#include "checksumm.h"
#include "utils.h"
#include "ConfigValue.h"
+#include "libs/StreamOutput.h"
+#include "PublicDataRequest.h"
+#include "EndstopsPublicAccess.h"
+#include "StreamOutputPool.h"
+#include "Pauser.h"
+
+#include <ctype.h>
#define ALPHA_AXIS 0
#define BETA_AXIS 1
#define Y_AXIS 1
#define Z_AXIS 2
-#define NOT_HOMING 0
-#define MOVING_TO_ORIGIN_FAST 1
-#define MOVING_BACK 2
-#define MOVING_TO_ORIGIN_SLOW 3
-
#define endstops_module_enable_checksum CHECKSUM("endstops_enable")
#define corexy_homing_checksum CHECKSUM("corexy_homing")
#define delta_homing_checksum CHECKSUM("delta_homing")
+#define scara_homing_checksum CHECKSUM("scara_homing")
#define alpha_min_endstop_checksum CHECKSUM("alpha_min_endstop")
#define beta_min_endstop_checksum CHECKSUM("beta_min_endstop")
#define beta_max_checksum CHECKSUM("beta_max")
#define gamma_max_checksum CHECKSUM("gamma_max")
-#define alpha_steps_per_mm_checksum CHECKSUM("alpha_steps_per_mm")
-#define beta_steps_per_mm_checksum CHECKSUM("beta_steps_per_mm")
-#define gamma_steps_per_mm_checksum CHECKSUM("gamma_steps_per_mm")
+#define alpha_limit_enable_checksum CHECKSUM("alpha_limit_enable")
+#define beta_limit_enable_checksum CHECKSUM("beta_limit_enable")
+#define gamma_limit_enable_checksum CHECKSUM("gamma_limit_enable")
+
+#define homing_order_checksum CHECKSUM("homing_order")
+#define move_to_origin_checksum CHECKSUM("move_to_origin_after_home")
+
+#define STEPPER THEKERNEL->robot->actuators
+#define STEPS_PER_MM(a) (STEPPER[a]->get_steps_per_mm())
+
+#define max(a,b) (((a) > (b)) ? (a) : (b))
+#define min(a,b) (((a) <= (b)) ? (a) : (b))
+
+// Homing States
+enum{
+ MOVING_TO_ENDSTOP_FAST, // homing move
+ MOVING_BACK, // homing move
+ MOVING_TO_ENDSTOP_SLOW, // homing move
+ NOT_HOMING,
+ BACK_OFF_HOME,
+ MOVE_TO_ORIGIN,
+ LIMIT_TRIGGERED
+};
Endstops::Endstops()
{
{
// Do not do anything if not enabled
if ( THEKERNEL->config->value( endstops_module_enable_checksum )->by_default(true)->as_bool() == false ) {
+ delete this;
return;
}
- register_for_event(ON_CONFIG_RELOAD);
- this->register_for_event(ON_GCODE_RECEIVED);
+ register_for_event(ON_GCODE_RECEIVED);
+ register_for_event(ON_GET_PUBLIC_DATA);
+ register_for_event(ON_SET_PUBLIC_DATA);
- // Take StepperMotor objects from Robot and keep them here
- this->steppers[0] = THEKERNEL->robot->alpha_stepper_motor;
- this->steppers[1] = THEKERNEL->robot->beta_stepper_motor;
- this->steppers[2] = THEKERNEL->robot->gamma_stepper_motor;
- THEKERNEL->slow_ticker->attach( THEKERNEL->stepper->acceleration_ticks_per_second , this, &Endstops::acceleration_tick );
+ THEKERNEL->slow_ticker->attach( THEKERNEL->stepper->get_acceleration_ticks_per_second() , this, &Endstops::acceleration_tick );
// Settings
this->on_config_reload(this);
// Get config
void Endstops::on_config_reload(void *argument)
{
- this->pins[0].from_string( THEKERNEL->config->value(alpha_min_endstop_checksum )->by_default("nc" )->as_string())->as_input();
- this->pins[1].from_string( THEKERNEL->config->value(beta_min_endstop_checksum )->by_default("nc" )->as_string())->as_input();
- this->pins[2].from_string( THEKERNEL->config->value(gamma_min_endstop_checksum )->by_default("nc" )->as_string())->as_input();
- this->pins[3].from_string( THEKERNEL->config->value(alpha_max_endstop_checksum )->by_default("nc" )->as_string())->as_input();
- this->pins[4].from_string( THEKERNEL->config->value(beta_max_endstop_checksum )->by_default("nc" )->as_string())->as_input();
- this->pins[5].from_string( THEKERNEL->config->value(gamma_max_endstop_checksum )->by_default("nc" )->as_string())->as_input();
-
- // we need to know steps per mm for M206, also use them for all settings
- this->steps_per_mm[0] = THEKERNEL->config->value(alpha_steps_per_mm_checksum )->as_number();
- this->steps_per_mm[1] = THEKERNEL->config->value(beta_steps_per_mm_checksum )->as_number();
- this->steps_per_mm[2] = THEKERNEL->config->value(gamma_steps_per_mm_checksum )->as_number();
-
- //These are the old ones in steps still here for backwards compatibility
- this->fast_rates[0] = THEKERNEL->config->value(alpha_fast_homing_rate_checksum )->by_default(4000 )->as_number();
- this->fast_rates[1] = THEKERNEL->config->value(beta_fast_homing_rate_checksum )->by_default(4000 )->as_number();
- this->fast_rates[2] = THEKERNEL->config->value(gamma_fast_homing_rate_checksum )->by_default(6400 )->as_number();
- this->slow_rates[0] = THEKERNEL->config->value(alpha_slow_homing_rate_checksum )->by_default(2000 )->as_number();
- this->slow_rates[1] = THEKERNEL->config->value(beta_slow_homing_rate_checksum )->by_default(2000 )->as_number();
- this->slow_rates[2] = THEKERNEL->config->value(gamma_slow_homing_rate_checksum )->by_default(3200 )->as_number();
- this->retract_steps[0] = THEKERNEL->config->value(alpha_homing_retract_checksum )->by_default(400 )->as_number();
- this->retract_steps[1] = THEKERNEL->config->value(beta_homing_retract_checksum )->by_default(400 )->as_number();
- this->retract_steps[2] = THEKERNEL->config->value(gamma_homing_retract_checksum )->by_default(1600 )->as_number();
+ this->pins[0].from_string( THEKERNEL->config->value(alpha_min_endstop_checksum )->by_default("nc" )->as_string())->as_input();
+ this->pins[1].from_string( THEKERNEL->config->value(beta_min_endstop_checksum )->by_default("nc" )->as_string())->as_input();
+ this->pins[2].from_string( THEKERNEL->config->value(gamma_min_endstop_checksum )->by_default("nc" )->as_string())->as_input();
+ this->pins[3].from_string( THEKERNEL->config->value(alpha_max_endstop_checksum )->by_default("nc" )->as_string())->as_input();
+ this->pins[4].from_string( THEKERNEL->config->value(beta_max_endstop_checksum )->by_default("nc" )->as_string())->as_input();
+ this->pins[5].from_string( THEKERNEL->config->value(gamma_max_endstop_checksum )->by_default("nc" )->as_string())->as_input();
+
+ // These are the old ones in steps still here for backwards compatibility
+ this->fast_rates[0] = THEKERNEL->config->value(alpha_fast_homing_rate_checksum )->by_default(4000 )->as_number() / STEPS_PER_MM(0);
+ this->fast_rates[1] = THEKERNEL->config->value(beta_fast_homing_rate_checksum )->by_default(4000 )->as_number() / STEPS_PER_MM(1);
+ this->fast_rates[2] = THEKERNEL->config->value(gamma_fast_homing_rate_checksum )->by_default(6400 )->as_number() / STEPS_PER_MM(2);
+ this->slow_rates[0] = THEKERNEL->config->value(alpha_slow_homing_rate_checksum )->by_default(2000 )->as_number() / STEPS_PER_MM(0);
+ this->slow_rates[1] = THEKERNEL->config->value(beta_slow_homing_rate_checksum )->by_default(2000 )->as_number() / STEPS_PER_MM(1);
+ this->slow_rates[2] = THEKERNEL->config->value(gamma_slow_homing_rate_checksum )->by_default(3200 )->as_number() / STEPS_PER_MM(2);
+ this->retract_mm[0] = THEKERNEL->config->value(alpha_homing_retract_checksum )->by_default(400 )->as_number() / STEPS_PER_MM(0);
+ this->retract_mm[1] = THEKERNEL->config->value(beta_homing_retract_checksum )->by_default(400 )->as_number() / STEPS_PER_MM(1);
+ this->retract_mm[2] = THEKERNEL->config->value(gamma_homing_retract_checksum )->by_default(1600 )->as_number() / STEPS_PER_MM(2);
// 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
- this->fast_rates[0] = THEKERNEL->config->value(alpha_fast_homing_rate_mm_checksum )->by_default(this->fast_rates[0] / steps_per_mm[0])->as_number() * steps_per_mm[0];
- this->fast_rates[1] = THEKERNEL->config->value(beta_fast_homing_rate_mm_checksum )->by_default(this->fast_rates[1] / steps_per_mm[1])->as_number() * steps_per_mm[1];
- this->fast_rates[2] = THEKERNEL->config->value(gamma_fast_homing_rate_mm_checksum )->by_default(this->fast_rates[2] / steps_per_mm[2])->as_number() * steps_per_mm[2];
- this->slow_rates[0] = THEKERNEL->config->value(alpha_slow_homing_rate_mm_checksum )->by_default(this->slow_rates[0] / steps_per_mm[0])->as_number() * steps_per_mm[0];
- this->slow_rates[1] = THEKERNEL->config->value(beta_slow_homing_rate_mm_checksum )->by_default(this->slow_rates[1] / steps_per_mm[1])->as_number() * steps_per_mm[1];
- this->slow_rates[2] = THEKERNEL->config->value(gamma_slow_homing_rate_mm_checksum )->by_default(this->slow_rates[2] / steps_per_mm[2])->as_number() * steps_per_mm[2];
- this->retract_steps[0] = THEKERNEL->config->value(alpha_homing_retract_mm_checksum )->by_default(this->retract_steps[0] / steps_per_mm[0])->as_number() * steps_per_mm[0];
- this->retract_steps[1] = THEKERNEL->config->value(beta_homing_retract_mm_checksum )->by_default(this->retract_steps[1] / steps_per_mm[1])->as_number() * steps_per_mm[1];
- this->retract_steps[2] = THEKERNEL->config->value(gamma_homing_retract_mm_checksum )->by_default(this->retract_steps[2] / steps_per_mm[2])->as_number() * steps_per_mm[2];
+ this->fast_rates[0] = THEKERNEL->config->value(alpha_fast_homing_rate_mm_checksum )->by_default(this->fast_rates[0])->as_number();
+ this->fast_rates[1] = THEKERNEL->config->value(beta_fast_homing_rate_mm_checksum )->by_default(this->fast_rates[1])->as_number();
+ this->fast_rates[2] = THEKERNEL->config->value(gamma_fast_homing_rate_mm_checksum )->by_default(this->fast_rates[2])->as_number();
+ this->slow_rates[0] = THEKERNEL->config->value(alpha_slow_homing_rate_mm_checksum )->by_default(this->slow_rates[0])->as_number();
+ this->slow_rates[1] = THEKERNEL->config->value(beta_slow_homing_rate_mm_checksum )->by_default(this->slow_rates[1])->as_number();
+ this->slow_rates[2] = THEKERNEL->config->value(gamma_slow_homing_rate_mm_checksum )->by_default(this->slow_rates[2])->as_number();
+ this->retract_mm[0] = THEKERNEL->config->value(alpha_homing_retract_mm_checksum )->by_default(this->retract_mm[0])->as_number();
+ this->retract_mm[1] = THEKERNEL->config->value(beta_homing_retract_mm_checksum )->by_default(this->retract_mm[1])->as_number();
+ this->retract_mm[2] = THEKERNEL->config->value(gamma_homing_retract_mm_checksum )->by_default(this->retract_mm[2])->as_number();
- this->debounce_count = THEKERNEL->config->value(endstop_debounce_count_checksum )->by_default(0)->as_number();
+ this->debounce_count = THEKERNEL->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
this->home_direction[2] = home_dir != home_to_max_checksum;
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();
- 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();;
- 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();;
+ 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();
+ 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();
this->is_corexy = THEKERNEL->config->value(corexy_homing_checksum)->by_default(false)->as_bool();
this->is_delta = THEKERNEL->config->value(delta_homing_checksum)->by_default(false)->as_bool();
+ this->is_scara = THEKERNEL->config->value(scara_homing_checksum)->by_default(false)->as_bool();
+
+ // see if an order has been specified, must be three characters, XYZ or YXZ etc
+ string order= THEKERNEL->config->value(homing_order_checksum)->by_default("")->as_string();
+ this->homing_order= 0;
+ if(order.size() == 3 && !this->is_delta) {
+ int shift= 0;
+ for(auto c : order) {
+ uint8_t i= toupper(c) - 'X';
+ if(i > 2) { // bad value
+ this->homing_order= 0;
+ break;
+ }
+ homing_order |= (i << shift);
+ shift += 2;
+ }
+ }
- // endstop trim used by deltas to do soft adjusting, in mm, convert to steps, and negate depending on homing direction
- // eg on a delta homing to max, a negative trim value will move the carriage down, and a positive will move it up
- int dirx = (this->home_direction[0] ? 1 : -1);
- int diry = (this->home_direction[1] ? 1 : -1);
- int dirz = (this->home_direction[2] ? 1 : -1);
- this->trim[0] = THEKERNEL->config->value(alpha_trim_checksum )->by_default(0 )->as_number() * steps_per_mm[0] * dirx;
- this->trim[1] = THEKERNEL->config->value(beta_trim_checksum )->by_default(0 )->as_number() * steps_per_mm[1] * diry;
- this->trim[2] = THEKERNEL->config->value(gamma_trim_checksum )->by_default(0 )->as_number() * steps_per_mm[2] * dirz;
+ // endstop trim used by deltas to do soft adjusting
+ // on a delta homing to max, a negative trim value will move the carriage down, and a positive will move it up
+ this->trim_mm[0] = THEKERNEL->config->value(alpha_trim_checksum )->by_default(0 )->as_number();
+ this->trim_mm[1] = THEKERNEL->config->value(beta_trim_checksum )->by_default(0 )->as_number();
+ this->trim_mm[2] = THEKERNEL->config->value(gamma_trim_checksum )->by_default(0 )->as_number();
+
+ // limits enabled
+ this->limit_enable[X_AXIS]= THEKERNEL->config->value(alpha_limit_enable_checksum)->by_default(false)->as_bool();
+ this->limit_enable[Y_AXIS]= THEKERNEL->config->value(beta_limit_enable_checksum)->by_default(false)->as_bool();
+ this->limit_enable[Z_AXIS]= THEKERNEL->config->value(gamma_limit_enable_checksum)->by_default(false)->as_bool();
+
+ this->move_to_origin_after_home= THEKERNEL->config->value(move_to_origin_checksum)->by_default(false)->as_bool();
+
+ if(this->limit_enable[X_AXIS] || this->limit_enable[Y_AXIS] || this->limit_enable[Z_AXIS]){
+ register_for_event(ON_IDLE);
+ }
+}
+
+static const char *endstop_names[]= {"min_x", "min_y", "min_z", "max_x", "max_y", "max_z"};
+
+void Endstops::on_idle(void *argument)
+{
+ if(this->status != NOT_HOMING) return; // don't check while homing or if a LIMIT was triggered
+
+ for( int c = X_AXIS; c <= Z_AXIS; c++ ) {
+ if(this->limit_enable[c] && STEPPER[c]->is_moving()) {
+ std::array<int, 2> minmax{{0, 3}};
+ // check min and max endstops
+ for (int i : minmax) {
+ int n= c+i;
+ uint8_t debounce= 0;
+ while(this->pins[n].get()) {
+ if ( ++debounce >= debounce_count ) {
+ // endstop triggered
+ THEKERNEL->pauser->take();
+ THEKERNEL->streams->printf("Limit switch %s was hit - reset required\n", endstop_names[n]);
+ this->status= LIMIT_TRIGGERED;
+ // disables heaters and motors
+ THEKERNEL->call_event(ON_HALT);
+ return;
+ }
+ }
+ }
+ }
+ }
+}
+
+// if limit switches are enabled, then we must move off of the endstop otherwise we won't be able to move
+// checks if triggered and only backs off if triggered
+void Endstops::back_off_home(char axes_to_move)
+{
+ this->status = BACK_OFF_HOME;
+ for( int c = X_AXIS; c <= Z_AXIS; c++ ) {
+ if( ((axes_to_move >> c ) & 1) == 0) continue; // only for axes we asked to move
+ if(this->limit_enable[c]) {
+ if( !this->pins[c + (this->home_direction[c] ? 0 : 3)].get() ) continue; // if not triggered no need to move off
+
+ // Move off of the endstop using a regular relative move
+ char buf[32];
+ snprintf(buf, sizeof(buf), "G0 %c%1.4f F%1.4f", c+'X', this->retract_mm[c]*(this->home_direction[c]?1:-1), this->fast_rates[c]*60.0F);
+ Gcode gc(buf, &(StreamOutput::NullStream));
+ bool oldmode= THEKERNEL->robot->absolute_mode;
+ THEKERNEL->robot->absolute_mode= false; // needs to be relative mode
+ THEKERNEL->robot->on_gcode_received(&gc); // send to robot directly
+ THEKERNEL->robot->absolute_mode= oldmode; // restore mode
+ }
+ }
+ // Wait for above to finish
+ THEKERNEL->conveyor->wait_for_empty_queue();
+ this->status = NOT_HOMING;
+}
+
+// If enabled will move the head to 0,0 after homing, but only if X and Y were set to home
+void Endstops::move_to_origin(char axes_to_move)
+{
+ if( (axes_to_move&0x03) != 3 ) return; // ignore if X and Y not homing
+
+ // Do we need to check if we are already at 0,0? probably not as the G0 will not do anything if we are
+ // float pos[3]; THEKERNEL->robot->get_axis_position(pos); if(pos[0] == 0 && pos[1] == 0) return;
+
+ this->status = MOVE_TO_ORIGIN;
+ // Move to center using a regular move, use slower of X and Y fast rate
+ float rate= min(this->fast_rates[0], this->fast_rates[1])*60.0F;
+ char buf[32];
+ snprintf(buf, sizeof(buf), "G0 X0 Y0 F%1.4f", rate);
+ Gcode gc(buf, &(StreamOutput::NullStream));
+ THEKERNEL->robot->on_gcode_received(&gc); // send to robot directly
+
+ // Wait for above to finish
+ THEKERNEL->conveyor->wait_for_empty_queue();
+ this->status = NOT_HOMING;
}
void Endstops::wait_for_homed(char axes_to_move)
while (running) {
running = false;
THEKERNEL->call_event(ON_IDLE);
- for ( char c = 'X'; c <= 'Z'; c++ ) {
- if ( ( axes_to_move >> ( c - 'X' ) ) & 1 ) {
- if ( this->pins[c - 'X' + (this->home_direction[c - 'X'] ? 0 : 3)].get() ) {
- if ( debounce[c - 'X'] < debounce_count ) {
- debounce[c - 'X'] ++;
+ for ( int c = X_AXIS; c <= Z_AXIS; c++ ) {
+ if ( ( axes_to_move >> c ) & 1 ) {
+ if ( this->pins[c + (this->home_direction[c] ? 0 : 3)].get() ) {
+ if ( debounce[c] < debounce_count ) {
+ debounce[c]++;
running = true;
- } else if ( this->steppers[c - 'X']->moving ) {
- this->steppers[c - 'X']->move(0, 0);
+ } else if ( STEPPER[c]->is_moving() ) {
+ STEPPER[c]->move(0, 0);
}
} else {
// The endstop was not hit yet
running = true;
- debounce[c - 'X'] = 0;
+ debounce[c] = 0;
}
}
}
}
}
-// this homing works for cartesian and delta printers, not for HBots/CoreXY
-void Endstops::do_homing(char axes_to_move)
+void Endstops::do_homing_cartesian(char axes_to_move)
{
+ // this homing works for cartesian and delta printers
// Start moving the axes to the origin
- this->status = MOVING_TO_ORIGIN_FAST;
- for ( char c = 'X'; c <= 'Z'; c++ ) {
- if ( ( axes_to_move >> ( c - 'X' ) ) & 1 ) {
- this->feed_rate[c - 'X']= this->fast_rates[c - 'X'];
- this->steppers[c - 'X']->set_speed(0);
- this->steppers[c - 'X']->move(this->home_direction[c - 'X'], 10000000);
+ this->status = MOVING_TO_ENDSTOP_FAST;
+ for ( int c = X_AXIS; c <= Z_AXIS; c++ ) {
+ if ( ( axes_to_move >> c) & 1 ) {
+ this->feed_rate[c]= this->fast_rates[c];
+ STEPPER[c]->set_speed(0);
+ STEPPER[c]->move(this->home_direction[c], 10000000);
}
}
// Move back a small distance
this->status = MOVING_BACK;
bool inverted_dir;
- for ( char c = 'X'; c <= 'Z'; c++ ) {
- if ( ( axes_to_move >> ( c - 'X' ) ) & 1 ) {
- inverted_dir = !this->home_direction[c - 'X'];
- this->feed_rate[c - 'X']= this->slow_rates[c - 'X'];
- this->steppers[c - 'X']->set_speed(0);
- this->steppers[c - 'X']->move(inverted_dir, this->retract_steps[c - 'X']);
+ for ( int c = X_AXIS; c <= Z_AXIS; c++ ) {
+ if ( ( axes_to_move >> c ) & 1 ) {
+ inverted_dir = !this->home_direction[c];
+ this->feed_rate[c]= this->slow_rates[c];
+ STEPPER[c]->set_speed(0);
+ STEPPER[c]->move(inverted_dir, this->retract_mm[c]*STEPS_PER_MM(c));
}
}
// Wait for moves to be done
- for ( char c = 'X'; c <= 'Z'; c++ ) {
- if ( ( axes_to_move >> ( c - 'X' ) ) & 1 ) {
- while ( this->steppers[c - 'X']->moving ) {
+ for ( int c = X_AXIS; c <= Z_AXIS; c++ ) {
+ if ( ( axes_to_move >> c ) & 1 ) {
+ while ( STEPPER[c]->is_moving() ) {
THEKERNEL->call_event(ON_IDLE);
}
}
}
// Start moving the axes to the origin slowly
- this->status = MOVING_TO_ORIGIN_SLOW;
- for ( char c = 'X'; c <= 'Z'; c++ ) {
- if ( ( axes_to_move >> ( c - 'X' ) ) & 1 ) {
- this->feed_rate[c - 'X']= this->slow_rates[c - 'X'];
- this->steppers[c - 'X']->set_speed(0);
- this->steppers[c - 'X']->move(this->home_direction[c - 'X'], 10000000);
+ this->status = MOVING_TO_ENDSTOP_SLOW;
+ for ( int c = X_AXIS; c <= Z_AXIS; c++ ) {
+ if ( ( axes_to_move >> c ) & 1 ) {
+ this->feed_rate[c]= this->slow_rates[c];
+ STEPPER[c]->set_speed(0);
+ STEPPER[c]->move(this->home_direction[c], 10000000);
}
}
// Wait for all axes to have homed
this->wait_for_homed(axes_to_move);
- if (this->is_delta) {
+ if (this->is_delta || this->is_scara) {
// move for soft trim
this->status = MOVING_BACK;
- for ( char c = 'X'; c <= 'Z'; c++ ) {
- if ( this->trim[c - 'X'] != 0 && ( axes_to_move >> ( c - 'X' ) ) & 1 ) {
- inverted_dir = !this->home_direction[c - 'X'];
- // move up or down depending on sign of trim
- if (this->trim[c - 'X'] < 0) inverted_dir = !inverted_dir;
- this->feed_rate[c - 'X']= this->slow_rates[c - 'X'];
- this->steppers[c - 'X']->set_speed(0);
- this->steppers[c - 'X']->move(inverted_dir, abs(this->trim[c - 'X']));
+ for ( int c = X_AXIS; c <= Z_AXIS; c++ ) {
+ if ( this->trim_mm[c] != 0.0F && ( axes_to_move >> c ) & 1 ) {
+ inverted_dir = this->home_direction[c];
+ // move up or down depending on sign of trim, -ive is down away from home
+ if (this->trim_mm[c] < 0) inverted_dir = !inverted_dir;
+ this->feed_rate[c]= this->slow_rates[c];
+ STEPPER[c]->set_speed(0);
+ STEPPER[c]->move(inverted_dir, abs(round(this->trim_mm[c]*STEPS_PER_MM(c))));
}
}
// Wait for moves to be done
- for ( char c = 'X'; c <= 'Z'; c++ ) {
- if ( ( axes_to_move >> ( c - 'X' ) ) & 1 ) {
+ for ( int c = X_AXIS; c <= Z_AXIS; c++ ) {
+ if ( ( axes_to_move >> c ) & 1 ) {
//THEKERNEL->streams->printf("axis %c \r\n", c );
- while ( this->steppers[c - 'X']->moving ) {
+ while ( STEPPER[c]->is_moving() ) {
THEKERNEL->call_event(ON_IDLE);
}
}
running = true;
} else {
// turn both off if running
- if (this->steppers[X_AXIS]->moving) this->steppers[X_AXIS]->move(0, 0);
- if (this->steppers[Y_AXIS]->moving) this->steppers[Y_AXIS]->move(0, 0);
+ if (STEPPER[X_AXIS]->is_moving()) STEPPER[X_AXIS]->move(0, 0);
+ if (STEPPER[Y_AXIS]->is_moving()) STEPPER[Y_AXIS]->move(0, 0);
}
} else {
// The endstop was not hit yet
void Endstops::corexy_home(int home_axis, bool dirx, bool diry, float fast_rate, float slow_rate, unsigned int retract_steps)
{
- this->status = MOVING_TO_ORIGIN_FAST;
+ this->status = MOVING_TO_ENDSTOP_FAST;
this->feed_rate[X_AXIS]= fast_rate;
- this->steppers[X_AXIS]->set_speed(0);
- this->steppers[X_AXIS]->move(dirx, 10000000);
+ STEPPER[X_AXIS]->set_speed(0);
+ STEPPER[X_AXIS]->move(dirx, 10000000);
this->feed_rate[Y_AXIS]= fast_rate;
- this->steppers[Y_AXIS]->set_speed(0);
- this->steppers[Y_AXIS]->move(diry, 10000000);
+ STEPPER[Y_AXIS]->set_speed(0);
+ STEPPER[Y_AXIS]->move(diry, 10000000);
// wait for primary axis
this->wait_for_homed_corexy(home_axis);
// Move back a small distance
this->status = MOVING_BACK;
this->feed_rate[X_AXIS]= slow_rate;
- this->steppers[X_AXIS]->set_speed(0);
- this->steppers[X_AXIS]->move(!dirx, retract_steps);
+ STEPPER[X_AXIS]->set_speed(0);
+ STEPPER[X_AXIS]->move(!dirx, retract_steps);
this->feed_rate[Y_AXIS]= slow_rate;
- this->steppers[Y_AXIS]->set_speed(0);
- this->steppers[Y_AXIS]->move(!diry, retract_steps);
+ STEPPER[Y_AXIS]->set_speed(0);
+ STEPPER[Y_AXIS]->move(!diry, retract_steps);
// wait until done
- while ( this->steppers[X_AXIS]->moving || this->steppers[Y_AXIS]->moving) {
+ while ( STEPPER[X_AXIS]->is_moving() || STEPPER[Y_AXIS]->is_moving()) {
THEKERNEL->call_event(ON_IDLE);
}
// Start moving the axes to the origin slowly
- this->status = MOVING_TO_ORIGIN_SLOW;
+ this->status = MOVING_TO_ENDSTOP_SLOW;
this->feed_rate[X_AXIS]= slow_rate;
- this->steppers[X_AXIS]->set_speed(0);
- this->steppers[X_AXIS]->move(dirx, 10000000);
+ STEPPER[X_AXIS]->set_speed(0);
+ STEPPER[X_AXIS]->move(dirx, 10000000);
this->feed_rate[Y_AXIS]= slow_rate;
- this->steppers[Y_AXIS]->set_speed(0);
- this->steppers[Y_AXIS]->move(diry, 10000000);
+ STEPPER[Y_AXIS]->set_speed(0);
+ STEPPER[Y_AXIS]->move(diry, 10000000);
// wait for primary axis
this->wait_for_homed_corexy(home_axis);
}
// then move both X and Y until one hits the endstop
- this->status = MOVING_TO_ORIGIN_FAST;
+ this->status = MOVING_TO_ENDSTOP_FAST;
this->feed_rate[motor]= this->fast_rates[motor]*1.4142;
- this->steppers[motor]->set_speed(0); // need to allow for more ground covered when moving diagonally
- this->steppers[motor]->move(dir, 10000000);
+ STEPPER[motor]->set_speed(0); // need to allow for more ground covered when moving diagonally
+ STEPPER[motor]->move(dir, 10000000);
// wait until either X or Y hits the endstop
bool running= true;
while (running) {
for(int m=X_AXIS;m<=Y_AXIS;m++) {
if(this->pins[m + (this->home_direction[m] ? 0 : 3)].get()) {
// turn off motor
- if(this->steppers[motor]->moving) this->steppers[motor]->move(0, 0);
+ if(STEPPER[motor]->is_moving()) STEPPER[motor]->move(0, 0);
running= false;
break;
}
// move individual axis
if (axes_to_move & 0x01) { // Home X, which means both X and Y in same direction
bool dir= this->home_direction[X_AXIS];
- corexy_home(X_AXIS, dir, dir, this->fast_rates[X_AXIS], this->slow_rates[X_AXIS], this->retract_steps[X_AXIS]);
+ corexy_home(X_AXIS, dir, dir, this->fast_rates[X_AXIS], this->slow_rates[X_AXIS], this->retract_mm[X_AXIS]*STEPS_PER_MM(X_AXIS));
}
if (axes_to_move & 0x02) { // Home Y, which means both X and Y in different directions
bool dir= this->home_direction[Y_AXIS];
- corexy_home(Y_AXIS, dir, !dir, this->fast_rates[Y_AXIS], this->slow_rates[Y_AXIS], this->retract_steps[Y_AXIS]);
+ corexy_home(Y_AXIS, dir, !dir, this->fast_rates[Y_AXIS], this->slow_rates[Y_AXIS], this->retract_mm[Y_AXIS]*STEPS_PER_MM(Y_AXIS));
}
if (axes_to_move & 0x04) { // move Z
- do_homing(0x04); // just home normally for Z
+ do_homing_cartesian(0x04); // just home normally for Z
}
// Homing is done
this->status = NOT_HOMING;
}
+void Endstops::home(char axes_to_move)
+{
+ if (is_corexy){
+ // corexy/HBot homing
+ do_homing_corexy(axes_to_move);
+ }else{
+ // cartesian/delta homing
+ do_homing_cartesian(axes_to_move);
+ }
+}
+
// Start homing sequences by response to GCode commands
void Endstops::on_gcode_received(void *argument)
{
// Do we move select axes or all of them
char axes_to_move = 0;
- // only enable homing if the endstop is defined, deltas always home all axis
- bool home_all = this->is_delta || !( gcode->has_letter('X') || gcode->has_letter('Y') || gcode->has_letter('Z') );
+ // only enable homing if the endstop is defined, deltas, scaras always home all axis
+ bool home_all = this->is_delta || this->is_scara || !( gcode->has_letter('X') || gcode->has_letter('Y') || gcode->has_letter('Z') );
- for ( char c = 'X'; c <= 'Z'; c++ ) {
- 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' ) );
+ for ( int c = X_AXIS; c <= Z_AXIS; c++ ) {
+ if ( (home_all || gcode->has_letter(c+'X')) && this->pins[c + (this->home_direction[c] ? 0 : 3)].connected() ) {
+ axes_to_move += ( 1 << c );
}
}
THEKERNEL->stepper->turn_enable_pins_on();
// do the actual homing
- if (is_corexy)
- do_homing_corexy(axes_to_move);
- else
- do_homing(axes_to_move);
-
- // Zero the ax(i/e)s position, add in the home offset
- for ( int c = 0; c <= 2; c++ ) {
- if ( (axes_to_move >> c) & 1 ) {
- THEKERNEL->robot->reset_axis_position(this->homing_position[c] + this->home_offset[c], c);
+ if(homing_order != 0){
+ // if an order has been specified do it in the specified order
+ // homing order is 0b00ccbbaa where aa is 0,1,2 to specify the first axis, bb is the second and cc is the third
+ // eg 0b00100001 would be Y X Z, 0b00100100 would be X Y Z
+ for (uint8_t m = homing_order; m != 0; m >>= 2) {
+ int a= (1 << (m & 0x03)); // axis to move
+ if((a & axes_to_move) != 0)
+ home(a);
}
+ }else {
+ // they all home at the same time
+ home(axes_to_move);
}
+
+ if(home_all) {
+ // for deltas this may be important rather than setting each individually
+ THEKERNEL->robot->reset_axis_position(
+ this->homing_position[X_AXIS] + this->home_offset[X_AXIS],
+ this->homing_position[Y_AXIS] + this->home_offset[Y_AXIS],
+ this->homing_position[Z_AXIS] + this->home_offset[Z_AXIS]);
+ }else{
+ // Zero the ax(i/e)s position, add in the home offset
+ for ( int c = X_AXIS; c <= Z_AXIS; c++ ) {
+ if ( (axes_to_move >> c) & 1 ) {
+ THEKERNEL->robot->reset_axis_position(this->homing_position[c] + this->home_offset[c], c);
+ }
+ }
+ }
+
+ // on some systems where 0,0 is bed center it is noce to have home goto 0,0 after homing
+ // default is off
+ if(this->move_to_origin_after_home)
+ move_to_origin(axes_to_move);
+
+ // if limit switches are enabled we must back off endstop after setting home
+ back_off_home(axes_to_move);
}
+
} else if (gcode->has_m) {
switch (gcode->m) {
case 119: {
-
- int px = this->home_direction[0] ? 0 : 3;
- int py = this->home_direction[1] ? 1 : 4;
- int pz = this->home_direction[2] ? 2 : 5;
- const char *mx = this->home_direction[0] ? "min" : "max";
- const char *my = this->home_direction[1] ? "min" : "max";
- const char *mz = this->home_direction[2] ? "min" : "max";
-
- gcode->stream->printf("X %s:%d Y %s:%d Z %s:%d\n", mx, this->pins[px].get(), my, this->pins[py].get(), mz, this->pins[pz].get());
+ for (int i = 0; i < 6; ++i) {
+ if(this->pins[i].connected())
+ gcode->stream->printf("%s:%d ", endstop_names[i], this->pins[i].get());
+ }
+ gcode->add_nl= true;
gcode->mark_as_taken();
}
break;
case 503: // print settings
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]);
if (is_delta) {
- float mm[3];
- trim2mm(mm);
- gcode->stream->printf(";Trim (mm):\nM666 X%1.2f Y%1.2f Z%1.2f\n", mm[0], mm[1], mm[2]);
- gcode->stream->printf(";Max Z\nM665 Z%1.2f\n", this->homing_position[2]);
+ 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]);
+ gcode->stream->printf(";Max Z\nM665 Z%1.3f\n", this->homing_position[2]);
}
gcode->mark_as_taken();
break;
break;
- case 666: { // M666 - set trim for each axis in mm, NB negative mm and positive steps trim is down
- float mm[3];
- trim2mm(mm);
+ case 666:
+ if(this->is_delta || this->is_scara) { // M666 - set trim for each axis in mm, NB negative mm trim is down
+ if (gcode->has_letter('X')) trim_mm[0] = gcode->get_value('X');
+ if (gcode->has_letter('Y')) trim_mm[1] = gcode->get_value('Y');
+ if (gcode->has_letter('Z')) trim_mm[2] = gcode->get_value('Z');
- if (gcode->has_letter('X')) mm[0] = gcode->get_value('X');
- if (gcode->has_letter('Y')) mm[1] = gcode->get_value('Y');
- if (gcode->has_letter('Z')) mm[2] = gcode->get_value('Z');
-
- int dirx = (this->home_direction[0] ? 1 : -1);
- int diry = (this->home_direction[1] ? 1 : -1);
- int dirz = (this->home_direction[2] ? 1 : -1);
- trim[0] = lround(mm[0] * steps_per_mm[0]) * dirx; // convert back to steps
- trim[1] = lround(mm[1] * steps_per_mm[1]) * diry;
- trim[2] = lround(mm[2] * steps_per_mm[2]) * dirz;
-
- // print the current trim values in mm and steps
- gcode->stream->printf("X %5.3f (%d) Y %5.3f (%d) Z %5.3f (%d)\n", mm[0], trim[0], mm[1], trim[1], mm[2], trim[2]);
- gcode->mark_as_taken();
- }
+ // print the current trim values in mm
+ gcode->stream->printf("X: %5.3f Y: %5.3f Z: %5.3f\n", trim_mm[0], trim_mm[1], trim_mm[2]);
+ gcode->mark_as_taken();
+ }
break;
// NOTE this is to test accuracy of lead screws etc.
case 910: { // M910 - move specific number of raw steps
+ // Enable the motors
+ THEKERNEL->stepper->turn_enable_pins_on();
+
int x= 0, y=0 , z= 0, f= 200*16;
if (gcode->has_letter('F')) f = gcode->get_value('F');
if (gcode->has_letter('X')) {
x = gcode->get_value('X');
- this->steppers[X_AXIS]->set_speed(f);
- this->steppers[X_AXIS]->move(x<0, abs(x));
+ STEPPER[X_AXIS]->set_speed(f);
+ STEPPER[X_AXIS]->move(x<0, abs(x));
}
if (gcode->has_letter('Y')) {
y = gcode->get_value('Y');
- this->steppers[Y_AXIS]->set_speed(f);
- this->steppers[Y_AXIS]->move(y<0, abs(y));
+ STEPPER[Y_AXIS]->set_speed(f);
+ STEPPER[Y_AXIS]->move(y<0, abs(y));
}
if (gcode->has_letter('Z')) {
z = gcode->get_value('Z');
- this->steppers[Z_AXIS]->set_speed(f);
- this->steppers[Z_AXIS]->move(z<0, abs(z));
+ STEPPER[Z_AXIS]->set_speed(f);
+ STEPPER[Z_AXIS]->move(z<0, abs(z));
}
gcode->stream->printf("Moved X %d Y %d Z %d F %d steps\n", x, y, z, f);
gcode->mark_as_taken();
}
}
-void Endstops::trim2mm(float *mm)
-{
- int dirx = (this->home_direction[0] ? 1 : -1);
- int diry = (this->home_direction[1] ? 1 : -1);
- int dirz = (this->home_direction[2] ? 1 : -1);
-
- mm[0] = this->trim[0] / this->steps_per_mm[0] * dirx; // convert to mm
- mm[1] = this->trim[1] / this->steps_per_mm[1] * diry;
- mm[2] = this->trim[2] / this->steps_per_mm[2] * dirz;
-}
-
-#define max(a,b) (((a) > (b)) ? (a) : (b))
// Called periodically to change the speed to match acceleration
uint32_t Endstops::acceleration_tick(uint32_t dummy)
{
- if(this->status == NOT_HOMING) return(0); // nothing to do
+ if(this->status >= NOT_HOMING) return(0); // nothing to do, only do this when moving for homing sequence
// foreach stepper that is moving
for ( int c = X_AXIS; c <= Z_AXIS; c++ ) {
- if( !this->steppers[c]->moving ) continue;
-
- uint32_t current_rate = this->steppers[c]->steps_per_second;
- uint32_t target_rate = int(floor(this->feed_rate[c]));
+ if( !STEPPER[c]->is_moving() ) continue;
+ uint32_t current_rate = STEPPER[c]->get_steps_per_second();
+ uint32_t target_rate = int(floor(this->feed_rate[c]*STEPS_PER_MM(c)));
+ float acc= (c==Z_AXIS) ? THEKERNEL->planner->get_z_acceleration() : THEKERNEL->planner->get_acceleration();
if( current_rate < target_rate ){
- uint32_t rate_increase = int(floor((THEKERNEL->planner->acceleration/THEKERNEL->stepper->acceleration_ticks_per_second)*this->steps_per_mm[c]));
+ uint32_t rate_increase = int(floor((acc/THEKERNEL->stepper->get_acceleration_ticks_per_second())*STEPS_PER_MM(c)));
current_rate = min( target_rate, current_rate + rate_increase );
}
if( current_rate > target_rate ){ current_rate = target_rate; }
// steps per second
- this->steppers[c]->set_speed(max(current_rate, THEKERNEL->stepper->minimum_steps_per_second));
+ STEPPER[c]->set_speed(max(current_rate, THEKERNEL->stepper->get_minimum_steps_per_second()));
}
return 0;
}
+
+void Endstops::on_get_public_data(void* argument){
+ PublicDataRequest* pdr = static_cast<PublicDataRequest*>(argument);
+
+ if(!pdr->starts_with(endstops_checksum)) return;
+
+ if(pdr->second_element_is(trim_checksum)) {
+ pdr->set_data_ptr(&this->trim_mm);
+ pdr->set_taken();
+
+ }else if(pdr->second_element_is(home_offset_checksum)) {
+ pdr->set_data_ptr(&this->home_offset);
+ pdr->set_taken();
+ }
+}
+
+void Endstops::on_set_public_data(void* argument){
+ PublicDataRequest* pdr = static_cast<PublicDataRequest*>(argument);
+
+ if(!pdr->starts_with(endstops_checksum)) return;
+
+ if(pdr->second_element_is(trim_checksum)) {
+ float *t= static_cast<float*>(pdr->get_data_ptr());
+ this->trim_mm[0]= t[0];
+ this->trim_mm[1]= t[1];
+ this->trim_mm[2]= t[2];
+ pdr->set_taken();
+
+ }else if(pdr->second_element_is(home_offset_checksum)) {
+ float *t= static_cast<float*>(pdr->get_data_ptr());
+ if(!isnan(t[0])) this->home_offset[0]= t[0];
+ if(!isnan(t[1])) this->home_offset[1]= t[1];
+ if(!isnan(t[2])) this->home_offset[2]= t[2];
+ }
+}
HCoop / clinton / Smoothieware.git / blobdiff