#include <ctype.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 endstops_module_enable_checksum CHECKSUM("endstops_enable")
#define corexy_homing_checksum CHECKSUM("corexy_homing")
#define delta_homing_checksum CHECKSUM("delta_homing")
#define rdelta_homing_checksum CHECKSUM("rdelta_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 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")
-#define alpha_max_travel_checksum CHECKSUM("alpha_max_travel")
-#define beta_max_travel_checksum CHECKSUM("beta_max_travel")
-#define gamma_max_travel_checksum CHECKSUM("gamma_max_travel")
-
-// 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")
-
-// 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 endstop_debounce_ms_checksum CHECKSUM("endstop_debounce_ms")
-#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 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_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 STEPPER THEROBOT->actuators
#define STEPS_PER_MM(a) (STEPPER[a]->get_steps_per_mm())
+#define ENDSTOP_CHECKSUMS(X) { \
+ CHECKSUM(X "_min_endstop"), \
+ CHECKSUM(X "_max_endstop"), \
+ CHECKSUM(X "_max_travel"), \
+ CHECKSUM(X "_fast_homing_rate_mm_s"), \
+ CHECKSUM(X "_slow_homing_rate_mm_s"), \
+ CHECKSUM(X "_homing_retract_mm"), \
+ CHECKSUM(X "_homing_direction"), \
+ CHECKSUM(X "_min"), \
+ CHECKSUM(X "_max") \
+}
+
+// checksum defns
+enum DEFNS {MIN_PIN, MAX_PIN, MAX_TRAVEL, FAST_RATE, SLOW_RATE, RETRACT, DIRECTION, MIN, MAX, NDEFNS};
+enum PINS {MIN_X, MIN_Y, MIN_Z, MIN_A, MIN_B, MIN_C, MAX_X, MAX_Y, MAX_Z, MAX_A, MAX_B, MAX_C};
// Homing States
-enum {
+enum STATES {
MOVING_TO_ENDSTOP_FAST, // homing move
MOVING_TO_ENDSTOP_SLOW, // homing move
MOVING_BACK, // homing move
LIMIT_TRIGGERED
};
+static const char *endstop_names[] = {"min_x", "min_y", "min_z", "max_x", "max_y", "max_z"};
+static const char axis_letters[] = {'X', 'Y', 'Z', 'A', 'B', 'C'};
+
Endstops::Endstops()
{
this->status = NOT_HOMING;
// Get config
void Endstops::load_config()
{
- 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])->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();
-
- // NOTE the debouce count is in milliseconds so probably does not need to beset anymore
- this->debounce_ms= THEKERNEL->config->value(endstop_debounce_ms_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[0]= THEKERNEL->config->value(alpha_homing_direction_checksum)->by_default("home_to_min")->as_string() != "home_to_max";
- this->home_direction[1]= THEKERNEL->config->value(beta_homing_direction_checksum)->by_default("home_to_min")->as_string() != "home_to_max";
- this->home_direction[2]= THEKERNEL->config->value(gamma_homing_direction_checksum)->by_default("home_to_min")->as_string() != "home_to_max";
-
- 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();
+ uint16_t const checksums[][NDEFNS] = {
+ ENDSTOP_CHECKSUMS("alpha"), // X
+ ENDSTOP_CHECKSUMS("beta"), // Y
+ ENDSTOP_CHECKSUMS("gamma"), // Z
+ ENDSTOP_CHECKSUMS("delta"), // A
+ ENDSTOP_CHECKSUMS("epsilon"), // B
+ ENDSTOP_CHECKSUMS("zeta") // C
+ };
+
+ for (int i = X_AXIS; i <= C_AXIS; ++i) { // X_AXIS to C_AXIS
+ // pin definitions for X Y Z A B C min/max pins
+ bool found= false;
+ for (int j = MIN_PIN; j <= MAX_PIN; ++j) {
+ Pin *p= new Pin();
+ p->from_string(THEKERNEL->config->value(checksums[i][j])->by_default("nc" )->as_string())->as_input();
+ if(p->connected()){
+ // max pins have MSB set so 0x01 is Y_MIN and 0x81 is Y_MAX
+ uint8_t n= (j == MAX_PIN) ? 0x80 | i : i;
+ pins[n]= p; // this is a map
+ found= true;
+ }else{
+ delete p;
+ }
+ }
+
+ // if we are reding ABC pins and none defined no need to setup rest of config
+ if(i > Z_AXIS && !found) break;
+
+ // rates in mm/sec
+ this->fast_rates[i]= THEKERNEL->config->value(checksums[i][FAST_RATE])->by_default(100)->as_number();
+ this->slow_rates[i]= THEKERNEL->config->value(checksums[i][SLOW_RATE])->by_default(10)->as_number();
+
+ // retracts in mm
+ this->retract_mm[i]= THEKERNEL->config->value(checksums[i][RETRACT])->by_default(5)->as_number();
+
+ // get homing direction and convert to boolean where true is home to min, and false is home to max
+ this->home_direction[i]= THEKERNEL->config->value(checksums[i][DIRECTION])->by_default("home_to_min")->as_string() != "home_to_max";
+
+ // homing cartesian position
+ this->homing_position[i]= this->home_direction[i] ? THEKERNEL->config->value(checksums[i][MIN])->by_default(0)->as_number() : THEKERNEL->config->value(checksums[i][MAX])->by_default(200)->as_number();
+ }
+
+ // NOTE the debounce count is in milliseconds so probably does not need to beset anymore
+ this->debounce_ms= THEKERNEL->config->value(endstop_debounce_ms_checksum)->by_default(0)->as_number();
+ this->debounce_count= THEKERNEL->config->value(endstop_debounce_count_checksum)->by_default(100)->as_number();
+
// used to set maximum movement on homing, set by alpha_max_travel if defined
// for backward compatibility uses alpha_max if not defined.
// TO BE deprecated
- this->alpha_max= THEKERNEL->config->value(alpha_max_checksum)->by_default(500)->as_number();
- this->beta_max= THEKERNEL->config->value(beta_max_checksum)->by_default(500)->as_number();
- this->gamma_max= THEKERNEL->config->value(gamma_max_checksum)->by_default(500)->as_number();
+ this->alpha_max= THEKERNEL->config->value(checksums[X_AXIS][MAX])->by_default(500)->as_number();
+ this->beta_max= THEKERNEL->config->value(checksums[Y_AXIS][MAX])->by_default(500)->as_number();
+ this->gamma_max= THEKERNEL->config->value(checksums[Z_AXIS][MAX])->by_default(500)->as_number();
- this->alpha_max= THEKERNEL->config->value(alpha_max_travel_checksum)->by_default(alpha_max*2)->as_number();
- this->beta_max= THEKERNEL->config->value(beta_max_travel_checksum)->by_default(beta_max*2)->as_number();
- this->gamma_max= THEKERNEL->config->value(gamma_max_travel_checksum)->by_default(gamma_max*2)->as_number();
+ this->alpha_max= THEKERNEL->config->value(checksums[X_AXIS][MAX_TRAVEL])->by_default(alpha_max*2)->as_number();
+ this->beta_max= THEKERNEL->config->value(checksums[Y_AXIS][MAX_TRAVEL])->by_default(beta_max*2)->as_number();
+ this->gamma_max= THEKERNEL->config->value(checksums[Z_AXIS][MAX_TRAVEL])->by_default(gamma_max*2)->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();
}
}
-bool Endstops::debounced_get(int pin)
+bool Endstops::debounced_get(uint8_t pin)
{
+ auto p= pins.find(pin);
+ if(p == pins.end()) return false;
uint8_t debounce = 0;
- while(this->pins[pin].get()) {
+ while(p->second->get()) {
if ( ++debounce >= this->debounce_count ) {
// pin triggered
return true;
return false;
}
-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 == LIMIT_TRIGGERED) {
// if we were in limit triggered see if it has been cleared
for( int c = X_AXIS; c <= Z_AXIS; c++ ) {
if(this->limit_enable[c]) {
- std::array<int, 2> minmax{{0, 3}};
+ std::array<int, 2> minmax{{c, 0x80|c}};
// check min and max endstops
for (int i : minmax) {
- int n = c + i;
- if(this->pins[n].get()) {
+ auto p= pins.find(i);
+ if(p != pins.end() && p->second->get()) {
// still triggered, so exit
bounce_cnt = 0;
return;
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}};
+ std::array<int, 2> minmax{{c, 0x80|c}};
// check min and max endstops
for (int i : minmax) {
- int n = c + i;
- if(debounced_get(n)) {
+ if(debounced_get(i)) {
// endstop triggered
+ int n= i&0x80 ? i+3 : i;
THEKERNEL->streams->printf("Limit switch %s was hit - reset or M999 required\n", endstop_names[n]);
this->status = LIMIT_TRIGGERED;
// disables heaters and motors, ignores incoming Gcode and flushes block queue
// 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(std::bitset<3> axis)
+void Endstops::back_off_home(std::bitset<6> axis)
{
std::vector<std::pair<char, float>> params;
this->status = BACK_OFF_HOME;
}
// 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(std::bitset<3> axis)
+void Endstops::move_to_origin(std::bitset<6> axis)
{
if(!is_delta && (!axis[X_AXIS] || !axis[Y_AXIS])) return; // ignore if X and Y not homing, unless delta
if(!is_corexy) {
// check each axis
- for ( int m = X_AXIS; m <= Z_AXIS; m++ ) {
+ for ( int m = X_AXIS; m <= C_AXIS; m++ ) { // check XYZABC
+ auto p= pins.find(this->home_direction[m] ? m : 0x80|m);
+ if(p == pins.end()) continue;
+
if(STEPPER[m]->is_moving()) {
// if it is moving then we check the associated endstop, and debounce it
- if(this->pins[m + (this->home_direction[m] ? 0 : 3)].get()) {
+ if(p->second->get()) {
if(debounce[m] < debounce_ms) {
debounce[m]++;
} else {
} else {
// corexy is different as the actuators are not directly related to the XY axis
// so we check the axis that is currently homing then stop all motors
- for ( int m = X_AXIS; m <= Z_AXIS; m++ ) {
+ for ( int m = X_AXIS; m <= C_AXIS; m++ ) {
+ auto p= pins.find(this->home_direction[m] ? m : 0x80|m);
+ if(p == pins.end()) continue;
if(axis_to_home[m]) {
- if(this->pins[m + (this->home_direction[m] ? 0 : 3)].get()) {
+ if(p->second->get()) {
if(debounce[m] < debounce_ms) {
debounce[m]++;
} else {
THECONVEYOR->wait_for_idle();
}
-void Endstops::home(std::bitset<3> a)
+void Endstops::home(std::bitset<6> a)
{
// reset debounce counts
debounce.fill(0);
if(home_z_first) home_xy();
+ //TODO need to add BC
+ if(axis_to_home[A_AXIS]) {
+ // now home A
+ float delta[4] {0, 0, 0, epsilon_max}; // we go the max A
+ if(this->home_direction[A_AXIS]) delta[A_AXIS]= -delta[A_AXIS];
+ THEROBOT->delta_move(delta, fast_rates[A_AXIS], 4);
+ // wait for Z
+ THECONVEYOR->wait_for_idle();
+ }
+
+
// TODO should check that the endstops were hit and it did not stop short for some reason
// we did not complete movement the full distance if we hit the endstops
THEROBOT->reset_position_from_current_actuator_position();
bool home_in_z = this->is_delta || this->is_rdelta;
// figure out which axis to home
- bitset<3> haxis;
+ bitset<6> haxis;
haxis.reset();
if(!home_in_z) { // ie not a delta
- bool axis_speced = ( gcode->has_letter('X') || gcode->has_letter('Y') || gcode->has_letter('Z') );
+ bool axis_speced = (gcode->has_letter('X') || gcode->has_letter('Y') || gcode->has_letter('Z') ||
+ gcode->has_letter('A') || gcode->has_letter('B') || gcode->has_letter('C'));
// only enable homing if the endstop is defined,
- for ( int c = X_AXIS; c <= Z_AXIS; c++ ) {
- if (this->pins[c + (this->home_direction[c] ? 0 : 3)].connected() && (!axis_speced || gcode->has_letter(c + 'X')) ) {
+ for ( int c = X_AXIS; c <= C_AXIS; c++ ) {
+ auto p= pins.find(this->home_direction[c] ? c : 0x80|c);
+ if(p != pins.end() && (!axis_speced || gcode->has_letter(axis_letters[c])) ) {
haxis.set(c);
// now reset axis to 0 as we do not know what state we are in
THEROBOT->reset_axis_position(0, c);
for (uint8_t m = homing_order; m != 0; m >>= 2) {
int a= (m & 0x03); // axis to home
if(haxis[a]) { // if axis is selected to home
- std::bitset<3> bs;
+ std::bitset<6> bs;
bs.set(a);
home(bs);
}
} else if(is_corexy) {
// corexy must home each axis individually
- for (int a = X_AXIS; a <= Z_AXIS; ++a) {
+ for (int a = X_AXIS; a <= C_AXIS; ++a) {
if(haxis[a]) {
- std::bitset<3> bs;
+ std::bitset<6> bs;
bs.set(a);
home(bs);
}
// Zero the ax(i/e)s position, add in the home offset
// NOTE that if compensation is active the Z will be set based on where XY are, so make sure XY are homed first then Z
// so XY are at a known consistent position. (especially true if using a proximity probe)
- for ( int c = X_AXIS; c <= Z_AXIS; c++ ) {
+ for ( int c = X_AXIS; c <= C_AXIS; c++ ) {
if (haxis[c]) { // if we requested this axis to home
THEROBOT->reset_axis_position(this->homing_position[c] + this->home_offset[c], c);
// set flag indicating axis was homed, it stays set once set until H/W reset or unhomed
switch (gcode->m) {
case 119: {
- for (int i = 0; i < 6; ++i) {
- if(this->pins[i].connected())
- gcode->stream->printf("%s:%d ", endstop_names[i], this->pins[i].get());
+ for(auto& p : pins) {
+ if(p.second->connected()) {
+ int i= (p.first&0x80) ? (p.first&0x7F) + 3 : p.first;
+ gcode->stream->printf("%s:%d ", endstop_names[i], p.second->get());
+ }
}
gcode->add_nl = true;
-
}
break;
HCoop / clinton / Smoothieware.git / commitdiff