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Merge pull request #299 from XPila/MK3

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Silent mode limits
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XPila 2017-12-09 14:42:23 +01:00 committed by GitHub
commit 3aef37f6a0
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2 changed files with 49 additions and 9 deletions
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25
Firmware/Configuration_prusa.h
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@ -63,17 +63,26 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
#define Z_PAUSE_LIFT 20 #define Z_PAUSE_LIFT 20
#define NUM_AXIS 4 // The axis order in all axis related arrays is X, Y, Z, E #define NUM_AXIS 4 // The axis order in all axis related arrays is X, Y, Z, E
#define HOMING_FEEDRATE {2500, 3000, 800, 0} // set the homing speeds (mm/min) // 3000 is also valid for stallGuard homing. Valid range: 2200 - 3000 #define HOMING_FEEDRATE {3000, 3000, 800, 0} // set the homing speeds (mm/min) // 3000 is also valid for stallGuard homing. Valid range: 2200 - 3000
//#define DEFAULT_MAX_FEEDRATE {400, 400, 12, 120} // (mm/sec) #define DEFAULT_MAX_FEEDRATE {500, 500, 12, 120} // (mm/sec) max feedrate (M203)
#define DEFAULT_MAX_FEEDRATE {500, 500, 12, 120} // (mm/sec) #define DEFAULT_MAX_ACCELERATION {1000, 1000, 200, 5000} // (mm/sec^2) max acceleration (M201)
#define DEFAULT_MAX_ACCELERATION {1000, 1000, 200, 5000} // X, Y, Z, E maximum start speed for accelerated moves. E default values are good for Skeinforge 40+, for older versions raise them a lot.
#define DEFAULT_ACCELERATION 1250 // X, Y, Z and E max acceleration in mm/s^2 for printing moves
#define DEFAULT_RETRACT_ACCELERATION 1250 // X, Y, Z and E max acceleration in mm/s^2 for retracts #define DEFAULT_ACCELERATION 1250 // X, Y, Z and E max acceleration in mm/s^2 for printing moves (M204S)
#define DEFAULT_RETRACT_ACCELERATION 1250 // X, Y, Z and E max acceleration in mm/s^2 for retracts (M204T)
#define MANUAL_FEEDRATE {2700, 2700, 1000, 100} // set the speeds for manual moves (mm/min) #define MANUAL_FEEDRATE {2700, 2700, 1000, 100} // set the speeds for manual moves (mm/min)
//#define MAX_SILENT_FEEDRATE 2700 //
//Silent mode limits
#define SILENT_MAX_ACCEL_X 800 // X-axis max acceleration in silent mode in mm/s^2
#define SILENT_MAX_ACCEL_Y 800 // Y-axis max axxeleration in silent mode in mm/s^2
#define SILENT_MAX_ACCEL_X_ST (100*SILENT_MAX_ACCEL_X) // X max accel in steps/s^2
#define SILENT_MAX_ACCEL_Y_ST (100*SILENT_MAX_ACCEL_Y) // Y max accel in steps/s^2
#define SILENT_MAX_FEEDRATE 80 //because mode switched to normal for homming in mm/s, this value limits also homing, it should be greater (80mm/s=4800mm/min>2700mm/min)
//cannot compile (ultralcd.cpp, line 6165), please FIX
#define END_FILE_SECTION 0
#define Z_AXIS_ALWAYS_ON 1 #define Z_AXIS_ALWAYS_ON 1
@ -512,8 +521,6 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
#define DEFAULT_RETRACTION 1 //used for PINDA temp calibration and pause print #define DEFAULT_RETRACTION 1 //used for PINDA temp calibration and pause print
#endif #endif
#define END_FILE_SECTION 10000 //number of bytes from end of file used for checking if file is complete
// How much shall the print head be lifted on power panic? // How much shall the print head be lifted on power panic?
// Ideally the Z axis will reach a zero phase of the stepper driver on power outage. To simplify this, // Ideally the Z axis will reach a zero phase of the stepper driver on power outage. To simplify this,
// UVLO_Z_AXIS_SHIFT shall be an integer multiply of the stepper driver cycle, that is 4x full step. // UVLO_Z_AXIS_SHIFT shall be an integer multiply of the stepper driver cycle, that is 4x full step.

33
Firmware/planner.cpp
View File

@ -63,6 +63,10 @@
#include "mesh_bed_calibration.h" #include "mesh_bed_calibration.h"
#endif #endif
#ifdef TMC2130
#include "tmc2130.h"
#endif //TMC2130
//=========================================================================== //===========================================================================
//=============================public variables ============================ //=============================public variables ============================
//=========================================================================== //===========================================================================
@ -997,8 +1001,16 @@ Having the real displacement of the head, we can calculate the total movement le
for(int i=0; i < 4; i++) for(int i=0; i < 4; i++)
{ {
current_speed[i] = delta_mm[i] * inverse_second; current_speed[i] = delta_mm[i] * inverse_second;
#ifdef TMC2130
float max_fr = max_feedrate[i];
if ((tmc2130_mode == TMC2130_MODE_SILENT) && (i < 2))
max_fr = SILENT_MAX_FEEDRATE;
if(fabs(current_speed[i]) > max_fr)
speed_factor = min(speed_factor, max_fr / fabs(current_speed[i]));
#else //TMC2130
if(fabs(current_speed[i]) > max_feedrate[i]) if(fabs(current_speed[i]) > max_feedrate[i])
speed_factor = min(speed_factor, max_feedrate[i] / fabs(current_speed[i])); speed_factor = min(speed_factor, max_feedrate[i] / fabs(current_speed[i]));
#endif //TMC2130
} }
// Correct the speed // Correct the speed
@ -1023,6 +1035,26 @@ Having the real displacement of the head, we can calculate the total movement le
else else
{ {
block->acceleration_st = ceil(acceleration * steps_per_mm); // convert to: acceleration steps/sec^2 block->acceleration_st = ceil(acceleration * steps_per_mm); // convert to: acceleration steps/sec^2
#ifdef TMC2130
if (tmc2130_mode == TMC2130_MODE_SILENT)
{
if(((float)block->acceleration_st * (float)block->steps_x / (float)block->step_event_count) > SILENT_MAX_ACCEL_X_ST)
block->acceleration_st = SILENT_MAX_ACCEL_X_ST;
if(((float)block->acceleration_st * (float)block->steps_y / (float)block->step_event_count) > SILENT_MAX_ACCEL_Y_ST)
block->acceleration_st = SILENT_MAX_ACCEL_Y_ST;
}
else
{
if(((float)block->acceleration_st * (float)block->steps_x / (float)block->step_event_count) > axis_steps_per_sqr_second[X_AXIS])
block->acceleration_st = axis_steps_per_sqr_second[X_AXIS];
if(((float)block->acceleration_st * (float)block->steps_y / (float)block->step_event_count) > axis_steps_per_sqr_second[Y_AXIS])
block->acceleration_st = axis_steps_per_sqr_second[Y_AXIS];
}
if(((float)block->acceleration_st * (float)block->steps_e / (float)block->step_event_count) > axis_steps_per_sqr_second[E_AXIS])
block->acceleration_st = axis_steps_per_sqr_second[E_AXIS];
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];
#else //TMC2130
// Limit acceleration per axis // Limit acceleration per axis
//FIXME Vojtech: One shall rather limit a projection of the acceleration vector instead of using the limit. //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 / (float)block->step_event_count) > axis_steps_per_sqr_second[X_AXIS]) if(((float)block->acceleration_st * (float)block->steps_x / (float)block->step_event_count) > axis_steps_per_sqr_second[X_AXIS])
@ -1033,6 +1065,7 @@ Having the real displacement of the head, we can calculate the total movement le
block->acceleration_st = axis_steps_per_sqr_second[E_AXIS]; block->acceleration_st = axis_steps_per_sqr_second[E_AXIS];
if(((float)block->acceleration_st * (float)block->steps_z / (float)block->step_event_count ) > axis_steps_per_sqr_second[Z_AXIS]) 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]; block->acceleration_st = axis_steps_per_sqr_second[Z_AXIS];
#endif //TMC2130
} }
// Acceleration of the segment, in mm/sec^2 // Acceleration of the segment, in mm/sec^2
block->acceleration = block->acceleration_st / steps_per_mm; block->acceleration = block->acceleration_st / steps_per_mm;