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[2.0.x] LIN_ADVANCE v1.5 (#9712)

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This commit is contained in:
Scott Lahteine
2018-02-23 00:53:29 -06:00
committed by GitHub
parent 90fa423737
commit 2bd252b501
52 changed files with 890 additions and 1671 deletions
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234
Marlin/src/module/planner.cpp
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@ -185,11 +185,8 @@ float Planner::previous_speed[NUM_AXIS],
#endif
#if ENABLED(LIN_ADVANCE)
float Planner::extruder_advance_k, // Initialized by settings.load()
Planner::advance_ed_ratio, // Initialized by settings.load()
Planner::position_float[XYZE], // Needed for accurate maths. Steps cannot be used!
Planner::lin_dist_xy,
Planner::lin_dist_e;
float Planner::extruder_advance_K, // Initialized by settings.load()
Planner::position_float[XYZE]; // Needed for accurate maths. Steps cannot be used!
#endif
#if ENABLED(ULTRA_LCD)
@ -364,6 +361,13 @@ void Planner::recalculate_trapezoids() {
// NOTE: Entry and exit factors always > 0 by all previous logic operations.
const float nomr = 1.0 / current->nominal_speed;
calculate_trapezoid_for_block(current, current->entry_speed * nomr, next->entry_speed * nomr);
#if ENABLED(LIN_ADVANCE)
if (current->use_advance_lead) {
const float comp = current->e_D_ratio * extruder_advance_K * axis_steps_per_mm[E_AXIS];
current->max_adv_steps = current->nominal_speed * comp;
current->final_adv_steps = next->entry_speed * comp;
}
#endif
CBI(current->flag, BLOCK_BIT_RECALCULATE); // Reset current only to ensure next trapezoid is computed
}
}
@ -373,6 +377,13 @@ void Planner::recalculate_trapezoids() {
if (next) {
const float nomr = 1.0 / next->nominal_speed;
calculate_trapezoid_for_block(next, next->entry_speed * nomr, (MINIMUM_PLANNER_SPEED) * nomr);
#if ENABLED(LIN_ADVANCE)
if (next->use_advance_lead) {
const float comp = next->e_D_ratio * extruder_advance_K * axis_steps_per_mm[E_AXIS];
next->max_adv_steps = next->nominal_speed * comp;
next->final_adv_steps = (MINIMUM_PLANNER_SPEED) * comp;
}
#endif
CBI(next->flag, BLOCK_BIT_RECALCULATE);
}
}
@ -730,7 +741,12 @@ void Planner::check_axes_activity() {
* fr_mm_s - (target) speed of the move
* extruder - target extruder
*/
void Planner::_buffer_steps(const int32_t (&target)[ABCE], float fr_mm_s, const uint8_t extruder, const float &millimeters /*= 0.0*/) {
void Planner::_buffer_steps(const int32_t (&target)[XYZE]
#if ENABLED(LIN_ADVANCE)
, const float (&target_float)[XYZE]
#endif
, float fr_mm_s, const uint8_t extruder, const float &millimeters/*=0.0*/
) {
const int32_t da = target[A_AXIS] - position[A_AXIS],
db = target[B_AXIS] - position[B_AXIS],
@ -751,13 +767,14 @@ void Planner::_buffer_steps(const int32_t (&target)[ABCE], float fr_mm_s, const
SERIAL_ECHOLNPGM(" steps)");
//*/
// If LIN_ADVANCE is disabled then do E move prevention with integers
// Otherwise it's done in _buffer_segment.
#if DISABLED(LIN_ADVANCE) && (ENABLED(PREVENT_COLD_EXTRUSION) || ENABLED(PREVENT_LENGTHY_EXTRUDE))
#if ENABLED(PREVENT_COLD_EXTRUSION) || ENABLED(PREVENT_LENGTHY_EXTRUDE)
if (de) {
#if ENABLED(PREVENT_COLD_EXTRUSION)
if (thermalManager.tooColdToExtrude(extruder)) {
position[E_AXIS] = target[E_AXIS]; // Behave as if the move really took place, but ignore E part
#if ENABLED(LIN_ADVANCE)
position_float[E_AXIS] = target_float[E_AXIS];
#endif
de = 0; // no difference
SERIAL_ECHO_START();
SERIAL_ECHOLNPGM(MSG_ERR_COLD_EXTRUDE_STOP);
@ -766,13 +783,16 @@ void Planner::_buffer_steps(const int32_t (&target)[ABCE], float fr_mm_s, const
#if ENABLED(PREVENT_LENGTHY_EXTRUDE)
if (labs(de * e_factor[extruder]) > (int32_t)axis_steps_per_mm[E_AXIS_N] * (EXTRUDE_MAXLENGTH)) { // It's not important to get max. extrusion length in a precision < 1mm, so save some cycles and cast to int
position[E_AXIS] = target[E_AXIS]; // Behave as if the move really took place, but ignore E part
#if ENABLED(LIN_ADVANCE)
position_float[E_AXIS] = target_float[E_AXIS];
#endif
de = 0; // no difference
SERIAL_ECHO_START();
SERIAL_ECHOLNPGM(MSG_ERR_LONG_EXTRUDE_STOP);
}
#endif // PREVENT_LENGTHY_EXTRUDE
}
#endif // !LIN_ADVANCE && (PREVENT_COLD_EXTRUSION || PREVENT_LENGTHY_EXTRUDE)
#endif // PREVENT_COLD_EXTRUSION || PREVENT_LENGTHY_EXTRUDE
// Compute direction bit-mask for this block
uint8_t dm = 0;
@ -1189,6 +1209,9 @@ void Planner::_buffer_steps(const int32_t (&target)[ABCE], float fr_mm_s, const
if (!block->steps[A_AXIS] && !block->steps[B_AXIS] && !block->steps[C_AXIS]) {
// convert to: acceleration steps/sec^2
accel = CEIL(retract_acceleration * steps_per_mm);
#if ENABLED(LIN_ADVANCE)
block->use_advance_lead = false;
#endif
}
else {
#define LIMIT_ACCEL_LONG(AXIS,INDX) do{ \
@ -1208,6 +1231,47 @@ void Planner::_buffer_steps(const int32_t (&target)[ABCE], float fr_mm_s, const
// Start with print or travel acceleration
accel = CEIL((esteps ? acceleration : travel_acceleration) * steps_per_mm);
#if ENABLED(LIN_ADVANCE)
/**
*
* Use LIN_ADVANCE for blocks if all these are true:
*
* esteps : This is a print move, because we checked for A, B, C steps before.
*
* extruder_advance_K : There is an advance factor set.
*
* de > 0 : Extruder is running forward (e.g., for "Wipe while retracting" (Slic3r) or "Combing" (Cura) moves)
*/
block->use_advance_lead = esteps
&& extruder_advance_K
&& de > 0;
if (block->use_advance_lead) {
block->e_D_ratio = (target_float[E_AXIS] - position_float[E_AXIS]) /
#if IS_KINEMATIC
block->millimeters
#else
SQRT(sq(target_float[X_AXIS] - position_float[X_AXIS])
+ sq(target_float[Y_AXIS] - position_float[Y_AXIS])
+ sq(target_float[Z_AXIS] - position_float[Z_AXIS]))
#endif
;
// Check for unusual high e_D ratio to detect if a retract move was combined with the last print move due to min. steps per segment. Never execute this with advance!
// This assumes no one will use a retract length of 0mm < retr_length < ~0.2mm and no one will print 100mm wide lines using 3mm filament or 35mm wide lines using 1.75mm filament.
if (block->e_D_ratio > 3.0)
block->use_advance_lead = false;
else {
const uint32_t max_accel_steps_per_s2 = max_jerk[E_AXIS] / (extruder_advance_K * block->e_D_ratio) * steps_per_mm;
#if ENABLED(LA_DEBUG)
if (accel > max_accel_steps_per_s2)
SERIAL_ECHOLNPGM("Acceleration limited.");
#endif
NOMORE(accel, max_accel_steps_per_s2);
}
}
#endif
#if ENABLED(DISTINCT_E_FACTORS)
#define ACCEL_IDX extruder
#else
@ -1230,7 +1294,18 @@ void Planner::_buffer_steps(const int32_t (&target)[ABCE], float fr_mm_s, const
}
block->acceleration_steps_per_s2 = accel;
block->acceleration = accel / steps_per_mm;
block->acceleration_rate = (long)(accel * 16777216.0 / (HAL_STEPPER_TIMER_RATE)); // 16777216 = <<24
block->acceleration_rate = (long)(accel * 16777216.0 / ((F_CPU) * 0.125)); // * 8.388608
#if ENABLED(LIN_ADVANCE)
if (block->use_advance_lead) {
block->advance_speed = ((F_CPU) * 0.125) / (extruder_advance_K * block->e_D_ratio * block->acceleration * axis_steps_per_mm[E_AXIS_N]);
#if ENABLED(LA_DEBUG)
if (extruder_advance_K * block->e_D_ratio * block->acceleration * 2 < block->nominal_speed * block->e_D_ratio)
SERIAL_ECHOLNPGM("More than 2 steps per eISR loop executed.");
if (block->advance_speed < 200)
SERIAL_ECHOLNPGM("eISR running at > 10kHz.");
#endif
}
#endif
// Initial limit on the segment entry velocity
float vmax_junction;
@ -1386,41 +1461,15 @@ void Planner::_buffer_steps(const int32_t (&target)[ABCE], float fr_mm_s, const
previous_nominal_speed = block->nominal_speed;
previous_safe_speed = safe_speed;
#if ENABLED(LIN_ADVANCE)
/**
*
* Use LIN_ADVANCE for blocks if all these are true:
*
* esteps && (block->steps[X_AXIS] || block->steps[Y_AXIS]) : This is a print move
*
* extruder_advance_k : There is an advance factor set.
*
* esteps != block->step_event_count : A problem occurs if the move before a retract is too small.
* In that case, the retract and move will be executed together.
* This leads to too many advance steps due to a huge e_acceleration.
* The math is good, but we must avoid retract moves with advance!
* lin_dist_e > 0 : Extruder is running forward (e.g., for "Wipe while retracting" (Slic3r) or "Combing" (Cura) moves)
*/
block->use_advance_lead = esteps && (block->steps[X_AXIS] || block->steps[Y_AXIS])
&& extruder_advance_k
&& (uint32_t)esteps != block->step_event_count
&& lin_dist_e > 0;
if (block->use_advance_lead)
block->abs_adv_steps_multiplier8 = LROUND(
extruder_advance_k
* (UNEAR_ZERO(advance_ed_ratio) ? lin_dist_e / lin_dist_xy : advance_ed_ratio) // Use the fixed ratio, if set
* (block->nominal_speed / (float)block->nominal_rate)
* axis_steps_per_mm[E_AXIS_N] * 256.0
);
#endif // LIN_ADVANCE
// Move buffer head
block_buffer_head = next_buffer_head;
// Update the position (only when a move was queued)
static_assert(COUNT(target) > 1, "Parameter to _buffer_steps must be (&target)[XYZE]!");
COPY(position, target);
#if ENABLED(LIN_ADVANCE)
COPY(position_float, target_float);
#endif
recalculate();
@ -1438,7 +1487,7 @@ void Planner::_buffer_steps(const int32_t (&target)[ABCE], float fr_mm_s, const
* extruder - target extruder
* millimeters - the length of the movement, if known
*/
void Planner::buffer_segment(const float &a, const float &b, const float &c, const float &e, const float &fr_mm_s, const uint8_t extruder, const float &millimeters /*= 0.0*/) {
void Planner::buffer_segment(const float &a, const float &b, const float &c, const float &e, const float &fr_mm_s, const uint8_t extruder, const float &millimeters/*=0.0*/) {
// When changing extruders recalculate steps corresponding to the E position
#if ENABLED(DISTINCT_E_FACTORS)
if (last_extruder != extruder && axis_steps_per_mm[E_AXIS_N] != axis_steps_per_mm[E_AXIS + last_extruder]) {
@ -1456,6 +1505,18 @@ void Planner::buffer_segment(const float &a, const float &b, const float &c, con
LROUND(e * axis_steps_per_mm[E_AXIS_N])
};
#if ENABLED(LIN_ADVANCE)
const float target_float[XYZE] = { a, b, c, e };
#endif
// DRYRUN prevents E moves from taking place
if (DEBUGGING(DRYRUN)) {
position[E_AXIS] = target[E_AXIS];
#if ENABLED(LIN_ADVANCE)
position_float[E_AXIS] = e;
#endif
}
/* <-- add a slash to enable
SERIAL_ECHOPAIR(" buffer_segment FR:", fr_mm_s);
#if IS_KINEMATIC
@ -1484,85 +1545,48 @@ void Planner::buffer_segment(const float &a, const float &b, const float &c, con
SERIAL_ECHOLNPGM(")");
//*/
// DRYRUN prevents E moves from taking place
if (DEBUGGING(DRYRUN)) {
position[E_AXIS] = target[E_AXIS];
#if ENABLED(LIN_ADVANCE)
position_float[E_AXIS] = e;
#endif
}
#if ENABLED(LIN_ADVANCE)
lin_dist_e = e - position_float[E_AXIS];
#endif
// If LIN_ADVANCE is enabled then do E move prevention with floats
// Otherwise it's done in _buffer_steps.
#if ENABLED(LIN_ADVANCE) && (ENABLED(PREVENT_COLD_EXTRUSION) || ENABLED(PREVENT_LENGTHY_EXTRUDE))
if (lin_dist_e) {
#if ENABLED(PREVENT_COLD_EXTRUSION)
if (thermalManager.tooColdToExtrude(extruder)) {
position_float[E_AXIS] = e; // Behave as if the move really took place, but ignore E part
position[E_AXIS] = target[E_AXIS];
lin_dist_e = 0;
SERIAL_ECHO_START();
SERIAL_ECHOLNPGM(MSG_ERR_COLD_EXTRUDE_STOP);
}
#endif // PREVENT_COLD_EXTRUSION
#if ENABLED(PREVENT_LENGTHY_EXTRUDE)
if (lin_dist_e * e_factor[extruder] > (EXTRUDE_MAXLENGTH)) {
position_float[E_AXIS] = e; // Behave as if the move really took place, but ignore E part
position[E_AXIS] = target[E_AXIS];
lin_dist_e = 0;
SERIAL_ECHO_START();
SERIAL_ECHOLNPGM(MSG_ERR_LONG_EXTRUDE_STOP);
}
#endif // PREVENT_LENGTHY_EXTRUDE
}
#endif // LIN_ADVANCE && (PREVENT_COLD_EXTRUSION || PREVENT_LENGTHY_EXTRUDE)
#if ENABLED(LIN_ADVANCE)
if (lin_dist_e > 0)
lin_dist_xy = HYPOT(a - position_float[X_AXIS], b - position_float[Y_AXIS]);
#endif
// Always split the first move into two (if not homing or probing)
if (!blocks_queued()) {
#define _BETWEEN(A) (position[A##_AXIS] + target[A##_AXIS]) >> 1
const int32_t between[ABCE] = { _BETWEEN(A), _BETWEEN(B), _BETWEEN(C), _BETWEEN(E) };
#if ENABLED(LIN_ADVANCE)
#define _BETWEEN_F(A) (position_float[A##_AXIS] + target_float[A##_AXIS]) * 0.5
const float between_float[ABCE] = { _BETWEEN_F(A), _BETWEEN_F(B), _BETWEEN_F(C), _BETWEEN_F(E) };
#endif
DISABLE_STEPPER_DRIVER_INTERRUPT();
#if ENABLED(LIN_ADVANCE)
lin_dist_xy *= 0.5;
lin_dist_e *= 0.5;
#endif
_buffer_steps(between, fr_mm_s, extruder, millimeters * 0.5);
#if ENABLED(LIN_ADVANCE)
position_float[X_AXIS] = (position_float[X_AXIS] + a) * 0.5;
position_float[Y_AXIS] = (position_float[Y_AXIS] + b) * 0.5;
//position_float[Z_AXIS] = (position_float[Z_AXIS] + c) * 0.5;
position_float[E_AXIS] = (position_float[E_AXIS] + e) * 0.5;
#endif
_buffer_steps(between
#if ENABLED(LIN_ADVANCE)
, between_float
#endif
, fr_mm_s, extruder, millimeters * 0.5
);
const uint8_t next = block_buffer_head;
_buffer_steps(target, fr_mm_s, extruder, millimeters * 0.5);
_buffer_steps(target
#if ENABLED(LIN_ADVANCE)
, target_float
#endif
, fr_mm_s, extruder, millimeters * 0.5
);
SBI(block_buffer[next].flag, BLOCK_BIT_CONTINUED);
ENABLE_STEPPER_DRIVER_INTERRUPT();
}
else
_buffer_steps(target, fr_mm_s, extruder, millimeters);
_buffer_steps(target
#if ENABLED(LIN_ADVANCE)
, target_float
#endif
, fr_mm_s, extruder, millimeters
);
stepper.wake_up();
#if ENABLED(LIN_ADVANCE)
position_float[X_AXIS] = a;
position_float[Y_AXIS] = b;
//position_float[Z_AXIS] = c;
position_float[E_AXIS] = e;
#endif
} // buffer_segment()
/**
@ -1586,7 +1610,7 @@ void Planner::_set_position_mm(const float &a, const float &b, const float &c, c
#if ENABLED(LIN_ADVANCE)
position_float[X_AXIS] = a;
position_float[Y_AXIS] = b;
//position_float[Z_AXIS] = c;
position_float[Z_AXIS] = c;
position_float[E_AXIS] = e;
#endif
stepper.set_position(na, nb, nc, ne);