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Prusa-Firmware/motion.cpp

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#include "motion.h"
#include "shr16.h"
#include "tmc2130.h"
#include <avr/io.h>
#include <avr/pgmspace.h>
#include <stdio.h>
#include <Arduino.h>
#include "main.h"
#include "uart.h"
#include "mmctl.h"
#include "Buttons.h"
#include "permanent_storage.h"
#include "config.h"
// public variables:
int8_t filament_type[EXTRUDERS] = { -1, -1, -1, -1, -1};
// private constants:
// selector homes on the right end. afterwards it is moved to extruder 0
static const int SELECTOR_STEPS_AFTER_HOMING = -3700;
static const int IDLER_STEPS_AFTER_HOMING = -138;
static const int IDLER_FULL_TRAVEL_STEPS = 1420; // 16th micro steps
// after homing: 1420 into negative direction
// and 130 steps into positive direction
static const int SELECTOR_STEPS = 2800 / (EXTRUDERS - 1);
static const int IDLER_STEPS = 1420 / (EXTRUDERS - 1); // full travel = 1420 16th micro steps
const int IDLER_PARKING_STEPS = (IDLER_STEPS / 2) + 40; // 217
const int BOWDEN_LENGTH = 8000;
const int STEPS_MK3FSensor_To_Bondtech = 390;
const int FILAMENT_PARKING_STEPS = -320;
const int EXTRA_STEPS_SELECTOR_SERVICE = 150;
static const int EJECT_PULLEY_STEPS = 2500;
// private variables:
static int selector_steps_for_eject = 0;
static int idler_steps_for_eject = 0;
// private functions:
static int set_idler_direction(int steps);
static int set_selector_direction(int steps);
static int set_pulley_direction(int steps);
void set_positions(int _current_extruder, int _next_extruder)
{
delay(50);
int _idler_steps = (_current_extruder - _next_extruder) * IDLER_STEPS;
if (_next_extruder == EXTRUDERS) _idler_steps = (_current_extruder - (_next_extruder - 1)) * IDLER_STEPS;
if (_current_extruder == EXTRUDERS) _idler_steps = ((_current_extruder - 1) - _next_extruder) * IDLER_STEPS;
// steps to move to new position of idler and selector
move_idler(_idler_steps); // remove this, when abs coordinates are implemented!
if (_next_extruder > 0) {
int _selector_steps = ((_current_extruder - _next_extruder) * SELECTOR_STEPS) * -1;
if (_next_extruder == EXTRUDERS) _selector_steps += EXTRA_STEPS_SELECTOR_SERVICE;
if (_current_extruder == EXTRUDERS) _selector_steps -= EXTRA_STEPS_SELECTOR_SERVICE;
move_selector(_selector_steps);
} else {
moveSmooth(AX_SEL, 100, 2000, false);
for (int c = 2; c > 0; c--) { // touch end 2 times
moveSmooth(AX_SEL, -4000, 2000, false);
if (c > 1) {
moveSmooth(AX_SEL, 100, 2000, false);
}
}
moveSmooth(AX_SEL, 33, 2000, false);
}
}
/**
* @brief Eject Filament
* move selector sideways and push filament forward little bit, so user can catch it,
* unpark idler at the end to user can pull filament out
* @param extruder: extruder channel (0..4)
*/
void eject_filament(int extruder)
{
int selector_position = 0;
int8_t selector_offset_for_eject = 0;
int8_t idler_offset_for_eject = 0;
// if there is still filament detected by PINDA unload it first
if (isFilamentLoaded) {
unload_filament_withSensor();
}
engage_filament_pulley(true);
tmc2130_init_axis(AX_PUL, tmc2130_mode);
// if we are want to eject fil 0-2, move seelctor to position 4 (right), if we want to eject filament 3 - 4, move
// selector to position 0 (left)
// maybe we can also move selector to service position in the future?
if (extruder <= 2) {
selector_position = 4;
} else {
selector_position = 0;
}
// count offset (number of positions) for desired selector and idler position for ejecting
selector_offset_for_eject = active_extruder - selector_position;
idler_offset_for_eject = active_extruder - extruder;
// count number of desired steps for selector and idler and store it in static variable
selector_steps_for_eject = (selector_offset_for_eject * SELECTOR_STEPS) * -1;
idler_steps_for_eject = idler_offset_for_eject * IDLER_STEPS;
// move selector and idler to new position
move_idler(idler_steps_for_eject); // remove this, with when abs coordinates are implemented!
move_selector(selector_steps_for_eject);
// push filament forward
move_pulley(EJECT_PULLEY_STEPS, 666);
// unpark idler so user can easily remove filament
engage_filament_pulley(false);
tmc2130_disable_axis(AX_PUL, tmc2130_mode);
isFilamentLoaded = false; // ensure MMU knows it doesn't have filament loaded so next T? command works
}
void recover_after_eject()
{
while (digitalRead(A1)) fixTheProblem();
move_idler(-idler_steps_for_eject); // TODO 1: remove this, when abs coordinates are implemented!
move_selector(-selector_steps_for_eject);
}
/**
* @brief load_filament_intoExtruder
* loads filament after confirmed by printer into the Bontech
* pulley gears so they can grab them.
* We reduce here stepwise the motor current, to prevent grinding into the
* filament as good as possible.
*
* TODO 1: this procedure is most important for high reliability.
* The speed must be set accordingly to the settings in the slicer
*/
void load_filament_into_extruder()
{
uint8_t current_running_normal[3] = CURRENT_RUNNING_NORMAL;
uint8_t current_running_stealth[3] = CURRENT_RUNNING_STEALTH;
uint8_t current_holding_normal[3] = CURRENT_HOLDING_NORMAL;
uint8_t current_holding_stealth[3] = CURRENT_HOLDING_STEALTH;
engage_filament_pulley(true); // if idler is in parked position un-park him get in contact with filament
tmc2130_init_axis(AX_PUL, tmc2130_mode);
move_pulley(150, 385);
// set current to 75%
if (tmc2130_mode == NORMAL_MODE) {
tmc2130_init_axis_current_normal(AX_PUL, current_holding_normal[AX_PUL],
current_running_normal[AX_PUL] - (current_running_normal[AX_PUL] / 4) );
} else {
tmc2130_init_axis_current_stealth(AX_PUL, current_holding_stealth[AX_PUL],
current_running_stealth[AX_PUL] - (current_running_stealth[AX_PUL] / 4) );
}
move_pulley(170, 385);
// set current to 25%
if (tmc2130_mode == NORMAL_MODE) {
tmc2130_init_axis_current_normal(AX_PUL, current_holding_normal[AX_PUL],
current_running_normal[AX_PUL] / 4);
} else {
tmc2130_init_axis_current_stealth(AX_PUL, current_holding_stealth[AX_PUL],
current_running_stealth[AX_PUL] / 4);
}
moveSmooth(AX_PUL, 452, 455, true, true, ACC_NORMAL, false, true);
// reset currents
if (tmc2130_mode == NORMAL_MODE) {
tmc2130_init_axis_current_normal(AX_PUL, current_holding_normal[AX_PUL],
current_running_normal[AX_PUL]);
} else {
tmc2130_init_axis_current_stealth(AX_PUL, current_holding_stealth[AX_PUL],
current_running_stealth[AX_PUL]);
}
tmc2130_disable_axis(AX_PUL, tmc2130_mode);
}
void init_Pulley()
{
float _speed = 3000;
// TODO 1: replace with move-commands
for (int i = 50; i > 0; i--) {
moveSmooth(AX_PUL, 1, 0, false);
delayMicroseconds(_speed);
shr16_set_led(1 << 2 * (int)(i / 50)); // TODO 2: What the heck?
}
for (int i = 50; i > 0; i--) {
moveSmooth(AX_PUL, -1, 0, false);
delayMicroseconds(_speed);
shr16_set_led(1 << 2 * (4 - (int)(i / 50))); // TODO 2: What the heck?
}
}
/**
* @brief engage_filament_pulley
* Turns the idler drum to engage or disengage the filament pully
* @param engage
* If true, pully can drive the filament afterwards
* if false, idler will be parked, so the filament can move freely
*/
void engage_filament_pulley(bool engage)
{
if (isIdlerParked && engage) { // get idler in contact with filament
move_idler(IDLER_PARKING_STEPS);
isIdlerParked = false;
} else if (!isIdlerParked && !engage) { // park idler so filament can move freely
move_idler(IDLER_PARKING_STEPS * -1);
isIdlerParked = true;
}
}
void reset_engage_filament_pulley(bool previouslyEngaged) //reset after mid op homing
{
if (isIdlerParked && previouslyEngaged) { // get idler in contact with filament
move_idler(IDLER_PARKING_STEPS);
isIdlerParked = false;
} else if (!isIdlerParked && !previouslyEngaged) { // park idler so filament can move freely
move_idler(IDLER_PARKING_STEPS * -1);
isIdlerParked = true;
}
}
void home(bool doToolSync)
{
tmc2130_init(HOMING_MODE); // trinamic, homing
bool previouslyEngaged = isIdlerParked;
homeIdlerSmooth();
homeSelectorSmooth();
tmc2130_init(tmc2130_mode); // trinamic, normal
//tmc2130_init_axis(AX_IDL, tmc2130_mode);
//tmc2130_init_axis(AX_SEL, tmc2130_mode);
shr16_set_led(0x155); // All five red
isIdlerParked = false;
delay(50); // delay to release the stall detection
engage_filament_pulley(false);
shr16_set_led(0x000); // All five off
isFilamentLoaded = false;
shr16_set_led(1 << 2 * (4 - active_extruder));
isHomed = true;
if (doToolSync) {
set_positions(0, active_extruder); // move idler and selector to new filament position
reset_engage_filament_pulley(previouslyEngaged);
trackToolChanges = 0;
} else active_extruder = 0;
}
void move_idler(int steps, uint16_t speed)
{
if (speed > MAX_SPEED_IDL) {
speed = MAX_SPEED_IDL;
}
moveSmooth(AX_IDL, steps, MAX_SPEED_IDL, true, true, ACC_IDL_NORMAL);
}
/**
* @brief move_selector
* Strictly prevent selector movement, when filament is in FINDA
* @param steps, number of micro steps
*/
void move_selector(int steps, uint16_t speed)
{
if (speed > MAX_SPEED_SEL) {
speed = MAX_SPEED_SEL;
}
if (tmc2130_mode == STEALTH_MODE) {
if (speed > MAX_SPEED_STEALTH_SEL) {
speed = MAX_SPEED_STEALTH_SEL;
}
}
if (digitalRead(A1) == false) {
moveSmooth(AX_SEL, steps, speed);
}
}
void move_pulley(int steps, uint16_t speed)
{
moveSmooth(AX_PUL, steps, speed, false, true);
}
/**
* @brief set_idler_direction
* @param steps: positive = towards engaging filament nr 1,
* negative = towards engaging filament nr 5.
* @return abs(steps)
*/
int set_idler_direction(int steps)
{
if (steps < 0) {
steps = steps * -1;
shr16_set_dir(shr16_get_dir() & ~4);
} else {
shr16_set_dir(shr16_get_dir() | 4);
}
return steps;
}
/**
* @brief set_selector_direction
* Sets the direction bit on the motor driver and returns positive number of steps
* @param steps: positive = to the right (towards filament 5),
* negative = to the left (towards filament 1)
* @return abs(steps)
*/
int set_selector_direction(int steps)
{
if (steps < 0) {
steps = steps * -1;
shr16_set_dir(shr16_get_dir() & ~2);
} else {
shr16_set_dir(shr16_get_dir() | 2);
}
return steps;
}
/**
* @brief set_pulley_direction
* @param steps, positive (push) or negative (pull)
* @return abs(steps)
*/
int set_pulley_direction(int steps)
{
if (steps < 0) {
steps = steps * -1;
shr16_set_dir(shr16_get_dir() | 1);
} else {
shr16_set_dir(shr16_get_dir() & ~1);
}
return steps;
}
MotReturn homeSelectorSmooth()
{
for (int c = 2; c > 0; c--) { // touch end 2 times
moveSmooth(AX_SEL, 4000, 2000, false); // 3000 is too fast, 2500 works, decreased to 2000 for production
if (c > 1) {
moveSmooth(AX_SEL, -300, 2000, false);
}
}
return moveSmooth(AX_SEL, SELECTOR_STEPS_AFTER_HOMING, MAX_SPEED_SEL, false);
}
MotReturn homeIdlerSmooth()
{
for (int c = 2; c > 0; c--) { // touch end 3 times
moveSmooth(AX_IDL, 2000, 3000, false);
if (c > 1) {
moveSmooth(AX_IDL, -350, MAX_SPEED_IDL, false);
}
}
return moveSmooth(AX_IDL, IDLER_STEPS_AFTER_HOMING, MAX_SPEED_IDL, false);
}
/**
* @brief moveTest
* @param axis, index of axis, use AX_PUL, AX_SEL or AX_IDL
* @param steps, number of micro steps to move
* @param speed, max. speed
* @param rehomeOnFail: flag, by default true, set to false
* in homing commands, to prevent endless loops and stack overflow.
* @return
*/
// TODO 3: compensate delay for computation time, to get accurate speeds
MotReturn moveSmooth(uint8_t axis, int steps, int speed, bool rehomeOnFail, bool withStallDetection, float acc, bool withFindaDetection, bool disengageAtEnd)
{
MotReturn ret = MR_Success;
if (withFindaDetection) ret = MR_Failed;
if (tmc2130_mode == STEALTH_MODE) {
withStallDetection = false;
}
float vMax = speed;
float v0 = 200; // steps/s, minimum speed
float v = v0; // current speed
int accSteps = 0; // number of steps for acceleration
int stepsDone = 0;
int stepsLeft = 0;
switch (axis) {
case AX_PUL:
stepsLeft = set_pulley_direction(steps);
if (disengageAtEnd) { set_idler_direction(IDLER_PARKING_STEPS * -1); stepsLeft += (IDLER_PARKING_STEPS/2); }// 217 and steps left plus half
tmc2130_init_axis(AX_PUL, tmc2130_mode);
break;
case AX_IDL:
stepsLeft = set_idler_direction(steps);
break;
case AX_SEL:
stepsLeft = set_selector_direction(steps);
break;
}
enum State {
Accelerate = 0,
ConstVelocity = 1,
Decelerate = 2,
};
State st = Accelerate;
while (stepsLeft) {
switch (axis) {
case AX_PUL:
PIN_STP_PUL_HIGH;
PIN_STP_PUL_LOW;
if ((stepsLeft <= IDLER_PARKING_STEPS) && disengageAtEnd) { PIN_STP_IDL_HIGH; PIN_STP_IDL_LOW; } // Park AX_IDL for last parking steps
if ((stepsLeft >= (IDLER_PARKING_STEPS/2)) && disengageAtEnd){ PIN_STP_PUL_HIGH; PIN_STP_PUL_LOW; } // finish AX_PUL move half way through AX_IDL parking
if (withStallDetection && digitalRead(A3)) { // stall detected
delay(50); // delay to release the stall detection
return MR_Failed;
}
if (withFindaDetection && ( steps > 0 ) && digitalRead(A1)) return MR_Success;
if (withFindaDetection && ( steps < 0 ) && (digitalRead(A1) == false)) return MR_Success;
break;
case AX_IDL:
PIN_STP_IDL_HIGH;
PIN_STP_IDL_LOW;
if (withStallDetection && digitalRead(A5)) { // stall detected
delay(50); // delay to release the stall detection
if (rehomeOnFail) fixTheProblem();
else return MR_Failed;
}
break;
case AX_SEL:
PIN_STP_SEL_HIGH;
PIN_STP_SEL_LOW;
if (withStallDetection && digitalRead(A4)) { // stall detected
delay(50); // delay to release the stall detection
if (rehomeOnFail) fixTheProblem();
else return MR_Failed;
}
break;
}
stepsDone++;
stepsLeft--;
float dt = 1 / v;
delayMicroseconds(1e6 * dt);
switch (st) {
case Accelerate:
v += acc * dt;
if (v >= vMax) {
accSteps = stepsDone;
st = ConstVelocity;
v = vMax;
} else if (stepsDone > stepsLeft) {
accSteps = stepsDone;
st = Decelerate;
}
break;
case ConstVelocity: {
if (stepsLeft <= accSteps) {
st = Decelerate;
}
}
break;
case Decelerate: {
v -= acc * dt;
if (v < v0) {
v = v0;
}
}
break;
}
}
if (disengageAtEnd) isIdlerParked = true;
return ret;
}
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