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/>.
11 #include "BaseSolution.h"
14 #include "StepperMotor.h"
15 #include "StreamOutputPool.h"
19 #include "checksumm.h"
20 #include "ConfigValue.h"
21 #include "SlowTicker.h"
23 #include "SerialMessage.h"
24 #include "PublicDataRequest.h"
25 #include "EndstopsPublicAccess.h"
26 #include "PublicData.h"
27 #include "LevelingStrategy.h"
28 #include "StepTicker.h"
31 // strategies we know about
32 #include "DeltaCalibrationStrategy.h"
33 #include "ThreePointStrategy.h"
34 #include "ZGridStrategy.h"
36 #define enable_checksum CHECKSUM("enable")
37 #define probe_pin_checksum CHECKSUM("probe_pin")
38 #define debounce_count_checksum CHECKSUM("debounce_count")
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")
45 // from endstop section
46 #define delta_homing_checksum CHECKSUM("delta_homing")
52 #define STEPPER THEKERNEL->robot->actuators
53 #define STEPS_PER_MM(a) (STEPPER[a]->get_steps_per_mm())
54 #define Z_STEPS_PER_MM STEPS_PER_MM(Z_AXIS)
56 #define abs(a) ((a<0) ? -a : a)
58 void ZProbe::on_module_loaded()
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
68 this->on_config_reload(this);
69 // register event-handlers
70 register_for_event(ON_GCODE_RECEIVED
);
72 THEKERNEL
->step_ticker
->register_acceleration_tick_handler([this](){acceleration_tick(); });
75 void ZProbe::on_config_reload(void *argument
)
77 this->pin
.from_string( THEKERNEL
->config
->value(zprobe_checksum
, probe_pin_checksum
)->by_default("nc" )->as_string())->as_input();
78 this->debounce_count
= THEKERNEL
->config
->value(zprobe_checksum
, debounce_count_checksum
)->by_default(0 )->as_number();
80 // get strategies to load
81 vector
<uint16_t> modules
;
82 THEKERNEL
->config
->get_module_list( &modules
, leveling_strategy_checksum
);
83 for( auto cs
: modules
){
84 if( THEKERNEL
->config
->value(leveling_strategy_checksum
, cs
, enable_checksum
)->as_bool() ){
86 // check with each known strategy and load it if it matches
88 case delta_calibration_strategy_checksum
:
89 this->strategies
.push_back(new DeltaCalibrationStrategy(this));
93 case three_point_leveling_strategy_checksum
:
94 // NOTE this strategy is mutually exclusive with the delta calibration strategy
95 this->strategies
.push_back(new ThreePointStrategy(this));
99 case ZGrid_leveling_checksum
:
100 this->strategies
.push_back(new ZGridStrategy(this));
104 // add other strategies here
105 //case zheight_map_strategy:
106 // this->strategies.push_back(new ZHeightMapStrategy(this));
110 if(found
) this->strategies
.back()->handleConfig();
114 // need to know if we need to use delta kinematics for homing
115 this->is_delta
= THEKERNEL
->config
->value(delta_homing_checksum
)->by_default(false)->as_bool();
117 // default for backwards compatibility add DeltaCalibrationStrategy if a delta
118 // will be deprecated
119 if(this->strategies
.empty()) {
121 this->strategies
.push_back(new DeltaCalibrationStrategy(this));
122 this->strategies
.back()->handleConfig();
126 this->probe_height
= THEKERNEL
->config
->value(zprobe_checksum
, probe_height_checksum
)->by_default(5.0F
)->as_number();
127 this->slow_feedrate
= THEKERNEL
->config
->value(zprobe_checksum
, slow_feedrate_checksum
)->by_default(5)->as_number(); // feedrate in mm/sec
128 this->fast_feedrate
= THEKERNEL
->config
->value(zprobe_checksum
, fast_feedrate_checksum
)->by_default(100)->as_number(); // feedrate in mm/sec
129 this->return_feedrate
= THEKERNEL
->config
->value(zprobe_checksum
, return_feedrate_checksum
)->by_default(0)->as_number(); // feedrate in mm/sec
130 this->max_z
= THEKERNEL
->config
->value(gamma_max_checksum
)->by_default(500)->as_number(); // maximum zprobe distance
133 bool ZProbe::wait_for_probe(int& steps
)
135 unsigned int debounce
= 0;
137 THEKERNEL
->call_event(ON_IDLE
);
138 if(THEKERNEL
->is_halted()){
143 // if no stepper is moving, moves are finished and there was no touch
144 if( !STEPPER
[Z_AXIS
]->is_moving() && (!is_delta
|| (!STEPPER
[Y_AXIS
]->is_moving() && !STEPPER
[Z_AXIS
]->is_moving())) ) {
148 // if the touchprobe is active...
149 if( this->pin
.get() ) {
150 //...increase debounce counter...
151 if( debounce
< debounce_count
) {
152 // ...but only if the counter hasn't reached the max. value
155 // ...otherwise stop the steppers, return its remaining steps
156 if(STEPPER
[Z_AXIS
]->is_moving()){
157 steps
= STEPPER
[Z_AXIS
]->get_stepped();
158 STEPPER
[Z_AXIS
]->move(0, 0);
161 for( int i
= X_AXIS
; i
<= Y_AXIS
; i
++ ) {
162 if ( STEPPER
[i
]->is_moving() ) {
163 STEPPER
[i
]->move(0, 0);
170 // The probe was not hit yet, reset debounce counter
176 // single probe with custom feedrate
177 // returns boolean value indicating if probe was triggered
178 bool ZProbe::run_probe_feed(int& steps
, float feedrate
, float max_dist
)
180 // not a block move so disable the last tick setting
181 for ( int c
= X_AXIS
; c
<= Z_AXIS
; c
++ ) {
182 STEPPER
[c
]->set_moved_last_block(false);
186 THEKERNEL
->stepper
->turn_enable_pins_on();
187 this->current_feedrate
= feedrate
* Z_STEPS_PER_MM
; // steps/sec
188 float maxz
= max_dist
< 0 ? this->max_z
*2 : max_dist
;
191 STEPPER
[Z_AXIS
]->move(true, maxz
* Z_STEPS_PER_MM
, 0); // always probes down, no more than 2*maxz
193 // for delta need to move all three actuators
194 STEPPER
[X_AXIS
]->move(true, maxz
* STEPS_PER_MM(X_AXIS
), 0);
195 STEPPER
[Y_AXIS
]->move(true, maxz
* STEPS_PER_MM(Y_AXIS
), 0);
198 // start acceleration processing
199 this->running
= true;
201 bool r
= wait_for_probe(steps
);
202 this->running
= false;
203 STEPPER
[X_AXIS
]->move(0, 0);
204 STEPPER
[Y_AXIS
]->move(0, 0);
205 STEPPER
[Z_AXIS
]->move(0, 0);
209 // single probe with either fast or slow feedrate
210 // returns boolean value indicating if probe was triggered
211 bool ZProbe::run_probe(int& steps
, bool fast
)
213 float feedrate
= (fast
? this->fast_feedrate
: this->slow_feedrate
);
214 return run_probe_feed(steps
, feedrate
);
218 bool ZProbe::return_probe(int steps
)
220 // move probe back to where it was
223 if(this->return_feedrate
!= 0) { // use return_feedrate if set
224 fr
= this->return_feedrate
;
226 fr
= this->slow_feedrate
*2; // nominally twice slow feedrate
227 if(fr
> this->fast_feedrate
) fr
= this->fast_feedrate
; // unless that is greater than fast feedrate
230 this->current_feedrate
= fr
* Z_STEPS_PER_MM
; // feedrate in steps/sec
234 STEPPER
[Z_AXIS
]->move(dir
, steps
, 0);
236 STEPPER
[X_AXIS
]->move(dir
, steps
, 0);
237 STEPPER
[Y_AXIS
]->move(dir
, steps
, 0);
240 this->running
= true;
241 while(STEPPER
[Z_AXIS
]->is_moving() || (is_delta
&& (STEPPER
[X_AXIS
]->is_moving() || STEPPER
[Y_AXIS
]->is_moving())) ) {
242 // wait for it to complete
243 THEKERNEL
->call_event(ON_IDLE
);
244 if(THEKERNEL
->is_halted()){
250 this->running
= false;
251 STEPPER
[X_AXIS
]->move(0, 0);
252 STEPPER
[Y_AXIS
]->move(0, 0);
253 STEPPER
[Z_AXIS
]->move(0, 0);
258 bool ZProbe::doProbeAt(int &steps
, float x
, float y
)
262 coordinated_move(x
, y
, NAN
, getFastFeedrate());
263 if(!run_probe(s
)) return false;
265 // return to original Z
272 float ZProbe::probeDistance(float x
, float y
)
275 if(!doProbeAt(s
, x
, y
)) return NAN
;
276 return zsteps_to_mm(s
);
279 void ZProbe::on_gcode_received(void *argument
)
281 Gcode
*gcode
= static_cast<Gcode
*>(argument
);
283 if( gcode
->has_g
&& gcode
->g
>= 29 && gcode
->g
<= 32) {
285 // make sure the probe is defined and not already triggered before moving motors
286 if(!this->pin
.connected()) {
287 gcode
->stream
->printf("ZProbe not connected.\n");
290 if(this->pin
.get()) {
291 gcode
->stream
->printf("ZProbe triggered before move, aborting command.\n");
295 if( gcode
->g
== 30 ) { // simple Z probe
296 // NOTE currently this will not work for rotary deltas, use G38.2/3 Z instead
297 // first wait for an empty queue i.e. no moves left
298 THEKERNEL
->conveyor
->wait_for_empty_queue();
302 if(gcode
->has_letter('F')) {
303 probe_result
= run_probe_feed(steps
, gcode
->get_value('F') / 60);
305 probe_result
= run_probe(steps
);
309 gcode
->stream
->printf("Z:%1.4f C:%d\n", zsteps_to_mm(steps
), steps
);
310 // move back to where it started, unless a Z is specified
311 if(gcode
->has_letter('Z')) {
312 // set Z to the specified value, and leave probe where it is
313 THEKERNEL
->robot
->reset_axis_position(gcode
->get_value('Z'), Z_AXIS
);
318 gcode
->stream
->printf("ZProbe not triggered\n");
322 if(!gcode
->has_letter('P')) {
323 // find the first strategy to handle the gcode
324 for(auto s
: strategies
){
325 if(s
->handleGcode(gcode
)) {
329 gcode
->stream
->printf("No strategy found to handle G%d\n", gcode
->g
);
332 // P paramater selects which strategy to send the code to
333 // they are loaded in the order they are defined in config, 0 being the first, 1 being the second and so on.
334 uint16_t i
= gcode
->get_value('P');
335 if(i
< strategies
.size()) {
336 if(!strategies
[i
]->handleGcode(gcode
)){
337 gcode
->stream
->printf("strategy #%d did not handle G%d\n", i
, gcode
->g
);
342 gcode
->stream
->printf("strategy #%d is not loaded\n", i
);
347 } else if(gcode
->has_g
&& gcode
->g
== 38 ) { // G38.2 Straight Probe with error, G38.3 straight probe without error
348 // linuxcnc/grbl style probe http://www.linuxcnc.org/docs/2.5/html/gcode/gcode.html#sec:G38-probe
349 if(gcode
->subcode
!= 2 && gcode
->subcode
!= 3) {
350 gcode
->stream
->printf("error:Only G38.2 and G38.3 are supported\n");
354 // make sure the probe is defined and not already triggered before moving motors
355 if(!this->pin
.connected()) {
356 gcode
->stream
->printf("error:ZProbe not connected.\n");
360 if(this->pin
.get()) {
361 gcode
->stream
->printf("error:ZProbe triggered before move, aborting command.\n");
365 // first wait for an empty queue i.e. no moves left
366 THEKERNEL
->conveyor
->wait_for_empty_queue();
368 // turn off any compensation transform
369 auto savect
= THEKERNEL
->robot
->compensationTransform
;
370 THEKERNEL
->robot
->compensationTransform
= nullptr;
372 if(gcode
->has_letter('X')) {
373 // probe in the X axis
374 probe_XYZ(gcode
, X_AXIS
);
376 }else if(gcode
->has_letter('Y')) {
377 // probe in the Y axis
378 probe_XYZ(gcode
, Y_AXIS
);
380 }else if(gcode
->has_letter('Z')) {
381 // probe in the Z axis
382 probe_XYZ(gcode
, Z_AXIS
);
385 gcode
->stream
->printf("error:at least one of X Y or Z must be specified\n");
388 // restore compensationTransform
389 THEKERNEL
->robot
->compensationTransform
= savect
;
393 } else if(gcode
->has_m
) {
394 // M code processing here
399 gcode
->stream
->printf(" Probe: %d", c
);
400 gcode
->add_nl
= true;
404 if (gcode
->has_letter('S')) this->slow_feedrate
= gcode
->get_value('S');
405 if (gcode
->has_letter('K')) this->fast_feedrate
= gcode
->get_value('K');
406 if (gcode
->has_letter('R')) this->return_feedrate
= gcode
->get_value('R');
407 if (gcode
->has_letter('Z')) this->max_z
= gcode
->get_value('Z');
408 if (gcode
->has_letter('H')) this->probe_height
= gcode
->get_value('H');
411 case 500: // save settings
412 case 503: // print settings
413 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",
414 this->slow_feedrate
, this->fast_feedrate
, this->return_feedrate
, this->max_z
, this->probe_height
);
416 // fall through is intended so leveling strategies can handle m-codes too
419 for(auto s
: strategies
){
420 if(s
->handleGcode(gcode
)) {
428 // special way to probe in the X or Y or Z direction using planned moves, shoul dwork with any kinematics
429 void ZProbe::probe_XYZ(Gcode
*gcode
, int axis
)
431 // enable the probe checking in the stepticker
432 THEKERNEL
->step_ticker
->probe_fnc
= [this]() { return this->pin
.get(); };
434 // get probe feedrate if specified
435 float rate
= (gcode
->has_letter('F')) ? gcode
->get_value('F')*60 : this->slow_feedrate
;
437 // do a regular move which will stop as soon as the probe is triggered, or the distance is reached
439 coordinated_move(gcode
->get_value('X'), 0, 0, rate
, true);
441 }else if(axis
== Y_AXIS
) {
442 coordinated_move(0, gcode
->get_value('Y'), 0, rate
, true);
444 }else if(axis
== Z_AXIS
) {
445 coordinated_move(0, 0, gcode
->get_value('Z'), rate
, true);
449 THEKERNEL
->step_ticker
->probe_fnc
= nullptr;
453 // now wait for the move to finish
454 THEKERNEL
->conveyor
->wait_for_empty_queue();
458 // get the current position
459 ActuatorCoordinates current_position
{
460 THEKERNEL
->robot
->actuators
[X_AXIS
]->get_current_position(),
461 THEKERNEL
->robot
->actuators
[Y_AXIS
]->get_current_position(),
462 THEKERNEL
->robot
->actuators
[Z_AXIS
]->get_current_position()
465 // get machine position from the actuator position using FK
466 THEKERNEL
->robot
->arm_solution
->actuator_to_cartesian(current_position
, pos
);
469 // see if probe was triggered
470 // handle debounce here, 200ms should be enough Note this won't filter noise just handles real debounce after hit
472 uint8_t probeok
= this->pin
.get() ? 1 : 0;
474 // print results using the GRBL format
475 gcode
->stream
->printf("[PRB:%1.3f,%1.3f,%1.3f:%d]\n", pos
[X_AXIS
], pos
[Y_AXIS
], pos
[Z_AXIS
], probeok
);
476 THEKERNEL
->robot
->set_last_probe_position(std::make_tuple(pos
[X_AXIS
], pos
[Y_AXIS
], pos
[Z_AXIS
], probeok
));
478 if(!probeok
&& gcode
->subcode
== 2) {
479 // issue error if probe was not triggered and subcode == 2
480 gcode
->stream
->printf("ALARM:Probe fail\n");
481 THEKERNEL
->call_event(ON_HALT
, nullptr);
484 // if the probe stopped the move we need to correct the last_milestone as it did not reach where it thought
485 THEKERNEL
->robot
->reset_position_from_current_actuator_position();
487 // disable probe checking
488 THEKERNEL
->step_ticker
->probe_fnc
= nullptr;
491 // Called periodically to change the speed to match acceleration
492 void ZProbe::acceleration_tick(void)
494 if(!this->running
) return; // nothing to do
495 if(STEPPER
[Z_AXIS
]->is_moving()) accelerate(Z_AXIS
);
498 // deltas needs to move all actuators
499 for ( int c
= X_AXIS
; c
<= Y_AXIS
; c
++ ) {
500 if( !STEPPER
[c
]->is_moving() ) continue;
508 void ZProbe::accelerate(int c
)
509 { uint32_t current_rate
= STEPPER
[c
]->get_steps_per_second();
510 uint32_t target_rate
= floorf(this->current_feedrate
);
512 // Z may have a different acceleration to X and Y
513 float acc
= (c
==Z_AXIS
) ? THEKERNEL
->planner
->get_z_acceleration() : THEKERNEL
->planner
->get_acceleration();
514 if( current_rate
< target_rate
) {
515 uint32_t rate_increase
= floorf((acc
/ THEKERNEL
->acceleration_ticks_per_second
) * STEPS_PER_MM(c
));
516 current_rate
= min( target_rate
, current_rate
+ rate_increase
);
518 if( current_rate
> target_rate
) {
519 current_rate
= target_rate
;
523 STEPPER
[c
]->set_speed(current_rate
);
526 // issue a coordinated move directly to robot, and return when done
527 // Only move the coordinates that are passed in as not nan
528 // NOTE must use G53 to force move in machine coordiantes and ignore any WCS offsetts
529 void ZProbe::coordinated_move(float x
, float y
, float z
, float feedrate
, bool relative
)
534 if(relative
) strcpy(cmd
, "G91 G0 ");
535 else strcpy(cmd
, "G53 G0 "); // G53 forces movement in machine coordinate system
538 int n
= snprintf(buf
, sizeof(buf
), " X%1.3f", x
);
539 strncat(cmd
, buf
, n
);
542 int n
= snprintf(buf
, sizeof(buf
), " Y%1.3f", y
);
543 strncat(cmd
, buf
, n
);
546 int n
= snprintf(buf
, sizeof(buf
), " Z%1.3f", z
);
547 strncat(cmd
, buf
, n
);
550 // use specified feedrate (mm/sec)
551 int n
= snprintf(buf
, sizeof(buf
), " F%1.1f", feedrate
* 60); // feed rate is converted to mm/min
552 strncat(cmd
, buf
, n
);
553 if(relative
) strcat(cmd
, " G90");
555 //THEKERNEL->streams->printf("DEBUG: move: %s\n", cmd);
557 // send as a command line as may have multiple G codes in it
558 struct SerialMessage message
;
559 message
.message
= cmd
;
560 message
.stream
= &(StreamOutput::NullStream
);
561 THEKERNEL
->call_event(ON_CONSOLE_LINE_RECEIVED
, &message
);
562 THEKERNEL
->conveyor
->wait_for_empty_queue();
565 // issue home command
568 Gcode
gc("G28", &(StreamOutput::NullStream
));
569 THEKERNEL
->call_event(ON_GCODE_RECEIVED
, &gc
);
572 float ZProbe::zsteps_to_mm(float steps
)
574 return steps
/ Z_STEPS_PER_MM
;