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
21 #include "SlowTicker.h"
23 #include "checksumm.h"
25 #include "ConfigValue.h"
26 #include "libs/StreamOutput.h"
27 #include "PublicDataRequest.h"
28 #include "EndstopsPublicAccess.h"
29 #include "StreamOutputPool.h"
30 #include "StepTicker.h"
31 #include "BaseSolution.h"
32 #include "SerialMessage.h"
43 #define endstops_module_enable_checksum CHECKSUM("endstops_enable")
44 #define corexy_homing_checksum CHECKSUM("corexy_homing")
45 #define delta_homing_checksum CHECKSUM("delta_homing")
46 #define rdelta_homing_checksum CHECKSUM("rdelta_homing")
47 #define scara_homing_checksum CHECKSUM("scara_homing")
49 #define alpha_min_endstop_checksum CHECKSUM("alpha_min_endstop")
50 #define beta_min_endstop_checksum CHECKSUM("beta_min_endstop")
51 #define gamma_min_endstop_checksum CHECKSUM("gamma_min_endstop")
53 #define alpha_max_endstop_checksum CHECKSUM("alpha_max_endstop")
54 #define beta_max_endstop_checksum CHECKSUM("beta_max_endstop")
55 #define gamma_max_endstop_checksum CHECKSUM("gamma_max_endstop")
57 #define alpha_trim_checksum CHECKSUM("alpha_trim")
58 #define beta_trim_checksum CHECKSUM("beta_trim")
59 #define gamma_trim_checksum CHECKSUM("gamma_trim")
61 // these values are in steps and should be deprecated
62 #define alpha_fast_homing_rate_checksum CHECKSUM("alpha_fast_homing_rate")
63 #define beta_fast_homing_rate_checksum CHECKSUM("beta_fast_homing_rate")
64 #define gamma_fast_homing_rate_checksum CHECKSUM("gamma_fast_homing_rate")
66 #define alpha_slow_homing_rate_checksum CHECKSUM("alpha_slow_homing_rate")
67 #define beta_slow_homing_rate_checksum CHECKSUM("beta_slow_homing_rate")
68 #define gamma_slow_homing_rate_checksum CHECKSUM("gamma_slow_homing_rate")
70 #define alpha_homing_retract_checksum CHECKSUM("alpha_homing_retract")
71 #define beta_homing_retract_checksum CHECKSUM("beta_homing_retract")
72 #define gamma_homing_retract_checksum CHECKSUM("gamma_homing_retract")
74 // same as above but in user friendly mm/s and mm
75 #define alpha_fast_homing_rate_mm_checksum CHECKSUM("alpha_fast_homing_rate_mm_s")
76 #define beta_fast_homing_rate_mm_checksum CHECKSUM("beta_fast_homing_rate_mm_s")
77 #define gamma_fast_homing_rate_mm_checksum CHECKSUM("gamma_fast_homing_rate_mm_s")
79 #define alpha_slow_homing_rate_mm_checksum CHECKSUM("alpha_slow_homing_rate_mm_s")
80 #define beta_slow_homing_rate_mm_checksum CHECKSUM("beta_slow_homing_rate_mm_s")
81 #define gamma_slow_homing_rate_mm_checksum CHECKSUM("gamma_slow_homing_rate_mm_s")
83 #define alpha_homing_retract_mm_checksum CHECKSUM("alpha_homing_retract_mm")
84 #define beta_homing_retract_mm_checksum CHECKSUM("beta_homing_retract_mm")
85 #define gamma_homing_retract_mm_checksum CHECKSUM("gamma_homing_retract_mm")
87 #define endstop_debounce_count_checksum CHECKSUM("endstop_debounce_count")
89 #define alpha_homing_direction_checksum CHECKSUM("alpha_homing_direction")
90 #define beta_homing_direction_checksum CHECKSUM("beta_homing_direction")
91 #define gamma_homing_direction_checksum CHECKSUM("gamma_homing_direction")
92 #define home_to_max_checksum CHECKSUM("home_to_max")
93 #define home_to_min_checksum CHECKSUM("home_to_min")
94 #define alpha_min_checksum CHECKSUM("alpha_min")
95 #define beta_min_checksum CHECKSUM("beta_min")
96 #define gamma_min_checksum CHECKSUM("gamma_min")
98 #define alpha_max_checksum CHECKSUM("alpha_max")
99 #define beta_max_checksum CHECKSUM("beta_max")
100 #define gamma_max_checksum CHECKSUM("gamma_max")
102 #define alpha_limit_enable_checksum CHECKSUM("alpha_limit_enable")
103 #define beta_limit_enable_checksum CHECKSUM("beta_limit_enable")
104 #define gamma_limit_enable_checksum CHECKSUM("gamma_limit_enable")
106 #define homing_order_checksum CHECKSUM("homing_order")
107 #define move_to_origin_checksum CHECKSUM("move_to_origin_after_home")
109 #define STEPPER THEKERNEL->robot->actuators
110 #define STEPS_PER_MM(a) (STEPPER[a]->get_steps_per_mm())
115 MOVING_TO_ENDSTOP_FAST
, // homing move
116 MOVING_BACK
, // homing move
117 MOVING_TO_ENDSTOP_SLOW
, // homing move
126 this->status
= NOT_HOMING
;
127 home_offset
[0] = home_offset
[1] = home_offset
[2] = 0.0F
;
130 void Endstops::on_module_loaded()
132 // Do not do anything if not enabled
133 if ( THEKERNEL
->config
->value( endstops_module_enable_checksum
)->by_default(true)->as_bool() == false ) {
138 register_for_event(ON_GCODE_RECEIVED
);
139 register_for_event(ON_GET_PUBLIC_DATA
);
140 register_for_event(ON_SET_PUBLIC_DATA
);
142 THEKERNEL
->step_ticker
->register_acceleration_tick_handler([this]() {acceleration_tick(); });
145 this->on_config_reload(this);
149 void Endstops::on_config_reload(void *argument
)
151 this->pins
[0].from_string( THEKERNEL
->config
->value(alpha_min_endstop_checksum
)->by_default("nc" )->as_string())->as_input();
152 this->pins
[1].from_string( THEKERNEL
->config
->value(beta_min_endstop_checksum
)->by_default("nc" )->as_string())->as_input();
153 this->pins
[2].from_string( THEKERNEL
->config
->value(gamma_min_endstop_checksum
)->by_default("nc" )->as_string())->as_input();
154 this->pins
[3].from_string( THEKERNEL
->config
->value(alpha_max_endstop_checksum
)->by_default("nc" )->as_string())->as_input();
155 this->pins
[4].from_string( THEKERNEL
->config
->value(beta_max_endstop_checksum
)->by_default("nc" )->as_string())->as_input();
156 this->pins
[5].from_string( THEKERNEL
->config
->value(gamma_max_endstop_checksum
)->by_default("nc" )->as_string())->as_input();
158 // These are the old ones in steps still here for backwards compatibility
159 this->fast_rates
[0] = THEKERNEL
->config
->value(alpha_fast_homing_rate_checksum
)->by_default(4000 )->as_number() / STEPS_PER_MM(0);
160 this->fast_rates
[1] = THEKERNEL
->config
->value(beta_fast_homing_rate_checksum
)->by_default(4000 )->as_number() / STEPS_PER_MM(1);
161 this->fast_rates
[2] = THEKERNEL
->config
->value(gamma_fast_homing_rate_checksum
)->by_default(6400 )->as_number() / STEPS_PER_MM(2);
162 this->slow_rates
[0] = THEKERNEL
->config
->value(alpha_slow_homing_rate_checksum
)->by_default(2000 )->as_number() / STEPS_PER_MM(0);
163 this->slow_rates
[1] = THEKERNEL
->config
->value(beta_slow_homing_rate_checksum
)->by_default(2000 )->as_number() / STEPS_PER_MM(1);
164 this->slow_rates
[2] = THEKERNEL
->config
->value(gamma_slow_homing_rate_checksum
)->by_default(3200 )->as_number() / STEPS_PER_MM(2);
165 this->retract_mm
[0] = THEKERNEL
->config
->value(alpha_homing_retract_checksum
)->by_default(400 )->as_number() / STEPS_PER_MM(0);
166 this->retract_mm
[1] = THEKERNEL
->config
->value(beta_homing_retract_checksum
)->by_default(400 )->as_number() / STEPS_PER_MM(1);
167 this->retract_mm
[2] = THEKERNEL
->config
->value(gamma_homing_retract_checksum
)->by_default(1600 )->as_number() / STEPS_PER_MM(2);
169 // newer mm based config values override the old ones, convert to steps/mm and steps, defaults to what was set in the older config settings above
170 this->fast_rates
[0] = THEKERNEL
->config
->value(alpha_fast_homing_rate_mm_checksum
)->by_default(this->fast_rates
[0])->as_number();
171 this->fast_rates
[1] = THEKERNEL
->config
->value(beta_fast_homing_rate_mm_checksum
)->by_default(this->fast_rates
[1])->as_number();
172 this->fast_rates
[2] = THEKERNEL
->config
->value(gamma_fast_homing_rate_mm_checksum
)->by_default(this->fast_rates
[2])->as_number();
173 this->slow_rates
[0] = THEKERNEL
->config
->value(alpha_slow_homing_rate_mm_checksum
)->by_default(this->slow_rates
[0])->as_number();
174 this->slow_rates
[1] = THEKERNEL
->config
->value(beta_slow_homing_rate_mm_checksum
)->by_default(this->slow_rates
[1])->as_number();
175 this->slow_rates
[2] = THEKERNEL
->config
->value(gamma_slow_homing_rate_mm_checksum
)->by_default(this->slow_rates
[2])->as_number();
176 this->retract_mm
[0] = THEKERNEL
->config
->value(alpha_homing_retract_mm_checksum
)->by_default(this->retract_mm
[0])->as_number();
177 this->retract_mm
[1] = THEKERNEL
->config
->value(beta_homing_retract_mm_checksum
)->by_default(this->retract_mm
[1])->as_number();
178 this->retract_mm
[2] = THEKERNEL
->config
->value(gamma_homing_retract_mm_checksum
)->by_default(this->retract_mm
[2])->as_number();
180 this->debounce_count
= THEKERNEL
->config
->value(endstop_debounce_count_checksum
)->by_default(100)->as_number();
182 // get homing direction and convert to boolean where true is home to min, and false is home to max
183 int home_dir
= get_checksum(THEKERNEL
->config
->value(alpha_homing_direction_checksum
)->by_default("home_to_min")->as_string());
184 this->home_direction
[0] = home_dir
!= home_to_max_checksum
;
186 home_dir
= get_checksum(THEKERNEL
->config
->value(beta_homing_direction_checksum
)->by_default("home_to_min")->as_string());
187 this->home_direction
[1] = home_dir
!= home_to_max_checksum
;
189 home_dir
= get_checksum(THEKERNEL
->config
->value(gamma_homing_direction_checksum
)->by_default("home_to_min")->as_string());
190 this->home_direction
[2] = home_dir
!= home_to_max_checksum
;
192 this->homing_position
[0] = this->home_direction
[0] ? THEKERNEL
->config
->value(alpha_min_checksum
)->by_default(0)->as_number() : THEKERNEL
->config
->value(alpha_max_checksum
)->by_default(200)->as_number();
193 this->homing_position
[1] = this->home_direction
[1] ? THEKERNEL
->config
->value(beta_min_checksum
)->by_default(0)->as_number() : THEKERNEL
->config
->value(beta_max_checksum
)->by_default(200)->as_number();
194 this->homing_position
[2] = this->home_direction
[2] ? THEKERNEL
->config
->value(gamma_min_checksum
)->by_default(0)->as_number() : THEKERNEL
->config
->value(gamma_max_checksum
)->by_default(200)->as_number();
196 this->is_corexy
= THEKERNEL
->config
->value(corexy_homing_checksum
)->by_default(false)->as_bool();
197 this->is_delta
= THEKERNEL
->config
->value(delta_homing_checksum
)->by_default(false)->as_bool();
198 this->is_rdelta
= THEKERNEL
->config
->value(rdelta_homing_checksum
)->by_default(false)->as_bool();
199 this->is_scara
= THEKERNEL
->config
->value(scara_homing_checksum
)->by_default(false)->as_bool();
201 // see if an order has been specified, must be three characters, XYZ or YXZ etc
202 string order
= THEKERNEL
->config
->value(homing_order_checksum
)->by_default("")->as_string();
203 this->homing_order
= 0;
204 if(order
.size() == 3 && !this->is_delta
) {
206 for(auto c
: order
) {
207 uint8_t i
= toupper(c
) - 'X';
208 if(i
> 2) { // bad value
209 this->homing_order
= 0;
212 homing_order
|= (i
<< shift
);
217 // endstop trim used by deltas to do soft adjusting
218 // on a delta homing to max, a negative trim value will move the carriage down, and a positive will move it up
219 this->trim_mm
[0] = THEKERNEL
->config
->value(alpha_trim_checksum
)->by_default(0 )->as_number();
220 this->trim_mm
[1] = THEKERNEL
->config
->value(beta_trim_checksum
)->by_default(0 )->as_number();
221 this->trim_mm
[2] = THEKERNEL
->config
->value(gamma_trim_checksum
)->by_default(0 )->as_number();
224 this->limit_enable
[X_AXIS
] = THEKERNEL
->config
->value(alpha_limit_enable_checksum
)->by_default(false)->as_bool();
225 this->limit_enable
[Y_AXIS
] = THEKERNEL
->config
->value(beta_limit_enable_checksum
)->by_default(false)->as_bool();
226 this->limit_enable
[Z_AXIS
] = THEKERNEL
->config
->value(gamma_limit_enable_checksum
)->by_default(false)->as_bool();
228 // set to true by default for deltas duwe to trim, false on cartesians
229 this->move_to_origin_after_home
= THEKERNEL
->config
->value(move_to_origin_checksum
)->by_default(is_delta
)->as_bool();
231 if(this->limit_enable
[X_AXIS
] || this->limit_enable
[Y_AXIS
] || this->limit_enable
[Z_AXIS
]) {
232 register_for_event(ON_IDLE
);
234 // we must enable all the limits not just one
235 this->limit_enable
[X_AXIS
] = true;
236 this->limit_enable
[Y_AXIS
] = true;
237 this->limit_enable
[Z_AXIS
] = true;
242 if(this->is_delta
|| this->is_rdelta
) {
243 // some things must be the same or they will die, so force it here to avoid config errors
244 this->fast_rates
[1] = this->fast_rates
[2] = this->fast_rates
[0];
245 this->slow_rates
[1] = this->slow_rates
[2] = this->slow_rates
[0];
246 this->retract_mm
[1] = this->retract_mm
[2] = this->retract_mm
[0];
247 this->home_direction
[1] = this->home_direction
[2] = this->home_direction
[0];
248 // NOTE homing_position for rdelta is the angle of the actuator not the cartesian position
249 if(!this->is_rdelta
) this->homing_position
[0] = this->homing_position
[1] = 0;
253 bool Endstops::debounced_get(int pin
)
255 uint8_t debounce
= 0;
256 while(this->pins
[pin
].get()) {
257 if ( ++debounce
>= this->debounce_count
) {
265 static const char *endstop_names
[] = {"min_x", "min_y", "min_z", "max_x", "max_y", "max_z"};
267 void Endstops::on_idle(void *argument
)
269 if(this->status
== LIMIT_TRIGGERED
) {
270 // if we were in limit triggered see if it has been cleared
271 for( int c
= X_AXIS
; c
<= Z_AXIS
; c
++ ) {
272 if(this->limit_enable
[c
]) {
273 std::array
<int, 2> minmax
{{0, 3}};
274 // check min and max endstops
275 for (int i
: minmax
) {
277 if(this->pins
[n
].get()) {
278 // still triggered, so exit
285 if(++bounce_cnt
> 10) { // can use less as it calls on_idle in between
287 this->status
= NOT_HOMING
;
291 } else if(this->status
!= NOT_HOMING
) {
292 // don't check while homing
296 for( int c
= X_AXIS
; c
<= Z_AXIS
; c
++ ) {
297 if(this->limit_enable
[c
] && STEPPER
[c
]->is_moving()) {
298 std::array
<int, 2> minmax
{{0, 3}};
299 // check min and max endstops
300 for (int i
: minmax
) {
302 if(debounced_get(n
)) {
304 THEKERNEL
->streams
->printf("Limit switch %s was hit - reset or M999 required\n", endstop_names
[n
]);
305 this->status
= LIMIT_TRIGGERED
;
306 // disables heaters and motors, ignores incoming Gcode and flushes block queue
307 THEKERNEL
->call_event(ON_HALT
, nullptr);
315 // if limit switches are enabled, then we must move off of the endstop otherwise we won't be able to move
316 // checks if triggered and only backs off if triggered
317 void Endstops::back_off_home(char axes_to_move
)
319 std::vector
<std::pair
<char, float>> params
;
320 this->status
= BACK_OFF_HOME
;
322 // these are handled differently
324 // Move off of the endstop using a regular relative move in Z only
325 params
.push_back({'Z', this->retract_mm
[Z_AXIS
] * (this->home_direction
[Z_AXIS
] ? 1 : -1)});
328 // cartesians, concatenate all the moves we need to do into one gcode
329 for( int c
= X_AXIS
; c
<= Z_AXIS
; c
++ ) {
330 if( ((axes_to_move
>> c
) & 1) == 0) continue; // only for axes we asked to move
332 // if not triggered no need to move off
333 if(this->limit_enable
[c
] && debounced_get(c
+ (this->home_direction
[c
] ? 0 : 3)) ) {
334 params
.push_back({c
+ 'X', this->retract_mm
[c
] * (this->home_direction
[c
] ? 1 : -1)});
339 if(!params
.empty()) {
340 // Move off of the endstop using a regular relative move
341 params
.insert(params
.begin(), {'G', 0});
342 // use X slow rate to move, Z should have a max speed set anyway
343 params
.push_back({'F', this->slow_rates
[X_AXIS
] * 60.0F
});
345 append_parameters(gcode_buf
, params
, sizeof(gcode_buf
));
346 Gcode
gc(gcode_buf
, &(StreamOutput::NullStream
));
347 THEKERNEL
->robot
->push_state();
348 THEKERNEL
->robot
->absolute_mode
= false; // needs to be relative mode
349 THEKERNEL
->robot
->on_gcode_received(&gc
); // send to robot directly
350 // Wait for above to finish
351 THEKERNEL
->conveyor
->wait_for_empty_queue();
352 THEKERNEL
->robot
->pop_state();
355 this->status
= NOT_HOMING
;
358 // If enabled will move the head to 0,0 after homing, but only if X and Y were set to home
359 void Endstops::move_to_origin(char axes_to_move
)
361 if( (axes_to_move
& 0x03) != 3 ) return; // ignore if X and Y not homing
363 // Do we need to check if we are already at 0,0? probably not as the G0 will not do anything if we are
364 // float pos[3]; THEKERNEL->robot->get_axis_position(pos); if(pos[0] == 0 && pos[1] == 0) return;
366 this->status
= MOVE_TO_ORIGIN
;
367 // Move to center using a regular move, use slower of X and Y fast rate
368 float rate
= std::min(this->fast_rates
[0], this->fast_rates
[1]) * 60.0F
;
370 snprintf(buf
, sizeof(buf
), "G53 G0 X0 Y0 F%1.4f", rate
); // must use machine coordinates in case G92 or WCS is in effect
371 THEKERNEL
->robot
->push_state();
372 struct SerialMessage message
;
373 message
.message
= buf
;
374 message
.stream
= &(StreamOutput::NullStream
);
375 THEKERNEL
->call_event(ON_CONSOLE_LINE_RECEIVED
, &message
); // as it is a multi G code command
376 // Wait for above to finish
377 THEKERNEL
->conveyor
->wait_for_empty_queue();
378 THEKERNEL
->robot
->pop_state();
379 this->status
= NOT_HOMING
;
382 bool Endstops::wait_for_homed(char axes_to_move
)
385 unsigned int debounce
[3] = {0, 0, 0};
388 THEKERNEL
->call_event(ON_IDLE
);
390 // check if on_halt (eg kill)
391 if(THEKERNEL
->is_halted()) return false;
393 for ( int c
= X_AXIS
; c
<= Z_AXIS
; c
++ ) {
394 if ( ( axes_to_move
>> c
) & 1 ) {
395 if ( this->pins
[c
+ (this->home_direction
[c
] ? 0 : 3)].get() ) {
396 if ( debounce
[c
] < debounce_count
) {
399 } else if ( STEPPER
[c
]->is_moving() ) {
400 STEPPER
[c
]->move(0, 0);
401 axes_to_move
&= ~(1 << c
); // no need to check it again
404 // The endstop was not hit yet
414 void Endstops::do_homing_cartesian(char axes_to_move
)
416 // check if on_halt (eg kill)
417 if(THEKERNEL
->is_halted()) return;
419 // this homing works for cartesian and delta printers
420 // Start moving the axes to the origin
421 this->status
= MOVING_TO_ENDSTOP_FAST
;
422 for ( int c
= X_AXIS
; c
<= Z_AXIS
; c
++ ) {
423 if ( ( axes_to_move
>> c
) & 1 ) {
424 this->feed_rate
[c
] = this->fast_rates
[c
];
425 STEPPER
[c
]->move(this->home_direction
[c
], 10000000, 0);
429 // Wait for all axes to have homed
430 if(!this->wait_for_homed(axes_to_move
)) return;
432 // Move back a small distance
433 this->status
= MOVING_BACK
;
435 for ( int c
= X_AXIS
; c
<= Z_AXIS
; c
++ ) {
436 if ( ( axes_to_move
>> c
) & 1 ) {
437 inverted_dir
= !this->home_direction
[c
];
438 this->feed_rate
[c
] = this->slow_rates
[c
];
439 STEPPER
[c
]->move(inverted_dir
, this->retract_mm
[c
]*STEPS_PER_MM(c
), 0);
443 // Wait for moves to be done
444 for ( int c
= X_AXIS
; c
<= Z_AXIS
; c
++ ) {
445 if ( ( axes_to_move
>> c
) & 1 ) {
446 while ( STEPPER
[c
]->is_moving() ) {
447 THEKERNEL
->call_event(ON_IDLE
);
448 if(THEKERNEL
->is_halted()) return;
453 // Start moving the axes to the origin slowly
454 this->status
= MOVING_TO_ENDSTOP_SLOW
;
455 for ( int c
= X_AXIS
; c
<= Z_AXIS
; c
++ ) {
456 if ( ( axes_to_move
>> c
) & 1 ) {
457 this->feed_rate
[c
] = this->slow_rates
[c
];
458 STEPPER
[c
]->move(this->home_direction
[c
], 10000000, 0);
462 // Wait for all axes to have homed
463 if(!this->wait_for_homed(axes_to_move
)) return;
466 bool Endstops::wait_for_homed_corexy(int axis
)
469 unsigned int debounce
[3] = {0, 0, 0};
472 THEKERNEL
->call_event(ON_IDLE
);
474 // check if on_halt (eg kill)
475 if(THEKERNEL
->is_halted()) return false;
477 if ( this->pins
[axis
+ (this->home_direction
[axis
] ? 0 : 3)].get() ) {
478 if ( debounce
[axis
] < debounce_count
) {
482 // turn both off if running
483 if (STEPPER
[X_AXIS
]->is_moving()) STEPPER
[X_AXIS
]->move(0, 0);
484 if (STEPPER
[Y_AXIS
]->is_moving()) STEPPER
[Y_AXIS
]->move(0, 0);
487 // The endstop was not hit yet
495 void Endstops::corexy_home(int home_axis
, bool dirx
, bool diry
, float fast_rate
, float slow_rate
, unsigned int retract_steps
)
497 // check if on_halt (eg kill)
498 if(THEKERNEL
->is_halted()) return;
500 this->status
= MOVING_TO_ENDSTOP_FAST
;
501 this->feed_rate
[X_AXIS
] = fast_rate
;
502 STEPPER
[X_AXIS
]->move(dirx
, 10000000, 0);
503 this->feed_rate
[Y_AXIS
] = fast_rate
;
504 STEPPER
[Y_AXIS
]->move(diry
, 10000000, 0);
506 // wait for primary axis
507 if(!this->wait_for_homed_corexy(home_axis
)) return;
509 // Move back a small distance
510 this->status
= MOVING_BACK
;
511 this->feed_rate
[X_AXIS
] = slow_rate
;
512 STEPPER
[X_AXIS
]->move(!dirx
, retract_steps
, 0);
513 this->feed_rate
[Y_AXIS
] = slow_rate
;
514 STEPPER
[Y_AXIS
]->move(!diry
, retract_steps
, 0);
517 while ( STEPPER
[X_AXIS
]->is_moving() || STEPPER
[Y_AXIS
]->is_moving()) {
518 THEKERNEL
->call_event(ON_IDLE
);
519 if(THEKERNEL
->is_halted()) return;
522 // Start moving the axes to the origin slowly
523 this->status
= MOVING_TO_ENDSTOP_SLOW
;
524 this->feed_rate
[X_AXIS
] = slow_rate
;
525 STEPPER
[X_AXIS
]->move(dirx
, 10000000, 0);
526 this->feed_rate
[Y_AXIS
] = slow_rate
;
527 STEPPER
[Y_AXIS
]->move(diry
, 10000000, 0);
529 // wait for primary axis
530 if(!this->wait_for_homed_corexy(home_axis
)) return;
533 // this homing works for HBots/CoreXY
534 void Endstops::do_homing_corexy(char axes_to_move
)
536 // TODO should really make order configurable, and select whether to allow XY to home at the same time, diagonally
537 // To move XY at the same time only one motor needs to turn, determine which motor and which direction based on min or max directions
538 // allow to move until an endstop triggers, then stop that motor. Speed up when moving diagonally to match X or Y speed
539 // continue moving in the direction not yet triggered (which means two motors turning) until endstop hit
541 if((axes_to_move
& 0x03) == 0x03) { // both X and Y need Homing
542 // determine which motor to turn and which way
543 bool dirx
= this->home_direction
[X_AXIS
];
544 bool diry
= this->home_direction
[Y_AXIS
];
547 if(dirx
&& diry
) { // min/min
550 } else if(dirx
&& !diry
) { // min/max
553 } else if(!dirx
&& diry
) { // max/min
556 } else if(!dirx
&& !diry
) { // max/max
561 // then move both X and Y until one hits the endstop
562 this->status
= MOVING_TO_ENDSTOP_FAST
;
563 // need to allow for more ground covered when moving diagonally
564 this->feed_rate
[motor
] = this->fast_rates
[motor
] * 1.4142;
565 STEPPER
[motor
]->move(dir
, 10000000, 0);
566 // wait until either X or Y hits the endstop
569 THEKERNEL
->call_event(ON_IDLE
);
570 if(THEKERNEL
->is_halted()) return;
571 for(int m
= X_AXIS
; m
<= Y_AXIS
; m
++) {
572 if(this->pins
[m
+ (this->home_direction
[m
] ? 0 : 3)].get()) {
574 if(STEPPER
[motor
]->is_moving()) STEPPER
[motor
]->move(0, 0);
582 // move individual axis
583 if (axes_to_move
& 0x01) { // Home X, which means both X and Y in same direction
584 bool dir
= this->home_direction
[X_AXIS
];
585 corexy_home(X_AXIS
, dir
, dir
, this->fast_rates
[X_AXIS
], this->slow_rates
[X_AXIS
], this->retract_mm
[X_AXIS
]*STEPS_PER_MM(X_AXIS
));
588 if (axes_to_move
& 0x02) { // Home Y, which means both X and Y in different directions
589 bool dir
= this->home_direction
[Y_AXIS
];
590 corexy_home(Y_AXIS
, dir
, !dir
, this->fast_rates
[Y_AXIS
], this->slow_rates
[Y_AXIS
], this->retract_mm
[Y_AXIS
]*STEPS_PER_MM(Y_AXIS
));
593 if (axes_to_move
& 0x04) { // move Z
594 do_homing_cartesian(0x04); // just home normally for Z
598 void Endstops::home(char axes_to_move
)
600 // not a block move so disable the last tick setting
601 for ( int c
= X_AXIS
; c
<= Z_AXIS
; c
++ ) {
602 STEPPER
[c
]->set_moved_last_block(false);
606 // corexy/HBot homing
607 do_homing_corexy(axes_to_move
);
609 // cartesian/delta homing
610 do_homing_cartesian(axes_to_move
);
613 // make sure all steppers are off (especially if aborted)
614 for ( int c
= X_AXIS
; c
<= Z_AXIS
; c
++ ) {
615 STEPPER
[c
]->move(0, 0);
617 this->status
= NOT_HOMING
;
620 void Endstops::process_home_command(Gcode
* gcode
)
622 if( (gcode
->subcode
== 0 && THEKERNEL
->is_grbl_mode()) || (gcode
->subcode
== 2 && !THEKERNEL
->is_grbl_mode()) ) {
623 // G28 in grbl mode or G28.2 in normal mode will do a rapid to the predefined position
624 // TODO spec says if XYZ specified move to them first then move to MCS of specifed axis
626 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
627 struct SerialMessage message
;
628 message
.message
= buf
;
629 message
.stream
= &(StreamOutput::NullStream
);
630 THEKERNEL
->call_event(ON_CONSOLE_LINE_RECEIVED
, &message
); // as it is a multi G code command
633 } else if(THEKERNEL
->is_grbl_mode() && gcode
->subcode
== 2) { // G28.2 in grbl mode forces homing (triggered by $H)
634 // fall through so it does homing cycle
636 } else if(gcode
->subcode
== 1) { // G28.1 set pre defined position
637 // saves current position in absolute machine coordinates
638 THEKERNEL
->robot
->get_axis_position(saved_position
);
641 } else if(gcode
->subcode
== 3) { // G28.3 is a smoothie special it sets manual homing
642 if(gcode
->get_num_args() == 0) {
643 THEKERNEL
->robot
->reset_axis_position(0, 0, 0);
645 // do a manual homing based on given coordinates, no endstops required
646 if(gcode
->has_letter('X')) THEKERNEL
->robot
->reset_axis_position(gcode
->get_value('X'), X_AXIS
);
647 if(gcode
->has_letter('Y')) THEKERNEL
->robot
->reset_axis_position(gcode
->get_value('Y'), Y_AXIS
);
648 if(gcode
->has_letter('Z')) THEKERNEL
->robot
->reset_axis_position(gcode
->get_value('Z'), Z_AXIS
);
652 } else if(gcode
->subcode
== 4) { // G28.4 is a smoothie special it sets manual homing based on the actuator position (used for rotary delta)
653 // do a manual homing based on given coordinates, no endstops required, NOTE does not support the multi actuator hack
654 ActuatorCoordinates ac
;
655 if(gcode
->has_letter('A')) ac
[0] = gcode
->get_value('A');
656 if(gcode
->has_letter('B')) ac
[1] = gcode
->get_value('B');
657 if(gcode
->has_letter('C')) ac
[2] = gcode
->get_value('C');
658 THEKERNEL
->robot
->reset_actuator_position(ac
);
661 } else if(THEKERNEL
->is_grbl_mode()) {
662 gcode
->stream
->printf("error:Unsupported command\n");
666 // G28 is received, we have homing to do
668 // First wait for the queue to be empty
669 THEKERNEL
->conveyor
->wait_for_empty_queue();
671 // Do we move select axes or all of them
672 char axes_to_move
= 0;
673 // only enable homing if the endstop is defined, deltas, scaras always home all axis
674 bool home_all
= this->is_delta
|| this->is_rdelta
|| this->is_scara
|| !( gcode
->has_letter('X') || gcode
->has_letter('Y') || gcode
->has_letter('Z') );
676 for ( int c
= X_AXIS
; c
<= Z_AXIS
; c
++ ) {
677 if ( (home_all
|| gcode
->has_letter(c
+ 'X')) && this->pins
[c
+ (this->home_direction
[c
] ? 0 : 3)].connected() ) {
678 axes_to_move
+= ( 1 << c
);
682 // save current actuator position so we can report how far we moved
683 ActuatorCoordinates start_pos
{
684 THEKERNEL
->robot
->actuators
[X_AXIS
]->get_current_position(),
685 THEKERNEL
->robot
->actuators
[Y_AXIS
]->get_current_position(),
686 THEKERNEL
->robot
->actuators
[Z_AXIS
]->get_current_position()
690 THEKERNEL
->stepper
->turn_enable_pins_on();
692 // do the actual homing
693 if(homing_order
!= 0) {
694 // if an order has been specified do it in the specified order
695 // homing order is 0b00ccbbaa where aa is 0,1,2 to specify the first axis, bb is the second and cc is the third
696 // eg 0b00100001 would be Y X Z, 0b00100100 would be X Y Z
697 for (uint8_t m
= homing_order
; m
!= 0; m
>>= 2) {
698 int a
= (1 << (m
& 0x03)); // axis to move
699 if((a
& axes_to_move
) != 0) {
702 // check if on_halt (eg kill)
703 if(THEKERNEL
->is_halted()) break;
707 // they all home at the same time
711 // check if on_halt (eg kill)
712 if(THEKERNEL
->is_halted()) {
713 if(!THEKERNEL
->is_grbl_mode()) {
714 THEKERNEL
->streams
->printf("Homing cycle aborted by kill\n");
719 // set the last probe position to the actuator units moved during this home
720 THEKERNEL
->robot
->set_last_probe_position(
722 start_pos
[0] - THEKERNEL
->robot
->actuators
[0]->get_current_position(),
723 start_pos
[1] - THEKERNEL
->robot
->actuators
[1]->get_current_position(),
724 start_pos
[2] - THEKERNEL
->robot
->actuators
[2]->get_current_position(),
728 // Here's where we would have been if the endstops were perfectly trimmed
729 // NOTE on a rotary delta home_offset is actuator position in degrees when homed and
730 // home_offset is the theta offset for each actuator, so M206 is used to set theta offset for each actuator in degrees
731 float ideal_position
[3] = {
732 this->homing_position
[X_AXIS
] + this->home_offset
[X_AXIS
],
733 this->homing_position
[Y_AXIS
] + this->home_offset
[Y_AXIS
],
734 this->homing_position
[Z_AXIS
] + this->home_offset
[Z_AXIS
]
737 bool has_endstop_trim
= this->is_delta
|| this->is_scara
;
738 if (has_endstop_trim
) {
739 ActuatorCoordinates ideal_actuator_position
;
740 THEKERNEL
->robot
->arm_solution
->cartesian_to_actuator(ideal_position
, ideal_actuator_position
);
742 // We are actually not at the ideal position, but a trim away
743 ActuatorCoordinates real_actuator_position
= {
744 ideal_actuator_position
[X_AXIS
] - this->trim_mm
[X_AXIS
],
745 ideal_actuator_position
[Y_AXIS
] - this->trim_mm
[Y_AXIS
],
746 ideal_actuator_position
[Z_AXIS
] - this->trim_mm
[Z_AXIS
]
749 float real_position
[3];
750 THEKERNEL
->robot
->arm_solution
->actuator_to_cartesian(real_actuator_position
, real_position
);
751 // Reset the actuator positions to correspond our real position
752 THEKERNEL
->robot
->reset_axis_position(real_position
[0], real_position
[1], real_position
[2]);
755 // without endstop trim, real_position == ideal_position
757 // with a rotary delta we set the actuators angle then use the FK to calculate the resulting cartesian coordinates
758 ActuatorCoordinates real_actuator_position
= {ideal_position
[0], ideal_position
[1], ideal_position
[2]};
759 THEKERNEL
->robot
->reset_actuator_position(real_actuator_position
);
762 // Reset the actuator positions to correspond our real position
763 THEKERNEL
->robot
->reset_axis_position(ideal_position
[0], ideal_position
[1], ideal_position
[2]);
768 // Zero the ax(i/e)s position, add in the home offset
769 for ( int c
= X_AXIS
; c
<= Z_AXIS
; c
++ ) {
770 if ( (axes_to_move
>> c
) & 1 ) {
771 THEKERNEL
->robot
->reset_axis_position(this->homing_position
[c
] + this->home_offset
[c
], c
);
776 // on some systems where 0,0 is bed center it is nice to have home goto 0,0 after homing
777 // default is off for cartesian on for deltas
779 // NOTE a rotary delta usually has optical or hall-effect endstops so it is safe to go past them a little bit
780 if(this->move_to_origin_after_home
) move_to_origin(axes_to_move
);
781 // if limit switches are enabled we must back off endstop after setting home
782 back_off_home(axes_to_move
);
784 } else if(this->move_to_origin_after_home
|| this->limit_enable
[X_AXIS
]) {
785 // 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
786 // also need to back off endstops if limits are enabled
787 back_off_home(axes_to_move
);
788 if(this->move_to_origin_after_home
) move_to_origin(axes_to_move
);
792 // Start homing sequences by response to GCode commands
793 void Endstops::on_gcode_received(void *argument
)
795 Gcode
*gcode
= static_cast<Gcode
*>(argument
);
796 if ( gcode
->has_g
&& gcode
->g
== 28) {
797 process_home_command(gcode
);
799 } else if (gcode
->has_m
) {
803 for (int i
= 0; i
< 6; ++i
) {
804 if(this->pins
[i
].connected())
805 gcode
->stream
->printf("%s:%d ", endstop_names
[i
], this->pins
[i
].get());
807 gcode
->add_nl
= true;
812 case 206: // M206 - set homing offset
814 if (gcode
->has_letter('X')) home_offset
[0] = gcode
->get_value('X');
815 if (gcode
->has_letter('Y')) home_offset
[1] = gcode
->get_value('Y');
816 if (gcode
->has_letter('Z')) home_offset
[2] = gcode
->get_value('Z');
817 gcode
->stream
->printf("X %5.3f Y %5.3f Z %5.3f\n", home_offset
[0], home_offset
[1], home_offset
[2]);
821 if (gcode
->has_letter('A')) home_offset
[0] = gcode
->get_value('A');
822 if (gcode
->has_letter('B')) home_offset
[1] = gcode
->get_value('B');
823 if (gcode
->has_letter('C')) home_offset
[2] = gcode
->get_value('C');
824 gcode
->stream
->printf("Theta offset A %8.5f B %8.5f C %8.5f\n", home_offset
[0], home_offset
[1], home_offset
[2]);
829 if(!is_rdelta
) { // Similar to M206 and G92 but sets Homing offsets based on current position
831 THEKERNEL
->robot
->get_axis_position(cartesian
); // get actual position from robot
832 if (gcode
->has_letter('X')) {
833 home_offset
[0] -= (cartesian
[X_AXIS
] - gcode
->get_value('X'));
834 THEKERNEL
->robot
->reset_axis_position(gcode
->get_value('X'), X_AXIS
);
836 if (gcode
->has_letter('Y')) {
837 home_offset
[1] -= (cartesian
[Y_AXIS
] - gcode
->get_value('Y'));
838 THEKERNEL
->robot
->reset_axis_position(gcode
->get_value('Y'), Y_AXIS
);
840 if (gcode
->has_letter('Z')) {
841 home_offset
[2] -= (cartesian
[Z_AXIS
] - gcode
->get_value('Z'));
842 THEKERNEL
->robot
->reset_axis_position(gcode
->get_value('Z'), Z_AXIS
);
845 gcode
->stream
->printf("Homing Offset: X %5.3f Y %5.3f Z %5.3f\n", home_offset
[0], home_offset
[1], home_offset
[2]);
848 // for a rotary delta M306 calibrates the homing angle
849 // by doing M306 A-56.17 it will calculate the M206 A value (the theta offset for actuator A) based on the difference
850 // between what it thinks is the current angle and what the current angle actually is specified by A (ditto for B and C)
852 // get the current angle for each actuator, NOTE we only deal with ABC so if there are more than 3 actuators this will probably go wonky
853 ActuatorCoordinates current_angle
;
854 for (size_t i
= 0; i
< THEKERNEL
->robot
->actuators
.size(); i
++) {
855 current_angle
[i
]= THEKERNEL
->robot
->actuators
[i
]->get_current_position();
858 //figure out what home_offset needs to be to correct the homing_position
859 if (gcode
->has_letter('A')) {
860 float a
= gcode
->get_value('A'); // what actual angle is
861 home_offset
[0] += (current_angle
[0] - a
);
864 if (gcode
->has_letter('B')) {
865 float b
= gcode
->get_value('B');
866 home_offset
[1] += (current_angle
[1] - b
);
869 if (gcode
->has_letter('C')) {
870 float c
= gcode
->get_value('C');
871 home_offset
[2] += (current_angle
[2] - c
);
875 // reset the actuator positions (and machine position accordingly)
876 THEKERNEL
->robot
->reset_actuator_position(current_angle
);
878 gcode
->stream
->printf("Theta Offset: A %8.5f B %8.5f C %8.5f\n", home_offset
[0], home_offset
[1], home_offset
[2]);
882 case 500: // save settings
883 case 503: // print settings
885 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]);
887 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]);
889 if (this->is_delta
|| this->is_scara
) {
890 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]);
891 gcode
->stream
->printf(";Max Z\nM665 Z%1.3f\n", this->homing_position
[2]);
893 if(saved_position
[X_AXIS
] != 0 || saved_position
[Y_AXIS
] != 0) {
894 gcode
->stream
->printf(";predefined position:\nG28.1 X%1.4f Y%1.4f Z%1.4f\n", saved_position
[X_AXIS
], saved_position
[Y_AXIS
], saved_position
[Z_AXIS
]);
899 if (this->is_delta
|| this->is_scara
) { // M665 - set max gamma/z height
900 float gamma_max
= this->homing_position
[2];
901 if (gcode
->has_letter('Z')) {
902 this->homing_position
[2] = gamma_max
= gcode
->get_value('Z');
904 gcode
->stream
->printf("Max Z %8.3f ", gamma_max
);
905 gcode
->add_nl
= true;
910 if(this->is_delta
|| this->is_scara
) { // M666 - set trim for each axis in mm, NB negative mm trim is down
911 if (gcode
->has_letter('X')) trim_mm
[0] = gcode
->get_value('X');
912 if (gcode
->has_letter('Y')) trim_mm
[1] = gcode
->get_value('Y');
913 if (gcode
->has_letter('Z')) trim_mm
[2] = gcode
->get_value('Z');
915 // print the current trim values in mm
916 gcode
->stream
->printf("X: %5.3f Y: %5.3f Z: %5.3f\n", trim_mm
[0], trim_mm
[1], trim_mm
[2]);
921 // NOTE this is to test accuracy of lead screws etc.
923 // M1910.0 - move specific number of raw steps
924 // M1910.1 - stop any moves
925 // M1910.2 - move specific number of actuator units (usually mm but is degrees for a rotary delta)
926 if(gcode
->subcode
== 0 || gcode
->subcode
== 2) {
928 THEKERNEL
->stepper
->turn_enable_pins_on();
930 int32_t x
= 0, y
= 0, z
= 0, f
= 200 * 16;
931 if (gcode
->has_letter('F')) f
= gcode
->get_value('F');
933 if (gcode
->has_letter('X')) {
934 float v
= gcode
->get_value('X');
935 if(gcode
->subcode
== 2) x
= lroundf(v
* STEPS_PER_MM(X_AXIS
));
937 STEPPER
[X_AXIS
]->move(x
< 0, abs(x
), f
);
939 if (gcode
->has_letter('Y')) {
940 float v
= gcode
->get_value('Y');
941 if(gcode
->subcode
== 2) y
= lroundf(v
* STEPS_PER_MM(Y_AXIS
));
943 STEPPER
[Y_AXIS
]->move(y
< 0, abs(y
), f
);
945 if (gcode
->has_letter('Z')) {
946 float v
= gcode
->get_value('Z');
947 if(gcode
->subcode
== 2) z
= lroundf(v
* STEPS_PER_MM(Z_AXIS
));
949 STEPPER
[Z_AXIS
]->move(z
< 0, abs(z
), f
);
951 gcode
->stream
->printf("Moving X %ld Y %ld Z %ld steps at F %ld steps/sec\n", x
, y
, z
, f
);
953 } else if(gcode
->subcode
== 1) {
954 // stop any that are moving
955 for (int i
= 0; i
< 3; ++i
) {
956 if(STEPPER
[i
]->is_moving()) STEPPER
[i
]->move(0, 0);
965 // Called periodically to change the speed to match acceleration
966 void Endstops::acceleration_tick(void)
968 if(this->status
>= NOT_HOMING
) return; // nothing to do, only do this when moving for homing sequence
970 // foreach stepper that is moving
971 for ( int c
= X_AXIS
; c
<= Z_AXIS
; c
++ ) {
972 if( !STEPPER
[c
]->is_moving() ) continue;
974 uint32_t current_rate
= STEPPER
[c
]->get_steps_per_second();
975 uint32_t target_rate
= floorf(this->feed_rate
[c
] * STEPS_PER_MM(c
));
976 float acc
= (c
== Z_AXIS
) ? THEKERNEL
->planner
->get_z_acceleration() : THEKERNEL
->planner
->get_acceleration();
977 if( current_rate
< target_rate
) {
978 uint32_t rate_increase
= floorf((acc
/ THEKERNEL
->acceleration_ticks_per_second
) * STEPS_PER_MM(c
));
979 current_rate
= min( target_rate
, current_rate
+ rate_increase
);
981 if( current_rate
> target_rate
) { current_rate
= target_rate
; }
984 STEPPER
[c
]->set_speed(current_rate
);
990 void Endstops::on_get_public_data(void* argument
)
992 PublicDataRequest
* pdr
= static_cast<PublicDataRequest
*>(argument
);
994 if(!pdr
->starts_with(endstops_checksum
)) return;
996 if(pdr
->second_element_is(trim_checksum
)) {
997 pdr
->set_data_ptr(&this->trim_mm
);
1000 } else if(pdr
->second_element_is(home_offset_checksum
)) {
1001 pdr
->set_data_ptr(&this->home_offset
);
1004 } else if(pdr
->second_element_is(saved_position_checksum
)) {
1005 pdr
->set_data_ptr(&this->saved_position
);
1008 } else if(pdr
->second_element_is(get_homing_status_checksum
)) {
1009 bool *homing
= static_cast<bool *>(pdr
->get_data_ptr());
1010 *homing
= this->status
!= NOT_HOMING
;
1015 void Endstops::on_set_public_data(void* argument
)
1017 PublicDataRequest
* pdr
= static_cast<PublicDataRequest
*>(argument
);
1019 if(!pdr
->starts_with(endstops_checksum
)) return;
1021 if(pdr
->second_element_is(trim_checksum
)) {
1022 float *t
= static_cast<float*>(pdr
->get_data_ptr());
1023 this->trim_mm
[0] = t
[0];
1024 this->trim_mm
[1] = t
[1];
1025 this->trim_mm
[2] = t
[2];
1028 } else if(pdr
->second_element_is(home_offset_checksum
)) {
1029 float *t
= static_cast<float*>(pdr
->get_data_ptr());
1030 if(!isnan(t
[0])) this->home_offset
[0] = t
[0];
1031 if(!isnan(t
[1])) this->home_offset
[1] = t
[1];
1032 if(!isnan(t
[2])) this->home_offset
[2] = t
[2];