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 "Stepper.h"
  18 #include "StepTicker.h"
  19 #include "Config.h"
  20 #include "StepperMotor.h"
  21 #include "Robot.h"
  22 #include "checksumm.h"
  23 #include "ConfigValue.h"
  24 #include "Gcode.h"
  25 #include "libs/StreamOutput.h"
  26
  27 #include <mri.h>
  28
  29 #define extruder_module_enable_checksum      CHECKSUM("extruder_module_enable")
  30 #define extruder_steps_per_mm_checksum       CHECKSUM("extruder_steps_per_mm")
  31 #define extruder_acceleration_checksum       CHECKSUM("extruder_acceleration")
  32 #define extruder_step_pin_checksum           CHECKSUM("extruder_step_pin")
  33 #define extruder_dir_pin_checksum            CHECKSUM("extruder_dir_pin")
  34 #define extruder_en_pin_checksum             CHECKSUM("extruder_en_pin")
  35 #define extruder_max_speed_checksum          CHECKSUM("extruder_max_speed")
  36
  37 #define extruder_checksum                    CHECKSUM("extruder")
  38
  39 #define default_feed_rate_checksum           CHECKSUM("default_feed_rate")
  40 #define steps_per_mm_checksum                CHECKSUM("steps_per_mm")
  41 #define acceleration_checksum                CHECKSUM("acceleration")
  42 #define step_pin_checksum                    CHECKSUM("step_pin")
  43 #define dir_pin_checksum                     CHECKSUM("dir_pin")
  44 #define en_pin_checksum                      CHECKSUM("en_pin")
  45 #define max_speed_checksum                   CHECKSUM("max_speed")
  46
  47 #define max(a,b) (((a) > (b)) ? (a) : (b))
  48
  49 /* The extruder module controls a filament extruder for 3D printing: http://en.wikipedia.org/wiki/Fused_deposition_modeling
  50 * 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 )
  51 * or the head moves, and the extruder moves plastic at a speed proportional to the movement of the head ( FOLLOW mode here ).
  52 */
  53
  54 Extruder::Extruder( uint16_t config_identifier ) {
  55     this->absolute_mode = true;
  56     this->paused        = false;
  57     this->single_config = false;
  58     this->identifier    = config_identifier;
  59 }
  60
  61 void Extruder::on_module_loaded() {
  62
  63     // Settings
  64     this->on_config_reload(this);
  65
  66     // We work on the same Block as Stepper, so we need to know when it gets a new one and drops one
  67     register_for_event(ON_CONFIG_RELOAD);
  68     this->register_for_event(ON_BLOCK_BEGIN);
  69     this->register_for_event(ON_BLOCK_END);
  70     this->register_for_event(ON_GCODE_RECEIVED);
  71     this->register_for_event(ON_GCODE_EXECUTE);
  72     this->register_for_event(ON_PLAY);
  73     this->register_for_event(ON_PAUSE);
  74     this->register_for_event(ON_SPEED_CHANGE);
  75
  76     // Start values
  77     this->target_position = 0;
  78     this->current_position = 0;
  79     this->unstepped_distance = 0;
  80     this->current_block = NULL;
  81     this->mode = OFF;
  82
  83     // Update speed every *acceleration_ticks_per_second*
  84     // TODO: Make this an independent setting
  85     THEKERNEL->slow_ticker->attach( THEKERNEL->stepper->acceleration_ticks_per_second , this, &Extruder::acceleration_tick );
  86
  87     // Stepper motor object for the extruder
  88     this->stepper_motor  = THEKERNEL->step_ticker->add_stepper_motor( new StepperMotor(step_pin, dir_pin, en_pin) );
  89     this->stepper_motor->attach(this, &Extruder::stepper_motor_finished_move );
  90
  91 }
  92
  93 // Get config
  94 void Extruder::on_config_reload(void* argument){
  95
  96     // If this module uses the old "single extruder" configuration style
  97     if( this->single_config ){
  98
  99         this->steps_per_millimeter        = THEKERNEL->config->value(extruder_steps_per_mm_checksum      )->by_default(1)->as_number();
 100         this->acceleration                = THEKERNEL->config->value(extruder_acceleration_checksum      )->by_default(1000)->as_number();
 101         this->max_speed                   = THEKERNEL->config->value(extruder_max_speed_checksum         )->by_default(1000)->as_number();
 102         this->feed_rate                   = THEKERNEL->config->value(default_feed_rate_checksum          )->by_default(1000)->as_number();
 103
 104         this->step_pin.from_string(         THEKERNEL->config->value(extruder_step_pin_checksum          )->by_default("nc" )->as_string())->as_output();
 105         this->dir_pin.from_string(          THEKERNEL->config->value(extruder_dir_pin_checksum           )->by_default("nc" )->as_string())->as_output();
 106         this->en_pin.from_string(           THEKERNEL->config->value(extruder_en_pin_checksum            )->by_default("nc" )->as_string())->as_output();
 107
 108     }else{
 109     // If this module was created with the new multi extruder configuration style
 110
 111         this->steps_per_millimeter        = THEKERNEL->config->value(extruder_checksum, this->identifier, steps_per_mm_checksum      )->by_default(1)->as_number();
 112         this->acceleration                = THEKERNEL->config->value(extruder_checksum, this->identifier, acceleration_checksum      )->by_default(1000)->as_number();
 113         this->max_speed                   = THEKERNEL->config->value(extruder_checksum, this->identifier, max_speed_checksum         )->by_default(1000)->as_number();
 114         this->feed_rate                   = THEKERNEL->config->value(                                     default_feed_rate_checksum )->by_default(1000)->as_number();
 115
 116         this->step_pin.from_string(         THEKERNEL->config->value(extruder_checksum, this->identifier, step_pin_checksum          )->by_default("nc" )->as_string())->as_output();
 117         this->dir_pin.from_string(          THEKERNEL->config->value(extruder_checksum, this->identifier, dir_pin_checksum           )->by_default("nc" )->as_string())->as_output();
 118         this->en_pin.from_string(           THEKERNEL->config->value(extruder_checksum, this->identifier, en_pin_checksum            )->by_default("nc" )->as_string())->as_output();
 119
 120     }
 121
 122 }
 123
 124
 125 // When the play/pause button is set to pause, or a module calls the ON_PAUSE event
 126 void Extruder::on_pause(void* argument){
 127     this->paused = true;
 128     this->stepper_motor->pause();
 129 }
 130
 131 // When the play/pause button is set to play, or a module calls the ON_PLAY event
 132 void Extruder::on_play(void* argument){
 133     this->paused = false;
 134     this->stepper_motor->unpause();
 135 }
 136
 137
 138 void Extruder::on_gcode_received(void *argument){
 139     Gcode *gcode = static_cast<Gcode*>(argument);
 140
 141     // Gcodes to execute immediately
 142     if (gcode->has_m){
 143         if (gcode->m == 114){
 144             char buf[16];
 145             int n= snprintf(buf, sizeof(buf), " E:%1.3f ", this->current_position);
 146             gcode->txt_after_ok.append(buf, n);
 147             gcode->mark_as_taken();
 148
 149         }else if (gcode->m == 92 ){
 150             float spm = this->steps_per_millimeter;
 151             if (gcode->has_letter('E'))
 152                 spm = gcode->get_value('E');
 153             gcode->stream->printf("E:%g ", spm);
 154             gcode->add_nl = true;
 155             gcode->mark_as_taken();
 156
 157         }else if (gcode->m == 500 || gcode->m == 503){// M500 saves some volatile settings to config override file, M503 just prints the settings
 158             gcode->stream->printf(";E Steps per mm:\nM92 E%1.4f\n", this->steps_per_millimeter);
 159             gcode->mark_as_taken();
 160             return;
 161         }
 162     }
 163
 164     // Gcodes to pass along to on_gcode_execute
 165     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 ) ) ){
 166         THEKERNEL->conveyor->append_gcode(gcode);
 167     }
 168
 169     // Add to the queue for on_gcode_execute to process
 170     if( gcode->has_g && gcode->g < 4 && gcode->has_letter('E') ){
 171         if( !gcode->has_letter('X') && !gcode->has_letter('Y') && !gcode->has_letter('Z') ){
 172             THEKERNEL->conveyor->append_gcode(gcode);
 173             // This is a solo move, we add an empty block to the queue to prevent subsequent gcodes being executed at the same time
 174             THEKERNEL->conveyor->queue_head_block();
 175         }
 176     }else{
 177         // This is for follow move
 178
 179     }
 180 }
 181
 182 // Compute extrusion speed based on parameters and gcode distance of travel
 183 void Extruder::on_gcode_execute(void* argument){
 184     Gcode* gcode = static_cast<Gcode*>(argument);
 185
 186     // Absolute/relative mode
 187     if( gcode->has_m ){
 188         if( gcode->m == 17 ){ this->en_pin.set(0); }
 189         if( gcode->m == 18 ){ this->en_pin.set(1); }
 190         if( gcode->m == 82 ){ this->absolute_mode = true; }
 191         if( gcode->m == 83 ){ this->absolute_mode = false; }
 192         if( gcode->m == 84 ){ this->en_pin.set(1); }
 193         if (gcode->m == 92 ){
 194             if (gcode->has_letter('E')){
 195                 this->steps_per_millimeter = gcode->get_value('E');
 196             }
 197         }
 198     }
 199
 200     // The mode is OFF by default, and SOLO or FOLLOW only if we need to extrude
 201     this->mode = OFF;
 202
 203     if( gcode->has_g ){
 204         // G92: Reset extruder position
 205         if( gcode->g == 92 ){
 206             gcode->mark_as_taken();
 207             if( gcode->has_letter('E') ){
 208                 this->current_position = gcode->get_value('E');
 209                 this->target_position  = this->current_position;
 210                 this->unstepped_distance = 0;
 211             }else if( gcode->get_num_args() == 0){
 212                 this->current_position = 0.0;
 213                 this->target_position = this->current_position;
 214                 this->unstepped_distance = 0;
 215             }
 216         }else if ((gcode->g == 0) || (gcode->g == 1)){
 217             // Extrusion length from 'G' Gcode
 218             if( gcode->has_letter('E' )){
 219                 // Get relative extrusion distance depending on mode ( in absolute mode we must substract target_position )
 220                 float extrusion_distance = gcode->get_value('E');
 221                 float relative_extrusion_distance = extrusion_distance;
 222                 if (this->absolute_mode)
 223                 {
 224                     relative_extrusion_distance -= this->target_position;
 225                     this->target_position = extrusion_distance;
 226                 }
 227                 else
 228                 {
 229                     this->target_position += relative_extrusion_distance;
 230                 }
 231
 232                 // If the robot is moving, we follow it's movement, otherwise, we move alone
 233                 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
 234                     this->mode = SOLO;
 235                     this->travel_distance = relative_extrusion_distance;
 236                 }else{
 237                     // We move proportionally to the robot's movement
 238                     this->mode = FOLLOW;
 239                     this->travel_ratio = relative_extrusion_distance / gcode->millimeters_of_travel;
 240                     // TODO: check resulting flowrate, limit robot speed if it exceeds max_speed
 241                 }
 242
 243                 this->en_pin.set(0);
 244             }
 245             if (gcode->has_letter('F'))
 246             {
 247                 feed_rate = gcode->get_value('F') / THEKERNEL->robot->seconds_per_minute;
 248                 if (feed_rate > max_speed)
 249                     feed_rate = max_speed;
 250             }
 251         }else if( gcode->g == 90 ){ this->absolute_mode = true;
 252         }else if( gcode->g == 91 ){ this->absolute_mode = false;
 253         }
 254     }
 255 }
 256
 257 // When a new block begins, either follow the robot, or step by ourselves ( or stay back and do nothing )
 258 void Extruder::on_block_begin(void* argument){
 259     Block* block = static_cast<Block*>(argument);
 260
 261
 262     if( this->mode == SOLO ){
 263         // In solo mode we take the block so we can move even if the stepper has nothing to do
 264
 265         this->current_position += this->travel_distance ;
 266
 267         int steps_to_step = abs(int(floor(this->steps_per_millimeter * (this->travel_distance +this->unstepped_distance) )));
 268
 269         if ( this->travel_distance > 0 ){
 270             this->unstepped_distance += this->travel_distance -(steps_to_step/this->steps_per_millimeter); //catch any overflow
 271         }   else {
 272             this->unstepped_distance += this->travel_distance +(steps_to_step/this->steps_per_millimeter); //catch any overflow
 273         }
 274
 275         if( steps_to_step != 0 ){
 276
 277             // We take the block, we have to release it or everything gets stuck
 278             block->take();
 279             this->current_block = block;
 280
 281             this->stepper_motor->steps_per_second = 0;
 282             this->stepper_motor->move( ( this->travel_distance > 0 ), steps_to_step);
 283
 284         }else{
 285             this->current_block = NULL;
 286         }
 287
 288     }else if( this->mode == FOLLOW ){
 289         // In non-solo mode, we just follow the stepper module
 290         this->travel_distance = block->millimeters * this->travel_ratio;
 291
 292         this->current_position += this->travel_distance;
 293
 294         int steps_to_step = abs(int(floor(this->steps_per_millimeter * (this->travel_distance + this->unstepped_distance) )));
 295
 296         if ( this->travel_distance > 0 ){
 297             this->unstepped_distance += this->travel_distance -(steps_to_step/this->steps_per_millimeter); //catch any overflow
 298         }   else {
 299             this->unstepped_distance += this->travel_distance +(steps_to_step/this->steps_per_millimeter); //catch any overflow
 300         }
 301
 302         if( steps_to_step != 0 ){
 303             block->take();
 304             this->current_block = block;
 305
 306             this->stepper_motor->move( ( this->travel_distance > 0 ), steps_to_step );
 307             this->on_speed_change(0); // initialise speed in case we get called first
 308         }else{
 309             this->current_block = NULL;
 310         }
 311
 312     }else if( this->mode == OFF ){
 313         // No movement means we must reset our speed
 314         this->current_block = NULL;
 315         //this->stepper_motor->set_speed(0);
 316
 317     }
 318
 319 }
 320
 321 // When a block ends, pause the stepping interrupt
 322 void Extruder::on_block_end(void* argument){
 323     this->current_block = NULL;
 324 }
 325
 326 // Called periodically to change the speed to match acceleration or to match the speed of the robot
 327 uint32_t Extruder::acceleration_tick(uint32_t dummy){
 328
 329     // Avoid trying to work when we really shouldn't ( between blocks or re-entry )
 330     if( this->current_block == NULL ||  this->paused || this->mode != SOLO ){ return 0; }
 331
 332     uint32_t current_rate = this->stepper_motor->steps_per_second;
 333     uint32_t target_rate = int(floor(this->feed_rate * this->steps_per_millimeter));
 334
 335     if( current_rate < target_rate ){
 336         uint32_t rate_increase = int(floor((this->acceleration/THEKERNEL->stepper->acceleration_ticks_per_second)*this->steps_per_millimeter));
 337         current_rate = min( target_rate, current_rate + rate_increase );
 338     }
 339     if( current_rate > target_rate ){ current_rate = target_rate; }
 340
 341     // steps per second
 342     this->stepper_motor->set_speed(max(current_rate, THEKERNEL->stepper->minimum_steps_per_second));
 343
 344     return 0;
 345 }
 346
 347 // Speed has been updated for the robot's stepper, we must update accordingly
 348 void Extruder::on_speed_change( void* argument ){
 349
 350     // Avoid trying to work when we really shouldn't ( between blocks or re-entry )
 351     if( this->current_block == NULL ||  this->paused || this->mode != FOLLOW || this->stepper_motor->moving != true ){ return; }
 352
 353     /*
 354     * nominal block duration = current block's steps / ( current block's nominal rate )
 355     * nominal extruder rate = extruder steps / nominal block duration
 356     * actual extruder rate = nominal extruder rate * ( ( stepper's steps per second ) / ( current block's nominal rate ) )
 357     * 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 ) )
 358     * or simplified : extruder steps * ( stepper's steps per second ) ) / current block's steps
 359     * or even : ( stepper steps per second ) * ( extruder steps / current block's steps )
 360     */
 361
 362     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 ) );
 363
 364 }
 365
 366
 367
 368 // When the stepper has finished it's move
 369 uint32_t Extruder::stepper_motor_finished_move(uint32_t dummy){
 370
 371     //printf("extruder releasing\r\n");
 372
 373     if (this->current_block){ // this should always be true, but sometimes it isn't. TODO: find out why
 374         Block* block = this->current_block;
 375         this->current_block = NULL;
 376         block->release();
 377     }
 378     return 0;
 379
 380 }
 381