void Conveyor::on_module_loaded()
{
register_for_event(ON_IDLE);
register_for_event(ON_HALT);
// Attach to the end_of_move stepper event
//THEKERNEL->step_ticker->finished_fnc = std::bind( &Conveyor::all_moves_finished, this);
queue_size = THEKERNEL->config->value(planner_queue_size_checksum)->by_default(32)->as_number();
queue_delay_time_ms = THEKERNEL->config->value(queue_delay_time_ms_checksum)->by_default(100)->as_number();
}
void Touchprobe::on_module_loaded() {
// if the module is disabled -> do nothing
this->enabled = THEKERNEL->config->value( touchprobe_enable_checksum )->by_default(false)->as_bool();
if( !(this->enabled) ){
// as this module is not needed free up the resource
delete this;
return;
}
this->probe_rate = 5;
// load settings
this->on_config_reload(this);
// register event-handlers
register_for_event(ON_CONFIG_RELOAD);
register_for_event(ON_GCODE_RECEIVED);
register_for_event(ON_IDLE);
}
void SimpleShell::on_module_loaded(){
this->current_path = "/";
this->register_for_event(ON_CONSOLE_LINE_RECEIVED);
this->reset_delay_secs= 0;
register_for_event(ON_SECOND_TICK);
}
void ModbusSpindleControl::on_module_loaded()
{
spindle_on = false;
PinName rx_pin;
PinName tx_pin;
PinName dir_pin;
// preparing PinName objects from the config string
{
Pin *smoothie_pin = new Pin();
smoothie_pin->from_string(THEKERNEL->config->value(spindle_checksum, spindle_rx_pin_checksum)->by_default("nc")->as_string());
smoothie_pin->as_input();
rx_pin = port_pin((PortName)smoothie_pin->port_number, smoothie_pin->pin);
smoothie_pin->from_string(THEKERNEL->config->value(spindle_checksum, spindle_tx_pin_checksum)->by_default("nc")->as_string());
smoothie_pin->as_input();
tx_pin = port_pin((PortName)smoothie_pin->port_number, smoothie_pin->pin);
smoothie_pin->from_string(THEKERNEL->config->value(spindle_checksum, spindle_dir_pin_checksum)->by_default("nc")->as_string());
smoothie_pin->as_input();
dir_pin = port_pin((PortName)smoothie_pin->port_number, smoothie_pin->pin);
delete smoothie_pin;
}
// setup the Modbus interface
modbus = new Modbus(tx_pin, rx_pin, dir_pin);
// register for events
register_for_event(ON_GCODE_RECEIVED);
}
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 ) {
delete this;
return;
}
register_for_event(ON_GCODE_RECEIVED);
register_for_event(ON_GET_PUBLIC_DATA);
register_for_event(ON_SET_PUBLIC_DATA);
// Settings
this->load_config();
THEKERNEL->slow_ticker->attach(1000, this, &Endstops::read_endstops);
}
void Switch::on_module_loaded(){
register_for_event(ON_CONFIG_RELOAD);
this->register_for_event(ON_GCODE_RECEIVED);
this->register_for_event(ON_GCODE_EXECUTE);
// Settings
this->on_config_reload(this);
// PWM
this->kernel->slow_ticker->attach(1000, &output_pin, &Pwm::on_tick);
}
void RotaryDeltaCalibration::on_module_loaded()
{
// if the module is disabled -> do nothing
if(!THEKERNEL->config->value( rotarydelta_checksum, enable_checksum )->by_default(false)->as_bool()) {
// as this module is not needed free up the resource
delete this;
return;
}
// register event-handlers
register_for_event(ON_GCODE_RECEIVED);
}
void LPC17XX_Ethernet::on_module_loaded()
{
LPC_PINCON->PINSEL2 = (1 << 0) | (1 << 2) | (1 << 8) | (1 << 16) | (1 << 18) | (1 << 20) | (1 << 28) | (1 << 30);
LPC_PINCON->PINSEL3 &= (2 << 0) | (2 << 2);
LPC_PINCON->PINSEL3 |= (1 << 0) | (1 << 2);
printf("EMAC_INIT\n");
emac_init();
printf("INIT OK\n");
//register_for_event(ON_IDLE);
register_for_event(ON_SECOND_TICK);
}
void SCARAcal::on_module_loaded()
{
// if the module is disabled -> do nothing
if(!THEKERNEL->config->value( scaracal_checksum, enable_checksum )->by_default(false)->as_bool()) {
// as this module is not needed free up the resource
delete this;
return;
}
// load settings
this->on_config_reload(this);
// register event-handlers
register_for_event(ON_GCODE_RECEIVED);
}
void Switch::on_module_loaded()
{
this->switch_changed = false;
register_for_event(ON_CONFIG_RELOAD);
this->register_for_event(ON_GCODE_RECEIVED);
this->register_for_event(ON_GCODE_EXECUTE);
this->register_for_event(ON_MAIN_LOOP);
this->register_for_event(ON_GET_PUBLIC_DATA);
this->register_for_event(ON_SET_PUBLIC_DATA);
// Settings
this->on_config_reload(this);
}
void TemperatureControl::on_module_loaded(){
// We start not desiring any temp
this->target_temperature = UNDEFINED;
// Settings
this->on_config_reload(this);
// Register for events
register_for_event(ON_CONFIG_RELOAD);
this->register_for_event(ON_GCODE_EXECUTE);
this->register_for_event(ON_GCODE_RECEIVED);
this->register_for_event(ON_MAIN_LOOP);
this->register_for_event(ON_SECOND_TICK);
this->register_for_event(ON_GET_PUBLIC_DATA);
this->register_for_event(ON_SET_PUBLIC_DATA);
}
void Extruder::on_module_loaded() {
// Do not do anything if not enabledd
if( this->kernel->config->value( extruder_module_enable_checksum )->by_default(false)->as_bool() == false ){ return; }
// Settings
this->on_config_reload(this);
// We start with the enable pin off
this->en_pin.set(1);
// We work on the same Block as Stepper, so we need to know when it gets a new one and drops one
register_for_event(ON_CONFIG_RELOAD);
this->register_for_event(ON_BLOCK_BEGIN);
this->register_for_event(ON_BLOCK_END);
this->register_for_event(ON_GCODE_RECEIVED);
this->register_for_event(ON_GCODE_EXECUTE);
this->register_for_event(ON_PLAY);
this->register_for_event(ON_PAUSE);
this->register_for_event(ON_SPEED_CHANGE);
// Start values
this->target_position = 0;
this->current_position = 0;
this->current_steps = 0;
this->current_block = NULL;
this->mode = OFF;
// Update speed every *acceleration_ticks_per_second*
// TODO: Make this an independent setting
this->kernel->slow_ticker->attach( this->kernel->stepper->acceleration_ticks_per_second , this, &Extruder::acceleration_tick );
// Stepper motor object for the extruder
this->stepper_motor = this->kernel->step_ticker->add_stepper_motor( new StepperMotor(&step_pin, &dir_pin, &en_pin) );
this->stepper_motor->attach(this, &Extruder::stepper_motor_finished_move );
}
// 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();
// 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(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->is_corexy = THEKERNEL->config->value(corexy_homing_checksum)->by_default(false)->as_bool();
this->is_delta = THEKERNEL->config->value(delta_homing_checksum)->by_default(false)->as_bool();
this->is_rdelta = THEKERNEL->config->value(rdelta_homing_checksum)->by_default(false)->as_bool();
this->is_scara = THEKERNEL->config->value(scara_homing_checksum)->by_default(false)->as_bool();
this->home_z_first = THEKERNEL->config->value(home_z_first_checksum)->by_default(false)->as_bool();
// see if an order has been specified, must be three characters, XYZ or YXZ etc
string order = THEKERNEL->config->value(homing_order_checksum)->by_default("")->as_string();
this->homing_order = 0;
if(order.size() == 3 && !(this->is_delta || this->is_rdelta)) {
int shift = 0;
for(auto c : order) {
uint8_t i = toupper(c) - 'X';
if(i > 2) { // bad value
this->homing_order = 0;
break;
}
homing_order |= (i << shift);
shift += 2;
}
}
// endstop trim used by deltas to do soft adjusting
// on a delta homing to max, a negative trim value will move the carriage down, and a positive will move it up
this->trim_mm[0] = THEKERNEL->config->value(alpha_trim_checksum )->by_default(0 )->as_number();
this->trim_mm[1] = THEKERNEL->config->value(beta_trim_checksum )->by_default(0 )->as_number();
this->trim_mm[2] = THEKERNEL->config->value(gamma_trim_checksum )->by_default(0 )->as_number();
// limits enabled
this->limit_enable[X_AXIS] = THEKERNEL->config->value(alpha_limit_enable_checksum)->by_default(false)->as_bool();
this->limit_enable[Y_AXIS] = THEKERNEL->config->value(beta_limit_enable_checksum)->by_default(false)->as_bool();
this->limit_enable[Z_AXIS] = THEKERNEL->config->value(gamma_limit_enable_checksum)->by_default(false)->as_bool();
// set to true by default for deltas due to trim, false on cartesians
this->move_to_origin_after_home = THEKERNEL->config->value(move_to_origin_checksum)->by_default(is_delta)->as_bool();
if(this->limit_enable[X_AXIS] || this->limit_enable[Y_AXIS] || this->limit_enable[Z_AXIS]) {
register_for_event(ON_IDLE);
if(this->is_delta || this->is_rdelta) {
// we must enable all the limits not just one
this->limit_enable[X_AXIS] = true;
this->limit_enable[Y_AXIS] = true;
this->limit_enable[Z_AXIS] = true;
}
}
//
if(this->is_delta || this->is_rdelta) {
// some things must be the same or they will die, so force it here to avoid config errors
this->fast_rates[1] = this->fast_rates[2] = this->fast_rates[0];
this->slow_rates[1] = this->slow_rates[2] = this->slow_rates[0];
this->retract_mm[1] = this->retract_mm[2] = this->retract_mm[0];
this->home_direction[1] = this->home_direction[2] = this->home_direction[0];
// NOTE homing_position for rdelta is the angle of the actuator not the cartesian position
if(!this->is_rdelta) this->homing_position[0] = this->homing_position[1] = 0;
}
}
void USB::on_module_loaded()
{
register_for_event(ON_IDLE);
connect();
}
void Spindle::on_module_loaded()
{
last_time = 0;
last_edge = 0;
current_rpm = 0;
current_I_value = 0;
current_pwm_value = 0;
time_since_update = 0;
spindle_on = true;
if (!THEKERNEL->config->value(spindle_enable_checksum)->by_default(false)->as_bool()) {
delete this; // Spindle control module is disabled
return;
}
pulses_per_rev = THEKERNEL->config->value(spindle_pulses_per_rev_checksum)->by_default(1.0f)->as_number();
target_rpm = THEKERNEL->config->value(spindle_default_rpm_checksum)->by_default(5000.0f)->as_number();
control_P_term = THEKERNEL->config->value(spindle_control_P_checksum)->by_default(0.0001f)->as_number();
control_I_term = THEKERNEL->config->value(spindle_control_I_checksum)->by_default(0.0001f)->as_number();
control_D_term = THEKERNEL->config->value(spindle_control_D_checksum)->by_default(0.0001f)->as_number();
// Smoothing value is low pass filter time constant in seconds.
float smoothing_time = THEKERNEL->config->value(spindle_control_smoothing_checksum)->by_default(0.1f)->as_number();
if (smoothing_time * UPDATE_FREQ < 1.0f)
smoothing_decay = 1.0f;
else
smoothing_decay = 1.0f / (UPDATE_FREQ * smoothing_time);
// Get the pin for hardware pwm
{
Pin *smoothie_pin = new Pin();
smoothie_pin->from_string(THEKERNEL->config->value(spindle_pwm_pin_checksum)->by_default("nc")->as_string());
spindle_pin = smoothie_pin->as_output()->hardware_pwm();
output_inverted = smoothie_pin->is_inverting();
delete smoothie_pin;
}
if (spindle_pin == NULL) {
THEKERNEL->streams->printf("Error: Spindle PWM pin must be P2.0-2.5 or other PWM pin\n");
delete this;
return;
}
int period = THEKERNEL->config->value(spindle_pwm_period_checksum)->by_default(1000)->as_int();
spindle_pin->period_us(period);
spindle_pin->write(output_inverted ? 1 : 0);
// Get the pin for interrupt
{
Pin *smoothie_pin = new Pin();
smoothie_pin->from_string(THEKERNEL->config->value(spindle_feedback_pin_checksum)->by_default("nc")->as_string());
smoothie_pin->as_input();
if (smoothie_pin->port_number == 0 || smoothie_pin->port_number == 2) {
PinName pinname = port_pin((PortName)smoothie_pin->port_number, smoothie_pin->pin);
feedback_pin = new mbed::InterruptIn(pinname);
feedback_pin->rise(this, &Spindle::on_pin_rise);
NVIC_SetPriority(EINT3_IRQn, 16);
} else {
THEKERNEL->streams->printf("Error: Spindle feedback pin has to be on P0 or P2.\n");
delete this;
return;
}
delete smoothie_pin;
}
THEKERNEL->slow_ticker->attach(UPDATE_FREQ, this, &Spindle::on_update_speed);
register_for_event(ON_GCODE_RECEIVED);
}
