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Goto CoreXY to work

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This commit is contained in:
AlexanderHD27
2025-01-01 19:44:15 +01:00
parent c136056ed2
commit ad61e7e9b7
12 changed files with 341 additions and 109 deletions
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63
motor-control/core-xy-firmware/include/CoreXY.hpp
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@@ -31,6 +31,7 @@
#define HOME_SPEED_FAST 10000
#define HOME_SPEED_SLOW 2000
#define HOME_SPEED_VERY_SLOW 500
#define OPERATING_SPEED 9000
enum HOME_AXIS_DIRECTION {
TOP_LEFT = X_DIRECTION_TOP | Y_DIRECTION_LEFT,
@@ -44,14 +45,62 @@ struct MotorPosition {
int y;
};
struct BoardMessurements {
int x_padding;
int y_padding;
int x_num;
int y_num;
int cell_x;
int cell_y;
};
BoardMessurements calcBoardMessurements(MotorPosition p0, MotorPosition p1, int grid_x, int grid_y);
MotorPosition calcPosition(BoardMessurements * messurements, int x, int y);
void vTaskInitMotorHome(void *pvParameters);
#define HOME_COUNT 20
class CoreXYMaschine {
private:
TMC2209_UART * uart_driver0;
TMC2209_UART * uart_driver1;
TMC2209_step_dual * step_driver;
bool enableMotors = false;
bool posUnknow = true;
MotorPosition current_pos;
BoardMessurements boardMessurements;
SemaphoreHandle_t xMoveMutex;
enum HOME_AXIS_DIRECTION ORIGIN = TOP_LEFT;
int untilNextHome = HOME_COUNT;
public:
CoreXYMaschine(TMC2209_UART * uart_driver0, TMC2209_UART * uart_driver1, TMC2209_step_dual * step_driver);
void runTasks();
void homeFast(MotorPosition * last_pos, bool ignoreMutex);
void home(MotorPosition * last_pos);
void initLimitSW();
void debugPrintSwitch(uint32_t switchPin);
void debugAllSwitchStates();
void setMotorEnabled(bool enabled);
bool getMotorEnabled();
void setBoardMessurements(BoardMessurements messurements);
void gotoPosition(int x, int y);
};
void homeXY(TMC2209_step_dual * driver, HOME_AXIS_DIRECTION direction, unsigned int speed, unsigned int backupSpace, MotorPosition * last_pos);
MotorPosition homeSequence(TMC2209_step_dual * driver, MotorPosition * last_pos);
void initLimitSwitches();
extern absolute_time_t debounce_cooldown_ticks;
extern absolute_time_t limit_debounce_tick;
void isr_LimitSwitch(unsigned int gpio, uint32_t event_mask);
void waitForSwitch(uint32_t switchPin);
void debugPrintSwitch(uint32_t switchPin);
void printAllSwitchStates();