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 // Get config
  40 void Endstops::on_config_reload(void* argument){
  41     this->pins[0].from_string(         this->kernel->config->value(alpha_min_endstop_checksum          )->by_default("nc" )->as_string())->as_input();
  42     this->pins[1].from_string(         this->kernel->config->value(beta_min_endstop_checksum           )->by_default("nc" )->as_string())->as_input();
  43     this->pins[2].from_string(         this->kernel->config->value(gamma_min_endstop_checksum          )->by_default("nc" )->as_string())->as_input();
  44     this->pins[3].from_string(         this->kernel->config->value(alpha_max_endstop_checksum          )->by_default("nc" )->as_string())->as_input();
  45     this->pins[4].from_string(         this->kernel->config->value(beta_max_endstop_checksum           )->by_default("nc" )->as_string())->as_input();
  46     this->pins[5].from_string(         this->kernel->config->value(gamma_max_endstop_checksum          )->by_default("nc" )->as_string())->as_input();
  47     this->fast_rates[0]             =  this->kernel->config->value(alpha_fast_homing_rate_checksum     )->by_default(500  )->as_number();
  48     this->fast_rates[1]             =  this->kernel->config->value(beta_fast_homing_rate_checksum      )->by_default(500  )->as_number();
  49     this->fast_rates[2]             =  this->kernel->config->value(gamma_fast_homing_rate_checksum     )->by_default(5    )->as_number();
  50     this->slow_rates[0]             =  this->kernel->config->value(alpha_slow_homing_rate_checksum     )->by_default(100  )->as_number();
  51     this->slow_rates[1]             =  this->kernel->config->value(beta_slow_homing_rate_checksum      )->by_default(100  )->as_number();
  52     this->slow_rates[2]             =  this->kernel->config->value(gamma_slow_homing_rate_checksum     )->by_default(5    )->as_number();
  53     this->retract_steps[0]          =  this->kernel->config->value(alpha_homing_retract_checksum       )->by_default(30   )->as_number();
  54     this->retract_steps[1]          =  this->kernel->config->value(beta_homing_retract_checksum        )->by_default(30   )->as_number();
  55     this->retract_steps[2]          =  this->kernel->config->value(gamma_homing_retract_checksum       )->by_default(10   )->as_number();
  56     this->trim[0]                   =  this->kernel->config->value(alpha_trim_checksum                 )->by_default(0   )->as_number();
  57     this->trim[1]                   =  this->kernel->config->value(beta_trim_checksum                  )->by_default(0   )->as_number();
  58     this->trim[2]                   =  this->kernel->config->value(gamma_trim_checksum                 )->by_default(0   )->as_number();
  59     this->debounce_count            =  this->kernel->config->value(endstop_debounce_count_checksum     )->by_default(100  )->as_number();
  60
  61     // we need to know steps per mm for M206, TODO should probably use them for all settings
  62     this->steps_per_mm[0]           =  this->kernel->config->value(alpha_steps_per_mm_checksum         )->as_number();
  63     this->steps_per_mm[1]           =  this->kernel->config->value(beta_steps_per_mm_checksum          )->as_number();
  64     this->steps_per_mm[2]           =  this->kernel->config->value(gamma_steps_per_mm_checksum         )->as_number();
  65
  66     // get homing direction and convert to boolean where true is home to min, and false is home to max
  67     int home_dir                    = get_checksum(this->kernel->config->value(alpha_homing_direction_checksum)->by_default("home_to_min")->as_string());
  68     this->home_direction[0]         = home_dir != home_to_max_checksum;
  69
  70     home_dir                        = get_checksum(this->kernel->config->value(beta_homing_direction_checksum)->by_default("home_to_min")->as_string());
  71     this->home_direction[1]         = home_dir != home_to_max_checksum;
  72
  73     home_dir                        = get_checksum(this->kernel->config->value(gamma_homing_direction_checksum)->by_default("home_to_min")->as_string());
  74     this->home_direction[2]         = home_dir != home_to_max_checksum;
  75
  76     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();
  77     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();;
  78     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();;
  79 }
  80
  81 void Endstops::wait_for_homed(char axes_to_move){
  82     bool running = true;
  83     unsigned int debounce[3] = {0,0,0};
  84     while(running){
  85         running = false;
  86         this->kernel->call_event(ON_IDLE);
  87         for( char c = 'X'; c <= 'Z'; c++ ){
  88             if( ( axes_to_move >> ( c - 'X' ) ) & 1 ){
  89                 if( this->pins[c - 'X' + (this->home_direction[c - 'X']?0:3)].get() ){
  90                     if( debounce[c - 'X'] < debounce_count ) {
  91                         debounce[c - 'X'] ++;
  92                         running = true;
  93                     } else if ( this->steppers[c - 'X']->moving ){
  94                         this->steppers[c - 'X']->move(0,0);
  95                         //this->kernel->streams->printf("move done %c\r\n", c);
  96                     }
  97                 }else{
  98                     // The endstop was not hit yet
  99                     running = true;
 100                     debounce[c - 'X'] = 0;
 101                 }
 102             }
 103         }
 104     }
 105 }
 106
 107 // Start homing sequences by response to GCode commands
 108 void Endstops::on_gcode_received(void* argument)
 109 {
 110     Gcode* gcode = static_cast<Gcode*>(argument);
 111     if( gcode->has_g)
 112     {
 113         if( gcode->g == 28 )
 114         {
 115             gcode->mark_as_taken();
 116             // G28 is received, we have homing to do
 117
 118             // First wait for the queue to be empty
 119             this->kernel->conveyor->wait_for_empty_queue();
 120
 121             // Do we move select axes or all of them
 122             char axes_to_move = 0;
 123             // only enable homing if the endstop is defined
 124             bool home_all= !( gcode->has_letter('X') || gcode->has_letter('Y') || gcode->has_letter('Z') );
 125
 126             for( char c = 'X'; c <= 'Z'; c++ ){
 127                 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' ) ); }
 128             }
 129
 130             // Enable the motors
 131             this->kernel->stepper->turn_enable_pins_on();
 132
 133             // Start moving the axes to the origin
 134             this->status = MOVING_TO_ORIGIN_FAST;
 135             for( char c = 'X'; c <= 'Z'; c++ ){
 136                 if( ( axes_to_move >> ( c - 'X' ) ) & 1 ){
 137                     gcode->stream->printf("homing axis %c\r\n", c);
 138                     this->steppers[c - 'X']->set_speed(this->fast_rates[c - 'X']);
 139                     this->steppers[c - 'X']->move(this->home_direction[c - 'X'],10000000);
 140                 }
 141             }
 142
 143             // Wait for all axes to have homed
 144             this->wait_for_homed(axes_to_move);
 145
 146             gcode->stream->printf("test a\r\n");
 147             // Move back a small distance
 148             this->status = MOVING_BACK;
 149             bool inverted_dir;
 150             for( char c = 'X'; c <= 'Z'; c++ ){
 151                 if( ( axes_to_move >> ( c - 'X' ) ) & 1 ){
 152                     inverted_dir = !this->home_direction[c - 'X'];
 153                     this->steppers[c - 'X']->set_speed(this->slow_rates[c - 'X']);
 154                     this->steppers[c - 'X']->move(inverted_dir,this->retract_steps[c - 'X']);
 155                 }
 156             }
 157
 158             gcode->stream->printf("test b\r\n");
 159             // Wait for moves to be done
 160             for( char c = 'X'; c <= 'Z'; c++ ){
 161                 if(  ( axes_to_move >> ( c - 'X' ) ) & 1 ){
 162                     this->kernel->streams->printf("axis %c \r\n", c );
 163                     while( this->steppers[c - 'X']->moving ){
 164                         this->kernel->call_event(ON_IDLE);
 165                     }
 166                 }
 167             }
 168
 169             gcode->stream->printf("test c\r\n");
 170
 171             // Start moving the axes to the origin slowly
 172             this->status = MOVING_TO_ORIGIN_SLOW;
 173             for( char c = 'X'; c <= 'Z'; c++ ){
 174                 if( ( axes_to_move >> ( c - 'X' ) ) & 1 ){
 175                     this->steppers[c - 'X']->set_speed(this->slow_rates[c -'X']);
 176                     this->steppers[c - 'X']->move(this->home_direction[c - 'X'],10000000);
 177                 }
 178             }
 179
 180             // Wait for all axes to have homed
 181             this->wait_for_homed(axes_to_move);
 182
 183             // move for soft trim
 184             this->status = MOVING_BACK;
 185             for( char c = 'X'; c <= 'Z'; c++ ){
 186                 if( this->trim[c - 'X'] != 0 && ( axes_to_move >> ( c - 'X' ) ) & 1 ){
 187                     inverted_dir = !this->home_direction[c - 'X'];
 188                     // move up or down depending on sign of trim
 189                     if(this->trim[c - 'X'] < 0) inverted_dir= !inverted_dir;
 190                     this->steppers[c - 'X']->set_speed(this->slow_rates[c - 'X']);
 191                     this->steppers[c - 'X']->move(inverted_dir,this->trim[c - 'X']);
 192                 }
 193             }
 194
 195             // Wait for moves to be done
 196             for( char c = 'X'; c <= 'Z'; c++ ){
 197                 if(  ( axes_to_move >> ( c - 'X' ) ) & 1 ){
 198                     this->kernel->streams->printf("axis %c \r\n", c );
 199                     while( this->steppers[c - 'X']->moving ){
 200                         this->kernel->call_event(ON_IDLE);
 201                     }
 202                 }
 203             }
 204
 205             // Homing is done
 206             this->status = NOT_HOMING;
 207
 208             // Zero the ax(i/e)s position
 209             for( char c = 'X'; c <= 'Z'; c++ ){
 210                 if( ( axes_to_move >> ( c - 'X' ) ) & 1 ){
 211
 212                     this->kernel->robot->reset_axis_position(this->homing_position[c - 'X'], c - 'X');
 213                 }
 214             }
 215
 216         }
 217     }
 218     else if (gcode->has_m){
 219         switch(gcode->m){
 220             case 119:
 221                 {
 222
 223                     int px= this->home_direction[0] ? 0 : 3;
 224                     int py= this->home_direction[1] ? 1 : 4;
 225                     int pz= this->home_direction[2] ? 2 : 5;
 226                     const char* mx= this->home_direction[0] ? "min" : "max";
 227                     const char* my= this->home_direction[1] ? "min" : "max";
 228                     const char* mz= this->home_direction[2] ? "min" : "max";
 229
 230                     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());
 231                     gcode->mark_as_taken();
 232                 }
 233                 break;
 234
 235             case 206: // M206 - set trim for each axis in mm
 236                 {
 237                     int dirx= (this->home_direction[0] ? 1 : -1);
 238                     int diry= (this->home_direction[1] ? 1 : -1);
 239                     int dirz= (this->home_direction[2] ? 1 : -1);
 240                     double mm[3];
 241                     mm[0]= trim[0]/steps_per_mm[0] * dirx; // convert to mm
 242                     mm[1]= trim[1]/steps_per_mm[1] * diry;
 243                     mm[2]= trim[2]/steps_per_mm[2] * dirz;
 244
 245                     if(gcode->has_letter('X')) mm[0]= gcode->get_value('X');
 246                     if(gcode->has_letter('Y')) mm[1]= gcode->get_value('Y');
 247                     if(gcode->has_letter('Z')) mm[2]= gcode->get_value('Z');
 248
 249                     trim[0]= lround(mm[0]*steps_per_mm[0]) * dirx; // convert back to steps
 250                     trim[1]= lround(mm[1]*steps_per_mm[1]) * diry;
 251                     trim[2]= lround(mm[2]*steps_per_mm[2]) * dirz;
 252
 253                     // print the current trim values in mm and steps
 254                     char buf[64];
 255                     int n= snprintf(buf, sizeof(buf), "X:%5.3f (%d) Y:%5.3f (%d) Z:%5.3f (%d) ", mm[0], trim[0], mm[1], trim[1], mm[2], trim[2]);
 256                     gcode->txt_after_ok.append(buf, n);
 257                     gcode->mark_as_taken();
 258                 }
 259                 break;
 260
 261         }
 262     }
 263 }
 264