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Removed the non-working pressure advance feature.

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Improved accuracy of diagonal moves by oversampling the path discretization.
Accelerated the planner by rewriting time critical routines from floating
point to fixed point arithmetics.
This commit is contained in:
bubnikv 2016-09-01 13:09:56 +02:00
parent 930ed11e90
commit 29cb4b2b5d
7 changed files with 223 additions and 276 deletions
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16
Firmware/Marlin_main.cpp
View File

@ -1043,17 +1043,10 @@ void setup()
if (eeprom_read_byte((uint8_t*)EEPROM_BABYSTEP_Z_SET) == 0x0ff) {
// Reset the babystepping values, so the printer will not move the Z axis up when the babystepping is enabled.
// eeprom_update_byte((uint8_t*)EEPROM_BABYSTEP_X, 0x0ff);
// eeprom_update_byte((uint8_t*)EEPROM_BABYSTEP_Y, 0x0ff);
eeprom_update_byte((uint8_t*)EEPROM_BABYSTEP_Z, 0x0ff);
// Get the selected laugnage index before display update.
lang_selected = eeprom_read_byte((uint8_t*)EEPROM_LANG);
if (lang_selected >= LANG_NUM)
lang_selected = LANG_ID_DEFAULT; // Czech language
eeprom_update_word((uint16_t*)EEPROM_BABYSTEP_Z, 0);
// Show the message.
lcd_show_fullscreen_message_and_wait_P(MSG_BABYSTEP_Z_NOT_SET);
lcd_update_enable(true);
// lcd_implementation_clear();
}
// Store the currently running firmware into an eeprom,
@ -2961,8 +2954,9 @@ void process_commands()
bool result = sample_mesh_and_store_reference();
// if (result) babystep_apply();
} else {
// Reset the baby step value.
// Reset the baby step value and the baby step applied flag.
eeprom_write_byte((unsigned char*)EEPROM_BABYSTEP_Z_SET, 0xFF);
eeprom_update_word((uint16_t*)EEPROM_BABYSTEP_Z, 0);
// Complete XYZ calibration.
BedSkewOffsetDetectionResultType result = find_bed_offset_and_skew(verbosity_level);
uint8_t point_too_far_mask = 0;
@ -4820,11 +4814,7 @@ void prepare_move()
// Do not use feedmultiply for E or Z only moves
if( (current_position[X_AXIS] == destination [X_AXIS]) && (current_position[Y_AXIS] == destination [Y_AXIS])) {
#ifdef MESH_BED_LEVELING
mesh_plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
#else
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
#endif
}
else {
#ifdef MESH_BED_LEVELING

259
Firmware/planner.cpp
View File

@ -110,6 +110,11 @@ block_t block_buffer[BLOCK_BUFFER_SIZE]; // A ring buffer for motion
volatile unsigned char block_buffer_head; // Index of the next block to be pushed
volatile unsigned char block_buffer_tail; // Index of the block to process now
#ifdef PLANNER_DIAGNOSTICS
// Diagnostic function: Minimum number of planned moves since the last
static uint8_t g_cntr_planner_queue_min = 0;
#endif /* PLANNER_DIAGNOSTICS */
//===========================================================================
//=============================private variables ============================
//===========================================================================
@ -171,56 +176,83 @@ FORCE_INLINE float intersection_distance(float initial_rate, float final_rate, f
}
}
// Calculates trapezoid parameters so that the entry- and exit-speed is compensated by the provided factors.
#define MINIMAL_STEP_RATE 120
void calculate_trapezoid_for_block(block_t *block, float entry_factor, float exit_factor) {
unsigned long initial_rate = ceil(block->nominal_rate*entry_factor); // (step/min)
unsigned long final_rate = ceil(block->nominal_rate*exit_factor); // (step/min)
// Calculates trapezoid parameters so that the entry- and exit-speed is compensated by the provided factors.
void calculate_trapezoid_for_block(block_t *block, float entry_speed, float exit_speed)
{
// These two lines are the only floating point calculations performed in this routine.
uint32_t initial_rate = ceil(entry_speed * block->speed_factor); // (step/min)
uint32_t final_rate = ceil(exit_speed * block->speed_factor); // (step/min)
// Limit minimal step rate (Otherwise the timer will overflow.)
if(initial_rate <120) {
initial_rate=120;
}
if(final_rate < 120) {
final_rate=120;
}
if (initial_rate < MINIMAL_STEP_RATE)
initial_rate = MINIMAL_STEP_RATE;
if (initial_rate > block->nominal_rate)
initial_rate = block->nominal_rate;
if (final_rate < MINIMAL_STEP_RATE)
final_rate = MINIMAL_STEP_RATE;
if (final_rate > block->nominal_rate)
final_rate = block->nominal_rate;
long acceleration = block->acceleration_st;
int32_t accelerate_steps =
ceil(estimate_acceleration_distance(initial_rate, block->nominal_rate, acceleration));
int32_t decelerate_steps =
floor(estimate_acceleration_distance(block->nominal_rate, final_rate, -acceleration));
// Calculate the size of Plateau of Nominal Rate.
int32_t plateau_steps = block->step_event_count-accelerate_steps-decelerate_steps;
uint32_t acceleration = block->acceleration_st;
if (acceleration == 0)
// Don't allow zero acceleration.
acceleration = 1;
// estimate_acceleration_distance(float initial_rate, float target_rate, float acceleration)
// (target_rate*target_rate-initial_rate*initial_rate)/(2.0*acceleration));
uint32_t initial_rate_sqr = initial_rate*initial_rate;
//FIXME assert that this result fits a 64bit unsigned int.
uint32_t nominal_rate_sqr = block->nominal_rate*block->nominal_rate;
uint32_t final_rate_sqr = final_rate*final_rate;
uint32_t acceleration_x2 = acceleration << 1;
// ceil(estimate_acceleration_distance(initial_rate, block->nominal_rate, acceleration));
uint32_t accelerate_steps = (nominal_rate_sqr - initial_rate_sqr + acceleration_x2 - 1) / acceleration_x2;
// floor(estimate_acceleration_distance(block->nominal_rate, final_rate, -acceleration));
uint32_t decelerate_steps = (nominal_rate_sqr - final_rate_sqr) / acceleration_x2;
uint32_t accel_decel_steps = accelerate_steps + decelerate_steps;
// Size of Plateau of Nominal Rate.
uint32_t plateau_steps = 0;
// Is the Plateau of Nominal Rate smaller than nothing? That means no cruising, and we will
// have to use intersection_distance() to calculate when to abort acceleration and start braking
// in order to reach the final_rate exactly at the end of this block.
if (plateau_steps < 0) {
accelerate_steps = ceil(intersection_distance(initial_rate, final_rate, acceleration, block->step_event_count));
accelerate_steps = max(accelerate_steps,0); // Check limits due to numerical round-off
accelerate_steps = min((uint32_t)accelerate_steps,block->step_event_count);//(We can cast here to unsigned, because the above line ensures that we are above zero)
plateau_steps = 0;
if (accel_decel_steps < block->step_event_count) {
plateau_steps = block->step_event_count - accel_decel_steps;
} else {
uint32_t acceleration_x4 = acceleration << 2;
// Avoid negative numbers
if (final_rate_sqr >= initial_rate_sqr) {
// accelerate_steps = ceil(intersection_distance(initial_rate, final_rate, acceleration, block->step_event_count));
// intersection_distance(float initial_rate, float final_rate, float acceleration, float distance)
// (2.0*acceleration*distance-initial_rate*initial_rate+final_rate*final_rate)/(4.0*acceleration);
// accelerate_steps = (block->step_event_count >> 1) + (final_rate_sqr - initial_rate_sqr + acceleration_x4 - 1 + (block->step_event_count & 1) * acceleration_x2) / acceleration_x4;
accelerate_steps = final_rate_sqr - initial_rate_sqr + acceleration_x4 - 1;
if (block->step_event_count & 1)
accelerate_steps += acceleration_x2;
accelerate_steps += block->step_event_count >> 1;
accelerate_steps /= acceleration_x4;
if (accelerate_steps > block->step_event_count)
accelerate_steps = block->step_event_count;
} else {
// decelerate_steps = (block->step_event_count >> 1) + (initial_rate_sqr - final_rate_sqr + (block->step_event_count & 1) * acceleration_x2) / acceleration_x4;
decelerate_steps = initial_rate_sqr - final_rate_sqr;
if (block->step_event_count & 1)
decelerate_steps += acceleration_x2;
decelerate_steps += block->step_event_count >> 1;
decelerate_steps /= acceleration_x4;
if (decelerate_steps > block->step_event_count)
decelerate_steps = block->step_event_count;
accelerate_steps = block->step_event_count - decelerate_steps;
}
}
#ifdef ADVANCE
volatile long initial_advance = block->advance*entry_factor*entry_factor;
volatile long final_advance = block->advance*exit_factor*exit_factor;
#endif // ADVANCE
// block->accelerate_until = accelerate_steps;
// block->decelerate_after = accelerate_steps+plateau_steps;
CRITICAL_SECTION_START; // Fill variables used by the stepper in a critical section
if (! block->busy) { // Don't update variables if block is busy.
block->accelerate_until = accelerate_steps;
block->decelerate_after = accelerate_steps+plateau_steps;
block->initial_rate = initial_rate;
block->final_rate = final_rate;
#ifdef ADVANCE
block->initial_advance = initial_advance;
block->final_advance = final_advance;
#endif //ADVANCE
}
CRITICAL_SECTION_END;
}
@ -249,6 +281,27 @@ FORCE_INLINE float max_allowable_entry_speed(float decceleration, float target_v
// the set limit. Finally it will:
//
// 3. Recalculate trapezoids for all blocks.
//
//FIXME This routine is called 15x every time a new line is added to the planner,
// therefore it is a bottle neck and it shall be rewritten into a Fixed Point arithmetics,
// if the CPU is found lacking computational power.
//
// Following sources may be used to optimize the 8-bit AVR code:
// http://www.mikrocontroller.net/articles/AVR_Arithmetik
// http://darcy.rsgc.on.ca/ACES/ICE4M/FixedPoint/avrfix.pdf
//
// https://github.com/gcc-mirror/gcc/blob/master/libgcc/config/avr/lib1funcs-fixed.S
// https://gcc.gnu.org/onlinedocs/gcc/Fixed-Point.html
// https://gcc.gnu.org/onlinedocs/gccint/Fixed-point-fractional-library-routines.html
//
// https://ucexperiment.wordpress.com/2015/04/04/arduino-s15-16-fixed-point-math-routines/
// https://mekonik.wordpress.com/2009/03/18/arduino-avr-gcc-multiplication/
// https://github.com/rekka/avrmultiplication
//
// https://people.ece.cornell.edu/land/courses/ece4760/Math/Floating_point/
// https://courses.cit.cornell.edu/ee476/Math/
// https://courses.cit.cornell.edu/ee476/Math/GCC644/fixedPt/multASM.S
//
void planner_recalculate(const float &safe_final_speed)
{
// Reverse pass
@ -291,8 +344,12 @@ void planner_recalculate(const float &safe_final_speed)
// segment and the maximum acceleration allowed for this segment.
// If nominal length true, max junction speed is guaranteed to be reached even if decelerating to a jerk-from-zero velocity.
// Only compute for max allowable speed if block is decelerating and nominal length is false.
// entry_speed is uint16_t, 24 bits would be sufficient for block->acceleration and block->millimiteres, if scaled to um.
// therefore an optimized assembly 24bit x 24bit -> 32bit multiply would be more than sufficient
// together with an assembly 32bit->16bit sqrt function.
current->entry_speed = ((current->flag & BLOCK_FLAG_NOMINAL_LENGTH) || current->max_entry_speed <= next->entry_speed) ?
current->max_entry_speed :
// min(current->max_entry_speed, sqrt(next->entry_speed*next->entry_speed+2*current->acceleration*current->millimeters));
min(current->max_entry_speed, max_allowable_entry_speed(-current->acceleration,next->entry_speed,current->millimeters));
current->flag |= BLOCK_FLAG_RECALCULATE;
}
@ -325,7 +382,7 @@ void planner_recalculate(const float &safe_final_speed)
// Recalculate if current block entry or exit junction speed has changed.
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/prev->nominal_speed, current->entry_speed/prev->nominal_speed);
calculate_trapezoid_for_block(prev, prev->entry_speed, current->entry_speed);
// Reset current only to ensure next trapezoid is computed.
prev->flag &= ~BLOCK_FLAG_RECALCULATE;
}
@ -338,7 +395,7 @@ 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/current->nominal_speed, safe_final_speed/current->nominal_speed);
calculate_trapezoid_for_block(current, current->entry_speed, safe_final_speed);
current->flag &= ~BLOCK_FLAG_RECALCULATE;
// SERIAL_ECHOLNPGM("planner_recalculate - 4");
@ -471,6 +528,15 @@ void planner_abort_soft()
}
*/
#ifdef PLANNER_DIAGNOSTICS
static inline void planner_update_queue_min_counter()
{
uint8_t new_counter = moves_planned();
if (new_counter < g_cntr_planner_queue_min)
g_cntr_planner_queue_min = new_counter;
}
#endif /* PLANNER_DIAGNOSTICS */
void planner_abort_hard()
{
// Abort the stepper routine and flush the planner queue.
@ -527,11 +593,18 @@ void plan_buffer_line(float x, float y, float z, const float &e, float feed_rate
manage_inactivity(false);
lcd_update();
} while (block_buffer_tail == next_buffer_head);
if (waiting_inside_plan_buffer_line_print_aborted)
if (waiting_inside_plan_buffer_line_print_aborted) {
// Inside the lcd_update() routine the print has been aborted.
// Cancel the print, do not plan the current line this routine is waiting on.
#ifdef PLANNER_DIAGNOSTICS
planner_update_queue_min_counter();
#endif /* PLANNER_DIAGNOSTICS */
return;
}
}
#ifdef PLANNER_DIAGNOSTICS
planner_update_queue_min_counter();
#endif /* PLANNER_DIAGNOSTICS */
#ifdef ENABLE_AUTO_BED_LEVELING
apply_rotation_xyz(plan_bed_level_matrix, x, y, z);
@ -637,14 +710,20 @@ block->steps_y = labs((target[X_AXIS]-position[X_AXIS]) - (target[Y_AXIS]-positi
#endif
block->steps_z = labs(target[Z_AXIS]-position[Z_AXIS]);
block->steps_e = labs(target[E_AXIS]-position[E_AXIS]);
if (volumetric_multiplier[active_extruder] != 1.f)
block->steps_e *= volumetric_multiplier[active_extruder];
if (extrudemultiply != 100) {
block->steps_e *= extrudemultiply;
block->steps_e /= 100;
}
block->step_event_count = max(block->steps_x, max(block->steps_y, max(block->steps_z, block->steps_e)));
// Bail if this is a zero-length block
if (block->step_event_count <= dropsegments)
{
#ifdef PLANNER_DIAGNOSTICS
planner_update_queue_min_counter();
#endif /* PLANNER_DIAGNOSTICS */
return;
}
@ -869,6 +948,8 @@ Having the real displacement of the head, we can calculate the total movement le
}
// Compute and limit the acceleration rate for the trapezoid generator.
// block->step_event_count ... event count of the fastest axis
// block->millimeters ... Euclidian length of the XYZ movement or the E length, if no XYZ movement.
float steps_per_mm = block->step_event_count/block->millimeters;
if(block->steps_x == 0 && block->steps_y == 0 && block->steps_z == 0)
{
@ -888,49 +969,27 @@ Having the real displacement of the head, we can calculate the total movement le
if(((float)block->acceleration_st * (float)block->steps_z / (float)block->step_event_count ) > axis_steps_per_sqr_second[Z_AXIS])
block->acceleration_st = axis_steps_per_sqr_second[Z_AXIS];
}
// Acceleration of the segment, in mm/sec^2
block->acceleration = block->acceleration_st / steps_per_mm;
#if 1
// Oversample diagonal movements by a power of 2 up to 8x
// to achieve more accurate diagonal movements.
uint8_t bresenham_oversample = 1;
for (uint8_t i = 0; i < 3; ++ i) {
if (block->nominal_rate >= 5000) // 5kHz
break;
block->nominal_rate << 1;
bresenham_oversample << 1;
block->step_event_count << 1;
}
if (bresenham_oversample > 1)
// Lower the acceleration steps/sec^2 to account for the oversampling.
block->acceleration_st = (block->acceleration_st + (bresenham_oversample >> 1)) / bresenham_oversample;
#endif
block->acceleration_rate = (long)((float)block->acceleration_st * (16777216.0 / (F_CPU / 8.0)));
#if 0 // Use old jerk for now
// Compute path unit vector
double unit_vec[3];
unit_vec[X_AXIS] = delta_mm[X_AXIS]*inverse_millimeters;
unit_vec[Y_AXIS] = delta_mm[Y_AXIS]*inverse_millimeters;
unit_vec[Z_AXIS] = delta_mm[Z_AXIS]*inverse_millimeters;
// Compute maximum allowable entry speed at junction by centripetal acceleration approximation.
// Let a circle be tangent to both previous and current path line segments, where the junction
// deviation is defined as the distance from the junction to the closest edge of the circle,
// colinear with the circle center. The circular segment joining the two paths represents the
// path of centripetal acceleration. Solve for max velocity based on max acceleration about the
// radius of the circle, defined indirectly by junction deviation. This may be also viewed as
// path width or max_jerk in the previous grbl version. This approach does not actually deviate
// from path, but used as a robust way to compute cornering speeds, as it takes into account the
// nonlinearities of both the junction angle and junction velocity.
double vmax_junction = MINIMUM_PLANNER_SPEED; // Set default max junction speed
// Skip first block or when previous_nominal_speed is used as a flag for homing and offset cycles.
if ((block_buffer_head != block_buffer_tail) && (previous_nominal_speed > 0.0)) {
// Compute cosine of angle between previous and current path. (prev_unit_vec is negative)
// NOTE: Max junction velocity is computed without sin() or acos() by trig half angle identity.
double cos_theta = - previous_unit_vec[X_AXIS] * unit_vec[X_AXIS]
- previous_unit_vec[Y_AXIS] * unit_vec[Y_AXIS]
- previous_unit_vec[Z_AXIS] * unit_vec[Z_AXIS] ;
// Skip and use default max junction speed for 0 degree acute junction.
if (cos_theta < 0.95) {
vmax_junction = min(previous_nominal_speed,block->nominal_speed);
// Skip and avoid divide by zero for straight junctions at 180 degrees. Limit to min() of nominal speeds.
if (cos_theta > -0.95) {
// Compute maximum junction velocity based on maximum acceleration and junction deviation
double sin_theta_d2 = sqrt(0.5*(1.0-cos_theta)); // Trig half angle identity. Always positive.
vmax_junction = min(vmax_junction,
sqrt(block->acceleration * junction_deviation * sin_theta_d2/(1.0-sin_theta_d2)) );
}
}
}
#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;
@ -1047,34 +1106,9 @@ 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 ADVANCE
// Calculate advance rate
if((block->steps_e == 0) || (block->steps_x == 0 && block->steps_y == 0 && block->steps_z == 0)) {
block->advance_rate = 0;
block->advance = 0;
}
else {
long acc_dist = estimate_acceleration_distance(0, block->nominal_rate, block->acceleration_st);
float advance = (STEPS_PER_CUBIC_MM_E * EXTRUDER_ADVANCE_K) *
(current_speed[E_AXIS] * current_speed[E_AXIS] * EXTRUSION_AREA * EXTRUSION_AREA)*256;
block->advance = advance;
if(acc_dist == 0) {
block->advance_rate = 0;
}
else {
block->advance_rate = advance / (float)acc_dist;
}
}
/*
SERIAL_ECHO_START;
SERIAL_ECHOPGM("advance :");
SERIAL_ECHO(block->advance/256.0);
SERIAL_ECHOPGM("advance rate :");
SERIAL_ECHOLN(block->advance_rate/256.0);
*/
#endif // ADVANCE
calculate_trapezoid_for_block(block, block->entry_speed/block->nominal_speed, safe_speed/block->nominal_speed);
// 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);
// Move the buffer head. From now the block may be picked up by the stepper interrupt controller.
block_buffer_head = next_buffer_head;
@ -1092,6 +1126,9 @@ Having the real displacement of the head, we can calculate the total movement le
// SERIAL_ECHO(int(moves_planned()));
// SERIAL_ECHOLNPGM("");
#ifdef PLANNER_DIAGNOSTICS
planner_update_queue_min_counter();
#endif /* PLANNER_DIAGNOSTIC */
st_wake_up();
}
@ -1172,3 +1209,15 @@ void reset_acceleration_rates()
axis_steps_per_sqr_second[i] = max_acceleration_units_per_sq_second[i] * axis_steps_per_unit[i];
}
}
#ifdef PLANNER_DIAGNOSTICS
uint8_t planner_queue_min()
{
return g_cntr_planner_queue_min;
}
void planner_queue_min_reset()
{
g_cntr_planner_queue_min = moves_planned();
}
#endif /* PLANNER_DIAGNOSTICS */

20
Firmware/planner.h
View File

@ -55,12 +55,6 @@ typedef struct {
// accelerate_until and decelerate_after are set by calculate_trapezoid_for_block() and they need to be synchronized with the stepper interrupt controller.
long accelerate_until; // The index of the step event on which to stop acceleration
long decelerate_after; // The index of the step event on which to start decelerating
#ifdef ADVANCE
long advance_rate;
volatile long initial_advance;
volatile long final_advance;
float advance;
#endif
// Fields used by the motion planner to manage acceleration
// float speed_x, speed_y, speed_z, speed_e; // Nominal mm/sec for each axis
@ -82,12 +76,18 @@ typedef struct {
// Settings for the trapezoid generator (runs inside an interrupt handler).
// Changing the following values in the planner needs to be synchronized with the interrupt handler by disabling the interrupts.
//FIXME nominal_rate, initial_rate and final_rate are limited to uint16_t by MultiU24X24toH16 in the stepper interrupt anyway!
unsigned long nominal_rate; // The nominal step rate for this block in step_events/sec
unsigned long initial_rate; // The jerk-adjusted step rate at start of block
unsigned long final_rate; // The minimal rate at exit
unsigned long acceleration_st; // acceleration steps/sec^2
//FIXME does it have to be unsigned long? Probably uint8_t would be just fine.
unsigned long fan_speed;
volatile char busy;
// Pre-calculated division for the calculate_trapezoid_for_block() routine to run faster.
float speed_factor;
} block_t;
#ifdef ENABLE_AUTO_BED_LEVELING
@ -196,3 +196,11 @@ void set_extrude_min_temp(float temp);
void reset_acceleration_rates();
#endif
// #define PLANNER_DIAGNOSTICS
#ifdef PLANNER_DIAGNOSTICS
// Diagnostic functions to display planner buffer underflow on the display.
extern uint8_t planner_queue_min();
// Diagnostic function: Reset the minimum planner segments.
extern void planner_queue_min_reset();
#endif /* PLANNER_DIAGNOSTICS */

140
Firmware/stepper.cpp
View File

@ -47,22 +47,17 @@ block_t *current_block; // A pointer to the block currently being traced
// Variables used by The Stepper Driver Interrupt
static unsigned char out_bits; // The next stepping-bits to be output
static long counter_x, // Counter variables for the bresenham line tracer
static int32_t counter_x, // Counter variables for the bresenham line tracer
counter_y,
counter_z,
counter_e;
volatile static unsigned long step_events_completed; // The number of step events executed in the current block
#ifdef ADVANCE
static long advance_rate, advance, final_advance = 0;
static long old_advance = 0;
static long e_steps[3];
#endif
static long acceleration_time, deceleration_time;
volatile static uint32_t step_events_completed; // The number of step events executed in the current block
static int32_t acceleration_time, deceleration_time;
//static unsigned long accelerate_until, decelerate_after, acceleration_rate, initial_rate, final_rate, nominal_rate;
static unsigned short acc_step_rate; // needed for deccelaration start point
static char step_loops;
static unsigned short OCR1A_nominal;
static unsigned short step_loops_nominal;
static uint16_t acc_step_rate; // needed for deccelaration start point
static uint8_t step_loops;
static uint16_t OCR1A_nominal;
static uint8_t step_loops_nominal;
volatile long endstops_trigsteps[3]={0,0,0};
volatile long endstops_stepsTotal,endstops_stepsDone;
@ -306,13 +301,6 @@ FORCE_INLINE unsigned short calc_timer(unsigned short step_rate) {
// Initializes the trapezoid generator from the current block. Called whenever a new
// block begins.
FORCE_INLINE void trapezoid_generator_reset() {
#ifdef ADVANCE
advance = current_block->initial_advance;
final_advance = current_block->final_advance;
// Do E steps + advance steps
e_steps[current_block->active_extruder] += ((advance >>8) - old_advance);
old_advance = advance >>8;
#endif
deceleration_time = 0;
// step_rate to timer interval
OCR1A_nominal = calc_timer(current_block->nominal_rate);
@ -359,10 +347,6 @@ ISR(TIMER1_COMPA_vect)
return;
}
#endif
// #ifdef ADVANCE
// e_steps[current_block->active_extruder] = 0;
// #endif
}
else {
OCR1A=2000; // 1kHz.
@ -531,7 +515,6 @@ ISR(TIMER1_COMPA_vect)
}
#endif
#ifndef ADVANCE
if ((out_bits & (1<<E_AXIS)) != 0) { // -direction
REV_E_DIR();
count_direction[E_AXIS]=-1;
@ -540,28 +523,12 @@ ISR(TIMER1_COMPA_vect)
NORM_E_DIR();
count_direction[E_AXIS]=1;
}
#endif //!ADVANCE
for(int8_t i=0; i < step_loops; i++) { // Take multiple steps per interrupt (For high speed moves)
for(uint8_t i=0; i < step_loops; i++) { // Take multiple steps per interrupt (For high speed moves)
#ifndef AT90USB
MSerial.checkRx(); // Check for serial chars.
#endif
#ifdef ADVANCE
counter_e += current_block->steps_e;
if (counter_e > 0) {
counter_e -= current_block->step_event_count;
if ((out_bits & (1<<E_AXIS)) != 0) { // - direction
e_steps[current_block->active_extruder]--;
}
else {
e_steps[current_block->active_extruder]++;
}
}
#endif //ADVANCE
counter_x += current_block->steps_x;
if (counter_x > 0) {
WRITE(X_STEP_PIN, !INVERT_X_STEP_PIN);
@ -604,7 +571,6 @@ ISR(TIMER1_COMPA_vect)
#endif
}
#ifndef ADVANCE
counter_e += current_block->steps_e;
if (counter_e > 0) {
WRITE_E_STEP(!INVERT_E_STEP_PIN);
@ -612,7 +578,6 @@ ISR(TIMER1_COMPA_vect)
count_position[E_AXIS]+=count_direction[E_AXIS];
WRITE_E_STEP(INVERT_E_STEP_PIN);
}
#endif //!ADVANCE
step_events_completed += 1;
if(step_events_completed >= current_block->step_event_count) break;
}
@ -620,7 +585,7 @@ ISR(TIMER1_COMPA_vect)
unsigned short timer;
unsigned short step_rate;
if (step_events_completed <= (unsigned long int)current_block->accelerate_until) {
// v = t * a -> acc_step_rate = acceleration_time * current_block->acceleration_rate
MultiU24X24toH16(acc_step_rate, acceleration_time, current_block->acceleration_rate);
acc_step_rate += current_block->initial_rate;
@ -632,16 +597,6 @@ ISR(TIMER1_COMPA_vect)
timer = calc_timer(acc_step_rate);
OCR1A = timer;
acceleration_time += timer;
#ifdef ADVANCE
for(int8_t i=0; i < step_loops; i++) {
advance += advance_rate;
}
//if(advance > current_block->advance) advance = current_block->advance;
// Do E steps + advance steps
e_steps[current_block->active_extruder] += ((advance >>8) - old_advance);
old_advance = advance >>8;
#endif // ADVANCE
}
else if (step_events_completed > (unsigned long int)current_block->decelerate_after) {
MultiU24X24toH16(step_rate, deceleration_time, current_block->acceleration_rate);
@ -661,15 +616,6 @@ ISR(TIMER1_COMPA_vect)
timer = calc_timer(step_rate);
OCR1A = timer;
deceleration_time += timer;
#ifdef ADVANCE
for(int8_t i=0; i < step_loops; i++) {
advance -= advance_rate;
}
if(advance < final_advance) advance = final_advance;
// Do E steps + advance steps
e_steps[current_block->active_extruder] += ((advance >>8) - old_advance);
old_advance = advance >>8;
#endif //ADVANCE
}
else {
OCR1A = OCR1A_nominal;
@ -685,63 +631,6 @@ ISR(TIMER1_COMPA_vect)
}
}
#ifdef ADVANCE
unsigned char old_OCR0A;
// Timer interrupt for E. e_steps is set in the main routine;
// Timer 0 is shared with millies
ISR(TIMER0_COMPA_vect)
{
old_OCR0A += 52; // ~10kHz interrupt (250000 / 26 = 9615kHz)
OCR0A = old_OCR0A;
// Set E direction (Depends on E direction + advance)
for(unsigned char i=0; i<4;i++) {
if (e_steps[0] != 0) {
WRITE(E0_STEP_PIN, INVERT_E_STEP_PIN);
if (e_steps[0] < 0) {
WRITE(E0_DIR_PIN, INVERT_E0_DIR);
e_steps[0]++;
WRITE(E0_STEP_PIN, !INVERT_E_STEP_PIN);
}
else if (e_steps[0] > 0) {
WRITE(E0_DIR_PIN, !INVERT_E0_DIR);
e_steps[0]--;
WRITE(E0_STEP_PIN, !INVERT_E_STEP_PIN);
}
}
#if EXTRUDERS > 1
if (e_steps[1] != 0) {
WRITE(E1_STEP_PIN, INVERT_E_STEP_PIN);
if (e_steps[1] < 0) {
WRITE(E1_DIR_PIN, INVERT_E1_DIR);
e_steps[1]++;
WRITE(E1_STEP_PIN, !INVERT_E_STEP_PIN);
}
else if (e_steps[1] > 0) {
WRITE(E1_DIR_PIN, !INVERT_E1_DIR);
e_steps[1]--;
WRITE(E1_STEP_PIN, !INVERT_E_STEP_PIN);
}
}
#endif
#if EXTRUDERS > 2
if (e_steps[2] != 0) {
WRITE(E2_STEP_PIN, INVERT_E_STEP_PIN);
if (e_steps[2] < 0) {
WRITE(E2_DIR_PIN, INVERT_E2_DIR);
e_steps[2]++;
WRITE(E2_STEP_PIN, !INVERT_E_STEP_PIN);
}
else if (e_steps[2] > 0) {
WRITE(E2_DIR_PIN, !INVERT_E2_DIR);
e_steps[2]--;
WRITE(E2_STEP_PIN, !INVERT_E_STEP_PIN);
}
}
#endif
}
}
#endif // ADVANCE
void st_init()
{
digipot_init(); //Initialize Digipot Motor Current
@ -930,17 +819,6 @@ void st_init()
TCNT1 = 0;
ENABLE_STEPPER_DRIVER_INTERRUPT();
#ifdef ADVANCE
#if defined(TCCR0A) && defined(WGM01)
TCCR0A &= ~(1<<WGM01);
TCCR0A &= ~(1<<WGM00);
#endif
e_steps[0] = 0;
e_steps[1] = 0;
e_steps[2] = 0;
TIMSK0 |= (1<<OCIE0A);
#endif //ADVANCE
enable_endstops(true); // Start with endstops active. After homing they can be disabled
sei();
}

1
Firmware/temperature.cpp
View File

@ -1211,6 +1211,7 @@ void max_temp_error(uint8_t e) {
WRITE(FAN_PIN, 1);
WRITE(EXTRUDER_0_AUTO_FAN_PIN, 1);
WRITE(BEEPER, 1);
// fanSpeed will consumed by the check_axes_activity() routine.
fanSpeed=255;
}

1
Firmware/ultralcd.cpp
View File

@ -327,7 +327,6 @@ void set_language_from_EEPROM() {
}
}
void lcd_mylang();
static void lcd_status_screen()
{

30
Firmware/ultralcd_implementation_hitachi_HD44780.h
View File

@ -659,6 +659,7 @@ static void lcd_implementation_status_screen()
//Print the Z coordinates
lcd.setCursor(LCD_WIDTH - 8-2, 0);
#if 1
lcd_printPGM(PSTR(" Z"));
if (custom_message_type == 1) {
// In a bed calibration mode.
@ -667,6 +668,11 @@ static void lcd_implementation_status_screen()
lcd.print(ftostr32sp(current_position[Z_AXIS] + 0.00001));
lcd.print(' ');
}
#else
lcd_printPGM(PSTR(" Queue:"));
lcd.print(int(moves_planned()));
lcd.print(' ');
#endif
//Print the Bedtemperature
lcd.setCursor(0, 1);
@ -679,15 +685,31 @@ static void lcd_implementation_status_screen()
lcd_printPGM(PSTR(LCD_STR_DEGREE " "));
lcd_printPGM(PSTR(" "));
#if 1
//Print Feedrate
lcd.setCursor(LCD_WIDTH - 8-2, 1);
lcd_printPGM(PSTR(" "));
lcd.print(LCD_STR_FEEDRATE[0]);
lcd.print(itostr3(feedmultiply));
lcd.print('%');
lcd_printPGM(PSTR(" "));
lcd_printPGM(PSTR("%% "));
#else
//Print Feedrate
lcd.setCursor(LCD_WIDTH - 8-2, 1);
lcd.print(LCD_STR_FEEDRATE[0]);
lcd.print(itostr3(feedmultiply));
lcd_printPGM(PSTR("% Q"));
{
uint8_t queue = planner_queue_min();
if (queue < (BLOCK_BUFFER_SIZE >> 1)) {
lcd.print('!');
} else {
lcd.print((char)(queue / 10) + '0');
queue %= 10;
}
lcd.print((char)queue + '0');
planner_queue_min_reset();
}
#endif
//Print SD status
lcd.setCursor(0, 2);