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/Player.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     register_for_event(ON_CONFIG_RELOAD);
  24     this->register_for_event(ON_GCODE_RECEIVED);
  25
  26     // Take StepperMotor objects from Robot and keep them here
  27     this->steppers[0] = this->kernel->robot->alpha_stepper_motor;
  28     this->steppers[1] = this->kernel->robot->beta_stepper_motor;
  29     this->steppers[2] = this->kernel->robot->gamma_stepper_motor;
  30
  31     // Settings
  32     this->on_config_reload(this);
  33
  34 }
  35
  36 // Get config
  37 void Endstops::on_config_reload(void* argument){
  38     this->pins[0].from_string(         this->kernel->config->value(alpha_min_endstop_checksum          )->by_default("nc" )->as_string())->as_input()->pull_up();
  39     this->pins[1].from_string(         this->kernel->config->value(beta_min_endstop_checksum           )->by_default("nc" )->as_string())->as_input()->pull_up();
  40     this->pins[2].from_string(         this->kernel->config->value(gamma_min_endstop_checksum          )->by_default("nc" )->as_string())->as_input()->pull_up();
  41     this->pins[3].from_string(         this->kernel->config->value(alpha_max_endstop_checksum          )->by_default("nc" )->as_string())->as_input()->pull_up();
  42     this->pins[4].from_string(         this->kernel->config->value(beta_max_endstop_checksum           )->by_default("nc" )->as_string())->as_input()->pull_up();
  43     this->pins[5].from_string(         this->kernel->config->value(gamma_max_endstop_checksum          )->by_default("nc" )->as_string())->as_input()->pull_up();
  44     this->fast_rates[0]              = this->kernel->config->value(alpha_fast_homing_rate_checksum     )->by_default("500" )->as_number();
  45     this->fast_rates[1]              = this->kernel->config->value(beta_fast_homing_rate_checksum      )->by_default("500" )->as_number();
  46     this->fast_rates[2]              = this->kernel->config->value(gamma_fast_homing_rate_checksum     )->by_default("5" )->as_number();
  47     this->slow_rates[0]              = this->kernel->config->value(alpha_slow_homing_rate_checksum     )->by_default("100" )->as_number();
  48     this->slow_rates[1]              = this->kernel->config->value(beta_slow_homing_rate_checksum      )->by_default("100" )->as_number();
  49     this->slow_rates[2]              = this->kernel->config->value(gamma_slow_homing_rate_checksum     )->by_default("5" )->as_number();
  50     this->retract_steps[0]           = this->kernel->config->value(alpha_homing_retract_checksum       )->by_default("30" )->as_number();
  51     this->retract_steps[1]           = this->kernel->config->value(beta_homing_retract_checksum        )->by_default("30" )->as_number();
  52     this->retract_steps[2]           = this->kernel->config->value(gamma_homing_retract_checksum       )->by_default("10" )->as_number();
  53     this->debounce_count             = this->kernel->config->value(endstop_debounce_count_checksum     )->by_default("100" )->as_number();
  54 }
  55
  56 void Endstops::wait_for_homed(char axes_to_move)
  57 {
  58     bool running = true;
  59     unsigned int debounce[3] = {0,0,0};
  60     while(running){
  61         running = false;
  62         for( char c = 'X'; c <= 'Z'; c++ ){
  63             if( ( axes_to_move >> ( c - 'X' ) ) & 1 ){
  64                 if( this->pins[c - 'X'].get() ){
  65                     if( debounce[c - 'X'] < debounce_count ) {
  66                         debounce[c - 'X'] ++;
  67                         running = true;
  68                     } else if ( this->steppers[c - 'X']->moving ){
  69                         this->steppers[c - 'X']->move(0,0);
  70                         printf("move done %c\r\n", c);
  71                     }
  72                 }else{
  73                     // The endstop was not hit yet
  74                     running = true;
  75                     debounce[c - 'X'] = 0;
  76                 }
  77             }
  78         }
  79     }
  80 }
  81
  82 // Start homing sequences by response to GCode commands
  83 void Endstops::on_gcode_received(void* argument)
  84 {
  85     Gcode* gcode = static_cast<Gcode*>(argument);
  86     if( gcode->has_g)
  87     {
  88         if( gcode->g == 28 )
  89         {
  90             // G28 is received, we have homing to do
  91
  92             // First wait for the queue to be empty
  93             while(this->kernel->player->queue.size() > 0) { wait_us(500); }
  94
  95             // Do we move select axes or all of them
  96             char axes_to_move = ( ( gcode->has_letter('X') || gcode->has_letter('Y') || gcode->has_letter('Z') ) ? 0x00 : 0xff );
  97             for( char c = 'X'; c <= 'Z'; c++ ){
  98                 if( gcode->has_letter(c) && this->pins[c - 'X'].connected() ){ axes_to_move += ( 1 << (c - 'X' ) ); }
  99             }
 100
 101             // Enable the motors
 102             this->kernel->stepper->turn_enable_pins_on();
 103
 104             // Start moving the axes to the origin
 105             this->status = MOVING_TO_ORIGIN_FAST;
 106             for( char c = 'X'; c <= 'Z'; c++ ){
 107                 if( ( axes_to_move >> ( c - 'X' ) ) & 1 ){
 108                     this->steppers[c - 'X']->set_speed(this->fast_rates[c -'X']);
 109                     this->steppers[c - 'X']->move(1,10000000);
 110                 }
 111             }
 112
 113             // Wait for all axes to have homed
 114             this->wait_for_homed(axes_to_move);
 115
 116             printf("test a\r\n");
 117             // Move back a small distance
 118             this->status = MOVING_BACK;
 119             for( char c = 'X'; c <= 'Z'; c++ ){
 120                 if( ( axes_to_move >> ( c - 'X' ) ) & 1 ){
 121                     this->steppers[c - 'X']->set_speed(this->slow_rates[c - 'X']);
 122                     this->steppers[c - 'X']->move(0,this->retract_steps[c - 'X']);
 123                 }
 124             }
 125
 126             printf("test b\r\n");
 127             // Wait for moves to be done
 128             for( char c = 'X'; c <= 'Z'; c++ ){
 129                 if(  ( axes_to_move >> ( c - 'X' ) ) & 1 ){
 130                     printf("axis %c \r\n", c );
 131                     while( this->steppers[c - 'X']->moving ){ }
 132                 }
 133             }
 134
 135             printf("test c\r\n");
 136
 137             // Start moving the axes to the origin slowly
 138             this->status = MOVING_TO_ORIGIN_SLOW;
 139             for( char c = 'X'; c <= 'Z'; c++ ){
 140                 if( ( axes_to_move >> ( c - 'X' ) ) & 1 ){
 141                     this->steppers[c - 'X']->set_speed(this->slow_rates[c -'X']);
 142                     this->steppers[c - 'X']->move(1,10000000);
 143                 }
 144             }
 145
 146             // Wait for all axes to have homed
 147             this->wait_for_homed(axes_to_move);
 148
 149             // Homing is done
 150             this->status = NOT_HOMING;
 151         }
 152     }
 153     else if (gcode->has_m)
 154     {
 155         switch(gcode->m)
 156         {
 157             case 119:
 158                 gcode->stream->printf("X min:%d max:%d Y min:%d max:%d Z min:%d max:%d\n",
 159                                                 this->pins[0].get(),
 160                                                         this->pins[3].get(),
 161                                                                 this->pins[1].get(),
 162                                                                         this->pins[4].get(),
 163                                                                                 this->pins[2].get(),
 164                                                                                     this->pins[5].get()
 165                                         );
 166                 break;
 167         }
 168     }
 169 }
 170