-/*
- This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl).
- 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.
- 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.
- You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>.
-*/
-
-#include "Extruder.h"
-
-#include "libs/Module.h"
-#include "libs/Kernel.h"
-
-#include "modules/robot/Conveyor.h"
-#include "modules/robot/Block.h"
-#include "StepperMotor.h"
-#include "SlowTicker.h"
-#include "Stepper.h"
-#include "StepTicker.h"
-#include "Config.h"
-#include "StepperMotor.h"
-#include "Robot.h"
-#include "checksumm.h"
-#include "ConfigValue.h"
-#include "Gcode.h"
-#include "libs/StreamOutput.h"
-#include "PublicDataRequest.h"
-#include "StreamOutputPool.h"
-#include "ExtruderPublicAccess.h"
-
-#include <mri.h>
-
-// OLD config names for backwards compatibility, NOTE new configs will not be added here
-#define extruder_module_enable_checksum CHECKSUM("extruder_module_enable")
-#define extruder_steps_per_mm_checksum CHECKSUM("extruder_steps_per_mm")
-#define extruder_filament_diameter_checksum CHECKSUM("extruder_filament_diameter")
-#define extruder_acceleration_checksum CHECKSUM("extruder_acceleration")
-#define extruder_step_pin_checksum CHECKSUM("extruder_step_pin")
-#define extruder_dir_pin_checksum CHECKSUM("extruder_dir_pin")
-#define extruder_en_pin_checksum CHECKSUM("extruder_en_pin")
-#define extruder_max_speed_checksum CHECKSUM("extruder_max_speed")
-#define extruder_default_feed_rate_checksum CHECKSUM("extruder_default_feed_rate")
-
-// NEW config names
-
-#define default_feed_rate_checksum CHECKSUM("default_feed_rate")
-#define steps_per_mm_checksum CHECKSUM("steps_per_mm")
-#define filament_diameter_checksum CHECKSUM("filament_diameter")
-#define acceleration_checksum CHECKSUM("acceleration")
-#define step_pin_checksum CHECKSUM("step_pin")
-#define dir_pin_checksum CHECKSUM("dir_pin")
-#define en_pin_checksum CHECKSUM("en_pin")
-#define max_speed_checksum CHECKSUM("max_speed")
-#define x_offset_checksum CHECKSUM("x_offset")
-#define y_offset_checksum CHECKSUM("y_offset")
-#define z_offset_checksum CHECKSUM("z_offset")
-
-#define retract_length_checksum CHECKSUM("retract_length")
-#define retract_feedrate_checksum CHECKSUM("retract_feedrate")
-#define retract_recover_length_checksum CHECKSUM("retract_recover_length")
-#define retract_recover_feedrate_checksum CHECKSUM("retract_recover_feedrate")
-#define retract_zlift_length_checksum CHECKSUM("retract_zlift_length")
-#define retract_zlift_feedrate_checksum CHECKSUM("retract_zlift_feedrate")
-
-#define X_AXIS 0
-#define Y_AXIS 1
-#define Z_AXIS 2
-
-#define OFF 0
-#define SOLO 1
-#define FOLLOW 2
-
-#define PI 3.14159265358979F
-
-
-/* The extruder module controls a filament extruder for 3D printing: http://en.wikipedia.org/wiki/Fused_deposition_modeling
-* 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 )
-* or the head moves, and the extruder moves plastic at a speed proportional to the movement of the head ( FOLLOW mode here ).
-*/
-
-Extruder::Extruder( uint16_t config_identifier, bool single )
-{
- this->absolute_mode = true;
- this->milestone_absolute_mode = true;
- this->enabled = false;
- this->single_config = single;
- this->identifier = config_identifier;
- this->retracted = false;
- this->volumetric_multiplier = 1.0F;
- this->extruder_multiplier = 1.0F;
- this->stepper_motor = nullptr;
- this->milestone_last_position = 0;
- this->max_volumetric_rate = 0;
-
- memset(this->offset, 0, sizeof(this->offset));
-}
-
-Extruder::~Extruder()
-{
- delete stepper_motor;
-}
-
-void Extruder::on_halt(void *arg)
-{
- if(arg == nullptr) {
- // turn off motor
- this->en_pin.set(1);
- }
-}
-
-void Extruder::on_module_loaded()
-{
- // Settings
- this->on_config_reload(this);
-
- // Start values
- this->target_position = 0;
- this->current_position = 0;
- this->unstepped_distance = 0;
- this->current_block = NULL;
- this->mode = OFF;
-
- // We work on the same Block as Stepper, so we need to know when it gets a new one and drops one
- this->register_for_event(ON_BLOCK_BEGIN);
- this->register_for_event(ON_BLOCK_END);
- this->register_for_event(ON_GCODE_RECEIVED);
- this->register_for_event(ON_GCODE_EXECUTE);
- this->register_for_event(ON_HALT);
- this->register_for_event(ON_SPEED_CHANGE);
- this->register_for_event(ON_GET_PUBLIC_DATA);
- this->register_for_event(ON_SET_PUBLIC_DATA);
-
- // Update speed every *acceleration_ticks_per_second*
- THEKERNEL->step_ticker->register_acceleration_tick_handler([this]() {
- acceleration_tick();
- });
-}
-
-// Get config
-void Extruder::on_config_reload(void *argument)
-{
- if( this->single_config ) {
- // If this module uses the old "single extruder" configuration style
-
- this->steps_per_millimeter = THEKERNEL->config->value(extruder_steps_per_mm_checksum )->by_default(1)->as_number();
- this->filament_diameter = THEKERNEL->config->value(extruder_filament_diameter_checksum )->by_default(0)->as_number();
- this->acceleration = THEKERNEL->config->value(extruder_acceleration_checksum )->by_default(1000)->as_number();
- this->feed_rate = THEKERNEL->config->value(extruder_default_feed_rate_checksum )->by_default(1000)->as_number();
-
- this->step_pin.from_string( THEKERNEL->config->value(extruder_step_pin_checksum )->by_default("nc" )->as_string())->as_output();
- this->dir_pin.from_string( THEKERNEL->config->value(extruder_dir_pin_checksum )->by_default("nc" )->as_string())->as_output();
- this->en_pin.from_string( THEKERNEL->config->value(extruder_en_pin_checksum )->by_default("nc" )->as_string())->as_output();
-
- for(int i = 0; i < 3; i++) {
- this->offset[i] = 0;
- }
-
- this->enabled = true;
-
- } else {
- // If this module was created with the new multi extruder configuration style
-
- this->steps_per_millimeter = THEKERNEL->config->value(extruder_checksum, this->identifier, steps_per_mm_checksum )->by_default(1)->as_number();
- this->filament_diameter = THEKERNEL->config->value(extruder_checksum, this->identifier, filament_diameter_checksum )->by_default(0)->as_number();
- this->acceleration = THEKERNEL->config->value(extruder_checksum, this->identifier, acceleration_checksum )->by_default(1000)->as_number();
- this->feed_rate = THEKERNEL->config->value(extruder_checksum, this->identifier, default_feed_rate_checksum )->by_default(1000)->as_number();
-
- this->step_pin.from_string( THEKERNEL->config->value(extruder_checksum, this->identifier, step_pin_checksum )->by_default("nc" )->as_string())->as_output();
- this->dir_pin.from_string( THEKERNEL->config->value(extruder_checksum, this->identifier, dir_pin_checksum )->by_default("nc" )->as_string())->as_output();
- this->en_pin.from_string( THEKERNEL->config->value(extruder_checksum, this->identifier, en_pin_checksum )->by_default("nc" )->as_string())->as_output();
-
- this->offset[X_AXIS] = THEKERNEL->config->value(extruder_checksum, this->identifier, x_offset_checksum )->by_default(0)->as_number();
- this->offset[Y_AXIS] = THEKERNEL->config->value(extruder_checksum, this->identifier, y_offset_checksum )->by_default(0)->as_number();
- this->offset[Z_AXIS] = THEKERNEL->config->value(extruder_checksum, this->identifier, z_offset_checksum )->by_default(0)->as_number();
-
- }
-
- // these are only supported in the new syntax, no need to be backward compatible as they did not exist before the change
- this->retract_length = THEKERNEL->config->value(extruder_checksum, this->identifier, retract_length_checksum)->by_default(3)->as_number();
- this->retract_feedrate = THEKERNEL->config->value(extruder_checksum, this->identifier, retract_feedrate_checksum)->by_default(45)->as_number();
- this->retract_recover_length = THEKERNEL->config->value(extruder_checksum, this->identifier, retract_recover_length_checksum)->by_default(0)->as_number();
- this->retract_recover_feedrate = THEKERNEL->config->value(extruder_checksum, this->identifier, retract_recover_feedrate_checksum)->by_default(8)->as_number();
- this->retract_zlift_length = THEKERNEL->config->value(extruder_checksum, this->identifier, retract_zlift_length_checksum)->by_default(0)->as_number();
- this->retract_zlift_feedrate = THEKERNEL->config->value(extruder_checksum, this->identifier, retract_zlift_feedrate_checksum)->by_default(100 * 60)->as_number(); // mm/min
-
- if(filament_diameter > 0.01F) {
- this->volumetric_multiplier = 1.0F / (powf(this->filament_diameter / 2, 2) * PI);
- }
-
- // Stepper motor object for the extruder
- this->stepper_motor = new StepperMotor(step_pin, dir_pin, en_pin);
- this->stepper_motor->attach(this, &Extruder::stepper_motor_finished_move );
- if( this->single_config ) {
- this->stepper_motor->set_max_rate(THEKERNEL->config->value(extruder_max_speed_checksum)->by_default(1000)->as_number());
- } else {
- this->stepper_motor->set_max_rate(THEKERNEL->config->value(extruder_checksum, this->identifier, max_speed_checksum)->by_default(1000)->as_number());
- }
-}
-
-void Extruder::on_get_public_data(void *argument)
-{
- PublicDataRequest *pdr = static_cast<PublicDataRequest *>(argument);
-
- if(!pdr->starts_with(extruder_checksum)) return;
-
- if(this->enabled) {
- // Note this is allowing both step/mm and filament diameter to be exposed via public data
- pdr->set_data_ptr(&this->steps_per_millimeter);
- pdr->set_taken();
- }
-}
-
-// check against maximum speeds and return the rate modifier
-float Extruder::check_max_speeds(float target, float isecs)
-{
- float rm = 1.0F; // default no rate modification
- float delta;
- // get change in E (may be mm or mm³)
- if(milestone_absolute_mode) {
- delta = fabsf(target - milestone_last_position); // delta move
- milestone_last_position = target;
-
- } else {
- delta = target;
- milestone_last_position += target;
- }
-
- if(this->max_volumetric_rate > 0 && this->filament_diameter > 0.01F) {
- // volumetric enabled and check for volumetric rate
- float v = delta * isecs; // the flow rate in mm³/sec
-
- // return the rate change needed to stay within the max rate
- if(v > max_volumetric_rate) {
- rm = max_volumetric_rate / v;
- isecs *= rm; // this slows the rate down for the next test
- }
- //THEKERNEL->streams->printf("requested flow rate: %f mm³/sec, corrected flow rate: %f mm³/sec\n", v, v * rm);
- }
-
- // check for max speed as well
- float max_speed = this->stepper_motor->get_max_rate();
- if(max_speed > 0) {
- if(this->filament_diameter > 0.01F) {
- // volumetric so need to convert delta which is mm³ to mm
- delta *= volumetric_multiplier;
- }
-
- float sm = 1.0F;
- float v = delta * isecs; // the speed in mm/sec
- if(v > max_speed) {
- sm *= (max_speed / v);
- }
- //THEKERNEL->streams->printf("requested speed: %f mm/sec, corrected speed: %f mm/sec\n", v, v * sm);
- rm *= sm;
- }
- return rm;
-}
-
-void Extruder::on_set_public_data(void *argument)
-{
- PublicDataRequest *pdr = static_cast<PublicDataRequest *>(argument);
-
- if(!pdr->starts_with(extruder_checksum)) return;
-
- // handle extrude rates request from robot
- if(pdr->second_element_is(target_checksum)) {
- // disabled extruders do not reply NOTE only one enabled extruder supported
- if(!this->enabled) return;
-
- float *d = static_cast<float *>(pdr->get_data_ptr());
- float target = d[0]; // the E passed in on Gcode is in mm³ (maybe absolute or relative)
- float isecs = d[1]; // inverted secs
-
- // check against maximum speeds and return rate modifier
- d[1] = check_max_speeds(target, isecs);
-
- pdr->set_taken();
- return;
- }
-
- // save or restore state
- if(pdr->second_element_is(save_state_checksum)) {
- this->saved_current_position = this->current_position;
- this->saved_absolute_mode = this->absolute_mode;
- pdr->set_taken();
- } else if(pdr->second_element_is(restore_state_checksum)) {
- // NOTE this only gets called when the queue is empty so the milestones will be the same
- this->milestone_last_position= this->current_position = this->saved_current_position;
- this->milestone_absolute_mode= this->absolute_mode = this->saved_absolute_mode;
- pdr->set_taken();
- }
-}
-
-void Extruder::on_gcode_received(void *argument)
-{
- Gcode *gcode = static_cast<Gcode *>(argument);
-
- // M codes most execute immediately, most only execute if enabled
- if (gcode->has_m) {
- if (gcode->m == 114 && gcode->subcode == 0 && this->enabled) {
- char buf[16];
- int n = snprintf(buf, sizeof(buf), " E:%1.3f ", this->current_position);
- gcode->txt_after_ok.append(buf, n);
-
- } else if (gcode->m == 92 && ( (this->enabled && !gcode->has_letter('P')) || (gcode->has_letter('P') && gcode->get_value('P') == this->identifier) ) ) {
- float spm = this->steps_per_millimeter;
- if (gcode->has_letter('E')) {
- spm = gcode->get_value('E');
- this->steps_per_millimeter = spm;
- }
-
- gcode->stream->printf("E:%g ", spm);
- gcode->add_nl = true;
-
- } else if (gcode->m == 200 && ( (this->enabled && !gcode->has_letter('P')) || (gcode->has_letter('P') && gcode->get_value('P') == this->identifier)) ) {
- if (gcode->has_letter('D')) {
- THEKERNEL->conveyor->wait_for_empty_queue(); // only apply after the queue has emptied
- this->filament_diameter = gcode->get_value('D');
- if(filament_diameter > 0.01F) {
- this->volumetric_multiplier = 1.0F / (powf(this->filament_diameter / 2, 2) * PI);
- } else {
- this->volumetric_multiplier = 1.0F;
- }
- } else {
- if(filament_diameter > 0.01F) {
- gcode->stream->printf("Filament Diameter: %f\n", this->filament_diameter);
- } else {
- gcode->stream->printf("Volumetric extrusion is disabled\n");
- }
- }
-
- } else if (gcode->m == 203 && ( (this->enabled && !gcode->has_letter('P')) || (gcode->has_letter('P') && gcode->get_value('P') == this->identifier)) ) {
- // M203 Exxx Vyyy Set maximum feedrates xxx mm/sec and/or yyy mm³/sec
- if(gcode->get_num_args() == 0) {
- gcode->stream->printf("E:%g V:%g", this->stepper_motor->get_max_rate(), this->max_volumetric_rate);
- gcode->add_nl = true;
-
- } else {
- if(gcode->has_letter('E')) {
- this->stepper_motor->set_max_rate(gcode->get_value('E'));
- }
- if(gcode->has_letter('V')) {
- this->max_volumetric_rate = gcode->get_value('V');
- }
- }
-
- } else if (gcode->m == 204 && gcode->has_letter('E') &&
- ( (this->enabled && !gcode->has_letter('P')) || (gcode->has_letter('P') && gcode->get_value('P') == this->identifier)) ) {
- // extruder acceleration M204 Ennn mm/sec^2 (Pnnn sets the specific extruder for M500)
- this->acceleration = gcode->get_value('E');
-
- } else if (gcode->m == 207 && ( (this->enabled && !gcode->has_letter('P')) || (gcode->has_letter('P') && gcode->get_value('P') == this->identifier)) ) {
- // M207 - set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop] Q[zlift feedrate mm/min]
- if(gcode->has_letter('S')) retract_length = gcode->get_value('S');
- if(gcode->has_letter('F')) retract_feedrate = gcode->get_value('F') / 60.0F; // specified in mm/min converted to mm/sec
- if(gcode->has_letter('Z')) retract_zlift_length = gcode->get_value('Z');
- if(gcode->has_letter('Q')) retract_zlift_feedrate = gcode->get_value('Q');
-
- } else if (gcode->m == 208 && ( (this->enabled && !gcode->has_letter('P')) || (gcode->has_letter('P') && gcode->get_value('P') == this->identifier)) ) {
- // M208 - set retract recover length S[positive mm surplus to the M207 S*] F[feedrate mm/min]
- if(gcode->has_letter('S')) retract_recover_length = gcode->get_value('S');
- if(gcode->has_letter('F')) retract_recover_feedrate = gcode->get_value('F') / 60.0F; // specified in mm/min converted to mm/sec
-
- } else if (gcode->m == 221 && this->enabled) { // M221 S100 change flow rate by percentage
- if(gcode->has_letter('S')) {
- this->extruder_multiplier = gcode->get_value('S') / 100.0F;
- } else {
- gcode->stream->printf("Flow rate at %6.2f %%\n", this->extruder_multiplier * 100.0F);
- }
-
- } else if (gcode->m == 500 || gcode->m == 503) { // M500 saves some volatile settings to config override file, M503 just prints the settings
- if( this->single_config ) {
- gcode->stream->printf(";E Steps per mm:\nM92 E%1.4f\n", this->steps_per_millimeter);
- gcode->stream->printf(";E Filament diameter:\nM200 D%1.4f\n", this->filament_diameter);
- 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);
- 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);
- gcode->stream->printf(";E acceleration mm/sec²:\nM204 E%1.4f\n", this->acceleration);
- gcode->stream->printf(";E max feed rate mm/sec:\nM203 E%1.4f\n", this->stepper_motor->get_max_rate());
- if(this->max_volumetric_rate > 0) {
- gcode->stream->printf(";E max volumetric rate mm³/sec:\nM203 V%1.4f\n", this->max_volumetric_rate);
- }
-
- } else {
- gcode->stream->printf(";E Steps per mm:\nM92 E%1.4f P%d\n", this->steps_per_millimeter, this->identifier);
- gcode->stream->printf(";E Filament diameter:\nM200 D%1.4f P%d\n", this->filament_diameter, this->identifier);
- 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);
- 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);
- gcode->stream->printf(";E acceleration mm/sec²:\nM204 E%1.4f P%d\n", this->acceleration, this->identifier);
- gcode->stream->printf(";E max feed rate mm/sec:\nM203 E%1.4f P%d\n", this->stepper_motor->get_max_rate(), this->identifier);
- if(this->max_volumetric_rate > 0) {
- gcode->stream->printf(";E max volumetric rate mm³/sec:\nM203 V%1.4f P%d\n", this->max_volumetric_rate, this->identifier);
- }
- }
-
- } else if( gcode->m == 17 || gcode->m == 18 || gcode->m == 82 || gcode->m == 83 || gcode->m == 84 ) {
- // Mcodes to pass along to on_gcode_execute
- THEKERNEL->conveyor->append_gcode(gcode);
-
- }
-
- } else if(gcode->has_g) {
- // G codes, NOTE some are ignored if not enabled
- if( (gcode->g == 92 && gcode->has_letter('E')) || (gcode->g == 90 || gcode->g == 91) ) {
- // Gcodes to pass along to on_gcode_execute
- THEKERNEL->conveyor->append_gcode(gcode);
-
- } 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
- // NOTE was ... gcode->has_letter('E') && !gcode->has_letter('X') && !gcode->has_letter('Y') && !gcode->has_letter('Z') ) {
- // This is a SOLO move, we add an empty block to the queue to prevent subsequent gcodes being executed at the same time
- THEKERNEL->conveyor->append_gcode(gcode);
- THEKERNEL->conveyor->queue_head_block();
-
- } else if( this->enabled && (gcode->g == 10 || gcode->g == 11) && !gcode->has_letter('L') ) {
- // firmware retract command (Ignore if has L parameter that is not for us)
- // check we are in the correct state of retract or unretract
- if(gcode->g == 10 && !retracted) {
- this->retracted = true;
- this->cancel_zlift_restore = false;
- } else if(gcode->g == 11 && retracted) {
- this->retracted = false;
- } else
- return; // ignore duplicates
-
- // 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
- // this way zlift will happen after retract, (or before for unretract) NOTE we call the robot->on_gcode_receive directly to avoid recursion
- if(retract_zlift_length > 0 && gcode->g == 11 && !this->cancel_zlift_restore) {
- // reverse zlift happens before unretract
- // 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
- char buf[32];
- int n = snprintf(buf, sizeof(buf), "G0 Z%1.4f F%1.4f", -retract_zlift_length, retract_zlift_feedrate);
- string cmd(buf, n);
- Gcode gc(cmd, &(StreamOutput::NullStream));
- THEKERNEL->robot->push_state(); // save state includes feed rates etc
- THEKERNEL->robot->absolute_mode = false; // needs to be relative mode
- THEKERNEL->robot->on_gcode_received(&gc); // send to robot directly
- THEKERNEL->robot->pop_state(); // restore state includes feed rates etc
- }
-
- // This is a solo move, we add an empty block to the queue to prevent subsequent gcodes being executed at the same time
- THEKERNEL->conveyor->append_gcode(gcode);
- THEKERNEL->conveyor->queue_head_block();
-
- if(retract_zlift_length > 0 && gcode->g == 10) {
- char buf[32];
- int n = snprintf(buf, sizeof(buf), "G0 Z%1.4f F%1.4f", retract_zlift_length, retract_zlift_feedrate);
- string cmd(buf, n);
- Gcode gc(cmd, &(StreamOutput::NullStream));
- THEKERNEL->robot->push_state(); // save state includes feed rates etc
- THEKERNEL->robot->absolute_mode = false; // needs to be relative mode
- THEKERNEL->robot->on_gcode_received(&gc); // send to robot directly
- THEKERNEL->robot->pop_state(); // restore state includes feed rates etc
- }
-
- } else if( this->enabled && this->retracted && (gcode->g == 0 || gcode->g == 1) && gcode->has_letter('Z')) {
- // NOTE we cancel the zlift restore for the following G11 as we have moved to an absolute Z which we need to stay at
- this->cancel_zlift_restore = true;
- }
- }
-
- // handle some codes now for the volumetric rate limiting
- // G90 G91 G92 M82 M83
- if(gcode->has_m) {
- switch(gcode->m) {
- case 82: this->milestone_absolute_mode = true; break;
- case 83: this->milestone_absolute_mode = false; break;
- }
-
- } else if(gcode->has_g) {
- switch(gcode->g) {
- case 90: this->milestone_absolute_mode = true; break;
- case 91: this->milestone_absolute_mode = false; break;
- case 92:
- if(this->enabled) {
- if(gcode->has_letter('E')) {
- this->milestone_last_position = gcode->get_value('E');
- } else if(gcode->get_num_args() == 0) {
- this->milestone_last_position = 0;
- }
- }
- break;
- }
- }
-}
-
-// Compute extrusion speed based on parameters and gcode distance of travel
-void Extruder::on_gcode_execute(void *argument)
-{
- Gcode *gcode = static_cast<Gcode *>(argument);
-
- // The mode is OFF by default, and SOLO or FOLLOW only if we need to extrude
- this->mode = OFF;
-
- // Absolute/relative mode, globably modal affect all extruders whether enabled or not
- if( gcode->has_m ) {
- switch(gcode->m) {
- case 17:
- this->en_pin.set(0);
- break;
- case 18:
- this->en_pin.set(1);
- break;
- case 82:
- this->absolute_mode = true;
- break;
- case 83:
- this->absolute_mode = false;
- break;
- case 84:
- this->en_pin.set(1);
- break;
- }
- return;
-
- } else if( gcode->has_g && (gcode->g == 90 || gcode->g == 91) ) {
- this->absolute_mode = (gcode->g == 90);
- return;
- }
-
-
- if( gcode->has_g && this->enabled ) {
- // G92: Reset extruder position
- if( gcode->g == 92 ) {
- if( gcode->has_letter('E') ) {
- this->current_position = gcode->get_value('E');
- this->target_position = this->current_position;
- this->unstepped_distance = 0;
- } else if( gcode->get_num_args() == 0) {
- this->current_position = 0.0;
- this->target_position = this->current_position;
- this->unstepped_distance = 0;
- }
-
- } else if (gcode->g == 10) {
- // FW retract command
- feed_rate = retract_feedrate; // mm/sec
- this->mode = SOLO;
- this->travel_distance = -retract_length;
- this->target_position += this->travel_distance;
- this->en_pin.set(0);
-
- } else if (gcode->g == 11) {
- // un retract command
- feed_rate = retract_recover_feedrate; // mm/sec
- this->mode = SOLO;
- this->travel_distance = (retract_length + retract_recover_length);
- this->target_position += this->travel_distance;
- this->en_pin.set(0);
-
- } else if (gcode->g <= 3) {
- // Extrusion length from 'G' Gcode
- if( gcode->has_letter('E' )) {
- // Get relative extrusion distance depending on mode ( in absolute mode we must subtract target_position )
- float extrusion_distance = gcode->get_value('E');
- float relative_extrusion_distance = extrusion_distance;
- if (this->absolute_mode) {
- relative_extrusion_distance -= this->target_position;
- this->target_position = extrusion_distance;
- } else {
- this->target_position += relative_extrusion_distance;
- }
-
- // If the robot is moving, we follow it's movement, otherwise, we move alone
- 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
- this->mode = SOLO;
- this->travel_distance = relative_extrusion_distance;
- } else {
- // We move proportionally to the robot's movement
- this->mode = FOLLOW;
- this->travel_ratio = (relative_extrusion_distance * this->volumetric_multiplier * this->extruder_multiplier) / gcode->millimeters_of_travel; // adjust for volumetric extrusion and extruder multiplier
- }
-
- this->en_pin.set(0);
- }
-
- // 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
- if (gcode->has_letter('F')) {
- feed_rate = gcode->get_value('F') / THEKERNEL->robot->get_seconds_per_minute();
- if (stepper_motor->get_max_rate() > 0 && feed_rate > stepper_motor->get_max_rate())
- feed_rate = stepper_motor->get_max_rate();
- }
- }
- }
-}
-
-// When a new block begins, either follow the robot, or step by ourselves ( or stay back and do nothing )
-void Extruder::on_block_begin(void *argument)
-{
- if(!this->enabled) return;
-
- if( this->mode == OFF ) {
- this->current_block = NULL;
- this->stepper_motor->set_moved_last_block(false);
- return;
- }
-
- Block *block = static_cast<Block *>(argument);
- if( this->mode == FOLLOW ) {
- // In FOLLOW mode, we just follow the stepper module
- this->travel_distance = block->millimeters * this->travel_ratio;
- }
-
- // common for both FOLLOW and SOLO
- this->current_position += this->travel_distance ;
-
- // round down, we take care of the fractional part next time
- int steps_to_step = abs((int)floorf(this->steps_per_millimeter * (this->travel_distance + this->unstepped_distance) ));
-
- // accumulate the fractional part
- if ( this->travel_distance > 0 ) {
- this->unstepped_distance += this->travel_distance - (steps_to_step / this->steps_per_millimeter);
- } else {
- this->unstepped_distance += this->travel_distance + (steps_to_step / this->steps_per_millimeter);
- }
-
- if( steps_to_step != 0 ) {
- // We take the block, we have to release it or everything gets stuck
- block->take();
- this->current_block = block;
- this->stepper_motor->move( (this->travel_distance > 0), steps_to_step);
-
- if(this->mode == FOLLOW) {
- on_speed_change(this); // set initial speed
- this->stepper_motor->set_moved_last_block(true);
- } else {
- // SOLO
- uint32_t target_rate = floorf(this->feed_rate * this->steps_per_millimeter);
- this->stepper_motor->set_speed(min( target_rate, rate_increase() )); // start at first acceleration step
- this->stepper_motor->set_moved_last_block(false);
- }
-
- } else {
- // no steps to take this time
- this->current_block = NULL;
- this->stepper_motor->set_moved_last_block(false);
- }
-
-}
-
-// When a block ends, pause the stepping interrupt
-void Extruder::on_block_end(void *argument)
-{
- if(!this->enabled) return;
- this->current_block = NULL;
-}
-
-uint32_t Extruder::rate_increase() const
-{
- return floorf((this->acceleration / THEKERNEL->acceleration_ticks_per_second) * this->steps_per_millimeter);
-}
-
-// Called periodically to change the speed to match acceleration or to match the speed of the robot
-// Only used in SOLO mode
-void Extruder::acceleration_tick(void)
-{
- // Avoid trying to work when we really shouldn't ( between blocks or re-entry )
- if(!this->enabled || this->mode != SOLO || this->current_block == NULL || !this->stepper_motor->is_moving() ) {
- return;
- }
-
- uint32_t current_rate = this->stepper_motor->get_steps_per_second();
- uint32_t target_rate = floorf(this->feed_rate * this->steps_per_millimeter);
-
- if( current_rate < target_rate ) {
- current_rate = min( target_rate, current_rate + rate_increase() );
- // steps per second
- this->stepper_motor->set_speed(current_rate);
- }
-
- return;
-}
-
-// When the stepper has finished it's move
-uint32_t Extruder::stepper_motor_finished_move(uint32_t dummy)
-{
- if(!this->enabled) return 0;
-
- //printf("extruder releasing\r\n");
-
- if (this->current_block) { // this should always be true, but sometimes it isn't. TODO: find out why
- Block *block = this->current_block;
- this->current_block = NULL;
- block->release();
- }
- return 0;
-
-}
+/*
+ This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl).
+ 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.
+ 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.
+ You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#include "Extruder.h"
+
+#include "libs/Module.h"
+#include "libs/Kernel.h"
+
+#include "modules/robot/Conveyor.h"
+#include "modules/robot/Block.h"
+#include "StepperMotor.h"
+#include "SlowTicker.h"
+#include "Config.h"
+#include "StepperMotor.h"
+#include "Robot.h"
+#include "checksumm.h"
+#include "ConfigValue.h"
+#include "Gcode.h"
+#include "libs/StreamOutput.h"
+#include "PublicDataRequest.h"
+#include "StreamOutputPool.h"
+#include "ExtruderPublicAccess.h"
+
+#include <mri.h>
+
+// OLD config names for backwards compatibility, NOTE new configs will not be added here
+#define extruder_module_enable_checksum CHECKSUM("extruder_module_enable")
+#define extruder_steps_per_mm_checksum CHECKSUM("extruder_steps_per_mm")
+#define extruder_filament_diameter_checksum CHECKSUM("extruder_filament_diameter")
+#define extruder_acceleration_checksum CHECKSUM("extruder_acceleration")
+#define extruder_step_pin_checksum CHECKSUM("extruder_step_pin")
+#define extruder_dir_pin_checksum CHECKSUM("extruder_dir_pin")
+#define extruder_en_pin_checksum CHECKSUM("extruder_en_pin")
+#define extruder_max_speed_checksum CHECKSUM("extruder_max_speed")
+#define extruder_default_feed_rate_checksum CHECKSUM("extruder_default_feed_rate")
+
+// NEW config names
+
+#define default_feed_rate_checksum CHECKSUM("default_feed_rate")
+#define steps_per_mm_checksum CHECKSUM("steps_per_mm")
+#define filament_diameter_checksum CHECKSUM("filament_diameter")
+#define acceleration_checksum CHECKSUM("acceleration")
+#define step_pin_checksum CHECKSUM("step_pin")
+#define dir_pin_checksum CHECKSUM("dir_pin")
+#define en_pin_checksum CHECKSUM("en_pin")
+#define max_speed_checksum CHECKSUM("max_speed")
+#define x_offset_checksum CHECKSUM("x_offset")
+#define y_offset_checksum CHECKSUM("y_offset")
+#define z_offset_checksum CHECKSUM("z_offset")
+
+#define retract_length_checksum CHECKSUM("retract_length")
+#define retract_feedrate_checksum CHECKSUM("retract_feedrate")
+#define retract_recover_length_checksum CHECKSUM("retract_recover_length")
+#define retract_recover_feedrate_checksum CHECKSUM("retract_recover_feedrate")
+#define retract_zlift_length_checksum CHECKSUM("retract_zlift_length")
+#define retract_zlift_feedrate_checksum CHECKSUM("retract_zlift_feedrate")
+
+#define PI 3.14159265358979F
+
+
+/*
+ As the actual motion is handled by the planner and the stepticker, this module just handles Extruder specific gcodes
+ and settings.
+ In a multi extruder setting it must be selected to be addressed. (using T0 T1 etc)
+*/
+
+Extruder::Extruder( uint16_t config_identifier)
+{
+ this->selected = false;
+ this->identifier = config_identifier;
+ this->retracted = false;
+ this->volumetric_multiplier = 1.0F;
+ this->extruder_multiplier = 1.0F;
+ this->stepper_motor = nullptr;
+ this->max_volumetric_rate = 0;
+ this->g92e0_detected = false;
+ memset(this->offset, 0, sizeof(this->offset));
+}
+
+Extruder::~Extruder()
+{
+ delete stepper_motor;
+}
+
+void Extruder::on_module_loaded()
+{
+ // Settings
+ this->config_load();
+
+ // We work on the same Block as Stepper, so we need to know when it gets a new one and drops one
+ this->register_for_event(ON_GCODE_RECEIVED);
+ this->register_for_event(ON_GET_PUBLIC_DATA);
+ this->register_for_event(ON_SET_PUBLIC_DATA);
+}
+
+// Get config
+void Extruder::config_load()
+{
+
+ Pin step_pin, dir_pin, en_pin;
+ step_pin.from_string( THEKERNEL->config->value(extruder_checksum, this->identifier, step_pin_checksum )->by_default("nc" )->as_string())->as_output();
+ dir_pin.from_string( THEKERNEL->config->value(extruder_checksum, this->identifier, dir_pin_checksum )->by_default("nc" )->as_string())->as_output();
+ en_pin.from_string( THEKERNEL->config->value(extruder_checksum, this->identifier, en_pin_checksum )->by_default("nc" )->as_string())->as_output();
+
+ float steps_per_millimeter = THEKERNEL->config->value(extruder_checksum, this->identifier, steps_per_mm_checksum)->by_default(1)->as_number();
+ float acceleration = THEKERNEL->config->value(extruder_checksum, this->identifier, acceleration_checksum)->by_default(1000)->as_number();
+
+ this->offset[X_AXIS] = THEKERNEL->config->value(extruder_checksum, this->identifier, x_offset_checksum )->by_default(0)->as_number();
+ this->offset[Y_AXIS] = THEKERNEL->config->value(extruder_checksum, this->identifier, y_offset_checksum )->by_default(0)->as_number();
+ this->offset[Z_AXIS] = THEKERNEL->config->value(extruder_checksum, this->identifier, z_offset_checksum )->by_default(0)->as_number();
+
+ this->filament_diameter = THEKERNEL->config->value(extruder_checksum, this->identifier, filament_diameter_checksum )->by_default(0)->as_number();
+ this->retract_length = THEKERNEL->config->value(extruder_checksum, this->identifier, retract_length_checksum)->by_default(3)->as_number();
+ this->retract_feedrate = THEKERNEL->config->value(extruder_checksum, this->identifier, retract_feedrate_checksum)->by_default(45)->as_number();
+ this->retract_recover_length = THEKERNEL->config->value(extruder_checksum, this->identifier, retract_recover_length_checksum)->by_default(0)->as_number();
+ this->retract_recover_feedrate = THEKERNEL->config->value(extruder_checksum, this->identifier, retract_recover_feedrate_checksum)->by_default(8)->as_number();
+ this->retract_zlift_length = THEKERNEL->config->value(extruder_checksum, this->identifier, retract_zlift_length_checksum)->by_default(0)->as_number();
+ this->retract_zlift_feedrate = THEKERNEL->config->value(extruder_checksum, this->identifier, retract_zlift_feedrate_checksum)->by_default(100 * 60)->as_number() / 60.0F; // mm/min
+
+ if(filament_diameter > 0.01F) {
+ this->volumetric_multiplier = 1.0F / (powf(this->filament_diameter / 2, 2) * PI);
+ }
+
+ // Stepper motor object for the extruder
+ stepper_motor = new StepperMotor(step_pin, dir_pin, en_pin);
+ motor_id = THEROBOT->register_motor(stepper_motor);
+
+ stepper_motor->set_max_rate(THEKERNEL->config->value(extruder_checksum, this->identifier, max_speed_checksum)->by_default(1000)->as_number());
+ stepper_motor->set_acceleration(acceleration);
+ stepper_motor->change_steps_per_mm(steps_per_millimeter);
+ stepper_motor->set_selected(false); // not selected by default
+ stepper_motor->set_extruder(true); // indicates it is an extruder
+}
+
+void Extruder::select()
+{
+ selected = true;
+ stepper_motor->set_selected(true);
+ // set the function pointer to return the current scaling
+ THEROBOT->get_e_scale_fnc = std::bind(&Extruder::get_e_scale, this);
+}
+
+void Extruder::deselect()
+{
+ selected = false;
+ stepper_motor->set_selected(false);
+ THEROBOT->get_e_scale_fnc = nullptr;
+}
+
+void Extruder::on_get_public_data(void *argument)
+{
+ PublicDataRequest *pdr = static_cast<PublicDataRequest *>(argument);
+
+ if(!pdr->starts_with(extruder_checksum)) return;
+
+ if(!this->selected) return;
+
+ // pointer to structure to return data to is provided
+ pad_extruder_t *e = static_cast<pad_extruder_t *>(pdr->get_data_ptr());
+ e->steps_per_mm = stepper_motor->get_steps_per_mm();
+ e->filament_diameter = this->filament_diameter;
+ e->flow_rate = this->extruder_multiplier;
+ e->accleration = stepper_motor->get_acceleration();
+ e->retract_length = this->retract_length;
+ e->current_position = stepper_motor->get_current_position();
+ pdr->set_taken();
+}
+
+void Extruder::on_set_public_data(void *argument)
+{
+ PublicDataRequest *pdr = static_cast<PublicDataRequest *>(argument);
+
+ if(!pdr->starts_with(extruder_checksum)) return;
+
+ // handle extrude rates request from robot
+ if(pdr->second_element_is(target_checksum)) {
+ // disabled extruders do not reply NOTE only one enabled extruder supported
+ if(!this->selected) return;
+
+ float *d = static_cast<float *>(pdr->get_data_ptr());
+ float delta = d[0]; // the E passed in on Gcode is the delta volume in mm³
+ float isecs = d[1]; // inverted secs
+
+ // check against maximum speeds and return rate modifier
+ d[1] = check_max_speeds(delta, isecs);
+ pdr->set_taken();
+ return;
+ }
+
+ // save or restore extruder state
+ if(pdr->second_element_is(save_state_checksum)) {
+ save_position();
+ this->saved_selected = this->selected;
+ pdr->set_taken();
+
+ } else if(pdr->second_element_is(restore_state_checksum)) {
+ this->selected = this->saved_selected;
+ // NOTE this only gets called when the queue is empty so the milestones will be the same
+ restore_position();
+ pdr->set_taken();
+ }
+}
+
+void Extruder::save_position()
+{
+ // we need to save these separately as they may have been scaled
+ this->saved_position = std::make_tuple(THEROBOT->get_axis_position(motor_id), stepper_motor->get_last_milestone(), stepper_motor->get_last_milestone_steps());
+}
+
+void Extruder::restore_position()
+{
+ THEROBOT->reset_axis_position(std::get<0>(this->saved_position), motor_id);
+ stepper_motor->set_last_milestones(std::get<1>(this->saved_position), std::get<2>(this->saved_position));
+}
+
+// check against maximum speeds and return the rate modifier
+float Extruder::check_max_speeds(float delta, float isecs)
+{
+ float rm = 1.0F; // default no rate modification
+
+ if(this->max_volumetric_rate > 0 && this->filament_diameter > 0.01F) {
+ // volumetric enabled and check for volumetric rate
+ float v = delta * isecs; // the flow rate in mm³/sec
+
+ // return the rate change needed to stay within the max rate
+ if(v > max_volumetric_rate) {
+ rm = max_volumetric_rate / v;
+ }
+ //THEKERNEL->streams->printf("requested flow rate: %f mm³/sec, corrected flow rate: %f mm³/sec\n", v, v * rm);
+ }
+
+ return rm;
+}
+
+void Extruder::on_gcode_received(void *argument)
+{
+ Gcode *gcode = static_cast<Gcode *>(argument);
+
+ // M codes most execute immediately, most only execute if enabled
+ if (gcode->has_m) {
+ if (gcode->m == 114 && this->selected) {
+ char buf[16];
+ if(gcode->subcode == 0) {
+ float pos = THEROBOT->get_axis_position(motor_id);
+ int n = snprintf(buf, sizeof(buf), " E:%1.3f ", pos);
+ gcode->txt_after_ok.append(buf, n);
+
+ } else if(gcode->subcode == 1) { // realtime position
+ int n = snprintf(buf, sizeof(buf), " E:%1.3f ", stepper_motor->get_current_position() / get_e_scale());
+ gcode->txt_after_ok.append(buf, n);
+
+ } else if(gcode->subcode == 3) { // realtime actuator position
+ int n = snprintf(buf, sizeof(buf), " E:%1.3f ", stepper_motor->get_current_position());
+ gcode->txt_after_ok.append(buf, n);
+ }
+
+
+ } else if (gcode->m == 92 && ( (this->selected && !gcode->has_letter('P')) || (gcode->has_letter('P') && gcode->get_value('P') == this->identifier) ) ) {
+ float spm = stepper_motor->get_steps_per_mm();
+ if (gcode->has_letter('E')) {
+ spm = gcode->get_value('E');
+ stepper_motor->change_steps_per_mm(spm);
+ }
+
+ gcode->stream->printf("E:%f ", spm);
+ gcode->add_nl = true;
+
+ } else if (gcode->m == 200 && ( (this->selected && !gcode->has_letter('P')) || (gcode->has_letter('P') && gcode->get_value('P') == this->identifier)) ) {
+ if (gcode->has_letter('D')) {
+ this->filament_diameter = gcode->get_value('D');
+ float last_scale = this->volumetric_multiplier;
+ if(filament_diameter > 0.01F) {
+ this->volumetric_multiplier = 1.0F / (powf(this->filament_diameter / 2, 2) * PI);
+ } else {
+ this->volumetric_multiplier = 1.0F;
+ }
+ // the trouble here is that the last milestone will be for the previous multiplier so a change can cause a big blob
+ // so we must change the E last milestone accordingly so it continues smoothly....
+ // change E last milestone to what it would have been if it had used this new multiplier
+ float delta = this->volumetric_multiplier / last_scale;
+ float nm = this->stepper_motor->get_last_milestone() * delta;
+ this->stepper_motor->change_last_milestone(nm);
+
+ } else {
+ if(filament_diameter > 0.01F) {
+ gcode->stream->printf("Filament Diameter: %f\n", this->filament_diameter);
+ } else {
+ gcode->stream->printf("Volumetric extrusion is disabled\n");
+ }
+ }
+
+ } else if (gcode->m == 203 && ( (this->selected && !gcode->has_letter('P')) || (gcode->has_letter('P') && gcode->get_value('P') == this->identifier)) ) {
+ // M203 Exxx Vyyy Set maximum feedrates xxx mm/sec and/or yyy mm³/sec
+ if(gcode->get_num_args() == 0) {
+ gcode->stream->printf("E:%g V:%g", this->stepper_motor->get_max_rate(), this->max_volumetric_rate);
+ gcode->add_nl = true;
+
+ } else {
+ if(gcode->has_letter('E')) {
+ this->stepper_motor->set_max_rate(gcode->get_value('E'));
+ }
+ if(gcode->has_letter('V')) {
+ this->max_volumetric_rate = gcode->get_value('V');
+ }
+ }
+
+ } else if (gcode->m == 204 && gcode->has_letter('E') &&
+ ( (this->selected && !gcode->has_letter('P')) || (gcode->has_letter('P') && gcode->get_value('P') == this->identifier)) ) {
+ // extruder acceleration M204 Ennn mm/sec^2 (Pnnn sets the specific extruder for M500)
+ stepper_motor->set_acceleration(gcode->get_value('E'));
+
+ } else if (gcode->m == 207 && ( (this->selected && !gcode->has_letter('P')) || (gcode->has_letter('P') && gcode->get_value('P') == this->identifier)) ) {
+ // M207 - set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop] Q[zlift feedrate mm/min]
+ if(gcode->has_letter('S')) retract_length = gcode->get_value('S');
+ if(gcode->has_letter('F')) retract_feedrate = gcode->get_value('F') / 60.0F; // specified in mm/min converted to mm/sec
+ if(gcode->has_letter('Z')) retract_zlift_length = gcode->get_value('Z'); // specified in mm
+ if(gcode->has_letter('Q')) retract_zlift_feedrate = gcode->get_value('Q') / 60.0F; // specified in mm/min converted to mm/sec
+
+ } else if (gcode->m == 208 && ( (this->selected && !gcode->has_letter('P')) || (gcode->has_letter('P') && gcode->get_value('P') == this->identifier)) ) {
+ // M208 - set retract recover length S[positive mm surplus to the M207 S*] F[feedrate mm/min]
+ if(gcode->has_letter('S')) retract_recover_length = gcode->get_value('S');
+ if(gcode->has_letter('F')) retract_recover_feedrate = gcode->get_value('F') / 60.0F; // specified in mm/min converted to mm/sec
+
+ } else if (gcode->m == 221 && this->selected) { // M221 S100 change flow rate by percentage
+ if(gcode->has_letter('S')) {
+ float last_scale = this->extruder_multiplier;
+ this->extruder_multiplier = gcode->get_value('S') / 100.0F;
+ // the trouble here is that the last milestone will be for the previous multiplier so a change can cause a big blob
+ // so we must change the E last milestone accordingly so it continues smoothly....
+ // change E last milestone to what it would have been if it had used this new multiplier
+ float delta = this->extruder_multiplier / last_scale;
+ float nm = this->stepper_motor->get_last_milestone() * delta;
+ this->stepper_motor->change_last_milestone(nm);
+
+ } else {
+ gcode->stream->printf("Flow rate at %6.2f %%\n", this->extruder_multiplier * 100.0F);
+ }
+
+ } else if (gcode->m == 500 || gcode->m == 503) { // M500 saves some volatile settings to config override file, M503 just prints the settings
+ gcode->stream->printf(";E Steps per mm:\nM92 E%1.4f P%d\n", stepper_motor->get_steps_per_mm(), this->identifier);
+ gcode->stream->printf(";E Filament diameter:\nM200 D%1.4f P%d\n", this->filament_diameter, this->identifier);
+ 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 * 60.0F, this->identifier);
+ 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);
+ gcode->stream->printf(";E acceleration mm/sec²:\nM204 E%1.4f P%d\n", stepper_motor->get_acceleration(), this->identifier);
+ gcode->stream->printf(";E max feed rate mm/sec:\nM203 E%1.4f P%d\n", stepper_motor->get_max_rate(), this->identifier);
+ if(this->max_volumetric_rate > 0) {
+ gcode->stream->printf(";E max volumetric rate mm³/sec:\nM203 V%1.4f P%d\n", this->max_volumetric_rate, this->identifier);
+ }
+ }
+
+ } else if( gcode->has_g && this->selected ) {
+
+ if( (gcode->g == 10 || gcode->g == 11) && !gcode->has_letter('L') ) {
+ // firmware retract command (Ignore if has L parameter that is not for us)
+ // check we are in the correct state of retract or unretract
+ if(gcode->g == 10 && !retracted) {
+ this->retracted = true;
+ this->cancel_zlift_restore = false;
+ this->g92e0_detected = false;
+ } else if(gcode->g == 11 && retracted) {
+ this->retracted = false;
+ } else
+ return; // ignore duplicates
+
+ if(gcode->g == 10) {
+ // retract
+ float delta[motor_id + 1];
+ for (int i = 0; i < motor_id; ++i) {
+ delta[i] = 0;
+ }
+
+ delta[motor_id] = -retract_length / get_e_scale(); // convert from mm to mm³, and unapply flow_rate
+ THEROBOT->delta_move(delta, retract_feedrate, motor_id + 1);
+
+ // zlift
+ if(retract_zlift_length > 0) {
+ float delta[3] {0, 0, retract_zlift_length};
+ THEROBOT->delta_move(delta, retract_zlift_feedrate, 3);
+ }
+
+ } else if(gcode->g == 11) {
+ // unretract
+ if(retract_zlift_length > 0 && !this->cancel_zlift_restore) {
+ // reverse zlift happens before unretract
+ // 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
+ float delta[3] {0, 0, -retract_zlift_length};
+ THEROBOT->delta_move(delta, retract_zlift_feedrate, 3);
+ }
+
+ float delta[motor_id + 1];
+ for (int i = 0; i < motor_id; ++i) {
+ delta[i] = 0;
+ }
+ // HACK ALERT due to certain slicers reseting E with G92 E0 between the G10 and G11 we need to restore
+ // the current position after we do the unretract, this is horribly hacky :(
+ // also as the move has not completed yet, when we restore the current position will be incorrect once the move finishes,
+ // however this is not fatal for an extruder
+ if(g92e0_detected) save_position();
+ delta[motor_id] = (retract_length + retract_recover_length) / get_e_scale(); // convert from mm to mm³, and unapply flow_rate
+ THEROBOT->delta_move(delta, retract_recover_feedrate, motor_id + 1);
+ if(g92e0_detected) restore_position();
+ }
+
+
+ } else if( this->retracted && (gcode->g == 0 || gcode->g == 1) && gcode->has_letter('Z')) {
+ // NOTE we cancel the zlift restore for the following G11 as we have moved to an absolute Z which we need to stay at
+ this->cancel_zlift_restore = true;
+
+ } else if( this->retracted && gcode->g == 92 && gcode->has_letter('E')) {
+ // old versions of slic3rs issued a G92 E0 after G10, handle that case
+ this->g92e0_detected= true;
+ }
+
+ }
+
+}
HCoop / clinton / Smoothieware.git / blobdiff