| 1 | /* |
| 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/>. |
| 6 | */ |
| 7 | |
| 8 | #include "Extruder.h" |
| 9 | |
| 10 | #include "libs/Module.h" |
| 11 | #include "libs/Kernel.h" |
| 12 | |
| 13 | #include "modules/robot/Conveyor.h" |
| 14 | #include "modules/robot/Block.h" |
| 15 | #include "StepperMotor.h" |
| 16 | #include "SlowTicker.h" |
| 17 | #include "Stepper.h" |
| 18 | #include "StepTicker.h" |
| 19 | #include "Config.h" |
| 20 | #include "StepperMotor.h" |
| 21 | #include "Robot.h" |
| 22 | |
| 23 | #include <mri.h> |
| 24 | |
| 25 | #define extruder_module_enable_checksum CHECKSUM("extruder_module_enable") |
| 26 | #define extruder_steps_per_mm_checksum CHECKSUM("extruder_steps_per_mm") |
| 27 | #define extruder_acceleration_checksum CHECKSUM("extruder_acceleration") |
| 28 | #define extruder_step_pin_checksum CHECKSUM("extruder_step_pin") |
| 29 | #define extruder_dir_pin_checksum CHECKSUM("extruder_dir_pin") |
| 30 | #define extruder_en_pin_checksum CHECKSUM("extruder_en_pin") |
| 31 | #define extruder_max_speed_checksum CHECKSUM("extruder_max_speed") |
| 32 | |
| 33 | #define extruder_checksum CHECKSUM("extruder") |
| 34 | |
| 35 | #define default_feed_rate_checksum CHECKSUM("default_feed_rate") |
| 36 | #define steps_per_mm_checksum CHECKSUM("steps_per_mm") |
| 37 | #define acceleration_checksum CHECKSUM("acceleration") |
| 38 | #define step_pin_checksum CHECKSUM("step_pin") |
| 39 | #define dir_pin_checksum CHECKSUM("dir_pin") |
| 40 | #define en_pin_checksum CHECKSUM("en_pin") |
| 41 | #define max_speed_checksum CHECKSUM("max_speed") |
| 42 | |
| 43 | #define max(a,b) (((a) > (b)) ? (a) : (b)) |
| 44 | |
| 45 | /* The extruder module controls a filament extruder for 3D printing: http://en.wikipedia.org/wiki/Fused_deposition_modeling |
| 46 | * It can work in two modes : either the head does not move, and the extruder moves the filament at a specified speed ( SOLO mode here ) |
| 47 | * or the head moves, and the extruder moves plastic at a speed proportional to the movement of the head ( FOLLOW mode here ). |
| 48 | */ |
| 49 | |
| 50 | Extruder::Extruder( uint16_t config_identifier ) { |
| 51 | this->absolute_mode = true; |
| 52 | this->paused = false; |
| 53 | this->single_config = false; |
| 54 | this->identifier = config_identifier; |
| 55 | } |
| 56 | |
| 57 | void Extruder::on_module_loaded() { |
| 58 | |
| 59 | // Settings |
| 60 | this->on_config_reload(this); |
| 61 | |
| 62 | // We work on the same Block as Stepper, so we need to know when it gets a new one and drops one |
| 63 | register_for_event(ON_CONFIG_RELOAD); |
| 64 | this->register_for_event(ON_BLOCK_BEGIN); |
| 65 | this->register_for_event(ON_BLOCK_END); |
| 66 | this->register_for_event(ON_GCODE_RECEIVED); |
| 67 | this->register_for_event(ON_GCODE_EXECUTE); |
| 68 | this->register_for_event(ON_PLAY); |
| 69 | this->register_for_event(ON_PAUSE); |
| 70 | this->register_for_event(ON_SPEED_CHANGE); |
| 71 | |
| 72 | // Start values |
| 73 | this->target_position = 0; |
| 74 | this->current_position = 0; |
| 75 | this->unstepped_distance = 0; |
| 76 | this->current_block = NULL; |
| 77 | this->mode = OFF; |
| 78 | |
| 79 | // Update speed every *acceleration_ticks_per_second* |
| 80 | // TODO: Make this an independent setting |
| 81 | THEKERNEL->slow_ticker->attach( THEKERNEL->stepper->acceleration_ticks_per_second , this, &Extruder::acceleration_tick ); |
| 82 | |
| 83 | // Stepper motor object for the extruder |
| 84 | this->stepper_motor = THEKERNEL->step_ticker->add_stepper_motor( new StepperMotor(step_pin, dir_pin, en_pin) ); |
| 85 | this->stepper_motor->attach(this, &Extruder::stepper_motor_finished_move ); |
| 86 | |
| 87 | } |
| 88 | |
| 89 | // Get config |
| 90 | void Extruder::on_config_reload(void* argument){ |
| 91 | |
| 92 | // If this module uses the old "single extruder" configuration style |
| 93 | if( this->single_config ){ |
| 94 | |
| 95 | this->steps_per_millimeter = THEKERNEL->config->value(extruder_steps_per_mm_checksum )->by_default(1)->as_number(); |
| 96 | this->acceleration = THEKERNEL->config->value(extruder_acceleration_checksum )->by_default(1000)->as_number(); |
| 97 | this->max_speed = THEKERNEL->config->value(extruder_max_speed_checksum )->by_default(1000)->as_number(); |
| 98 | this->feed_rate = THEKERNEL->config->value(default_feed_rate_checksum )->by_default(1000)->as_number(); |
| 99 | |
| 100 | this->step_pin.from_string( THEKERNEL->config->value(extruder_step_pin_checksum )->by_default("nc" )->as_string())->as_output(); |
| 101 | this->dir_pin.from_string( THEKERNEL->config->value(extruder_dir_pin_checksum )->by_default("nc" )->as_string())->as_output(); |
| 102 | this->en_pin.from_string( THEKERNEL->config->value(extruder_en_pin_checksum )->by_default("nc" )->as_string())->as_output(); |
| 103 | |
| 104 | }else{ |
| 105 | // If this module was created with the new multi extruder configuration style |
| 106 | |
| 107 | this->steps_per_millimeter = THEKERNEL->config->value(extruder_checksum, this->identifier, steps_per_mm_checksum )->by_default(1)->as_number(); |
| 108 | this->acceleration = THEKERNEL->config->value(extruder_checksum, this->identifier, acceleration_checksum )->by_default(1000)->as_number(); |
| 109 | this->max_speed = THEKERNEL->config->value(extruder_checksum, this->identifier, max_speed_checksum )->by_default(1000)->as_number(); |
| 110 | this->feed_rate = THEKERNEL->config->value( default_feed_rate_checksum )->by_default(1000)->as_number(); |
| 111 | |
| 112 | this->step_pin.from_string( THEKERNEL->config->value(extruder_checksum, this->identifier, step_pin_checksum )->by_default("nc" )->as_string())->as_output(); |
| 113 | this->dir_pin.from_string( THEKERNEL->config->value(extruder_checksum, this->identifier, dir_pin_checksum )->by_default("nc" )->as_string())->as_output(); |
| 114 | this->en_pin.from_string( THEKERNEL->config->value(extruder_checksum, this->identifier, en_pin_checksum )->by_default("nc" )->as_string())->as_output(); |
| 115 | |
| 116 | } |
| 117 | |
| 118 | } |
| 119 | |
| 120 | |
| 121 | // When the play/pause button is set to pause, or a module calls the ON_PAUSE event |
| 122 | void Extruder::on_pause(void* argument){ |
| 123 | this->paused = true; |
| 124 | this->stepper_motor->pause(); |
| 125 | } |
| 126 | |
| 127 | // When the play/pause button is set to play, or a module calls the ON_PLAY event |
| 128 | void Extruder::on_play(void* argument){ |
| 129 | this->paused = false; |
| 130 | this->stepper_motor->unpause(); |
| 131 | } |
| 132 | |
| 133 | |
| 134 | void Extruder::on_gcode_received(void *argument){ |
| 135 | Gcode *gcode = static_cast<Gcode*>(argument); |
| 136 | |
| 137 | // Gcodes to execute immediately |
| 138 | if (gcode->has_m){ |
| 139 | if (gcode->m == 114){ |
| 140 | gcode->stream->printf("E:%4.1f ", this->current_position); |
| 141 | gcode->add_nl = true; |
| 142 | gcode->mark_as_taken(); |
| 143 | |
| 144 | }else if (gcode->m == 92 ){ |
| 145 | float spm = this->steps_per_millimeter; |
| 146 | if (gcode->has_letter('E')) |
| 147 | spm = gcode->get_value('E'); |
| 148 | gcode->stream->printf("E:%g ", spm); |
| 149 | gcode->add_nl = true; |
| 150 | gcode->mark_as_taken(); |
| 151 | |
| 152 | }else if (gcode->m == 500 || gcode->m == 503){// M500 saves some volatile settings to config override file, M503 just prints the settings |
| 153 | gcode->stream->printf(";E Steps per mm:\nM92 E%1.4f\n", this->steps_per_millimeter); |
| 154 | gcode->mark_as_taken(); |
| 155 | return; |
| 156 | } |
| 157 | } |
| 158 | |
| 159 | // Gcodes to pass along to on_gcode_execute |
| 160 | if( ( gcode->has_m && (gcode->m == 17 || gcode->m == 18 || gcode->m == 82 || gcode->m == 83 || gcode->m == 84 || gcode->m == 92 ) ) || ( gcode->has_g && gcode->g == 92 && gcode->has_letter('E') ) || ( gcode->has_g && ( gcode->g == 90 || gcode->g == 91 ) ) ){ |
| 161 | THEKERNEL->conveyor->append_gcode(gcode); |
| 162 | } |
| 163 | |
| 164 | // Add to the queue for on_gcode_execute to process |
| 165 | if( gcode->has_g && gcode->g < 4 && gcode->has_letter('E') ){ |
| 166 | if( !gcode->has_letter('X') && !gcode->has_letter('Y') && !gcode->has_letter('Z') ){ |
| 167 | THEKERNEL->conveyor->append_gcode(gcode); |
| 168 | // This is a solo move, we add an empty block to the queue to prevent subsequent gcodes being executed at the same time |
| 169 | THEKERNEL->conveyor->queue_head_block(); |
| 170 | } |
| 171 | }else{ |
| 172 | // This is for follow move |
| 173 | |
| 174 | } |
| 175 | } |
| 176 | |
| 177 | // Compute extrusion speed based on parameters and gcode distance of travel |
| 178 | void Extruder::on_gcode_execute(void* argument){ |
| 179 | Gcode* gcode = static_cast<Gcode*>(argument); |
| 180 | |
| 181 | // Absolute/relative mode |
| 182 | if( gcode->has_m ){ |
| 183 | if( gcode->m == 17 ){ this->en_pin.set(0); } |
| 184 | if( gcode->m == 18 ){ this->en_pin.set(1); } |
| 185 | if( gcode->m == 82 ){ this->absolute_mode = true; } |
| 186 | if( gcode->m == 83 ){ this->absolute_mode = false; } |
| 187 | if( gcode->m == 84 ){ this->en_pin.set(1); } |
| 188 | if (gcode->m == 92 ){ |
| 189 | if (gcode->has_letter('E')){ |
| 190 | this->steps_per_millimeter = gcode->get_value('E'); |
| 191 | } |
| 192 | } |
| 193 | } |
| 194 | |
| 195 | // The mode is OFF by default, and SOLO or FOLLOW only if we need to extrude |
| 196 | this->mode = OFF; |
| 197 | |
| 198 | if( gcode->has_g ){ |
| 199 | // G92: Reset extruder position |
| 200 | if( gcode->g == 92 ){ |
| 201 | gcode->mark_as_taken(); |
| 202 | if( gcode->has_letter('E') ){ |
| 203 | this->current_position = gcode->get_value('E'); |
| 204 | this->target_position = this->current_position; |
| 205 | this->unstepped_distance = 0; |
| 206 | }else if( gcode->get_num_args() == 0){ |
| 207 | this->current_position = 0.0; |
| 208 | this->target_position = this->current_position; |
| 209 | this->unstepped_distance = 0; |
| 210 | } |
| 211 | }else if ((gcode->g == 0) || (gcode->g == 1)){ |
| 212 | // Extrusion length from 'G' Gcode |
| 213 | if( gcode->has_letter('E' )){ |
| 214 | // Get relative extrusion distance depending on mode ( in absolute mode we must substract target_position ) |
| 215 | float extrusion_distance = gcode->get_value('E'); |
| 216 | float relative_extrusion_distance = extrusion_distance; |
| 217 | if (this->absolute_mode) |
| 218 | { |
| 219 | relative_extrusion_distance -= this->target_position; |
| 220 | this->target_position = extrusion_distance; |
| 221 | } |
| 222 | else |
| 223 | { |
| 224 | this->target_position += relative_extrusion_distance; |
| 225 | } |
| 226 | |
| 227 | // If the robot is moving, we follow it's movement, otherwise, we move alone |
| 228 | if( fabs(gcode->millimeters_of_travel) < 0.0001 ){ // With floating numbers, we can have 0 != 0 ... beeeh. For more info see : http://upload.wikimedia.org/wikipedia/commons/0/0a/Cain_Henri_Vidal_Tuileries.jpg |
| 229 | this->mode = SOLO; |
| 230 | this->travel_distance = relative_extrusion_distance; |
| 231 | }else{ |
| 232 | // We move proportionally to the robot's movement |
| 233 | this->mode = FOLLOW; |
| 234 | this->travel_ratio = relative_extrusion_distance / gcode->millimeters_of_travel; |
| 235 | // TODO: check resulting flowrate, limit robot speed if it exceeds max_speed |
| 236 | } |
| 237 | |
| 238 | this->en_pin.set(0); |
| 239 | } |
| 240 | if (gcode->has_letter('F')) |
| 241 | { |
| 242 | feed_rate = gcode->get_value('F') / THEKERNEL->robot->seconds_per_minute; |
| 243 | if (feed_rate > max_speed) |
| 244 | feed_rate = max_speed; |
| 245 | } |
| 246 | }else if( gcode->g == 90 ){ this->absolute_mode = true; |
| 247 | }else if( gcode->g == 91 ){ this->absolute_mode = false; |
| 248 | } |
| 249 | } |
| 250 | } |
| 251 | |
| 252 | // When a new block begins, either follow the robot, or step by ourselves ( or stay back and do nothing ) |
| 253 | void Extruder::on_block_begin(void* argument){ |
| 254 | Block* block = static_cast<Block*>(argument); |
| 255 | |
| 256 | |
| 257 | if( this->mode == SOLO ){ |
| 258 | // In solo mode we take the block so we can move even if the stepper has nothing to do |
| 259 | |
| 260 | this->current_position += this->travel_distance ; |
| 261 | |
| 262 | int steps_to_step = abs(int(floor(this->steps_per_millimeter * (this->travel_distance +this->unstepped_distance) ))); |
| 263 | |
| 264 | if ( this->travel_distance > 0 ){ |
| 265 | this->unstepped_distance += this->travel_distance -(steps_to_step/this->steps_per_millimeter); //catch any overflow |
| 266 | } else { |
| 267 | this->unstepped_distance += this->travel_distance +(steps_to_step/this->steps_per_millimeter); //catch any overflow |
| 268 | } |
| 269 | |
| 270 | if( steps_to_step != 0 ){ |
| 271 | |
| 272 | // We take the block, we have to release it or everything gets stuck |
| 273 | block->take(); |
| 274 | this->current_block = block; |
| 275 | |
| 276 | this->stepper_motor->steps_per_second = 0; |
| 277 | this->stepper_motor->move( ( this->travel_distance > 0 ), steps_to_step); |
| 278 | |
| 279 | }else{ |
| 280 | this->current_block = NULL; |
| 281 | } |
| 282 | |
| 283 | }else if( this->mode == FOLLOW ){ |
| 284 | // In non-solo mode, we just follow the stepper module |
| 285 | this->travel_distance = block->millimeters * this->travel_ratio; |
| 286 | |
| 287 | this->current_position += this->travel_distance; |
| 288 | |
| 289 | int steps_to_step = abs(int(floor(this->steps_per_millimeter * (this->travel_distance + this->unstepped_distance) ))); |
| 290 | |
| 291 | if ( this->travel_distance > 0 ){ |
| 292 | this->unstepped_distance += this->travel_distance -(steps_to_step/this->steps_per_millimeter); //catch any overflow |
| 293 | } else { |
| 294 | this->unstepped_distance += this->travel_distance +(steps_to_step/this->steps_per_millimeter); //catch any overflow |
| 295 | } |
| 296 | |
| 297 | if( steps_to_step != 0 ){ |
| 298 | block->take(); |
| 299 | this->current_block = block; |
| 300 | |
| 301 | this->stepper_motor->move( ( this->travel_distance > 0 ), steps_to_step ); |
| 302 | this->on_speed_change(0); // initialise speed in case we get called first |
| 303 | }else{ |
| 304 | this->current_block = NULL; |
| 305 | } |
| 306 | |
| 307 | }else if( this->mode == OFF ){ |
| 308 | // No movement means we must reset our speed |
| 309 | this->current_block = NULL; |
| 310 | //this->stepper_motor->set_speed(0); |
| 311 | |
| 312 | } |
| 313 | |
| 314 | } |
| 315 | |
| 316 | // When a block ends, pause the stepping interrupt |
| 317 | void Extruder::on_block_end(void* argument){ |
| 318 | this->current_block = NULL; |
| 319 | } |
| 320 | |
| 321 | // Called periodically to change the speed to match acceleration or to match the speed of the robot |
| 322 | uint32_t Extruder::acceleration_tick(uint32_t dummy){ |
| 323 | |
| 324 | // Avoid trying to work when we really shouldn't ( between blocks or re-entry ) |
| 325 | if( this->current_block == NULL || this->paused || this->mode != SOLO ){ return 0; } |
| 326 | |
| 327 | uint32_t current_rate = this->stepper_motor->steps_per_second; |
| 328 | uint32_t target_rate = int(floor(this->feed_rate * this->steps_per_millimeter)); |
| 329 | |
| 330 | if( current_rate < target_rate ){ |
| 331 | uint32_t rate_increase = int(floor((this->acceleration/THEKERNEL->stepper->acceleration_ticks_per_second)*this->steps_per_millimeter)); |
| 332 | current_rate = min( target_rate, current_rate + rate_increase ); |
| 333 | } |
| 334 | if( current_rate > target_rate ){ current_rate = target_rate; } |
| 335 | |
| 336 | // steps per second |
| 337 | this->stepper_motor->set_speed(max(current_rate, THEKERNEL->stepper->minimum_steps_per_second)); |
| 338 | |
| 339 | return 0; |
| 340 | } |
| 341 | |
| 342 | // Speed has been updated for the robot's stepper, we must update accordingly |
| 343 | void Extruder::on_speed_change( void* argument ){ |
| 344 | |
| 345 | // Avoid trying to work when we really shouldn't ( between blocks or re-entry ) |
| 346 | if( this->current_block == NULL || this->paused || this->mode != FOLLOW || this->stepper_motor->moving != true ){ return; } |
| 347 | |
| 348 | /* |
| 349 | * nominal block duration = current block's steps / ( current block's nominal rate ) |
| 350 | * nominal extruder rate = extruder steps / nominal block duration |
| 351 | * actual extruder rate = nominal extruder rate * ( ( stepper's steps per second ) / ( current block's nominal rate ) ) |
| 352 | * or actual extruder rate = ( ( extruder steps * ( current block's nominal_rate ) ) / current block's steps ) * ( ( stepper's steps per second ) / ( current block's nominal rate ) ) |
| 353 | * or simplified : extruder steps * ( stepper's steps per second ) ) / current block's steps |
| 354 | * or even : ( stepper steps per second ) * ( extruder steps / current block's steps ) |
| 355 | */ |
| 356 | |
| 357 | this->stepper_motor->set_speed( max( ( THEKERNEL->stepper->trapezoid_adjusted_rate) * ( (float)this->stepper_motor->steps_to_move / (float)this->current_block->steps_event_count ), THEKERNEL->stepper->minimum_steps_per_second ) ); |
| 358 | |
| 359 | } |
| 360 | |
| 361 | |
| 362 | |
| 363 | // When the stepper has finished it's move |
| 364 | uint32_t Extruder::stepper_motor_finished_move(uint32_t dummy){ |
| 365 | |
| 366 | //printf("extruder releasing\r\n"); |
| 367 | |
| 368 | if (this->current_block){ // this should always be true, but sometimes it isn't. TODO: find out why |
| 369 | Block* block = this->current_block; |
| 370 | this->current_block = NULL; |
| 371 | block->release(); |
| 372 | } |
| 373 | return 0; |
| 374 | |
| 375 | } |
| 376 | |