Add LIN_ADVANCE
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e2d4919c01
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@ -457,6 +457,15 @@
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#define MESH_MAX_Y (Y_MAX_POS - (MESH_INSET))
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#define MESH_MAX_Y (Y_MAX_POS - (MESH_INSET))
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#endif
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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_K 75
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#endif
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// @section extras
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// @section extras
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// Arc interpretation settings:
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// Arc interpretation settings:
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@ -6468,6 +6468,16 @@ inline void gcode_M503() {
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#endif // DUAL_X_CARRIAGE
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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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/**
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* M907: Set digital trimpot motor current using axis codes X, Y, Z, E, B, S
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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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*/
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@ -7339,6 +7349,12 @@ void process_next_command() {
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gcode_M605();
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gcode_M605();
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break;
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break;
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#endif // DUAL_X_CARRIAGE
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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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case 907: // M907 Set digital trimpot motor current using axis codes.
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gcode_M907();
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gcode_M907();
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@ -1045,6 +1045,18 @@ void Planner::check_axes_activity() {
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// the maximum junction speed and may always be ignored for any speed reduction checks.
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// the maximum junction speed and may always be ignored for any speed reduction checks.
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block->nominal_length_flag = (block->nominal_speed <= v_allowable);
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block->nominal_length_flag = (block->nominal_speed <= v_allowable);
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block->recalculate_flag = true; // Always calculate trapezoid for new block
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block->recalculate_flag = true; // Always calculate trapezoid for new block
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#ifdef LIN_ADVANCE
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//bse = allsteps: A problem occures if there is a very tiny move before a retract.
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//In this case, the retract and the move will be executed together. This leads to an enormus amount advance steps due to a hughe e_acceleration.
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//The math is correct, but you don't want a retract move done with advance! This situation has to be filtered out.
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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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} 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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#endif
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// Update previous path unit_vector and nominal speed
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// Update previous path unit_vector and nominal speed
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for (int i = 0; i < NUM_AXIS; i++) previous_speed[i] = current_speed[i];
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for (int i = 0; i < NUM_AXIS; i++) previous_speed[i] = current_speed[i];
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@ -70,6 +70,10 @@ typedef struct {
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volatile long final_advance;
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volatile long final_advance;
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float advance;
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float advance;
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#endif
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#endif
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#ifdef 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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#endif
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// Fields used by the motion planner to manage acceleration
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// Fields used by the motion planner to manage acceleration
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float nominal_speed, // The nominal speed for this block in mm/sec
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float nominal_speed, // The nominal speed for this block in mm/sec
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@ -351,6 +351,22 @@ void Stepper::isr() {
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e_steps[current_block->active_extruder] += motor_direction(E_AXIS) ? -1 : 1;
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e_steps[current_block->active_extruder] += motor_direction(E_AXIS) ? -1 : 1;
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}
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}
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#endif //ADVANCE
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#endif //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[_AXIS(E)] += count_direction[_AXIS(E)];
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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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#endif //LIN_ADVANCE
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#define _COUNTER(AXIS) counter_## AXIS
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#define _COUNTER(AXIS) counter_## AXIS
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#define _APPLY_STEP(AXIS) AXIS ##_APPLY_STEP
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#define _APPLY_STEP(AXIS) AXIS ##_APPLY_STEP
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@ -363,7 +379,7 @@ void Stepper::isr() {
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STEP_ADD(X);
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STEP_ADD(X);
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STEP_ADD(Y);
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STEP_ADD(Y);
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STEP_ADD(Z);
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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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STEP_ADD(E);
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#endif
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#endif
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@ -377,7 +393,7 @@ void Stepper::isr() {
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STEP_IF_COUNTER(X);
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STEP_IF_COUNTER(X);
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STEP_IF_COUNTER(Y);
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STEP_IF_COUNTER(Y);
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STEP_IF_COUNTER(Z);
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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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STEP_IF_COUNTER(E);
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#endif
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#endif
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@ -398,6 +414,12 @@ void Stepper::isr() {
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timer = calc_timer(acc_step_rate);
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timer = calc_timer(acc_step_rate);
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OCR1A = timer;
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OCR1A = timer;
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acceleration_time += timer;
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acceleration_time += timer;
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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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}
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#endif
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#if ENABLED(ADVANCE)
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#if ENABLED(ADVANCE)
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@ -424,6 +446,12 @@ void Stepper::isr() {
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timer = calc_timer(step_rate);
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timer = calc_timer(step_rate);
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OCR1A = timer;
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OCR1A = timer;
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deceleration_time += timer;
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deceleration_time += timer;
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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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}
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#endif
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#if ENABLED(ADVANCE)
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#if ENABLED(ADVANCE)
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advance -= advance_rate * step_loops;
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advance -= advance_rate * step_loops;
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@ -436,6 +464,12 @@ void Stepper::isr() {
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#endif //ADVANCE
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#endif //ADVANCE
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}
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}
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else {
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else {
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#ifdef 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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}
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#endif
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OCR1A = OCR1A_nominal;
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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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// 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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step_loops = step_loops_nominal;
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@ -491,6 +525,55 @@ void Stepper::isr() {
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#endif // ADVANCE
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#endif // ADVANCE
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#if ENABLED(LIN_ADVANCE)
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unsigned char old_OCR0A;
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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) war 52
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OCR0A = old_OCR0A;
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#define STEP_E_ONCE(INDEX) \
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if (e_steps[INDEX] != 0) { \
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E## INDEX ##_STEP_WRITE(INVERT_E_STEP_PIN); \
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if (e_steps[INDEX] < 0) { \
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E## INDEX ##_DIR_WRITE(INVERT_E## INDEX ##_DIR); \
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e_steps[INDEX]++; \
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} \
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else if (e_steps[INDEX] > 0) { \
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E## INDEX ##_DIR_WRITE(!INVERT_E## INDEX ##_DIR); \
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e_steps[INDEX]--; \
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} \
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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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#if EXTRUDERS > 3
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switch(current_block->active_extruder){case 3:STEP_E_ONCE(3);break;case 2:STEP_E_ONCE(2);break;case 1:STEP_E_ONCE(1);break;default:STEP_E_ONCE(0);}
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#elif EXTRUDERS > 2
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switch(current_block->active_extruder){case 2:STEP_E_ONCE(2);break;case 1:STEP_E_ONCE(1);break;default:STEP_E_ONCE(0);}
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#elif EXTRUDERS > 1
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#if DISABLED(DUAL_X_CARRIAGE)
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if(current_block->active_extruder == 1){STEP_E_ONCE(1)}else{STEP_E_ONCE(0);}
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#else
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extern bool extruder_duplication_enabled;
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if(extruder_duplication_enabled){
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STEP_E_ONCE(0);
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STEP_E_ONCE(1);
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}else {
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if(current_block->active_extruder == 1){STEP_E_ONCE(1)}else{STEP_E_ONCE(0);}
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}
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#endif
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#else
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STEP_E_ONCE(0);
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#endif
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}
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}
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#endif // LIN_ADVANCE
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void Stepper::init() {
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void Stepper::init() {
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digipot_init(); //Initialize Digipot Motor Current
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digipot_init(); //Initialize Digipot Motor Current
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@ -655,6 +738,18 @@ void Stepper::init() {
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OCR1A = 0x4000;
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OCR1A = 0x4000;
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TCNT1 = 0;
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TCNT1 = 0;
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ENABLE_STEPPER_DRIVER_INTERRUPT();
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ENABLE_STEPPER_DRIVER_INTERRUPT();
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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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#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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SBI(TIMSK0, OCIE0A);
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#endif //LIN_ADVANCE
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#if ENABLED(ADVANCE)
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#if ENABLED(ADVANCE)
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#if defined(TCCR0A) && defined(WGM01)
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#if defined(TCCR0A) && defined(WGM01)
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@ -1040,3 +1135,17 @@ void Stepper::microstep_readings() {
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SERIAL_PROTOCOLLN(digitalRead(E1_MS2_PIN));
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SERIAL_PROTOCOLLN(digitalRead(E1_MS2_PIN));
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#endif
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#endif
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}
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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_ECHOPGM("Advance factor:");
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SERIAL_CHAR(' ');
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SERIAL_ECHOLN(extruder_advance_k);
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}
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int Stepper::get_advance_k(){
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return extruder_advance_k;
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}
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#endif
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@ -93,6 +93,10 @@ class Stepper {
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#if ENABLED(ADVANCE)
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#if ENABLED(ADVANCE)
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static long e_steps[EXTRUDERS];
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static long e_steps[EXTRUDERS];
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#endif
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#endif
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#if ENABLED(LIN_ADVANCE)
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int extruder_advance_k = LIN_K;
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#endif
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private:
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private:
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@ -111,6 +115,14 @@ class Stepper {
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static unsigned char old_OCR0A;
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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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static long advance_rate, advance, old_advance, final_advance;
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#endif
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#endif
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#if ENABLED(LIN_ADVANCE)
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unsigned char old_OCR0A;
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volatile int e_steps[EXTRUDERS];
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int final_estep_rate;
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int current_estep_rate[EXTRUDERS]; //Actual extruder speed [steps/s]
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int current_adv_steps[EXTRUDERS]; //The amount of current added esteps due to advance. Think of it as the current amount of pressure applied to the spring (=filament).
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#endif
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static long acceleration_time, deceleration_time;
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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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//unsigned long accelerate_until, decelerate_after, acceleration_rate, initial_rate, final_rate, nominal_rate;
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@ -159,6 +171,12 @@ class Stepper {
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#if ENABLED(ADVANCE)
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#if ENABLED(ADVANCE)
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static void advance_isr();
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static void advance_isr();
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#endif
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#endif
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#if ENABLED(LIN_ADVANCE)
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void advance_isr();
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void advance_M905();
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int get_advance_k();
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#endif
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//
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//
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// Block until all buffered steps are executed
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// Block until all buffered steps are executed
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@ -315,6 +333,13 @@ class Stepper {
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acc_step_rate = current_block->initial_rate;
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acc_step_rate = current_block->initial_rate;
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acceleration_time = calc_timer(acc_step_rate);
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acceleration_time = calc_timer(acc_step_rate);
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OCR1A = acceleration_time;
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OCR1A = acceleration_time;
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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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final_estep_rate = (current_block->nominal_rate * current_block->e_speed_multiplier8) >> 8;
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}
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#endif
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// SERIAL_ECHO_START;
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// SERIAL_ECHO_START;
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// SERIAL_ECHOPGM("advance :");
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// SERIAL_ECHOPGM("advance :");
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@ -332,4 +357,4 @@ class Stepper {
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};
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};
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#endif // STEPPER_H
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#endif // STEPPER_H
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