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     // Enable the motors
 167     THEKERNEL->stepper->turn_enable_pins_on();
 168     this->current_feedrate = (fast ? this->fast_feedrate : this->slow_feedrate) * Z_STEPS_PER_MM; // steps/sec
 169     float maxz= this->max_z*2;
 170
 171     // move Z down
 172     STEPPER[Z_AXIS]->move(true, maxz * Z_STEPS_PER_MM, 0); // always probes down, no more than 2*maxz
 173     if(this->is_delta) {
 174         // for delta need to move all three actuators
 175         STEPPER[X_AXIS]->move(true, maxz * STEPS_PER_MM(X_AXIS), 0);
 176         STEPPER[Y_AXIS]->move(true, maxz * STEPS_PER_MM(Y_AXIS), 0);
 177     }
 178
 179     // start acceration hrprocessing
 180     this->running = true;
 181
 182     bool r = wait_for_probe(steps);
 183     this->running = false;
 184     return r;
 185 }
 186
 187 bool ZProbe::return_probe(int steps)
 188 {
 189     // move probe back to where it was
 190     float fr= this->slow_feedrate*2; // nominally twice slow feedrate
 191     if(fr > this->fast_feedrate) fr= this->fast_feedrate; // unless that is greater than fast feedrate
 192     this->current_feedrate = fr * Z_STEPS_PER_MM; // feedrate in steps/sec
 193     bool dir= steps < 0;
 194     steps= abs(steps);
 195
 196     STEPPER[Z_AXIS]->move(dir, steps, 0);
 197     if(this->is_delta) {
 198         STEPPER[X_AXIS]->move(dir, steps, 0);
 199         STEPPER[Y_AXIS]->move(dir, steps, 0);
 200     }
 201
 202     this->running = true;
 203     while(STEPPER[Z_AXIS]->is_moving() || (is_delta && (STEPPER[X_AXIS]->is_moving() || STEPPER[Y_AXIS]->is_moving())) ) {
 204         // wait for it to complete
 205         THEKERNEL->call_event(ON_IDLE);
 206     }
 207
 208     this->running = false;
 209
 210     return true;
 211 }
 212
 213 bool ZProbe::doProbeAt(int &steps, float x, float y)
 214 {
 215     int s;
 216     // move to xy
 217     coordinated_move(x, y, NAN, getFastFeedrate());
 218     if(!run_probe(s)) return false;
 219
 220     // return to original Z
 221     return_probe(s);
 222     steps = s;
 223
 224     return true;
 225 }
 226
 227 float ZProbe::probeDistance(float x, float y)
 228 {
 229     int s;
 230     if(!doProbeAt(s, x, y)) return NAN;
 231     return zsteps_to_mm(s);
 232 }
 233
 234 void ZProbe::on_gcode_received(void *argument)
 235 {
 236     Gcode *gcode = static_cast<Gcode *>(argument);
 237
 238     if( gcode->has_g && gcode->g >= 29 && gcode->g <= 32) {
 239         // make sure the probe is defined and not already triggered before moving motors
 240        if(!this->pin.connected()) {
 241             gcode->stream->printf("ZProbe not connected.\n");
 242             return;
 243         }
 244         if(this->pin.get()) {
 245             gcode->stream->printf("ZProbe triggered before move, aborting command.\n");
 246             return;
 247         }
 248
 249         if( gcode->g == 30 ) { // simple Z probe
 250             gcode->mark_as_taken();
 251             // first wait for an empty queue i.e. no moves left
 252             THEKERNEL->conveyor->wait_for_empty_queue();
 253
 254             int steps;
 255             if(run_probe(steps)) {
 256                 gcode->stream->printf("Z:%1.4f C:%d\n", steps / Z_STEPS_PER_MM, steps);
 257                 // move back to where it started, unless a Z is specified
 258                 if(gcode->has_letter('Z')) {
 259                     // set Z to the specified value, and leave probe where it is
 260                     THEKERNEL->robot->reset_axis_position(gcode->get_value('Z'), Z_AXIS);
 261                 } else {
 262                     return_probe(steps);
 263                 }
 264             } else {
 265                 gcode->stream->printf("ZProbe not triggered\n");
 266             }
 267
 268         } else {
 269             // find a strategy to handle the gcode
 270             for(auto s : strategies){
 271                 if(s->handleGcode(gcode)) {
 272                     gcode->mark_as_taken();
 273                     return;
 274                 }
 275             }
 276             gcode->stream->printf("No strategy found to handle G%d\n", gcode->g);
 277         }
 278
 279     } else if(gcode->has_m) {
 280         // M code processing here
 281         if(gcode->m == 119) {
 282             int c = this->pin.get();
 283             gcode->stream->printf(" Probe: %d", c);
 284             gcode->add_nl = true;
 285             gcode->mark_as_taken();
 286
 287         }else {
 288             for(auto s : strategies){
 289                 if(s->handleGcode(gcode)) {
 290                     gcode->mark_as_taken();
 291                     return;
 292                 }
 293             }
 294         }
 295     }
 296 }
 297
 298 // Called periodically to change the speed to match acceleration
 299 void ZProbe::acceleration_tick(void)
 300 {
 301     if(!this->running) return; // nothing to do
 302     if(STEPPER[Z_AXIS]->is_moving()) accelerate(Z_AXIS);
 303
 304     if(is_delta) {
 305          // deltas needs to move all actuators
 306         for ( int c = X_AXIS; c <= Y_AXIS; c++ ) {
 307             if( !STEPPER[c]->is_moving() ) continue;
 308             accelerate(c);
 309         }
 310     }
 311
 312     return;
 313 }
 314
 315 void ZProbe::accelerate(int c)
 316 {   uint32_t current_rate = STEPPER[c]->get_steps_per_second();
 317     uint32_t target_rate = floorf(this->current_feedrate);
 318
 319     // Z may have a different acceleration to X and Y
 320     float acc= (c==Z_AXIS) ? THEKERNEL->planner->get_z_acceleration() : THEKERNEL->planner->get_acceleration();
 321     if( current_rate < target_rate ) {
 322         uint32_t rate_increase = floorf((acc / THEKERNEL->acceleration_ticks_per_second) * STEPS_PER_MM(c));
 323         current_rate = min( target_rate, current_rate + rate_increase );
 324     }
 325     if( current_rate > target_rate ) {
 326         current_rate = target_rate;
 327     }
 328
 329     // steps per second
 330     STEPPER[c]->set_speed(current_rate);
 331 }
 332
 333 // issue a coordinated move directly to robot, and return when done
 334 // Only move the coordinates that are passed in as not nan
 335 void ZProbe::coordinated_move(float x, float y, float z, float feedrate, bool relative)
 336 {
 337     char buf[32];
 338     char cmd[64];
 339
 340     if(relative) strcpy(cmd, "G91 G0 ");
 341     else strcpy(cmd, "G0 ");
 342
 343     if(!isnan(x)) {
 344         int n = snprintf(buf, sizeof(buf), " X%1.3f", x);
 345         strncat(cmd, buf, n);
 346     }
 347     if(!isnan(y)) {
 348         int n = snprintf(buf, sizeof(buf), " Y%1.3f", y);
 349         strncat(cmd, buf, n);
 350     }
 351     if(!isnan(z)) {
 352         int n = snprintf(buf, sizeof(buf), " Z%1.3f", z);
 353         strncat(cmd, buf, n);
 354     }
 355
 356     // use specified feedrate (mm/sec)
 357     int n = snprintf(buf, sizeof(buf), " F%1.1f", feedrate * 60); // feed rate is converted to mm/min
 358     strncat(cmd, buf, n);
 359     if(relative) strcat(cmd, " G90");
 360
 361     //THEKERNEL->streams->printf("DEBUG: move: %s\n", cmd);
 362
 363     // send as a command line as may have multiple G codes in it
 364     struct SerialMessage message;
 365     message.message = cmd;
 366     message.stream = &(StreamOutput::NullStream);
 367     THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message );
 368     THEKERNEL->conveyor->wait_for_empty_queue();
 369 }
 370
 371 // issue home command
 372 void ZProbe::home()
 373 {
 374     Gcode gc("G28", &(StreamOutput::NullStream));
 375     THEKERNEL->call_event(ON_GCODE_RECEIVED, &gc);
 376 }
 377
 378 float ZProbe::zsteps_to_mm(float steps)
 379 {
 380     return steps / Z_STEPS_PER_MM;
 381 }