-/*
- This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl).
- 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.
- 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.
- You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>.
-*/
-
-#include "ZProbe.h"
-
-#include "Kernel.h"
-#include "BaseSolution.h"
-#include "Config.h"
-#include "Robot.h"
-#include "StepperMotor.h"
-#include "StreamOutputPool.h"
-#include "Gcode.h"
-#include "Conveyor.h"
-#include "Stepper.h"
-#include "checksumm.h"
-#include "ConfigValue.h"
-#include "SlowTicker.h"
-#include "Planner.h"
-#include "SerialMessage.h"
-#include "PublicDataRequest.h"
-#include "EndstopsPublicAccess.h"
-#include "PublicData.h"
-
-#include <tuple>
-#include <algorithm>
-
-#define zprobe_checksum CHECKSUM("zprobe")
-#define enable_checksum CHECKSUM("enable")
-#define probe_pin_checksum CHECKSUM("probe_pin")
-#define debounce_count_checksum CHECKSUM("debounce_count")
-#define slow_feedrate_checksum CHECKSUM("slow_feedrate")
-#define fast_feedrate_checksum CHECKSUM("fast_feedrate")
-#define probe_radius_checksum CHECKSUM("probe_radius")
-#define probe_height_checksum CHECKSUM("probe_height")
-
-// from endstop section
-#define delta_homing_checksum CHECKSUM("delta_homing")
-
-#define X_AXIS 0
-#define Y_AXIS 1
-#define Z_AXIS 2
-
-#define STEPPER THEKERNEL->robot->actuators
-#define STEPS_PER_MM(a) (STEPPER[a]->get_steps_per_mm())
-#define Z_STEPS_PER_MM STEPS_PER_MM(Z_AXIS)
-
-#define abs(a) ((a<0) ? -a : a)
-
-void ZProbe::on_module_loaded()
-{
- // if the module is disabled -> do nothing
- if(!THEKERNEL->config->value( zprobe_checksum, enable_checksum )->by_default(false)->as_bool()) {
- // as this module is not needed free up the resource
- delete this;
- return;
- }
- this->running = false;
-
- // load settings
- this->on_config_reload(this);
- // register event-handlers
- register_for_event(ON_GCODE_RECEIVED);
-
- THEKERNEL->slow_ticker->attach( THEKERNEL->stepper->get_acceleration_ticks_per_second() , this, &ZProbe::acceleration_tick );
-}
-
-void ZProbe::on_config_reload(void *argument)
-{
- this->pin.from_string( THEKERNEL->config->value(zprobe_checksum, probe_pin_checksum)->by_default("nc" )->as_string())->as_input();
- this->debounce_count = THEKERNEL->config->value(zprobe_checksum, debounce_count_checksum)->by_default(0 )->as_number();
-
- // see what type of arm solution we need to use
- this->is_delta = THEKERNEL->config->value(delta_homing_checksum)->by_default(false)->as_bool();
- if(this->is_delta) {
- // default is probably wrong
- this->probe_radius = THEKERNEL->config->value(zprobe_checksum, probe_radius_checksum)->by_default(100.0F)->as_number();
- }
-
- this->probe_height = THEKERNEL->config->value(zprobe_checksum, probe_height_checksum)->by_default(5.0F)->as_number();
- this->slow_feedrate = THEKERNEL->config->value(zprobe_checksum, slow_feedrate_checksum)->by_default(5)->as_number(); // feedrate in mm/sec
- this->fast_feedrate = THEKERNEL->config->value(zprobe_checksum, fast_feedrate_checksum)->by_default(100)->as_number(); // feedrate in mm/sec
-}
-
-bool ZProbe::wait_for_probe(int steps[3])
-{
- unsigned int debounce = 0;
- while(true) {
- THEKERNEL->call_event(ON_IDLE);
- // if no stepper is moving, moves are finished and there was no touch
- if( !STEPPER[X_AXIS]->is_moving() && !STEPPER[Y_AXIS]->is_moving() && !STEPPER[Z_AXIS]->is_moving() ) {
- return false;
- }
-
- // if the touchprobe is active...
- if( this->pin.get() ) {
- //...increase debounce counter...
- if( debounce < debounce_count) {
- // ...but only if the counter hasn't reached the max. value
- debounce++;
- } else {
- // ...otherwise stop the steppers, return its remaining steps
- for( int i = X_AXIS; i <= Z_AXIS; i++ ) {
- steps[i] = 0;
- if ( STEPPER[i]->is_moving() ) {
- steps[i] = STEPPER[i]->get_stepped();
- STEPPER[i]->move(0, 0);
- }
- }
- return true;
- }
- } else {
- // The probe was not hit yet, reset debounce counter
- debounce = 0;
- }
- }
-}
-
-// single probe and report amount moved
-bool ZProbe::run_probe(int& steps, bool fast)
-{
- // Enable the motors
- THEKERNEL->stepper->turn_enable_pins_on();
- this->current_feedrate = (fast ? this->fast_feedrate : this->slow_feedrate) * Z_STEPS_PER_MM; // steps/sec
-
- // move Z down
- STEPPER[Z_AXIS]->set_speed(0); // will be increased by acceleration tick
- STEPPER[Z_AXIS]->move(true, 1000 * Z_STEPS_PER_MM); // always probes down, no more than 1000mm TODO should be 2*maxz
- if(this->is_delta) {
- // for delta need to move all three actuators
- STEPPER[X_AXIS]->set_speed(0);
- STEPPER[X_AXIS]->move(true, 1000 * STEPS_PER_MM(X_AXIS));
- STEPPER[Y_AXIS]->set_speed(0);
- STEPPER[Y_AXIS]->move(true, 1000 * STEPS_PER_MM(Y_AXIS));
- }
-
- this->running = true;
-
- int s[3];
- bool r = wait_for_probe(s);
- steps= s[Z_AXIS]; // only need z
- this->running = false;
- return r;
-}
-
-bool ZProbe::return_probe(int steps)
-{
- // move probe back to where it was
- this->current_feedrate = this->fast_feedrate * Z_STEPS_PER_MM; // feedrate in steps/sec
- bool dir= steps < 0;
- steps= abs(steps);
-
- STEPPER[Z_AXIS]->set_speed(0); // will be increased by acceleration tick
- STEPPER[Z_AXIS]->move(dir, steps);
- if(this->is_delta) {
- STEPPER[X_AXIS]->set_speed(0);
- STEPPER[X_AXIS]->move(dir, steps);
- STEPPER[Y_AXIS]->set_speed(0);
- STEPPER[Y_AXIS]->move(dir, steps);
- }
-
- this->running = true;
- while(STEPPER[X_AXIS]->is_moving() || STEPPER[Y_AXIS]->is_moving() || STEPPER[Z_AXIS]->is_moving()) {
- // wait for it to complete
- THEKERNEL->call_event(ON_IDLE);
- }
-
- this->running = false;
-
- return true;
-}
-
-// calculate the X and Y positions for the three towers given the radius from the center
-static std::tuple<float, float, float, float, float, float> getCoordinates(float radius)
-{
- float px = 0.866F * radius; // ~sin(60)
- float py = 0.5F * radius; // cos(60)
- float t1x = -px, t1y = -py; // X Tower
- float t2x = px, t2y = -py; // Y Tower
- float t3x = 0.0F, t3y = radius; // Z Tower
- return std::make_tuple(t1x, t1y, t2x, t2y, t3x, t3y);
-}
-
-bool ZProbe::probe_delta_tower(int& steps, float x, float y)
-{
- int s;
- // move to tower
- coordinated_move(x, y, NAN, this->fast_feedrate);
- if(!run_probe(s)) return false;
-
- // return to original Z
- return_probe(s);
- steps= s;
-
- return true;
-}
-
-/* Run a calibration routine for a delta
- 1. Home
- 2. probe for z bed
- 3. probe initial tower positions
- 4. set initial trims such that trims will be minimal negative values
- 5. home, probe three towers again
- 6. calculate trim offset and apply to all trims
- 7. repeat 5, 6 until it converges on a solution
-*/
-
-bool ZProbe::calibrate_delta_endstops(Gcode *gcode)
-{
- float target= 0.03F;
- if(gcode->has_letter('I')) target= gcode->get_value('I'); // override default target
- if(gcode->has_letter('J')) this->probe_radius= gcode->get_value('J'); // override default probe radius
-
- bool keep= false;
- if(gcode->has_letter('K')) keep= true; // keep current settings
-
- gcode->stream->printf("Calibrating Endstops: target %fmm, radius %fmm\n", target, this->probe_radius);
-
- // get probe points
- float t1x, t1y, t2x, t2y, t3x, t3y;
- std::tie(t1x, t1y, t2x, t2y, t3x, t3y) = getCoordinates(this->probe_radius);
-
- float trimx= 0.0F, trimy= 0.0F, trimz= 0.0F;
- if(!keep) {
- // zero trim values
- if(!set_trim(0, 0, 0, gcode->stream)) return false;
-
- }else{
- // get current trim, and continue from that
- if (get_trim(trimx, trimy, trimz)) {
- gcode->stream->printf("Current Trim X: %f, Y: %f, Z: %f\r\n", trimx, trimy, trimz);
-
- } else {
- gcode->stream->printf("Could not get current trim, are endstops enabled?\n");
- return false;
- }
- }
-
- // home
- home();
-
- // find bed, run at fast rate
- int s;
- if(!run_probe(s, true)) return false;
-
- float bedht= s/Z_STEPS_PER_MM - this->probe_height; // distance to move from home to 5mm above bed
- gcode->stream->printf("Bed ht is %f mm\n", bedht);
-
- // move to start position
- home();
- coordinated_move(NAN, NAN, -bedht, this->fast_feedrate, true); // do a relative move from home to the point above the bed
-
- // get initial probes
- // probe the base of the X tower
- if(!probe_delta_tower(s, t1x, t1y)) return false;
- float t1z= s / Z_STEPS_PER_MM;
- gcode->stream->printf("T1-0 Z:%1.4f C:%d\n", t1z, s);
-
- // probe the base of the Y tower
- if(!probe_delta_tower(s, t2x, t2y)) return false;
- float t2z= s / Z_STEPS_PER_MM;
- gcode->stream->printf("T2-0 Z:%1.4f C:%d\n", t2z, s);
-
- // probe the base of the Z tower
- if(!probe_delta_tower(s, t3x, t3y)) return false;
- float t3z= s / Z_STEPS_PER_MM;
- gcode->stream->printf("T3-0 Z:%1.4f C:%d\n", t3z, s);
-
- float trimscale= 1.2522F; // empirically determined
-
- auto mm= std::minmax({t1z, t2z, t3z});
- if((mm.second-mm.first) <= target) {
- gcode->stream->printf("trim already set within required parameters: delta %f\n", mm.second-mm.first);
- return true;
- }
-
- // set trims to worst case so we always have a negative trim
- trimx += (mm.first-t1z)*trimscale;
- trimy += (mm.first-t2z)*trimscale;
- trimz += (mm.first-t3z)*trimscale;
-
- for (int i = 1; i <= 10; ++i) {
- // set trim
- if(!set_trim(trimx, trimy, trimz, gcode->stream)) return false;
-
- // home and move probe to start position just above the bed
- home();
- coordinated_move(NAN, NAN, -bedht, this->fast_feedrate, true); // do a relative move from home to the point above the bed
-
- // probe the base of the X tower
- if(!probe_delta_tower(s, t1x, t1y)) return false;
- t1z= s / Z_STEPS_PER_MM;
- gcode->stream->printf("T1-%d Z:%1.4f C:%d\n", i, t1z, s);
-
- // probe the base of the Y tower
- if(!probe_delta_tower(s, t2x, t2y)) return false;
- t2z= s / Z_STEPS_PER_MM;
- gcode->stream->printf("T2-%d Z:%1.4f C:%d\n", i, t2z, s);
-
- // probe the base of the Z tower
- if(!probe_delta_tower(s, t3x, t3y)) return false;
- t3z= s / Z_STEPS_PER_MM;
- gcode->stream->printf("T3-%d Z:%1.4f C:%d\n", i, t3z, s);
-
- mm= std::minmax({t1z, t2z, t3z});
- if((mm.second-mm.first) <= target) {
- gcode->stream->printf("trim set to within required parameters: delta %f\n", mm.second-mm.first);
- break;
- }
-
- // set new trim values based on min difference
- trimx += (mm.first-t1z)*trimscale;
- trimy += (mm.first-t2z)*trimscale;
- trimz += (mm.first-t3z)*trimscale;
-
- // flush the output
- THEKERNEL->call_event(ON_IDLE);
- }
-
- if((mm.second-mm.first) > target) {
- gcode->stream->printf("WARNING: trim did not resolve to within required parameters: delta %f\n", mm.second-mm.first);
- }
-
- return true;
-}
-
-/*
- probe edges to get outer positions, then probe center
- modify the delta radius until center and X converge
-*/
-
-bool ZProbe::calibrate_delta_radius(Gcode *gcode)
-{
- float target= 0.03F;
- if(gcode->has_letter('I')) target= gcode->get_value('I'); // override default target
- if(gcode->has_letter('J')) this->probe_radius= gcode->get_value('J'); // override default probe radius
-
- gcode->stream->printf("Calibrating delta radius: target %f, radius %f\n", target, this->probe_radius);
-
- // get probe points
- float t1x, t1y, t2x, t2y, t3x, t3y;
- std::tie(t1x, t1y, t2x, t2y, t3x, t3y) = getCoordinates(this->probe_radius);
-
- home();
- // find bed, then move to a point 5mm above it
- int s;
- if(!run_probe(s, true)) return false;
- float bedht= s/Z_STEPS_PER_MM - this->probe_height; // distance to move from home to 5mm above bed
- gcode->stream->printf("Bed ht is %f mm\n", bedht);
-
- home();
- coordinated_move(NAN, NAN, -bedht, this->fast_feedrate, true); // do a relative move from home to the point above the bed
-
- // probe center to get reference point at this Z height
- int dc;
- if(!probe_delta_tower(dc, 0, 0)) return false;
- gcode->stream->printf("CT Z:%1.3f C:%d\n", dc / Z_STEPS_PER_MM, dc);
- float cmm= dc / Z_STEPS_PER_MM;
-
- // get current delta radius
- float delta_radius= 0.0F;
- BaseSolution::arm_options_t options;
- if(THEKERNEL->robot->arm_solution->get_optional(options)) {
- delta_radius= options['R'];
- }
- if(delta_radius == 0.0F) {
- gcode->stream->printf("This appears to not be a delta arm solution\n");
- return false;
- }
- options.clear();
-
- float drinc= 2.5F; // approx
- for (int i = 1; i <= 10; ++i) {
- // probe t1, t2, t3 and get average, but use coordinated moves, probing center won't change
- int dx, dy, dz;
- if(!probe_delta_tower(dx, t1x, t1y)) return false;
- gcode->stream->printf("T1-%d Z:%1.3f C:%d\n", i, dx / Z_STEPS_PER_MM, dx);
- if(!probe_delta_tower(dy, t2x, t2y)) return false;
- gcode->stream->printf("T2-%d Z:%1.3f C:%d\n", i, dy / Z_STEPS_PER_MM, dy);
- if(!probe_delta_tower(dz, t3x, t3y)) return false;
- gcode->stream->printf("T3-%d Z:%1.3f C:%d\n", i, dz / Z_STEPS_PER_MM, dz);
-
- // now look at the difference and reduce it by adjusting delta radius
- float m= ((dx+dy+dz)/3.0F) / Z_STEPS_PER_MM;
- float d= cmm-m;
- gcode->stream->printf("C-%d Z-ave:%1.4f delta: %1.3f\n", i, m, d);
-
- if(abs(d) <= target) break; // resolution of success
-
- // increase delta radius to adjust for low center
- // decrease delta radius to adjust for high center
- delta_radius += (d*drinc);
-
- // set the new delta radius
- options['R']= delta_radius;
- THEKERNEL->robot->arm_solution->set_optional(options);
- gcode->stream->printf("Setting delta radius to: %1.4f\n", delta_radius);
-
- home();
- coordinated_move(NAN, NAN, -bedht, this->fast_feedrate, true); // needs to be a relative coordinated move
-
- // flush the output
- THEKERNEL->call_event(ON_IDLE);
- }
- return true;
-}
-
-void ZProbe::on_gcode_received(void *argument)
-{
- Gcode *gcode = static_cast<Gcode *>(argument);
-
- if( gcode->has_g) {
- // G code processing
- if( gcode->g == 30 ) { // simple Z probe
- gcode->mark_as_taken();
- // first wait for an empty queue i.e. no moves left
- THEKERNEL->conveyor->wait_for_empty_queue();
-
- // make sure the probe is not already triggered before moving motors
- if(this->pin.get()) {
- gcode->stream->printf("ZProbe triggered before move, aborting command.\n");
- return;
- }
-
- int steps;
- if(run_probe(steps)) {
- gcode->stream->printf("Z:%1.4f C:%d\n", steps / Z_STEPS_PER_MM, steps);
- // move back to where it started, unless a Z is specified
- if(gcode->has_letter('Z')) {
- // set Z to the specified value, and leave probe where it is
- THEKERNEL->robot->reset_axis_position(gcode->get_value('Z'), Z_AXIS);
- } else {
- return_probe(steps);
- }
- } else {
- gcode->stream->printf("ZProbe not triggered\n");
- }
-
- } else if( gcode->g == 32 ) { // auto calibration for delta, Z bed mapping for cartesian
- // first wait for an empty queue i.e. no moves left
- THEKERNEL->conveyor->wait_for_empty_queue();
- gcode->mark_as_taken();
-
- // make sure the probe is not already triggered before moving motors
- if(this->pin.get()) {
- gcode->stream->printf("ZProbe triggered before move, aborting command.\n");
- return;
- }
-
- if(is_delta) {
- if(!gcode->has_letter('R')){
- if(!calibrate_delta_endstops(gcode)) {
- gcode->stream->printf("Calibration failed to complete, probe not triggered\n");
- return;
- }
- }
- if(!gcode->has_letter('E')){
- if(!calibrate_delta_radius(gcode)) {
- gcode->stream->printf("Calibration failed to complete, probe not triggered\n");
- return;
- }
- }
- gcode->stream->printf("Calibration complete, save settings with M500\n");
-
- } else {
- // TODO create Z height map for bed
- gcode->stream->printf("Not supported yet\n");
- }
- }
-
- } else if(gcode->has_m) {
- // M code processing here
- if(gcode->m == 119) {
- int c = this->pin.get();
- gcode->stream->printf(" Probe: %d", c);
- gcode->add_nl = true;
- gcode->mark_as_taken();
-
- } else if (gcode->m == 557) { // P0 Xxxx Yyyy sets probe points for G32
- // TODO will override the automatically calculated probe points for a delta, required for a cartesian
-
- gcode->mark_as_taken();
- }
- }
-}
-
-#define max(a,b) (((a) > (b)) ? (a) : (b))
-// Called periodically to change the speed to match acceleration
-uint32_t ZProbe::acceleration_tick(uint32_t dummy)
-{
- if(!this->running) return(0); // nothing to do
-
- // foreach stepper that is moving
- for ( int c = X_AXIS; c <= Z_AXIS; c++ ) {
- if( !STEPPER[c]->is_moving() ) continue;
-
- uint32_t current_rate = STEPPER[c]->get_steps_per_second();
- uint32_t target_rate = int(floor(this->current_feedrate));
-
- if( current_rate < target_rate ) {
- uint32_t rate_increase = int(floor((THEKERNEL->planner->get_acceleration() / THEKERNEL->stepper->get_acceleration_ticks_per_second()) * STEPS_PER_MM(c)));
- current_rate = min( target_rate, current_rate + rate_increase );
- }
- if( current_rate > target_rate ) {
- current_rate = target_rate;
- }
-
- // steps per second
- STEPPER[c]->set_speed(max(current_rate, THEKERNEL->stepper->get_minimum_steps_per_second()));
- }
-
- return 0;
-}
-
-// issue a coordinated move directly to robot, and return when done
-// Only move the coordinates that are passed in as not nan
-void ZProbe::coordinated_move(float x, float y, float z, float feedrate, bool relative)
-{
- char buf[32];
- char cmd[64];
-
- if(relative) strcpy(cmd, "G91 G0 ");
- else strcpy(cmd, "G0 ");
-
- if(!isnan(x)) {
- int n = snprintf(buf, sizeof(buf), " X%1.3f", x);
- strncat(cmd, buf, n);
- }
- if(!isnan(y)) {
- int n = snprintf(buf, sizeof(buf), " Y%1.3f", y);
- strncat(cmd, buf, n);
- }
- if(!isnan(z)) {
- int n = snprintf(buf, sizeof(buf), " Z%1.3f", z);
- strncat(cmd, buf, n);
- }
-
- // use specified feedrate (mm/sec)
- int n = snprintf(buf, sizeof(buf), " F%1.1f", feedrate * 60); // feed rate is converted to mm/min
- strncat(cmd, buf, n);
- if(relative) strcat(cmd, " G90");
-
- //THEKERNEL->streams->printf("DEBUG: move: %s\n", cmd);
-
- // send as a command line as may have multiple G codes in it
- struct SerialMessage message;
- message.message = cmd;
- message.stream = &(StreamOutput::NullStream);
- THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message );
- THEKERNEL->conveyor->wait_for_empty_queue();
-}
-
-// issue home command
-void ZProbe::home()
-{
- Gcode gc("G28", &(StreamOutput::NullStream));
- THEKERNEL->call_event(ON_GCODE_RECEIVED, &gc);
-}
-
-bool ZProbe::set_trim(float x, float y, float z, StreamOutput *stream)
-{
- float t[3]{x, y, z};
- bool ok= PublicData::set_value( endstops_checksum, trim_checksum, t);
-
- if (ok) {
- stream->printf("set trim to X:%f Y:%f Z:%f\n", x, y, z);
- } else {
- stream->printf("unable to set trim, is endstops enabled?\n");
- }
-
- return ok;
-}
-
-bool ZProbe::get_trim(float& x, float& y, float& z)
-{
- void *returned_data;
- bool ok = PublicData::get_value( endstops_checksum, trim_checksum, &returned_data );
-
- if (ok) {
- float *trim = static_cast<float *>(returned_data);
- x= trim[0];
- y= trim[1];
- z= trim[2];
- return true;
- }
- return false;
-}
+/*
+ This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl).
+ 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.
+ 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.
+ You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#include "ZProbe.h"
+
+#include "Kernel.h"
+#include "BaseSolution.h"
+#include "Config.h"
+#include "Robot.h"
+#include "StepperMotor.h"
+#include "StreamOutputPool.h"
+#include "Gcode.h"
+#include "Conveyor.h"
+#include "checksumm.h"
+#include "ConfigValue.h"
+#include "SlowTicker.h"
+#include "Planner.h"
+#include "SerialMessage.h"
+#include "PublicDataRequest.h"
+#include "EndstopsPublicAccess.h"
+#include "PublicData.h"
+#include "LevelingStrategy.h"
+#include "StepTicker.h"
+#include "utils.h"
+
+// strategies we know about
+#include "DeltaCalibrationStrategy.h"
+#include "ThreePointStrategy.h"
+#include "DeltaGridStrategy.h"
+#include "CartGridStrategy.h"
+
+#define enable_checksum CHECKSUM("enable")
+#define probe_pin_checksum CHECKSUM("probe_pin")
+#define debounce_ms_checksum CHECKSUM("debounce_ms")
+#define slow_feedrate_checksum CHECKSUM("slow_feedrate")
+#define fast_feedrate_checksum CHECKSUM("fast_feedrate")
+#define return_feedrate_checksum CHECKSUM("return_feedrate")
+#define probe_height_checksum CHECKSUM("probe_height")
+#define gamma_max_checksum CHECKSUM("gamma_max")
+#define max_z_checksum CHECKSUM("max_z")
+#define reverse_z_direction_checksum CHECKSUM("reverse_z")
+#define dwell_before_probing_checksum CHECKSUM("dwell_before_probing")
+
+// from endstop section
+#define delta_homing_checksum CHECKSUM("delta_homing")
+#define rdelta_homing_checksum CHECKSUM("rdelta_homing")
+
+#define X_AXIS 0
+#define Y_AXIS 1
+#define Z_AXIS 2
+
+#define STEPPER THEROBOT->actuators
+#define STEPS_PER_MM(a) (STEPPER[a]->get_steps_per_mm())
+#define Z_STEPS_PER_MM STEPS_PER_MM(Z_AXIS)
+
+void ZProbe::on_module_loaded()
+{
+ // if the module is disabled -> do nothing
+ if(!THEKERNEL->config->value( zprobe_checksum, enable_checksum )->by_default(false)->as_bool()) {
+ // as this module is not needed free up the resource
+ delete this;
+ return;
+ }
+
+ // load settings
+ this->config_load();
+ // register event-handlers
+ register_for_event(ON_GCODE_RECEIVED);
+
+ // we read the probe in this timer
+ probing= false;
+ THEKERNEL->slow_ticker->attach(1000, this, &ZProbe::read_probe);
+}
+
+void ZProbe::config_load()
+{
+ this->pin.from_string( THEKERNEL->config->value(zprobe_checksum, probe_pin_checksum)->by_default("nc" )->as_string())->as_input();
+ this->debounce_ms = THEKERNEL->config->value(zprobe_checksum, debounce_ms_checksum)->by_default(0 )->as_number();
+
+ // get strategies to load
+ vector<uint16_t> modules;
+ THEKERNEL->config->get_module_list( &modules, leveling_strategy_checksum);
+ for( auto cs : modules ){
+ if( THEKERNEL->config->value(leveling_strategy_checksum, cs, enable_checksum )->as_bool() ){
+ bool found= false;
+ LevelingStrategy *ls= nullptr;
+
+ // check with each known strategy and load it if it matches
+ switch(cs) {
+ case delta_calibration_strategy_checksum:
+ ls= new DeltaCalibrationStrategy(this);
+ found= true;
+ break;
+
+ case three_point_leveling_strategy_checksum:
+ // NOTE this strategy is mutually exclusive with the delta calibration strategy
+ ls= new ThreePointStrategy(this);
+ found= true;
+ break;
+
+ case delta_grid_leveling_strategy_checksum:
+ ls= new DeltaGridStrategy(this);
+ found= true;
+ break;
+
+ case cart_grid_leveling_strategy_checksum:
+ ls= new CartGridStrategy(this);
+ found= true;
+ break;
+ }
+ if(found) {
+ if(ls->handleConfig()) {
+ this->strategies.push_back(ls);
+ }else{
+ delete ls;
+ }
+ }
+ }
+ }
+
+ // need to know if we need to use delta kinematics for homing
+ this->is_delta = THEKERNEL->config->value(delta_homing_checksum)->by_default(false)->as_bool();
+ this->is_rdelta = THEKERNEL->config->value(rdelta_homing_checksum)->by_default(false)->as_bool();
+
+ // default for backwards compatibility add DeltaCalibrationStrategy if a delta
+ // may be deprecated
+ if(this->strategies.empty()) {
+ if(this->is_delta) {
+ this->strategies.push_back(new DeltaCalibrationStrategy(this));
+ this->strategies.back()->handleConfig();
+ }
+ }
+
+ this->probe_height = THEKERNEL->config->value(zprobe_checksum, probe_height_checksum)->by_default(5.0F)->as_number();
+ this->slow_feedrate = THEKERNEL->config->value(zprobe_checksum, slow_feedrate_checksum)->by_default(5)->as_number(); // feedrate in mm/sec
+ this->fast_feedrate = THEKERNEL->config->value(zprobe_checksum, fast_feedrate_checksum)->by_default(100)->as_number(); // feedrate in mm/sec
+ this->return_feedrate = THEKERNEL->config->value(zprobe_checksum, return_feedrate_checksum)->by_default(0)->as_number(); // feedrate in mm/sec
+ this->reverse_z = THEKERNEL->config->value(zprobe_checksum, reverse_z_direction_checksum)->by_default(false)->as_bool(); // Z probe moves in reverse direction
+ this->max_z = THEKERNEL->config->value(zprobe_checksum, max_z_checksum)->by_default(NAN)->as_number(); // maximum zprobe distance
+ if(isnan(this->max_z)){
+ this->max_z = THEKERNEL->config->value(gamma_max_checksum)->by_default(200)->as_number(); // maximum zprobe distance
+ }
+ this->dwell_before_probing = THEKERNEL->config->value(zprobe_checksum, dwell_before_probing_checksum)->by_default(0)->as_number(); // dwell time in seconds before probing
+
+}
+
+uint32_t ZProbe::read_probe(uint32_t dummy)
+{
+ if(!probing || probe_detected) return 0;
+
+ // we check all axis as it maybe a G38.2 X10 for instance, not just a probe in Z
+ if(STEPPER[X_AXIS]->is_moving() || STEPPER[Y_AXIS]->is_moving() || STEPPER[Z_AXIS]->is_moving()) {
+ // if it is moving then we check the probe, and debounce it
+ if(this->pin.get() != invert_probe) {
+ if(debounce < debounce_ms) {
+ debounce++;
+ } else {
+ // we signal the motors to stop, which will preempt any moves on that axis
+ // we do all motors as it may be a delta
+ for(auto &a : THEROBOT->actuators) a->stop_moving();
+ probe_detected= true;
+ debounce= 0;
+ }
+
+ } else {
+ // The endstop was not hit yet
+ debounce= 0;
+ }
+ }
+
+ return 0;
+}
+
+// single probe in Z with custom feedrate
+// returns boolean value indicating if probe was triggered
+bool ZProbe::run_probe(float& mm, float feedrate, float max_dist, bool reverse)
+{
+ if(dwell_before_probing > .0001F) safe_delay_ms(dwell_before_probing*1000);
+
+ if(this->pin.get()) {
+ // probe already triggered so abort
+ return false;
+ }
+
+ float maxz= max_dist < 0 ? this->max_z*2 : max_dist;
+
+ probing= true;
+ probe_detected= false;
+ debounce= 0;
+
+ // save current actuator position so we can report how far we moved
+ float z_start_pos= THEROBOT->actuators[Z_AXIS]->get_current_position();
+
+ // move Z down
+ bool dir= (!reverse_z != reverse); // xor
+ float delta[3]= {0,0,0};
+ delta[Z_AXIS]= dir ? -maxz : maxz;
+ THEROBOT->delta_move(delta, feedrate, 3);
+
+ // wait until finished
+ THECONVEYOR->wait_for_idle();
+
+ // now see how far we moved, get delta in z we moved
+ // NOTE this works for deltas as well as all three actuators move the same amount in Z
+ mm= z_start_pos - THEROBOT->actuators[2]->get_current_position();
+
+ // set the last probe position to the actuator units moved during this home
+ THEROBOT->set_last_probe_position(std::make_tuple(0, 0, mm, probe_detected?1:0));
+
+ probing= false;
+
+ if(probe_detected) {
+ // if the probe stopped the move we need to correct the last_milestone as it did not reach where it thought
+ THEROBOT->reset_position_from_current_actuator_position();
+ }
+
+ return probe_detected;
+}
+
+// do probe then return to start position
+bool ZProbe::run_probe_return(float& mm, float feedrate, float max_dist, bool reverse)
+{
+ float save_z_pos= THEROBOT->get_axis_position(Z_AXIS);
+
+ bool ok= run_probe(mm, feedrate, max_dist, reverse);
+
+ // move probe back to where it was
+ float fr;
+ if(this->return_feedrate != 0) { // use return_feedrate if set
+ fr = this->return_feedrate;
+ } else {
+ fr = this->slow_feedrate*2; // nominally twice slow feedrate
+ if(fr > this->fast_feedrate) fr = this->fast_feedrate; // unless that is greater than fast feedrate
+ }
+
+ // absolute move back to saved starting position
+ coordinated_move(NAN, NAN, save_z_pos, fr, false);
+
+ return ok;
+}
+
+bool ZProbe::doProbeAt(float &mm, float x, float y)
+{
+ // move to xy
+ coordinated_move(x, y, NAN, getFastFeedrate());
+ return run_probe_return(mm, slow_feedrate);
+}
+
+void ZProbe::on_gcode_received(void *argument)
+{
+ Gcode *gcode = static_cast<Gcode *>(argument);
+
+ if( gcode->has_g && gcode->g >= 29 && gcode->g <= 32) {
+
+ invert_probe = false;
+ // make sure the probe is defined and not already triggered before moving motors
+ if(!this->pin.connected()) {
+ gcode->stream->printf("ZProbe pin not configured.\n");
+ return;
+ }
+
+ if(this->pin.get()) {
+ gcode->stream->printf("ZProbe triggered before move, aborting command.\n");
+ return;
+ }
+
+ if( gcode->g == 30 ) { // simple Z probe
+ // first wait for all moves to finish
+ THEKERNEL->conveyor->wait_for_idle();
+
+ bool set_z= (gcode->has_letter('Z') && !is_rdelta);
+ bool probe_result;
+ bool reverse= (gcode->has_letter('R') && gcode->get_value('R') != 0); // specify to probe in reverse direction
+ float rate= gcode->has_letter('F') ? gcode->get_value('F') / 60 : this->slow_feedrate;
+ float mm;
+
+ // if not setting Z then return probe to where it started, otherwise leave it where it is
+ probe_result = (set_z ? run_probe(mm, rate, -1, reverse) : run_probe_return(mm, rate, -1, reverse));
+
+ if(probe_result) {
+ // the result is in actuator coordinates moved
+ gcode->stream->printf("Z:%1.4f\n", THEKERNEL->robot->from_millimeters(mm));
+
+ if(set_z) {
+ // set current Z to the specified value, shortcut for G92 Znnn
+ char buf[32];
+ int n = snprintf(buf, sizeof(buf), "G92 Z%f", gcode->get_value('Z'));
+ string g(buf, n);
+ Gcode gc(g, &(StreamOutput::NullStream));
+ THEKERNEL->call_event(ON_GCODE_RECEIVED, &gc);
+ }
+
+ } else {
+ gcode->stream->printf("ZProbe not triggered\n");
+ }
+
+ } else {
+ if(!gcode->has_letter('P')) {
+ // find the first strategy to handle the gcode
+ for(auto s : strategies){
+ if(s->handleGcode(gcode)) {
+ return;
+ }
+ }
+ gcode->stream->printf("No strategy found to handle G%d\n", gcode->g);
+
+ }else{
+ // P paramater selects which strategy to send the code to
+ // they are loaded in the order they are defined in config, 0 being the first, 1 being the second and so on.
+ uint16_t i= gcode->get_value('P');
+ if(i < strategies.size()) {
+ if(!strategies[i]->handleGcode(gcode)){
+ gcode->stream->printf("strategy #%d did not handle G%d\n", i, gcode->g);
+ }
+ return;
+
+ }else{
+ gcode->stream->printf("strategy #%d is not loaded\n", i);
+ }
+ }
+ }
+
+ } else if(gcode->has_g && gcode->g == 38 ) { // G38.2 Straight Probe with error, G38.3 straight probe without error
+ // linuxcnc/grbl style probe http://www.linuxcnc.org/docs/2.5/html/gcode/gcode.html#sec:G38-probe
+ if(gcode->subcode < 2 || gcode->subcode > 5) {
+ gcode->stream->printf("error:Only G38.2 to G38.5 are supported\n");
+ return;
+ }
+
+ // make sure the probe is defined and not already triggered before moving motors
+ if(!this->pin.connected()) {
+ gcode->stream->printf("error:ZProbe not connected.\n");
+ return;
+ }
+
+ if(this->pin.get() ^ (gcode->subcode >= 4)) {
+ gcode->stream->printf("error:ZProbe triggered before move, aborting command.\n");
+ return;
+ }
+
+ // first wait for all moves to finish
+ THEKERNEL->conveyor->wait_for_idle();
+
+ float x= NAN, y=NAN, z=NAN;
+ if(gcode->has_letter('X')) {
+ x= gcode->get_value('X');
+ }
+
+ if(gcode->has_letter('Y')) {
+ y= gcode->get_value('Y');
+ }
+
+ if(gcode->has_letter('Z')) {
+ z= gcode->get_value('Z');
+ }
+
+ if(isnan(x) && isnan(y) && isnan(z)) {
+ gcode->stream->printf("error:at least one of X Y or Z must be specified\n");
+ return;
+ }
+
+ if(gcode->subcode == 4 || gcode->subcode == 5) {
+ invert_probe = true;
+ } else {
+ invert_probe = false;
+ }
+
+ probe_XYZ(gcode, x, y, z);
+
+ invert_probe = false;
+
+ return;
+
+ } else if(gcode->has_m) {
+ // M code processing here
+ int c;
+ switch (gcode->m) {
+ case 119:
+ c = this->pin.get();
+ gcode->stream->printf(" Probe: %d", c);
+ gcode->add_nl = true;
+ break;
+
+ case 670:
+ if (gcode->has_letter('S')) this->slow_feedrate = gcode->get_value('S');
+ if (gcode->has_letter('K')) this->fast_feedrate = gcode->get_value('K');
+ if (gcode->has_letter('R')) this->return_feedrate = gcode->get_value('R');
+ if (gcode->has_letter('Z')) this->max_z = gcode->get_value('Z');
+ if (gcode->has_letter('H')) this->probe_height = gcode->get_value('H');
+ if (gcode->has_letter('I')) { // NOTE this is temporary and toggles the invertion status of the pin
+ invert_override= (gcode->get_value('I') != 0);
+ pin.set_inverting(pin.is_inverting() != invert_override); // XOR so inverted pin is not inverted and vice versa
+ }
+ if (gcode->has_letter('D')) this->dwell_before_probing = gcode->get_value('D');
+ break;
+
+ case 500: // save settings
+ case 503: // print settings
+ 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",
+ this->slow_feedrate, this->fast_feedrate, this->return_feedrate, this->max_z, this->probe_height, this->dwell_before_probing);
+
+ // fall through is intended so leveling strategies can handle m-codes too
+
+ default:
+ for(auto s : strategies){
+ if(s->handleGcode(gcode)) {
+ return;
+ }
+ }
+ }
+ }
+}
+
+// special way to probe in the X or Y or Z direction using planned moves, should work with any kinematics
+void ZProbe::probe_XYZ(Gcode *gcode, float x, float y, float z)
+{
+ // enable the probe checking in the timer
+ probing= true;
+ probe_detected= false;
+ THEROBOT->disable_segmentation= true; // we must disable segmentation as this won't work with it enabled (beware on deltas probing in X or Y)
+
+ // get probe feedrate in mm/min and convert to mm/sec if specified
+ float rate = (gcode->has_letter('F')) ? gcode->get_value('F')/60 : this->slow_feedrate;
+
+ // do a regular move which will stop as soon as the probe is triggered, or the distance is reached
+ coordinated_move(x, y, z, rate, true);
+
+ // coordinated_move returns when the move is finished
+
+ // disable probe checking
+ probing= false;
+ THEROBOT->disable_segmentation= false;
+
+ // if the probe stopped the move we need to correct the last_milestone as it did not reach where it thought
+ // this also sets last_milestone to the machine coordinates it stopped at
+ THEROBOT->reset_position_from_current_actuator_position();
+ float pos[3];
+ THEROBOT->get_axis_position(pos, 3);
+
+ uint8_t probeok= this->probe_detected ? 1 : 0;
+
+ // print results using the GRBL format
+ 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);
+ THEROBOT->set_last_probe_position(std::make_tuple(pos[X_AXIS], pos[Y_AXIS], pos[Z_AXIS], probeok));
+
+ if(probeok == 0 && (gcode->subcode == 2 || gcode->subcode == 4)) {
+ // issue error if probe was not triggered and subcode is 2 or 4
+ gcode->stream->printf("ALARM: Probe fail\n");
+ THEKERNEL->call_event(ON_HALT, nullptr);
+ }
+}
+
+// issue a coordinated move directly to robot, and return when done
+// Only move the coordinates that are passed in as not nan
+// NOTE must use G53 to force move in machine coordinates and ignore any WCS offsets
+void ZProbe::coordinated_move(float x, float y, float z, float feedrate, bool relative)
+{
+ #define CMDLEN 128
+ char *cmd= new char[CMDLEN]; // use heap here to reduce stack usage
+
+ if(relative) strcpy(cmd, "G91 G0 ");
+ else strcpy(cmd, "G53 G0 "); // G53 forces movement in machine coordinate system
+
+ if(!isnan(x)) {
+ size_t n= strlen(cmd);
+ snprintf(&cmd[n], CMDLEN-n, " X%1.3f", x);
+ }
+ if(!isnan(y)) {
+ size_t n= strlen(cmd);
+ snprintf(&cmd[n], CMDLEN-n, " Y%1.3f", y);
+ }
+ if(!isnan(z)) {
+ size_t n= strlen(cmd);
+ snprintf(&cmd[n], CMDLEN-n, " Z%1.3f", z);
+ }
+
+ {
+ size_t n= strlen(cmd);
+ // use specified feedrate (mm/sec)
+ snprintf(&cmd[n], CMDLEN-n, " F%1.1f", feedrate * 60); // feed rate is converted to mm/min
+ }
+
+ if(relative) strcat(cmd, " G90");
+
+ //THEKERNEL->streams->printf("DEBUG: move: %s: %u\n", cmd, strlen(cmd));
+
+ // send as a command line as may have multiple G codes in it
+ THEROBOT->push_state();
+ struct SerialMessage message;
+ message.message = cmd;
+ delete [] cmd;
+
+ message.stream = &(StreamOutput::NullStream);
+ THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message );
+ THEKERNEL->conveyor->wait_for_idle();
+ THEROBOT->pop_state();
+
+}
+
+// issue home command
+void ZProbe::home()
+{
+ Gcode gc(THEKERNEL->is_grbl_mode() ? "G28.2" : "G28", &(StreamOutput::NullStream));
+ THEKERNEL->call_event(ON_GCODE_RECEIVED, &gc);
+}
HCoop / clinton / Smoothieware.git / blobdiff