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 #define gamma_max_checksum       CHECKSUM("gamma_max")
  40
  41 // from endstop section
  42 #define delta_homing_checksum    CHECKSUM("delta_homing")
  43
  44 #define X_AXIS 0
  45 #define Y_AXIS 1
  46 #define Z_AXIS 2
  47
  48 #define STEPPER THEKERNEL->robot->actuators
  49 #define STEPS_PER_MM(a) (STEPPER[a]->get_steps_per_mm())
  50 #define Z_STEPS_PER_MM STEPS_PER_MM(Z_AXIS)
  51
  52 #define abs(a) ((a<0) ? -a : a)
  53
  54 void ZProbe::on_module_loaded()
  55 {
  56     // if the module is disabled -> do nothing
  57     if(!THEKERNEL->config->value( zprobe_checksum, enable_checksum )->by_default(false)->as_bool()) {
  58         // as this module is not needed free up the resource
  59         delete this;
  60         return;
  61     }
  62     this->running = false;
  63
  64     // load settings
  65     this->on_config_reload(this);
  66     // register event-handlers
  67     register_for_event(ON_GCODE_RECEIVED);
  68
  69     THEKERNEL->slow_ticker->attach( THEKERNEL->stepper->get_acceleration_ticks_per_second() , this, &ZProbe::acceleration_tick );
  70 }
  71
  72 void ZProbe::on_config_reload(void *argument)
  73 {
  74     this->pin.from_string( THEKERNEL->config->value(zprobe_checksum, probe_pin_checksum)->by_default("nc" )->as_string())->as_input();
  75     this->debounce_count = THEKERNEL->config->value(zprobe_checksum, debounce_count_checksum)->by_default(0  )->as_number();
  76
  77     // get strategies to load
  78     vector<uint16_t> modules;
  79     THEKERNEL->config->get_module_list( &modules, leveling_strategy_checksum);
  80     for( auto cs : modules ){
  81         if( THEKERNEL->config->value(leveling_strategy_checksum, cs, enable_checksum )->as_bool() ){
  82             bool found= false;
  83             // check with each known strategy and load it if it matches
  84             switch(cs) {
  85                 case delta_calibration_strategy_checksum:
  86                     this->strategies.push_back(new DeltaCalibrationStrategy(this));
  87                     found= true;
  88                     break;
  89
  90                 case three_point_leveling_strategy_checksum:
  91                     // NOTE this strategy is mutually exclusive with the delta calibration strategy
  92                     this->strategies.push_back(new ThreePointStrategy(this));
  93                     found= true;
  94                     break;
  95
  96                 // add other strategies here
  97                 //case zheight_map_strategy:
  98                 //     this->strategies.push_back(new ZHeightMapStrategy(this));
  99                 //     found= true;
 100                 //     break;
 101             }
 102             if(found) this->strategies.back()->handleConfig();
 103         }
 104     }
 105
 106     // need to know if we need to use delta kinematics for homing
 107     this->is_delta = THEKERNEL->config->value(delta_homing_checksum)->by_default(false)->as_bool();
 108
 109     // default for backwards compatibility add DeltaCalibrationStrategy if a delta
 110     // will be deprecated
 111     if(this->strategies.empty()) {
 112         if(this->is_delta) {
 113             this->strategies.push_back(new DeltaCalibrationStrategy(this));
 114             this->strategies.back()->handleConfig();
 115         }
 116     }
 117
 118     this->probe_height  = THEKERNEL->config->value(zprobe_checksum, probe_height_checksum)->by_default(5.0F)->as_number();
 119     this->slow_feedrate = THEKERNEL->config->value(zprobe_checksum, slow_feedrate_checksum)->by_default(5)->as_number(); // feedrate in mm/sec
 120     this->fast_feedrate = THEKERNEL->config->value(zprobe_checksum, fast_feedrate_checksum)->by_default(100)->as_number(); // feedrate in mm/sec
 121     this->max_z         = THEKERNEL->config->value(gamma_max_checksum)->by_default(500)->as_number(); // maximum zprobe distance
 122 }
 123
 124 bool ZProbe::wait_for_probe(int& steps)
 125 {
 126     unsigned int debounce = 0;
 127     while(true) {
 128         THEKERNEL->call_event(ON_IDLE);
 129         // if no stepper is moving, moves are finished and there was no touch
 130         if( !STEPPER[Z_AXIS]->is_moving() && (!is_delta || (!STEPPER[Y_AXIS]->is_moving() && !STEPPER[Z_AXIS]->is_moving())) ) {
 131             return false;
 132         }
 133
 134         // if the touchprobe is active...
 135         if( this->pin.get() ) {
 136             //...increase debounce counter...
 137             if( debounce < debounce_count) {
 138                 // ...but only if the counter hasn't reached the max. value
 139                 debounce++;
 140             } else {
 141                 // ...otherwise stop the steppers, return its remaining steps
 142                 if(STEPPER[Z_AXIS]->is_moving()){
 143                     steps= STEPPER[Z_AXIS]->get_stepped();
 144                     STEPPER[Z_AXIS]->move(0, 0);
 145                 }
 146                 if(is_delta) {
 147                     for( int i = X_AXIS; i <= Y_AXIS; i++ ) {
 148                         if ( STEPPER[i]->is_moving() ) {
 149                             STEPPER[i]->move(0, 0);
 150                         }
 151                     }
 152                 }
 153                 return true;
 154             }
 155         } else {
 156             // The probe was not hit yet, reset debounce counter
 157             debounce = 0;
 158         }
 159     }
 160 }
 161
 162 // single probe and report amount moved
 163 bool ZProbe::run_probe(int& steps, bool fast)
 164 {
 165     // Enable the motors
 166     THEKERNEL->stepper->turn_enable_pins_on();
 167     this->current_feedrate = (fast ? this->fast_feedrate : this->slow_feedrate) * Z_STEPS_PER_MM; // steps/sec
 168     float maxz= this->max_z*2;
 169
 170     // move Z down
 171     STEPPER[Z_AXIS]->set_speed(0); // will be increased by acceleration tick
 172     STEPPER[Z_AXIS]->move(true, maxz * Z_STEPS_PER_MM); // always probes down, no more than 2*maxz
 173     if(this->is_delta) {
 174         // for delta need to move all three actuators
 175         STEPPER[X_AXIS]->set_speed(0);
 176         STEPPER[X_AXIS]->move(true, maxz * STEPS_PER_MM(X_AXIS));
 177         STEPPER[Y_AXIS]->set_speed(0);
 178         STEPPER[Y_AXIS]->move(true, maxz * STEPS_PER_MM(Y_AXIS));
 179     }
 180
 181     // start acceration hrprocessing
 182     this->running = true;
 183
 184     bool r = wait_for_probe(steps);
 185     this->running = false;
 186     return r;
 187 }
 188
 189 bool ZProbe::return_probe(int steps)
 190 {
 191     // move probe back to where it was
 192     this->current_feedrate = this->slow_feedrate*2 * Z_STEPS_PER_MM; // feedrate in steps/sec
 193     bool dir= steps < 0;
 194     steps= abs(steps);
 195
 196     STEPPER[Z_AXIS]->set_speed(0); // will be increased by acceleration tick
 197     STEPPER[Z_AXIS]->move(dir, steps);
 198     if(this->is_delta) {
 199         STEPPER[X_AXIS]->set_speed(0);
 200         STEPPER[X_AXIS]->move(dir, steps);
 201         STEPPER[Y_AXIS]->set_speed(0);
 202         STEPPER[Y_AXIS]->move(dir, steps);
 203     }
 204
 205     this->running = true;
 206     while(STEPPER[Z_AXIS]->is_moving() || (is_delta && (STEPPER[X_AXIS]->is_moving() || STEPPER[Y_AXIS]->is_moving())) ) {
 207         // wait for it to complete
 208         THEKERNEL->call_event(ON_IDLE);
 209     }
 210
 211     this->running = false;
 212
 213     return true;
 214 }
 215
 216 bool ZProbe::doProbeAt(int &steps, float x, float y)
 217 {
 218     int s;
 219     // move to xy
 220     coordinated_move(x, y, NAN, getFastFeedrate());
 221     if(!run_probe(s)) return false;
 222
 223     // return to original Z
 224     return_probe(s);
 225     steps = s;
 226
 227     return true;
 228 }
 229
 230 float ZProbe::probeDistance(float x, float y)
 231 {
 232     int s;
 233     if(!doProbeAt(s, x, y)) return NAN;
 234     return zsteps_to_mm(s);
 235 }
 236
 237 void ZProbe::on_gcode_received(void *argument)
 238 {
 239     Gcode *gcode = static_cast<Gcode *>(argument);
 240
 241     if( gcode->has_g && gcode->g >= 29 && gcode->g <= 32) {
 242         // make sure the probe is defined and not already triggered before moving motors
 243        if(!this->pin.connected()) {
 244             gcode->stream->printf("ZProbe not connected.\n");
 245             return;
 246         }
 247         if(this->pin.get()) {
 248             gcode->stream->printf("ZProbe triggered before move, aborting command.\n");
 249             return;
 250         }
 251
 252         if( gcode->g == 30 ) { // simple Z probe
 253             gcode->mark_as_taken();
 254             // first wait for an empty queue i.e. no moves left
 255             THEKERNEL->conveyor->wait_for_empty_queue();
 256
 257             int steps;
 258             if(run_probe(steps)) {
 259                 gcode->stream->printf("Z:%1.4f C:%d\n", steps / Z_STEPS_PER_MM, steps);
 260                 // move back to where it started, unless a Z is specified
 261                 if(gcode->has_letter('Z')) {
 262                     // set Z to the specified value, and leave probe where it is
 263                     THEKERNEL->robot->reset_axis_position(gcode->get_value('Z'), Z_AXIS);
 264                 } else {
 265                     return_probe(steps);
 266                 }
 267             } else {
 268                 gcode->stream->printf("ZProbe not triggered\n");
 269             }
 270
 271         } else {
 272             // find a strategy to handle the gcode
 273             for(auto s : strategies){
 274                 if(s->handleGcode(gcode)) {
 275                     gcode->mark_as_taken();
 276                     return;
 277                 }
 278             }
 279             gcode->stream->printf("No strategy found to handle G%d\n", gcode->g);
 280         }
 281
 282     } else if(gcode->has_m) {
 283         // M code processing here
 284         if(gcode->m == 119) {
 285             int c = this->pin.get();
 286             gcode->stream->printf(" Probe: %d", c);
 287             gcode->add_nl = true;
 288             gcode->mark_as_taken();
 289
 290         }else {
 291             for(auto s : strategies){
 292                 if(s->handleGcode(gcode)) {
 293                     gcode->mark_as_taken();
 294                     return;
 295                 }
 296             }
 297         }
 298     }
 299 }
 300
 301 #define max(a,b) (((a) > (b)) ? (a) : (b))
 302 // Called periodically to change the speed to match acceleration
 303 uint32_t ZProbe::acceleration_tick(uint32_t dummy)
 304 {
 305     if(!this->running) return(0); // nothing to do
 306     if(STEPPER[Z_AXIS]->is_moving()) accelerate(Z_AXIS);
 307
 308     if(is_delta) {
 309          // deltas needs to move all actuators
 310         for ( int c = X_AXIS; c <= Y_AXIS; c++ ) {
 311             if( !STEPPER[c]->is_moving() ) continue;
 312             accelerate(c);
 313         }
 314     }
 315
 316     return 0;
 317 }
 318
 319 void ZProbe::accelerate(int c)
 320 {   uint32_t current_rate = STEPPER[c]->get_steps_per_second();
 321     uint32_t target_rate = int(floor(this->current_feedrate));
 322
 323     // Z may have a different acceleration to X and Y
 324     float acc= (c==Z_AXIS) ? THEKERNEL->planner->get_z_acceleration() : THEKERNEL->planner->get_acceleration();
 325     if( current_rate < target_rate ) {
 326         uint32_t rate_increase = int(floor((acc / THEKERNEL->stepper->get_acceleration_ticks_per_second()) * STEPS_PER_MM(c)));
 327         current_rate = min( target_rate, current_rate + rate_increase );
 328     }
 329     if( current_rate > target_rate ) {
 330         current_rate = target_rate;
 331     }
 332
 333     // steps per second
 334     STEPPER[c]->set_speed(max(current_rate, THEKERNEL->stepper->get_minimum_steps_per_second()));
 335 }
 336
 337 // issue a coordinated move directly to robot, and return when done
 338 // Only move the coordinates that are passed in as not nan
 339 void ZProbe::coordinated_move(float x, float y, float z, float feedrate, bool relative)
 340 {
 341     char buf[32];
 342     char cmd[64];
 343
 344     if(relative) strcpy(cmd, "G91 G0 ");
 345     else strcpy(cmd, "G0 ");
 346
 347     if(!isnan(x)) {
 348         int n = snprintf(buf, sizeof(buf), " X%1.3f", x);
 349         strncat(cmd, buf, n);
 350     }
 351     if(!isnan(y)) {
 352         int n = snprintf(buf, sizeof(buf), " Y%1.3f", y);
 353         strncat(cmd, buf, n);
 354     }
 355     if(!isnan(z)) {
 356         int n = snprintf(buf, sizeof(buf), " Z%1.3f", z);
 357         strncat(cmd, buf, n);
 358     }
 359
 360     // use specified feedrate (mm/sec)
 361     int n = snprintf(buf, sizeof(buf), " F%1.1f", feedrate * 60); // feed rate is converted to mm/min
 362     strncat(cmd, buf, n);
 363     if(relative) strcat(cmd, " G90");
 364
 365     //THEKERNEL->streams->printf("DEBUG: move: %s\n", cmd);
 366
 367     // send as a command line as may have multiple G codes in it
 368     struct SerialMessage message;
 369     message.message = cmd;
 370     message.stream = &(StreamOutput::NullStream);
 371     THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message );
 372     THEKERNEL->conveyor->wait_for_empty_queue();
 373 }
 374
 375 // issue home command
 376 void ZProbe::home()
 377 {
 378     Gcode gc("G28", &(StreamOutput::NullStream));
 379     THEKERNEL->call_event(ON_GCODE_RECEIVED, &gc);
 380 }
 381
 382 float ZProbe::zsteps_to_mm(float steps)
 383 {
 384     return steps / Z_STEPS_PER_MM;
 385 }