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/>.
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 "modules/robot/ActuatorCoordinates.h"
14 #include "libs/nuts_bolts.h"
16 #include "libs/StepperMotor.h"
17 #include "wait_api.h" // mbed.h lib
20 #include "SlowTicker.h"
22 #include "checksumm.h"
24 #include "ConfigValue.h"
25 #include "libs/StreamOutput.h"
26 #include "PublicDataRequest.h"
27 #include "EndstopsPublicAccess.h"
28 #include "StreamOutputPool.h"
29 #include "StepTicker.h"
30 #include "BaseSolution.h"
31 #include "SerialMessage.h"
35 #define endstops_module_enable_checksum CHECKSUM("endstops_enable")
36 #define corexy_homing_checksum CHECKSUM("corexy_homing")
37 #define delta_homing_checksum CHECKSUM("delta_homing")
38 #define rdelta_homing_checksum CHECKSUM("rdelta_homing")
39 #define scara_homing_checksum CHECKSUM("scara_homing")
41 #define alpha_trim_checksum CHECKSUM("alpha_trim")
42 #define beta_trim_checksum CHECKSUM("beta_trim")
43 #define gamma_trim_checksum CHECKSUM("gamma_trim")
45 #define endstop_debounce_count_checksum CHECKSUM("endstop_debounce_count")
46 #define endstop_debounce_ms_checksum CHECKSUM("endstop_debounce_ms")
48 #define alpha_limit_enable_checksum CHECKSUM("alpha_limit_enable")
49 #define beta_limit_enable_checksum CHECKSUM("beta_limit_enable")
50 #define gamma_limit_enable_checksum CHECKSUM("gamma_limit_enable")
52 #define home_z_first_checksum CHECKSUM("home_z_first")
53 #define homing_order_checksum CHECKSUM("homing_order")
54 #define move_to_origin_checksum CHECKSUM("move_to_origin_after_home")
56 #define STEPPER THEROBOT->actuators
57 #define STEPS_PER_MM(a) (STEPPER[a]->get_steps_per_mm())
59 #define ENDSTOP_CHECKSUMS(X) { \
60 CHECKSUM(X "_min_endstop"), \
61 CHECKSUM(X "_max_endstop"), \
62 CHECKSUM(X "_max_travel"), \
63 CHECKSUM(X "_fast_homing_rate_mm_s"), \
64 CHECKSUM(X "_slow_homing_rate_mm_s"), \
65 CHECKSUM(X "_homing_retract_mm"), \
66 CHECKSUM(X "_homing_direction"), \
72 enum DEFNS
{MIN_PIN
, MAX_PIN
, MAX_TRAVEL
, FAST_RATE
, SLOW_RATE
, RETRACT
, DIRECTION
, MIN
, MAX
, NDEFNS
};
73 enum PINS
{MIN_X
, MIN_Y
, MIN_Z
, MIN_A
, MIN_B
, MIN_C
, MAX_X
, MAX_Y
, MAX_Z
, MAX_A
, MAX_B
, MAX_C
};
77 MOVING_TO_ENDSTOP_FAST
, // homing move
78 MOVING_TO_ENDSTOP_SLOW
, // homing move
79 MOVING_BACK
, // homing move
86 static const char *endstop_names
[] = {"min_x", "min_y", "min_z", "max_x", "max_y", "max_z"};
87 static const char axis_letters
[] = {'X', 'Y', 'Z', 'A', 'B', 'C'};
91 this->status
= NOT_HOMING
;
92 home_offset
[0] = home_offset
[1] = home_offset
[2] = 0.0F
;
97 void Endstops::on_module_loaded()
99 // Do not do anything if not enabled
100 if ( THEKERNEL
->config
->value( endstops_module_enable_checksum
)->by_default(true)->as_bool() == false ) {
105 register_for_event(ON_GCODE_RECEIVED
);
106 register_for_event(ON_GET_PUBLIC_DATA
);
107 register_for_event(ON_SET_PUBLIC_DATA
);
112 THEKERNEL
->slow_ticker
->attach(1000, this, &Endstops::read_endstops
);
116 void Endstops::load_config()
118 uint16_t const checksums
[][NDEFNS
] = {
119 ENDSTOP_CHECKSUMS("alpha"), // X
120 ENDSTOP_CHECKSUMS("beta"), // Y
121 ENDSTOP_CHECKSUMS("gamma"), // Z
122 ENDSTOP_CHECKSUMS("delta"), // A
123 ENDSTOP_CHECKSUMS("epsilon"), // B
124 ENDSTOP_CHECKSUMS("zeta") // C
127 for (int i
= X_AXIS
; i
<= C_AXIS
; ++i
) { // X_AXIS to C_AXIS
128 // pin definitions for X Y Z A B C min/max pins
130 for (int j
= MIN_PIN
; j
<= MAX_PIN
; ++j
) {
132 p
->from_string(THEKERNEL
->config
->value(checksums
[i
][j
])->by_default("nc" )->as_string())->as_input();
134 // max pins have MSB set so 0x01 is Y_MIN and 0x81 is Y_MAX
135 uint8_t n
= (j
== MAX_PIN
) ? 0x80 | i
: i
;
136 pins
[n
]= p
; // this is a map
143 // if we are reding ABC pins and none defined no need to setup rest of config
144 if(i
> Z_AXIS
&& !found
) break;
147 this->fast_rates
[i
]= THEKERNEL
->config
->value(checksums
[i
][FAST_RATE
])->by_default(100)->as_number();
148 this->slow_rates
[i
]= THEKERNEL
->config
->value(checksums
[i
][SLOW_RATE
])->by_default(10)->as_number();
151 this->retract_mm
[i
]= THEKERNEL
->config
->value(checksums
[i
][RETRACT
])->by_default(5)->as_number();
153 // get homing direction and convert to boolean where true is home to min, and false is home to max
154 this->home_direction
[i
]= THEKERNEL
->config
->value(checksums
[i
][DIRECTION
])->by_default("home_to_min")->as_string() != "home_to_max";
156 // homing cartesian position
157 this->homing_position
[i
]= this->home_direction
[i
] ? THEKERNEL
->config
->value(checksums
[i
][MIN
])->by_default(0)->as_number() : THEKERNEL
->config
->value(checksums
[i
][MAX
])->by_default(200)->as_number();
160 // NOTE the debounce count is in milliseconds so probably does not need to beset anymore
161 this->debounce_ms
= THEKERNEL
->config
->value(endstop_debounce_ms_checksum
)->by_default(0)->as_number();
162 this->debounce_count
= THEKERNEL
->config
->value(endstop_debounce_count_checksum
)->by_default(100)->as_number();
165 // used to set maximum movement on homing, set by alpha_max_travel if defined
166 // for backward compatibility uses alpha_max if not defined.
168 this->alpha_max
= THEKERNEL
->config
->value(checksums
[X_AXIS
][MAX
])->by_default(500)->as_number();
169 this->beta_max
= THEKERNEL
->config
->value(checksums
[Y_AXIS
][MAX
])->by_default(500)->as_number();
170 this->gamma_max
= THEKERNEL
->config
->value(checksums
[Z_AXIS
][MAX
])->by_default(500)->as_number();
172 this->alpha_max
= THEKERNEL
->config
->value(checksums
[X_AXIS
][MAX_TRAVEL
])->by_default(alpha_max
*2)->as_number();
173 this->beta_max
= THEKERNEL
->config
->value(checksums
[Y_AXIS
][MAX_TRAVEL
])->by_default(beta_max
*2)->as_number();
174 this->gamma_max
= THEKERNEL
->config
->value(checksums
[Z_AXIS
][MAX_TRAVEL
])->by_default(gamma_max
*2)->as_number();
176 this->is_corexy
= THEKERNEL
->config
->value(corexy_homing_checksum
)->by_default(false)->as_bool();
177 this->is_delta
= THEKERNEL
->config
->value(delta_homing_checksum
)->by_default(false)->as_bool();
178 this->is_rdelta
= THEKERNEL
->config
->value(rdelta_homing_checksum
)->by_default(false)->as_bool();
179 this->is_scara
= THEKERNEL
->config
->value(scara_homing_checksum
)->by_default(false)->as_bool();
181 this->home_z_first
= THEKERNEL
->config
->value(home_z_first_checksum
)->by_default(false)->as_bool();
183 // see if an order has been specified, must be three characters, XYZ or YXZ etc
184 string order
= THEKERNEL
->config
->value(homing_order_checksum
)->by_default("")->as_string();
185 this->homing_order
= 0;
186 if(order
.size() == 3 && !(this->is_delta
|| this->is_rdelta
)) {
188 for(auto c
: order
) {
189 uint8_t i
= toupper(c
) - 'X';
190 if(i
> 2) { // bad value
191 this->homing_order
= 0;
194 homing_order
|= (i
<< shift
);
199 // endstop trim used by deltas to do soft adjusting
200 // on a delta homing to max, a negative trim value will move the carriage down, and a positive will move it up
201 this->trim_mm
[0] = THEKERNEL
->config
->value(alpha_trim_checksum
)->by_default(0 )->as_number();
202 this->trim_mm
[1] = THEKERNEL
->config
->value(beta_trim_checksum
)->by_default(0 )->as_number();
203 this->trim_mm
[2] = THEKERNEL
->config
->value(gamma_trim_checksum
)->by_default(0 )->as_number();
206 this->limit_enable
[X_AXIS
] = THEKERNEL
->config
->value(alpha_limit_enable_checksum
)->by_default(false)->as_bool();
207 this->limit_enable
[Y_AXIS
] = THEKERNEL
->config
->value(beta_limit_enable_checksum
)->by_default(false)->as_bool();
208 this->limit_enable
[Z_AXIS
] = THEKERNEL
->config
->value(gamma_limit_enable_checksum
)->by_default(false)->as_bool();
210 // set to true by default for deltas due to trim, false on cartesians
211 this->move_to_origin_after_home
= THEKERNEL
->config
->value(move_to_origin_checksum
)->by_default(is_delta
)->as_bool();
213 if(this->limit_enable
[X_AXIS
] || this->limit_enable
[Y_AXIS
] || this->limit_enable
[Z_AXIS
]) {
214 register_for_event(ON_IDLE
);
215 if(this->is_delta
|| this->is_rdelta
) {
216 // we must enable all the limits not just one
217 this->limit_enable
[X_AXIS
] = true;
218 this->limit_enable
[Y_AXIS
] = true;
219 this->limit_enable
[Z_AXIS
] = true;
224 if(this->is_delta
|| this->is_rdelta
) {
225 // some things must be the same or they will die, so force it here to avoid config errors
226 this->fast_rates
[1] = this->fast_rates
[2] = this->fast_rates
[0];
227 this->slow_rates
[1] = this->slow_rates
[2] = this->slow_rates
[0];
228 this->retract_mm
[1] = this->retract_mm
[2] = this->retract_mm
[0];
229 this->home_direction
[1] = this->home_direction
[2] = this->home_direction
[0];
230 // NOTE homing_position for rdelta is the angle of the actuator not the cartesian position
231 if(!this->is_rdelta
) this->homing_position
[0] = this->homing_position
[1] = 0;
235 bool Endstops::debounced_get(uint8_t pin
)
237 auto p
= pins
.find(pin
);
238 if(p
== pins
.end()) return false;
239 uint8_t debounce
= 0;
240 while(p
->second
->get()) {
241 if ( ++debounce
>= this->debounce_count
) {
249 void Endstops::on_idle(void *argument
)
251 if(this->status
== LIMIT_TRIGGERED
) {
252 // if we were in limit triggered see if it has been cleared
253 for( int c
= X_AXIS
; c
<= Z_AXIS
; c
++ ) {
254 if(this->limit_enable
[c
]) {
255 std::array
<int, 2> minmax
{{c
, 0x80|c
}};
256 // check min and max endstops
257 for (int i
: minmax
) {
258 auto p
= pins
.find(i
);
259 if(p
!= pins
.end() && p
->second
->get()) {
260 // still triggered, so exit
267 if(++bounce_cnt
> 10) { // can use less as it calls on_idle in between
269 this->status
= NOT_HOMING
;
273 } else if(this->status
!= NOT_HOMING
) {
274 // don't check while homing
278 for( int c
= X_AXIS
; c
<= Z_AXIS
; c
++ ) {
279 if(this->limit_enable
[c
] && STEPPER
[c
]->is_moving()) {
280 std::array
<int, 2> minmax
{{c
, 0x80|c
}};
281 // check min and max endstops
282 for (int i
: minmax
) {
283 if(debounced_get(i
)) {
285 int n
= i
&0x80 ? i
+3 : i
;
286 THEKERNEL
->streams
->printf("Limit switch %s was hit - reset or M999 required\n", endstop_names
[n
]);
287 this->status
= LIMIT_TRIGGERED
;
288 // disables heaters and motors, ignores incoming Gcode and flushes block queue
289 THEKERNEL
->call_event(ON_HALT
, nullptr);
297 // if limit switches are enabled, then we must move off of the endstop otherwise we won't be able to move
298 // checks if triggered and only backs off if triggered
299 void Endstops::back_off_home(std::bitset
<6> axis
)
301 std::vector
<std::pair
<char, float>> params
;
302 this->status
= BACK_OFF_HOME
;
304 // these are handled differently
306 // Move off of the endstop using a regular relative move in Z only
307 params
.push_back({'Z', this->retract_mm
[Z_AXIS
] * (this->home_direction
[Z_AXIS
] ? 1 : -1)});
310 // cartesians, concatenate all the moves we need to do into one gcode
311 for( int c
= X_AXIS
; c
<= Z_AXIS
; c
++ ) {
312 if(!axis
[c
]) continue; // only for axes we asked to move
314 // if not triggered no need to move off
315 if(this->limit_enable
[c
] && debounced_get(c
+ (this->home_direction
[c
] ? 0 : 3)) ) {
316 params
.push_back({c
+ 'X', this->retract_mm
[c
] * (this->home_direction
[c
] ? 1 : -1)});
321 if(!params
.empty()) {
322 // Move off of the endstop using a regular relative move
323 params
.insert(params
.begin(), {'G', 0});
324 // use X slow rate to move, Z should have a max speed set anyway
325 params
.push_back({'F', this->slow_rates
[X_AXIS
] * 60.0F
});
327 append_parameters(gcode_buf
, params
, sizeof(gcode_buf
));
328 Gcode
gc(gcode_buf
, &(StreamOutput::NullStream
));
329 THEROBOT
->push_state();
330 THEROBOT
->inch_mode
= false; // needs to be in mm
331 THEROBOT
->absolute_mode
= false; // needs to be relative mode
332 THEROBOT
->on_gcode_received(&gc
); // send to robot directly
333 // Wait for above to finish
334 THECONVEYOR
->wait_for_idle();
335 THEROBOT
->pop_state();
338 this->status
= NOT_HOMING
;
341 // If enabled will move the head to 0,0 after homing, but only if X and Y were set to home
342 void Endstops::move_to_origin(std::bitset
<6> axis
)
344 if(!is_delta
&& (!axis
[X_AXIS
] || !axis
[Y_AXIS
])) return; // ignore if X and Y not homing, unless delta
346 // Do we need to check if we are already at 0,0? probably not as the G0 will not do anything if we are
347 // float pos[3]; THEROBOT->get_axis_position(pos); if(pos[0] == 0 && pos[1] == 0) return;
349 this->status
= MOVE_TO_ORIGIN
;
350 // Move to center using a regular move, use slower of X and Y fast rate
351 float rate
= std::min(this->fast_rates
[0], this->fast_rates
[1]) * 60.0F
;
353 THEROBOT
->push_state();
354 THEROBOT
->inch_mode
= false; // needs to be in mm
355 THEROBOT
->absolute_mode
= true;
356 snprintf(buf
, sizeof(buf
), "G53 G0 X0 Y0 F%1.4f", rate
); // must use machine coordinates in case G92 or WCS is in effect
357 struct SerialMessage message
;
358 message
.message
= buf
;
359 message
.stream
= &(StreamOutput::NullStream
);
360 THEKERNEL
->call_event(ON_CONSOLE_LINE_RECEIVED
, &message
); // as it is a multi G code command
361 // Wait for above to finish
362 THECONVEYOR
->wait_for_idle();
363 THEROBOT
->pop_state();
364 this->status
= NOT_HOMING
;
367 // Called every millisecond in an ISR
368 uint32_t Endstops::read_endstops(uint32_t dummy
)
370 if(this->status
!= MOVING_TO_ENDSTOP_SLOW
&& this->status
!= MOVING_TO_ENDSTOP_FAST
) return 0; // not doing anything we need to monitor for
374 for ( int m
= X_AXIS
; m
<= C_AXIS
; m
++ ) { // check XYZABC
375 auto p
= pins
.find(this->home_direction
[m
] ? m
: 0x80|m
);
376 if(p
== pins
.end()) continue;
378 if(STEPPER
[m
]->is_moving()) {
379 // if it is moving then we check the associated endstop, and debounce it
380 if(p
->second
->get()) {
381 if(debounce
[m
] < debounce_ms
) {
384 // we signal the motor to stop, which will preempt any moves on that axis
385 STEPPER
[m
]->stop_moving();
389 // The endstop was not hit yet
396 // corexy is different as the actuators are not directly related to the XY axis
397 // so we check the axis that is currently homing then stop all motors
398 for ( int m
= X_AXIS
; m
<= C_AXIS
; m
++ ) {
399 auto p
= pins
.find(this->home_direction
[m
] ? m
: 0x80|m
);
400 if(p
== pins
.end()) continue;
401 if(axis_to_home
[m
]) {
402 if(p
->second
->get()) {
403 if(debounce
[m
] < debounce_ms
) {
406 // we signal all the motors to stop, as on corexy X and Y motors will move for X and Y axis homing and we only hom eone axis at a time
407 STEPPER
[X_AXIS
]->stop_moving();
408 STEPPER
[Y_AXIS
]->stop_moving();
409 STEPPER
[Z_AXIS
]->stop_moving();
413 // The endstop was not hit yet
423 void Endstops::home_xy()
425 if(axis_to_home
[X_AXIS
] && axis_to_home
[Y_AXIS
]) {
426 // Home XY first so as not to slow them down by homing Z at the same time
427 float delta
[3] {alpha_max
, beta_max
, 0};
428 if(this->home_direction
[X_AXIS
]) delta
[X_AXIS
]= -delta
[X_AXIS
];
429 if(this->home_direction
[Y_AXIS
]) delta
[Y_AXIS
]= -delta
[Y_AXIS
];
430 float feed_rate
= std::min(fast_rates
[X_AXIS
], fast_rates
[Y_AXIS
]);
431 THEROBOT
->delta_move(delta
, feed_rate
, 3);
433 } else if(axis_to_home
[X_AXIS
]) {
435 float delta
[3] {alpha_max
, 0, 0};
436 if(this->home_direction
[X_AXIS
]) delta
[X_AXIS
]= -delta
[X_AXIS
];
437 THEROBOT
->delta_move(delta
, fast_rates
[X_AXIS
], 3);
439 } else if(axis_to_home
[Y_AXIS
]) {
441 float delta
[3] {0, beta_max
, 0};
442 if(this->home_direction
[Y_AXIS
]) delta
[Y_AXIS
]= -delta
[Y_AXIS
];
443 THEROBOT
->delta_move(delta
, fast_rates
[Y_AXIS
], 3);
446 // Wait for axis to have homed
447 THECONVEYOR
->wait_for_idle();
450 void Endstops::home(std::bitset
<6> a
)
452 // reset debounce counts
455 // turn off any compensation transform so Z does not move as XY home
456 auto savect
= THEROBOT
->compensationTransform
;
457 THEROBOT
->compensationTransform
= nullptr;
459 this->axis_to_home
= a
;
461 // Start moving the axes to the origin
462 this->status
= MOVING_TO_ENDSTOP_FAST
;
464 THEROBOT
->disable_segmentation
= true; // we must disable segmentation as this won't work with it enabled
466 if(!home_z_first
) home_xy();
468 if(axis_to_home
[Z_AXIS
]) {
470 float delta
[3] {0, 0, gamma_max
}; // we go the max z
471 if(this->home_direction
[Z_AXIS
]) delta
[Z_AXIS
]= -delta
[Z_AXIS
];
472 THEROBOT
->delta_move(delta
, fast_rates
[Z_AXIS
], 3);
474 THECONVEYOR
->wait_for_idle();
477 if(home_z_first
) home_xy();
479 //TODO need to add BC
480 if(axis_to_home
[A_AXIS
]) {
482 float delta
[4] {0, 0, 0, epsilon_max
}; // we go the max A
483 if(this->home_direction
[A_AXIS
]) delta
[A_AXIS
]= -delta
[A_AXIS
];
484 THEROBOT
->delta_move(delta
, fast_rates
[A_AXIS
], 4);
486 THECONVEYOR
->wait_for_idle();
490 // TODO should check that the endstops were hit and it did not stop short for some reason
491 // we did not complete movement the full distance if we hit the endstops
492 THEROBOT
->reset_position_from_current_actuator_position();
494 // Move back a small distance for all homing axis
495 this->status
= MOVING_BACK
;
496 float delta
[3]{0,0,0};
497 // use minimum feed rate of all three axes that are being homed (sub optimal, but necessary)
498 float feed_rate
= slow_rates
[X_AXIS
];
499 for ( int c
= X_AXIS
; c
<= Z_AXIS
; c
++ ) {
500 if(axis_to_home
[c
]) {
501 delta
[c
]= this->retract_mm
[c
];
502 if(!this->home_direction
[c
]) delta
[c
]= -delta
[c
];
503 feed_rate
= std::min(slow_rates
[c
], feed_rate
);
507 THEROBOT
->delta_move(delta
, feed_rate
, 3);
508 // wait until finished
509 THECONVEYOR
->wait_for_idle();
511 // Start moving the axes towards the endstops slowly
512 this->status
= MOVING_TO_ENDSTOP_SLOW
;
513 for ( int c
= X_AXIS
; c
<= Z_AXIS
; c
++ ) {
514 if(axis_to_home
[c
]) {
515 delta
[c
]= this->retract_mm
[c
]*2; // move further than we moved off to make sure we hit it cleanly
516 if(this->home_direction
[c
]) delta
[c
]= -delta
[c
];
521 THEROBOT
->delta_move(delta
, feed_rate
, 3);
522 // wait until finished
523 THECONVEYOR
->wait_for_idle();
525 // TODO should check that the endstops were hit and it did not stop short for some reason
526 // we did not complete movement the full distance if we hit the endstops
527 THEROBOT
->reset_position_from_current_actuator_position();
529 THEROBOT
->disable_segmentation
= false;
531 // restore compensationTransform
532 THEROBOT
->compensationTransform
= savect
;
534 this->status
= NOT_HOMING
;
537 void Endstops::process_home_command(Gcode
* gcode
)
539 if( (gcode
->subcode
== 0 && THEKERNEL
->is_grbl_mode()) || (gcode
->subcode
== 2 && !THEKERNEL
->is_grbl_mode()) ) {
540 // G28 in grbl mode or G28.2 in normal mode will do a rapid to the predefined position
541 // TODO spec says if XYZ specified move to them first then move to MCS of specifed axis
542 THEROBOT
->push_state();
543 THEROBOT
->inch_mode
= false; // needs to be in mm
544 THEROBOT
->absolute_mode
= true;
546 snprintf(buf
, sizeof(buf
), "G53 G0 X%f Y%f", saved_position
[X_AXIS
], saved_position
[Y_AXIS
]); // must use machine coordinates in case G92 or WCS is in effect
547 struct SerialMessage message
;
548 message
.message
= buf
;
549 message
.stream
= &(StreamOutput::NullStream
);
550 THEKERNEL
->call_event(ON_CONSOLE_LINE_RECEIVED
, &message
); // as it is a multi G code command
551 // Wait for above to finish
552 THECONVEYOR
->wait_for_idle();
553 THEROBOT
->pop_state();
556 } else if(THEKERNEL
->is_grbl_mode() && gcode
->subcode
== 2) { // G28.2 in grbl mode forces homing (triggered by $H)
557 // fall through so it does homing cycle
559 } else if(gcode
->subcode
== 1) { // G28.1 set pre defined position
560 // saves current position in absolute machine coordinates
561 THEROBOT
->get_axis_position(saved_position
); // Only XY are used
562 // Note the following is only meant to be used for recovering a saved position from config-override
563 // Not a standard Gcode and not to be relied on
564 if (gcode
->has_letter('X')) saved_position
[X_AXIS
] = gcode
->get_value('X');
565 if (gcode
->has_letter('Y')) saved_position
[Y_AXIS
] = gcode
->get_value('Y');
568 } else if(gcode
->subcode
== 3) { // G28.3 is a smoothie special it sets manual homing
569 if(gcode
->get_num_args() == 0) {
570 THEROBOT
->reset_axis_position(0, 0, 0);
573 // do a manual homing based on given coordinates, no endstops required
574 if(gcode
->has_letter('X')){ THEROBOT
->reset_axis_position(gcode
->get_value('X'), X_AXIS
); homed
.set(X_AXIS
); }
575 if(gcode
->has_letter('Y')){ THEROBOT
->reset_axis_position(gcode
->get_value('Y'), Y_AXIS
); homed
.set(Y_AXIS
); }
576 if(gcode
->has_letter('Z')){ THEROBOT
->reset_axis_position(gcode
->get_value('Z'), Z_AXIS
); homed
.set(Z_AXIS
); }
580 } else if(gcode
->subcode
== 4) { // G28.4 is a smoothie special it sets manual homing based on the actuator position (used for rotary delta)
581 // do a manual homing based on given coordinates, no endstops required
582 ActuatorCoordinates ac
{NAN
, NAN
, NAN
};
583 if(gcode
->has_letter('X')){ ac
[0] = gcode
->get_value('X'); homed
.set(X_AXIS
); }
584 if(gcode
->has_letter('Y')){ ac
[1] = gcode
->get_value('Y'); homed
.set(Y_AXIS
); }
585 if(gcode
->has_letter('Z')){ ac
[2] = gcode
->get_value('Z'); homed
.set(Z_AXIS
); }
586 THEROBOT
->reset_actuator_position(ac
);
589 } else if(gcode
->subcode
== 5) { // G28.5 is a smoothie special it clears the homed flag for the specified axis, or all if not specifed
590 if(gcode
->get_num_args() == 0) {
593 if(gcode
->has_letter('X')) homed
.reset(X_AXIS
);
594 if(gcode
->has_letter('Y')) homed
.reset(Y_AXIS
);
595 if(gcode
->has_letter('Z')) homed
.reset(Z_AXIS
);
599 } else if(gcode
->subcode
== 6) { // G28.6 is a smoothie special it shows the homing status of each axis
600 for (int i
= 0; i
< 3; ++i
) {
601 gcode
->stream
->printf("%c:%d ", 'X'+i
, homed
.test(i
));
606 } else if(THEKERNEL
->is_grbl_mode()) {
607 gcode
->stream
->printf("error:Unsupported command\n");
611 // G28 is received, we have homing to do
613 // First wait for the queue to be empty
614 THECONVEYOR
->wait_for_idle();
616 // deltas always home Z axis only, which moves all three actuators
617 bool home_in_z
= this->is_delta
|| this->is_rdelta
;
619 // figure out which axis to home
623 if(!home_in_z
) { // ie not a delta
624 bool axis_speced
= (gcode
->has_letter('X') || gcode
->has_letter('Y') || gcode
->has_letter('Z') ||
625 gcode
->has_letter('A') || gcode
->has_letter('B') || gcode
->has_letter('C'));
626 // only enable homing if the endstop is defined,
627 for ( int c
= X_AXIS
; c
<= C_AXIS
; c
++ ) {
628 auto p
= pins
.find(this->home_direction
[c
] ? c
: 0x80|c
);
629 if(p
!= pins
.end() && (!axis_speced
|| gcode
->has_letter(axis_letters
[c
])) ) {
631 // now reset axis to 0 as we do not know what state we are in
632 THEROBOT
->reset_axis_position(0, c
);
637 // Only Z axis homes (even though all actuators move this is handled by arm solution)
639 // we also set the kinematics to a known good position, this is necessary for a rotary delta, but doesn't hurt for linear delta
640 THEROBOT
->reset_axis_position(0, 0, 0);
643 // do the actual homing
644 if(homing_order
!= 0) {
645 // if an order has been specified do it in the specified order
646 // homing order is 0b00ccbbaa where aa is 0,1,2 to specify the first axis, bb is the second and cc is the third
647 // eg 0b00100001 would be Y X Z, 0b00100100 would be X Y Z
648 for (uint8_t m
= homing_order
; m
!= 0; m
>>= 2) {
649 int a
= (m
& 0x03); // axis to home
650 if(haxis
[a
]) { // if axis is selected to home
655 // check if on_halt (eg kill)
656 if(THEKERNEL
->is_halted()) break;
659 } else if(is_corexy
) {
660 // corexy must home each axis individually
661 for (int a
= X_AXIS
; a
<= C_AXIS
; ++a
) {
670 // they could all home at the same time
674 // check if on_halt (eg kill)
675 if(THEKERNEL
->is_halted()) {
676 if(!THEKERNEL
->is_grbl_mode()) {
677 THEKERNEL
->streams
->printf("Homing cycle aborted by kill\n");
683 if(home_in_z
) { // deltas only
684 // Here's where we would have been if the endstops were perfectly trimmed
685 // NOTE on a rotary delta home_offset is actuator position in degrees when homed and
686 // home_offset is the theta offset for each actuator, so M206 is used to set theta offset for each actuator in degrees
687 // FIXME not sure this will work with compensation transforms on.
688 float ideal_position
[3] = {
689 this->homing_position
[X_AXIS
] + this->home_offset
[X_AXIS
],
690 this->homing_position
[Y_AXIS
] + this->home_offset
[Y_AXIS
],
691 this->homing_position
[Z_AXIS
] + this->home_offset
[Z_AXIS
]
694 bool has_endstop_trim
= this->is_delta
;
695 if (has_endstop_trim
) {
696 ActuatorCoordinates ideal_actuator_position
;
697 THEROBOT
->arm_solution
->cartesian_to_actuator(ideal_position
, ideal_actuator_position
);
699 // We are actually not at the ideal position, but a trim away
700 ActuatorCoordinates real_actuator_position
= {
701 ideal_actuator_position
[X_AXIS
] - this->trim_mm
[X_AXIS
],
702 ideal_actuator_position
[Y_AXIS
] - this->trim_mm
[Y_AXIS
],
703 ideal_actuator_position
[Z_AXIS
] - this->trim_mm
[Z_AXIS
]
706 float real_position
[3];
707 THEROBOT
->arm_solution
->actuator_to_cartesian(real_actuator_position
, real_position
);
708 // Reset the actuator positions to correspond our real position
709 THEROBOT
->reset_axis_position(real_position
[0], real_position
[1], real_position
[2]);
712 // without endstop trim, real_position == ideal_position
714 // with a rotary delta we set the actuators angle then use the FK to calculate the resulting cartesian coordinates
715 ActuatorCoordinates real_actuator_position
= {ideal_position
[0], ideal_position
[1], ideal_position
[2]};
716 THEROBOT
->reset_actuator_position(real_actuator_position
);
719 // Reset the actuator positions to correspond our real position
720 THEROBOT
->reset_axis_position(ideal_position
[0], ideal_position
[1], ideal_position
[2]);
724 homed
.set(); // for deltas we say all axis are homed even though it was only Z
727 // Zero the ax(i/e)s position, add in the home offset
728 // NOTE that if compensation is active the Z will be set based on where XY are, so make sure XY are homed first then Z
729 // so XY are at a known consistent position. (especially true if using a proximity probe)
730 for ( int c
= X_AXIS
; c
<= C_AXIS
; c
++ ) {
731 if (haxis
[c
]) { // if we requested this axis to home
732 THEROBOT
->reset_axis_position(this->homing_position
[c
] + this->home_offset
[c
], c
);
733 // set flag indicating axis was homed, it stays set once set until H/W reset or unhomed
739 // on some systems where 0,0 is bed center it is nice to have home goto 0,0 after homing
740 // default is off for cartesian on for deltas
742 // NOTE a rotary delta usually has optical or hall-effect endstops so it is safe to go past them a little bit
743 if(this->move_to_origin_after_home
) move_to_origin(haxis
);
744 // if limit switches are enabled we must back off endstop after setting home
745 back_off_home(haxis
);
747 } else if(this->move_to_origin_after_home
|| this->limit_enable
[X_AXIS
]) {
748 // deltas are not left at 0,0 because of the trim settings, so move to 0,0 if requested, but we need to back off endstops first
749 // also need to back off endstops if limits are enabled
750 back_off_home(haxis
);
751 if(this->move_to_origin_after_home
) move_to_origin(haxis
);
755 void Endstops::set_homing_offset(Gcode
*gcode
)
757 // Similar to M206 but sets Homing offsets based on current MCS position
758 // Basically it finds the delta between the current MCS position and the requested position and adds it to the homing offset
759 // then will not let it be set again until that axis is homed.
761 THEROBOT
->get_axis_position(pos
);
763 if (gcode
->has_letter('X')) {
765 gcode
->stream
->printf("error: Axis X must be homed before setting Homing offset\n");
768 home_offset
[0] += (THEROBOT
->to_millimeters(gcode
->get_value('X')) - pos
[X_AXIS
]);
769 homed
.reset(X_AXIS
); // force it to be homed
771 if (gcode
->has_letter('Y')) {
773 gcode
->stream
->printf("error: Axis Y must be homed before setting Homing offset\n");
776 home_offset
[1] += (THEROBOT
->to_millimeters(gcode
->get_value('Y')) - pos
[Y_AXIS
]);
777 homed
.reset(Y_AXIS
); // force it to be homed
779 if (gcode
->has_letter('Z')) {
781 gcode
->stream
->printf("error: Axis Z must be homed before setting Homing offset\n");
784 home_offset
[2] += (THEROBOT
->to_millimeters(gcode
->get_value('Z')) - pos
[Z_AXIS
]);
785 homed
.reset(Z_AXIS
); // force it to be homed
788 gcode
->stream
->printf("Homing Offset: X %5.3f Y %5.3f Z %5.3f will take effect next home\n", home_offset
[0], home_offset
[1], home_offset
[2]);
791 // Start homing sequences by response to GCode commands
792 void Endstops::on_gcode_received(void *argument
)
794 Gcode
*gcode
= static_cast<Gcode
*>(argument
);
795 if ( gcode
->has_g
&& gcode
->g
== 28) {
796 process_home_command(gcode
);
798 } else if (gcode
->has_m
) {
802 for(auto& p
: pins
) {
803 if(p
.second
->connected()) {
804 int i
= (p
.first
&0x80) ? (p
.first
&0x7F) + 3 : p
.first
;
805 gcode
->stream
->printf("%s:%d ", endstop_names
[i
], p
.second
->get());
808 gcode
->add_nl
= true;
812 case 206: // M206 - set homing offset
813 if(is_rdelta
) return; // RotaryDeltaCalibration module will handle this
815 if (gcode
->has_letter('X')) home_offset
[0] = gcode
->get_value('X');
816 if (gcode
->has_letter('Y')) home_offset
[1] = gcode
->get_value('Y');
817 if (gcode
->has_letter('Z')) home_offset
[2] = gcode
->get_value('Z');
818 gcode
->stream
->printf("X %5.3f Y %5.3f Z %5.3f will take effect next home\n", home_offset
[0], home_offset
[1], home_offset
[2]);
821 case 306: // set homing offset based on current position
822 if(is_rdelta
) return; // RotaryDeltaCalibration module will handle this
824 set_homing_offset(gcode
);
827 case 500: // save settings
828 case 503: // print settings
830 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]);
832 gcode
->stream
->printf(";Theta offset (degrees):\nM206 A%1.5f B%1.5f C%1.5f\n", home_offset
[0], home_offset
[1], home_offset
[2]);
834 if (this->is_delta
|| this->is_scara
) {
835 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]);
836 gcode
->stream
->printf(";Max Z\nM665 Z%1.3f\n", this->homing_position
[2]);
838 if(saved_position
[X_AXIS
] != 0 || saved_position
[Y_AXIS
] != 0) {
839 gcode
->stream
->printf(";predefined position:\nG28.1 X%1.4f Y%1.4f\n", saved_position
[X_AXIS
], saved_position
[Y_AXIS
]);
844 if (this->is_delta
|| this->is_scara
) { // M665 - set max gamma/z height
845 float gamma_max
= this->homing_position
[2];
846 if (gcode
->has_letter('Z')) {
847 this->homing_position
[2] = gamma_max
= gcode
->get_value('Z');
849 gcode
->stream
->printf("Max Z %8.3f ", gamma_max
);
850 gcode
->add_nl
= true;
855 if(this->is_delta
|| this->is_scara
) { // M666 - set trim for each axis in mm, NB negative mm trim is down
856 if (gcode
->has_letter('X')) trim_mm
[0] = gcode
->get_value('X');
857 if (gcode
->has_letter('Y')) trim_mm
[1] = gcode
->get_value('Y');
858 if (gcode
->has_letter('Z')) trim_mm
[2] = gcode
->get_value('Z');
860 // print the current trim values in mm
861 gcode
->stream
->printf("X: %5.3f Y: %5.3f Z: %5.3f\n", trim_mm
[0], trim_mm
[1], trim_mm
[2]);
870 void Endstops::on_get_public_data(void* argument
)
872 PublicDataRequest
* pdr
= static_cast<PublicDataRequest
*>(argument
);
874 if(!pdr
->starts_with(endstops_checksum
)) return;
876 if(pdr
->second_element_is(trim_checksum
)) {
877 pdr
->set_data_ptr(&this->trim_mm
);
880 } else if(pdr
->second_element_is(home_offset_checksum
)) {
881 pdr
->set_data_ptr(&this->home_offset
);
884 } else if(pdr
->second_element_is(saved_position_checksum
)) {
885 pdr
->set_data_ptr(&this->saved_position
);
888 } else if(pdr
->second_element_is(get_homing_status_checksum
)) {
889 bool *homing
= static_cast<bool *>(pdr
->get_data_ptr());
890 *homing
= this->status
!= NOT_HOMING
;
895 void Endstops::on_set_public_data(void* argument
)
897 PublicDataRequest
* pdr
= static_cast<PublicDataRequest
*>(argument
);
899 if(!pdr
->starts_with(endstops_checksum
)) return;
901 if(pdr
->second_element_is(trim_checksum
)) {
902 float *t
= static_cast<float*>(pdr
->get_data_ptr());
903 this->trim_mm
[0] = t
[0];
904 this->trim_mm
[1] = t
[1];
905 this->trim_mm
[2] = t
[2];
908 } else if(pdr
->second_element_is(home_offset_checksum
)) {
909 float *t
= static_cast<float*>(pdr
->get_data_ptr());
910 if(!isnan(t
[0])) this->home_offset
[0] = t
[0];
911 if(!isnan(t
[1])) this->home_offset
[1] = t
[1];
912 if(!isnan(t
[2])) this->home_offset
[2] = t
[2];