3DPrinting/Prusa-Firmware
1
0
Fork 0
Code Issues Pull requests Projects Releases Packages Wiki Activity

Linear Advance

Browse source
This commit is contained in:
michalprusa 2017-07-07 01:58:02 +02:00
parent d109602896
commit 06fe85e9ee
7 changed files with 334 additions and 36 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

53
Firmware/Configuration_adv.h
View file

@ -265,24 +265,45 @@
#endif
#endif
// extruder advance constant (s2/mm3)
//
// advance (steps) = STEPS_PER_CUBIC_MM_E * EXTRUDER_ADVANCE_K * cubic mm per second ^ 2
//
// Hooke's law says: force = k * distance
// Bernoulli's principle says: v ^ 2 / 2 + g . h + pressure / density = constant
// so: v ^ 2 is proportional to number of steps we advance the extruder
//#define ADVANCE
/**
* Implementation of linear pressure control
*
* Assumption: advance = k * (delta velocity)
* K=0 means advance disabled.
* See Marlin documentation for calibration instructions.
*/
#define LIN_ADVANCE
#ifdef ADVANCE
#define EXTRUDER_ADVANCE_K .006
#ifdef LIN_ADVANCE
#define LIN_ADVANCE_K 0 //Try around 45 for PLA, around 25 for ABS.
#define D_FILAMENT 1.75
#define STEPS_MM_E 174.6
#define EXTRUSION_AREA (0.25 * D_FILAMENT * D_FILAMENT * 3.14159)
#define STEPS_PER_CUBIC_MM_E (axis_steps_per_unit[E_AXIS]/ EXTRUSION_AREA)
#endif // ADVANCE
/**
* 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
#endif
// Arc interpretation settings:
#define MM_PER_ARC_SEGMENT 1

56
Firmware/Marlin_main.cpp
View file

@ -203,6 +203,7 @@
// M540 - Use S[0|1] to enable or disable the stop SD card print on endstop hit (requires ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
// M600 - Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
// M605 - Set dual x-carriage movement mode: S<mode> [ X<duplication x-offset> R<duplication temp offset> ]
// M900 - Set LIN_ADVANCE options, if enabled. See Configuration_adv.h for details.
// M907 - Set digital trimpot motor current using axis codes.
// M908 - Control digital trimpot directly.
// M350 - Set microstepping mode.
@ -1655,6 +1656,15 @@ static inline long code_value_long() { return strtol(strchr_pointer+1, NUL
static inline int16_t code_value_short() { return int16_t(strtol(strchr_pointer+1, NULL, 10)); };
static inline uint8_t code_value_uint8() { return uint8_t(strtol(strchr_pointer+1, NULL, 10)); };
static inline float code_value_float() {
char* e = strchr(strchr_pointer, 'E');
if (!e) return strtod(strchr_pointer + 1, NULL);
*e = 0;
float ret = strtod(strchr_pointer + 1, NULL);
*e = 'E';
return ret;
}
#define DEFINE_PGM_READ_ANY(type, reader) \
static inline type pgm_read_any(const type *p) \
{ return pgm_read_##reader##_near(p); }
@ -1839,6 +1849,40 @@ static float probe_pt(float x, float y, float z_before) {
}
#endif // #ifdef ENABLE_AUTO_BED_LEVELING
#ifdef LIN_ADVANCE
/**
* M900: Set and/or Get advance K factor and WH/D ratio
*
* K<factor> Set advance K factor
* R<ratio> Set ratio directly (overrides WH/D)
* W<width> H<height> D<diam> 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;
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");
}
#endif // LIN_ADVANCE
/*
void homeaxis(int axis) {
#define HOMEAXIS_DO(LETTER) \
@ -5489,6 +5533,12 @@ case 404: //M404 Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or disp
}
break;
#ifdef LIN_ADVANCE
case 900: // M900: Set LIN_ADVANCE options.
gcode_M900();
break;
#endif
case 907: // M907 Set digital trimpot motor current using axis codes.
{
#if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
@ -5714,6 +5764,12 @@ case 404: //M404 Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or disp
}
snmm_filaments_used |= (1 << tmp_extruder); //for stop print
#ifdef SNMM
#ifdef LIN_ADVANCE
if (snmm_extruder != tmp_extruder)
clear_current_adv_vars(); //Check if the selected extruder is not the active one and reset LIN_ADVANCE variables if so.
#endif
snmm_extruder = tmp_extruder;
st_synchronize();

67
Firmware/planner.cpp
View file

@ -126,6 +126,12 @@ float extrude_min_temp=EXTRUDE_MINTEMP;
static char meas_sample; //temporary variable to hold filament measurement sample
#endif
#ifdef LIN_ADVANCE
float extruder_advance_k = LIN_ADVANCE_K,
advance_ed_ratio = LIN_ADVANCE_E_D_RATIO,
position_float[NUM_AXIS] = { 0 };
#endif
// Returns the index of the next block in the ring buffer
// NOTE: Removed modulo (%) operator, which uses an expensive divide and multiplication.
static inline int8_t next_block_index(int8_t block_index) {
@ -411,6 +417,9 @@ void plan_init() {
block_buffer_head = 0;
block_buffer_tail = 0;
memset(position, 0, sizeof(position)); // clear position
#ifdef LIN_ADVANCE
memset(position_float, 0, sizeof(position)); // clear position
#endif
previous_speed[0] = 0.0;
previous_speed[1] = 0.0;
previous_speed[2] = 0.0;
@ -676,12 +685,22 @@ void plan_buffer_line(float x, float y, float z, const float &e, float feed_rate
target[Z_AXIS] = lround(z*axis_steps_per_unit[Z_AXIS]);
#endif // ENABLE_MESH_BED_LEVELING
target[E_AXIS] = lround(e*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])
{
if(degHotend(active_extruder)<extrude_min_temp)
{
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(MSG_ERR_COLD_EXTRUDE_STOP);
}
@ -690,6 +709,10 @@ void plan_buffer_line(float x, float y, float z, const float &e, float feed_rate
if(labs(target[E_AXIS]-position[E_AXIS])>axis_steps_per_unit[E_AXIS]*EXTRUDE_MAXLENGTH)
{
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(MSG_ERR_LONG_EXTRUDE_STOP);
}
@ -1112,6 +1135,37 @@ 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
&& (block->steps_x || block->steps_y)
&& extruder_advance_k
&& (uint32_t)block->steps_e != block->step_event_count
&& 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)
* 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);
@ -1122,6 +1176,13 @@ Having the real displacement of the head, we can calculate the total movement le
// Update position
memcpy(position, target, sizeof(target)); // position[] = target[]
#ifdef LIN_ADVANCE
position_float[X_AXIS] = x;
position_float[Y_AXIS] = y;
position_float[Z_AXIS] = z;
position_float[E_AXIS] = e;
#endif
// Recalculate the trapezoids to maximize speed at the segment transitions while respecting
// the machine limits (maximum acceleration and maximum jerk).
// This runs asynchronously with the stepper interrupt controller, which may
@ -1179,6 +1240,12 @@ void plan_set_position(float x, float y, float z, const float &e)
position[Z_AXIS] = lround(z*axis_steps_per_unit[Z_AXIS]);
#endif // ENABLE_MESH_BED_LEVELING
position[E_AXIS] = lround(e*axis_steps_per_unit[E_AXIS]);
#ifdef LIN_ADVANCE
position_float[X_AXIS] = x;
position_float[Y_AXIS] = y;
position_float[Z_AXIS] = z;
position_float[E_AXIS] = e;
#endif
st_set_position(position[X_AXIS], position[Y_AXIS], position[Z_AXIS], position[E_AXIS]);
previous_nominal_speed = 0.0; // Resets planner junction speeds. Assumes start from rest.
previous_speed[0] = 0.0;

9
Firmware/planner.h
View file

@ -88,8 +88,17 @@ typedef struct {
// Pre-calculated division for the calculate_trapezoid_for_block() routine to run faster.
float speed_factor;
#ifdef LIN_ADVANCE
bool use_advance_lead;
unsigned long abs_adv_steps_multiplier8; // Factorised by 2^8 to avoid float
#endif
} block_t;
#ifdef LIN_ADVANCE
extern float extruder_advance_k, advance_ed_ratio;
#endif
#ifdef ENABLE_AUTO_BED_LEVELING
// this holds the required transform to compensate for bed level
extern matrix_3x3 plan_bed_level_matrix;

169
Firmware/stepper.cpp
View file

@ -98,6 +98,26 @@ int8_t SilentMode;
volatile long count_position[NUM_AXIS] = { 0, 0, 0, 0};
volatile signed char count_direction[NUM_AXIS] = { 1, 1, 1, 1};
#ifdef LIN_ADVANCE
uint16_t ADV_NEVER = 65535;
static uint16_t nextMainISR = 0;
static uint16_t nextAdvanceISR = ADV_NEVER;
static uint16_t eISR_Rate = ADV_NEVER;
static volatile int e_steps; //Extrusion steps to be executed by the stepper
static int final_estep_rate; //Speed of extruder at cruising speed
static int current_estep_rate; //The current speed of the extruder
static int current_adv_steps; //The current pretension of filament expressed in steps
#define ADV_RATE(T, L) (e_steps ? (T) * (L) / abs(e_steps) : ADV_NEVER)
#define _NEXT_ISR(T) nextMainISR = T
#else
#define _NEXT_ISR(T) OCR1A = T
#endif
//===========================================================================
//=============================functions ============================
//===========================================================================
@ -319,24 +339,28 @@ FORCE_INLINE void trapezoid_generator_reset() {
step_loops_nominal = step_loops;
acc_step_rate = current_block->initial_rate;
acceleration_time = calc_timer(acc_step_rate);
OCR1A = acceleration_time;
_NEXT_ISR(acceleration_time);
// SERIAL_ECHO_START;
// SERIAL_ECHOPGM("advance :");
// SERIAL_ECHO(current_block->advance/256.0);
// SERIAL_ECHOPGM("advance rate :");
// SERIAL_ECHO(current_block->advance_rate/256.0);
// SERIAL_ECHOPGM("initial advance :");
// SERIAL_ECHO(current_block->initial_advance/256.0);
// SERIAL_ECHOPGM("final advance :");
// SERIAL_ECHOLN(current_block->final_advance/256.0);
#ifdef LIN_ADVANCE
if (current_block->use_advance_lead) {
current_estep_rate = ((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
}
// "The Stepper Driver Interrupt" - This timer interrupt is the workhorse.
// It pops blocks from the block_buffer and executes them by pulsing the stepper pins appropriately.
ISR(TIMER1_COMPA_vect)
{
ISR(TIMER1_COMPA_vect) {
#ifdef LIN_ADVANCE
advance_isr_scheduler();
#else
isr();
#endif
}
void isr() {
//if (UVLO) uvlo();
// If there is no current block, attempt to pop one from the buffer
if (current_block == NULL) {
@ -355,13 +379,13 @@ ISR(TIMER1_COMPA_vect)
#ifdef Z_LATE_ENABLE
if(current_block->steps_z > 0) {
enable_z();
OCR1A = 2000; //1ms wait
_NEXT_ISR(2000); //1ms wait
return;
}
#endif
}
else {
OCR1A=2000; // 1kHz.
_NEXT_ISR(2000); // 1kHz.
}
}
@ -582,6 +606,15 @@ ISR(TIMER1_COMPA_vect)
MSerial.checkRx(); // Check for serial chars.
#endif
#ifdef LIN_ADVANCE
counter_e += current_block->steps_e;
if (counter_e > 0) {
counter_e -= current_block->step_event_count;
count_position[E_AXIS] += count_direction[E_AXIS];
((out_bits&(1<<E_AXIS))!=0) ? --e_steps : ++e_steps;
}
#endif
counter_x += current_block->steps_x;
if (counter_x > 0) {
WRITE(X_STEP_PIN, !INVERT_X_STEP_PIN);
@ -636,6 +669,7 @@ ISR(TIMER1_COMPA_vect)
#endif
}
#ifndef LIN_ADVANCE
counter_e += current_block->steps_e;
if (counter_e > 0) {
WRITE_E_STEP(!INVERT_E_STEP_PIN);
@ -643,9 +677,21 @@ ISR(TIMER1_COMPA_vect)
count_position[E_AXIS]+=count_direction[E_AXIS];
WRITE_E_STEP(INVERT_E_STEP_PIN);
}
#endif
step_events_completed += 1;
if(step_events_completed >= current_block->step_event_count) break;
}
#ifdef LIN_ADVANCE
if (current_block->use_advance_lead) {
const int delta_adv_steps = current_estep_rate - current_adv_steps;
current_adv_steps += delta_adv_steps;
e_steps += delta_adv_steps;
}
// If we have esteps to execute, fire the next advance_isr "now"
if (e_steps) nextAdvanceISR = 0;
#endif
// Calculare new timer value
unsigned short timer;
unsigned short step_rate;
@ -660,8 +706,15 @@ ISR(TIMER1_COMPA_vect)
// step_rate to timer interval
timer = calc_timer(acc_step_rate);
OCR1A = timer;
_NEXT_ISR(timer);
acceleration_time += timer;
#ifdef LIN_ADVANCE
if (current_block->use_advance_lead) {
current_estep_rate = ((uint32_t)acc_step_rate * current_block->abs_adv_steps_multiplier8) >> 17;
}
eISR_Rate = ADV_RATE(timer, step_loops);
#endif
}
else if (step_events_completed > (unsigned long int)current_block->decelerate_after) {
MultiU24X24toH16(step_rate, deceleration_time, current_block->acceleration_rate);
@ -679,11 +732,25 @@ ISR(TIMER1_COMPA_vect)
// step_rate to timer interval
timer = calc_timer(step_rate);
OCR1A = timer;
_NEXT_ISR(timer);
deceleration_time += timer;
#ifdef LIN_ADVANCE
if (current_block->use_advance_lead) {
current_estep_rate = ((uint32_t)step_rate * current_block->abs_adv_steps_multiplier8) >> 17;
}
eISR_Rate = ADV_RATE(timer, step_loops);
#endif
}
else {
OCR1A = OCR1A_nominal;
#ifdef LIN_ADVANCE
if (current_block->use_advance_lead)
current_estep_rate = final_estep_rate;
eISR_Rate = ADV_RATE(OCR1A_nominal, step_loops_nominal);
#endif
_NEXT_ISR(OCR1A_nominal);
// ensure we're running at the correct step rate, even if we just came off an acceleration
step_loops = step_loops_nominal;
}
@ -697,6 +764,69 @@ ISR(TIMER1_COMPA_vect)
check_fans();
}
#ifdef LIN_ADVANCE
// Timer interrupt for E. e_steps is set in the main routine.
void advance_isr() {
nextAdvanceISR = eISR_Rate;
if (e_steps) {
bool dir =
#ifdef SNMM
((e_steps < 0) == (snmm_extruder & 1))
#else
(e_steps < 0)
#endif
? INVERT_E0_DIR : !INVERT_E0_DIR; //If we have SNMM, reverse every second extruder.
WRITE(E0_DIR_PIN, dir);
for (uint8_t i = step_loops; e_steps && i--;) {
WRITE(E0_STEP_PIN, !INVERT_E_STEP_PIN);
e_steps < 0 ? ++e_steps : --e_steps;
WRITE(E0_STEP_PIN, INVERT_E_STEP_PIN);
}
}
}
void advance_isr_scheduler() {
// Run main stepping ISR if flagged
if (!nextMainISR) isr();
// Run Advance stepping ISR if flagged
if (!nextAdvanceISR) advance_isr();
// Is the next advance ISR scheduled before the next main ISR?
if (nextAdvanceISR <= nextMainISR) {
// Set up the next interrupt
OCR1A = nextAdvanceISR;
// New interval for the next main ISR
if (nextMainISR) nextMainISR -= nextAdvanceISR;
// Will call Stepper::advance_isr on the next interrupt
nextAdvanceISR = 0;
}
else {
// The next main ISR comes first
OCR1A = nextMainISR;
// New interval for the next advance ISR, if any
if (nextAdvanceISR && nextAdvanceISR != ADV_NEVER)
nextAdvanceISR -= nextMainISR;
// Will call Stepper::isr on the next interrupt
nextMainISR = 0;
}
// Don't run the ISR faster than possible
if (OCR1A < TCNT1 + 16) OCR1A = TCNT1 + 16;
}
void clear_current_adv_vars() {
e_steps = 0; //Should be already 0 at an filament change event, but just to be sure..
current_adv_steps = 0;
}
#endif // LIN_ADVANCE
void st_init()
{
#ifdef HAVE_TMC2130_DRIVERS
@ -897,6 +1027,11 @@ void st_init()
TCNT1 = 0;
ENABLE_STEPPER_DRIVER_INTERRUPT();
#ifdef LIN_ADVANCE
e_steps = 0;
current_adv_steps = 0;
#endif
enable_endstops(true); // Start with endstops active. After homing they can be disabled
sei();
}

10
Firmware/stepper.h
View file

@ -44,6 +44,16 @@ extern bool abort_on_endstop_hit;
// Initialize and start the stepper motor subsystem
void st_init();
// Interrupt Service Routines
void isr();
#ifdef LIN_ADVANCE
void advance_isr();
void advance_isr_scheduler();
void clear_current_adv_vars(); //Used to reset the built up pretension and remaining esteps on filament change.
#endif
// Block until all buffered steps are executed
void st_synchronize();

4
Firmware/variants/1_75mm_MK3-EINY04-E3Dv6full.h
View file

@ -134,8 +134,8 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
#define TMC2130_SG_DELAY 10 // stallguard delay (temporary solution)
//new settings is possible for vsense = 1
#define TMC2130_CURRENTS_H {15, 15, 20, 30} // default holding currents for all axes
#define TMC2130_CURRENTS_R {15, 15, 30, 30} // default running currents for all axes
#define TMC2130_CURRENTS_H {15, 15, 20, 28} // default holding currents for all axes
#define TMC2130_CURRENTS_R {15, 15, 40, 28} // default running currents for all axes
//#define TMC2130_DEBUG
//#define TMC2130_DEBUG_WR