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 #include "ZGridStrategy.h"
  34
  35 #define enable_checksum          CHECKSUM("enable")
  36 #define probe_pin_checksum       CHECKSUM("probe_pin")
  37 #define debounce_count_checksum  CHECKSUM("debounce_count")
  38 #define slow_feedrate_checksum   CHECKSUM("slow_feedrate")
  39 #define fast_feedrate_checksum   CHECKSUM("fast_feedrate")
  40 #define probe_height_checksum    CHECKSUM("probe_height")
  41 #define gamma_max_checksum       CHECKSUM("gamma_max")
  42
  43 // from endstop section
  44 #define delta_homing_checksum    CHECKSUM("delta_homing")
  45
  46 #define X_AXIS 0
  47 #define Y_AXIS 1
  48 #define Z_AXIS 2
  49
  50 #define STEPPER THEKERNEL->robot->actuators
  51 #define STEPS_PER_MM(a) (STEPPER[a]->get_steps_per_mm())
  52 #define Z_STEPS_PER_MM STEPS_PER_MM(Z_AXIS)
  53
  54 #define abs(a) ((a<0) ? -a : a)
  55
  56 void ZProbe::on_module_loaded()
  57 {
  58     // if the module is disabled -> do nothing
  59     if(!THEKERNEL->config->value( zprobe_checksum, enable_checksum )->by_default(false)->as_bool()) {
  60         // as this module is not needed free up the resource
  61         delete this;
  62         return;
  63     }
  64     this->running = false;
  65
  66     // load settings
  67     this->on_config_reload(this);
  68     // register event-handlers
  69     register_for_event(ON_GCODE_RECEIVED);
  70
  71     THEKERNEL->step_ticker->register_acceleration_tick_handler([this](){acceleration_tick(); });
  72 }
  73
  74 void ZProbe::on_config_reload(void *argument)
  75 {
  76     this->pin.from_string( THEKERNEL->config->value(zprobe_checksum, probe_pin_checksum)->by_default("nc" )->as_string())->as_input();
  77     this->debounce_count = THEKERNEL->config->value(zprobe_checksum, debounce_count_checksum)->by_default(0  )->as_number();
  78
  79     // get strategies to load
  80     vector<uint16_t> modules;
  81     THEKERNEL->config->get_module_list( &modules, leveling_strategy_checksum);
  82     for( auto cs : modules ){
  83         if( THEKERNEL->config->value(leveling_strategy_checksum, cs, enable_checksum )->as_bool() ){
  84             bool found= false;
  85             // check with each known strategy and load it if it matches
  86             switch(cs) {
  87                 case delta_calibration_strategy_checksum:
  88                     this->strategies.push_back(new DeltaCalibrationStrategy(this));
  89                     found= true;
  90                     break;
  91
  92                 case three_point_leveling_strategy_checksum:
  93                     // NOTE this strategy is mutually exclusive with the delta calibration strategy
  94                     this->strategies.push_back(new ThreePointStrategy(this));
  95                     found= true;
  96                     break;
  97
  98                 case ZGrid_leveling_checksum:
  99                      this->strategies.push_back(new ZGridStrategy(this));
 100                      found= true;
 101                      break;
 102
 103                 // add other strategies here
 104                 //case zheight_map_strategy:
 105                 //     this->strategies.push_back(new ZHeightMapStrategy(this));
 106                 //     found= true;
 107                 //     break;
 108             }
 109             if(found) this->strategies.back()->handleConfig();
 110         }
 111     }
 112
 113     // need to know if we need to use delta kinematics for homing
 114     this->is_delta = THEKERNEL->config->value(delta_homing_checksum)->by_default(false)->as_bool();
 115
 116     // default for backwards compatibility add DeltaCalibrationStrategy if a delta
 117     // will be deprecated
 118     if(this->strategies.empty()) {
 119         if(this->is_delta) {
 120             this->strategies.push_back(new DeltaCalibrationStrategy(this));
 121             this->strategies.back()->handleConfig();
 122         }
 123     }
 124
 125     this->probe_height  = THEKERNEL->config->value(zprobe_checksum, probe_height_checksum)->by_default(5.0F)->as_number();
 126     this->slow_feedrate = THEKERNEL->config->value(zprobe_checksum, slow_feedrate_checksum)->by_default(5)->as_number(); // feedrate in mm/sec
 127     this->fast_feedrate = THEKERNEL->config->value(zprobe_checksum, fast_feedrate_checksum)->by_default(100)->as_number(); // feedrate in mm/sec
 128     this->max_z         = THEKERNEL->config->value(gamma_max_checksum)->by_default(500)->as_number(); // maximum zprobe distance
 129 }
 130
 131 bool ZProbe::wait_for_probe(int& steps)
 132 {
 133     unsigned int debounce = 0;
 134     while(true) {
 135         THEKERNEL->call_event(ON_IDLE);
 136         // if no stepper is moving, moves are finished and there was no touch
 137         if( !STEPPER[Z_AXIS]->is_moving() && (!is_delta || (!STEPPER[Y_AXIS]->is_moving() && !STEPPER[Z_AXIS]->is_moving())) ) {
 138             return false;
 139         }
 140
 141         // if the touchprobe is active...
 142         if( this->pin.get() ) {
 143             //...increase debounce counter...
 144             if( debounce < debounce_count) {
 145                 // ...but only if the counter hasn't reached the max. value
 146                 debounce++;
 147             } else {
 148                 // ...otherwise stop the steppers, return its remaining steps
 149                 if(STEPPER[Z_AXIS]->is_moving()){
 150                     steps= STEPPER[Z_AXIS]->get_stepped();
 151                     STEPPER[Z_AXIS]->move(0, 0);
 152                 }
 153                 if(is_delta) {
 154                     for( int i = X_AXIS; i <= Y_AXIS; i++ ) {
 155                         if ( STEPPER[i]->is_moving() ) {
 156                             STEPPER[i]->move(0, 0);
 157                         }
 158                     }
 159                 }
 160                 return true;
 161             }
 162         } else {
 163             // The probe was not hit yet, reset debounce counter
 164             debounce = 0;
 165         }
 166     }
 167 }
 168
 169 // single probe with custom feedrate
 170 // returns boolean value indicating if probe was triggered
 171 bool ZProbe::run_probe_feed(int& steps, float feedrate)
 172 {
 173     // not a block move so disable the last tick setting
 174     for ( int c = X_AXIS; c <= Z_AXIS; c++ ) {
 175         STEPPER[c]->set_moved_last_block(false);
 176     }
 177
 178     // Enable the motors
 179     THEKERNEL->stepper->turn_enable_pins_on();
 180     this->current_feedrate = feedrate * Z_STEPS_PER_MM; // steps/sec
 181     float maxz= this->max_z*2;
 182
 183     // move Z down
 184     STEPPER[Z_AXIS]->move(true, maxz * Z_STEPS_PER_MM, 0); // always probes down, no more than 2*maxz
 185     if(this->is_delta) {
 186         // for delta need to move all three actuators
 187         STEPPER[X_AXIS]->move(true, maxz * STEPS_PER_MM(X_AXIS), 0);
 188         STEPPER[Y_AXIS]->move(true, maxz * STEPS_PER_MM(Y_AXIS), 0);
 189     }
 190
 191     // start acceleration processing
 192     this->running = true;
 193
 194     bool r = wait_for_probe(steps);
 195     this->running = false;
 196     return r;
 197 }
 198
 199 // single probe with either fast or slow feedrate
 200 // returns boolean value indicating if probe was triggered
 201 bool ZProbe::run_probe(int& steps, bool fast)
 202 {
 203     float feedrate = (fast ? this->fast_feedrate : this->slow_feedrate);
 204     return run_probe_feed(steps, feedrate);
 205
 206 }
 207
 208 bool ZProbe::return_probe(int steps)
 209 {
 210     // move probe back to where it was
 211     float fr= this->slow_feedrate*2; // nominally twice slow feedrate
 212     if(fr > this->fast_feedrate) fr= this->fast_feedrate; // unless that is greater than fast feedrate
 213     this->current_feedrate = fr * Z_STEPS_PER_MM; // feedrate in steps/sec
 214     bool dir= steps < 0;
 215     steps= abs(steps);
 216
 217     STEPPER[Z_AXIS]->move(dir, steps, 0);
 218     if(this->is_delta) {
 219         STEPPER[X_AXIS]->move(dir, steps, 0);
 220         STEPPER[Y_AXIS]->move(dir, steps, 0);
 221     }
 222
 223     this->running = true;
 224     while(STEPPER[Z_AXIS]->is_moving() || (is_delta && (STEPPER[X_AXIS]->is_moving() || STEPPER[Y_AXIS]->is_moving())) ) {
 225         // wait for it to complete
 226         THEKERNEL->call_event(ON_IDLE);
 227     }
 228
 229     this->running = false;
 230
 231     return true;
 232 }
 233
 234 bool ZProbe::doProbeAt(int &steps, float x, float y)
 235 {
 236     int s;
 237     // move to xy
 238     coordinated_move(x, y, NAN, getFastFeedrate());
 239     if(!run_probe(s)) return false;
 240
 241     // return to original Z
 242     return_probe(s);
 243     steps = s;
 244
 245     return true;
 246 }
 247
 248 float ZProbe::probeDistance(float x, float y)
 249 {
 250     int s;
 251     if(!doProbeAt(s, x, y)) return NAN;
 252     return zsteps_to_mm(s);
 253 }
 254
 255 void ZProbe::on_gcode_received(void *argument)
 256 {
 257     Gcode *gcode = static_cast<Gcode *>(argument);
 258
 259     if( gcode->has_g && gcode->g >= 29 && gcode->g <= 32) {
 260         // make sure the probe is defined and not already triggered before moving motors
 261        if(!this->pin.connected()) {
 262             gcode->stream->printf("ZProbe not connected.\n");
 263             return;
 264         }
 265         if(this->pin.get()) {
 266             gcode->stream->printf("ZProbe triggered before move, aborting command.\n");
 267             return;
 268         }
 269
 270         if( gcode->g == 30 ) { // simple Z probe
 271             // first wait for an empty queue i.e. no moves left
 272             THEKERNEL->conveyor->wait_for_empty_queue();
 273
 274             int steps;
 275             bool probe_result;
 276             if(gcode->has_letter('F')) {
 277                 probe_result = run_probe_feed(steps, gcode->get_value('F') / 60);
 278             } else {
 279                 probe_result = run_probe(steps);
 280             }
 281
 282             if(probe_result) {
 283                 gcode->stream->printf("Z:%1.4f C:%d\n", steps / Z_STEPS_PER_MM, steps);
 284                 // move back to where it started, unless a Z is specified
 285                 if(gcode->has_letter('Z')) {
 286                     // set Z to the specified value, and leave probe where it is
 287                     THEKERNEL->robot->reset_axis_position(gcode->get_value('Z'), Z_AXIS);
 288                 } else {
 289                     return_probe(steps);
 290                 }
 291             } else {
 292                 gcode->stream->printf("ZProbe not triggered\n");
 293             }
 294
 295         } else {
 296             // find a strategy to handle the gcode
 297             for(auto s : strategies){
 298                 if(s->handleGcode(gcode)) {
 299                     return;
 300                 }
 301             }
 302             gcode->stream->printf("No strategy found to handle G%d\n", gcode->g);
 303         }
 304
 305     } else if(gcode->has_m) {
 306         // M code processing here
 307         if(gcode->m == 119) {
 308             int c = this->pin.get();
 309             gcode->stream->printf(" Probe: %d", c);
 310             gcode->add_nl = true;
 311
 312         }else {
 313             for(auto s : strategies){
 314                 if(s->handleGcode(gcode)) {
 315                     return;
 316                 }
 317             }
 318         }
 319     }
 320 }
 321
 322 // Called periodically to change the speed to match acceleration
 323 void ZProbe::acceleration_tick(void)
 324 {
 325     if(!this->running) return; // nothing to do
 326     if(STEPPER[Z_AXIS]->is_moving()) accelerate(Z_AXIS);
 327
 328     if(is_delta) {
 329          // deltas needs to move all actuators
 330         for ( int c = X_AXIS; c <= Y_AXIS; c++ ) {
 331             if( !STEPPER[c]->is_moving() ) continue;
 332             accelerate(c);
 333         }
 334     }
 335
 336     return;
 337 }
 338
 339 void ZProbe::accelerate(int c)
 340 {   uint32_t current_rate = STEPPER[c]->get_steps_per_second();
 341     uint32_t target_rate = floorf(this->current_feedrate);
 342
 343     // Z may have a different acceleration to X and Y
 344     float acc= (c==Z_AXIS) ? THEKERNEL->planner->get_z_acceleration() : THEKERNEL->planner->get_acceleration();
 345     if( current_rate < target_rate ) {
 346         uint32_t rate_increase = floorf((acc / THEKERNEL->acceleration_ticks_per_second) * STEPS_PER_MM(c));
 347         current_rate = min( target_rate, current_rate + rate_increase );
 348     }
 349     if( current_rate > target_rate ) {
 350         current_rate = target_rate;
 351     }
 352
 353     // steps per second
 354     STEPPER[c]->set_speed(current_rate);
 355 }
 356
 357 // issue a coordinated move directly to robot, and return when done
 358 // Only move the coordinates that are passed in as not nan
 359 void ZProbe::coordinated_move(float x, float y, float z, float feedrate, bool relative)
 360 {
 361     char buf[32];
 362     char cmd[64];
 363
 364     if(relative) strcpy(cmd, "G91 G0 ");
 365     else strcpy(cmd, "G0 ");
 366
 367     if(!isnan(x)) {
 368         int n = snprintf(buf, sizeof(buf), " X%1.3f", x);
 369         strncat(cmd, buf, n);
 370     }
 371     if(!isnan(y)) {
 372         int n = snprintf(buf, sizeof(buf), " Y%1.3f", y);
 373         strncat(cmd, buf, n);
 374     }
 375     if(!isnan(z)) {
 376         int n = snprintf(buf, sizeof(buf), " Z%1.3f", z);
 377         strncat(cmd, buf, n);
 378     }
 379
 380     // use specified feedrate (mm/sec)
 381     int n = snprintf(buf, sizeof(buf), " F%1.1f", feedrate * 60); // feed rate is converted to mm/min
 382     strncat(cmd, buf, n);
 383     if(relative) strcat(cmd, " G90");
 384
 385     //THEKERNEL->streams->printf("DEBUG: move: %s\n", cmd);
 386
 387     // send as a command line as may have multiple G codes in it
 388     struct SerialMessage message;
 389     message.message = cmd;
 390     message.stream = &(StreamOutput::NullStream);
 391     THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message );
 392     THEKERNEL->conveyor->wait_for_empty_queue();
 393 }
 394
 395 // issue home command
 396 void ZProbe::home()
 397 {
 398     Gcode gc("G28", &(StreamOutput::NullStream));
 399     THEKERNEL->call_event(ON_GCODE_RECEIVED, &gc);
 400 }
 401
 402 float ZProbe::zsteps_to_mm(float steps)
 403 {
 404     return steps / Z_STEPS_PER_MM;
 405 }