extruder_stepper: Initial support for synchronized extruder steppers

Signed-off-by: Simo Apell <simo.apell@live.fi>
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

5 files changed, 117 insertions, 0 deletions

diff --git a/config/example-extras.cfg b/config/example-extras.cfg
index 9c815813..bb07c926 100644
--- a/config/example-extras.cfg
+++ b/config/example-extras.cfg
@@ -706,6 +706,20 @@
 #position_max:
 #   See the example.cfg for the definition of the above parameters.
 
+# Support for additional steppers synchronized to the movement of an
+# extruder (one may define any number of sections with an
+# "extruder_stepper" prefix).
+#[extruder_stepper my_extra_stepper]
+#extruder: extruder
+#   The extruder this stepper is synchronized to. The default is
+#   "extruder".
+#step_pin:
+#dir_pin:
+#enable_pin:
+#step_distance:
+#   See the "extruder" section in example.cfg for the definition of
+#   the above parameters.
+
 # Manual steppers (one may define any number of sections with a
 # "manual_stepper" prefix). These are steppers that are controlled by
 # the MANUAL_STEPPER g-code command. For example: "MANUAL_STEPPER
diff --git a/klippy/extras/extruder_stepper.py b/klippy/extras/extruder_stepper.py
new file mode 100644
index 00000000..f6d0e9ea
--- /dev/null
+++ b/klippy/extras/extruder_stepper.py
@@ -0,0 +1,25 @@
+# Code for supporting multiple steppers in single filament extruder.
+#
+# Copyright (C) 2019 Simo Apell <simo.apell@live.fi>
+#
+# This file may be distributed under the terms of the GNU GPLv3 license.
+import logging
+import stepper
+
+class ExtruderStepper:
+    def __init__(self, config):
+        self.printer = config.get_printer()
+        self.extruder_name = config.get('extruder', 'extruder')
+        self.stepper = stepper.PrinterStepper(config)
+        self.stepper.set_max_jerk(9999999.9, 9999999.9)
+        self.stepper.setup_itersolve('extruder_stepper_alloc')
+        self.printer.register_event_handler("klippy:connect",
+                                            self.handle_connect)
+    def handle_connect(self):
+        extruder = self.printer.lookup_object(self.extruder_name)
+        self.stepper.set_trapq(extruder.get_trapq())
+        toolhead = self.printer.lookup_object('toolhead')
+        toolhead.register_step_generator(self.stepper.generate_steps)
+
+def load_config_prefix(config):
+    return ExtruderStepper(config)
diff --git a/klippy/kinematics/extruder.py b/klippy/kinematics/extruder.py
index b5613c99..b4450596 100644
--- a/klippy/kinematics/extruder.py
+++ b/klippy/kinematics/extruder.py
@@ -95,6 +95,8 @@ class PrinterExtruder:
         return self.name
     def get_heater(self):
         return self.heater
+    def get_trapq(self):
+        return self.trapq
     def stats(self, eventtime):
         return self.heater.stats(eventtime)
     def check_move(self, move):
diff --git a/test/klippy/extruders.cfg b/test/klippy/extruders.cfg
new file mode 100644
index 00000000..5d61141c
--- /dev/null
+++ b/test/klippy/extruders.cfg
@@ -0,0 +1,63 @@
+# Config for extruder testing
+[stepper_x]
+step_pin: ar54
+dir_pin: ar55
+enable_pin: !ar38
+step_distance: .0125
+endstop_pin: ^ar3
+position_endstop: 0
+position_max: 200
+homing_speed: 50
+
+[stepper_y]
+step_pin: ar60
+dir_pin: !ar61
+enable_pin: !ar56
+step_distance: .0125
+endstop_pin: ^ar14
+position_endstop: 0
+position_max: 200
+homing_speed: 50
+
+[stepper_z]
+step_pin: ar46
+dir_pin: ar48
+enable_pin: !ar62
+step_distance: .0025
+endstop_pin: ^ar18
+position_endstop: 0.5
+position_max: 200
+
+[extruder]
+step_pin: ar26
+dir_pin: ar28
+enable_pin: !ar24
+step_distance: .004242
+nozzle_diameter: 0.500
+filament_diameter: 3.500
+heater_pin: ar10
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: analog13
+control: pid
+pid_Kp: 22.2
+pid_Ki: 1.08
+pid_Kd: 114
+min_temp: 0
+max_temp: 210
+
+[extruder_stepper my_extra_stepper]
+step_pin: ar8
+dir_pin: ar9
+enable_pin: !ar11
+step_distance: .002
+
+[mcu]
+serial: /dev/ttyACM0
+pin_map: arduino
+
+[printer]
+kinematics: cartesian
+max_velocity: 300
+max_accel: 3000
+max_z_velocity: 5
+max_z_accel: 100
diff --git a/test/klippy/extruders.test b/test/klippy/extruders.test
new file mode 100644
index 00000000..034b0559
--- /dev/null
+++ b/test/klippy/extruders.test
@@ -0,0 +1,13 @@
+# Extruder tests
+DICTIONARY atmega2560.dict
+CONFIG extruders.cfg
+
+# Extrude only
+G1 E5
+G1 E-2
+G1 E7
+
+# Home and extrusion moves
+G28
+G1 X20 Y20 Z1
+G1 X25 Y25 E7.5