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" |
5673fe39 | 27 | |
5dcb2ff3 | 28 | #include <mri.h> |
4cff3ded | 29 | |
ec6fde0b | 30 | // OLD config names for backwards compatibility, NOTE new configs will not be added here |
43424972 JM |
31 | #define extruder_module_enable_checksum CHECKSUM("extruder_module_enable") |
32 | #define extruder_steps_per_mm_checksum CHECKSUM("extruder_steps_per_mm") | |
74079661 | 33 | #define extruder_filament_diameter_checksum CHECKSUM("extruder_filament_diameter") |
43424972 JM |
34 | #define extruder_acceleration_checksum CHECKSUM("extruder_acceleration") |
35 | #define extruder_step_pin_checksum CHECKSUM("extruder_step_pin") | |
36 | #define extruder_dir_pin_checksum CHECKSUM("extruder_dir_pin") | |
37 | #define extruder_en_pin_checksum CHECKSUM("extruder_en_pin") | |
38 | #define extruder_max_speed_checksum CHECKSUM("extruder_max_speed") | |
39 | ||
ec6fde0b | 40 | // NEW config names |
43424972 JM |
41 | #define extruder_checksum CHECKSUM("extruder") |
42 | ||
43 | #define default_feed_rate_checksum CHECKSUM("default_feed_rate") | |
44 | #define steps_per_mm_checksum CHECKSUM("steps_per_mm") | |
74079661 | 45 | #define filament_diameter_checksum CHECKSUM("filament_diameter") |
43424972 JM |
46 | #define acceleration_checksum CHECKSUM("acceleration") |
47 | #define step_pin_checksum CHECKSUM("step_pin") | |
48 | #define dir_pin_checksum CHECKSUM("dir_pin") | |
49 | #define en_pin_checksum CHECKSUM("en_pin") | |
50 | #define max_speed_checksum CHECKSUM("max_speed") | |
8adf2390 L |
51 | #define x_offset_checksum CHECKSUM("x_offset") |
52 | #define y_offset_checksum CHECKSUM("y_offset") | |
53 | #define z_offset_checksum CHECKSUM("z_offset") | |
54 | ||
ec6fde0b JM |
55 | #define retract_length_checksum CHECKSUM("retract_length") |
56 | #define retract_feedrate_checksum CHECKSUM("retract_feedrate") | |
57 | #define retract_recover_length_checksum CHECKSUM("retract_recover_length") | |
58 | #define retract_recover_feedrate_checksum CHECKSUM("retract_recover_feedrate") | |
76ddeb67 JM |
59 | #define retract_zlift_length_checksum CHECKSUM("retract_zlift_length") |
60 | #define retract_zlift_feedrate_checksum CHECKSUM("retract_zlift_feedrate") | |
ec6fde0b | 61 | |
8adf2390 L |
62 | #define X_AXIS 0 |
63 | #define Y_AXIS 1 | |
64 | #define Z_AXIS 2 | |
43424972 | 65 | |
17c89e4d JM |
66 | #define OFF 0 |
67 | #define SOLO 1 | |
68 | #define FOLLOW 2 | |
69 | ||
8a3ae3d0 | 70 | #define PI 3.14159265358979F |
74079661 | 71 | |
41fd89e0 JM |
72 | #define max(a,b) (((a) > (b)) ? (a) : (b)) |
73 | ||
58baeec1 MM |
74 | /* The extruder module controls a filament extruder for 3D printing: http://en.wikipedia.org/wiki/Fused_deposition_modeling |
75 | * 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 ) | |
76 | * or the head moves, and the extruder moves plastic at a speed proportional to the movement of the head ( FOLLOW mode here ). | |
4464301d AW |
77 | */ |
78 | ||
17c89e4d JM |
79 | Extruder::Extruder( uint16_t config_identifier, bool single ) |
80 | { | |
436a2cd1 | 81 | this->absolute_mode = true; |
540c8365 | 82 | this->enabled = false; |
14ecdbd7 | 83 | this->paused = false; |
17c89e4d | 84 | this->single_config = single; |
14ecdbd7 | 85 | this->identifier = config_identifier; |
ec6fde0b | 86 | this->retracted = false; |
8adf2390 | 87 | |
48a10598 | 88 | memset(this->offset, 0, sizeof(this->offset)); |
436a2cd1 | 89 | } |
4cff3ded | 90 | |
17c89e4d JM |
91 | void Extruder::on_module_loaded() |
92 | { | |
f5598f5b | 93 | |
4cff3ded | 94 | // Settings |
da24d6ae | 95 | this->on_config_reload(this); |
4cff3ded AW |
96 | |
97 | // We work on the same Block as Stepper, so we need to know when it gets a new one and drops one | |
98 | this->register_for_event(ON_BLOCK_BEGIN); | |
99 | this->register_for_event(ON_BLOCK_END); | |
6989211c | 100 | this->register_for_event(ON_GCODE_RECEIVED); |
436a2cd1 | 101 | this->register_for_event(ON_GCODE_EXECUTE); |
81b547a1 AW |
102 | this->register_for_event(ON_PLAY); |
103 | this->register_for_event(ON_PAUSE); | |
be8332cd | 104 | this->register_for_event(ON_SPEED_CHANGE); |
d87968be | 105 | this->register_for_event(ON_GET_PUBLIC_DATA); |
ca037905 | 106 | |
ded56b35 | 107 | // Start values |
4cff3ded AW |
108 | this->target_position = 0; |
109 | this->current_position = 0; | |
150bce10 | 110 | this->unstepped_distance = 0; |
4cff3ded | 111 | this->current_block = NULL; |
ded56b35 | 112 | this->mode = OFF; |
ca037905 | 113 | |
ded56b35 | 114 | // Update speed every *acceleration_ticks_per_second* |
7b49793d | 115 | // TODO: Make this an independent setting |
38bf9a1c | 116 | THEKERNEL->slow_ticker->attach( THEKERNEL->stepper->get_acceleration_ticks_per_second() , this, &Extruder::acceleration_tick ); |
ded56b35 | 117 | |
be8332cd | 118 | // Stepper motor object for the extruder |
9c5fa39a | 119 | this->stepper_motor = THEKERNEL->step_ticker->add_stepper_motor( new StepperMotor(step_pin, dir_pin, en_pin) ); |
58baeec1 | 120 | this->stepper_motor->attach(this, &Extruder::stepper_motor_finished_move ); |
4cff3ded AW |
121 | } |
122 | ||
2bb8b390 | 123 | // Get config |
17c89e4d JM |
124 | void Extruder::on_config_reload(void *argument) |
125 | { | |
17c89e4d JM |
126 | if( this->single_config ) { |
127 | // If this module uses the old "single extruder" configuration style | |
14ecdbd7 | 128 | |
f39a2ecf | 129 | this->steps_per_millimeter_setting = THEKERNEL->config->value(extruder_steps_per_mm_checksum )->by_default(1)->as_number(); |
112ad2fc | 130 | this->filament_diameter = THEKERNEL->config->value(extruder_filament_diameter_checksum )->by_default(0)->as_number(); |
314ab8f7 MM |
131 | this->acceleration = THEKERNEL->config->value(extruder_acceleration_checksum )->by_default(1000)->as_number(); |
132 | this->max_speed = THEKERNEL->config->value(extruder_max_speed_checksum )->by_default(1000)->as_number(); | |
133 | this->feed_rate = THEKERNEL->config->value(default_feed_rate_checksum )->by_default(1000)->as_number(); | |
14ecdbd7 | 134 | |
314ab8f7 MM |
135 | this->step_pin.from_string( THEKERNEL->config->value(extruder_step_pin_checksum )->by_default("nc" )->as_string())->as_output(); |
136 | this->dir_pin.from_string( THEKERNEL->config->value(extruder_dir_pin_checksum )->by_default("nc" )->as_string())->as_output(); | |
137 | this->en_pin.from_string( THEKERNEL->config->value(extruder_en_pin_checksum )->by_default("nc" )->as_string())->as_output(); | |
14ecdbd7 | 138 | |
17c89e4d | 139 | for(int i = 0; i < 3; i++) { |
8adf2390 L |
140 | this->offset[i] = 0; |
141 | } | |
142 | ||
540c8365 L |
143 | this->enabled = true; |
144 | ||
17c89e4d JM |
145 | } else { |
146 | // If this module was created with the new multi extruder configuration style | |
14ecdbd7 | 147 | |
f39a2ecf | 148 | this->steps_per_millimeter_setting = THEKERNEL->config->value(extruder_checksum, this->identifier, steps_per_mm_checksum )->by_default(1)->as_number(); |
112ad2fc | 149 | this->filament_diameter = THEKERNEL->config->value(extruder_checksum, this->identifier, filament_diameter_checksum )->by_default(0)->as_number(); |
17c89e4d JM |
150 | this->acceleration = THEKERNEL->config->value(extruder_checksum, this->identifier, acceleration_checksum )->by_default(1000)->as_number(); |
151 | this->max_speed = THEKERNEL->config->value(extruder_checksum, this->identifier, max_speed_checksum )->by_default(1000)->as_number(); | |
152 | this->feed_rate = THEKERNEL->config->value( default_feed_rate_checksum )->by_default(1000)->as_number(); | |
14ecdbd7 | 153 | |
17c89e4d JM |
154 | this->step_pin.from_string( THEKERNEL->config->value(extruder_checksum, this->identifier, step_pin_checksum )->by_default("nc" )->as_string())->as_output(); |
155 | this->dir_pin.from_string( THEKERNEL->config->value(extruder_checksum, this->identifier, dir_pin_checksum )->by_default("nc" )->as_string())->as_output(); | |
156 | this->en_pin.from_string( THEKERNEL->config->value(extruder_checksum, this->identifier, en_pin_checksum )->by_default("nc" )->as_string())->as_output(); | |
8adf2390 | 157 | |
17c89e4d JM |
158 | this->offset[X_AXIS] = THEKERNEL->config->value(extruder_checksum, this->identifier, x_offset_checksum )->by_default(0)->as_number(); |
159 | this->offset[Y_AXIS] = THEKERNEL->config->value(extruder_checksum, this->identifier, y_offset_checksum )->by_default(0)->as_number(); | |
160 | this->offset[Z_AXIS] = THEKERNEL->config->value(extruder_checksum, this->identifier, z_offset_checksum )->by_default(0)->as_number(); | |
ec6fde0b | 161 | |
14ecdbd7 AW |
162 | } |
163 | ||
ec6fde0b JM |
164 | // these are only supported in the new syntax, no need to be backward compatible as they did not exist before the change |
165 | this->retract_length = THEKERNEL->config->value(extruder_checksum, this->identifier, retract_length_checksum)->by_default(3)->as_number(); | |
166 | this->retract_feedrate = THEKERNEL->config->value(extruder_checksum, this->identifier, retract_feedrate_checksum)->by_default(45)->as_number(); | |
167 | this->retract_recover_length = THEKERNEL->config->value(extruder_checksum, this->identifier, retract_recover_length_checksum)->by_default(0)->as_number(); | |
168 | this->retract_recover_feedrate = THEKERNEL->config->value(extruder_checksum, this->identifier, retract_recover_feedrate_checksum)->by_default(8)->as_number(); | |
76ddeb67 JM |
169 | this->retract_zlift_length = THEKERNEL->config->value(extruder_checksum, this->identifier, retract_zlift_length_checksum)->by_default(0)->as_number(); |
170 | this->retract_zlift_feedrate = THEKERNEL->config->value(extruder_checksum, this->identifier, retract_zlift_feedrate_checksum)->by_default(100)->as_number(); | |
ec6fde0b | 171 | |
112ad2fc | 172 | this->update_steps_per_millimeter(); |
436a2cd1 AW |
173 | } |
174 | ||
d87968be JM |
175 | void Extruder::on_get_public_data(void* argument){ |
176 | PublicDataRequest* pdr = static_cast<PublicDataRequest*>(argument); | |
177 | ||
178 | if(!pdr->starts_with(extruder_checksum)) return; | |
179 | ||
180 | if(this->enabled) { | |
8a3ae3d0 JM |
181 | // Note this is allowing both step/mm and filament diameter to be exposed via public data |
182 | pdr->set_data_ptr(&this->steps_per_millimeter_setting); | |
d87968be JM |
183 | pdr->set_taken(); |
184 | } | |
185 | } | |
81b547a1 AW |
186 | |
187 | // When the play/pause button is set to pause, or a module calls the ON_PAUSE event | |
17c89e4d JM |
188 | void Extruder::on_pause(void *argument) |
189 | { | |
81b547a1 | 190 | this->paused = true; |
83ecfc46 | 191 | this->stepper_motor->pause(); |
81b547a1 AW |
192 | } |
193 | ||
194 | // When the play/pause button is set to play, or a module calls the ON_PLAY event | |
17c89e4d JM |
195 | void Extruder::on_play(void *argument) |
196 | { | |
81b547a1 | 197 | this->paused = false; |
83ecfc46 | 198 | this->stepper_motor->unpause(); |
81b547a1 AW |
199 | } |
200 | ||
17c89e4d JM |
201 | void Extruder::on_gcode_received(void *argument) |
202 | { | |
203 | Gcode *gcode = static_cast<Gcode *>(argument); | |
5dcb2ff3 AW |
204 | |
205 | // Gcodes to execute immediately | |
17c89e4d JM |
206 | if (gcode->has_m) { |
207 | if (gcode->m == 114 && this->enabled) { | |
4d9f562f | 208 | char buf[16]; |
17c89e4d | 209 | int n = snprintf(buf, sizeof(buf), " E:%1.3f ", this->current_position); |
4d9f562f | 210 | gcode->txt_after_ok.append(buf, n); |
74b6303c | 211 | gcode->mark_as_taken(); |
33e4cc02 | 212 | |
17c89e4d | 213 | } else if (gcode->m == 92 && ( (this->enabled && !gcode->has_letter('P')) || (gcode->has_letter('P') && gcode->get_value('P') == this->identifier) ) ) { |
1ad23cd3 | 214 | float spm = this->steps_per_millimeter; |
6b451be8 | 215 | if (gcode->has_letter('E')) { |
7369629d | 216 | spm = gcode->get_value('E'); |
112ad2fc L |
217 | this->steps_per_millimeter_setting = spm; |
218 | this->update_steps_per_millimeter(); | |
4cba6755 JM |
219 | } |
220 | ||
7369629d MM |
221 | gcode->stream->printf("E:%g ", spm); |
222 | gcode->add_nl = true; | |
74b6303c | 223 | gcode->mark_as_taken(); |
33e4cc02 | 224 | |
f39a2ecf L |
225 | } else if (gcode->m == 200 && ( (this->enabled && !gcode->has_letter('P')) || (gcode->has_letter('P') && gcode->get_value('P') == this->identifier)) ) { |
226 | if (gcode->has_letter('D')) { | |
112ad2fc L |
227 | this->filament_diameter = gcode->get_value('D'); |
228 | this->update_steps_per_millimeter(); | |
f39a2ecf | 229 | } |
112ad2fc | 230 | gcode->mark_as_taken(); |
8a3ae3d0 | 231 | |
ec6fde0b JM |
232 | } else if (gcode->m == 207 && ( (this->enabled && !gcode->has_letter('P')) || (gcode->has_letter('P') && gcode->get_value('P') == this->identifier)) ) { |
233 | // M207 - set retract length S[positive mm] F[feedrate mm/min] | |
234 | if(gcode->has_letter('S')) retract_length = gcode->get_value('S'); | |
235 | if(gcode->has_letter('F')) retract_feedrate = gcode->get_value('F')/60.0F; // specified in mm/min converted to mm/sec | |
236 | gcode->mark_as_taken(); | |
237 | ||
238 | } else if (gcode->m == 208 && ( (this->enabled && !gcode->has_letter('P')) || (gcode->has_letter('P') && gcode->get_value('P') == this->identifier)) ) { | |
239 | // M208 - set retract recover length S[positive mm surplus to the M207 S*] F[feedrate mm/min] | |
240 | if(gcode->has_letter('S')) retract_recover_length = gcode->get_value('S'); | |
241 | if(gcode->has_letter('F')) retract_recover_feedrate = gcode->get_value('F')/60.0F; // specified in mm/min converted to mm/sec | |
242 | gcode->mark_as_taken(); | |
243 | ||
17c89e4d | 244 | } else if (gcode->m == 500 || gcode->m == 503) { // M500 saves some volatile settings to config override file, M503 just prints the settings |
4710532a | 245 | if( this->single_config ) { |
8a3ae3d0 | 246 | gcode->stream->printf(";E Steps per mm:\nM92 E%1.4f\n", this->steps_per_millimeter_setting); |
112ad2fc | 247 | gcode->stream->printf(";E Filament diameter:\nM200 D%1.4f\n", this->filament_diameter); |
ec6fde0b JM |
248 | gcode->stream->printf(";E retract length, feedrate:\nM207 S%1.4f F%1.4F\n", this->retract_length, this->retract_feedrate*60.0F); |
249 | 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); | |
250 | ||
4710532a | 251 | } else { |
8a3ae3d0 | 252 | gcode->stream->printf(";E Steps per mm:\nM92 E%1.4f P%d\n", this->steps_per_millimeter_setting, this->identifier); |
112ad2fc | 253 | gcode->stream->printf(";E Filament diameter:\nM200 D%1.4f P%d\n", this->filament_diameter, this->identifier); |
ec6fde0b JM |
254 | gcode->stream->printf(";E retract length, feedrate:\nM207 S%1.4f F%1.4F P%d\n", this->retract_length, this->retract_feedrate*60.0F, this->identifier); |
255 | 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); | |
17c89e4d | 256 | } |
33e4cc02 | 257 | gcode->mark_as_taken(); |
7369629d | 258 | } |
8519d744 | 259 | |
5dcb2ff3 | 260 | // Gcodes to pass along to on_gcode_execute |
ec6fde0b | 261 | }else if( ( gcode->has_m && (gcode->m == 17 || gcode->m == 18 || gcode->m == 82 || gcode->m == 83 || gcode->m == 84 ) ) || ( gcode->has_g && gcode->g == 92 && gcode->has_letter('E') ) || ( gcode->has_g && ( gcode->g == 90 || gcode->g == 91 ) ) ) { |
e0ee24ed | 262 | THEKERNEL->conveyor->append_gcode(gcode); |
ec6fde0b | 263 | gcode->mark_as_taken(); |
3c4f2dd8 | 264 | |
ec6fde0b JM |
265 | }else if( this->enabled && gcode->has_g && gcode->g < 4 && gcode->has_letter('E') && !gcode->has_letter('X') && !gcode->has_letter('Y') && !gcode->has_letter('Z') ) { |
266 | // This is a solo move, we add an empty block to the queue to prevent subsequent gcodes being executed at the same time | |
267 | THEKERNEL->conveyor->append_gcode(gcode); | |
268 | THEKERNEL->conveyor->queue_head_block(); | |
269 | gcode->mark_as_taken(); | |
d149c730 | 270 | |
ec6fde0b | 271 | }else if( this->enabled && gcode->has_g && (gcode->g == 10 || gcode->g == 11) ) { // FW retract command |
76ddeb67 JM |
272 | gcode->mark_as_taken(); |
273 | // check we are in the correct state of retract or unretract | |
274 | if(gcode->g == 10 && !retracted) | |
275 | retracted= true; | |
276 | else if(gcode->g == 11 && retracted) | |
277 | retracted= false; | |
278 | else | |
279 | return; // ignore duplicates | |
280 | ||
281 | // 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 | |
282 | // this way zlift will happen after retract, (or before for unretract) NOTE we call the robot->on_gcode_receive directly to avoid recursion | |
283 | if(retract_zlift_length > 0 && gcode->g == 11) { | |
284 | // reverse zlift happens before unretract | |
285 | char buf[32]; | |
286 | int n= snprintf(buf, sizeof(buf), "G0 Z%1.4f F%1.4F", retract_zlift_length, retract_zlift_feedrate); | |
287 | string cmd(buf, n); | |
18ac0b5d | 288 | Gcode gc(cmd, &(StreamOutput::NullStream)); |
76ddeb67 JM |
289 | bool oldmode= THEKERNEL->robot->absolute_mode; |
290 | THEKERNEL->robot->absolute_mode= false; // needs to be relative mode | |
18ac0b5d | 291 | THEKERNEL->robot->on_gcode_received(&gc); // send to robot directly |
76ddeb67 JM |
292 | THEKERNEL->robot->absolute_mode= oldmode; // restore mode |
293 | } | |
294 | ||
ec6fde0b JM |
295 | // This is a solo move, we add an empty block to the queue to prevent subsequent gcodes being executed at the same time |
296 | THEKERNEL->conveyor->append_gcode(gcode); | |
297 | THEKERNEL->conveyor->queue_head_block(); | |
76ddeb67 JM |
298 | |
299 | if(retract_zlift_length > 0 && gcode->g == 10) { | |
300 | char buf[32]; | |
301 | int n= snprintf(buf, sizeof(buf), "G0 Z%1.4f F%1.4F", -retract_zlift_length, retract_zlift_feedrate); | |
302 | string cmd(buf, n); | |
18ac0b5d | 303 | Gcode gc(cmd, &(StreamOutput::NullStream)); |
76ddeb67 JM |
304 | bool oldmode= THEKERNEL->robot->absolute_mode; |
305 | THEKERNEL->robot->absolute_mode= false; // needs to be relative mode | |
18ac0b5d | 306 | THEKERNEL->robot->on_gcode_received(&gc); // send to robot directly |
76ddeb67 JM |
307 | THEKERNEL->robot->absolute_mode= oldmode; // restore mode |
308 | } | |
3c4f2dd8 AW |
309 | } |
310 | } | |
311 | ||
ded56b35 | 312 | // Compute extrusion speed based on parameters and gcode distance of travel |
17c89e4d JM |
313 | void Extruder::on_gcode_execute(void *argument) |
314 | { | |
315 | Gcode *gcode = static_cast<Gcode *>(argument); | |
ca037905 | 316 | |
436a2cd1 | 317 | // Absolute/relative mode |
17c89e4d JM |
318 | if( gcode->has_m ) { |
319 | if( gcode->m == 17 ) { | |
320 | this->en_pin.set(0); | |
321 | } | |
322 | if( gcode->m == 18 ) { | |
323 | this->en_pin.set(1); | |
324 | } | |
325 | if( gcode->m == 82 ) { | |
326 | this->absolute_mode = true; | |
327 | } | |
328 | if( gcode->m == 83 ) { | |
329 | this->absolute_mode = false; | |
330 | } | |
331 | if( gcode->m == 84 ) { | |
332 | this->en_pin.set(1); | |
333 | } | |
ca037905 MM |
334 | } |
335 | ||
336 | // The mode is OFF by default, and SOLO or FOLLOW only if we need to extrude | |
ded56b35 | 337 | this->mode = OFF; |
ca037905 | 338 | |
17c89e4d | 339 | if( gcode->has_g ) { |
7b49793d | 340 | // G92: Reset extruder position |
17c89e4d | 341 | if( gcode->g == 92 && this->enabled ) { |
17c89e4d | 342 | if( gcode->has_letter('E') ) { |
e2b4a32b | 343 | this->current_position = gcode->get_value('E'); |
1a2d88eb | 344 | this->target_position = this->current_position; |
150bce10 | 345 | this->unstepped_distance = 0; |
17c89e4d | 346 | } else if( gcode->get_num_args() == 0) { |
b2aa3a55 L |
347 | this->current_position = 0.0; |
348 | this->target_position = this->current_position; | |
150bce10 | 349 | this->unstepped_distance = 0; |
ca037905 | 350 | } |
6b451be8 | 351 | |
76ddeb67 | 352 | } else if (gcode->g == 10 && this->enabled) { |
ec6fde0b | 353 | // FW retract command |
ec6fde0b JM |
354 | feed_rate= retract_feedrate; // mm/sec |
355 | this->mode = SOLO; | |
356 | this->travel_distance = -retract_length; | |
357 | this->target_position += retract_length; | |
358 | this->en_pin.set(0); | |
359 | ||
76ddeb67 | 360 | } else if (gcode->g == 11 && this->enabled) { |
ec6fde0b | 361 | // un retract command |
ec6fde0b JM |
362 | feed_rate= retract_recover_feedrate; // mm/sec |
363 | this->mode = SOLO; | |
364 | this->travel_distance = (retract_length+retract_recover_length); | |
365 | this->target_position += this->travel_distance; | |
366 | this->en_pin.set(0); | |
367 | ||
17c89e4d | 368 | } else if (((gcode->g == 0) || (gcode->g == 1)) && this->enabled) { |
ca037905 | 369 | // Extrusion length from 'G' Gcode |
17c89e4d | 370 | if( gcode->has_letter('E' )) { |
ca037905 | 371 | // Get relative extrusion distance depending on mode ( in absolute mode we must substract target_position ) |
1ad23cd3 MM |
372 | float extrusion_distance = gcode->get_value('E'); |
373 | float relative_extrusion_distance = extrusion_distance; | |
17c89e4d | 374 | if (this->absolute_mode) { |
f8dc0043 MM |
375 | relative_extrusion_distance -= this->target_position; |
376 | this->target_position = extrusion_distance; | |
17c89e4d | 377 | } else { |
f8dc0043 MM |
378 | this->target_position += relative_extrusion_distance; |
379 | } | |
ca037905 | 380 | |
ded56b35 | 381 | // If the robot is moving, we follow it's movement, otherwise, we move alone |
ec6fde0b | 382 | if( fabs(gcode->millimeters_of_travel) < 0.0001F ) { // 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 |
ded56b35 AW |
383 | this->mode = SOLO; |
384 | this->travel_distance = relative_extrusion_distance; | |
17c89e4d | 385 | } else { |
ca037905 | 386 | // We move proportionally to the robot's movement |
4464301d | 387 | this->mode = FOLLOW; |
ca037905 | 388 | this->travel_ratio = relative_extrusion_distance / gcode->millimeters_of_travel; |
7dab41f3 | 389 | // TODO: check resulting flowrate, limit robot speed if it exceeds max_speed |
ca037905 MM |
390 | } |
391 | ||
62bd4cfa | 392 | this->en_pin.set(0); |
ca037905 | 393 | } |
6b451be8 JM |
394 | |
395 | if (gcode->has_letter('F')) { | |
dd0a7cfa | 396 | feed_rate = gcode->get_value('F') / THEKERNEL->robot->get_seconds_per_minute(); |
6b451be8 JM |
397 | if (feed_rate > max_speed) |
398 | feed_rate = max_speed; | |
399 | } | |
400 | ||
17c89e4d JM |
401 | } else if( gcode->g == 90 ) { |
402 | this->absolute_mode = true; | |
6b451be8 | 403 | |
17c89e4d JM |
404 | } else if( gcode->g == 91 ) { |
405 | this->absolute_mode = false; | |
1a2d88eb | 406 | } |
ca037905 | 407 | } |
8adf2390 | 408 | |
da24d6ae AW |
409 | } |
410 | ||
ded56b35 | 411 | // When a new block begins, either follow the robot, or step by ourselves ( or stay back and do nothing ) |
17c89e4d JM |
412 | void Extruder::on_block_begin(void *argument) |
413 | { | |
c974b296 | 414 | if(!this->enabled) return; |
17c89e4d | 415 | Block *block = static_cast<Block *>(argument); |
4464301d AW |
416 | |
417 | ||
17c89e4d | 418 | if( this->mode == SOLO ) { |
ded56b35 | 419 | // In solo mode we take the block so we can move even if the stepper has nothing to do |
58baeec1 | 420 | |
99826186 | 421 | this->current_position += this->travel_distance ; |
58baeec1 | 422 | |
0ebf8cd2 | 423 | int steps_to_step = abs(int(floor(this->steps_per_millimeter_setting * (this->travel_distance + this->unstepped_distance) ))); |
d0c14c30 | 424 | |
17c89e4d | 425 | if ( this->travel_distance > 0 ) { |
0ebf8cd2 | 426 | this->unstepped_distance += this->travel_distance - (steps_to_step / this->steps_per_millimeter_setting); //catch any overflow |
150bce10 | 427 | } else { |
0ebf8cd2 | 428 | this->unstepped_distance += this->travel_distance + (steps_to_step / this->steps_per_millimeter_setting); //catch any overflow |
150bce10 | 429 | } |
4464301d | 430 | |
17c89e4d | 431 | if( steps_to_step != 0 ) { |
58baeec1 | 432 | |
4464301d AW |
433 | // We take the block, we have to release it or everything gets stuck |
434 | block->take(); | |
435 | this->current_block = block; | |
58baeec1 | 436 | |
2fa50ca0 | 437 | this->stepper_motor->set_steps_per_second(0); |
58baeec1 | 438 | this->stepper_motor->move( ( this->travel_distance > 0 ), steps_to_step); |
4464301d | 439 | |
17c89e4d | 440 | } else { |
d149c730 | 441 | this->current_block = NULL; |
4464301d AW |
442 | } |
443 | ||
17c89e4d | 444 | } else if( this->mode == FOLLOW ) { |
1a2d88eb | 445 | // In non-solo mode, we just follow the stepper module |
b5a9a6c4 | 446 | this->travel_distance = block->millimeters * this->travel_ratio; |
99826186 MM |
447 | |
448 | this->current_position += this->travel_distance; | |
449 | ||
150bce10 MM |
450 | int steps_to_step = abs(int(floor(this->steps_per_millimeter * (this->travel_distance + this->unstepped_distance) ))); |
451 | ||
17c89e4d JM |
452 | if ( this->travel_distance > 0 ) { |
453 | this->unstepped_distance += this->travel_distance - (steps_to_step / this->steps_per_millimeter); //catch any overflow | |
150bce10 | 454 | } else { |
17c89e4d | 455 | this->unstepped_distance += this->travel_distance + (steps_to_step / this->steps_per_millimeter); //catch any overflow |
150bce10 | 456 | } |
99826186 | 457 | |
17c89e4d | 458 | if( steps_to_step != 0 ) { |
4464301d | 459 | block->take(); |
b5a9a6c4 MM |
460 | this->current_block = block; |
461 | ||
462 | this->stepper_motor->move( ( this->travel_distance > 0 ), steps_to_step ); | |
d0c14c30 | 463 | this->on_speed_change(0); // initialise speed in case we get called first |
17c89e4d | 464 | } else { |
d149c730 | 465 | this->current_block = NULL; |
4464301d | 466 | } |
be8332cd | 467 | |
17c89e4d | 468 | } else if( this->mode == OFF ) { |
be8332cd | 469 | // No movement means we must reset our speed |
d149c730 | 470 | this->current_block = NULL; |
4464301d | 471 | //this->stepper_motor->set_speed(0); |
58baeec1 | 472 | |
ca037905 | 473 | } |
e2b4a32b | 474 | |
4cff3ded AW |
475 | } |
476 | ||
ded56b35 | 477 | // When a block ends, pause the stepping interrupt |
17c89e4d JM |
478 | void Extruder::on_block_end(void *argument) |
479 | { | |
c974b296 | 480 | if(!this->enabled) return; |
ca037905 MM |
481 | this->current_block = NULL; |
482 | } | |
4cff3ded | 483 | |
ded56b35 | 484 | // Called periodically to change the speed to match acceleration or to match the speed of the robot |
17c89e4d JM |
485 | uint32_t Extruder::acceleration_tick(uint32_t dummy) |
486 | { | |
c974b296 | 487 | if(!this->enabled) return 0; |
1a2d88eb | 488 | |
ca037905 | 489 | // Avoid trying to work when we really shouldn't ( between blocks or re-entry ) |
17c89e4d JM |
490 | if( this->current_block == NULL || this->paused || this->mode != SOLO ) { |
491 | return 0; | |
492 | } | |
be8332cd | 493 | |
2fa50ca0 | 494 | uint32_t current_rate = this->stepper_motor->get_steps_per_second(); |
0ebf8cd2 | 495 | uint32_t target_rate = int(floor(this->feed_rate * this->steps_per_millimeter_setting)); // NOTE we use real steps here not the volumetric ones |
58baeec1 | 496 | |
17c89e4d | 497 | if( current_rate < target_rate ) { |
0ebf8cd2 | 498 | uint32_t rate_increase = int(floor((this->acceleration / THEKERNEL->stepper->get_acceleration_ticks_per_second()) * this->steps_per_millimeter_setting)); |
4464301d | 499 | current_rate = min( target_rate, current_rate + rate_increase ); |
0eb11a06 | 500 | } |
17c89e4d JM |
501 | if( current_rate > target_rate ) { |
502 | current_rate = target_rate; | |
503 | } | |
1a2d88eb | 504 | |
8519d744 | 505 | // steps per second |
38bf9a1c | 506 | this->stepper_motor->set_speed(max(current_rate, THEKERNEL->stepper->get_minimum_steps_per_second())); |
58baeec1 | 507 | |
be8332cd | 508 | return 0; |
ded56b35 | 509 | } |
1a2d88eb | 510 | |
be8332cd | 511 | // Speed has been updated for the robot's stepper, we must update accordingly |
17c89e4d JM |
512 | void Extruder::on_speed_change( void *argument ) |
513 | { | |
c974b296 | 514 | if(!this->enabled) return; |
ca037905 | 515 | |
be8332cd | 516 | // Avoid trying to work when we really shouldn't ( between blocks or re-entry ) |
2fa50ca0 | 517 | if( this->current_block == NULL || this->paused || this->mode != FOLLOW || this->stepper_motor->is_moving() != true ) { |
17c89e4d JM |
518 | return; |
519 | } | |
4464301d AW |
520 | |
521 | /* | |
da947c62 | 522 | * nominal block duration = current block's steps / ( current block's nominal rate ) |
58baeec1 | 523 | * nominal extruder rate = extruder steps / nominal block duration |
0ac1713f | 524 | * actual extruder rate = nominal extruder rate * ( ( stepper's steps per second ) / ( current block's nominal rate ) ) |
da947c62 MM |
525 | * 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 ) ) |
526 | * or simplified : extruder steps * ( stepper's steps per second ) ) / current block's steps | |
527 | * or even : ( stepper steps per second ) * ( extruder steps / current block's steps ) | |
4464301d | 528 | */ |
58baeec1 | 529 | |
2fa50ca0 | 530 | this->stepper_motor->set_speed( max( ( THEKERNEL->stepper->get_trapezoid_adjusted_rate()) * ( (float)this->stepper_motor->get_steps_to_move() / (float)this->current_block->steps_event_count ), THEKERNEL->stepper->get_minimum_steps_per_second() ) ); |
ca037905 | 531 | |
4cff3ded AW |
532 | } |
533 | ||
be8332cd | 534 | // When the stepper has finished it's move |
17c89e4d JM |
535 | uint32_t Extruder::stepper_motor_finished_move(uint32_t dummy) |
536 | { | |
c974b296 | 537 | if(!this->enabled) return 0; |
4cff3ded | 538 | |
4464301d AW |
539 | //printf("extruder releasing\r\n"); |
540 | ||
17c89e4d JM |
541 | if (this->current_block) { // this should always be true, but sometimes it isn't. TODO: find out why |
542 | Block *block = this->current_block; | |
d149c730 AW |
543 | this->current_block = NULL; |
544 | block->release(); | |
8519d744 | 545 | } |
f2203544 | 546 | return 0; |
feb204be | 547 | |
be8332cd | 548 | } |
feb204be | 549 | |
112ad2fc | 550 | void Extruder::update_steps_per_millimeter() { |
c31b23e7 | 551 | if(this->filament_diameter > 0.01) { |
112ad2fc L |
552 | this->steps_per_millimeter = this->steps_per_millimeter_setting / (powf(this->filament_diameter / 2, 2) * PI); |
553 | } else { | |
554 | this->steps_per_millimeter = this->steps_per_millimeter_setting; | |
555 | } | |
556 | } | |
557 |