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