X-Git-Url: https://git.hcoop.net/clinton/Smoothieware.git/blobdiff_plain/e714bd3287d325017d823051a715f0f8c72a9c81..918cc8d76e4749eb38d48d3dd43fe10fef2e53a1:/src/modules/tools/zprobe/ZProbe.cpp

diff --git a/src/modules/tools/zprobe/ZProbe.cpp b/src/modules/tools/zprobe/ZProbe.cpp
index 4d7e0c13..c7842f47 100644
--- a/src/modules/tools/zprobe/ZProbe.cpp
+++ b/src/modules/tools/zprobe/ZProbe.cpp
@@ -26,6 +26,7 @@
 #include "PublicData.h"
 #include "LevelingStrategy.h"
 #include "StepTicker.h"
+#include "utils.h"
 
 // strategies we know about
 #include "DeltaCalibrationStrategy.h"
@@ -40,9 +41,11 @@
 #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
@@ -62,7 +65,6 @@ void ZProbe::on_module_loaded()
         delete this;
         return;
     }
-    this->running = false;
 
     // load settings
     this->on_config_reload(this);
@@ -70,6 +72,10 @@ void ZProbe::on_module_loaded()
     register_for_event(ON_GCODE_RECEIVED);
 
     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)
@@ -113,6 +119,7 @@ void ZProbe::on_config_reload(void *argument)
 
     // 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
@@ -128,6 +135,7 @@ void ZProbe::on_config_reload(void *argument)
     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)
@@ -140,12 +148,14 @@ bool ZProbe::wait_for_probe(int& steps)
             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) {
@@ -157,7 +167,7 @@ bool ZProbe::wait_for_probe(int& steps)
                     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);
@@ -175,7 +185,7 @@ bool ZProbe::wait_for_probe(int& steps)
 
 // single probe with custom feedrate
 // returns boolean value indicating if probe was triggered
-bool ZProbe::run_probe_feed(int& steps, float feedrate, float max_dist)
+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++ ) {
@@ -188,11 +198,13 @@ bool ZProbe::run_probe_feed(int& steps, float feedrate, float max_dist)
     float maxz= max_dist < 0 ? this->max_z*2 : max_dist;
 
     // move Z down
-    STEPPER[Z_AXIS]->move(true, maxz * Z_STEPS_PER_MM, 0); // always probes down, no more than 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]->move(true, maxz * STEPS_PER_MM(X_AXIS), 0);
-        STEPPER[Y_AXIS]->move(true, maxz * STEPS_PER_MM(Y_AXIS), 0);
+        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 acceleration processing
@@ -206,16 +218,7 @@ bool ZProbe::run_probe_feed(int& steps, float feedrate, float max_dist)
     return r;
 }
 
-// single probe with either fast or slow feedrate
-// returns boolean value indicating if probe was triggered
-bool ZProbe::run_probe(int& steps, bool fast)
-{
-    float feedrate = (fast ? this->fast_feedrate : this->slow_feedrate);
-    return run_probe_feed(steps, feedrate);
-
-}
-
-bool ZProbe::return_probe(int steps)
+bool ZProbe::return_probe(int steps, bool reverse)
 {
     // move probe back to where it was
 
@@ -229,16 +232,18 @@ bool ZProbe::return_probe(int steps)
 
     this->current_feedrate = fr * Z_STEPS_PER_MM; // feedrate in steps/sec
     bool dir= steps < 0;
+    if(reverse) dir= !dir;
     steps= abs(steps);
 
+    bool delta= (this->is_delta || this->is_rdelta);
     STEPPER[Z_AXIS]->move(dir, steps, 0);
-    if(this->is_delta) {
+    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()){
@@ -298,23 +303,38 @@ void ZProbe::on_gcode_received(void *argument)
 
             int steps;
             bool probe_result;
-            if(gcode->has_letter('F')) {
-                probe_result = run_probe_feed(steps, gcode->get_value('F') / 60);
-            } else {
-                probe_result = run_probe(steps);
-            }
+            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 {
@@ -346,7 +366,7 @@ void ZProbe::on_gcode_received(void *argument)
     } 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");
+            gcode->stream->printf("error:Only G38.2 and G38.3 are supported\n");
             return;
         }
 
@@ -355,6 +375,7 @@ void ZProbe::on_gcode_received(void *argument)
             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;
@@ -363,53 +384,29 @@ void ZProbe::on_gcode_received(void *argument)
         // 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
-            gcode->stream->printf("error:Not currently supported.\n");
+            probe_XYZ(gcode, X_AXIS);
 
         }else if(gcode->has_letter('Y')) {
             // probe in the Y axis
-            gcode->stream->printf("error:Not currently supported.\n");
+            probe_XYZ(gcode, Y_AXIS);
 
         }else if(gcode->has_letter('Z')) {
-            // we need to know where we started the probe from
-            float current_machine_pos[3];
-            THEKERNEL->robot->get_axis_position(current_machine_pos);
-
-            // probe down in the Z axis no more than the Z value in mm
-            float rate = (gcode->has_letter('F')) ? gcode->get_value('F') / 60 : this->slow_feedrate;
-            int steps;
-            bool probe_result = run_probe_feed(steps, rate, gcode->get_value('Z'));
-
-            if(probe_result) {
-                float z= current_machine_pos[Z_AXIS] - zsteps_to_mm(steps);
-                if(THEKERNEL->is_grbl_mode()) {
-                    gcode->stream->printf("[PRB:%1.3f,%1.3f,%1.3f:1]\n", current_machine_pos[X_AXIS], current_machine_pos[Y_AXIS], z);
-
-                }else{
-                    gcode->stream->printf("INFO: delta Z %1.4f (Steps %d)\n", steps / Z_STEPS_PER_MM, steps);
-                }
-
-                // set position to where it stopped
-                THEKERNEL->robot->reset_axis_position(z, Z_AXIS);
-
-            } else {
-                if(THEKERNEL->is_grbl_mode()) {
-                    if(gcode->subcode == 2) {
-                        gcode->stream->printf("ALARM: Probe fail\n");
-                        THEKERNEL->call_event(ON_HALT, nullptr);
-                    }
-                    gcode->stream->printf("[PRB:%1.3f,%1.3f,%1.3f:0]\n", current_machine_pos[X_AXIS], current_machine_pos[Y_AXIS], current_machine_pos[Z_AXIS]);
-
-                }else{
-                    gcode->stream->printf("error:ZProbe not triggered\n");
-                }
-            }
+            // 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) {
@@ -447,13 +444,80 @@ void ZProbe::on_gcode_received(void *argument)
     }
 }
 
+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
 void ZProbe::acceleration_tick(void)
 {
     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;