Add n_arc_correction and enhanced small angle sin/cos approximation.

This commit is contained in:
FormerLurker 2021-01-12 15:44:39 -06:00 committed by Alex Voinea
parent 58d9916d54
commit 6fc8155cbe
12 changed files with 199 additions and 127 deletions

View file

@ -34,8 +34,8 @@ static bool EEPROM_writeData(uint8_t* pos, uint8_t* value, uint8_t size, const c
#ifdef DEBUG_EEPROM_WRITE
printf_P(PSTR("EEPROM_WRITE_VAR addr=0x%04x size=0x%02x name=%s\n"), pos, size, name);
#endif //DEBUG_EEPROM_WRITE
while (size--)
{
while (size--)
{
eeprom_update_byte(pos, *value);
if (eeprom_read_byte(pos) != *value) {
@ -43,9 +43,9 @@ static bool EEPROM_writeData(uint8_t* pos, uint8_t* value, uint8_t size, const c
return false;
}
pos++;
value++;
}
pos++;
value++;
}
return true;
}
@ -89,8 +89,8 @@ void Config_StoreSettings()
void Config_PrintSettings(uint8_t level)
{ // Always have this function, even with EEPROM_SETTINGS disabled, the current values will be shown
#ifdef TMC2130
printf_P(PSTR(
"%SSteps per unit:\n%S M92 X%.2f Y%.2f Z%.2f E%.2f\n"
printf_P(PSTR(
"%SSteps per unit:\n%S M92 X%.2f Y%.2f Z%.2f E%.2f\n"
"%SUStep resolution: \n%S M350 X%d Y%d Z%d E%d\n"
"%SMaximum feedrates - normal (mm/s):\n%S M203 X%.2f Y%.2f Z%.2f E%.2f\n"
"%SMaximum feedrates - stealth (mm/s):\n%S M203 X%.2f Y%.2f Z%.2f E%.2f\n"
@ -125,54 +125,54 @@ void Config_PrintSettings(uint8_t level)
echomagic, echomagic, cs.minimumfeedrate, cs.mintravelfeedrate, cs.minsegmenttime, cs.max_jerk[X_AXIS], cs.max_jerk[Y_AXIS], cs.max_jerk[Z_AXIS], cs.max_jerk[E_AXIS],
echomagic, echomagic, cs.add_homing[X_AXIS], cs.add_homing[Y_AXIS], cs.add_homing[Z_AXIS]
#endif //TMC2130
);
);
#ifdef PIDTEMP
printf_P(PSTR("%SPID settings:\n%S M301 P%.2f I%.2f D%.2f\n"),
echomagic, echomagic, cs.Kp, unscalePID_i(cs.Ki), unscalePID_d(cs.Kd));
printf_P(PSTR("%SPID settings:\n%S M301 P%.2f I%.2f D%.2f\n"),
echomagic, echomagic, cs.Kp, unscalePID_i(cs.Ki), unscalePID_d(cs.Kd));
#endif
#ifdef PIDTEMPBED
printf_P(PSTR("%SPID heatbed settings:\n%S M304 P%.2f I%.2f D%.2f\n"),
echomagic, echomagic, cs.bedKp, unscalePID_i(cs.bedKi), unscalePID_d(cs.bedKd));
printf_P(PSTR("%SPID heatbed settings:\n%S M304 P%.2f I%.2f D%.2f\n"),
echomagic, echomagic, cs.bedKp, unscalePID_i(cs.bedKi), unscalePID_d(cs.bedKd));
#endif
#ifdef FWRETRACT
printf_P(PSTR(
"%SRetract: S=Length (mm) F:Speed (mm/m) Z: ZLift (mm)\n%S M207 S%.2f F%.2f Z%.2f\n"
"%SRecover: S=Extra length (mm) F:Speed (mm/m)\n%S M208 S%.2f F%.2f\n"
"%SAuto-Retract: S=0 to disable, 1 to interpret extrude-only moves as retracts or recoveries\n%S M209 S%d\n"
),
echomagic, echomagic, cs.retract_length, cs.retract_feedrate*60, cs.retract_zlift,
echomagic, echomagic, cs.retract_recover_length, cs.retract_recover_feedrate*60,
echomagic, echomagic, (cs.autoretract_enabled ? 1 : 0)
);
printf_P(PSTR(
"%SRetract: S=Length (mm) F:Speed (mm/m) Z: ZLift (mm)\n%S M207 S%.2f F%.2f Z%.2f\n"
"%SRecover: S=Extra length (mm) F:Speed (mm/m)\n%S M208 S%.2f F%.2f\n"
"%SAuto-Retract: S=0 to disable, 1 to interpret extrude-only moves as retracts or recoveries\n%S M209 S%d\n"
),
echomagic, echomagic, cs.retract_length, cs.retract_feedrate*60, cs.retract_zlift,
echomagic, echomagic, cs.retract_recover_length, cs.retract_recover_feedrate*60,
echomagic, echomagic, (cs.autoretract_enabled ? 1 : 0)
);
#if EXTRUDERS > 1
printf_P(PSTR("%SMulti-extruder settings:\n%S Swap retract length (mm): %.2f\n%S Swap rec. addl. length (mm): %.2f\n"),
echomagic, echomagic, retract_length_swap, echomagic, retract_recover_length_swap);
printf_P(PSTR("%SMulti-extruder settings:\n%S Swap retract length (mm): %.2f\n%S Swap rec. addl. length (mm): %.2f\n"),
echomagic, echomagic, retract_length_swap, echomagic, retract_recover_length_swap);
#endif
if (cs.volumetric_enabled) {
printf_P(PSTR("%SFilament settings:\n%S M200 D%.2f\n"),
echomagic, echomagic, cs.filament_size[0]);
if (cs.volumetric_enabled) {
printf_P(PSTR("%SFilament settings:\n%S M200 D%.2f\n"),
echomagic, echomagic, cs.filament_size[0]);
#if EXTRUDERS > 1
printf_P(PSTR("%S M200 T1 D%.2f\n"),
echomagic, echomagic, cs.filament_size[1]);
printf_P(PSTR("%S M200 T1 D%.2f\n"),
echomagic, echomagic, cs.filament_size[1]);
#if EXTRUDERS > 2
printf_P(PSTR("%S M200 T1 D%.2f\n"),
echomagic, echomagic, cs.filament_size[2]);
printf_P(PSTR("%S M200 T1 D%.2f\n"),
echomagic, echomagic, cs.filament_size[2]);
#endif
#endif
} else {
printf_P(PSTR("%SFilament settings: Disabled\n"), echomagic);
}
#endif
if (level >= 10) {
if (level >= 10) {
#ifdef LIN_ADVANCE
printf_P(PSTR("%SLinear advance settings:%S M900 K%.2f\n"),
printf_P(PSTR("%SLinear advance settings:%S M900 K%.2f\n"),
echomagic, echomagic, extruder_advance_K);
#endif //LIN_ADVANCE
}
}
// Arc Interpolation Settings
printf_P(PSTR(
"%SArc Settings: P=Arc segment length max (mm) S=Arc segment length Min (mm), R=Min arc segments, F=Arc segments per second.\n%S M214 P%.2f S%.2f R%d F%d\n"),
echomagic, echomagic, cs.mm_per_arc_segment, cs.min_mm_per_arc_segment, cs.min_arc_segments, cs.arc_segments_per_sec);
"%SArc Settings: P=Arc segment length max (mm) S=Arc segment length Min (mm), N=Num Segments Per Correction, R=Min arc segments, F=Arc segments per second.\n%S M214 P%.2f S%.2f N%d R%d F%d\n"),
echomagic, echomagic, cs.mm_per_arc_segment, cs.min_mm_per_arc_segment, cs.n_arc_correction, cs.min_arc_segments, cs.arc_segments_per_sec);
}
#endif
@ -188,7 +188,7 @@ static_assert (false, "zprobe_zoffset was not initialized in printers in field t
"0.0, if this is not acceptable, increment EEPROM_VERSION to force use default_conf");
#endif
static_assert (sizeof(M500_conf) == 208, "sizeof(M500_conf) has changed, ensure that EEPROM_VERSION has been incremented, "
static_assert (sizeof(M500_conf) == 209, "sizeof(M500_conf) has changed, ensure that EEPROM_VERSION has been incremented, "
"or if you added members in the end of struct, ensure that historically uninitialized values will be initialized."
"If this is caused by change to more then 8bit processor, decide whether make this struct packed to save EEPROM,"
"leave as it is to keep fast code, or reorder struct members to pack more tightly.");
@ -260,7 +260,7 @@ static bool is_uninitialized(void* addr, uint8_t len)
//! @retval false Failed. Default settings has been retrieved, because of older version or corrupted data.
bool Config_RetrieveSettings()
{
bool previous_settings_retrieved = true;
bool previous_settings_retrieved = true;
char ver[4]=EEPROM_VERSION;
EEPROM_readData(reinterpret_cast<uint8_t*>(EEPROM_M500_base->version), reinterpret_cast<uint8_t*>(cs.version), sizeof(cs.version), "cs.version"); //read stored version
// SERIAL_ECHOLN("Version: [" << ver << "] Stored version: [" << cs.version << "]");
@ -270,7 +270,7 @@ bool Config_RetrieveSettings()
EEPROM_readData(reinterpret_cast<uint8_t*>(EEPROM_M500_base), reinterpret_cast<uint8_t*>(&cs), sizeof(cs), "cs");
calculate_extruder_multipliers();
//if max_feedrate_silent and max_acceleration_units_per_sq_second_silent were never stored to eeprom, use default values:
//if max_feedrate_silent and max_acceleration_units_per_sq_second_silent were never stored to eeprom, use default values:
for (uint8_t i = 0; i < (sizeof(cs.max_feedrate_silent)/sizeof(cs.max_feedrate_silent[0])); ++i)
{
const uint32_t erased = 0xffffffff;
@ -284,32 +284,33 @@ bool Config_RetrieveSettings()
// Initialize arc interpolation settings if they are not already (Not sure about this bit, please review)
if (is_uninitialized(cs.mm_per_arc_segment, sizeof(float))) cs.mm_per_arc_segment = DEFAULT_MM_PER_ARC_SEGMENT;
if (is_uninitialized(cs.min_mm_per_arc_segment, sizeof(float))) cs.min_mm_per_arc_segment = DEFAULT_MIN_MM_PER_ARC_SEGMENT;
if (is_uninitialized(cs.n_arc_correction), sizeof(uint8_t)) cs.n_arc_correction = DEFAULT_N_ARC_CORRECTION;
if (is_uninitialized(cs.min_arc_segments, sizeof(uint16_t))) cs.min_arc_segments = DEFAULT_MIN_ARC_SEGMENTS;
if (is_uninitialized(cs.arc_segments_per_sec, sizeof(uint16_t))) cs.arc_segments_per_sec = DEFAULT_ARC_SEGMENTS_PER_SEC;
#ifdef TMC2130
for (uint8_t j = X_AXIS; j <= Y_AXIS; j++)
{
if (cs.max_feedrate_normal[j] > NORMAL_MAX_FEEDRATE_XY)
cs.max_feedrate_normal[j] = NORMAL_MAX_FEEDRATE_XY;
if (cs.max_feedrate_silent[j] > SILENT_MAX_FEEDRATE_XY)
cs.max_feedrate_silent[j] = SILENT_MAX_FEEDRATE_XY;
if (cs.max_acceleration_units_per_sq_second_normal[j] > NORMAL_MAX_ACCEL_XY)
cs.max_acceleration_units_per_sq_second_normal[j] = NORMAL_MAX_ACCEL_XY;
if (cs.max_acceleration_units_per_sq_second_silent[j] > SILENT_MAX_ACCEL_XY)
cs.max_acceleration_units_per_sq_second_silent[j] = SILENT_MAX_ACCEL_XY;
}
for (uint8_t j = X_AXIS; j <= Y_AXIS; j++)
{
if (cs.max_feedrate_normal[j] > NORMAL_MAX_FEEDRATE_XY)
cs.max_feedrate_normal[j] = NORMAL_MAX_FEEDRATE_XY;
if (cs.max_feedrate_silent[j] > SILENT_MAX_FEEDRATE_XY)
cs.max_feedrate_silent[j] = SILENT_MAX_FEEDRATE_XY;
if (cs.max_acceleration_units_per_sq_second_normal[j] > NORMAL_MAX_ACCEL_XY)
cs.max_acceleration_units_per_sq_second_normal[j] = NORMAL_MAX_ACCEL_XY;
if (cs.max_acceleration_units_per_sq_second_silent[j] > SILENT_MAX_ACCEL_XY)
cs.max_acceleration_units_per_sq_second_silent[j] = SILENT_MAX_ACCEL_XY;
}
if(cs.axis_ustep_resolution[X_AXIS] == 0xff){ cs.axis_ustep_resolution[X_AXIS] = TMC2130_USTEPS_XY; }
if(cs.axis_ustep_resolution[Y_AXIS] == 0xff){ cs.axis_ustep_resolution[Y_AXIS] = TMC2130_USTEPS_XY; }
if(cs.axis_ustep_resolution[Z_AXIS] == 0xff){ cs.axis_ustep_resolution[Z_AXIS] = TMC2130_USTEPS_Z; }
if(cs.axis_ustep_resolution[E_AXIS] == 0xff){ cs.axis_ustep_resolution[E_AXIS] = TMC2130_USTEPS_E; }
if(cs.axis_ustep_resolution[X_AXIS] == 0xff){ cs.axis_ustep_resolution[X_AXIS] = TMC2130_USTEPS_XY; }
if(cs.axis_ustep_resolution[Y_AXIS] == 0xff){ cs.axis_ustep_resolution[Y_AXIS] = TMC2130_USTEPS_XY; }
if(cs.axis_ustep_resolution[Z_AXIS] == 0xff){ cs.axis_ustep_resolution[Z_AXIS] = TMC2130_USTEPS_Z; }
if(cs.axis_ustep_resolution[E_AXIS] == 0xff){ cs.axis_ustep_resolution[E_AXIS] = TMC2130_USTEPS_E; }
tmc2130_set_res(X_AXIS, cs.axis_ustep_resolution[X_AXIS]);
tmc2130_set_res(Y_AXIS, cs.axis_ustep_resolution[Y_AXIS]);
tmc2130_set_res(Z_AXIS, cs.axis_ustep_resolution[Z_AXIS]);
tmc2130_set_res(E_AXIS, cs.axis_ustep_resolution[E_AXIS]);
tmc2130_set_res(X_AXIS, cs.axis_ustep_resolution[X_AXIS]);
tmc2130_set_res(Y_AXIS, cs.axis_ustep_resolution[Y_AXIS]);
tmc2130_set_res(Z_AXIS, cs.axis_ustep_resolution[Z_AXIS]);
tmc2130_set_res(E_AXIS, cs.axis_ustep_resolution[E_AXIS]);
#endif //TMC2130
if(is_uninitialized(&cs.travel_acceleration, sizeof(cs.travel_acceleration)))
@ -317,27 +318,27 @@ bool Config_RetrieveSettings()
reset_acceleration_rates();
// Call updatePID (similar to when we have processed M301)
updatePID();
// Call updatePID (similar to when we have processed M301)
updatePID();
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM("Stored settings retrieved");
}
else
{
Config_ResetDefault();
//Return false to inform user that eeprom version was changed and firmware is using default hardcoded settings now.
//In case that storing to eeprom was not used yet, do not inform user that hardcoded settings are used.
if (eeprom_read_byte(reinterpret_cast<uint8_t*>(&(EEPROM_M500_base->version[0]))) != 0xFF ||
eeprom_read_byte(reinterpret_cast<uint8_t*>(&(EEPROM_M500_base->version[1]))) != 0xFF ||
eeprom_read_byte(reinterpret_cast<uint8_t*>(&(EEPROM_M500_base->version[2]))) != 0xFF)
{
previous_settings_retrieved = false;
}
//Return false to inform user that eeprom version was changed and firmware is using default hardcoded settings now.
//In case that storing to eeprom was not used yet, do not inform user that hardcoded settings are used.
if (eeprom_read_byte(reinterpret_cast<uint8_t*>(&(EEPROM_M500_base->version[0]))) != 0xFF ||
eeprom_read_byte(reinterpret_cast<uint8_t*>(&(EEPROM_M500_base->version[1]))) != 0xFF ||
eeprom_read_byte(reinterpret_cast<uint8_t*>(&(EEPROM_M500_base->version[2]))) != 0xFF)
{
previous_settings_retrieved = false;
}
}
#ifdef EEPROM_CHITCHAT
Config_PrintSettings();
#endif
return previous_settings_retrieved;
return previous_settings_retrieved;
}
#endif
@ -345,14 +346,14 @@ void Config_ResetDefault()
{
memcpy_P(&cs,&default_conf, sizeof(cs));
// steps per sq second need to be updated to agree with the units per sq second
// steps per sq second need to be updated to agree with the units per sq second
reset_acceleration_rates();
#ifdef PIDTEMP
updatePID();
#endif//PIDTEMP
calculate_extruder_multipliers();
calculate_extruder_multipliers();
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM("Hardcoded Default Settings Loaded");