X-Git-Url: http://git.hcoop.net/clinton/Smoothieware.git/blobdiff_plain/521ce8839a81692afa47d52659141ae60f16deb5..dca67b9907739ae5322cc467f681473e097a2656:/src/modules/tools/zprobe/ZProbe.cpp

diff --git a/src/modules/tools/zprobe/ZProbe.cpp b/src/modules/tools/zprobe/ZProbe.cpp
index 3ad50fc9..57a526c2 100644
--- a/src/modules/tools/zprobe/ZProbe.cpp
+++ b/src/modules/tools/zprobe/ZProbe.cpp
@@ -41,7 +41,9 @@
 #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")
@@ -55,8 +57,6 @@
 #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
@@ -71,7 +71,7 @@ void ZProbe::on_module_loaded()
     // register event-handlers
     register_for_event(ON_GCODE_RECEIVED);
 
-    // we read the probe in this timer, currently only for G38 probes.
+    // we read the probe in this timer
     probing= false;
     THEKERNEL->slow_ticker->attach(1000, this, &ZProbe::read_probe);
 }
@@ -140,7 +140,12 @@ void ZProbe::config_load()
     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(gamma_max_checksum)->by_default(500)->as_number(); // maximum zprobe distance
+    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)
@@ -174,6 +179,8 @@ uint32_t ZProbe::read_probe(uint32_t dummy)
 // 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;
@@ -186,11 +193,7 @@ bool ZProbe::run_probe(float& mm, float feedrate, float max_dist, bool reverse)
     debounce= 0;
 
     // save current actuator position so we can report how far we moved
-    ActuatorCoordinates start_pos{
-        THEROBOT->actuators[X_AXIS]->get_current_position(),
-        THEROBOT->actuators[Y_AXIS]->get_current_position(),
-        THEROBOT->actuators[Z_AXIS]->get_current_position()
-    };
+    float z_start_pos= THEROBOT->actuators[Z_AXIS]->get_current_position();
 
     // move Z down
     bool dir= (!reverse_z != reverse); // xor
@@ -203,15 +206,10 @@ bool ZProbe::run_probe(float& mm, float feedrate, float max_dist, bool reverse)
 
     // 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= start_pos[2] - THEROBOT->actuators[2]->get_current_position();
+    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(
-            start_pos[0] - THEROBOT->actuators[0]->get_current_position(),
-            start_pos[1] - THEROBOT->actuators[1]->get_current_position(),
-            mm,
-            probe_detected?1:0));
+    THEROBOT->set_last_probe_position(std::make_tuple(0, 0, mm, probe_detected?1:0));
 
     probing= false;
 
@@ -226,8 +224,7 @@ bool ZProbe::run_probe(float& mm, float feedrate, float max_dist, bool reverse)
 // do probe then return to start position
 bool ZProbe::run_probe_return(float& mm, float feedrate, float max_dist, bool reverse)
 {
-    float save_pos[3];
-    THEROBOT->get_axis_position(save_pos);
+    float save_z_pos= THEROBOT->get_axis_position(Z_AXIS);
 
     bool ok= run_probe(mm, feedrate, max_dist, reverse);
 
@@ -241,7 +238,7 @@ bool ZProbe::run_probe_return(float& mm, float feedrate, float max_dist, bool re
     }
 
     // absolute move back to saved starting position
-    coordinated_move(save_pos[0], save_pos[1], save_pos[2], fr, false);
+    coordinated_move(NAN, NAN, save_z_pos, fr, false);
 
     return ok;
 }
@@ -285,7 +282,7 @@ void ZProbe::on_gcode_received(void *argument)
 
             if(probe_result) {
                 // the result is in actuator coordinates moved
-                gcode->stream->printf("Z:%1.4f\n", mm);
+                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
@@ -328,8 +325,8 @@ void ZProbe::on_gcode_received(void *argument)
 
     } 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 != 3) {
-            gcode->stream->printf("error:Only G38.2 and G38.3 are supported\n");
+        if(gcode->subcode < 2 || gcode->subcode > 5) {
+            gcode->stream->printf("error:Only G38.2, G38.3, G38.4, and G38.5 are supported\n");
             return;
         }
 
@@ -339,28 +336,49 @@ void ZProbe::on_gcode_received(void *argument)
             return;
         }
 
-        if(this->pin.get()) {
-            gcode->stream->printf("error:ZProbe triggered before move, aborting command.\n");
-            return;
+        if(gcode->subcode == 4 || gcode->subcode == 5) {
+            if(!this->pin.get()) {
+                gcode->stream->printf("error:ZProbe triggered before move, aborting command.\n");
+                return;
+            }
+        } else {
+            if(this->pin.get()) {
+                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')) {
-            // probe in the X axis
-            probe_XYZ(gcode, X_AXIS);
+            x= gcode->get_value('X');
+        }
 
-        }else if(gcode->has_letter('Y')) {
-            // probe in the Y axis
-            probe_XYZ(gcode, Y_AXIS);
+        if(gcode->has_letter('Y')) {
+            y= gcode->get_value('Y');
+        }
 
-        }else if(gcode->has_letter('Z')) {
-            // probe in the Z axis
-            probe_XYZ(gcode, Z_AXIS);
+        if(gcode->has_letter('Z')) {
+            z= gcode->get_value('Z');
+        }
 
-        }else{
+        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) {
+            gcode->stream->printf("Inverting pin\n");
+            pin.set_inverting(pin.is_inverting() != 1);
+        }
+
+        probe_XYZ(gcode, x, y, z);
+
+        if(gcode->subcode == 4 || gcode->subcode == 5) {
+            gcode->stream->printf("Inverting pin back\n");
+            pin.set_inverting(pin.is_inverting() != 1);
         }
 
         return;
@@ -385,12 +403,13 @@ void ZProbe::on_gcode_received(void *argument)
                     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):\nM670 S%1.2f K%1.2f R%1.2f Z%1.2f H%1.2f\n",
-                    this->slow_feedrate, this->fast_feedrate, this->return_feedrate, this->max_z, this->probe_height);
+                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
 
@@ -405,7 +424,7 @@ void ZProbe::on_gcode_received(void *argument)
 }
 
 // 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, int axis)
+void ZProbe::probe_XYZ(Gcode *gcode, float x, float y, float z)
 {
     // enable the probe checking in the timer
     probing= true;
@@ -416,11 +435,7 @@ void ZProbe::probe_XYZ(Gcode *gcode, int axis)
     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
-    switch(axis) {
-        case X_AXIS: coordinated_move(gcode->get_value('X'), 0, 0, rate, true); break;
-        case Y_AXIS: coordinated_move(0, gcode->get_value('Y'), 0, rate, true); break;
-        case Z_AXIS: coordinated_move(0, 0, gcode->get_value('Z'), rate, true); break;
-    }
+    coordinated_move(x, y, z, rate, true);
 
     // coordinated_move returns when the move is finished
 
@@ -437,12 +452,12 @@ void ZProbe::probe_XYZ(Gcode *gcode, int axis)
     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", pos[X_AXIS], pos[Y_AXIS], pos[Z_AXIS], probeok);
+    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) {
-        // issue error if probe was not triggered and subcode == 2
-        gcode->stream->printf("ALARM:Probe fail\n");
+    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);
     }
 }
@@ -452,38 +467,46 @@ void ZProbe::probe_XYZ(Gcode *gcode, int axis)
 // 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)
 {
-    char buf[32];
-    char cmd[64];
+    #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)) {
-        int n = snprintf(buf, sizeof(buf), " X%1.3f", x);
-        strncat(cmd, buf, n);
+        size_t n= strlen(cmd);
+        snprintf(&cmd[n], CMDLEN-n, " X%1.3f", x);
     }
     if(!isnan(y)) {
-        int n = snprintf(buf, sizeof(buf), " Y%1.3f", y);
-        strncat(cmd, buf, n);
+        size_t n= strlen(cmd);
+        snprintf(&cmd[n], CMDLEN-n, " Y%1.3f", y);
     }
     if(!isnan(z)) {
-        int n = snprintf(buf, sizeof(buf), " Z%1.3f", z);
-        strncat(cmd, buf, n);
+        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
     }
 
-    // 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);
+    //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