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             LevelingStrategy *ls= nullptr;
  90
  91             // check with each known strategy and load it if it matches
  92             switch(cs) {
  93                 case delta_calibration_strategy_checksum:
  94                     ls= new DeltaCalibrationStrategy(this);
  95                     found= true;
  96                     break;
  97
  98                 case three_point_leveling_strategy_checksum:
  99                     // NOTE this strategy is mutually exclusive with the delta calibration strategy
 100                     ls= new ThreePointStrategy(this);
 101                     found= true;
 102                     break;
 103
 104                 case delta_grid_leveling_strategy_checksum:
 105                     ls= new DeltaGridStrategy(this);
 106                     found= true;
 107                     break;
 108             }
 109             if(found) {
 110                 if(ls->handleConfig()) {
 111                     this->strategies.push_back(ls);
 112                 }else{
 113                     delete ls;
 114                 }
 115             }
 116         }
 117     }
 118
 119     // need to know if we need to use delta kinematics for homing
 120     this->is_delta = THEKERNEL->config->value(delta_homing_checksum)->by_default(false)->as_bool();
 121     this->is_rdelta = THEKERNEL->config->value(rdelta_homing_checksum)->by_default(false)->as_bool();
 122
 123     // default for backwards compatibility add DeltaCalibrationStrategy if a delta
 124     // may be deprecated
 125     if(this->strategies.empty()) {
 126         if(this->is_delta) {
 127             this->strategies.push_back(new DeltaCalibrationStrategy(this));
 128             this->strategies.back()->handleConfig();
 129         }
 130     }
 131
 132     this->probe_height  = THEKERNEL->config->value(zprobe_checksum, probe_height_checksum)->by_default(5.0F)->as_number();
 133     this->slow_feedrate = THEKERNEL->config->value(zprobe_checksum, slow_feedrate_checksum)->by_default(5)->as_number(); // feedrate in mm/sec
 134     this->fast_feedrate = THEKERNEL->config->value(zprobe_checksum, fast_feedrate_checksum)->by_default(100)->as_number(); // feedrate in mm/sec
 135     this->return_feedrate = THEKERNEL->config->value(zprobe_checksum, return_feedrate_checksum)->by_default(0)->as_number(); // feedrate in mm/sec
 136     this->reverse_z     = THEKERNEL->config->value(zprobe_checksum, reverse_z_direction_checksum)->by_default(false)->as_bool(); // Z probe moves in reverse direction
 137     this->max_z         = THEKERNEL->config->value(gamma_max_checksum)->by_default(500)->as_number(); // maximum zprobe distance
 138 }
 139
 140 uint32_t ZProbe::read_probe(uint32_t dummy)
 141 {
 142     if(!probing || probe_detected) return 0;
 143
 144     // we check all axis as it maybe a G38.2 X10 for instance, not just a probe in Z
 145     if(STEPPER[X_AXIS]->is_moving() || STEPPER[Y_AXIS]->is_moving() || STEPPER[Z_AXIS]->is_moving()) {
 146         // if it is moving then we check the probe, and debounce it
 147         if(this->pin.get()) {
 148             if(debounce < debounce_ms) {
 149                 debounce++;
 150             } else {
 151                 // we signal the motors to stop, which will preempt any moves on that axis
 152                 // we do all motors as it may be a delta
 153                 for(auto &a : THEROBOT->actuators) a->stop_moving();
 154                 probe_detected= true;
 155                 debounce= 0;
 156             }
 157
 158         } else {
 159             // The endstop was not hit yet
 160             debounce= 0;
 161         }
 162     }
 163
 164     return 0;
 165 }
 166
 167 // single probe in Z with custom feedrate
 168 // returns boolean value indicating if probe was triggered
 169 bool ZProbe::run_probe(float& mm, float feedrate, float max_dist, bool reverse)
 170 {
 171     if(this->pin.get()) {
 172         // probe already triggered so abort
 173         return false;
 174     }
 175
 176     float maxz= max_dist < 0 ? this->max_z*2 : max_dist;
 177
 178     probing= true;
 179     probe_detected= false;
 180     debounce= 0;
 181
 182     // save current actuator position so we can report how far we moved
 183     ActuatorCoordinates start_pos{
 184         THEROBOT->actuators[X_AXIS]->get_current_position(),
 185         THEROBOT->actuators[Y_AXIS]->get_current_position(),
 186         THEROBOT->actuators[Z_AXIS]->get_current_position()
 187     };
 188
 189     // move Z down
 190     bool dir= (!reverse_z != reverse); // xor
 191     float delta[3]= {0,0,0};
 192     delta[Z_AXIS]= dir ? -maxz : maxz;
 193     THEROBOT->delta_move(delta, feedrate, 3);
 194
 195     // wait until finished
 196     THECONVEYOR->wait_for_idle();
 197
 198     // now see how far we moved, get delta in z we moved
 199     // NOTE this works for deltas as well as all three actuators move the same amount in Z
 200     mm= start_pos[2] - THEROBOT->actuators[2]->get_current_position();
 201
 202     // set the last probe position to the actuator units moved during this home
 203     THEROBOT->set_last_probe_position(
 204         std::make_tuple(
 205             start_pos[0] - THEROBOT->actuators[0]->get_current_position(),
 206             start_pos[1] - THEROBOT->actuators[1]->get_current_position(),
 207             mm,
 208             probe_detected?1:0));
 209
 210     probing= false;
 211
 212     if(probe_detected) {
 213         // if the probe stopped the move we need to correct the last_milestone as it did not reach where it thought
 214         THEROBOT->reset_position_from_current_actuator_position();
 215     }
 216
 217     return probe_detected;
 218 }
 219
 220 // do probe then return to start position
 221 bool ZProbe::run_probe_return(float& mm, float feedrate, float max_dist, bool reverse)
 222 {
 223     float save_pos[3];
 224     THEROBOT->get_axis_position(save_pos);
 225
 226     bool ok= run_probe(mm, feedrate, max_dist, reverse);
 227
 228     // move probe back to where it was
 229     float fr;
 230     if(this->return_feedrate != 0) { // use return_feedrate if set
 231         fr = this->return_feedrate;
 232     } else {
 233         fr = this->slow_feedrate*2; // nominally twice slow feedrate
 234         if(fr > this->fast_feedrate) fr = this->fast_feedrate; // unless that is greater than fast feedrate
 235     }
 236
 237     // absolute move back to saved starting position
 238     coordinated_move(save_pos[0], save_pos[1], save_pos[2], fr, false);
 239
 240     return ok;
 241 }
 242
 243 bool ZProbe::doProbeAt(float &mm, float x, float y)
 244 {
 245     // move to xy
 246     coordinated_move(x, y, NAN, getFastFeedrate());
 247     return run_probe_return(mm, slow_feedrate);
 248 }
 249
 250 void ZProbe::on_gcode_received(void *argument)
 251 {
 252     Gcode *gcode = static_cast<Gcode *>(argument);
 253
 254     if( gcode->has_g && gcode->g >= 29 && gcode->g <= 32) {
 255
 256         // make sure the probe is defined and not already triggered before moving motors
 257         if(!this->pin.connected()) {
 258             gcode->stream->printf("ZProbe pin not configured.\n");
 259             return;
 260         }
 261
 262         if(this->pin.get()) {
 263             gcode->stream->printf("ZProbe triggered before move, aborting command.\n");
 264             return;
 265         }
 266
 267         if( gcode->g == 30 ) { // simple Z probe
 268             // first wait for all moves to finish
 269             THEKERNEL->conveyor->wait_for_idle();
 270
 271             bool set_z= (gcode->has_letter('Z') && !is_rdelta);
 272             bool probe_result;
 273             bool reverse= (gcode->has_letter('R') && gcode->get_value('R') != 0); // specify to probe in reverse direction
 274             float rate= gcode->has_letter('F') ? gcode->get_value('F') / 60 : this->slow_feedrate;
 275             float mm;
 276
 277             // if not setting Z then return probe to where it started, otherwise leave it where it is
 278             probe_result = (set_z ? run_probe(mm, rate, -1, reverse) : run_probe_return(mm, rate, -1, reverse));
 279
 280             if(probe_result) {
 281                 // the result is in actuator coordinates moved
 282                 gcode->stream->printf("Z:%1.4f\n", mm);
 283
 284                 if(set_z) {
 285                     // set current Z to the specified value, shortcut for G92 Znnn
 286                     char buf[32];
 287                     int n = snprintf(buf, sizeof(buf), "G92 Z%f", gcode->get_value('Z'));
 288                     string g(buf, n);
 289                     Gcode gc(g, &(StreamOutput::NullStream));
 290                     THEKERNEL->call_event(ON_GCODE_RECEIVED, &gc);
 291                 }
 292
 293             } else {
 294                 gcode->stream->printf("ZProbe not triggered\n");
 295             }
 296
 297         } else {
 298             if(!gcode->has_letter('P')) {
 299                 // find the first strategy to handle the gcode
 300                 for(auto s : strategies){
 301                     if(s->handleGcode(gcode)) {
 302                         return;
 303                     }
 304                 }
 305                 gcode->stream->printf("No strategy found to handle G%d\n", gcode->g);
 306
 307             }else{
 308                 // P paramater selects which strategy to send the code to
 309                 // they are loaded in the order they are defined in config, 0 being the first, 1 being the second and so on.
 310                 uint16_t i= gcode->get_value('P');
 311                 if(i < strategies.size()) {
 312                     if(!strategies[i]->handleGcode(gcode)){
 313                         gcode->stream->printf("strategy #%d did not handle G%d\n", i, gcode->g);
 314                     }
 315                     return;
 316
 317                 }else{
 318                     gcode->stream->printf("strategy #%d is not loaded\n", i);
 319                 }
 320             }
 321         }
 322
 323     } else if(gcode->has_g && gcode->g == 38 ) { // G38.2 Straight Probe with error, G38.3 straight probe without error
 324         // linuxcnc/grbl style probe http://www.linuxcnc.org/docs/2.5/html/gcode/gcode.html#sec:G38-probe
 325         if(gcode->subcode != 2 && gcode->subcode != 3) {
 326             gcode->stream->printf("error:Only G38.2 and G38.3 are supported\n");
 327             return;
 328         }
 329
 330         // make sure the probe is defined and not already triggered before moving motors
 331         if(!this->pin.connected()) {
 332             gcode->stream->printf("error:ZProbe not connected.\n");
 333             return;
 334         }
 335
 336         if(this->pin.get()) {
 337             gcode->stream->printf("error:ZProbe triggered before move, aborting command.\n");
 338             return;
 339         }
 340
 341         // first wait for all moves to finish
 342         THEKERNEL->conveyor->wait_for_idle();
 343
 344         if(gcode->has_letter('X')) {
 345             // probe in the X axis
 346             probe_XYZ(gcode, X_AXIS);
 347
 348         }else if(gcode->has_letter('Y')) {
 349             // probe in the Y axis
 350             probe_XYZ(gcode, Y_AXIS);
 351
 352         }else if(gcode->has_letter('Z')) {
 353             // probe in the Z axis
 354             probe_XYZ(gcode, Z_AXIS);
 355
 356         }else{
 357             gcode->stream->printf("error:at least one of X Y or Z must be specified\n");
 358         }
 359
 360         return;
 361
 362     } else if(gcode->has_m) {
 363         // M code processing here
 364         int c;
 365         switch (gcode->m) {
 366             case 119:
 367                 c = this->pin.get();
 368                 gcode->stream->printf(" Probe: %d", c);
 369                 gcode->add_nl = true;
 370                 break;
 371
 372             case 670:
 373                 if (gcode->has_letter('S')) this->slow_feedrate = gcode->get_value('S');
 374                 if (gcode->has_letter('K')) this->fast_feedrate = gcode->get_value('K');
 375                 if (gcode->has_letter('R')) this->return_feedrate = gcode->get_value('R');
 376                 if (gcode->has_letter('Z')) this->max_z = gcode->get_value('Z');
 377                 if (gcode->has_letter('H')) this->probe_height = gcode->get_value('H');
 378                 if (gcode->has_letter('I')) { // NOTE this is temporary and toggles the invertion status of the pin
 379                     invert_override= (gcode->get_value('I') != 0);
 380                     pin.set_inverting(pin.is_inverting() != invert_override); // XOR so inverted pin is not inverted and vice versa
 381                 }
 382                 break;
 383
 384             case 500: // save settings
 385             case 503: // print settings
 386                 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",
 387                     this->slow_feedrate, this->fast_feedrate, this->return_feedrate, this->max_z, this->probe_height);
 388
 389                 // fall through is intended so leveling strategies can handle m-codes too
 390
 391             default:
 392                 for(auto s : strategies){
 393                     if(s->handleGcode(gcode)) {
 394                         return;
 395                     }
 396                 }
 397         }
 398     }
 399 }
 400
 401 // special way to probe in the X or Y or Z direction using planned moves, should work with any kinematics
 402 void ZProbe::probe_XYZ(Gcode *gcode, int axis)
 403 {
 404     // enable the probe checking in the timer
 405     probing= true;
 406     probe_detected= false;
 407     THEROBOT->disable_segmentation= true; // we must disable segmentation as this won't work with it enabled (beware on deltas probing in X or Y)
 408
 409     // get probe feedrate in mm/min and convert to mm/sec if specified
 410     float rate = (gcode->has_letter('F')) ? gcode->get_value('F')/60 : this->slow_feedrate;
 411
 412     // do a regular move which will stop as soon as the probe is triggered, or the distance is reached
 413     switch(axis) {
 414         case X_AXIS: coordinated_move(gcode->get_value('X'), 0, 0, rate, true); break;
 415         case Y_AXIS: coordinated_move(0, gcode->get_value('Y'), 0, rate, true); break;
 416         case Z_AXIS: coordinated_move(0, 0, gcode->get_value('Z'), rate, true); break;
 417     }
 418
 419     // coordinated_move returns when the move is finished
 420
 421     // disable probe checking
 422     probing= false;
 423     THEROBOT->disable_segmentation= false;
 424
 425     // if the probe stopped the move we need to correct the last_milestone as it did not reach where it thought
 426     // this also sets last_milestone to the machine coordinates it stopped at
 427     THEROBOT->reset_position_from_current_actuator_position();
 428     float pos[3];
 429     THEROBOT->get_axis_position(pos, 3);
 430
 431     uint8_t probeok= this->probe_detected ? 1 : 0;
 432
 433     // print results using the GRBL format
 434     gcode->stream->printf("[PRB:%1.3f,%1.3f,%1.3f:%d]\n", pos[X_AXIS], pos[Y_AXIS], pos[Z_AXIS], probeok);
 435     THEROBOT->set_last_probe_position(std::make_tuple(pos[X_AXIS], pos[Y_AXIS], pos[Z_AXIS], probeok));
 436
 437     if(probeok == 0 && gcode->subcode == 2) {
 438         // issue error if probe was not triggered and subcode == 2
 439         gcode->stream->printf("ALARM:Probe fail\n");
 440         THEKERNEL->call_event(ON_HALT, nullptr);
 441     }
 442 }
 443
 444 // issue a coordinated move directly to robot, and return when done
 445 // Only move the coordinates that are passed in as not nan
 446 // NOTE must use G53 to force move in machine coordinates and ignore any WCS offsets
 447 void ZProbe::coordinated_move(float x, float y, float z, float feedrate, bool relative)
 448 {
 449     char buf[32];
 450     char cmd[64];
 451
 452     if(relative) strcpy(cmd, "G91 G0 ");
 453     else strcpy(cmd, "G53 G0 "); // G53 forces movement in machine coordinate system
 454
 455     if(!isnan(x)) {
 456         int n = snprintf(buf, sizeof(buf), " X%1.3f", x);
 457         strncat(cmd, buf, n);
 458     }
 459     if(!isnan(y)) {
 460         int n = snprintf(buf, sizeof(buf), " Y%1.3f", y);
 461         strncat(cmd, buf, n);
 462     }
 463     if(!isnan(z)) {
 464         int n = snprintf(buf, sizeof(buf), " Z%1.3f", z);
 465         strncat(cmd, buf, n);
 466     }
 467
 468     // use specified feedrate (mm/sec)
 469     int n = snprintf(buf, sizeof(buf), " F%1.1f", feedrate * 60); // feed rate is converted to mm/min
 470     strncat(cmd, buf, n);
 471     if(relative) strcat(cmd, " G90");
 472
 473     //THEKERNEL->streams->printf("DEBUG: move: %s\n", cmd);
 474
 475     // send as a command line as may have multiple G codes in it
 476     struct SerialMessage message;
 477     message.message = cmd;
 478     message.stream = &(StreamOutput::NullStream);
 479     THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message );
 480     THEKERNEL->conveyor->wait_for_idle();
 481 }
 482
 483 // issue home command
 484 void ZProbe::home()
 485 {
 486     Gcode gc(THEKERNEL->is_grbl_mode() ? "G28.2" : "G28", &(StreamOutput::NullStream));
 487     THEKERNEL->call_event(ON_GCODE_RECEIVED, &gc);
 488 }