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