Merge pull request #3676 from thinkyhead/rc_lin_advance_feature
Advance extrusion algorithm – LIN_ADVANCE
This commit is contained in:
Scott Lahteine
GitHub
commit
587de1b6b6
@ -76,10 +76,12 @@ script:
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- build_marlin
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#
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# Test 3 extruders on RUMBA (can use any board with >=3 extruders defined)
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# Include a test for LIN_ADVANCE here also
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#
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- opt_set MOTHERBOARD BOARD_RUMBA
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- opt_set EXTRUDERS 3
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- opt_set TEMP_SENSOR_2 1
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- opt_enable_adv LIN_ADVANCE
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- build_marlin
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#
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# Test PIDTEMPBED
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@ -445,6 +445,15 @@
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#define D_FILAMENT 2.85
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#endif
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// Implementation of a linear pressure control
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// Assumption: advance = k * (delta velocity)
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// K=0 means advance disabled. A good value for a gregs wade extruder will be around K=75
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//#define LIN_ADVANCE
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#if ENABLED(LIN_ADVANCE)
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#define LIN_ADVANCE_K 75
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#endif
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// @section leveling
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// Default mesh area is an area with an inset margin on the print area.
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@ -6475,6 +6475,16 @@ inline void gcode_M503() {
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#endif // DUAL_X_CARRIAGE
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#if ENABLED(LIN_ADVANCE)
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/**
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* M905: Set advance factor
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*/
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inline void gcode_M905() {
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stepper.synchronize();
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stepper.advance_M905();
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}
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#endif
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/**
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* M907: Set digital trimpot motor current using axis codes X, Y, Z, E, B, S
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*/
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@ -7348,6 +7358,12 @@ void process_next_command() {
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break;
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#endif // DUAL_X_CARRIAGE
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#if ENABLED(LIN_ADVANCE)
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case 905: // M905 Set advance factor.
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gcode_M905();
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break;
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#endif
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case 907: // M907 Set digital trimpot motor current using axis codes.
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gcode_M907();
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break;
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@ -351,6 +351,13 @@
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#endif // AUTO_BED_LEVELING_FEATURE
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/**
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* Advance Extrusion
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*/
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#if ENABLED(ADVANCE) && ENABLED(LIN_ADVANCE)
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#error You can enable ADVANCE or LIN_ADVANCE, but not both.
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#endif
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/**
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* Filament Width Sensor
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*/
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@ -358,7 +365,6 @@
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#error "FILAMENT_WIDTH_SENSOR requires a FILWIDTH_PIN to be defined."
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#endif
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/**
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* ULTIPANEL encoder
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*/
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@ -1050,7 +1050,23 @@ void Planner::check_axes_activity() {
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for (int i = 0; i < NUM_AXIS; i++) previous_speed[i] = current_speed[i];
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previous_nominal_speed = block->nominal_speed;
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#if ENABLED(ADVANCE)
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#if ENABLED(LIN_ADVANCE)
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// bse == allsteps: A problem occurs when there's a very tiny move before a retract.
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// In this case, the retract and the move will be executed together.
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// This leads to an enormous number of advance steps due to a huge e_acceleration.
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// The math is correct, but you don't want a retract move done with advance!
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// So this situation is filtered out here.
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if (!bse || (!bsx && !bsy && !bsz) || stepper.get_advance_k() == 0 || bse == allsteps) {
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block->use_advance_lead = false;
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}
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else {
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block->use_advance_lead = true;
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block->e_speed_multiplier8 = (block->steps[E_AXIS] << 8) / block->step_event_count;
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}
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#elif ENABLED(ADVANCE)
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// Calculate advance rate
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if (!bse || (!bsx && !bsy && !bsz)) {
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block->advance_rate = 0;
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@ -1069,7 +1085,8 @@ void Planner::check_axes_activity() {
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SERIAL_ECHOPGM("advance rate :");
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SERIAL_ECHOLN(block->advance_rate/256.0);
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*/
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#endif // ADVANCE
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#endif // ADVANCE or LIN_ADVANCE
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calculate_trapezoid_for_block(block, block->entry_speed / block->nominal_speed, safe_speed / block->nominal_speed);
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@ -64,7 +64,11 @@ typedef struct {
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unsigned char direction_bits; // The direction bit set for this block (refers to *_DIRECTION_BIT in config.h)
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#if ENABLED(ADVANCE)
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// Advance extrusion
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#if ENABLED(LIN_ADVANCE)
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bool use_advance_lead;
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int e_speed_multiplier8; // Factorised by 2^8 to avoid float
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#elif ENABLED(ADVANCE)
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long advance_rate;
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volatile long initial_advance;
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volatile long final_advance;
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@ -89,13 +89,24 @@ long Stepper::counter_X = 0,
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volatile unsigned long Stepper::step_events_completed = 0; // The number of step events executed in the current block
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#if ENABLED(ADVANCE)
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#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
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unsigned char Stepper::old_OCR0A;
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long Stepper::final_advance = 0,
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Stepper::old_advance = 0,
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Stepper::e_steps[EXTRUDERS],
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Stepper::advance_rate,
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Stepper::advance;
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volatile unsigned char Stepper::eISR_Rate = 200; // Keep the ISR at a low rate until needed
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#if ENABLED(LIN_ADVANCE)
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volatile int Stepper::e_steps[EXTRUDERS];
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int Stepper::extruder_advance_k = LIN_ADVANCE_K,
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Stepper::final_estep_rate,
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Stepper::current_estep_rate[EXTRUDERS],
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Stepper::current_adv_steps[EXTRUDERS];
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#else
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long Stepper::e_steps[EXTRUDERS],
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Stepper::final_advance = 0,
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Stepper::old_advance = 0,
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Stepper::advance_rate,
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Stepper::advance;
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#endif
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#endif
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long Stepper::acceleration_time, Stepper::deceleration_time;
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@ -344,13 +355,31 @@ void Stepper::isr() {
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customizedSerial.checkRx(); // Check for serial chars.
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#endif
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#if ENABLED(ADVANCE)
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#if ENABLED(LIN_ADVANCE)
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counter_E += current_block->steps[E_AXIS];
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if (counter_E > 0) {
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counter_E -= current_block->step_event_count;
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count_position[E_AXIS] += count_direction[E_AXIS];
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e_steps[current_block->active_extruder] += motor_direction(E_AXIS) ? -1 : 1;
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}
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if (current_block->use_advance_lead) {
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int delta_adv_steps; //Maybe a char would be enough?
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delta_adv_steps = (((long)extruder_advance_k * current_estep_rate[current_block->active_extruder]) >> 9) - current_adv_steps[current_block->active_extruder];
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e_steps[current_block->active_extruder] += delta_adv_steps;
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current_adv_steps[current_block->active_extruder] += delta_adv_steps;
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}
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#elif ENABLED(ADVANCE)
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counter_E += current_block->steps[E_AXIS];
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if (counter_E > 0) {
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counter_E -= current_block->step_event_count;
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e_steps[current_block->active_extruder] += motor_direction(E_AXIS) ? -1 : 1;
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}
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#endif //ADVANCE
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#endif // ADVANCE or LIN_ADVANCE
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#define _COUNTER(AXIS) counter_## AXIS
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#define _APPLY_STEP(AXIS) AXIS ##_APPLY_STEP
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@ -363,7 +392,7 @@ void Stepper::isr() {
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STEP_ADD(X);
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STEP_ADD(Y);
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STEP_ADD(Z);
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#if DISABLED(ADVANCE)
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#if DISABLED(ADVANCE) && DISABLED(LIN_ADVANCE)
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STEP_ADD(E);
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#endif
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@ -377,13 +406,19 @@ void Stepper::isr() {
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STEP_IF_COUNTER(X);
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STEP_IF_COUNTER(Y);
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STEP_IF_COUNTER(Z);
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#if DISABLED(ADVANCE)
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#if DISABLED(ADVANCE) && DISABLED(LIN_ADVANCE)
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STEP_IF_COUNTER(E);
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#endif
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step_events_completed++;
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if (step_events_completed >= current_block->step_event_count) break;
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}
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#if ENABLED(LIN_ADVANCE)
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// If we have esteps to execute, fire the next ISR "now"
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if (e_steps[current_block->active_extruder]) OCR0A = TCNT0 + 2;
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#endif
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// Calculate new timer value
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unsigned short timer, step_rate;
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if (step_events_completed <= (unsigned long)current_block->accelerate_until) {
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@ -399,7 +434,12 @@ void Stepper::isr() {
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OCR1A = timer;
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acceleration_time += timer;
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#if ENABLED(ADVANCE)
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#if ENABLED(LIN_ADVANCE)
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if (current_block->use_advance_lead)
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current_estep_rate[current_block->active_extruder] = ((unsigned long)acc_step_rate * current_block->e_speed_multiplier8) >> 8;
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#elif ENABLED(ADVANCE)
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advance += advance_rate * step_loops;
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//NOLESS(advance, current_block->advance);
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@ -408,7 +448,11 @@ void Stepper::isr() {
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e_steps[current_block->active_extruder] += ((advance >> 8) - old_advance);
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old_advance = advance >> 8;
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#endif //ADVANCE
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#endif // ADVANCE or LIN_ADVANCE
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#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
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eISR_Rate = (timer >> 2) / abs(e_steps[current_block->active_extruder]);
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#endif
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}
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else if (step_events_completed > (unsigned long)current_block->decelerate_after) {
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MultiU24X32toH16(step_rate, deceleration_time, current_block->acceleration_rate);
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@ -425,7 +469,13 @@ void Stepper::isr() {
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OCR1A = timer;
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deceleration_time += timer;
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#if ENABLED(ADVANCE)
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#if ENABLED(LIN_ADVANCE)
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if (current_block->use_advance_lead)
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current_estep_rate[current_block->active_extruder] = ((unsigned long)step_rate * current_block->e_speed_multiplier8) >> 8;
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#elif ENABLED(ADVANCE)
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advance -= advance_rate * step_loops;
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NOLESS(advance, final_advance);
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@ -433,9 +483,24 @@ void Stepper::isr() {
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uint32_t advance_whole = advance >> 8;
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e_steps[current_block->active_extruder] += advance_whole - old_advance;
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old_advance = advance_whole;
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#endif //ADVANCE
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#endif // ADVANCE or LIN_ADVANCE
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#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
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eISR_Rate = (timer >> 2) / abs(e_steps[current_block->active_extruder]);
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#endif
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}
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else {
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#if ENABLED(LIN_ADVANCE)
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if (current_block->use_advance_lead)
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current_estep_rate[current_block->active_extruder] = final_estep_rate;
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eISR_Rate = (OCR1A_nominal >> 2) / abs(e_steps[current_block->active_extruder]);
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#endif
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OCR1A = OCR1A_nominal;
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// ensure we're running at the correct step rate, even if we just came off an acceleration
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step_loops = step_loops_nominal;
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@ -451,13 +516,15 @@ void Stepper::isr() {
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}
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}
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#if ENABLED(ADVANCE)
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#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
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// Timer interrupt for E. e_steps is set in the main routine;
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// Timer 0 is shared with millies
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ISR(TIMER0_COMPA_vect) { Stepper::advance_isr(); }
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void Stepper::advance_isr() {
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old_OCR0A += 52; // ~10kHz interrupt (250000 / 26 = 9615kHz)
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old_OCR0A += eISR_Rate;
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OCR0A = old_OCR0A;
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#define STEP_E_ONCE(INDEX) \
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@ -474,22 +541,21 @@ void Stepper::isr() {
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E## INDEX ##_STEP_WRITE(!INVERT_E_STEP_PIN); \
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}
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// Step all E steppers that have steps, up to 4 steps per interrupt
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for (unsigned char i = 0; i < 4; i++) {
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STEP_E_ONCE(0);
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#if EXTRUDERS > 1
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STEP_E_ONCE(1);
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#if EXTRUDERS > 2
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STEP_E_ONCE(2);
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#if EXTRUDERS > 3
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STEP_E_ONCE(3);
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#endif
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// Step all E steppers that have steps
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STEP_E_ONCE(0);
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#if EXTRUDERS > 1
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STEP_E_ONCE(1);
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#if EXTRUDERS > 2
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STEP_E_ONCE(2);
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#if EXTRUDERS > 3
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STEP_E_ONCE(3);
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#endif
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#endif
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}
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#endif
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}
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#endif // ADVANCE
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#endif // ADVANCE or LIN_ADVANCE
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void Stepper::init() {
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@ -656,14 +722,28 @@ void Stepper::init() {
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TCNT1 = 0;
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ENABLE_STEPPER_DRIVER_INTERRUPT();
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#if ENABLED(ADVANCE)
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#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
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#if ENABLED(LIN_ADVANCE)
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for (int i = 0; i < EXTRUDERS; i++) {
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e_steps[i] = 0;
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current_adv_steps[i] = 0;
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}
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#elif ENABLED(ADVANCE)
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for (uint8_t i = 0; i < EXTRUDERS; i++) e_steps[i] = 0;
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#endif
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#if defined(TCCR0A) && defined(WGM01)
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CBI(TCCR0A, WGM01);
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CBI(TCCR0A, WGM00);
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#endif
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for (uint8_t i = 0; i < EXTRUDERS; i++) e_steps[i] = 0;
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SBI(TIMSK0, OCIE0A);
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#endif //ADVANCE
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#endif // ADVANCE or LIN_ADVANCE
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endstops.enable(true); // Start with endstops active. After homing they can be disabled
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sei();
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@ -1040,3 +1120,14 @@ void Stepper::microstep_readings() {
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SERIAL_PROTOCOLLN(digitalRead(E1_MS2_PIN));
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#endif
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}
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#if ENABLED(LIN_ADVANCE)
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void Stepper::advance_M905() {
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if (code_seen('K')) extruder_advance_k = code_value();
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SERIAL_ECHO_START;
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SERIAL_ECHOPAIR("Advance factor: ", extruder_advance_k);
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SERIAL_EOL;
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}
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#endif // LIN_ADVANCE
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@ -22,7 +22,7 @@
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/**
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* stepper.h - stepper motor driver: executes motion plans of planner.c using the stepper motors
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* Part of Grbl
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* Derived from Grbl
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*
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* Copyright (c) 2009-2011 Simen Svale Skogsrud
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*
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@ -90,10 +90,6 @@ class Stepper {
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static bool performing_homing;
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#endif
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#if ENABLED(ADVANCE)
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static long e_steps[EXTRUDERS];
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#endif
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private:
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static unsigned char last_direction_bits; // The next stepping-bits to be output
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@ -107,10 +103,23 @@ class Stepper {
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static long counter_X, counter_Y, counter_Z, counter_E;
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static volatile unsigned long step_events_completed; // The number of step events executed in the current block
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#if ENABLED(ADVANCE)
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#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
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static unsigned char old_OCR0A;
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static long advance_rate, advance, old_advance, final_advance;
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#endif
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static volatile unsigned char eISR_Rate;
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#if ENABLED(LIN_ADVANCE)
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static volatile int e_steps[EXTRUDERS];
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static int extruder_advance_k;
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static int final_estep_rate;
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static int current_estep_rate[EXTRUDERS]; // Actual extruder speed [steps/s]
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static int current_adv_steps[EXTRUDERS]; // The amount of current added esteps due to advance.
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// i.e., the current amount of pressure applied
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// to the spring (=filament).
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#else
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static long e_steps[EXTRUDERS];
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static long advance_rate, advance, final_advance;
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static long old_advance;
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#endif
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#endif // ADVANCE or LIN_ADVANCE
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static long acceleration_time, deceleration_time;
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//unsigned long accelerate_until, decelerate_after, acceleration_rate, initial_rate, final_rate, nominal_rate;
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@ -156,7 +165,7 @@ class Stepper {
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static void isr();
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#if ENABLED(ADVANCE)
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#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
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||||
static void advance_isr();
|
||||
#endif
|
||||
|
||||
@ -246,6 +255,11 @@ class Stepper {
|
||||
return endstops_trigsteps[axis] / planner.axis_steps_per_mm[axis];
|
||||
}
|
||||
|
||||
#if ENABLED(LIN_ADVANCE)
|
||||
void advance_M905();
|
||||
FORCE_INLINE int get_advance_k() { return extruder_advance_k; }
|
||||
#endif
|
||||
|
||||
private:
|
||||
|
||||
static FORCE_INLINE unsigned short calc_timer(unsigned short step_rate) {
|
||||
@ -316,6 +330,13 @@ class Stepper {
|
||||
acceleration_time = calc_timer(acc_step_rate);
|
||||
OCR1A = acceleration_time;
|
||||
|
||||
#if ENABLED(LIN_ADVANCE)
|
||||
if (current_block->use_advance_lead) {
|
||||
current_estep_rate[current_block->active_extruder] = ((unsigned long)acc_step_rate * current_block->e_speed_multiplier8) >> 8;
|
||||
final_estep_rate = (current_block->nominal_rate * current_block->e_speed_multiplier8) >> 8;
|
||||
}
|
||||
#endif
|
||||
|
||||
// SERIAL_ECHO_START;
|
||||
// SERIAL_ECHOPGM("advance :");
|
||||
// SERIAL_ECHO(current_block->advance/256.0);
|
||||
|
||||
Loading…
Reference in New Issue
Block a user