Increase glcd refresh rate to 10Hz

[clinton/Smoothieware.git] / src / modules / tools / endstops / Endstops.cpp

diff --git a/src/modules/tools/endstops/Endstops.cpp b/src/modules/tools/endstops/Endstops.cpp
index 156c71b..860d891 100644 (file)
--- a/src/modules/tools/endstops/Endstops.cpp
+++ b/src/modules/tools/endstops/Endstops.cpp
@@ -20,7 +20,7 @@ Endstops::Endstops(){
 }
 
 void Endstops::on_module_loaded() {
-    // Do not do anything if not enabledd
+    // Do not do anything if not enabled
     if( this->kernel->config->value( endstops_module_enable_checksum )->by_default(true)->as_bool() == false ){ return; }
 
     register_for_event(ON_CONFIG_RELOAD);
@@ -41,12 +41,12 @@ void Endstops::on_module_loaded() {
 
 // Get config
 void Endstops::on_config_reload(void* argument){
-    this->pins[0].from_string(         this->kernel->config->value(alpha_min_endstop_checksum          )->by_default("nc" )->as_string())->as_input()->pull_up();
-    this->pins[1].from_string(         this->kernel->config->value(beta_min_endstop_checksum           )->by_default("nc" )->as_string())->as_input()->pull_up();
-    this->pins[2].from_string(         this->kernel->config->value(gamma_min_endstop_checksum          )->by_default("nc" )->as_string())->as_input()->pull_up();
-    this->pins[3].from_string(         this->kernel->config->value(alpha_max_endstop_checksum          )->by_default("nc" )->as_string())->as_input()->pull_up();
-    this->pins[4].from_string(         this->kernel->config->value(beta_max_endstop_checksum           )->by_default("nc" )->as_string())->as_input()->pull_up();
-    this->pins[5].from_string(         this->kernel->config->value(gamma_max_endstop_checksum          )->by_default("nc" )->as_string())->as_input()->pull_up();
+    this->pins[0].from_string(         this->kernel->config->value(alpha_min_endstop_checksum          )->by_default("nc" )->as_string())->as_input();
+    this->pins[1].from_string(         this->kernel->config->value(beta_min_endstop_checksum           )->by_default("nc" )->as_string())->as_input();
+    this->pins[2].from_string(         this->kernel->config->value(gamma_min_endstop_checksum          )->by_default("nc" )->as_string())->as_input();
+    this->pins[3].from_string(         this->kernel->config->value(alpha_max_endstop_checksum          )->by_default("nc" )->as_string())->as_input();
+    this->pins[4].from_string(         this->kernel->config->value(beta_max_endstop_checksum           )->by_default("nc" )->as_string())->as_input();
+    this->pins[5].from_string(         this->kernel->config->value(gamma_max_endstop_checksum          )->by_default("nc" )->as_string())->as_input();
     this->fast_rates[0]             =  this->kernel->config->value(alpha_fast_homing_rate_checksum     )->by_default(500  )->as_number();
     this->fast_rates[1]             =  this->kernel->config->value(beta_fast_homing_rate_checksum      )->by_default(500  )->as_number();
     this->fast_rates[2]             =  this->kernel->config->value(gamma_fast_homing_rate_checksum     )->by_default(5    )->as_number();
@@ -56,6 +56,9 @@ void Endstops::on_config_reload(void* argument){
     this->retract_steps[0]          =  this->kernel->config->value(alpha_homing_retract_checksum       )->by_default(30   )->as_number();
     this->retract_steps[1]          =  this->kernel->config->value(beta_homing_retract_checksum        )->by_default(30   )->as_number();
     this->retract_steps[2]          =  this->kernel->config->value(gamma_homing_retract_checksum       )->by_default(10   )->as_number();
+    this->trim[0]                   =  this->kernel->config->value(alpha_trim_checksum                 )->by_default(0   )->as_number();
+    this->trim[1]                   =  this->kernel->config->value(beta_trim_checksum                  )->by_default(0   )->as_number();
+    this->trim[2]                   =  this->kernel->config->value(gamma_trim_checksum                 )->by_default(0   )->as_number();
     this->debounce_count            =  this->kernel->config->value(endstop_debounce_count_checksum     )->by_default(100  )->as_number();
     
     // get homing direction and convert to boolean where true is home to min, and false is home to max
@@ -109,15 +112,19 @@ void Endstops::on_gcode_received(void* argument)
     {
         if( gcode->g == 28 )
         {
+            gcode->mark_as_taken();
             // G28 is received, we have homing to do
 
             // First wait for the queue to be empty
             this->kernel->conveyor->wait_for_empty_queue();
 
             // Do we move select axes or all of them
-            char axes_to_move = ( ( gcode->has_letter('X') || gcode->has_letter('Y') || gcode->has_letter('Z') ) ? 0x00 : 0xff );
+            char axes_to_move = 0;
+            // only enable homing if the endstop is defined
+            bool home_all= !( gcode->has_letter('X') || gcode->has_letter('Y') || gcode->has_letter('Z') );
+            
             for( char c = 'X'; c <= 'Z'; c++ ){
-                if( gcode->has_letter(c) && this->pins[c - 'X'].connected() ){ axes_to_move += ( 1 << (c - 'X' ) ); }
+                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' ) ); }
             }
 
             // Enable the motors
@@ -173,6 +180,26 @@ void Endstops::on_gcode_received(void* argument)
             // Wait for all axes to have homed
             this->wait_for_homed(axes_to_move);
 
+            // move for soft trim
+            this->status = MOVING_BACK;
+            for( char c = 'X'; c <= 'Z'; c++ ){
+                if( ( axes_to_move >> ( c - 'X' ) ) & 1 ){
+                    inverted_dir = -(this->home_direction[c - 'X'] - 1);
+                    this->steppers[c - 'X']->set_speed(this->slow_rates[c - 'X']);
+                    this->steppers[c - 'X']->move(inverted_dir,this->trim[c - 'X']);
+                }
+            }
+
+            // Wait for moves to be done
+            for( char c = 'X'; c <= 'Z'; c++ ){
+                if(  ( axes_to_move >> ( c - 'X' ) ) & 1 ){
+                    this->kernel->streams->printf("axis %c \r\n", c );
+                    while( this->steppers[c - 'X']->moving ){
+                        this->kernel->call_event(ON_IDLE);
+                    }
+                }
+            }
+
             // Homing is done
             this->status = NOT_HOMING;
 
@@ -190,6 +217,7 @@ void Endstops::on_gcode_received(void* argument)
         switch(gcode->m){
             case 119:
                 gcode->stream->printf("X min:%d max:%d Y min:%d max:%d Z min:%d max:%d\n", this->pins[0].get(), this->pins[3].get(), this->pins[1].get(), this->pins[4].get(), this->pins[2].get(), this->pins[5].get() );
+                gcode->mark_as_taken();
                 break;
         }
     }