src/modules/tools/extruder/Extruder.cpp

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