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
  35 #define enable_checksum          CHECKSUM("enable")
  36 #define probe_pin_checksum       CHECKSUM("probe_pin")
  37 #define debounce_ms_checksum     CHECKSUM("debounce_ms")
  38 #define slow_feedrate_checksum   CHECKSUM("slow_feedrate")
  39 #define fast_feedrate_checksum   CHECKSUM("fast_feedrate")
  40 #define return_feedrate_checksum CHECKSUM("return_feedrate")
  41 #define probe_height_checksum    CHECKSUM("probe_height")
  42 #define gamma_max_checksum       CHECKSUM("gamma_max")
  43 #define reverse_z_direction_checksum CHECKSUM("reverse_z")
  44
  45 // from endstop section
  46 #define delta_homing_checksum    CHECKSUM("delta_homing")
  47 #define rdelta_homing_checksum    CHECKSUM("rdelta_homing")
  48
  49 #define X_AXIS 0
  50 #define Y_AXIS 1
  51 #define Z_AXIS 2
  52
  53 #define STEPPER THEROBOT->actuators
  54 #define STEPS_PER_MM(a) (STEPPER[a]->get_steps_per_mm())
  55 #define Z_STEPS_PER_MM STEPS_PER_MM(Z_AXIS)
  56
  57 #define abs(a) ((a<0) ? -a : a)
  58
  59 void ZProbe::on_module_loaded()
  60 {
  61     // if the module is disabled -> do nothing
  62     if(!THEKERNEL->config->value( zprobe_checksum, enable_checksum )->by_default(false)->as_bool()) {
  63         // as this module is not needed free up the resource
  64         delete this;
  65         return;
  66     }
  67
  68     // load settings
  69     this->config_load();
  70     // register event-handlers
  71     register_for_event(ON_GCODE_RECEIVED);
  72
  73     // we read the probe in this timer, currently only for G38 probes.
  74     probing= false;
  75     THEKERNEL->slow_ticker->attach(1000, this, &ZProbe::read_probe);
  76 }
  77
  78 void ZProbe::config_load()
  79 {
  80     this->pin.from_string( THEKERNEL->config->value(zprobe_checksum, probe_pin_checksum)->by_default("nc" )->as_string())->as_input();
  81     this->debounce_ms    = THEKERNEL->config->value(zprobe_checksum, debounce_ms_checksum)->by_default(0  )->as_number();
  82
  83     // get strategies to load
  84     vector<uint16_t> modules;
  85     THEKERNEL->config->get_module_list( &modules, leveling_strategy_checksum);
  86     for( auto cs : modules ){
  87         if( THEKERNEL->config->value(leveling_strategy_checksum, cs, enable_checksum )->as_bool() ){
  88             bool found= false;
  89             // check with each known strategy and load it if it matches
  90             switch(cs) {
  91                 case delta_calibration_strategy_checksum:
  92                     this->strategies.push_back(new DeltaCalibrationStrategy(this));
  93                     found= true;
  94                     break;
  95
  96                 case three_point_leveling_strategy_checksum:
  97                     // NOTE this strategy is mutually exclusive with the delta calibration strategy
  98                     this->strategies.push_back(new ThreePointStrategy(this));
  99                     found= true;
 100                     break;
 101
 102                 case delta_grid_leveling_strategy_checksum:
 103                     this->strategies.push_back(new DeltaGridStrategy(this));
 104                     found= true;
 105                     break;
 106             }
 107             if(found) this->strategies.back()->handleConfig();
 108         }
 109     }
 110
 111     // need to know if we need to use delta kinematics for homing
 112     this->is_delta = THEKERNEL->config->value(delta_homing_checksum)->by_default(false)->as_bool();
 113     this->is_rdelta = THEKERNEL->config->value(rdelta_homing_checksum)->by_default(false)->as_bool();
 114
 115     // default for backwards compatibility add DeltaCalibrationStrategy if a delta
 116     // may be deprecated
 117     if(this->strategies.empty()) {
 118         if(this->is_delta) {
 119             this->strategies.push_back(new DeltaCalibrationStrategy(this));
 120             this->strategies.back()->handleConfig();
 121         }
 122     }
 123
 124     this->probe_height  = THEKERNEL->config->value(zprobe_checksum, probe_height_checksum)->by_default(5.0F)->as_number();
 125     this->slow_feedrate = THEKERNEL->config->value(zprobe_checksum, slow_feedrate_checksum)->by_default(5)->as_number(); // feedrate in mm/sec
 126     this->fast_feedrate = THEKERNEL->config->value(zprobe_checksum, fast_feedrate_checksum)->by_default(100)->as_number(); // feedrate in mm/sec
 127     this->return_feedrate = THEKERNEL->config->value(zprobe_checksum, return_feedrate_checksum)->by_default(0)->as_number(); // feedrate in mm/sec
 128     this->reverse_z     = THEKERNEL->config->value(zprobe_checksum, reverse_z_direction_checksum)->by_default(false)->as_bool(); // Z probe moves in reverse direction
 129     this->max_z         = THEKERNEL->config->value(gamma_max_checksum)->by_default(500)->as_number(); // maximum zprobe distance
 130 }
 131
 132 uint32_t ZProbe::read_probe(uint32_t dummy)
 133 {
 134     if(!probing || probe_detected) return 0;
 135
 136     // we check all axis as it maybe a G38.2 X10 for instance, not just a probe in Z
 137     if(STEPPER[X_AXIS]->is_moving() || STEPPER[Y_AXIS]->is_moving() || STEPPER[Z_AXIS]->is_moving()) {
 138         // if it is moving then we check the probe, and debounce it
 139         if(this->pin.get()) {
 140             if(debounce < debounce_ms) {
 141                 debounce++;
 142             } else {
 143                 // we signal the motors to stop, which will preempt any moves on that axis
 144                 // we do all motors as it may be a delta
 145                 for(auto &a : THEROBOT->actuators) a->stop_moving();
 146                 probe_detected= true;
 147                 debounce= 0;
 148             }
 149
 150         } else {
 151             // The endstop was not hit yet
 152             debounce= 0;
 153         }
 154     }
 155
 156     return 0;
 157 }
 158
 159 // single probe in Z with custom feedrate
 160 // returns boolean value indicating if probe was triggered
 161 bool ZProbe::run_probe(float& mm, float feedrate, float max_dist, bool reverse)
 162 {
 163     float maxz= max_dist < 0 ? this->max_z*2 : max_dist;
 164
 165     probing= true;
 166     probe_detected= false;
 167     debounce= 0;
 168
 169     // save current actuator position so we can report how far we moved
 170     ActuatorCoordinates start_pos{
 171         THEROBOT->actuators[X_AXIS]->get_current_position(),
 172         THEROBOT->actuators[Y_AXIS]->get_current_position(),
 173         THEROBOT->actuators[Z_AXIS]->get_current_position()
 174     };
 175
 176     // move Z down
 177     THEROBOT->disable_segmentation= true; // we must disable segmentation as this won't work with it enabled
 178     bool dir= (!reverse_z != reverse); // xor
 179     float delta[3]= {0,0,0};
 180     delta[Z_AXIS]= dir ? -maxz : maxz;
 181     THEROBOT->delta_move(delta, feedrate, 3);
 182
 183     // wait until finished
 184     THECONVEYOR->wait_for_idle();
 185     THEROBOT->disable_segmentation= false;
 186
 187     // now see how far we moved, get delta in z we moved
 188     // NOTE this works for deltas as well as all three actuators move the same amount in Z
 189     mm= start_pos[2] - THEROBOT->actuators[2]->get_current_position();
 190
 191     // set the last probe position to the actuator units moved during this home
 192     THEROBOT->set_last_probe_position(
 193         std::make_tuple(
 194             start_pos[0] - THEROBOT->actuators[0]->get_current_position(),
 195             start_pos[1] - THEROBOT->actuators[1]->get_current_position(),
 196             mm,
 197             probe_detected?1:0));
 198
 199     probing= false;
 200
 201     if(probe_detected) {
 202         // if the probe stopped the move we need to correct the last_milestone as it did not reach where it thought
 203         THEROBOT->reset_position_from_current_actuator_position();
 204     }
 205
 206     return probe_detected;
 207 }
 208
 209 bool ZProbe::return_probe(float mm, bool reverse)
 210 {
 211     // move probe back to where it was
 212     float fr;
 213     if(this->return_feedrate != 0) { // use return_feedrate if set
 214         fr = this->return_feedrate;
 215     } else {
 216         fr = this->slow_feedrate*2; // nominally twice slow feedrate
 217         if(fr > this->fast_feedrate) fr = this->fast_feedrate; // unless that is greater than fast feedrate
 218     }
 219
 220     bool dir= ((mm < 0) != reverse_z); // xor
 221     if(reverse) dir= !dir;
 222
 223     float delta[3]= {0,0,0};
 224     delta[Z_AXIS]= dir ? -mm : mm;
 225     THEROBOT->delta_move(delta, fr, 3);
 226
 227     // wait until finished
 228     THECONVEYOR->wait_for_idle();
 229
 230     return true;
 231 }
 232
 233 bool ZProbe::doProbeAt(float &mm, float x, float y)
 234 {
 235     float s;
 236     // move to xy
 237     coordinated_move(x, y, NAN, getFastFeedrate());
 238     if(!run_probe(s)) return false;
 239
 240     // return to original Z
 241     return_probe(s);
 242     mm = s;
 243
 244     return true;
 245 }
 246
 247 float ZProbe::probeDistance(float x, float y)
 248 {
 249     float s;
 250     if(!doProbeAt(s, x, y)) return NAN;
 251     return s;
 252 }
 253
 254 void ZProbe::on_gcode_received(void *argument)
 255 {
 256     Gcode *gcode = static_cast<Gcode *>(argument);
 257
 258     if( gcode->has_g && gcode->g >= 29 && gcode->g <= 32) {
 259
 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 all moves to finish
 272             THEKERNEL->conveyor->wait_for_idle();
 273
 274             bool probe_result;
 275             bool reverse= (gcode->has_letter('R') && gcode->get_value('R') != 0); // specify to probe in reverse direction
 276             float rate= gcode->has_letter('F') ? gcode->get_value('F') / 60 : this->slow_feedrate;
 277             float mm;
 278             probe_result = run_probe(mm, rate, -1, reverse);
 279
 280             if(probe_result) {
 281                 // the result is in actuator coordinates and raw steps
 282                 gcode->stream->printf("Z:%1.4f\n", mm);
 283
 284                 // set the last probe position to the current actuator units
 285                 THEROBOT->set_last_probe_position(std::make_tuple(
 286                     THEROBOT->actuators[X_AXIS]->get_current_position(),
 287                     THEROBOT->actuators[Y_AXIS]->get_current_position(),
 288                     THEROBOT->actuators[Z_AXIS]->get_current_position(),
 289                     1));
 290
 291                 // move back to where it started, unless a Z is specified (and not a rotary delta)
 292                 if(gcode->has_letter('Z') && !is_rdelta) {
 293                     // set Z to the specified value, and leave probe where it is
 294                     THEROBOT->reset_axis_position(gcode->get_value('Z'), Z_AXIS);
 295
 296                 } else {
 297                     // return to pre probe position
 298                     return_probe(mm, reverse);
 299                 }
 300
 301             } else {
 302                 gcode->stream->printf("ZProbe not triggered\n");
 303                 THEROBOT->set_last_probe_position(std::make_tuple(
 304                     THEROBOT->actuators[X_AXIS]->get_current_position(),
 305                     THEROBOT->actuators[Y_AXIS]->get_current_position(),
 306                     THEROBOT->actuators[Z_AXIS]->get_current_position(),
 307                     0));
 308             }
 309
 310         } else {
 311             if(!gcode->has_letter('P')) {
 312                 // find the first strategy to handle the gcode
 313                 for(auto s : strategies){
 314                     if(s->handleGcode(gcode)) {
 315                         return;
 316                     }
 317                 }
 318                 gcode->stream->printf("No strategy found to handle G%d\n", gcode->g);
 319
 320             }else{
 321                 // P paramater selects which strategy to send the code to
 322                 // they are loaded in the order they are defined in config, 0 being the first, 1 being the second and so on.
 323                 uint16_t i= gcode->get_value('P');
 324                 if(i < strategies.size()) {
 325                     if(!strategies[i]->handleGcode(gcode)){
 326                         gcode->stream->printf("strategy #%d did not handle G%d\n", i, gcode->g);
 327                     }
 328                     return;
 329
 330                 }else{
 331                     gcode->stream->printf("strategy #%d is not loaded\n", i);
 332                 }
 333             }
 334         }
 335
 336     } else if(gcode->has_g && gcode->g == 38 ) { // G38.2 Straight Probe with error, G38.3 straight probe without error
 337         // linuxcnc/grbl style probe http://www.linuxcnc.org/docs/2.5/html/gcode/gcode.html#sec:G38-probe
 338         if(gcode->subcode != 2 && gcode->subcode != 3) {
 339             gcode->stream->printf("error:Only G38.2 and G38.3 are supported\n");
 340             return;
 341         }
 342
 343         // make sure the probe is defined and not already triggered before moving motors
 344         if(!this->pin.connected()) {
 345             gcode->stream->printf("error:ZProbe not connected.\n");
 346             return;
 347         }
 348
 349         if(this->pin.get()) {
 350             gcode->stream->printf("error:ZProbe triggered before move, aborting command.\n");
 351             return;
 352         }
 353
 354         // first wait for all moves to finish
 355         THEKERNEL->conveyor->wait_for_idle();
 356
 357         if(gcode->has_letter('X')) {
 358             // probe in the X axis
 359             probe_XYZ(gcode, X_AXIS);
 360
 361         }else if(gcode->has_letter('Y')) {
 362             // probe in the Y axis
 363             probe_XYZ(gcode, Y_AXIS);
 364
 365         }else if(gcode->has_letter('Z')) {
 366             // probe in the Z axis
 367             probe_XYZ(gcode, Z_AXIS);
 368
 369         }else{
 370             gcode->stream->printf("error:at least one of X Y or Z must be specified\n");
 371         }
 372
 373         return;
 374
 375     } else if(gcode->has_m) {
 376         // M code processing here
 377         int c;
 378         switch (gcode->m) {
 379             case 119:
 380                 c = this->pin.get();
 381                 gcode->stream->printf(" Probe: %d", c);
 382                 gcode->add_nl = true;
 383                 break;
 384
 385             case 670:
 386                 if (gcode->has_letter('S')) this->slow_feedrate = gcode->get_value('S');
 387                 if (gcode->has_letter('K')) this->fast_feedrate = gcode->get_value('K');
 388                 if (gcode->has_letter('R')) this->return_feedrate = gcode->get_value('R');
 389                 if (gcode->has_letter('Z')) this->max_z = gcode->get_value('Z');
 390                 if (gcode->has_letter('H')) this->probe_height = gcode->get_value('H');
 391                 if (gcode->has_letter('I')) { // NOTE this is temporary and toggles the invertion status of the pin
 392                     invert_override= (gcode->get_value('I') != 0);
 393                     pin.set_inverting(pin.is_inverting() != invert_override); // XOR so inverted pin is not inverted and vice versa
 394                 }
 395                 break;
 396
 397             case 500: // save settings
 398             case 503: // print settings
 399                 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",
 400                     this->slow_feedrate, this->fast_feedrate, this->return_feedrate, this->max_z, this->probe_height);
 401
 402                 // fall through is intended so leveling strategies can handle m-codes too
 403
 404             default:
 405                 for(auto s : strategies){
 406                     if(s->handleGcode(gcode)) {
 407                         return;
 408                     }
 409                 }
 410         }
 411     }
 412 }
 413
 414 // special way to probe in the X or Y or Z direction using planned moves, should work with any kinematics
 415 void ZProbe::probe_XYZ(Gcode *gcode, int axis)
 416 {
 417     // enable the probe checking in the timer
 418     probing= true;
 419     probe_detected= false;
 420     THEROBOT->disable_segmentation= true; // we must disable segmentation as this won't work with it enabled (beware on deltas probing in X or Y)
 421
 422     // get probe feedrate if specified
 423     float rate = (gcode->has_letter('F')) ? gcode->get_value('F')*60 : this->slow_feedrate;
 424
 425     // do a regular move which will stop as soon as the probe is triggered, or the distance is reached
 426     switch(axis) {
 427         case X_AXIS: coordinated_move(gcode->get_value('X'), 0, 0, rate, true); break;
 428         case Y_AXIS: coordinated_move(0, gcode->get_value('Y'), 0, rate, true); break;
 429         case Z_AXIS: coordinated_move(0, 0, gcode->get_value('Z'), rate, true); break;
 430     }
 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", pos[X_AXIS], pos[Y_AXIS], 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) {
 451         // issue error if probe was not triggered and subcode == 2
 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     char buf[32];
 463     char cmd[64];
 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         int n = snprintf(buf, sizeof(buf), " X%1.3f", x);
 470         strncat(cmd, buf, n);
 471     }
 472     if(!isnan(y)) {
 473         int n = snprintf(buf, sizeof(buf), " Y%1.3f", y);
 474         strncat(cmd, buf, n);
 475     }
 476     if(!isnan(z)) {
 477         int n = snprintf(buf, sizeof(buf), " Z%1.3f", z);
 478         strncat(cmd, buf, n);
 479     }
 480
 481     // use specified feedrate (mm/sec)
 482     int n = snprintf(buf, sizeof(buf), " F%1.1f", feedrate * 60); // feed rate is converted to mm/min
 483     strncat(cmd, buf, n);
 484     if(relative) strcat(cmd, " G90");
 485
 486     //THEKERNEL->streams->printf("DEBUG: move: %s\n", cmd);
 487
 488     // send as a command line as may have multiple G codes in it
 489     struct SerialMessage message;
 490     message.message = cmd;
 491     message.stream = &(StreamOutput::NullStream);
 492     THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message );
 493     THEKERNEL->conveyor->wait_for_idle();
 494 }
 495
 496 // issue home command
 497 void ZProbe::home()
 498 {
 499     Gcode gc("G28", &(StreamOutput::NullStream));
 500     THEKERNEL->call_event(ON_GCODE_RECEIVED, &gc);
 501 }