this->extruder_multiplier = 1.0F;
this->stepper_motor = nullptr;
this->max_volumetric_rate = 0;
-
+ this->g92e0_detected = false;
memset(this->offset, 0, sizeof(this->offset));
}
this->retract_recover_length = THEKERNEL->config->value(extruder_checksum, this->identifier, retract_recover_length_checksum)->by_default(0)->as_number();
this->retract_recover_feedrate = THEKERNEL->config->value(extruder_checksum, this->identifier, retract_recover_feedrate_checksum)->by_default(8)->as_number();
this->retract_zlift_length = THEKERNEL->config->value(extruder_checksum, this->identifier, retract_zlift_length_checksum)->by_default(0)->as_number();
- 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
+ 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
if(filament_diameter > 0.01F) {
this->volumetric_multiplier = 1.0F / (powf(this->filament_diameter / 2, 2) * PI);
// Stepper motor object for the extruder
stepper_motor = new StepperMotor(step_pin, dir_pin, en_pin);
- motor_id= THEROBOT->register_motor(stepper_motor);
+ motor_id = THEROBOT->register_motor(stepper_motor);
stepper_motor->set_max_rate(THEKERNEL->config->value(extruder_checksum, this->identifier, max_speed_checksum)->by_default(1000)->as_number());
stepper_motor->set_acceleration(acceleration);
void Extruder::select()
{
- selected= true;
+ selected = true;
stepper_motor->set_selected(true);
// set the function pointer to return the current scaling
- THEROBOT->get_e_scale_fnc= [this](void) { return volumetric_multiplier*extruder_multiplier; };
+ THEROBOT->get_e_scale_fnc = [this](void) { return volumetric_multiplier * extruder_multiplier; };
}
void Extruder::deselect()
{
- selected= false;
+ selected = false;
stepper_motor->set_selected(false);
- THEROBOT->get_e_scale_fnc= nullptr;
+ THEROBOT->get_e_scale_fnc = nullptr;
}
void Extruder::on_get_public_data(void *argument)
if(!this->selected) return;
// pointer to structure to return data to is provided
- pad_extruder_t *e= static_cast<pad_extruder_t *>(pdr->get_data_ptr());
- e->steps_per_mm= stepper_motor->get_steps_per_mm();
- e->filament_diameter= this->filament_diameter;
- e->flow_rate= this->extruder_multiplier;
- e->accleration= stepper_motor->get_acceleration();
- e->retract_length= this->retract_length;
- e->current_position= stepper_motor->get_current_position();
+ pad_extruder_t *e
= static_cast<pad_extruder_t *>(pdr->get_data_ptr());
+ e->steps_per_mm = stepper_motor->get_steps_per_mm();
+ e->filament_diameter = this->filament_diameter;
+ e->flow_rate = this->extruder_multiplier;
+ e->accleration = stepper_motor->get_acceleration();
+ e->retract_length = this->retract_length;
+ e->current_position = stepper_motor->get_current_position();
pdr->set_taken();
}
float isecs = d[1]; // inverted secs
// check against maximum speeds and return rate modifier
- d[1]= check_max_speeds(delta, isecs);
+ d[1] = check_max_speeds(delta, isecs);
pdr->set_taken();
return;
}
// save or restore extruder state
if(pdr->second_element_is(save_state_checksum)) {
save_position();
- this->saved_selected= this->selected;
+ this->saved_selected = this->selected;
pdr->set_taken();
} else if(pdr->second_element_is(restore_state_checksum)) {
- this->selected= this->saved_selected;
+ this->selected = this->saved_selected;
// NOTE this only gets called when the queue is empty so the milestones will be the same
restore_position();
pdr->set_taken();
void Extruder::save_position()
{
// we need to save these separately as they may have been scaled
- this->saved_position= std::make_tuple(THEROBOT->get_axis_position(motor_id), stepper_motor->get_last_milestone(), stepper_motor->get_last_milestone_steps());
+ this->saved_position = std::make_tuple(THEROBOT->get_axis_position(motor_id), stepper_motor->get_last_milestone(), stepper_motor->get_last_milestone_steps());
}
void Extruder::restore_position()
if (gcode->m == 114 && this->selected) {
char buf[16];
if(gcode->subcode == 0) {
- float pos= THEROBOT->get_axis_position(motor_id);
+ float pos = THEROBOT->get_axis_position(motor_id);
int n = snprintf(buf, sizeof(buf), " E:%1.3f ", pos);
gcode->txt_after_ok.append(buf, n);
- }else if(gcode->subcode == 1) { // realtime position
- int n = snprintf(buf, sizeof(buf), " E:%1.3f ", stepper_motor->get_current_position()/(volumetric_multiplier*extruder_multiplier));
+ } else if(gcode->subcode == 1) { // realtime position
+ int n = snprintf(buf, sizeof(buf), " E:%1.3f ", stepper_motor->get_current_position() / (volumetric_multiplier * extruder_multiplier));
gcode->txt_after_ok.append(buf, n);
- }else if(gcode->subcode == 3) { // realtime actuator position
+ } else if(gcode->subcode == 3) { // realtime actuator position
int n = snprintf(buf, sizeof(buf), " E:%1.3f ", stepper_motor->get_current_position());
gcode->txt_after_ok.append(buf, n);
}
} else if (gcode->m == 200 && ( (this->selected && !gcode->has_letter('P')) || (gcode->has_letter('P') && gcode->get_value('P') == this->identifier)) ) {
if (gcode->has_letter('D')) {
this->filament_diameter = gcode->get_value('D');
- float last_scale= this->volumetric_multiplier;
+ float last_scale = this->volumetric_multiplier;
if(filament_diameter > 0.01F) {
this->volumetric_multiplier = 1.0F / (powf(this->filament_diameter / 2, 2) * PI);
} else {
// the trouble here is that the last milestone will be for the previous multiplier so a change can cause a big blob
// so we must change the E last milestone accordingly so it continues smoothly....
// change E last milestone to what it would have been if it had used this new multiplier
- float delta= this->volumetric_multiplier/last_scale;
- float nm= this->stepper_motor->get_last_milestone() * delta;
+ float delta = this->volumetric_multiplier / last_scale;
+ float nm = this->stepper_motor->get_last_milestone() * delta;
this->stepper_motor->change_last_milestone(nm);
} else {
} else if (gcode->m == 221 && this->selected) { // M221 S100 change flow rate by percentage
if(gcode->has_letter('S')) {
- float last_scale= this->extruder_multiplier;
+ float last_scale = this->extruder_multiplier;
this->extruder_multiplier = gcode->get_value('S') / 100.0F;
// the trouble here is that the last milestone will be for the previous multiplier so a change can cause a big blob
// so we must change the E last milestone accordingly so it continues smoothly....
// change E last milestone to what it would have been if it had used this new multiplier
- float delta= this->extruder_multiplier/last_scale;
- float nm= this->stepper_motor->get_last_milestone() * delta;
+ float delta = this->extruder_multiplier / last_scale;
+ float nm = this->stepper_motor->get_last_milestone() * delta;
this->stepper_motor->change_last_milestone(nm);
} else {
} else if (gcode->m == 500 || gcode->m == 503) { // M500 saves some volatile settings to config override file, M503 just prints the settings
gcode->stream->printf(";E Steps per mm:\nM92 E%1.4f P%d\n", stepper_motor->get_steps_per_mm(), this->identifier);
gcode->stream->printf(";E Filament diameter:\nM200 D%1.4f P%d\n", this->filament_diameter, this->identifier);
- 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);
+ 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);
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);
gcode->stream->printf(";E acceleration mm/sec²:\nM204 E%1.4f P%d\n", stepper_motor->get_acceleration(), this->identifier);
gcode->stream->printf(";E max feed rate mm/sec:\nM203 E%1.4f P%d\n", stepper_motor->get_max_rate(), this->identifier);
}
}
- }else if( gcode->has_g && this->selected ) {
+ } else if( gcode->has_g && this->selected ) {
if( (gcode->g == 10 || gcode->g == 11) && !gcode->has_letter('L') ) {
// firmware retract command (Ignore if has L parameter that is not for us)
if(gcode->g == 10 && !retracted) {
this->retracted = true;
this->cancel_zlift_restore = false;
+ this->g92e0_detected = false;
} else if(gcode->g == 11 && retracted) {
this->retracted = false;
} else
if(gcode->g == 10) {
// retract
- float delta[motor_id+1];
+ float delta[motor_id + 1];
for (int i = 0; i < motor_id; ++i) {
- delta[i]= 0;
+ delta[i] = 0;
}
// HACK ALERT due to certain slicers reseting E with G92 E0 between the G10 and G11 we need to save and restore position
//save_position();
- delta[motor_id]= -retract_length/volumetric_multiplier; // convert from mm to mm³
- THEROBOT->delta_move(delta, retract_feedrate, motor_id+1);
+ delta[motor_id] = -retract_length / volumetric_multiplier; // convert from mm to mm³
+ THEROBOT->delta_move(delta, retract_feedrate, motor_id + 1);
//restore_position();
// zlift
if(retract_zlift_length > 0) {
- float delta[3]{0,0,retract_zlift_length};
+ float delta[3] {0, 0, retract_zlift_length};
THEROBOT->delta_move(delta, retract_zlift_feedrate, 3);
}
- }else if(gcode->g == 11) {
+ } else if(gcode->g == 11) {
// unretract
if(retract_zlift_length > 0 && !this->cancel_zlift_restore) {
// reverse zlift happens before unretract
// 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
- float delta[3]{0,0,-retract_zlift_length};
+ float delta[3] {0, 0, -retract_zlift_length};
THEROBOT->delta_move(delta, retract_zlift_feedrate, 3);
}
- float delta[motor_id+1];
+ float delta[motor_id + 1];
for (int i = 0; i < motor_id; ++i) {
- delta[i]= 0;
+ delta[i] = 0;
}
// HACK ALERT due to certain slicers reseting E with G92 E0 between the G10 and G11 we need to restore
// the current position after we do the unretract, this is horribly hacky :(
// also as the move has not completed yet, when we restore the current position will be incorrect once the move finishes,
// however this is not fatal for an extruder
- //save_position();
- delta[motor_id]= (retract_length + retract_recover_length)/volumetric_multiplier; // convert from mm to mm³
- THEROBOT->delta_move(delta, retract_recover_feedrate, motor_id+1);
- //restore_position();
+ if(g92e0_detected) save_position();
+ delta[motor_id] = (retract_length + retract_recover_length) / volumetric_multiplier; // convert from mm to mm³
+ THEROBOT->delta_move(delta, retract_recover_feedrate, motor_id + 1);
+ if(g92e0_detected) restore_position();
}
} else if( this->retracted && (gcode->g == 0 || gcode->g == 1) && gcode->has_letter('Z')) {
// NOTE we cancel the zlift restore for the following G11 as we have moved to an absolute Z which we need to stay at
this->cancel_zlift_restore = true;
+
+ } else if( this->retracted && gcode->g == 92 && gcode->has_letter('E')) {
+ // old versions of slic3rs issued a G92 E0 after G10, handle that case
+ this->g92e0_detected= true;
}
+
}
}
HCoop / clinton / Smoothieware.git / commitdiff