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 | ||
4cff3ded AW |
8 | #include "libs/Module.h" |
9 | #include "libs/Kernel.h" | |
3fceb8eb | 10 | #include "modules/robot/Conveyor.h" |
4cff3ded AW |
11 | #include "modules/robot/Block.h" |
12 | #include "modules/tools/extruder/Extruder.h" | |
5dcb2ff3 | 13 | #include <mri.h> |
4cff3ded | 14 | |
58baeec1 MM |
15 | /* The extruder module controls a filament extruder for 3D printing: http://en.wikipedia.org/wiki/Fused_deposition_modeling |
16 | * 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 ) | |
17 | * or the head moves, and the extruder moves plastic at a speed proportional to the movement of the head ( FOLLOW mode here ). | |
4464301d AW |
18 | */ |
19 | ||
ca037905 | 20 | Extruder::Extruder() { |
436a2cd1 | 21 | this->absolute_mode = true; |
d9ebc974 AW |
22 | this->step_counter = 0; |
23 | this->counter_increment = 0; | |
81b547a1 | 24 | this->paused = false; |
436a2cd1 | 25 | } |
4cff3ded AW |
26 | |
27 | void Extruder::on_module_loaded() { | |
f5598f5b | 28 | |
ded56b35 | 29 | // Do not do anything if not enabledd |
ca037905 | 30 | if( this->kernel->config->value( extruder_module_enable_checksum )->by_default(false)->as_bool() == false ){ return; } |
f5598f5b | 31 | |
4cff3ded | 32 | // Settings |
da24d6ae | 33 | this->on_config_reload(this); |
4cff3ded | 34 | |
4464301d | 35 | // We start with the enable pin off |
62bd4cfa | 36 | this->en_pin.set(1); |
5c07c6dc | 37 | |
4cff3ded | 38 | // We work on the same Block as Stepper, so we need to know when it gets a new one and drops one |
476dcb96 | 39 | register_for_event(ON_CONFIG_RELOAD); |
4cff3ded AW |
40 | this->register_for_event(ON_BLOCK_BEGIN); |
41 | this->register_for_event(ON_BLOCK_END); | |
6989211c | 42 | this->register_for_event(ON_GCODE_RECEIVED); |
436a2cd1 | 43 | this->register_for_event(ON_GCODE_EXECUTE); |
81b547a1 AW |
44 | this->register_for_event(ON_PLAY); |
45 | this->register_for_event(ON_PAUSE); | |
be8332cd | 46 | this->register_for_event(ON_SPEED_CHANGE); |
ca037905 | 47 | |
ded56b35 | 48 | // Start values |
4cff3ded AW |
49 | this->target_position = 0; |
50 | this->current_position = 0; | |
4464301d | 51 | this->current_steps = 0; |
4cff3ded | 52 | this->current_block = NULL; |
ded56b35 | 53 | this->mode = OFF; |
ca037905 | 54 | |
ded56b35 | 55 | // Update speed every *acceleration_ticks_per_second* |
7b49793d | 56 | // TODO: Make this an independent setting |
d9ebc974 | 57 | this->kernel->slow_ticker->attach( this->kernel->stepper->acceleration_ticks_per_second , this, &Extruder::acceleration_tick ); |
ded56b35 | 58 | |
be8332cd | 59 | // Stepper motor object for the extruder |
62bd4cfa | 60 | this->stepper_motor = this->kernel->step_ticker->add_stepper_motor( new StepperMotor(&step_pin, &dir_pin, &en_pin) ); |
58baeec1 | 61 | this->stepper_motor->attach(this, &Extruder::stepper_motor_finished_move ); |
3b1e82d2 | 62 | |
4cff3ded AW |
63 | } |
64 | ||
2bb8b390 | 65 | // Get config |
da24d6ae | 66 | void Extruder::on_config_reload(void* argument){ |
58baeec1 MM |
67 | this->microseconds_per_step_pulse = this->kernel->config->value(microseconds_per_step_pulse_checksum)->by_default(5)->as_number(); |
68 | this->steps_per_millimeter = this->kernel->config->value(extruder_steps_per_mm_checksum )->by_default(1)->as_number(); | |
69 | this->feed_rate = this->kernel->config->value(default_feed_rate_checksum )->by_default(1000)->as_number(); | |
70 | this->acceleration = this->kernel->config->value(extruder_acceleration_checksum )->by_default(1000)->as_number(); | |
7dab41f3 | 71 | this->max_speed = this->kernel->config->value(extruder_max_speed_checksum )->by_default(1000)->as_number(); |
58baeec1 | 72 | |
62bd4cfa MM |
73 | this->step_pin.from_string( this->kernel->config->value(extruder_step_pin_checksum )->by_default("nc" )->as_string())->as_output(); |
74 | this->dir_pin.from_string( this->kernel->config->value(extruder_dir_pin_checksum )->by_default("nc" )->as_string())->as_output(); | |
75 | this->en_pin.from_string( this->kernel->config->value(extruder_en_pin_checksum )->by_default("nc" )->as_string())->as_output()->as_open_drain(); | |
58baeec1 | 76 | |
5a884140 | 77 | // disable by default |
62bd4cfa | 78 | this->en_pin.set(1); |
436a2cd1 AW |
79 | } |
80 | ||
81b547a1 AW |
81 | |
82 | // When the play/pause button is set to pause, or a module calls the ON_PAUSE event | |
83 | void Extruder::on_pause(void* argument){ | |
84 | this->paused = true; | |
83ecfc46 | 85 | this->stepper_motor->pause(); |
81b547a1 AW |
86 | } |
87 | ||
88 | // When the play/pause button is set to play, or a module calls the ON_PLAY event | |
89 | void Extruder::on_play(void* argument){ | |
90 | this->paused = false; | |
83ecfc46 | 91 | this->stepper_motor->unpause(); |
81b547a1 AW |
92 | } |
93 | ||
5dcb2ff3 AW |
94 | |
95 | void Extruder::on_gcode_received(void *argument){ | |
6989211c | 96 | Gcode *gcode = static_cast<Gcode*>(argument); |
5dcb2ff3 AW |
97 | |
98 | // Gcodes to execute immediately | |
3c4f2dd8 AW |
99 | if (gcode->has_m){ |
100 | if (gcode->m == 114){ | |
6989211c MM |
101 | gcode->stream->printf("E:%4.1f ", this->current_position); |
102 | gcode->add_nl = true; | |
103 | } | |
3c4f2dd8 | 104 | if (gcode->m == 92 ){ |
7369629d MM |
105 | double spm = this->steps_per_millimeter; |
106 | if (gcode->has_letter('E')) | |
107 | spm = gcode->get_value('E'); | |
108 | gcode->stream->printf("E:%g ", spm); | |
109 | gcode->add_nl = true; | |
110 | } | |
6989211c | 111 | } |
8519d744 | 112 | |
5dcb2ff3 | 113 | // Gcodes to pass along to on_gcode_execute |
14bf7766 | 114 | if( ( gcode->has_m && ( 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 ) ) ){ |
3c4f2dd8 AW |
115 | if( this->kernel->conveyor->queue.size() == 0 ){ |
116 | this->kernel->call_event(ON_GCODE_EXECUTE, gcode ); | |
117 | }else{ | |
118 | Block* block = this->kernel->conveyor->queue.get_ref( this->kernel->conveyor->queue.size() - 1 ); | |
119 | block->append_gcode(gcode); | |
3c4f2dd8 AW |
120 | } |
121 | } | |
122 | ||
123 | // Add to the queue for on_gcode_execute to process | |
124 | if( gcode->has_g && gcode->g < 4 && gcode->has_letter('E') ){ | |
125 | if( !gcode->has_letter('X') && !gcode->has_letter('Y') && !gcode->has_letter('Z') ){ | |
126 | // This is a solo move, we add an empty block to the queue | |
127 | //If the queue is empty, execute immediatly, otherwise attach to the last added block | |
128 | if( this->kernel->conveyor->queue.size() == 0 ){ | |
8ac8fe7b | 129 | this->kernel->call_event(ON_GCODE_EXECUTE, gcode ); |
5dcb2ff3 | 130 | this->append_empty_block(); |
3c4f2dd8 | 131 | }else{ |
5dcb2ff3 | 132 | Block* block = this->kernel->conveyor->queue.get_ref( this->kernel->conveyor->queue.size() - 1 ); |
3c4f2dd8 | 133 | block->append_gcode(gcode); |
5dcb2ff3 | 134 | this->append_empty_block(); |
3c4f2dd8 AW |
135 | } |
136 | } | |
d149c730 AW |
137 | }else{ |
138 | // This is for follow move | |
139 | ||
3c4f2dd8 AW |
140 | } |
141 | } | |
142 | ||
143 | // Append an empty block in the queue so that solo mode can pick it up | |
41bbd0d3 | 144 | Block* Extruder::append_empty_block(){ |
3c4f2dd8 AW |
145 | this->kernel->conveyor->wait_for_queue(2); |
146 | Block* block = this->kernel->conveyor->new_block(); | |
147 | block->planner = this->kernel->planner; | |
148 | block->millimeters = 0; | |
41bbd0d3 MM |
149 | block->steps[0] = 0; |
150 | block->steps[1] = 0; | |
151 | block->steps[2] = 0; | |
3c4f2dd8 AW |
152 | // feed the block into the system. Will execute it if we are at the beginning of the queue |
153 | block->ready(); | |
41bbd0d3 MM |
154 | |
155 | return block; | |
6989211c | 156 | } |
81b547a1 | 157 | |
ded56b35 | 158 | // Compute extrusion speed based on parameters and gcode distance of travel |
436a2cd1 AW |
159 | void Extruder::on_gcode_execute(void* argument){ |
160 | Gcode* gcode = static_cast<Gcode*>(argument); | |
ca037905 | 161 | |
436a2cd1 | 162 | // Absolute/relative mode |
e6b5ae25 AW |
163 | if( gcode->has_m ){ |
164 | if( gcode->m == 82 ){ this->absolute_mode = true; } | |
165 | if( gcode->m == 83 ){ this->absolute_mode = false; } | |
62bd4cfa | 166 | if( gcode->m == 84 ){ this->en_pin.set(1); } |
3c4f2dd8 AW |
167 | if (gcode->m == 92 ){ |
168 | if (gcode->has_letter('E')){ | |
0fb5b438 MM |
169 | this->steps_per_millimeter = gcode->get_value('E'); |
170 | this->current_steps = int(floor(this->steps_per_millimeter * this->current_position)); | |
171 | } | |
0fb5b438 | 172 | } |
ca037905 MM |
173 | } |
174 | ||
175 | // The mode is OFF by default, and SOLO or FOLLOW only if we need to extrude | |
ded56b35 | 176 | this->mode = OFF; |
ca037905 | 177 | |
e6b5ae25 | 178 | if( gcode->has_g ){ |
7b49793d | 179 | // G92: Reset extruder position |
e6b5ae25 | 180 | if( gcode->g == 92 ){ |
1a2d88eb | 181 | if( gcode->has_letter('E') ){ |
e2b4a32b | 182 | this->current_position = gcode->get_value('E'); |
1a2d88eb | 183 | this->target_position = this->current_position; |
4464301d | 184 | this->current_steps = int(floor(this->steps_per_millimeter * this->current_position)); |
b2aa3a55 L |
185 | }else if( gcode->get_num_args() == 0){ |
186 | this->current_position = 0.0; | |
187 | this->target_position = this->current_position; | |
188 | this->current_steps = 0; | |
ca037905 | 189 | } |
7dab41f3 | 190 | }else if ((gcode->g == 0) || (gcode->g == 1)){ |
ca037905 | 191 | // Extrusion length from 'G' Gcode |
1a2d88eb | 192 | if( gcode->has_letter('E' )){ |
ca037905 | 193 | // Get relative extrusion distance depending on mode ( in absolute mode we must substract target_position ) |
f8dc0043 MM |
194 | double extrusion_distance = gcode->get_value('E'); |
195 | double relative_extrusion_distance = extrusion_distance; | |
196 | if (this->absolute_mode) | |
197 | { | |
198 | relative_extrusion_distance -= this->target_position; | |
199 | this->target_position = extrusion_distance; | |
200 | } | |
201 | else | |
202 | { | |
203 | this->target_position += relative_extrusion_distance; | |
204 | } | |
ca037905 | 205 | |
ded56b35 | 206 | // If the robot is moving, we follow it's movement, otherwise, we move alone |
7b49793d | 207 | 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 |
208 | this->mode = SOLO; |
209 | this->travel_distance = relative_extrusion_distance; | |
1a2d88eb | 210 | }else{ |
ca037905 | 211 | // We move proportionally to the robot's movement |
4464301d | 212 | this->mode = FOLLOW; |
ca037905 | 213 | this->travel_ratio = relative_extrusion_distance / gcode->millimeters_of_travel; |
7dab41f3 | 214 | // TODO: check resulting flowrate, limit robot speed if it exceeds max_speed |
ca037905 MM |
215 | } |
216 | ||
62bd4cfa | 217 | this->en_pin.set(0); |
ca037905 | 218 | } |
0049b2be MM |
219 | if (gcode->has_letter('F')) |
220 | { | |
221 | this->feed_rate = gcode->get_value('F'); | |
222 | if (this->feed_rate > (this->max_speed * kernel->robot->seconds_per_minute)) | |
223 | this->feed_rate = this->max_speed * kernel->robot->seconds_per_minute; | |
224 | feed_rate /= kernel->robot->seconds_per_minute; | |
225 | } | |
2547cf48 AW |
226 | }else if( gcode->g == 90 ){ this->absolute_mode = true; |
227 | }else if( gcode->g == 91 ){ this->absolute_mode = false; | |
1a2d88eb | 228 | } |
ca037905 | 229 | } |
da24d6ae AW |
230 | } |
231 | ||
ded56b35 | 232 | // When a new block begins, either follow the robot, or step by ourselves ( or stay back and do nothing ) |
4cff3ded AW |
233 | void Extruder::on_block_begin(void* argument){ |
234 | Block* block = static_cast<Block*>(argument); | |
4464301d AW |
235 | |
236 | ||
ded56b35 AW |
237 | if( this->mode == SOLO ){ |
238 | // In solo mode we take the block so we can move even if the stepper has nothing to do | |
58baeec1 | 239 | |
99826186 | 240 | this->current_position += this->travel_distance ; |
58baeec1 | 241 | |
b5a9a6c4 | 242 | int steps_to_step = abs(int(floor(this->steps_per_millimeter * this->travel_distance))); |
4464301d AW |
243 | |
244 | if( steps_to_step != 0 ){ | |
58baeec1 | 245 | |
4464301d AW |
246 | // We take the block, we have to release it or everything gets stuck |
247 | block->take(); | |
248 | this->current_block = block; | |
58baeec1 | 249 | |
ca7f724e | 250 | this->stepper_motor->steps_per_second = 0; |
58baeec1 | 251 | this->stepper_motor->move( ( this->travel_distance > 0 ), steps_to_step); |
4464301d | 252 | |
d149c730 AW |
253 | }else{ |
254 | this->current_block = NULL; | |
4464301d AW |
255 | } |
256 | ||
ded56b35 | 257 | }else if( this->mode == FOLLOW ){ |
1a2d88eb | 258 | // In non-solo mode, we just follow the stepper module |
b5a9a6c4 | 259 | this->travel_distance = block->millimeters * this->travel_ratio; |
99826186 MM |
260 | |
261 | this->current_position += this->travel_distance; | |
262 | ||
b5a9a6c4 | 263 | int steps_to_step = abs(int(floor(this->steps_per_millimeter * this->travel_distance))); |
99826186 | 264 | |
58baeec1 | 265 | if( steps_to_step != 0 ){ |
4464301d | 266 | block->take(); |
b5a9a6c4 MM |
267 | this->current_block = block; |
268 | ||
269 | this->stepper_motor->move( ( this->travel_distance > 0 ), steps_to_step ); | |
d149c730 AW |
270 | }else{ |
271 | this->current_block = NULL; | |
4464301d | 272 | } |
be8332cd AW |
273 | |
274 | }else if( this->mode == OFF ){ | |
275 | // No movement means we must reset our speed | |
d149c730 | 276 | this->current_block = NULL; |
4464301d | 277 | //this->stepper_motor->set_speed(0); |
58baeec1 | 278 | |
ca037905 | 279 | } |
e2b4a32b | 280 | |
4cff3ded AW |
281 | } |
282 | ||
ded56b35 | 283 | // When a block ends, pause the stepping interrupt |
4cff3ded | 284 | void Extruder::on_block_end(void* argument){ |
ca037905 MM |
285 | this->current_block = NULL; |
286 | } | |
4cff3ded | 287 | |
ded56b35 | 288 | // Called periodically to change the speed to match acceleration or to match the speed of the robot |
8b8b3339 | 289 | uint32_t Extruder::acceleration_tick(uint32_t dummy){ |
1a2d88eb | 290 | |
ca037905 | 291 | // Avoid trying to work when we really shouldn't ( between blocks or re-entry ) |
be8332cd AW |
292 | if( this->current_block == NULL || this->paused || this->mode != SOLO ){ return 0; } |
293 | ||
294 | uint32_t current_rate = this->stepper_motor->steps_per_second; | |
99826186 | 295 | uint32_t target_rate = int(floor(this->feed_rate * this->steps_per_millimeter)); |
58baeec1 | 296 | |
4464301d AW |
297 | if( current_rate < target_rate ){ |
298 | uint32_t rate_increase = int(floor((this->acceleration/this->kernel->stepper->acceleration_ticks_per_second)*this->steps_per_millimeter)); | |
299 | current_rate = min( target_rate, current_rate + rate_increase ); | |
0eb11a06 | 300 | } |
4464301d | 301 | if( current_rate > target_rate ){ current_rate = target_rate; } |
1a2d88eb | 302 | |
8519d744 | 303 | // steps per second |
58baeec1 MM |
304 | this->stepper_motor->set_speed(max(current_rate, this->kernel->stepper->minimum_steps_per_minute/60)); |
305 | ||
be8332cd | 306 | return 0; |
ded56b35 | 307 | } |
1a2d88eb | 308 | |
be8332cd AW |
309 | // Speed has been updated for the robot's stepper, we must update accordingly |
310 | void Extruder::on_speed_change( void* argument ){ | |
ca037905 | 311 | |
be8332cd | 312 | // Avoid trying to work when we really shouldn't ( between blocks or re-entry ) |
4464301d AW |
313 | if( this->current_block == NULL || this->paused || this->mode != FOLLOW || this->stepper_motor->moving != true ){ return; } |
314 | ||
315 | /* | |
58baeec1 MM |
316 | * nominal block duration = current block's steps / ( current block's nominal rate / 60 ) |
317 | * nominal extruder rate = extruder steps / nominal block duration | |
318 | * actual extruder rate = nominal extruder rate * ( ( stepper's steps per minute / 60 ) / ( current block's nominal rate / 60 ) ) | |
319 | * or actual extruder rate = ( ( extruder steps * ( current block's nominal_rate / 60 ) ) / current block's steps ) * ( ( stepper's steps per minute / 60 ) / ( current block's nominal rate / 60 ) ) | |
320 | * or simplified : extruder steps * ( stepper's steps per minute / 60 ) ) / current block's steps | |
321 | * or even : ( stepper steps per minute / 60 ) * ( extruder steps / current block's steps ) | |
4464301d | 322 | */ |
58baeec1 MM |
323 | |
324 | this->stepper_motor->set_speed( max( ( this->kernel->stepper->trapezoid_adjusted_rate /60L) * ( (double)this->stepper_motor->steps_to_move / (double)this->current_block->steps_event_count ), this->kernel->stepper->minimum_steps_per_minute/60 ) ); | |
ca037905 | 325 | |
4cff3ded AW |
326 | } |
327 | ||
4cff3ded AW |
328 | |
329 | ||
be8332cd AW |
330 | // When the stepper has finished it's move |
331 | uint32_t Extruder::stepper_motor_finished_move(uint32_t dummy){ | |
4cff3ded | 332 | |
4464301d AW |
333 | //printf("extruder releasing\r\n"); |
334 | ||
d149c730 | 335 | if (this->current_block){ // this should always be true, but sometimes it isn't. TODO: find out why |
8519d744 | 336 | Block* block = this->current_block; |
d149c730 AW |
337 | this->current_block = NULL; |
338 | block->release(); | |
8519d744 | 339 | } |
f2203544 | 340 | return 0; |
feb204be | 341 | |
be8332cd | 342 | } |
feb204be | 343 |