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Merge pull request #3676 from thinkyhead/rc_lin_advance_feature

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Advance extrusion algorithm – LIN_ADVANCE
This commit is contained in:
Scott Lahteine 2016-06-13 18:04:58 -07:00 committed by GitHub
commit 587de1b6b6
8 changed files with 210 additions and 44 deletions
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2
.travis.yml
View file

@ -76,10 +76,12 @@ script:
- build_marlin
#
# Test 3 extruders on RUMBA (can use any board with >=3 extruders defined)
# Include a test for LIN_ADVANCE here also
#
- opt_set MOTHERBOARD BOARD_RUMBA
- opt_set EXTRUDERS 3
- opt_set TEMP_SENSOR_2 1
- opt_enable_adv LIN_ADVANCE
- build_marlin
#
# Test PIDTEMPBED

9
Marlin/Configuration_adv.h
View file

@ -445,6 +445,15 @@
#define D_FILAMENT 2.85
#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_ADVANCE_K 75
#endif
// @section leveling
// Default mesh area is an area with an inset margin on the print area.

16
Marlin/Marlin_main.cpp
View file

@ -6475,6 +6475,16 @@ 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
*/
@ -7348,6 +7358,12 @@ 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;

8
Marlin/SanityCheck.h
View file

@ -351,6 +351,13 @@
#endif // AUTO_BED_LEVELING_FEATURE
/**
* Advance Extrusion
*/
#if ENABLED(ADVANCE) && ENABLED(LIN_ADVANCE)
#error You can enable ADVANCE or LIN_ADVANCE, but not both.
#endif
/**
* Filament Width Sensor
*/
@ -358,7 +365,6 @@
#error "FILAMENT_WIDTH_SENSOR requires a FILWIDTH_PIN to be defined."
#endif
/**
* ULTIPANEL encoder
*/

21
Marlin/planner.cpp
View file

@ -1050,7 +1050,23 @@ void Planner::check_axes_activity() {
for (int i = 0; i < NUM_AXIS; i++) previous_speed[i] = current_speed[i];
previous_nominal_speed = block->nominal_speed;
#if ENABLED(ADVANCE)
#if ENABLED(LIN_ADVANCE)
// bse == allsteps: A problem occurs when there's a very tiny move before a retract.
// In this case, the retract and the move will be executed together.
// This leads to an enormous number of advance steps due to a huge e_acceleration.
// The math is correct, but you don't want a retract move done with advance!
// So this situation is filtered out here.
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;
}
#elif ENABLED(ADVANCE)
// Calculate advance rate
if (!bse || (!bsx && !bsy && !bsz)) {
block->advance_rate = 0;
@ -1069,7 +1085,8 @@ void Planner::check_axes_activity() {
SERIAL_ECHOPGM("advance rate :");
SERIAL_ECHOLN(block->advance_rate/256.0);
*/
#endif // ADVANCE
#endif // ADVANCE or LIN_ADVANCE
calculate_trapezoid_for_block(block, block->entry_speed / block->nominal_speed, safe_speed / block->nominal_speed);

6
Marlin/planner.h
View file

@ -64,7 +64,11 @@ typedef struct {
unsigned char direction_bits; // The direction bit set for this block (refers to *_DIRECTION_BIT in config.h)
#if ENABLED(ADVANCE)
// Advance extrusion
#if ENABLED(LIN_ADVANCE)
bool use_advance_lead;
int e_speed_multiplier8; // Factorised by 2^8 to avoid float
#elif ENABLED(ADVANCE)
long advance_rate;
volatile long initial_advance;
volatile long final_advance;

131
Marlin/stepper.cpp
View file

@ -89,14 +89,25 @@ long Stepper::counter_X = 0,
volatile unsigned long Stepper::step_events_completed = 0; // The number of step events executed in the current block
#if ENABLED(ADVANCE)
#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
unsigned char Stepper::old_OCR0A;
long Stepper::final_advance = 0,
volatile unsigned char Stepper::eISR_Rate = 200; // Keep the ISR at a low rate until needed
#if ENABLED(LIN_ADVANCE)
volatile int Stepper::e_steps[EXTRUDERS];
int Stepper::extruder_advance_k = LIN_ADVANCE_K,
Stepper::final_estep_rate,
Stepper::current_estep_rate[EXTRUDERS],
Stepper::current_adv_steps[EXTRUDERS];
#else
long Stepper::e_steps[EXTRUDERS],
Stepper::final_advance = 0,
Stepper::old_advance = 0,
Stepper::e_steps[EXTRUDERS],
Stepper::advance_rate,
Stepper::advance;
#endif
#endif
long Stepper::acceleration_time, Stepper::deceleration_time;
@ -344,13 +355,31 @@ void Stepper::isr() {
customizedSerial.checkRx(); // Check for serial chars.
#endif
#if ENABLED(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[E_AXIS] += count_direction[E_AXIS];
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;
}
#elif ENABLED(ADVANCE)
counter_E += current_block->steps[E_AXIS];
if (counter_E > 0) {
counter_E -= current_block->step_event_count;
e_steps[current_block->active_extruder] += motor_direction(E_AXIS) ? -1 : 1;
}
#endif //ADVANCE
#endif // ADVANCE or LIN_ADVANCE
#define _COUNTER(AXIS) counter_## AXIS
#define _APPLY_STEP(AXIS) AXIS ##_APPLY_STEP
@ -363,7 +392,7 @@ 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
@ -377,13 +406,19 @@ 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
step_events_completed++;
if (step_events_completed >= current_block->step_event_count) break;
}
#if ENABLED(LIN_ADVANCE)
// If we have esteps to execute, fire the next ISR "now"
if (e_steps[current_block->active_extruder]) OCR0A = TCNT0 + 2;
#endif
// Calculate new timer value
unsigned short timer, step_rate;
if (step_events_completed <= (unsigned long)current_block->accelerate_until) {
@ -399,7 +434,12 @@ void Stepper::isr() {
OCR1A = timer;
acceleration_time += timer;
#if ENABLED(ADVANCE)
#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;
#elif ENABLED(ADVANCE)
advance += advance_rate * step_loops;
//NOLESS(advance, current_block->advance);
@ -408,7 +448,11 @@ void Stepper::isr() {
e_steps[current_block->active_extruder] += ((advance >> 8) - old_advance);
old_advance = advance >> 8;
#endif //ADVANCE
#endif // ADVANCE or LIN_ADVANCE
#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
eISR_Rate = (timer >> 2) / abs(e_steps[current_block->active_extruder]);
#endif
}
else if (step_events_completed > (unsigned long)current_block->decelerate_after) {
MultiU24X32toH16(step_rate, deceleration_time, current_block->acceleration_rate);
@ -425,7 +469,13 @@ void Stepper::isr() {
OCR1A = timer;
deceleration_time += timer;
#if ENABLED(ADVANCE)
#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;
#elif ENABLED(ADVANCE)
advance -= advance_rate * step_loops;
NOLESS(advance, final_advance);
@ -433,9 +483,24 @@ void Stepper::isr() {
uint32_t advance_whole = advance >> 8;
e_steps[current_block->active_extruder] += advance_whole - old_advance;
old_advance = advance_whole;
#endif //ADVANCE
#endif // ADVANCE or LIN_ADVANCE
#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
eISR_Rate = (timer >> 2) / abs(e_steps[current_block->active_extruder]);
#endif
}
else {
#if ENABLED(LIN_ADVANCE)
if (current_block->use_advance_lead)
current_estep_rate[current_block->active_extruder] = final_estep_rate;
eISR_Rate = (OCR1A_nominal >> 2) / abs(e_steps[current_block->active_extruder]);
#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;
@ -451,13 +516,15 @@ void Stepper::isr() {
}
}
#if ENABLED(ADVANCE)
#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
// 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)
old_OCR0A += eISR_Rate;
OCR0A = old_OCR0A;
#define STEP_E_ONCE(INDEX) \
@ -474,8 +541,7 @@ void Stepper::isr() {
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++) {
// Step all E steppers that have steps
STEP_E_ONCE(0);
#if EXTRUDERS > 1
STEP_E_ONCE(1);
@ -486,10 +552,10 @@ void Stepper::isr() {
#endif
#endif
#endif
}
}
#endif // ADVANCE
#endif // ADVANCE or LIN_ADVANCE
void Stepper::init() {
@ -656,14 +722,28 @@ void Stepper::init() {
TCNT1 = 0;
ENABLE_STEPPER_DRIVER_INTERRUPT();
#if ENABLED(ADVANCE)
#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
#if ENABLED(LIN_ADVANCE)
for (int i = 0; i < EXTRUDERS; i++) {
e_steps[i] = 0;
current_adv_steps[i] = 0;
}
#elif ENABLED(ADVANCE)
for (uint8_t i = 0; i < EXTRUDERS; i++) e_steps[i] = 0;
#endif
#if defined(TCCR0A) && defined(WGM01)
CBI(TCCR0A, WGM01);
CBI(TCCR0A, WGM00);
#endif
for (uint8_t i = 0; i < EXTRUDERS; i++) e_steps[i] = 0;
SBI(TIMSK0, OCIE0A);
#endif //ADVANCE
#endif // ADVANCE or LIN_ADVANCE
endstops.enable(true); // Start with endstops active. After homing they can be disabled
sei();
@ -1040,3 +1120,14 @@ 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_ECHOPAIR("Advance factor: ", extruder_advance_k);
SERIAL_EOL;
}
#endif // LIN_ADVANCE

37
Marlin/stepper.h
View file

@ -22,7 +22,7 @@
/**
* stepper.h - stepper motor driver: executes motion plans of planner.c using the stepper motors
* Part of Grbl
* Derived from Grbl
*
* Copyright (c) 2009-2011 Simen Svale Skogsrud
*
@ -90,10 +90,6 @@ class Stepper {
static bool performing_homing;
#endif
#if ENABLED(ADVANCE)
static long e_steps[EXTRUDERS];
#endif
private:
static unsigned char last_direction_bits; // The next stepping-bits to be output
@ -107,10 +103,23 @@ class Stepper {
static long counter_X, counter_Y, counter_Z, counter_E;
static volatile unsigned long step_events_completed; // The number of step events executed in the current block
#if ENABLED(ADVANCE)
#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
static unsigned char old_OCR0A;
static long advance_rate, advance, old_advance, final_advance;
static volatile unsigned char eISR_Rate;
#if ENABLED(LIN_ADVANCE)
static volatile int e_steps[EXTRUDERS];
static int extruder_advance_k;
static int final_estep_rate;
static int current_estep_rate[EXTRUDERS]; // Actual extruder speed [steps/s]
static int current_adv_steps[EXTRUDERS]; // The amount of current added esteps due to advance.
// i.e., the current amount of pressure applied
// to the spring (=filament).
#else
static long e_steps[EXTRUDERS];
static long advance_rate, advance, final_advance;
static long old_advance;
#endif
#endif // ADVANCE or LIN_ADVANCE
static long acceleration_time, deceleration_time;
//unsigned long accelerate_until, decelerate_after, acceleration_rate, initial_rate, final_rate, nominal_rate;
@ -156,7 +165,7 @@ class Stepper {
static void isr();
#if ENABLED(ADVANCE)
#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
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);