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/>.
8 #include "libs/Module.h"
9 #include "libs/Kernel.h"
10 #include "modules/robot/Conveyor.h"
11 #include "modules/robot/Block.h"
12 #include "modules/tools/extruder/Extruder.h"
15 #define extruder_module_enable_checksum CHECKSUM("extruder_module_enable")
16 #define extruder_steps_per_mm_checksum CHECKSUM("extruder_steps_per_mm")
17 #define extruder_acceleration_checksum CHECKSUM("extruder_acceleration")
18 #define extruder_step_pin_checksum CHECKSUM("extruder_step_pin")
19 #define extruder_dir_pin_checksum CHECKSUM("extruder_dir_pin")
20 #define extruder_en_pin_checksum CHECKSUM("extruder_en_pin")
21 #define extruder_max_speed_checksum CHECKSUM("extruder_max_speed")
23 #define extruder_checksum CHECKSUM("extruder")
25 #define default_feed_rate_checksum CHECKSUM("default_feed_rate")
26 #define steps_per_mm_checksum CHECKSUM("steps_per_mm")
27 #define acceleration_checksum CHECKSUM("acceleration")
28 #define step_pin_checksum CHECKSUM("step_pin")
29 #define dir_pin_checksum CHECKSUM("dir_pin")
30 #define en_pin_checksum CHECKSUM("en_pin")
31 #define max_speed_checksum CHECKSUM("max_speed")
33 #define max(a,b) (((a) > (b)) ? (a) : (b))
35 /* The extruder module controls a filament extruder for 3D printing: http://en.wikipedia.org/wiki/Fused_deposition_modeling
36 * 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 )
37 * or the head moves, and the extruder moves plastic at a speed proportional to the movement of the head ( FOLLOW mode here ).
40 Extruder::Extruder( uint16_t config_identifier
) {
41 this->absolute_mode
= true;
43 this->single_config
= false;
44 this->identifier
= config_identifier
;
47 void Extruder::on_module_loaded() {
50 this->on_config_reload(this);
52 // We start with the enable pin off
55 // We work on the same Block as Stepper, so we need to know when it gets a new one and drops one
56 register_for_event(ON_CONFIG_RELOAD
);
57 this->register_for_event(ON_BLOCK_BEGIN
);
58 this->register_for_event(ON_BLOCK_END
);
59 this->register_for_event(ON_GCODE_RECEIVED
);
60 this->register_for_event(ON_GCODE_EXECUTE
);
61 this->register_for_event(ON_PLAY
);
62 this->register_for_event(ON_PAUSE
);
63 this->register_for_event(ON_SPEED_CHANGE
);
66 this->target_position
= 0;
67 this->current_position
= 0;
68 this->unstepped_distance
= 0;
69 this->current_block
= NULL
;
72 // Update speed every *acceleration_ticks_per_second*
73 // TODO: Make this an independent setting
74 THEKERNEL
->slow_ticker
->attach( THEKERNEL
->stepper
->acceleration_ticks_per_second
, this, &Extruder::acceleration_tick
);
76 // Stepper motor object for the extruder
77 this->stepper_motor
= THEKERNEL
->step_ticker
->add_stepper_motor( new StepperMotor(&step_pin
, &dir_pin
, &en_pin
) );
78 this->stepper_motor
->attach(this, &Extruder::stepper_motor_finished_move
);
83 void Extruder::on_config_reload(void* argument
){
85 // If this module uses the old "single extruder" configuration style
86 if( this->single_config
){
88 this->steps_per_millimeter
= THEKERNEL
->config
->value(extruder_steps_per_mm_checksum
)->by_default(1)->as_number();
89 this->acceleration
= THEKERNEL
->config
->value(extruder_acceleration_checksum
)->by_default(1000)->as_number();
90 this->max_speed
= THEKERNEL
->config
->value(extruder_max_speed_checksum
)->by_default(1000)->as_number();
91 this->feed_rate
= THEKERNEL
->config
->value(default_feed_rate_checksum
)->by_default(1000)->as_number();
93 this->step_pin
.from_string( THEKERNEL
->config
->value(extruder_step_pin_checksum
)->by_default("nc" )->as_string())->as_output();
94 this->dir_pin
.from_string( THEKERNEL
->config
->value(extruder_dir_pin_checksum
)->by_default("nc" )->as_string())->as_output();
95 this->en_pin
.from_string( THEKERNEL
->config
->value(extruder_en_pin_checksum
)->by_default("nc" )->as_string())->as_output();
98 // If this module was created with the new multi extruder configuration style
100 this->steps_per_millimeter
= THEKERNEL
->config
->value(extruder_checksum
, this->identifier
, steps_per_mm_checksum
)->by_default(1)->as_number();
101 this->acceleration
= THEKERNEL
->config
->value(extruder_checksum
, this->identifier
, acceleration_checksum
)->by_default(1000)->as_number();
102 this->max_speed
= THEKERNEL
->config
->value(extruder_checksum
, this->identifier
, max_speed_checksum
)->by_default(1000)->as_number();
103 this->feed_rate
= THEKERNEL
->config
->value( default_feed_rate_checksum
)->by_default(1000)->as_number();
105 this->step_pin
.from_string( THEKERNEL
->config
->value(extruder_checksum
, this->identifier
, step_pin_checksum
)->by_default("nc" )->as_string())->as_output();
106 this->dir_pin
.from_string( THEKERNEL
->config
->value(extruder_checksum
, this->identifier
, dir_pin_checksum
)->by_default("nc" )->as_string())->as_output();
107 this->en_pin
.from_string( THEKERNEL
->config
->value(extruder_checksum
, this->identifier
, en_pin_checksum
)->by_default("nc" )->as_string())->as_output();
111 // disable by default
117 // When the play/pause button is set to pause, or a module calls the ON_PAUSE event
118 void Extruder::on_pause(void* argument
){
120 this->stepper_motor
->pause();
123 // When the play/pause button is set to play, or a module calls the ON_PLAY event
124 void Extruder::on_play(void* argument
){
125 this->paused
= false;
126 this->stepper_motor
->unpause();
130 void Extruder::on_gcode_received(void *argument
){
131 Gcode
*gcode
= static_cast<Gcode
*>(argument
);
133 // Gcodes to execute immediately
135 if (gcode
->m
== 114){
136 gcode
->stream
->printf("E:%4.1f ", this->current_position
);
137 gcode
->add_nl
= true;
138 gcode
->mark_as_taken();
140 }else if (gcode
->m
== 92 ){
141 double spm
= this->steps_per_millimeter
;
142 if (gcode
->has_letter('E'))
143 spm
= gcode
->get_value('E');
144 gcode
->stream
->printf("E:%g ", spm
);
145 gcode
->add_nl
= true;
146 gcode
->mark_as_taken();
148 }else if (gcode
->m
== 500 || gcode
->m
== 503){// M500 saves some volatile settings to config override file, M503 just prints the settings
149 gcode
->stream
->printf(";E Steps per mm:\nM92 E%1.4f\n", this->steps_per_millimeter
);
150 gcode
->mark_as_taken();
155 // Gcodes to pass along to on_gcode_execute
156 if( ( gcode
->has_m
&& (gcode
->m
== 17 || gcode
->m
== 18 || gcode
->m
== 82 || gcode
->m
== 83 || gcode
->m
== 84 || gcode
->m
== 92 ) ) || ( gcode
->has_g
&& gcode
->g
== 92 && gcode
->has_letter('E') ) || ( gcode
->has_g
&& ( gcode
->g
== 90 || gcode
->g
== 91 ) ) ){
157 gcode
->mark_as_taken();
158 if( THEKERNEL
->conveyor
->queue
.size() == 0 ){
159 THEKERNEL
->call_event(ON_GCODE_EXECUTE
, gcode
);
161 Block
* block
= THEKERNEL
->conveyor
->queue
.get_ref( THEKERNEL
->conveyor
->queue
.size() - 1 );
162 block
->append_gcode(gcode
);
166 // Add to the queue for on_gcode_execute to process
167 if( gcode
->has_g
&& gcode
->g
< 4 && gcode
->has_letter('E') ){
168 if( !gcode
->has_letter('X') && !gcode
->has_letter('Y') && !gcode
->has_letter('Z') ){
169 // This is a solo move, we add an empty block to the queue
170 //If the queue is empty, execute immediatly, otherwise attach to the last added block
171 if( THEKERNEL
->conveyor
->queue
.size() == 0 ){
172 THEKERNEL
->call_event(ON_GCODE_EXECUTE
, gcode
);
173 this->append_empty_block();
175 Block
* block
= THEKERNEL
->conveyor
->queue
.get_ref( THEKERNEL
->conveyor
->queue
.size() - 1 );
176 block
->append_gcode(gcode
);
177 this->append_empty_block();
181 // This is for follow move
186 // Append an empty block in the queue so that solo mode can pick it up
187 Block
* Extruder::append_empty_block(){
188 THEKERNEL
->conveyor
->wait_for_queue(2);
189 Block
* block
= THEKERNEL
->conveyor
->new_block();
190 block
->planner
= THEKERNEL
->planner
;
191 block
->millimeters
= 0;
195 // feed the block into the system. Will execute it if we are at the beginning of the queue
201 // Compute extrusion speed based on parameters and gcode distance of travel
202 void Extruder::on_gcode_execute(void* argument
){
203 Gcode
* gcode
= static_cast<Gcode
*>(argument
);
205 // Absolute/relative mode
207 if( gcode
->m
== 17 ){ this->en_pin
.set(0); }
208 if( gcode
->m
== 18 ){ this->en_pin
.set(1); }
209 if( gcode
->m
== 82 ){ this->absolute_mode
= true; }
210 if( gcode
->m
== 83 ){ this->absolute_mode
= false; }
211 if( gcode
->m
== 84 ){ this->en_pin
.set(1); }
212 if (gcode
->m
== 92 ){
213 if (gcode
->has_letter('E')){
214 this->steps_per_millimeter
= gcode
->get_value('E');
219 // The mode is OFF by default, and SOLO or FOLLOW only if we need to extrude
223 // G92: Reset extruder position
224 if( gcode
->g
== 92 ){
225 gcode
->mark_as_taken();
226 if( gcode
->has_letter('E') ){
227 this->current_position
= gcode
->get_value('E');
228 this->target_position
= this->current_position
;
229 this->unstepped_distance
= 0;
230 }else if( gcode
->get_num_args() == 0){
231 this->current_position
= 0.0;
232 this->target_position
= this->current_position
;
233 this->unstepped_distance
= 0;
235 }else if ((gcode
->g
== 0) || (gcode
->g
== 1)){
236 // Extrusion length from 'G' Gcode
237 if( gcode
->has_letter('E' )){
238 // Get relative extrusion distance depending on mode ( in absolute mode we must substract target_position )
239 double extrusion_distance
= gcode
->get_value('E');
240 double relative_extrusion_distance
= extrusion_distance
;
241 if (this->absolute_mode
)
243 relative_extrusion_distance
-= this->target_position
;
244 this->target_position
= extrusion_distance
;
248 this->target_position
+= relative_extrusion_distance
;
251 // If the robot is moving, we follow it's movement, otherwise, we move alone
252 if( fabs(gcode
->millimeters_of_travel
) < 0.0001 ){ // With floating numbers, we can have 0 != 0 ... beeeh. For more info see : http://upload.wikimedia.org/wikipedia/commons/0/0a/Cain_Henri_Vidal_Tuileries.jpg
254 this->travel_distance
= relative_extrusion_distance
;
256 // We move proportionally to the robot's movement
258 this->travel_ratio
= relative_extrusion_distance
/ gcode
->millimeters_of_travel
;
259 // TODO: check resulting flowrate, limit robot speed if it exceeds max_speed
264 if (gcode
->has_letter('F'))
266 this->feed_rate
= gcode
->get_value('F');
267 if (this->feed_rate
> (this->max_speed
* kernel
->robot
->seconds_per_minute
))
268 this->feed_rate
= this->max_speed
* kernel
->robot
->seconds_per_minute
;
269 feed_rate
/= kernel
->robot
->seconds_per_minute
;
271 }else if( gcode
->g
== 90 ){ this->absolute_mode
= true;
272 }else if( gcode
->g
== 91 ){ this->absolute_mode
= false;
277 // When a new block begins, either follow the robot, or step by ourselves ( or stay back and do nothing )
278 void Extruder::on_block_begin(void* argument
){
279 Block
* block
= static_cast<Block
*>(argument
);
282 if( this->mode
== SOLO
){
283 // In solo mode we take the block so we can move even if the stepper has nothing to do
285 this->current_position
+= this->travel_distance
;
287 int steps_to_step
= abs(int(floor(this->steps_per_millimeter
* (this->travel_distance
+this->unstepped_distance
) )));
289 if ( this->travel_distance
> 0 ){
290 this->unstepped_distance
+= this->travel_distance
-(steps_to_step
/this->steps_per_millimeter
); //catch any overflow
292 this->unstepped_distance
+= this->travel_distance
+(steps_to_step
/this->steps_per_millimeter
); //catch any overflow
295 if( steps_to_step
!= 0 ){
297 // We take the block, we have to release it or everything gets stuck
299 this->current_block
= block
;
301 this->stepper_motor
->steps_per_second
= 0;
302 this->stepper_motor
->move( ( this->travel_distance
> 0 ), steps_to_step
);
305 this->current_block
= NULL
;
308 }else if( this->mode
== FOLLOW
){
309 // In non-solo mode, we just follow the stepper module
310 this->travel_distance
= block
->millimeters
* this->travel_ratio
;
312 this->current_position
+= this->travel_distance
;
314 int steps_to_step
= abs(int(floor(this->steps_per_millimeter
* (this->travel_distance
+ this->unstepped_distance
) )));
316 if ( this->travel_distance
> 0 ){
317 this->unstepped_distance
+= this->travel_distance
-(steps_to_step
/this->steps_per_millimeter
); //catch any overflow
319 this->unstepped_distance
+= this->travel_distance
+(steps_to_step
/this->steps_per_millimeter
); //catch any overflow
322 if( steps_to_step
!= 0 ){
324 this->current_block
= block
;
326 this->stepper_motor
->move( ( this->travel_distance
> 0 ), steps_to_step
);
327 this->on_speed_change(0); // initialise speed in case we get called first
329 this->current_block
= NULL
;
332 }else if( this->mode
== OFF
){
333 // No movement means we must reset our speed
334 this->current_block
= NULL
;
335 //this->stepper_motor->set_speed(0);
341 // When a block ends, pause the stepping interrupt
342 void Extruder::on_block_end(void* argument
){
343 this->current_block
= NULL
;
346 // Called periodically to change the speed to match acceleration or to match the speed of the robot
347 uint32_t Extruder::acceleration_tick(uint32_t dummy
){
349 // Avoid trying to work when we really shouldn't ( between blocks or re-entry )
350 if( this->current_block
== NULL
|| this->paused
|| this->mode
!= SOLO
){ return 0; }
352 uint32_t current_rate
= this->stepper_motor
->steps_per_second
;
353 uint32_t target_rate
= int(floor(this->feed_rate
* this->steps_per_millimeter
));
355 if( current_rate
< target_rate
){
356 uint32_t rate_increase
= int(floor((this->acceleration
/THEKERNEL
->stepper
->acceleration_ticks_per_second
)*this->steps_per_millimeter
));
357 current_rate
= min( target_rate
, current_rate
+ rate_increase
);
359 if( current_rate
> target_rate
){ current_rate
= target_rate
; }
362 this->stepper_motor
->set_speed(max(current_rate
, THEKERNEL
->stepper
->minimum_steps_per_minute
/60));
367 // Speed has been updated for the robot's stepper, we must update accordingly
368 void Extruder::on_speed_change( void* argument
){
370 // Avoid trying to work when we really shouldn't ( between blocks or re-entry )
371 if( this->current_block
== NULL
|| this->paused
|| this->mode
!= FOLLOW
|| this->stepper_motor
->moving
!= true ){ return; }
374 * nominal block duration = current block's steps / ( current block's nominal rate / 60 )
375 * nominal extruder rate = extruder steps / nominal block duration
376 * actual extruder rate = nominal extruder rate * ( ( stepper's steps per minute / 60 ) / ( current block's nominal rate / 60 ) )
377 * or actual extruder rate = ( ( extruder steps * ( current block's nominal_rate / 60 ) ) / current block's steps ) * ( ( stepper's steps per minute / 60 ) / ( current block's nominal rate / 60 ) )
378 * or simplified : extruder steps * ( stepper's steps per minute / 60 ) ) / current block's steps
379 * or even : ( stepper steps per minute / 60 ) * ( extruder steps / current block's steps )
382 this->stepper_motor
->set_speed( max( ( THEKERNEL
->stepper
->trapezoid_adjusted_rate
/60.0) * ( (double)this->stepper_motor
->steps_to_move
/ (double)this->current_block
->steps_event_count
), THEKERNEL
->stepper
->minimum_steps_per_minute
/60.0 ) );
388 // When the stepper has finished it's move
389 uint32_t Extruder::stepper_motor_finished_move(uint32_t dummy
){
391 //printf("extruder releasing\r\n");
393 if (this->current_block
){ // this should always be true, but sometimes it isn't. TODO: find out why
394 Block
* block
= this->current_block
;
395 this->current_block
= NULL
;