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