Endstops.cpp

00001 /*
00002       This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl).
00003       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.
00004       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.
00005       You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>.
00006 */
00007 
00008 #include "libs/Module.h"
00009 #include "libs/Kernel.h"
00010 #include "modules/communication/utils/Gcode.h"
00011 #include "modules/robot/Conveyor.h"
00012 #include "Endstops.h"
00013 #include "libs/nuts_bolts.h"
00014 #include "libs/Pin.h"
00015 #include "libs/StepperMotor.h"
00016 #include "wait_api.h" // mbed.h lib
00017 
00018 #define ALPHA_AXIS 0
00019 #define BETA_AXIS  1
00020 #define GAMMA_AXIS 2
00021 #define X_AXIS 0
00022 #define Y_AXIS 1
00023 #define Z_AXIS 2
00024 
00025 #define NOT_HOMING 0
00026 #define MOVING_TO_ORIGIN_FAST 1
00027 #define MOVING_BACK 2
00028 #define MOVING_TO_ORIGIN_SLOW 3
00029 
00030 #define endstops_module_enable_checksum         CHECKSUM("endstops_enable")
00031 #define corexy_homing_checksum                  CHECKSUM("corexy_homing")
00032 #define delta_homing_checksum                   CHECKSUM("delta_homing")
00033 
00034 #define alpha_min_endstop_checksum       CHECKSUM("alpha_min_endstop")
00035 #define beta_min_endstop_checksum        CHECKSUM("beta_min_endstop")
00036 #define gamma_min_endstop_checksum       CHECKSUM("gamma_min_endstop")
00037 
00038 #define alpha_max_endstop_checksum       CHECKSUM("alpha_max_endstop")
00039 #define beta_max_endstop_checksum        CHECKSUM("beta_max_endstop")
00040 #define gamma_max_endstop_checksum       CHECKSUM("gamma_max_endstop")
00041 
00042 #define alpha_trim_checksum              CHECKSUM("alpha_trim")
00043 #define beta_trim_checksum               CHECKSUM("beta_trim")
00044 #define gamma_trim_checksum              CHECKSUM("gamma_trim")
00045 
00046 // these values are in steps and should be deprecated
00047 #define alpha_fast_homing_rate_checksum  CHECKSUM("alpha_fast_homing_rate")
00048 #define beta_fast_homing_rate_checksum   CHECKSUM("beta_fast_homing_rate")
00049 #define gamma_fast_homing_rate_checksum  CHECKSUM("gamma_fast_homing_rate")
00050 
00051 #define alpha_slow_homing_rate_checksum  CHECKSUM("alpha_slow_homing_rate")
00052 #define beta_slow_homing_rate_checksum   CHECKSUM("beta_slow_homing_rate")
00053 #define gamma_slow_homing_rate_checksum  CHECKSUM("gamma_slow_homing_rate")
00054 
00055 #define alpha_homing_retract_checksum    CHECKSUM("alpha_homing_retract")
00056 #define beta_homing_retract_checksum     CHECKSUM("beta_homing_retract")
00057 #define gamma_homing_retract_checksum    CHECKSUM("gamma_homing_retract")
00058 #define endstop_debounce_count_checksum  CHECKSUM("endstop_debounce_count")
00059 
00060 // same as above but in user friendly mm/s and mm
00061 #define alpha_fast_homing_rate_mm_checksum  CHECKSUM("alpha_fast_homing_rate_mm_s")
00062 #define beta_fast_homing_rate_mm_checksum   CHECKSUM("beta_fast_homing_rate_mm_s")
00063 #define gamma_fast_homing_rate_mm_checksum  CHECKSUM("gamma_fast_homing_rate_mm_s")
00064 
00065 #define alpha_slow_homing_rate_mm_checksum  CHECKSUM("alpha_slow_homing_rate_mm_s")
00066 #define beta_slow_homing_rate_mm_checksum   CHECKSUM("beta_slow_homing_rate_mm_s")
00067 #define gamma_slow_homing_rate_mm_checksum  CHECKSUM("gamma_slow_homing_rate_mm_s")
00068 
00069 #define alpha_homing_retract_mm_checksum    CHECKSUM("alpha_homing_retract_mm")
00070 #define beta_homing_retract_mm_checksum     CHECKSUM("beta_homing_retract_mm")
00071 #define gamma_homing_retract_mm_checksum    CHECKSUM("gamma_homing_retract_mm")
00072 
00073 #define endstop_debounce_count_checksum  CHECKSUM("endstop_debounce_count")
00074 
00075 #define alpha_homing_direction_checksum  CHECKSUM("alpha_homing_direction")
00076 #define beta_homing_direction_checksum   CHECKSUM("beta_homing_direction")
00077 #define gamma_homing_direction_checksum  CHECKSUM("gamma_homing_direction")
00078 #define home_to_max_checksum             CHECKSUM("home_to_max")
00079 #define home_to_min_checksum             CHECKSUM("home_to_min")
00080 #define alpha_min_checksum               CHECKSUM("alpha_min")
00081 #define beta_min_checksum                CHECKSUM("beta_min")
00082 #define gamma_min_checksum               CHECKSUM("gamma_min")
00083 
00084 #define alpha_max_checksum               CHECKSUM("alpha_max")
00085 #define beta_max_checksum                CHECKSUM("beta_max")
00086 #define gamma_max_checksum               CHECKSUM("gamma_max")
00087 
00088 #define alpha_steps_per_mm_checksum      CHECKSUM("alpha_steps_per_mm")
00089 #define beta_steps_per_mm_checksum       CHECKSUM("beta_steps_per_mm")
00090 #define gamma_steps_per_mm_checksum      CHECKSUM("gamma_steps_per_mm")
00091 
00092 Endstops::Endstops()
00093 {
00094     this->status = NOT_HOMING;
00095     home_offset[0] = home_offset[1] = home_offset[2] = 0.0F;
00096 }
00097 
00098 void Endstops::on_module_loaded()
00099 {
00100     // Do not do anything if not enabled
00101     if ( THEKERNEL->config->value( endstops_module_enable_checksum )->by_default(true)->as_bool() == false ) {
00102         return;
00103     }
00104 
00105     register_for_event(ON_CONFIG_RELOAD);
00106     this->register_for_event(ON_GCODE_RECEIVED);
00107 
00108     // Take StepperMotor objects from Robot and keep them here
00109     this->steppers[0] = THEKERNEL->robot->alpha_stepper_motor;
00110     this->steppers[1] = THEKERNEL->robot->beta_stepper_motor;
00111     this->steppers[2] = THEKERNEL->robot->gamma_stepper_motor;
00112 
00113     // Settings
00114     this->on_config_reload(this);
00115 
00116 }
00117 
00118 // Get config
00119 void Endstops::on_config_reload(void *argument)
00120 {
00121     this->pins[0].from_string(         THEKERNEL->config->value(alpha_min_endstop_checksum          )->by_default("nc" )->as_string())->as_input();
00122     this->pins[1].from_string(         THEKERNEL->config->value(beta_min_endstop_checksum           )->by_default("nc" )->as_string())->as_input();
00123     this->pins[2].from_string(         THEKERNEL->config->value(gamma_min_endstop_checksum          )->by_default("nc" )->as_string())->as_input();
00124     this->pins[3].from_string(         THEKERNEL->config->value(alpha_max_endstop_checksum          )->by_default("nc" )->as_string())->as_input();
00125     this->pins[4].from_string(         THEKERNEL->config->value(beta_max_endstop_checksum           )->by_default("nc" )->as_string())->as_input();
00126     this->pins[5].from_string(         THEKERNEL->config->value(gamma_max_endstop_checksum          )->by_default("nc" )->as_string())->as_input();
00127 
00128     // we need to know steps per mm for M206, also use them for all settings
00129     this->steps_per_mm[0]           =  THEKERNEL->config->value(alpha_steps_per_mm_checksum         )->as_number();
00130     this->steps_per_mm[1]           =  THEKERNEL->config->value(beta_steps_per_mm_checksum          )->as_number();
00131     this->steps_per_mm[2]           =  THEKERNEL->config->value(gamma_steps_per_mm_checksum         )->as_number();
00132 
00133     this->fast_rates[0]             =  THEKERNEL->config->value(alpha_fast_homing_rate_checksum     )->by_default(4000 )->as_number();
00134     this->fast_rates[1]             =  THEKERNEL->config->value(beta_fast_homing_rate_checksum      )->by_default(4000 )->as_number();
00135     this->fast_rates[2]             =  THEKERNEL->config->value(gamma_fast_homing_rate_checksum     )->by_default(6400 )->as_number();
00136     this->slow_rates[0]             =  THEKERNEL->config->value(alpha_slow_homing_rate_checksum     )->by_default(2000 )->as_number();
00137     this->slow_rates[1]             =  THEKERNEL->config->value(beta_slow_homing_rate_checksum      )->by_default(2000 )->as_number();
00138     this->slow_rates[2]             =  THEKERNEL->config->value(gamma_slow_homing_rate_checksum     )->by_default(3200 )->as_number();
00139     this->retract_steps[0]          =  THEKERNEL->config->value(alpha_homing_retract_checksum       )->by_default(400  )->as_number();
00140     this->retract_steps[1]          =  THEKERNEL->config->value(beta_homing_retract_checksum        )->by_default(400  )->as_number();
00141     this->retract_steps[2]          =  THEKERNEL->config->value(gamma_homing_retract_checksum       )->by_default(1600 )->as_number();
00142 
00143     // 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
00144     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];
00145     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];
00146     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];
00147     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];
00148     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];
00149     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];
00150     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];
00151     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];
00152     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];
00153 
00154     this->debounce_count  = THEKERNEL->config->value(endstop_debounce_count_checksum    )->by_default(0)->as_number();
00155 
00156 
00157     // get homing direction and convert to boolean where true is home to min, and false is home to max
00158     int home_dir                    = get_checksum(THEKERNEL->config->value(alpha_homing_direction_checksum)->by_default("home_to_min")->as_string());
00159     this->home_direction[0]         = home_dir != home_to_max_checksum;
00160 
00161     home_dir                        = get_checksum(THEKERNEL->config->value(beta_homing_direction_checksum)->by_default("home_to_min")->as_string());
00162     this->home_direction[1]         = home_dir != home_to_max_checksum;
00163 
00164     home_dir                        = get_checksum(THEKERNEL->config->value(gamma_homing_direction_checksum)->by_default("home_to_min")->as_string());
00165     this->home_direction[2]         = home_dir != home_to_max_checksum;
00166 
00167     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();
00168     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();;
00169     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();;
00170 
00171     this->is_corexy                 =  THEKERNEL->config->value(corexy_homing_checksum)->by_default(false)->as_bool();
00172     this->is_delta                  =  THEKERNEL->config->value(delta_homing_checksum)->by_default(false)->as_bool();
00173 
00174     // endstop trim used by deltas to do soft adjusting, in mm, convert to steps, and negate depending on homing direction
00175     // eg on a delta homing to max, a negative trim value will move the carriage down, and a positive will move it up
00176     int dirx = (this->home_direction[0] ? 1 : -1);
00177     int diry = (this->home_direction[1] ? 1 : -1);
00178     int dirz = (this->home_direction[2] ? 1 : -1);
00179     this->trim[0] = THEKERNEL->config->value(alpha_trim_checksum )->by_default(0  )->as_number() * steps_per_mm[0] * dirx;
00180     this->trim[1] = THEKERNEL->config->value(beta_trim_checksum  )->by_default(0  )->as_number() * steps_per_mm[1] * diry;
00181     this->trim[2] = THEKERNEL->config->value(gamma_trim_checksum )->by_default(0  )->as_number() * steps_per_mm[2] * dirz;
00182 }
00183 
00184 void Endstops::wait_for_homed(char axes_to_move)
00185 {
00186     bool running = true;
00187     unsigned int debounce[3] = {0, 0, 0};
00188     while (running) {
00189         running = false;
00190         THEKERNEL->call_event(ON_IDLE);
00191         for ( char c = 'X'; c <= 'Z'; c++ ) {
00192             if ( ( axes_to_move >> ( c - 'X' ) ) & 1 ) {
00193                 if ( this->pins[c - 'X' + (this->home_direction[c - 'X'] ? 0 : 3)].get() ) {
00194                     if ( debounce[c - 'X'] < debounce_count ) {
00195                         debounce[c - 'X'] ++;
00196                         running = true;
00197                     } else if ( this->steppers[c - 'X']->moving ) {
00198                         this->steppers[c - 'X']->move(0, 0);
00199                     }
00200                 } else {
00201                     // The endstop was not hit yet
00202                     running = true;
00203                     debounce[c - 'X'] = 0;
00204                 }
00205             }
00206         }
00207     }
00208 }
00209 
00210 // this homing works for cartesian and delta printers, not for HBots/CoreXY
00211 void Endstops::do_homing(char axes_to_move)
00212 {
00213     // Start moving the axes to the origin
00214     this->status = MOVING_TO_ORIGIN_FAST;
00215     for ( char c = 'X'; c <= 'Z'; c++ ) {
00216         if ( ( axes_to_move >> ( c - 'X' ) ) & 1 ) {
00217             this->steppers[c - 'X']->set_speed(this->fast_rates[c - 'X']);
00218             this->steppers[c - 'X']->move(this->home_direction[c - 'X'], 10000000);
00219         }
00220     }
00221 
00222     // Wait for all axes to have homed
00223     this->wait_for_homed(axes_to_move);
00224 
00225     // Move back a small distance
00226     this->status = MOVING_BACK;
00227     bool inverted_dir;
00228     for ( char c = 'X'; c <= 'Z'; c++ ) {
00229         if ( ( axes_to_move >> ( c - 'X' ) ) & 1 ) {
00230             inverted_dir = !this->home_direction[c - 'X'];
00231             this->steppers[c - 'X']->set_speed(this->slow_rates[c - 'X']);
00232             this->steppers[c - 'X']->move(inverted_dir, this->retract_steps[c - 'X']);
00233         }
00234     }
00235 
00236     // Wait for moves to be done
00237     for ( char c = 'X'; c <= 'Z'; c++ ) {
00238         if (  ( axes_to_move >> ( c - 'X' ) ) & 1 ) {
00239             while ( this->steppers[c - 'X']->moving ) {
00240                 THEKERNEL->call_event(ON_IDLE);
00241             }
00242         }
00243     }
00244 
00245     // Start moving the axes to the origin slowly
00246     this->status = MOVING_TO_ORIGIN_SLOW;
00247     for ( char c = 'X'; c <= 'Z'; c++ ) {
00248         if ( ( axes_to_move >> ( c - 'X' ) ) & 1 ) {
00249             this->steppers[c - 'X']->set_speed(this->slow_rates[c - 'X']);
00250             this->steppers[c - 'X']->move(this->home_direction[c - 'X'], 10000000);
00251         }
00252     }
00253 
00254     // Wait for all axes to have homed
00255     this->wait_for_homed(axes_to_move);
00256 
00257     if (this->is_delta) {
00258         // move for soft trim
00259         this->status = MOVING_BACK;
00260         for ( char c = 'X'; c <= 'Z'; c++ ) {
00261             if ( this->trim[c - 'X'] != 0 && ( axes_to_move >> ( c - 'X' ) ) & 1 ) {
00262                 inverted_dir = !this->home_direction[c - 'X'];
00263                 // move up or down depending on sign of trim
00264                 if (this->trim[c - 'X'] < 0) inverted_dir = !inverted_dir;
00265                 this->steppers[c - 'X']->set_speed(this->slow_rates[c - 'X']);
00266                 this->steppers[c - 'X']->move(inverted_dir, this->trim[c - 'X']);
00267             }
00268         }
00269 
00270         // Wait for moves to be done
00271         for ( char c = 'X'; c <= 'Z'; c++ ) {
00272             if (  ( axes_to_move >> ( c - 'X' ) ) & 1 ) {
00273                 //THEKERNEL->streams->printf("axis %c \r\n", c );
00274                 while ( this->steppers[c - 'X']->moving ) {
00275                     THEKERNEL->call_event(ON_IDLE);
00276                 }
00277             }
00278         }
00279     }
00280 
00281     // Homing is done
00282     this->status = NOT_HOMING;
00283 }
00284 
00285 void Endstops::wait_for_homed_corexy(int axis)
00286 {
00287     bool running = true;
00288     unsigned int debounce[3] = {0, 0, 0};
00289     while (running) {
00290         running = false;
00291         THEKERNEL->call_event(ON_IDLE);
00292         if ( this->pins[axis + (this->home_direction[axis] ? 0 : 3)].get() ) {
00293             if ( debounce[axis] < debounce_count ) {
00294                 debounce[axis] ++;
00295                 running = true;
00296             } else {
00297                 // turn both off if running
00298                 if (this->steppers[X_AXIS]->moving) this->steppers[X_AXIS]->move(0, 0);
00299                 if (this->steppers[Y_AXIS]->moving) this->steppers[Y_AXIS]->move(0, 0);
00300             }
00301         } else {
00302             // The endstop was not hit yet
00303             running = true;
00304             debounce[axis] = 0;
00305         }
00306     }
00307 }
00308 
00309 void Endstops::corexy_home(int home_axis, bool dirx, bool diry, float fast_rate, float slow_rate, unsigned int retract_steps)
00310 {
00311     this->status = MOVING_TO_ORIGIN_FAST;
00312     this->steppers[X_AXIS]->set_speed(fast_rate);
00313     this->steppers[X_AXIS]->move(dirx, 10000000);
00314     this->steppers[Y_AXIS]->set_speed(fast_rate);
00315     this->steppers[Y_AXIS]->move(diry, 10000000);
00316 
00317     // wait for primary axis
00318     this->wait_for_homed_corexy(home_axis);
00319 
00320     // Move back a small distance
00321     this->status = MOVING_BACK;
00322     this->steppers[X_AXIS]->set_speed(slow_rate);
00323     this->steppers[X_AXIS]->move(!dirx, retract_steps);
00324     this->steppers[Y_AXIS]->set_speed(slow_rate);
00325     this->steppers[Y_AXIS]->move(!diry, retract_steps);
00326 
00327     // wait until done
00328     while ( this->steppers[X_AXIS]->moving || this->steppers[Y_AXIS]->moving) {
00329         THEKERNEL->call_event(ON_IDLE);
00330     }
00331 
00332     // Start moving the axes to the origin slowly
00333     this->status = MOVING_TO_ORIGIN_SLOW;
00334     this->steppers[X_AXIS]->set_speed(slow_rate);
00335     this->steppers[X_AXIS]->move(dirx, 10000000);
00336     this->steppers[Y_AXIS]->set_speed(slow_rate);
00337     this->steppers[Y_AXIS]->move(diry, 10000000);
00338 
00339     // wait for primary axis
00340     this->wait_for_homed_corexy(home_axis);
00341 }
00342 
00343 // this homing works for HBots/CoreXY
00344 void Endstops::do_homing_corexy(char axes_to_move)
00345 {
00346     // TODO should really make order configurable, and select whether to allow XY to home at the same time, diagonally
00347     // 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
00348     // allow to move until an endstop triggers, then stop that motor. Speed up when moving diagonally to match X or Y speed
00349     // continue moving in the direction not yet triggered (which means two motors turning) until endstop hit
00350 
00351     if((axes_to_move & 0x03) == 0x03) { // both X and Y need Homing
00352         // determine which motor to turn and which way
00353         bool dirx= this->home_direction[X_AXIS];
00354         bool diry= this->home_direction[Y_AXIS];
00355         int motor;
00356         bool dir;
00357         if(dirx && diry) { // min/min
00358             motor= X_AXIS;
00359             dir= true;
00360         }else if(dirx && !diry) { // min/max
00361             motor= Y_AXIS;
00362             dir= true;
00363         }else if(!dirx && diry) { // max/min
00364             motor= Y_AXIS;
00365             dir= false;
00366         }else if(!dirx && !diry) { // max/max
00367             motor= X_AXIS;
00368             dir= false;
00369         }
00370 
00371         // then move both X and Y until one hits the endstop
00372         this->status = MOVING_TO_ORIGIN_FAST;
00373         this->steppers[motor]->set_speed(this->fast_rates[motor]*1.4142); // need to allow for more ground covered when moving diagonally
00374         this->steppers[motor]->move(dir, 10000000);
00375         // wait until either X or Y hits the endstop
00376         bool running= true;
00377         while (running) {
00378             THEKERNEL->call_event(ON_IDLE);
00379             for(int m=X_AXIS;m<=Y_AXIS;m++) {
00380                 if(this->pins[m + (this->home_direction[m] ? 0 : 3)].get()) {
00381                     // turn off motor
00382                     if(this->steppers[motor]->moving) this->steppers[motor]->move(0, 0);
00383                     running= false;
00384                     break;
00385                 }
00386             }
00387         }
00388     }
00389 
00390     // move individual axis
00391     if (axes_to_move & 0x01) { // Home X, which means both X and Y in same direction
00392         bool dir= this->home_direction[X_AXIS];
00393         corexy_home(X_AXIS, dir, dir, this->fast_rates[X_AXIS], this->slow_rates[X_AXIS], this->retract_steps[X_AXIS]);
00394     }
00395 
00396     if (axes_to_move & 0x02) { // Home Y, which means both X and Y in different directions
00397         bool dir= this->home_direction[Y_AXIS];
00398         corexy_home(Y_AXIS, dir, !dir, this->fast_rates[Y_AXIS], this->slow_rates[Y_AXIS], this->retract_steps[Y_AXIS]);
00399     }
00400 
00401     if (axes_to_move & 0x04) { // move Z
00402         do_homing(0x04); // just home normally for Z
00403     }
00404 
00405     // Homing is done
00406     this->status = NOT_HOMING;
00407 }
00408 
00409 // Start homing sequences by response to GCode commands
00410 void Endstops::on_gcode_received(void *argument)
00411 {
00412     Gcode *gcode = static_cast<Gcode *>(argument);
00413     if ( gcode->has_g) {
00414         if ( gcode->g == 28 ) {
00415             gcode->mark_as_taken();
00416             // G28 is received, we have homing to do
00417 
00418             // First wait for the queue to be empty
00419             THEKERNEL->conveyor->wait_for_empty_queue();
00420 
00421             // Do we move select axes or all of them
00422             char axes_to_move = 0;
00423             // only enable homing if the endstop is defined, deltas always home all axis
00424             bool home_all = this->is_delta || !( gcode->has_letter('X') || gcode->has_letter('Y') || gcode->has_letter('Z') );
00425 
00426             for ( char c = 'X'; c <= 'Z'; c++ ) {
00427                 if ( (home_all || gcode->has_letter(c)) && this->pins[c - 'X' + (this->home_direction[c - 'X'] ? 0 : 3)].connected() ) {
00428                     axes_to_move += ( 1 << (c - 'X' ) );
00429                 }
00430             }
00431 
00432             // Enable the motors
00433             THEKERNEL->stepper->turn_enable_pins_on();
00434 
00435             // do the actual homing
00436             if (is_corexy)
00437                 do_homing_corexy(axes_to_move);
00438             else
00439                 do_homing(axes_to_move);
00440 
00441             // Zero the ax(i/e)s position, add in the home offset
00442             for ( int c = 0; c <= 2; c++ ) {
00443                 if ( (axes_to_move >> c)  & 1 ) {
00444                     THEKERNEL->robot->reset_axis_position(this->homing_position[c] + this->home_offset[c], c);
00445                 }
00446             }
00447         }
00448     } else if (gcode->has_m) {
00449         switch (gcode->m) {
00450             case 119: {
00451 
00452                 int px = this->home_direction[0] ? 0 : 3;
00453                 int py = this->home_direction[1] ? 1 : 4;
00454                 int pz = this->home_direction[2] ? 2 : 5;
00455                 const char *mx = this->home_direction[0] ? "min" : "max";
00456                 const char *my = this->home_direction[1] ? "min" : "max";
00457                 const char *mz = this->home_direction[2] ? "min" : "max";
00458 
00459                 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());
00460                 gcode->mark_as_taken();
00461             }
00462             break;
00463 
00464             case 206: // M206 - set homing offset
00465                 if (gcode->has_letter('X')) home_offset[0] = gcode->get_value('X');
00466                 if (gcode->has_letter('Y')) home_offset[1] = gcode->get_value('Y');
00467                 if (gcode->has_letter('Z')) home_offset[2] = gcode->get_value('Z');
00468                 gcode->stream->printf("X %5.3f Y %5.3f Z %5.3f\n", home_offset[0], home_offset[1], home_offset[2]);
00469                 gcode->mark_as_taken();
00470                 break;
00471 
00472             case 500: // save settings
00473             case 503: // print settings
00474                 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]);
00475                 if (is_delta) {
00476                     float mm[3];
00477                     trim2mm(mm);
00478                     gcode->stream->printf(";Trim (mm):\nM666 X%1.2f Y%1.2f Z%1.2f\n", mm[0], mm[1], mm[2]);
00479                     gcode->stream->printf(";Max Z\nM665 Z%1.2f\n", this->homing_position[2]);
00480                 }
00481                 gcode->mark_as_taken();
00482                 break;
00483 
00484             case 665: { // M665 - set max gamma/z height
00485                 gcode->mark_as_taken();
00486                 float gamma_max = this->homing_position[2];
00487                 if (gcode->has_letter('Z')) {
00488                     this->homing_position[2] = gamma_max = gcode->get_value('Z');
00489                 }
00490                 gcode->stream->printf("Max Z %8.3f ", gamma_max);
00491                 gcode->add_nl = true;
00492             }
00493             break;
00494 
00495 
00496             case 666: { // M666 - set trim for each axis in mm
00497                 float mm[3];
00498                 trim2mm(mm);
00499 
00500                 if (gcode->has_letter('X')) mm[0] = gcode->get_value('X');
00501                 if (gcode->has_letter('Y')) mm[1] = gcode->get_value('Y');
00502                 if (gcode->has_letter('Z')) mm[2] = gcode->get_value('Z');
00503 
00504                 int dirx = (this->home_direction[0] ? 1 : -1);
00505                 int diry = (this->home_direction[1] ? 1 : -1);
00506                 int dirz = (this->home_direction[2] ? 1 : -1);
00507                 trim[0] = lround(mm[0] * steps_per_mm[0]) * dirx; // convert back to steps
00508                 trim[1] = lround(mm[1] * steps_per_mm[1]) * diry;
00509                 trim[2] = lround(mm[2] * steps_per_mm[2]) * dirz;
00510 
00511                 // print the current trim values in mm and steps
00512                 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]);
00513                 gcode->mark_as_taken();
00514             }
00515             break;
00516 
00517             // NOTE this is to test accuracy of lead screws etc.
00518             case 910: { // M910 - move specific number of raw steps
00519                 int x= 0, y=0 , z= 0, f= 200*16;
00520                 if (gcode->has_letter('F')) f = gcode->get_value('F');
00521                 if (gcode->has_letter('X')) {
00522                     x = gcode->get_value('X');
00523                     this->steppers[X_AXIS]->set_speed(f);
00524                     this->steppers[X_AXIS]->move(x<0, abs(x));
00525                 }
00526                 if (gcode->has_letter('Y')) {
00527                     y = gcode->get_value('Y');
00528                     this->steppers[Y_AXIS]->set_speed(f);
00529                     this->steppers[Y_AXIS]->move(y<0, abs(y));
00530                 }
00531                 if (gcode->has_letter('Z')) {
00532                     z = gcode->get_value('Z');
00533                     this->steppers[Z_AXIS]->set_speed(f);
00534                     this->steppers[Z_AXIS]->move(z<0, abs(z));
00535                 }
00536                 gcode->stream->printf("Moved X %d Y %d Z %d F %d steps\n", x, y, z, f);
00537                 gcode->mark_as_taken();
00538                 break;
00539             }
00540         }
00541     }
00542 }
00543 
00544 void Endstops::trim2mm(float *mm)
00545 {
00546     int dirx = (this->home_direction[0] ? 1 : -1);
00547     int diry = (this->home_direction[1] ? 1 : -1);
00548     int dirz = (this->home_direction[2] ? 1 : -1);
00549 
00550     mm[0] = this->trim[0] / this->steps_per_mm[0] * dirx; // convert to mm
00551     mm[1] = this->trim[1] / this->steps_per_mm[1] * diry;
00552     mm[2] = this->trim[2] / this->steps_per_mm[2] * dirz;
00553 }
00554