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 "Stepper.h"
  19 #include "checksumm.h"
  20 #include "ConfigValue.h"
  21 #include "SlowTicker.h"
  22 #include "Planner.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"
  29
  30 // strategies we know about
  31 #include "DeltaCalibrationStrategy.h"
  32 #include "ThreePointStrategy.h"
  33
  34 #define enable_checksum          CHECKSUM("enable")
  35 #define probe_pin_checksum       CHECKSUM("probe_pin")
  36 #define debounce_count_checksum  CHECKSUM("debounce_count")
  37 #define slow_feedrate_checksum   CHECKSUM("slow_feedrate")
  38 #define fast_feedrate_checksum   CHECKSUM("fast_feedrate")
  39 #define probe_height_checksum    CHECKSUM("probe_height")
  40 #define gamma_max_checksum       CHECKSUM("gamma_max")
  41
  42 // from endstop section
  43 #define delta_homing_checksum    CHECKSUM("delta_homing")
  44
  45 #define X_AXIS 0
  46 #define Y_AXIS 1
  47 #define Z_AXIS 2
  48
  49 #define STEPPER THEKERNEL->robot->actuators
  50 #define STEPS_PER_MM(a) (STEPPER[a]->get_steps_per_mm())
  51 #define Z_STEPS_PER_MM STEPS_PER_MM(Z_AXIS)
  52
  53 #define abs(a) ((a<0) ? -a : a)
  54
  55 void ZProbe::on_module_loaded()
  56 {
  57     // if the module is disabled -> do nothing
  58     if(!THEKERNEL->config->value( zprobe_checksum, enable_checksum )->by_default(false)->as_bool()) {
  59         // as this module is not needed free up the resource
  60         delete this;
  61         return;
  62     }
  63     this->running = false;
  64
  65     // load settings
  66     this->on_config_reload(this);
  67     // register event-handlers
  68     register_for_event(ON_GCODE_RECEIVED);
  69
  70     THEKERNEL->step_ticker->register_acceleration_tick_handler([this](){acceleration_tick(); });
  71 }
  72
  73 void ZProbe::on_config_reload(void *argument)
  74 {
  75     this->pin.from_string( THEKERNEL->config->value(zprobe_checksum, probe_pin_checksum)->by_default("nc" )->as_string())->as_input();
  76     this->debounce_count = THEKERNEL->config->value(zprobe_checksum, debounce_count_checksum)->by_default(0  )->as_number();
  77
  78     // get strategies to load
  79     vector<uint16_t> modules;
  80     THEKERNEL->config->get_module_list( &modules, leveling_strategy_checksum);
  81     for( auto cs : modules ){
  82         if( THEKERNEL->config->value(leveling_strategy_checksum, cs, enable_checksum )->as_bool() ){
  83             bool found= false;
  84             // check with each known strategy and load it if it matches
  85             switch(cs) {
  86                 case delta_calibration_strategy_checksum:
  87                     this->strategies.push_back(new DeltaCalibrationStrategy(this));
  88                     found= true;
  89                     break;
  90
  91                 case three_point_leveling_strategy_checksum:
  92                     // NOTE this strategy is mutually exclusive with the delta calibration strategy
  93                     this->strategies.push_back(new ThreePointStrategy(this));
  94                     found= true;
  95                     break;
  96
  97                 // add other strategies here
  98                 //case zheight_map_strategy:
  99                 //     this->strategies.push_back(new ZHeightMapStrategy(this));
 100                 //     found= true;
 101                 //     break;
 102             }
 103             if(found) this->strategies.back()->handleConfig();
 104         }
 105     }
 106
 107     // need to know if we need to use delta kinematics for homing
 108     this->is_delta = THEKERNEL->config->value(delta_homing_checksum)->by_default(false)->as_bool();
 109
 110     // default for backwards compatibility add DeltaCalibrationStrategy if a delta
 111     // will be deprecated
 112     if(this->strategies.empty()) {
 113         if(this->is_delta) {
 114             this->strategies.push_back(new DeltaCalibrationStrategy(this));
 115             this->strategies.back()->handleConfig();
 116         }
 117     }
 118
 119     this->probe_height  = THEKERNEL->config->value(zprobe_checksum, probe_height_checksum)->by_default(5.0F)->as_number();
 120     this->slow_feedrate = THEKERNEL->config->value(zprobe_checksum, slow_feedrate_checksum)->by_default(5)->as_number(); // feedrate in mm/sec
 121     this->fast_feedrate = THEKERNEL->config->value(zprobe_checksum, fast_feedrate_checksum)->by_default(100)->as_number(); // feedrate in mm/sec
 122     this->max_z         = THEKERNEL->config->value(gamma_max_checksum)->by_default(500)->as_number(); // maximum zprobe distance
 123 }
 124
 125 bool ZProbe::wait_for_probe(int& steps)
 126 {
 127     unsigned int debounce = 0;
 128     while(true) {
 129         THEKERNEL->call_event(ON_IDLE);
 130         // if no stepper is moving, moves are finished and there was no touch
 131         if( !STEPPER[Z_AXIS]->is_moving() && (!is_delta || (!STEPPER[Y_AXIS]->is_moving() && !STEPPER[Z_AXIS]->is_moving())) ) {
 132             return false;
 133         }
 134
 135         // if the touchprobe is active...
 136         if( this->pin.get() ) {
 137             //...increase debounce counter...
 138             if( debounce < debounce_count) {
 139                 // ...but only if the counter hasn't reached the max. value
 140                 debounce++;
 141             } else {
 142                 // ...otherwise stop the steppers, return its remaining steps
 143                 if(STEPPER[Z_AXIS]->is_moving()){
 144                     steps= STEPPER[Z_AXIS]->get_stepped();
 145                     STEPPER[Z_AXIS]->move(0, 0);
 146                 }
 147                 if(is_delta) {
 148                     for( int i = X_AXIS; i <= Y_AXIS; i++ ) {
 149                         if ( STEPPER[i]->is_moving() ) {
 150                             STEPPER[i]->move(0, 0);
 151                         }
 152                     }
 153                 }
 154                 return true;
 155             }
 156         } else {
 157             // The probe was not hit yet, reset debounce counter
 158             debounce = 0;
 159         }
 160     }
 161 }
 162
 163 // single probe and report amount moved
 164 bool ZProbe::run_probe(int& steps, bool fast)
 165 {
 166     // not a block move so disable the last tick setting
 167     for ( int c = X_AXIS; c <= Z_AXIS; c++ ) {
 168         STEPPER[c]->set_moved_last_block(false);
 169     }
 170
 171     // Enable the motors
 172     THEKERNEL->stepper->turn_enable_pins_on();
 173     this->current_feedrate = (fast ? this->fast_feedrate : this->slow_feedrate) * Z_STEPS_PER_MM; // steps/sec
 174     float maxz= this->max_z*2;
 175
 176     // move Z down
 177     STEPPER[Z_AXIS]->move(true, maxz * Z_STEPS_PER_MM, 0); // always probes down, no more than 2*maxz
 178     if(this->is_delta) {
 179         // for delta need to move all three actuators
 180         STEPPER[X_AXIS]->move(true, maxz * STEPS_PER_MM(X_AXIS), 0);
 181         STEPPER[Y_AXIS]->move(true, maxz * STEPS_PER_MM(Y_AXIS), 0);
 182     }
 183
 184     // start acceration processing
 185     this->running = true;
 186
 187     bool r = wait_for_probe(steps);
 188     this->running = false;
 189     return r;
 190 }
 191
 192 bool ZProbe::return_probe(int steps)
 193 {
 194     // move probe back to where it was
 195     float fr= this->slow_feedrate*2; // nominally twice slow feedrate
 196     if(fr > this->fast_feedrate) fr= this->fast_feedrate; // unless that is greater than fast feedrate
 197     this->current_feedrate = fr * Z_STEPS_PER_MM; // feedrate in steps/sec
 198     bool dir= steps < 0;
 199     steps= abs(steps);
 200
 201     STEPPER[Z_AXIS]->move(dir, steps, 0);
 202     if(this->is_delta) {
 203         STEPPER[X_AXIS]->move(dir, steps, 0);
 204         STEPPER[Y_AXIS]->move(dir, steps, 0);
 205     }
 206
 207     this->running = true;
 208     while(STEPPER[Z_AXIS]->is_moving() || (is_delta && (STEPPER[X_AXIS]->is_moving() || STEPPER[Y_AXIS]->is_moving())) ) {
 209         // wait for it to complete
 210         THEKERNEL->call_event(ON_IDLE);
 211     }
 212
 213     this->running = false;
 214
 215     return true;
 216 }
 217
 218 bool ZProbe::doProbeAt(int &steps, float x, float y)
 219 {
 220     int s;
 221     // move to xy
 222     coordinated_move(x, y, NAN, getFastFeedrate());
 223     if(!run_probe(s)) return false;
 224
 225     // return to original Z
 226     return_probe(s);
 227     steps = s;
 228
 229     return true;
 230 }
 231
 232 float ZProbe::probeDistance(float x, float y)
 233 {
 234     int s;
 235     if(!doProbeAt(s, x, y)) return NAN;
 236     return zsteps_to_mm(s);
 237 }
 238
 239 void ZProbe::on_gcode_received(void *argument)
 240 {
 241     Gcode *gcode = static_cast<Gcode *>(argument);
 242
 243     if( gcode->has_g && gcode->g >= 29 && gcode->g <= 32) {
 244         // make sure the probe is defined and not already triggered before moving motors
 245        if(!this->pin.connected()) {
 246             gcode->stream->printf("ZProbe not connected.\n");
 247             return;
 248         }
 249         if(this->pin.get()) {
 250             gcode->stream->printf("ZProbe triggered before move, aborting command.\n");
 251             return;
 252         }
 253
 254         if( gcode->g == 30 ) { // simple Z probe
 255             gcode->mark_as_taken();
 256             // first wait for an empty queue i.e. no moves left
 257             THEKERNEL->conveyor->wait_for_empty_queue();
 258
 259             int steps;
 260             if(run_probe(steps)) {
 261                 gcode->stream->printf("Z:%1.4f C:%d\n", steps / Z_STEPS_PER_MM, steps);
 262                 // move back to where it started, unless a Z is specified
 263                 if(gcode->has_letter('Z')) {
 264                     // set Z to the specified value, and leave probe where it is
 265                     THEKERNEL->robot->reset_axis_position(gcode->get_value('Z'), Z_AXIS);
 266                 } else {
 267                     return_probe(steps);
 268                 }
 269             } else {
 270                 gcode->stream->printf("ZProbe not triggered\n");
 271             }
 272
 273         } else {
 274             // find a strategy to handle the gcode
 275             for(auto s : strategies){
 276                 if(s->handleGcode(gcode)) {
 277                     gcode->mark_as_taken();
 278                     return;
 279                 }
 280             }
 281             gcode->stream->printf("No strategy found to handle G%d\n", gcode->g);
 282         }
 283
 284     } else if(gcode->has_m) {
 285         // M code processing here
 286         if(gcode->m == 119) {
 287             int c = this->pin.get();
 288             gcode->stream->printf(" Probe: %d", c);
 289             gcode->add_nl = true;
 290             gcode->mark_as_taken();
 291
 292         }else {
 293             for(auto s : strategies){
 294                 if(s->handleGcode(gcode)) {
 295                     gcode->mark_as_taken();
 296                     return;
 297                 }
 298             }
 299         }
 300     }
 301 }
 302
 303 // Called periodically to change the speed to match acceleration
 304 void ZProbe::acceleration_tick(void)
 305 {
 306     if(!this->running) return; // nothing to do
 307     if(STEPPER[Z_AXIS]->is_moving()) accelerate(Z_AXIS);
 308
 309     if(is_delta) {
 310          // deltas needs to move all actuators
 311         for ( int c = X_AXIS; c <= Y_AXIS; c++ ) {
 312             if( !STEPPER[c]->is_moving() ) continue;
 313             accelerate(c);
 314         }
 315     }
 316
 317     return;
 318 }
 319
 320 void ZProbe::accelerate(int c)
 321 {   uint32_t current_rate = STEPPER[c]->get_steps_per_second();
 322     uint32_t target_rate = floorf(this->current_feedrate);
 323
 324     // Z may have a different acceleration to X and Y
 325     float acc= (c==Z_AXIS) ? THEKERNEL->planner->get_z_acceleration() : THEKERNEL->planner->get_acceleration();
 326     if( current_rate < target_rate ) {
 327         uint32_t rate_increase = floorf((acc / THEKERNEL->acceleration_ticks_per_second) * STEPS_PER_MM(c));
 328         current_rate = min( target_rate, current_rate + rate_increase );
 329     }
 330     if( current_rate > target_rate ) {
 331         current_rate = target_rate;
 332     }
 333
 334     // steps per second
 335     STEPPER[c]->set_speed(current_rate);
 336 }
 337
 338 // issue a coordinated move directly to robot, and return when done
 339 // Only move the coordinates that are passed in as not nan
 340 void ZProbe::coordinated_move(float x, float y, float z, float feedrate, bool relative)
 341 {
 342     char buf[32];
 343     char cmd[64];
 344
 345     if(relative) strcpy(cmd, "G91 G0 ");
 346     else strcpy(cmd, "G0 ");
 347
 348     if(!isnan(x)) {
 349         int n = snprintf(buf, sizeof(buf), " X%1.3f", x);
 350         strncat(cmd, buf, n);
 351     }
 352     if(!isnan(y)) {
 353         int n = snprintf(buf, sizeof(buf), " Y%1.3f", y);
 354         strncat(cmd, buf, n);
 355     }
 356     if(!isnan(z)) {
 357         int n = snprintf(buf, sizeof(buf), " Z%1.3f", z);
 358         strncat(cmd, buf, n);
 359     }
 360
 361     // use specified feedrate (mm/sec)
 362     int n = snprintf(buf, sizeof(buf), " F%1.1f", feedrate * 60); // feed rate is converted to mm/min
 363     strncat(cmd, buf, n);
 364     if(relative) strcat(cmd, " G90");
 365
 366     //THEKERNEL->streams->printf("DEBUG: move: %s\n", cmd);
 367
 368     // send as a command line as may have multiple G codes in it
 369     struct SerialMessage message;
 370     message.message = cmd;
 371     message.stream = &(StreamOutput::NullStream);
 372     THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message );
 373     THEKERNEL->conveyor->wait_for_empty_queue();
 374 }
 375
 376 // issue home command
 377 void ZProbe::home()
 378 {
 379     Gcode gc("G28", &(StreamOutput::NullStream));
 380     THEKERNEL->call_event(ON_GCODE_RECEIVED, &gc);
 381 }
 382
 383 float ZProbe::zsteps_to_mm(float steps)
 384 {
 385     return steps / Z_STEPS_PER_MM;
 386 }