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 }
  50
  51 // Start homing sequences by response to GCode commands
  52 void Endstops::on_gcode_received(void* argument){
  53     Gcode* gcode = static_cast<Gcode*>(argument);
  54     if( gcode->has_g){
  55         if( gcode->g == 28 ){
  56             // G28 is received, we have homing to do
  57
  58             // First wait for the queue to be empty
  59             while(this->kernel->player->queue.size() > 0) { wait_us(500); }
  60
  61             // Do we move select axes or all of them
  62             char axes_to_move = ( ( gcode->has_letter('X') || gcode->has_letter('Y') || gcode->has_letter('Z') ) ? 0x00 : 0xff );
  63             for( char c = 'X'; c <= 'Z'; c++ ){
  64                 if( gcode->has_letter(c) && this->pins[c - 'X']->connected() ){ axes_to_move += ( 1 << (c - 'X' ) ); }
  65             }
  66
  67             // Enable the motors
  68             this->kernel->stepper->turn_enable_pins_on();
  69
  70             // Start moving the axes to the origin
  71             this->status = MOVING_TO_ORIGIN_FAST;
  72             for( char c = 'X'; c <= 'Z'; c++ ){
  73                 if( ( axes_to_move >> ( c - 'X' ) ) & 1 ){
  74                     this->steppers[c - 'X']->set_speed(this->fast_rates[c -'X']);
  75                     this->steppers[c - 'X']->move(1,10000000);
  76                 }
  77             }
  78
  79             // Wait for all axes to have homed
  80             bool running = true;
  81             while(running){
  82                 running = false;
  83                 for( char c = 'X'; c <= 'Z'; c++ ){
  84                     if( ( axes_to_move >> ( c - 'X' ) ) & 1 ){
  85                          if( this->pins[c - 'X']->get() ){
  86                             // The endstop was hit, stop moving
  87                             if( this->steppers[c - 'X']->moving ){
  88                                 this->steppers[c - 'X']->move(0,0);
  89                             }
  90                         }else{
  91                             // The endstop was not hit yet
  92                             running = true;
  93                          }
  94                     }
  95                 }
  96             }
  97
  98
  99             printf("test a\r\n");
 100             // Move back a small distance
 101             this->status = MOVING_BACK;
 102             for( char c = 'X'; c <= 'Z'; c++ ){
 103                 if( ( axes_to_move >> ( c - 'X' ) ) & 1 ){
 104                     this->steppers[c - 'X']->set_speed(this->slow_rates[c - 'X']);
 105                     this->steppers[c - 'X']->move(0,this->retract_steps[c - 'X']);
 106                 }
 107             }
 108
 109             printf("test b\r\n");
 110             // Wait for moves to be done
 111             for( char c = 'X'; c <= 'Z'; c++ ){
 112                 if(  ( axes_to_move >> ( c - 'X' ) ) & 1 ){
 113                     printf("axis %c \r\n", c );
 114                     while( this->steppers[c - 'X']->moving ){ }
 115                 }
 116             }
 117
 118             printf("test c\r\n");
 119
 120             // Start moving the axes to the origin slowly
 121             this->status = MOVING_TO_ORIGIN_SLOW;
 122             for( char c = 'X'; c <= 'Z'; c++ ){
 123                 if( ( axes_to_move >> ( c - 'X' ) ) & 1 ){
 124                     this->steppers[c - 'X']->set_speed(this->slow_rates[c -'X']);
 125                     this->steppers[c - 'X']->move(1,10000000);
 126                 }
 127             }
 128
 129             // Wait for all axes to have homed
 130             running = true;
 131             while(running){
 132                 running = false;
 133                 for( char c = 'X'; c <= 'Z'; c++ ){
 134                     if( ( axes_to_move >> ( c - 'X' ) ) & 1 ){
 135                          if( this->pins[c - 'X']->get() ){
 136                             // The endstop was hit, stop moving
 137                             if( this->steppers[c - 'X']->moving ){
 138                                 this->steppers[c - 'X']->move(0,0);
 139                             }
 140                         }else{
 141                             // The endstop was not hit yet
 142                             running = true;
 143                          }
 144                     }
 145                 }
 146             }
 147
 148
 149             // Homing is done
 150             this->status = NOT_HOMING;
 151
 152         }
 153     }
 154 }
 155