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