKSUM("beta_max_endstop") |
| 37 | #define gamma_max_endstop_checksum CHECKSUM("gamma_max_endstop") |
| 38 | |
| 39 | #define alpha_trim_checksum CHECKSUM("alpha_trim") |
| 40 | #define beta_trim_checksum CHECKSUM("beta_trim") |
| 41 | #define gamma_trim_checksum CHECKSUM("gamma_trim") |
| 42 | |
| 43 | // these values are in steps and should be deprecated |
| 44 | #define alpha_fast_homing_rate_checksum CHECKSUM("alpha_fast_homing_rate") |
| 45 | #define beta_fast_homing_rate_checksum CHECKSUM("beta_fast_homing_rate") |
| 46 | #define gamma_fast_homing_rate_checksum CHECKSUM("gamma_fast_homing_rate") |
| 47 | |
| 48 | #define alpha_slow_homing_rate_checksum CHECKSUM("alpha_slow_homing_rate") |
| 49 | #define beta_slow_homing_rate_checksum CHECKSUM("beta_slow_homing_rate") |
| 50 | #define gamma_slow_homing_rate_checksum CHECKSUM("gamma_slow_homing_rate") |
| 51 | |
| 52 | #define alpha_homing_retract_checksum CHECKSUM("alpha_homing_retract") |
| 53 | #define beta_homing_retract_checksum CHECKSUM("beta_homing_retract") |
| 54 | #define gamma_homing_retract_checksum CHECKSUM("gamma_homing_retract") |
| 55 | #define endstop_debounce_count_checksum CHECKSUM("endstop_debounce_count") |
| 56 | |
| 57 | // same as above but in user friendly mm/s and mm |
| 58 | #define alpha_fast_homing_rate_mm_checksum CHECKSUM("alpha_fast_homing_rate_mm_s") |
| 59 | #define beta_fast_homing_rate_mm_checksum CHECKSUM("beta_fast_homing_rate_mm_s") |
| 60 | #define gamma_fast_homing_rate_mm_checksum CHECKSUM("gamma_fast_homing_rate_mm_s") |
| 61 | |
| 62 | #define alpha_slow_homing_rate_mm_checksum CHECKSUM("alpha_slow_homing_rate_mm_s") |
| 63 | #define beta_slow_homing_rate_mm_checksum CHECKSUM("beta_slow_homing_rate_mm_s") |
| 64 | #define gamma_slow_homing_rate_mm_checksum CHECKSUM("gamma_slow_homing_rate_mm_s") |
| 65 | |
| 66 | #define alpha_homing_retract_mm_checksum CHECKSUM("alpha_homing_retract_mm") |
| 67 | #define beta_homing_retract_mm_checksum CHECKSUM("beta_homing_retract_mm") |
| 68 | #define gamma_homing_retract_mm_checksum CHECKSUM("gamma_homing_retract_mm") |
| 69 | |
| 70 | #define endstop_debounce_count_checksum CHECKSUM("endstop_debounce_count") |
| 71 | |
| 72 | #define alpha_homing_direction_checksum CHECKSUM("alpha_homing_direction") |
| 73 | #define beta_homing_direction_checksum CHECKSUM("beta_homing_direction") |
| 74 | #define gamma_homing_direction_checksum CHECKSUM("gamma_homing_direction") |
| 75 | #define home_to_max_checksum CHECKSUM("home_to_max") |
| 76 | #define home_to_min_checksum CHECKSUM("home_to_min") |
| 77 | #define alpha_min_checksum CHECKSUM("alpha_min") |
| 78 | #define beta_min_checksum CHECKSUM("beta_min") |
| 79 | #define gamma_min_checksum CHECKSUM("gamma_min") |
| 80 | |
| 81 | #define alpha_max_checksum CHECKSUM("alpha_max") |
| 82 | #define beta_max_checksum CHECKSUM("beta_max") |
| 83 | #define gamma_max_checksum CHECKSUM("gamma_max") |
| 84 | |
| 85 | #define alpha_steps_per_mm_checksum CHECKSUM("alpha_steps_per_mm") |
| 86 | #define beta_steps_per_mm_checksum CHECKSUM("beta_steps_per_mm") |
| 87 | #define gamma_steps_per_mm_checksum CHECKSUM("gamma_steps_per_mm") |
| 88 | |
| 89 | Endstops::Endstops() |
| 90 | { |
| 91 | this->status = NOT_HOMING; |
| 92 | home_offset[0] = home_offset[1] = home_offset[2] = 0.0F; |
| 93 | } |
| 94 | |
| 95 | void Endstops::on_module_loaded() |
| 96 | { |
| 97 | // Do not do anything if not enabled |
| 98 | if ( this->kernel->config->value( endstops_module_enable_checksum )->by_default(true)->as_bool() == false ) { |
| 99 | return; |
| 100 | } |
| 101 | |
| 102 | register_for_event(ON_CONFIG_RELOAD); |
| 103 | this->register_for_event(ON_GCODE_RECEIVED); |
| 104 | |
| 105 | // Take StepperMotor objects from Robot and keep them here |
| 106 | this->steppers[0] = this->kernel->robot->alpha_stepper_motor; |
| 107 | this->steppers[1] = this->kernel->robot->beta_stepper_motor; |
| 108 | this->steppers[2] = this->kernel->robot->gamma_stepper_motor; |
| 109 | |
| 110 | // Settings |
| 111 | this->on_config_reload(this); |
| 112 | |
| 113 | } |
| 114 | |
| 115 | // Get config |
| 116 | void Endstops::on_config_reload(void *argument) |
| 117 | { |
| 118 | this->pins[0].from_string( this->kernel->config->value(alpha_min_endstop_checksum )->by_default("nc" )->as_string())->as_input(); |
| 119 | this->pins[1].from_string( this->kernel->config->value(beta_min_endstop_checksum )->by_default("nc" )->as_string())->as_input(); |
| 120 | this->pins[2].from_string( this->kernel->config->value(gamma_min_endstop_checksum )->by_default("nc" )->as_string())->as_input(); |
| 121 | this->pins[3].from_string( this->kernel->config->value(alpha_max_endstop_checksum )->by_default("nc" )->as_string())->as_input(); |
| 122 | this->pins[4].from_string( this->kernel->config->value(beta_max_endstop_checksum )->by_default("nc" )->as_string())->as_input(); |
| 123 | this->pins[5].from_string( this->kernel->config->value(gamma_max_endstop_checksum )->by_default("nc" )->as_string())->as_input(); |
| 124 | |
| 125 | // we need to know steps per mm for M206, also use them for all settings |
| 126 | this->steps_per_mm[0] = this->kernel->config->value(alpha_steps_per_mm_checksum )->as_number(); |
| 127 | this->steps_per_mm[1] = this->kernel->config->value(beta_steps_per_mm_checksum )->as_number(); |
| 128 | this->steps_per_mm[2] = this->kernel->config->value(gamma_steps_per_mm_checksum )->as_number(); |
| 129 | |
| 130 | this->fast_rates[0] = this->kernel->config->value(alpha_fast_homing_rate_checksum )->by_default(4000 )->as_number(); |
| 131 | this->fast_rates[1] = this->kernel->config->value(beta_fast_homing_rate_checksum )->by_default(4000 )->as_number(); |
| 132 | this->fast_rates[2] = this->kernel->config->value(gamma_fast_homing_rate_checksum )->by_default(6400 )->as_number(); |
| 133 | this->slow_rates[0] = this->kernel->config->value(alpha_slow_homing_rate_checksum )->by_default(2000 )->as_number(); |
| 134 | this->slow_rates[1] = this->kernel->config->value(beta_slow_homing_rate_checksum )->by_default(2000 )->as_number(); |
| 135 | this->slow_rates[2] = this->kernel->config->value(gamma_slow_homing_rate_checksum )->by_default(3200 )->as_number(); |
| 136 | this->retract_steps[0] = this->kernel->config->value(alpha_homing_retract_checksum )->by_default(400 )->as_number(); |
| 137 | this->retract_steps[1] = this->kernel->config->value(beta_homing_retract_checksum )->by_default(400 )->as_number(); |
| 138 | this->retract_steps[2] = this->kernel->config->value(gamma_homing_retract_checksum )->by_default(1600 )->as_number(); |
| 139 | |
| 140 | // 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 |
| 141 | this->fast_rates[0] = this->kernel->config->value(alpha_fast_homing_rate_mm_checksum )->by_default(this->fast_rates[0] / steps_per_mm[0])->as_number() * steps_per_mm[0]; |
| 142 | this->fast_rates[1] = this->kernel->config->value(beta_fast_homing_rate_mm_checksum )->by_default(this->fast_rates[1] / steps_per_mm[1])->as_number() * steps_per_mm[1]; |
| 143 | this->fast_rates[2] = this->kernel->config->value(gamma_fast_homing_rate_mm_checksum )->by_default(this->fast_rates[2] / steps_per_mm[2])->as_number() * steps_per_mm[2]; |
| 144 | this->slow_rates[0] = this->kernel->config->value(alpha_slow_homing_rate_mm_checksum )->by_default(this->slow_rates[0] / steps_per_mm[0])->as_number() * steps_per_mm[0]; |
| 145 | this->slow_rates[1] = this->kernel->config->value(beta_slow_homing_rate_mm_checksum )->by_default(this->slow_rates[1] / steps_per_mm[1])->as_number() * steps_per_mm[1]; |
| 146 | this->slow_rates[2] = this->kernel->config->value(gamma_slow_homing_rate_mm_checksum )->by_default(this->slow_rates[2] / steps_per_mm[2])->as_number() * steps_per_mm[2]; |
| 147 | this->retract_steps[0] = this->kernel->config->value(alpha_homing_retract_mm_checksum )->by_default(this->retract_steps[0] / steps_per_mm[0])->as_number() * steps_per_mm[0]; |
| 148 | this->retract_steps[1] = this->kernel->config->value(beta_homing_retract_mm_checksum )->by_default(this->retract_steps[1] / steps_per_mm[1])->as_number() * steps_per_mm[1]; |
| 149 | this->retract_steps[2] = this->kernel->config->value(gamma_homing_retract_mm_checksum )->by_default(this->retract_steps[2] / steps_per_mm[2])->as_number() * steps_per_mm[2]; |
| 150 | |
| 151 | this->debounce_count = this->kernel->config->value(endstop_debounce_count_checksum )->by_default(100)->as_number(); |
| 152 | |
| 153 | |
| 154 | // get homing direction and convert to boolean where true is home to min, and false is home to max |
| 155 | int home_dir = get_checksum(this->kernel->config->value(alpha_homing_direction_checksum)->by_default("home_to_min")->as_string()); |
| 156 | this->home_direction[0] = home_dir != home_to_max_checksum; |
| 157 | |
| 158 | home_dir = get_checksum(this->kernel->config->value(beta_homing_direction_checksum)->by_default("home_to_min")->as_string()); |
| 159 | this->home_direction[1] = home_dir != home_to_max_checksum; |
| 160 | |
| 161 | home_dir = get_checksum(this->kernel->config->value(gamma_homing_direction_checksum)->by_default("home_to_min")->as_string()); |
| 162 | this->home_direction[2] = home_dir != home_to_max_checksum; |
| 163 | |
| 164 | this->homing_position[0] = this->home_direction[0] ? this->kernel->config->value(alpha_min_checksum)->by_default(0)->as_number() : this->kernel->config->value(alpha_max_checksum)->by_default(200)->as_number(); |
| 165 | this->homing_position[1] = this->home_direction[1] ? this->kernel->config->value(beta_min_checksum )->by_default(0)->as_number() : this->kernel->config->value(beta_max_checksum )->by_default(200)->as_number();; |
| 166 | this->homing_position[2] = this->home_direction[2] ? this->kernel->config->value(gamma_min_checksum)->by_default(0)->as_number() : this->kernel->config->value(gamma_max_checksum)->by_default(200)->as_number();; |
| 167 | |
| 168 | this->is_corexy = this->kernel->config->value(corexy_homing_checksum)->by_default(false)->as_bool(); |
| 169 | this->is_delta = this->kernel->config->value(delta_homing_checksum)->by_default(false)->as_bool(); |
| 170 | |
| 171 | // endstop trim used by deltas to do soft adjusting, in mm, convert to steps, and negate depending on homing direction |
| 172 | // eg on a delta homing to max, a negative trim value will move the carriage down, and a positive will move it up |
| 173 | int dirx = (this->home_direction[0] ? 1 : -1); |
| 174 | int diry = (this->home_direction[1] ? 1 : -1); |
| 175 | int dirz = (this->home_direction[2] ? 1 : -1); |
| 176 | this->trim[0] = this->kernel->config->value(alpha_trim_checksum )->by_default(0 )->as_number() * steps_per_mm[0] * dirx; |
| 177 | this->trim[1] = this->kernel->config->value(beta_trim_checksum )->by_default(0 )->as_number() * steps_per_mm[1] * diry; |
| 178 | this->trim[2] = this->kernel->config->value(gamma_trim_checksum )->by_default(0 )->as_number() * steps_per_mm[2] * dirz; |
| 179 | } |
| 180 | |
| 181 | void Endstops::wait_for_homed(char axes_to_move) |
| 182 | { |
| 183 | bool running = true; |
| 184 | unsigned int debounce[3] = {0, 0, 0}; |
| 185 | while (running) { |
| 186 | running = false; |
| 187 | this->kernel->call_event(ON_IDLE); |
| 188 | for ( char c = 'X'; c <= 'Z'; c++ ) { |
| 189 | if ( ( axes_to_move >> ( c - 'X' ) ) & 1 ) { |
| 190 | if ( this->pins[c - 'X' + (this->home_direction[c - 'X'] ? 0 : 3)].get() ) { |
| 191 | if ( debounce[c - 'X'] < debounce_count ) { |
| 192 | debounce[c - 'X'] ++; |
| 193 | running = true; |
| 194 | } else if ( this->steppers[c - 'X']->moving ) { |
| 195 | this->steppers[c - 'X']->move(0, 0); |
| 196 | } |
| 197 | } else { |
| 198 | // The endstop was not hit yet |
| 199 | running = true; |
| 200 | debounce[c - 'X'] = 0; |
| 201 | } |
| 202 | } |
| 203 | } |
| 204 | } |
| 205 | } |
| 206 | |
| 207 | // this homing works for cartesian and delta printers, not for HBots/CoreXY |
| 208 | void Endstops::do_homing(char axes_to_move) |
| 209 | { |
| 210 | // Start moving the axes to the origin |
| 211 | this->status = MOVING_TO_ORIGIN_FAST; |
| 212 | for ( char c = 'X'; c <= 'Z'; c++ ) { |
| 213 | if ( ( axes_to_move >> ( c - 'X' ) ) & 1 ) { |
| 214 | this->steppers[c - 'X']->set_speed(this->fast_rates[c - 'X']); |
| 215 | this->steppers[c - 'X']->move(this->home_direction[c - 'X'], 10000000); |
| 216 | } |
| 217 | } |
| 218 | |
| 219 | // Wait for all axes to have homed |
| 220 | this->wait_for_homed(axes_to_move); |
| 221 | |
| 222 | // Move back a small distance |
| 223 | this->status = MOVING_BACK; |
| 224 | bool inverted_dir; |
| 225 | for ( char c = 'X'; c <= 'Z'; c++ ) { |
| 226 | if ( ( axes_to_move >> ( c - 'X' ) ) & 1 ) { |
| 227 | inverted_dir = !this->home_direction[c - 'X']; |
| 228 | this->steppers[c - 'X']->set_speed(this->slow_rates[c - 'X']); |
| 229 | this->steppers[c - 'X']->move(inverted_dir, this->retract_steps[c - 'X']); |
| 230 | } |
| 231 | } |
| 232 | |
| 233 | // Wait for moves to be done |
| 234 | for ( char c = 'X'; c <= 'Z'; c++ ) { |
| 235 | if ( ( axes_to_move >> ( c - 'X' ) ) & 1 ) { |
| 236 | while ( this->steppers[c - 'X']->moving ) { |
| 237 | this->kernel->call_event(ON_IDLE); |
| 238 | } |
| 239 | } |
| 240 | } |
| 241 | |
| 242 | // Start moving the axes to the origin slowly |
| 243 | this->status = MOVING_TO_ORIGIN_SLOW; |
| 244 | for ( char c = 'X'; c <= 'Z'; c++ ) { |
| 245 | if ( ( axes_to_move >> ( c - 'X' ) ) & 1 ) { |
| 246 | this->steppers[c - 'X']->set_speed(this->slow_rates[c - 'X']); |
| 247 | this->steppers[c - 'X']->move(this->home_direction[c - 'X'], 10000000); |
| 248 | } |
| 249 | } |
| 250 | |
| 251 | // Wait for all axes to have homed |
| 252 | this->wait_for_homed(axes_to_move); |
| 253 | |
| 254 | if (this->is_delta) { |
| 255 | // move for soft trim |
| 256 | this->status = MOVING_BACK; |
| 257 | for ( char c = 'X'; c <= 'Z'; c++ ) { |
| 258 | if ( this->trim[c - 'X'] != 0 && ( axes_to_move >> ( c - 'X' ) ) & 1 ) { |
| 259 | inverted_dir = !this->home_direction[c - 'X']; |
| 260 | // move up or down depending on sign of trim |
| 261 | if (this->trim[c - 'X'] < 0) inverted_dir = !inverted_dir; |
| 262 | this->steppers[c - 'X']->set_speed(this->slow_rates[c - 'X']); |
| 263 | this->steppers[c - 'X']->move(inverted_dir, this->trim[c - 'X']); |
| 264 | } |
| 265 | } |
| 266 | |
| 267 | // Wait for moves to be done |
| 268 | for ( char c = 'X'; c <= 'Z'; c++ ) { |
| 269 | if ( ( axes_to_move >> ( c - 'X' ) ) & 1 ) { |
| 270 | //this->kernel->streams->printf("axis %c \r\n", c ); |
| 271 | while ( this->steppers[c - 'X']->moving ) { |
| 272 | this->kernel->call_event(ON_IDLE); |
| 273 | } |
| 274 | } |
| 275 | } |
| 276 | } |
| 277 | |
| 278 | // Homing is done |
| 279 | this->status = NOT_HOMING; |
| 280 | } |
| 281 | |
| 282 | #define X_AXIS 0 |
| 283 | #define Y_AXIS 1 |
| 284 | #define Z_AXIS 2 |
| 285 | |
| 286 | void Endstops::wait_for_homed_corexy(int axis) |
| 287 | { |
| 288 | bool running = true; |
| 289 | unsigned int debounce[3] = {0, 0, 0}; |
| 290 | while (running) { |
| 291 | running = false; |
| 292 | this->kernel->call_event(ON_IDLE); |
| 293 | if ( this->pins[axis + (this->home_direction[axis] ? 0 : 3)].get() ) { |
| 294 | if ( debounce[axis] < debounce_count ) { |
| 295 | debounce[axis] ++; |
| 296 | running = true; |
| 297 | } else { |
| 298 | // turn both off if running |
| 299 | if (this->steppers[X_AXIS]->moving) this->steppers[X_AXIS]->move(0, 0); |
| 300 | if (this->steppers[Y_AXIS]->moving) this->steppers[Y_AXIS]->move(0, 0); |
| 301 | } |
| 302 | } else { |
| 303 | // The endstop was not hit yet |
| 304 | running = true; |
| 305 | debounce[axis] = 0; |
| 306 | } |
| 307 | } |
| 308 | } |
| 309 | |
| 310 | void Endstops::corexy_home(int home_axis, bool dirx, bool diry, double fast_rate, double slow_rate, unsigned int retract_steps) |
| 311 | { |
| 312 | this->status = MOVING_TO_ORIGIN_FAST; |
| 313 | this->steppers[X_AXIS]->set_speed(fast_rate); |
| 314 | this->steppers[X_AXIS]->move(dirx, 10000000); |
| 315 | this->steppers[Y_AXIS]->set_speed(fast_rate); |
| 316 | this->steppers[Y_AXIS]->move(diry, 10000000); |
| 317 | |
| 318 | // wait for primary axis |
| 319 | this->wait_for_homed_corexy(home_axis); |
| 320 | |
| 321 | // Move back a small distance |
| 322 | this->status = MOVING_BACK; |
| 323 | this->steppers[X_AXIS]->set_speed(slow_rate); |
| 324 | this->steppers[X_AXIS]->move(!dirx, retract_steps); |
| 325 | this->steppers[Y_AXIS]->set_speed(slow_rate); |
| 326 | this->steppers[Y_AXIS]->move(!diry, retract_steps); |
| 327 | |
| 328 | // wait until done |
| 329 | while ( this->steppers[X_AXIS]->moving ) { |
| 330 | this->kernel->call_event(ON_IDLE); |
| 331 | } |
| 332 | while ( this->steppers[Y_AXIS]->moving ) { |
| 333 | this->kernel->call_event(ON_IDLE); |
| 334 | } |
| 335 | |
| 336 | // Start moving the axes to the origin slowly |
| 337 | this->status = MOVING_TO_ORIGIN_SLOW; |
| 338 | this->steppers[X_AXIS]->set_speed(slow_rate); |
| 339 | this->steppers[X_AXIS]->move(dirx, 10000000); |
| 340 | this->steppers[Y_AXIS]->set_speed(slow_rate); |
| 341 | this->steppers[Y_AXIS]->move(diry, 10000000); |
| 342 | |
| 343 | // wait for primary axis |
| 344 | this->wait_for_homed_corexy(home_axis); |
| 345 | } |
| 346 | |
| 347 | // this homing works for HBots/CoreXY |
| 348 | void Endstops::do_homing_corexy(char axes_to_move) |
| 349 | { |
| 350 | // Home Y first so the X limit swicth canbe in a fixed pplace on the frame not on the X Gantry |
| 351 | // TODO should really make order configurable |
| 352 | if (axes_to_move & 0x02) { // Home Y, which means both X and Y in different directions |
| 353 | corexy_home(Y_AXIS, true, false, this->fast_rates[Y_AXIS], this->slow_rates[Y_AXIS], this->retract_steps[Y_AXIS]); |
| 354 | } |
| 355 | |
| 356 | if (axes_to_move & 0x01) { // Home X, which means both X and Y in same direction |
| 357 | corexy_home(X_AXIS, true, true, this->fast_rates[X_AXIS], this->slow_rates[X_AXIS], this->retract_steps[X_AXIS]); |
| 358 | } |
| 359 | |
| 360 | if (axes_to_move & 0x04) { // move Z |
| 361 | do_homing(0x04); // just home normally for Z |
| 362 | } |
| 363 | |
| 364 | // Homing is done |
| 365 | this->status = NOT_HOMING; |
| 366 | } |
| 367 | |
| 368 | // Start homing sequences by response to GCode commands |
| 369 | void Endstops::on_gcode_received(void *argument) |
| 370 | { |
| 371 | Gcode *gcode = static_cast<Gcode *>(argument); |
| 372 | if ( gcode->has_g) { |
| 373 | if ( gcode->g == 28 ) { |
| 374 | gcode->mark_as_taken(); |
| 375 | // G28 is received, we have homing to do |
| 376 | |
| 377 | // First wait for the queue to be empty |
| 378 | this->kernel->conveyor->wait_for_empty_queue(); |
| 379 | |
| 380 | // Do we move select axes or all of them |
| 381 | char axes_to_move = 0; |
| 382 | // only enable homing if the endstop is defined, deltas always home all axis |
| 383 | bool home_all = this->is_delta || !( gcode->has_letter('X') || gcode->has_letter('Y') || gcode->has_letter('Z') ); |
| 384 | |
| 385 | for ( char c = 'X'; c <= 'Z'; c++ ) { |
| 386 | if ( (home_all || gcode->has_letter(c)) && this->pins[c - 'X' + (this->home_direction[c - 'X'] ? 0 : 3)].connected() ) { |
| 387 | axes_to_move += ( 1 << (c - 'X' ) ); |
| 388 | } |
| 389 | } |
| 390 | |
| 391 | // Enable the motors |
| 392 | this->kernel->stepper->turn_enable_pins_on(); |
| 393 | |
| 394 | // do the actual homing |
| 395 | if (is_corexy) |
| 396 | do_homing_corexy(axes_to_move); |
| 397 | else |
| 398 | do_homing(axes_to_move); |
| 399 | |
| 400 | // Zero the ax(i/e)s position, add in the home offset |
| 401 | for ( int c = 0; c <= 2; c++ ) { |
| 402 | if ( (axes_to_move >> c) & 1 ) { |
| 403 | this->kernel->robot->reset_axis_position(this->homing_position[c] + this->home_offset[c], c); |
| 404 | } |
| 405 | } |
| 406 | } |
| 407 | } else if (gcode->has_m) { |
| 408 | switch (gcode->m) { |
| 409 | case 119: { |
| 410 | |
| 411 | int px = this->home_direction[0] ? 0 : 3; |
| 412 | int py = this->home_direction[1] ? 1 : 4; |
| 413 | int pz = this->home_direction[2] ? 2 : 5; |
| 414 | const char *mx = this->home_direction[0] ? "min" : "max"; |
| 415 | const char *my = this->home_direction[1] ? "min" : "max"; |
| 416 | const char *mz = this->home_direction[2] ? "min" : "max"; |
| 417 | |
| 418 | gcode->stream->printf("X %s:%d Y %s:%d Z %s:%d\n", mx, this->pins[px].get(), my, this->pins[py].get(), mz, this->pins[pz].get()); |
| 419 | gcode->mark_as_taken(); |
| 420 | } |
| 421 | break; |
| 422 | |
| 423 | case 206: // M206 - set homing offset |
| 424 | if (gcode->has_letter('X')) home_offset[0] = gcode->get_value('X'); |
| 425 | if (gcode->has_letter('Y')) home_offset[1] = gcode->get_value('Y'); |
| 426 | if (gcode->has_letter('Z')) home_offset[2] = gcode->get_value('Z'); |
| 427 | gcode->stream->printf("X %5.3f Y %5.3f Z %5.3f\n", home_offset[0], home_offset[1], home_offset[2]); |
| 428 | gcode->mark_as_taken(); |
| 429 | break; |
| 430 | |
| 431 | case 500: // save settings |
| 432 | case 503: // print settings |
| 433 | 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]); |
| 434 | if (is_delta) { |
| 435 | double mm[3]; |
| 436 | trim2mm(mm); |
| 437 | gcode->stream->printf(";Trim (mm):\nM666 X%1.2f Y%1.2f Z%1.2f\n", mm[0], mm[1], mm[2]); |
| 438 | gcode->stream->printf(";Max Z\nM665 Z%1.2f\n", this->homing_position[2]); |
| 439 | } |
| 440 | gcode->mark_as_taken(); |
| 441 | break; |
| 442 | |
| 443 | case 665: { // M665 - set max gamma/z height |
| 444 | gcode->mark_as_taken(); |
| 445 | double gamma_max = this->homing_position[2]; |
| 446 | if (gcode->has_letter('Z')) { |
| 447 | this->homing_position[2] = gamma_max = gcode->get_value('Z'); |
| 448 | } |
| 449 | gcode->stream->printf("Max Z %8.3f ", gamma_max); |
| 450 | gcode->add_nl = true; |
| 451 | } |
| 452 | break; |
| 453 | |
| 454 | |
| 455 | case 666: { // M666 - set trim for each axis in mm |
| 456 | double mm[3]; |
| 457 | trim2mm(mm); |
| 458 | |
| 459 | if (gcode->has_letter('X')) mm[0] = gcode->get_value('X'); |
| 460 | if (gcode->has_letter('Y')) mm[1] = gcode->get_value('Y'); |
| 461 | if (gcode->has_letter('Z')) mm[2] = gcode->get_value('Z'); |
| 462 | |
| 463 | int dirx = (this->home_direction[0] ? 1 : -1); |
| 464 | int diry = (this->home_direction[1] ? 1 : -1); |
| 465 | int dirz = (this->home_direction[2] ? 1 : -1); |
| 466 | trim[0] = lround(mm[0] * steps_per_mm[0]) * dirx; // convert back to steps |
| 467 | trim[1] = lround(mm[1] * steps_per_mm[1]) * diry; |
| 468 | trim[2] = lround(mm[2] * steps_per_mm[2]) * dirz; |
| 469 | |
| 470 | // print the current trim values in mm and steps |
| 471 | gcode->stream->printf("X %5.3f (%d) Y %5.3f (%d) Z %5.3f (%d)\n", mm[0], trim[0], mm[1], trim[1], mm[2], trim[2]); |
| 472 | gcode->mark_as_taken(); |
| 473 | } |
| 474 | break; |
| 475 | |
| 476 | } |
| 477 | } |
| 478 | } |
| 479 | |
| 480 | void Endstops::trim2mm(double *mm) |
| 481 | { |
| 482 | int dirx = (this->home_direction[0] ? 1 : -1); |
| 483 | int diry = (this->home_direction[1] ? 1 : -1); |
| 484 | int dirz = (this->home_direction[2] ? 1 : -1); |
| 485 | |
| 486 | mm[0] = this->trim[0] / this->steps_per_mm[0] * dirx; // convert to mm |
| 487 | mm[1] = this->trim[1] / this->steps_per_mm[1] * diry; |
| 488 | mm[2] = this->trim[2] / this->steps_per_mm[2] * dirz; |
| 489 | } |
| 490 | |