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 | 72 | |
58baeec1 MM |
73 | /* The extruder module controls a filament extruder for 3D printing: http://en.wikipedia.org/wiki/Fused_deposition_modeling |
74 | * 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 ) | |
75 | * or the head moves, and the extruder moves plastic at a speed proportional to the movement of the head ( FOLLOW mode here ). | |
4464301d AW |
76 | */ |
77 | ||
17c89e4d JM |
78 | Extruder::Extruder( uint16_t config_identifier, bool single ) |
79 | { | |
436a2cd1 | 80 | this->absolute_mode = true; |
ea356db4 JM |
81 | this->enabled = false; |
82 | this->paused = false; | |
17c89e4d | 83 | this->single_config = single; |
ea356db4 JM |
84 | this->identifier = config_identifier; |
85 | this->retracted = false; | |
86 | this->volumetric_multiplier = 1.0F; | |
87 | this->extruder_multiplier = 1.0F; | |
3494f3d0 | 88 | this->stepper_motor= nullptr; |
8adf2390 | 89 | |
48a10598 | 90 | memset(this->offset, 0, sizeof(this->offset)); |
436a2cd1 | 91 | } |
4cff3ded | 92 | |
3494f3d0 JM |
93 | Extruder::~Extruder() |
94 | { | |
95 | delete stepper_motor; | |
96 | } | |
97 | ||
3d1a4519 JM |
98 | void Extruder::on_halt(void *arg) |
99 | { | |
728477c4 JM |
100 | if(arg == nullptr) { |
101 | // turn off motor | |
728477c4 | 102 | this->en_pin.set(1); |
cc3d6abe JM |
103 | // disable if multi extruder |
104 | if(!this->single_config) | |
105 | this->enabled= false; | |
728477c4 | 106 | } |
3d1a4519 JM |
107 | } |
108 | ||
17c89e4d JM |
109 | void Extruder::on_module_loaded() |
110 | { | |
4cff3ded | 111 | // Settings |
da24d6ae | 112 | this->on_config_reload(this); |
4cff3ded | 113 | |
3494f3d0 JM |
114 | // Start values |
115 | this->target_position = 0; | |
116 | this->current_position = 0; | |
117 | this->unstepped_distance = 0; | |
118 | this->current_block = NULL; | |
119 | this->mode = OFF; | |
120 | ||
4cff3ded AW |
121 | // We work on the same Block as Stepper, so we need to know when it gets a new one and drops one |
122 | this->register_for_event(ON_BLOCK_BEGIN); | |
123 | this->register_for_event(ON_BLOCK_END); | |
6989211c | 124 | this->register_for_event(ON_GCODE_RECEIVED); |
436a2cd1 | 125 | this->register_for_event(ON_GCODE_EXECUTE); |
81b547a1 AW |
126 | this->register_for_event(ON_PLAY); |
127 | this->register_for_event(ON_PAUSE); | |
3d1a4519 | 128 | this->register_for_event(ON_HALT); |
be8332cd | 129 | this->register_for_event(ON_SPEED_CHANGE); |
d87968be | 130 | this->register_for_event(ON_GET_PUBLIC_DATA); |
ca037905 | 131 | |
ded56b35 | 132 | // Update speed every *acceleration_ticks_per_second* |
38bf9a1c | 133 | THEKERNEL->slow_ticker->attach( THEKERNEL->stepper->get_acceleration_ticks_per_second() , this, &Extruder::acceleration_tick ); |
4cff3ded AW |
134 | } |
135 | ||
2bb8b390 | 136 | // Get config |
17c89e4d JM |
137 | void Extruder::on_config_reload(void *argument) |
138 | { | |
17c89e4d JM |
139 | if( this->single_config ) { |
140 | // If this module uses the old "single extruder" configuration style | |
14ecdbd7 | 141 | |
79f65cbb | 142 | this->steps_per_millimeter = THEKERNEL->config->value(extruder_steps_per_mm_checksum )->by_default(1)->as_number(); |
112ad2fc | 143 | this->filament_diameter = THEKERNEL->config->value(extruder_filament_diameter_checksum )->by_default(0)->as_number(); |
314ab8f7 | 144 | this->acceleration = THEKERNEL->config->value(extruder_acceleration_checksum )->by_default(1000)->as_number(); |
314ab8f7 | 145 | this->feed_rate = THEKERNEL->config->value(default_feed_rate_checksum )->by_default(1000)->as_number(); |
14ecdbd7 | 146 | |
314ab8f7 MM |
147 | this->step_pin.from_string( THEKERNEL->config->value(extruder_step_pin_checksum )->by_default("nc" )->as_string())->as_output(); |
148 | this->dir_pin.from_string( THEKERNEL->config->value(extruder_dir_pin_checksum )->by_default("nc" )->as_string())->as_output(); | |
149 | this->en_pin.from_string( THEKERNEL->config->value(extruder_en_pin_checksum )->by_default("nc" )->as_string())->as_output(); | |
14ecdbd7 | 150 | |
17c89e4d | 151 | for(int i = 0; i < 3; i++) { |
8adf2390 L |
152 | this->offset[i] = 0; |
153 | } | |
154 | ||
540c8365 L |
155 | this->enabled = true; |
156 | ||
17c89e4d JM |
157 | } else { |
158 | // If this module was created with the new multi extruder configuration style | |
14ecdbd7 | 159 | |
79f65cbb | 160 | this->steps_per_millimeter = THEKERNEL->config->value(extruder_checksum, this->identifier, steps_per_mm_checksum )->by_default(1)->as_number(); |
112ad2fc | 161 | this->filament_diameter = THEKERNEL->config->value(extruder_checksum, this->identifier, filament_diameter_checksum )->by_default(0)->as_number(); |
17c89e4d | 162 | this->acceleration = THEKERNEL->config->value(extruder_checksum, this->identifier, acceleration_checksum )->by_default(1000)->as_number(); |
17c89e4d | 163 | this->feed_rate = THEKERNEL->config->value( default_feed_rate_checksum )->by_default(1000)->as_number(); |
14ecdbd7 | 164 | |
17c89e4d JM |
165 | this->step_pin.from_string( THEKERNEL->config->value(extruder_checksum, this->identifier, step_pin_checksum )->by_default("nc" )->as_string())->as_output(); |
166 | this->dir_pin.from_string( THEKERNEL->config->value(extruder_checksum, this->identifier, dir_pin_checksum )->by_default("nc" )->as_string())->as_output(); | |
167 | this->en_pin.from_string( THEKERNEL->config->value(extruder_checksum, this->identifier, en_pin_checksum )->by_default("nc" )->as_string())->as_output(); | |
8adf2390 | 168 | |
17c89e4d JM |
169 | this->offset[X_AXIS] = THEKERNEL->config->value(extruder_checksum, this->identifier, x_offset_checksum )->by_default(0)->as_number(); |
170 | this->offset[Y_AXIS] = THEKERNEL->config->value(extruder_checksum, this->identifier, y_offset_checksum )->by_default(0)->as_number(); | |
171 | this->offset[Z_AXIS] = THEKERNEL->config->value(extruder_checksum, this->identifier, z_offset_checksum )->by_default(0)->as_number(); | |
ec6fde0b | 172 | |
14ecdbd7 AW |
173 | } |
174 | ||
ec6fde0b JM |
175 | // these are only supported in the new syntax, no need to be backward compatible as they did not exist before the change |
176 | this->retract_length = THEKERNEL->config->value(extruder_checksum, this->identifier, retract_length_checksum)->by_default(3)->as_number(); | |
177 | this->retract_feedrate = THEKERNEL->config->value(extruder_checksum, this->identifier, retract_feedrate_checksum)->by_default(45)->as_number(); | |
178 | this->retract_recover_length = THEKERNEL->config->value(extruder_checksum, this->identifier, retract_recover_length_checksum)->by_default(0)->as_number(); | |
179 | this->retract_recover_feedrate = THEKERNEL->config->value(extruder_checksum, this->identifier, retract_recover_feedrate_checksum)->by_default(8)->as_number(); | |
76ddeb67 | 180 | this->retract_zlift_length = THEKERNEL->config->value(extruder_checksum, this->identifier, retract_zlift_length_checksum)->by_default(0)->as_number(); |
fcd8bb63 | 181 | this->retract_zlift_feedrate = THEKERNEL->config->value(extruder_checksum, this->identifier, retract_zlift_feedrate_checksum)->by_default(100*60)->as_number(); // mm/min |
ec6fde0b | 182 | |
79f65cbb JM |
183 | if(filament_diameter > 0.01) { |
184 | this->volumetric_multiplier = 1.0F / (powf(this->filament_diameter / 2, 2) * PI); | |
185 | } | |
3494f3d0 JM |
186 | |
187 | // Stepper motor object for the extruder | |
188 | this->stepper_motor = new StepperMotor(step_pin, dir_pin, en_pin); | |
189 | this->stepper_motor->attach(this, &Extruder::stepper_motor_finished_move ); | |
190 | if( this->single_config ) { | |
191 | this->stepper_motor->set_max_rate(THEKERNEL->config->value(extruder_max_speed_checksum)->by_default(1000)->as_number()); | |
192 | }else{ | |
193 | this->stepper_motor->set_max_rate(THEKERNEL->config->value(extruder_checksum, this->identifier, max_speed_checksum)->by_default(1000)->as_number()); | |
194 | } | |
436a2cd1 AW |
195 | } |
196 | ||
d87968be JM |
197 | void Extruder::on_get_public_data(void* argument){ |
198 | PublicDataRequest* pdr = static_cast<PublicDataRequest*>(argument); | |
199 | ||
200 | if(!pdr->starts_with(extruder_checksum)) return; | |
201 | ||
202 | if(this->enabled) { | |
8a3ae3d0 | 203 | // Note this is allowing both step/mm and filament diameter to be exposed via public data |
79f65cbb | 204 | pdr->set_data_ptr(&this->steps_per_millimeter); |
d87968be JM |
205 | pdr->set_taken(); |
206 | } | |
207 | } | |
81b547a1 AW |
208 | |
209 | // When the play/pause button is set to pause, or a module calls the ON_PAUSE event | |
17c89e4d JM |
210 | void Extruder::on_pause(void *argument) |
211 | { | |
81b547a1 | 212 | this->paused = true; |
83ecfc46 | 213 | this->stepper_motor->pause(); |
81b547a1 AW |
214 | } |
215 | ||
216 | // When the play/pause button is set to play, or a module calls the ON_PLAY event | |
17c89e4d JM |
217 | void Extruder::on_play(void *argument) |
218 | { | |
81b547a1 | 219 | this->paused = false; |
83ecfc46 | 220 | this->stepper_motor->unpause(); |
81b547a1 AW |
221 | } |
222 | ||
17c89e4d JM |
223 | void Extruder::on_gcode_received(void *argument) |
224 | { | |
225 | Gcode *gcode = static_cast<Gcode *>(argument); | |
5dcb2ff3 | 226 | |
eafc2241 | 227 | // M codes most execute immediately, most only execute if enabled |
17c89e4d JM |
228 | if (gcode->has_m) { |
229 | if (gcode->m == 114 && this->enabled) { | |
4d9f562f | 230 | char buf[16]; |
17c89e4d | 231 | int n = snprintf(buf, sizeof(buf), " E:%1.3f ", this->current_position); |
4d9f562f | 232 | gcode->txt_after_ok.append(buf, n); |
74b6303c | 233 | gcode->mark_as_taken(); |
33e4cc02 | 234 | |
17c89e4d | 235 | } else if (gcode->m == 92 && ( (this->enabled && !gcode->has_letter('P')) || (gcode->has_letter('P') && gcode->get_value('P') == this->identifier) ) ) { |
1ad23cd3 | 236 | float spm = this->steps_per_millimeter; |
6b451be8 | 237 | if (gcode->has_letter('E')) { |
7369629d | 238 | spm = gcode->get_value('E'); |
79f65cbb | 239 | this->steps_per_millimeter = spm; |
4cba6755 JM |
240 | } |
241 | ||
7369629d MM |
242 | gcode->stream->printf("E:%g ", spm); |
243 | gcode->add_nl = true; | |
74b6303c | 244 | gcode->mark_as_taken(); |
33e4cc02 | 245 | |
f39a2ecf L |
246 | } else if (gcode->m == 200 && ( (this->enabled && !gcode->has_letter('P')) || (gcode->has_letter('P') && gcode->get_value('P') == this->identifier)) ) { |
247 | if (gcode->has_letter('D')) { | |
46750f71 | 248 | THEKERNEL->conveyor->wait_for_empty_queue(); // only apply after the queue has emptied |
112ad2fc | 249 | this->filament_diameter = gcode->get_value('D'); |
79f65cbb JM |
250 | if(filament_diameter > 0.01) { |
251 | this->volumetric_multiplier = 1.0F / (powf(this->filament_diameter / 2, 2) * PI); | |
252 | }else{ | |
253 | this->volumetric_multiplier = 1.0F; | |
254 | } | |
f39a2ecf | 255 | } |
112ad2fc | 256 | gcode->mark_as_taken(); |
8a3ae3d0 | 257 | |
0db12234 JM |
258 | } else if (gcode->m == 204 && gcode->has_letter('E') && |
259 | ( (this->enabled && !gcode->has_letter('P')) || (gcode->has_letter('P') && gcode->get_value('P') == this->identifier)) ) { | |
260 | // extruder acceleration M204 Ennn mm/sec^2 (Pnnn sets the specific extruder for M500) | |
261 | this->acceleration= gcode->get_value('E'); | |
262 | gcode->mark_as_taken(); | |
263 | ||
ec6fde0b | 264 | } else if (gcode->m == 207 && ( (this->enabled && !gcode->has_letter('P')) || (gcode->has_letter('P') && gcode->get_value('P') == this->identifier)) ) { |
d80bdf7b | 265 | // M207 - set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop] Q[zlift feedrate mm/min] |
ec6fde0b JM |
266 | if(gcode->has_letter('S')) retract_length = gcode->get_value('S'); |
267 | if(gcode->has_letter('F')) retract_feedrate = gcode->get_value('F')/60.0F; // specified in mm/min converted to mm/sec | |
d80bdf7b JM |
268 | if(gcode->has_letter('Z')) retract_zlift_length = gcode->get_value('Z'); |
269 | if(gcode->has_letter('Q')) retract_zlift_feedrate = gcode->get_value('Q'); | |
ec6fde0b JM |
270 | gcode->mark_as_taken(); |
271 | ||
272 | } else if (gcode->m == 208 && ( (this->enabled && !gcode->has_letter('P')) || (gcode->has_letter('P') && gcode->get_value('P') == this->identifier)) ) { | |
273 | // M208 - set retract recover length S[positive mm surplus to the M207 S*] F[feedrate mm/min] | |
274 | if(gcode->has_letter('S')) retract_recover_length = gcode->get_value('S'); | |
275 | if(gcode->has_letter('F')) retract_recover_feedrate = gcode->get_value('F')/60.0F; // specified in mm/min converted to mm/sec | |
276 | gcode->mark_as_taken(); | |
277 | ||
ea356db4 JM |
278 | } else if (gcode->m == 221 && this->enabled) { // M221 S100 change flow rate by percentage |
279 | if(gcode->has_letter('S')) this->extruder_multiplier= gcode->get_value('S')/100.0F; | |
280 | gcode->mark_as_taken(); | |
281 | ||
17c89e4d | 282 | } else if (gcode->m == 500 || gcode->m == 503) { // M500 saves some volatile settings to config override file, M503 just prints the settings |
4710532a | 283 | if( this->single_config ) { |
79f65cbb | 284 | gcode->stream->printf(";E Steps per mm:\nM92 E%1.4f\n", this->steps_per_millimeter); |
112ad2fc | 285 | gcode->stream->printf(";E Filament diameter:\nM200 D%1.4f\n", this->filament_diameter); |
d80bdf7b JM |
286 | 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); |
287 | 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); | |
0db12234 | 288 | gcode->stream->printf(";E acceleration mm/sec^2:\nM204 E%1.4f\n", this->acceleration); |
ec6fde0b | 289 | |
4710532a | 290 | } else { |
79f65cbb | 291 | gcode->stream->printf(";E Steps per mm:\nM92 E%1.4f P%d\n", this->steps_per_millimeter, this->identifier); |
112ad2fc | 292 | gcode->stream->printf(";E Filament diameter:\nM200 D%1.4f P%d\n", this->filament_diameter, this->identifier); |
d80bdf7b JM |
293 | 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); |
294 | 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); | |
0db12234 | 295 | gcode->stream->printf(";E acceleration mm/sec^2:\nM204 E%1.4f P%d\n", this->acceleration, this->identifier); |
17c89e4d | 296 | } |
33e4cc02 | 297 | gcode->mark_as_taken(); |
eafc2241 JM |
298 | } else if( gcode->m == 17 || gcode->m == 18 || gcode->m == 82 || gcode->m == 83 || gcode->m == 84 ) { |
299 | // Mcodes to pass along to on_gcode_execute | |
300 | THEKERNEL->conveyor->append_gcode(gcode); | |
301 | gcode->mark_as_taken(); | |
76ddeb67 JM |
302 | } |
303 | ||
eafc2241 JM |
304 | }else if(gcode->has_g) { |
305 | // G codes, NOTE some are ignored if not enabled | |
306 | if( (gcode->g == 92 && gcode->has_letter('E')) || (gcode->g == 90 || gcode->g == 91) ) { | |
307 | // Gcodes to pass along to on_gcode_execute | |
308 | THEKERNEL->conveyor->append_gcode(gcode); | |
309 | gcode->mark_as_taken(); | |
310 | ||
311 | }else if( this->enabled && gcode->g < 4 && gcode->has_letter('E') && !gcode->has_letter('X') && !gcode->has_letter('Y') && !gcode->has_letter('Z') ) { | |
312 | // This is a solo move, we add an empty block to the queue to prevent subsequent gcodes being executed at the same time | |
313 | THEKERNEL->conveyor->append_gcode(gcode); | |
314 | THEKERNEL->conveyor->queue_head_block(); | |
315 | gcode->mark_as_taken(); | |
316 | ||
317 | }else if( this->enabled && (gcode->g == 10 || gcode->g == 11) ) { // firmware retract command | |
318 | gcode->mark_as_taken(); | |
319 | // check we are in the correct state of retract or unretract | |
78af0407 JM |
320 | if(gcode->g == 10 && !retracted) { |
321 | this->retracted= true; | |
322 | this->cancel_zlift_restore= false; | |
323 | } else if(gcode->g == 11 && retracted){ | |
324 | this->retracted= false; | |
325 | } else | |
eafc2241 JM |
326 | return; // ignore duplicates |
327 | ||
328 | // 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 | |
329 | // this way zlift will happen after retract, (or before for unretract) NOTE we call the robot->on_gcode_receive directly to avoid recursion | |
78af0407 | 330 | if(retract_zlift_length > 0 && gcode->g == 11 && !this->cancel_zlift_restore) { |
eafc2241 | 331 | // reverse zlift happens before unretract |
78af0407 | 332 | // 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 |
eafc2241 JM |
333 | char buf[32]; |
334 | int n= snprintf(buf, sizeof(buf), "G0 Z%1.4f F%1.4f", -retract_zlift_length, retract_zlift_feedrate); | |
335 | string cmd(buf, n); | |
336 | Gcode gc(cmd, &(StreamOutput::NullStream)); | |
337 | bool oldmode= THEKERNEL->robot->absolute_mode; | |
338 | THEKERNEL->robot->absolute_mode= false; // needs to be relative mode | |
339 | THEKERNEL->robot->on_gcode_received(&gc); // send to robot directly | |
340 | THEKERNEL->robot->absolute_mode= oldmode; // restore mode | |
341 | } | |
342 | ||
343 | // This is a solo move, we add an empty block to the queue to prevent subsequent gcodes being executed at the same time | |
344 | THEKERNEL->conveyor->append_gcode(gcode); | |
345 | THEKERNEL->conveyor->queue_head_block(); | |
346 | ||
347 | if(retract_zlift_length > 0 && gcode->g == 10) { | |
348 | char buf[32]; | |
349 | int n= snprintf(buf, sizeof(buf), "G0 Z%1.4f F%1.4f", retract_zlift_length, retract_zlift_feedrate); | |
350 | string cmd(buf, n); | |
351 | Gcode gc(cmd, &(StreamOutput::NullStream)); | |
352 | bool oldmode= THEKERNEL->robot->absolute_mode; | |
353 | THEKERNEL->robot->absolute_mode= false; // needs to be relative mode | |
354 | THEKERNEL->robot->on_gcode_received(&gc); // send to robot directly | |
355 | THEKERNEL->robot->absolute_mode= oldmode; // restore mode | |
356 | } | |
78af0407 JM |
357 | |
358 | }else if( this->enabled && this->retracted && (gcode->g == 0 || gcode->g == 1) && gcode->has_letter('Z')) { | |
359 | // NOTE we cancel the zlift restore for the following G11 as we have moved to an absolute Z which we need to stay at | |
360 | this->cancel_zlift_restore= true; | |
76ddeb67 | 361 | } |
3c4f2dd8 AW |
362 | } |
363 | } | |
364 | ||
ded56b35 | 365 | // Compute extrusion speed based on parameters and gcode distance of travel |
17c89e4d JM |
366 | void Extruder::on_gcode_execute(void *argument) |
367 | { | |
368 | Gcode *gcode = static_cast<Gcode *>(argument); | |
ca037905 | 369 | |
eafc2241 JM |
370 | // The mode is OFF by default, and SOLO or FOLLOW only if we need to extrude |
371 | this->mode = OFF; | |
372 | ||
373 | // Absolute/relative mode, globably modal affect all extruders whether enabled or not | |
17c89e4d | 374 | if( gcode->has_m ) { |
eafc2241 JM |
375 | switch(gcode->m) { |
376 | case 17: | |
17c89e4d | 377 | this->en_pin.set(0); |
eafc2241 JM |
378 | break; |
379 | case 18: | |
17c89e4d | 380 | this->en_pin.set(1); |
eafc2241 | 381 | break; |
0c97ae7b | 382 | case 82: |
17c89e4d | 383 | this->absolute_mode = true; |
eafc2241 | 384 | break; |
0c97ae7b | 385 | case 83: |
17c89e4d | 386 | this->absolute_mode = false; |
eafc2241 JM |
387 | break; |
388 | case 84: | |
17c89e4d | 389 | this->en_pin.set(1); |
eafc2241 | 390 | break; |
17c89e4d | 391 | } |
eafc2241 | 392 | return; |
0c97ae7b JM |
393 | |
394 | } else if( gcode->has_g && (gcode->g == 90 || gcode->g == 91) ) { | |
395 | this->absolute_mode = (gcode->g == 90); | |
396 | return; | |
ca037905 MM |
397 | } |
398 | ||
ca037905 | 399 | |
eafc2241 | 400 | if( gcode->has_g && this->enabled ) { |
7b49793d | 401 | // G92: Reset extruder position |
eafc2241 | 402 | if( gcode->g == 92 ) { |
17c89e4d | 403 | if( gcode->has_letter('E') ) { |
e2b4a32b | 404 | this->current_position = gcode->get_value('E'); |
1a2d88eb | 405 | this->target_position = this->current_position; |
150bce10 | 406 | this->unstepped_distance = 0; |
17c89e4d | 407 | } else if( gcode->get_num_args() == 0) { |
b2aa3a55 L |
408 | this->current_position = 0.0; |
409 | this->target_position = this->current_position; | |
150bce10 | 410 | this->unstepped_distance = 0; |
ca037905 | 411 | } |
6b451be8 | 412 | |
eafc2241 | 413 | } else if (gcode->g == 10) { |
ec6fde0b | 414 | // FW retract command |
ec6fde0b JM |
415 | feed_rate= retract_feedrate; // mm/sec |
416 | this->mode = SOLO; | |
417 | this->travel_distance = -retract_length; | |
79f65cbb | 418 | this->target_position += this->travel_distance; |
ec6fde0b JM |
419 | this->en_pin.set(0); |
420 | ||
eafc2241 | 421 | } else if (gcode->g == 11) { |
ec6fde0b | 422 | // un retract command |
ec6fde0b JM |
423 | feed_rate= retract_recover_feedrate; // mm/sec |
424 | this->mode = SOLO; | |
79f65cbb | 425 | this->travel_distance = (retract_length + retract_recover_length); |
ec6fde0b JM |
426 | this->target_position += this->travel_distance; |
427 | this->en_pin.set(0); | |
428 | ||
eafc2241 | 429 | } else if (gcode->g == 0 || gcode->g == 1) { |
ca037905 | 430 | // Extrusion length from 'G' Gcode |
17c89e4d | 431 | if( gcode->has_letter('E' )) { |
ca037905 | 432 | // Get relative extrusion distance depending on mode ( in absolute mode we must substract target_position ) |
36eb3e62 | 433 | float extrusion_distance = gcode->get_value('E'); |
1ad23cd3 | 434 | float relative_extrusion_distance = extrusion_distance; |
17c89e4d | 435 | if (this->absolute_mode) { |
f8dc0043 MM |
436 | relative_extrusion_distance -= this->target_position; |
437 | this->target_position = extrusion_distance; | |
17c89e4d | 438 | } else { |
f8dc0043 MM |
439 | this->target_position += relative_extrusion_distance; |
440 | } | |
ca037905 | 441 | |
ded56b35 | 442 | // If the robot is moving, we follow it's movement, otherwise, we move alone |
ec6fde0b | 443 | 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 |
444 | this->mode = SOLO; |
445 | this->travel_distance = relative_extrusion_distance; | |
17c89e4d | 446 | } else { |
ca037905 | 447 | // We move proportionally to the robot's movement |
4464301d | 448 | this->mode = FOLLOW; |
ea356db4 | 449 | this->travel_ratio = (relative_extrusion_distance * this->volumetric_multiplier * this->extruder_multiplier) / gcode->millimeters_of_travel; // adjust for volumetric extrusion and extruder multiplier |
7dab41f3 | 450 | // TODO: check resulting flowrate, limit robot speed if it exceeds max_speed |
ca037905 MM |
451 | } |
452 | ||
62bd4cfa | 453 | this->en_pin.set(0); |
ca037905 | 454 | } |
6b451be8 JM |
455 | |
456 | if (gcode->has_letter('F')) { | |
dd0a7cfa | 457 | feed_rate = gcode->get_value('F') / THEKERNEL->robot->get_seconds_per_minute(); |
3494f3d0 JM |
458 | if (feed_rate > stepper_motor->get_max_rate()) |
459 | feed_rate = stepper_motor->get_max_rate(); | |
6b451be8 | 460 | } |
1a2d88eb | 461 | } |
ca037905 | 462 | } |
da24d6ae AW |
463 | } |
464 | ||
ded56b35 | 465 | // When a new block begins, either follow the robot, or step by ourselves ( or stay back and do nothing ) |
17c89e4d JM |
466 | void Extruder::on_block_begin(void *argument) |
467 | { | |
c974b296 | 468 | if(!this->enabled) return; |
17c89e4d | 469 | Block *block = static_cast<Block *>(argument); |
4464301d AW |
470 | |
471 | ||
17c89e4d | 472 | if( this->mode == SOLO ) { |
ded56b35 | 473 | // In solo mode we take the block so we can move even if the stepper has nothing to do |
58baeec1 | 474 | |
99826186 | 475 | this->current_position += this->travel_distance ; |
58baeec1 | 476 | |
79f65cbb | 477 | int steps_to_step = abs(int(floor(this->steps_per_millimeter * (this->travel_distance + this->unstepped_distance) ))); |
d0c14c30 | 478 | |
17c89e4d | 479 | if ( this->travel_distance > 0 ) { |
79f65cbb | 480 | this->unstepped_distance += this->travel_distance - (steps_to_step / this->steps_per_millimeter); //catch any overflow |
150bce10 | 481 | } else { |
79f65cbb | 482 | this->unstepped_distance += this->travel_distance + (steps_to_step / this->steps_per_millimeter); //catch any overflow |
150bce10 | 483 | } |
4464301d | 484 | |
17c89e4d | 485 | if( steps_to_step != 0 ) { |
58baeec1 | 486 | |
4464301d AW |
487 | // We take the block, we have to release it or everything gets stuck |
488 | block->take(); | |
489 | this->current_block = block; | |
58baeec1 | 490 | |
6f6677fc | 491 | this->stepper_motor->move( ( this->travel_distance > 0 ), steps_to_step, 0); |
4464301d | 492 | |
17c89e4d | 493 | } else { |
d149c730 | 494 | this->current_block = NULL; |
4464301d AW |
495 | } |
496 | ||
17c89e4d | 497 | } else if( this->mode == FOLLOW ) { |
1a2d88eb | 498 | // In non-solo mode, we just follow the stepper module |
b5a9a6c4 | 499 | this->travel_distance = block->millimeters * this->travel_ratio; |
99826186 MM |
500 | |
501 | this->current_position += this->travel_distance; | |
502 | ||
150bce10 MM |
503 | int steps_to_step = abs(int(floor(this->steps_per_millimeter * (this->travel_distance + this->unstepped_distance) ))); |
504 | ||
17c89e4d JM |
505 | if ( this->travel_distance > 0 ) { |
506 | this->unstepped_distance += this->travel_distance - (steps_to_step / this->steps_per_millimeter); //catch any overflow | |
150bce10 | 507 | } else { |
17c89e4d | 508 | this->unstepped_distance += this->travel_distance + (steps_to_step / this->steps_per_millimeter); //catch any overflow |
150bce10 | 509 | } |
99826186 | 510 | |
17c89e4d | 511 | if( steps_to_step != 0 ) { |
4464301d | 512 | block->take(); |
b5a9a6c4 MM |
513 | this->current_block = block; |
514 | ||
f3b48426 | 515 | this->stepper_motor->move( ( this->travel_distance > 0 ), steps_to_step); |
8b1ecc90 | 516 | on_speed_change(this); // set initial speed |
17c89e4d | 517 | } else { |
d149c730 | 518 | this->current_block = NULL; |
4464301d | 519 | } |
be8332cd | 520 | |
17c89e4d | 521 | } else if( this->mode == OFF ) { |
be8332cd | 522 | // No movement means we must reset our speed |
d149c730 | 523 | this->current_block = NULL; |
4464301d | 524 | //this->stepper_motor->set_speed(0); |
58baeec1 | 525 | |
ca037905 | 526 | } |
e2b4a32b | 527 | |
4cff3ded AW |
528 | } |
529 | ||
ded56b35 | 530 | // When a block ends, pause the stepping interrupt |
17c89e4d JM |
531 | void Extruder::on_block_end(void *argument) |
532 | { | |
c974b296 | 533 | if(!this->enabled) return; |
ca037905 MM |
534 | this->current_block = NULL; |
535 | } | |
4cff3ded | 536 | |
ded56b35 | 537 | // Called periodically to change the speed to match acceleration or to match the speed of the robot |
ac971358 | 538 | // Only used in SOLO mode |
17c89e4d JM |
539 | uint32_t Extruder::acceleration_tick(uint32_t dummy) |
540 | { | |
c974b296 | 541 | if(!this->enabled) return 0; |
1a2d88eb | 542 | |
ca037905 | 543 | // Avoid trying to work when we really shouldn't ( between blocks or re-entry ) |
17c89e4d JM |
544 | if( this->current_block == NULL || this->paused || this->mode != SOLO ) { |
545 | return 0; | |
546 | } | |
be8332cd | 547 | |
ac971358 JM |
548 | if(!this->stepper_motor->is_moving()) return 0; |
549 | ||
2fa50ca0 | 550 | uint32_t current_rate = this->stepper_motor->get_steps_per_second(); |
79f65cbb | 551 | uint32_t target_rate = int(floor(this->feed_rate * this->steps_per_millimeter)); |
58baeec1 | 552 | |
17c89e4d | 553 | if( current_rate < target_rate ) { |
79f65cbb | 554 | uint32_t rate_increase = int(floor((this->acceleration / THEKERNEL->stepper->get_acceleration_ticks_per_second()) * this->steps_per_millimeter)); |
4464301d | 555 | current_rate = min( target_rate, current_rate + rate_increase ); |
0eb11a06 | 556 | } |
17c89e4d JM |
557 | if( current_rate > target_rate ) { |
558 | current_rate = target_rate; | |
559 | } | |
1a2d88eb | 560 | |
8519d744 | 561 | // steps per second |
ac971358 | 562 | this->stepper_motor->set_speed(current_rate); |
58baeec1 | 563 | |
be8332cd | 564 | return 0; |
ded56b35 | 565 | } |
1a2d88eb | 566 | |
be8332cd | 567 | // Speed has been updated for the robot's stepper, we must update accordingly |
17c89e4d JM |
568 | void Extruder::on_speed_change( void *argument ) |
569 | { | |
c974b296 | 570 | if(!this->enabled) return; |
ca037905 | 571 | |
be8332cd | 572 | // Avoid trying to work when we really shouldn't ( between blocks or re-entry ) |
ac971358 | 573 | if( this->current_block == NULL || this->paused || this->mode != FOLLOW || !this->stepper_motor->is_moving()) { |
17c89e4d JM |
574 | return; |
575 | } | |
4464301d | 576 | |
c1c802b1 | 577 | // if we are flushing the queue we need to stop the motor when it has decelerated to zero, we get this call with argumnet == 0 when this happens |
f3b48426 | 578 | // this is what steppermotor does |
8b1ecc90 | 579 | if(argument == 0) { |
f3b48426 JM |
580 | this->stepper_motor->move(0, 0); |
581 | this->current_block->release(); | |
582 | this->current_block = NULL; | |
583 | return; | |
584 | } | |
585 | ||
4464301d | 586 | /* |
da947c62 | 587 | * nominal block duration = current block's steps / ( current block's nominal rate ) |
58baeec1 | 588 | * nominal extruder rate = extruder steps / nominal block duration |
0ac1713f | 589 | * actual extruder rate = nominal extruder rate * ( ( stepper's steps per second ) / ( current block's nominal rate ) ) |
da947c62 MM |
590 | * 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 ) ) |
591 | * or simplified : extruder steps * ( stepper's steps per second ) ) / current block's steps | |
592 | * or even : ( stepper steps per second ) * ( extruder steps / current block's steps ) | |
4464301d | 593 | */ |
58baeec1 | 594 | |
3494f3d0 JM |
595 | //this->stepper_motor->set_speed(THEKERNEL->stepper->get_trapezoid_adjusted_rate() * (float)this->stepper_motor->get_steps_to_move() / (float)this->current_block->steps_event_count); |
596 | this->stepper_motor->set_step_rate(THEKERNEL->stepper->get_trapezoid_adjusted_rate(), (float)this->current_block->steps_event_count); | |
4cff3ded AW |
597 | } |
598 | ||
be8332cd | 599 | // When the stepper has finished it's move |
17c89e4d JM |
600 | uint32_t Extruder::stepper_motor_finished_move(uint32_t dummy) |
601 | { | |
c974b296 | 602 | if(!this->enabled) return 0; |
4cff3ded | 603 | |
4464301d AW |
604 | //printf("extruder releasing\r\n"); |
605 | ||
17c89e4d JM |
606 | if (this->current_block) { // this should always be true, but sometimes it isn't. TODO: find out why |
607 | Block *block = this->current_block; | |
d149c730 AW |
608 | this->current_block = NULL; |
609 | block->release(); | |
8519d744 | 610 | } |
f2203544 | 611 | return 0; |
feb204be | 612 | |
be8332cd | 613 | } |