-/*
- This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl).
- 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.
- 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.
- You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>.
-*/
-
-#include "libs/Module.h"
-#include "libs/Kernel.h"
-#include "modules/communication/utils/Gcode.h"
-#include "modules/robot/Conveyor.h"
-#include "Endstops.h"
-#include "libs/nuts_bolts.h"
-#include "libs/Pin.h"
-#include "libs/StepperMotor.h"
-#include "wait_api.h" // mbed.h lib
-
-Endstops::Endstops(){
- this->status = NOT_HOMING;
-}
-
-void Endstops::on_module_loaded() {
- register_for_event(ON_CONFIG_RELOAD);
- this->register_for_event(ON_GCODE_RECEIVED);
-
- // Take StepperMotor objects from Robot and keep them here
- this->steppers[0] = this->kernel->robot->alpha_stepper_motor;
- this->steppers[1] = this->kernel->robot->beta_stepper_motor;
- this->steppers[2] = this->kernel->robot->gamma_stepper_motor;
-
- // Settings
- this->on_config_reload(this);
-
-}
-
-//#pragma GCC push_options
-//#pragma GCC optimize ("O0")
-
-// 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->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();
- this->slow_rates[0] = this->kernel->config->value(alpha_slow_homing_rate_checksum )->by_default(100 )->as_number();
- this->slow_rates[1] = this->kernel->config->value(beta_slow_homing_rate_checksum )->by_default(100 )->as_number();
- this->slow_rates[2] = this->kernel->config->value(gamma_slow_homing_rate_checksum )->by_default(5 )->as_number();
- 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->debounce_count = this->kernel->config->value(endstop_debounce_count_checksum )->by_default(100 )->as_number();
- this->direction[0] = this->kernel->config->value(alpha_homing_direction_checksum )->by_default(1 )->as_number();
- this->direction[1] = this->kernel->config->value(beta_homing_direction_checksum )->by_default(1 )->as_number();
- this->direction[2] = this->kernel->config->value(gamma_homing_direction_checksum )->by_default(1 )->as_number();
- for (int i=0; i<3; i++) direction[i] = direction[i] > 0;
- this->homing_position[0] = this->direction[0]?this->kernel->config->value(alpha_min_checksum)->by_default(0)->as_number():this->kernel->config->value(alpha_max_checksum)->by_default(200)->as_number();
- this->homing_position[1] = this->direction[1]?this->kernel->config->value(beta_min_checksum )->by_default(0)->as_number():this->kernel->config->value(beta_max_checksum )->by_default(200)->as_number();;
- this->homing_position[2] = this->direction[2]?this->kernel->config->value(gamma_min_checksum)->by_default(0)->as_number():this->kernel->config->value(gamma_max_checksum)->by_default(200)->as_number();;
-}
-
-//#pragma GCC pop_options
-
-void Endstops::wait_for_homed(char axes_to_move){
- bool running = true;
- unsigned int debounce[3] = {0,0,0};
- while(running){
- running = false;
- this->kernel->call_event(ON_IDLE);
- for( char c = 'X'; c <= 'Z'; c++ ){
- if( ( axes_to_move >> ( c - 'X' ) ) & 1 ){
- if( this->pins[c - 'X' + (this->direction[c - 'X']?0:3)].get() ){
- if( debounce[c - 'X'] < debounce_count ) {
- debounce[c - 'X'] ++;
- running = true;
- } else if ( this->steppers[c - 'X']->moving ){
- this->steppers[c - 'X']->move(0,0);
- //this->kernel->streams->printf("move done %c\r\n", c);
- }
- }else{
- // The endstop was not hit yet
- running = true;
- debounce[c - 'X'] = 0;
- }
- }
- }
- }
-}
-
-// Start homing sequences by response to GCode commands
-void Endstops::on_gcode_received(void* argument)
-{
- Gcode* gcode = static_cast<Gcode*>(argument);
- if( gcode->has_g)
- {
- if( gcode->g == 28 )
- {
- // 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 );
- for( char c = 'X'; c <= 'Z'; c++ ){
- if( gcode->has_letter(c) && this->pins[c - 'X'].connected() ){ axes_to_move += ( 1 << (c - 'X' ) ); }
- }
-
- // Enable the motors
- this->kernel->stepper->turn_enable_pins_on();
-
- // 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 ){
- gcode->stream->printf("homing axis %c\r\n", c);
- this->steppers[c - 'X']->set_speed(this->fast_rates[c - 'X']);
- this->steppers[c - 'X']->move(this->direction[c - 'X'],10000000);
- }
- }
-
- // Wait for all axes to have homed
- this->wait_for_homed(axes_to_move);
-
- gcode->stream->printf("test a\r\n");
- // Move back a small distance
- this->status = MOVING_BACK;
- int inverted_dir;
- for( char c = 'X'; c <= 'Z'; c++ ){
- if( ( axes_to_move >> ( c - 'X' ) ) & 1 ){
- inverted_dir = -(this->direction[c - 'X'] - 1);
- this->steppers[c - 'X']->set_speed(this->slow_rates[c - 'X']);
- this->steppers[c - 'X']->move(inverted_dir,this->retract_steps[c - 'X']);
- }
- }
-
- gcode->stream->printf("test b\r\n");
- // 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);
- }
- }
- }
-
- gcode->stream->printf("test c\r\n");
-
- // 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->steppers[c - 'X']->set_speed(this->slow_rates[c -'X']);
- this->steppers[c - 'X']->move(this->direction[c - 'X'],10000000);
- }
- }
-
- // Wait for all axes to have homed
- this->wait_for_homed(axes_to_move);
-
- // Homing is done
- this->status = NOT_HOMING;
-
- // Zero the ax(i/e)s position
- for( char c = 'X'; c <= 'Z'; c++ ){
- if( ( axes_to_move >> ( c - 'X' ) ) & 1 ){
-
- this->kernel->robot->reset_axis_position(this->homing_position[c - 'X'], c - 'X');
- }
- }
-
- }
- }
- else if (gcode->has_m){
- 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() );
- break;
- }
- }
-}
-
+/*
+ This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl).
+ 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.
+ 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.
+ You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#include "libs/Module.h"
+#include "libs/Kernel.h"
+#include "modules/communication/utils/Gcode.h"
+#include "modules/robot/Conveyor.h"
+#include "Endstops.h"
+#include "libs/nuts_bolts.h"
+#include "libs/Pin.h"
+#include "libs/StepperMotor.h"
+#include "wait_api.h" // mbed.h lib
+#include "Robot.h"
+#include "Stepper.h"
+#include "Config.h"
+#include "SlowTicker.h"
+#include "Planner.h"
+#include "checksumm.h"
+#include "utils.h"
+#include "ConfigValue.h"
+
+#define ALPHA_AXIS 0
+#define BETA_AXIS 1
+#define GAMMA_AXIS 2
+#define X_AXIS 0
+#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 alpha_min_endstop_checksum CHECKSUM("alpha_min_endstop")
+#define beta_min_endstop_checksum CHECKSUM("beta_min_endstop")
+#define gamma_min_endstop_checksum CHECKSUM("gamma_min_endstop")
+
+#define alpha_max_endstop_checksum CHECKSUM("alpha_max_endstop")
+#define beta_max_endstop_checksum CHECKSUM("beta_max_endstop")
+#define gamma_max_endstop_checksum CHECKSUM("gamma_max_endstop")
+
+#define alpha_trim_checksum CHECKSUM("alpha_trim")
+#define beta_trim_checksum CHECKSUM("beta_trim")
+#define gamma_trim_checksum CHECKSUM("gamma_trim")
+
+// these values are in steps and should be deprecated
+#define alpha_fast_homing_rate_checksum CHECKSUM("alpha_fast_homing_rate")
+#define beta_fast_homing_rate_checksum CHECKSUM("beta_fast_homing_rate")
+#define gamma_fast_homing_rate_checksum CHECKSUM("gamma_fast_homing_rate")
+
+#define alpha_slow_homing_rate_checksum CHECKSUM("alpha_slow_homing_rate")
+#define beta_slow_homing_rate_checksum CHECKSUM("beta_slow_homing_rate")
+#define gamma_slow_homing_rate_checksum CHECKSUM("gamma_slow_homing_rate")
+
+#define alpha_homing_retract_checksum CHECKSUM("alpha_homing_retract")
+#define beta_homing_retract_checksum CHECKSUM("beta_homing_retract")
+#define gamma_homing_retract_checksum CHECKSUM("gamma_homing_retract")
+#define endstop_debounce_count_checksum CHECKSUM("endstop_debounce_count")
+
+// same as above but in user friendly mm/s and mm
+#define alpha_fast_homing_rate_mm_checksum CHECKSUM("alpha_fast_homing_rate_mm_s")
+#define beta_fast_homing_rate_mm_checksum CHECKSUM("beta_fast_homing_rate_mm_s")
+#define gamma_fast_homing_rate_mm_checksum CHECKSUM("gamma_fast_homing_rate_mm_s")
+
+#define alpha_slow_homing_rate_mm_checksum CHECKSUM("alpha_slow_homing_rate_mm_s")
+#define beta_slow_homing_rate_mm_checksum CHECKSUM("beta_slow_homing_rate_mm_s")
+#define gamma_slow_homing_rate_mm_checksum CHECKSUM("gamma_slow_homing_rate_mm_s")
+
+#define alpha_homing_retract_mm_checksum CHECKSUM("alpha_homing_retract_mm")
+#define beta_homing_retract_mm_checksum CHECKSUM("beta_homing_retract_mm")
+#define gamma_homing_retract_mm_checksum CHECKSUM("gamma_homing_retract_mm")
+
+#define endstop_debounce_count_checksum CHECKSUM("endstop_debounce_count")
+
+#define alpha_homing_direction_checksum CHECKSUM("alpha_homing_direction")
+#define beta_homing_direction_checksum CHECKSUM("beta_homing_direction")
+#define gamma_homing_direction_checksum CHECKSUM("gamma_homing_direction")
+#define home_to_max_checksum CHECKSUM("home_to_max")
+#define home_to_min_checksum CHECKSUM("home_to_min")
+#define alpha_min_checksum CHECKSUM("alpha_min")
+#define beta_min_checksum CHECKSUM("beta_min")
+#define gamma_min_checksum CHECKSUM("gamma_min")
+
+#define alpha_max_checksum CHECKSUM("alpha_max")
+#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")
+
+Endstops::Endstops()
+{
+ this->status = NOT_HOMING;
+ home_offset[0] = home_offset[1] = home_offset[2] = 0.0F;
+}
+
+void Endstops::on_module_loaded()
+{
+ // Do not do anything if not enabled
+ if ( THEKERNEL->config->value( endstops_module_enable_checksum )->by_default(true)->as_bool() == false ) {
+ return;
+ }
+
+ register_for_event(ON_CONFIG_RELOAD);
+ this->register_for_event(ON_GCODE_RECEIVED);
+
+ // 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 );
+
+ // 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();
+
+ // 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->debounce_count = THEKERNEL->config->value(endstop_debounce_count_checksum )->by_default(0)->as_number();
+
+
+ // get homing direction and convert to boolean where true is home to min, and false is home to max
+ int home_dir = get_checksum(THEKERNEL->config->value(alpha_homing_direction_checksum)->by_default("home_to_min")->as_string());
+ this->home_direction[0] = home_dir != home_to_max_checksum;
+
+ home_dir = get_checksum(THEKERNEL->config->value(beta_homing_direction_checksum)->by_default("home_to_min")->as_string());
+ this->home_direction[1] = home_dir != home_to_max_checksum;
+
+ home_dir = get_checksum(THEKERNEL->config->value(gamma_homing_direction_checksum)->by_default("home_to_min")->as_string());
+ 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->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();
+
+ // 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;
+}
+
+void Endstops::wait_for_homed(char axes_to_move)
+{
+ bool running = true;
+ unsigned int debounce[3] = {0, 0, 0};
+ 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'] ++;
+ running = true;
+ } else if ( this->steppers[c - 'X']->moving ) {
+ this->steppers[c - 'X']->move(0, 0);
+ }
+ } else {
+ // The endstop was not hit yet
+ running = true;
+ debounce[c - 'X'] = 0;
+ }
+ }
+ }
+ }
+}
+
+// this homing works for cartesian and delta printers, not for HBots/CoreXY
+void Endstops::do_homing(char axes_to_move)
+{
+ // 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);
+ }
+ }
+
+ // Wait for all axes to have homed
+ this->wait_for_homed(axes_to_move);
+
+ // 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']);
+ }
+ }
+
+ // 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 ) {
+ 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);
+ }
+ }
+
+ // Wait for all axes to have homed
+ this->wait_for_homed(axes_to_move);
+
+ if (this->is_delta) {
+ // 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']));
+ }
+ }
+
+ // Wait for moves to be done
+ for ( char c = 'X'; c <= 'Z'; c++ ) {
+ if ( ( axes_to_move >> ( c - 'X' ) ) & 1 ) {
+ //THEKERNEL->streams->printf("axis %c \r\n", c );
+ while ( this->steppers[c - 'X']->moving ) {
+ THEKERNEL->call_event(ON_IDLE);
+ }
+ }
+ }
+ }
+
+ // Homing is done
+ this->status = NOT_HOMING;
+}
+
+void Endstops::wait_for_homed_corexy(int axis)
+{
+ bool running = true;
+ unsigned int debounce[3] = {0, 0, 0};
+ while (running) {
+ running = false;
+ THEKERNEL->call_event(ON_IDLE);
+ if ( this->pins[axis + (this->home_direction[axis] ? 0 : 3)].get() ) {
+ if ( debounce[axis] < debounce_count ) {
+ debounce[axis] ++;
+ 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);
+ }
+ } else {
+ // The endstop was not hit yet
+ running = true;
+ debounce[axis] = 0;
+ }
+ }
+}
+
+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->feed_rate[X_AXIS]= fast_rate;
+ this->steppers[X_AXIS]->set_speed(0);
+ this->steppers[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);
+
+ // 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);
+ this->feed_rate[Y_AXIS]= slow_rate;
+ this->steppers[Y_AXIS]->set_speed(0);
+ this->steppers[Y_AXIS]->move(!diry, retract_steps);
+
+ // wait until done
+ while ( this->steppers[X_AXIS]->moving || this->steppers[Y_AXIS]->moving) {
+ THEKERNEL->call_event(ON_IDLE);
+ }
+
+ // Start moving the axes to the origin slowly
+ this->status = MOVING_TO_ORIGIN_SLOW;
+ this->feed_rate[X_AXIS]= slow_rate;
+ this->steppers[X_AXIS]->set_speed(0);
+ this->steppers[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);
+
+ // wait for primary axis
+ this->wait_for_homed_corexy(home_axis);
+}
+
+// this homing works for HBots/CoreXY
+void Endstops::do_homing_corexy(char axes_to_move)
+{
+ // TODO should really make order configurable, and select whether to allow XY to home at the same time, diagonally
+ // To move XY at the same time only one motor needs to turn, determine which motor and which direction based on min or max directions
+ // allow to move until an endstop triggers, then stop that motor. Speed up when moving diagonally to match X or Y speed
+ // continue moving in the direction not yet triggered (which means two motors turning) until endstop hit
+
+ if((axes_to_move & 0x03) == 0x03) { // both X and Y need Homing
+ // determine which motor to turn and which way
+ bool dirx= this->home_direction[X_AXIS];
+ bool diry= this->home_direction[Y_AXIS];
+ int motor;
+ bool dir;
+ if(dirx && diry) { // min/min
+ motor= X_AXIS;
+ dir= true;
+ }else if(dirx && !diry) { // min/max
+ motor= Y_AXIS;
+ dir= true;
+ }else if(!dirx && diry) { // max/min
+ motor= Y_AXIS;
+ dir= false;
+ }else if(!dirx && !diry) { // max/max
+ motor= X_AXIS;
+ dir= false;
+ }
+
+ // then move both X and Y until one hits the endstop
+ this->status = MOVING_TO_ORIGIN_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);
+ // wait until either X or Y hits the endstop
+ bool running= true;
+ while (running) {
+ THEKERNEL->call_event(ON_IDLE);
+ 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);
+ 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]);
+ }
+
+ 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]);
+ }
+
+ if (axes_to_move & 0x04) { // move Z
+ do_homing(0x04); // just home normally for Z
+ }
+
+ // Homing is done
+ this->status = NOT_HOMING;
+}
+
+// Start homing sequences by response to GCode commands
+void Endstops::on_gcode_received(void *argument)
+{
+ Gcode *gcode = static_cast<Gcode *>(argument);
+ if ( gcode->has_g) {
+ if ( gcode->g == 28 ) {
+ gcode->mark_as_taken();
+ // G28 is received, we have homing to do
+
+ // First wait for the queue to be empty
+ THEKERNEL->conveyor->wait_for_empty_queue();
+
+ // 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') );
+
+ 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' ) );
+ }
+ }
+
+ // Enable the motors
+ 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);
+ }
+ }
+ }
+ } 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", mx, this->pins[px].get(), my, this->pins[py].get(), mz, this->pins[pz].get());
+ gcode->add_nl= true;
+ gcode->mark_as_taken();
+ }
+ break;
+
+ case 206: // M206 - set homing offset
+ if (gcode->has_letter('X')) home_offset[0] = gcode->get_value('X');
+ if (gcode->has_letter('Y')) home_offset[1] = gcode->get_value('Y');
+ if (gcode->has_letter('Z')) home_offset[2] = gcode->get_value('Z');
+ gcode->stream->printf("X %5.3f Y %5.3f Z %5.3f\n", home_offset[0], home_offset[1], home_offset[2]);
+ gcode->mark_as_taken();
+ break;
+
+ case 500: // save settings
+ 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->mark_as_taken();
+ break;
+
+ case 665: { // M665 - set max gamma/z height
+ gcode->mark_as_taken();
+ float gamma_max = this->homing_position[2];
+ if (gcode->has_letter('Z')) {
+ this->homing_position[2] = gamma_max = gcode->get_value('Z');
+ }
+ gcode->stream->printf("Max Z %8.3f ", gamma_max);
+ gcode->add_nl = true;
+ }
+ 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);
+
+ 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();
+ }
+ break;
+
+ // NOTE this is to test accuracy of lead screws etc.
+ case 910: { // M910 - move specific number of raw steps
+ 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));
+ }
+ 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));
+ }
+ 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));
+ }
+ gcode->stream->printf("Moved X %d Y %d Z %d F %d steps\n", x, y, z, f);
+ gcode->mark_as_taken();
+ break;
+ }
+ }
+ }
+}
+
+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
+
+ // 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( current_rate < target_rate ){
+ uint32_t rate_increase = int(floor((THEKERNEL->planner->acceleration/THEKERNEL->stepper->acceleration_ticks_per_second)*this->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));
+ }
+
+ return 0;
+}
HCoop / clinton / Smoothieware.git / blobdiff