src/modules/tools/extruder/Extruder.cpp

   1 /*
   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/>.
   6 */
   7
   8 #include "Extruder.h"
   9
  10 #include "libs/Module.h"
  11 #include "libs/Kernel.h"
  12
  13 #include "modules/robot/Conveyor.h"
  14 #include "modules/robot/Block.h"
  15 #include "StepperMotor.h"
  16 #include "SlowTicker.h"
  17 #include "Stepper.h"
  18 #include "StepTicker.h"
  19 #include "Config.h"
  20 #include "StepperMotor.h"
  21 #include "Robot.h"
  22 #include "checksumm.h"
  23 #include "ConfigValue.h"
  24 #include "Gcode.h"
  25
  26 #include <mri.h>
  27
  28 #define extruder_module_enable_checksum      CHECKSUM("extruder_module_enable")
  29 #define extruder_steps_per_mm_checksum       CHECKSUM("extruder_steps_per_mm")
  30 #define extruder_acceleration_checksum       CHECKSUM("extruder_acceleration")
  31 #define extruder_step_pin_checksum           CHECKSUM("extruder_step_pin")
  32 #define extruder_dir_pin_checksum            CHECKSUM("extruder_dir_pin")
  33 #define extruder_en_pin_checksum             CHECKSUM("extruder_en_pin")
  34 #define extruder_max_speed_checksum          CHECKSUM("extruder_max_speed")
  35
  36 #define extruder_checksum                    CHECKSUM("extruder")
  37
  38 #define default_feed_rate_checksum           CHECKSUM("default_feed_rate")
  39 #define steps_per_mm_checksum                CHECKSUM("steps_per_mm")
  40 #define acceleration_checksum                CHECKSUM("acceleration")
  41 #define step_pin_checksum                    CHECKSUM("step_pin")
  42 #define dir_pin_checksum                     CHECKSUM("dir_pin")
  43 #define en_pin_checksum                      CHECKSUM("en_pin")
  44 #define max_speed_checksum                   CHECKSUM("max_speed")
  45
  46 #define max(a,b) (((a) > (b)) ? (a) : (b))
  47
  48 /* The extruder module controls a filament extruder for 3D printing: http://en.wikipedia.org/wiki/Fused_deposition_modeling
  49 * 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 )
  50 * or the head moves, and the extruder moves plastic at a speed proportional to the movement of the head ( FOLLOW mode here ).
  51 */
  52
  53 Extruder::Extruder( uint16_t config_identifier ) {
  54     this->absolute_mode = true;
  55     this->paused        = false;
  56     this->single_config = false;
  57     this->identifier    = config_identifier;
  58 }
  59
  60 void Extruder::on_module_loaded() {
  61
  62     // Settings
  63     this->on_config_reload(this);
  64
  65     // We work on the same Block as Stepper, so we need to know when it gets a new one and drops one
  66     register_for_event(ON_CONFIG_RELOAD);
  67     this->register_for_event(ON_BLOCK_BEGIN);
  68     this->register_for_event(ON_BLOCK_END);
  69     this->register_for_event(ON_GCODE_RECEIVED);
  70     this->register_for_event(ON_GCODE_EXECUTE);
  71     this->register_for_event(ON_PLAY);
  72     this->register_for_event(ON_PAUSE);
  73     this->register_for_event(ON_SPEED_CHANGE);
  74
  75     // Start values
  76     this->target_position = 0;
  77     this->current_position = 0;
  78     this->unstepped_distance = 0;
  79     this->current_block = NULL;
  80     this->mode = OFF;
  81
  82     // Update speed every *acceleration_ticks_per_second*
  83     // TODO: Make this an independent setting
  84     THEKERNEL->slow_ticker->attach( THEKERNEL->stepper->acceleration_ticks_per_second , this, &Extruder::acceleration_tick );
  85
  86     // Stepper motor object for the extruder
  87     this->stepper_motor  = THEKERNEL->step_ticker->add_stepper_motor( new StepperMotor(step_pin, dir_pin, en_pin) );
  88     this->stepper_motor->attach(this, &Extruder::stepper_motor_finished_move );
  89
  90 }
  91
  92 // Get config
  93 void Extruder::on_config_reload(void* argument){
  94
  95     // If this module uses the old "single extruder" configuration style
  96     if( this->single_config ){
  97
  98         this->steps_per_millimeter        = THEKERNEL->config->value(extruder_steps_per_mm_checksum      )->by_default(1)->as_number();
  99         this->acceleration                = THEKERNEL->config->value(extruder_acceleration_checksum      )->by_default(1000)->as_number();
 100         this->max_speed                   = THEKERNEL->config->value(extruder_max_speed_checksum         )->by_default(1000)->as_number();
 101         this->feed_rate                   = THEKERNEL->config->value(default_feed_rate_checksum          )->by_default(1000)->as_number();
 102
 103         this->step_pin.from_string(         THEKERNEL->config->value(extruder_step_pin_checksum          )->by_default("nc" )->as_string())->as_output();
 104         this->dir_pin.from_string(          THEKERNEL->config->value(extruder_dir_pin_checksum           )->by_default("nc" )->as_string())->as_output();
 105         this->en_pin.from_string(           THEKERNEL->config->value(extruder_en_pin_checksum            )->by_default("nc" )->as_string())->as_output();
 106
 107     }else{
 108     // If this module was created with the new multi extruder configuration style
 109
 110         this->steps_per_millimeter        = THEKERNEL->config->value(extruder_checksum, this->identifier, steps_per_mm_checksum      )->by_default(1)->as_number();
 111         this->acceleration                = THEKERNEL->config->value(extruder_checksum, this->identifier, acceleration_checksum      )->by_default(1000)->as_number();
 112         this->max_speed                   = THEKERNEL->config->value(extruder_checksum, this->identifier, max_speed_checksum         )->by_default(1000)->as_number();
 113         this->feed_rate                   = THEKERNEL->config->value(                                     default_feed_rate_checksum )->by_default(1000)->as_number();
 114
 115         this->step_pin.from_string(         THEKERNEL->config->value(extruder_checksum, this->identifier, step_pin_checksum          )->by_default("nc" )->as_string())->as_output();
 116         this->dir_pin.from_string(          THEKERNEL->config->value(extruder_checksum, this->identifier, dir_pin_checksum           )->by_default("nc" )->as_string())->as_output();
 117         this->en_pin.from_string(           THEKERNEL->config->value(extruder_checksum, this->identifier, en_pin_checksum            )->by_default("nc" )->as_string())->as_output();
 118
 119     }
 120
 121 }
 122
 123
 124 // When the play/pause button is set to pause, or a module calls the ON_PAUSE event
 125 void Extruder::on_pause(void* argument){
 126     this->paused = true;
 127     this->stepper_motor->pause();
 128 }
 129
 130 // When the play/pause button is set to play, or a module calls the ON_PLAY event
 131 void Extruder::on_play(void* argument){
 132     this->paused = false;
 133     this->stepper_motor->unpause();
 134 }
 135
 136
 137 void Extruder::on_gcode_received(void *argument){
 138     Gcode *gcode = static_cast<Gcode*>(argument);
 139
 140     // Gcodes to execute immediately
 141     if (gcode->has_m){
 142         if (gcode->m == 114){
 143             char buf[16];
 144             int n= snprintf(buf, sizeof(buf), " E:%1.3f ", this->current_position);
 145             gcode->txt_after_ok.append(buf, n);
 146             gcode->mark_as_taken();
 147
 148         }else if (gcode->m == 92 ){
 149             float spm = this->steps_per_millimeter;
 150             if (gcode->has_letter('E'))
 151                 spm = gcode->get_value('E');
 152             gcode->stream->printf("E:%g ", spm);
 153             gcode->add_nl = true;
 154             gcode->mark_as_taken();
 155
 156         }else if (gcode->m == 500 || gcode->m == 503){// M500 saves some volatile settings to config override file, M503 just prints the settings
 157             gcode->stream->printf(";E Steps per mm:\nM92 E%1.4f\n", this->steps_per_millimeter);
 158             gcode->mark_as_taken();
 159             return;
 160         }
 161     }
 162
 163     // Gcodes to pass along to on_gcode_execute
 164     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 ) ) ){
 165         THEKERNEL->conveyor->append_gcode(gcode);
 166     }
 167
 168     // Add to the queue for on_gcode_execute to process
 169     if( gcode->has_g && gcode->g < 4 && gcode->has_letter('E') ){
 170         if( !gcode->has_letter('X') && !gcode->has_letter('Y') && !gcode->has_letter('Z') ){
 171             THEKERNEL->conveyor->append_gcode(gcode);
 172             // This is a solo move, we add an empty block to the queue to prevent subsequent gcodes being executed at the same time
 173             THEKERNEL->conveyor->queue_head_block();
 174         }
 175     }else{
 176         // This is for follow move
 177
 178     }
 179 }
 180
 181 // Compute extrusion speed based on parameters and gcode distance of travel
 182 void Extruder::on_gcode_execute(void* argument){
 183     Gcode* gcode = static_cast<Gcode*>(argument);
 184
 185     // Absolute/relative mode
 186     if( gcode->has_m ){
 187         if( gcode->m == 17 ){ this->en_pin.set(0); }
 188         if( gcode->m == 18 ){ this->en_pin.set(1); }
 189         if( gcode->m == 82 ){ this->absolute_mode = true; }
 190         if( gcode->m == 83 ){ this->absolute_mode = false; }
 191         if( gcode->m == 84 ){ this->en_pin.set(1); }
 192         if (gcode->m == 92 ){
 193             if (gcode->has_letter('E')){
 194                 this->steps_per_millimeter = gcode->get_value('E');
 195             }
 196         }
 197     }
 198
 199     // The mode is OFF by default, and SOLO or FOLLOW only if we need to extrude
 200     this->mode = OFF;
 201
 202     if( gcode->has_g ){
 203         // G92: Reset extruder position
 204         if( gcode->g == 92 ){
 205             gcode->mark_as_taken();
 206             if( gcode->has_letter('E') ){
 207                 this->current_position = gcode->get_value('E');
 208                 this->target_position  = this->current_position;
 209                 this->unstepped_distance = 0;
 210             }else if( gcode->get_num_args() == 0){
 211                 this->current_position = 0.0;
 212                 this->target_position = this->current_position;
 213                 this->unstepped_distance = 0;
 214             }
 215         }else if ((gcode->g == 0) || (gcode->g == 1)){
 216             // Extrusion length from 'G' Gcode
 217             if( gcode->has_letter('E' )){
 218                 // Get relative extrusion distance depending on mode ( in absolute mode we must substract target_position )
 219                 float extrusion_distance = gcode->get_value('E');
 220                 float relative_extrusion_distance = extrusion_distance;
 221                 if (this->absolute_mode)
 222                 {
 223                     relative_extrusion_distance -= this->target_position;
 224                     this->target_position = extrusion_distance;
 225                 }
 226                 else
 227                 {
 228                     this->target_position += relative_extrusion_distance;
 229                 }
 230
 231                 // If the robot is moving, we follow it's movement, otherwise, we move alone
 232                 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
 233                     this->mode = SOLO;
 234                     this->travel_distance = relative_extrusion_distance;
 235                 }else{
 236                     // We move proportionally to the robot's movement
 237                     this->mode = FOLLOW;
 238                     this->travel_ratio = relative_extrusion_distance / gcode->millimeters_of_travel;
 239                     // TODO: check resulting flowrate, limit robot speed if it exceeds max_speed
 240                 }
 241
 242                 this->en_pin.set(0);
 243             }
 244             if (gcode->has_letter('F'))
 245             {
 246                 feed_rate = gcode->get_value('F') / THEKERNEL->robot->seconds_per_minute;
 247                 if (feed_rate > max_speed)
 248                     feed_rate = max_speed;
 249             }
 250         }else if( gcode->g == 90 ){ this->absolute_mode = true;
 251         }else if( gcode->g == 91 ){ this->absolute_mode = false;
 252         }
 253     }
 254 }
 255
 256 // When a new block begins, either follow the robot, or step by ourselves ( or stay back and do nothing )
 257 void Extruder::on_block_begin(void* argument){
 258     Block* block = static_cast<Block*>(argument);
 259
 260
 261     if( this->mode == SOLO ){
 262         // In solo mode we take the block so we can move even if the stepper has nothing to do
 263
 264         this->current_position += this->travel_distance ;
 265
 266         int steps_to_step = abs(int(floor(this->steps_per_millimeter * (this->travel_distance +this->unstepped_distance) )));
 267
 268         if ( this->travel_distance > 0 ){
 269             this->unstepped_distance += this->travel_distance -(steps_to_step/this->steps_per_millimeter); //catch any overflow
 270         }   else {
 271             this->unstepped_distance += this->travel_distance +(steps_to_step/this->steps_per_millimeter); //catch any overflow
 272         }
 273
 274         if( steps_to_step != 0 ){
 275
 276             // We take the block, we have to release it or everything gets stuck
 277             block->take();
 278             this->current_block = block;
 279
 280             this->stepper_motor->steps_per_second = 0;
 281             this->stepper_motor->move( ( this->travel_distance > 0 ), steps_to_step);
 282
 283         }else{
 284             this->current_block = NULL;
 285         }
 286
 287     }else if( this->mode == FOLLOW ){
 288         // In non-solo mode, we just follow the stepper module
 289         this->travel_distance = block->millimeters * this->travel_ratio;
 290
 291         this->current_position += this->travel_distance;
 292
 293         int steps_to_step = abs(int(floor(this->steps_per_millimeter * (this->travel_distance + this->unstepped_distance) )));
 294
 295         if ( this->travel_distance > 0 ){
 296             this->unstepped_distance += this->travel_distance -(steps_to_step/this->steps_per_millimeter); //catch any overflow
 297         }   else {
 298             this->unstepped_distance += this->travel_distance +(steps_to_step/this->steps_per_millimeter); //catch any overflow
 299         }
 300
 301         if( steps_to_step != 0 ){
 302             block->take();
 303             this->current_block = block;
 304
 305             this->stepper_motor->move( ( this->travel_distance > 0 ), steps_to_step );
 306             this->on_speed_change(0); // initialise speed in case we get called first
 307         }else{
 308             this->current_block = NULL;
 309         }
 310
 311     }else if( this->mode == OFF ){
 312         // No movement means we must reset our speed
 313         this->current_block = NULL;
 314         //this->stepper_motor->set_speed(0);
 315
 316     }
 317
 318 }
 319
 320 // When a block ends, pause the stepping interrupt
 321 void Extruder::on_block_end(void* argument){
 322     this->current_block = NULL;
 323 }
 324
 325 // Called periodically to change the speed to match acceleration or to match the speed of the robot
 326 uint32_t Extruder::acceleration_tick(uint32_t dummy){
 327
 328     // Avoid trying to work when we really shouldn't ( between blocks or re-entry )
 329     if( this->current_block == NULL ||  this->paused || this->mode != SOLO ){ return 0; }
 330
 331     uint32_t current_rate = this->stepper_motor->steps_per_second;
 332     uint32_t target_rate = int(floor(this->feed_rate * this->steps_per_millimeter));
 333
 334     if( current_rate < target_rate ){
 335         uint32_t rate_increase = int(floor((this->acceleration/THEKERNEL->stepper->acceleration_ticks_per_second)*this->steps_per_millimeter));
 336         current_rate = min( target_rate, current_rate + rate_increase );
 337     }
 338     if( current_rate > target_rate ){ current_rate = target_rate; }
 339
 340     // steps per second
 341     this->stepper_motor->set_speed(max(current_rate, THEKERNEL->stepper->minimum_steps_per_second));
 342
 343     return 0;
 344 }
 345
 346 // Speed has been updated for the robot's stepper, we must update accordingly
 347 void Extruder::on_speed_change( void* argument ){
 348
 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 != FOLLOW || this->stepper_motor->moving != true ){ return; }
 351
 352     /*
 353     * nominal block duration = current block's steps / ( current block's nominal rate )
 354     * nominal extruder rate = extruder steps / nominal block duration
 355     * actual extruder rate = nominal extruder rate * ( ( stepper's steps per second ) / ( current block's nominal rate ) )
 356     * or actual extruder rate = ( ( extruder steps * ( current block's nominal_rate ) ) / current block's steps ) * ( ( stepper's steps per second ) / ( current block's nominal rate ) )
 357     * or simplified : extruder steps * ( stepper's steps per second ) ) / current block's steps
 358     * or even : ( stepper steps per second ) * ( extruder steps / current block's steps )
 359     */
 360
 361     this->stepper_motor->set_speed( max( ( THEKERNEL->stepper->trapezoid_adjusted_rate) * ( (float)this->stepper_motor->steps_to_move / (float)this->current_block->steps_event_count ), THEKERNEL->stepper->minimum_steps_per_second ) );
 362
 363 }
 364
 365
 366
 367 // When the stepper has finished it's move
 368 uint32_t Extruder::stepper_motor_finished_move(uint32_t dummy){
 369
 370     //printf("extruder releasing\r\n");
 371
 372     if (this->current_block){ // this should always be true, but sometimes it isn't. TODO: find out why
 373         Block* block = this->current_block;
 374         this->current_block = NULL;
 375         block->release();
 376     }
 377     return 0;
 378
 379 }
 380