From eeea2725cba04a94c78bfd1cf58c7465087a6c25 Mon Sep 17 00:00:00 2001 From: Yuri D'Elia Date: Sun, 17 Mar 2019 19:49:21 +0100 Subject: [PATCH] Partial LA15 support --- Firmware/ConfigurationStore.cpp | 4 +- Firmware/Configuration_adv.h | 51 +++++---------- Firmware/Marlin_main.cpp | 28 +++------ Firmware/planner.cpp | 107 ++++++++++++++++++++------------ Firmware/planner.h | 7 ++- 5 files changed, 99 insertions(+), 98 deletions(-) diff --git a/Firmware/ConfigurationStore.cpp b/Firmware/ConfigurationStore.cpp index f2df8fc6c..8ed2dd708 100644 --- a/Firmware/ConfigurationStore.cpp +++ b/Firmware/ConfigurationStore.cpp @@ -165,8 +165,8 @@ void Config_PrintSettings(uint8_t level) #endif if (level >= 10) { #ifdef LIN_ADVANCE - printf_P(PSTR("%SLinear advance settings:\n M900 K%.2f E/D = %.2f\n"), - echomagic, extruder_advance_k, advance_ed_ratio); + printf_P(PSTR("%SLinear advance settings:\n M900 K%.2f\n"), + echomagic, extruder_advance_K); #endif //LIN_ADVANCE } } diff --git a/Firmware/Configuration_adv.h b/Firmware/Configuration_adv.h index 951302877..d731e8633 100644 --- a/Firmware/Configuration_adv.h +++ b/Firmware/Configuration_adv.h @@ -276,43 +276,26 @@ #endif /** - * Implementation of linear pressure control - * - * Assumption: advance = k * (delta velocity) - * K=0 means advance disabled. - * See Marlin documentation for calibration instructions. - */ + * Linear Pressure Control v1.5 + * + * Assumption: advance [steps] = k * (delta velocity [steps/s]) + * K=0 means advance disabled. + * + * NOTE: K values for LIN_ADVANCE 1.5 differ from earlier versions! + * + * Set K around 0.22 for 3mm PLA Direct Drive with ~6.5cm between the drive gear and heatbreak. + * Larger K values will be needed for flexible filament and greater distances. + * If this algorithm produces a higher speed offset than the extruder can handle (compared to E jerk) + * print acceleration will be reduced during the affected moves to keep within the limit. + * + * See http://marlinfw.org/docs/features/lin_advance.html for full instructions. + * Mention @Sebastianv650 on GitHub to alert the author of any issues. + */ #define LIN_ADVANCE #ifdef LIN_ADVANCE - #define LIN_ADVANCE_K 0 //Try around 45 for PLA, around 25 for ABS. - - /** - * Some Slicers produce Gcode with randomly jumping extrusion widths occasionally. - * For example within a 0.4mm perimeter it may produce a single segment of 0.05mm width. - * While this is harmless for normal printing (the fluid nature of the filament will - * close this very, very tiny gap), it throws off the LIN_ADVANCE pressure adaption. - * - * For this case LIN_ADVANCE_E_D_RATIO can be used to set the extrusion:distance ratio - * to a fixed value. Note that using a fixed ratio will lead to wrong nozzle pressures - * if the slicer is using variable widths or layer heights within one print! - * - * This option sets the default E:D ratio at startup. Use `M900` to override this value. - * - * Example: `M900 W0.4 H0.2 D1.75`, where: - * - W is the extrusion width in mm - * - H is the layer height in mm - * - D is the filament diameter in mm - * - * Example: `M900 R0.0458` to set the ratio directly. - * - * Set to 0 to auto-detect the ratio based on given Gcode G1 print moves. - * - * Slic3r (including Prusa Slic3r) produces Gcode compatible with the automatic mode. - * Cura (as of this writing) may produce Gcode incompatible with the automatic mode. - */ -#define LIN_ADVANCE_E_D_RATIO 0 // The calculated ratio (or 0) according to the formula W * H / ((D / 2) ^ 2 * PI) - // Example: 0.4 * 0.2 / ((1.75 / 2) ^ 2 * PI) = 0.033260135 + #define LIN_ADVANCE_K 0 // Unit: mm compression per 1mm/s extruder speed + //#define LA_DEBUG // If enabled, this will generate debug information output over USB. #endif // Arc interpretation settings: diff --git a/Firmware/Marlin_main.cpp b/Firmware/Marlin_main.cpp index d37fbb38e..b9af28b7a 100644 --- a/Firmware/Marlin_main.cpp +++ b/Firmware/Marlin_main.cpp @@ -2073,35 +2073,23 @@ static float probe_pt(float x, float y, float z_before) { #ifdef LIN_ADVANCE /** - * M900: Set and/or Get advance K factor and WH/D ratio + * M900: Set and/or Get advance K factor * * K Set advance K factor - * R Set ratio directly (overrides WH/D) - * W H D Set ratio from WH/D */ inline void gcode_M900() { st_synchronize(); const float newK = code_seen('K') ? code_value_float() : -1; - if (newK >= 0) extruder_advance_k = newK; - - float newR = code_seen('R') ? code_value_float() : -1; - if (newR < 0) { - const float newD = code_seen('D') ? code_value_float() : -1, - newW = code_seen('W') ? code_value_float() : -1, - newH = code_seen('H') ? code_value_float() : -1; - if (newD >= 0 && newW >= 0 && newH >= 0) - newR = newD ? (newW * newH) / (sq(newD * 0.5) * M_PI) : 0; - } - if (newR >= 0) advance_ed_ratio = newR; - + if (newK >= 0 && newK < 10) + extruder_advance_K = newK; + else + SERIAL_ECHOLNPGM("K out of allowed range!"); + SERIAL_ECHO_START; SERIAL_ECHOPGM("Advance K="); - SERIAL_ECHOLN(extruder_advance_k); - SERIAL_ECHOPGM(" E/D="); - const float ratio = advance_ed_ratio; - if (ratio) SERIAL_ECHOLN(ratio); else SERIAL_ECHOLNPGM("Auto"); - } + SERIAL_ECHOLN(extruder_advance_K); +} #endif // LIN_ADVANCE bool check_commands() { diff --git a/Firmware/planner.cpp b/Firmware/planner.cpp index 4a8d6659a..43c9f10b7 100644 --- a/Firmware/planner.cpp +++ b/Firmware/planner.cpp @@ -126,8 +126,7 @@ float extrude_min_temp=EXTRUDE_MINTEMP; #endif #ifdef LIN_ADVANCE - float extruder_advance_k = LIN_ADVANCE_K, - advance_ed_ratio = LIN_ADVANCE_E_D_RATIO, + float extruder_advance_K = LIN_ADVANCE_K, position_float[NUM_AXIS] = { 0 }; #endif @@ -402,6 +401,13 @@ void planner_recalculate(const float &safe_final_speed) if ((prev->flag | current->flag) & BLOCK_FLAG_RECALCULATE) { // NOTE: Entry and exit factors always > 0 by all previous logic operations. calculate_trapezoid_for_block(prev, prev->entry_speed, current->entry_speed); + #ifdef LIN_ADVANCE + if (current->use_advance_lead) { + const float comp = current->e_D_ratio * extruder_advance_K * axis_steps_per_unit[E_AXIS]; + current->max_adv_steps = current->nominal_speed * comp; + current->final_adv_steps = next->entry_speed * comp; + } + #endif // Reset current only to ensure next trapezoid is computed. prev->flag &= ~BLOCK_FLAG_RECALCULATE; } @@ -415,6 +421,13 @@ void planner_recalculate(const float &safe_final_speed) // Last/newest block in buffer. Exit speed is set with safe_final_speed. Always recalculated. current = block_buffer + prev_block_index(block_buffer_head); calculate_trapezoid_for_block(current, current->entry_speed, safe_final_speed); + #ifdef LIN_ADVANCE + if (current->use_advance_lead) { + const float comp = current->e_D_ratio * extruder_advance_K * axis_steps_per_unit[E_AXIS]; + current->max_adv_steps = current->nominal_speed * comp; + current->final_adv_steps = safe_final_speed * comp; + } + #endif current->flag &= ~BLOCK_FLAG_RECALCULATE; // SERIAL_ECHOLNPGM("planner_recalculate - 4"); @@ -748,11 +761,6 @@ void plan_buffer_line(float x, float y, float z, const float &e, float feed_rate #endif // ENABLE_MESH_BED_LEVELING target[E_AXIS] = lround(e*cs.axis_steps_per_unit[E_AXIS]); -#ifdef LIN_ADVANCE - const float mm_D_float = sqrt(sq(x - position_float[X_AXIS]) + sq(y - position_float[Y_AXIS])); - float de_float = e - position_float[E_AXIS]; -#endif - #ifdef PREVENT_DANGEROUS_EXTRUDE if(target[E_AXIS]!=position[E_AXIS]) { @@ -761,7 +769,6 @@ void plan_buffer_line(float x, float y, float z, const float &e, float feed_rate position[E_AXIS]=target[E_AXIS]; //behave as if the move really took place, but ignore E part #ifdef LIN_ADVANCE position_float[E_AXIS] = e; - de_float = 0; #endif SERIAL_ECHO_START; SERIAL_ECHOLNRPGM(_n(" cold extrusion prevented"));////MSG_ERR_COLD_EXTRUDE_STOP @@ -773,7 +780,6 @@ void plan_buffer_line(float x, float y, float z, const float &e, float feed_rate position[E_AXIS]=target[E_AXIS]; //behave as if the move really took place, but ignore E part #ifdef LIN_ADVANCE position_float[E_AXIS] = e; - de_float = 0; #endif SERIAL_ECHO_START; SERIAL_ECHOLNRPGM(_n(" too long extrusion prevented"));////MSG_ERR_LONG_EXTRUDE_STOP @@ -1001,10 +1007,50 @@ Having the real displacement of the head, we can calculate the total movement le if(block->steps_x.wide == 0 && block->steps_y.wide == 0 && block->steps_z.wide == 0) { block->acceleration_st = ceil(cs.retract_acceleration * steps_per_mm); // convert to: acceleration steps/sec^2 + #ifdef LIN_ADVANCE + block->use_advance_lead = false; + #endif } else { block->acceleration_st = ceil(cs.acceleration * steps_per_mm); // convert to: acceleration steps/sec^2 + + #ifdef LIN_ADVANCE + /** + * + * Use LIN_ADVANCE for blocks if all these are true: + * + * block->steps_e : This is a print move, because we checked for X, Y, Z steps before. + * + * extruder_advance_K : There is an advance factor set. + * + * delta_mm[E_AXIS] > 0 : Extruder is running forward (e.g., for "Wipe while retracting" (Slic3r) or "Combing" (Cura) moves) + */ + block->use_advance_lead = block->steps_e + && extruder_advance_K + && delta_mm[E_AXIS] > 0; + + if (block->use_advance_lead) { + block->e_D_ratio = (e - position_float[E_AXIS]) / + sqrt(sq(x - position_float[X_AXIS]) + + sq(y - position_float[Y_AXIS]) + + sq(z - position_float[Z_AXIS])); + + // Check for unusual high e_D ratio to detect if a retract move was combined with the last print move due to min. steps per segment. Never execute this with advance! + // This assumes no one will use a retract length of 0mm < retr_length < ~0.2mm and no one will print 100mm wide lines using 3mm filament or 35mm wide lines using 1.75mm filament. + if (block->e_D_ratio > 3.0) + block->use_advance_lead = false; + else { + const uint32_t max_accel_steps_per_s2 = max_jerk[E_AXIS] / (extruder_advance_K * block->e_D_ratio) * steps_per_mm; + #ifdef LA_DEBUG + if (block->acceleration_st > max_accel_steps_per_s2) + SERIAL_ECHOLNPGM("Acceleration limited."); + #endif + NOMORE(block->acceleration_st, max_accel_steps_per_s2); + } + } + #endif + // Limit acceleration per axis //FIXME Vojtech: One shall rather limit a projection of the acceleration vector instead of using the limit. if(((float)block->acceleration_st * (float)block->steps_x.wide / (float)block->step_event_count.wide) > axis_steps_per_sqr_second[X_AXIS]) @@ -1037,6 +1083,18 @@ Having the real displacement of the head, we can calculate the total movement le block->acceleration_rate = (long)((float)block->acceleration_st * (16777216.0 / (F_CPU / 8.0))); + #ifdef LIN_ADVANCE + if (block->use_advance_lead) { + block->advance_speed = ((F_CPU) * 0.125) / (extruder_advance_K * block->e_D_ratio * block->acceleration * axis_steps_per_unit[E_AXIS]); + #ifdef LA_DEBUG + if (extruder_advance_K * block->e_D_ratio * block->acceleration * 2 < block->nominal_speed * block->e_D_ratio) + SERIAL_ECHOLNPGM("More than 2 steps per eISR loop executed."); + if (block->advance_speed < 200) + SERIAL_ECHOLNPGM("eISR running at > 10kHz."); + #endif + } + #endif + // Start with a safe speed. // Safe speed is the speed, from which the machine may halt to stop immediately. float safe_speed = block->nominal_speed; @@ -1153,37 +1211,6 @@ Having the real displacement of the head, we can calculate the total movement le previous_nominal_speed = block->nominal_speed; previous_safe_speed = safe_speed; -#ifdef LIN_ADVANCE - - // - // Use LIN_ADVANCE for blocks if all these are true: - // - // esteps : We have E steps todo (a printing move) - // - // block->steps[X_AXIS] || block->steps[Y_AXIS] : We have a movement in XY direction (i.e., not retract / prime). - // - // extruder_advance_k : There is an advance factor set. - // - // block->steps[E_AXIS] != block->step_event_count : A problem occurs if the move before a retract is too small. - // In that case, the retract and move will be executed together. - // This leads to too many advance steps due to a huge e_acceleration. - // The math is good, but we must avoid retract moves with advance! - // de_float > 0.0 : Extruder is running forward (e.g., for "Wipe while retracting" (Slic3r) or "Combing" (Cura) moves) - // - block->use_advance_lead = block->steps_e.wide - && (block->steps_x.wide || block->steps_y.wide) - && extruder_advance_k - && (uint32_t)block->steps_e.wide != block->step_event_count.wide - && de_float > 0.0; - if (block->use_advance_lead) - block->abs_adv_steps_multiplier8 = lround( - extruder_advance_k - * ((advance_ed_ratio < 0.000001) ? de_float / mm_D_float : advance_ed_ratio) // Use the fixed ratio, if set - * (block->nominal_speed / (float)block->nominal_rate) - * cs.axis_steps_per_unit[E_AXIS] * 256.0 - ); -#endif - // Precalculate the division, so when all the trapezoids in the planner queue get recalculated, the division is not repeated. block->speed_factor = block->nominal_rate / block->nominal_speed; calculate_trapezoid_for_block(block, block->entry_speed, safe_speed); diff --git a/Firmware/planner.h b/Firmware/planner.h index b6a9f8361..a99f02ede 100644 --- a/Firmware/planner.h +++ b/Firmware/planner.h @@ -113,14 +113,17 @@ typedef struct { #ifdef LIN_ADVANCE bool use_advance_lead; - unsigned long abs_adv_steps_multiplier8; // Factorised by 2^8 to avoid float + uint16_t advance_speed, // Timer value for extruder speed offset + max_adv_steps, // max. advance steps to get cruising speed pressure (not always nominal_speed!) + final_adv_steps; // advance steps due to exit speed + float e_D_ratio; #endif uint16_t sdlen; } block_t; #ifdef LIN_ADVANCE - extern float extruder_advance_k, advance_ed_ratio; + extern float extruder_advance_K; #endif #ifdef ENABLE_AUTO_BED_LEVELING