Commit | Line | Data |
---|---|---|
ca037905 | 1 | /* |
58baeec1 MM |
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/>. | |
cd011f58 AW |
6 | */ |
7 | ||
5673fe39 MM |
8 | #include "Extruder.h" |
9 | ||
4cff3ded AW |
10 | #include "libs/Module.h" |
11 | #include "libs/Kernel.h" | |
5673fe39 | 12 | |
3fceb8eb | 13 | #include "modules/robot/Conveyor.h" |
4cff3ded | 14 | #include "modules/robot/Block.h" |
5673fe39 | 15 | #include "StepperMotor.h" |
61134a65 JM |
16 | #include "SlowTicker.h" |
17 | #include "Stepper.h" | |
18 | #include "StepTicker.h" | |
19 | #include "Config.h" | |
20 | #include "StepperMotor.h" | |
21 | #include "Robot.h" | |
7af0714f | 22 | #include "checksumm.h" |
8d54c34c | 23 | #include "ConfigValue.h" |
66383b80 | 24 | #include "Gcode.h" |
fc7b9a7b | 25 | #include "libs/StreamOutput.h" |
d87968be | 26 | #include "PublicDataRequest.h" |
928467c0 JM |
27 | #include "StreamOutputPool.h" |
28 | #include "ExtruderPublicAccess.h" | |
5673fe39 | 29 | |
5dcb2ff3 | 30 | #include <mri.h> |
4cff3ded | 31 | |
ec6fde0b | 32 | // OLD config names for backwards compatibility, NOTE new configs will not be added here |
43424972 JM |
33 | #define extruder_module_enable_checksum CHECKSUM("extruder_module_enable") |
34 | #define extruder_steps_per_mm_checksum CHECKSUM("extruder_steps_per_mm") | |
74079661 | 35 | #define extruder_filament_diameter_checksum CHECKSUM("extruder_filament_diameter") |
43424972 JM |
36 | #define extruder_acceleration_checksum CHECKSUM("extruder_acceleration") |
37 | #define extruder_step_pin_checksum CHECKSUM("extruder_step_pin") | |
38 | #define extruder_dir_pin_checksum CHECKSUM("extruder_dir_pin") | |
39 | #define extruder_en_pin_checksum CHECKSUM("extruder_en_pin") | |
40 | #define extruder_max_speed_checksum CHECKSUM("extruder_max_speed") | |
cade6b9a | 41 | #define extruder_default_feed_rate_checksum CHECKSUM("extruder_default_feed_rate") |
43424972 | 42 | |
ec6fde0b | 43 | // NEW config names |
43424972 JM |
44 | |
45 | #define default_feed_rate_checksum CHECKSUM("default_feed_rate") | |
46 | #define steps_per_mm_checksum CHECKSUM("steps_per_mm") | |
74079661 | 47 | #define filament_diameter_checksum CHECKSUM("filament_diameter") |
43424972 JM |
48 | #define acceleration_checksum CHECKSUM("acceleration") |
49 | #define step_pin_checksum CHECKSUM("step_pin") | |
50 | #define dir_pin_checksum CHECKSUM("dir_pin") | |
51 | #define en_pin_checksum CHECKSUM("en_pin") | |
52 | #define max_speed_checksum CHECKSUM("max_speed") | |
8adf2390 L |
53 | #define x_offset_checksum CHECKSUM("x_offset") |
54 | #define y_offset_checksum CHECKSUM("y_offset") | |
55 | #define z_offset_checksum CHECKSUM("z_offset") | |
56 | ||
ec6fde0b JM |
57 | #define retract_length_checksum CHECKSUM("retract_length") |
58 | #define retract_feedrate_checksum CHECKSUM("retract_feedrate") | |
59 | #define retract_recover_length_checksum CHECKSUM("retract_recover_length") | |
60 | #define retract_recover_feedrate_checksum CHECKSUM("retract_recover_feedrate") | |
76ddeb67 JM |
61 | #define retract_zlift_length_checksum CHECKSUM("retract_zlift_length") |
62 | #define retract_zlift_feedrate_checksum CHECKSUM("retract_zlift_feedrate") | |
ec6fde0b | 63 | |
8adf2390 L |
64 | #define X_AXIS 0 |
65 | #define Y_AXIS 1 | |
66 | #define Z_AXIS 2 | |
43424972 | 67 | |
17c89e4d JM |
68 | #define OFF 0 |
69 | #define SOLO 1 | |
70 | #define FOLLOW 2 | |
71 | ||
8a3ae3d0 | 72 | #define PI 3.14159265358979F |
74079661 | 73 | |
41fd89e0 | 74 | |
58baeec1 MM |
75 | /* The extruder module controls a filament extruder for 3D printing: http://en.wikipedia.org/wiki/Fused_deposition_modeling |
76 | * It can work in two modes : either the head does not move, and the extruder moves the filament at a specified speed ( SOLO mode here ) | |
77 | * or the head moves, and the extruder moves plastic at a speed proportional to the movement of the head ( FOLLOW mode here ). | |
4464301d AW |
78 | */ |
79 | ||
17c89e4d JM |
80 | Extruder::Extruder( uint16_t config_identifier, bool single ) |
81 | { | |
436a2cd1 | 82 | this->absolute_mode = true; |
928467c0 | 83 | this->milestone_absolute_mode = true; |
ea356db4 | 84 | this->enabled = false; |
17c89e4d | 85 | this->single_config = single; |
ea356db4 JM |
86 | this->identifier = config_identifier; |
87 | this->retracted = false; | |
88 | this->volumetric_multiplier = 1.0F; | |
89 | this->extruder_multiplier = 1.0F; | |
9c72d468 JM |
90 | this->stepper_motor = nullptr; |
91 | this->milestone_last_position = 0; | |
92 | this->max_volumetric_rate = 0; | |
8adf2390 | 93 | |
48a10598 | 94 | memset(this->offset, 0, sizeof(this->offset)); |
436a2cd1 | 95 | } |
4cff3ded | 96 | |
3494f3d0 JM |
97 | Extruder::~Extruder() |
98 | { | |
99 | delete stepper_motor; | |
100 | } | |
101 | ||
3d1a4519 JM |
102 | void Extruder::on_halt(void *arg) |
103 | { | |
728477c4 JM |
104 | if(arg == nullptr) { |
105 | // turn off motor | |
728477c4 JM |
106 | this->en_pin.set(1); |
107 | } | |
3d1a4519 JM |
108 | } |
109 | ||
17c89e4d JM |
110 | void Extruder::on_module_loaded() |
111 | { | |
4cff3ded | 112 | // Settings |
da24d6ae | 113 | this->on_config_reload(this); |
4cff3ded | 114 | |
3494f3d0 JM |
115 | // Start values |
116 | this->target_position = 0; | |
117 | this->current_position = 0; | |
118 | this->unstepped_distance = 0; | |
119 | this->current_block = NULL; | |
120 | this->mode = OFF; | |
121 | ||
4cff3ded AW |
122 | // We work on the same Block as Stepper, so we need to know when it gets a new one and drops one |
123 | this->register_for_event(ON_BLOCK_BEGIN); | |
124 | this->register_for_event(ON_BLOCK_END); | |
6989211c | 125 | this->register_for_event(ON_GCODE_RECEIVED); |
436a2cd1 | 126 | this->register_for_event(ON_GCODE_EXECUTE); |
3d1a4519 | 127 | this->register_for_event(ON_HALT); |
be8332cd | 128 | this->register_for_event(ON_SPEED_CHANGE); |
d87968be | 129 | this->register_for_event(ON_GET_PUBLIC_DATA); |
d467fcad | 130 | this->register_for_event(ON_SET_PUBLIC_DATA); |
ca037905 | 131 | |
ded56b35 | 132 | // Update speed every *acceleration_ticks_per_second* |
9c72d468 JM |
133 | THEKERNEL->step_ticker->register_acceleration_tick_handler([this]() { |
134 | acceleration_tick(); | |
135 | }); | |
4cff3ded AW |
136 | } |
137 | ||
2bb8b390 | 138 | // Get config |
17c89e4d JM |
139 | void Extruder::on_config_reload(void *argument) |
140 | { | |
17c89e4d JM |
141 | if( this->single_config ) { |
142 | // If this module uses the old "single extruder" configuration style | |
14ecdbd7 | 143 | |
79f65cbb | 144 | this->steps_per_millimeter = THEKERNEL->config->value(extruder_steps_per_mm_checksum )->by_default(1)->as_number(); |
112ad2fc | 145 | this->filament_diameter = THEKERNEL->config->value(extruder_filament_diameter_checksum )->by_default(0)->as_number(); |
314ab8f7 | 146 | this->acceleration = THEKERNEL->config->value(extruder_acceleration_checksum )->by_default(1000)->as_number(); |
cade6b9a | 147 | this->feed_rate = THEKERNEL->config->value(extruder_default_feed_rate_checksum )->by_default(1000)->as_number(); |
14ecdbd7 | 148 | |
314ab8f7 MM |
149 | this->step_pin.from_string( THEKERNEL->config->value(extruder_step_pin_checksum )->by_default("nc" )->as_string())->as_output(); |
150 | this->dir_pin.from_string( THEKERNEL->config->value(extruder_dir_pin_checksum )->by_default("nc" )->as_string())->as_output(); | |
151 | this->en_pin.from_string( THEKERNEL->config->value(extruder_en_pin_checksum )->by_default("nc" )->as_string())->as_output(); | |
14ecdbd7 | 152 | |
17c89e4d | 153 | for(int i = 0; i < 3; i++) { |
8adf2390 L |
154 | this->offset[i] = 0; |
155 | } | |
156 | ||
540c8365 L |
157 | this->enabled = true; |
158 | ||
17c89e4d JM |
159 | } else { |
160 | // If this module was created with the new multi extruder configuration style | |
14ecdbd7 | 161 | |
79f65cbb | 162 | this->steps_per_millimeter = THEKERNEL->config->value(extruder_checksum, this->identifier, steps_per_mm_checksum )->by_default(1)->as_number(); |
112ad2fc | 163 | this->filament_diameter = THEKERNEL->config->value(extruder_checksum, this->identifier, filament_diameter_checksum )->by_default(0)->as_number(); |
17c89e4d | 164 | this->acceleration = THEKERNEL->config->value(extruder_checksum, this->identifier, acceleration_checksum )->by_default(1000)->as_number(); |
cade6b9a | 165 | this->feed_rate = THEKERNEL->config->value(extruder_checksum, this->identifier, default_feed_rate_checksum )->by_default(1000)->as_number(); |
14ecdbd7 | 166 | |
17c89e4d JM |
167 | this->step_pin.from_string( THEKERNEL->config->value(extruder_checksum, this->identifier, step_pin_checksum )->by_default("nc" )->as_string())->as_output(); |
168 | this->dir_pin.from_string( THEKERNEL->config->value(extruder_checksum, this->identifier, dir_pin_checksum )->by_default("nc" )->as_string())->as_output(); | |
169 | this->en_pin.from_string( THEKERNEL->config->value(extruder_checksum, this->identifier, en_pin_checksum )->by_default("nc" )->as_string())->as_output(); | |
8adf2390 | 170 | |
17c89e4d JM |
171 | this->offset[X_AXIS] = THEKERNEL->config->value(extruder_checksum, this->identifier, x_offset_checksum )->by_default(0)->as_number(); |
172 | this->offset[Y_AXIS] = THEKERNEL->config->value(extruder_checksum, this->identifier, y_offset_checksum )->by_default(0)->as_number(); | |
173 | this->offset[Z_AXIS] = THEKERNEL->config->value(extruder_checksum, this->identifier, z_offset_checksum )->by_default(0)->as_number(); | |
ec6fde0b | 174 | |
14ecdbd7 AW |
175 | } |
176 | ||
ec6fde0b JM |
177 | // these are only supported in the new syntax, no need to be backward compatible as they did not exist before the change |
178 | this->retract_length = THEKERNEL->config->value(extruder_checksum, this->identifier, retract_length_checksum)->by_default(3)->as_number(); | |
179 | this->retract_feedrate = THEKERNEL->config->value(extruder_checksum, this->identifier, retract_feedrate_checksum)->by_default(45)->as_number(); | |
180 | this->retract_recover_length = THEKERNEL->config->value(extruder_checksum, this->identifier, retract_recover_length_checksum)->by_default(0)->as_number(); | |
181 | this->retract_recover_feedrate = THEKERNEL->config->value(extruder_checksum, this->identifier, retract_recover_feedrate_checksum)->by_default(8)->as_number(); | |
76ddeb67 | 182 | this->retract_zlift_length = THEKERNEL->config->value(extruder_checksum, this->identifier, retract_zlift_length_checksum)->by_default(0)->as_number(); |
9c72d468 | 183 | this->retract_zlift_feedrate = THEKERNEL->config->value(extruder_checksum, this->identifier, retract_zlift_feedrate_checksum)->by_default(100 * 60)->as_number(); // mm/min |
ec6fde0b | 184 | |
1da77df4 | 185 | if(filament_diameter > 0.01F) { |
79f65cbb JM |
186 | this->volumetric_multiplier = 1.0F / (powf(this->filament_diameter / 2, 2) * PI); |
187 | } | |
3494f3d0 JM |
188 | |
189 | // Stepper motor object for the extruder | |
190 | this->stepper_motor = new StepperMotor(step_pin, dir_pin, en_pin); | |
191 | this->stepper_motor->attach(this, &Extruder::stepper_motor_finished_move ); | |
192 | if( this->single_config ) { | |
193 | this->stepper_motor->set_max_rate(THEKERNEL->config->value(extruder_max_speed_checksum)->by_default(1000)->as_number()); | |
9c72d468 | 194 | } else { |
3494f3d0 JM |
195 | this->stepper_motor->set_max_rate(THEKERNEL->config->value(extruder_checksum, this->identifier, max_speed_checksum)->by_default(1000)->as_number()); |
196 | } | |
436a2cd1 AW |
197 | } |
198 | ||
9c72d468 JM |
199 | void Extruder::on_get_public_data(void *argument) |
200 | { | |
201 | PublicDataRequest *pdr = static_cast<PublicDataRequest *>(argument); | |
d87968be JM |
202 | |
203 | if(!pdr->starts_with(extruder_checksum)) return; | |
204 | ||
205 | if(this->enabled) { | |
8a3ae3d0 | 206 | // Note this is allowing both step/mm and filament diameter to be exposed via public data |
79f65cbb | 207 | pdr->set_data_ptr(&this->steps_per_millimeter); |
d87968be JM |
208 | pdr->set_taken(); |
209 | } | |
210 | } | |
81b547a1 | 211 | |
fe484657 JM |
212 | // check against maximum speeds and return the rate modifier |
213 | float Extruder::check_max_speeds(float target, float isecs) | |
214 | { | |
9c72d468 | 215 | float rm = 1.0F; // default no rate modification |
fe484657 JM |
216 | float delta; |
217 | // get change in E (may be mm or mm³) | |
218 | if(milestone_absolute_mode) { | |
9c72d468 JM |
219 | delta = fabsf(target - milestone_last_position); // delta move |
220 | milestone_last_position = target; | |
fe484657 | 221 | |
9c72d468 JM |
222 | } else { |
223 | delta = target; | |
fe484657 JM |
224 | milestone_last_position += target; |
225 | } | |
226 | ||
227 | if(this->max_volumetric_rate > 0 && this->filament_diameter > 0.01F) { | |
228 | // volumetric enabled and check for volumetric rate | |
9c72d468 | 229 | float v = delta * isecs; // the flow rate in mm³/sec |
fe484657 JM |
230 | |
231 | // return the rate change needed to stay within the max rate | |
232 | if(v > max_volumetric_rate) { | |
233 | rm = max_volumetric_rate / v; | |
234 | isecs *= rm; // this slows the rate down for the next test | |
235 | } | |
236 | //THEKERNEL->streams->printf("requested flow rate: %f mm³/sec, corrected flow rate: %f mm³/sec\n", v, v * rm); | |
237 | } | |
238 | ||
239 | // check for max speed as well | |
9c72d468 | 240 | float max_speed = this->stepper_motor->get_max_rate(); |
fe484657 JM |
241 | if(max_speed > 0) { |
242 | if(this->filament_diameter > 0.01F) { | |
243 | // volumetric so need to convert delta which is mm³ to mm | |
244 | delta *= volumetric_multiplier; | |
245 | } | |
246 | ||
9c72d468 JM |
247 | float sm = 1.0F; |
248 | float v = delta * isecs; // the speed in mm/sec | |
fe484657 JM |
249 | if(v > max_speed) { |
250 | sm *= (max_speed / v); | |
251 | } | |
252 | //THEKERNEL->streams->printf("requested speed: %f mm/sec, corrected speed: %f mm/sec\n", v, v * sm); | |
253 | rm *= sm; | |
254 | } | |
255 | return rm; | |
256 | } | |
257 | ||
d467fcad JM |
258 | void Extruder::on_set_public_data(void *argument) |
259 | { | |
260 | PublicDataRequest *pdr = static_cast<PublicDataRequest *>(argument); | |
261 | ||
262 | if(!pdr->starts_with(extruder_checksum)) return; | |
263 | ||
928467c0 | 264 | // handle extrude rates request from robot |
928467c0 | 265 | if(pdr->second_element_is(target_checksum)) { |
fe484657 JM |
266 | // disabled extruders do not reply NOTE only one enabled extruder supported |
267 | if(!this->enabled) return; | |
928467c0 | 268 | |
9c72d468 JM |
269 | float *d = static_cast<float *>(pdr->get_data_ptr()); |
270 | float target = d[0]; // the E passed in on Gcode is in mm³ (maybe absolute or relative) | |
271 | float isecs = d[1]; // inverted secs | |
928467c0 | 272 | |
fe484657 | 273 | // check against maximum speeds and return rate modifier |
9c72d468 | 274 | d[1] = check_max_speeds(target, isecs); |
928467c0 | 275 | |
928467c0 JM |
276 | pdr->set_taken(); |
277 | return; | |
278 | } | |
279 | ||
d467fcad JM |
280 | // save or restore state |
281 | if(pdr->second_element_is(save_state_checksum)) { | |
9c72d468 JM |
282 | this->saved_current_position = this->current_position; |
283 | this->saved_absolute_mode = this->absolute_mode; | |
d467fcad | 284 | pdr->set_taken(); |
9c72d468 | 285 | } else if(pdr->second_element_is(restore_state_checksum)) { |
212caccd JM |
286 | // NOTE this only gets called when the queue is empty so the milestones will be the same |
287 | this->milestone_last_position= this->current_position = this->saved_current_position; | |
288 | this->milestone_absolute_mode= this->absolute_mode = this->saved_absolute_mode; | |
d467fcad JM |
289 | pdr->set_taken(); |
290 | } | |
291 | } | |
292 | ||
17c89e4d JM |
293 | void Extruder::on_gcode_received(void *argument) |
294 | { | |
295 | Gcode *gcode = static_cast<Gcode *>(argument); | |
5dcb2ff3 | 296 | |
eafc2241 | 297 | // M codes most execute immediately, most only execute if enabled |
17c89e4d | 298 | if (gcode->has_m) { |
73faf29b | 299 | if (gcode->m == 114 && gcode->subcode == 0 && this->enabled) { |
4d9f562f | 300 | char buf[16]; |
17c89e4d | 301 | int n = snprintf(buf, sizeof(buf), " E:%1.3f ", this->current_position); |
4d9f562f | 302 | gcode->txt_after_ok.append(buf, n); |
33e4cc02 | 303 | |
17c89e4d | 304 | } else if (gcode->m == 92 && ( (this->enabled && !gcode->has_letter('P')) || (gcode->has_letter('P') && gcode->get_value('P') == this->identifier) ) ) { |
1ad23cd3 | 305 | float spm = this->steps_per_millimeter; |
6b451be8 | 306 | if (gcode->has_letter('E')) { |
7369629d | 307 | spm = gcode->get_value('E'); |
79f65cbb | 308 | this->steps_per_millimeter = spm; |
4cba6755 JM |
309 | } |
310 | ||
7369629d MM |
311 | gcode->stream->printf("E:%g ", spm); |
312 | gcode->add_nl = true; | |
33e4cc02 | 313 | |
f39a2ecf L |
314 | } else if (gcode->m == 200 && ( (this->enabled && !gcode->has_letter('P')) || (gcode->has_letter('P') && gcode->get_value('P') == this->identifier)) ) { |
315 | if (gcode->has_letter('D')) { | |
46750f71 | 316 | THEKERNEL->conveyor->wait_for_empty_queue(); // only apply after the queue has emptied |
112ad2fc | 317 | this->filament_diameter = gcode->get_value('D'); |
d22755f7 | 318 | if(filament_diameter > 0.01F) { |
79f65cbb | 319 | this->volumetric_multiplier = 1.0F / (powf(this->filament_diameter / 2, 2) * PI); |
9c72d468 | 320 | } else { |
79f65cbb JM |
321 | this->volumetric_multiplier = 1.0F; |
322 | } | |
9c72d468 | 323 | } else { |
d22755f7 JM |
324 | if(filament_diameter > 0.01F) { |
325 | gcode->stream->printf("Filament Diameter: %f\n", this->filament_diameter); | |
9c72d468 | 326 | } else { |
d22755f7 JM |
327 | gcode->stream->printf("Volumetric extrusion is disabled\n"); |
328 | } | |
f39a2ecf | 329 | } |
8a3ae3d0 | 330 | |
928467c0 JM |
331 | } else if (gcode->m == 203 && ( (this->enabled && !gcode->has_letter('P')) || (gcode->has_letter('P') && gcode->get_value('P') == this->identifier)) ) { |
332 | // M203 Exxx Vyyy Set maximum feedrates xxx mm/sec and/or yyy mm³/sec | |
333 | if(gcode->get_num_args() == 0) { | |
334 | gcode->stream->printf("E:%g V:%g", this->stepper_motor->get_max_rate(), this->max_volumetric_rate); | |
335 | gcode->add_nl = true; | |
336 | ||
9c72d468 JM |
337 | } else { |
338 | if(gcode->has_letter('E')) { | |
928467c0 JM |
339 | this->stepper_motor->set_max_rate(gcode->get_value('E')); |
340 | } | |
9c72d468 JM |
341 | if(gcode->has_letter('V')) { |
342 | this->max_volumetric_rate = gcode->get_value('V'); | |
928467c0 JM |
343 | } |
344 | } | |
345 | ||
0db12234 JM |
346 | } else if (gcode->m == 204 && gcode->has_letter('E') && |
347 | ( (this->enabled && !gcode->has_letter('P')) || (gcode->has_letter('P') && gcode->get_value('P') == this->identifier)) ) { | |
348 | // extruder acceleration M204 Ennn mm/sec^2 (Pnnn sets the specific extruder for M500) | |
9c72d468 | 349 | this->acceleration = gcode->get_value('E'); |
0db12234 | 350 | |
ec6fde0b | 351 | } else if (gcode->m == 207 && ( (this->enabled && !gcode->has_letter('P')) || (gcode->has_letter('P') && gcode->get_value('P') == this->identifier)) ) { |
d80bdf7b | 352 | // M207 - set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop] Q[zlift feedrate mm/min] |
ec6fde0b | 353 | if(gcode->has_letter('S')) retract_length = gcode->get_value('S'); |
9c72d468 | 354 | if(gcode->has_letter('F')) retract_feedrate = gcode->get_value('F') / 60.0F; // specified in mm/min converted to mm/sec |
d80bdf7b JM |
355 | if(gcode->has_letter('Z')) retract_zlift_length = gcode->get_value('Z'); |
356 | if(gcode->has_letter('Q')) retract_zlift_feedrate = gcode->get_value('Q'); | |
ec6fde0b JM |
357 | |
358 | } else if (gcode->m == 208 && ( (this->enabled && !gcode->has_letter('P')) || (gcode->has_letter('P') && gcode->get_value('P') == this->identifier)) ) { | |
359 | // M208 - set retract recover length S[positive mm surplus to the M207 S*] F[feedrate mm/min] | |
360 | if(gcode->has_letter('S')) retract_recover_length = gcode->get_value('S'); | |
9c72d468 | 361 | if(gcode->has_letter('F')) retract_recover_feedrate = gcode->get_value('F') / 60.0F; // specified in mm/min converted to mm/sec |
ec6fde0b | 362 | |
ea356db4 | 363 | } else if (gcode->m == 221 && this->enabled) { // M221 S100 change flow rate by percentage |
adba2978 | 364 | if(gcode->has_letter('S')) { |
9c72d468 JM |
365 | this->extruder_multiplier = gcode->get_value('S') / 100.0F; |
366 | } else { | |
9ef9f45b | 367 | gcode->stream->printf("Flow rate at %6.2f %%\n", this->extruder_multiplier * 100.0F); |
adba2978 | 368 | } |
ea356db4 | 369 | |
17c89e4d | 370 | } else if (gcode->m == 500 || gcode->m == 503) { // M500 saves some volatile settings to config override file, M503 just prints the settings |
4710532a | 371 | if( this->single_config ) { |
79f65cbb | 372 | gcode->stream->printf(";E Steps per mm:\nM92 E%1.4f\n", this->steps_per_millimeter); |
112ad2fc | 373 | gcode->stream->printf(";E Filament diameter:\nM200 D%1.4f\n", this->filament_diameter); |
9c72d468 JM |
374 | gcode->stream->printf(";E retract length, feedrate, zlift length, feedrate:\nM207 S%1.4f F%1.4f Z%1.4f Q%1.4f\n", this->retract_length, this->retract_feedrate * 60.0F, this->retract_zlift_length, this->retract_zlift_feedrate); |
375 | gcode->stream->printf(";E retract recover length, feedrate:\nM208 S%1.4f F%1.4f\n", this->retract_recover_length, this->retract_recover_feedrate * 60.0F); | |
f10879bd | 376 | gcode->stream->printf(";E acceleration mm/sec²:\nM204 E%1.4f\n", this->acceleration); |
928467c0 JM |
377 | gcode->stream->printf(";E max feed rate mm/sec:\nM203 E%1.4f\n", this->stepper_motor->get_max_rate()); |
378 | if(this->max_volumetric_rate > 0) { | |
379 | gcode->stream->printf(";E max volumetric rate mm³/sec:\nM203 V%1.4f\n", this->max_volumetric_rate); | |
380 | } | |
ec6fde0b | 381 | |
4710532a | 382 | } else { |
79f65cbb | 383 | gcode->stream->printf(";E Steps per mm:\nM92 E%1.4f P%d\n", this->steps_per_millimeter, this->identifier); |
112ad2fc | 384 | gcode->stream->printf(";E Filament diameter:\nM200 D%1.4f P%d\n", this->filament_diameter, this->identifier); |
9c72d468 JM |
385 | gcode->stream->printf(";E retract length, feedrate:\nM207 S%1.4f F%1.4f Z%1.4f Q%1.4f P%d\n", this->retract_length, this->retract_feedrate * 60.0F, this->retract_zlift_length, this->retract_zlift_feedrate, this->identifier); |
386 | gcode->stream->printf(";E retract recover length, feedrate:\nM208 S%1.4f F%1.4f P%d\n", this->retract_recover_length, this->retract_recover_feedrate * 60.0F, this->identifier); | |
f10879bd | 387 | gcode->stream->printf(";E acceleration mm/sec²:\nM204 E%1.4f P%d\n", this->acceleration, this->identifier); |
928467c0 JM |
388 | gcode->stream->printf(";E max feed rate mm/sec:\nM203 E%1.4f P%d\n", this->stepper_motor->get_max_rate(), this->identifier); |
389 | if(this->max_volumetric_rate > 0) { | |
390 | gcode->stream->printf(";E max volumetric rate mm³/sec:\nM203 V%1.4f P%d\n", this->max_volumetric_rate, this->identifier); | |
391 | } | |
17c89e4d | 392 | } |
928467c0 | 393 | |
eafc2241 JM |
394 | } else if( gcode->m == 17 || gcode->m == 18 || gcode->m == 82 || gcode->m == 83 || gcode->m == 84 ) { |
395 | // Mcodes to pass along to on_gcode_execute | |
396 | THEKERNEL->conveyor->append_gcode(gcode); | |
6e92ab91 | 397 | |
76ddeb67 JM |
398 | } |
399 | ||
9c72d468 | 400 | } else if(gcode->has_g) { |
eafc2241 JM |
401 | // G codes, NOTE some are ignored if not enabled |
402 | if( (gcode->g == 92 && gcode->has_letter('E')) || (gcode->g == 90 || gcode->g == 91) ) { | |
403 | // Gcodes to pass along to on_gcode_execute | |
404 | THEKERNEL->conveyor->append_gcode(gcode); | |
eafc2241 | 405 | |
9c72d468 | 406 | } else if( this->enabled && gcode->g < 4 && gcode->has_letter('E') && fabsf(gcode->millimeters_of_travel) < 0.00001F ) { // With floating numbers, we can have 0 != 0, NOTE needs to be same as in Robot.cpp#745 |
9d694262 JM |
407 | // NOTE was ... gcode->has_letter('E') && !gcode->has_letter('X') && !gcode->has_letter('Y') && !gcode->has_letter('Z') ) { |
408 | // This is a SOLO move, we add an empty block to the queue to prevent subsequent gcodes being executed at the same time | |
eafc2241 JM |
409 | THEKERNEL->conveyor->append_gcode(gcode); |
410 | THEKERNEL->conveyor->queue_head_block(); | |
eafc2241 | 411 | |
cf833a52 JM |
412 | } else if( this->enabled && (gcode->g == 10 || gcode->g == 11) && !gcode->has_letter('L') ) { |
413 | // firmware retract command (Ignore if has L parameter that is not for us) | |
eafc2241 | 414 | // check we are in the correct state of retract or unretract |
78af0407 | 415 | if(gcode->g == 10 && !retracted) { |
9c72d468 JM |
416 | this->retracted = true; |
417 | this->cancel_zlift_restore = false; | |
418 | } else if(gcode->g == 11 && retracted) { | |
419 | this->retracted = false; | |
78af0407 | 420 | } else |
eafc2241 JM |
421 | return; // ignore duplicates |
422 | ||
423 | // now we do a special hack to add zlift if needed, this should go in Robot but if it did the zlift would be executed before retract which is bad | |
424 | // this way zlift will happen after retract, (or before for unretract) NOTE we call the robot->on_gcode_receive directly to avoid recursion | |
78af0407 | 425 | if(retract_zlift_length > 0 && gcode->g == 11 && !this->cancel_zlift_restore) { |
eafc2241 | 426 | // reverse zlift happens before unretract |
78af0407 | 427 | // NOTE we do not do this if cancel_zlift_restore is set to true, which happens if there is an absolute Z move inbetween G10 and G11 |
eafc2241 | 428 | char buf[32]; |
9c72d468 | 429 | int n = snprintf(buf, sizeof(buf), "G0 Z%1.4f F%1.4f", -retract_zlift_length, retract_zlift_feedrate); |
eafc2241 JM |
430 | string cmd(buf, n); |
431 | Gcode gc(cmd, &(StreamOutput::NullStream)); | |
cf833a52 | 432 | THEKERNEL->robot->push_state(); // save state includes feed rates etc |
9c72d468 | 433 | THEKERNEL->robot->absolute_mode = false; // needs to be relative mode |
eafc2241 | 434 | THEKERNEL->robot->on_gcode_received(&gc); // send to robot directly |
cf833a52 | 435 | THEKERNEL->robot->pop_state(); // restore state includes feed rates etc |
eafc2241 JM |
436 | } |
437 | ||
438 | // This is a solo move, we add an empty block to the queue to prevent subsequent gcodes being executed at the same time | |
439 | THEKERNEL->conveyor->append_gcode(gcode); | |
440 | THEKERNEL->conveyor->queue_head_block(); | |
441 | ||
442 | if(retract_zlift_length > 0 && gcode->g == 10) { | |
443 | char buf[32]; | |
9c72d468 | 444 | int n = snprintf(buf, sizeof(buf), "G0 Z%1.4f F%1.4f", retract_zlift_length, retract_zlift_feedrate); |
eafc2241 JM |
445 | string cmd(buf, n); |
446 | Gcode gc(cmd, &(StreamOutput::NullStream)); | |
cf833a52 | 447 | THEKERNEL->robot->push_state(); // save state includes feed rates etc |
9c72d468 | 448 | THEKERNEL->robot->absolute_mode = false; // needs to be relative mode |
eafc2241 | 449 | THEKERNEL->robot->on_gcode_received(&gc); // send to robot directly |
cf833a52 | 450 | THEKERNEL->robot->pop_state(); // restore state includes feed rates etc |
eafc2241 | 451 | } |
78af0407 | 452 | |
9c72d468 | 453 | } else if( this->enabled && this->retracted && (gcode->g == 0 || gcode->g == 1) && gcode->has_letter('Z')) { |
78af0407 | 454 | // NOTE we cancel the zlift restore for the following G11 as we have moved to an absolute Z which we need to stay at |
9c72d468 | 455 | this->cancel_zlift_restore = true; |
76ddeb67 | 456 | } |
3c4f2dd8 | 457 | } |
928467c0 JM |
458 | |
459 | // handle some codes now for the volumetric rate limiting | |
460 | // G90 G91 G92 M82 M83 | |
461 | if(gcode->has_m) { | |
462 | switch(gcode->m) { | |
463 | case 82: this->milestone_absolute_mode = true; break; | |
464 | case 83: this->milestone_absolute_mode = false; break; | |
465 | } | |
466 | ||
9c72d468 | 467 | } else if(gcode->has_g) { |
928467c0 JM |
468 | switch(gcode->g) { |
469 | case 90: this->milestone_absolute_mode = true; break; | |
470 | case 91: this->milestone_absolute_mode = false; break; | |
471 | case 92: | |
9c72d468 JM |
472 | if(this->enabled) { |
473 | if(gcode->has_letter('E')) { | |
474 | this->milestone_last_position = gcode->get_value('E'); | |
475 | } else if(gcode->get_num_args() == 0) { | |
476 | this->milestone_last_position = 0; | |
477 | } | |
478 | } | |
928467c0 JM |
479 | break; |
480 | } | |
481 | } | |
3c4f2dd8 AW |
482 | } |
483 | ||
ded56b35 | 484 | // Compute extrusion speed based on parameters and gcode distance of travel |
17c89e4d JM |
485 | void Extruder::on_gcode_execute(void *argument) |
486 | { | |
487 | Gcode *gcode = static_cast<Gcode *>(argument); | |
ca037905 | 488 | |
eafc2241 JM |
489 | // The mode is OFF by default, and SOLO or FOLLOW only if we need to extrude |
490 | this->mode = OFF; | |
491 | ||
492 | // Absolute/relative mode, globably modal affect all extruders whether enabled or not | |
17c89e4d | 493 | if( gcode->has_m ) { |
eafc2241 | 494 | switch(gcode->m) { |
9c72d468 JM |
495 | case 17: |
496 | this->en_pin.set(0); | |
497 | break; | |
498 | case 18: | |
499 | this->en_pin.set(1); | |
500 | break; | |
501 | case 82: | |
502 | this->absolute_mode = true; | |
503 | break; | |
504 | case 83: | |
505 | this->absolute_mode = false; | |
506 | break; | |
507 | case 84: | |
508 | this->en_pin.set(1); | |
509 | break; | |
17c89e4d | 510 | } |
eafc2241 | 511 | return; |
0c97ae7b JM |
512 | |
513 | } else if( gcode->has_g && (gcode->g == 90 || gcode->g == 91) ) { | |
514 | this->absolute_mode = (gcode->g == 90); | |
515 | return; | |
ca037905 MM |
516 | } |
517 | ||
ca037905 | 518 | |
eafc2241 | 519 | if( gcode->has_g && this->enabled ) { |
7b49793d | 520 | // G92: Reset extruder position |
eafc2241 | 521 | if( gcode->g == 92 ) { |
17c89e4d | 522 | if( gcode->has_letter('E') ) { |
e2b4a32b | 523 | this->current_position = gcode->get_value('E'); |
1a2d88eb | 524 | this->target_position = this->current_position; |
150bce10 | 525 | this->unstepped_distance = 0; |
17c89e4d | 526 | } else if( gcode->get_num_args() == 0) { |
b2aa3a55 L |
527 | this->current_position = 0.0; |
528 | this->target_position = this->current_position; | |
150bce10 | 529 | this->unstepped_distance = 0; |
ca037905 | 530 | } |
6b451be8 | 531 | |
eafc2241 | 532 | } else if (gcode->g == 10) { |
ec6fde0b | 533 | // FW retract command |
9c72d468 | 534 | feed_rate = retract_feedrate; // mm/sec |
ec6fde0b JM |
535 | this->mode = SOLO; |
536 | this->travel_distance = -retract_length; | |
79f65cbb | 537 | this->target_position += this->travel_distance; |
ec6fde0b JM |
538 | this->en_pin.set(0); |
539 | ||
eafc2241 | 540 | } else if (gcode->g == 11) { |
ec6fde0b | 541 | // un retract command |
9c72d468 | 542 | feed_rate = retract_recover_feedrate; // mm/sec |
ec6fde0b | 543 | this->mode = SOLO; |
79f65cbb | 544 | this->travel_distance = (retract_length + retract_recover_length); |
ec6fde0b JM |
545 | this->target_position += this->travel_distance; |
546 | this->en_pin.set(0); | |
547 | ||
210b9843 | 548 | } else if (gcode->g <= 3) { |
ca037905 | 549 | // Extrusion length from 'G' Gcode |
17c89e4d | 550 | if( gcode->has_letter('E' )) { |
928467c0 | 551 | // Get relative extrusion distance depending on mode ( in absolute mode we must subtract target_position ) |
36eb3e62 | 552 | float extrusion_distance = gcode->get_value('E'); |
1ad23cd3 | 553 | float relative_extrusion_distance = extrusion_distance; |
17c89e4d | 554 | if (this->absolute_mode) { |
f8dc0043 MM |
555 | relative_extrusion_distance -= this->target_position; |
556 | this->target_position = extrusion_distance; | |
17c89e4d | 557 | } else { |
f8dc0043 MM |
558 | this->target_position += relative_extrusion_distance; |
559 | } | |
ca037905 | 560 | |
ded56b35 | 561 | // If the robot is moving, we follow it's movement, otherwise, we move alone |
34f0f7ba | 562 | if( fabsf(gcode->millimeters_of_travel) < 0.00001F ) { // With floating numbers, we can have 0 != 0, NOTE needs to be same as in Robot.cpp#745 |
ded56b35 AW |
563 | this->mode = SOLO; |
564 | this->travel_distance = relative_extrusion_distance; | |
17c89e4d | 565 | } else { |
ca037905 | 566 | // We move proportionally to the robot's movement |
4464301d | 567 | this->mode = FOLLOW; |
ea356db4 | 568 | this->travel_ratio = (relative_extrusion_distance * this->volumetric_multiplier * this->extruder_multiplier) / gcode->millimeters_of_travel; // adjust for volumetric extrusion and extruder multiplier |
ca037905 MM |
569 | } |
570 | ||
62bd4cfa | 571 | this->en_pin.set(0); |
ca037905 | 572 | } |
6b451be8 | 573 | |
f10879bd | 574 | // NOTE this is only used in SOLO mode, but any F on a G0/G1 will set the speed for future retracts that are not firmware retracts |
6b451be8 | 575 | if (gcode->has_letter('F')) { |
dd0a7cfa | 576 | feed_rate = gcode->get_value('F') / THEKERNEL->robot->get_seconds_per_minute(); |
d2adef5e | 577 | if (stepper_motor->get_max_rate() > 0 && feed_rate > stepper_motor->get_max_rate()) |
3494f3d0 | 578 | feed_rate = stepper_motor->get_max_rate(); |
6b451be8 | 579 | } |
1a2d88eb | 580 | } |
ca037905 | 581 | } |
da24d6ae AW |
582 | } |
583 | ||
ded56b35 | 584 | // When a new block begins, either follow the robot, or step by ourselves ( or stay back and do nothing ) |
17c89e4d JM |
585 | void Extruder::on_block_begin(void *argument) |
586 | { | |
c974b296 | 587 | if(!this->enabled) return; |
5090327a | 588 | |
3b4b05b8 JM |
589 | if( this->mode == OFF ) { |
590 | this->current_block = NULL; | |
5090327a | 591 | this->stepper_motor->set_moved_last_block(false); |
3b4b05b8 JM |
592 | return; |
593 | } | |
4464301d | 594 | |
3b4b05b8 JM |
595 | Block *block = static_cast<Block *>(argument); |
596 | if( this->mode == FOLLOW ) { | |
597 | // In FOLLOW mode, we just follow the stepper module | |
b5a9a6c4 | 598 | this->travel_distance = block->millimeters * this->travel_ratio; |
3b4b05b8 | 599 | } |
99826186 | 600 | |
3b4b05b8 JM |
601 | // common for both FOLLOW and SOLO |
602 | this->current_position += this->travel_distance ; | |
99826186 | 603 | |
3b4b05b8 | 604 | // round down, we take care of the fractional part next time |
8b261cdc | 605 | int steps_to_step = abs((int)floorf(this->steps_per_millimeter * (this->travel_distance + this->unstepped_distance) )); |
99826186 | 606 | |
3b4b05b8 JM |
607 | // accumulate the fractional part |
608 | if ( this->travel_distance > 0 ) { | |
609 | this->unstepped_distance += this->travel_distance - (steps_to_step / this->steps_per_millimeter); | |
610 | } else { | |
611 | this->unstepped_distance += this->travel_distance + (steps_to_step / this->steps_per_millimeter); | |
612 | } | |
b5a9a6c4 | 613 | |
3b4b05b8 JM |
614 | if( steps_to_step != 0 ) { |
615 | // We take the block, we have to release it or everything gets stuck | |
616 | block->take(); | |
617 | this->current_block = block; | |
618 | this->stepper_motor->move( (this->travel_distance > 0), steps_to_step); | |
619 | ||
620 | if(this->mode == FOLLOW) { | |
8b1ecc90 | 621 | on_speed_change(this); // set initial speed |
3b4b05b8 | 622 | this->stepper_motor->set_moved_last_block(true); |
9c72d468 | 623 | } else { |
3b4b05b8 | 624 | // SOLO |
dda37516 JM |
625 | uint32_t target_rate = floorf(this->feed_rate * this->steps_per_millimeter); |
626 | this->stepper_motor->set_speed(min( target_rate, rate_increase() )); // start at first acceleration step | |
d6023ce6 | 627 | this->stepper_motor->set_moved_last_block(false); |
4464301d | 628 | } |
be8332cd | 629 | |
3b4b05b8 JM |
630 | } else { |
631 | // no steps to take this time | |
d149c730 | 632 | this->current_block = NULL; |
5090327a | 633 | this->stepper_motor->set_moved_last_block(false); |
ca037905 | 634 | } |
e2b4a32b | 635 | |
4cff3ded AW |
636 | } |
637 | ||
ded56b35 | 638 | // When a block ends, pause the stepping interrupt |
17c89e4d JM |
639 | void Extruder::on_block_end(void *argument) |
640 | { | |
c974b296 | 641 | if(!this->enabled) return; |
ca037905 MM |
642 | this->current_block = NULL; |
643 | } | |
4cff3ded | 644 | |
9c72d468 JM |
645 | uint32_t Extruder::rate_increase() const |
646 | { | |
a157d099 | 647 | return floorf((this->acceleration / THEKERNEL->acceleration_ticks_per_second) * this->steps_per_millimeter); |
b77573dc JM |
648 | } |
649 | ||
ded56b35 | 650 | // Called periodically to change the speed to match acceleration or to match the speed of the robot |
ac971358 | 651 | // Only used in SOLO mode |
a157d099 | 652 | void Extruder::acceleration_tick(void) |
17c89e4d | 653 | { |
ca037905 | 654 | // Avoid trying to work when we really shouldn't ( between blocks or re-entry ) |
35e7b158 | 655 | if(!this->enabled || this->mode != SOLO || this->current_block == NULL || !this->stepper_motor->is_moving() ) { |
a157d099 | 656 | return; |
17c89e4d | 657 | } |
be8332cd | 658 | |
2fa50ca0 | 659 | uint32_t current_rate = this->stepper_motor->get_steps_per_second(); |
c8f4ee77 | 660 | uint32_t target_rate = floorf(this->feed_rate * this->steps_per_millimeter); |
58baeec1 | 661 | |
17c89e4d | 662 | if( current_rate < target_rate ) { |
b77573dc JM |
663 | current_rate = min( target_rate, current_rate + rate_increase() ); |
664 | // steps per second | |
665 | this->stepper_motor->set_speed(current_rate); | |
0eb11a06 | 666 | } |
58baeec1 | 667 | |
a157d099 | 668 | return; |
ded56b35 | 669 | } |
1a2d88eb | 670 | |
be8332cd | 671 | // When the stepper has finished it's move |
17c89e4d JM |
672 | uint32_t Extruder::stepper_motor_finished_move(uint32_t dummy) |
673 | { | |
c974b296 | 674 | if(!this->enabled) return 0; |
4cff3ded | 675 | |
4464301d AW |
676 | //printf("extruder releasing\r\n"); |
677 | ||
17c89e4d JM |
678 | if (this->current_block) { // this should always be true, but sometimes it isn't. TODO: find out why |
679 | Block *block = this->current_block; | |
d149c730 AW |
680 | this->current_block = NULL; |
681 | block->release(); | |
8519d744 | 682 | } |
f2203544 | 683 | return 0; |
feb204be | 684 | |
be8332cd | 685 | } |