src/modules/tools/zprobe/ZProbe.cpp

   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 "checksumm.h"
  19 #include "ConfigValue.h"
  20 #include "SlowTicker.h"
  21 #include "Planner.h"
  22 #include "SerialMessage.h"
  23 #include "PublicDataRequest.h"
  24 #include "EndstopsPublicAccess.h"
  25 #include "PublicData.h"
  26 #include "LevelingStrategy.h"
  27 #include "StepTicker.h"
  28 #include "utils.h"
  29
  30 // strategies we know about
  31 #include "DeltaCalibrationStrategy.h"
  32 #include "ThreePointStrategy.h"
  33 #include "DeltaGridStrategy.h"
  34 #include "CartGridStrategy.h"
  35
  36 #define enable_checksum          CHECKSUM("enable")
  37 #define probe_pin_checksum       CHECKSUM("probe_pin")
  38 #define debounce_ms_checksum     CHECKSUM("debounce_ms")
  39 #define slow_feedrate_checksum   CHECKSUM("slow_feedrate")
  40 #define fast_feedrate_checksum   CHECKSUM("fast_feedrate")
  41 #define return_feedrate_checksum CHECKSUM("return_feedrate")
  42 #define probe_height_checksum    CHECKSUM("probe_height")
  43 #define gamma_max_checksum       CHECKSUM("gamma_max")
  44 #define reverse_z_direction_checksum CHECKSUM("reverse_z")
  45
  46 // from endstop section
  47 #define delta_homing_checksum    CHECKSUM("delta_homing")
  48 #define rdelta_homing_checksum    CHECKSUM("rdelta_homing")
  49
  50 #define X_AXIS 0
  51 #define Y_AXIS 1
  52 #define Z_AXIS 2
  53
  54 #define STEPPER THEROBOT->actuators
  55 #define STEPS_PER_MM(a) (STEPPER[a]->get_steps_per_mm())
  56 #define Z_STEPS_PER_MM STEPS_PER_MM(Z_AXIS)
  57
  58 void ZProbe::on_module_loaded()
  59 {
  60     // if the module is disabled -> do nothing
  61     if(!THEKERNEL->config->value( zprobe_checksum, enable_checksum )->by_default(false)->as_bool()) {
  62         // as this module is not needed free up the resource
  63         delete this;
  64         return;
  65     }
  66
  67     // load settings
  68     this->config_load();
  69     // register event-handlers
  70     register_for_event(ON_GCODE_RECEIVED);
  71
  72     // we read the probe in this timer
  73     probing= false;
  74     THEKERNEL->slow_ticker->attach(1000, this, &ZProbe::read_probe);
  75 }
  76
  77 void ZProbe::config_load()
  78 {
  79     this->pin.from_string( THEKERNEL->config->value(zprobe_checksum, probe_pin_checksum)->by_default("nc" )->as_string())->as_input();
  80     this->debounce_ms    = THEKERNEL->config->value(zprobe_checksum, debounce_ms_checksum)->by_default(0  )->as_number();
  81
  82     // get strategies to load
  83     vector<uint16_t> modules;
  84     THEKERNEL->config->get_module_list( &modules, leveling_strategy_checksum);
  85     for( auto cs : modules ){
  86         if( THEKERNEL->config->value(leveling_strategy_checksum, cs, enable_checksum )->as_bool() ){
  87             bool found= false;
  88             LevelingStrategy *ls= nullptr;
  89
  90             // check with each known strategy and load it if it matches
  91             switch(cs) {
  92                 case delta_calibration_strategy_checksum:
  93                     ls= new DeltaCalibrationStrategy(this);
  94                     found= true;
  95                     break;
  96
  97                 case three_point_leveling_strategy_checksum:
  98                     // NOTE this strategy is mutually exclusive with the delta calibration strategy
  99                     ls= new ThreePointStrategy(this);
 100                     found= true;
 101                     break;
 102
 103                 case delta_grid_leveling_strategy_checksum:
 104                     ls= new DeltaGridStrategy(this);
 105                     found= true;
 106                     break;
 107
 108                 case cart_grid_leveling_strategy_checksum:
 109                     ls= new CartGridStrategy(this);
 110                     found= true;
 111                     break;
 112             }
 113             if(found) {
 114                 if(ls->handleConfig()) {
 115                     this->strategies.push_back(ls);
 116                 }else{
 117                     delete ls;
 118                 }
 119             }
 120         }
 121     }
 122
 123     // need to know if we need to use delta kinematics for homing
 124     this->is_delta = THEKERNEL->config->value(delta_homing_checksum)->by_default(false)->as_bool();
 125     this->is_rdelta = THEKERNEL->config->value(rdelta_homing_checksum)->by_default(false)->as_bool();
 126
 127     // default for backwards compatibility add DeltaCalibrationStrategy if a delta
 128     // may be deprecated
 129     if(this->strategies.empty()) {
 130         if(this->is_delta) {
 131             this->strategies.push_back(new DeltaCalibrationStrategy(this));
 132             this->strategies.back()->handleConfig();
 133         }
 134     }
 135
 136     this->probe_height  = THEKERNEL->config->value(zprobe_checksum, probe_height_checksum)->by_default(5.0F)->as_number();
 137     this->slow_feedrate = THEKERNEL->config->value(zprobe_checksum, slow_feedrate_checksum)->by_default(5)->as_number(); // feedrate in mm/sec
 138     this->fast_feedrate = THEKERNEL->config->value(zprobe_checksum, fast_feedrate_checksum)->by_default(100)->as_number(); // feedrate in mm/sec
 139     this->return_feedrate = THEKERNEL->config->value(zprobe_checksum, return_feedrate_checksum)->by_default(0)->as_number(); // feedrate in mm/sec
 140     this->reverse_z     = THEKERNEL->config->value(zprobe_checksum, reverse_z_direction_checksum)->by_default(false)->as_bool(); // Z probe moves in reverse direction
 141     this->max_z         = THEKERNEL->config->value(gamma_max_checksum)->by_default(500)->as_number(); // maximum zprobe distance
 142 }
 143
 144 uint32_t ZProbe::read_probe(uint32_t dummy)
 145 {
 146     if(!probing || probe_detected) return 0;
 147
 148     // we check all axis as it maybe a G38.2 X10 for instance, not just a probe in Z
 149     if(STEPPER[X_AXIS]->is_moving() || STEPPER[Y_AXIS]->is_moving() || STEPPER[Z_AXIS]->is_moving()) {
 150         // if it is moving then we check the probe, and debounce it
 151         if(this->pin.get()) {
 152             if(debounce < debounce_ms) {
 153                 debounce++;
 154             } else {
 155                 // we signal the motors to stop, which will preempt any moves on that axis
 156                 // we do all motors as it may be a delta
 157                 for(auto &a : THEROBOT->actuators) a->stop_moving();
 158                 probe_detected= true;
 159                 debounce= 0;
 160             }
 161
 162         } else {
 163             // The endstop was not hit yet
 164             debounce= 0;
 165         }
 166     }
 167
 168     return 0;
 169 }
 170
 171 // single probe in Z with custom feedrate
 172 // returns boolean value indicating if probe was triggered
 173 bool ZProbe::run_probe(float& mm, float feedrate, float max_dist, bool reverse)
 174 {
 175     if(this->pin.get()) {
 176         // probe already triggered so abort
 177         return false;
 178     }
 179
 180     float maxz= max_dist < 0 ? this->max_z*2 : max_dist;
 181
 182     probing= true;
 183     probe_detected= false;
 184     debounce= 0;
 185
 186     // save current actuator position so we can report how far we moved
 187     float z_start_pos= THEROBOT->actuators[Z_AXIS]->get_current_position();
 188
 189     // move Z down
 190     bool dir= (!reverse_z != reverse); // xor
 191     float delta[3]= {0,0,0};
 192     delta[Z_AXIS]= dir ? -maxz : maxz;
 193     THEROBOT->delta_move(delta, feedrate, 3);
 194
 195     // wait until finished
 196     THECONVEYOR->wait_for_idle();
 197
 198     // now see how far we moved, get delta in z we moved
 199     // NOTE this works for deltas as well as all three actuators move the same amount in Z
 200     mm= z_start_pos - THEROBOT->actuators[2]->get_current_position();
 201
 202     // set the last probe position to the actuator units moved during this home
 203     THEROBOT->set_last_probe_position(std::make_tuple(0, 0, mm, probe_detected?1:0));
 204
 205     probing= false;
 206
 207     if(probe_detected) {
 208         // if the probe stopped the move we need to correct the last_milestone as it did not reach where it thought
 209         THEROBOT->reset_position_from_current_actuator_position();
 210     }
 211
 212     return probe_detected;
 213 }
 214
 215 // do probe then return to start position
 216 bool ZProbe::run_probe_return(float& mm, float feedrate, float max_dist, bool reverse)
 217 {
 218     float save_z_pos= THEROBOT->get_axis_position(Z_AXIS);
 219
 220     bool ok= run_probe(mm, feedrate, max_dist, reverse);
 221
 222     // move probe back to where it was
 223     float fr;
 224     if(this->return_feedrate != 0) { // use return_feedrate if set
 225         fr = this->return_feedrate;
 226     } else {
 227         fr = this->slow_feedrate*2; // nominally twice slow feedrate
 228         if(fr > this->fast_feedrate) fr = this->fast_feedrate; // unless that is greater than fast feedrate
 229     }
 230
 231     // absolute move back to saved starting position
 232     coordinated_move(NAN, NAN, save_z_pos, fr, false);
 233
 234     return ok;
 235 }
 236
 237 bool ZProbe::doProbeAt(float &mm, float x, float y)
 238 {
 239     // move to xy
 240     coordinated_move(x, y, NAN, getFastFeedrate());
 241     return run_probe_return(mm, slow_feedrate);
 242 }
 243
 244 void ZProbe::on_gcode_received(void *argument)
 245 {
 246     Gcode *gcode = static_cast<Gcode *>(argument);
 247
 248     if( gcode->has_g && gcode->g >= 29 && gcode->g <= 32) {
 249
 250         // make sure the probe is defined and not already triggered before moving motors
 251         if(!this->pin.connected()) {
 252             gcode->stream->printf("ZProbe pin not configured.\n");
 253             return;
 254         }
 255
 256         if(this->pin.get()) {
 257             gcode->stream->printf("ZProbe triggered before move, aborting command.\n");
 258             return;
 259         }
 260
 261         if( gcode->g == 30 ) { // simple Z probe
 262             // first wait for all moves to finish
 263             THEKERNEL->conveyor->wait_for_idle();
 264
 265             bool set_z= (gcode->has_letter('Z') && !is_rdelta);
 266             bool probe_result;
 267             bool reverse= (gcode->has_letter('R') && gcode->get_value('R') != 0); // specify to probe in reverse direction
 268             float rate= gcode->has_letter('F') ? gcode->get_value('F') / 60 : this->slow_feedrate;
 269             float mm;
 270
 271             // if not setting Z then return probe to where it started, otherwise leave it where it is
 272             probe_result = (set_z ? run_probe(mm, rate, -1, reverse) : run_probe_return(mm, rate, -1, reverse));
 273
 274             if(probe_result) {
 275                 // the result is in actuator coordinates moved
 276                 gcode->stream->printf("Z:%1.4f\n", mm);
 277
 278                 if(set_z) {
 279                     // set current Z to the specified value, shortcut for G92 Znnn
 280                     char buf[32];
 281                     int n = snprintf(buf, sizeof(buf), "G92 Z%f", gcode->get_value('Z'));
 282                     string g(buf, n);
 283                     Gcode gc(g, &(StreamOutput::NullStream));
 284                     THEKERNEL->call_event(ON_GCODE_RECEIVED, &gc);
 285                 }
 286
 287             } else {
 288                 gcode->stream->printf("ZProbe not triggered\n");
 289             }
 290
 291         } else {
 292             if(!gcode->has_letter('P')) {
 293                 // find the first strategy to handle the gcode
 294                 for(auto s : strategies){
 295                     if(s->handleGcode(gcode)) {
 296                         return;
 297                     }
 298                 }
 299                 gcode->stream->printf("No strategy found to handle G%d\n", gcode->g);
 300
 301             }else{
 302                 // P paramater selects which strategy to send the code to
 303                 // they are loaded in the order they are defined in config, 0 being the first, 1 being the second and so on.
 304                 uint16_t i= gcode->get_value('P');
 305                 if(i < strategies.size()) {
 306                     if(!strategies[i]->handleGcode(gcode)){
 307                         gcode->stream->printf("strategy #%d did not handle G%d\n", i, gcode->g);
 308                     }
 309                     return;
 310
 311                 }else{
 312                     gcode->stream->printf("strategy #%d is not loaded\n", i);
 313                 }
 314             }
 315         }
 316
 317     } else if(gcode->has_g && gcode->g == 38 ) { // G38.2 Straight Probe with error, G38.3 straight probe without error
 318         // linuxcnc/grbl style probe http://www.linuxcnc.org/docs/2.5/html/gcode/gcode.html#sec:G38-probe
 319         if(gcode->subcode != 2 && gcode->subcode != 3) {
 320             gcode->stream->printf("error:Only G38.2 and G38.3 are supported\n");
 321             return;
 322         }
 323
 324         // make sure the probe is defined and not already triggered before moving motors
 325         if(!this->pin.connected()) {
 326             gcode->stream->printf("error:ZProbe not connected.\n");
 327             return;
 328         }
 329
 330         if(this->pin.get()) {
 331             gcode->stream->printf("error:ZProbe triggered before move, aborting command.\n");
 332             return;
 333         }
 334
 335         // first wait for all moves to finish
 336         THEKERNEL->conveyor->wait_for_idle();
 337
 338         if(gcode->has_letter('X')) {
 339             // probe in the X axis
 340             probe_XYZ(gcode, X_AXIS);
 341
 342         }else if(gcode->has_letter('Y')) {
 343             // probe in the Y axis
 344             probe_XYZ(gcode, Y_AXIS);
 345
 346         }else if(gcode->has_letter('Z')) {
 347             // probe in the Z axis
 348             probe_XYZ(gcode, Z_AXIS);
 349
 350         }else{
 351             gcode->stream->printf("error:at least one of X Y or Z must be specified\n");
 352         }
 353
 354         return;
 355
 356     } else if(gcode->has_m) {
 357         // M code processing here
 358         int c;
 359         switch (gcode->m) {
 360             case 119:
 361                 c = this->pin.get();
 362                 gcode->stream->printf(" Probe: %d", c);
 363                 gcode->add_nl = true;
 364                 break;
 365
 366             case 670:
 367                 if (gcode->has_letter('S')) this->slow_feedrate = gcode->get_value('S');
 368                 if (gcode->has_letter('K')) this->fast_feedrate = gcode->get_value('K');
 369                 if (gcode->has_letter('R')) this->return_feedrate = gcode->get_value('R');
 370                 if (gcode->has_letter('Z')) this->max_z = gcode->get_value('Z');
 371                 if (gcode->has_letter('H')) this->probe_height = gcode->get_value('H');
 372                 if (gcode->has_letter('I')) { // NOTE this is temporary and toggles the invertion status of the pin
 373                     invert_override= (gcode->get_value('I') != 0);
 374                     pin.set_inverting(pin.is_inverting() != invert_override); // XOR so inverted pin is not inverted and vice versa
 375                 }
 376                 break;
 377
 378             case 500: // save settings
 379             case 503: // print settings
 380                 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",
 381                     this->slow_feedrate, this->fast_feedrate, this->return_feedrate, this->max_z, this->probe_height);
 382
 383                 // fall through is intended so leveling strategies can handle m-codes too
 384
 385             default:
 386                 for(auto s : strategies){
 387                     if(s->handleGcode(gcode)) {
 388                         return;
 389                     }
 390                 }
 391         }
 392     }
 393 }
 394
 395 // special way to probe in the X or Y or Z direction using planned moves, should work with any kinematics
 396 void ZProbe::probe_XYZ(Gcode *gcode, int axis)
 397 {
 398     // enable the probe checking in the timer
 399     probing= true;
 400     probe_detected= false;
 401     THEROBOT->disable_segmentation= true; // we must disable segmentation as this won't work with it enabled (beware on deltas probing in X or Y)
 402
 403     // get probe feedrate in mm/min and convert to mm/sec if specified
 404     float rate = (gcode->has_letter('F')) ? gcode->get_value('F')/60 : this->slow_feedrate;
 405
 406     // do a regular move which will stop as soon as the probe is triggered, or the distance is reached
 407     switch(axis) {
 408         case X_AXIS: coordinated_move(gcode->get_value('X'), 0, 0, rate, true); break;
 409         case Y_AXIS: coordinated_move(0, gcode->get_value('Y'), 0, rate, true); break;
 410         case Z_AXIS: coordinated_move(0, 0, gcode->get_value('Z'), rate, true); break;
 411     }
 412
 413     // coordinated_move returns when the move is finished
 414
 415     // disable probe checking
 416     probing= false;
 417     THEROBOT->disable_segmentation= false;
 418
 419     // if the probe stopped the move we need to correct the last_milestone as it did not reach where it thought
 420     // this also sets last_milestone to the machine coordinates it stopped at
 421     THEROBOT->reset_position_from_current_actuator_position();
 422     float pos[3];
 423     THEROBOT->get_axis_position(pos, 3);
 424
 425     uint8_t probeok= this->probe_detected ? 1 : 0;
 426
 427     // print results using the GRBL format
 428     gcode->stream->printf("[PRB:%1.3f,%1.3f,%1.3f:%d]\n", pos[X_AXIS], pos[Y_AXIS], pos[Z_AXIS], probeok);
 429     THEROBOT->set_last_probe_position(std::make_tuple(pos[X_AXIS], pos[Y_AXIS], pos[Z_AXIS], probeok));
 430
 431     if(probeok == 0 && gcode->subcode == 2) {
 432         // issue error if probe was not triggered and subcode == 2
 433         gcode->stream->printf("ALARM: Probe fail\n");
 434         THEKERNEL->call_event(ON_HALT, nullptr);
 435     }
 436 }
 437
 438 // issue a coordinated move directly to robot, and return when done
 439 // Only move the coordinates that are passed in as not nan
 440 // NOTE must use G53 to force move in machine coordinates and ignore any WCS offsets
 441 void ZProbe::coordinated_move(float x, float y, float z, float feedrate, bool relative)
 442 {
 443     #define CMDLEN 128
 444     char *cmd= new char[CMDLEN]; // use heap here to reduce stack usage
 445
 446     if(relative) strcpy(cmd, "G91 G0 ");
 447     else strcpy(cmd, "G53 G0 "); // G53 forces movement in machine coordinate system
 448
 449     if(!isnan(x)) {
 450         size_t n= strlen(cmd);
 451         snprintf(&cmd[n], CMDLEN-n, " X%1.3f", x);
 452     }
 453     if(!isnan(y)) {
 454         size_t n= strlen(cmd);
 455         snprintf(&cmd[n], CMDLEN-n, " Y%1.3f", y);
 456     }
 457     if(!isnan(z)) {
 458         size_t n= strlen(cmd);
 459         snprintf(&cmd[n], CMDLEN-n, " Z%1.3f", z);
 460     }
 461
 462     {
 463         size_t n= strlen(cmd);
 464         // use specified feedrate (mm/sec)
 465         snprintf(&cmd[n], CMDLEN-n, " F%1.1f", feedrate * 60); // feed rate is converted to mm/min
 466     }
 467
 468     if(relative) strcat(cmd, " G90");
 469
 470     THEKERNEL->streams->printf("DEBUG: move: %s: %u\n", cmd, strlen(cmd));
 471
 472     // send as a command line as may have multiple G codes in it
 473     THEROBOT->push_state();
 474     struct SerialMessage message;
 475     message.message = cmd;
 476     delete [] cmd;
 477
 478     message.stream = &(StreamOutput::NullStream);
 479     THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message );
 480     THEKERNEL->conveyor->wait_for_idle();
 481     THEROBOT->pop_state();
 482
 483 }
 484
 485 // issue home command
 486 void ZProbe::home()
 487 {
 488     Gcode gc(THEKERNEL->is_grbl_mode() ? "G28.2" : "G28", &(StreamOutput::NullStream));
 489     THEKERNEL->call_event(ON_GCODE_RECEIVED, &gc);
 490 }