-/*
- 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/>.
-*/
-
-
-
-#ifndef EXTURDER_MODULE_H
-#define EXTRUDER_MODULE_H
-
-#include "libs/Module.h"
-#include "libs/Kernel.h"
-#include "modules/robot/Block.h"
-
-#define microseconds_per_step_pulse_checksum CHECKSUM("microseconds_per_step_pulse")
-#define extruder_module_enable_checksum CHECKSUM("extruder_module_enable")
-#define extruder_steps_per_mm_checksum CHECKSUM("extruder_steps_per_mm")
-#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")
-
-// default_feed_rate_checksum defined by Robot.h
-
-#define OFF 0
-#define SOLO 1
-#define FOLLOW 2
-
-class Extruder : public Module{
- public:
- Extruder();
- void on_module_loaded();
- void on_config_reload(void* argument);
- void on_gcode_received(void*);
- void on_gcode_execute(void* argument);
- void on_block_begin(void* argument);
- void on_block_end(void* argument);
- void on_play(void* argument);
- void on_pause(void* argument);
- void on_speed_change(void* argument);
- uint32_t acceleration_tick(uint32_t dummy);
- uint32_t stepper_motor_finished_move(uint32_t dummy);
- Block* append_empty_block();
-
- Pin step_pin; // Step pin for the stepper driver
- Pin dir_pin; // Dir pin for the stepper driver
- Pin en_pin;
-
- double target_position; // End point ( in steps ) for the current move
- double current_position; // Current point ( in steps ) for the current move, incremented every time a step is outputed
- int current_steps;
- Block* current_block; // Current block we are stepping, same as Stepper's one
- int microseconds_per_step_pulse; // Pulse duration for step pulses
- double steps_per_millimeter; // Steps to travel one millimeter
- double feed_rate; //
- double acceleration; //
- double max_speed;
-
- int counter_increment;
- int step_counter;
-
- bool solo_mode;
- double travel_ratio;
- double travel_distance;
- bool absolute_mode;
-
- bool debug;
- int debug_count;
-
- char mode;
-
- bool paused;
-
- StepperMotor* stepper_motor;
-
-};
-
-#endif
+/*
+ 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/>.
+*/
+
+
+
+#pragma once
+
+#include "Tool.h"
+#include "Pin.h"
+
+#include <tuple>
+
+class StepperMotor;
+
+// NOTE Tool is also a module, no need for multiple inheritance here
+class Extruder : public Tool {
+ public:
+ Extruder(uint16_t config_identifier);
+ virtual ~Extruder();
+
+ void on_module_loaded();
+ void on_gcode_received(void*);
+
+ void select();
+ void deselect();
+
+ private:
+ void config_load();
+ void on_get_public_data(void* argument);
+ void on_set_public_data(void* argument);
+ float check_max_speeds(float target, float isecs);
+
+ StepperMotor *stepper_motor;
+
+ // kept together so they can be passed as public data
+ struct {
+ float filament_diameter; // filament diameter
+ float extruder_multiplier; // flow rate 1.0 == 100%
+ float retract_length; // firmware retract length
+ };
+
+ float volumetric_multiplier;
+ float max_volumetric_rate; // used for calculating volumetric rate in mm³/sec
+
+ // for firmware retract
+ float retract_feedrate;
+ float retract_recover_feedrate;
+ float retract_recover_length;
+ float retract_zlift_length;
+ float retract_zlift_feedrate;
+
+ // for saving and restoring extruder position
+ std::tuple<float, float, int32_t> saved_position;
+
+ struct {
+ uint8_t motor_id:8;
+ bool retracted:1;
+ bool cancel_zlift_restore:1; // hack to stop a G11 zlift restore from overring an absolute Z setting
+ bool selected:1;
+ bool saved_selected:1;
+ };
+};
HCoop / clinton / Smoothieware.git / blobdiff