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 "libs/Module.h"
   9 #include "libs/Kernel.h"
  10 #include "modules/robot/Conveyor.h"
  11 #include "modules/robot/Block.h"
  12 #include "modules/tools/extruder/Extruder.h"
  13 #include <mri.h>
  14
  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
  33 #define max(a,b) (((a) > (b)) ? (a) : (b))
  34
  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 ).
  38 */
  39
  40 Extruder::Extruder( uint16_t config_identifier ) {
  41     this->absolute_mode = true;
  42     this->paused        = false;
  43     this->single_config = false;
  44     this->identifier    = config_identifier;
  45 }
  46
  47 void Extruder::on_module_loaded() {
  48
  49     // Settings
  50     this->on_config_reload(this);
  51
  52     // We work on the same Block as Stepper, so we need to know when it gets a new one and drops one
  53     register_for_event(ON_CONFIG_RELOAD);
  54     this->register_for_event(ON_BLOCK_BEGIN);
  55     this->register_for_event(ON_BLOCK_END);
  56     this->register_for_event(ON_GCODE_RECEIVED);
  57     this->register_for_event(ON_GCODE_EXECUTE);
  58     this->register_for_event(ON_PLAY);
  59     this->register_for_event(ON_PAUSE);
  60     this->register_for_event(ON_SPEED_CHANGE);
  61
  62     // Start values
  63     this->target_position = 0;
  64     this->current_position = 0;
  65     this->unstepped_distance = 0;
  66     this->current_block = NULL;
  67     this->mode = OFF;
  68
  69     // Update speed every *acceleration_ticks_per_second*
  70     // TODO: Make this an independent setting
  71     THEKERNEL->slow_ticker->attach( THEKERNEL->stepper->acceleration_ticks_per_second , this, &Extruder::acceleration_tick );
  72
  73     // Stepper motor object for the extruder
  74     this->stepper_motor  = THEKERNEL->step_ticker->add_stepper_motor( new StepperMotor(step_pin, dir_pin, en_pin) );
  75     this->stepper_motor->attach(this, &Extruder::stepper_motor_finished_move );
  76
  77 }
  78
  79 // Get config
  80 void Extruder::on_config_reload(void* argument){
  81
  82     // If this module uses the old "single extruder" configuration style
  83     if( this->single_config ){
  84
  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();
  89
  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();
  93
  94     }else{
  95     // If this module was created with the new multi extruder configuration style
  96
  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();
 101
 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();
 105
 106     }
 107
 108 }
 109
 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;
 114     this->stepper_motor->pause();
 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;
 120     this->stepper_motor->unpause();
 121 }
 122
 123
 124 void Extruder::on_gcode_received(void *argument){
 125     Gcode *gcode = static_cast<Gcode*>(argument);
 126
 127     // Gcodes to execute immediately
 128     if (gcode->has_m){
 129         if (gcode->m == 114){
 130             gcode->stream->printf("E:%4.1f ", this->current_position);
 131             gcode->add_nl = true;
 132             gcode->mark_as_taken();
 133
 134         }else if (gcode->m == 92 ){
 135             float spm = this->steps_per_millimeter;
 136             if (gcode->has_letter('E'))
 137                 spm = gcode->get_value('E');
 138             gcode->stream->printf("E:%g ", spm);
 139             gcode->add_nl = true;
 140             gcode->mark_as_taken();
 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();
 145             return;
 146         }
 147     }
 148
 149     // Gcodes to pass along to on_gcode_execute
 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 ) ) ){
 151         THEKERNEL->conveyor->append_gcode(gcode);
 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') ){
 157             THEKERNEL->conveyor->append_gcode(gcode);
 158             // This is a solo move, we add an empty block to the queue to prevent subsequent gcodes being executed at the same time
 159             THEKERNEL->conveyor->queue_head_block();
 160         }
 161     }else{
 162         // This is for follow move
 163
 164     }
 165 }
 166
 167 // Compute extrusion speed based on parameters and gcode distance of travel
 168 void Extruder::on_gcode_execute(void* argument){
 169     Gcode* gcode = static_cast<Gcode*>(argument);
 170
 171     // Absolute/relative mode
 172     if( gcode->has_m ){
 173         if( gcode->m == 17 ){ this->en_pin.set(0); }
 174         if( gcode->m == 18 ){ this->en_pin.set(1); }
 175         if( gcode->m == 82 ){ this->absolute_mode = true; }
 176         if( gcode->m == 83 ){ this->absolute_mode = false; }
 177         if( gcode->m == 84 ){ this->en_pin.set(1); }
 178         if (gcode->m == 92 ){
 179             if (gcode->has_letter('E')){
 180                 this->steps_per_millimeter = gcode->get_value('E');
 181             }
 182         }
 183     }
 184
 185     // The mode is OFF by default, and SOLO or FOLLOW only if we need to extrude
 186     this->mode = OFF;
 187
 188     if( gcode->has_g ){
 189         // G92: Reset extruder position
 190         if( gcode->g == 92 ){
 191             gcode->mark_as_taken();
 192             if( gcode->has_letter('E') ){
 193                 this->current_position = gcode->get_value('E');
 194                 this->target_position  = this->current_position;
 195                 this->unstepped_distance = 0;
 196             }else if( gcode->get_num_args() == 0){
 197                 this->current_position = 0.0;
 198                 this->target_position = this->current_position;
 199                 this->unstepped_distance = 0;
 200             }
 201         }else if ((gcode->g == 0) || (gcode->g == 1)){
 202             // Extrusion length from 'G' Gcode
 203             if( gcode->has_letter('E' )){
 204                 // Get relative extrusion distance depending on mode ( in absolute mode we must substract target_position )
 205                 float extrusion_distance = gcode->get_value('E');
 206                 float relative_extrusion_distance = extrusion_distance;
 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                 }
 216
 217                 // If the robot is moving, we follow it's movement, otherwise, we move alone
 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
 219                     this->mode = SOLO;
 220                     this->travel_distance = relative_extrusion_distance;
 221                 }else{
 222                     // We move proportionally to the robot's movement
 223                     this->mode = FOLLOW;
 224                     this->travel_ratio = relative_extrusion_distance / gcode->millimeters_of_travel;
 225                     // TODO: check resulting flowrate, limit robot speed if it exceeds max_speed
 226                 }
 227
 228                 this->en_pin.set(0);
 229             }
 230             if (gcode->has_letter('F'))
 231             {
 232                 feed_rate = gcode->get_value('F') / THEKERNEL->robot->seconds_per_minute;
 233                 if (feed_rate > max_speed)
 234                     feed_rate = max_speed;
 235             }
 236         }else if( gcode->g == 90 ){ this->absolute_mode = true;
 237         }else if( gcode->g == 91 ){ this->absolute_mode = false;
 238         }
 239     }
 240 }
 241
 242 // When a new block begins, either follow the robot, or step by ourselves ( or stay back and do nothing )
 243 void Extruder::on_block_begin(void* argument){
 244     Block* block = static_cast<Block*>(argument);
 245
 246
 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
 249
 250         this->current_position += this->travel_distance ;
 251
 252         int steps_to_step = abs(int(floor(this->steps_per_millimeter * (this->travel_distance +this->unstepped_distance) )));
 253
 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         }
 259
 260         if( steps_to_step != 0 ){
 261
 262             // We take the block, we have to release it or everything gets stuck
 263             block->take();
 264             this->current_block = block;
 265
 266             this->stepper_motor->steps_per_second = 0;
 267             this->stepper_motor->move( ( this->travel_distance > 0 ), steps_to_step);
 268
 269         }else{
 270             this->current_block = NULL;
 271         }
 272
 273     }else if( this->mode == FOLLOW ){
 274         // In non-solo mode, we just follow the stepper module
 275         this->travel_distance = block->millimeters * this->travel_ratio;
 276
 277         this->current_position += this->travel_distance;
 278
 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         }
 286
 287         if( steps_to_step != 0 ){
 288             block->take();
 289             this->current_block = block;
 290
 291             this->stepper_motor->move( ( this->travel_distance > 0 ), steps_to_step );
 292             this->on_speed_change(0); // initialise speed in case we get called first
 293         }else{
 294             this->current_block = NULL;
 295         }
 296
 297     }else if( this->mode == OFF ){
 298         // No movement means we must reset our speed
 299         this->current_block = NULL;
 300         //this->stepper_motor->set_speed(0);
 301
 302     }
 303
 304 }
 305
 306 // When a block ends, pause the stepping interrupt
 307 void Extruder::on_block_end(void* argument){
 308     this->current_block = NULL;
 309 }
 310
 311 // Called periodically to change the speed to match acceleration or to match the speed of the robot
 312 uint32_t Extruder::acceleration_tick(uint32_t dummy){
 313
 314     // Avoid trying to work when we really shouldn't ( between blocks or re-entry )
 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;
 318     uint32_t target_rate = int(floor(this->feed_rate * this->steps_per_millimeter));
 319
 320     if( current_rate < target_rate ){
 321         uint32_t rate_increase = int(floor((this->acceleration/THEKERNEL->stepper->acceleration_ticks_per_second)*this->steps_per_millimeter));
 322         current_rate = min( target_rate, current_rate + rate_increase );
 323     }
 324     if( current_rate > target_rate ){ current_rate = target_rate; }
 325
 326     // steps per second
 327     this->stepper_motor->set_speed(max(current_rate, THEKERNEL->stepper->minimum_steps_per_second));
 328
 329     return 0;
 330 }
 331
 332 // Speed has been updated for the robot's stepper, we must update accordingly
 333 void Extruder::on_speed_change( void* argument ){
 334
 335     // Avoid trying to work when we really shouldn't ( between blocks or re-entry )
 336     if( this->current_block == NULL ||  this->paused || this->mode != FOLLOW || this->stepper_motor->moving != true ){ return; }
 337
 338     /*
 339     * nominal block duration = current block's steps / ( current block's nominal rate )
 340     * nominal extruder rate = extruder steps / nominal block duration
 341     * actual extruder rate = nominal extruder rate * ( ( stepper's steps per minute ) / ( current block's nominal rate ) )
 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 )
 345     */
 346
 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 ) );
 348
 349 }
 350
 351
 352
 353 // When the stepper has finished it's move
 354 uint32_t Extruder::stepper_motor_finished_move(uint32_t dummy){
 355
 356     //printf("extruder releasing\r\n");
 357
 358     if (this->current_block){ // this should always be true, but sometimes it isn't. TODO: find out why
 359         Block* block = this->current_block;
 360         this->current_block = NULL;
 361         block->release();
 362     }
 363     return 0;
 364
 365 }
 366