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Prusa-Firmware/Firmware/la10compat.cpp

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Add a Linear Advance 1.0->1.5 compatibility layer Allow existing gcode using LA10 to transparently take advantage of LA15 by using a simple linear conversion function based on experimental results with the MK3 implementation of linear advance. Autodetect LA10 values based on the first M900 instruction contained in the print. In order to support printing mixed files without resetting the printer we also reset the autodetection status when starting a new SD print and/or when explicitly disabling LA. Since we cannot reliably detect whether a new print is started when printing via USB, also reset the detection status when homing in G28, which is generally performed once at each print. Note that this doesn't clear the previous K value, it only allows a subsequent M900 to provide LA10 values when printed after a LA15 file.
2019-12-21 21:48:30 +00:00
#include "la10compat.h"
#include "Marlin.h"
Parametrize LA limits and threshold values Allow the LA 1.5 MAX value to be configured in Configuration_adv.h. Define a customizable LA10<>15 detection threshold in function of the above limit. Clamp the result of of the LA10->15 return value to always respect the new LA_K_MAX.
2020-04-28 15:24:03 +00:00
#include <float.h>
Add a Linear Advance 1.0->1.5 compatibility layer Allow existing gcode using LA10 to transparently take advantage of LA15 by using a simple linear conversion function based on experimental results with the MK3 implementation of linear advance. Autodetect LA10 values based on the first M900 instruction contained in the print. In order to support printing mixed files without resetting the printer we also reset the autodetection status when starting a new SD print and/or when explicitly disabling LA. Since we cannot reliably detect whether a new print is started when printing via USB, also reset the detection status when homing in G28, which is generally performed once at each print. Note that this doesn't clear the previous K value, it only allows a subsequent M900 to provide LA10 values when printed after a LA15 file.
2019-12-21 21:48:30 +00:00
Adjust E-jerk in LA10 compatibility mode When upgrading K values of a LA1.0 print, also adjust E-jerk settings (<2) if permissible according to current accell limits. The same is also true when jerk is set mid-print via 'M205 E'. Existing values are always restored when switching to another compatibility mode. TODO: Since this is stateful, we will need to save the current print mode / acceleration and jerk in the eeprom for this to survive a power panic (see prusa3d#2456).
2020-02-03 14:37:11 +00:00
static LA10C_MODE la10c_mode = LA10C_UNKNOWN; // Current LA compatibility mode
static float la10c_orig_jerk = 0; // Unadjusted/saved e-jerk
LA10C_MODE la10c_mode_get()
{
return la10c_mode;
}
Add a Linear Advance 1.0->1.5 compatibility layer Allow existing gcode using LA10 to transparently take advantage of LA15 by using a simple linear conversion function based on experimental results with the MK3 implementation of linear advance. Autodetect LA10 values based on the first M900 instruction contained in the print. In order to support printing mixed files without resetting the printer we also reset the autodetection status when starting a new SD print and/or when explicitly disabling LA. Since we cannot reliably detect whether a new print is started when printing via USB, also reset the detection status when homing in G28, which is generally performed once at each print. Note that this doesn't clear the previous K value, it only allows a subsequent M900 to provide LA10 values when printed after a LA15 file.
2019-12-21 21:48:30 +00:00
void la10c_mode_change(LA10C_MODE mode)
{
if(mode == la10c_mode) return;
Adjust E-jerk in LA10 compatibility mode When upgrading K values of a LA1.0 print, also adjust E-jerk settings (<2) if permissible according to current accell limits. The same is also true when jerk is set mid-print via 'M205 E'. Existing values are always restored when switching to another compatibility mode. TODO: Since this is stateful, we will need to save the current print mode / acceleration and jerk in the eeprom for this to survive a power panic (see prusa3d#2456).
2020-02-03 14:37:11 +00:00
// always restore to the last unadjusted E-jerk value
if(la10c_orig_jerk)
cs.max_jerk[E_AXIS] = la10c_orig_jerk;
Add a Linear Advance 1.0->1.5 compatibility layer Allow existing gcode using LA10 to transparently take advantage of LA15 by using a simple linear conversion function based on experimental results with the MK3 implementation of linear advance. Autodetect LA10 values based on the first M900 instruction contained in the print. In order to support printing mixed files without resetting the printer we also reset the autodetection status when starting a new SD print and/or when explicitly disabling LA. Since we cannot reliably detect whether a new print is started when printing via USB, also reset the detection status when homing in G28, which is generally performed once at each print. Note that this doesn't clear the previous K value, it only allows a subsequent M900 to provide LA10 values when printed after a LA15 file.
2019-12-21 21:48:30 +00:00
SERIAL_ECHOPGM("LA10C: Linear Advance mode: ");
switch(mode)
{
case LA10C_UNKNOWN: SERIAL_ECHOLNPGM("UNKNOWN"); break;
case LA10C_LA15: SERIAL_ECHOLNPGM("1.5"); break;
case LA10C_LA10: SERIAL_ECHOLNPGM("1.0"); break;
}
la10c_mode = mode;
Adjust E-jerk in LA10 compatibility mode When upgrading K values of a LA1.0 print, also adjust E-jerk settings (<2) if permissible according to current accell limits. The same is also true when jerk is set mid-print via 'M205 E'. Existing values are always restored when switching to another compatibility mode. TODO: Since this is stateful, we will need to save the current print mode / acceleration and jerk in the eeprom for this to survive a power panic (see prusa3d#2456).
2020-02-03 14:37:11 +00:00
// adjust the E-jerk if needed
cs.max_jerk[E_AXIS] = la10c_jerk(cs.max_jerk[E_AXIS]);
Add a Linear Advance 1.0->1.5 compatibility layer Allow existing gcode using LA10 to transparently take advantage of LA15 by using a simple linear conversion function based on experimental results with the MK3 implementation of linear advance. Autodetect LA10 values based on the first M900 instruction contained in the print. In order to support printing mixed files without resetting the printer we also reset the autodetection status when starting a new SD print and/or when explicitly disabling LA. Since we cannot reliably detect whether a new print is started when printing via USB, also reset the detection status when homing in G28, which is generally performed once at each print. Note that this doesn't clear the previous K value, it only allows a subsequent M900 to provide LA10 values when printed after a LA15 file.
2019-12-21 21:48:30 +00:00
}
// Approximate a LA10 value to a LA15 equivalent.
static float la10c_convert(float k)
{
Increase the LA10->15 response
2020-04-12 00:58:44 +00:00
float new_K = k * 0.004 - 0.05;
Parametrize LA limits and threshold values Allow the LA 1.5 MAX value to be configured in Configuration_adv.h. Define a customizable LA10<>15 detection threshold in function of the above limit. Clamp the result of of the LA10->15 return value to always respect the new LA_K_MAX.
2020-04-28 15:24:03 +00:00
return new_K < 0? 0:
new_K > (LA_K_MAX - FLT_EPSILON)? (LA_K_MAX - FLT_EPSILON):
new_K;
Add a Linear Advance 1.0->1.5 compatibility layer Allow existing gcode using LA10 to transparently take advantage of LA15 by using a simple linear conversion function based on experimental results with the MK3 implementation of linear advance. Autodetect LA10 values based on the first M900 instruction contained in the print. In order to support printing mixed files without resetting the printer we also reset the autodetection status when starting a new SD print and/or when explicitly disabling LA. Since we cannot reliably detect whether a new print is started when printing via USB, also reset the detection status when homing in G28, which is generally performed once at each print. Note that this doesn't clear the previous K value, it only allows a subsequent M900 to provide LA10 values when printed after a LA15 file.
2019-12-21 21:48:30 +00:00
}
float la10c_value(float k)
{
if(la10c_mode == LA10C_UNKNOWN)
Improve K error checking, allow to manually reset the version Properly check K independently for each version by delegating it to la10c_value() Handle -1 as a special case to allow manual reset.
2019-12-30 12:17:12 +00:00
{
// do not autodetect until a valid value is seen
if(k == 0)
return 0;
else if(k < 0)
return -1;
Parametrize LA limits and threshold values Allow the LA 1.5 MAX value to be configured in Configuration_adv.h. Define a customizable LA10<>15 detection threshold in function of the above limit. Clamp the result of of the LA10->15 return value to always respect the new LA_K_MAX.
2020-04-28 15:24:03 +00:00
la10c_mode_change(k < LA_LA10_MIN? LA10C_LA15: LA10C_LA10);
Improve K error checking, allow to manually reset the version Properly check K independently for each version by delegating it to la10c_value() Handle -1 as a special case to allow manual reset.
2019-12-30 12:17:12 +00:00
}
Add a Linear Advance 1.0->1.5 compatibility layer Allow existing gcode using LA10 to transparently take advantage of LA15 by using a simple linear conversion function based on experimental results with the MK3 implementation of linear advance. Autodetect LA10 values based on the first M900 instruction contained in the print. In order to support printing mixed files without resetting the printer we also reset the autodetection status when starting a new SD print and/or when explicitly disabling LA. Since we cannot reliably detect whether a new print is started when printing via USB, also reset the detection status when homing in G28, which is generally performed once at each print. Note that this doesn't clear the previous K value, it only allows a subsequent M900 to provide LA10 values when printed after a LA15 file.
2019-12-21 21:48:30 +00:00
if(la10c_mode == LA10C_LA15)
Parametrize LA limits and threshold values Allow the LA 1.5 MAX value to be configured in Configuration_adv.h. Define a customizable LA10<>15 detection threshold in function of the above limit. Clamp the result of of the LA10->15 return value to always respect the new LA_K_MAX.
2020-04-28 15:24:03 +00:00
return (k >= 0 && k < LA_K_MAX? k: -1);
Add a Linear Advance 1.0->1.5 compatibility layer Allow existing gcode using LA10 to transparently take advantage of LA15 by using a simple linear conversion function based on experimental results with the MK3 implementation of linear advance. Autodetect LA10 values based on the first M900 instruction contained in the print. In order to support printing mixed files without resetting the printer we also reset the autodetection status when starting a new SD print and/or when explicitly disabling LA. Since we cannot reliably detect whether a new print is started when printing via USB, also reset the detection status when homing in G28, which is generally performed once at each print. Note that this doesn't clear the previous K value, it only allows a subsequent M900 to provide LA10 values when printed after a LA15 file.
2019-12-21 21:48:30 +00:00
else
Improve K error checking, allow to manually reset the version Properly check K independently for each version by delegating it to la10c_value() Handle -1 as a special case to allow manual reset.
2019-12-30 12:17:12 +00:00
return (k >= 0? la10c_convert(k): -1);
Add a Linear Advance 1.0->1.5 compatibility layer Allow existing gcode using LA10 to transparently take advantage of LA15 by using a simple linear conversion function based on experimental results with the MK3 implementation of linear advance. Autodetect LA10 values based on the first M900 instruction contained in the print. In order to support printing mixed files without resetting the printer we also reset the autodetection status when starting a new SD print and/or when explicitly disabling LA. Since we cannot reliably detect whether a new print is started when printing via USB, also reset the detection status when homing in G28, which is generally performed once at each print. Note that this doesn't clear the previous K value, it only allows a subsequent M900 to provide LA10 values when printed after a LA15 file.
2019-12-21 21:48:30 +00:00
}
Adjust E-jerk in LA10 compatibility mode When upgrading K values of a LA1.0 print, also adjust E-jerk settings (<2) if permissible according to current accell limits. The same is also true when jerk is set mid-print via 'M205 E'. Existing values are always restored when switching to another compatibility mode. TODO: Since this is stateful, we will need to save the current print mode / acceleration and jerk in the eeprom for this to survive a power panic (see prusa3d#2456).
2020-02-03 14:37:11 +00:00
float la10c_jerk(float j)
{
la10c_orig_jerk = j;
if(la10c_mode != LA10C_LA10)
return j;
// check for a compatible range of values prior to convert (be sure that
// a higher E-jerk would still be compatible wrt the E accell range)
if(j < 4.5 && cs.max_acceleration_units_per_sq_second_normal[E_AXIS] < 2000)
return j;
// bring low E-jerk values into equivalent LA 1.5 values by
// flattening the response in the (1-4.5) range using a piecewise
// function. Is it truly worth to preserve the difference between
// 1.5/2.5 E-jerk for LA1.0? Probably not, but we try nonetheless.
j = j < 1.0? j * 3.625:
j < 4.5? j * 0.25 + 3.375:
j;
SERIAL_ECHOPGM("LA10C: Adjusted E-Jerk: ");
SERIAL_ECHOLN(j);
return j;
}
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