#include "EndstopsPublicAccess.h"
#include "PublicData.h"
#include "LevelingStrategy.h"
+#include "StepTicker.h"
+#include "utils.h"
// strategies we know about
#include "DeltaCalibrationStrategy.h"
#include "ThreePointStrategy.h"
+#include "ZGridStrategy.h"
#define enable_checksum CHECKSUM("enable")
#define probe_pin_checksum CHECKSUM("probe_pin")
#define debounce_count_checksum CHECKSUM("debounce_count")
#define slow_feedrate_checksum CHECKSUM("slow_feedrate")
#define fast_feedrate_checksum CHECKSUM("fast_feedrate")
+#define return_feedrate_checksum CHECKSUM("return_feedrate")
#define probe_height_checksum CHECKSUM("probe_height")
+#define gamma_max_checksum CHECKSUM("gamma_max")
+#define reverse_z_direction_checksum CHECKSUM("reverse_z")
// from endstop section
#define delta_homing_checksum CHECKSUM("delta_homing")
+#define rdelta_homing_checksum CHECKSUM("rdelta_homing")
#define X_AXIS 0
#define Y_AXIS 1
delete this;
return;
}
- this->running = false;
// load settings
this->on_config_reload(this);
// register event-handlers
register_for_event(ON_GCODE_RECEIVED);
- THEKERNEL->slow_ticker->attach( THEKERNEL->stepper->get_acceleration_ticks_per_second() , this, &ZProbe::acceleration_tick );
+ THEKERNEL->step_ticker->register_acceleration_tick_handler([this](){acceleration_tick(); });
+
+ // we read the probe in this timer, currently only for G38 probes.
+ probing= false;
+ THEKERNEL->slow_ticker->attach(1000, this, &ZProbe::read_probe);
}
void ZProbe::on_config_reload(void *argument)
found= true;
break;
+ case ZGrid_leveling_checksum:
+ this->strategies.push_back(new ZGridStrategy(this));
+ found= true;
+ break;
+
// add other strategies here
//case zheight_map_strategy:
// this->strategies.push_back(new ZHeightMapStrategy(this));
// need to know if we need to use delta kinematics for homing
this->is_delta = THEKERNEL->config->value(delta_homing_checksum)->by_default(false)->as_bool();
+ this->is_rdelta = THEKERNEL->config->value(rdelta_homing_checksum)->by_default(false)->as_bool();
// default for backwards compatibility add DeltaCalibrationStrategy if a delta
// will be deprecated
}
}
- this->probe_height = THEKERNEL->config->value(zprobe_checksum, probe_height_checksum)->by_default(5.0F)->as_number();
+ this->probe_height = THEKERNEL->config->value(zprobe_checksum, probe_height_checksum)->by_default(5.0F)->as_number();
this->slow_feedrate = THEKERNEL->config->value(zprobe_checksum, slow_feedrate_checksum)->by_default(5)->as_number(); // feedrate in mm/sec
this->fast_feedrate = THEKERNEL->config->value(zprobe_checksum, fast_feedrate_checksum)->by_default(100)->as_number(); // feedrate in mm/sec
+ this->return_feedrate = THEKERNEL->config->value(zprobe_checksum, return_feedrate_checksum)->by_default(0)->as_number(); // feedrate in mm/sec
+ this->max_z = THEKERNEL->config->value(gamma_max_checksum)->by_default(500)->as_number(); // maximum zprobe distance
+ this->reverse_z = THEKERNEL->config->value(reverse_z_direction_checksum)->by_default(false)->as_bool(); // Z probe moves in reverse direction (upside down rdelta)
}
bool ZProbe::wait_for_probe(int& steps)
unsigned int debounce = 0;
while(true) {
THEKERNEL->call_event(ON_IDLE);
+ if(THEKERNEL->is_halted()){
+ // aborted by kill
+ return false;
+ }
+
+ bool delta= is_delta || is_rdelta;
+
// if no stepper is moving, moves are finished and there was no touch
- if( !STEPPER[Z_AXIS]->is_moving() && (!is_delta || (!STEPPER[Y_AXIS]->is_moving() && !STEPPER[Z_AXIS]->is_moving())) ) {
+ if( !STEPPER[Z_AXIS]->is_moving() && (!delta || (!STEPPER[Y_AXIS]->is_moving() && !STEPPER[Z_AXIS]->is_moving())) ) {
return false;
}
- // if the touchprobe is active...
+ // if the probe is active...
if( this->pin.get() ) {
//...increase debounce counter...
if( debounce < debounce_count) {
steps= STEPPER[Z_AXIS]->get_stepped();
STEPPER[Z_AXIS]->move(0, 0);
}
- if(is_delta) {
+ if(delta) {
for( int i = X_AXIS; i <= Y_AXIS; i++ ) {
if ( STEPPER[i]->is_moving() ) {
STEPPER[i]->move(0, 0);
}
}
-// single probe and report amount moved
-bool ZProbe::run_probe(int& steps, bool fast)
+// single probe with custom feedrate
+// returns boolean value indicating if probe was triggered
+bool ZProbe::run_probe(int& steps, float feedrate, float max_dist, bool reverse)
{
+ // not a block move so disable the last tick setting
+ for ( int c = X_AXIS; c <= Z_AXIS; c++ ) {
+ STEPPER[c]->set_moved_last_block(false);
+ }
+
// Enable the motors
THEKERNEL->stepper->turn_enable_pins_on();
- this->current_feedrate = (fast ? this->fast_feedrate : this->slow_feedrate) * Z_STEPS_PER_MM; // steps/sec
+ this->current_feedrate = feedrate * Z_STEPS_PER_MM; // steps/sec
+ float maxz= max_dist < 0 ? this->max_z*2 : max_dist;
// move Z down
- STEPPER[Z_AXIS]->set_speed(0); // will be increased by acceleration tick
- STEPPER[Z_AXIS]->move(true, 1000 * Z_STEPS_PER_MM); // always probes down, no more than 1000mm TODO should be 2*maxz
- if(this->is_delta) {
+ bool dir= !reverse_z;
+ if(reverse) dir= !dir; // specified to move in opposite Z direction
+ STEPPER[Z_AXIS]->move(dir, maxz * Z_STEPS_PER_MM, 0); // probe in specified direction, no more than maxz
+ if(this->is_delta || this->is_rdelta) {
// for delta need to move all three actuators
- STEPPER[X_AXIS]->set_speed(0);
- STEPPER[X_AXIS]->move(true, 1000 * STEPS_PER_MM(X_AXIS));
- STEPPER[Y_AXIS]->set_speed(0);
- STEPPER[Y_AXIS]->move(true, 1000 * STEPS_PER_MM(Y_AXIS));
+ STEPPER[X_AXIS]->move(dir, maxz * STEPS_PER_MM(X_AXIS), 0);
+ STEPPER[Y_AXIS]->move(dir, maxz * STEPS_PER_MM(Y_AXIS), 0);
}
- // start acceration hrprocessing
+ // start acceleration processing
this->running = true;
bool r = wait_for_probe(steps);
this->running = false;
+ STEPPER[X_AXIS]->move(0, 0);
+ STEPPER[Y_AXIS]->move(0, 0);
+ STEPPER[Z_AXIS]->move(0, 0);
return r;
}
-bool ZProbe::return_probe(int steps)
+bool ZProbe::return_probe(int steps, bool reverse)
{
// move probe back to where it was
- this->current_feedrate = this->fast_feedrate * Z_STEPS_PER_MM; // feedrate in steps/sec
+
+ float fr;
+ if(this->return_feedrate != 0) { // use return_feedrate if set
+ fr = this->return_feedrate;
+ } else {
+ fr = this->slow_feedrate*2; // nominally twice slow feedrate
+ if(fr > this->fast_feedrate) fr = this->fast_feedrate; // unless that is greater than fast feedrate
+ }
+
+ this->current_feedrate = fr * Z_STEPS_PER_MM; // feedrate in steps/sec
bool dir= steps < 0;
+ if(reverse) dir= !dir;
steps= abs(steps);
- STEPPER[Z_AXIS]->set_speed(0); // will be increased by acceleration tick
- STEPPER[Z_AXIS]->move(dir, steps);
- if(this->is_delta) {
- STEPPER[X_AXIS]->set_speed(0);
- STEPPER[X_AXIS]->move(dir, steps);
- STEPPER[Y_AXIS]->set_speed(0);
- STEPPER[Y_AXIS]->move(dir, steps);
+ bool delta= (this->is_delta || this->is_rdelta);
+ STEPPER[Z_AXIS]->move(dir, steps, 0);
+ if(delta) {
+ STEPPER[X_AXIS]->move(dir, steps, 0);
+ STEPPER[Y_AXIS]->move(dir, steps, 0);
}
this->running = true;
- while(STEPPER[Z_AXIS]->is_moving() || (is_delta && (STEPPER[X_AXIS]->is_moving() || STEPPER[Y_AXIS]->is_moving())) ) {
+ while(STEPPER[Z_AXIS]->is_moving() || (delta && (STEPPER[X_AXIS]->is_moving() || STEPPER[Y_AXIS]->is_moving())) ) {
// wait for it to complete
THEKERNEL->call_event(ON_IDLE);
+ if(THEKERNEL->is_halted()){
+ // aborted by kill
+ break;
+ }
}
this->running = false;
+ STEPPER[X_AXIS]->move(0, 0);
+ STEPPER[Y_AXIS]->move(0, 0);
+ STEPPER[Z_AXIS]->move(0, 0);
return true;
}
Gcode *gcode = static_cast<Gcode *>(argument);
if( gcode->has_g && gcode->g >= 29 && gcode->g <= 32) {
+
// make sure the probe is defined and not already triggered before moving motors
- if(!this->pin.connected()) {
+ if(!this->pin.connected()) {
gcode->stream->printf("ZProbe not connected.\n");
return;
}
}
if( gcode->g == 30 ) { // simple Z probe
- gcode->mark_as_taken();
// first wait for an empty queue i.e. no moves left
THEKERNEL->conveyor->wait_for_empty_queue();
int steps;
- if(run_probe(steps)) {
- gcode->stream->printf("Z:%1.4f C:%d\n", steps / Z_STEPS_PER_MM, steps);
+ bool probe_result;
+ bool reverse= (gcode->has_letter('R') && gcode->get_value('R') != 0); // specify to probe in reverse direction
+ float rate= gcode->has_letter('F') ? gcode->get_value('F') / 60 : this->slow_feedrate;
+ probe_result = run_probe(steps, rate, -1, reverse);
+
+ if(probe_result) {
+ // the result is in actuator coordinates and raw steps
+ gcode->stream->printf("Z:%1.4f C:%d\n", zsteps_to_mm(steps), steps);
+
+ // set the last probe position to the current actuator units
+ THEKERNEL->robot->set_last_probe_position(std::make_tuple(
+ THEKERNEL->robot->actuators[X_AXIS]->get_current_position(),
+ THEKERNEL->robot->actuators[Y_AXIS]->get_current_position(),
+ THEKERNEL->robot->actuators[Z_AXIS]->get_current_position(),
+ 1));
+
// move back to where it started, unless a Z is specified
- if(gcode->has_letter('Z')) {
+ if(gcode->has_letter('Z') && !is_rdelta) {
// set Z to the specified value, and leave probe where it is
THEKERNEL->robot->reset_axis_position(gcode->get_value('Z'), Z_AXIS);
+
} else {
- return_probe(steps);
+ // return to pre probe position
+ return_probe(steps, reverse);
}
+
} else {
gcode->stream->printf("ZProbe not triggered\n");
+ THEKERNEL->robot->set_last_probe_position(std::make_tuple(
+ THEKERNEL->robot->actuators[X_AXIS]->get_current_position(),
+ THEKERNEL->robot->actuators[Y_AXIS]->get_current_position(),
+ THEKERNEL->robot->actuators[Z_AXIS]->get_current_position(),
+ 0));
}
} else {
- // find a strategy to handle the gcode
- for(auto s : strategies){
- if(s->handleGcode(gcode)) {
- gcode->mark_as_taken();
+ if(!gcode->has_letter('P')) {
+ // find the first strategy to handle the gcode
+ for(auto s : strategies){
+ if(s->handleGcode(gcode)) {
+ return;
+ }
+ }
+ gcode->stream->printf("No strategy found to handle G%d\n", gcode->g);
+
+ }else{
+ // P paramater selects which strategy to send the code to
+ // they are loaded in the order they are defined in config, 0 being the first, 1 being the second and so on.
+ uint16_t i= gcode->get_value('P');
+ if(i < strategies.size()) {
+ if(!strategies[i]->handleGcode(gcode)){
+ gcode->stream->printf("strategy #%d did not handle G%d\n", i, gcode->g);
+ }
return;
+
+ }else{
+ gcode->stream->printf("strategy #%d is not loaded\n", i);
}
}
- gcode->stream->printf("No strategy found to handle G%d\n", gcode->g);
}
+ } else if(gcode->has_g && gcode->g == 38 ) { // G38.2 Straight Probe with error, G38.3 straight probe without error
+ // linuxcnc/grbl style probe http://www.linuxcnc.org/docs/2.5/html/gcode/gcode.html#sec:G38-probe
+ if(gcode->subcode != 2 && gcode->subcode != 3) {
+ gcode->stream->printf("error:Only G38.2 and G38.3 are supported\n");
+ return;
+ }
+
+ // make sure the probe is defined and not already triggered before moving motors
+ if(!this->pin.connected()) {
+ gcode->stream->printf("error:ZProbe not connected.\n");
+ return;
+ }
+
+ if(this->pin.get()) {
+ gcode->stream->printf("error:ZProbe triggered before move, aborting command.\n");
+ return;
+ }
+
+ // first wait for an empty queue i.e. no moves left
+ THEKERNEL->conveyor->wait_for_empty_queue();
+
+ // turn off any compensation transform
+ auto savect= THEKERNEL->robot->compensationTransform;
+ THEKERNEL->robot->compensationTransform= nullptr;
+
+ if(gcode->has_letter('X')) {
+ // probe in the X axis
+ probe_XYZ(gcode, X_AXIS);
+
+ }else if(gcode->has_letter('Y')) {
+ // probe in the Y axis
+ probe_XYZ(gcode, Y_AXIS);
+
+ }else if(gcode->has_letter('Z')) {
+ // probe in the Z axis
+ probe_XYZ(gcode, Z_AXIS);
+
+ }else{
+ gcode->stream->printf("error:at least one of X Y or Z must be specified\n");
+ }
+
+ // restore compensationTransform
+ THEKERNEL->robot->compensationTransform= savect;
+
+ return;
+
} else if(gcode->has_m) {
// M code processing here
- if(gcode->m == 119) {
- int c = this->pin.get();
- gcode->stream->printf(" Probe: %d", c);
- gcode->add_nl = true;
- gcode->mark_as_taken();
-
- }else {
- for(auto s : strategies){
- if(s->handleGcode(gcode)) {
- gcode->mark_as_taken();
- return;
+ int c;
+ switch (gcode->m) {
+ case 119:
+ c = this->pin.get();
+ gcode->stream->printf(" Probe: %d", c);
+ gcode->add_nl = true;
+ break;
+
+ case 670:
+ if (gcode->has_letter('S')) this->slow_feedrate = gcode->get_value('S');
+ if (gcode->has_letter('K')) this->fast_feedrate = gcode->get_value('K');
+ if (gcode->has_letter('R')) this->return_feedrate = gcode->get_value('R');
+ if (gcode->has_letter('Z')) this->max_z = gcode->get_value('Z');
+ if (gcode->has_letter('H')) this->probe_height = gcode->get_value('H');
+ break;
+
+ case 500: // save settings
+ case 503: // print settings
+ 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",
+ this->slow_feedrate, this->fast_feedrate, this->return_feedrate, this->max_z, this->probe_height);
+
+ // fall through is intended so leveling strategies can handle m-codes too
+
+ default:
+ for(auto s : strategies){
+ if(s->handleGcode(gcode)) {
+ return;
+ }
}
- }
}
}
}
-#define max(a,b) (((a) > (b)) ? (a) : (b))
+uint32_t ZProbe::read_probe(uint32_t dummy)
+{
+ if(!probing || probe_detected) return 0;
+
+ // TODO add debounce/noise filter
+ if(this->pin.get()) {
+ probe_detected= true;
+ // now tell all the stepper_motors to stop
+ for(auto &a : THEKERNEL->robot->actuators) a->force_finish_move();
+ }
+ return 0;
+}
+
+// special way to probe in the X or Y or Z direction using planned moves, should work with any kinematics
+void ZProbe::probe_XYZ(Gcode *gcode, int axis)
+{
+ // enable the probe checking in the timer
+ probing= true;
+ probe_detected= false;
+ THEKERNEL->robot->disable_segmentation= true; // we must disable segmentation as this won't work with it enabled (beware on deltas probing in X or Y)
+
+ // get probe feedrate if specified
+ float rate = (gcode->has_letter('F')) ? gcode->get_value('F')*60 : this->slow_feedrate;
+
+ // do a regular move which will stop as soon as the probe is triggered, or the distance is reached
+ switch(axis) {
+ case X_AXIS: coordinated_move(gcode->get_value('X'), 0, 0, rate, true); break;
+ case Y_AXIS: coordinated_move(0, gcode->get_value('Y'), 0, rate, true); break;
+ case Z_AXIS: coordinated_move(0, 0, gcode->get_value('Z'), rate, true); break;
+ }
+
+ // coordinated_move returns when the move is finished
+
+ // disable probe checking
+ probing= false;
+ THEKERNEL->robot->disable_segmentation= false;
+
+ float pos[3];
+ {
+ // get the current position
+ ActuatorCoordinates current_position{
+ THEKERNEL->robot->actuators[X_AXIS]->get_current_position(),
+ THEKERNEL->robot->actuators[Y_AXIS]->get_current_position(),
+ THEKERNEL->robot->actuators[Z_AXIS]->get_current_position()
+ };
+
+ // get machine position from the actuator position using FK
+ THEKERNEL->robot->arm_solution->actuator_to_cartesian(current_position, pos);
+ }
+
+ uint8_t probeok= this->probe_detected ? 1 : 0;
+
+ // print results using the GRBL format
+ gcode->stream->printf("[PRB:%1.3f,%1.3f,%1.3f:%d]\n", pos[X_AXIS], pos[Y_AXIS], pos[Z_AXIS], probeok);
+ THEKERNEL->robot->set_last_probe_position(std::make_tuple(pos[X_AXIS], pos[Y_AXIS], pos[Z_AXIS], probeok));
+
+ if(!probeok && gcode->subcode == 2) {
+ // issue error if probe was not triggered and subcode == 2
+ gcode->stream->printf("ALARM:Probe fail\n");
+ THEKERNEL->call_event(ON_HALT, nullptr);
+
+ }else if(probeok){
+ // if the probe stopped the move we need to correct the last_milestone as it did not reach where it thought
+ THEKERNEL->robot->reset_position_from_current_actuator_position();
+ }
+}
+
// Called periodically to change the speed to match acceleration
-uint32_t ZProbe::acceleration_tick(uint32_t dummy)
+void ZProbe::acceleration_tick(void)
{
- if(!this->running) return(0); // nothing to do
+ if(!this->running) return; // nothing to do
if(STEPPER[Z_AXIS]->is_moving()) accelerate(Z_AXIS);
- if(is_delta) {
+ if(is_delta || is_rdelta) {
// deltas needs to move all actuators
for ( int c = X_AXIS; c <= Y_AXIS; c++ ) {
if( !STEPPER[c]->is_moving() ) continue;
}
}
- return 0;
+ return;
}
void ZProbe::accelerate(int c)
{ uint32_t current_rate = STEPPER[c]->get_steps_per_second();
- uint32_t target_rate = int(floor(this->current_feedrate));
+ uint32_t target_rate = floorf(this->current_feedrate);
+ // Z may have a different acceleration to X and Y
+ float acc= (c==Z_AXIS) ? THEKERNEL->planner->get_z_acceleration() : THEKERNEL->planner->get_acceleration();
if( current_rate < target_rate ) {
- uint32_t rate_increase = int(floor((THEKERNEL->planner->get_acceleration() / THEKERNEL->stepper->get_acceleration_ticks_per_second()) * STEPS_PER_MM(c)));
+ uint32_t rate_increase = floorf((acc / THEKERNEL->acceleration_ticks_per_second) * STEPS_PER_MM(c));
current_rate = min( target_rate, current_rate + rate_increase );
}
if( current_rate > target_rate ) {
}
// steps per second
- STEPPER[c]->set_speed(max(current_rate, THEKERNEL->stepper->get_minimum_steps_per_second()));
-\
+ STEPPER[c]->set_speed(current_rate);
}
// issue a coordinated move directly to robot, and return when done
// Only move the coordinates that are passed in as not nan
+// NOTE must use G53 to force move in machine coordiantes and ignore any WCS offsetts
void ZProbe::coordinated_move(float x, float y, float z, float feedrate, bool relative)
{
char buf[32];
char cmd[64];
if(relative) strcpy(cmd, "G91 G0 ");
- else strcpy(cmd, "G0 ");
+ else strcpy(cmd, "G53 G0 "); // G53 forces movement in machine coordinate system
if(!isnan(x)) {
int n = snprintf(buf, sizeof(buf), " X%1.3f", x);
HCoop / clinton / Smoothieware.git / blobdiff