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 probe_height_checksum    CHECKSUM("probe_height")
  41 #define gamma_max_checksum       CHECKSUM("gamma_max")
  42
  43 // from endstop section
  44 #define delta_homing_checksum    CHECKSUM("delta_homing")
  45
  46 #define X_AXIS 0
  47 #define Y_AXIS 1
  48 #define Z_AXIS 2
  49
  50 #define STEPPER THEKERNEL->robot->actuators
  51 #define STEPS_PER_MM(a) (STEPPER[a]->get_steps_per_mm())
  52 #define Z_STEPS_PER_MM STEPS_PER_MM(Z_AXIS)
  53
  54 #define abs(a) ((a<0) ? -a : a)
  55
  56 void ZProbe::on_module_loaded()
  57 {
  58     // if the module is disabled -> do nothing
  59     if(!THEKERNEL->config->value( zprobe_checksum, enable_checksum )->by_default(false)->as_bool()) {
  60         // as this module is not needed free up the resource
  61         delete this;
  62         return;
  63     }
  64     this->running = false;
  65
  66     // load settings
  67     this->on_config_reload(this);
  68     // register event-handlers
  69     register_for_event(ON_GCODE_RECEIVED);
  70
  71     THEKERNEL->step_ticker->register_acceleration_tick_handler([this](){acceleration_tick(); });
  72 }
  73
  74 void ZProbe::on_config_reload(void *argument)
  75 {
  76     this->pin.from_string( THEKERNEL->config->value(zprobe_checksum, probe_pin_checksum)->by_default("nc" )->as_string())->as_input();
  77     this->debounce_count = THEKERNEL->config->value(zprobe_checksum, debounce_count_checksum)->by_default(0  )->as_number();
  78
  79     // get strategies to load
  80     vector<uint16_t> modules;
  81     THEKERNEL->config->get_module_list( &modules, leveling_strategy_checksum);
  82     for( auto cs : modules ){
  83         if( THEKERNEL->config->value(leveling_strategy_checksum, cs, enable_checksum )->as_bool() ){
  84             bool found= false;
  85             // check with each known strategy and load it if it matches
  86             switch(cs) {
  87                 case delta_calibration_strategy_checksum:
  88                     this->strategies.push_back(new DeltaCalibrationStrategy(this));
  89                     found= true;
  90                     break;
  91
  92                 case three_point_leveling_strategy_checksum:
  93                     // NOTE this strategy is mutually exclusive with the delta calibration strategy
  94                     this->strategies.push_back(new ThreePointStrategy(this));
  95                     found= true;
  96                     break;
  97
  98                 case ZGrid_leveling_checksum:
  99                      this->strategies.push_back(new ZGridStrategy(this));
 100                      found= true;
 101                      break;
 102
 103                 // add other strategies here
 104                 //case zheight_map_strategy:
 105                 //     this->strategies.push_back(new ZHeightMapStrategy(this));
 106                 //     found= true;
 107                 //     break;
 108             }
 109             if(found) this->strategies.back()->handleConfig();
 110         }
 111     }
 112
 113     // need to know if we need to use delta kinematics for homing
 114     this->is_delta = THEKERNEL->config->value(delta_homing_checksum)->by_default(false)->as_bool();
 115
 116     // default for backwards compatibility add DeltaCalibrationStrategy if a delta
 117     // will be deprecated
 118     if(this->strategies.empty()) {
 119         if(this->is_delta) {
 120             this->strategies.push_back(new DeltaCalibrationStrategy(this));
 121             this->strategies.back()->handleConfig();
 122         }
 123     }
 124
 125     this->probe_height  = THEKERNEL->config->value(zprobe_checksum, probe_height_checksum)->by_default(5.0F)->as_number();
 126     this->slow_feedrate = THEKERNEL->config->value(zprobe_checksum, slow_feedrate_checksum)->by_default(5)->as_number(); // feedrate in mm/sec
 127     this->fast_feedrate = THEKERNEL->config->value(zprobe_checksum, fast_feedrate_checksum)->by_default(100)->as_number(); // feedrate in mm/sec
 128     this->max_z         = THEKERNEL->config->value(gamma_max_checksum)->by_default(500)->as_number(); // maximum zprobe distance
 129 }
 130
 131 bool ZProbe::wait_for_probe(int& steps)
 132 {
 133     unsigned int debounce = 0;
 134     while(true) {
 135         THEKERNEL->call_event(ON_IDLE);
 136         // if no stepper is moving, moves are finished and there was no touch
 137         if( !STEPPER[Z_AXIS]->is_moving() && (!is_delta || (!STEPPER[Y_AXIS]->is_moving() && !STEPPER[Z_AXIS]->is_moving())) ) {
 138             return false;
 139         }
 140
 141         // if the touchprobe is active...
 142         if( this->pin.get() ) {
 143             //...increase debounce counter...
 144             if( debounce < debounce_count) {
 145                 // ...but only if the counter hasn't reached the max. value
 146                 debounce++;
 147             } else {
 148                 // ...otherwise stop the steppers, return its remaining steps
 149                 if(STEPPER[Z_AXIS]->is_moving()){
 150                     steps= STEPPER[Z_AXIS]->get_stepped();
 151                     STEPPER[Z_AXIS]->move(0, 0);
 152                 }
 153                 if(is_delta) {
 154                     for( int i = X_AXIS; i <= Y_AXIS; i++ ) {
 155                         if ( STEPPER[i]->is_moving() ) {
 156                             STEPPER[i]->move(0, 0);
 157                         }
 158                     }
 159                 }
 160                 return true;
 161             }
 162         } else {
 163             // The probe was not hit yet, reset debounce counter
 164             debounce = 0;
 165         }
 166     }
 167 }
 168
 169 // single probe and report amount moved
 170 bool ZProbe::run_probe(int& steps, bool fast)
 171 {
 172     // not a block move so disable the last tick setting
 173     for ( int c = X_AXIS; c <= Z_AXIS; c++ ) {
 174         STEPPER[c]->set_moved_last_block(false);
 175     }
 176
 177     // Enable the motors
 178     THEKERNEL->stepper->turn_enable_pins_on();
 179     this->current_feedrate = (fast ? this->fast_feedrate : this->slow_feedrate) * Z_STEPS_PER_MM; // steps/sec
 180     float maxz= this->max_z*2;
 181
 182     // move Z down
 183     STEPPER[Z_AXIS]->move(true, maxz * Z_STEPS_PER_MM, 0); // always probes down, no more than 2*maxz
 184     if(this->is_delta) {
 185         // for delta need to move all three actuators
 186         STEPPER[X_AXIS]->move(true, maxz * STEPS_PER_MM(X_AXIS), 0);
 187         STEPPER[Y_AXIS]->move(true, maxz * STEPS_PER_MM(Y_AXIS), 0);
 188     }
 189
 190     // start acceleration processing
 191     this->running = true;
 192
 193     bool r = wait_for_probe(steps);
 194     this->running = false;
 195     return r;
 196 }
 197
 198 bool ZProbe::return_probe(int steps)
 199 {
 200     // move probe back to where it was
 201     float fr= this->slow_feedrate*2; // nominally twice slow feedrate
 202     if(fr > this->fast_feedrate) fr= this->fast_feedrate; // unless that is greater than fast feedrate
 203     this->current_feedrate = fr * Z_STEPS_PER_MM; // feedrate in steps/sec
 204     bool dir= steps < 0;
 205     steps= abs(steps);
 206
 207     STEPPER[Z_AXIS]->move(dir, steps, 0);
 208     if(this->is_delta) {
 209         STEPPER[X_AXIS]->move(dir, steps, 0);
 210         STEPPER[Y_AXIS]->move(dir, steps, 0);
 211     }
 212
 213     this->running = true;
 214     while(STEPPER[Z_AXIS]->is_moving() || (is_delta && (STEPPER[X_AXIS]->is_moving() || STEPPER[Y_AXIS]->is_moving())) ) {
 215         // wait for it to complete
 216         THEKERNEL->call_event(ON_IDLE);
 217     }
 218
 219     this->running = false;
 220
 221     return true;
 222 }
 223
 224 bool ZProbe::doProbeAt(int &steps, float x, float y)
 225 {
 226     int s;
 227     // move to xy
 228     coordinated_move(x, y, NAN, getFastFeedrate());
 229     if(!run_probe(s)) return false;
 230
 231     // return to original Z
 232     return_probe(s);
 233     steps = s;
 234
 235     return true;
 236 }
 237
 238 float ZProbe::probeDistance(float x, float y)
 239 {
 240     int s;
 241     if(!doProbeAt(s, x, y)) return NAN;
 242     return zsteps_to_mm(s);
 243 }
 244
 245 void ZProbe::on_gcode_received(void *argument)
 246 {
 247     Gcode *gcode = static_cast<Gcode *>(argument);
 248
 249     if( gcode->has_g && gcode->g >= 29 && gcode->g <= 32) {
 250         // make sure the probe is defined and not already triggered before moving motors
 251        if(!this->pin.connected()) {
 252             gcode->stream->printf("ZProbe not connected.\n");
 253             return;
 254         }
 255         if(this->pin.get()) {
 256             gcode->stream->printf("ZProbe triggered before move, aborting command.\n");
 257             return;
 258         }
 259
 260         if( gcode->g == 30 ) { // simple Z probe
 261             // first wait for an empty queue i.e. no moves left
 262             THEKERNEL->conveyor->wait_for_empty_queue();
 263
 264             int steps;
 265             if(run_probe(steps)) {
 266                 gcode->stream->printf("Z:%1.4f C:%d\n", steps / Z_STEPS_PER_MM, steps);
 267                 // move back to where it started, unless a Z is specified
 268                 if(gcode->has_letter('Z')) {
 269                     // set Z to the specified value, and leave probe where it is
 270                     THEKERNEL->robot->reset_axis_position(gcode->get_value('Z'), Z_AXIS);
 271                 } else {
 272                     return_probe(steps);
 273                 }
 274             } else {
 275                 gcode->stream->printf("ZProbe not triggered\n");
 276             }
 277
 278         } else {
 279             // find a strategy to handle the gcode
 280             for(auto s : strategies){
 281                 if(s->handleGcode(gcode)) {
 282                     return;
 283                 }
 284             }
 285             gcode->stream->printf("No strategy found to handle G%d\n", gcode->g);
 286         }
 287
 288     } else if(gcode->has_m) {
 289         // M code processing here
 290         if(gcode->m == 119) {
 291             int c = this->pin.get();
 292             gcode->stream->printf(" Probe: %d", c);
 293             gcode->add_nl = true;
 294
 295         }else {
 296             for(auto s : strategies){
 297                 if(s->handleGcode(gcode)) {
 298                     return;
 299                 }
 300             }
 301         }
 302     }
 303 }
 304
 305 // Called periodically to change the speed to match acceleration
 306 void ZProbe::acceleration_tick(void)
 307 {
 308     if(!this->running) return; // nothing to do
 309     if(STEPPER[Z_AXIS]->is_moving()) accelerate(Z_AXIS);
 310
 311     if(is_delta) {
 312          // deltas needs to move all actuators
 313         for ( int c = X_AXIS; c <= Y_AXIS; c++ ) {
 314             if( !STEPPER[c]->is_moving() ) continue;
 315             accelerate(c);
 316         }
 317     }
 318
 319     return;
 320 }
 321
 322 void ZProbe::accelerate(int c)
 323 {   uint32_t current_rate = STEPPER[c]->get_steps_per_second();
 324     uint32_t target_rate = floorf(this->current_feedrate);
 325
 326     // Z may have a different acceleration to X and Y
 327     float acc= (c==Z_AXIS) ? THEKERNEL->planner->get_z_acceleration() : THEKERNEL->planner->get_acceleration();
 328     if( current_rate < target_rate ) {
 329         uint32_t rate_increase = floorf((acc / THEKERNEL->acceleration_ticks_per_second) * STEPS_PER_MM(c));
 330         current_rate = min( target_rate, current_rate + rate_increase );
 331     }
 332     if( current_rate > target_rate ) {
 333         current_rate = target_rate;
 334     }
 335
 336     // steps per second
 337     STEPPER[c]->set_speed(current_rate);
 338 }
 339
 340 // issue a coordinated move directly to robot, and return when done
 341 // Only move the coordinates that are passed in as not nan
 342 void ZProbe::coordinated_move(float x, float y, float z, float feedrate, bool relative)
 343 {
 344     char buf[32];
 345     char cmd[64];
 346
 347     if(relative) strcpy(cmd, "G91 G0 ");
 348     else strcpy(cmd, "G0 ");
 349
 350     if(!isnan(x)) {
 351         int n = snprintf(buf, sizeof(buf), " X%1.3f", x);
 352         strncat(cmd, buf, n);
 353     }
 354     if(!isnan(y)) {
 355         int n = snprintf(buf, sizeof(buf), " Y%1.3f", y);
 356         strncat(cmd, buf, n);
 357     }
 358     if(!isnan(z)) {
 359         int n = snprintf(buf, sizeof(buf), " Z%1.3f", z);
 360         strncat(cmd, buf, n);
 361     }
 362
 363     // use specified feedrate (mm/sec)
 364     int n = snprintf(buf, sizeof(buf), " F%1.1f", feedrate * 60); // feed rate is converted to mm/min
 365     strncat(cmd, buf, n);
 366     if(relative) strcat(cmd, " G90");
 367
 368     //THEKERNEL->streams->printf("DEBUG: move: %s\n", cmd);
 369
 370     // send as a command line as may have multiple G codes in it
 371     struct SerialMessage message;
 372     message.message = cmd;
 373     message.stream = &(StreamOutput::NullStream);
 374     THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message );
 375     THEKERNEL->conveyor->wait_for_empty_queue();
 376 }
 377
 378 // issue home command
 379 void ZProbe::home()
 380 {
 381     Gcode gc("G28", &(StreamOutput::NullStream));
 382     THEKERNEL->call_event(ON_GCODE_RECEIVED, &gc);
 383 }
 384
 385 float ZProbe::zsteps_to_mm(float steps)
 386 {
 387     return steps / Z_STEPS_PER_MM;
 388 }