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 #include "SlowTicker.h"
  17 #include "Config.h"
  18 #include "StepperMotor.h"
  19 #include "Robot.h"
  20 #include "checksumm.h"
  21 #include "ConfigValue.h"
  22 #include "Gcode.h"
  23 #include "libs/StreamOutput.h"
  24 #include "PublicDataRequest.h"
  25 #include "StreamOutputPool.h"
  26 #include "ExtruderPublicAccess.h"
  27
  28 #include <mri.h>
  29
  30 // OLD config names for backwards compatibility, NOTE new configs will not be added here
  31 #define extruder_module_enable_checksum      CHECKSUM("extruder_module_enable")
  32 #define extruder_steps_per_mm_checksum       CHECKSUM("extruder_steps_per_mm")
  33 #define extruder_filament_diameter_checksum  CHECKSUM("extruder_filament_diameter")
  34 #define extruder_acceleration_checksum       CHECKSUM("extruder_acceleration")
  35 #define extruder_step_pin_checksum           CHECKSUM("extruder_step_pin")
  36 #define extruder_dir_pin_checksum            CHECKSUM("extruder_dir_pin")
  37 #define extruder_en_pin_checksum             CHECKSUM("extruder_en_pin")
  38 #define extruder_max_speed_checksum          CHECKSUM("extruder_max_speed")
  39 #define extruder_default_feed_rate_checksum  CHECKSUM("extruder_default_feed_rate")
  40
  41 // NEW config names
  42
  43 #define default_feed_rate_checksum           CHECKSUM("default_feed_rate")
  44 #define steps_per_mm_checksum                CHECKSUM("steps_per_mm")
  45 #define filament_diameter_checksum           CHECKSUM("filament_diameter")
  46 #define acceleration_checksum                CHECKSUM("acceleration")
  47 #define step_pin_checksum                    CHECKSUM("step_pin")
  48 #define dir_pin_checksum                     CHECKSUM("dir_pin")
  49 #define en_pin_checksum                      CHECKSUM("en_pin")
  50 #define max_speed_checksum                   CHECKSUM("max_speed")
  51 #define x_offset_checksum                    CHECKSUM("x_offset")
  52 #define y_offset_checksum                    CHECKSUM("y_offset")
  53 #define z_offset_checksum                    CHECKSUM("z_offset")
  54
  55 #define retract_length_checksum              CHECKSUM("retract_length")
  56 #define retract_feedrate_checksum            CHECKSUM("retract_feedrate")
  57 #define retract_recover_length_checksum      CHECKSUM("retract_recover_length")
  58 #define retract_recover_feedrate_checksum    CHECKSUM("retract_recover_feedrate")
  59 #define retract_zlift_length_checksum        CHECKSUM("retract_zlift_length")
  60 #define retract_zlift_feedrate_checksum      CHECKSUM("retract_zlift_feedrate")
  61
  62 #define PI 3.14159265358979F
  63
  64
  65 /*
  66     As the actual motion is handled by the planner and the stepticker, this module just handles Extruder specific gcodes
  67     and settings.
  68     In a multi extruder setting it must be selected to be addressed. (using T0 T1 etc)
  69 */
  70
  71 Extruder::Extruder( uint16_t config_identifier)
  72 {
  73     this->selected = false;
  74     this->identifier = config_identifier;
  75     this->retracted = false;
  76     this->volumetric_multiplier = 1.0F;
  77     this->extruder_multiplier = 1.0F;
  78     this->stepper_motor = nullptr;
  79     this->max_volumetric_rate = 0;
  80     this->g92e0_detected = false;
  81     memset(this->offset, 0, sizeof(this->offset));
  82 }
  83
  84 Extruder::~Extruder()
  85 {
  86     delete stepper_motor;
  87 }
  88
  89 void Extruder::on_module_loaded()
  90 {
  91     // Settings
  92     this->config_load();
  93
  94     // We work on the same Block as Stepper, so we need to know when it gets a new one and drops one
  95     this->register_for_event(ON_GCODE_RECEIVED);
  96     this->register_for_event(ON_GET_PUBLIC_DATA);
  97     this->register_for_event(ON_SET_PUBLIC_DATA);
  98 }
  99
 100 // Get config
 101 void Extruder::config_load()
 102 {
 103
 104     Pin step_pin, dir_pin, en_pin;
 105     step_pin.from_string( THEKERNEL->config->value(extruder_checksum, this->identifier, step_pin_checksum          )->by_default("nc" )->as_string())->as_output();
 106     dir_pin.from_string(  THEKERNEL->config->value(extruder_checksum, this->identifier, dir_pin_checksum           )->by_default("nc" )->as_string())->as_output();
 107     en_pin.from_string(   THEKERNEL->config->value(extruder_checksum, this->identifier, en_pin_checksum            )->by_default("nc" )->as_string())->as_output();
 108
 109     float steps_per_millimeter = THEKERNEL->config->value(extruder_checksum, this->identifier, steps_per_mm_checksum)->by_default(1)->as_number();
 110     float acceleration         = THEKERNEL->config->value(extruder_checksum, this->identifier, acceleration_checksum)->by_default(1000)->as_number();
 111
 112     this->offset[X_AXIS] = THEKERNEL->config->value(extruder_checksum, this->identifier, x_offset_checksum          )->by_default(0)->as_number();
 113     this->offset[Y_AXIS] = THEKERNEL->config->value(extruder_checksum, this->identifier, y_offset_checksum          )->by_default(0)->as_number();
 114     this->offset[Z_AXIS] = THEKERNEL->config->value(extruder_checksum, this->identifier, z_offset_checksum          )->by_default(0)->as_number();
 115
 116     this->filament_diameter        = THEKERNEL->config->value(extruder_checksum, this->identifier, filament_diameter_checksum )->by_default(0)->as_number();
 117     this->retract_length           = THEKERNEL->config->value(extruder_checksum, this->identifier, retract_length_checksum)->by_default(3)->as_number();
 118     this->retract_feedrate         = THEKERNEL->config->value(extruder_checksum, this->identifier, retract_feedrate_checksum)->by_default(45)->as_number();
 119     this->retract_recover_length   = THEKERNEL->config->value(extruder_checksum, this->identifier, retract_recover_length_checksum)->by_default(0)->as_number();
 120     this->retract_recover_feedrate = THEKERNEL->config->value(extruder_checksum, this->identifier, retract_recover_feedrate_checksum)->by_default(8)->as_number();
 121     this->retract_zlift_length     = THEKERNEL->config->value(extruder_checksum, this->identifier, retract_zlift_length_checksum)->by_default(0)->as_number();
 122     this->retract_zlift_feedrate   = THEKERNEL->config->value(extruder_checksum, this->identifier, retract_zlift_feedrate_checksum)->by_default(100 * 60)->as_number() / 60.0F; // mm/min
 123
 124     if(filament_diameter > 0.01F) {
 125         this->volumetric_multiplier = 1.0F / (powf(this->filament_diameter / 2, 2) * PI);
 126     }
 127
 128     // Stepper motor object for the extruder
 129     stepper_motor = new StepperMotor(step_pin, dir_pin, en_pin);
 130     motor_id = THEROBOT->register_motor(stepper_motor);
 131
 132     stepper_motor->set_max_rate(THEKERNEL->config->value(extruder_checksum, this->identifier, max_speed_checksum)->by_default(1000)->as_number());
 133     stepper_motor->set_acceleration(acceleration);
 134     stepper_motor->change_steps_per_mm(steps_per_millimeter);
 135     stepper_motor->set_selected(false); // not selected by default
 136 }
 137
 138 void Extruder::select()
 139 {
 140     selected = true;
 141     stepper_motor->set_selected(true);
 142     // set the function pointer to return the current scaling
 143     THEROBOT->get_e_scale_fnc = [this](void) { return volumetric_multiplier * extruder_multiplier; };
 144 }
 145
 146 void Extruder::deselect()
 147 {
 148     selected = false;
 149     stepper_motor->set_selected(false);
 150     THEROBOT->get_e_scale_fnc = nullptr;
 151 }
 152
 153 void Extruder::on_get_public_data(void *argument)
 154 {
 155     PublicDataRequest *pdr = static_cast<PublicDataRequest *>(argument);
 156
 157     if(!pdr->starts_with(extruder_checksum)) return;
 158
 159     if(!this->selected) return;
 160
 161     // pointer to structure to return data to is provided
 162     pad_extruder_t *e = static_cast<pad_extruder_t *>(pdr->get_data_ptr());
 163     e->steps_per_mm = stepper_motor->get_steps_per_mm();
 164     e->filament_diameter = this->filament_diameter;
 165     e->flow_rate = this->extruder_multiplier;
 166     e->accleration = stepper_motor->get_acceleration();
 167     e->retract_length = this->retract_length;
 168     e->current_position = stepper_motor->get_current_position();
 169     pdr->set_taken();
 170 }
 171
 172 void Extruder::on_set_public_data(void *argument)
 173 {
 174     PublicDataRequest *pdr = static_cast<PublicDataRequest *>(argument);
 175
 176     if(!pdr->starts_with(extruder_checksum)) return;
 177
 178     // handle extrude rates request from robot
 179     if(pdr->second_element_is(target_checksum)) {
 180         // disabled extruders do not reply NOTE only one enabled extruder supported
 181         if(!this->selected) return;
 182
 183         float *d = static_cast<float *>(pdr->get_data_ptr());
 184         float delta = d[0]; // the E passed in on Gcode is the delta volume in mm³
 185         float isecs = d[1]; // inverted secs
 186
 187         // check against maximum speeds and return rate modifier
 188         d[1] = check_max_speeds(delta, isecs);
 189         pdr->set_taken();
 190         return;
 191     }
 192
 193     // save or restore extruder state
 194     if(pdr->second_element_is(save_state_checksum)) {
 195         save_position();
 196         this->saved_selected = this->selected;
 197         pdr->set_taken();
 198
 199     } else if(pdr->second_element_is(restore_state_checksum)) {
 200         this->selected = this->saved_selected;
 201         // NOTE this only gets called when the queue is empty so the milestones will be the same
 202         restore_position();
 203         pdr->set_taken();
 204     }
 205 }
 206
 207 void Extruder::save_position()
 208 {
 209     // we need to save these separately as they may have been scaled
 210     this->saved_position = std::make_tuple(THEROBOT->get_axis_position(motor_id), stepper_motor->get_last_milestone(), stepper_motor->get_last_milestone_steps());
 211 }
 212
 213 void Extruder::restore_position()
 214 {
 215     THEROBOT->reset_axis_position(std::get<0>(this->saved_position), motor_id);
 216     stepper_motor->set_last_milestones(std::get<1>(this->saved_position), std::get<2>(this->saved_position));
 217 }
 218
 219 // check against maximum speeds and return the rate modifier
 220 float Extruder::check_max_speeds(float delta, float isecs)
 221 {
 222     float rm = 1.0F; // default no rate modification
 223
 224     if(this->max_volumetric_rate > 0 && this->filament_diameter > 0.01F) {
 225         // volumetric enabled and check for volumetric rate
 226         float v = delta * isecs; // the flow rate in mm³/sec
 227
 228         // return the rate change needed to stay within the max rate
 229         if(v > max_volumetric_rate) {
 230             rm = max_volumetric_rate / v;
 231         }
 232         //THEKERNEL->streams->printf("requested flow rate: %f mm³/sec, corrected flow rate: %f  mm³/sec\n", v, v * rm);
 233     }
 234
 235     return rm;
 236 }
 237
 238 void Extruder::on_gcode_received(void *argument)
 239 {
 240     Gcode *gcode = static_cast<Gcode *>(argument);
 241
 242     // M codes most execute immediately, most only execute if enabled
 243     if (gcode->has_m) {
 244         if (gcode->m == 114 && this->selected) {
 245             char buf[16];
 246             if(gcode->subcode == 0) {
 247                 float pos = THEROBOT->get_axis_position(motor_id);
 248                 int n = snprintf(buf, sizeof(buf), " E:%1.3f ", pos);
 249                 gcode->txt_after_ok.append(buf, n);
 250
 251             } else if(gcode->subcode == 1) { // realtime position
 252                 int n = snprintf(buf, sizeof(buf), " E:%1.3f ", stepper_motor->get_current_position() / (volumetric_multiplier * extruder_multiplier));
 253                 gcode->txt_after_ok.append(buf, n);
 254
 255             } else if(gcode->subcode == 3) { // realtime actuator position
 256                 int n = snprintf(buf, sizeof(buf), " E:%1.3f ", stepper_motor->get_current_position());
 257                 gcode->txt_after_ok.append(buf, n);
 258             }
 259
 260
 261         } else if (gcode->m == 92 && ( (this->selected && !gcode->has_letter('P')) || (gcode->has_letter('P') && gcode->get_value('P') == this->identifier) ) ) {
 262             float spm = stepper_motor->get_steps_per_mm();
 263             if (gcode->has_letter('E')) {
 264                 spm = gcode->get_value('E');
 265                 stepper_motor->change_steps_per_mm(spm);
 266             }
 267
 268             gcode->stream->printf("E:%f ", spm);
 269             gcode->add_nl = true;
 270
 271         } else if (gcode->m == 200 && ( (this->selected && !gcode->has_letter('P')) || (gcode->has_letter('P') && gcode->get_value('P') == this->identifier)) ) {
 272             if (gcode->has_letter('D')) {
 273                 this->filament_diameter = gcode->get_value('D');
 274                 float last_scale = this->volumetric_multiplier;
 275                 if(filament_diameter > 0.01F) {
 276                     this->volumetric_multiplier = 1.0F / (powf(this->filament_diameter / 2, 2) * PI);
 277                 } else {
 278                     this->volumetric_multiplier = 1.0F;
 279                 }
 280                 // the trouble here is that the last milestone will be for the previous multiplier so a change can cause a big blob
 281                 // so we must change the E last milestone accordingly so it continues smoothly....
 282                 // change E last milestone to what it would have been if it had used this new multiplier
 283                 float delta = this->volumetric_multiplier / last_scale;
 284                 float nm = this->stepper_motor->get_last_milestone() * delta;
 285                 this->stepper_motor->change_last_milestone(nm);
 286
 287             } else {
 288                 if(filament_diameter > 0.01F) {
 289                     gcode->stream->printf("Filament Diameter: %f\n", this->filament_diameter);
 290                 } else {
 291                     gcode->stream->printf("Volumetric extrusion is disabled\n");
 292                 }
 293             }
 294
 295         } else if (gcode->m == 203 && ( (this->selected && !gcode->has_letter('P')) || (gcode->has_letter('P') && gcode->get_value('P') == this->identifier)) ) {
 296             // M203 Exxx Vyyy Set maximum feedrates xxx mm/sec and/or yyy mm³/sec
 297             if(gcode->get_num_args() == 0) {
 298                 gcode->stream->printf("E:%g V:%g", this->stepper_motor->get_max_rate(), this->max_volumetric_rate);
 299                 gcode->add_nl = true;
 300
 301             } else {
 302                 if(gcode->has_letter('E')) {
 303                     this->stepper_motor->set_max_rate(gcode->get_value('E'));
 304                 }
 305                 if(gcode->has_letter('V')) {
 306                     this->max_volumetric_rate = gcode->get_value('V');
 307                 }
 308             }
 309
 310         } else if (gcode->m == 204 && gcode->has_letter('E') &&
 311                    ( (this->selected && !gcode->has_letter('P')) || (gcode->has_letter('P') && gcode->get_value('P') == this->identifier)) ) {
 312             // extruder acceleration M204 Ennn mm/sec^2 (Pnnn sets the specific extruder for M500)
 313             stepper_motor->set_acceleration(gcode->get_value('E'));
 314
 315         } else if (gcode->m == 207 && ( (this->selected && !gcode->has_letter('P')) || (gcode->has_letter('P') && gcode->get_value('P') == this->identifier)) ) {
 316             // M207 - set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop] Q[zlift feedrate mm/min]
 317             if(gcode->has_letter('S')) retract_length = gcode->get_value('S');
 318             if(gcode->has_letter('F')) retract_feedrate = gcode->get_value('F') / 60.0F; // specified in mm/min converted to mm/sec
 319             if(gcode->has_letter('Z')) retract_zlift_length = gcode->get_value('Z'); // specified in mm
 320             if(gcode->has_letter('Q')) retract_zlift_feedrate = gcode->get_value('Q') / 60.0F; // specified in mm/min converted to mm/sec
 321
 322         } else if (gcode->m == 208 && ( (this->selected && !gcode->has_letter('P')) || (gcode->has_letter('P') && gcode->get_value('P') == this->identifier)) ) {
 323             // M208 - set retract recover length S[positive mm surplus to the M207 S*] F[feedrate mm/min]
 324             if(gcode->has_letter('S')) retract_recover_length = gcode->get_value('S');
 325             if(gcode->has_letter('F')) retract_recover_feedrate = gcode->get_value('F') / 60.0F; // specified in mm/min converted to mm/sec
 326
 327         } else if (gcode->m == 221 && this->selected) { // M221 S100 change flow rate by percentage
 328             if(gcode->has_letter('S')) {
 329                 float last_scale = this->extruder_multiplier;
 330                 this->extruder_multiplier = gcode->get_value('S') / 100.0F;
 331                 // the trouble here is that the last milestone will be for the previous multiplier so a change can cause a big blob
 332                 // so we must change the E last milestone accordingly so it continues smoothly....
 333                 // change E last milestone to what it would have been if it had used this new multiplier
 334                 float delta = this->extruder_multiplier / last_scale;
 335                 float nm = this->stepper_motor->get_last_milestone() * delta;
 336                 this->stepper_motor->change_last_milestone(nm);
 337
 338             } else {
 339                 gcode->stream->printf("Flow rate at %6.2f %%\n", this->extruder_multiplier * 100.0F);
 340             }
 341
 342         } else if (gcode->m == 500 || gcode->m == 503) { // M500 saves some volatile settings to config override file, M503 just prints the settings
 343             gcode->stream->printf(";E Steps per mm:\nM92 E%1.4f P%d\n", stepper_motor->get_steps_per_mm(), this->identifier);
 344             gcode->stream->printf(";E Filament diameter:\nM200 D%1.4f P%d\n", this->filament_diameter, this->identifier);
 345             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 * 60.0F, this->identifier);
 346             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);
 347             gcode->stream->printf(";E acceleration mm/sec²:\nM204 E%1.4f P%d\n", stepper_motor->get_acceleration(), this->identifier);
 348             gcode->stream->printf(";E max feed rate mm/sec:\nM203 E%1.4f P%d\n", stepper_motor->get_max_rate(), this->identifier);
 349             if(this->max_volumetric_rate > 0) {
 350                 gcode->stream->printf(";E max volumetric rate mm³/sec:\nM203 V%1.4f P%d\n", this->max_volumetric_rate, this->identifier);
 351             }
 352         }
 353
 354     } else if( gcode->has_g && this->selected ) {
 355
 356         if( (gcode->g == 10 || gcode->g == 11) && !gcode->has_letter('L') ) {
 357             // firmware retract command (Ignore if has L parameter that is not for us)
 358             // check we are in the correct state of retract or unretract
 359             if(gcode->g == 10 && !retracted) {
 360                 this->retracted = true;
 361                 this->cancel_zlift_restore = false;
 362                 this->g92e0_detected = false;
 363             } else if(gcode->g == 11 && retracted) {
 364                 this->retracted = false;
 365             } else
 366                 return; // ignore duplicates
 367
 368             if(gcode->g == 10) {
 369                 // retract
 370                 float delta[motor_id + 1];
 371                 for (int i = 0; i < motor_id; ++i) {
 372                     delta[i] = 0;
 373                 }
 374
 375                 delta[motor_id] = -retract_length / volumetric_multiplier; // convert from mm to mm³
 376                 THEROBOT->delta_move(delta, retract_feedrate, motor_id + 1);
 377
 378                 // zlift
 379                 if(retract_zlift_length > 0) {
 380                     float delta[3] {0, 0, retract_zlift_length};
 381                     THEROBOT->delta_move(delta, retract_zlift_feedrate, 3);
 382                 }
 383
 384             } else if(gcode->g == 11) {
 385                 // unretract
 386                 if(retract_zlift_length > 0 && !this->cancel_zlift_restore) {
 387                     // reverse zlift happens before unretract
 388                     // 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
 389                     float delta[3] {0, 0, -retract_zlift_length};
 390                     THEROBOT->delta_move(delta, retract_zlift_feedrate, 3);
 391                 }
 392
 393                 float delta[motor_id + 1];
 394                 for (int i = 0; i < motor_id; ++i) {
 395                     delta[i] = 0;
 396                 }
 397                 // HACK ALERT due to certain slicers reseting E with G92 E0 between the G10 and G11 we need to restore
 398                 // the current position after we do the unretract, this is horribly hacky :(
 399                 // also as the move has not completed yet, when we restore the current position will be incorrect once the move finishes,
 400                 // however this is not fatal for an extruder
 401                 if(g92e0_detected) save_position();
 402                 delta[motor_id] = (retract_length + retract_recover_length) / volumetric_multiplier; // convert from mm to mm³
 403                 THEROBOT->delta_move(delta, retract_recover_feedrate, motor_id + 1);
 404                 if(g92e0_detected) restore_position();
 405             }
 406
 407
 408         } else if( this->retracted && (gcode->g == 0 || gcode->g == 1) && gcode->has_letter('Z')) {
 409             // NOTE we cancel the zlift restore for the following G11 as we have moved to an absolute Z which we need to stay at
 410             this->cancel_zlift_restore = true;
 411
 412         } else if( this->retracted && gcode->g == 92 && gcode->has_letter('E')) {
 413             // old versions of slic3rs issued a G92 E0 after G10, handle that case
 414             this->g92e0_detected= true;
 415         }
 416
 417     }
 418
 419 }