341 lines
17 KiB
Python
341 lines
17 KiB
Python
# Code for handling printer nozzle extruders
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#
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# Copyright (C) 2016-2022 Kevin O'Connor <kevin@koconnor.net>
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#
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# This file may be distributed under the terms of the GNU GPLv3 license.
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import math, logging
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import stepper, chelper
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class ExtruderStepper:
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def __init__(self, config):
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self.printer = config.get_printer()
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self.name = config.get_name().split()[-1]
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self.pressure_advance = self.pressure_advance_smooth_time = 0.
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self.config_pa = config.getfloat('pressure_advance', 0., minval=0.)
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self.config_smooth_time = config.getfloat(
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'pressure_advance_smooth_time', 0.040, above=0., maxval=.200)
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# Setup stepper
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self.stepper = stepper.PrinterStepper(config)
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ffi_main, ffi_lib = chelper.get_ffi()
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self.sk_extruder = ffi_main.gc(ffi_lib.extruder_stepper_alloc(),
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ffi_lib.free)
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self.stepper.set_stepper_kinematics(self.sk_extruder)
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self.motion_queue = None
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# Register commands
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self.printer.register_event_handler("klippy:connect",
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self._handle_connect)
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gcode = self.printer.lookup_object('gcode')
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if self.name == 'extruder':
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gcode.register_mux_command("SET_PRESSURE_ADVANCE", "EXTRUDER", None,
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self.cmd_default_SET_PRESSURE_ADVANCE,
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desc=self.cmd_SET_PRESSURE_ADVANCE_help)
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gcode.register_mux_command("SET_PRESSURE_ADVANCE", "EXTRUDER",
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self.name, self.cmd_SET_PRESSURE_ADVANCE,
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desc=self.cmd_SET_PRESSURE_ADVANCE_help)
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gcode.register_mux_command("SET_EXTRUDER_ROTATION_DISTANCE", "EXTRUDER",
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self.name, self.cmd_SET_E_ROTATION_DISTANCE,
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desc=self.cmd_SET_E_ROTATION_DISTANCE_help)
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gcode.register_mux_command("SYNC_EXTRUDER_MOTION", "EXTRUDER",
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self.name, self.cmd_SYNC_EXTRUDER_MOTION,
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desc=self.cmd_SYNC_EXTRUDER_MOTION_help)
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gcode.register_mux_command("SET_EXTRUDER_STEP_DISTANCE", "EXTRUDER",
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self.name, self.cmd_SET_E_STEP_DISTANCE,
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desc=self.cmd_SET_E_STEP_DISTANCE_help)
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gcode.register_mux_command("SYNC_STEPPER_TO_EXTRUDER", "STEPPER",
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self.name, self.cmd_SYNC_STEPPER_TO_EXTRUDER,
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desc=self.cmd_SYNC_STEPPER_TO_EXTRUDER_help)
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def _handle_connect(self):
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toolhead = self.printer.lookup_object('toolhead')
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toolhead.register_step_generator(self.stepper.generate_steps)
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self._set_pressure_advance(self.config_pa, self.config_smooth_time)
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def get_status(self, eventtime):
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return {'pressure_advance': self.pressure_advance,
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'smooth_time': self.pressure_advance_smooth_time,
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'motion_queue': self.motion_queue}
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def find_past_position(self, print_time):
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mcu_pos = self.stepper.get_past_mcu_position(print_time)
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return self.stepper.mcu_to_commanded_position(mcu_pos)
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def sync_to_extruder(self, extruder_name):
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toolhead = self.printer.lookup_object('toolhead')
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toolhead.flush_step_generation()
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if not extruder_name:
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self.stepper.set_trapq(None)
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self.motion_queue = None
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return
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extruder = self.printer.lookup_object(extruder_name, None)
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if extruder is None or not isinstance(extruder, PrinterExtruder):
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raise self.printer.command_error("'%s' is not a valid extruder."
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% (extruder_name,))
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self.stepper.set_position([extruder.last_position, 0., 0.])
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self.stepper.set_trapq(extruder.get_trapq())
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self.motion_queue = extruder_name
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def _set_pressure_advance(self, pressure_advance, smooth_time):
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old_smooth_time = self.pressure_advance_smooth_time
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if not self.pressure_advance:
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old_smooth_time = 0.
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new_smooth_time = smooth_time
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if not pressure_advance:
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new_smooth_time = 0.
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toolhead = self.printer.lookup_object("toolhead")
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toolhead.note_step_generation_scan_time(new_smooth_time * .5,
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old_delay=old_smooth_time * .5)
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ffi_main, ffi_lib = chelper.get_ffi()
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espa = ffi_lib.extruder_set_pressure_advance
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espa(self.sk_extruder, pressure_advance, new_smooth_time)
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self.pressure_advance = pressure_advance
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self.pressure_advance_smooth_time = smooth_time
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cmd_SET_PRESSURE_ADVANCE_help = "Set pressure advance parameters"
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def cmd_default_SET_PRESSURE_ADVANCE(self, gcmd):
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extruder = self.printer.lookup_object('toolhead').get_extruder()
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if extruder.extruder_stepper is None:
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raise gcmd.error("Active extruder does not have a stepper")
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strapq = extruder.extruder_stepper.stepper.get_trapq()
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if strapq is not extruder.get_trapq():
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raise gcmd.error("Unable to infer active extruder stepper")
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extruder.extruder_stepper.cmd_SET_PRESSURE_ADVANCE(gcmd)
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def cmd_SET_PRESSURE_ADVANCE(self, gcmd):
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pressure_advance = gcmd.get_float('ADVANCE', self.pressure_advance,
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minval=0.)
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smooth_time = gcmd.get_float('SMOOTH_TIME',
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self.pressure_advance_smooth_time,
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minval=0., maxval=.200)
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self._set_pressure_advance(pressure_advance, smooth_time)
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msg = ("pressure_advance: %.6f\n"
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"pressure_advance_smooth_time: %.6f"
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% (pressure_advance, smooth_time))
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self.printer.set_rollover_info(self.name, "%s: %s" % (self.name, msg))
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gcmd.respond_info(msg, log=False)
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cmd_SET_E_ROTATION_DISTANCE_help = "Set extruder rotation distance"
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def cmd_SET_E_ROTATION_DISTANCE(self, gcmd):
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rotation_dist = gcmd.get_float('DISTANCE', None)
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if rotation_dist is not None:
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if not rotation_dist:
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raise gcmd.error("Rotation distance can not be zero")
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invert_dir, orig_invert_dir = self.stepper.get_dir_inverted()
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next_invert_dir = orig_invert_dir
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if rotation_dist < 0.:
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next_invert_dir = not orig_invert_dir
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rotation_dist = -rotation_dist
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toolhead = self.printer.lookup_object('toolhead')
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toolhead.flush_step_generation()
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self.stepper.set_rotation_distance(rotation_dist)
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self.stepper.set_dir_inverted(next_invert_dir)
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else:
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rotation_dist, spr = self.stepper.get_rotation_distance()
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invert_dir, orig_invert_dir = self.stepper.get_dir_inverted()
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if invert_dir != orig_invert_dir:
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rotation_dist = -rotation_dist
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gcmd.respond_info("Extruder '%s' rotation distance set to %0.6f"
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% (self.name, rotation_dist))
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cmd_SYNC_EXTRUDER_MOTION_help = "Set extruder stepper motion queue"
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def cmd_SYNC_EXTRUDER_MOTION(self, gcmd):
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ename = gcmd.get('MOTION_QUEUE')
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self.sync_to_extruder(ename)
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gcmd.respond_info("Extruder '%s' now syncing with '%s'"
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% (self.name, ename))
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cmd_SET_E_STEP_DISTANCE_help = "Set extruder step distance"
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def cmd_SET_E_STEP_DISTANCE(self, gcmd):
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step_dist = gcmd.get_float('DISTANCE', None, above=0.)
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if step_dist is not None:
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toolhead = self.printer.lookup_object('toolhead')
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toolhead.flush_step_generation()
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rd, steps_per_rotation = self.stepper.get_rotation_distance()
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self.stepper.set_rotation_distance(step_dist * steps_per_rotation)
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else:
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step_dist = self.stepper.get_step_dist()
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gcmd.respond_info("Extruder '%s' step distance set to %0.6f"
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% (self.name, step_dist))
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cmd_SYNC_STEPPER_TO_EXTRUDER_help = "Set extruder stepper"
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def cmd_SYNC_STEPPER_TO_EXTRUDER(self, gcmd):
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ename = gcmd.get('EXTRUDER')
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self.sync_to_extruder(ename)
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gcmd.respond_info("Extruder '%s' now syncing with '%s'"
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% (self.name, ename))
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# Tracking for hotend heater, extrusion motion queue, and extruder stepper
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class PrinterExtruder:
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def __init__(self, config, extruder_num):
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self.printer = config.get_printer()
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self.name = config.get_name()
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self.last_position = 0.
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# Setup hotend heater
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shared_heater = config.get('shared_heater', None)
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pheaters = self.printer.load_object(config, 'heaters')
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gcode_id = 'T%d' % (extruder_num,)
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if shared_heater is None:
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self.heater = pheaters.setup_heater(config, gcode_id)
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else:
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config.deprecate('shared_heater')
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self.heater = pheaters.lookup_heater(shared_heater)
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# Setup kinematic checks
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self.nozzle_diameter = config.getfloat('nozzle_diameter', above=0.)
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filament_diameter = config.getfloat(
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'filament_diameter', minval=self.nozzle_diameter)
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self.filament_area = math.pi * (filament_diameter * .5)**2
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def_max_cross_section = 4. * self.nozzle_diameter**2
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def_max_extrude_ratio = def_max_cross_section / self.filament_area
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max_cross_section = config.getfloat(
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'max_extrude_cross_section', def_max_cross_section, above=0.)
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self.max_extrude_ratio = max_cross_section / self.filament_area
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logging.info("Extruder max_extrude_ratio=%.6f", self.max_extrude_ratio)
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toolhead = self.printer.lookup_object('toolhead')
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max_velocity, max_accel = toolhead.get_max_velocity()
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self.max_e_velocity = config.getfloat(
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'max_extrude_only_velocity', max_velocity * def_max_extrude_ratio
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, above=0.)
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self.max_e_accel = config.getfloat(
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'max_extrude_only_accel', max_accel * def_max_extrude_ratio
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, above=0.)
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self.max_e_dist = config.getfloat(
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'max_extrude_only_distance', 50., minval=0.)
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self.instant_corner_v = config.getfloat(
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'instantaneous_corner_velocity', 1., minval=0.)
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# Setup extruder trapq (trapezoidal motion queue)
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ffi_main, ffi_lib = chelper.get_ffi()
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self.trapq = ffi_main.gc(ffi_lib.trapq_alloc(), ffi_lib.trapq_free)
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self.trapq_append = ffi_lib.trapq_append
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self.trapq_finalize_moves = ffi_lib.trapq_finalize_moves
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# Setup extruder stepper
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self.extruder_stepper = None
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if (config.get('step_pin', None) is not None
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or config.get('dir_pin', None) is not None
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or config.get('rotation_distance', None) is not None):
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self.extruder_stepper = ExtruderStepper(config)
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self.extruder_stepper.stepper.set_trapq(self.trapq)
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# Register commands
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gcode = self.printer.lookup_object('gcode')
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if self.name == 'extruder':
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toolhead.set_extruder(self, 0.)
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gcode.register_command("M104", self.cmd_M104)
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gcode.register_command("M109", self.cmd_M109)
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gcode.register_mux_command("ACTIVATE_EXTRUDER", "EXTRUDER",
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self.name, self.cmd_ACTIVATE_EXTRUDER,
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desc=self.cmd_ACTIVATE_EXTRUDER_help)
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def update_move_time(self, flush_time, clear_history_time):
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self.trapq_finalize_moves(self.trapq, flush_time, clear_history_time)
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def get_status(self, eventtime):
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sts = self.heater.get_status(eventtime)
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sts['can_extrude'] = self.heater.can_extrude
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if self.extruder_stepper is not None:
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sts.update(self.extruder_stepper.get_status(eventtime))
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return sts
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def get_name(self):
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return self.name
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def get_heater(self):
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return self.heater
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def get_trapq(self):
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return self.trapq
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def stats(self, eventtime):
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return self.heater.stats(eventtime)
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def check_move(self, move):
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axis_r = move.axes_r[3]
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if not self.heater.can_extrude:
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raise self.printer.command_error(
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"Extrude below minimum temp\n"
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"See the 'min_extrude_temp' config option for details")
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if (not move.axes_d[0] and not move.axes_d[1]) or axis_r < 0.:
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# Extrude only move (or retraction move) - limit accel and velocity
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if abs(move.axes_d[3]) > self.max_e_dist:
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raise self.printer.command_error(
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"Extrude only move too long (%.3fmm vs %.3fmm)\n"
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"See the 'max_extrude_only_distance' config"
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" option for details" % (move.axes_d[3], self.max_e_dist))
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inv_extrude_r = 1. / abs(axis_r)
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move.limit_speed(self.max_e_velocity * inv_extrude_r,
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self.max_e_accel * inv_extrude_r)
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elif axis_r > self.max_extrude_ratio:
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if move.axes_d[3] <= self.nozzle_diameter * self.max_extrude_ratio:
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# Permit extrusion if amount extruded is tiny
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return
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area = axis_r * self.filament_area
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logging.debug("Overextrude: %s vs %s (area=%.3f dist=%.3f)",
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axis_r, self.max_extrude_ratio, area, move.move_d)
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raise self.printer.command_error(
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"Move exceeds maximum extrusion (%.3fmm^2 vs %.3fmm^2)\n"
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"See the 'max_extrude_cross_section' config option for details"
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% (area, self.max_extrude_ratio * self.filament_area))
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def calc_junction(self, prev_move, move):
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diff_r = move.axes_r[3] - prev_move.axes_r[3]
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if diff_r:
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return (self.instant_corner_v / abs(diff_r))**2
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return move.max_cruise_v2
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def move(self, print_time, move):
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axis_r = move.axes_r[3]
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accel = move.accel * axis_r
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start_v = move.start_v * axis_r
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cruise_v = move.cruise_v * axis_r
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can_pressure_advance = False
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if axis_r > 0. and (move.axes_d[0] or move.axes_d[1]):
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can_pressure_advance = True
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# Queue movement (x is extruder movement, y is pressure advance flag)
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self.trapq_append(self.trapq, print_time,
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move.accel_t, move.cruise_t, move.decel_t,
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move.start_pos[3], 0., 0.,
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1., can_pressure_advance, 0.,
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start_v, cruise_v, accel)
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self.last_position = move.end_pos[3]
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def find_past_position(self, print_time):
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if self.extruder_stepper is None:
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return 0.
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return self.extruder_stepper.find_past_position(print_time)
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def cmd_M104(self, gcmd, wait=False):
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# Set Extruder Temperature
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temp = gcmd.get_float('S', 0.)
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index = gcmd.get_int('T', None, minval=0)
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if index is not None:
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section = 'extruder'
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if index:
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section = 'extruder%d' % (index,)
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extruder = self.printer.lookup_object(section, None)
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if extruder is None:
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if temp <= 0.:
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return
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raise gcmd.error("Extruder not configured")
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else:
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extruder = self.printer.lookup_object('toolhead').get_extruder()
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pheaters = self.printer.lookup_object('heaters')
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pheaters.set_temperature(extruder.get_heater(), temp, wait)
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def cmd_M109(self, gcmd):
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# Set Extruder Temperature and Wait
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self.cmd_M104(gcmd, wait=True)
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cmd_ACTIVATE_EXTRUDER_help = "Change the active extruder"
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def cmd_ACTIVATE_EXTRUDER(self, gcmd):
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toolhead = self.printer.lookup_object('toolhead')
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if toolhead.get_extruder() is self:
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gcmd.respond_info("Extruder %s already active" % (self.name,))
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return
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gcmd.respond_info("Activating extruder %s" % (self.name,))
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toolhead.flush_step_generation()
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toolhead.set_extruder(self, self.last_position)
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self.printer.send_event("extruder:activate_extruder")
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# Dummy extruder class used when a printer has no extruder at all
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class DummyExtruder:
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def __init__(self, printer):
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self.printer = printer
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def update_move_time(self, flush_time, clear_history_time):
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pass
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def check_move(self, move):
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raise move.move_error("Extrude when no extruder present")
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def find_past_position(self, print_time):
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return 0.
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def calc_junction(self, prev_move, move):
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return move.max_cruise_v2
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def get_name(self):
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return ""
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def get_heater(self):
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raise self.printer.command_error("Extruder not configured")
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def get_trapq(self):
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raise self.printer.command_error("Extruder not configured")
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def add_printer_objects(config):
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printer = config.get_printer()
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for i in range(99):
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section = 'extruder'
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if i:
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section = 'extruder%d' % (i,)
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if not config.has_section(section):
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break
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pe = PrinterExtruder(config.getsection(section), i)
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printer.add_object(section, pe)
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