src/modules/tools/endstops/Endstops.cpp

   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 Endstops::Endstops(){
  19     this->status = NOT_HOMING;
  20 }
  21
  22 void Endstops::on_module_loaded() {
  23     // Do not do anything if not enabled
  24     if( this->kernel->config->value( endstops_module_enable_checksum )->by_default(true)->as_bool() == false ){ return; }
  25
  26     register_for_event(ON_CONFIG_RELOAD);
  27     this->register_for_event(ON_GCODE_RECEIVED);
  28
  29     // Take StepperMotor objects from Robot and keep them here
  30     this->steppers[0] = this->kernel->robot->alpha_stepper_motor;
  31     this->steppers[1] = this->kernel->robot->beta_stepper_motor;
  32     this->steppers[2] = this->kernel->robot->gamma_stepper_motor;
  33
  34     // Settings
  35     this->on_config_reload(this);
  36
  37 }
  38
  39 //#pragma GCC push_options
  40 //#pragma GCC optimize ("O0")
  41
  42 // Get config
  43 void Endstops::on_config_reload(void* argument){
  44     this->pins[0].from_string(         this->kernel->config->value(alpha_min_endstop_checksum          )->by_default("nc" )->as_string())->as_input()->pull_up();
  45     this->pins[1].from_string(         this->kernel->config->value(beta_min_endstop_checksum           )->by_default("nc" )->as_string())->as_input()->pull_up();
  46     this->pins[2].from_string(         this->kernel->config->value(gamma_min_endstop_checksum          )->by_default("nc" )->as_string())->as_input()->pull_up();
  47     this->pins[3].from_string(         this->kernel->config->value(alpha_max_endstop_checksum          )->by_default("nc" )->as_string())->as_input()->pull_up();
  48     this->pins[4].from_string(         this->kernel->config->value(beta_max_endstop_checksum           )->by_default("nc" )->as_string())->as_input()->pull_up();
  49     this->pins[5].from_string(         this->kernel->config->value(gamma_max_endstop_checksum          )->by_default("nc" )->as_string())->as_input()->pull_up();
  50     this->fast_rates[0]             =  this->kernel->config->value(alpha_fast_homing_rate_checksum     )->by_default(500  )->as_number();
  51     this->fast_rates[1]             =  this->kernel->config->value(beta_fast_homing_rate_checksum      )->by_default(500  )->as_number();
  52     this->fast_rates[2]             =  this->kernel->config->value(gamma_fast_homing_rate_checksum     )->by_default(5    )->as_number();
  53     this->slow_rates[0]             =  this->kernel->config->value(alpha_slow_homing_rate_checksum     )->by_default(100  )->as_number();
  54     this->slow_rates[1]             =  this->kernel->config->value(beta_slow_homing_rate_checksum      )->by_default(100  )->as_number();
  55     this->slow_rates[2]             =  this->kernel->config->value(gamma_slow_homing_rate_checksum     )->by_default(5    )->as_number();
  56     this->retract_steps[0]          =  this->kernel->config->value(alpha_homing_retract_checksum       )->by_default(30   )->as_number();
  57     this->retract_steps[1]          =  this->kernel->config->value(beta_homing_retract_checksum        )->by_default(30   )->as_number();
  58     this->retract_steps[2]          =  this->kernel->config->value(gamma_homing_retract_checksum       )->by_default(10   )->as_number();
  59     this->debounce_count            =  this->kernel->config->value(endstop_debounce_count_checksum     )->by_default(100  )->as_number();
  60
  61     // get homing direction and convert to boolean where true is home to min, and false is home to max
  62     int home_dir                    = get_checksum(this->kernel->config->value(alpha_homing_direction_checksum)->by_default("home_to_min")->as_string());
  63     this->home_direction[0]         = home_dir != home_to_max_checksum;
  64
  65     home_dir                        = get_checksum(this->kernel->config->value(beta_homing_direction_checksum)->by_default("home_to_min")->as_string());
  66     this->home_direction[1]         = home_dir != home_to_max_checksum;
  67
  68     home_dir                        = get_checksum(this->kernel->config->value(gamma_homing_direction_checksum)->by_default("home_to_min")->as_string());
  69     this->home_direction[2]         = home_dir != home_to_max_checksum;
  70
  71     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();
  72     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();;
  73     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();;
  74 }
  75
  76 //#pragma GCC pop_options
  77
  78 void Endstops::wait_for_homed(char axes_to_move){
  79     bool running = true;
  80     unsigned int debounce[3] = {0,0,0};
  81     while(running){
  82         running = false;
  83         this->kernel->call_event(ON_IDLE);
  84         for( char c = 'X'; c <= 'Z'; c++ ){
  85             if( ( axes_to_move >> ( c - 'X' ) ) & 1 ){
  86                 if( this->pins[c - 'X' + (this->home_direction[c - 'X']?0:3)].get() ){
  87                     if( debounce[c - 'X'] < debounce_count ) {
  88                         debounce[c - 'X'] ++;
  89                         running = true;
  90                     } else if ( this->steppers[c - 'X']->moving ){
  91                         this->steppers[c - 'X']->move(0,0);
  92                         //this->kernel->streams->printf("move done %c\r\n", c);
  93                     }
  94                 }else{
  95                     // The endstop was not hit yet
  96                     running = true;
  97                     debounce[c - 'X'] = 0;
  98                 }
  99             }
 100         }
 101     }
 102 }
 103
 104 // Start homing sequences by response to GCode commands
 105 void Endstops::on_gcode_received(void* argument)
 106 {
 107     Gcode* gcode = static_cast<Gcode*>(argument);
 108     if( gcode->has_g)
 109     {
 110         if( gcode->g == 28 )
 111         {
 112             // G28 is received, we have homing to do
 113
 114             // First wait for the queue to be empty
 115             this->kernel->conveyor->wait_for_empty_queue();
 116
 117             // Do we move select axes or all of them
 118             char axes_to_move = 0;
 119             // only enable homing if the endstop is defined
 120             bool home_all= !( gcode->has_letter('X') || gcode->has_letter('Y') || gcode->has_letter('Z') );
 121
 122             for( char c = 'X'; c <= 'Z'; c++ ){
 123                 if( (home_all || gcode->has_letter(c)) && this->pins[c - 'X' + (this->home_direction[c - 'X']?0:3)].connected() ){ axes_to_move += ( 1 << (c - 'X' ) ); }
 124             }
 125
 126             // Enable the motors
 127             this->kernel->stepper->turn_enable_pins_on();
 128
 129             // Start moving the axes to the origin
 130             this->status = MOVING_TO_ORIGIN_FAST;
 131             for( char c = 'X'; c <= 'Z'; c++ ){
 132                 if( ( axes_to_move >> ( c - 'X' ) ) & 1 ){
 133                     gcode->stream->printf("homing axis %c\r\n", c);
 134                     this->steppers[c - 'X']->set_speed(this->fast_rates[c - 'X']);
 135                     this->steppers[c - 'X']->move(this->home_direction[c - 'X'],10000000);
 136                 }
 137             }
 138
 139             // Wait for all axes to have homed
 140             this->wait_for_homed(axes_to_move);
 141
 142             gcode->stream->printf("test a\r\n");
 143             // Move back a small distance
 144             this->status = MOVING_BACK;
 145             int inverted_dir;
 146             for( char c = 'X'; c <= 'Z'; c++ ){
 147                 if( ( axes_to_move >> ( c - 'X' ) ) & 1 ){
 148                     inverted_dir = -(this->home_direction[c - 'X'] - 1);
 149                     this->steppers[c - 'X']->set_speed(this->slow_rates[c - 'X']);
 150                     this->steppers[c - 'X']->move(inverted_dir,this->retract_steps[c - 'X']);
 151                 }
 152             }
 153
 154             gcode->stream->printf("test b\r\n");
 155             // Wait for moves to be done
 156             for( char c = 'X'; c <= 'Z'; c++ ){
 157                 if(  ( axes_to_move >> ( c - 'X' ) ) & 1 ){
 158                     this->kernel->streams->printf("axis %c \r\n", c );
 159                     while( this->steppers[c - 'X']->moving ){
 160                         this->kernel->call_event(ON_IDLE);
 161                     }
 162                 }
 163             }
 164
 165             gcode->stream->printf("test c\r\n");
 166
 167             // Start moving the axes to the origin slowly
 168             this->status = MOVING_TO_ORIGIN_SLOW;
 169             for( char c = 'X'; c <= 'Z'; c++ ){
 170                 if( ( axes_to_move >> ( c - 'X' ) ) & 1 ){
 171                     this->steppers[c - 'X']->set_speed(this->slow_rates[c -'X']);
 172                     this->steppers[c - 'X']->move(this->home_direction[c - 'X'],10000000);
 173                 }
 174             }
 175
 176             // Wait for all axes to have homed
 177             this->wait_for_homed(axes_to_move);
 178
 179             // Homing is done
 180             this->status = NOT_HOMING;
 181
 182             // Zero the ax(i/e)s position
 183             for( char c = 'X'; c <= 'Z'; c++ ){
 184                 if( ( axes_to_move >> ( c - 'X' ) ) & 1 ){
 185
 186                     this->kernel->robot->reset_axis_position(this->homing_position[c - 'X'], c - 'X');
 187                 }
 188             }
 189
 190         }
 191     }
 192     else if (gcode->has_m){
 193         switch(gcode->m){
 194             case 119:
 195                 gcode->stream->printf("X min:%d max:%d Y min:%d max:%d Z min:%d max:%d\n", this->pins[0].get(), this->pins[3].get(), this->pins[1].get(), this->pins[4].get(), this->pins[2].get(), this->pins[5].get() );
 196                 break;
 197         }
 198     }
 199 }
 200