added custom model and board - added reverse logic endstop

openscan_firmware/config/endstop.py

@@ -19,3 +19,4 @@ class EndstopConfig(BaseModel):
 
     pull_up: Optional[bool] = Field(True, description="Whether to use a pull-up resistor")
     bounce_time: Optional[float] = Field(0.005, description="Debounce time for the button in seconds")
+    active_high: Optional[bool] = Field(False, description="Useful for normally closed switches")

openscan_firmware/controllers/hardware/endstops.py

@@ -87,10 +87,11 @@ def get_status(self) -> dict:
         Returns:
             dict: A dictionary containing the status of the endstop.
         """
+        pressed = is_button_pressed(self.settings.pin)
         return {"assigned_motor": self.settings.motor_name,
                 "position": self.settings.angular_position,
                 "pin": self.settings.pin,
-                "is_pressed": not is_button_pressed(self.settings.pin)}
+                "is_pressed": pressed if self.settings.active_high else (not pressed)}
 
 
     async def _move_back_task(self):

openscan_firmware/controllers/hardware/motors.py

@@ -268,6 +268,27 @@ async def _move_to_target_angle(self, target_angle: float) -> None:
         logger.debug(f"Motor {self.model.name} will move {step_count} steps.")
         await self._execute_movement(step_count, target_angle)
 
+    async def move_to_endstop(self) -> None:
+        """Internal method to move motor to endstop.
+
+        Args:
+            none """
+
+        if self.endstop is None:
+            return
+
+        logger.debug(f"Will move motor {self.model.name} to endstop")
+
+        spr = self.settings.steps_per_rotation
+        direction = self.settings.direction
+
+        # Some high count degrees, rotor could be in a weird position
+        degrees_to_move = 270
+
+        step_count = int(degrees_to_move * spr / 360) * direction
+        logger.debug(f"Motor {self.model.name} will move {step_count} steps.")
+        await self._execute_movement(step_count, 0.0)
+
     def _pre_calculate_step_times(self, steps: int, min_interval=0.0001) -> List[float]:
         """
         Pre-calculate the exact time for each step in the movement.
@@ -521,4 +542,4 @@ async def move_to_point(point: PolarPoint3D):
         rotor.move_to(point.theta)
     )
 
-    logger.debug(f"Moved to {point}")
+    logger.debug(f"Moved to {point}")

openscan_firmware/models/scanner.py

@@ -11,10 +11,12 @@
 class ScannerModel(Enum):
     CLASSIC = "classic"
     MINI = "mini"
+    CUSTOM = "custom"
 
 class ScannerShield(Enum):
     GREENSHIELD = "greenshield"
     BLACKSHIELD = "blackshield"
+    CUSTOM = "custom"
 
 class ScannerDevice(BaseModel):
     name: str
@@ -25,4 +27,4 @@ class ScannerDevice(BaseModel):
     lights: dict[str, Light]
     endstops: Optional[dict[str, Endstop]]
 
-    initialized: bool
+    initialized: bool

openscan_firmware/routers/next/motors.py

@@ -150,7 +150,7 @@ async def move_motor_to_home_position(motor_name: str):
     if controller.endstop and not controller.is_busy():
         # Trigger Endstop
         controller.model.angle = 0
-        await controller.move_degrees(140)
+        await controller.move_to_endstop()
         # Wait for Endstop and move motor to home position
         await asyncio.sleep(3)
         await controller.move_to(90)
@@ -164,4 +164,4 @@ async def move_motor_to_home_position(motor_name: str):
     resource_name="motor_name",
     get_controller=get_motor_controller,
     settings_model=MotorConfig
-)
+)

settings/device/default_miciomax.json

@@ -0,0 +1,47 @@
+{
+    "name": "OpenScan.eu MicioMax",
+    "model": "custom",
+    "shield": "custom",
+    "cameras": {},
+    "motors": {
+        "rotor": {
+            "direction_pin": 5,
+            "enable_pin": 0,
+            "step_pin": 6,
+            "acceleration": 20000,
+            "max_speed": 5000,
+            "direction": 1,
+            "steps_per_rotation": 122880,
+            "min_angle": 13,
+            "max_angle": 180
+        },
+        "turntable": {
+            "direction_pin": 9,
+            "enable_pin": 10,
+            "step_pin": 11,
+            "acceleration": 5000,
+            "max_speed": 5000,
+            "direction": 1,
+            "steps_per_rotation": 6400
+        }
+    },
+    "lights": {
+      "Openscan.eu Ringlight": {
+           "pins": [12],
+           "pwm_support": true
+      }
+    },
+    "endstops": {
+        "rotor-endstop": {
+            "name": "rotor-endstop",
+            "settings": {
+                "pin": 27,
+                "angular_position": 165.0,
+                "motor_name": "rotor",
+                "pull_up": true,
+                "bounce_time": 0.005,
+                "active_high": true
+            }
+        }
+    }
+}