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" |
928467c0 JM |
27 | #include "StreamOutputPool.h" |
28 | #include "ExtruderPublicAccess.h" | |
5673fe39 | 29 | |
5dcb2ff3 | 30 | #include <mri.h> |
4cff3ded | 31 | |
ec6fde0b | 32 | // OLD config names for backwards compatibility, NOTE new configs will not be added here |
43424972 JM |
33 | #define extruder_module_enable_checksum CHECKSUM("extruder_module_enable") |
34 | #define extruder_steps_per_mm_checksum CHECKSUM("extruder_steps_per_mm") | |
74079661 | 35 | #define extruder_filament_diameter_checksum CHECKSUM("extruder_filament_diameter") |
43424972 JM |
36 | #define extruder_acceleration_checksum CHECKSUM("extruder_acceleration") |
37 | #define extruder_step_pin_checksum CHECKSUM("extruder_step_pin") | |
38 | #define extruder_dir_pin_checksum CHECKSUM("extruder_dir_pin") | |
39 | #define extruder_en_pin_checksum CHECKSUM("extruder_en_pin") | |
40 | #define extruder_max_speed_checksum CHECKSUM("extruder_max_speed") | |
cade6b9a | 41 | #define extruder_default_feed_rate_checksum CHECKSUM("extruder_default_feed_rate") |
43424972 | 42 | |
ec6fde0b | 43 | // NEW config names |
43424972 JM |
44 | |
45 | #define default_feed_rate_checksum CHECKSUM("default_feed_rate") | |
46 | #define steps_per_mm_checksum CHECKSUM("steps_per_mm") | |
74079661 | 47 | #define filament_diameter_checksum CHECKSUM("filament_diameter") |
43424972 JM |
48 | #define acceleration_checksum CHECKSUM("acceleration") |
49 | #define step_pin_checksum CHECKSUM("step_pin") | |
50 | #define dir_pin_checksum CHECKSUM("dir_pin") | |
51 | #define en_pin_checksum CHECKSUM("en_pin") | |
52 | #define max_speed_checksum CHECKSUM("max_speed") | |
8adf2390 L |
53 | #define x_offset_checksum CHECKSUM("x_offset") |
54 | #define y_offset_checksum CHECKSUM("y_offset") | |
55 | #define z_offset_checksum CHECKSUM("z_offset") | |
56 | ||
ec6fde0b JM |
57 | #define retract_length_checksum CHECKSUM("retract_length") |
58 | #define retract_feedrate_checksum CHECKSUM("retract_feedrate") | |
59 | #define retract_recover_length_checksum CHECKSUM("retract_recover_length") | |
60 | #define retract_recover_feedrate_checksum CHECKSUM("retract_recover_feedrate") | |
76ddeb67 JM |
61 | #define retract_zlift_length_checksum CHECKSUM("retract_zlift_length") |
62 | #define retract_zlift_feedrate_checksum CHECKSUM("retract_zlift_feedrate") | |
ec6fde0b | 63 | |
8adf2390 L |
64 | #define X_AXIS 0 |
65 | #define Y_AXIS 1 | |
66 | #define Z_AXIS 2 | |
43424972 | 67 | |
17c89e4d JM |
68 | #define OFF 0 |
69 | #define SOLO 1 | |
70 | #define FOLLOW 2 | |
71 | ||
8a3ae3d0 | 72 | #define PI 3.14159265358979F |
74079661 | 73 | |
41fd89e0 | 74 | |
58baeec1 MM |
75 | /* The extruder module controls a filament extruder for 3D printing: http://en.wikipedia.org/wiki/Fused_deposition_modeling |
76 | * 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 ) | |
77 | * or the head moves, and the extruder moves plastic at a speed proportional to the movement of the head ( FOLLOW mode here ). | |
4464301d AW |
78 | */ |
79 | ||
17c89e4d JM |
80 | Extruder::Extruder( uint16_t config_identifier, bool single ) |
81 | { | |
436a2cd1 | 82 | this->absolute_mode = true; |
928467c0 | 83 | this->milestone_absolute_mode = true; |
ea356db4 JM |
84 | this->enabled = false; |
85 | this->paused = false; | |
17c89e4d | 86 | this->single_config = single; |
ea356db4 JM |
87 | this->identifier = config_identifier; |
88 | this->retracted = false; | |
89 | this->volumetric_multiplier = 1.0F; | |
90 | this->extruder_multiplier = 1.0F; | |
3494f3d0 | 91 | this->stepper_motor= nullptr; |
928467c0 JM |
92 | this->milestone_last_position= 0; |
93 | this->max_volumetric_rate= 0; | |
8adf2390 | 94 | |
48a10598 | 95 | memset(this->offset, 0, sizeof(this->offset)); |
436a2cd1 | 96 | } |
4cff3ded | 97 | |
3494f3d0 JM |
98 | Extruder::~Extruder() |
99 | { | |
100 | delete stepper_motor; | |
101 | } | |
102 | ||
3d1a4519 JM |
103 | void Extruder::on_halt(void *arg) |
104 | { | |
728477c4 JM |
105 | if(arg == nullptr) { |
106 | // turn off motor | |
728477c4 JM |
107 | this->en_pin.set(1); |
108 | } | |
3d1a4519 JM |
109 | } |
110 | ||
17c89e4d JM |
111 | void Extruder::on_module_loaded() |
112 | { | |
4cff3ded | 113 | // Settings |
da24d6ae | 114 | this->on_config_reload(this); |
4cff3ded | 115 | |
3494f3d0 JM |
116 | // Start values |
117 | this->target_position = 0; | |
118 | this->current_position = 0; | |
119 | this->unstepped_distance = 0; | |
120 | this->current_block = NULL; | |
121 | this->mode = OFF; | |
122 | ||
4cff3ded AW |
123 | // We work on the same Block as Stepper, so we need to know when it gets a new one and drops one |
124 | this->register_for_event(ON_BLOCK_BEGIN); | |
125 | this->register_for_event(ON_BLOCK_END); | |
6989211c | 126 | this->register_for_event(ON_GCODE_RECEIVED); |
436a2cd1 | 127 | this->register_for_event(ON_GCODE_EXECUTE); |
81b547a1 AW |
128 | this->register_for_event(ON_PLAY); |
129 | this->register_for_event(ON_PAUSE); | |
3d1a4519 | 130 | this->register_for_event(ON_HALT); |
be8332cd | 131 | this->register_for_event(ON_SPEED_CHANGE); |
d87968be | 132 | this->register_for_event(ON_GET_PUBLIC_DATA); |
d467fcad | 133 | this->register_for_event(ON_SET_PUBLIC_DATA); |
ca037905 | 134 | |
ded56b35 | 135 | // Update speed every *acceleration_ticks_per_second* |
a157d099 | 136 | THEKERNEL->step_ticker->register_acceleration_tick_handler([this](){acceleration_tick(); }); |
4cff3ded AW |
137 | } |
138 | ||
2bb8b390 | 139 | // Get config |
17c89e4d JM |
140 | void Extruder::on_config_reload(void *argument) |
141 | { | |
17c89e4d JM |
142 | if( this->single_config ) { |
143 | // If this module uses the old "single extruder" configuration style | |
14ecdbd7 | 144 | |
79f65cbb | 145 | this->steps_per_millimeter = THEKERNEL->config->value(extruder_steps_per_mm_checksum )->by_default(1)->as_number(); |
112ad2fc | 146 | this->filament_diameter = THEKERNEL->config->value(extruder_filament_diameter_checksum )->by_default(0)->as_number(); |
314ab8f7 | 147 | this->acceleration = THEKERNEL->config->value(extruder_acceleration_checksum )->by_default(1000)->as_number(); |
cade6b9a | 148 | this->feed_rate = THEKERNEL->config->value(extruder_default_feed_rate_checksum )->by_default(1000)->as_number(); |
14ecdbd7 | 149 | |
314ab8f7 MM |
150 | this->step_pin.from_string( THEKERNEL->config->value(extruder_step_pin_checksum )->by_default("nc" )->as_string())->as_output(); |
151 | this->dir_pin.from_string( THEKERNEL->config->value(extruder_dir_pin_checksum )->by_default("nc" )->as_string())->as_output(); | |
152 | this->en_pin.from_string( THEKERNEL->config->value(extruder_en_pin_checksum )->by_default("nc" )->as_string())->as_output(); | |
14ecdbd7 | 153 | |
17c89e4d | 154 | for(int i = 0; i < 3; i++) { |
8adf2390 L |
155 | this->offset[i] = 0; |
156 | } | |
157 | ||
540c8365 L |
158 | this->enabled = true; |
159 | ||
17c89e4d JM |
160 | } else { |
161 | // If this module was created with the new multi extruder configuration style | |
14ecdbd7 | 162 | |
79f65cbb | 163 | this->steps_per_millimeter = THEKERNEL->config->value(extruder_checksum, this->identifier, steps_per_mm_checksum )->by_default(1)->as_number(); |
112ad2fc | 164 | this->filament_diameter = THEKERNEL->config->value(extruder_checksum, this->identifier, filament_diameter_checksum )->by_default(0)->as_number(); |
17c89e4d | 165 | this->acceleration = THEKERNEL->config->value(extruder_checksum, this->identifier, acceleration_checksum )->by_default(1000)->as_number(); |
cade6b9a | 166 | this->feed_rate = THEKERNEL->config->value(extruder_checksum, this->identifier, default_feed_rate_checksum )->by_default(1000)->as_number(); |
14ecdbd7 | 167 | |
17c89e4d JM |
168 | this->step_pin.from_string( THEKERNEL->config->value(extruder_checksum, this->identifier, step_pin_checksum )->by_default("nc" )->as_string())->as_output(); |
169 | this->dir_pin.from_string( THEKERNEL->config->value(extruder_checksum, this->identifier, dir_pin_checksum )->by_default("nc" )->as_string())->as_output(); | |
170 | this->en_pin.from_string( THEKERNEL->config->value(extruder_checksum, this->identifier, en_pin_checksum )->by_default("nc" )->as_string())->as_output(); | |
8adf2390 | 171 | |
17c89e4d JM |
172 | this->offset[X_AXIS] = THEKERNEL->config->value(extruder_checksum, this->identifier, x_offset_checksum )->by_default(0)->as_number(); |
173 | this->offset[Y_AXIS] = THEKERNEL->config->value(extruder_checksum, this->identifier, y_offset_checksum )->by_default(0)->as_number(); | |
174 | this->offset[Z_AXIS] = THEKERNEL->config->value(extruder_checksum, this->identifier, z_offset_checksum )->by_default(0)->as_number(); | |
ec6fde0b | 175 | |
14ecdbd7 AW |
176 | } |
177 | ||
ec6fde0b JM |
178 | // these are only supported in the new syntax, no need to be backward compatible as they did not exist before the change |
179 | this->retract_length = THEKERNEL->config->value(extruder_checksum, this->identifier, retract_length_checksum)->by_default(3)->as_number(); | |
180 | this->retract_feedrate = THEKERNEL->config->value(extruder_checksum, this->identifier, retract_feedrate_checksum)->by_default(45)->as_number(); | |
181 | this->retract_recover_length = THEKERNEL->config->value(extruder_checksum, this->identifier, retract_recover_length_checksum)->by_default(0)->as_number(); | |
182 | this->retract_recover_feedrate = THEKERNEL->config->value(extruder_checksum, this->identifier, retract_recover_feedrate_checksum)->by_default(8)->as_number(); | |
76ddeb67 | 183 | this->retract_zlift_length = THEKERNEL->config->value(extruder_checksum, this->identifier, retract_zlift_length_checksum)->by_default(0)->as_number(); |
fcd8bb63 | 184 | this->retract_zlift_feedrate = THEKERNEL->config->value(extruder_checksum, this->identifier, retract_zlift_feedrate_checksum)->by_default(100*60)->as_number(); // mm/min |
ec6fde0b | 185 | |
1da77df4 | 186 | if(filament_diameter > 0.01F) { |
79f65cbb JM |
187 | this->volumetric_multiplier = 1.0F / (powf(this->filament_diameter / 2, 2) * PI); |
188 | } | |
3494f3d0 JM |
189 | |
190 | // Stepper motor object for the extruder | |
191 | this->stepper_motor = new StepperMotor(step_pin, dir_pin, en_pin); | |
192 | this->stepper_motor->attach(this, &Extruder::stepper_motor_finished_move ); | |
193 | if( this->single_config ) { | |
194 | this->stepper_motor->set_max_rate(THEKERNEL->config->value(extruder_max_speed_checksum)->by_default(1000)->as_number()); | |
195 | }else{ | |
196 | this->stepper_motor->set_max_rate(THEKERNEL->config->value(extruder_checksum, this->identifier, max_speed_checksum)->by_default(1000)->as_number()); | |
197 | } | |
436a2cd1 AW |
198 | } |
199 | ||
d87968be JM |
200 | void Extruder::on_get_public_data(void* argument){ |
201 | PublicDataRequest* pdr = static_cast<PublicDataRequest*>(argument); | |
202 | ||
203 | if(!pdr->starts_with(extruder_checksum)) return; | |
204 | ||
205 | if(this->enabled) { | |
8a3ae3d0 | 206 | // Note this is allowing both step/mm and filament diameter to be exposed via public data |
79f65cbb | 207 | pdr->set_data_ptr(&this->steps_per_millimeter); |
d87968be JM |
208 | pdr->set_taken(); |
209 | } | |
210 | } | |
81b547a1 | 211 | |
fe484657 JM |
212 | // check against maximum speeds and return the rate modifier |
213 | float Extruder::check_max_speeds(float target, float isecs) | |
214 | { | |
215 | float rm= 1.0F; // default no rate modification | |
216 | float delta; | |
217 | // get change in E (may be mm or mm³) | |
218 | if(milestone_absolute_mode) { | |
219 | delta= fabsf(target - milestone_last_position); // delta move | |
220 | milestone_last_position= target; | |
221 | ||
222 | }else{ | |
223 | delta= target; | |
224 | milestone_last_position += target; | |
225 | } | |
226 | ||
227 | if(this->max_volumetric_rate > 0 && this->filament_diameter > 0.01F) { | |
228 | // volumetric enabled and check for volumetric rate | |
229 | float v= delta * isecs; // the flow rate in mm³/sec | |
230 | ||
231 | // return the rate change needed to stay within the max rate | |
232 | if(v > max_volumetric_rate) { | |
233 | rm = max_volumetric_rate / v; | |
234 | isecs *= rm; // this slows the rate down for the next test | |
235 | } | |
236 | //THEKERNEL->streams->printf("requested flow rate: %f mm³/sec, corrected flow rate: %f mm³/sec\n", v, v * rm); | |
237 | } | |
238 | ||
239 | // check for max speed as well | |
240 | float max_speed= this->stepper_motor->get_max_rate(); | |
241 | if(max_speed > 0) { | |
242 | if(this->filament_diameter > 0.01F) { | |
243 | // volumetric so need to convert delta which is mm³ to mm | |
244 | delta *= volumetric_multiplier; | |
245 | } | |
246 | ||
247 | float sm= 1.0F; | |
248 | float v= delta * isecs; // the speed in mm/sec | |
249 | if(v > max_speed) { | |
250 | sm *= (max_speed / v); | |
251 | } | |
252 | //THEKERNEL->streams->printf("requested speed: %f mm/sec, corrected speed: %f mm/sec\n", v, v * sm); | |
253 | rm *= sm; | |
254 | } | |
255 | return rm; | |
256 | } | |
257 | ||
d467fcad JM |
258 | void Extruder::on_set_public_data(void *argument) |
259 | { | |
260 | PublicDataRequest *pdr = static_cast<PublicDataRequest *>(argument); | |
261 | ||
262 | if(!pdr->starts_with(extruder_checksum)) return; | |
263 | ||
928467c0 JM |
264 | // handle extrude rates request from robot |
265 | // TODO if not in volumetric mode then limit speed based on max_speed | |
266 | if(pdr->second_element_is(target_checksum)) { | |
fe484657 JM |
267 | // disabled extruders do not reply NOTE only one enabled extruder supported |
268 | if(!this->enabled) return; | |
928467c0 JM |
269 | |
270 | float *d= static_cast<float*>(pdr->get_data_ptr()); | |
271 | float target= d[0]; // the E passed in on Gcode is in mm³ (maybe absolute or relative) | |
272 | float isecs= d[1]; // inverted secs | |
928467c0 | 273 | |
fe484657 JM |
274 | // check against maximum speeds and return rate modifier |
275 | d[1]= check_max_speeds(target, isecs); | |
928467c0 | 276 | |
928467c0 JM |
277 | pdr->set_taken(); |
278 | return; | |
279 | } | |
280 | ||
d467fcad JM |
281 | // save or restore state |
282 | if(pdr->second_element_is(save_state_checksum)) { | |
283 | this->saved_current_position= this->current_position; | |
284 | this->saved_absolute_mode= this->absolute_mode; | |
285 | pdr->set_taken(); | |
286 | }else if(pdr->second_element_is(restore_state_checksum)) { | |
287 | this->current_position= this->saved_current_position; | |
288 | this->absolute_mode= this->saved_absolute_mode; | |
289 | pdr->set_taken(); | |
290 | } | |
291 | } | |
292 | ||
81b547a1 | 293 | // When the play/pause button is set to pause, or a module calls the ON_PAUSE event |
17c89e4d JM |
294 | void Extruder::on_pause(void *argument) |
295 | { | |
81b547a1 | 296 | this->paused = true; |
83ecfc46 | 297 | this->stepper_motor->pause(); |
81b547a1 AW |
298 | } |
299 | ||
300 | // When the play/pause button is set to play, or a module calls the ON_PLAY event | |
17c89e4d JM |
301 | void Extruder::on_play(void *argument) |
302 | { | |
81b547a1 | 303 | this->paused = false; |
83ecfc46 | 304 | this->stepper_motor->unpause(); |
81b547a1 AW |
305 | } |
306 | ||
17c89e4d JM |
307 | void Extruder::on_gcode_received(void *argument) |
308 | { | |
309 | Gcode *gcode = static_cast<Gcode *>(argument); | |
5dcb2ff3 | 310 | |
eafc2241 | 311 | // M codes most execute immediately, most only execute if enabled |
17c89e4d JM |
312 | if (gcode->has_m) { |
313 | if (gcode->m == 114 && this->enabled) { | |
4d9f562f | 314 | char buf[16]; |
17c89e4d | 315 | int n = snprintf(buf, sizeof(buf), " E:%1.3f ", this->current_position); |
4d9f562f | 316 | gcode->txt_after_ok.append(buf, n); |
33e4cc02 | 317 | |
17c89e4d | 318 | } else if (gcode->m == 92 && ( (this->enabled && !gcode->has_letter('P')) || (gcode->has_letter('P') && gcode->get_value('P') == this->identifier) ) ) { |
1ad23cd3 | 319 | float spm = this->steps_per_millimeter; |
6b451be8 | 320 | if (gcode->has_letter('E')) { |
7369629d | 321 | spm = gcode->get_value('E'); |
79f65cbb | 322 | this->steps_per_millimeter = spm; |
4cba6755 JM |
323 | } |
324 | ||
7369629d MM |
325 | gcode->stream->printf("E:%g ", spm); |
326 | gcode->add_nl = true; | |
33e4cc02 | 327 | |
f39a2ecf L |
328 | } else if (gcode->m == 200 && ( (this->enabled && !gcode->has_letter('P')) || (gcode->has_letter('P') && gcode->get_value('P') == this->identifier)) ) { |
329 | if (gcode->has_letter('D')) { | |
46750f71 | 330 | THEKERNEL->conveyor->wait_for_empty_queue(); // only apply after the queue has emptied |
112ad2fc | 331 | this->filament_diameter = gcode->get_value('D'); |
d22755f7 | 332 | if(filament_diameter > 0.01F) { |
79f65cbb JM |
333 | this->volumetric_multiplier = 1.0F / (powf(this->filament_diameter / 2, 2) * PI); |
334 | }else{ | |
335 | this->volumetric_multiplier = 1.0F; | |
336 | } | |
d22755f7 JM |
337 | }else { |
338 | if(filament_diameter > 0.01F) { | |
339 | gcode->stream->printf("Filament Diameter: %f\n", this->filament_diameter); | |
340 | }else{ | |
341 | gcode->stream->printf("Volumetric extrusion is disabled\n"); | |
342 | } | |
f39a2ecf | 343 | } |
8a3ae3d0 | 344 | |
928467c0 JM |
345 | } else if (gcode->m == 203 && ( (this->enabled && !gcode->has_letter('P')) || (gcode->has_letter('P') && gcode->get_value('P') == this->identifier)) ) { |
346 | // M203 Exxx Vyyy Set maximum feedrates xxx mm/sec and/or yyy mm³/sec | |
347 | if(gcode->get_num_args() == 0) { | |
348 | gcode->stream->printf("E:%g V:%g", this->stepper_motor->get_max_rate(), this->max_volumetric_rate); | |
349 | gcode->add_nl = true; | |
350 | ||
351 | }else{ | |
352 | if(gcode->has_letter('E')){ | |
353 | this->stepper_motor->set_max_rate(gcode->get_value('E')); | |
354 | } | |
355 | if(gcode->has_letter('V')){ | |
356 | this->max_volumetric_rate= gcode->get_value('V'); | |
357 | } | |
358 | } | |
359 | ||
0db12234 JM |
360 | } else if (gcode->m == 204 && gcode->has_letter('E') && |
361 | ( (this->enabled && !gcode->has_letter('P')) || (gcode->has_letter('P') && gcode->get_value('P') == this->identifier)) ) { | |
362 | // extruder acceleration M204 Ennn mm/sec^2 (Pnnn sets the specific extruder for M500) | |
363 | this->acceleration= gcode->get_value('E'); | |
0db12234 | 364 | |
ec6fde0b | 365 | } else if (gcode->m == 207 && ( (this->enabled && !gcode->has_letter('P')) || (gcode->has_letter('P') && gcode->get_value('P') == this->identifier)) ) { |
d80bdf7b | 366 | // M207 - set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop] Q[zlift feedrate mm/min] |
ec6fde0b JM |
367 | if(gcode->has_letter('S')) retract_length = gcode->get_value('S'); |
368 | if(gcode->has_letter('F')) retract_feedrate = gcode->get_value('F')/60.0F; // specified in mm/min converted to mm/sec | |
d80bdf7b JM |
369 | if(gcode->has_letter('Z')) retract_zlift_length = gcode->get_value('Z'); |
370 | if(gcode->has_letter('Q')) retract_zlift_feedrate = gcode->get_value('Q'); | |
ec6fde0b JM |
371 | |
372 | } else if (gcode->m == 208 && ( (this->enabled && !gcode->has_letter('P')) || (gcode->has_letter('P') && gcode->get_value('P') == this->identifier)) ) { | |
373 | // M208 - set retract recover length S[positive mm surplus to the M207 S*] F[feedrate mm/min] | |
374 | if(gcode->has_letter('S')) retract_recover_length = gcode->get_value('S'); | |
375 | if(gcode->has_letter('F')) retract_recover_feedrate = gcode->get_value('F')/60.0F; // specified in mm/min converted to mm/sec | |
ec6fde0b | 376 | |
ea356db4 | 377 | } else if (gcode->m == 221 && this->enabled) { // M221 S100 change flow rate by percentage |
adba2978 JM |
378 | if(gcode->has_letter('S')) { |
379 | this->extruder_multiplier= gcode->get_value('S')/100.0F; | |
380 | }else{ | |
9ef9f45b | 381 | gcode->stream->printf("Flow rate at %6.2f %%\n", this->extruder_multiplier * 100.0F); |
adba2978 | 382 | } |
ea356db4 | 383 | |
17c89e4d | 384 | } else if (gcode->m == 500 || gcode->m == 503) { // M500 saves some volatile settings to config override file, M503 just prints the settings |
4710532a | 385 | if( this->single_config ) { |
79f65cbb | 386 | gcode->stream->printf(";E Steps per mm:\nM92 E%1.4f\n", this->steps_per_millimeter); |
112ad2fc | 387 | gcode->stream->printf(";E Filament diameter:\nM200 D%1.4f\n", this->filament_diameter); |
d80bdf7b JM |
388 | 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); |
389 | 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 | 390 | gcode->stream->printf(";E acceleration mm/sec^2:\nM204 E%1.4f\n", this->acceleration); |
928467c0 JM |
391 | gcode->stream->printf(";E max feed rate mm/sec:\nM203 E%1.4f\n", this->stepper_motor->get_max_rate()); |
392 | if(this->max_volumetric_rate > 0) { | |
393 | gcode->stream->printf(";E max volumetric rate mm³/sec:\nM203 V%1.4f\n", this->max_volumetric_rate); | |
394 | } | |
ec6fde0b | 395 | |
4710532a | 396 | } else { |
79f65cbb | 397 | gcode->stream->printf(";E Steps per mm:\nM92 E%1.4f P%d\n", this->steps_per_millimeter, this->identifier); |
112ad2fc | 398 | gcode->stream->printf(";E Filament diameter:\nM200 D%1.4f P%d\n", this->filament_diameter, this->identifier); |
d80bdf7b JM |
399 | 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); |
400 | 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 | 401 | gcode->stream->printf(";E acceleration mm/sec^2:\nM204 E%1.4f P%d\n", this->acceleration, this->identifier); |
928467c0 JM |
402 | gcode->stream->printf(";E max feed rate mm/sec:\nM203 E%1.4f P%d\n", this->stepper_motor->get_max_rate(), this->identifier); |
403 | if(this->max_volumetric_rate > 0) { | |
404 | gcode->stream->printf(";E max volumetric rate mm³/sec:\nM203 V%1.4f P%d\n", this->max_volumetric_rate, this->identifier); | |
405 | } | |
17c89e4d | 406 | } |
928467c0 | 407 | |
eafc2241 JM |
408 | } else if( gcode->m == 17 || gcode->m == 18 || gcode->m == 82 || gcode->m == 83 || gcode->m == 84 ) { |
409 | // Mcodes to pass along to on_gcode_execute | |
410 | THEKERNEL->conveyor->append_gcode(gcode); | |
6e92ab91 | 411 | |
76ddeb67 JM |
412 | } |
413 | ||
eafc2241 JM |
414 | }else if(gcode->has_g) { |
415 | // G codes, NOTE some are ignored if not enabled | |
416 | if( (gcode->g == 92 && gcode->has_letter('E')) || (gcode->g == 90 || gcode->g == 91) ) { | |
417 | // Gcodes to pass along to on_gcode_execute | |
418 | THEKERNEL->conveyor->append_gcode(gcode); | |
eafc2241 JM |
419 | |
420 | }else if( this->enabled && gcode->g < 4 && gcode->has_letter('E') && !gcode->has_letter('X') && !gcode->has_letter('Y') && !gcode->has_letter('Z') ) { | |
421 | // This is a solo move, we add an empty block to the queue to prevent subsequent gcodes being executed at the same time | |
422 | THEKERNEL->conveyor->append_gcode(gcode); | |
423 | THEKERNEL->conveyor->queue_head_block(); | |
eafc2241 JM |
424 | |
425 | }else if( this->enabled && (gcode->g == 10 || gcode->g == 11) ) { // firmware retract command | |
eafc2241 | 426 | // check we are in the correct state of retract or unretract |
78af0407 JM |
427 | if(gcode->g == 10 && !retracted) { |
428 | this->retracted= true; | |
429 | this->cancel_zlift_restore= false; | |
430 | } else if(gcode->g == 11 && retracted){ | |
431 | this->retracted= false; | |
432 | } else | |
eafc2241 JM |
433 | return; // ignore duplicates |
434 | ||
435 | // 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 | |
436 | // this way zlift will happen after retract, (or before for unretract) NOTE we call the robot->on_gcode_receive directly to avoid recursion | |
78af0407 | 437 | if(retract_zlift_length > 0 && gcode->g == 11 && !this->cancel_zlift_restore) { |
eafc2241 | 438 | // reverse zlift happens before unretract |
78af0407 | 439 | // 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 |
440 | char buf[32]; |
441 | int n= snprintf(buf, sizeof(buf), "G0 Z%1.4f F%1.4f", -retract_zlift_length, retract_zlift_feedrate); | |
442 | string cmd(buf, n); | |
443 | Gcode gc(cmd, &(StreamOutput::NullStream)); | |
444 | bool oldmode= THEKERNEL->robot->absolute_mode; | |
445 | THEKERNEL->robot->absolute_mode= false; // needs to be relative mode | |
446 | THEKERNEL->robot->on_gcode_received(&gc); // send to robot directly | |
447 | THEKERNEL->robot->absolute_mode= oldmode; // restore mode | |
448 | } | |
449 | ||
450 | // This is a solo move, we add an empty block to the queue to prevent subsequent gcodes being executed at the same time | |
451 | THEKERNEL->conveyor->append_gcode(gcode); | |
452 | THEKERNEL->conveyor->queue_head_block(); | |
453 | ||
454 | if(retract_zlift_length > 0 && gcode->g == 10) { | |
455 | char buf[32]; | |
456 | int n= snprintf(buf, sizeof(buf), "G0 Z%1.4f F%1.4f", retract_zlift_length, retract_zlift_feedrate); | |
457 | string cmd(buf, n); | |
458 | Gcode gc(cmd, &(StreamOutput::NullStream)); | |
459 | bool oldmode= THEKERNEL->robot->absolute_mode; | |
460 | THEKERNEL->robot->absolute_mode= false; // needs to be relative mode | |
461 | THEKERNEL->robot->on_gcode_received(&gc); // send to robot directly | |
462 | THEKERNEL->robot->absolute_mode= oldmode; // restore mode | |
463 | } | |
78af0407 JM |
464 | |
465 | }else if( this->enabled && this->retracted && (gcode->g == 0 || gcode->g == 1) && gcode->has_letter('Z')) { | |
466 | // NOTE we cancel the zlift restore for the following G11 as we have moved to an absolute Z which we need to stay at | |
467 | this->cancel_zlift_restore= true; | |
76ddeb67 | 468 | } |
3c4f2dd8 | 469 | } |
928467c0 JM |
470 | |
471 | // handle some codes now for the volumetric rate limiting | |
472 | // G90 G91 G92 M82 M83 | |
473 | if(gcode->has_m) { | |
474 | switch(gcode->m) { | |
475 | case 82: this->milestone_absolute_mode = true; break; | |
476 | case 83: this->milestone_absolute_mode = false; break; | |
477 | } | |
478 | ||
479 | }else if(gcode->has_g) { | |
480 | switch(gcode->g) { | |
481 | case 90: this->milestone_absolute_mode = true; break; | |
482 | case 91: this->milestone_absolute_mode = false; break; | |
483 | case 92: | |
484 | if(gcode->has_letter('E')) { this->milestone_last_position= gcode->get_value('E'); } | |
485 | else if(gcode->get_num_args() == 0) { this->milestone_last_position= 0; } | |
486 | break; | |
487 | } | |
488 | } | |
3c4f2dd8 AW |
489 | } |
490 | ||
ded56b35 | 491 | // Compute extrusion speed based on parameters and gcode distance of travel |
17c89e4d JM |
492 | void Extruder::on_gcode_execute(void *argument) |
493 | { | |
494 | Gcode *gcode = static_cast<Gcode *>(argument); | |
ca037905 | 495 | |
eafc2241 JM |
496 | // The mode is OFF by default, and SOLO or FOLLOW only if we need to extrude |
497 | this->mode = OFF; | |
498 | ||
499 | // Absolute/relative mode, globably modal affect all extruders whether enabled or not | |
17c89e4d | 500 | if( gcode->has_m ) { |
eafc2241 JM |
501 | switch(gcode->m) { |
502 | case 17: | |
17c89e4d | 503 | this->en_pin.set(0); |
eafc2241 JM |
504 | break; |
505 | case 18: | |
17c89e4d | 506 | this->en_pin.set(1); |
eafc2241 | 507 | break; |
0c97ae7b | 508 | case 82: |
17c89e4d | 509 | this->absolute_mode = true; |
eafc2241 | 510 | break; |
0c97ae7b | 511 | case 83: |
17c89e4d | 512 | this->absolute_mode = false; |
eafc2241 JM |
513 | break; |
514 | case 84: | |
17c89e4d | 515 | this->en_pin.set(1); |
eafc2241 | 516 | break; |
17c89e4d | 517 | } |
eafc2241 | 518 | return; |
0c97ae7b JM |
519 | |
520 | } else if( gcode->has_g && (gcode->g == 90 || gcode->g == 91) ) { | |
521 | this->absolute_mode = (gcode->g == 90); | |
522 | return; | |
ca037905 MM |
523 | } |
524 | ||
ca037905 | 525 | |
eafc2241 | 526 | if( gcode->has_g && this->enabled ) { |
7b49793d | 527 | // G92: Reset extruder position |
eafc2241 | 528 | if( gcode->g == 92 ) { |
17c89e4d | 529 | if( gcode->has_letter('E') ) { |
e2b4a32b | 530 | this->current_position = gcode->get_value('E'); |
1a2d88eb | 531 | this->target_position = this->current_position; |
150bce10 | 532 | this->unstepped_distance = 0; |
17c89e4d | 533 | } else if( gcode->get_num_args() == 0) { |
b2aa3a55 L |
534 | this->current_position = 0.0; |
535 | this->target_position = this->current_position; | |
150bce10 | 536 | this->unstepped_distance = 0; |
ca037905 | 537 | } |
6b451be8 | 538 | |
eafc2241 | 539 | } else if (gcode->g == 10) { |
ec6fde0b | 540 | // FW retract command |
ec6fde0b JM |
541 | feed_rate= retract_feedrate; // mm/sec |
542 | this->mode = SOLO; | |
543 | this->travel_distance = -retract_length; | |
79f65cbb | 544 | this->target_position += this->travel_distance; |
ec6fde0b JM |
545 | this->en_pin.set(0); |
546 | ||
eafc2241 | 547 | } else if (gcode->g == 11) { |
ec6fde0b | 548 | // un retract command |
ec6fde0b JM |
549 | feed_rate= retract_recover_feedrate; // mm/sec |
550 | this->mode = SOLO; | |
79f65cbb | 551 | this->travel_distance = (retract_length + retract_recover_length); |
ec6fde0b JM |
552 | this->target_position += this->travel_distance; |
553 | this->en_pin.set(0); | |
554 | ||
eafc2241 | 555 | } else if (gcode->g == 0 || gcode->g == 1) { |
ca037905 | 556 | // Extrusion length from 'G' Gcode |
17c89e4d | 557 | if( gcode->has_letter('E' )) { |
928467c0 | 558 | // Get relative extrusion distance depending on mode ( in absolute mode we must subtract target_position ) |
36eb3e62 | 559 | float extrusion_distance = gcode->get_value('E'); |
1ad23cd3 | 560 | float relative_extrusion_distance = extrusion_distance; |
17c89e4d | 561 | if (this->absolute_mode) { |
f8dc0043 MM |
562 | relative_extrusion_distance -= this->target_position; |
563 | this->target_position = extrusion_distance; | |
17c89e4d | 564 | } else { |
f8dc0043 MM |
565 | this->target_position += relative_extrusion_distance; |
566 | } | |
ca037905 | 567 | |
ded56b35 | 568 | // If the robot is moving, we follow it's movement, otherwise, we move alone |
3b4b05b8 | 569 | if( fabs(gcode->millimeters_of_travel) < 0.00001F ) { // With floating numbers, we can have 0 != 0, NOTE needs to be same as in Robot.cpp#701 |
ded56b35 AW |
570 | this->mode = SOLO; |
571 | this->travel_distance = relative_extrusion_distance; | |
17c89e4d | 572 | } else { |
ca037905 | 573 | // We move proportionally to the robot's movement |
4464301d | 574 | this->mode = FOLLOW; |
ea356db4 | 575 | this->travel_ratio = (relative_extrusion_distance * this->volumetric_multiplier * this->extruder_multiplier) / gcode->millimeters_of_travel; // adjust for volumetric extrusion and extruder multiplier |
ca037905 MM |
576 | } |
577 | ||
62bd4cfa | 578 | this->en_pin.set(0); |
ca037905 | 579 | } |
6b451be8 JM |
580 | |
581 | if (gcode->has_letter('F')) { | |
dd0a7cfa | 582 | feed_rate = gcode->get_value('F') / THEKERNEL->robot->get_seconds_per_minute(); |
d2adef5e | 583 | if (stepper_motor->get_max_rate() > 0 && feed_rate > stepper_motor->get_max_rate()) |
3494f3d0 | 584 | feed_rate = stepper_motor->get_max_rate(); |
6b451be8 | 585 | } |
1a2d88eb | 586 | } |
ca037905 | 587 | } |
da24d6ae AW |
588 | } |
589 | ||
ded56b35 | 590 | // When a new block begins, either follow the robot, or step by ourselves ( or stay back and do nothing ) |
17c89e4d JM |
591 | void Extruder::on_block_begin(void *argument) |
592 | { | |
c974b296 | 593 | if(!this->enabled) return; |
5090327a | 594 | |
3b4b05b8 JM |
595 | if( this->mode == OFF ) { |
596 | this->current_block = NULL; | |
5090327a | 597 | this->stepper_motor->set_moved_last_block(false); |
3b4b05b8 JM |
598 | return; |
599 | } | |
4464301d | 600 | |
3b4b05b8 JM |
601 | Block *block = static_cast<Block *>(argument); |
602 | if( this->mode == FOLLOW ) { | |
603 | // In FOLLOW mode, we just follow the stepper module | |
b5a9a6c4 | 604 | this->travel_distance = block->millimeters * this->travel_ratio; |
3b4b05b8 | 605 | } |
99826186 | 606 | |
3b4b05b8 JM |
607 | // common for both FOLLOW and SOLO |
608 | this->current_position += this->travel_distance ; | |
99826186 | 609 | |
3b4b05b8 JM |
610 | // round down, we take care of the fractional part next time |
611 | int steps_to_step = abs(floorf(this->steps_per_millimeter * (this->travel_distance + this->unstepped_distance) )); | |
99826186 | 612 | |
3b4b05b8 JM |
613 | // accumulate the fractional part |
614 | if ( this->travel_distance > 0 ) { | |
615 | this->unstepped_distance += this->travel_distance - (steps_to_step / this->steps_per_millimeter); | |
616 | } else { | |
617 | this->unstepped_distance += this->travel_distance + (steps_to_step / this->steps_per_millimeter); | |
618 | } | |
b5a9a6c4 | 619 | |
3b4b05b8 JM |
620 | if( steps_to_step != 0 ) { |
621 | // We take the block, we have to release it or everything gets stuck | |
622 | block->take(); | |
623 | this->current_block = block; | |
624 | this->stepper_motor->move( (this->travel_distance > 0), steps_to_step); | |
625 | ||
626 | if(this->mode == FOLLOW) { | |
8b1ecc90 | 627 | on_speed_change(this); // set initial speed |
3b4b05b8 JM |
628 | this->stepper_motor->set_moved_last_block(true); |
629 | }else{ | |
630 | // SOLO | |
dda37516 JM |
631 | uint32_t target_rate = floorf(this->feed_rate * this->steps_per_millimeter); |
632 | this->stepper_motor->set_speed(min( target_rate, rate_increase() )); // start at first acceleration step | |
d6023ce6 | 633 | this->stepper_motor->set_moved_last_block(false); |
4464301d | 634 | } |
be8332cd | 635 | |
3b4b05b8 JM |
636 | } else { |
637 | // no steps to take this time | |
d149c730 | 638 | this->current_block = NULL; |
5090327a | 639 | this->stepper_motor->set_moved_last_block(false); |
ca037905 | 640 | } |
e2b4a32b | 641 | |
4cff3ded AW |
642 | } |
643 | ||
ded56b35 | 644 | // When a block ends, pause the stepping interrupt |
17c89e4d JM |
645 | void Extruder::on_block_end(void *argument) |
646 | { | |
c974b296 | 647 | if(!this->enabled) return; |
ca037905 MM |
648 | this->current_block = NULL; |
649 | } | |
4cff3ded | 650 | |
b77573dc | 651 | uint32_t Extruder::rate_increase() const { |
a157d099 | 652 | return floorf((this->acceleration / THEKERNEL->acceleration_ticks_per_second) * this->steps_per_millimeter); |
b77573dc JM |
653 | } |
654 | ||
ded56b35 | 655 | // Called periodically to change the speed to match acceleration or to match the speed of the robot |
ac971358 | 656 | // Only used in SOLO mode |
a157d099 | 657 | void Extruder::acceleration_tick(void) |
17c89e4d | 658 | { |
ca037905 | 659 | // Avoid trying to work when we really shouldn't ( between blocks or re-entry ) |
cdec298a | 660 | if(!this->enabled || this->mode != SOLO || this->current_block == NULL || !this->stepper_motor->is_moving() || this->paused ) { |
a157d099 | 661 | return; |
17c89e4d | 662 | } |
be8332cd | 663 | |
2fa50ca0 | 664 | uint32_t current_rate = this->stepper_motor->get_steps_per_second(); |
c8f4ee77 | 665 | uint32_t target_rate = floorf(this->feed_rate * this->steps_per_millimeter); |
58baeec1 | 666 | |
17c89e4d | 667 | if( current_rate < target_rate ) { |
b77573dc JM |
668 | current_rate = min( target_rate, current_rate + rate_increase() ); |
669 | // steps per second | |
670 | this->stepper_motor->set_speed(current_rate); | |
0eb11a06 | 671 | } |
58baeec1 | 672 | |
a157d099 | 673 | return; |
ded56b35 | 674 | } |
1a2d88eb | 675 | |
be8332cd | 676 | // Speed has been updated for the robot's stepper, we must update accordingly |
17c89e4d JM |
677 | void Extruder::on_speed_change( void *argument ) |
678 | { | |
be8332cd | 679 | // Avoid trying to work when we really shouldn't ( between blocks or re-entry ) |
5090327a | 680 | if(!this->enabled || this->current_block == NULL || this->paused || this->mode != FOLLOW || !this->stepper_motor->is_moving()) { |
17c89e4d JM |
681 | return; |
682 | } | |
4464301d | 683 | |
c1c802b1 | 684 | // 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 | 685 | // this is what steppermotor does |
8b1ecc90 | 686 | if(argument == 0) { |
f3b48426 JM |
687 | this->stepper_motor->move(0, 0); |
688 | this->current_block->release(); | |
689 | this->current_block = NULL; | |
690 | return; | |
691 | } | |
692 | ||
4464301d | 693 | /* |
da947c62 | 694 | * nominal block duration = current block's steps / ( current block's nominal rate ) |
58baeec1 | 695 | * nominal extruder rate = extruder steps / nominal block duration |
0ac1713f | 696 | * actual extruder rate = nominal extruder rate * ( ( stepper's steps per second ) / ( current block's nominal rate ) ) |
da947c62 MM |
697 | * 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 ) ) |
698 | * or simplified : extruder steps * ( stepper's steps per second ) ) / current block's steps | |
699 | * or even : ( stepper steps per second ) * ( extruder steps / current block's steps ) | |
4464301d | 700 | */ |
58baeec1 | 701 | |
cb2e6bc6 | 702 | 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); |
4cff3ded AW |
703 | } |
704 | ||
be8332cd | 705 | // When the stepper has finished it's move |
17c89e4d JM |
706 | uint32_t Extruder::stepper_motor_finished_move(uint32_t dummy) |
707 | { | |
c974b296 | 708 | if(!this->enabled) return 0; |
4cff3ded | 709 | |
4464301d AW |
710 | //printf("extruder releasing\r\n"); |
711 | ||
17c89e4d JM |
712 | if (this->current_block) { // this should always be true, but sometimes it isn't. TODO: find out why |
713 | Block *block = this->current_block; | |
d149c730 AW |
714 | this->current_block = NULL; |
715 | block->release(); | |
8519d744 | 716 | } |
f2203544 | 717 | return 0; |
feb204be | 718 | |
be8332cd | 719 | } |