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" | |
5673fe39 | 22 | |
5dcb2ff3 | 23 | #include <mri.h> |
4cff3ded | 24 | |
43424972 JM |
25 | #define extruder_module_enable_checksum CHECKSUM("extruder_module_enable") |
26 | #define extruder_steps_per_mm_checksum CHECKSUM("extruder_steps_per_mm") | |
27 | #define extruder_acceleration_checksum CHECKSUM("extruder_acceleration") | |
28 | #define extruder_step_pin_checksum CHECKSUM("extruder_step_pin") | |
29 | #define extruder_dir_pin_checksum CHECKSUM("extruder_dir_pin") | |
30 | #define extruder_en_pin_checksum CHECKSUM("extruder_en_pin") | |
31 | #define extruder_max_speed_checksum CHECKSUM("extruder_max_speed") | |
32 | ||
33 | #define extruder_checksum CHECKSUM("extruder") | |
34 | ||
35 | #define default_feed_rate_checksum CHECKSUM("default_feed_rate") | |
36 | #define steps_per_mm_checksum CHECKSUM("steps_per_mm") | |
37 | #define acceleration_checksum CHECKSUM("acceleration") | |
38 | #define step_pin_checksum CHECKSUM("step_pin") | |
39 | #define dir_pin_checksum CHECKSUM("dir_pin") | |
40 | #define en_pin_checksum CHECKSUM("en_pin") | |
41 | #define max_speed_checksum CHECKSUM("max_speed") | |
42 | ||
41fd89e0 JM |
43 | #define max(a,b) (((a) > (b)) ? (a) : (b)) |
44 | ||
58baeec1 MM |
45 | /* The extruder module controls a filament extruder for 3D printing: http://en.wikipedia.org/wiki/Fused_deposition_modeling |
46 | * 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 ) | |
47 | * or the head moves, and the extruder moves plastic at a speed proportional to the movement of the head ( FOLLOW mode here ). | |
4464301d AW |
48 | */ |
49 | ||
14ecdbd7 | 50 | Extruder::Extruder( uint16_t config_identifier ) { |
436a2cd1 | 51 | this->absolute_mode = true; |
14ecdbd7 AW |
52 | this->paused = false; |
53 | this->single_config = false; | |
54 | this->identifier = config_identifier; | |
436a2cd1 | 55 | } |
4cff3ded AW |
56 | |
57 | void Extruder::on_module_loaded() { | |
f5598f5b | 58 | |
4cff3ded | 59 | // Settings |
da24d6ae | 60 | this->on_config_reload(this); |
4cff3ded AW |
61 | |
62 | // We work on the same Block as Stepper, so we need to know when it gets a new one and drops one | |
476dcb96 | 63 | register_for_event(ON_CONFIG_RELOAD); |
4cff3ded AW |
64 | this->register_for_event(ON_BLOCK_BEGIN); |
65 | this->register_for_event(ON_BLOCK_END); | |
6989211c | 66 | this->register_for_event(ON_GCODE_RECEIVED); |
436a2cd1 | 67 | this->register_for_event(ON_GCODE_EXECUTE); |
81b547a1 AW |
68 | this->register_for_event(ON_PLAY); |
69 | this->register_for_event(ON_PAUSE); | |
be8332cd | 70 | this->register_for_event(ON_SPEED_CHANGE); |
ca037905 | 71 | |
ded56b35 | 72 | // Start values |
4cff3ded AW |
73 | this->target_position = 0; |
74 | this->current_position = 0; | |
150bce10 | 75 | this->unstepped_distance = 0; |
4cff3ded | 76 | this->current_block = NULL; |
ded56b35 | 77 | this->mode = OFF; |
ca037905 | 78 | |
ded56b35 | 79 | // Update speed every *acceleration_ticks_per_second* |
7b49793d | 80 | // TODO: Make this an independent setting |
314ab8f7 | 81 | THEKERNEL->slow_ticker->attach( THEKERNEL->stepper->acceleration_ticks_per_second , this, &Extruder::acceleration_tick ); |
ded56b35 | 82 | |
be8332cd | 83 | // Stepper motor object for the extruder |
9c5fa39a | 84 | this->stepper_motor = THEKERNEL->step_ticker->add_stepper_motor( new StepperMotor(step_pin, dir_pin, en_pin) ); |
58baeec1 | 85 | this->stepper_motor->attach(this, &Extruder::stepper_motor_finished_move ); |
3b1e82d2 | 86 | |
4cff3ded AW |
87 | } |
88 | ||
2bb8b390 | 89 | // Get config |
da24d6ae | 90 | void Extruder::on_config_reload(void* argument){ |
58baeec1 | 91 | |
14ecdbd7 | 92 | // If this module uses the old "single extruder" configuration style |
43424972 | 93 | if( this->single_config ){ |
14ecdbd7 | 94 | |
314ab8f7 MM |
95 | this->steps_per_millimeter = THEKERNEL->config->value(extruder_steps_per_mm_checksum )->by_default(1)->as_number(); |
96 | this->acceleration = THEKERNEL->config->value(extruder_acceleration_checksum )->by_default(1000)->as_number(); | |
97 | this->max_speed = THEKERNEL->config->value(extruder_max_speed_checksum )->by_default(1000)->as_number(); | |
98 | this->feed_rate = THEKERNEL->config->value(default_feed_rate_checksum )->by_default(1000)->as_number(); | |
14ecdbd7 | 99 | |
314ab8f7 MM |
100 | this->step_pin.from_string( THEKERNEL->config->value(extruder_step_pin_checksum )->by_default("nc" )->as_string())->as_output(); |
101 | this->dir_pin.from_string( THEKERNEL->config->value(extruder_dir_pin_checksum )->by_default("nc" )->as_string())->as_output(); | |
102 | this->en_pin.from_string( THEKERNEL->config->value(extruder_en_pin_checksum )->by_default("nc" )->as_string())->as_output(); | |
14ecdbd7 AW |
103 | |
104 | }else{ | |
105 | // If this module was created with the new multi extruder configuration style | |
106 | ||
314ab8f7 MM |
107 | this->steps_per_millimeter = THEKERNEL->config->value(extruder_checksum, this->identifier, steps_per_mm_checksum )->by_default(1)->as_number(); |
108 | this->acceleration = THEKERNEL->config->value(extruder_checksum, this->identifier, acceleration_checksum )->by_default(1000)->as_number(); | |
109 | this->max_speed = THEKERNEL->config->value(extruder_checksum, this->identifier, max_speed_checksum )->by_default(1000)->as_number(); | |
110 | this->feed_rate = THEKERNEL->config->value( default_feed_rate_checksum )->by_default(1000)->as_number(); | |
14ecdbd7 | 111 | |
314ab8f7 MM |
112 | this->step_pin.from_string( THEKERNEL->config->value(extruder_checksum, this->identifier, step_pin_checksum )->by_default("nc" )->as_string())->as_output(); |
113 | this->dir_pin.from_string( THEKERNEL->config->value(extruder_checksum, this->identifier, dir_pin_checksum )->by_default("nc" )->as_string())->as_output(); | |
114 | this->en_pin.from_string( THEKERNEL->config->value(extruder_checksum, this->identifier, en_pin_checksum )->by_default("nc" )->as_string())->as_output(); | |
14ecdbd7 AW |
115 | |
116 | } | |
117 | ||
436a2cd1 AW |
118 | } |
119 | ||
81b547a1 AW |
120 | |
121 | // When the play/pause button is set to pause, or a module calls the ON_PAUSE event | |
122 | void Extruder::on_pause(void* argument){ | |
123 | this->paused = true; | |
83ecfc46 | 124 | this->stepper_motor->pause(); |
81b547a1 AW |
125 | } |
126 | ||
127 | // When the play/pause button is set to play, or a module calls the ON_PLAY event | |
128 | void Extruder::on_play(void* argument){ | |
129 | this->paused = false; | |
83ecfc46 | 130 | this->stepper_motor->unpause(); |
81b547a1 AW |
131 | } |
132 | ||
5dcb2ff3 AW |
133 | |
134 | void Extruder::on_gcode_received(void *argument){ | |
6989211c | 135 | Gcode *gcode = static_cast<Gcode*>(argument); |
5dcb2ff3 AW |
136 | |
137 | // Gcodes to execute immediately | |
3c4f2dd8 AW |
138 | if (gcode->has_m){ |
139 | if (gcode->m == 114){ | |
6989211c MM |
140 | gcode->stream->printf("E:%4.1f ", this->current_position); |
141 | gcode->add_nl = true; | |
74b6303c | 142 | gcode->mark_as_taken(); |
33e4cc02 JM |
143 | |
144 | }else if (gcode->m == 92 ){ | |
1ad23cd3 | 145 | float spm = this->steps_per_millimeter; |
7369629d MM |
146 | if (gcode->has_letter('E')) |
147 | spm = gcode->get_value('E'); | |
148 | gcode->stream->printf("E:%g ", spm); | |
149 | gcode->add_nl = true; | |
74b6303c | 150 | gcode->mark_as_taken(); |
33e4cc02 JM |
151 | |
152 | }else if (gcode->m == 500 || gcode->m == 503){// M500 saves some volatile settings to config override file, M503 just prints the settings | |
153 | gcode->stream->printf(";E Steps per mm:\nM92 E%1.4f\n", this->steps_per_millimeter); | |
154 | gcode->mark_as_taken(); | |
f2f0dfed | 155 | return; |
7369629d | 156 | } |
6989211c | 157 | } |
8519d744 | 158 | |
5dcb2ff3 | 159 | // Gcodes to pass along to on_gcode_execute |
cf6a3131 | 160 | 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 ) ) ){ |
e0ee24ed | 161 | THEKERNEL->conveyor->append_gcode(gcode); |
3c4f2dd8 AW |
162 | } |
163 | ||
164 | // Add to the queue for on_gcode_execute to process | |
165 | if( gcode->has_g && gcode->g < 4 && gcode->has_letter('E') ){ | |
166 | if( !gcode->has_letter('X') && !gcode->has_letter('Y') && !gcode->has_letter('Z') ){ | |
e0ee24ed | 167 | THEKERNEL->conveyor->append_gcode(gcode); |
518e225f | 168 | // This is a solo move, we add an empty block to the queue to prevent subsequent gcodes being executed at the same time |
2134bcf2 | 169 | THEKERNEL->conveyor->queue_head_block(); |
3c4f2dd8 | 170 | } |
d149c730 AW |
171 | }else{ |
172 | // This is for follow move | |
173 | ||
3c4f2dd8 AW |
174 | } |
175 | } | |
176 | ||
ded56b35 | 177 | // Compute extrusion speed based on parameters and gcode distance of travel |
436a2cd1 AW |
178 | void Extruder::on_gcode_execute(void* argument){ |
179 | Gcode* gcode = static_cast<Gcode*>(argument); | |
ca037905 | 180 | |
436a2cd1 | 181 | // Absolute/relative mode |
e6b5ae25 | 182 | if( gcode->has_m ){ |
cf6a3131 CG |
183 | if( gcode->m == 17 ){ this->en_pin.set(0); } |
184 | if( gcode->m == 18 ){ this->en_pin.set(1); } | |
e6b5ae25 AW |
185 | if( gcode->m == 82 ){ this->absolute_mode = true; } |
186 | if( gcode->m == 83 ){ this->absolute_mode = false; } | |
62bd4cfa | 187 | if( gcode->m == 84 ){ this->en_pin.set(1); } |
3c4f2dd8 AW |
188 | if (gcode->m == 92 ){ |
189 | if (gcode->has_letter('E')){ | |
0fb5b438 | 190 | this->steps_per_millimeter = gcode->get_value('E'); |
0fb5b438 | 191 | } |
0fb5b438 | 192 | } |
ca037905 MM |
193 | } |
194 | ||
195 | // The mode is OFF by default, and SOLO or FOLLOW only if we need to extrude | |
ded56b35 | 196 | this->mode = OFF; |
ca037905 | 197 | |
e6b5ae25 | 198 | if( gcode->has_g ){ |
7b49793d | 199 | // G92: Reset extruder position |
e6b5ae25 | 200 | if( gcode->g == 92 ){ |
74b6303c | 201 | gcode->mark_as_taken(); |
1a2d88eb | 202 | if( gcode->has_letter('E') ){ |
e2b4a32b | 203 | this->current_position = gcode->get_value('E'); |
1a2d88eb | 204 | this->target_position = this->current_position; |
150bce10 | 205 | this->unstepped_distance = 0; |
b2aa3a55 L |
206 | }else if( gcode->get_num_args() == 0){ |
207 | this->current_position = 0.0; | |
208 | this->target_position = this->current_position; | |
150bce10 | 209 | this->unstepped_distance = 0; |
ca037905 | 210 | } |
7dab41f3 | 211 | }else if ((gcode->g == 0) || (gcode->g == 1)){ |
ca037905 | 212 | // Extrusion length from 'G' Gcode |
1a2d88eb | 213 | if( gcode->has_letter('E' )){ |
ca037905 | 214 | // Get relative extrusion distance depending on mode ( in absolute mode we must substract target_position ) |
1ad23cd3 MM |
215 | float extrusion_distance = gcode->get_value('E'); |
216 | float relative_extrusion_distance = extrusion_distance; | |
f8dc0043 MM |
217 | if (this->absolute_mode) |
218 | { | |
219 | relative_extrusion_distance -= this->target_position; | |
220 | this->target_position = extrusion_distance; | |
221 | } | |
222 | else | |
223 | { | |
224 | this->target_position += relative_extrusion_distance; | |
225 | } | |
ca037905 | 226 | |
ded56b35 | 227 | // If the robot is moving, we follow it's movement, otherwise, we move alone |
7b49793d | 228 | 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 |
ded56b35 AW |
229 | this->mode = SOLO; |
230 | this->travel_distance = relative_extrusion_distance; | |
1a2d88eb | 231 | }else{ |
ca037905 | 232 | // We move proportionally to the robot's movement |
4464301d | 233 | this->mode = FOLLOW; |
ca037905 | 234 | this->travel_ratio = relative_extrusion_distance / gcode->millimeters_of_travel; |
7dab41f3 | 235 | // TODO: check resulting flowrate, limit robot speed if it exceeds max_speed |
ca037905 MM |
236 | } |
237 | ||
62bd4cfa | 238 | this->en_pin.set(0); |
ca037905 | 239 | } |
0049b2be MM |
240 | if (gcode->has_letter('F')) |
241 | { | |
da947c62 MM |
242 | feed_rate = gcode->get_value('F') / THEKERNEL->robot->seconds_per_minute; |
243 | if (feed_rate > max_speed) | |
244 | feed_rate = max_speed; | |
0049b2be | 245 | } |
2547cf48 AW |
246 | }else if( gcode->g == 90 ){ this->absolute_mode = true; |
247 | }else if( gcode->g == 91 ){ this->absolute_mode = false; | |
1a2d88eb | 248 | } |
ca037905 | 249 | } |
da24d6ae AW |
250 | } |
251 | ||
ded56b35 | 252 | // When a new block begins, either follow the robot, or step by ourselves ( or stay back and do nothing ) |
4cff3ded AW |
253 | void Extruder::on_block_begin(void* argument){ |
254 | Block* block = static_cast<Block*>(argument); | |
4464301d AW |
255 | |
256 | ||
ded56b35 AW |
257 | if( this->mode == SOLO ){ |
258 | // In solo mode we take the block so we can move even if the stepper has nothing to do | |
58baeec1 | 259 | |
99826186 | 260 | this->current_position += this->travel_distance ; |
58baeec1 | 261 | |
150bce10 | 262 | int steps_to_step = abs(int(floor(this->steps_per_millimeter * (this->travel_distance +this->unstepped_distance) ))); |
d0c14c30 | 263 | |
150bce10 MM |
264 | if ( this->travel_distance > 0 ){ |
265 | this->unstepped_distance += this->travel_distance -(steps_to_step/this->steps_per_millimeter); //catch any overflow | |
266 | } else { | |
267 | this->unstepped_distance += this->travel_distance +(steps_to_step/this->steps_per_millimeter); //catch any overflow | |
268 | } | |
4464301d AW |
269 | |
270 | if( steps_to_step != 0 ){ | |
58baeec1 | 271 | |
4464301d AW |
272 | // We take the block, we have to release it or everything gets stuck |
273 | block->take(); | |
274 | this->current_block = block; | |
58baeec1 | 275 | |
ca7f724e | 276 | this->stepper_motor->steps_per_second = 0; |
58baeec1 | 277 | this->stepper_motor->move( ( this->travel_distance > 0 ), steps_to_step); |
4464301d | 278 | |
d149c730 AW |
279 | }else{ |
280 | this->current_block = NULL; | |
4464301d AW |
281 | } |
282 | ||
ded56b35 | 283 | }else if( this->mode == FOLLOW ){ |
1a2d88eb | 284 | // In non-solo mode, we just follow the stepper module |
b5a9a6c4 | 285 | this->travel_distance = block->millimeters * this->travel_ratio; |
99826186 MM |
286 | |
287 | this->current_position += this->travel_distance; | |
288 | ||
150bce10 MM |
289 | int steps_to_step = abs(int(floor(this->steps_per_millimeter * (this->travel_distance + this->unstepped_distance) ))); |
290 | ||
291 | if ( this->travel_distance > 0 ){ | |
292 | this->unstepped_distance += this->travel_distance -(steps_to_step/this->steps_per_millimeter); //catch any overflow | |
293 | } else { | |
294 | this->unstepped_distance += this->travel_distance +(steps_to_step/this->steps_per_millimeter); //catch any overflow | |
295 | } | |
99826186 | 296 | |
58baeec1 | 297 | if( steps_to_step != 0 ){ |
4464301d | 298 | block->take(); |
b5a9a6c4 MM |
299 | this->current_block = block; |
300 | ||
301 | this->stepper_motor->move( ( this->travel_distance > 0 ), steps_to_step ); | |
d0c14c30 | 302 | this->on_speed_change(0); // initialise speed in case we get called first |
d149c730 AW |
303 | }else{ |
304 | this->current_block = NULL; | |
4464301d | 305 | } |
be8332cd AW |
306 | |
307 | }else if( this->mode == OFF ){ | |
308 | // No movement means we must reset our speed | |
d149c730 | 309 | this->current_block = NULL; |
4464301d | 310 | //this->stepper_motor->set_speed(0); |
58baeec1 | 311 | |
ca037905 | 312 | } |
e2b4a32b | 313 | |
4cff3ded AW |
314 | } |
315 | ||
ded56b35 | 316 | // When a block ends, pause the stepping interrupt |
4cff3ded | 317 | void Extruder::on_block_end(void* argument){ |
ca037905 MM |
318 | this->current_block = NULL; |
319 | } | |
4cff3ded | 320 | |
ded56b35 | 321 | // Called periodically to change the speed to match acceleration or to match the speed of the robot |
8b8b3339 | 322 | uint32_t Extruder::acceleration_tick(uint32_t dummy){ |
1a2d88eb | 323 | |
ca037905 | 324 | // Avoid trying to work when we really shouldn't ( between blocks or re-entry ) |
be8332cd AW |
325 | if( this->current_block == NULL || this->paused || this->mode != SOLO ){ return 0; } |
326 | ||
327 | uint32_t current_rate = this->stepper_motor->steps_per_second; | |
99826186 | 328 | uint32_t target_rate = int(floor(this->feed_rate * this->steps_per_millimeter)); |
58baeec1 | 329 | |
4464301d | 330 | if( current_rate < target_rate ){ |
314ab8f7 | 331 | uint32_t rate_increase = int(floor((this->acceleration/THEKERNEL->stepper->acceleration_ticks_per_second)*this->steps_per_millimeter)); |
4464301d | 332 | current_rate = min( target_rate, current_rate + rate_increase ); |
0eb11a06 | 333 | } |
4464301d | 334 | if( current_rate > target_rate ){ current_rate = target_rate; } |
1a2d88eb | 335 | |
8519d744 | 336 | // steps per second |
da947c62 | 337 | this->stepper_motor->set_speed(max(current_rate, THEKERNEL->stepper->minimum_steps_per_second)); |
58baeec1 | 338 | |
be8332cd | 339 | return 0; |
ded56b35 | 340 | } |
1a2d88eb | 341 | |
be8332cd AW |
342 | // Speed has been updated for the robot's stepper, we must update accordingly |
343 | void Extruder::on_speed_change( void* argument ){ | |
ca037905 | 344 | |
be8332cd | 345 | // Avoid trying to work when we really shouldn't ( between blocks or re-entry ) |
4464301d AW |
346 | if( this->current_block == NULL || this->paused || this->mode != FOLLOW || this->stepper_motor->moving != true ){ return; } |
347 | ||
348 | /* | |
da947c62 | 349 | * nominal block duration = current block's steps / ( current block's nominal rate ) |
58baeec1 | 350 | * nominal extruder rate = extruder steps / nominal block duration |
0ac1713f | 351 | * actual extruder rate = nominal extruder rate * ( ( stepper's steps per second ) / ( current block's nominal rate ) ) |
da947c62 MM |
352 | * 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 ) ) |
353 | * or simplified : extruder steps * ( stepper's steps per second ) ) / current block's steps | |
354 | * or even : ( stepper steps per second ) * ( extruder steps / current block's steps ) | |
4464301d | 355 | */ |
58baeec1 | 356 | |
da947c62 | 357 | 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 ) ); |
ca037905 | 358 | |
4cff3ded AW |
359 | } |
360 | ||
4cff3ded AW |
361 | |
362 | ||
be8332cd AW |
363 | // When the stepper has finished it's move |
364 | uint32_t Extruder::stepper_motor_finished_move(uint32_t dummy){ | |
4cff3ded | 365 | |
4464301d AW |
366 | //printf("extruder releasing\r\n"); |
367 | ||
d149c730 | 368 | if (this->current_block){ // this should always be true, but sometimes it isn't. TODO: find out why |
8519d744 | 369 | Block* block = this->current_block; |
d149c730 AW |
370 | this->current_block = NULL; |
371 | block->release(); | |
8519d744 | 372 | } |
f2203544 | 373 | return 0; |
feb204be | 374 | |
be8332cd | 375 | } |
feb204be | 376 |