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 "ZGridStrategy.h"
  34 #include "DeltaGridStrategy.h"
  35
  36 #define enable_checksum          CHECKSUM("enable")
  37 #define probe_pin_checksum       CHECKSUM("probe_pin")
  38 #define debounce_ms_checksum     CHECKSUM("debounce_ms")
  39 #define slow_feedrate_checksum   CHECKSUM("slow_feedrate")
  40 #define fast_feedrate_checksum   CHECKSUM("fast_feedrate")
  41 #define return_feedrate_checksum CHECKSUM("return_feedrate")
  42 #define probe_height_checksum    CHECKSUM("probe_height")
  43 #define gamma_max_checksum       CHECKSUM("gamma_max")
  44 #define reverse_z_direction_checksum CHECKSUM("reverse_z")
  45
  46 // from endstop section
  47 #define delta_homing_checksum    CHECKSUM("delta_homing")
  48 #define rdelta_homing_checksum    CHECKSUM("rdelta_homing")
  49
  50 #define X_AXIS 0
  51 #define Y_AXIS 1
  52 #define Z_AXIS 2
  53
  54 #define STEPPER THEROBOT->actuators
  55 #define STEPS_PER_MM(a) (STEPPER[a]->get_steps_per_mm())
  56 #define Z_STEPS_PER_MM STEPS_PER_MM(Z_AXIS)
  57
  58 #define abs(a) ((a<0) ? -a : a)
  59
  60 void ZProbe::on_module_loaded()
  61 {
  62     // if the module is disabled -> do nothing
  63     if(!THEKERNEL->config->value( zprobe_checksum, enable_checksum )->by_default(false)->as_bool()) {
  64         // as this module is not needed free up the resource
  65         delete this;
  66         return;
  67     }
  68
  69     // load settings
  70     this->config_load();
  71     // register event-handlers
  72     register_for_event(ON_GCODE_RECEIVED);
  73
  74     // we read the probe in this timer, currently only for G38 probes.
  75     probing= false;
  76     THEKERNEL->slow_ticker->attach(1000, this, &ZProbe::read_probe);
  77 }
  78
  79 void ZProbe::config_load()
  80 {
  81     this->pin.from_string( THEKERNEL->config->value(zprobe_checksum, probe_pin_checksum)->by_default("nc" )->as_string())->as_input();
  82     this->debounce_ms    = THEKERNEL->config->value(zprobe_checksum, debounce_ms_checksum)->by_default(0  )->as_number();
  83
  84     // get strategies to load
  85     vector<uint16_t> modules;
  86     THEKERNEL->config->get_module_list( &modules, leveling_strategy_checksum);
  87     for( auto cs : modules ){
  88         if( THEKERNEL->config->value(leveling_strategy_checksum, cs, enable_checksum )->as_bool() ){
  89             bool found= false;
  90             // check with each known strategy and load it if it matches
  91             switch(cs) {
  92                 case delta_calibration_strategy_checksum:
  93                     this->strategies.push_back(new DeltaCalibrationStrategy(this));
  94                     found= true;
  95                     break;
  96
  97                 case three_point_leveling_strategy_checksum:
  98                     // NOTE this strategy is mutually exclusive with the delta calibration strategy
  99                     this->strategies.push_back(new ThreePointStrategy(this));
 100                     found= true;
 101                     break;
 102
 103                 // case ZGrid_leveling_checksum:
 104                 //      this->strategies.push_back(new ZGridStrategy(this));
 105                 //      found= true;
 106                 //      break;
 107
 108                 case delta_grid_leveling_strategy_checksum:
 109                     this->strategies.push_back(new DeltaGridStrategy(this));
 110                     found= true;
 111                     break;
 112             }
 113             if(found) this->strategies.back()->handleConfig();
 114         }
 115     }
 116
 117     // need to know if we need to use delta kinematics for homing
 118     this->is_delta = THEKERNEL->config->value(delta_homing_checksum)->by_default(false)->as_bool();
 119     this->is_rdelta = THEKERNEL->config->value(rdelta_homing_checksum)->by_default(false)->as_bool();
 120
 121     // default for backwards compatibility add DeltaCalibrationStrategy if a delta
 122     // will be deprecated
 123     if(this->strategies.empty()) {
 124         if(this->is_delta) {
 125             this->strategies.push_back(new DeltaCalibrationStrategy(this));
 126             this->strategies.back()->handleConfig();
 127         }
 128     }
 129
 130     this->probe_height  = THEKERNEL->config->value(zprobe_checksum, probe_height_checksum)->by_default(5.0F)->as_number();
 131     this->slow_feedrate = THEKERNEL->config->value(zprobe_checksum, slow_feedrate_checksum)->by_default(5)->as_number(); // feedrate in mm/sec
 132     this->fast_feedrate = THEKERNEL->config->value(zprobe_checksum, fast_feedrate_checksum)->by_default(100)->as_number(); // feedrate in mm/sec
 133     this->return_feedrate = THEKERNEL->config->value(zprobe_checksum, return_feedrate_checksum)->by_default(0)->as_number(); // feedrate in mm/sec
 134     this->reverse_z     = THEKERNEL->config->value(zprobe_checksum, reverse_z_direction_checksum)->by_default(false)->as_bool(); // Z probe moves in reverse direction
 135     this->max_z         = THEKERNEL->config->value(gamma_max_checksum)->by_default(500)->as_number(); // maximum zprobe distance
 136 }
 137
 138 uint32_t ZProbe::read_probe(uint32_t dummy)
 139 {
 140     if(!probing || probe_detected) return 0;
 141
 142     // we check all axis as it maybe a G38.2 X10 for instance, not just a probe in Z
 143     if(STEPPER[X_AXIS]->is_moving() || STEPPER[Y_AXIS]->is_moving() || STEPPER[Z_AXIS]->is_moving()) {
 144         // if it is moving then we check the probe, and debounce it
 145         if(this->pin.get()) {
 146             if(debounce < debounce_ms) {
 147                 debounce++;
 148             } else {
 149                 // we signal the motors to stop, which will preempt any moves on that axis
 150                 // we do all motors as it may be a delta
 151                 for(auto &a : THEROBOT->actuators) a->stop_moving();
 152                 probe_detected= true;
 153                 debounce= 0;
 154             }
 155
 156         } else {
 157             // The endstop was not hit yet
 158             debounce= 0;
 159         }
 160     }
 161
 162     return 0;
 163 }
 164
 165 // single probe in Z with custom feedrate
 166 // returns boolean value indicating if probe was triggered
 167 bool ZProbe::run_probe(float& mm, float feedrate, float max_dist, bool reverse)
 168 {
 169     float maxz= max_dist < 0 ? this->max_z*2 : max_dist;
 170
 171     probing= true;
 172     probe_detected= false;
 173     debounce= 0;
 174
 175     // save current actuator position so we can report how far we moved
 176     ActuatorCoordinates start_pos{
 177         THEROBOT->actuators[X_AXIS]->get_current_position(),
 178         THEROBOT->actuators[Y_AXIS]->get_current_position(),
 179         THEROBOT->actuators[Z_AXIS]->get_current_position()
 180     };
 181
 182     // move Z down
 183     THEROBOT->disable_segmentation= true; // we must disable segmentation as this won't work with it enabled
 184     bool dir= (!reverse_z != reverse); // xor
 185     float delta[3]= {0,0,0};
 186     delta[Z_AXIS]= dir ? -maxz : maxz;
 187     THEROBOT->delta_move(delta, feedrate, 3);
 188
 189     // wait until finished
 190     THECONVEYOR->wait_for_idle();
 191     THEROBOT->disable_segmentation= false;
 192
 193     // now see how far we moved, get delta in z we moved
 194     // NOTE this works for deltas as well as all three actuators move the same amount in Z
 195     mm= start_pos[2] - THEROBOT->actuators[2]->get_current_position();
 196
 197     // set the last probe position to the actuator units moved during this home
 198     THEROBOT->set_last_probe_position(
 199         std::make_tuple(
 200             start_pos[0] - THEROBOT->actuators[0]->get_current_position(),
 201             start_pos[1] - THEROBOT->actuators[1]->get_current_position(),
 202             mm,
 203             probe_detected?1:0));
 204
 205     probing= false;
 206
 207     if(probe_detected) {
 208         // if the probe stopped the move we need to correct the last_milestone as it did not reach where it thought
 209         THEROBOT->reset_position_from_current_actuator_position();
 210     }
 211
 212     return probe_detected;
 213 }
 214
 215 bool ZProbe::return_probe(float mm, bool reverse)
 216 {
 217     // move probe back to where it was
 218     float fr;
 219     if(this->return_feedrate != 0) { // use return_feedrate if set
 220         fr = this->return_feedrate;
 221     } else {
 222         fr = this->slow_feedrate*2; // nominally twice slow feedrate
 223         if(fr > this->fast_feedrate) fr = this->fast_feedrate; // unless that is greater than fast feedrate
 224     }
 225
 226     bool dir= ((mm < 0) != reverse_z); // xor
 227     if(reverse) dir= !dir;
 228
 229     float delta[3]= {0,0,0};
 230     delta[Z_AXIS]= dir ? -mm : mm;
 231     THEROBOT->delta_move(delta, fr, 3);
 232
 233     // wait until finished
 234     THECONVEYOR->wait_for_idle();
 235
 236     return true;
 237 }
 238
 239 bool ZProbe::doProbeAt(float &mm, float x, float y)
 240 {
 241     float s;
 242     // move to xy
 243     coordinated_move(x, y, NAN, getFastFeedrate());
 244     if(!run_probe(s)) return false;
 245
 246     // return to original Z
 247     return_probe(s);
 248     mm = s;
 249
 250     return true;
 251 }
 252
 253 float ZProbe::probeDistance(float x, float y)
 254 {
 255     float s;
 256     if(!doProbeAt(s, x, y)) return NAN;
 257     return s;
 258 }
 259
 260 void ZProbe::on_gcode_received(void *argument)
 261 {
 262     Gcode *gcode = static_cast<Gcode *>(argument);
 263
 264     if( gcode->has_g && gcode->g >= 29 && gcode->g <= 32) {
 265
 266         // make sure the probe is defined and not already triggered before moving motors
 267         if(!this->pin.connected()) {
 268             gcode->stream->printf("ZProbe not connected.\n");
 269             return;
 270         }
 271         if(this->pin.get()) {
 272             gcode->stream->printf("ZProbe triggered before move, aborting command.\n");
 273             return;
 274         }
 275
 276         if( gcode->g == 30 ) { // simple Z probe
 277             // first wait for an empty queue i.e. no moves left
 278             THEKERNEL->conveyor->wait_for_idle();
 279
 280             // turn off any compensation transform
 281             auto savect= THEROBOT->compensationTransform;
 282             THEROBOT->compensationTransform= nullptr;
 283
 284             bool probe_result;
 285             bool reverse= (gcode->has_letter('R') && gcode->get_value('R') != 0); // specify to probe in reverse direction
 286             float rate= gcode->has_letter('F') ? gcode->get_value('F') / 60 : this->slow_feedrate;
 287             float mm;
 288             probe_result = run_probe(mm, rate, -1, reverse);
 289
 290             if(probe_result) {
 291                 // the result is in actuator coordinates and raw steps
 292                 gcode->stream->printf("Z:%1.4f\n", mm);
 293
 294                 // set the last probe position to the current actuator units
 295                 THEROBOT->set_last_probe_position(std::make_tuple(
 296                     THEROBOT->actuators[X_AXIS]->get_current_position(),
 297                     THEROBOT->actuators[Y_AXIS]->get_current_position(),
 298                     THEROBOT->actuators[Z_AXIS]->get_current_position(),
 299                     1));
 300
 301                 // move back to where it started, unless a Z is specified (and not a rotary delta)
 302                 if(gcode->has_letter('Z') && !is_rdelta) {
 303                     // set Z to the specified value, and leave probe where it is
 304                     THEROBOT->reset_axis_position(gcode->get_value('Z'), Z_AXIS);
 305
 306                 } else {
 307                     // return to pre probe position
 308                     return_probe(mm, reverse);
 309                 }
 310
 311             } else {
 312                 gcode->stream->printf("ZProbe not triggered\n");
 313                 THEROBOT->set_last_probe_position(std::make_tuple(
 314                     THEROBOT->actuators[X_AXIS]->get_current_position(),
 315                     THEROBOT->actuators[Y_AXIS]->get_current_position(),
 316                     THEROBOT->actuators[Z_AXIS]->get_current_position(),
 317                     0));
 318             }
 319
 320             // restore compensationTransform
 321             THEROBOT->compensationTransform= savect;
 322
 323         } else {
 324             if(!gcode->has_letter('P')) {
 325                 // find the first strategy to handle the gcode
 326                 for(auto s : strategies){
 327                     if(s->handleGcode(gcode)) {
 328                         return;
 329                     }
 330                 }
 331                 gcode->stream->printf("No strategy found to handle G%d\n", gcode->g);
 332
 333             }else{
 334                 // P paramater selects which strategy to send the code to
 335                 // they are loaded in the order they are defined in config, 0 being the first, 1 being the second and so on.
 336                 uint16_t i= gcode->get_value('P');
 337                 if(i < strategies.size()) {
 338                     if(!strategies[i]->handleGcode(gcode)){
 339                         gcode->stream->printf("strategy #%d did not handle G%d\n", i, gcode->g);
 340                     }
 341                     return;
 342
 343                 }else{
 344                     gcode->stream->printf("strategy #%d is not loaded\n", i);
 345                 }
 346             }
 347         }
 348
 349     } else if(gcode->has_g && gcode->g == 38 ) { // G38.2 Straight Probe with error, G38.3 straight probe without error
 350         // linuxcnc/grbl style probe http://www.linuxcnc.org/docs/2.5/html/gcode/gcode.html#sec:G38-probe
 351         if(gcode->subcode != 2 && gcode->subcode != 3) {
 352             gcode->stream->printf("error:Only G38.2 and G38.3 are supported\n");
 353             return;
 354         }
 355
 356         // make sure the probe is defined and not already triggered before moving motors
 357         if(!this->pin.connected()) {
 358             gcode->stream->printf("error:ZProbe not connected.\n");
 359             return;
 360         }
 361
 362         if(this->pin.get()) {
 363             gcode->stream->printf("error:ZProbe triggered before move, aborting command.\n");
 364             return;
 365         }
 366
 367         // first wait for an empty queue i.e. no moves left
 368         THEKERNEL->conveyor->wait_for_idle();
 369
 370         // turn off any compensation transform
 371         auto savect= THEROBOT->compensationTransform;
 372         THEROBOT->compensationTransform= nullptr;
 373
 374         if(gcode->has_letter('X')) {
 375             // probe in the X axis
 376             probe_XYZ(gcode, X_AXIS);
 377
 378         }else if(gcode->has_letter('Y')) {
 379             // probe in the Y axis
 380             probe_XYZ(gcode, Y_AXIS);
 381
 382         }else if(gcode->has_letter('Z')) {
 383             // probe in the Z axis
 384             probe_XYZ(gcode, Z_AXIS);
 385
 386         }else{
 387             gcode->stream->printf("error:at least one of X Y or Z must be specified\n");
 388         }
 389
 390         // restore compensationTransform
 391         THEROBOT->compensationTransform= savect;
 392
 393         return;
 394
 395     } else if(gcode->has_m) {
 396         // M code processing here
 397         int c;
 398         switch (gcode->m) {
 399             case 119:
 400                 c = this->pin.get();
 401                 gcode->stream->printf(" Probe: %d", c);
 402                 gcode->add_nl = true;
 403                 break;
 404
 405             case 670:
 406                 if (gcode->has_letter('S')) this->slow_feedrate = gcode->get_value('S');
 407                 if (gcode->has_letter('K')) this->fast_feedrate = gcode->get_value('K');
 408                 if (gcode->has_letter('R')) this->return_feedrate = gcode->get_value('R');
 409                 if (gcode->has_letter('Z')) this->max_z = gcode->get_value('Z');
 410                 if (gcode->has_letter('H')) this->probe_height = gcode->get_value('H');
 411                 if (gcode->has_letter('I')) { // NOTE this is temporary and toggles the invertion status of the pin
 412                     invert_override= (gcode->get_value('I') != 0);
 413                     pin.set_inverting(pin.is_inverting() != invert_override); // XOR so inverted pin is not inverted and vice versa
 414                 }
 415                 break;
 416
 417             case 500: // save settings
 418             case 503: // print settings
 419                 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",
 420                     this->slow_feedrate, this->fast_feedrate, this->return_feedrate, this->max_z, this->probe_height);
 421
 422                 // fall through is intended so leveling strategies can handle m-codes too
 423
 424             default:
 425                 for(auto s : strategies){
 426                     if(s->handleGcode(gcode)) {
 427                         return;
 428                     }
 429                 }
 430         }
 431     }
 432 }
 433
 434 // special way to probe in the X or Y or Z direction using planned moves, should work with any kinematics
 435 void ZProbe::probe_XYZ(Gcode *gcode, int axis)
 436 {
 437     // enable the probe checking in the timer
 438     probing= true;
 439     probe_detected= false;
 440     THEROBOT->disable_segmentation= true; // we must disable segmentation as this won't work with it enabled (beware on deltas probing in X or Y)
 441
 442     // get probe feedrate in mm/min and convert to mm/sec if specified
 443     float rate = (gcode->has_letter('F')) ? gcode->get_value('F')/60 : this->slow_feedrate;
 444
 445     // do a regular move which will stop as soon as the probe is triggered, or the distance is reached
 446     switch(axis) {
 447         case X_AXIS: coordinated_move(gcode->get_value('X'), 0, 0, rate, true); break;
 448         case Y_AXIS: coordinated_move(0, gcode->get_value('Y'), 0, rate, true); break;
 449         case Z_AXIS: coordinated_move(0, 0, gcode->get_value('Z'), rate, true); break;
 450     }
 451
 452     // coordinated_move returns when the move is finished
 453
 454     // disable probe checking
 455     probing= false;
 456     THEROBOT->disable_segmentation= false;
 457
 458     float pos[3];
 459     {
 460         // get the current position
 461         ActuatorCoordinates current_position{
 462             THEROBOT->actuators[X_AXIS]->get_current_position(),
 463             THEROBOT->actuators[Y_AXIS]->get_current_position(),
 464             THEROBOT->actuators[Z_AXIS]->get_current_position()
 465         };
 466
 467         // get machine position from the actuator position using FK
 468         THEROBOT->arm_solution->actuator_to_cartesian(current_position, pos);
 469     }
 470
 471     uint8_t probeok= this->probe_detected ? 1 : 0;
 472
 473     // print results using the GRBL format
 474     gcode->stream->printf("[PRB:%1.3f,%1.3f,%1.3f:%d]\n", pos[X_AXIS], pos[Y_AXIS], pos[Z_AXIS], probeok);
 475     THEROBOT->set_last_probe_position(std::make_tuple(pos[X_AXIS], pos[Y_AXIS], pos[Z_AXIS], probeok));
 476
 477     if(!probeok && gcode->subcode == 2) {
 478         // issue error if probe was not triggered and subcode == 2
 479         gcode->stream->printf("ALARM:Probe fail\n");
 480         THEKERNEL->call_event(ON_HALT, nullptr);
 481
 482     }else if(probeok){
 483         // if the probe stopped the move we need to correct the last_milestone as it did not reach where it thought
 484         THEROBOT->reset_position_from_current_actuator_position();
 485     }
 486 }
 487
 488 // issue a coordinated move directly to robot, and return when done
 489 // Only move the coordinates that are passed in as not nan
 490 // NOTE must use G53 to force move in machine coordinates and ignore any WCS offsets
 491 void ZProbe::coordinated_move(float x, float y, float z, float feedrate, bool relative)
 492 {
 493     char buf[32];
 494     char cmd[64];
 495
 496     if(relative) strcpy(cmd, "G91 G0 ");
 497     else strcpy(cmd, "G53 G0 "); // G53 forces movement in machine coordinate system
 498
 499     if(!isnan(x)) {
 500         int n = snprintf(buf, sizeof(buf), " X%1.3f", x);
 501         strncat(cmd, buf, n);
 502     }
 503     if(!isnan(y)) {
 504         int n = snprintf(buf, sizeof(buf), " Y%1.3f", y);
 505         strncat(cmd, buf, n);
 506     }
 507     if(!isnan(z)) {
 508         int n = snprintf(buf, sizeof(buf), " Z%1.3f", z);
 509         strncat(cmd, buf, n);
 510     }
 511
 512     // use specified feedrate (mm/sec)
 513     int n = snprintf(buf, sizeof(buf), " F%1.1f", feedrate * 60); // feed rate is converted to mm/min
 514     strncat(cmd, buf, n);
 515     if(relative) strcat(cmd, " G90");
 516
 517     //THEKERNEL->streams->printf("DEBUG: move: %s\n", cmd);
 518
 519     // send as a command line as may have multiple G codes in it
 520     struct SerialMessage message;
 521     message.message = cmd;
 522     message.stream = &(StreamOutput::NullStream);
 523     THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message );
 524     THEKERNEL->conveyor->wait_for_idle();
 525 }
 526
 527 // issue home command
 528 void ZProbe::home()
 529 {
 530     Gcode gc("G28", &(StreamOutput::NullStream));
 531     THEKERNEL->call_event(ON_GCODE_RECEIVED, &gc);
 532 }