#include "libs/StepperMotor.h"
#include "wait_api.h" // mbed.h lib
-Endstops::Endstops(){
+#define ALPHA_AXIS 0
+#define BETA_AXIS 1
+#define GAMMA_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() {
+void Endstops::on_module_loaded()
+{
// Do not do anything if not enabled
- if( this->kernel->config->value( endstops_module_enable_checksum )->by_default(true)->as_bool() == false ){ return; }
+ if ( this->kernel->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);
}
// Get config
-void Endstops::on_config_reload(void* argument){
+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();
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->retract_steps[2] = this->kernel->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]= this->kernel->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]= this->kernel->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]= this->kernel->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]= this->kernel->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]= this->kernel->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]= this->kernel->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]= this->kernel->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]= this->kernel->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]= this->kernel->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] = this->kernel->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] = this->kernel->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] = this->kernel->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] = this->kernel->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] = this->kernel->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] = this->kernel->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] = this->kernel->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] = this->kernel->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] = this->kernel->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 = this->kernel->config->value(endstop_debounce_count_checksum )->by_default(100)->as_number();
home_dir = get_checksum(this->kernel->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]?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->home_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->home_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();;
+ this->homing_position[0] = this->home_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->home_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->home_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();;
this->is_corexy = this->kernel->config->value(corexy_homing_checksum)->by_default(false)->as_bool();
this->is_delta = this->kernel->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]= this->kernel->config->value(alpha_trim_checksum )->by_default(0 )->as_number() * steps_per_mm[0] * dirx;
- this->trim[1]= this->kernel->config->value(beta_trim_checksum )->by_default(0 )->as_number() * steps_per_mm[1] * diry;
- this->trim[2]= this->kernel->config->value(gamma_trim_checksum )->by_default(0 )->as_number() * steps_per_mm[2] * dirz;
+ 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] = this->kernel->config->value(alpha_trim_checksum )->by_default(0 )->as_number() * steps_per_mm[0] * dirx;
+ this->trim[1] = this->kernel->config->value(beta_trim_checksum )->by_default(0 )->as_number() * steps_per_mm[1] * diry;
+ this->trim[2] = this->kernel->config->value(gamma_trim_checksum )->by_default(0 )->as_number() * steps_per_mm[2] * dirz;
}
-void Endstops::wait_for_homed(char axes_to_move){
+void Endstops::wait_for_homed(char axes_to_move)
+{
bool running = true;
- unsigned int debounce[3] = {0,0,0};
- while(running){
+ 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->home_direction[c - 'X']?0:3)].get() ){
- if( debounce[c - 'X'] < debounce_count ) {
+ 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 if ( this->steppers[c - 'X']->moving ) {
+ this->steppers[c - 'X']->move(0, 0);
}
- }else{
+ } 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) {
+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 ){
+ for ( char c = 'X'; c <= 'Z'; c++ ) {
+ if ( ( axes_to_move >> ( c - 'X' ) ) & 1 ) {
this->steppers[c - 'X']->set_speed(this->fast_rates[c - 'X']);
- this->steppers[c - 'X']->move(this->home_direction[c - 'X'],10000000);
+ this->steppers[c - 'X']->move(this->home_direction[c - 'X'], 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 ){
+ for ( char c = 'X'; c <= 'Z'; c++ ) {
+ if ( ( axes_to_move >> ( c - 'X' ) ) & 1 ) {
inverted_dir = !this->home_direction[c - 'X'];
this->steppers[c - 'X']->set_speed(this->slow_rates[c - 'X']);
- this->steppers[c - 'X']->move(inverted_dir,this->retract_steps[c - 'X']);
+ 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 ){
+ // 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 ) {
this->kernel->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->steppers[c - 'X']->set_speed(this->slow_rates[c -'X']);
- this->steppers[c - 'X']->move(this->home_direction[c - 'X'],10000000);
+ 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->home_direction[c - 'X'], 10000000);
}
}
// Wait for all axes to have homed
this->wait_for_homed(axes_to_move);
- if(this->is_delta) {
+ 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 ){
+ 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;
+ if (this->trim[c - 'X'] < 0) inverted_dir = !inverted_dir;
this->steppers[c - 'X']->set_speed(this->slow_rates[c - 'X']);
- this->steppers[c - 'X']->move(inverted_dir,this->trim[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 ){
+ 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 ){
+ while ( this->steppers[c - 'X']->moving ) {
this->kernel->call_event(ON_IDLE);
}
}
#define Y_AXIS 1
#define Z_AXIS 2
-void Endstops::wait_for_homed_corexy(int axis){
+void Endstops::wait_for_homed_corexy(int axis)
+{
bool running = true;
- unsigned int debounce[3] = {0,0,0};
- while(running){
+ unsigned int debounce[3] = {0, 0, 0};
+ while (running) {
running = false;
this->kernel->call_event(ON_IDLE);
- if( this->pins[axis + (this->home_direction[axis]?0:3)].get() ){
- if( debounce[axis] < debounce_count ) {
+ 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);
+ 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{
+ } else {
// The endstop was not hit yet
running = true;
debounce[axis] = 0;
}
}
-// this homing works for HBots/CoreXY
-void Endstops::do_homing_corexy(char axes_to_move) {
- // Start moving the axes to the origin
- if(axes_to_move & 0x01) { // Home X, which means both X and Y in same direction
- this->status = MOVING_TO_ORIGIN_FAST;
- this->steppers[X_AXIS]->set_speed(this->fast_rates[X_AXIS]);
- this->steppers[X_AXIS]->move(this->home_direction[X_AXIS], 10000000);
- this->steppers[Y_AXIS]->set_speed(this->fast_rates[X_AXIS]);
- this->steppers[Y_AXIS]->move(this->home_direction[X_AXIS], 10000000);
+void Endstops::corexy_home(int home_axis, bool dirx, bool diry, double fast_rate, double slow_rate, unsigned int retract_steps)
+{
+ this->status = MOVING_TO_ORIGIN_FAST;
+ this->steppers[X_AXIS]->set_speed(fast_rate);
+ this->steppers[X_AXIS]->move(dirx, 10000000);
+ this->steppers[Y_AXIS]->set_speed(fast_rate);
+ this->steppers[Y_AXIS]->move(diry, 10000000);
- // wait for X
- this->wait_for_homed_corexy(X_AXIS);
+ // wait for primary axis
+ this->wait_for_homed_corexy(home_axis);
- // Move back a small distance
- this->status = MOVING_BACK;
- this->steppers[X_AXIS]->set_speed(this->slow_rates[X_AXIS]);
- this->steppers[X_AXIS]->move(!this->home_direction[X_AXIS], this->retract_steps[X_AXIS]);
- this->steppers[Y_AXIS]->set_speed(this->slow_rates[X_AXIS]);
- this->steppers[Y_AXIS]->move(!this->home_direction[X_AXIS], this->retract_steps[X_AXIS]);
-
- // wait until done
- while( this->steppers[X_AXIS]->moving ){ this->kernel->call_event(ON_IDLE); }
- while( this->steppers[Y_AXIS]->moving ){ this->kernel->call_event(ON_IDLE); }
-
- // Start moving the axes to the origin slowly
- this->status = MOVING_TO_ORIGIN_SLOW;
- this->steppers[X_AXIS]->set_speed(this->slow_rates[X_AXIS]);
- this->steppers[X_AXIS]->move(this->home_direction[X_AXIS], 10000000);
- this->steppers[Y_AXIS]->set_speed(this->slow_rates[X_AXIS]);
- this->steppers[Y_AXIS]->move(this->home_direction[X_AXIS], 10000000);
-
- // wait for X
- this->wait_for_homed_corexy(X_AXIS);
+ // Move back a small distance
+ this->status = MOVING_BACK;
+ this->steppers[X_AXIS]->set_speed(slow_rate);
+ this->steppers[X_AXIS]->move(!dirx, retract_steps);
+ this->steppers[Y_AXIS]->set_speed(slow_rate);
+ this->steppers[Y_AXIS]->move(!diry, retract_steps);
+
+ // wait until done
+ while ( this->steppers[X_AXIS]->moving ) {
+ this->kernel->call_event(ON_IDLE);
+ }
+ while ( this->steppers[Y_AXIS]->moving ) {
+ this->kernel->call_event(ON_IDLE);
}
- if(axes_to_move & 0x02) { // Home Y, which means both X and Y in different directions
- this->status = MOVING_TO_ORIGIN_FAST;
- this->steppers[X_AXIS]->set_speed(this->fast_rates[Y_AXIS]);
- this->steppers[X_AXIS]->move(this->home_direction[Y_AXIS], 10000000);
- this->steppers[Y_AXIS]->set_speed(this->fast_rates[Y_AXIS]); // yes I use X_axis speed as they need to go at the same speed
- this->steppers[Y_AXIS]->move(!this->home_direction[Y_AXIS], 10000000);
+ // Start moving the axes to the origin slowly
+ this->status = MOVING_TO_ORIGIN_SLOW;
+ this->steppers[X_AXIS]->set_speed(slow_rate);
+ this->steppers[X_AXIS]->move(dirx, 10000000);
+ this->steppers[Y_AXIS]->set_speed(slow_rate);
+ this->steppers[Y_AXIS]->move(diry, 10000000);
- // wait for Y
- this->wait_for_homed_corexy(Y_AXIS);
+ // wait for primary axis
+ this->wait_for_homed_corexy(home_axis);
+}
- // Move back a small distance
- this->status = MOVING_BACK;
- this->steppers[X_AXIS]->set_speed(this->slow_rates[Y_AXIS]);
- this->steppers[X_AXIS]->move(!this->home_direction[Y_AXIS], this->retract_steps[Y_AXIS]);
- this->steppers[Y_AXIS]->set_speed(this->slow_rates[Y_AXIS]);
- this->steppers[Y_AXIS]->move(this->home_direction[Y_AXIS], this->retract_steps[Y_AXIS]);
-
- // wait until done
- while( this->steppers[X_AXIS]->moving ){ this->kernel->call_event(ON_IDLE); }
- while( this->steppers[Y_AXIS]->moving ){ this->kernel->call_event(ON_IDLE); }
-
- // Start moving the axes to the origin slowly
- this->status = MOVING_TO_ORIGIN_SLOW;
- this->steppers[X_AXIS]->set_speed(this->slow_rates[Y_AXIS]);
- this->steppers[X_AXIS]->move(this->home_direction[Y_AXIS], 10000000);
- this->steppers[Y_AXIS]->set_speed(this->slow_rates[Y_AXIS]);
- this->steppers[Y_AXIS]->move(!this->home_direction[Y_AXIS], 10000000);
-
- // wait for Y
- this->wait_for_homed_corexy(Y_AXIS);
+// this homing works for HBots/CoreXY
+void Endstops::do_homing_corexy(char axes_to_move)
+{
+ // Home Y first so the X limit swicth canbe in a fixed pplace on the frame not on the X Gantry
+ // TODO should really make order configurable
+ if (axes_to_move & 0x02) { // Home Y, which means both X and Y in different directions
+ corexy_home(Y_AXIS, true, false, this->fast_rates[Y_AXIS], this->slow_rates[Y_AXIS], this->retract_steps[Y_AXIS]);
+ }
+
+ if (axes_to_move & 0x01) { // Home X, which means both X and Y in same direction
+ corexy_home(X_AXIS, true, true, this->fast_rates[X_AXIS], this->slow_rates[X_AXIS], this->retract_steps[X_AXIS]);
}
- if(axes_to_move & 0x04) { // move Z
+ if (axes_to_move & 0x04) { // move Z
do_homing(0x04); // just home normally for Z
}
}
// Start homing sequences by response to GCode commands
-void Endstops::on_gcode_received(void* argument)
+void Endstops::on_gcode_received(void *argument)
{
- Gcode* gcode = static_cast<Gcode*>(argument);
- if( gcode->has_g)
- {
- if( gcode->g == 28 )
- {
+ 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
// 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') );
+ 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' ) ); }
+ 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
this->kernel->stepper->turn_enable_pins_on();
// do the actual homing
- if(is_corexy)
+ if (is_corexy)
do_homing_corexy(axes_to_move);
else
do_homing(axes_to_move);
- // 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');
+ // 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 ) {
+ this->kernel->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\n", mx, this->pins[px].get(), my, this->pins[py].get(), mz, this->pins[pz].get());
- gcode->mark_as_taken();
+ } 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());
+ 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) {
+ double 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();
- double 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;
+ gcode->mark_as_taken();
+ double gamma_max = this->homing_position[2];
+ if (gcode->has_letter('Z')) {
+ this->homing_position[2] = gamma_max = gcode->get_value('Z');
}
- break;
+ gcode->stream->printf("Max Z %8.3f ", gamma_max);
+ gcode->add_nl = true;
+ }
+ break;
- case 206: // M206 - set trim for each axis in mm (TODO to be deprecated)
- case 666: // M666 - set trim for each axis in 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);
- double mm[3];
- mm[0]= trim[0]/steps_per_mm[0] * dirx; // convert to mm
- mm[1]= trim[1]/steps_per_mm[1] * diry;
- mm[2]= trim[2]/steps_per_mm[2] * dirz;
- 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');
+ case 666: { // M666 - set trim for each axis in mm
+ double mm[3];
+ trim2mm(mm);
- 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;
+ 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');
- // 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;
+ 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;
}
}
}
+void Endstops::trim2mm(double *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;
+}
+
-/*
- 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/>.
-*/
-
-#ifndef ENDSTOPS_MODULE_H
-#define ENDSTOPS_MODULE_H
-
-#include "libs/Module.h"
-#include "libs/Kernel.h"
-#include "modules/communication/utils/Gcode.h"
-#include "libs/StepperMotor.h"
-#include "libs/Pin.h"
-
-#define ALPHA_AXIS 0
-#define BETA_AXIS 1
-#define GAMMA_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")
-
-class Endstops : public Module{
- public:
- Endstops();
- void on_module_loaded();
- void on_gcode_received(void* argument);
- void on_config_reload(void* argument);
-
- private:
- void do_homing(char axes_to_move);
- void do_homing_corexy(char axes_to_move);
- void wait_for_homed(char axes_to_move);
- void wait_for_homed_corexy(int axis);
- double steps_per_mm[3];
- double homing_position[3];
- bool home_direction[3];
- unsigned int debounce_count;
- unsigned int retract_steps[3];
- int trim[3];
- double fast_rates[3];
- double slow_rates[3];
- Pin pins[6];
- StepperMotor* steppers[3];
- char status;
- bool is_corexy;
- bool is_delta;
-};
-
-#endif
+/*
+ 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/>.
+*/
+
+#ifndef ENDSTOPS_MODULE_H
+#define ENDSTOPS_MODULE_H
+
+#include "libs/Module.h"
+#include "libs/Kernel.h"
+#include "modules/communication/utils/Gcode.h"
+#include "libs/StepperMotor.h"
+#include "libs/Pin.h"
+
+
+class Endstops : public Module{
+ public:
+ Endstops();
+ void on_module_loaded();
+ void on_gcode_received(void* argument);
+ void on_config_reload(void* argument);
+
+ private:
+ void do_homing(char axes_to_move);
+ void do_homing_corexy(char axes_to_move);
+ void wait_for_homed(char axes_to_move);
+ void wait_for_homed_corexy(int axis);
+ void corexy_home(int home_axis, bool dirx, bool diry, double fast_rate, double slow_rate, unsigned int retract_steps);
+ void trim2mm(double * mm);
+
+ double steps_per_mm[3];
+ double homing_position[3];
+ float home_offset[3];
+ bool home_direction[3];
+ unsigned int debounce_count;
+ unsigned int retract_steps[3];
+ int trim[3];
+ double fast_rates[3];
+ double slow_rates[3];
+ Pin pins[6];
+ StepperMotor* steppers[3];
+ char status;
+ bool is_corexy;
+ bool is_delta;
+};
+
+#endif
HCoop / clinton / Smoothieware.git / commitdiff