diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index 918bae1a0d..bb89395425 100755
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -6988,7 +6988,7 @@ inline void gcode_M503() {
*/
inline void gcode_M905() {
stepper.synchronize();
- stepper.advance_M905(code_seen('K') ? code_value_float() : -1.0);
+ planner.advance_M905(code_seen('K') ? code_value_float() : -1.0);
}
#endif
diff --git a/Marlin/planner.cpp b/Marlin/planner.cpp
index 073179c7b3..5c64c609a1 100644
--- a/Marlin/planner.cpp
+++ b/Marlin/planner.cpp
@@ -131,6 +131,11 @@ float Planner::previous_speed[NUM_AXIS],
long Planner::axis_segment_time[2][3] = { {MAX_FREQ_TIME + 1, 0, 0}, {MAX_FREQ_TIME + 1, 0, 0} };
#endif
+#if ENABLED(LIN_ADVANCE)
+ float Planner::extruder_advance_k = LIN_ADVANCE_K;
+ float Planner::position_float[NUM_AXIS] = { 0 };
+#endif
+
/**
* Class and Instance Methods
*/
@@ -140,6 +145,9 @@ Planner::Planner() { init(); }
void Planner::init() {
block_buffer_head = block_buffer_tail = 0;
ZERO(position);
+ #if ENABLED(LIN_ADVANCE)
+ ZERO(position_float);
+ #endif
ZERO(previous_speed);
previous_nominal_speed = 0.0;
#if ABL_PLANAR
@@ -604,6 +612,14 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
lround(c * axis_steps_per_mm[Z_AXIS]),
lround(e * axis_steps_per_mm[E_AXIS])
};
+
+ #if ENABLED(LIN_ADVANCE)
+ float target_float[XYZE] = {a, b, c, e};
+ float de_float = target_float[E_AXIS] - position_float[E_AXIS];
+ float mm_D_float = sqrt(sq(target_float[X_AXIS] - position_float[X_AXIS]) + sq(target_float[Y_AXIS] - position_float[Y_AXIS]));
+
+ memcpy(position_float, target_float, sizeof(position_float));
+ #endif
long da = target[X_AXIS] - position[X_AXIS],
db = target[Y_AXIS] - position[Y_AXIS],
@@ -1232,12 +1248,12 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
// 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 (!esteps || (!block->steps[X_AXIS] && !block->steps[Y_AXIS]) || stepper.get_advance_k() == 0 || (uint32_t)esteps == block->step_event_count) {
+ if (!esteps || (!block->steps[X_AXIS] && !block->steps[Y_AXIS]) || extruder_advance_k == 0.0 || (uint32_t)esteps == block->step_event_count) {
block->use_advance_lead = false;
}
else {
block->use_advance_lead = true;
- block->e_speed_multiplier8 = (esteps << 8) / block->step_event_count;
+ block->abs_adv_steps_multiplier8 = lround(extruder_advance_k * (de_float / mm_D_float) * block->nominal_speed / (float)block->nominal_rate * axis_steps_per_mm[Z_AXIS] * 256.0);
}
#elif ENABLED(ADVANCE)
@@ -1354,3 +1370,14 @@ void Planner::refresh_positioning() {
}
#endif
+
+#if ENABLED(LIN_ADVANCE)
+
+ void Planner::advance_M905(const float &k) {
+ if (k >= 0.0) extruder_advance_k = k;
+ SERIAL_ECHO_START;
+ SERIAL_ECHOPAIR("Advance factor: ", extruder_advance_k);
+ SERIAL_EOL;
+ }
+
+#endif
\ No newline at end of file
diff --git a/Marlin/planner.h b/Marlin/planner.h
index 0d97107c0b..ab691a6eb5 100644
--- a/Marlin/planner.h
+++ b/Marlin/planner.h
@@ -95,7 +95,7 @@ typedef struct {
// Advance extrusion
#if ENABLED(LIN_ADVANCE)
bool use_advance_lead;
- int16_t e_speed_multiplier8; // Factorised by 2^8 to avoid float
+ uint32_t abs_adv_steps_multiplier8; // Factorised by 2^8 to avoid float
#elif ENABLED(ADVANCE)
int32_t advance_rate;
volatile int32_t initial_advance;
@@ -196,6 +196,11 @@ class Planner {
// Segment times (in µs). Used for speed calculations
static long axis_segment_time[2][3];
#endif
+
+ #if ENABLED(LIN_ADVANCE)
+ static float position_float[NUM_AXIS];
+ static float extruder_advance_k;
+ #endif
public:
@@ -245,6 +250,10 @@ class Planner {
#define ARG_Z const float &lz
#endif
+
+ #if ENABLED(LIN_ADVANCE)
+ void advance_M905(const float &k);
+ #endif
/**
* Planner::_buffer_line
diff --git a/Marlin/stepper.cpp b/Marlin/stepper.cpp
index 5b910a3ce8..cb7eb3c31d 100644
--- a/Marlin/stepper.cpp
+++ b/Marlin/stepper.cpp
@@ -96,8 +96,7 @@ volatile uint32_t Stepper::step_events_completed = 0; // The number of step even
#if ENABLED(LIN_ADVANCE)
volatile int Stepper::e_steps[E_STEPPERS];
- int Stepper::extruder_advance_k = LIN_ADVANCE_K,
- Stepper::final_estep_rate,
+ int Stepper::final_estep_rate,
Stepper::current_estep_rate[E_STEPPERS],
Stepper::current_adv_steps[E_STEPPERS];
#else
@@ -534,7 +533,7 @@ void Stepper::isr() {
#if ENABLED(LIN_ADVANCE)
if (current_block->use_advance_lead) {
- int delta_adv_steps = (((long)extruder_advance_k * current_estep_rate[TOOL_E_INDEX]) >> 9) - current_adv_steps[TOOL_E_INDEX];
+ int delta_adv_steps = current_estep_rate[TOOL_E_INDEX] - current_adv_steps[TOOL_E_INDEX];
current_adv_steps[TOOL_E_INDEX] += delta_adv_steps;
#if ENABLED(MIXING_EXTRUDER)
// Mixing extruders apply advance lead proportionally
@@ -572,9 +571,9 @@ void Stepper::isr() {
if (current_block->use_advance_lead) {
#if ENABLED(MIXING_EXTRUDER)
MIXING_STEPPERS_LOOP(j)
- current_estep_rate[j] = ((uint32_t)acc_step_rate * current_block->e_speed_multiplier8 * current_block->step_event_count / current_block->mix_event_count[j]) >> 8;
+ current_estep_rate[j] = ((uint32_t)acc_step_rate * current_block->abs_adv_steps_multiplier8 * current_block->step_event_count / current_block->mix_event_count[j]) >> 17;
#else
- current_estep_rate[TOOL_E_INDEX] = ((uint32_t)acc_step_rate * current_block->e_speed_multiplier8) >> 8;
+ current_estep_rate[TOOL_E_INDEX] = ((uint32_t)acc_step_rate * current_block->abs_adv_steps_multiplier8) >> 17;
#endif
}
@@ -624,9 +623,9 @@ void Stepper::isr() {
if (current_block->use_advance_lead) {
#if ENABLED(MIXING_EXTRUDER)
MIXING_STEPPERS_LOOP(j)
- current_estep_rate[j] = ((uint32_t)step_rate * current_block->e_speed_multiplier8 * current_block->step_event_count / current_block->mix_event_count[j]) >> 8;
+ current_estep_rate[j] = ((uint32_t)step_rate * current_block->abs_adv_steps_multiplier8 * current_block->step_event_count / current_block->mix_event_count[j]) >> 17;
#else
- current_estep_rate[TOOL_E_INDEX] = ((uint32_t)step_rate * current_block->e_speed_multiplier8) >> 8;
+ current_estep_rate[TOOL_E_INDEX] = ((uint32_t)step_rate * current_block->abs_adv_steps_multiplier8) >> 17;
#endif
}
@@ -1350,14 +1349,3 @@ void Stepper::report_positions() {
}
#endif // HAS_MICROSTEPS
-
-#if ENABLED(LIN_ADVANCE)
-
- void Stepper::advance_M905(const float &k) {
- if (k >= 0) extruder_advance_k = k;
- SERIAL_ECHO_START;
- SERIAL_ECHOPAIR("Advance factor: ", extruder_advance_k);
- SERIAL_EOL;
- }
-
-#endif // LIN_ADVANCE
diff --git a/Marlin/stepper.h b/Marlin/stepper.h
index a722a50b70..10c5c64eee 100644
--- a/Marlin/stepper.h
+++ b/Marlin/stepper.h
@@ -109,7 +109,6 @@ class Stepper {
static volatile unsigned char eISR_Rate;
#if ENABLED(LIN_ADVANCE)
static volatile int e_steps[E_STEPPERS];
- static int extruder_advance_k;
static int final_estep_rate;
static int current_estep_rate[E_STEPPERS]; // Actual extruder speed [steps/s]
static int current_adv_steps[E_STEPPERS]; // The amount of current added esteps due to advance.
@@ -277,11 +276,6 @@ class Stepper {
return endstops_trigsteps[axis] * planner.steps_to_mm[axis];
}
- #if ENABLED(LIN_ADVANCE)
- void advance_M905(const float &k);
- FORCE_INLINE int get_advance_k() { return extruder_advance_k; }
- #endif
-
private:
static FORCE_INLINE unsigned short calc_timer(unsigned short step_rate) {
@@ -367,8 +361,8 @@ class Stepper {
#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;
+ current_estep_rate[current_block->active_extruder] = ((unsigned long)acc_step_rate * current_block->abs_adv_steps_multiplier8) >> 17;
+ final_estep_rate = (current_block->nominal_rate * current_block->abs_adv_steps_multiplier8) >> 17;
}
#endif