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 #include "ZGridStrategy.h"
  34
  35 #define enable_checksum          CHECKSUM("enable")
  36 #define probe_pin_checksum       CHECKSUM("probe_pin")
  37 #define debounce_count_checksum  CHECKSUM("debounce_count")
  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
  44 // from endstop section
  45 #define delta_homing_checksum    CHECKSUM("delta_homing")
  46
  47 #define X_AXIS 0
  48 #define Y_AXIS 1
  49 #define Z_AXIS 2
  50
  51 #define STEPPER THEKERNEL->robot->actuators
  52 #define STEPS_PER_MM(a) (STEPPER[a]->get_steps_per_mm())
  53 #define Z_STEPS_PER_MM STEPS_PER_MM(Z_AXIS)
  54
  55 #define abs(a) ((a<0) ? -a : a)
  56
  57 void ZProbe::on_module_loaded()
  58 {
  59     // if the module is disabled -> do nothing
  60     if(!THEKERNEL->config->value( zprobe_checksum, enable_checksum )->by_default(false)->as_bool()) {
  61         // as this module is not needed free up the resource
  62         delete this;
  63         return;
  64     }
  65     this->running = false;
  66
  67     // load settings
  68     this->on_config_reload(this);
  69     // register event-handlers
  70     register_for_event(ON_GCODE_RECEIVED);
  71
  72     THEKERNEL->step_ticker->register_acceleration_tick_handler([this](){acceleration_tick(); });
  73 }
  74
  75 void ZProbe::on_config_reload(void *argument)
  76 {
  77     this->pin.from_string( THEKERNEL->config->value(zprobe_checksum, probe_pin_checksum)->by_default("nc" )->as_string())->as_input();
  78     this->debounce_count = THEKERNEL->config->value(zprobe_checksum, debounce_count_checksum)->by_default(0  )->as_number();
  79
  80     // get strategies to load
  81     vector<uint16_t> modules;
  82     THEKERNEL->config->get_module_list( &modules, leveling_strategy_checksum);
  83     for( auto cs : modules ){
  84         if( THEKERNEL->config->value(leveling_strategy_checksum, cs, enable_checksum )->as_bool() ){
  85             bool found= false;
  86             // check with each known strategy and load it if it matches
  87             switch(cs) {
  88                 case delta_calibration_strategy_checksum:
  89                     this->strategies.push_back(new DeltaCalibrationStrategy(this));
  90                     found= true;
  91                     break;
  92
  93                 case three_point_leveling_strategy_checksum:
  94                     // NOTE this strategy is mutually exclusive with the delta calibration strategy
  95                     this->strategies.push_back(new ThreePointStrategy(this));
  96                     found= true;
  97                     break;
  98
  99                 case ZGrid_leveling_checksum:
 100                      this->strategies.push_back(new ZGridStrategy(this));
 101                      found= true;
 102                      break;
 103
 104                 // add other strategies here
 105                 //case zheight_map_strategy:
 106                 //     this->strategies.push_back(new ZHeightMapStrategy(this));
 107                 //     found= true;
 108                 //     break;
 109             }
 110             if(found) this->strategies.back()->handleConfig();
 111         }
 112     }
 113
 114     // need to know if we need to use delta kinematics for homing
 115     this->is_delta = THEKERNEL->config->value(delta_homing_checksum)->by_default(false)->as_bool();
 116
 117     // default for backwards compatibility add DeltaCalibrationStrategy if a delta
 118     // will be deprecated
 119     if(this->strategies.empty()) {
 120         if(this->is_delta) {
 121             this->strategies.push_back(new DeltaCalibrationStrategy(this));
 122             this->strategies.back()->handleConfig();
 123         }
 124     }
 125
 126     this->probe_height  = THEKERNEL->config->value(zprobe_checksum, probe_height_checksum)->by_default(5.0F)->as_number();
 127     this->slow_feedrate = THEKERNEL->config->value(zprobe_checksum, slow_feedrate_checksum)->by_default(5)->as_number(); // feedrate in mm/sec
 128     this->fast_feedrate = THEKERNEL->config->value(zprobe_checksum, fast_feedrate_checksum)->by_default(100)->as_number(); // feedrate in mm/sec
 129     this->return_feedrate = THEKERNEL->config->value(zprobe_checksum, return_feedrate_checksum)->by_default(0)->as_number(); // feedrate in mm/sec
 130     this->max_z         = THEKERNEL->config->value(gamma_max_checksum)->by_default(500)->as_number(); // maximum zprobe distance
 131 }
 132
 133 bool ZProbe::wait_for_probe(int& steps)
 134 {
 135     unsigned int debounce = 0;
 136     while(true) {
 137         THEKERNEL->call_event(ON_IDLE);
 138         if(THEKERNEL->is_halted()){
 139             // aborted by kill
 140             return false;
 141         }
 142
 143         // if no stepper is moving, moves are finished and there was no touch
 144         if( !STEPPER[Z_AXIS]->is_moving() && (!is_delta || (!STEPPER[Y_AXIS]->is_moving() && !STEPPER[Z_AXIS]->is_moving())) ) {
 145             return false;
 146         }
 147
 148         // if the touchprobe is active...
 149         if( this->pin.get() ) {
 150             //...increase debounce counter...
 151             if( debounce < debounce_count) {
 152                 // ...but only if the counter hasn't reached the max. value
 153                 debounce++;
 154             } else {
 155                 // ...otherwise stop the steppers, return its remaining steps
 156                 if(STEPPER[Z_AXIS]->is_moving()){
 157                     steps= STEPPER[Z_AXIS]->get_stepped();
 158                     STEPPER[Z_AXIS]->move(0, 0);
 159                 }
 160                 if(is_delta) {
 161                     for( int i = X_AXIS; i <= Y_AXIS; i++ ) {
 162                         if ( STEPPER[i]->is_moving() ) {
 163                             STEPPER[i]->move(0, 0);
 164                         }
 165                     }
 166                 }
 167                 return true;
 168             }
 169         } else {
 170             // The probe was not hit yet, reset debounce counter
 171             debounce = 0;
 172         }
 173     }
 174 }
 175
 176 // single probe with custom feedrate
 177 // returns boolean value indicating if probe was triggered
 178 bool ZProbe::run_probe_feed(int& steps, float feedrate, float max_dist)
 179 {
 180     // not a block move so disable the last tick setting
 181     for ( int c = X_AXIS; c <= Z_AXIS; c++ ) {
 182         STEPPER[c]->set_moved_last_block(false);
 183     }
 184
 185     // Enable the motors
 186     THEKERNEL->stepper->turn_enable_pins_on();
 187     this->current_feedrate = feedrate * Z_STEPS_PER_MM; // steps/sec
 188     float maxz= max_dist < 0 ? this->max_z*2 : max_dist;
 189
 190     // move Z down
 191     STEPPER[Z_AXIS]->move(true, maxz * Z_STEPS_PER_MM, 0); // always probes down, no more than 2*maxz
 192     if(this->is_delta) {
 193         // for delta need to move all three actuators
 194         STEPPER[X_AXIS]->move(true, maxz * STEPS_PER_MM(X_AXIS), 0);
 195         STEPPER[Y_AXIS]->move(true, maxz * STEPS_PER_MM(Y_AXIS), 0);
 196     }
 197
 198     // start acceleration processing
 199     this->running = true;
 200
 201     bool r = wait_for_probe(steps);
 202     this->running = false;
 203     STEPPER[X_AXIS]->move(0, 0);
 204     STEPPER[Y_AXIS]->move(0, 0);
 205     STEPPER[Z_AXIS]->move(0, 0);
 206     return r;
 207 }
 208
 209 // single probe with either fast or slow feedrate
 210 // returns boolean value indicating if probe was triggered
 211 bool ZProbe::run_probe(int& steps, bool fast)
 212 {
 213     float feedrate = (fast ? this->fast_feedrate : this->slow_feedrate);
 214     return run_probe_feed(steps, feedrate);
 215
 216 }
 217
 218 bool ZProbe::return_probe(int steps)
 219 {
 220     // move probe back to where it was
 221
 222     float fr;
 223     if(this->return_feedrate != 0) { // use return_feedrate if set
 224         fr = this->return_feedrate;
 225     } else {
 226         fr = this->slow_feedrate*2; // nominally twice slow feedrate
 227         if(fr > this->fast_feedrate) fr = this->fast_feedrate; // unless that is greater than fast feedrate
 228     }
 229
 230     this->current_feedrate = fr * Z_STEPS_PER_MM; // feedrate in steps/sec
 231     bool dir= steps < 0;
 232     steps= abs(steps);
 233
 234     STEPPER[Z_AXIS]->move(dir, steps, 0);
 235     if(this->is_delta) {
 236         STEPPER[X_AXIS]->move(dir, steps, 0);
 237         STEPPER[Y_AXIS]->move(dir, steps, 0);
 238     }
 239
 240     this->running = true;
 241     while(STEPPER[Z_AXIS]->is_moving() || (is_delta && (STEPPER[X_AXIS]->is_moving() || STEPPER[Y_AXIS]->is_moving())) ) {
 242         // wait for it to complete
 243         THEKERNEL->call_event(ON_IDLE);
 244          if(THEKERNEL->is_halted()){
 245             // aborted by kill
 246             break;
 247         }
 248     }
 249
 250     this->running = false;
 251     STEPPER[X_AXIS]->move(0, 0);
 252     STEPPER[Y_AXIS]->move(0, 0);
 253     STEPPER[Z_AXIS]->move(0, 0);
 254
 255     return true;
 256 }
 257
 258 bool ZProbe::doProbeAt(int &steps, float x, float y)
 259 {
 260     int s;
 261     // move to xy
 262     coordinated_move(x, y, NAN, getFastFeedrate());
 263     if(!run_probe(s)) return false;
 264
 265     // return to original Z
 266     return_probe(s);
 267     steps = s;
 268
 269     return true;
 270 }
 271
 272 float ZProbe::probeDistance(float x, float y)
 273 {
 274     int s;
 275     if(!doProbeAt(s, x, y)) return NAN;
 276     return zsteps_to_mm(s);
 277 }
 278
 279 void ZProbe::on_gcode_received(void *argument)
 280 {
 281     Gcode *gcode = static_cast<Gcode *>(argument);
 282
 283     if( gcode->has_g && gcode->g >= 29 && gcode->g <= 32) {
 284
 285         // make sure the probe is defined and not already triggered before moving motors
 286         if(!this->pin.connected()) {
 287             gcode->stream->printf("ZProbe not connected.\n");
 288             return;
 289         }
 290         if(this->pin.get()) {
 291             gcode->stream->printf("ZProbe triggered before move, aborting command.\n");
 292             return;
 293         }
 294
 295         if( gcode->g == 30 ) { // simple Z probe
 296             // first wait for an empty queue i.e. no moves left
 297             THEKERNEL->conveyor->wait_for_empty_queue();
 298
 299             int steps;
 300             bool probe_result;
 301             if(gcode->has_letter('F')) {
 302                 probe_result = run_probe_feed(steps, gcode->get_value('F') / 60);
 303             } else {
 304                 probe_result = run_probe(steps);
 305             }
 306
 307             if(probe_result) {
 308                 gcode->stream->printf("Z:%1.4f C:%d\n", zsteps_to_mm(steps), steps);
 309                 // move back to where it started, unless a Z is specified
 310                 if(gcode->has_letter('Z')) {
 311                     // set Z to the specified value, and leave probe where it is
 312                     THEKERNEL->robot->reset_axis_position(gcode->get_value('Z'), Z_AXIS);
 313                 } else {
 314                     return_probe(steps);
 315                 }
 316             } else {
 317                 gcode->stream->printf("ZProbe not triggered\n");
 318             }
 319
 320         } else {
 321             if(!gcode->has_letter('P')) {
 322                 // find the first strategy to handle the gcode
 323                 for(auto s : strategies){
 324                     if(s->handleGcode(gcode)) {
 325                         return;
 326                     }
 327                 }
 328                 gcode->stream->printf("No strategy found to handle G%d\n", gcode->g);
 329
 330             }else{
 331                 // P paramater selects which strategy to send the code to
 332                 // they are loaded in the order they are defined in config, 0 being the first, 1 being the second and so on.
 333                 uint16_t i= gcode->get_value('P');
 334                 if(i < strategies.size()) {
 335                     if(!strategies[i]->handleGcode(gcode)){
 336                         gcode->stream->printf("strategy #%d did not handle G%d\n", i, gcode->g);
 337                     }
 338                     return;
 339
 340                 }else{
 341                     gcode->stream->printf("strategy #%d is not loaded\n", i);
 342                 }
 343             }
 344         }
 345
 346     } else if(gcode->has_g && gcode->g == 38 ) { // G38.2 Straight Probe with error, G38.3 straight probe without error
 347         // linuxcnc/grbl style probe http://www.linuxcnc.org/docs/2.5/html/gcode/gcode.html#sec:G38-probe
 348         if(gcode->subcode != 2 && gcode->subcode != 3) {
 349             gcode->stream->printf("error:Only G38.2 and G38.3 are supported\n");
 350             return;
 351         }
 352
 353         // make sure the probe is defined and not already triggered before moving motors
 354         if(!this->pin.connected()) {
 355             gcode->stream->printf("error:ZProbe not connected.\n");
 356             return;
 357         }
 358         if(this->pin.get()) {
 359             gcode->stream->printf("error:ZProbe triggered before move, aborting command.\n");
 360             return;
 361         }
 362
 363         // first wait for an empty queue i.e. no moves left
 364         THEKERNEL->conveyor->wait_for_empty_queue();
 365
 366         if(gcode->has_letter('X')) {
 367             // probe in the X axis
 368             gcode->stream->printf("error:Not currently supported.\n");
 369
 370         }else if(gcode->has_letter('Y')) {
 371             // probe in the Y axis
 372             gcode->stream->printf("error:Not currently supported.\n");
 373
 374         }else if(gcode->has_letter('Z')) {
 375             // we need to know where we started the probe from
 376             float current_machine_pos[3];
 377             THEKERNEL->robot->get_axis_position(current_machine_pos);
 378
 379             // probe down in the Z axis no more than the Z value in mm
 380             float rate = (gcode->has_letter('F')) ? gcode->get_value('F') / 60 : this->slow_feedrate;
 381             int steps;
 382             bool probe_result = run_probe_feed(steps, rate, gcode->get_value('Z'));
 383
 384             if(probe_result) {
 385                 float z= current_machine_pos[Z_AXIS] - zsteps_to_mm(steps);
 386                 if(THEKERNEL->is_grbl_mode()) {
 387                     gcode->stream->printf("[PRB:%1.3f,%1.3f,%1.3f:1]\n", current_machine_pos[X_AXIS], current_machine_pos[Y_AXIS], z);
 388
 389                 }else{
 390                     gcode->stream->printf("INFO: delta Z %1.4f (Steps %d)\n", steps / Z_STEPS_PER_MM, steps);
 391                 }
 392
 393                 // set position to where it stopped
 394                 THEKERNEL->robot->reset_axis_position(z, Z_AXIS);
 395
 396             } else {
 397                 if(THEKERNEL->is_grbl_mode()) {
 398                     if(gcode->subcode == 2) {
 399                         gcode->stream->printf("ALARM:get_homing_status_checksumProbe fail\n");
 400                         THEKERNEL->call_event(ON_HALT, nullptr);
 401                     }
 402                     gcode->stream->printf("[PRB:%1.3f,%1.3f,%1.3f:0]\n", current_machine_pos[X_AXIS], current_machine_pos[Y_AXIS], current_machine_pos[Z_AXIS]);
 403
 404                 }else{
 405                     gcode->stream->printf("error:ZProbe not triggered\n");
 406                 }
 407             }
 408
 409         }else{
 410             gcode->stream->printf("error:at least one of X Y or Z must be specified\n");
 411
 412         }
 413         return;
 414
 415     } else if(gcode->has_m) {
 416         // M code processing here
 417         int c;
 418         switch (gcode->m) {
 419             case 119:
 420                 c = this->pin.get();
 421                 gcode->stream->printf(" Probe: %d", c);
 422                 gcode->add_nl = true;
 423                 break;
 424
 425             case 670:
 426                 if (gcode->has_letter('S')) this->slow_feedrate = gcode->get_value('S');
 427                 if (gcode->has_letter('K')) this->fast_feedrate = gcode->get_value('K');
 428                 if (gcode->has_letter('R')) this->return_feedrate = gcode->get_value('R');
 429                 if (gcode->has_letter('Z')) this->max_z = gcode->get_value('Z');
 430                 if (gcode->has_letter('H')) this->probe_height = gcode->get_value('H');
 431                 break;
 432
 433             case 500: // save settings
 434             case 503: // print settings
 435                 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",
 436                     this->slow_feedrate, this->fast_feedrate, this->return_feedrate, this->max_z, this->probe_height);
 437
 438                 // fall through is intended so leveling strategies can handle m-codes too
 439
 440             default:
 441                 for(auto s : strategies){
 442                     if(s->handleGcode(gcode)) {
 443                         return;
 444                     }
 445                 }
 446         }
 447     }
 448 }
 449
 450 // Called periodically to change the speed to match acceleration
 451 void ZProbe::acceleration_tick(void)
 452 {
 453     if(!this->running) return; // nothing to do
 454     if(STEPPER[Z_AXIS]->is_moving()) accelerate(Z_AXIS);
 455
 456     if(is_delta) {
 457          // deltas needs to move all actuators
 458         for ( int c = X_AXIS; c <= Y_AXIS; c++ ) {
 459             if( !STEPPER[c]->is_moving() ) continue;
 460             accelerate(c);
 461         }
 462     }
 463
 464     return;
 465 }
 466
 467 void ZProbe::accelerate(int c)
 468 {   uint32_t current_rate = STEPPER[c]->get_steps_per_second();
 469     uint32_t target_rate = floorf(this->current_feedrate);
 470
 471     // Z may have a different acceleration to X and Y
 472     float acc= (c==Z_AXIS) ? THEKERNEL->planner->get_z_acceleration() : THEKERNEL->planner->get_acceleration();
 473     if( current_rate < target_rate ) {
 474         uint32_t rate_increase = floorf((acc / THEKERNEL->acceleration_ticks_per_second) * STEPS_PER_MM(c));
 475         current_rate = min( target_rate, current_rate + rate_increase );
 476     }
 477     if( current_rate > target_rate ) {
 478         current_rate = target_rate;
 479     }
 480
 481     // steps per second
 482     STEPPER[c]->set_speed(current_rate);
 483 }
 484
 485 // issue a coordinated move directly to robot, and return when done
 486 // Only move the coordinates that are passed in as not nan
 487 // NOTE must use G53 to force move in machine coordiantes and ignore any WCS offsetts
 488 void ZProbe::coordinated_move(float x, float y, float z, float feedrate, bool relative)
 489 {
 490     char buf[32];
 491     char cmd[64];
 492
 493     if(relative) strcpy(cmd, "G91 G0 ");
 494     else strcpy(cmd, "G53 G0 "); // G53 forces movement in machine coordinate system
 495
 496     if(!isnan(x)) {
 497         int n = snprintf(buf, sizeof(buf), " X%1.3f", x);
 498         strncat(cmd, buf, n);
 499     }
 500     if(!isnan(y)) {
 501         int n = snprintf(buf, sizeof(buf), " Y%1.3f", y);
 502         strncat(cmd, buf, n);
 503     }
 504     if(!isnan(z)) {
 505         int n = snprintf(buf, sizeof(buf), " Z%1.3f", z);
 506         strncat(cmd, buf, n);
 507     }
 508
 509     // use specified feedrate (mm/sec)
 510     int n = snprintf(buf, sizeof(buf), " F%1.1f", feedrate * 60); // feed rate is converted to mm/min
 511     strncat(cmd, buf, n);
 512     if(relative) strcat(cmd, " G90");
 513
 514     //THEKERNEL->streams->printf("DEBUG: move: %s\n", cmd);
 515
 516     // send as a command line as may have multiple G codes in it
 517     struct SerialMessage message;
 518     message.message = cmd;
 519     message.stream = &(StreamOutput::NullStream);
 520     THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message );
 521     THEKERNEL->conveyor->wait_for_empty_queue();
 522 }
 523
 524 // issue home command
 525 void ZProbe::home()
 526 {
 527     Gcode gc("G28", &(StreamOutput::NullStream));
 528     THEKERNEL->call_event(ON_GCODE_RECEIVED, &gc);
 529 }
 530
 531 float ZProbe::zsteps_to_mm(float steps)
 532 {
 533     return steps / Z_STEPS_PER_MM;
 534 }