Adjustable XY_FREQUENCY_LIMIT (#17583)
This commit is contained in:
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65daf3ba40
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7 changed files with 82 additions and 61 deletions
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@ -784,10 +784,16 @@
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#define SLOWDOWN_DIVISOR 2
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#define SLOWDOWN_DIVISOR 2
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#endif
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#endif
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// Frequency limit
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/**
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// See nophead's blog for more info
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* XY Frequency limit
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// Not working O
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* Reduce resonance by limiting the frequency of small zigzag infill moves.
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//#define XY_FREQUENCY_LIMIT 15
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* See http://hydraraptor.blogspot.com/2010/12/frequency-limit.html
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* Use M201 F<freq> G<min%> to change limits at runtime.
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*/
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//#define XY_FREQUENCY_LIMIT 10 // (Hz) Maximum frequency of small zigzag infill moves. Set with M201 F<hertz>.
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#ifdef XY_FREQUENCY_LIMIT
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#define XY_FREQUENCY_MIN_PERCENT 5 // (percent) Minimum FR percentage to apply. Set with M201 G<min%>.
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#endif
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// Minimum planner junction speed. Sets the default minimum speed the planner plans for at the end
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// Minimum planner junction speed. Sets the default minimum speed the planner plans for at the end
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// of the buffer and all stops. This should not be much greater than zero and should only be changed
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// of the buffer and all stops. This should not be much greater than zero and should only be changed
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@ -60,6 +60,11 @@ void GcodeSuite::M201() {
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const int8_t target_extruder = get_target_extruder_from_command();
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const int8_t target_extruder = get_target_extruder_from_command();
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if (target_extruder < 0) return;
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if (target_extruder < 0) return;
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#ifdef XY_FREQUENCY_LIMIT
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if (parser.seenval('F')) planner.set_frequency_limit(parser.value_byte());
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if (parser.seenval('G')) planner.xy_freq_min_speed_factor = constrain(parser.value_float(), 1, 100) / 100;
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#endif
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LOOP_XYZE(i) {
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LOOP_XYZE(i) {
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if (parser.seen(axis_codes[i])) {
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if (parser.seen(axis_codes[i])) {
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const uint8_t a = (i == E_AXIS ? uint8_t(E_AXIS_N(target_extruder)) : i);
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const uint8_t a = (i == E_AXIS ? uint8_t(E_AXIS_N(target_extruder)) : i);
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@ -301,6 +301,8 @@ namespace Language_en {
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PROGMEM Language_Str MSG_AMAX_EN = _UxGT("Amax *");
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PROGMEM Language_Str MSG_AMAX_EN = _UxGT("Amax *");
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PROGMEM Language_Str MSG_A_RETRACT = _UxGT("A-Retract");
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PROGMEM Language_Str MSG_A_RETRACT = _UxGT("A-Retract");
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PROGMEM Language_Str MSG_A_TRAVEL = _UxGT("A-Travel");
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PROGMEM Language_Str MSG_A_TRAVEL = _UxGT("A-Travel");
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PROGMEM Language_Str MSG_XY_FREQUENCY_LIMIT = _UxGT("Frequency max");
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PROGMEM Language_Str MSG_XY_FREQUENCY_FEEDRATE = _UxGT("Feed min");
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PROGMEM Language_Str MSG_STEPS_PER_MM = _UxGT("Steps/mm");
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PROGMEM Language_Str MSG_STEPS_PER_MM = _UxGT("Steps/mm");
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PROGMEM Language_Str MSG_A_STEPS = LCD_STR_A _UxGT("steps/mm");
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PROGMEM Language_Str MSG_A_STEPS = LCD_STR_A _UxGT("steps/mm");
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PROGMEM Language_Str MSG_B_STEPS = LCD_STR_B _UxGT("steps/mm");
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PROGMEM Language_Str MSG_B_STEPS = LCD_STR_B _UxGT("steps/mm");
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@ -262,6 +262,8 @@ namespace Language_fr {
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PROGMEM Language_Str MSG_ACCELERATION = _UxGT("Accélération");
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PROGMEM Language_Str MSG_ACCELERATION = _UxGT("Accélération");
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PROGMEM Language_Str MSG_A_RETRACT = _UxGT("Acc.rétraction");
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PROGMEM Language_Str MSG_A_RETRACT = _UxGT("Acc.rétraction");
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PROGMEM Language_Str MSG_A_TRAVEL = _UxGT("Acc.course");
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PROGMEM Language_Str MSG_A_TRAVEL = _UxGT("Acc.course");
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PROGMEM Language_Str MSG_XY_FREQUENCY_LIMIT = _UxGT("Fréquence max");
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PROGMEM Language_Str MSG_XY_FREQUENCY_FEEDRATE = _UxGT("Vitesse min");
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PROGMEM Language_Str MSG_STEPS_PER_MM = _UxGT("Pas/mm");
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PROGMEM Language_Str MSG_STEPS_PER_MM = _UxGT("Pas/mm");
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PROGMEM Language_Str MSG_A_STEPS = LCD_STR_A _UxGT(" pas/mm");
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PROGMEM Language_Str MSG_A_STEPS = LCD_STR_A _UxGT(" pas/mm");
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PROGMEM Language_Str MSG_B_STEPS = LCD_STR_B _UxGT(" pas/mm");
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PROGMEM Language_Str MSG_B_STEPS = LCD_STR_B _UxGT(" pas/mm");
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@ -405,9 +405,9 @@ void menu_cancelobject();
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#endif
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#endif
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#define EDIT_AMAX(Q,L) EDIT_ITEM_FAST(long5_25, MSG_AMAX_##Q, &planner.settings.max_acceleration_mm_per_s2[_AXIS(Q)], L, max_accel_edit_scaled[_AXIS(Q)], []{ planner.reset_acceleration_rates(); })
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#define EDIT_AMAX(Q,L) EDIT_ITEM_FAST(long5_25, MSG_AMAX_##Q, &planner.settings.max_acceleration_mm_per_s2[_AXIS(Q)], L, max_accel_edit_scaled[_AXIS(Q)], []{ planner.reset_acceleration_rates(); })
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EDIT_AMAX(A,100);
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EDIT_AMAX(A, 100);
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EDIT_AMAX(B,100);
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EDIT_AMAX(B, 100);
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EDIT_AMAX(C, 10);
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EDIT_AMAX(C, 10);
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#if ENABLED(DISTINCT_E_FACTORS)
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#if ENABLED(DISTINCT_E_FACTORS)
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EDIT_ITEM_FAST(long5_25, MSG_AMAX_E, &planner.settings.max_acceleration_mm_per_s2[E_AXIS_N(active_extruder)], 100, max_accel_edit_scaled.e, []{ planner.reset_acceleration_rates(); });
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EDIT_ITEM_FAST(long5_25, MSG_AMAX_E, &planner.settings.max_acceleration_mm_per_s2[E_AXIS_N(active_extruder)], 100, max_accel_edit_scaled.e, []{ planner.reset_acceleration_rates(); });
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@ -417,6 +417,12 @@ void menu_cancelobject();
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EDIT_ITEM_FAST(long5_25, MSG_AMAX_E, &planner.settings.max_acceleration_mm_per_s2[E_AXIS], 100, max_accel_edit_scaled.e, []{ planner.reset_acceleration_rates(); });
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EDIT_ITEM_FAST(long5_25, MSG_AMAX_E, &planner.settings.max_acceleration_mm_per_s2[E_AXIS], 100, max_accel_edit_scaled.e, []{ planner.reset_acceleration_rates(); });
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#endif
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#endif
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#ifdef XY_FREQUENCY_LIMIT
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EDIT_ITEM(uint16_3, MSG_XY_FREQUENCY_LIMIT, &planner.xy_freq_limit_hz, 0, 100, refresh_frequency_limit(), true);
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editable.uint8 = ROUND(planner.xy_freq_min_speed_factor * 255 * 100); // percent to u8
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EDIT_ITEM(percent, MSG_XY_FREQUENCY_FEEDRATE, &editable.uint8, 3, 255, []{ planner.set_min_speed_factor_u8(editable.uint8); }, true);
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#endif
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END_MENU();
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END_MENU();
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}
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}
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@ -113,7 +113,7 @@
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Planner planner;
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Planner planner;
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// public:
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// public:
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/**
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/**
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* A ring buffer of moves described in steps
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* A ring buffer of moves described in steps
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@ -200,10 +200,9 @@ float Planner::previous_nominal_speed_sqr;
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#endif
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#endif
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#ifdef XY_FREQUENCY_LIMIT
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#ifdef XY_FREQUENCY_LIMIT
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// Old direction bits. Used for speed calculations
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int8_t Planner::xy_freq_limit_hz = XY_FREQUENCY_LIMIT;
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unsigned char Planner::old_direction_bits = 0;
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float Planner::xy_freq_min_speed_factor = (XY_FREQUENCY_MIN_PERCENT) * 0.01f;
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// Segment times (in µs). Used for speed calculations
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int32_t Planner::xy_freq_min_interval_us = LROUND(1000000.0 / (XY_FREQUENCY_LIMIT));
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xy_ulong_t Planner::axis_segment_time_us[3] = { { MAX_FREQ_TIME_US + 1, MAX_FREQ_TIME_US + 1 } };
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#endif
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#endif
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#if ENABLED(LIN_ADVANCE)
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#if ENABLED(LIN_ADVANCE)
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@ -2006,7 +2005,7 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
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// Slow down when the buffer starts to empty, rather than wait at the corner for a buffer refill
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// Slow down when the buffer starts to empty, rather than wait at the corner for a buffer refill
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#if EITHER(SLOWDOWN, ULTRA_LCD) || defined(XY_FREQUENCY_LIMIT)
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#if EITHER(SLOWDOWN, ULTRA_LCD) || defined(XY_FREQUENCY_LIMIT)
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// Segment time im micro seconds
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// Segment time im micro seconds
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uint32_t segment_time_us = LROUND(1000000.0f / inverse_secs);
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int32_t segment_time_us = LROUND(1000000.0f / inverse_secs);
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#endif
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#endif
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#if ENABLED(SLOWDOWN)
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#if ENABLED(SLOWDOWN)
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@ -2014,9 +2013,10 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
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#define SLOWDOWN_DIVISOR 2
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#define SLOWDOWN_DIVISOR 2
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#endif
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#endif
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if (WITHIN(moves_queued, 2, (BLOCK_BUFFER_SIZE) / (SLOWDOWN_DIVISOR) - 1)) {
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if (WITHIN(moves_queued, 2, (BLOCK_BUFFER_SIZE) / (SLOWDOWN_DIVISOR) - 1)) {
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if (segment_time_us < settings.min_segment_time_us) {
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const int32_t time_diff = settings.min_segment_time_us - segment_time_us;
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// buffer is draining, add extra time. The amount of time added increases if the buffer is still emptied more.
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if (time_diff > 0) {
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const uint32_t nst = segment_time_us + LROUND(2 * (settings.min_segment_time_us - segment_time_us) / moves_queued);
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// Buffer is draining so add extra time. The amount of time added increases if the buffer is still emptied more.
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const int32_t nst = segment_time_us + LROUND(2 * time_diff / moves_queued);
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inverse_secs = 1000000.0f / nst;
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inverse_secs = 1000000.0f / nst;
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#if defined(XY_FREQUENCY_LIMIT) || HAS_SPI_LCD
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#if defined(XY_FREQUENCY_LIMIT) || HAS_SPI_LCD
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segment_time_us = nst;
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segment_time_us = nst;
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@ -2072,42 +2072,36 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
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}
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}
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#endif
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#endif
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// Max segment time in µs.
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#ifdef XY_FREQUENCY_LIMIT
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#ifdef XY_FREQUENCY_LIMIT
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// Check and limit the xy direction change frequency
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static uint8_t old_direction_bits; // = 0
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const unsigned char direction_change = block->direction_bits ^ old_direction_bits;
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old_direction_bits = block->direction_bits;
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segment_time_us = LROUND((float)segment_time_us / speed_factor);
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uint32_t xs0 = axis_segment_time_us[0].x,
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if (xy_freq_limit_hz) {
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xs1 = axis_segment_time_us[1].x,
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// Check and limit the xy direction change frequency
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xs2 = axis_segment_time_us[2].x,
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const uint8_t direction_change = block->direction_bits ^ old_direction_bits;
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ys0 = axis_segment_time_us[0].y,
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old_direction_bits = block->direction_bits;
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ys1 = axis_segment_time_us[1].y,
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segment_time_us = LROUND(float(segment_time_us) / speed_factor);
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ys2 = axis_segment_time_us[2].y;
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if (TEST(direction_change, X_AXIS)) {
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static int32_t xs0, xs1, xs2, ys0, ys1, ys2;
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xs2 = axis_segment_time_us[2].x = xs1;
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if (segment_time_us > xy_freq_min_interval_us)
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xs1 = axis_segment_time_us[1].x = xs0;
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xs2 = xs1 = ys2 = ys1 = xy_freq_min_interval_us;
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xs0 = 0;
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else {
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xs2 = xs1; xs1 = xs0;
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ys2 = ys1; ys1 = ys0;
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}
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xs0 = TEST(direction_change, X_AXIS) ? segment_time_us : xy_freq_min_interval_us;
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ys0 = TEST(direction_change, Y_AXIS) ? segment_time_us : xy_freq_min_interval_us;
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if (segment_time_us < xy_freq_min_interval_us) {
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const int32_t least_xy_segment_time = _MIN(_MAX(xs0, xs1, xs2), _MAX(ys0, ys1, ys2));
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if (least_xy_segment_time < xy_freq_min_interval_us) {
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float freq_xy_feedrate = (speed_factor * least_xy_segment_time) / xy_freq_min_interval_us;
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NOLESS(freq_xy_feedrate, xy_freq_min_speed_factor);
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NOMORE(speed_factor, freq_xy_feedrate);
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}
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}
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}
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}
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xs0 = axis_segment_time_us[0].x = xs0 + segment_time_us;
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if (TEST(direction_change, Y_AXIS)) {
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ys2 = axis_segment_time_us[2].y = axis_segment_time_us[1].y;
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ys1 = axis_segment_time_us[1].y = axis_segment_time_us[0].y;
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ys0 = 0;
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}
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ys0 = axis_segment_time_us[0].y = ys0 + segment_time_us;
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const uint32_t max_x_segment_time = _MAX(xs0, xs1, xs2),
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max_y_segment_time = _MAX(ys0, ys1, ys2),
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min_xy_segment_time = _MIN(max_x_segment_time, max_y_segment_time);
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if (min_xy_segment_time < MAX_FREQ_TIME_US) {
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const float low_sf = speed_factor * min_xy_segment_time / (MAX_FREQ_TIME_US);
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NOMORE(speed_factor, low_sf);
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}
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#endif // XY_FREQUENCY_LIMIT
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#endif // XY_FREQUENCY_LIMIT
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// Correct the speed
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// Correct the speed
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@ -2832,7 +2826,7 @@ void Planner::set_max_jerk(const AxisEnum axis, float targetValue) {
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const bool was_enabled = stepper.suspend();
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const bool was_enabled = stepper.suspend();
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#endif
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#endif
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millis_t bbru = block_buffer_runtime_us;
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uint32_t bbru = block_buffer_runtime_us;
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#ifdef __AVR__
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#ifdef __AVR__
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// Reenable Stepper ISR
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// Reenable Stepper ISR
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// Doesn't matter because block_buffer_runtime_us is already too small an estimation.
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// Doesn't matter because block_buffer_runtime_us is already too small an estimation.
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bbru >>= 10;
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bbru >>= 10;
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// limit to about a minute.
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// limit to about a minute.
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NOMORE(bbru, 0xFFFFul);
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NOMORE(bbru, 0x0000FFFFUL);
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return bbru;
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return bbru;
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}
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}
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@ -352,6 +352,23 @@ class Planner {
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#if ENABLED(SD_ABORT_ON_ENDSTOP_HIT)
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#if ENABLED(SD_ABORT_ON_ENDSTOP_HIT)
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static bool abort_on_endstop_hit;
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static bool abort_on_endstop_hit;
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#endif
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#endif
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#ifdef XY_FREQUENCY_LIMIT
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static int8_t xy_freq_limit_hz; // Minimum XY frequency setting
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static float xy_freq_min_speed_factor; // Minimum speed factor setting
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static int32_t xy_freq_min_interval_us; // Minimum segment time based on xy_freq_limit_hz
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static inline void refresh_frequency_limit() {
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//xy_freq_min_interval_us = xy_freq_limit_hz ?: LROUND(1000000.0f / xy_freq_limit_hz);
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if (xy_freq_limit_hz)
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xy_freq_min_interval_us = LROUND(1000000.0f / xy_freq_limit_hz);
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}
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static inline void set_min_speed_factor_u8(const uint8_t v255) {
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xy_freq_min_speed_factor = float(ui8_to_percent(v255)) / 100;
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}
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static inline void set_frequency_limit(const uint8_t hz) {
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xy_freq_limit_hz = constrain(hz, 0, 100);
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refresh_frequency_limit();
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}
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#endif
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private:
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private:
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@ -375,23 +392,12 @@ class Planner {
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#endif
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#endif
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#if ENABLED(DISABLE_INACTIVE_EXTRUDER)
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#if ENABLED(DISABLE_INACTIVE_EXTRUDER)
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/**
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// Counters to manage disabling inactive extruders
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* Counters to manage disabling inactive extruders
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*/
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static uint8_t g_uc_extruder_last_move[EXTRUDERS];
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static uint8_t g_uc_extruder_last_move[EXTRUDERS];
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#endif // DISABLE_INACTIVE_EXTRUDER
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#ifdef XY_FREQUENCY_LIMIT
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// Used for the frequency limit
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#define MAX_FREQ_TIME_US (uint32_t)(1000000.0 / XY_FREQUENCY_LIMIT)
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// Old direction bits. Used for speed calculations
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static unsigned char old_direction_bits;
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// Segment times (in µs). Used for speed calculations
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static xy_ulong_t axis_segment_time_us[3];
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#endif
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#endif
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#if HAS_SPI_LCD
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#if HAS_SPI_LCD
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volatile static uint32_t block_buffer_runtime_us; //Theoretical block buffer runtime in µs
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volatile static uint32_t block_buffer_runtime_us; // Theoretical block buffer runtime in µs
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#endif
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#endif
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public:
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public:
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