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 no stepper is moving, moves are finished and there was no touch
 139         if( !STEPPER[Z_AXIS]->is_moving() && (!is_delta || (!STEPPER[Y_AXIS]->is_moving() && !STEPPER[Z_AXIS]->is_moving())) ) {
 140             return false;
 141         }
 142
 143         // if the touchprobe is active...
 144         if( this->pin.get() ) {
 145             //...increase debounce counter...
 146             if( debounce < debounce_count) {
 147                 // ...but only if the counter hasn't reached the max. value
 148                 debounce++;
 149             } else {
 150                 // ...otherwise stop the steppers, return its remaining steps
 151                 if(STEPPER[Z_AXIS]->is_moving()){
 152                     steps= STEPPER[Z_AXIS]->get_stepped();
 153                     STEPPER[Z_AXIS]->move(0, 0);
 154                 }
 155                 if(is_delta) {
 156                     for( int i = X_AXIS; i <= Y_AXIS; i++ ) {
 157                         if ( STEPPER[i]->is_moving() ) {
 158                             STEPPER[i]->move(0, 0);
 159                         }
 160                     }
 161                 }
 162                 return true;
 163             }
 164         } else {
 165             // The probe was not hit yet, reset debounce counter
 166             debounce = 0;
 167         }
 168     }
 169 }
 170
 171 // single probe and report amount moved
 172 bool ZProbe::run_probe(int& steps, bool fast)
 173 {
 174     // not a block move so disable the last tick setting
 175     for ( int c = X_AXIS; c <= Z_AXIS; c++ ) {
 176         STEPPER[c]->set_moved_last_block(false);
 177     }
 178
 179     // Enable the motors
 180     THEKERNEL->stepper->turn_enable_pins_on();
 181     this->current_feedrate = (fast ? this->fast_feedrate : this->slow_feedrate) * Z_STEPS_PER_MM; // steps/sec
 182     float maxz= this->max_z*2;
 183
 184     // move Z down
 185     STEPPER[Z_AXIS]->move(true, maxz * Z_STEPS_PER_MM, 0); // always probes down, no more than 2*maxz
 186     if(this->is_delta) {
 187         // for delta need to move all three actuators
 188         STEPPER[X_AXIS]->move(true, maxz * STEPS_PER_MM(X_AXIS), 0);
 189         STEPPER[Y_AXIS]->move(true, maxz * STEPS_PER_MM(Y_AXIS), 0);
 190     }
 191
 192     // start acceleration processing
 193     this->running = true;
 194
 195     bool r = wait_for_probe(steps);
 196     this->running = false;
 197     return r;
 198 }
 199
 200 bool ZProbe::return_probe(int steps)
 201 {
 202     // move probe back to where it was
 203
 204     float fr;
 205     if(this->return_feedrate != 0) { // use return_feedrate if set
 206         fr = this->return_feedrate;
 207     } else {
 208         fr = this->slow_feedrate*2; // nominally twice slow feedrate
 209         if(fr > this->fast_feedrate) fr = this->fast_feedrate; // unless that is greater than fast feedrate
 210     }
 211
 212     this->current_feedrate = fr * Z_STEPS_PER_MM; // feedrate in steps/sec
 213     bool dir= steps < 0;
 214     steps= abs(steps);
 215
 216     STEPPER[Z_AXIS]->move(dir, steps, 0);
 217     if(this->is_delta) {
 218         STEPPER[X_AXIS]->move(dir, steps, 0);
 219         STEPPER[Y_AXIS]->move(dir, steps, 0);
 220     }
 221
 222     this->running = true;
 223     while(STEPPER[Z_AXIS]->is_moving() || (is_delta && (STEPPER[X_AXIS]->is_moving() || STEPPER[Y_AXIS]->is_moving())) ) {
 224         // wait for it to complete
 225         THEKERNEL->call_event(ON_IDLE);
 226     }
 227
 228     this->running = false;
 229
 230     return true;
 231 }
 232
 233 bool ZProbe::doProbeAt(int &steps, float x, float y)
 234 {
 235     int s;
 236     // move to xy
 237     coordinated_move(x, y, NAN, getFastFeedrate());
 238     if(!run_probe(s)) return false;
 239
 240     // return to original Z
 241     return_probe(s);
 242     steps = s;
 243
 244     return true;
 245 }
 246
 247 float ZProbe::probeDistance(float x, float y)
 248 {
 249     int s;
 250     if(!doProbeAt(s, x, y)) return NAN;
 251     return zsteps_to_mm(s);
 252 }
 253
 254 void ZProbe::on_gcode_received(void *argument)
 255 {
 256     Gcode *gcode = static_cast<Gcode *>(argument);
 257
 258     if( gcode->has_g && gcode->g >= 29 && gcode->g <= 32) {
 259         // make sure the probe is defined and not already triggered before moving motors
 260        if(!this->pin.connected()) {
 261             gcode->stream->printf("ZProbe not connected.\n");
 262             return;
 263         }
 264         if(this->pin.get()) {
 265             gcode->stream->printf("ZProbe triggered before move, aborting command.\n");
 266             return;
 267         }
 268
 269         if( gcode->g == 30 ) { // simple Z probe
 270             // first wait for an empty queue i.e. no moves left
 271             THEKERNEL->conveyor->wait_for_empty_queue();
 272
 273             int steps;
 274             if(run_probe(steps)) {
 275                 gcode->stream->printf("Z:%1.4f C:%d\n", steps / Z_STEPS_PER_MM, steps);
 276                 // move back to where it started, unless a Z is specified
 277                 if(gcode->has_letter('Z')) {
 278                     // set Z to the specified value, and leave probe where it is
 279                     THEKERNEL->robot->reset_axis_position(gcode->get_value('Z'), Z_AXIS);
 280                 } else {
 281                     return_probe(steps);
 282                 }
 283             } else {
 284                 gcode->stream->printf("ZProbe not triggered\n");
 285             }
 286
 287         } else {
 288             // find a strategy to handle the gcode
 289             for(auto s : strategies){
 290                 if(s->handleGcode(gcode)) {
 291                     return;
 292                 }
 293             }
 294             gcode->stream->printf("No strategy found to handle G%d\n", gcode->g);
 295         }
 296
 297     } else if(gcode->has_m) {
 298         // M code processing here
 299         if(gcode->m == 119) {
 300             int c = this->pin.get();
 301             gcode->stream->printf(" Probe: %d", c);
 302             gcode->add_nl = true;
 303
 304         }else {
 305             for(auto s : strategies){
 306                 if(s->handleGcode(gcode)) {
 307                     return;
 308                 }
 309             }
 310         }
 311     }
 312 }
 313
 314 // Called periodically to change the speed to match acceleration
 315 void ZProbe::acceleration_tick(void)
 316 {
 317     if(!this->running) return; // nothing to do
 318     if(STEPPER[Z_AXIS]->is_moving()) accelerate(Z_AXIS);
 319
 320     if(is_delta) {
 321          // deltas needs to move all actuators
 322         for ( int c = X_AXIS; c <= Y_AXIS; c++ ) {
 323             if( !STEPPER[c]->is_moving() ) continue;
 324             accelerate(c);
 325         }
 326     }
 327
 328     return;
 329 }
 330
 331 void ZProbe::accelerate(int c)
 332 {   uint32_t current_rate = STEPPER[c]->get_steps_per_second();
 333     uint32_t target_rate = floorf(this->current_feedrate);
 334
 335     // Z may have a different acceleration to X and Y
 336     float acc= (c==Z_AXIS) ? THEKERNEL->planner->get_z_acceleration() : THEKERNEL->planner->get_acceleration();
 337     if( current_rate < target_rate ) {
 338         uint32_t rate_increase = floorf((acc / THEKERNEL->acceleration_ticks_per_second) * STEPS_PER_MM(c));
 339         current_rate = min( target_rate, current_rate + rate_increase );
 340     }
 341     if( current_rate > target_rate ) {
 342         current_rate = target_rate;
 343     }
 344
 345     // steps per second
 346     STEPPER[c]->set_speed(current_rate);
 347 }
 348
 349 // issue a coordinated move directly to robot, and return when done
 350 // Only move the coordinates that are passed in as not nan
 351 void ZProbe::coordinated_move(float x, float y, float z, float feedrate, bool relative)
 352 {
 353     char buf[32];
 354     char cmd[64];
 355
 356     if(relative) strcpy(cmd, "G91 G0 ");
 357     else strcpy(cmd, "G0 ");
 358
 359     if(!isnan(x)) {
 360         int n = snprintf(buf, sizeof(buf), " X%1.3f", x);
 361         strncat(cmd, buf, n);
 362     }
 363     if(!isnan(y)) {
 364         int n = snprintf(buf, sizeof(buf), " Y%1.3f", y);
 365         strncat(cmd, buf, n);
 366     }
 367     if(!isnan(z)) {
 368         int n = snprintf(buf, sizeof(buf), " Z%1.3f", z);
 369         strncat(cmd, buf, n);
 370     }
 371
 372     // use specified feedrate (mm/sec)
 373     int n = snprintf(buf, sizeof(buf), " F%1.1f", feedrate * 60); // feed rate is converted to mm/min
 374     strncat(cmd, buf, n);
 375     if(relative) strcat(cmd, " G90");
 376
 377     //THEKERNEL->streams->printf("DEBUG: move: %s\n", cmd);
 378
 379     // send as a command line as may have multiple G codes in it
 380     struct SerialMessage message;
 381     message.message = cmd;
 382     message.stream = &(StreamOutput::NullStream);
 383     THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message );
 384     THEKERNEL->conveyor->wait_for_empty_queue();
 385 }
 386
 387 // issue home command
 388 void ZProbe::home()
 389 {
 390     Gcode gc("G28", &(StreamOutput::NullStream));
 391     THEKERNEL->call_event(ON_GCODE_RECEIVED, &gc);
 392 }
 393
 394 float ZProbe::zsteps_to_mm(float steps)
 395 {
 396     return steps / Z_STEPS_PER_MM;
 397 }