path: root/src/Endstops/ZProbe.cpp

/*
 * ZProbe.cpp
 *
 *  Created on: 13 Feb 2018
 *      Author: David
 */

#include "ZProbe.h"
#include "RepRap.h"
#include "Platform.h"
#include "GCodes/GCodes.h"
#include "GCodes/GCodeBuffer/GCodeBuffer.h"
#include "Storage/FileStore.h"
#include "Heating/Heat.h"

#if SUPPORT_OBJECT_MODEL

// Object model table and functions
// Note: if using GCC version 7.3.1 20180622 and lambda functions are used in this table, you must compile this file with option -std=gnu++17.
// Otherwise the table will be allocated in RAM instead of flash, which wastes too much RAM.

// Macro to build a standard lambda function that includes the necessary type conversions
#define OBJECT_MODEL_FUNC(...) OBJECT_MODEL_FUNC_BODY(ZProbe, __VA_ARGS__)

constexpr ObjectModelArrayDescriptor ZProbe::offsetsArrayDescriptor =
{
	nullptr,					// no lock needed
	[] (const ObjectModel *self, const ObjectExplorationContext&) noexcept -> size_t { return reprap.GetGCodes().GetVisibleAxes(); },
	[] (const ObjectModel *self, ObjectExplorationContext& context) noexcept -> ExpressionValue { return ExpressionValue(((const ZProbe*)self)->offsets[context.GetLastIndex()], 2); }
};

constexpr ObjectModelArrayDescriptor ZProbe::valueArrayDescriptor =
{
	nullptr,
	[] (const ObjectModel *self, const ObjectExplorationContext&) noexcept -> size_t { return (((const ZProbe*)self)->type == ZProbeType::dumbModulated) ? 2 : 1; },
	[] (const ObjectModel *self, ObjectExplorationContext& context) noexcept -> ExpressionValue
				{	int v1 = 0;
					return ExpressionValue
							(	(context.GetLastIndex() == 0)
								? (int32_t)((const ZProbe*)self)->GetReading()
								: (((const ZProbe*)self)->GetSecondaryValues(v1), v1)
							);
				}
};

constexpr ObjectModelArrayDescriptor ZProbe::temperatureCoefficientsArrayDescriptor =
{
	nullptr,
	[] (const ObjectModel *self, const ObjectExplorationContext&) noexcept -> size_t { return ARRAY_SIZE(ZProbe::temperatureCoefficients); },
	[] (const ObjectModel *self, ObjectExplorationContext& context) noexcept -> ExpressionValue
				{ return ExpressionValue(((const ZProbe*)self)->temperatureCoefficients[context.GetLastIndex()], 5); }
};

constexpr ObjectModelTableEntry ZProbe::objectModelTable[] =
{
	// Within each group, these entries must be in alphabetical order
	// 0. Probe members
	{ "calibrationTemperature",		OBJECT_MODEL_FUNC(self->calibTemperature, 1), 						ObjectModelEntryFlags::none },
	{ "deployedByUser",				OBJECT_MODEL_FUNC(self->isDeployedByUser), 							ObjectModelEntryFlags::none },
	{ "disablesHeaters",			OBJECT_MODEL_FUNC((bool)self->misc.parts.turnHeatersOff), 			ObjectModelEntryFlags::none },
	{ "diveHeight",					OBJECT_MODEL_FUNC(self->diveHeight, 1), 							ObjectModelEntryFlags::none },
	{ "lastStopHeight",				OBJECT_MODEL_FUNC(self->lastStopHeight, 3), 						ObjectModelEntryFlags::none },
	{ "maxProbeCount",				OBJECT_MODEL_FUNC((int32_t)self->misc.parts.maxTaps), 				ObjectModelEntryFlags::none },
	{ "offsets",					OBJECT_MODEL_FUNC_NOSELF(&offsetsArrayDescriptor), 					ObjectModelEntryFlags::none },
	{ "recoveryTime",				OBJECT_MODEL_FUNC(self->recoveryTime, 1), 							ObjectModelEntryFlags::none },
	{ "speed",						OBJECT_MODEL_FUNC(self->probeSpeed, 1), 							ObjectModelEntryFlags::none },
	{ "temperatureCoefficient",		OBJECT_MODEL_FUNC(self->temperatureCoefficients[0], 5), 			ObjectModelEntryFlags::obsolete },
	{ "temperatureCoefficients",	OBJECT_MODEL_FUNC_NOSELF(&temperatureCoefficientsArrayDescriptor), 	ObjectModelEntryFlags::none },
	{ "threshold",					OBJECT_MODEL_FUNC((int32_t)self->adcValue), 						ObjectModelEntryFlags::none },
	{ "tolerance",					OBJECT_MODEL_FUNC(self->tolerance, 3), 								ObjectModelEntryFlags::none },
	{ "travelSpeed",				OBJECT_MODEL_FUNC(self->travelSpeed, 1), 							ObjectModelEntryFlags::none },
	{ "triggerHeight",				OBJECT_MODEL_FUNC(self->triggerHeight, 3), 							ObjectModelEntryFlags::none },
	{ "type",						OBJECT_MODEL_FUNC((int32_t)self->type), 							ObjectModelEntryFlags::none },
	{ "value",						OBJECT_MODEL_FUNC_NOSELF(&valueArrayDescriptor), 					ObjectModelEntryFlags::live },
};

constexpr uint8_t ZProbe::objectModelTableDescriptor[] = { 1, 17 };

DEFINE_GET_OBJECT_MODEL_TABLE(ZProbe)

#endif

ZProbe::ZProbe(unsigned int num, ZProbeType p_type) noexcept : EndstopOrZProbe(), number(num), lastStopHeight(0.0), isDeployedByUser(false)
{
	SetDefaults();
	type = p_type;
}

void ZProbe::SetDefaults() noexcept
{
	adcValue = DefaultZProbeADValue;
	for (float& offset : offsets)
	{
		offset = 0.0;
	}
	triggerHeight = DefaultZProbeTriggerHeight;
	calibTemperature = DefaultZProbeTemperature;
	for (float& tc : temperatureCoefficients)
	{
		tc = 0.0;
	}
	diveHeight = DefaultZDive;
	probeSpeed = DefaultProbingSpeed;
	travelSpeed = DefaultZProbeTravelSpeed;
	recoveryTime = 0.0;
	tolerance = DefaultZProbeTolerance;
	misc.parts.maxTaps = DefaultZProbeTaps;
	misc.parts.turnHeatersOff = misc.parts.saveToConfigOverride = misc.parts.probingAway = false;
	type = ZProbeType::none;
	sensor = -1;
}

float ZProbe::GetActualTriggerHeight() const noexcept
{
	if (sensor >= 0)
	{
		TemperatureError err;
		const float temperature = reprap.GetHeat().GetSensorTemperature(sensor, err);
		if (err == TemperatureError::success)
		{
			const float dt = temperature - calibTemperature;
			return (dt * temperatureCoefficients[0]) + (fsquare(dt) * temperatureCoefficients[1]) + triggerHeight;
		}
	}
	return triggerHeight;
}

#if HAS_MASS_STORAGE

bool ZProbe::WriteParameters(FileStore *f, unsigned int probeNumber) const noexcept
{
	const char* axisLetters = reprap.GetGCodes().GetAxisLetters();
	const size_t numTotalAxes = reprap.GetGCodes().GetTotalAxes();
	String<StringLength256> scratchString;
	scratchString.printf("G31 K%u P%d", probeNumber, adcValue);
	for (size_t i = 0; i < numTotalAxes; ++i)
	{
		if (axisLetters[i] != 'Z')
		{
			scratchString.catf(" %c%.1f", axisLetters[i], (double)offsets[i]);
		}
	}
	scratchString.catf(" Z%.2f\n", (double)triggerHeight);
	return f->Write(scratchString.c_str());
}

#endif

int ZProbe::GetReading() const noexcept
{
	int zProbeVal = 0;
	const Platform& p = reprap.GetPlatform();
	if (type == ZProbeType::unfilteredDigital || type == ZProbeType::blTouch || (p.GetZProbeOnFilter().IsValid() && p.GetZProbeOffFilter().IsValid()))
	{
		switch (type)
		{
		case ZProbeType::analog:				// Simple or intelligent IR sensor
		case ZProbeType::alternateAnalog:		// Alternate sensor
		case ZProbeType::digital:				// Switch connected to Z probe input
			zProbeVal = (int) ((p.GetZProbeOnFilter().GetSum() + p.GetZProbeOffFilter().GetSum()) / (2 * ZProbeAverageReadings));
			break;

		case ZProbeType::dumbModulated:		// Dumb modulated IR sensor.
			// We assume that zProbeOnFilter and zProbeOffFilter average the same number of readings.
			// Because of noise, it is possible to get a negative reading, so allow for this.
			zProbeVal = (int) (((int32_t)p.GetZProbeOnFilter().GetSum() - (int32_t)p.GetZProbeOffFilter().GetSum())/(int)ZProbeAverageReadings);
			break;

		case ZProbeType::unfilteredDigital:		// Switch connected to Z probe input, no filtering
		case ZProbeType::blTouch:				// blTouch is now unfiltered too
			zProbeVal = GetRawReading();
			break;

		case ZProbeType::zMotorStall:
#if HAS_STALL_DETECT
			{
				const DriversBitmap zDrivers = reprap.GetPlatform().GetAxisDriversConfig(Z_AXIS).GetDriversBitmap();
				zProbeVal = (GetStalledDrivers(zDrivers).IsNonEmpty()) ? 1000 : 0;
			}
#else
			return 1000;
#endif
			break;

		default:
			return 1000;
		}
	}

	return zProbeVal;
}

int ZProbe::GetSecondaryValues(int& v1) const noexcept
{
	const Platform& p = reprap.GetPlatform();
	if (p.GetZProbeOnFilter().IsValid() && p.GetZProbeOffFilter().IsValid())
	{
		switch (type)
		{
		case ZProbeType::dumbModulated:		// modulated IR sensor
			v1 = (int)(p.GetZProbeOnFilter().GetSum() / ZProbeAverageReadings);	// pass back the reading with IR turned on
			return 1;
		default:
			break;
		}
	}
	return 0;
}

// Test whether we are at or near the stop
bool ZProbe::Stopped() const noexcept
{
	const int zProbeVal = GetReading();
	return zProbeVal >= adcValue;
}

// Check whether the probe is triggered and return the action that should be performed. Called from the step ISR.
EndstopHitDetails ZProbe::CheckTriggered(bool goingSlow) noexcept
{
	bool b = Stopped();
	if (misc.parts.probingAway)
	{
		b = !b;
	}

	EndstopHitDetails rslt;			// initialised by default constructor
	if (b)
	{
		rslt.SetAction(EndstopHitAction::stopAll);
		rslt.isZProbe = true;
	}
	return rslt;
}

// This is called by the ISR to acknowledge that it is acting on the return from calling CheckTriggered. Called from the step ISR.
// Return true if we have finished with this endstop or probe in this move.
bool ZProbe::Acknowledge(EndstopHitDetails what) noexcept
{
	return what.GetAction() == EndstopHitAction::stopAll;
}

GCodeResult ZProbe::HandleG31(GCodeBuffer& gb, const StringRef& reply) THROWS(GCodeException)
{
	GCodeResult err = GCodeResult::ok;
	bool seen = false;

	// Warning - don't change any values until we know that we are not going to return notFinished!
	// This because users may use the existing values when calculating the new ones (e.g. "make babystepping permanent" macro)

	// Do the temperature coefficient first because it may return notFinished
	int8_t newSensor;
	if (gb.Seen('H'))
	{
		seen = true;
		newSensor = gb.GetIValue();
	}
	else
	{
		newSensor = sensor;
	}

	if (gb.Seen('T'))
	{
		seen = true;
		for (float& tc : temperatureCoefficients)
		{
			tc = 0.0;
		}

		TemperatureError terr;
		const float currentTemperature = reprap.GetHeat().GetSensorTemperature(newSensor, terr);
		if (terr == TemperatureError::unknownSensor)
		{
			reply.printf("Cannot set a temperature coefficient with invalid sensor number %d", newSensor);
			return GCodeResult::error;
		}

		size_t numValues = ARRAY_SIZE(temperatureCoefficients);
		gb.GetFloatArray(temperatureCoefficients, numValues, false);
		float newCalibTemperature = DefaultZProbeTemperature;

		if (gb.Seen('S'))
		{
			newCalibTemperature = gb.GetFValue();
		}
		else if (terr == TemperatureError::success)
		{
			newCalibTemperature = currentTemperature;
		}
		else if (!gb.IsTimerRunning())				// the sensor may have only just been configured, so give it 500ms to produce a reading
		{
			gb.StartTimer();
			return GCodeResult::notFinished;
		}
		else if (millis() - gb.WhenTimerStarted() < 500)
		{
			return GCodeResult::notFinished;
		}
		else
		{
			gb.StopTimer();
			reply.printf("Sensor %d did not provide a valid temperature reading", newSensor);
			err = GCodeResult::error;
		}
		gb.StopTimer();
		calibTemperature = newCalibTemperature;
	}

	// After this we don't return notFinished, so it is safe to amend values directly
	const char* axisLetters = reprap.GetGCodes().GetAxisLetters();
	const size_t numTotalAxes = reprap.GetGCodes().GetTotalAxes();
	for (size_t i = 0; i < numTotalAxes; ++i)
	{
		if (axisLetters[i] != 'Z')
		{
			gb.TryGetFValue(axisLetters[i], offsets[i], seen);
		}
	}
	gb.TryGetFValue(axisLetters[Z_AXIS], triggerHeight, seen);

	if (gb.Seen('P'))
	{
		seen = true;
		adcValue = gb.GetIValue();
	}

	if (seen)
	{
		sensor = newSensor;
		reprap.SensorsUpdated();
		if (gb.MachineState().runningM501)
		{
			misc.parts.saveToConfigOverride = true;		// we are loading these parameters from config-override.g, so a subsequent M500 should save them to config-override.g
		}
	}
	else
	{
		const int v0 = GetReading();
		reply.printf("Z probe %u: current reading %d", number, v0);
		int v1;
		if (GetSecondaryValues(v1) == 1)
		{
			reply.catf(" (%d)", v1);
		}
		reply.catf(", threshold %d, trigger height %.3f", adcValue, (double)triggerHeight);
		if (temperatureCoefficients[0] != 0.0)
		{
			reply.catf(" at %.1f" DEGREE_SYMBOL "C, temperature coefficients [%.1f/" DEGREE_SYMBOL "C, %.1f/" DEGREE_SYMBOL "C^2]",
						(double)calibTemperature, (double)temperatureCoefficients[0], (double)temperatureCoefficients[1]);
		}
		reply.cat(", offsets");
		for (size_t i = 0; i < numTotalAxes; ++i)
		{
			if (axisLetters[i] != 'Z')
			{
				reply.catf(" %c%.1f", axisLetters[i], (double)offsets[i]);
			}
		}
	}
	return err;
}

GCodeResult ZProbe::Configure(GCodeBuffer& gb, const StringRef &reply, bool& seen) THROWS(GCodeException)
{
	gb.TryGetFValue('H', diveHeight, seen);					// dive height
	if (gb.Seen('F'))										// feed rate i.e. probing speed
	{
		probeSpeed = gb.GetFValue() * SecondsToMinutes;
		seen = true;
	}

	if (gb.Seen('T'))		// travel speed to probe point
	{
		travelSpeed = gb.GetFValue() * SecondsToMinutes;
		seen = true;
	}

	if (gb.Seen('B'))
	{
		misc.parts.turnHeatersOff = (gb.GetIValue() == 1);
		seen = true;
	}

	gb.TryGetFValue('R', recoveryTime, seen);				// Z probe recovery time
	gb.TryGetFValue('S', tolerance, seen);					// tolerance when multi-tapping

	if (gb.Seen('A'))
	{
		misc.parts.maxTaps = min<uint32_t>(gb.GetUIValue(), ZProbe::MaxTapsLimit);
		seen = true;
	}

	if (seen)
	{
		reprap.SensorsUpdated();
		return GCodeResult::ok;
	}

	reply.printf("Z Probe %u: type %u", number, (unsigned int)type);
	const GCodeResult rslt = AppendPinNames(reply);
	reply.catf(", dive height %.1fmm, probe speed %dmm/min, travel speed %dmm/min, recovery time %.2f sec, heaters %s, max taps %u, max diff %.2f",
					(double)diveHeight,
					(int)(probeSpeed * MinutesToSeconds), (int)(travelSpeed * MinutesToSeconds),
					(double)recoveryTime,
					(misc.parts.turnHeatersOff) ? "suspended" : "normal",
						misc.parts.maxTaps, (double)tolerance);
	return rslt;
}

// Default implementation of SendProgram, overridden in some classes
GCodeResult ZProbe::SendProgram(const uint32_t zProbeProgram[], size_t len, const StringRef& reply) noexcept
{
	reply.copy("This configuration of Z probe does not support programming");
	return GCodeResult::error;
}

void ZProbe::SetLastStoppedHeight(float h) noexcept
{
	lastStopHeight = h;
	reprap.SensorsUpdated();
}

// End