Commit | Line | Data |
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88443c6b JM |
1 | /* |
2 | This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl). | |
3 | 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. | |
4 | 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. | |
5 | You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>. | |
6 | */ | |
7 | ||
8 | #include "ZProbe.h" | |
9 | ||
10 | #include "Kernel.h" | |
11 | #include "BaseSolution.h" | |
12 | #include "Config.h" | |
13 | #include "Robot.h" | |
14 | #include "StepperMotor.h" | |
15 | #include "StreamOutputPool.h" | |
16 | #include "Gcode.h" | |
17 | #include "Conveyor.h" | |
18 | #include "Stepper.h" | |
19 | #include "checksumm.h" | |
20 | #include "ConfigValue.h" | |
21 | #include "SlowTicker.h" | |
22 | #include "Planner.h" | |
037c350d | 23 | #include "SerialMessage.h" |
9f6f04a5 JM |
24 | #include "PublicDataRequest.h" |
25 | #include "EndstopsPublicAccess.h" | |
26 | #include "PublicData.h" | |
ce9d2bda | 27 | #include "LevelingStrategy.h" |
a157d099 | 28 | #include "StepTicker.h" |
37102904 | 29 | #include "utils.h" |
a5542cae JM |
30 | |
31 | // strategies we know about | |
f6efadb0 | 32 | #include "DeltaCalibrationStrategy.h" |
a5542cae | 33 | #include "ThreePointStrategy.h" |
43b9b200 | 34 | #include "ZGridStrategy.h" |
59d4d4ea | 35 | #include "DeltaGridStrategy.h" |
88443c6b | 36 | |
88443c6b JM |
37 | #define enable_checksum CHECKSUM("enable") |
38 | #define probe_pin_checksum CHECKSUM("probe_pin") | |
39 | #define debounce_count_checksum CHECKSUM("debounce_count") | |
681a62d7 JM |
40 | #define slow_feedrate_checksum CHECKSUM("slow_feedrate") |
41 | #define fast_feedrate_checksum CHECKSUM("fast_feedrate") | |
b469231e | 42 | #define return_feedrate_checksum CHECKSUM("return_feedrate") |
681a62d7 | 43 | #define probe_height_checksum CHECKSUM("probe_height") |
f3b66360 | 44 | #define gamma_max_checksum CHECKSUM("gamma_max") |
93f20a8c | 45 | #define reverse_z_direction_checksum CHECKSUM("reverse_z") |
88443c6b | 46 | |
681a62d7 | 47 | // from endstop section |
b7cd847e | 48 | #define delta_homing_checksum CHECKSUM("delta_homing") |
d8198a57 | 49 | #define rdelta_homing_checksum CHECKSUM("rdelta_homing") |
88443c6b JM |
50 | |
51 | #define X_AXIS 0 | |
52 | #define Y_AXIS 1 | |
53 | #define Z_AXIS 2 | |
54 | ||
c8bac202 | 55 | #define STEPPER THEROBOT->actuators |
dd0a7cfa | 56 | #define STEPS_PER_MM(a) (STEPPER[a]->get_steps_per_mm()) |
56ce2b5a JM |
57 | #define Z_STEPS_PER_MM STEPS_PER_MM(Z_AXIS) |
58 | ||
7d6fe308 JM |
59 | #define abs(a) ((a<0) ? -a : a) |
60 | ||
88443c6b JM |
61 | void ZProbe::on_module_loaded() |
62 | { | |
63 | // if the module is disabled -> do nothing | |
56ce2b5a | 64 | if(!THEKERNEL->config->value( zprobe_checksum, enable_checksum )->by_default(false)->as_bool()) { |
88443c6b JM |
65 | // as this module is not needed free up the resource |
66 | delete this; | |
67 | return; | |
68 | } | |
88443c6b JM |
69 | |
70 | // load settings | |
71 | this->on_config_reload(this); | |
72 | // register event-handlers | |
88443c6b | 73 | register_for_event(ON_GCODE_RECEIVED); |
88443c6b | 74 | |
a157d099 | 75 | THEKERNEL->step_ticker->register_acceleration_tick_handler([this](){acceleration_tick(); }); |
778093ce JM |
76 | |
77 | // we read the probe in this timer, currently only for G38 probes. | |
78 | probing= false; | |
79 | THEKERNEL->slow_ticker->attach(1000, this, &ZProbe::read_probe); | |
88443c6b JM |
80 | } |
81 | ||
82 | void ZProbe::on_config_reload(void *argument) | |
83 | { | |
681a62d7 JM |
84 | this->pin.from_string( THEKERNEL->config->value(zprobe_checksum, probe_pin_checksum)->by_default("nc" )->as_string())->as_input(); |
85 | this->debounce_count = THEKERNEL->config->value(zprobe_checksum, debounce_count_checksum)->by_default(0 )->as_number(); | |
86 | ||
ce9d2bda | 87 | // get strategies to load |
f6efadb0 JM |
88 | vector<uint16_t> modules; |
89 | THEKERNEL->config->get_module_list( &modules, leveling_strategy_checksum); | |
90 | for( auto cs : modules ){ | |
91 | if( THEKERNEL->config->value(leveling_strategy_checksum, cs, enable_checksum )->as_bool() ){ | |
92 | bool found= false; | |
93 | // check with each known strategy and load it if it matches | |
94 | switch(cs) { | |
95 | case delta_calibration_strategy_checksum: | |
96 | this->strategies.push_back(new DeltaCalibrationStrategy(this)); | |
97 | found= true; | |
98 | break; | |
a5542cae JM |
99 | |
100 | case three_point_leveling_strategy_checksum: | |
101 | // NOTE this strategy is mutually exclusive with the delta calibration strategy | |
102 | this->strategies.push_back(new ThreePointStrategy(this)); | |
103 | found= true; | |
104 | break; | |
105 | ||
43b9b200 QH |
106 | case ZGrid_leveling_checksum: |
107 | this->strategies.push_back(new ZGridStrategy(this)); | |
108 | found= true; | |
109 | break; | |
110 | ||
59d4d4ea JM |
111 | case delta_grid_leveling_strategy_checksum: |
112 | this->strategies.push_back(new DeltaGridStrategy(this)); | |
113 | found= true; | |
114 | break; | |
f6efadb0 JM |
115 | } |
116 | if(found) this->strategies.back()->handleConfig(); | |
117 | } | |
118 | } | |
ce9d2bda | 119 | |
57e927fa | 120 | // need to know if we need to use delta kinematics for homing |
ce9d2bda | 121 | this->is_delta = THEKERNEL->config->value(delta_homing_checksum)->by_default(false)->as_bool(); |
d8198a57 | 122 | this->is_rdelta = THEKERNEL->config->value(rdelta_homing_checksum)->by_default(false)->as_bool(); |
ce9d2bda | 123 | |
f6efadb0 | 124 | // default for backwards compatibility add DeltaCalibrationStrategy if a delta |
57e927fa | 125 | // will be deprecated |
f6efadb0 | 126 | if(this->strategies.empty()) { |
57e927fa JM |
127 | if(this->is_delta) { |
128 | this->strategies.push_back(new DeltaCalibrationStrategy(this)); | |
129 | this->strategies.back()->handleConfig(); | |
130 | } | |
037c350d | 131 | } |
681a62d7 | 132 | |
f3b66360 | 133 | this->probe_height = THEKERNEL->config->value(zprobe_checksum, probe_height_checksum)->by_default(5.0F)->as_number(); |
681a62d7 JM |
134 | this->slow_feedrate = THEKERNEL->config->value(zprobe_checksum, slow_feedrate_checksum)->by_default(5)->as_number(); // feedrate in mm/sec |
135 | this->fast_feedrate = THEKERNEL->config->value(zprobe_checksum, fast_feedrate_checksum)->by_default(100)->as_number(); // feedrate in mm/sec | |
b469231e | 136 | this->return_feedrate = THEKERNEL->config->value(zprobe_checksum, return_feedrate_checksum)->by_default(0)->as_number(); // feedrate in mm/sec |
bac3c948 | 137 | this->reverse_z = THEKERNEL->config->value(zprobe_checksum, reverse_z_direction_checksum)->by_default(false)->as_bool(); // Z probe moves in reverse direction |
f3b66360 | 138 | this->max_z = THEKERNEL->config->value(gamma_max_checksum)->by_default(500)->as_number(); // maximum zprobe distance |
88443c6b JM |
139 | } |
140 | ||
fa7bcf7e | 141 | bool ZProbe::wait_for_probe(int& steps) |
88443c6b JM |
142 | { |
143 | unsigned int debounce = 0; | |
144 | while(true) { | |
145 | THEKERNEL->call_event(ON_IDLE); | |
aa896868 JM |
146 | if(THEKERNEL->is_halted()){ |
147 | // aborted by kill | |
148 | return false; | |
149 | } | |
150 | ||
d8198a57 JM |
151 | bool delta= is_delta || is_rdelta; |
152 | ||
88443c6b | 153 | // if no stepper is moving, moves are finished and there was no touch |
d8198a57 | 154 | if( !STEPPER[Z_AXIS]->is_moving() && (!delta || (!STEPPER[Y_AXIS]->is_moving() && !STEPPER[Z_AXIS]->is_moving())) ) { |
88443c6b JM |
155 | return false; |
156 | } | |
157 | ||
d8198a57 | 158 | // if the probe is active... |
88443c6b JM |
159 | if( this->pin.get() ) { |
160 | //...increase debounce counter... | |
161 | if( debounce < debounce_count) { | |
162 | // ...but only if the counter hasn't reached the max. value | |
163 | debounce++; | |
164 | } else { | |
165 | // ...otherwise stop the steppers, return its remaining steps | |
fa7bcf7e JM |
166 | if(STEPPER[Z_AXIS]->is_moving()){ |
167 | steps= STEPPER[Z_AXIS]->get_stepped(); | |
168 | STEPPER[Z_AXIS]->move(0, 0); | |
169 | } | |
d8198a57 | 170 | if(delta) { |
fa7bcf7e JM |
171 | for( int i = X_AXIS; i <= Y_AXIS; i++ ) { |
172 | if ( STEPPER[i]->is_moving() ) { | |
173 | STEPPER[i]->move(0, 0); | |
174 | } | |
88443c6b JM |
175 | } |
176 | } | |
177 | return true; | |
178 | } | |
179 | } else { | |
180 | // The probe was not hit yet, reset debounce counter | |
181 | debounce = 0; | |
182 | } | |
183 | } | |
184 | } | |
88443c6b | 185 | |
771fb7b2 RM |
186 | // single probe with custom feedrate |
187 | // returns boolean value indicating if probe was triggered | |
93f20a8c | 188 | bool ZProbe::run_probe(int& steps, float feedrate, float max_dist, bool reverse) |
88443c6b | 189 | { |
72833629 JM |
190 | // not a block move so disable the last tick setting |
191 | for ( int c = X_AXIS; c <= Z_AXIS; c++ ) { | |
192 | STEPPER[c]->set_moved_last_block(false); | |
193 | } | |
194 | ||
88443c6b JM |
195 | // Enable the motors |
196 | THEKERNEL->stepper->turn_enable_pins_on(); | |
771fb7b2 | 197 | this->current_feedrate = feedrate * Z_STEPS_PER_MM; // steps/sec |
36a21d48 | 198 | float maxz= max_dist < 0 ? this->max_z*2 : max_dist; |
88443c6b JM |
199 | |
200 | // move Z down | |
8fd0f38d | 201 | bool dir= (!reverse_z != reverse); // xor |
93f20a8c | 202 | STEPPER[Z_AXIS]->move(dir, maxz * Z_STEPS_PER_MM, 0); // probe in specified direction, no more than maxz |
d8198a57 | 203 | if(this->is_delta || this->is_rdelta) { |
b7cd847e | 204 | // for delta need to move all three actuators |
93f20a8c JM |
205 | STEPPER[X_AXIS]->move(dir, maxz * STEPS_PER_MM(X_AXIS), 0); |
206 | STEPPER[Y_AXIS]->move(dir, maxz * STEPS_PER_MM(Y_AXIS), 0); | |
b7cd847e JM |
207 | } |
208 | ||
797b4403 | 209 | // start acceleration processing |
7d6fe308 JM |
210 | this->running = true; |
211 | ||
fa7bcf7e | 212 | bool r = wait_for_probe(steps); |
681a62d7 | 213 | this->running = false; |
db00af9a JM |
214 | STEPPER[X_AXIS]->move(0, 0); |
215 | STEPPER[Y_AXIS]->move(0, 0); | |
216 | STEPPER[Z_AXIS]->move(0, 0); | |
88443c6b JM |
217 | return r; |
218 | } | |
219 | ||
93f20a8c | 220 | bool ZProbe::return_probe(int steps, bool reverse) |
681a62d7 JM |
221 | { |
222 | // move probe back to where it was | |
b469231e RM |
223 | |
224 | float fr; | |
225 | if(this->return_feedrate != 0) { // use return_feedrate if set | |
226 | fr = this->return_feedrate; | |
227 | } else { | |
228 | fr = this->slow_feedrate*2; // nominally twice slow feedrate | |
229 | if(fr > this->fast_feedrate) fr = this->fast_feedrate; // unless that is greater than fast feedrate | |
230 | } | |
231 | ||
903725bb | 232 | this->current_feedrate = fr * Z_STEPS_PER_MM; // feedrate in steps/sec |
8fd0f38d JM |
233 | bool dir= ((steps < 0) != reverse_z); // xor |
234 | ||
93f20a8c | 235 | if(reverse) dir= !dir; |
681a62d7 JM |
236 | steps= abs(steps); |
237 | ||
d8198a57 | 238 | bool delta= (this->is_delta || this->is_rdelta); |
6f6677fc | 239 | STEPPER[Z_AXIS]->move(dir, steps, 0); |
d8198a57 | 240 | if(delta) { |
6f6677fc JM |
241 | STEPPER[X_AXIS]->move(dir, steps, 0); |
242 | STEPPER[Y_AXIS]->move(dir, steps, 0); | |
681a62d7 | 243 | } |
7d6fe308 JM |
244 | |
245 | this->running = true; | |
d8198a57 | 246 | while(STEPPER[Z_AXIS]->is_moving() || (delta && (STEPPER[X_AXIS]->is_moving() || STEPPER[Y_AXIS]->is_moving())) ) { |
681a62d7 JM |
247 | // wait for it to complete |
248 | THEKERNEL->call_event(ON_IDLE); | |
db00af9a JM |
249 | if(THEKERNEL->is_halted()){ |
250 | // aborted by kill | |
251 | break; | |
252 | } | |
681a62d7 JM |
253 | } |
254 | ||
255 | this->running = false; | |
db00af9a JM |
256 | STEPPER[X_AXIS]->move(0, 0); |
257 | STEPPER[Y_AXIS]->move(0, 0); | |
258 | STEPPER[Z_AXIS]->move(0, 0); | |
681a62d7 JM |
259 | |
260 | return true; | |
261 | } | |
262 | ||
97832d6d JM |
263 | bool ZProbe::doProbeAt(int &steps, float x, float y) |
264 | { | |
265 | int s; | |
266 | // move to xy | |
267 | coordinated_move(x, y, NAN, getFastFeedrate()); | |
268 | if(!run_probe(s)) return false; | |
269 | ||
270 | // return to original Z | |
271 | return_probe(s); | |
272 | steps = s; | |
273 | ||
274 | return true; | |
275 | } | |
fc7b9a7b | 276 | |
0e44e7d7 JM |
277 | float ZProbe::probeDistance(float x, float y) |
278 | { | |
279 | int s; | |
280 | if(!doProbeAt(s, x, y)) return NAN; | |
281 | return zsteps_to_mm(s); | |
282 | } | |
283 | ||
88443c6b JM |
284 | void ZProbe::on_gcode_received(void *argument) |
285 | { | |
286 | Gcode *gcode = static_cast<Gcode *>(argument); | |
88443c6b | 287 | |
57e927fa | 288 | if( gcode->has_g && gcode->g >= 29 && gcode->g <= 32) { |
36a21d48 | 289 | |
25dc6344 | 290 | // make sure the probe is defined and not already triggered before moving motors |
36a21d48 | 291 | if(!this->pin.connected()) { |
25dc6344 JM |
292 | gcode->stream->printf("ZProbe not connected.\n"); |
293 | return; | |
294 | } | |
295 | if(this->pin.get()) { | |
296 | gcode->stream->printf("ZProbe triggered before move, aborting command.\n"); | |
297 | return; | |
298 | } | |
299 | ||
681a62d7 | 300 | if( gcode->g == 30 ) { // simple Z probe |
88443c6b JM |
301 | // first wait for an empty queue i.e. no moves left |
302 | THEKERNEL->conveyor->wait_for_empty_queue(); | |
303 | ||
681a62d7 | 304 | int steps; |
771fb7b2 | 305 | bool probe_result; |
93f20a8c JM |
306 | bool reverse= (gcode->has_letter('R') && gcode->get_value('R') != 0); // specify to probe in reverse direction |
307 | float rate= gcode->has_letter('F') ? gcode->get_value('F') / 60 : this->slow_feedrate; | |
308 | probe_result = run_probe(steps, rate, -1, reverse); | |
771fb7b2 RM |
309 | |
310 | if(probe_result) { | |
078f76e0 | 311 | // the result is in actuator coordinates and raw steps |
cea695db | 312 | gcode->stream->printf("Z:%1.4f C:%d\n", zsteps_to_mm(steps), steps); |
078f76e0 JM |
313 | |
314 | // set the last probe position to the current actuator units | |
c8bac202 JM |
315 | THEROBOT->set_last_probe_position(std::make_tuple( |
316 | THEROBOT->actuators[X_AXIS]->get_current_position(), | |
317 | THEROBOT->actuators[Y_AXIS]->get_current_position(), | |
318 | THEROBOT->actuators[Z_AXIS]->get_current_position(), | |
078f76e0 JM |
319 | 1)); |
320 | ||
543c4b6d | 321 | // move back to where it started, unless a Z is specified (and not a rotary delta) |
93f20a8c | 322 | if(gcode->has_letter('Z') && !is_rdelta) { |
bd96f4d7 | 323 | // set Z to the specified value, and leave probe where it is |
c8bac202 | 324 | THEROBOT->reset_axis_position(gcode->get_value('Z'), Z_AXIS); |
078f76e0 | 325 | |
681a62d7 | 326 | } else { |
078f76e0 | 327 | // return to pre probe position |
93f20a8c | 328 | return_probe(steps, reverse); |
bd96f4d7 | 329 | } |
078f76e0 | 330 | |
681a62d7 | 331 | } else { |
bd96f4d7 | 332 | gcode->stream->printf("ZProbe not triggered\n"); |
c8bac202 JM |
333 | THEROBOT->set_last_probe_position(std::make_tuple( |
334 | THEROBOT->actuators[X_AXIS]->get_current_position(), | |
335 | THEROBOT->actuators[Y_AXIS]->get_current_position(), | |
336 | THEROBOT->actuators[Z_AXIS]->get_current_position(), | |
078f76e0 | 337 | 0)); |
88443c6b | 338 | } |
fc7b9a7b | 339 | |
ce9d2bda | 340 | } else { |
aaf0c0ee | 341 | if(!gcode->has_letter('P')) { |
fc92f0ac JM |
342 | // find the first strategy to handle the gcode |
343 | for(auto s : strategies){ | |
344 | if(s->handleGcode(gcode)) { | |
345 | return; | |
346 | } | |
347 | } | |
348 | gcode->stream->printf("No strategy found to handle G%d\n", gcode->g); | |
349 | ||
350 | }else{ | |
aaf0c0ee JM |
351 | // P paramater selects which strategy to send the code to |
352 | // they are loaded in the order they are defined in config, 0 being the first, 1 being the second and so on. | |
353 | uint16_t i= gcode->get_value('P'); | |
354 | if(i < strategies.size()) { | |
fc92f0ac | 355 | if(!strategies[i]->handleGcode(gcode)){ |
aaf0c0ee | 356 | gcode->stream->printf("strategy #%d did not handle G%d\n", i, gcode->g); |
fc92f0ac | 357 | } |
ce9d2bda | 358 | return; |
fc92f0ac JM |
359 | |
360 | }else{ | |
aaf0c0ee | 361 | gcode->stream->printf("strategy #%d is not loaded\n", i); |
037c350d | 362 | } |
fc7b9a7b | 363 | } |
88443c6b JM |
364 | } |
365 | ||
6c0193b3 | 366 | } else if(gcode->has_g && gcode->g == 38 ) { // G38.2 Straight Probe with error, G38.3 straight probe without error |
36a21d48 JM |
367 | // linuxcnc/grbl style probe http://www.linuxcnc.org/docs/2.5/html/gcode/gcode.html#sec:G38-probe |
368 | if(gcode->subcode != 2 && gcode->subcode != 3) { | |
07186543 | 369 | gcode->stream->printf("error:Only G38.2 and G38.3 are supported\n"); |
36a21d48 JM |
370 | return; |
371 | } | |
372 | ||
373 | // make sure the probe is defined and not already triggered before moving motors | |
374 | if(!this->pin.connected()) { | |
e714bd32 | 375 | gcode->stream->printf("error:ZProbe not connected.\n"); |
36a21d48 JM |
376 | return; |
377 | } | |
17f26e01 | 378 | |
36a21d48 | 379 | if(this->pin.get()) { |
e714bd32 | 380 | gcode->stream->printf("error:ZProbe triggered before move, aborting command.\n"); |
36a21d48 JM |
381 | return; |
382 | } | |
383 | ||
384 | // first wait for an empty queue i.e. no moves left | |
385 | THEKERNEL->conveyor->wait_for_empty_queue(); | |
386 | ||
7484e84a | 387 | // turn off any compensation transform |
c8bac202 JM |
388 | auto savect= THEROBOT->compensationTransform; |
389 | THEROBOT->compensationTransform= nullptr; | |
7484e84a | 390 | |
36a21d48 JM |
391 | if(gcode->has_letter('X')) { |
392 | // probe in the X axis | |
a2f1ce04 | 393 | probe_XYZ(gcode, X_AXIS); |
36a21d48 JM |
394 | |
395 | }else if(gcode->has_letter('Y')) { | |
396 | // probe in the Y axis | |
a2f1ce04 | 397 | probe_XYZ(gcode, Y_AXIS); |
36a21d48 JM |
398 | |
399 | }else if(gcode->has_letter('Z')) { | |
a2f1ce04 JM |
400 | // probe in the Z axis |
401 | probe_XYZ(gcode, Z_AXIS); | |
36a21d48 | 402 | |
36a21d48 | 403 | }else{ |
e714bd32 | 404 | gcode->stream->printf("error:at least one of X Y or Z must be specified\n"); |
36a21d48 | 405 | } |
7484e84a JM |
406 | |
407 | // restore compensationTransform | |
c8bac202 | 408 | THEROBOT->compensationTransform= savect; |
7484e84a | 409 | |
36a21d48 JM |
410 | return; |
411 | ||
88443c6b JM |
412 | } else if(gcode->has_m) { |
413 | // M code processing here | |
3434eac0 RM |
414 | int c; |
415 | switch (gcode->m) { | |
416 | case 119: | |
417 | c = this->pin.get(); | |
418 | gcode->stream->printf(" Probe: %d", c); | |
419 | gcode->add_nl = true; | |
420 | break; | |
421 | ||
422 | case 670: | |
423 | if (gcode->has_letter('S')) this->slow_feedrate = gcode->get_value('S'); | |
424 | if (gcode->has_letter('K')) this->fast_feedrate = gcode->get_value('K'); | |
425 | if (gcode->has_letter('R')) this->return_feedrate = gcode->get_value('R'); | |
426 | if (gcode->has_letter('Z')) this->max_z = gcode->get_value('Z'); | |
427 | if (gcode->has_letter('H')) this->probe_height = gcode->get_value('H'); | |
39f1d9bd JM |
428 | if (gcode->has_letter('I')) { // NOTE this is temporary and toggles the invertion status of the pin |
429 | invert_override= (gcode->get_value('I') != 0); | |
430 | pin.set_inverting(pin.is_inverting() != invert_override); // XOR so inverted pin is not inverted and vice versa | |
431 | } | |
3434eac0 RM |
432 | break; |
433 | ||
434 | case 500: // save settings | |
435 | case 503: // print settings | |
fc92f0ac JM |
436 | gcode->stream->printf(";Probe feedrates Slow/fast(K)/Return (mm/sec) max_z (mm) height (mm):\nM670 S%1.2f K%1.2f R%1.2f Z%1.2f H%1.2f\n", |
437 | this->slow_feedrate, this->fast_feedrate, this->return_feedrate, this->max_z, this->probe_height); | |
438 | ||
3434eac0 RM |
439 | // fall through is intended so leveling strategies can handle m-codes too |
440 | ||
441 | default: | |
442 | for(auto s : strategies){ | |
443 | if(s->handleGcode(gcode)) { | |
444 | return; | |
445 | } | |
ce9d2bda | 446 | } |
bd96f4d7 | 447 | } |
88443c6b JM |
448 | } |
449 | } | |
450 | ||
778093ce JM |
451 | uint32_t ZProbe::read_probe(uint32_t dummy) |
452 | { | |
453 | if(!probing || probe_detected) return 0; | |
454 | ||
455 | // TODO add debounce/noise filter | |
456 | if(this->pin.get()) { | |
457 | probe_detected= true; | |
458 | // now tell all the stepper_motors to stop | |
c8bac202 | 459 | for(auto &a : THEROBOT->actuators) a->force_finish_move(); |
778093ce JM |
460 | } |
461 | return 0; | |
462 | } | |
463 | ||
464 | // special way to probe in the X or Y or Z direction using planned moves, should work with any kinematics | |
a2f1ce04 | 465 | void ZProbe::probe_XYZ(Gcode *gcode, int axis) |
37102904 | 466 | { |
778093ce JM |
467 | // enable the probe checking in the timer |
468 | probing= true; | |
469 | probe_detected= false; | |
c8bac202 | 470 | THEROBOT->disable_segmentation= true; // we must disable segmentation as this won't work with it enabled (beware on deltas probing in X or Y) |
37102904 JM |
471 | |
472 | // get probe feedrate if specified | |
473 | float rate = (gcode->has_letter('F')) ? gcode->get_value('F')*60 : this->slow_feedrate; | |
474 | ||
778093ce JM |
475 | // do a regular move which will stop as soon as the probe is triggered, or the distance is reached |
476 | switch(axis) { | |
477 | case X_AXIS: coordinated_move(gcode->get_value('X'), 0, 0, rate, true); break; | |
478 | case Y_AXIS: coordinated_move(0, gcode->get_value('Y'), 0, rate, true); break; | |
479 | case Z_AXIS: coordinated_move(0, 0, gcode->get_value('Z'), rate, true); break; | |
37102904 JM |
480 | } |
481 | ||
778093ce JM |
482 | // coordinated_move returns when the move is finished |
483 | ||
484 | // disable probe checking | |
485 | probing= false; | |
c8bac202 | 486 | THEROBOT->disable_segmentation= false; |
37102904 JM |
487 | |
488 | float pos[3]; | |
489 | { | |
490 | // get the current position | |
491 | ActuatorCoordinates current_position{ | |
c8bac202 JM |
492 | THEROBOT->actuators[X_AXIS]->get_current_position(), |
493 | THEROBOT->actuators[Y_AXIS]->get_current_position(), | |
494 | THEROBOT->actuators[Z_AXIS]->get_current_position() | |
37102904 JM |
495 | }; |
496 | ||
497 | // get machine position from the actuator position using FK | |
c8bac202 | 498 | THEROBOT->arm_solution->actuator_to_cartesian(current_position, pos); |
37102904 JM |
499 | } |
500 | ||
778093ce | 501 | uint8_t probeok= this->probe_detected ? 1 : 0; |
b76a9926 | 502 | |
17f26e01 | 503 | // print results using the GRBL format |
b76a9926 | 504 | gcode->stream->printf("[PRB:%1.3f,%1.3f,%1.3f:%d]\n", pos[X_AXIS], pos[Y_AXIS], pos[Z_AXIS], probeok); |
c8bac202 | 505 | THEROBOT->set_last_probe_position(std::make_tuple(pos[X_AXIS], pos[Y_AXIS], pos[Z_AXIS], probeok)); |
b76a9926 | 506 | |
93f20a8c JM |
507 | if(!probeok && gcode->subcode == 2) { |
508 | // issue error if probe was not triggered and subcode == 2 | |
509 | gcode->stream->printf("ALARM:Probe fail\n"); | |
510 | THEKERNEL->call_event(ON_HALT, nullptr); | |
37102904 | 511 | |
93f20a8c JM |
512 | }else if(probeok){ |
513 | // if the probe stopped the move we need to correct the last_milestone as it did not reach where it thought | |
c8bac202 | 514 | THEROBOT->reset_position_from_current_actuator_position(); |
778093ce | 515 | } |
37102904 JM |
516 | } |
517 | ||
88443c6b | 518 | // Called periodically to change the speed to match acceleration |
a157d099 | 519 | void ZProbe::acceleration_tick(void) |
88443c6b | 520 | { |
a157d099 | 521 | if(!this->running) return; // nothing to do |
fa7bcf7e | 522 | if(STEPPER[Z_AXIS]->is_moving()) accelerate(Z_AXIS); |
88443c6b | 523 | |
d8198a57 | 524 | if(is_delta || is_rdelta) { |
fa7bcf7e JM |
525 | // deltas needs to move all actuators |
526 | for ( int c = X_AXIS; c <= Y_AXIS; c++ ) { | |
527 | if( !STEPPER[c]->is_moving() ) continue; | |
528 | accelerate(c); | |
529 | } | |
530 | } | |
88443c6b | 531 | |
a157d099 | 532 | return; |
fa7bcf7e | 533 | } |
88443c6b | 534 | |
fa7bcf7e JM |
535 | void ZProbe::accelerate(int c) |
536 | { uint32_t current_rate = STEPPER[c]->get_steps_per_second(); | |
c8f4ee77 | 537 | uint32_t target_rate = floorf(this->current_feedrate); |
88443c6b | 538 | |
c5fe1787 JM |
539 | // Z may have a different acceleration to X and Y |
540 | float acc= (c==Z_AXIS) ? THEKERNEL->planner->get_z_acceleration() : THEKERNEL->planner->get_acceleration(); | |
fa7bcf7e | 541 | if( current_rate < target_rate ) { |
a157d099 | 542 | uint32_t rate_increase = floorf((acc / THEKERNEL->acceleration_ticks_per_second) * STEPS_PER_MM(c)); |
fa7bcf7e JM |
543 | current_rate = min( target_rate, current_rate + rate_increase ); |
544 | } | |
545 | if( current_rate > target_rate ) { | |
546 | current_rate = target_rate; | |
88443c6b JM |
547 | } |
548 | ||
fa7bcf7e | 549 | // steps per second |
d6ba35b8 | 550 | STEPPER[c]->set_speed(current_rate); |
88443c6b | 551 | } |
681a62d7 JM |
552 | |
553 | // issue a coordinated move directly to robot, and return when done | |
554 | // Only move the coordinates that are passed in as not nan | |
e0be983d | 555 | // NOTE must use G53 to force move in machine coordiantes and ignore any WCS offsetts |
037c350d | 556 | void ZProbe::coordinated_move(float x, float y, float z, float feedrate, bool relative) |
681a62d7 JM |
557 | { |
558 | char buf[32]; | |
037c350d JM |
559 | char cmd[64]; |
560 | ||
561 | if(relative) strcpy(cmd, "G91 G0 "); | |
e0be983d | 562 | else strcpy(cmd, "G53 G0 "); // G53 forces movement in machine coordinate system |
037c350d | 563 | |
681a62d7 | 564 | if(!isnan(x)) { |
037c350d | 565 | int n = snprintf(buf, sizeof(buf), " X%1.3f", x); |
681a62d7 JM |
566 | strncat(cmd, buf, n); |
567 | } | |
568 | if(!isnan(y)) { | |
037c350d | 569 | int n = snprintf(buf, sizeof(buf), " Y%1.3f", y); |
681a62d7 JM |
570 | strncat(cmd, buf, n); |
571 | } | |
572 | if(!isnan(z)) { | |
037c350d | 573 | int n = snprintf(buf, sizeof(buf), " Z%1.3f", z); |
681a62d7 JM |
574 | strncat(cmd, buf, n); |
575 | } | |
576 | ||
577 | // use specified feedrate (mm/sec) | |
037c350d | 578 | int n = snprintf(buf, sizeof(buf), " F%1.1f", feedrate * 60); // feed rate is converted to mm/min |
681a62d7 | 579 | strncat(cmd, buf, n); |
037c350d JM |
580 | if(relative) strcat(cmd, " G90"); |
581 | ||
582 | //THEKERNEL->streams->printf("DEBUG: move: %s\n", cmd); | |
681a62d7 | 583 | |
037c350d JM |
584 | // send as a command line as may have multiple G codes in it |
585 | struct SerialMessage message; | |
586 | message.message = cmd; | |
587 | message.stream = &(StreamOutput::NullStream); | |
588 | THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message ); | |
681a62d7 JM |
589 | THEKERNEL->conveyor->wait_for_empty_queue(); |
590 | } | |
591 | ||
592 | // issue home command | |
593 | void ZProbe::home() | |
594 | { | |
595 | Gcode gc("G28", &(StreamOutput::NullStream)); | |
596 | THEKERNEL->call_event(ON_GCODE_RECEIVED, &gc); | |
597 | } | |
57e927fa JM |
598 | |
599 | float ZProbe::zsteps_to_mm(float steps) | |
600 | { | |
601 | return steps / Z_STEPS_PER_MM; | |
602 | } |