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
  29 // strategies we know about
  30 #include "DeltaCalibrationStrategy.h"
  31 #include "ThreePointStrategy.h"
  32
  33 #define enable_checksum          CHECKSUM("enable")
  34 #define probe_pin_checksum       CHECKSUM("probe_pin")
  35 #define debounce_count_checksum  CHECKSUM("debounce_count")
  36 #define slow_feedrate_checksum   CHECKSUM("slow_feedrate")
  37 #define fast_feedrate_checksum   CHECKSUM("fast_feedrate")
  38 #define probe_height_checksum    CHECKSUM("probe_height")
  39
  40 // from endstop section
  41 #define delta_homing_checksum    CHECKSUM("delta_homing")
  42
  43 #define X_AXIS 0
  44 #define Y_AXIS 1
  45 #define Z_AXIS 2
  46
  47 #define STEPPER THEKERNEL->robot->actuators
  48 #define STEPS_PER_MM(a) (STEPPER[a]->get_steps_per_mm())
  49 #define Z_STEPS_PER_MM STEPS_PER_MM(Z_AXIS)
  50
  51 #define abs(a) ((a<0) ? -a : a)
  52
  53 void ZProbe::on_module_loaded()
  54 {
  55     // if the module is disabled -> do nothing
  56     if(!THEKERNEL->config->value( zprobe_checksum, enable_checksum )->by_default(false)->as_bool()) {
  57         // as this module is not needed free up the resource
  58         delete this;
  59         return;
  60     }
  61     this->running = false;
  62
  63     // load settings
  64     this->on_config_reload(this);
  65     // register event-handlers
  66     register_for_event(ON_GCODE_RECEIVED);
  67
  68     THEKERNEL->slow_ticker->attach( THEKERNEL->stepper->get_acceleration_ticks_per_second() , this, &ZProbe::acceleration_tick );
  69 }
  70
  71 void ZProbe::on_config_reload(void *argument)
  72 {
  73     this->pin.from_string( THEKERNEL->config->value(zprobe_checksum, probe_pin_checksum)->by_default("nc" )->as_string())->as_input();
  74     this->debounce_count = THEKERNEL->config->value(zprobe_checksum, debounce_count_checksum)->by_default(0  )->as_number();
  75
  76     // get strategies to load
  77     vector<uint16_t> modules;
  78     THEKERNEL->config->get_module_list( &modules, leveling_strategy_checksum);
  79     for( auto cs : modules ){
  80         if( THEKERNEL->config->value(leveling_strategy_checksum, cs, enable_checksum )->as_bool() ){
  81             bool found= false;
  82             // check with each known strategy and load it if it matches
  83             switch(cs) {
  84                 case delta_calibration_strategy_checksum:
  85                     this->strategies.push_back(new DeltaCalibrationStrategy(this));
  86                     found= true;
  87                     break;
  88
  89                 case three_point_leveling_strategy_checksum:
  90                     // NOTE this strategy is mutually exclusive with the delta calibration strategy
  91                     this->strategies.push_back(new ThreePointStrategy(this));
  92                     found= true;
  93                     break;
  94
  95                 // add other strategies here
  96                 //case zheight_map_strategy:
  97                 //     this->strategies.push_back(new ZHeightMapStrategy(this));
  98                 //     found= true;
  99                 //     break;
 100             }
 101             if(found) this->strategies.back()->handleConfig();
 102         }
 103     }
 104
 105     // need to know if we need to use delta kinematics for homing
 106     this->is_delta = THEKERNEL->config->value(delta_homing_checksum)->by_default(false)->as_bool();
 107
 108     // default for backwards compatibility add DeltaCalibrationStrategy if a delta
 109     // will be deprecated
 110     if(this->strategies.empty()) {
 111         if(this->is_delta) {
 112             this->strategies.push_back(new DeltaCalibrationStrategy(this));
 113             this->strategies.back()->handleConfig();
 114         }
 115     }
 116
 117     this->probe_height =  THEKERNEL->config->value(zprobe_checksum, probe_height_checksum)->by_default(5.0F)->as_number();
 118     this->slow_feedrate = THEKERNEL->config->value(zprobe_checksum, slow_feedrate_checksum)->by_default(5)->as_number(); // feedrate in mm/sec
 119     this->fast_feedrate = THEKERNEL->config->value(zprobe_checksum, fast_feedrate_checksum)->by_default(100)->as_number(); // feedrate in mm/sec
 120 }
 121
 122 bool ZProbe::wait_for_probe(int steps[3])
 123 {
 124     unsigned int debounce = 0;
 125     while(true) {
 126         THEKERNEL->call_event(ON_IDLE);
 127         // if no stepper is moving, moves are finished and there was no touch
 128         if( !STEPPER[X_AXIS]->is_moving() && !STEPPER[Y_AXIS]->is_moving() && !STEPPER[Z_AXIS]->is_moving() ) {
 129             return false;
 130         }
 131
 132         // if the touchprobe is active...
 133         if( this->pin.get() ) {
 134             //...increase debounce counter...
 135             if( debounce < debounce_count) {
 136                 // ...but only if the counter hasn't reached the max. value
 137                 debounce++;
 138             } else {
 139                 // ...otherwise stop the steppers, return its remaining steps
 140                 for( int i = X_AXIS; i <= Z_AXIS; i++ ) {
 141                     steps[i] = 0;
 142                     if ( STEPPER[i]->is_moving() ) {
 143                         steps[i] =  STEPPER[i]->get_stepped();
 144                         STEPPER[i]->move(0, 0);
 145                     }
 146                 }
 147                 return true;
 148             }
 149         } else {
 150             // The probe was not hit yet, reset debounce counter
 151             debounce = 0;
 152         }
 153     }
 154 }
 155
 156 // single probe and report amount moved
 157 bool ZProbe::run_probe(int& steps, bool fast)
 158 {
 159     // Enable the motors
 160     THEKERNEL->stepper->turn_enable_pins_on();
 161     this->current_feedrate = (fast ? this->fast_feedrate : this->slow_feedrate) * Z_STEPS_PER_MM; // steps/sec
 162
 163     // move Z down
 164     STEPPER[Z_AXIS]->set_speed(0); // will be increased by acceleration tick
 165     STEPPER[Z_AXIS]->move(true, 1000 * Z_STEPS_PER_MM); // always probes down, no more than 1000mm TODO should be 2*maxz
 166     if(this->is_delta) {
 167         // for delta need to move all three actuators
 168         STEPPER[X_AXIS]->set_speed(0);
 169         STEPPER[X_AXIS]->move(true, 1000 * STEPS_PER_MM(X_AXIS));
 170         STEPPER[Y_AXIS]->set_speed(0);
 171         STEPPER[Y_AXIS]->move(true, 1000 * STEPS_PER_MM(Y_AXIS));
 172     }
 173
 174     this->running = true;
 175
 176     int s[3];
 177     bool r = wait_for_probe(s);
 178     steps= s[Z_AXIS]; // only need z
 179     this->running = false;
 180     return r;
 181 }
 182
 183 bool ZProbe::return_probe(int steps)
 184 {
 185     // move probe back to where it was
 186     this->current_feedrate = this->fast_feedrate * Z_STEPS_PER_MM; // feedrate in steps/sec
 187     bool dir= steps < 0;
 188     steps= abs(steps);
 189
 190     STEPPER[Z_AXIS]->set_speed(0); // will be increased by acceleration tick
 191     STEPPER[Z_AXIS]->move(dir, steps);
 192     if(this->is_delta) {
 193         STEPPER[X_AXIS]->set_speed(0);
 194         STEPPER[X_AXIS]->move(dir, steps);
 195         STEPPER[Y_AXIS]->set_speed(0);
 196         STEPPER[Y_AXIS]->move(dir, steps);
 197     }
 198
 199     this->running = true;
 200     while(STEPPER[X_AXIS]->is_moving() || STEPPER[Y_AXIS]->is_moving() || STEPPER[Z_AXIS]->is_moving()) {
 201         // wait for it to complete
 202         THEKERNEL->call_event(ON_IDLE);
 203     }
 204
 205     this->running = false;
 206
 207     return true;
 208 }
 209
 210 bool ZProbe::doProbeAt(int &steps, float x, float y)
 211 {
 212     int s;
 213     // move to xy
 214     coordinated_move(x, y, NAN, getFastFeedrate());
 215     if(!run_probe(s)) return false;
 216
 217     // return to original Z
 218     return_probe(s);
 219     steps = s;
 220
 221     return true;
 222 }
 223
 224 float ZProbe::probeDistance(float x, float y)
 225 {
 226     int s;
 227     if(!doProbeAt(s, x, y)) return NAN;
 228     return zsteps_to_mm(s);
 229 }
 230
 231 void ZProbe::on_gcode_received(void *argument)
 232 {
 233     Gcode *gcode = static_cast<Gcode *>(argument);
 234
 235     if( gcode->has_g && gcode->g >= 29 && gcode->g <= 32) {
 236         // G code processing
 237         if( gcode->g == 30 ) { // simple Z probe
 238             gcode->mark_as_taken();
 239             // first wait for an empty queue i.e. no moves left
 240             THEKERNEL->conveyor->wait_for_empty_queue();
 241
 242             // make sure the probe is not already triggered before moving motors
 243             if(this->pin.get()) {
 244                 gcode->stream->printf("ZProbe triggered before move, aborting command.\n");
 245                 return;
 246             }
 247
 248             int steps;
 249             if(run_probe(steps)) {
 250                 gcode->stream->printf("Z:%1.4f C:%d\n", steps / Z_STEPS_PER_MM, steps);
 251                 // move back to where it started, unless a Z is specified
 252                 if(gcode->has_letter('Z')) {
 253                     // set Z to the specified value, and leave probe where it is
 254                     THEKERNEL->robot->reset_axis_position(gcode->get_value('Z'), Z_AXIS);
 255                 } else {
 256                     return_probe(steps);
 257                 }
 258             } else {
 259                 gcode->stream->printf("ZProbe not triggered\n");
 260             }
 261
 262         } else {
 263             // find a strategy to handle the gcode
 264             for(auto s : strategies){
 265                 if(s->handleGcode(gcode)) {
 266                     gcode->mark_as_taken();
 267                     return;
 268                 }
 269             }
 270             gcode->stream->printf("No strategy found to handle G%d\n", gcode->g);
 271         }
 272
 273     } else if(gcode->has_m) {
 274         // M code processing here
 275         if(gcode->m == 119) {
 276             int c = this->pin.get();
 277             gcode->stream->printf(" Probe: %d", c);
 278             gcode->add_nl = true;
 279             gcode->mark_as_taken();
 280
 281         }else {
 282             for(auto s : strategies){
 283                 if(s->handleGcode(gcode)) {
 284                     gcode->mark_as_taken();
 285                     return;
 286                 }
 287             }
 288         }
 289     }
 290 }
 291
 292 #define max(a,b) (((a) > (b)) ? (a) : (b))
 293 // Called periodically to change the speed to match acceleration
 294 uint32_t ZProbe::acceleration_tick(uint32_t dummy)
 295 {
 296     if(!this->running) return(0); // nothing to do
 297
 298     // foreach stepper that is moving
 299     for ( int c = X_AXIS; c <= Z_AXIS; c++ ) {
 300         if( !STEPPER[c]->is_moving() ) continue;
 301
 302         uint32_t current_rate = STEPPER[c]->get_steps_per_second();
 303         uint32_t target_rate = int(floor(this->current_feedrate));
 304
 305         if( current_rate < target_rate ) {
 306             uint32_t rate_increase = int(floor((THEKERNEL->planner->get_acceleration() / THEKERNEL->stepper->get_acceleration_ticks_per_second()) * STEPS_PER_MM(c)));
 307             current_rate = min( target_rate, current_rate + rate_increase );
 308         }
 309         if( current_rate > target_rate ) {
 310             current_rate = target_rate;
 311         }
 312
 313         // steps per second
 314         STEPPER[c]->set_speed(max(current_rate, THEKERNEL->stepper->get_minimum_steps_per_second()));
 315     }
 316
 317     return 0;
 318 }
 319
 320 // issue a coordinated move directly to robot, and return when done
 321 // Only move the coordinates that are passed in as not nan
 322 void ZProbe::coordinated_move(float x, float y, float z, float feedrate, bool relative)
 323 {
 324     char buf[32];
 325     char cmd[64];
 326
 327     if(relative) strcpy(cmd, "G91 G0 ");
 328     else strcpy(cmd, "G0 ");
 329
 330     if(!isnan(x)) {
 331         int n = snprintf(buf, sizeof(buf), " X%1.3f", x);
 332         strncat(cmd, buf, n);
 333     }
 334     if(!isnan(y)) {
 335         int n = snprintf(buf, sizeof(buf), " Y%1.3f", y);
 336         strncat(cmd, buf, n);
 337     }
 338     if(!isnan(z)) {
 339         int n = snprintf(buf, sizeof(buf), " Z%1.3f", z);
 340         strncat(cmd, buf, n);
 341     }
 342
 343     // use specified feedrate (mm/sec)
 344     int n = snprintf(buf, sizeof(buf), " F%1.1f", feedrate * 60); // feed rate is converted to mm/min
 345     strncat(cmd, buf, n);
 346     if(relative) strcat(cmd, " G90");
 347
 348     //THEKERNEL->streams->printf("DEBUG: move: %s\n", cmd);
 349
 350     // send as a command line as may have multiple G codes in it
 351     struct SerialMessage message;
 352     message.message = cmd;
 353     message.stream = &(StreamOutput::NullStream);
 354     THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message );
 355     THEKERNEL->conveyor->wait_for_empty_queue();
 356 }
 357
 358 // issue home command
 359 void ZProbe::home()
 360 {
 361     Gcode gc("G28", &(StreamOutput::NullStream));
 362     THEKERNEL->call_event(ON_GCODE_RECEIVED, &gc);
 363 }
 364
 365 float ZProbe::zsteps_to_mm(float steps)
 366 {
 367     return steps / Z_STEPS_PER_MM;
 368 }