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