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 max_z_checksum           CHECKSUM("max_z")
  45 #define reverse_z_direction_checksum CHECKSUM("reverse_z")
  46 #define dwell_before_probing_checksum CHECKSUM("dwell_before_probing")
  47
  48 // from endstop section
  49 #define delta_homing_checksum    CHECKSUM("delta_homing")
  50 #define rdelta_homing_checksum    CHECKSUM("rdelta_homing")
  51
  52 #define X_AXIS 0
  53 #define Y_AXIS 1
  54 #define Z_AXIS 2
  55
  56 #define STEPPER THEROBOT->actuators
  57 #define STEPS_PER_MM(a) (STEPPER[a]->get_steps_per_mm())
  58 #define Z_STEPS_PER_MM STEPS_PER_MM(Z_AXIS)
  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
  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(zprobe_checksum, max_z_checksum)->by_default(NAN)->as_number(); // maximum zprobe distance
 144     if(isnan(this->max_z)){
 145         this->max_z = THEKERNEL->config->value(gamma_max_checksum)->by_default(200)->as_number(); // maximum zprobe distance
 146     }
 147     this->dwell_before_probing = THEKERNEL->config->value(zprobe_checksum, dwell_before_probing_checksum)->by_default(0)->as_number(); // dwell time in seconds before probing
 148
 149 }
 150
 151 uint32_t ZProbe::read_probe(uint32_t dummy)
 152 {
 153     if(!probing || probe_detected) return 0;
 154
 155     // we check all axis as it maybe a G38.2 X10 for instance, not just a probe in Z
 156     if(STEPPER[X_AXIS]->is_moving() || STEPPER[Y_AXIS]->is_moving() || STEPPER[Z_AXIS]->is_moving()) {
 157         // if it is moving then we check the probe, and debounce it
 158         if(this->pin.get() != invert_probe) {
 159             if(debounce < debounce_ms) {
 160                 debounce++;
 161             } else {
 162                 // we signal the motors to stop, which will preempt any moves on that axis
 163                 // we do all motors as it may be a delta
 164                 for(auto &a : THEROBOT->actuators) a->stop_moving();
 165                 probe_detected= true;
 166                 debounce= 0;
 167             }
 168
 169         } else {
 170             // The endstop was not hit yet
 171             debounce= 0;
 172         }
 173     }
 174
 175     return 0;
 176 }
 177
 178 // single probe in Z with custom feedrate
 179 // returns boolean value indicating if probe was triggered
 180 bool ZProbe::run_probe(float& mm, float feedrate, float max_dist, bool reverse)
 181 {
 182     if(dwell_before_probing > .0001F) safe_delay_ms(dwell_before_probing*1000);
 183
 184     if(this->pin.get()) {
 185         // probe already triggered so abort
 186         return false;
 187     }
 188
 189     float maxz= max_dist < 0 ? this->max_z*2 : max_dist;
 190
 191     probing= true;
 192     probe_detected= false;
 193     debounce= 0;
 194
 195     // save current actuator position so we can report how far we moved
 196     float z_start_pos= THEROBOT->actuators[Z_AXIS]->get_current_position();
 197
 198     // move Z down
 199     bool dir= (!reverse_z != reverse); // xor
 200     float delta[3]= {0,0,0};
 201     delta[Z_AXIS]= dir ? -maxz : maxz;
 202     THEROBOT->delta_move(delta, feedrate, 3);
 203
 204     // wait until finished
 205     THECONVEYOR->wait_for_idle();
 206
 207     // now see how far we moved, get delta in z we moved
 208     // NOTE this works for deltas as well as all three actuators move the same amount in Z
 209     mm= z_start_pos - THEROBOT->actuators[2]->get_current_position();
 210
 211     // set the last probe position to the actuator units moved during this home
 212     THEROBOT->set_last_probe_position(std::make_tuple(0, 0, mm, probe_detected?1:0));
 213
 214     probing= false;
 215
 216     if(probe_detected) {
 217         // if the probe stopped the move we need to correct the last_milestone as it did not reach where it thought
 218         THEROBOT->reset_position_from_current_actuator_position();
 219     }
 220
 221     return probe_detected;
 222 }
 223
 224 // do probe then return to start position
 225 bool ZProbe::run_probe_return(float& mm, float feedrate, float max_dist, bool reverse)
 226 {
 227     float save_z_pos= THEROBOT->get_axis_position(Z_AXIS);
 228
 229     bool ok= run_probe(mm, feedrate, max_dist, reverse);
 230
 231     // move probe back to where it was
 232     float fr;
 233     if(this->return_feedrate != 0) { // use return_feedrate if set
 234         fr = this->return_feedrate;
 235     } else {
 236         fr = this->slow_feedrate*2; // nominally twice slow feedrate
 237         if(fr > this->fast_feedrate) fr = this->fast_feedrate; // unless that is greater than fast feedrate
 238     }
 239
 240     // absolute move back to saved starting position
 241     coordinated_move(NAN, NAN, save_z_pos, fr, false);
 242
 243     return ok;
 244 }
 245
 246 bool ZProbe::doProbeAt(float &mm, float x, float y)
 247 {
 248     // move to xy
 249     coordinated_move(x, y, NAN, getFastFeedrate());
 250     return run_probe_return(mm, slow_feedrate);
 251 }
 252
 253 void ZProbe::on_gcode_received(void *argument)
 254 {
 255     Gcode *gcode = static_cast<Gcode *>(argument);
 256
 257     if( gcode->has_g && gcode->g >= 29 && gcode->g <= 32) {
 258
 259         invert_probe = false;
 260         // make sure the probe is defined and not already triggered before moving motors
 261         if(!this->pin.connected()) {
 262             gcode->stream->printf("ZProbe pin not configured.\n");
 263             return;
 264         }
 265
 266         if(this->pin.get()) {
 267             gcode->stream->printf("ZProbe triggered before move, aborting command.\n");
 268             return;
 269         }
 270
 271         if( gcode->g == 30 ) { // simple Z probe
 272             // first wait for all moves to finish
 273             THEKERNEL->conveyor->wait_for_idle();
 274
 275             bool set_z= (gcode->has_letter('Z') && !is_rdelta);
 276             bool probe_result;
 277             bool reverse= (gcode->has_letter('R') && gcode->get_value('R') != 0); // specify to probe in reverse direction
 278             float rate= gcode->has_letter('F') ? gcode->get_value('F') / 60 : this->slow_feedrate;
 279             float mm;
 280
 281             // if not setting Z then return probe to where it started, otherwise leave it where it is
 282             probe_result = (set_z ? run_probe(mm, rate, -1, reverse) : run_probe_return(mm, rate, -1, reverse));
 283
 284             if(probe_result) {
 285                 // the result is in actuator coordinates moved
 286                 gcode->stream->printf("Z:%1.4f\n", THEKERNEL->robot->from_millimeters(mm));
 287
 288                 if(set_z) {
 289                     // set current Z to the specified value, shortcut for G92 Znnn
 290                     char buf[32];
 291                     int n = snprintf(buf, sizeof(buf), "G92 Z%f", gcode->get_value('Z'));
 292                     string g(buf, n);
 293                     Gcode gc(g, &(StreamOutput::NullStream));
 294                     THEKERNEL->call_event(ON_GCODE_RECEIVED, &gc);
 295                 }
 296
 297             } else {
 298                 gcode->stream->printf("ZProbe not triggered\n");
 299             }
 300
 301         } else {
 302             if(!gcode->has_letter('P')) {
 303                 // find the first strategy to handle the gcode
 304                 for(auto s : strategies){
 305                     if(s->handleGcode(gcode)) {
 306                         return;
 307                     }
 308                 }
 309                 gcode->stream->printf("No strategy found to handle G%d\n", gcode->g);
 310
 311             }else{
 312                 // P paramater selects which strategy to send the code to
 313                 // they are loaded in the order they are defined in config, 0 being the first, 1 being the second and so on.
 314                 uint16_t i= gcode->get_value('P');
 315                 if(i < strategies.size()) {
 316                     if(!strategies[i]->handleGcode(gcode)){
 317                         gcode->stream->printf("strategy #%d did not handle G%d\n", i, gcode->g);
 318                     }
 319                     return;
 320
 321                 }else{
 322                     gcode->stream->printf("strategy #%d is not loaded\n", i);
 323                 }
 324             }
 325         }
 326
 327     } else if(gcode->has_g && gcode->g == 38 ) { // G38.2 Straight Probe with error, G38.3 straight probe without error
 328         // linuxcnc/grbl style probe http://www.linuxcnc.org/docs/2.5/html/gcode/gcode.html#sec:G38-probe
 329         if(gcode->subcode < 2 || gcode->subcode > 5) {
 330             gcode->stream->printf("error:Only G38.2 to G38.5 are supported\n");
 331             return;
 332         }
 333
 334         // make sure the probe is defined and not already triggered before moving motors
 335         if(!this->pin.connected()) {
 336             gcode->stream->printf("error:ZProbe not connected.\n");
 337             return;
 338         }
 339
 340         if(this->pin.get() ^ (gcode->subcode >= 4)) {
 341             gcode->stream->printf("error:ZProbe triggered before move, aborting command.\n");
 342             return;
 343         }
 344
 345         // first wait for all moves to finish
 346         THEKERNEL->conveyor->wait_for_idle();
 347
 348         float x= NAN, y=NAN, z=NAN;
 349         if(gcode->has_letter('X')) {
 350             x= gcode->get_value('X');
 351         }
 352
 353         if(gcode->has_letter('Y')) {
 354             y= gcode->get_value('Y');
 355         }
 356
 357         if(gcode->has_letter('Z')) {
 358             z= gcode->get_value('Z');
 359         }
 360
 361         if(isnan(x) && isnan(y) && isnan(z)) {
 362             gcode->stream->printf("error:at least one of X Y or Z must be specified\n");
 363             return;
 364         }
 365
 366         if(gcode->subcode == 4 || gcode->subcode == 5) {
 367             invert_probe = true;
 368         } else {
 369             invert_probe = false;
 370         }
 371
 372         probe_XYZ(gcode, x, y, z);
 373
 374         invert_probe = false;
 375
 376         return;
 377
 378     } else if(gcode->has_m) {
 379         // M code processing here
 380         int c;
 381         switch (gcode->m) {
 382             case 119:
 383                 c = this->pin.get();
 384                 gcode->stream->printf(" Probe: %d", c);
 385                 gcode->add_nl = true;
 386                 break;
 387
 388             case 670:
 389                 if (gcode->has_letter('S')) this->slow_feedrate = gcode->get_value('S');
 390                 if (gcode->has_letter('K')) this->fast_feedrate = gcode->get_value('K');
 391                 if (gcode->has_letter('R')) this->return_feedrate = gcode->get_value('R');
 392                 if (gcode->has_letter('Z')) this->max_z = gcode->get_value('Z');
 393                 if (gcode->has_letter('H')) this->probe_height = gcode->get_value('H');
 394                 if (gcode->has_letter('I')) { // NOTE this is temporary and toggles the invertion status of the pin
 395                     invert_override= (gcode->get_value('I') != 0);
 396                     pin.set_inverting(pin.is_inverting() != invert_override); // XOR so inverted pin is not inverted and vice versa
 397                 }
 398                 if (gcode->has_letter('D')) this->dwell_before_probing = gcode->get_value('D');
 399                 break;
 400
 401             case 500: // save settings
 402             case 503: // print settings
 403                 gcode->stream->printf(";Probe feedrates Slow/fast(K)/Return (mm/sec) max_z (mm) height (mm) dwell (s):\nM670 S%1.2f K%1.2f R%1.2f Z%1.2f H%1.2f D%1.2f\n",
 404                     this->slow_feedrate, this->fast_feedrate, this->return_feedrate, this->max_z, this->probe_height, this->dwell_before_probing);
 405
 406                 // fall through is intended so leveling strategies can handle m-codes too
 407
 408             default:
 409                 for(auto s : strategies){
 410                     if(s->handleGcode(gcode)) {
 411                         return;
 412                     }
 413                 }
 414         }
 415     }
 416 }
 417
 418 // special way to probe in the X or Y or Z direction using planned moves, should work with any kinematics
 419 void ZProbe::probe_XYZ(Gcode *gcode, float x, float y, float z)
 420 {
 421     // enable the probe checking in the timer
 422     probing= true;
 423     probe_detected= false;
 424     THEROBOT->disable_segmentation= true; // we must disable segmentation as this won't work with it enabled (beware on deltas probing in X or Y)
 425
 426     // get probe feedrate in mm/min and convert to mm/sec if specified
 427     float rate = (gcode->has_letter('F')) ? gcode->get_value('F')/60 : this->slow_feedrate;
 428
 429     // do a regular move which will stop as soon as the probe is triggered, or the distance is reached
 430     coordinated_move(x, y, z, rate, true);
 431
 432     // coordinated_move returns when the move is finished
 433
 434     // disable probe checking
 435     probing= false;
 436     THEROBOT->disable_segmentation= false;
 437
 438     // if the probe stopped the move we need to correct the last_milestone as it did not reach where it thought
 439     // this also sets last_milestone to the machine coordinates it stopped at
 440     THEROBOT->reset_position_from_current_actuator_position();
 441     float pos[3];
 442     THEROBOT->get_axis_position(pos, 3);
 443
 444     uint8_t probeok= this->probe_detected ? 1 : 0;
 445
 446     // print results using the GRBL format
 447     gcode->stream->printf("[PRB:%1.3f,%1.3f,%1.3f:%d]\n", THEKERNEL->robot->from_millimeters(pos[X_AXIS]), THEKERNEL->robot->from_millimeters(pos[Y_AXIS]), THEKERNEL->robot->from_millimeters(pos[Z_AXIS]), probeok);
 448     THEROBOT->set_last_probe_position(std::make_tuple(pos[X_AXIS], pos[Y_AXIS], pos[Z_AXIS], probeok));
 449
 450     if(probeok == 0 && (gcode->subcode == 2 || gcode->subcode == 4)) {
 451         // issue error if probe was not triggered and subcode is 2 or 4
 452         gcode->stream->printf("ALARM: Probe fail\n");
 453         THEKERNEL->call_event(ON_HALT, nullptr);
 454     }
 455 }
 456
 457 // issue a coordinated move directly to robot, and return when done
 458 // Only move the coordinates that are passed in as not nan
 459 // NOTE must use G53 to force move in machine coordinates and ignore any WCS offsets
 460 void ZProbe::coordinated_move(float x, float y, float z, float feedrate, bool relative)
 461 {
 462     #define CMDLEN 128
 463     char *cmd= new char[CMDLEN]; // use heap here to reduce stack usage
 464
 465     if(relative) strcpy(cmd, "G91 G0 ");
 466     else strcpy(cmd, "G53 G0 "); // G53 forces movement in machine coordinate system
 467
 468     if(!isnan(x)) {
 469         size_t n= strlen(cmd);
 470         snprintf(&cmd[n], CMDLEN-n, " X%1.3f", x);
 471     }
 472     if(!isnan(y)) {
 473         size_t n= strlen(cmd);
 474         snprintf(&cmd[n], CMDLEN-n, " Y%1.3f", y);
 475     }
 476     if(!isnan(z)) {
 477         size_t n= strlen(cmd);
 478         snprintf(&cmd[n], CMDLEN-n, " Z%1.3f", z);
 479     }
 480
 481     {
 482         size_t n= strlen(cmd);
 483         // use specified feedrate (mm/sec)
 484         snprintf(&cmd[n], CMDLEN-n, " F%1.1f", feedrate * 60); // feed rate is converted to mm/min
 485     }
 486
 487     if(relative) strcat(cmd, " G90");
 488
 489     //THEKERNEL->streams->printf("DEBUG: move: %s: %u\n", cmd, strlen(cmd));
 490
 491     // send as a command line as may have multiple G codes in it
 492     THEROBOT->push_state();
 493     struct SerialMessage message;
 494     message.message = cmd;
 495     delete [] cmd;
 496
 497     message.stream = &(StreamOutput::NullStream);
 498     THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message );
 499     THEKERNEL->conveyor->wait_for_idle();
 500     THEROBOT->pop_state();
 501
 502 }
 503
 504 // issue home command
 505 void ZProbe::home()
 506 {
 507     Gcode gc(THEKERNEL->is_grbl_mode() ? "G28.2" : "G28", &(StreamOutput::NullStream));
 508     THEKERNEL->call_event(ON_GCODE_RECEIVED, &gc);
 509 }