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
20 #include "SlowTicker.h"
22 #include "checksumm.h"
24 #include "ConfigValue.h"
25 #include "libs/StreamOutput.h"
26 #include "PublicDataRequest.h"
27 #include "EndstopsPublicAccess.h"
28 #include "StreamOutputPool.h"
29 #include "StepTicker.h"
30 #include "BaseSolution.h"
31 #include "SerialMessage.h"
42 #define endstops_module_enable_checksum CHECKSUM("endstops_enable")
43 #define corexy_homing_checksum CHECKSUM("corexy_homing")
44 #define delta_homing_checksum CHECKSUM("delta_homing")
45 #define rdelta_homing_checksum CHECKSUM("rdelta_homing")
46 #define scara_homing_checksum CHECKSUM("scara_homing")
48 #define alpha_min_endstop_checksum CHECKSUM("alpha_min_endstop")
49 #define beta_min_endstop_checksum CHECKSUM("beta_min_endstop")
50 #define gamma_min_endstop_checksum CHECKSUM("gamma_min_endstop")
52 #define alpha_max_endstop_checksum CHECKSUM("alpha_max_endstop")
53 #define beta_max_endstop_checksum CHECKSUM("beta_max_endstop")
54 #define gamma_max_endstop_checksum CHECKSUM("gamma_max_endstop")
56 #define alpha_trim_checksum CHECKSUM("alpha_trim")
57 #define beta_trim_checksum CHECKSUM("beta_trim")
58 #define gamma_trim_checksum CHECKSUM("gamma_trim")
60 #define alpha_max_travel_checksum CHECKSUM("alpha_max_travel")
61 #define beta_max_travel_checksum CHECKSUM("beta_max_travel")
62 #define gamma_max_travel_checksum CHECKSUM("gamma_max_travel")
64 // these values are in steps and should be deprecated
65 #define alpha_fast_homing_rate_checksum CHECKSUM("alpha_fast_homing_rate")
66 #define beta_fast_homing_rate_checksum CHECKSUM("beta_fast_homing_rate")
67 #define gamma_fast_homing_rate_checksum CHECKSUM("gamma_fast_homing_rate")
69 #define alpha_slow_homing_rate_checksum CHECKSUM("alpha_slow_homing_rate")
70 #define beta_slow_homing_rate_checksum CHECKSUM("beta_slow_homing_rate")
71 #define gamma_slow_homing_rate_checksum CHECKSUM("gamma_slow_homing_rate")
73 #define alpha_homing_retract_checksum CHECKSUM("alpha_homing_retract")
74 #define beta_homing_retract_checksum CHECKSUM("beta_homing_retract")
75 #define gamma_homing_retract_checksum CHECKSUM("gamma_homing_retract")
77 // same as above but in user friendly mm/s and mm
78 #define alpha_fast_homing_rate_mm_checksum CHECKSUM("alpha_fast_homing_rate_mm_s")
79 #define beta_fast_homing_rate_mm_checksum CHECKSUM("beta_fast_homing_rate_mm_s")
80 #define gamma_fast_homing_rate_mm_checksum CHECKSUM("gamma_fast_homing_rate_mm_s")
82 #define alpha_slow_homing_rate_mm_checksum CHECKSUM("alpha_slow_homing_rate_mm_s")
83 #define beta_slow_homing_rate_mm_checksum CHECKSUM("beta_slow_homing_rate_mm_s")
84 #define gamma_slow_homing_rate_mm_checksum CHECKSUM("gamma_slow_homing_rate_mm_s")
86 #define alpha_homing_retract_mm_checksum CHECKSUM("alpha_homing_retract_mm")
87 #define beta_homing_retract_mm_checksum CHECKSUM("beta_homing_retract_mm")
88 #define gamma_homing_retract_mm_checksum CHECKSUM("gamma_homing_retract_mm")
90 #define endstop_debounce_count_checksum CHECKSUM("endstop_debounce_count")
91 #define endstop_debounce_ms_checksum CHECKSUM("endstop_debounce_ms")
93 #define alpha_homing_direction_checksum CHECKSUM("alpha_homing_direction")
94 #define beta_homing_direction_checksum CHECKSUM("beta_homing_direction")
95 #define gamma_homing_direction_checksum CHECKSUM("gamma_homing_direction")
97 #define alpha_min_checksum CHECKSUM("alpha_min")
98 #define beta_min_checksum CHECKSUM("beta_min")
99 #define gamma_min_checksum CHECKSUM("gamma_min")
101 #define alpha_max_checksum CHECKSUM("alpha_max")
102 #define beta_max_checksum CHECKSUM("beta_max")
103 #define gamma_max_checksum CHECKSUM("gamma_max")
105 #define alpha_limit_enable_checksum CHECKSUM("alpha_limit_enable")
106 #define beta_limit_enable_checksum CHECKSUM("beta_limit_enable")
107 #define gamma_limit_enable_checksum CHECKSUM("gamma_limit_enable")
109 #define home_z_first_checksum CHECKSUM("home_z_first")
110 #define homing_order_checksum CHECKSUM("homing_order")
111 #define move_to_origin_checksum CHECKSUM("move_to_origin_after_home")
113 #define STEPPER THEROBOT->actuators
114 #define STEPS_PER_MM(a) (STEPPER[a]->get_steps_per_mm())
119 MOVING_TO_ENDSTOP_FAST
, // homing move
120 MOVING_TO_ENDSTOP_SLOW
, // homing move
121 MOVING_BACK
, // homing move
130 this->status
= NOT_HOMING
;
131 home_offset
[0] = home_offset
[1] = home_offset
[2] = 0.0F
;
135 void Endstops::on_module_loaded()
137 // Do not do anything if not enabled
138 if ( THEKERNEL
->config
->value( endstops_module_enable_checksum
)->by_default(true)->as_bool() == false ) {
143 register_for_event(ON_GCODE_RECEIVED
);
144 register_for_event(ON_GET_PUBLIC_DATA
);
145 register_for_event(ON_SET_PUBLIC_DATA
);
150 THEKERNEL
->slow_ticker
->attach(1000, this, &Endstops::read_endstops
);
154 void Endstops::load_config()
156 this->pins
[0].from_string( THEKERNEL
->config
->value(alpha_min_endstop_checksum
)->by_default("nc" )->as_string())->as_input();
157 this->pins
[1].from_string( THEKERNEL
->config
->value(beta_min_endstop_checksum
)->by_default("nc" )->as_string())->as_input();
158 this->pins
[2].from_string( THEKERNEL
->config
->value(gamma_min_endstop_checksum
)->by_default("nc" )->as_string())->as_input();
159 this->pins
[3].from_string( THEKERNEL
->config
->value(alpha_max_endstop_checksum
)->by_default("nc" )->as_string())->as_input();
160 this->pins
[4].from_string( THEKERNEL
->config
->value(beta_max_endstop_checksum
)->by_default("nc" )->as_string())->as_input();
161 this->pins
[5].from_string( THEKERNEL
->config
->value(gamma_max_endstop_checksum
)->by_default("nc" )->as_string())->as_input();
163 // These are the old ones in steps still here for backwards compatibility
164 this->fast_rates
[0] = THEKERNEL
->config
->value(alpha_fast_homing_rate_checksum
)->by_default(4000 )->as_number() / STEPS_PER_MM(0);
165 this->fast_rates
[1] = THEKERNEL
->config
->value(beta_fast_homing_rate_checksum
)->by_default(4000 )->as_number() / STEPS_PER_MM(1);
166 this->fast_rates
[2] = THEKERNEL
->config
->value(gamma_fast_homing_rate_checksum
)->by_default(6400 )->as_number() / STEPS_PER_MM(2);
167 this->slow_rates
[0] = THEKERNEL
->config
->value(alpha_slow_homing_rate_checksum
)->by_default(2000 )->as_number() / STEPS_PER_MM(0);
168 this->slow_rates
[1] = THEKERNEL
->config
->value(beta_slow_homing_rate_checksum
)->by_default(2000 )->as_number() / STEPS_PER_MM(1);
169 this->slow_rates
[2] = THEKERNEL
->config
->value(gamma_slow_homing_rate_checksum
)->by_default(3200 )->as_number() / STEPS_PER_MM(2);
170 this->retract_mm
[0] = THEKERNEL
->config
->value(alpha_homing_retract_checksum
)->by_default(400 )->as_number() / STEPS_PER_MM(0);
171 this->retract_mm
[1] = THEKERNEL
->config
->value(beta_homing_retract_checksum
)->by_default(400 )->as_number() / STEPS_PER_MM(1);
172 this->retract_mm
[2] = THEKERNEL
->config
->value(gamma_homing_retract_checksum
)->by_default(1600 )->as_number() / STEPS_PER_MM(2);
174 // 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
175 this->fast_rates
[0] = THEKERNEL
->config
->value(alpha_fast_homing_rate_mm_checksum
)->by_default(this->fast_rates
[0])->as_number();
176 this->fast_rates
[1] = THEKERNEL
->config
->value(beta_fast_homing_rate_mm_checksum
)->by_default(this->fast_rates
[1])->as_number();
177 this->fast_rates
[2] = THEKERNEL
->config
->value(gamma_fast_homing_rate_mm_checksum
)->by_default(this->fast_rates
[2])->as_number();
178 this->slow_rates
[0] = THEKERNEL
->config
->value(alpha_slow_homing_rate_mm_checksum
)->by_default(this->slow_rates
[0])->as_number();
179 this->slow_rates
[1] = THEKERNEL
->config
->value(beta_slow_homing_rate_mm_checksum
)->by_default(this->slow_rates
[1])->as_number();
180 this->slow_rates
[2] = THEKERNEL
->config
->value(gamma_slow_homing_rate_mm_checksum
)->by_default(this->slow_rates
[2])->as_number();
181 this->retract_mm
[0] = THEKERNEL
->config
->value(alpha_homing_retract_mm_checksum
)->by_default(this->retract_mm
[0])->as_number();
182 this->retract_mm
[1] = THEKERNEL
->config
->value(beta_homing_retract_mm_checksum
)->by_default(this->retract_mm
[1])->as_number();
183 this->retract_mm
[2] = THEKERNEL
->config
->value(gamma_homing_retract_mm_checksum
)->by_default(this->retract_mm
[2])->as_number();
185 // NOTE the debouce count is in milliseconds so probably does not need to beset anymore
186 this->debounce_ms
= THEKERNEL
->config
->value(endstop_debounce_ms_checksum
)->by_default(0)->as_number();
187 this->debounce_count
= THEKERNEL
->config
->value(endstop_debounce_count_checksum
)->by_default(100)->as_number();
189 // get homing direction and convert to boolean where true is home to min, and false is home to max
190 this->home_direction
[0]= THEKERNEL
->config
->value(alpha_homing_direction_checksum
)->by_default("home_to_min")->as_string() != "home_to_max";
191 this->home_direction
[1]= THEKERNEL
->config
->value(beta_homing_direction_checksum
)->by_default("home_to_min")->as_string() != "home_to_max";
192 this->home_direction
[2]= THEKERNEL
->config
->value(gamma_homing_direction_checksum
)->by_default("home_to_min")->as_string() != "home_to_max";
194 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();
195 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();
196 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();
198 // used to set maximum movement on homing, set by alpha_max_travel if defined
199 // for backward compatibility uses alpha_max if not defined.
201 this->alpha_max
= THEKERNEL
->config
->value(alpha_max_checksum
)->by_default(500)->as_number();
202 this->beta_max
= THEKERNEL
->config
->value(beta_max_checksum
)->by_default(500)->as_number();
203 this->gamma_max
= THEKERNEL
->config
->value(gamma_max_checksum
)->by_default(500)->as_number();
205 this->alpha_max
= THEKERNEL
->config
->value(alpha_max_travel_checksum
)->by_default(alpha_max
*2)->as_number();
206 this->beta_max
= THEKERNEL
->config
->value(beta_max_travel_checksum
)->by_default(beta_max
*2)->as_number();
207 this->gamma_max
= THEKERNEL
->config
->value(gamma_max_travel_checksum
)->by_default(gamma_max
*2)->as_number();
209 this->is_corexy
= THEKERNEL
->config
->value(corexy_homing_checksum
)->by_default(false)->as_bool();
210 this->is_delta
= THEKERNEL
->config
->value(delta_homing_checksum
)->by_default(false)->as_bool();
211 this->is_rdelta
= THEKERNEL
->config
->value(rdelta_homing_checksum
)->by_default(false)->as_bool();
212 this->is_scara
= THEKERNEL
->config
->value(scara_homing_checksum
)->by_default(false)->as_bool();
214 this->home_z_first
= THEKERNEL
->config
->value(home_z_first_checksum
)->by_default(false)->as_bool();
216 // see if an order has been specified, must be three characters, XYZ or YXZ etc
217 string order
= THEKERNEL
->config
->value(homing_order_checksum
)->by_default("")->as_string();
218 this->homing_order
= 0;
219 if(order
.size() == 3 && !(this->is_delta
|| this->is_rdelta
)) {
221 for(auto c
: order
) {
222 uint8_t i
= toupper(c
) - 'X';
223 if(i
> 2) { // bad value
224 this->homing_order
= 0;
227 homing_order
|= (i
<< shift
);
232 // endstop trim used by deltas to do soft adjusting
233 // on a delta homing to max, a negative trim value will move the carriage down, and a positive will move it up
234 this->trim_mm
[0] = THEKERNEL
->config
->value(alpha_trim_checksum
)->by_default(0 )->as_number();
235 this->trim_mm
[1] = THEKERNEL
->config
->value(beta_trim_checksum
)->by_default(0 )->as_number();
236 this->trim_mm
[2] = THEKERNEL
->config
->value(gamma_trim_checksum
)->by_default(0 )->as_number();
239 this->limit_enable
[X_AXIS
] = THEKERNEL
->config
->value(alpha_limit_enable_checksum
)->by_default(false)->as_bool();
240 this->limit_enable
[Y_AXIS
] = THEKERNEL
->config
->value(beta_limit_enable_checksum
)->by_default(false)->as_bool();
241 this->limit_enable
[Z_AXIS
] = THEKERNEL
->config
->value(gamma_limit_enable_checksum
)->by_default(false)->as_bool();
243 // set to true by default for deltas due to trim, false on cartesians
244 this->move_to_origin_after_home
= THEKERNEL
->config
->value(move_to_origin_checksum
)->by_default(is_delta
)->as_bool();
246 if(this->limit_enable
[X_AXIS
] || this->limit_enable
[Y_AXIS
] || this->limit_enable
[Z_AXIS
]) {
247 register_for_event(ON_IDLE
);
248 if(this->is_delta
|| this->is_rdelta
) {
249 // we must enable all the limits not just one
250 this->limit_enable
[X_AXIS
] = true;
251 this->limit_enable
[Y_AXIS
] = true;
252 this->limit_enable
[Z_AXIS
] = true;
257 if(this->is_delta
|| this->is_rdelta
) {
258 // some things must be the same or they will die, so force it here to avoid config errors
259 this->fast_rates
[1] = this->fast_rates
[2] = this->fast_rates
[0];
260 this->slow_rates
[1] = this->slow_rates
[2] = this->slow_rates
[0];
261 this->retract_mm
[1] = this->retract_mm
[2] = this->retract_mm
[0];
262 this->home_direction
[1] = this->home_direction
[2] = this->home_direction
[0];
263 // NOTE homing_position for rdelta is the angle of the actuator not the cartesian position
264 if(!this->is_rdelta
) this->homing_position
[0] = this->homing_position
[1] = 0;
268 bool Endstops::debounced_get(int pin
)
270 uint8_t debounce
= 0;
271 while(this->pins
[pin
].get()) {
272 if ( ++debounce
>= this->debounce_count
) {
280 static const char *endstop_names
[] = {"min_x", "min_y", "min_z", "max_x", "max_y", "max_z"};
282 void Endstops::on_idle(void *argument
)
284 if(this->status
== LIMIT_TRIGGERED
) {
285 // if we were in limit triggered see if it has been cleared
286 for( int c
= X_AXIS
; c
<= Z_AXIS
; c
++ ) {
287 if(this->limit_enable
[c
]) {
288 std::array
<int, 2> minmax
{{0, 3}};
289 // check min and max endstops
290 for (int i
: minmax
) {
292 if(this->pins
[n
].get()) {
293 // still triggered, so exit
300 if(++bounce_cnt
> 10) { // can use less as it calls on_idle in between
302 this->status
= NOT_HOMING
;
306 } else if(this->status
!= NOT_HOMING
) {
307 // don't check while homing
311 for( int c
= X_AXIS
; c
<= Z_AXIS
; c
++ ) {
312 if(this->limit_enable
[c
] && STEPPER
[c
]->is_moving()) {
313 std::array
<int, 2> minmax
{{0, 3}};
314 // check min and max endstops
315 for (int i
: minmax
) {
317 if(debounced_get(n
)) {
319 THEKERNEL
->streams
->printf("Limit switch %s was hit - reset or M999 required\n", endstop_names
[n
]);
320 this->status
= LIMIT_TRIGGERED
;
321 // disables heaters and motors, ignores incoming Gcode and flushes block queue
322 THEKERNEL
->call_event(ON_HALT
, nullptr);
330 // if limit switches are enabled, then we must move off of the endstop otherwise we won't be able to move
331 // checks if triggered and only backs off if triggered
332 void Endstops::back_off_home(std::bitset
<3> axis
)
334 std::vector
<std::pair
<char, float>> params
;
335 this->status
= BACK_OFF_HOME
;
337 // these are handled differently
339 // Move off of the endstop using a regular relative move in Z only
340 params
.push_back({'Z', this->retract_mm
[Z_AXIS
] * (this->home_direction
[Z_AXIS
] ? 1 : -1)});
343 // cartesians, concatenate all the moves we need to do into one gcode
344 for( int c
= X_AXIS
; c
<= Z_AXIS
; c
++ ) {
345 if(!axis
[c
]) continue; // only for axes we asked to move
347 // if not triggered no need to move off
348 if(this->limit_enable
[c
] && debounced_get(c
+ (this->home_direction
[c
] ? 0 : 3)) ) {
349 params
.push_back({c
+ 'X', this->retract_mm
[c
] * (this->home_direction
[c
] ? 1 : -1)});
354 if(!params
.empty()) {
355 // Move off of the endstop using a regular relative move
356 params
.insert(params
.begin(), {'G', 0});
357 // use X slow rate to move, Z should have a max speed set anyway
358 params
.push_back({'F', this->slow_rates
[X_AXIS
] * 60.0F
});
360 append_parameters(gcode_buf
, params
, sizeof(gcode_buf
));
361 Gcode
gc(gcode_buf
, &(StreamOutput::NullStream
));
362 THEROBOT
->push_state();
363 THEROBOT
->inch_mode
= false; // needs to be in mm
364 THEROBOT
->absolute_mode
= false; // needs to be relative mode
365 THEROBOT
->on_gcode_received(&gc
); // send to robot directly
366 // Wait for above to finish
367 THECONVEYOR
->wait_for_idle();
368 THEROBOT
->pop_state();
371 this->status
= NOT_HOMING
;
374 // If enabled will move the head to 0,0 after homing, but only if X and Y were set to home
375 void Endstops::move_to_origin(std::bitset
<3> axis
)
377 if(!is_delta
&& (!axis
[X_AXIS
] || !axis
[Y_AXIS
])) return; // ignore if X and Y not homing, unless delta
379 // Do we need to check if we are already at 0,0? probably not as the G0 will not do anything if we are
380 // float pos[3]; THEROBOT->get_axis_position(pos); if(pos[0] == 0 && pos[1] == 0) return;
382 this->status
= MOVE_TO_ORIGIN
;
383 // Move to center using a regular move, use slower of X and Y fast rate
384 float rate
= std::min(this->fast_rates
[0], this->fast_rates
[1]) * 60.0F
;
386 THEROBOT
->push_state();
387 THEROBOT
->inch_mode
= false; // needs to be in mm
388 THEROBOT
->absolute_mode
= true;
389 snprintf(buf
, sizeof(buf
), "G53 G0 X0 Y0 F%1.4f", rate
); // must use machine coordinates in case G92 or WCS is in effect
390 struct SerialMessage message
;
391 message
.message
= buf
;
392 message
.stream
= &(StreamOutput::NullStream
);
393 THEKERNEL
->call_event(ON_CONSOLE_LINE_RECEIVED
, &message
); // as it is a multi G code command
394 // Wait for above to finish
395 THECONVEYOR
->wait_for_idle();
396 THEROBOT
->pop_state();
397 this->status
= NOT_HOMING
;
400 // Called every millisecond in an ISR
401 uint32_t Endstops::read_endstops(uint32_t dummy
)
403 if(this->status
!= MOVING_TO_ENDSTOP_SLOW
&& this->status
!= MOVING_TO_ENDSTOP_FAST
) return 0; // not doing anything we need to monitor for
407 for ( int m
= X_AXIS
; m
<= Z_AXIS
; m
++ ) {
408 if(STEPPER
[m
]->is_moving()) {
409 // if it is moving then we check the associated endstop, and debounce it
410 if(this->pins
[m
+ (this->home_direction
[m
] ? 0 : 3)].get()) {
411 if(debounce
[m
] < debounce_ms
) {
414 // we signal the motor to stop, which will preempt any moves on that axis
415 STEPPER
[m
]->stop_moving();
419 // The endstop was not hit yet
426 // corexy is different as the actuators are not directly related to the XY axis
427 // so we check the axis that is currently homing then stop all motors
428 for ( int m
= X_AXIS
; m
<= Z_AXIS
; m
++ ) {
429 if(axis_to_home
[m
]) {
430 if(this->pins
[m
+ (this->home_direction
[m
] ? 0 : 3)].get()) {
431 if(debounce
[m
] < debounce_ms
) {
434 // we signal all the motors to stop, as on corexy X and Y motors will move for X and Y axis homing and we only hom eone axis at a time
435 STEPPER
[X_AXIS
]->stop_moving();
436 STEPPER
[Y_AXIS
]->stop_moving();
437 STEPPER
[Z_AXIS
]->stop_moving();
441 // The endstop was not hit yet
451 void Endstops::home_xy()
453 if(axis_to_home
[X_AXIS
] && axis_to_home
[Y_AXIS
]) {
454 // Home XY first so as not to slow them down by homing Z at the same time
455 float delta
[3] {alpha_max
, beta_max
, 0};
456 if(this->home_direction
[X_AXIS
]) delta
[X_AXIS
]= -delta
[X_AXIS
];
457 if(this->home_direction
[Y_AXIS
]) delta
[Y_AXIS
]= -delta
[Y_AXIS
];
458 float feed_rate
= std::min(fast_rates
[X_AXIS
], fast_rates
[Y_AXIS
]);
459 THEROBOT
->delta_move(delta
, feed_rate
, 3);
461 } else if(axis_to_home
[X_AXIS
]) {
463 float delta
[3] {alpha_max
, 0, 0};
464 if(this->home_direction
[X_AXIS
]) delta
[X_AXIS
]= -delta
[X_AXIS
];
465 THEROBOT
->delta_move(delta
, fast_rates
[X_AXIS
], 3);
467 } else if(axis_to_home
[Y_AXIS
]) {
469 float delta
[3] {0, beta_max
, 0};
470 if(this->home_direction
[Y_AXIS
]) delta
[Y_AXIS
]= -delta
[Y_AXIS
];
471 THEROBOT
->delta_move(delta
, fast_rates
[Y_AXIS
], 3);
474 // Wait for axis to have homed
475 THECONVEYOR
->wait_for_idle();
478 void Endstops::home(std::bitset
<3> a
)
480 // reset debounce counts
483 // turn off any compensation transform
484 auto savect
= THEROBOT
->compensationTransform
;
485 THEROBOT
->compensationTransform
= nullptr;
487 this->axis_to_home
= a
;
489 // Start moving the axes to the origin
490 this->status
= MOVING_TO_ENDSTOP_FAST
;
492 THEROBOT
->disable_segmentation
= true; // we must disable segmentation as this won't work with it enabled
494 if(!home_z_first
) home_xy();
496 if(axis_to_home
[Z_AXIS
]) {
498 float delta
[3] {0, 0, gamma_max
}; // we go the max z
499 if(this->home_direction
[Z_AXIS
]) delta
[Z_AXIS
]= -delta
[Z_AXIS
];
500 THEROBOT
->delta_move(delta
, fast_rates
[Z_AXIS
], 3);
502 THECONVEYOR
->wait_for_idle();
505 if(home_z_first
) home_xy();
507 // TODO should check that the endstops were hit and it did not stop short for some reason
508 // we did not complete movement the full distance if we hit the endstops
509 THEROBOT
->reset_position_from_current_actuator_position();
511 // Move back a small distance for all homing axis
512 this->status
= MOVING_BACK
;
513 float delta
[3]{0,0,0};
514 // use minimum feed rate of all three axes that are being homed (sub optimal, but necessary)
515 float feed_rate
= slow_rates
[X_AXIS
];
516 for ( int c
= X_AXIS
; c
<= Z_AXIS
; c
++ ) {
517 if(axis_to_home
[c
]) {
518 delta
[c
]= this->retract_mm
[c
];
519 if(!this->home_direction
[c
]) delta
[c
]= -delta
[c
];
520 feed_rate
= std::min(slow_rates
[c
], feed_rate
);
524 THEROBOT
->delta_move(delta
, feed_rate
, 3);
525 // wait until finished
526 THECONVEYOR
->wait_for_idle();
528 // Start moving the axes towards the endstops slowly
529 this->status
= MOVING_TO_ENDSTOP_SLOW
;
530 for ( int c
= X_AXIS
; c
<= Z_AXIS
; c
++ ) {
531 if(axis_to_home
[c
]) {
532 delta
[c
]= this->retract_mm
[c
]*2; // move further than we moved off to make sure we hit it cleanly
533 if(this->home_direction
[c
]) delta
[c
]= -delta
[c
];
538 THEROBOT
->delta_move(delta
, feed_rate
, 3);
539 // wait until finished
540 THECONVEYOR
->wait_for_idle();
542 // TODO should check that the endstops were hit and it did not stop short for some reason
543 // we did not complete movement the full distance if we hit the endstops
544 THEROBOT
->reset_position_from_current_actuator_position();
546 THEROBOT
->disable_segmentation
= false;
548 // restore compensationTransform
549 THEROBOT
->compensationTransform
= savect
;
551 this->status
= NOT_HOMING
;
554 void Endstops::process_home_command(Gcode
* gcode
)
556 if( (gcode
->subcode
== 0 && THEKERNEL
->is_grbl_mode()) || (gcode
->subcode
== 2 && !THEKERNEL
->is_grbl_mode()) ) {
557 // G28 in grbl mode or G28.2 in normal mode will do a rapid to the predefined position
558 // TODO spec says if XYZ specified move to them first then move to MCS of specifed axis
559 THEROBOT
->push_state();
560 THEROBOT
->inch_mode
= false; // needs to be in mm
561 THEROBOT
->absolute_mode
= true;
563 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
564 struct SerialMessage message
;
565 message
.message
= buf
;
566 message
.stream
= &(StreamOutput::NullStream
);
567 THEKERNEL
->call_event(ON_CONSOLE_LINE_RECEIVED
, &message
); // as it is a multi G code command
568 // Wait for above to finish
569 THECONVEYOR
->wait_for_idle();
570 THEROBOT
->pop_state();
573 } else if(THEKERNEL
->is_grbl_mode() && gcode
->subcode
== 2) { // G28.2 in grbl mode forces homing (triggered by $H)
574 // fall through so it does homing cycle
576 } else if(gcode
->subcode
== 1) { // G28.1 set pre defined position
577 // saves current position in absolute machine coordinates
578 THEROBOT
->get_axis_position(saved_position
); // Only XY are used
579 // Note the following is only meant to be used for recovering a saved position from config-override
580 // Not a standard Gcode and not to be relied on
581 if (gcode
->has_letter('X')) saved_position
[X_AXIS
] = gcode
->get_value('X');
582 if (gcode
->has_letter('Y')) saved_position
[Y_AXIS
] = gcode
->get_value('Y');
585 } else if(gcode
->subcode
== 3) { // G28.3 is a smoothie special it sets manual homing
586 if(gcode
->get_num_args() == 0) {
587 THEROBOT
->reset_axis_position(0, 0, 0);
589 // do a manual homing based on given coordinates, no endstops required
590 if(gcode
->has_letter('X')) THEROBOT
->reset_axis_position(gcode
->get_value('X'), X_AXIS
);
591 if(gcode
->has_letter('Y')) THEROBOT
->reset_axis_position(gcode
->get_value('Y'), Y_AXIS
);
592 if(gcode
->has_letter('Z')) THEROBOT
->reset_axis_position(gcode
->get_value('Z'), Z_AXIS
);
596 } else if(gcode
->subcode
== 4) { // G28.4 is a smoothie special it sets manual homing based on the actuator position (used for rotary delta)
597 // do a manual homing based on given coordinates, no endstops required
598 ActuatorCoordinates ac
;
599 if(gcode
->has_letter('X')) ac
[0] = gcode
->get_value('X');
600 if(gcode
->has_letter('Y')) ac
[1] = gcode
->get_value('Y');
601 if(gcode
->has_letter('Z')) ac
[2] = gcode
->get_value('Z');
602 THEROBOT
->reset_actuator_position(ac
);
605 } else if(THEKERNEL
->is_grbl_mode()) {
606 gcode
->stream
->printf("error:Unsupported command\n");
610 // G28 is received, we have homing to do
612 // First wait for the queue to be empty
613 THECONVEYOR
->wait_for_idle();
615 // deltas, scaras always home Z axis only
616 bool home_in_z
= this->is_delta
|| this->is_rdelta
|| this->is_scara
;
618 // figure out which axis to home
622 if(!home_in_z
) { // ie not a delta
623 bool axis_speced
= ( gcode
->has_letter('X') || gcode
->has_letter('Y') || gcode
->has_letter('Z') );
624 // only enable homing if the endstop is defined,
625 for ( int c
= X_AXIS
; c
<= Z_AXIS
; c
++ ) {
626 if (this->pins
[c
+ (this->home_direction
[c
] ? 0 : 3)].connected() && (!axis_speced
|| gcode
->has_letter(c
+ 'X')) ) {
628 // now reset axis to 0 as we do not know what state we are in
629 THEROBOT
->reset_axis_position(0, c
);
634 // Only Z axis homes (even though all actuators move this is handled by arm solution)
636 // we also set the kinematics to a known good position, this is necessary for a rotary delta, but doesn't hurt for linear delta
637 THEROBOT
->reset_axis_position(0, 0, 0);
640 // do the actual homing
641 if(homing_order
!= 0) {
642 // if an order has been specified do it in the specified order
643 // homing order is 0b00ccbbaa where aa is 0,1,2 to specify the first axis, bb is the second and cc is the third
644 // eg 0b00100001 would be Y X Z, 0b00100100 would be X Y Z
645 for (uint8_t m
= homing_order
; m
!= 0; m
>>= 2) {
646 int a
= (m
& 0x03); // axis to home
647 if(haxis
[a
]) { // if axis is selected to home
652 // check if on_halt (eg kill)
653 if(THEKERNEL
->is_halted()) break;
656 } else if(is_corexy
) {
657 // corexy must home each axis individually
658 for (int a
= X_AXIS
; a
<= Z_AXIS
; ++a
) {
667 // they could all home at the same time
671 // check if on_halt (eg kill)
672 if(THEKERNEL
->is_halted()) {
673 if(!THEKERNEL
->is_grbl_mode()) {
674 THEKERNEL
->streams
->printf("Homing cycle aborted by kill\n");
679 if(home_in_z
) { // deltas only
680 // Here's where we would have been if the endstops were perfectly trimmed
681 // NOTE on a rotary delta home_offset is actuator position in degrees when homed and
682 // home_offset is the theta offset for each actuator, so M206 is used to set theta offset for each actuator in degrees
683 float ideal_position
[3] = {
684 this->homing_position
[X_AXIS
] + this->home_offset
[X_AXIS
],
685 this->homing_position
[Y_AXIS
] + this->home_offset
[Y_AXIS
],
686 this->homing_position
[Z_AXIS
] + this->home_offset
[Z_AXIS
]
689 bool has_endstop_trim
= this->is_delta
|| this->is_scara
;
690 if (has_endstop_trim
) {
691 ActuatorCoordinates ideal_actuator_position
;
692 THEROBOT
->arm_solution
->cartesian_to_actuator(ideal_position
, ideal_actuator_position
);
694 // We are actually not at the ideal position, but a trim away
695 ActuatorCoordinates real_actuator_position
= {
696 ideal_actuator_position
[X_AXIS
] - this->trim_mm
[X_AXIS
],
697 ideal_actuator_position
[Y_AXIS
] - this->trim_mm
[Y_AXIS
],
698 ideal_actuator_position
[Z_AXIS
] - this->trim_mm
[Z_AXIS
]
701 float real_position
[3];
702 THEROBOT
->arm_solution
->actuator_to_cartesian(real_actuator_position
, real_position
);
703 // Reset the actuator positions to correspond our real position
704 THEROBOT
->reset_axis_position(real_position
[0], real_position
[1], real_position
[2]);
707 // without endstop trim, real_position == ideal_position
709 // with a rotary delta we set the actuators angle then use the FK to calculate the resulting cartesian coordinates
710 ActuatorCoordinates real_actuator_position
= {ideal_position
[0], ideal_position
[1], ideal_position
[2]};
711 THEROBOT
->reset_actuator_position(real_actuator_position
);
714 // Reset the actuator positions to correspond our real position
715 THEROBOT
->reset_axis_position(ideal_position
[0], ideal_position
[1], ideal_position
[2]);
720 // Zero the ax(i/e)s position, add in the home offset
721 for ( int c
= X_AXIS
; c
<= Z_AXIS
; c
++ ) {
722 if (haxis
[c
]) { // if we requested this axis to home
723 THEROBOT
->reset_axis_position(this->homing_position
[c
] + this->home_offset
[c
], c
);
728 // on some systems where 0,0 is bed center it is nice to have home goto 0,0 after homing
729 // default is off for cartesian on for deltas
731 // NOTE a rotary delta usually has optical or hall-effect endstops so it is safe to go past them a little bit
732 if(this->move_to_origin_after_home
) move_to_origin(haxis
);
733 // if limit switches are enabled we must back off endstop after setting home
734 back_off_home(haxis
);
736 } else if(this->move_to_origin_after_home
|| this->limit_enable
[X_AXIS
]) {
737 // 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
738 // also need to back off endstops if limits are enabled
739 back_off_home(haxis
);
740 if(this->move_to_origin_after_home
) move_to_origin(haxis
);
744 void Endstops::set_homing_offset(Gcode
*gcode
)
746 // Similar to M206 and G92 but sets Homing offsets based on current position
748 THEROBOT
->get_axis_position(cartesian
); // get actual position from robot
749 if (gcode
->has_letter('X')) {
750 home_offset
[0] -= (cartesian
[X_AXIS
] - gcode
->get_value('X'));
751 THEROBOT
->reset_axis_position(gcode
->get_value('X'), X_AXIS
);
753 if (gcode
->has_letter('Y')) {
754 home_offset
[1] -= (cartesian
[Y_AXIS
] - gcode
->get_value('Y'));
755 THEROBOT
->reset_axis_position(gcode
->get_value('Y'), Y_AXIS
);
757 if (gcode
->has_letter('Z')) {
758 home_offset
[2] -= (cartesian
[Z_AXIS
] - gcode
->get_value('Z'));
759 THEROBOT
->reset_axis_position(gcode
->get_value('Z'), Z_AXIS
);
762 gcode
->stream
->printf("Homing Offset: X %5.3f Y %5.3f Z %5.3f\n", home_offset
[0], home_offset
[1], home_offset
[2]);
765 // Start homing sequences by response to GCode commands
766 void Endstops::on_gcode_received(void *argument
)
768 Gcode
*gcode
= static_cast<Gcode
*>(argument
);
769 if ( gcode
->has_g
&& gcode
->g
== 28) {
770 process_home_command(gcode
);
772 } else if (gcode
->has_m
) {
776 for (int i
= 0; i
< 6; ++i
) {
777 if(this->pins
[i
].connected())
778 gcode
->stream
->printf("%s:%d ", endstop_names
[i
], this->pins
[i
].get());
780 gcode
->add_nl
= true;
785 case 206: // M206 - set homing offset
786 if(is_rdelta
) return; // RotaryDeltaCalibration module will handle this
788 if (gcode
->has_letter('X')) home_offset
[0] = gcode
->get_value('X');
789 if (gcode
->has_letter('Y')) home_offset
[1] = gcode
->get_value('Y');
790 if (gcode
->has_letter('Z')) home_offset
[2] = gcode
->get_value('Z');
791 gcode
->stream
->printf("X %5.3f Y %5.3f Z %5.3f\n", home_offset
[0], home_offset
[1], home_offset
[2]);
794 case 306: // set homing offset based on current position
795 if(is_rdelta
) return; // RotaryDeltaCalibration module will handle this
797 set_homing_offset(gcode
);
800 case 500: // save settings
801 case 503: // print settings
803 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]);
805 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]);
807 if (this->is_delta
|| this->is_scara
) {
808 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]);
809 gcode
->stream
->printf(";Max Z\nM665 Z%1.3f\n", this->homing_position
[2]);
811 if(saved_position
[X_AXIS
] != 0 || saved_position
[Y_AXIS
] != 0) {
812 gcode
->stream
->printf(";predefined position:\nG28.1 X%1.4f Y%1.4f\n", saved_position
[X_AXIS
], saved_position
[Y_AXIS
]);
817 if (this->is_delta
|| this->is_scara
) { // M665 - set max gamma/z height
818 float gamma_max
= this->homing_position
[2];
819 if (gcode
->has_letter('Z')) {
820 this->homing_position
[2] = gamma_max
= gcode
->get_value('Z');
822 gcode
->stream
->printf("Max Z %8.3f ", gamma_max
);
823 gcode
->add_nl
= true;
828 if(this->is_delta
|| this->is_scara
) { // M666 - set trim for each axis in mm, NB negative mm trim is down
829 if (gcode
->has_letter('X')) trim_mm
[0] = gcode
->get_value('X');
830 if (gcode
->has_letter('Y')) trim_mm
[1] = gcode
->get_value('Y');
831 if (gcode
->has_letter('Z')) trim_mm
[2] = gcode
->get_value('Z');
833 // print the current trim values in mm
834 gcode
->stream
->printf("X: %5.3f Y: %5.3f Z: %5.3f\n", trim_mm
[0], trim_mm
[1], trim_mm
[2]);
843 void Endstops::on_get_public_data(void* argument
)
845 PublicDataRequest
* pdr
= static_cast<PublicDataRequest
*>(argument
);
847 if(!pdr
->starts_with(endstops_checksum
)) return;
849 if(pdr
->second_element_is(trim_checksum
)) {
850 pdr
->set_data_ptr(&this->trim_mm
);
853 } else if(pdr
->second_element_is(home_offset_checksum
)) {
854 pdr
->set_data_ptr(&this->home_offset
);
857 } else if(pdr
->second_element_is(saved_position_checksum
)) {
858 pdr
->set_data_ptr(&this->saved_position
);
861 } else if(pdr
->second_element_is(get_homing_status_checksum
)) {
862 bool *homing
= static_cast<bool *>(pdr
->get_data_ptr());
863 *homing
= this->status
!= NOT_HOMING
;
868 void Endstops::on_set_public_data(void* argument
)
870 PublicDataRequest
* pdr
= static_cast<PublicDataRequest
*>(argument
);
872 if(!pdr
->starts_with(endstops_checksum
)) return;
874 if(pdr
->second_element_is(trim_checksum
)) {
875 float *t
= static_cast<float*>(pdr
->get_data_ptr());
876 this->trim_mm
[0] = t
[0];
877 this->trim_mm
[1] = t
[1];
878 this->trim_mm
[2] = t
[2];
881 } else if(pdr
->second_element_is(home_offset_checksum
)) {
882 float *t
= static_cast<float*>(pdr
->get_data_ptr());
883 if(!isnan(t
[0])) this->home_offset
[0] = t
[0];
884 if(!isnan(t
[1])) this->home_offset
[1] = t
[1];
885 if(!isnan(t
[2])) this->home_offset
[2] = t
[2];