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"
36 // OLD deprecated syntax
37 #define endstops_module_enable_checksum CHECKSUM("endstops_enable")
39 #define ENDSTOP_CHECKSUMS(X) { \
40 CHECKSUM(X "_min_endstop"), \
41 CHECKSUM(X "_max_endstop"), \
42 CHECKSUM(X "_max_travel"), \
43 CHECKSUM(X "_fast_homing_rate_mm_s"), \
44 CHECKSUM(X "_slow_homing_rate_mm_s"), \
45 CHECKSUM(X "_homing_retract_mm"), \
46 CHECKSUM(X "_homing_direction"), \
49 CHECKSUM(X "_limit_enable"), \
53 enum DEFNS
{MIN_PIN
, MAX_PIN
, MAX_TRAVEL
, FAST_RATE
, SLOW_RATE
, RETRACT
, DIRECTION
, MIN
, MAX
, LIMIT
, NDEFNS
};
55 // global config settings
56 #define corexy_homing_checksum CHECKSUM("corexy_homing")
57 #define delta_homing_checksum CHECKSUM("delta_homing")
58 #define rdelta_homing_checksum CHECKSUM("rdelta_homing")
59 #define scara_homing_checksum CHECKSUM("scara_homing")
61 #define endstop_debounce_count_checksum CHECKSUM("endstop_debounce_count")
62 #define endstop_debounce_ms_checksum CHECKSUM("endstop_debounce_ms")
64 #define home_z_first_checksum CHECKSUM("home_z_first")
65 #define homing_order_checksum CHECKSUM("homing_order")
66 #define move_to_origin_checksum CHECKSUM("move_to_origin_after_home")
68 #define alpha_trim_checksum CHECKSUM("alpha_trim_mm")
69 #define beta_trim_checksum CHECKSUM("beta_trim_mm")
70 #define gamma_trim_checksum CHECKSUM("gamma_trim_mm")
73 // endstop.xmin.enable true
74 // endstop.xmin.pin 1.29
75 // endstop.xmin.axis X
76 // endstop.xmin.homing_direction home_to_min
78 #define endstop_checksum CHECKSUM("endstop")
79 #define enable_checksum CHECKSUM("enable")
80 #define pin_checksum CHECKSUM("pin")
81 #define axis_checksum CHECKSUM("axis")
82 #define direction_checksum CHECKSUM("homing_direction")
83 #define position_checksum CHECKSUM("homing_position")
84 #define fast_rate_checksum CHECKSUM("fast_rate")
85 #define slow_rate_checksum CHECKSUM("slow_rate")
86 #define max_travel_checksum CHECKSUM("max_travel")
87 #define retract_checksum CHECKSUM("retract")
88 #define limit_checksum CHECKSUM("limit_enable")
90 #define STEPPER THEROBOT->actuators
91 #define STEPS_PER_MM(a) (STEPPER[a]->get_steps_per_mm())
97 MOVING_TO_ENDSTOP_FAST
, // homing move
98 MOVING_TO_ENDSTOP_SLOW
, // homing move
99 MOVING_BACK
, // homing move
108 this->status
= NOT_HOMING
;
111 void Endstops::on_module_loaded()
113 // Do not do anything if not enabled or if no pins are defined
114 if (THEKERNEL
->config
->value( endstops_module_enable_checksum
)->by_default(false)->as_bool()) {
115 if(!load_old_config()) {
121 // check for new config syntax
128 register_for_event(ON_GCODE_RECEIVED
);
129 register_for_event(ON_GET_PUBLIC_DATA
);
130 register_for_event(ON_SET_PUBLIC_DATA
);
133 THEKERNEL
->slow_ticker
->attach(1000, this, &Endstops::read_endstops
);
136 // Get config using old deprecated syntax Does not support ABC
137 bool Endstops::load_old_config()
139 uint16_t const checksums
[][NDEFNS
] = {
140 ENDSTOP_CHECKSUMS("alpha"), // X
141 ENDSTOP_CHECKSUMS("beta"), // Y
142 ENDSTOP_CHECKSUMS("gamma") // Z
145 bool limit_enabled
= false;
146 for (int i
= X_AXIS
; i
<= Z_AXIS
; ++i
) { // X_AXIS to Z_AXIS
149 // init homing struct
150 hinfo
.home_offset
= 0;
154 hinfo
.pin_info
= nullptr;
157 hinfo
.fast_rate
= THEKERNEL
->config
->value(checksums
[i
][FAST_RATE
])->by_default(100)->as_number();
158 hinfo
.slow_rate
= THEKERNEL
->config
->value(checksums
[i
][SLOW_RATE
])->by_default(10)->as_number();
161 hinfo
.retract
= THEKERNEL
->config
->value(checksums
[i
][RETRACT
])->by_default(5)->as_number();
163 // get homing direction and convert to boolean where true is home to min, and false is home to max
164 hinfo
.home_direction
= THEKERNEL
->config
->value(checksums
[i
][DIRECTION
])->by_default("home_to_min")->as_string() != "home_to_max";
166 // homing cartesian position
167 hinfo
.homing_position
= hinfo
.home_direction
? THEKERNEL
->config
->value(checksums
[i
][MIN
])->by_default(0)->as_number() : THEKERNEL
->config
->value(checksums
[i
][MAX
])->by_default(200)->as_number();
169 // used to set maximum movement on homing, set by alpha_max_travel if defined
170 hinfo
.max_travel
= THEKERNEL
->config
->value(checksums
[i
][MAX_TRAVEL
])->by_default(500)->as_number();
173 // pin definitions for endstop pins
174 for (int j
= MIN_PIN
; j
<= MAX_PIN
; ++j
) {
175 endstop_info_t
*info
= new endstop_info_t
;
176 info
->pin
.from_string(THEKERNEL
->config
->value(checksums
[i
][j
])->by_default("nc" )->as_string())->as_input();
177 if(!info
->pin
.connected()){
178 // no pin defined try next
183 // enter into endstop array
184 endstops
.push_back(info
);
186 // add index to the homing struct if this is the one used for homing
187 if((hinfo
.home_direction
&& j
== MIN_PIN
) || (!hinfo
.home_direction
&& j
== MAX_PIN
)) hinfo
.pin_info
= info
;
195 info
->limit_enable
= THEKERNEL
->config
->value(checksums
[i
][LIMIT
])->by_default(false)->as_bool();
196 limit_enabled
|= info
->limit_enable
;
199 homing_axis
.push_back(hinfo
);
202 // if no pins defined then disable the module
203 if(endstops
.empty()) return false;
205 get_global_configs();
208 register_for_event(ON_IDLE
);
211 // sanity check for deltas
213 if(this->is_delta || this->is_rdelta) {
214 // some things must be the same or they will die, so force it here to avoid config errors
215 this->fast_rates[1] = this->fast_rates[2] = this->fast_rates[0];
216 this->slow_rates[1] = this->slow_rates[2] = this->slow_rates[0];
217 this->retract_mm[1] = this->retract_mm[2] = this->retract_mm[0];
218 this->home_direction[1] = this->home_direction[2] = this->home_direction[0];
219 // NOTE homing_position for rdelta is the angle of the actuator not the cartesian position
220 if(!this->is_rdelta) this->homing_position[0] = this->homing_position[1] = 0;
227 // Get config using new syntax supports ABC
228 bool Endstops::load_config()
230 bool limit_enabled
= false;
232 std::array
<homing_info_t
, k_max_actuators
> temp_axis_array
; // needs to be at least XYZ, but allow for ABC
239 temp_axis_array
.fill(t
);
242 // iterate over all endstop.*.*
243 std::vector
<uint16_t> modules
;
244 THEKERNEL
->config
->get_module_list(&modules
, endstop_checksum
);
245 for(auto cs
: modules
) {
246 if(!THEKERNEL
->config
->value(endstop_checksum
, cs
, enable_checksum
)->as_bool()) continue;
248 endstop_info_t
*pin_info
= new endstop_info_t
;
249 pin_info
->pin
.from_string(THEKERNEL
->config
->value(endstop_checksum
, cs
, pin_checksum
)->by_default("nc" )->as_string())->as_input();
250 if(!pin_info
->pin
.connected()){
251 // no pin defined try next
256 string axis
= THEKERNEL
->config
->value(endstop_checksum
, cs
, axis_checksum
)->by_default("")->as_string();
264 switch(toupper(axis
[0])) {
265 case 'X': i
= X_AXIS
; break;
266 case 'Y': i
= Y_AXIS
; break;
267 case 'Z': i
= Z_AXIS
; break;
268 case 'A': i
= A_AXIS
; break;
269 case 'B': i
= B_AXIS
; break;
270 case 'C': i
= C_AXIS
; break;
271 default: // not a recognized axis
277 pin_info
->debounce
= 0;
278 pin_info
->axis
= toupper(axis
[0]);
279 pin_info
->axis_index
= i
;
281 // are limits enabled
282 pin_info
->limit_enable
= THEKERNEL
->config
->value(endstop_checksum
, cs
, limit_checksum
)->by_default(false)->as_bool();
283 limit_enabled
|= pin_info
->limit_enable
;
285 // enter into endstop array
286 endstops
.push_back(pin_info
);
288 // check we are not going above the number of defined actuators/axis
289 if(i
>= k_max_actuators
) {
290 // too many axis we only have configured k_max_actuators
294 // if set to none it means not used for homing (maybe limit only) so do not add to the homing array
295 string direction
= THEKERNEL
->config
->value(endstop_checksum
, cs
, direction_checksum
)->by_default("none")->as_string();
296 if(direction
== "none") {
300 // setup the homing array
303 // init homing struct
304 hinfo
.home_offset
= 0;
306 hinfo
.axis
= toupper(axis
[0]);
308 hinfo
.pin_info
= pin_info
;
311 hinfo
.fast_rate
= THEKERNEL
->config
->value(endstop_checksum
, cs
, fast_rate_checksum
)->by_default(100)->as_number();
312 hinfo
.slow_rate
= THEKERNEL
->config
->value(endstop_checksum
, cs
, slow_rate_checksum
)->by_default(10)->as_number();
315 hinfo
.retract
= THEKERNEL
->config
->value(endstop_checksum
, cs
, retract_checksum
)->by_default(5)->as_number();
317 // homing direction and convert to boolean where true is home to min, and false is home to max
318 hinfo
.home_direction
= direction
== "home_to_min";
320 // homing cartesian position
321 hinfo
.homing_position
= THEKERNEL
->config
->value(endstop_checksum
, cs
, position_checksum
)->by_default(hinfo
.home_direction
? 0 : 200)->as_number();
323 // used to set maximum movement on homing, set by max_travel if defined
324 hinfo
.max_travel
= THEKERNEL
->config
->value(endstop_checksum
, cs
, max_travel_checksum
)->by_default(500)->as_number();
326 // stick into array in correct place
327 temp_axis_array
[hinfo
.axis_index
]= hinfo
;
330 // if no pins defined then disable the module
331 if(endstops
.empty()) return false;
333 // copy to the homing_axis array
334 for (size_t i
= 0; i
< temp_axis_array
.size(); ++i
) {
335 if(temp_axis_array
[i
].axis
== 0) {
336 // was not configured above, if it is XYZ then we need to force a dummy entry
341 t
.pin_info
= nullptr; // this tells it that it cannot be used for homing
342 homing_axis
.push_back(t
);
346 homing_axis
.push_back(temp_axis_array
[i
]);
350 // sets some endstop global configs applicable to all endstops
351 get_global_configs();
354 register_for_event(ON_IDLE
);
360 void Endstops::get_global_configs()
362 // NOTE the debounce count is in milliseconds so probably does not need to beset anymore
363 this->debounce_ms
= THEKERNEL
->config
->value(endstop_debounce_ms_checksum
)->by_default(0)->as_number();
364 this->debounce_count
= THEKERNEL
->config
->value(endstop_debounce_count_checksum
)->by_default(100)->as_number();
366 this->is_corexy
= THEKERNEL
->config
->value(corexy_homing_checksum
)->by_default(false)->as_bool();
367 this->is_delta
= THEKERNEL
->config
->value(delta_homing_checksum
)->by_default(false)->as_bool();
368 this->is_rdelta
= THEKERNEL
->config
->value(rdelta_homing_checksum
)->by_default(false)->as_bool();
369 this->is_scara
= THEKERNEL
->config
->value(scara_homing_checksum
)->by_default(false)->as_bool();
371 this->home_z_first
= THEKERNEL
->config
->value(home_z_first_checksum
)->by_default(false)->as_bool();
373 this->trim_mm
[0] = THEKERNEL
->config
->value(alpha_trim_checksum
)->by_default(0)->as_number();
374 this->trim_mm
[1] = THEKERNEL
->config
->value(beta_trim_checksum
)->by_default(0)->as_number();
375 this->trim_mm
[2] = THEKERNEL
->config
->value(gamma_trim_checksum
)->by_default(0)->as_number();
377 // see if an order has been specified, must be three or more characters, XYZABC or ABYXZ etc
378 string order
= THEKERNEL
->config
->value(homing_order_checksum
)->by_default("")->as_string();
379 this->homing_order
= 0;
380 if(order
.size() >= 3 && order
.size() <= homing_axis
.size() && !(this->is_delta
|| this->is_rdelta
)) {
382 for(auto c
: order
) {
384 uint32_t i
= n
>= 'X' ? n
- 'X' : n
- 'A' + 3;
386 if(i
> 6) { // bad value
387 this->homing_order
= 0;
390 homing_order
|= (i
<< shift
);
395 // set to true by default for deltas due to trim, false on cartesians
396 this->move_to_origin_after_home
= THEKERNEL
->config
->value(move_to_origin_checksum
)->by_default(is_delta
)->as_bool();
399 bool Endstops::debounced_get(Pin
*pin
)
401 if(pin
== nullptr) return false;
402 uint8_t debounce
= 0;
404 if ( ++debounce
>= this->debounce_count
) {
412 // only called if limits are enabled
413 void Endstops::on_idle(void *argument
)
415 if(this->status
== LIMIT_TRIGGERED
) {
416 // if we were in limit triggered see if it has been cleared
417 for(auto& i
: endstops
) {
418 if(i
->limit_enable
) {
420 // still triggered, so exit
425 if(i
->debounce
++ > debounce_count
) { // can use less as it calls on_idle in between
427 this->status
= NOT_HOMING
;
433 } else if(this->status
!= NOT_HOMING
) {
434 // don't check while homing
438 for(auto& i
: endstops
) {
439 if(i
->limit_enable
&& STEPPER
[i
->axis_index
]->is_moving()) {
440 // check min and max endstops
441 if(debounced_get(&i
->pin
)) {
443 if(!THEKERNEL
->is_grbl_mode()) {
444 THEKERNEL
->streams
->printf("Limit switch %c%c was hit - reset or M999 required\n", STEPPER
[i
->axis_index
]->which_direction() ? '-' : '+', i
->axis
);
446 THEKERNEL
->streams
->printf("ALARM: Hard limit %c%c\n", STEPPER
[i
->axis_index
]->which_direction() ? '-' : '+', i
->axis
);
448 this->status
= LIMIT_TRIGGERED
;
450 // disables heaters and motors, ignores incoming Gcode and flushes block queue
451 THEKERNEL
->call_event(ON_HALT
, nullptr);
458 // if limit switches are enabled, then we must move off of the endstop otherwise we won't be able to move
459 // checks if triggered and only backs off if triggered
460 void Endstops::back_off_home(axis_bitmap_t axis
)
462 std::vector
<std::pair
<char, float>> params
;
463 this->status
= BACK_OFF_HOME
;
465 float slow_rate
= NAN
; // default mm/sec
467 // these are handled differently
469 // Move off of the endstop using a regular relative move in Z only
470 params
.push_back({'Z', THEROBOT
->from_millimeters(homing_axis
[Z_AXIS
].retract
* (homing_axis
[Z_AXIS
].home_direction
? 1 : -1))});
471 slow_rate
= homing_axis
[Z_AXIS
].slow_rate
;
474 // cartesians concatenate all the moves we need to do into one gcode
475 for( auto& e
: homing_axis
) {
476 if(!axis
[e
.axis_index
]) continue; // only for axes we asked to move
478 // if not triggered no need to move off
479 if(e
.pin_info
!= nullptr && e
.pin_info
->limit_enable
&& debounced_get(&e
.pin_info
->pin
)) {
481 params
.push_back({ax
, THEROBOT
->from_millimeters(e
.retract
* (e
.home_direction
? 1 : -1))});
482 // select slowest of them all
483 slow_rate
= isnan(slow_rate
) ? e
.slow_rate
: std::min(slow_rate
, e
.slow_rate
);
488 if(!params
.empty()) {
489 // Move off of the endstop using a regular relative move
490 params
.insert(params
.begin(), {'G', 0});
491 // use X slow rate to move, Z should have a max speed set anyway
492 params
.push_back({'F', THEROBOT
->from_millimeters(slow_rate
* 60.0F
)});
494 append_parameters(gcode_buf
, params
, sizeof(gcode_buf
));
495 Gcode
gc(gcode_buf
, &(StreamOutput::NullStream
));
496 THEROBOT
->push_state();
497 THEROBOT
->absolute_mode
= false; // needs to be relative mode
498 THEROBOT
->on_gcode_received(&gc
); // send to robot directly
499 // Wait for above to finish
500 THECONVEYOR
->wait_for_idle();
501 THEROBOT
->pop_state();
504 this->status
= NOT_HOMING
;
507 // If enabled will move the head to 0,0 after homing, but only if X and Y were set to home
508 void Endstops::move_to_origin(axis_bitmap_t axis
)
510 if(!is_delta
&& (!axis
[X_AXIS
] || !axis
[Y_AXIS
])) return; // ignore if X and Y not homing, unless delta
512 // Do we need to check if we are already at 0,0? probably not as the G0 will not do anything if we are
513 // float pos[3]; THEROBOT->get_axis_position(pos); if(pos[0] == 0 && pos[1] == 0) return;
515 this->status
= MOVE_TO_ORIGIN
;
516 // Move to center using a regular move, use slower of X and Y fast rate in mm/sec
517 float rate
= std::min(homing_axis
[X_AXIS
].fast_rate
, homing_axis
[Y_AXIS
].fast_rate
) * 60.0F
;
519 THEROBOT
->push_state();
520 THEROBOT
->absolute_mode
= true;
521 snprintf(buf
, sizeof(buf
), "G53 G0 X0 Y0 F%1.4f", THEROBOT
->from_millimeters(rate
)); // must use machine coordinates in case G92 or WCS is in effect
522 struct SerialMessage message
;
523 message
.message
= buf
;
524 message
.stream
= &(StreamOutput::NullStream
);
525 THEKERNEL
->call_event(ON_CONSOLE_LINE_RECEIVED
, &message
); // as it is a multi G code command
526 // Wait for above to finish
527 THECONVEYOR
->wait_for_idle();
528 THEROBOT
->pop_state();
529 this->status
= NOT_HOMING
;
532 // Called every millisecond in an ISR
533 uint32_t Endstops::read_endstops(uint32_t dummy
)
535 if(this->status
!= MOVING_TO_ENDSTOP_SLOW
&& this->status
!= MOVING_TO_ENDSTOP_FAST
) return 0; // not doing anything we need to monitor for
537 // check each homing endstop
538 for(auto& e
: homing_axis
) { // check all axis homing endstops
539 if(e
.pin_info
== nullptr) continue; // ignore if not a homing endstop
542 // for corexy homing in X or Y we must only check the associated endstop, works as we only home one axis at a time for corexy
543 if(is_corexy
&& (m
== X_AXIS
|| m
== Y_AXIS
) && !axis_to_home
[m
]) continue;
545 if(STEPPER
[m
]->is_moving()) {
546 // if it is moving then we check the associated endstop, and debounce it
547 if(e
.pin_info
->pin
.get()) {
548 if(e
.pin_info
->debounce
< debounce_ms
) {
549 e
.pin_info
->debounce
++;
552 if(is_corexy
&& (m
== X_AXIS
|| m
== Y_AXIS
)) {
553 // corexy when moving in X or Y we need to stop both the X and Y motors
554 STEPPER
[X_AXIS
]->stop_moving();
555 STEPPER
[Y_AXIS
]->stop_moving();
558 // we signal the motor to stop, which will preempt any moves on that axis
559 STEPPER
[m
]->stop_moving();
561 e
.pin_info
->triggered
= true;
565 // The endstop was not hit yet
566 e
.pin_info
->debounce
= 0;
574 void Endstops::home_xy()
576 if(axis_to_home
[X_AXIS
] && axis_to_home
[Y_AXIS
]) {
577 // Home XY first so as not to slow them down by homing Z at the same time
578 float delta
[3] {homing_axis
[X_AXIS
].max_travel
, homing_axis
[Y_AXIS
].max_travel
, 0};
579 if(homing_axis
[X_AXIS
].home_direction
) delta
[X_AXIS
]= -delta
[X_AXIS
];
580 if(homing_axis
[Y_AXIS
].home_direction
) delta
[Y_AXIS
]= -delta
[Y_AXIS
];
581 float feed_rate
= std::min(homing_axis
[X_AXIS
].fast_rate
, homing_axis
[Y_AXIS
].fast_rate
);
582 THEROBOT
->delta_move(delta
, feed_rate
, 3);
584 } else if(axis_to_home
[X_AXIS
]) {
586 float delta
[3] {homing_axis
[X_AXIS
].max_travel
, 0, 0};
587 if(homing_axis
[X_AXIS
].home_direction
) delta
[X_AXIS
]= -delta
[X_AXIS
];
588 THEROBOT
->delta_move(delta
, homing_axis
[X_AXIS
].fast_rate
, 3);
590 } else if(axis_to_home
[Y_AXIS
]) {
592 float delta
[3] {0, homing_axis
[Y_AXIS
].max_travel
, 0};
593 if(homing_axis
[Y_AXIS
].home_direction
) delta
[Y_AXIS
]= -delta
[Y_AXIS
];
594 THEROBOT
->delta_move(delta
, homing_axis
[Y_AXIS
].fast_rate
, 3);
597 // Wait for axis to have homed
598 THECONVEYOR
->wait_for_idle();
601 void Endstops::home(axis_bitmap_t a
)
603 // reset debounce counts for all endstops
604 for(auto& e
: endstops
) {
610 THEROBOT
->disable_arm_solution
= true; // Polar bots has to home in the actuator space. Arm solution disabled.
613 this->axis_to_home
= a
;
615 // Start moving the axes to the origin
616 this->status
= MOVING_TO_ENDSTOP_FAST
;
618 THEROBOT
->disable_segmentation
= true; // we must disable segmentation as this won't work with it enabled
620 if(!home_z_first
) home_xy();
622 if(axis_to_home
[Z_AXIS
]) {
624 float delta
[3] {0, 0, homing_axis
[Z_AXIS
].max_travel
}; // we go the max z
625 if(homing_axis
[Z_AXIS
].home_direction
) delta
[Z_AXIS
]= -delta
[Z_AXIS
];
626 THEROBOT
->delta_move(delta
, homing_axis
[Z_AXIS
].fast_rate
, 3);
628 THECONVEYOR
->wait_for_idle();
631 if(home_z_first
) home_xy();
633 // potentially home A B and C individually
634 if(homing_axis
.size() > 3){
635 for (size_t i
= A_AXIS
; i
< homing_axis
.size(); ++i
) {
636 if(axis_to_home
[i
]) {
639 for (size_t j
= 0; j
<= i
; ++j
) delta
[j
]= 0;
640 delta
[i
]= homing_axis
[i
].max_travel
; // we go the max
641 if(homing_axis
[i
].home_direction
) delta
[i
]= -delta
[i
];
642 THEROBOT
->delta_move(delta
, homing_axis
[i
].fast_rate
, i
+1);
644 THECONVEYOR
->wait_for_idle();
649 // check that the endstops were hit and it did not stop short for some reason
650 // if the endstop is not triggered then enter ALARM state
651 // with deltas we check all three axis were triggered, but at least one of XYZ must be set to home
652 if(axis_to_home
[X_AXIS
] || axis_to_home
[Y_AXIS
] || axis_to_home
[Z_AXIS
]) {
653 for (size_t i
= X_AXIS
; i
<= Z_AXIS
; ++i
) {
654 if((axis_to_home
[i
] || this->is_delta
|| this->is_rdelta
) && !homing_axis
[i
].pin_info
->triggered
) {
655 this->status
= NOT_HOMING
;
656 THEKERNEL
->call_event(ON_HALT
, nullptr);
663 if(homing_axis
.size() > 3){
664 for (size_t i
= A_AXIS
; i
< homing_axis
.size(); ++i
) {
665 if(axis_to_home
[i
] && !homing_axis
[i
].pin_info
->triggered
) {
666 this->status
= NOT_HOMING
;
667 THEKERNEL
->call_event(ON_HALT
, nullptr);
674 // Only for non polar bots
675 // we did not complete movement the full distance if we hit the endstops
676 // TODO Maybe only reset axis involved in the homing cycle
677 THEROBOT
->reset_position_from_current_actuator_position();
680 // Move back a small distance for all homing axis
681 this->status
= MOVING_BACK
;
682 float delta
[homing_axis
.size()];
683 for (size_t i
= 0; i
< homing_axis
.size(); ++i
) delta
[i
]= 0;
685 // use minimum feed rate of all axes that are being homed (sub optimal, but necessary)
686 float feed_rate
= homing_axis
[X_AXIS
].slow_rate
;
687 for (auto& i
: homing_axis
) {
689 if(axis_to_home
[c
]) {
691 if(!i
.home_direction
) delta
[c
]= -delta
[c
];
692 feed_rate
= std::min(i
.slow_rate
, feed_rate
);
696 THEROBOT
->delta_move(delta
, feed_rate
, homing_axis
.size());
697 // wait until finished
698 THECONVEYOR
->wait_for_idle();
700 // Start moving the axes towards the endstops slowly
701 this->status
= MOVING_TO_ENDSTOP_SLOW
;
702 for (auto& i
: homing_axis
) {
704 if(axis_to_home
[c
]) {
705 delta
[c
]= i
.retract
*2; // move further than we moved off to make sure we hit it cleanly
706 if(i
.home_direction
) delta
[c
]= -delta
[c
];
711 THEROBOT
->delta_move(delta
, feed_rate
, homing_axis
.size());
712 // wait until finished
713 THECONVEYOR
->wait_for_idle();
715 // we did not complete movement the full distance if we hit the endstops
716 // TODO Maybe only reset axis involved in the homing cycle
717 THEROBOT
->reset_position_from_current_actuator_position();
719 THEROBOT
->disable_segmentation
= false;
721 THEROBOT
->disable_arm_solution
= false; // Arm solution enabled again.
724 this->status
= NOT_HOMING
;
727 void Endstops::process_home_command(Gcode
* gcode
)
729 // First wait for the queue to be empty
730 THECONVEYOR
->wait_for_idle();
732 // turn off any compensation transform so Z does not move as XY home
733 auto savect
= THEROBOT
->compensationTransform
;
734 THEROBOT
->compensationTransform
= nullptr;
736 // deltas always home Z axis only, which moves all three actuators
737 bool home_in_z_only
= this->is_delta
|| this->is_rdelta
;
739 // figure out which axis to home
743 bool axis_speced
= (gcode
->has_letter('X') || gcode
->has_letter('Y') || gcode
->has_letter('Z') ||
744 gcode
->has_letter('A') || gcode
->has_letter('B') || gcode
->has_letter('C'));
746 if(!home_in_z_only
) { // ie not a delta
747 for (auto &p
: homing_axis
) {
748 // only enable homing if the endstop is defined,
749 if(p
.pin_info
== nullptr) continue;
750 if(!axis_speced
|| gcode
->has_letter(p
.axis
)) {
751 haxis
.set(p
.axis_index
);
752 // now reset axis to 0 as we do not know what state we are in
754 THEROBOT
->reset_axis_position(0, p
.axis_index
);
756 // SCARA resets arms to plausable minimum angles
757 THEROBOT
->reset_axis_position(-30,30,0); // angles set into axis space for homing.
763 bool home_z
= !axis_speced
|| gcode
->has_letter('X') || gcode
->has_letter('Y') || gcode
->has_letter('Z');
765 // if we specified an axis we check ABC
766 for (size_t i
= A_AXIS
; i
< homing_axis
.size(); ++i
) {
767 auto &p
= homing_axis
[i
];
768 if(p
.pin_info
== nullptr) continue;
769 if(!axis_speced
|| gcode
->has_letter(p
.axis
)) haxis
.set(p
.axis_index
);
773 // Only Z axis homes (even though all actuators move this is handled by arm solution)
775 // we also set the kinematics to a known good position, this is necessary for a rotary delta, but doesn't hurt for linear delta
776 THEROBOT
->reset_axis_position(0, 0, 0);
781 THEKERNEL
->streams
->printf("WARNING: Nothing to home\n");
785 // do the actual homing
786 if(homing_order
!= 0 && !is_scara
) {
787 // if an order has been specified do it in the specified order
788 // homing order is 0bfffeeedddcccbbbaaa where aaa is 1,2,3,4,5,6 to specify the first axis (XYZABC), bbb is the second and ccc is the third etc
789 // eg 0b0101011001010 would be Y X Z A, 011 010 001 100 101 would be B A X Y Z
790 for (uint32_t m
= homing_order
; m
!= 0; m
>>= 3) {
791 uint32_t a
= (m
& 0x07)-1; // axis to home
792 if(a
< homing_axis
.size() && haxis
[a
]) { // if axis is selected to home
797 // check if on_halt (eg kill)
798 if(THEKERNEL
->is_halted()) break;
801 } else if(is_corexy
) {
802 // corexy must home each axis individually
803 for (auto &p
: homing_axis
) {
804 if(haxis
[p
.axis_index
]) {
806 bs
.set(p
.axis_index
);
809 // check if on_halt (eg kill)
810 if(THEKERNEL
->is_halted()) break;
814 // they could all home at the same time
818 // restore compensationTransform
819 THEROBOT
->compensationTransform
= savect
;
821 // check if on_halt (eg kill or fail)
822 if(THEKERNEL
->is_halted()) {
823 if(!THEKERNEL
->is_grbl_mode()) {
824 THEKERNEL
->streams
->printf("ERROR: Homing cycle failed - check the max_travel settings\n");
826 THEKERNEL
->streams
->printf("ALARM: Homing fail\n");
828 // clear all the homed flags
829 for (auto &p
: homing_axis
) p
.homed
= false;
833 if(home_in_z_only
|| is_scara
) { // deltas and scaras only
834 // Here's where we would have been if the endstops were perfectly trimmed
835 // NOTE on a rotary delta home_offset is actuator position in degrees when homed and
836 // home_offset is the theta offset for each actuator, so M206 is used to set theta offset for each actuator in degrees
837 // FIXME not sure this will work with compensation transforms on.
838 float ideal_position
[3] = {
839 homing_axis
[X_AXIS
].homing_position
+ homing_axis
[X_AXIS
].home_offset
,
840 homing_axis
[Y_AXIS
].homing_position
+ homing_axis
[Y_AXIS
].home_offset
,
841 homing_axis
[Z_AXIS
].homing_position
+ homing_axis
[Z_AXIS
].home_offset
844 bool has_endstop_trim
= this->is_delta
|| is_scara
;
845 if (has_endstop_trim
) {
846 ActuatorCoordinates ideal_actuator_position
;
847 THEROBOT
->arm_solution
->cartesian_to_actuator(ideal_position
, ideal_actuator_position
);
849 // We are actually not at the ideal position, but a trim away
850 ActuatorCoordinates real_actuator_position
= {
851 ideal_actuator_position
[X_AXIS
] - this->trim_mm
[X_AXIS
],
852 ideal_actuator_position
[Y_AXIS
] - this->trim_mm
[Y_AXIS
],
853 ideal_actuator_position
[Z_AXIS
] - this->trim_mm
[Z_AXIS
]
856 float real_position
[3];
857 THEROBOT
->arm_solution
->actuator_to_cartesian(real_actuator_position
, real_position
);
858 // Reset the actuator positions to correspond to our real position
859 THEROBOT
->reset_axis_position(real_position
[0], real_position
[1], real_position
[2]);
862 // without endstop trim, real_position == ideal_position
864 // with a rotary delta we set the actuators angle then use the FK to calculate the resulting cartesian coordinates
865 ActuatorCoordinates real_actuator_position
= {ideal_position
[0], ideal_position
[1], ideal_position
[2]};
866 THEROBOT
->reset_actuator_position(real_actuator_position
);
869 // Reset the actuator positions to correspond to our real position
870 THEROBOT
->reset_axis_position(ideal_position
[0], ideal_position
[1], ideal_position
[2]);
874 // for deltas we say all 3 axis are homed even though it was only Z
875 homing_axis
[X_AXIS
].homed
= true;
876 homing_axis
[Y_AXIS
].homed
= true;
877 homing_axis
[Z_AXIS
].homed
= true;
879 // if we also homed ABC then we need to reset them
880 for (size_t i
= A_AXIS
; i
< homing_axis
.size(); ++i
) {
881 auto &p
= homing_axis
[i
];
882 if (haxis
[p
.axis_index
]) { // if we requested this axis to home
883 THEROBOT
->reset_axis_position(p
.homing_position
+ p
.home_offset
, p
.axis_index
);
884 // set flag indicating axis was homed, it stays set once set until H/W reset or unhomed
890 // Zero the ax(i/e)s position, add in the home offset
891 // 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
892 // so XY are at a known consistent position. (especially true if using a proximity probe)
893 for (auto &p
: homing_axis
) {
894 if (haxis
[p
.axis_index
]) { // if we requested this axis to home
895 THEROBOT
->reset_axis_position(p
.homing_position
+ p
.home_offset
, p
.axis_index
);
896 // set flag indicating axis was homed, it stays set once set until H/W reset or unhomed
902 // on some systems where 0,0 is bed center it is nice to have home goto 0,0 after homing
903 // default is off for cartesian on for deltas
905 // NOTE a rotary delta usually has optical or hall-effect endstops so it is safe to go past them a little bit
906 if(this->move_to_origin_after_home
) move_to_origin(haxis
);
907 // if limit switches are enabled we must back off endstop after setting home
908 back_off_home(haxis
);
910 } else if(haxis
[Z_AXIS
] && (this->move_to_origin_after_home
|| homing_axis
[X_AXIS
].pin_info
->limit_enable
)) {
911 // 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
912 // also need to back off endstops if limits are enabled
913 back_off_home(haxis
);
914 if(this->move_to_origin_after_home
) move_to_origin(haxis
);
918 void Endstops::set_homing_offset(Gcode
*gcode
)
920 // M306 Similar to M206 but sets Homing offsets based on current MCS position
921 // Basically it finds the delta between the current MCS position and the requested position and adds it to the homing offset
922 // then will not let it be set again until that axis is homed.
924 THEROBOT
->get_axis_position(pos
);
926 if (gcode
->has_letter('X')) {
927 if(!homing_axis
[X_AXIS
].homed
) {
928 gcode
->stream
->printf("error: Axis X must be homed before setting Homing offset\n");
931 homing_axis
[X_AXIS
].home_offset
+= (THEROBOT
->to_millimeters(gcode
->get_value('X')) - pos
[X_AXIS
]);
932 homing_axis
[X_AXIS
].homed
= false; // force it to be homed
934 if (gcode
->has_letter('Y')) {
935 if(!homing_axis
[Y_AXIS
].homed
) {
936 gcode
->stream
->printf("error: Axis Y must be homed before setting Homing offset\n");
939 homing_axis
[Y_AXIS
].home_offset
+= (THEROBOT
->to_millimeters(gcode
->get_value('Y')) - pos
[Y_AXIS
]);
940 homing_axis
[Y_AXIS
].homed
= false; // force it to be homed
942 if (gcode
->has_letter('Z')) {
943 if(!homing_axis
[Z_AXIS
].homed
) {
944 gcode
->stream
->printf("error: Axis Z must be homed before setting Homing offset\n");
947 homing_axis
[Z_AXIS
].home_offset
+= (THEROBOT
->to_millimeters(gcode
->get_value('Z')) - pos
[Z_AXIS
]);
948 homing_axis
[Z_AXIS
].homed
= false; // force it to be homed
951 gcode
->stream
->printf("Homing Offset: X %5.3f Y %5.3f Z %5.3f will take effect next home\n", homing_axis
[X_AXIS
].home_offset
, homing_axis
[Y_AXIS
].home_offset
, homing_axis
[Z_AXIS
].home_offset
);
954 void Endstops::handle_park(Gcode
* gcode
)
956 // TODO: spec says if XYZ specified move to them first then move to MCS of specifed axis
957 THEROBOT
->push_state();
958 THEROBOT
->absolute_mode
= true;
960 snprintf(buf
, sizeof(buf
), "G53 G0 X%f Y%f", THEROBOT
->from_millimeters(saved_position
[X_AXIS
]), THEROBOT
->from_millimeters(saved_position
[Y_AXIS
])); // must use machine coordinates in case G92 or WCS is in effect
961 struct SerialMessage message
;
962 message
.message
= buf
;
963 message
.stream
= &(StreamOutput::NullStream
);
964 THEKERNEL
->call_event(ON_CONSOLE_LINE_RECEIVED
, &message
); // as it is a multi G code command
965 // Wait for above to finish
966 THECONVEYOR
->wait_for_idle();
967 THEROBOT
->pop_state();
971 void Endstops::on_gcode_received(void *argument
)
973 Gcode
*gcode
= static_cast<Gcode
*>(argument
);
975 if ( gcode
->has_g
&& gcode
->g
== 28) {
976 switch(gcode
->subcode
) {
977 case 0: // G28 in grbl mode will do a rapid to the predefined position otherwise it is home command
978 if(THEKERNEL
->is_grbl_mode()){
981 process_home_command(gcode
);
985 case 1: // G28.1 set pre defined park position
986 // saves current position in absolute machine coordinates
987 THEROBOT
->get_axis_position(saved_position
); // Only XY are used
988 // Note the following is only meant to be used for recovering a saved position from config-override
989 // Not a standard Gcode and not to be relied on
990 if (gcode
->has_letter('X')) saved_position
[X_AXIS
] = gcode
->get_value('X');
991 if (gcode
->has_letter('Y')) saved_position
[Y_AXIS
] = gcode
->get_value('Y');
994 case 2: // G28.2 in grbl mode does homing (triggered by $H), otherwise it moves to the park position
995 if(THEKERNEL
->is_grbl_mode()) {
996 process_home_command(gcode
);
1002 case 3: // G28.3 is a smoothie special it sets manual homing
1003 if(gcode
->get_num_args() == 0) {
1004 for (auto &p
: homing_axis
) {
1006 THEROBOT
->reset_axis_position(0, p
.axis_index
);
1009 // do a manual homing based on given coordinates, no endstops required
1010 if(gcode
->has_letter('X')){ THEROBOT
->reset_axis_position(gcode
->get_value('X'), X_AXIS
); homing_axis
[X_AXIS
].homed
= true; }
1011 if(gcode
->has_letter('Y')){ THEROBOT
->reset_axis_position(gcode
->get_value('Y'), Y_AXIS
); homing_axis
[Y_AXIS
].homed
= true; }
1012 if(gcode
->has_letter('Z')){ THEROBOT
->reset_axis_position(gcode
->get_value('Z'), Z_AXIS
); homing_axis
[Z_AXIS
].homed
= true; }
1013 if(homing_axis
.size() > A_AXIS
&& gcode
->has_letter('A')){ THEROBOT
->reset_axis_position(gcode
->get_value('A'), A_AXIS
); homing_axis
[A_AXIS
].homed
= true; }
1014 if(homing_axis
.size() > B_AXIS
&& gcode
->has_letter('B')){ THEROBOT
->reset_axis_position(gcode
->get_value('B'), B_AXIS
); homing_axis
[B_AXIS
].homed
= true; }
1015 if(homing_axis
.size() > C_AXIS
&& gcode
->has_letter('C')){ THEROBOT
->reset_axis_position(gcode
->get_value('C'), C_AXIS
); homing_axis
[C_AXIS
].homed
= true; }
1019 case 4: { // G28.4 is a smoothie special it sets manual homing based on the actuator position (used for rotary delta)
1020 // do a manual homing based on given coordinates, no endstops required
1021 ActuatorCoordinates ac
{NAN
, NAN
, NAN
};
1022 if(gcode
->has_letter('X')){ ac
[0] = gcode
->get_value('X'); homing_axis
[X_AXIS
].homed
= true; }
1023 if(gcode
->has_letter('Y')){ ac
[1] = gcode
->get_value('Y'); homing_axis
[Y_AXIS
].homed
= true; }
1024 if(gcode
->has_letter('Z')){ ac
[2] = gcode
->get_value('Z'); homing_axis
[Z_AXIS
].homed
= true; }
1025 THEROBOT
->reset_actuator_position(ac
);
1029 case 5: // G28.5 is a smoothie special it clears the homed flag for the specified axis, or all if not specifed
1030 if(gcode
->get_num_args() == 0) {
1031 for (auto &p
: homing_axis
) p
.homed
= false;
1033 if(gcode
->has_letter('X')) homing_axis
[X_AXIS
].homed
= false;
1034 if(gcode
->has_letter('Y')) homing_axis
[Y_AXIS
].homed
= false;
1035 if(gcode
->has_letter('Z')) homing_axis
[Z_AXIS
].homed
= false;
1036 if(homing_axis
.size() > A_AXIS
&& gcode
->has_letter('A')) homing_axis
[A_AXIS
].homed
= false;
1037 if(homing_axis
.size() > B_AXIS
&& gcode
->has_letter('B')) homing_axis
[B_AXIS
].homed
= false;
1038 if(homing_axis
.size() > C_AXIS
&& gcode
->has_letter('C')) homing_axis
[C_AXIS
].homed
= false;
1042 case 6: // G28.6 is a smoothie special it shows the homing status of each axis
1043 for (auto &p
: homing_axis
) {
1044 gcode
->stream
->printf("%c:%d ", p
.axis
, p
.homed
);
1046 gcode
->add_nl
= true;
1050 if(THEKERNEL
->is_grbl_mode()) {
1051 gcode
->stream
->printf("error:Unsupported command\n");
1056 } else if (gcode
->has_m
) {
1060 for(auto& h
: homing_axis
) {
1062 name
.append(1, h
.axis
).append(h
.home_direction
? "_min" : "_max");
1063 gcode
->stream
->printf("%s:%d ", name
.c_str(), h
.pin_info
->pin
.get());
1065 gcode
->stream
->printf("pins- ");
1066 for(auto& p
: endstops
) {
1067 string
str(1, p
->axis
);
1068 if(p
->limit_enable
) str
.append("L");
1069 gcode
->stream
->printf("(%s)P%d.%d:%d ", str
.c_str(), p
->pin
.port_number
, p
->pin
.pin
, p
->pin
.get());
1071 gcode
->add_nl
= true;
1075 case 206: // M206 - set homing offset
1076 if(is_rdelta
) return; // RotaryDeltaCalibration module will handle this
1077 for (auto &p
: homing_axis
) {
1078 if (gcode
->has_letter(p
.axis
)) p
.home_offset
= gcode
->get_value(p
.axis
);
1081 for (auto &p
: homing_axis
) {
1082 gcode
->stream
->printf("%c: %5.3f ", p
.axis
, p
.home_offset
);
1085 gcode
->stream
->printf(" will take effect next home\n");
1088 case 306: // set homing offset based on current position
1089 if(is_rdelta
) return; // RotaryDeltaCalibration module will handle this
1091 set_homing_offset(gcode
);
1094 case 500: // save settings
1095 case 503: // print settings
1097 gcode
->stream
->printf(";Home offset (mm):\nM206 ");
1098 for (auto &p
: homing_axis
) {
1099 gcode
->stream
->printf("%c%1.2f ", p
.axis
, p
.home_offset
);
1101 gcode
->stream
->printf("\n");
1104 gcode
->stream
->printf(";Theta offset (degrees):\nM206 A%1.5f B%1.5f C%1.5f\n",
1105 homing_axis
[X_AXIS
].home_offset
, homing_axis
[Y_AXIS
].home_offset
, homing_axis
[Z_AXIS
].home_offset
);
1108 if (this->is_delta
|| this->is_scara
) {
1109 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]);
1110 gcode
->stream
->printf(";Max Z\nM665 Z%1.3f\n", homing_axis
[Z_AXIS
].homing_position
);
1112 if(saved_position
[X_AXIS
] != 0 || saved_position
[Y_AXIS
] != 0) {
1113 gcode
->stream
->printf(";predefined position:\nG28.1 X%1.4f Y%1.4f\n", saved_position
[X_AXIS
], saved_position
[Y_AXIS
]);
1118 if (this->is_delta
|| this->is_scara
) { // M665 - set max gamma/z height
1119 float gamma_max
= homing_axis
[Z_AXIS
].homing_position
;
1120 if (gcode
->has_letter('Z')) {
1121 homing_axis
[Z_AXIS
].homing_position
= gamma_max
= gcode
->get_value('Z');
1123 gcode
->stream
->printf("Max Z %8.3f ", gamma_max
);
1124 gcode
->add_nl
= true;
1129 if(this->is_delta
|| this->is_scara
) { // M666 - set trim for each axis in mm, NB negative mm trim is down
1130 if (gcode
->has_letter('X')) trim_mm
[0] = gcode
->get_value('X');
1131 if (gcode
->has_letter('Y')) trim_mm
[1] = gcode
->get_value('Y');
1132 if (gcode
->has_letter('Z')) trim_mm
[2] = gcode
->get_value('Z');
1134 // print the current trim values in mm
1135 gcode
->stream
->printf("X: %5.3f Y: %5.3f Z: %5.3f\n", trim_mm
[0], trim_mm
[1], trim_mm
[2]);
1144 void Endstops::on_get_public_data(void* argument
)
1146 PublicDataRequest
* pdr
= static_cast<PublicDataRequest
*>(argument
);
1148 if(!pdr
->starts_with(endstops_checksum
)) return;
1150 if(pdr
->second_element_is(trim_checksum
)) {
1151 pdr
->set_data_ptr(&this->trim_mm
);
1154 } else if(pdr
->second_element_is(home_offset_checksum
)) {
1155 // provided by caller
1156 float *data
= static_cast<float *>(pdr
->get_data_ptr());
1157 for (int i
= 0; i
< 3; ++i
) {
1158 data
[i
]= homing_axis
[i
].home_offset
;
1162 } else if(pdr
->second_element_is(saved_position_checksum
)) {
1163 pdr
->set_data_ptr(&this->saved_position
);
1166 } else if(pdr
->second_element_is(get_homing_status_checksum
)) {
1167 bool *homing
= static_cast<bool *>(pdr
->get_data_ptr());
1168 *homing
= this->status
!= NOT_HOMING
;
1171 } else if(pdr
->second_element_is(get_homed_status_checksum
)) {
1172 bool *homed
= static_cast<bool *>(pdr
->get_data_ptr());
1173 for (int i
= 0; i
< 3; ++i
) {
1174 homed
[i
]= homing_axis
[i
].homed
;
1180 void Endstops::on_set_public_data(void* argument
)
1182 PublicDataRequest
* pdr
= static_cast<PublicDataRequest
*>(argument
);
1184 if(!pdr
->starts_with(endstops_checksum
)) return;
1186 if(pdr
->second_element_is(trim_checksum
)) {
1187 float *t
= static_cast<float*>(pdr
->get_data_ptr());
1188 this->trim_mm
[0] = t
[0];
1189 this->trim_mm
[1] = t
[1];
1190 this->trim_mm
[2] = t
[2];
1193 } else if(pdr
->second_element_is(home_offset_checksum
)) {
1194 float *t
= static_cast<float*>(pdr
->get_data_ptr());
1195 if(!isnan(t
[0])) homing_axis
[0].home_offset
= t
[0];
1196 if(!isnan(t
[1])) homing_axis
[1].home_offset
= t
[1];
1197 if(!isnan(t
[2])) homing_axis
[2].home_offset
= t
[2];