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"
35 #include "DeltaGridStrategy.h"
37 #define enable_checksum CHECKSUM("enable")
38 #define probe_pin_checksum CHECKSUM("probe_pin")
39 #define debounce_count_checksum CHECKSUM("debounce_count")
40 #define slow_feedrate_checksum CHECKSUM("slow_feedrate")
41 #define fast_feedrate_checksum CHECKSUM("fast_feedrate")
42 #define return_feedrate_checksum CHECKSUM("return_feedrate")
43 #define probe_height_checksum CHECKSUM("probe_height")
44 #define gamma_max_checksum CHECKSUM("gamma_max")
45 #define reverse_z_direction_checksum CHECKSUM("reverse_z")
47 // from endstop section
48 #define delta_homing_checksum CHECKSUM("delta_homing")
49 #define rdelta_homing_checksum CHECKSUM("rdelta_homing")
55 #define STEPPER THEKERNEL->robot->actuators
56 #define STEPS_PER_MM(a) (STEPPER[a]->get_steps_per_mm())
57 #define Z_STEPS_PER_MM STEPS_PER_MM(Z_AXIS)
59 #define abs(a) ((a<0) ? -a : a)
61 void ZProbe::on_module_loaded()
63 // if the module is disabled -> do nothing
64 if(!THEKERNEL
->config
->value( zprobe_checksum
, enable_checksum
)->by_default(false)->as_bool()) {
65 // as this module is not needed free up the resource
71 this->on_config_reload(this);
72 // register event-handlers
73 register_for_event(ON_GCODE_RECEIVED
);
75 THEKERNEL
->step_ticker
->register_acceleration_tick_handler([this](){acceleration_tick(); });
77 // we read the probe in this timer, currently only for G38 probes.
79 THEKERNEL
->slow_ticker
->attach(1000, this, &ZProbe::read_probe
);
82 void ZProbe::on_config_reload(void *argument
)
84 this->pin
.from_string( THEKERNEL
->config
->value(zprobe_checksum
, probe_pin_checksum
)->by_default("nc" )->as_string())->as_input();
85 this->debounce_count
= THEKERNEL
->config
->value(zprobe_checksum
, debounce_count_checksum
)->by_default(0 )->as_number();
87 // get strategies to load
88 vector
<uint16_t> modules
;
89 THEKERNEL
->config
->get_module_list( &modules
, leveling_strategy_checksum
);
90 for( auto cs
: modules
){
91 if( THEKERNEL
->config
->value(leveling_strategy_checksum
, cs
, enable_checksum
)->as_bool() ){
93 // check with each known strategy and load it if it matches
95 case delta_calibration_strategy_checksum
:
96 this->strategies
.push_back(new DeltaCalibrationStrategy(this));
100 case three_point_leveling_strategy_checksum
:
101 // NOTE this strategy is mutually exclusive with the delta calibration strategy
102 this->strategies
.push_back(new ThreePointStrategy(this));
106 case ZGrid_leveling_checksum
:
107 this->strategies
.push_back(new ZGridStrategy(this));
111 case delta_grid_leveling_strategy_checksum
:
112 this->strategies
.push_back(new DeltaGridStrategy(this));
116 if(found
) this->strategies
.back()->handleConfig();
120 // need to know if we need to use delta kinematics for homing
121 this->is_delta
= THEKERNEL
->config
->value(delta_homing_checksum
)->by_default(false)->as_bool();
122 this->is_rdelta
= THEKERNEL
->config
->value(rdelta_homing_checksum
)->by_default(false)->as_bool();
124 // default for backwards compatibility add DeltaCalibrationStrategy if a delta
125 // will be deprecated
126 if(this->strategies
.empty()) {
128 this->strategies
.push_back(new DeltaCalibrationStrategy(this));
129 this->strategies
.back()->handleConfig();
133 this->probe_height
= THEKERNEL
->config
->value(zprobe_checksum
, probe_height_checksum
)->by_default(5.0F
)->as_number();
134 this->slow_feedrate
= THEKERNEL
->config
->value(zprobe_checksum
, slow_feedrate_checksum
)->by_default(5)->as_number(); // feedrate in mm/sec
135 this->fast_feedrate
= THEKERNEL
->config
->value(zprobe_checksum
, fast_feedrate_checksum
)->by_default(100)->as_number(); // feedrate in mm/sec
136 this->return_feedrate
= THEKERNEL
->config
->value(zprobe_checksum
, return_feedrate_checksum
)->by_default(0)->as_number(); // feedrate in mm/sec
137 this->reverse_z
= THEKERNEL
->config
->value(zprobe_checksum
, reverse_z_direction_checksum
)->by_default(false)->as_bool(); // Z probe moves in reverse direction
138 this->max_z
= THEKERNEL
->config
->value(gamma_max_checksum
)->by_default(500)->as_number(); // maximum zprobe distance
141 bool ZProbe::wait_for_probe(int& steps
)
143 unsigned int debounce
= 0;
145 THEKERNEL
->call_event(ON_IDLE
);
146 if(THEKERNEL
->is_halted()){
151 bool delta
= is_delta
|| is_rdelta
;
153 // if no stepper is moving, moves are finished and there was no touch
154 if( !STEPPER
[Z_AXIS
]->is_moving() && (!delta
|| (!STEPPER
[Y_AXIS
]->is_moving() && !STEPPER
[Z_AXIS
]->is_moving())) ) {
158 // if the probe is active...
159 if( this->pin
.get() ) {
160 //...increase debounce counter...
161 if( debounce
< debounce_count
) {
162 // ...but only if the counter hasn't reached the max. value
165 // ...otherwise stop the steppers, return its remaining steps
166 if(STEPPER
[Z_AXIS
]->is_moving()){
167 steps
= STEPPER
[Z_AXIS
]->get_stepped();
168 STEPPER
[Z_AXIS
]->move(0, 0);
171 for( int i
= X_AXIS
; i
<= Y_AXIS
; i
++ ) {
172 if ( STEPPER
[i
]->is_moving() ) {
173 STEPPER
[i
]->move(0, 0);
180 // The probe was not hit yet, reset debounce counter
186 // single probe with custom feedrate
187 // returns boolean value indicating if probe was triggered
188 bool ZProbe::run_probe(int& steps
, float feedrate
, float max_dist
, bool reverse
)
190 // not a block move so disable the last tick setting
191 for ( int c
= X_AXIS
; c
<= Z_AXIS
; c
++ ) {
192 STEPPER
[c
]->set_moved_last_block(false);
196 THEKERNEL
->stepper
->turn_enable_pins_on();
197 this->current_feedrate
= feedrate
* Z_STEPS_PER_MM
; // steps/sec
198 float maxz
= max_dist
< 0 ? this->max_z
*2 : max_dist
;
201 bool dir
= (!reverse_z
!= reverse
); // xor
202 STEPPER
[Z_AXIS
]->move(dir
, maxz
* Z_STEPS_PER_MM
, 0); // probe in specified direction, no more than maxz
203 if(this->is_delta
|| this->is_rdelta
) {
204 // for delta need to move all three actuators
205 STEPPER
[X_AXIS
]->move(dir
, maxz
* STEPS_PER_MM(X_AXIS
), 0);
206 STEPPER
[Y_AXIS
]->move(dir
, maxz
* STEPS_PER_MM(Y_AXIS
), 0);
209 // start acceleration processing
210 this->running
= true;
212 bool r
= wait_for_probe(steps
);
213 this->running
= false;
214 STEPPER
[X_AXIS
]->move(0, 0);
215 STEPPER
[Y_AXIS
]->move(0, 0);
216 STEPPER
[Z_AXIS
]->move(0, 0);
220 bool ZProbe::return_probe(int steps
, bool reverse
)
222 // move probe back to where it was
225 if(this->return_feedrate
!= 0) { // use return_feedrate if set
226 fr
= this->return_feedrate
;
228 fr
= this->slow_feedrate
*2; // nominally twice slow feedrate
229 if(fr
> this->fast_feedrate
) fr
= this->fast_feedrate
; // unless that is greater than fast feedrate
232 this->current_feedrate
= fr
* Z_STEPS_PER_MM
; // feedrate in steps/sec
233 bool dir
= ((steps
< 0) != reverse_z
); // xor
235 if(reverse
) dir
= !dir
;
238 bool delta
= (this->is_delta
|| this->is_rdelta
);
239 STEPPER
[Z_AXIS
]->move(dir
, steps
, 0);
241 STEPPER
[X_AXIS
]->move(dir
, steps
, 0);
242 STEPPER
[Y_AXIS
]->move(dir
, steps
, 0);
245 this->running
= true;
246 while(STEPPER
[Z_AXIS
]->is_moving() || (delta
&& (STEPPER
[X_AXIS
]->is_moving() || STEPPER
[Y_AXIS
]->is_moving())) ) {
247 // wait for it to complete
248 THEKERNEL
->call_event(ON_IDLE
);
249 if(THEKERNEL
->is_halted()){
255 this->running
= false;
256 STEPPER
[X_AXIS
]->move(0, 0);
257 STEPPER
[Y_AXIS
]->move(0, 0);
258 STEPPER
[Z_AXIS
]->move(0, 0);
263 bool ZProbe::doProbeAt(int &steps
, float x
, float y
)
267 coordinated_move(x
, y
, NAN
, getFastFeedrate());
268 if(!run_probe(s
)) return false;
270 // return to original Z
277 float ZProbe::probeDistance(float x
, float y
)
280 if(!doProbeAt(s
, x
, y
)) return NAN
;
281 return zsteps_to_mm(s
);
284 void ZProbe::on_gcode_received(void *argument
)
286 Gcode
*gcode
= static_cast<Gcode
*>(argument
);
288 if( gcode
->has_g
&& gcode
->g
>= 29 && gcode
->g
<= 32) {
290 // make sure the probe is defined and not already triggered before moving motors
291 if(!this->pin
.connected()) {
292 gcode
->stream
->printf("ZProbe not connected.\n");
295 if(this->pin
.get()) {
296 gcode
->stream
->printf("ZProbe triggered before move, aborting command.\n");
300 if( gcode
->g
== 30 ) { // simple Z probe
301 // first wait for an empty queue i.e. no moves left
302 THEKERNEL
->conveyor
->wait_for_empty_queue();
306 bool reverse
= (gcode
->has_letter('R') && gcode
->get_value('R') != 0); // specify to probe in reverse direction
307 float rate
= gcode
->has_letter('F') ? gcode
->get_value('F') / 60 : this->slow_feedrate
;
308 probe_result
= run_probe(steps
, rate
, -1, reverse
);
311 // the result is in actuator coordinates and raw steps
312 gcode
->stream
->printf("Z:%1.4f C:%d\n", zsteps_to_mm(steps
), steps
);
314 // set the last probe position to the current actuator units
315 THEKERNEL
->robot
->set_last_probe_position(std::make_tuple(
316 THEKERNEL
->robot
->actuators
[X_AXIS
]->get_current_position(),
317 THEKERNEL
->robot
->actuators
[Y_AXIS
]->get_current_position(),
318 THEKERNEL
->robot
->actuators
[Z_AXIS
]->get_current_position(),
321 // move back to where it started, unless a Z is specified (and not a rotary delta)
322 if(gcode
->has_letter('Z') && !is_rdelta
) {
323 // set Z to the specified value, and leave probe where it is
324 THEKERNEL
->robot
->reset_axis_position(gcode
->get_value('Z'), Z_AXIS
);
327 // return to pre probe position
328 return_probe(steps
, reverse
);
332 gcode
->stream
->printf("ZProbe not triggered\n");
333 THEKERNEL
->robot
->set_last_probe_position(std::make_tuple(
334 THEKERNEL
->robot
->actuators
[X_AXIS
]->get_current_position(),
335 THEKERNEL
->robot
->actuators
[Y_AXIS
]->get_current_position(),
336 THEKERNEL
->robot
->actuators
[Z_AXIS
]->get_current_position(),
341 if(!gcode
->has_letter('P')) {
342 // find the first strategy to handle the gcode
343 for(auto s
: strategies
){
344 if(s
->handleGcode(gcode
)) {
348 gcode
->stream
->printf("No strategy found to handle G%d\n", gcode
->g
);
351 // P paramater selects which strategy to send the code to
352 // they are loaded in the order they are defined in config, 0 being the first, 1 being the second and so on.
353 uint16_t i
= gcode
->get_value('P');
354 if(i
< strategies
.size()) {
355 if(!strategies
[i
]->handleGcode(gcode
)){
356 gcode
->stream
->printf("strategy #%d did not handle G%d\n", i
, gcode
->g
);
361 gcode
->stream
->printf("strategy #%d is not loaded\n", i
);
366 } else if(gcode
->has_g
&& gcode
->g
== 38 ) { // G38.2 Straight Probe with error, G38.3 straight probe without error
367 // linuxcnc/grbl style probe http://www.linuxcnc.org/docs/2.5/html/gcode/gcode.html#sec:G38-probe
368 if(gcode
->subcode
!= 2 && gcode
->subcode
!= 3) {
369 gcode
->stream
->printf("error:Only G38.2 and G38.3 are supported\n");
373 // make sure the probe is defined and not already triggered before moving motors
374 if(!this->pin
.connected()) {
375 gcode
->stream
->printf("error:ZProbe not connected.\n");
379 if(this->pin
.get()) {
380 gcode
->stream
->printf("error:ZProbe triggered before move, aborting command.\n");
384 // first wait for an empty queue i.e. no moves left
385 THEKERNEL
->conveyor
->wait_for_empty_queue();
387 // turn off any compensation transform
388 auto savect
= THEKERNEL
->robot
->compensationTransform
;
389 THEKERNEL
->robot
->compensationTransform
= nullptr;
391 if(gcode
->has_letter('X')) {
392 // probe in the X axis
393 probe_XYZ(gcode
, X_AXIS
);
395 }else if(gcode
->has_letter('Y')) {
396 // probe in the Y axis
397 probe_XYZ(gcode
, Y_AXIS
);
399 }else if(gcode
->has_letter('Z')) {
400 // probe in the Z axis
401 probe_XYZ(gcode
, Z_AXIS
);
404 gcode
->stream
->printf("error:at least one of X Y or Z must be specified\n");
407 // restore compensationTransform
408 THEKERNEL
->robot
->compensationTransform
= savect
;
412 } else if(gcode
->has_m
) {
413 // M code processing here
418 gcode
->stream
->printf(" Probe: %d", c
);
419 gcode
->add_nl
= true;
423 if (gcode
->has_letter('S')) this->slow_feedrate
= gcode
->get_value('S');
424 if (gcode
->has_letter('K')) this->fast_feedrate
= gcode
->get_value('K');
425 if (gcode
->has_letter('R')) this->return_feedrate
= gcode
->get_value('R');
426 if (gcode
->has_letter('Z')) this->max_z
= gcode
->get_value('Z');
427 if (gcode
->has_letter('H')) this->probe_height
= gcode
->get_value('H');
428 if (gcode
->has_letter('I')) { // NOTE this is temporary and toggles the invertion status of the pin
429 invert_override
= (gcode
->get_value('I') != 0);
430 pin
.set_inverting(pin
.is_inverting() != invert_override
); // XOR so inverted pin is not inverted and vice versa
434 case 500: // save settings
435 case 503: // print settings
436 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",
437 this->slow_feedrate
, this->fast_feedrate
, this->return_feedrate
, this->max_z
, this->probe_height
);
439 // fall through is intended so leveling strategies can handle m-codes too
442 for(auto s
: strategies
){
443 if(s
->handleGcode(gcode
)) {
451 uint32_t ZProbe::read_probe(uint32_t dummy
)
453 if(!probing
|| probe_detected
) return 0;
455 // TODO add debounce/noise filter
456 if(this->pin
.get()) {
457 probe_detected
= true;
458 // now tell all the stepper_motors to stop
459 for(auto &a
: THEKERNEL
->robot
->actuators
) a
->force_finish_move();
464 // special way to probe in the X or Y or Z direction using planned moves, should work with any kinematics
465 void ZProbe::probe_XYZ(Gcode
*gcode
, int axis
)
467 // enable the probe checking in the timer
469 probe_detected
= false;
470 THEKERNEL
->robot
->disable_segmentation
= true; // we must disable segmentation as this won't work with it enabled (beware on deltas probing in X or Y)
472 // get probe feedrate if specified
473 float rate
= (gcode
->has_letter('F')) ? gcode
->get_value('F')*60 : this->slow_feedrate
;
475 // do a regular move which will stop as soon as the probe is triggered, or the distance is reached
477 case X_AXIS
: coordinated_move(gcode
->get_value('X'), 0, 0, rate
, true); break;
478 case Y_AXIS
: coordinated_move(0, gcode
->get_value('Y'), 0, rate
, true); break;
479 case Z_AXIS
: coordinated_move(0, 0, gcode
->get_value('Z'), rate
, true); break;
482 // coordinated_move returns when the move is finished
484 // disable probe checking
486 THEKERNEL
->robot
->disable_segmentation
= false;
490 // get the current position
491 ActuatorCoordinates current_position
{
492 THEKERNEL
->robot
->actuators
[X_AXIS
]->get_current_position(),
493 THEKERNEL
->robot
->actuators
[Y_AXIS
]->get_current_position(),
494 THEKERNEL
->robot
->actuators
[Z_AXIS
]->get_current_position()
497 // get machine position from the actuator position using FK
498 THEKERNEL
->robot
->arm_solution
->actuator_to_cartesian(current_position
, pos
);
501 uint8_t probeok
= this->probe_detected
? 1 : 0;
503 // print results using the GRBL format
504 gcode
->stream
->printf("[PRB:%1.3f,%1.3f,%1.3f:%d]\n", pos
[X_AXIS
], pos
[Y_AXIS
], pos
[Z_AXIS
], probeok
);
505 THEKERNEL
->robot
->set_last_probe_position(std::make_tuple(pos
[X_AXIS
], pos
[Y_AXIS
], pos
[Z_AXIS
], probeok
));
507 if(!probeok
&& gcode
->subcode
== 2) {
508 // issue error if probe was not triggered and subcode == 2
509 gcode
->stream
->printf("ALARM:Probe fail\n");
510 THEKERNEL
->call_event(ON_HALT
, nullptr);
513 // if the probe stopped the move we need to correct the last_milestone as it did not reach where it thought
514 THEKERNEL
->robot
->reset_position_from_current_actuator_position();
518 // Called periodically to change the speed to match acceleration
519 void ZProbe::acceleration_tick(void)
521 if(!this->running
) return; // nothing to do
522 if(STEPPER
[Z_AXIS
]->is_moving()) accelerate(Z_AXIS
);
524 if(is_delta
|| is_rdelta
) {
525 // deltas needs to move all actuators
526 for ( int c
= X_AXIS
; c
<= Y_AXIS
; c
++ ) {
527 if( !STEPPER
[c
]->is_moving() ) continue;
535 void ZProbe::accelerate(int c
)
536 { uint32_t current_rate
= STEPPER
[c
]->get_steps_per_second();
537 uint32_t target_rate
= floorf(this->current_feedrate
);
539 // Z may have a different acceleration to X and Y
540 float acc
= (c
==Z_AXIS
) ? THEKERNEL
->planner
->get_z_acceleration() : THEKERNEL
->planner
->get_acceleration();
541 if( current_rate
< target_rate
) {
542 uint32_t rate_increase
= floorf((acc
/ THEKERNEL
->acceleration_ticks_per_second
) * STEPS_PER_MM(c
));
543 current_rate
= min( target_rate
, current_rate
+ rate_increase
);
545 if( current_rate
> target_rate
) {
546 current_rate
= target_rate
;
550 STEPPER
[c
]->set_speed(current_rate
);
553 // issue a coordinated move directly to robot, and return when done
554 // Only move the coordinates that are passed in as not nan
555 // NOTE must use G53 to force move in machine coordiantes and ignore any WCS offsetts
556 void ZProbe::coordinated_move(float x
, float y
, float z
, float feedrate
, bool relative
)
561 if(relative
) strcpy(cmd
, "G91 G0 ");
562 else strcpy(cmd
, "G53 G0 "); // G53 forces movement in machine coordinate system
565 int n
= snprintf(buf
, sizeof(buf
), " X%1.3f", x
);
566 strncat(cmd
, buf
, n
);
569 int n
= snprintf(buf
, sizeof(buf
), " Y%1.3f", y
);
570 strncat(cmd
, buf
, n
);
573 int n
= snprintf(buf
, sizeof(buf
), " Z%1.3f", z
);
574 strncat(cmd
, buf
, n
);
577 // use specified feedrate (mm/sec)
578 int n
= snprintf(buf
, sizeof(buf
), " F%1.1f", feedrate
* 60); // feed rate is converted to mm/min
579 strncat(cmd
, buf
, n
);
580 if(relative
) strcat(cmd
, " G90");
582 //THEKERNEL->streams->printf("DEBUG: move: %s\n", cmd);
584 // send as a command line as may have multiple G codes in it
585 struct SerialMessage message
;
586 message
.message
= cmd
;
587 message
.stream
= &(StreamOutput::NullStream
);
588 THEKERNEL
->call_event(ON_CONSOLE_LINE_RECEIVED
, &message
);
589 THEKERNEL
->conveyor
->wait_for_empty_queue();
592 // issue home command
595 Gcode
gc("G28", &(StreamOutput::NullStream
));
596 THEKERNEL
->call_event(ON_GCODE_RECEIVED
, &gc
);
599 float ZProbe::zsteps_to_mm(float steps
)
601 return steps
/ Z_STEPS_PER_MM
;