mirror of https://github.com/Desuuuu/klipper.git
extruder: Separate extruder stepper tracking to new ExtruderStepper class
Move the stepper handling (including pressure advance handling) to a new class. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
parent
29724a7411
commit
ffbd2698fe
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@ -1,15 +1,94 @@
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# Code for handling printer nozzle extruders
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# Code for handling printer nozzle extruders
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#
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#
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# Copyright (C) 2016-2019 Kevin O'Connor <kevin@koconnor.net>
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# Copyright (C) 2016-2022 Kevin O'Connor <kevin@koconnor.net>
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#
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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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# 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 math, logging
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import stepper, chelper
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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()
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self.pressure_advance = self.pressure_advance_smooth_time = 0.
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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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toolhead = self.printer.lookup_object('toolhead')
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toolhead.register_step_generator(self.stepper.generate_steps)
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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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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_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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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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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 _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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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_STEP_DISTANCE_help = "Set extruder step distance"
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def cmd_SET_E_STEP_DISTANCE(self, gcmd):
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toolhead = self.printer.lookup_object('toolhead')
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dist = gcmd.get_float('DISTANCE', None, above=0.)
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if dist is None:
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step_dist = self.stepper.get_step_dist()
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gcmd.respond_info("Extruder '%s' step distance is %0.6f"
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% (self.name, step_dist))
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return
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toolhead.flush_step_generation()
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self.stepper.set_step_dist(dist)
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gcmd.respond_info("Extruder '%s' step distance set to %0.6f"
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% (self.name, dist))
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# Tracking for hotend heater, extrusion motion queue, and extruder stepper
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class PrinterExtruder:
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class PrinterExtruder:
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def __init__(self, config, extruder_num):
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def __init__(self, config, extruder_num):
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self.printer = config.get_printer()
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self.printer = config.get_printer()
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self.name = config.get_name()
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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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shared_heater = config.get('shared_heater', None)
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pheaters = self.printer.load_object(config, 'heaters')
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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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gcode_id = 'T%d' % (extruder_num,)
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@ -17,7 +96,7 @@ class PrinterExtruder:
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self.heater = pheaters.setup_heater(config, gcode_id)
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self.heater = pheaters.setup_heater(config, gcode_id)
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else:
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else:
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self.heater = pheaters.lookup_heater(shared_heater)
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self.heater = pheaters.lookup_heater(shared_heater)
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self.stepper = stepper.PrinterStepper(config)
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# Setup kinematic checks
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self.nozzle_diameter = config.getfloat('nozzle_diameter', above=0.)
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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 = config.getfloat(
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'filament_diameter', minval=self.nozzle_diameter)
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'filament_diameter', minval=self.nozzle_diameter)
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@ -40,61 +119,34 @@ class PrinterExtruder:
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'max_extrude_only_distance', 50., minval=0.)
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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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self.instant_corner_v = config.getfloat(
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'instantaneous_corner_velocity', 1., minval=0.)
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'instantaneous_corner_velocity', 1., minval=0.)
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self.pressure_advance = self.pressure_advance_smooth_time = 0.
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# Setup extruder trapq (trapezoidal motion queue)
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pressure_advance = config.getfloat('pressure_advance', 0., minval=0.)
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smooth_time = config.getfloat('pressure_advance_smooth_time',
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0.040, above=0., maxval=.200)
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# Setup iterative solver
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ffi_main, ffi_lib = chelper.get_ffi()
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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 = 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_append = ffi_lib.trapq_append
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self.trapq_finalize_moves = ffi_lib.trapq_finalize_moves
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self.trapq_finalize_moves = ffi_lib.trapq_finalize_moves
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self.sk_extruder = ffi_main.gc(ffi_lib.extruder_stepper_alloc(),
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# Setup extruder stepper
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ffi_lib.free)
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self.extruder_stepper = ExtruderStepper(config)
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self.stepper.set_stepper_kinematics(self.sk_extruder)
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self.extruder_stepper.stepper.set_trapq(self.trapq)
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self.stepper.set_trapq(self.trapq)
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pa = config.getfloat('pressure_advance', 0., minval=0.)
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toolhead.register_step_generator(self.stepper.generate_steps)
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smooth_time = config.getfloat('pressure_advance_smooth_time',
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self._set_pressure_advance(pressure_advance, smooth_time)
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0.040, above=0., maxval=.200)
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self.extruder_stepper._set_pressure_advance(pa, smooth_time)
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# Register commands
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# Register commands
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gcode = self.printer.lookup_object('gcode')
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gcode = self.printer.lookup_object('gcode')
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if self.name == 'extruder':
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if self.name == 'extruder':
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toolhead.set_extruder(self, 0.)
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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("M104", self.cmd_M104)
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gcode.register_command("M109", self.cmd_M109)
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gcode.register_command("M109", self.cmd_M109)
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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("ACTIVATE_EXTRUDER", "EXTRUDER",
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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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self.name, self.cmd_ACTIVATE_EXTRUDER,
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desc=self.cmd_ACTIVATE_EXTRUDER_help)
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desc=self.cmd_ACTIVATE_EXTRUDER_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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def update_move_time(self, flush_time):
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def update_move_time(self, flush_time):
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self.trapq_finalize_moves(self.trapq, flush_time)
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self.trapq_finalize_moves(self.trapq, flush_time)
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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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def get_status(self, eventtime):
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def get_status(self, eventtime):
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return dict(self.heater.get_status(eventtime),
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sts = self.heater.get_status(eventtime)
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can_extrude=self.heater.can_extrude,
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sts['can_extrude'] = self.heater.can_extrude
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pressure_advance=self.pressure_advance,
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sts.update(self.extruder_stepper.get_status(eventtime))
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smooth_time=self.pressure_advance_smooth_time)
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return sts
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def get_name(self):
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def get_name(self):
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return self.name
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return self.name
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def get_heater(self):
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def get_heater(self):
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@ -104,8 +156,7 @@ class PrinterExtruder:
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def sync_stepper(self, stepper):
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def sync_stepper(self, stepper):
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toolhead = self.printer.lookup_object('toolhead')
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toolhead = self.printer.lookup_object('toolhead')
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toolhead.flush_step_generation()
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toolhead.flush_step_generation()
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epos = self.stepper.get_commanded_position()
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stepper.set_position([self.last_position, 0., 0.])
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stepper.set_position([epos, 0., 0.])
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stepper.set_trapq(self.trapq)
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stepper.set_trapq(self.trapq)
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def stats(self, eventtime):
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def stats(self, eventtime):
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return self.heater.stats(eventtime)
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return self.heater.stats(eventtime)
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@ -155,9 +206,9 @@ class PrinterExtruder:
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move.start_pos[3], 0., 0.,
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move.start_pos[3], 0., 0.,
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1., can_pressure_advance, 0.,
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1., can_pressure_advance, 0.,
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start_v, cruise_v, accel)
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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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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.extruder_stepper.find_past_position(print_time)
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return self.stepper.mcu_to_commanded_position(mcu_pos)
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def cmd_M104(self, gcmd, wait=False):
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def cmd_M104(self, gcmd, wait=False):
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# Set Extruder Temperature
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# Set Extruder Temperature
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temp = gcmd.get_float('S', 0.)
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temp = gcmd.get_float('S', 0.)
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@ -178,35 +229,6 @@ class PrinterExtruder:
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def cmd_M109(self, gcmd):
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def cmd_M109(self, gcmd):
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# Set Extruder Temperature and Wait
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# Set Extruder Temperature and Wait
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self.cmd_M104(gcmd, wait=True)
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self.cmd_M104(gcmd, wait=True)
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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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extruder.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_STEP_DISTANCE_help = "Set extruder step distance"
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def cmd_SET_E_STEP_DISTANCE(self, gcmd):
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toolhead = self.printer.lookup_object('toolhead')
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dist = gcmd.get_float('DISTANCE', None, above=0.)
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if dist is None:
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step_dist = self.stepper.get_step_dist()
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gcmd.respond_info("Extruder '%s' step distance is %0.6f"
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% (self.name, step_dist))
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return
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toolhead.flush_step_generation()
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self.stepper.set_step_dist(dist)
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gcmd.respond_info("Extruder '%s' step distance set to %0.6f"
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% (self.name, dist))
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cmd_ACTIVATE_EXTRUDER_help = "Change the active extruder"
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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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def cmd_ACTIVATE_EXTRUDER(self, gcmd):
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toolhead = self.printer.lookup_object('toolhead')
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toolhead = self.printer.lookup_object('toolhead')
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@ -215,7 +237,7 @@ class PrinterExtruder:
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return
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return
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gcmd.respond_info("Activating extruder %s" % (self.name,))
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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.flush_step_generation()
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toolhead.set_extruder(self, self.stepper.get_commanded_position())
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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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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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# Dummy extruder class used when a printer has no extruder at all
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