# Code for handling printer nozzle extruders
#
# Copyright (C) 2016-2019 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import math, logging
import stepper, homing, chelper
class PrinterExtruder:
def __init__(self, config, extruder_num):
self.printer = config.get_printer()
self.name = config.get_name()
shared_heater = config.get('shared_heater', None)
pheaters = self.printer.load_object(config, 'heaters')
gcode_id = 'T%d' % (extruder_num,)
if shared_heater is None:
self.heater = pheaters.setup_heater(config, gcode_id)
else:
self.heater = pheaters.lookup_heater(shared_heater)
self.stepper = stepper.PrinterStepper(config)
self.nozzle_diameter = config.getfloat('nozzle_diameter', above=0.)
filament_diameter = config.getfloat(
'filament_diameter', minval=self.nozzle_diameter)
self.filament_area = math.pi * (filament_diameter * .5)**2
def_max_cross_section = 4. * self.nozzle_diameter**2
def_max_extrude_ratio = def_max_cross_section / self.filament_area
max_cross_section = config.getfloat(
'max_extrude_cross_section', def_max_cross_section, above=0.)
self.max_extrude_ratio = max_cross_section / self.filament_area
logging.info("Extruder max_extrude_ratio=%.6f", self.max_extrude_ratio)
toolhead = self.printer.lookup_object('toolhead')
max_velocity, max_accel = toolhead.get_max_velocity()
self.max_e_velocity = config.getfloat(
'max_extrude_only_velocity', max_velocity * def_max_extrude_ratio
, above=0.)
self.max_e_accel = config.getfloat(
'max_extrude_only_accel', max_accel * def_max_extrude_ratio
, above=0.)
self.stepper.set_max_jerk(9999999.9, 9999999.9)
self.max_e_dist = config.getfloat(
'max_extrude_only_distance', 50., minval=0.)
self.instant_corner_v = config.getfloat(
'instantaneous_corner_velocity', 1., minval=0.)
self.pressure_advance = self.pressure_advance_smooth_time = 0.
pressure_advance = config.getfloat('pressure_advance', 0., minval=0.)
smooth_time = config.getfloat('pressure_advance_smooth_time',
0.040, above=0., maxval=.200)
# Setup iterative solver
ffi_main, ffi_lib = chelper.get_ffi()
self.trapq = ffi_main.gc(ffi_lib.trapq_alloc(), ffi_lib.trapq_free)
self.trapq_append = ffi_lib.trapq_append
self.trapq_free_moves = ffi_lib.trapq_free_moves
self.sk_extruder = ffi_main.gc(ffi_lib.extruder_stepper_alloc(),
ffi_lib.free)
self.stepper.set_stepper_kinematics(self.sk_extruder)
self.stepper.set_trapq(self.trapq)
toolhead.register_step_generator(self.stepper.generate_steps)
self.extruder_set_smooth_time = ffi_lib.extruder_set_smooth_time
self._set_pressure_advance(pressure_advance, smooth_time)
# Register commands
gcode = self.printer.lookup_object('gcode')
if self.name == 'extruder':
toolhead.set_extruder(self, 0.)
gcode.register_command("M104", self.cmd_M104)
gcode.register_command("M109", self.cmd_M109)
gcode.register_mux_command("SET_PRESSURE_ADVANCE", "EXTRUDER", None,
self.cmd_default_SET_PRESSURE_ADVANCE,
desc=self.cmd_SET_PRESSURE_ADVANCE_help)
gcode.register_mux_command("SET_PRESSURE_ADVANCE", "EXTRUDER",
self.name, self.cmd_SET_PRESSURE_ADVANCE,
desc=self.cmd_SET_PRESSURE_ADVANCE_help)
gcode.register_mux_command("ACTIVATE_EXTRUDER", "EXTRUDER",
self.name, self.cmd_ACTIVATE_EXTRUDER,
desc=self.cmd_ACTIVATE_EXTRUDER_help)
gcode.register_mux_command("SET_EXTRUDER_STEP_DISTANCE", "EXTRUDER",
self.name, self.cmd_SET_E_STEP_DISTANCE,
desc=self.cmd_SET_E_STEP_DISTANCE_help)
def update_move_time(self, flush_time):
self.trapq_free_moves(self.trapq, flush_time)
def _set_pressure_advance(self, pressure_advance, smooth_time):
old_smooth_time = self.pressure_advance_smooth_time
if not self.pressure_advance:
old_smooth_time = 0.
new_smooth_time = smooth_time
if not pressure_advance:
new_smooth_time = 0.
toolhead = self.printer.lookup_object("toolhead")
toolhead.note_step_generation_scan_time(new_smooth_time * .5,
old_delay=old_smooth_time * .5)
self.extruder_set_smooth_time(self.sk_extruder, new_smooth_time)
self.pressure_advance = pressure_advance
self.pressure_advance_smooth_time = smooth_time
def get_status(self, eventtime):
return dict(self.heater.get_status(eventtime),
pressure_advance=self.pressure_advance,
smooth_time=self.pressure_advance_smooth_time)
def get_name(self):
return self.name
def get_heater(self):
return self.heater
def sync_stepper(self, stepper):
epos = self.stepper.get_commanded_position()
stepper.set_position([epos, 0., 0.])
stepper.set_trapq(self.trapq)
def stats(self, eventtime):
return self.heater.stats(eventtime)
def check_move(self, move):
axis_r = move.axes_r[3]
if not self.heater.can_extrude:
raise homing.EndstopError(
"Extrude below minimum temp\n"
"See the 'min_extrude_temp' config option for details")
if (not move.axes_d[0] and not move.axes_d[1]) or axis_r < 0.:
# Extrude only move (or retraction move) - limit accel and velocity
if abs(move.axes_d[3]) > self.max_e_dist:
raise homing.EndstopError(
"Extrude only move too long (%.3fmm vs %.3fmm)\n"
"See the 'max_extrude_only_distance' config"
" option for details" % (move.axes_d[3], self.max_e_dist))
inv_extrude_r = 1. / abs(axis_r)
move.limit_speed(self.max_e_velocity * inv_extrude_r,
self.max_e_accel * inv_extrude_r)
elif axis_r > self.max_extrude_ratio:
if move.axes_d[3] <= self.nozzle_diameter * self.max_extrude_ratio:
# Permit extrusion if amount extruded is tiny
return
area = axis_r * self.filament_area
logging.debug("Overextrude: %s vs %s (area=%.3f dist=%.3f)",
axis_r, self.max_extrude_ratio, area, move.move_d)
raise homing.EndstopError(
"Move exceeds maximum extrusion (%.3fmm^2 vs %.3fmm^2)\n"
"See the 'max_extrude_cross_section' config option for details"
% (area, self.max_extrude_ratio * self.filament_area))
def calc_junction(self, prev_move, move):
diff_r = move.axes_r[3] - prev_move.axes_r[3]
if diff_r:
return (self.instant_corner_v / abs(diff_r))**2
return move.max_cruise_v2
def move(self, print_time, move):
axis_r = move.axes_r[3]
accel = move.accel * axis_r
start_v = move.start_v * axis_r
cruise_v = move.cruise_v * axis_r
pressure_advance = 0.
if axis_r > 0. and (move.axes_d[0] or move.axes_d[1]):
pressure_advance = self.pressure_advance
# Queue movement (x is extruder movement, y is pressure advance)
self.trapq_append(self.trapq, print_time,
move.accel_t, move.cruise_t, move.decel_t,
move.start_pos[3], 0., 0.,
1., pressure_advance, 0.,
start_v, cruise_v, accel)
def cmd_M104(self, gcmd, wait=False):
# Set Extruder Temperature
temp = gcmd.get_float('S', 0.)
index = gcmd.get_int('T', None, minval=0)
if index is not None:
section = 'extruder'
if index:
section = 'extruder%d' % (index,)
extruder = self.printer.lookup_object(section, None)
if extruder is None:
if temp <= 0.:
return
raise gcmd.error("Extruder not configured")
else:
extruder = self.printer.lookup_object('toolhead').get_extruder()
heater = extruder.get_heater()
heater.set_temp(temp)
if wait and temp:
self.printer.lookup_object('heaters').wait_for_temperature(heater)
def cmd_M109(self, gcmd):
# Set Extruder Temperature and Wait
self.cmd_M104(gcmd, wait=True)
cmd_SET_PRESSURE_ADVANCE_help = "Set pressure advance parameters"
def cmd_default_SET_PRESSURE_ADVANCE(self, gcmd):
extruder = self.printer.lookup_object('toolhead').get_extruder()
extruder.cmd_SET_PRESSURE_ADVANCE(gcmd)
def cmd_SET_PRESSURE_ADVANCE(self, gcmd):
pressure_advance = gcmd.get_float('ADVANCE', self.pressure_advance,
minval=0.)
smooth_time = gcmd.get_float('SMOOTH_TIME',
self.pressure_advance_smooth_time,
minval=0., maxval=.200)
self._set_pressure_advance(pressure_advance, smooth_time)
msg = ("pressure_advance: %.6f\n"
"pressure_advance_smooth_time: %.6f"
% (pressure_advance, smooth_time))
self.printer.set_rollover_info(self.name, "%s: %s" % (self.name, msg))
gcmd.respond_info(msg, log=False)
cmd_SET_E_STEP_DISTANCE_help = "Set extruder step distance"
def cmd_SET_E_STEP_DISTANCE(self, gcmd):
toolhead = self.printer.lookup_object('toolhead')
dist = gcmd.get_float('DISTANCE', None, above=0.)
if dist is None:
step_dist = self.stepper.get_step_dist()
gcmd.respond_info("Extruder '%s' step distance is %0.6f"
% (self.name, step_dist))
return
toolhead.flush_step_generation()
self.stepper.set_step_dist(dist)
gcmd.respond_info("Extruder '%s' step distance set to %0.6f"
% (self.name, dist))
cmd_ACTIVATE_EXTRUDER_help = "Change the active extruder"
def cmd_ACTIVATE_EXTRUDER(self, gcmd):
toolhead = self.printer.lookup_object('toolhead')
if toolhead.get_extruder() is self:
gcmd.respond_info("Extruder %s already active" % (self.name,))
return
gcmd.respond_info("Activating extruder %s" % (self.name,))
toolhead.flush_step_generation()
toolhead.set_extruder(self, self.stepper.get_commanded_position())
self.printer.send_event("extruder:activate_extruder")
# Dummy extruder class used when a printer has no extruder at all
class DummyExtruder:
def update_move_time(self, flush_time):
pass
def check_move(self, move):
raise homing.EndstopMoveError(
move.end_pos, "Extrude when no extruder present")
def calc_junction(self, prev_move, move):
return move.max_cruise_v2
def get_name(self):
return ""
def get_heater(self):
raise homing.CommandError("Extruder not configured")
def add_printer_objects(config):
printer = config.get_printer()
for i in range(99):
section = 'extruder'
if i:
section = 'extruder%d' % (i,)
if not config.has_section(section):
break
pe = PrinterExtruder(config.getsection(section), i)
printer.add_object(section, pe)