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Add LIN_ADVANCE

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Sebastianv650 2016-05-04 18:53:17 +02:00 committed by Scott Lahteine
parent e2d4919c01
commit fb8e880734
6 changed files with 178 additions and 3 deletions
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9
Marlin/Configuration_adv.h
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@ -457,6 +457,15 @@
#define MESH_MAX_Y (Y_MAX_POS - (MESH_INSET))
#endif
//Implementation of a linear pressure control
//Assumption: advance = k * (delta velocity)
//K=0 means advance disabled. A good value for a gregs wade extruder will be around K=75
#define LIN_ADVANCE
#if ENABLED(LIN_ADVANCE)
#define LIN_K 75
#endif
// @section extras
// Arc interpretation settings:

16
Marlin/Marlin_main.cpp
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@ -6468,6 +6468,16 @@ inline void gcode_M503() {
#endif // DUAL_X_CARRIAGE
#if ENABLED(LIN_ADVANCE)
/**
* M905: Set advance factor
*/
inline void gcode_M905() {
stepper.synchronize();
stepper.advance_M905();
}
#endif
/**
* M907: Set digital trimpot motor current using axis codes X, Y, Z, E, B, S
*/
@ -7340,6 +7350,12 @@ void process_next_command() {
break;
#endif // DUAL_X_CARRIAGE
#if ENABLED(LIN_ADVANCE)
case 905: // M905 Set advance factor.
gcode_M905();
break;
#endif
case 907: // M907 Set digital trimpot motor current using axis codes.
gcode_M907();
break;

12
Marlin/planner.cpp
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@ -1046,6 +1046,18 @@ void Planner::check_axes_activity() {
block->nominal_length_flag = (block->nominal_speed <= v_allowable);
block->recalculate_flag = true; // Always calculate trapezoid for new block
#ifdef LIN_ADVANCE
//bse = allsteps: A problem occures if there is a very tiny move before a retract.
//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.
//The math is correct, but you don't want a retract move done with advance! This situation has to be filtered out.
if ((!bse || (!bsx && !bsy && !bsz)) || (stepper.get_advance_k() == 0) || (bse == allsteps)) {
block->use_advance_lead = false;
} else {
block->use_advance_lead = true;
block->e_speed_multiplier8 = (block->steps[E_AXIS] << 8) / block->step_event_count;
}
#endif
// Update previous path unit_vector and nominal speed
for (int i = 0; i < NUM_AXIS; i++) previous_speed[i] = current_speed[i];
previous_nominal_speed = block->nominal_speed;

4
Marlin/planner.h
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@ -70,6 +70,10 @@ typedef struct {
volatile long final_advance;
float advance;
#endif
#ifdef LIN_ADVANCE
bool use_advance_lead;
int e_speed_multiplier8; //factorised by 2^8 to avoid float
#endif
// Fields used by the motion planner to manage acceleration
float nominal_speed, // The nominal speed for this block in mm/sec

113
Marlin/stepper.cpp
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@ -352,6 +352,22 @@ void Stepper::isr() {
}
#endif //ADVANCE
#if ENABLED(LIN_ADVANCE)
counter_E += current_block->steps[E_AXIS];
if (counter_E > 0) {
counter_E -= current_block->step_event_count;
count_position[_AXIS(E)] += count_direction[_AXIS(E)];
e_steps[current_block->active_extruder] += motor_direction(E_AXIS) ? -1 : 1;
}
if (current_block->use_advance_lead){
int delta_adv_steps; //Maybe a char would be enough?
delta_adv_steps = (((long)extruder_advance_k * current_estep_rate[current_block->active_extruder]) >> 9) - current_adv_steps[current_block->active_extruder];
e_steps[current_block->active_extruder] += delta_adv_steps;
current_adv_steps[current_block->active_extruder] += delta_adv_steps;
}
#endif //LIN_ADVANCE
#define _COUNTER(AXIS) counter_## AXIS
#define _APPLY_STEP(AXIS) AXIS ##_APPLY_STEP
#define _INVERT_STEP_PIN(AXIS) INVERT_## AXIS ##_STEP_PIN
@ -363,7 +379,7 @@ void Stepper::isr() {
STEP_ADD(X);
STEP_ADD(Y);
STEP_ADD(Z);
#if DISABLED(ADVANCE)
#if (DISABLED(ADVANCE) && DISABLED(LIN_ADVANCE))
STEP_ADD(E);
#endif
@ -377,7 +393,7 @@ void Stepper::isr() {
STEP_IF_COUNTER(X);
STEP_IF_COUNTER(Y);
STEP_IF_COUNTER(Z);
#if DISABLED(ADVANCE)
#if (DISABLED(ADVANCE) && DISABLED(LIN_ADVANCE))
STEP_IF_COUNTER(E);
#endif
@ -399,6 +415,12 @@ void Stepper::isr() {
OCR1A = timer;
acceleration_time += timer;
#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;
}
#endif
#if ENABLED(ADVANCE)
advance += advance_rate * step_loops;
@ -425,6 +447,12 @@ void Stepper::isr() {
OCR1A = timer;
deceleration_time += timer;
#if ENABLED(LIN_ADVANCE)
if (current_block->use_advance_lead){
current_estep_rate[current_block->active_extruder] = ((unsigned long)step_rate * current_block->e_speed_multiplier8) >> 8;
}
#endif
#if ENABLED(ADVANCE)
advance -= advance_rate * step_loops;
NOLESS(advance, final_advance);
@ -436,6 +464,12 @@ void Stepper::isr() {
#endif //ADVANCE
}
else {
#ifdef LIN_ADVANCE
if (current_block->use_advance_lead){
current_estep_rate[current_block->active_extruder] = final_estep_rate;
}
#endif
OCR1A = OCR1A_nominal;
// ensure we're running at the correct step rate, even if we just came off an acceleration
step_loops = step_loops_nominal;
@ -491,6 +525,55 @@ void Stepper::isr() {
#endif // ADVANCE
#if ENABLED(LIN_ADVANCE)
unsigned char old_OCR0A;
// Timer interrupt for E. e_steps is set in the main routine;
// Timer 0 is shared with millies
ISR(TIMER0_COMPA_vect) { stepper.advance_isr(); }
void Stepper::advance_isr() {
old_OCR0A += 52; // ~10kHz interrupt (250000 / 26 = 9615kHz) war 52
OCR0A = old_OCR0A;
#define STEP_E_ONCE(INDEX) \
if (e_steps[INDEX] != 0) { \
E## INDEX ##_STEP_WRITE(INVERT_E_STEP_PIN); \
if (e_steps[INDEX] < 0) { \
E## INDEX ##_DIR_WRITE(INVERT_E## INDEX ##_DIR); \
e_steps[INDEX]++; \
} \
else if (e_steps[INDEX] > 0) { \
E## INDEX ##_DIR_WRITE(!INVERT_E## INDEX ##_DIR); \
e_steps[INDEX]--; \
} \
E## INDEX ##_STEP_WRITE(!INVERT_E_STEP_PIN); \
}
// Step all E steppers that have steps, up to 4 steps per interrupt
for (unsigned char i = 0; i < 4; i++) {
#if EXTRUDERS > 3
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);}
#elif EXTRUDERS > 2
switch(current_block->active_extruder){case 2:STEP_E_ONCE(2);break;case 1:STEP_E_ONCE(1);break;default:STEP_E_ONCE(0);}
#elif EXTRUDERS > 1
#if DISABLED(DUAL_X_CARRIAGE)
if(current_block->active_extruder == 1){STEP_E_ONCE(1)}else{STEP_E_ONCE(0);}
#else
extern bool extruder_duplication_enabled;
if(extruder_duplication_enabled){
STEP_E_ONCE(0);
STEP_E_ONCE(1);
}else {
if(current_block->active_extruder == 1){STEP_E_ONCE(1)}else{STEP_E_ONCE(0);}
}
#endif
#else
STEP_E_ONCE(0);
#endif
}
}
#endif // LIN_ADVANCE
void Stepper::init() {
digipot_init(); //Initialize Digipot Motor Current
@ -656,6 +739,18 @@ void Stepper::init() {
TCNT1 = 0;
ENABLE_STEPPER_DRIVER_INTERRUPT();
#if ENABLED(LIN_ADVANCE)
for (int i = 0; i < EXTRUDERS; i++){
e_steps[i] = 0;
current_adv_steps[i] = 0;
}
#if defined(TCCR0A) && defined(WGM01)
CBI(TCCR0A, WGM01);
CBI(TCCR0A, WGM00);
#endif
SBI(TIMSK0, OCIE0A);
#endif //LIN_ADVANCE
#if ENABLED(ADVANCE)
#if defined(TCCR0A) && defined(WGM01)
CBI(TCCR0A, WGM01);
@ -1040,3 +1135,17 @@ void Stepper::microstep_readings() {
SERIAL_PROTOCOLLN(digitalRead(E1_MS2_PIN));
#endif
}
#if ENABLED(LIN_ADVANCE)
void Stepper::advance_M905() {
if (code_seen('K')) extruder_advance_k = code_value();
SERIAL_ECHO_START;
SERIAL_ECHOPGM("Advance factor:");
SERIAL_CHAR(' ');
SERIAL_ECHOLN(extruder_advance_k);
}
int Stepper::get_advance_k(){
return extruder_advance_k;
}
#endif

25
Marlin/stepper.h
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@ -94,6 +94,10 @@ class Stepper {
static long e_steps[EXTRUDERS];
#endif
#if ENABLED(LIN_ADVANCE)
int extruder_advance_k = LIN_K;
#endif
private:
static unsigned char last_direction_bits; // The next stepping-bits to be output
@ -112,6 +116,14 @@ class Stepper {
static long advance_rate, advance, old_advance, final_advance;
#endif
#if ENABLED(LIN_ADVANCE)
unsigned char old_OCR0A;
volatile int e_steps[EXTRUDERS];
int final_estep_rate;
int current_estep_rate[EXTRUDERS]; //Actual extruder speed [steps/s]
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).
#endif
static long acceleration_time, deceleration_time;
//unsigned long accelerate_until, decelerate_after, acceleration_rate, initial_rate, final_rate, nominal_rate;
static unsigned short acc_step_rate; // needed for deceleration start point
@ -160,6 +172,12 @@ class Stepper {
static void advance_isr();
#endif
#if ENABLED(LIN_ADVANCE)
void advance_isr();
void advance_M905();
int get_advance_k();
#endif
//
// Block until all buffered steps are executed
//
@ -316,6 +334,13 @@ 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);