109 lines
2.6 KiB
C++
109 lines
2.6 KiB
C++
#pragma once
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#include <stdint.h>
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#include "tmc2209/tmc2209.hpp"
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#include "tmc2209/step.hpp"
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// LimitSwitch Pins
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#define LIMIT0_PIN 10
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#define LIMIT1_PIN 11
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#define LIMIT2_PIN 12
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#define LIMIT3_PIN 13
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// LimitSwich Physical Wiring
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// DONT TOUCH THIS
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#define LIMIT_X0 LIMIT1_PIN
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#define LIMIT_X1 LIMIT3_PIN
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#define LIMIT_Y0 LIMIT2_PIN
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#define LIMIT_Y1 LIMIT0_PIN
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// Motor Directions
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#define X_DIRECTION_TOP 0b01
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#define X_DIRECTION_BOTTOM 0b00
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#define Y_DIRECTION_LEFT 0b10
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#define Y_DIRECTION_RIGHT 0b00
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// Motor Mapping
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// DONT TOUCH THIS
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#define MOTOR_X 1
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#define MOTOR_Y 0
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// Homing Speeds
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#define HOME_SPEED_FAST 10000
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#define HOME_SPEED_SLOW 2000
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#define HOME_SPEED_VERY_SLOW 500
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#define OPERATING_SPEED 9000
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enum HOME_AXIS_DIRECTION {
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TOP_LEFT = X_DIRECTION_TOP | Y_DIRECTION_LEFT,
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TOP_RIGHT = X_DIRECTION_TOP | Y_DIRECTION_RIGHT,
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BOTTOM_RIGHT = X_DIRECTION_BOTTOM | Y_DIRECTION_RIGHT,
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BOTTOM_LEFT = X_DIRECTION_BOTTOM | Y_DIRECTION_LEFT
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};
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struct MotorPosition {
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int x;
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int y;
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};
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struct BoardMessurements {
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int x_padding;
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int y_padding;
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int x_num;
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int y_num;
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int x_offset;
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int y_offset;
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int cell_x;
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int cell_y;
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};
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BoardMessurements calcBoardMessurements(MotorPosition p0, MotorPosition p1, int grid_x, int grid_y, MotorPosition offset);
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MotorPosition calcPosition(BoardMessurements * messurements, int x, int y, bool offset);
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void vTaskInitMotorHome(void *pvParameters);
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#define HOME_COUNT 20
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class CoreXYMaschine {
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private:
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TMC2209_UART * uart_driver0;
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TMC2209_UART * uart_driver1;
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TMC2209_step_dual * step_driver;
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bool enableMotors = false;
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bool posUnknow = true;
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MotorPosition current_pos;
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BoardMessurements boardMessurements;
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SemaphoreHandle_t xMoveMutex;
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enum HOME_AXIS_DIRECTION ORIGIN = TOP_LEFT;
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int untilNextHome = HOME_COUNT;
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public:
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CoreXYMaschine(TMC2209_UART * uart_driver0, TMC2209_UART * uart_driver1, TMC2209_step_dual * step_driver, uint core);
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void homeFast(MotorPosition * last_pos, bool ignoreMutex);
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void home(MotorPosition * last_pos);
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void initLimitSW();
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void debugPrintSwitch(uint32_t switchPin);
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void debugAllSwitchStates();
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void setMotorEnabled(bool enabled);
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bool getMotorEnabled();
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void setBoardMessurements(BoardMessurements messurements);
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void gotoPosition(int x, int y, bool offset);
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};
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void homeXY(TMC2209_step_dual * driver, HOME_AXIS_DIRECTION direction, unsigned int speed, unsigned int backupSpace, MotorPosition * last_pos);
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extern absolute_time_t debounce_cooldown_ticks;
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extern absolute_time_t limit_debounce_tick;
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void isr_LimitSwitch(unsigned int gpio, uint32_t event_mask);
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