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 #define abs(a) ((a<0) ? -a : a)
  59
  60 void ZProbe::on_module_loaded()
  61 {
  62     // if the module is disabled -> do nothing
  63     if(!THEKERNEL->config->value( zprobe_checksum, enable_checksum )->by_default(false)->as_bool()) {
  64         // as this module is not needed free up the resource
  65         delete this;
  66         return;
  67     }
  68
  69     // load settings
  70     this->config_load();
  71     // register event-handlers
  72     register_for_event(ON_GCODE_RECEIVED);
  73
  74     // we read the probe in this timer, currently only for G38 probes.
  75     probing= false;
  76     THEKERNEL->slow_ticker->attach(1000, this, &ZProbe::read_probe);
  77 }
  78
  79 void ZProbe::config_load()
  80 {
  81     this->pin.from_string( THEKERNEL->config->value(zprobe_checksum, probe_pin_checksum)->by_default("nc" )->as_string())->as_input();
  82     this->debounce_ms    = THEKERNEL->config->value(zprobe_checksum, debounce_ms_checksum)->by_default(0  )->as_number();
  83
  84     // get strategies to load
  85     vector<uint16_t> modules;
  86     THEKERNEL->config->get_module_list( &modules, leveling_strategy_checksum);
  87     for( auto cs : modules ){
  88         if( THEKERNEL->config->value(leveling_strategy_checksum, cs, enable_checksum )->as_bool() ){
  89             bool found= false;
  90             LevelingStrategy *ls= nullptr;
  91
  92             // check with each known strategy and load it if it matches
  93             switch(cs) {
  94                 case delta_calibration_strategy_checksum:
  95                     ls= new DeltaCalibrationStrategy(this);
  96                     found= true;
  97                     break;
  98
  99                 case three_point_leveling_strategy_checksum:
 100                     // NOTE this strategy is mutually exclusive with the delta calibration strategy
 101                     ls= new ThreePointStrategy(this);
 102                     found= true;
 103                     break;
 104
 105                 case delta_grid_leveling_strategy_checksum:
 106                     ls= new DeltaGridStrategy(this);
 107                     found= true;
 108                     break;
 109
 110                 case cart_grid_leveling_strategy_checksum:
 111                     ls= new CartGridStrategy(this);
 112                     found= true;
 113                     break;
 114             }
 115             if(found) {
 116                 if(ls->handleConfig()) {
 117                     this->strategies.push_back(ls);
 118                 }else{
 119                     delete ls;
 120                 }
 121             }
 122         }
 123     }
 124
 125     // need to know if we need to use delta kinematics for homing
 126     this->is_delta = THEKERNEL->config->value(delta_homing_checksum)->by_default(false)->as_bool();
 127     this->is_rdelta = THEKERNEL->config->value(rdelta_homing_checksum)->by_default(false)->as_bool();
 128
 129     // default for backwards compatibility add DeltaCalibrationStrategy if a delta
 130     // may be deprecated
 131     if(this->strategies.empty()) {
 132         if(this->is_delta) {
 133             this->strategies.push_back(new DeltaCalibrationStrategy(this));
 134             this->strategies.back()->handleConfig();
 135         }
 136     }
 137
 138     this->probe_height  = THEKERNEL->config->value(zprobe_checksum, probe_height_checksum)->by_default(5.0F)->as_number();
 139     this->slow_feedrate = THEKERNEL->config->value(zprobe_checksum, slow_feedrate_checksum)->by_default(5)->as_number(); // feedrate in mm/sec
 140     this->fast_feedrate = THEKERNEL->config->value(zprobe_checksum, fast_feedrate_checksum)->by_default(100)->as_number(); // feedrate in mm/sec
 141     this->return_feedrate = THEKERNEL->config->value(zprobe_checksum, return_feedrate_checksum)->by_default(0)->as_number(); // feedrate in mm/sec
 142     this->reverse_z     = THEKERNEL->config->value(zprobe_checksum, reverse_z_direction_checksum)->by_default(false)->as_bool(); // Z probe moves in reverse direction
 143     this->max_z         = THEKERNEL->config->value(gamma_max_checksum)->by_default(500)->as_number(); // maximum zprobe distance
 144 }
 145
 146 uint32_t ZProbe::read_probe(uint32_t dummy)
 147 {
 148     if(!probing || probe_detected) return 0;
 149
 150     // we check all axis as it maybe a G38.2 X10 for instance, not just a probe in Z
 151     if(STEPPER[X_AXIS]->is_moving() || STEPPER[Y_AXIS]->is_moving() || STEPPER[Z_AXIS]->is_moving()) {
 152         // if it is moving then we check the probe, and debounce it
 153         if(this->pin.get()) {
 154             if(debounce < debounce_ms) {
 155                 debounce++;
 156             } else {
 157                 // we signal the motors to stop, which will preempt any moves on that axis
 158                 // we do all motors as it may be a delta
 159                 for(auto &a : THEROBOT->actuators) a->stop_moving();
 160                 probe_detected= true;
 161                 debounce= 0;
 162             }
 163
 164         } else {
 165             // The endstop was not hit yet
 166             debounce= 0;
 167         }
 168     }
 169
 170     return 0;
 171 }
 172
 173 // single probe in Z with custom feedrate
 174 // returns boolean value indicating if probe was triggered
 175 bool ZProbe::run_probe(float& mm, float feedrate, float max_dist, bool reverse)
 176 {
 177     if(this->pin.get()) {
 178         // probe already triggered so abort
 179         return false;
 180     }
 181
 182     float maxz= max_dist < 0 ? this->max_z*2 : max_dist;
 183
 184     probing= true;
 185     probe_detected= false;
 186     debounce= 0;
 187
 188     // save current actuator position so we can report how far we moved
 189     ActuatorCoordinates start_pos{
 190         THEROBOT->actuators[X_AXIS]->get_current_position(),
 191         THEROBOT->actuators[Y_AXIS]->get_current_position(),
 192         THEROBOT->actuators[Z_AXIS]->get_current_position()
 193     };
 194
 195     // move Z down
 196     bool dir= (!reverse_z != reverse); // xor
 197     float delta[3]= {0,0,0};
 198     delta[Z_AXIS]= dir ? -maxz : maxz;
 199     THEROBOT->delta_move(delta, feedrate, 3);
 200
 201     // wait until finished
 202     THECONVEYOR->wait_for_idle();
 203
 204     // now see how far we moved, get delta in z we moved
 205     // NOTE this works for deltas as well as all three actuators move the same amount in Z
 206     mm= start_pos[2] - THEROBOT->actuators[2]->get_current_position();
 207
 208     // set the last probe position to the actuator units moved during this home
 209     THEROBOT->set_last_probe_position(
 210         std::make_tuple(
 211             start_pos[0] - THEROBOT->actuators[0]->get_current_position(),
 212             start_pos[1] - THEROBOT->actuators[1]->get_current_position(),
 213             mm,
 214             probe_detected?1:0));
 215
 216     probing= false;
 217
 218     if(probe_detected) {
 219         // if the probe stopped the move we need to correct the last_milestone as it did not reach where it thought
 220         THEROBOT->reset_position_from_current_actuator_position();
 221     }
 222
 223     return probe_detected;
 224 }
 225
 226 // do probe then return to start position
 227 bool ZProbe::run_probe_return(float& mm, float feedrate, float max_dist, bool reverse)
 228 {
 229     float save_pos[3];
 230     THEROBOT->get_axis_position(save_pos);
 231
 232     bool ok= run_probe(mm, feedrate, max_dist, reverse);
 233
 234     // move probe back to where it was
 235     float fr;
 236     if(this->return_feedrate != 0) { // use return_feedrate if set
 237         fr = this->return_feedrate;
 238     } else {
 239         fr = this->slow_feedrate*2; // nominally twice slow feedrate
 240         if(fr > this->fast_feedrate) fr = this->fast_feedrate; // unless that is greater than fast feedrate
 241     }
 242
 243     // absolute move back to saved starting position
 244     coordinated_move(save_pos[0], save_pos[1], save_pos[2], fr, false);
 245
 246     return ok;
 247 }
 248
 249 bool ZProbe::doProbeAt(float &mm, float x, float y)
 250 {
 251     // move to xy
 252     coordinated_move(x, y, NAN, getFastFeedrate());
 253     return run_probe_return(mm, slow_feedrate);
 254 }
 255
 256 void ZProbe::on_gcode_received(void *argument)
 257 {
 258     Gcode *gcode = static_cast<Gcode *>(argument);
 259
 260     if( gcode->has_g && gcode->g >= 29 && gcode->g <= 32) {
 261
 262         // make sure the probe is defined and not already triggered before moving motors
 263         if(!this->pin.connected()) {
 264             gcode->stream->printf("ZProbe pin not configured.\n");
 265             return;
 266         }
 267
 268         if(this->pin.get()) {
 269             gcode->stream->printf("ZProbe triggered before move, aborting command.\n");
 270             return;
 271         }
 272
 273         if( gcode->g == 30 ) { // simple Z probe
 274             // first wait for all moves to finish
 275             THEKERNEL->conveyor->wait_for_idle();
 276
 277             bool set_z= (gcode->has_letter('Z') && !is_rdelta);
 278             bool probe_result;
 279             bool reverse= (gcode->has_letter('R') && gcode->get_value('R') != 0); // specify to probe in reverse direction
 280             float rate= gcode->has_letter('F') ? gcode->get_value('F') / 60 : this->slow_feedrate;
 281             float mm;
 282
 283             // if not setting Z then return probe to where it started, otherwise leave it where it is
 284             probe_result = (set_z ? run_probe(mm, rate, -1, reverse) : run_probe_return(mm, rate, -1, reverse));
 285
 286             if(probe_result) {
 287                 // the result is in actuator coordinates moved
 288                 gcode->stream->printf("Z:%1.4f\n", mm);
 289
 290                 if(set_z) {
 291                     // set current Z to the specified value, shortcut for G92 Znnn
 292                     char buf[32];
 293                     int n = snprintf(buf, sizeof(buf), "G92 Z%f", gcode->get_value('Z'));
 294                     string g(buf, n);
 295                     Gcode gc(g, &(StreamOutput::NullStream));
 296                     THEKERNEL->call_event(ON_GCODE_RECEIVED, &gc);
 297                 }
 298
 299             } else {
 300                 gcode->stream->printf("ZProbe not triggered\n");
 301             }
 302
 303         } else {
 304             if(!gcode->has_letter('P')) {
 305                 // find the first strategy to handle the gcode
 306                 for(auto s : strategies){
 307                     if(s->handleGcode(gcode)) {
 308                         return;
 309                     }
 310                 }
 311                 gcode->stream->printf("No strategy found to handle G%d\n", gcode->g);
 312
 313             }else{
 314                 // P paramater selects which strategy to send the code to
 315                 // they are loaded in the order they are defined in config, 0 being the first, 1 being the second and so on.
 316                 uint16_t i= gcode->get_value('P');
 317                 if(i < strategies.size()) {
 318                     if(!strategies[i]->handleGcode(gcode)){
 319                         gcode->stream->printf("strategy #%d did not handle G%d\n", i, gcode->g);
 320                     }
 321                     return;
 322
 323                 }else{
 324                     gcode->stream->printf("strategy #%d is not loaded\n", i);
 325                 }
 326             }
 327         }
 328
 329     } else if(gcode->has_g && gcode->g == 38 ) { // G38.2 Straight Probe with error, G38.3 straight probe without error
 330         // linuxcnc/grbl style probe http://www.linuxcnc.org/docs/2.5/html/gcode/gcode.html#sec:G38-probe
 331         if(gcode->subcode != 2 && gcode->subcode != 3) {
 332             gcode->stream->printf("error:Only G38.2 and G38.3 are supported\n");
 333             return;
 334         }
 335
 336         // make sure the probe is defined and not already triggered before moving motors
 337         if(!this->pin.connected()) {
 338             gcode->stream->printf("error:ZProbe not connected.\n");
 339             return;
 340         }
 341
 342         if(this->pin.get()) {
 343             gcode->stream->printf("error:ZProbe triggered before move, aborting command.\n");
 344             return;
 345         }
 346
 347         // first wait for all moves to finish
 348         THEKERNEL->conveyor->wait_for_idle();
 349
 350         if(gcode->has_letter('X')) {
 351             // probe in the X axis
 352             probe_XYZ(gcode, X_AXIS);
 353
 354         }else if(gcode->has_letter('Y')) {
 355             // probe in the Y axis
 356             probe_XYZ(gcode, Y_AXIS);
 357
 358         }else if(gcode->has_letter('Z')) {
 359             // probe in the Z axis
 360             probe_XYZ(gcode, Z_AXIS);
 361
 362         }else{
 363             gcode->stream->printf("error:at least one of X Y or Z must be specified\n");
 364         }
 365
 366         return;
 367
 368     } else if(gcode->has_m) {
 369         // M code processing here
 370         int c;
 371         switch (gcode->m) {
 372             case 119:
 373                 c = this->pin.get();
 374                 gcode->stream->printf(" Probe: %d", c);
 375                 gcode->add_nl = true;
 376                 break;
 377
 378             case 670:
 379                 if (gcode->has_letter('S')) this->slow_feedrate = gcode->get_value('S');
 380                 if (gcode->has_letter('K')) this->fast_feedrate = gcode->get_value('K');
 381                 if (gcode->has_letter('R')) this->return_feedrate = gcode->get_value('R');
 382                 if (gcode->has_letter('Z')) this->max_z = gcode->get_value('Z');
 383                 if (gcode->has_letter('H')) this->probe_height = gcode->get_value('H');
 384                 if (gcode->has_letter('I')) { // NOTE this is temporary and toggles the invertion status of the pin
 385                     invert_override= (gcode->get_value('I') != 0);
 386                     pin.set_inverting(pin.is_inverting() != invert_override); // XOR so inverted pin is not inverted and vice versa
 387                 }
 388                 break;
 389
 390             case 500: // save settings
 391             case 503: // print settings
 392                 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",
 393                     this->slow_feedrate, this->fast_feedrate, this->return_feedrate, this->max_z, this->probe_height);
 394
 395                 // fall through is intended so leveling strategies can handle m-codes too
 396
 397             default:
 398                 for(auto s : strategies){
 399                     if(s->handleGcode(gcode)) {
 400                         return;
 401                     }
 402                 }
 403         }
 404     }
 405 }
 406
 407 // special way to probe in the X or Y or Z direction using planned moves, should work with any kinematics
 408 void ZProbe::probe_XYZ(Gcode *gcode, int axis)
 409 {
 410     // enable the probe checking in the timer
 411     probing= true;
 412     probe_detected= false;
 413     THEROBOT->disable_segmentation= true; // we must disable segmentation as this won't work with it enabled (beware on deltas probing in X or Y)
 414
 415     // get probe feedrate in mm/min and convert to mm/sec if specified
 416     float rate = (gcode->has_letter('F')) ? gcode->get_value('F')/60 : this->slow_feedrate;
 417
 418     // do a regular move which will stop as soon as the probe is triggered, or the distance is reached
 419     switch(axis) {
 420         case X_AXIS: coordinated_move(gcode->get_value('X'), 0, 0, rate, true); break;
 421         case Y_AXIS: coordinated_move(0, gcode->get_value('Y'), 0, rate, true); break;
 422         case Z_AXIS: coordinated_move(0, 0, gcode->get_value('Z'), rate, true); break;
 423     }
 424
 425     // coordinated_move returns when the move is finished
 426
 427     // disable probe checking
 428     probing= false;
 429     THEROBOT->disable_segmentation= false;
 430
 431     // if the probe stopped the move we need to correct the last_milestone as it did not reach where it thought
 432     // this also sets last_milestone to the machine coordinates it stopped at
 433     THEROBOT->reset_position_from_current_actuator_position();
 434     float pos[3];
 435     THEROBOT->get_axis_position(pos, 3);
 436
 437     uint8_t probeok= this->probe_detected ? 1 : 0;
 438
 439     // print results using the GRBL format
 440     gcode->stream->printf("[PRB:%1.3f,%1.3f,%1.3f:%d]\n", pos[X_AXIS], pos[Y_AXIS], pos[Z_AXIS], probeok);
 441     THEROBOT->set_last_probe_position(std::make_tuple(pos[X_AXIS], pos[Y_AXIS], pos[Z_AXIS], probeok));
 442
 443     if(probeok == 0 && gcode->subcode == 2) {
 444         // issue error if probe was not triggered and subcode == 2
 445         gcode->stream->printf("ALARM:Probe fail\n");
 446         THEKERNEL->call_event(ON_HALT, nullptr);
 447     }
 448 }
 449
 450 // issue a coordinated move directly to robot, and return when done
 451 // Only move the coordinates that are passed in as not nan
 452 // NOTE must use G53 to force move in machine coordinates and ignore any WCS offsets
 453 void ZProbe::coordinated_move(float x, float y, float z, float feedrate, bool relative)
 454 {
 455     char buf[32];
 456     char cmd[64];
 457
 458     if(relative) strcpy(cmd, "G91 G0 ");
 459     else strcpy(cmd, "G53 G0 "); // G53 forces movement in machine coordinate system
 460
 461     if(!isnan(x)) {
 462         int n = snprintf(buf, sizeof(buf), " X%1.3f", x);
 463         strncat(cmd, buf, n);
 464     }
 465     if(!isnan(y)) {
 466         int n = snprintf(buf, sizeof(buf), " Y%1.3f", y);
 467         strncat(cmd, buf, n);
 468     }
 469     if(!isnan(z)) {
 470         int n = snprintf(buf, sizeof(buf), " Z%1.3f", z);
 471         strncat(cmd, buf, n);
 472     }
 473
 474     // use specified feedrate (mm/sec)
 475     int n = snprintf(buf, sizeof(buf), " F%1.1f", feedrate * 60); // feed rate is converted to mm/min
 476     strncat(cmd, buf, n);
 477     if(relative) strcat(cmd, " G90");
 478
 479     //THEKERNEL->streams->printf("DEBUG: move: %s\n", cmd);
 480
 481     // send as a command line as may have multiple G codes in it
 482     struct SerialMessage message;
 483     message.message = cmd;
 484     message.stream = &(StreamOutput::NullStream);
 485     THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message );
 486     THEKERNEL->conveyor->wait_for_idle();
 487 }
 488
 489 // issue home command
 490 void ZProbe::home()
 491 {
 492     Gcode gc(THEKERNEL->is_grbl_mode() ? "G28.2" : "G28", &(StreamOutput::NullStream));
 493     THEKERNEL->call_event(ON_GCODE_RECEIVED, &gc);
 494 }