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
  48     // we need to know steps per mm for M206, also use them for all settings
  49     this->steps_per_mm[0]           =  this->kernel->config->value(alpha_steps_per_mm_checksum         )->as_number();
  50     this->steps_per_mm[1]           =  this->kernel->config->value(beta_steps_per_mm_checksum          )->as_number();
  51     this->steps_per_mm[2]           =  this->kernel->config->value(gamma_steps_per_mm_checksum         )->as_number();
  52
  53     this->fast_rates[0]             =  this->kernel->config->value(alpha_fast_homing_rate_checksum     )->by_default(4000 )->as_number();
  54     this->fast_rates[1]             =  this->kernel->config->value(beta_fast_homing_rate_checksum      )->by_default(4000 )->as_number();
  55     this->fast_rates[2]             =  this->kernel->config->value(gamma_fast_homing_rate_checksum     )->by_default(6400 )->as_number();
  56     this->slow_rates[0]             =  this->kernel->config->value(alpha_slow_homing_rate_checksum     )->by_default(2000 )->as_number();
  57     this->slow_rates[1]             =  this->kernel->config->value(beta_slow_homing_rate_checksum      )->by_default(2000 )->as_number();
  58     this->slow_rates[2]             =  this->kernel->config->value(gamma_slow_homing_rate_checksum     )->by_default(3200 )->as_number();
  59     this->retract_steps[0]          =  this->kernel->config->value(alpha_homing_retract_checksum       )->by_default(400  )->as_number();
  60     this->retract_steps[1]          =  this->kernel->config->value(beta_homing_retract_checksum        )->by_default(400  )->as_number();
  61     this->retract_steps[2]          =  this->kernel->config->value(gamma_homing_retract_checksum       )->by_default(1600 )->as_number();
  62
  63     // 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
  64     this->fast_rates[0]=    this->kernel->config->value(alpha_fast_homing_rate_mm_checksum )->by_default(this->fast_rates[0]  / steps_per_mm[0])->as_number() * steps_per_mm[0];
  65     this->fast_rates[1]=    this->kernel->config->value(beta_fast_homing_rate_mm_checksum  )->by_default(this->fast_rates[1]  / steps_per_mm[1])->as_number() * steps_per_mm[1];
  66     this->fast_rates[2]=    this->kernel->config->value(gamma_fast_homing_rate_mm_checksum )->by_default(this->fast_rates[2]  / steps_per_mm[2])->as_number() * steps_per_mm[2];
  67     this->slow_rates[0]=    this->kernel->config->value(alpha_slow_homing_rate_mm_checksum )->by_default(this->slow_rates[0]  / steps_per_mm[0])->as_number() * steps_per_mm[0];
  68     this->slow_rates[1]=    this->kernel->config->value(beta_slow_homing_rate_mm_checksum  )->by_default(this->slow_rates[1]  / steps_per_mm[1])->as_number() * steps_per_mm[1];
  69     this->slow_rates[2]=    this->kernel->config->value(gamma_slow_homing_rate_mm_checksum )->by_default(this->slow_rates[2]  / steps_per_mm[2])->as_number() * steps_per_mm[2];
  70     this->retract_steps[0]= this->kernel->config->value(alpha_homing_retract_mm_checksum   )->by_default(this->retract_steps[0]/steps_per_mm[0])->as_number() * steps_per_mm[0];
  71     this->retract_steps[1]= this->kernel->config->value(beta_homing_retract_mm_checksum    )->by_default(this->retract_steps[1]/steps_per_mm[1])->as_number() * steps_per_mm[1];
  72     this->retract_steps[2]= this->kernel->config->value(gamma_homing_retract_mm_checksum   )->by_default(this->retract_steps[2]/steps_per_mm[2])->as_number() * steps_per_mm[2];
  73
  74     this->debounce_count  = this->kernel->config->value(endstop_debounce_count_checksum    )->by_default(100)->as_number();
  75
  76
  77     // get homing direction and convert to boolean where true is home to min, and false is home to max
  78     int home_dir                    = get_checksum(this->kernel->config->value(alpha_homing_direction_checksum)->by_default("home_to_min")->as_string());
  79     this->home_direction[0]         = home_dir != home_to_max_checksum;
  80
  81     home_dir                        = get_checksum(this->kernel->config->value(beta_homing_direction_checksum)->by_default("home_to_min")->as_string());
  82     this->home_direction[1]         = home_dir != home_to_max_checksum;
  83
  84     home_dir                        = get_checksum(this->kernel->config->value(gamma_homing_direction_checksum)->by_default("home_to_min")->as_string());
  85     this->home_direction[2]         = home_dir != home_to_max_checksum;
  86
  87     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();
  88     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();;
  89     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();;
  90
  91     this->is_corexy                 =  this->kernel->config->value(corexy_homing_checksum)->by_default(false)->as_bool();
  92     this->is_delta                  =  this->kernel->config->value(delta_homing_checksum)->by_default(false)->as_bool();
  93
  94     // endstop trim used by deltas to do soft adjusting, in mm, convert to steps, and negate depending on homing direction
  95     // eg on a delta homing to max, a negative trim value will move the carriage down, and a positive will move it up
  96     int dirx= (this->home_direction[0] ? 1 : -1);
  97     int diry= (this->home_direction[1] ? 1 : -1);
  98     int dirz= (this->home_direction[2] ? 1 : -1);
  99     this->trim[0]= this->kernel->config->value(alpha_trim_checksum )->by_default(0  )->as_number() * steps_per_mm[0] * dirx;
 100     this->trim[1]= this->kernel->config->value(beta_trim_checksum  )->by_default(0  )->as_number() * steps_per_mm[1] * diry;
 101     this->trim[2]= this->kernel->config->value(gamma_trim_checksum )->by_default(0  )->as_number() * steps_per_mm[2] * dirz;
 102 }
 103
 104 void Endstops::wait_for_homed(char axes_to_move){
 105     bool running = true;
 106     unsigned int debounce[3] = {0,0,0};
 107     while(running){
 108         running = false;
 109         this->kernel->call_event(ON_IDLE);
 110         for( char c = 'X'; c <= 'Z'; c++ ){
 111             if( ( axes_to_move >> ( c - 'X' ) ) & 1 ){
 112                 if( this->pins[c - 'X' + (this->home_direction[c - 'X']?0:3)].get() ){
 113                     if( debounce[c - 'X'] < debounce_count ) {
 114                         debounce[c - 'X'] ++;
 115                         running = true;
 116                     } else if ( this->steppers[c - 'X']->moving ){
 117                         this->steppers[c - 'X']->move(0,0);
 118                     }
 119                 }else{
 120                     // The endstop was not hit yet
 121                     running = true;
 122                     debounce[c - 'X'] = 0;
 123                 }
 124             }
 125         }
 126     }
 127 }
 128
 129 // this homing works for cartesian and delta printers, not for HBots/CoreXY
 130 void Endstops::do_homing(char axes_to_move) {
 131     // Start moving the axes to the origin
 132     this->status = MOVING_TO_ORIGIN_FAST;
 133     for( char c = 'X'; c <= 'Z'; c++ ){
 134         if( ( axes_to_move >> ( c - 'X' ) ) & 1 ){
 135             this->steppers[c - 'X']->set_speed(this->fast_rates[c - 'X']);
 136             this->steppers[c - 'X']->move(this->home_direction[c - 'X'],10000000);
 137         }
 138     }
 139
 140     // Wait for all axes to have homed
 141     this->wait_for_homed(axes_to_move);
 142
 143     // Move back a small distance
 144     this->status = MOVING_BACK;
 145     bool 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'];
 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      // Wait for moves to be done
 155     for( char c = 'X'; c <= 'Z'; c++ ){
 156         if(  ( axes_to_move >> ( c - 'X' ) ) & 1 ){
 157             while( this->steppers[c - 'X']->moving ){
 158                 this->kernel->call_event(ON_IDLE);
 159             }
 160         }
 161     }
 162
 163     // Start moving the axes to the origin slowly
 164     this->status = MOVING_TO_ORIGIN_SLOW;
 165     for( char c = 'X'; c <= 'Z'; c++ ){
 166         if( ( axes_to_move >> ( c - 'X' ) ) & 1 ){
 167             this->steppers[c - 'X']->set_speed(this->slow_rates[c -'X']);
 168             this->steppers[c - 'X']->move(this->home_direction[c - 'X'],10000000);
 169         }
 170     }
 171
 172     // Wait for all axes to have homed
 173     this->wait_for_homed(axes_to_move);
 174
 175     if(this->is_delta) {
 176         // move for soft trim
 177         this->status = MOVING_BACK;
 178         for( char c = 'X'; c <= 'Z'; c++ ){
 179             if( this->trim[c - 'X'] != 0 && ( axes_to_move >> ( c - 'X' ) ) & 1 ){
 180                 inverted_dir = !this->home_direction[c - 'X'];
 181                 // move up or down depending on sign of trim
 182                 if(this->trim[c - 'X'] < 0) inverted_dir= !inverted_dir;
 183                 this->steppers[c - 'X']->set_speed(this->slow_rates[c - 'X']);
 184                 this->steppers[c - 'X']->move(inverted_dir,this->trim[c - 'X']);
 185             }
 186         }
 187
 188         // Wait for moves to be done
 189         for( char c = 'X'; c <= 'Z'; c++ ){
 190             if(  ( axes_to_move >> ( c - 'X' ) ) & 1 ){
 191                 //this->kernel->streams->printf("axis %c \r\n", c );
 192                 while( this->steppers[c - 'X']->moving ){
 193                     this->kernel->call_event(ON_IDLE);
 194                 }
 195             }
 196         }
 197     }
 198
 199     // Homing is done
 200     this->status = NOT_HOMING;
 201 }
 202
 203 #define X_AXIS 0
 204 #define Y_AXIS 1
 205 #define Z_AXIS 2
 206
 207 void Endstops::wait_for_homed_corexy(int axis){
 208     bool running = true;
 209     unsigned int debounce[3] = {0,0,0};
 210     while(running){
 211         running = false;
 212         this->kernel->call_event(ON_IDLE);
 213         if( this->pins[axis + (this->home_direction[axis]?0:3)].get() ){
 214             if( debounce[axis] < debounce_count ) {
 215                 debounce[axis] ++;
 216                 running = true;
 217             } else {
 218                 // turn both off if running
 219                 if(this->steppers[X_AXIS]->moving) this->steppers[X_AXIS]->move(0,0);
 220                 if(this->steppers[Y_AXIS]->moving) this->steppers[Y_AXIS]->move(0,0);
 221             }
 222         }else{
 223             // The endstop was not hit yet
 224             running = true;
 225             debounce[axis] = 0;
 226         }
 227     }
 228 }
 229
 230 // this homing works for HBots/CoreXY
 231 void Endstops::do_homing_corexy(char axes_to_move) {
 232     // Start moving the axes to the origin
 233     if(axes_to_move & 0x01) { // Home X, which means both X and Y in same direction
 234         this->status = MOVING_TO_ORIGIN_FAST;
 235         this->steppers[X_AXIS]->set_speed(this->fast_rates[X_AXIS]);
 236         this->steppers[X_AXIS]->move(this->home_direction[X_AXIS], 10000000);
 237         this->steppers[Y_AXIS]->set_speed(this->fast_rates[X_AXIS]);
 238         this->steppers[Y_AXIS]->move(this->home_direction[X_AXIS], 10000000);
 239
 240         // wait for X
 241         this->wait_for_homed_corexy(X_AXIS);
 242
 243         // Move back a small distance
 244         this->status = MOVING_BACK;
 245         this->steppers[X_AXIS]->set_speed(this->slow_rates[X_AXIS]);
 246         this->steppers[X_AXIS]->move(!this->home_direction[X_AXIS], this->retract_steps[X_AXIS]);
 247         this->steppers[Y_AXIS]->set_speed(this->slow_rates[X_AXIS]);
 248         this->steppers[Y_AXIS]->move(!this->home_direction[X_AXIS], this->retract_steps[X_AXIS]);
 249
 250         // wait until done
 251         while( this->steppers[X_AXIS]->moving ){ this->kernel->call_event(ON_IDLE); }
 252         while( this->steppers[Y_AXIS]->moving ){ this->kernel->call_event(ON_IDLE); }
 253
 254         // Start moving the axes to the origin slowly
 255         this->status = MOVING_TO_ORIGIN_SLOW;
 256         this->steppers[X_AXIS]->set_speed(this->slow_rates[X_AXIS]);
 257         this->steppers[X_AXIS]->move(this->home_direction[X_AXIS], 10000000);
 258         this->steppers[Y_AXIS]->set_speed(this->slow_rates[X_AXIS]);
 259         this->steppers[Y_AXIS]->move(this->home_direction[X_AXIS], 10000000);
 260
 261         // wait for X
 262         this->wait_for_homed_corexy(X_AXIS);
 263     }
 264
 265     if(axes_to_move & 0x02) { // Home Y, which means both X and Y in different directions
 266         this->status = MOVING_TO_ORIGIN_FAST;
 267         this->steppers[X_AXIS]->set_speed(this->fast_rates[Y_AXIS]);
 268         this->steppers[X_AXIS]->move(this->home_direction[Y_AXIS], 10000000);
 269         this->steppers[Y_AXIS]->set_speed(this->fast_rates[Y_AXIS]); // yes I use X_axis speed as they need to go at the same speed
 270         this->steppers[Y_AXIS]->move(!this->home_direction[Y_AXIS], 10000000);
 271
 272         // wait for Y
 273         this->wait_for_homed_corexy(Y_AXIS);
 274
 275         // Move back a small distance
 276         this->status = MOVING_BACK;
 277         this->steppers[X_AXIS]->set_speed(this->slow_rates[Y_AXIS]);
 278         this->steppers[X_AXIS]->move(!this->home_direction[Y_AXIS], this->retract_steps[Y_AXIS]);
 279         this->steppers[Y_AXIS]->set_speed(this->slow_rates[Y_AXIS]);
 280         this->steppers[Y_AXIS]->move(this->home_direction[Y_AXIS], this->retract_steps[Y_AXIS]);
 281
 282         // wait until done
 283         while( this->steppers[X_AXIS]->moving ){ this->kernel->call_event(ON_IDLE); }
 284         while( this->steppers[Y_AXIS]->moving ){ this->kernel->call_event(ON_IDLE); }
 285
 286         // Start moving the axes to the origin slowly
 287         this->status = MOVING_TO_ORIGIN_SLOW;
 288         this->steppers[X_AXIS]->set_speed(this->slow_rates[Y_AXIS]);
 289         this->steppers[X_AXIS]->move(this->home_direction[Y_AXIS], 10000000);
 290         this->steppers[Y_AXIS]->set_speed(this->slow_rates[Y_AXIS]);
 291         this->steppers[Y_AXIS]->move(!this->home_direction[Y_AXIS], 10000000);
 292
 293         // wait for Y
 294         this->wait_for_homed_corexy(Y_AXIS);
 295     }
 296
 297     if(axes_to_move & 0x04) { // move Z
 298         do_homing(0x04); // just home normally for Z
 299     }
 300
 301     // Homing is done
 302     this->status = NOT_HOMING;
 303 }
 304
 305 // Start homing sequences by response to GCode commands
 306 void Endstops::on_gcode_received(void* argument)
 307 {
 308     Gcode* gcode = static_cast<Gcode*>(argument);
 309     if( gcode->has_g)
 310     {
 311         if( gcode->g == 28 )
 312         {
 313             gcode->mark_as_taken();
 314             // G28 is received, we have homing to do
 315
 316             // First wait for the queue to be empty
 317             this->kernel->conveyor->wait_for_empty_queue();
 318
 319             // Do we move select axes or all of them
 320             char axes_to_move = 0;
 321             // only enable homing if the endstop is defined, deltas always home all axis
 322             bool home_all= this->is_delta || !( gcode->has_letter('X') || gcode->has_letter('Y') || gcode->has_letter('Z') );
 323
 324             for( char c = 'X'; c <= 'Z'; c++ ){
 325                 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' ) ); }
 326             }
 327
 328             // Enable the motors
 329             this->kernel->stepper->turn_enable_pins_on();
 330
 331             // do the actual homing
 332             if(is_corexy)
 333                 do_homing_corexy(axes_to_move);
 334             else
 335                 do_homing(axes_to_move);
 336
 337             // Zero the ax(i/e)s position
 338             for( char c = 'X'; c <= 'Z'; c++ ){
 339                 if( ( axes_to_move >> ( c - 'X' ) ) & 1 ){
 340
 341                     this->kernel->robot->reset_axis_position(this->homing_position[c - 'X'], c - 'X');
 342                 }
 343             }
 344
 345         }
 346     }
 347     else if (gcode->has_m){
 348         switch(gcode->m){
 349             case 119:
 350                 {
 351
 352                     int px= this->home_direction[0] ? 0 : 3;
 353                     int py= this->home_direction[1] ? 1 : 4;
 354                     int pz= this->home_direction[2] ? 2 : 5;
 355                     const char* mx= this->home_direction[0] ? "min" : "max";
 356                     const char* my= this->home_direction[1] ? "min" : "max";
 357                     const char* mz= this->home_direction[2] ? "min" : "max";
 358
 359                     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());
 360                     gcode->mark_as_taken();
 361                 }
 362                 break;
 363
 364             case 206: // M206 - set trim for each axis in mm
 365                 {
 366                     int dirx= (this->home_direction[0] ? 1 : -1);
 367                     int diry= (this->home_direction[1] ? 1 : -1);
 368                     int dirz= (this->home_direction[2] ? 1 : -1);
 369                     double mm[3];
 370                     mm[0]= trim[0]/steps_per_mm[0] * dirx; // convert to mm
 371                     mm[1]= trim[1]/steps_per_mm[1] * diry;
 372                     mm[2]= trim[2]/steps_per_mm[2] * dirz;
 373
 374                     if(gcode->has_letter('X')) mm[0]= gcode->get_value('X');
 375                     if(gcode->has_letter('Y')) mm[1]= gcode->get_value('Y');
 376                     if(gcode->has_letter('Z')) mm[2]= gcode->get_value('Z');
 377
 378                     trim[0]= lround(mm[0]*steps_per_mm[0]) * dirx; // convert back to steps
 379                     trim[1]= lround(mm[1]*steps_per_mm[1]) * diry;
 380                     trim[2]= lround(mm[2]*steps_per_mm[2]) * dirz;
 381
 382                     // print the current trim values in mm and steps
 383                     char buf[64];
 384                     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]);
 385                     gcode->txt_after_ok.append(buf, n);
 386                     gcode->mark_as_taken();
 387                 }
 388                 break;
 389
 390         }
 391     }
 392 }
 393