Handle uniformly compression & decompression at any stage of the
trapezoid.
Compared to before, this now enables LA compression also in the cruising
step (handling the converse of a chained wipe), as well as decompression
during acceleration.
Both of these can happen as a result of jerk moves, but are incredibly
rare. This is mostly needed to allow rapid decompression directly at the
acceleration step during travels between a retraction&deretraction.
We also check for the pressure level in a single place, reducing code
size as well as disabling LA earlier when not needed for the rest of the
block.
Perform the check one step earlier, avoiding 32bit overflow for very low
compression factors.
Fixes#2566 (although for K15 to have effect the conversion probably
needs to be adjusted on the low end)
LA assumes all the nozzle pressure is released at the end of each
extrusion, which makes calculating the required pressure advance during
travels and retracts not normally necessary.
This is not always true in our planner, since the E axis is explicitly
ignored when not in use, but also due to E-jerk allowing a non-linear
jump in speed. And since the compression factor is currently tied by XYZ
axes and not independently calculated, this can result in a wrong
estimation of final pressure in several conditions.
To avoid overburdening the planner, change the underlying assumptions
about backpressure:
1) Pressure is no longer lost when LA is disabled: if a retract is
followed by an unretract of the same length, the pressure will be likely
maintained entirely. This also holds true during travels, as long as the
retract length can overcome all the backpressure (which is the case in
all but the most noodly materials)
2) Pressure is released as soon as possible during travels: we now
enable LA also during travels, but under the sole condition of undoing
excess pressure.
We do that by checking for backpressure at the start of any segment
without an acceleration phase that doesn't have any E-steps (a result
which can happen due to the above). If pressure is not nominal, we run
the extruder in reverse at maximum jerk as long as the segment allows
us, since proper acceleration would be prohibitive at this stage. As the
pressure difference resulting by the above is still _very_ low, any wipe
or short travel will be able to equalize the nozzle pressure *before*
extrusion is resumed, avoiding ooze.
In the current code we initialize the LA state on-demand already at the
right step, which makes keeping track of the tick position no longer
necessary.
Make the advance ISR almost stateless by removing the last vestiges of
the original implementation and introduce a single target pressure. This
will be needed later in order to trigger the LA isr inside the cruising
phase.
I forgot to change also the
- `#ifdef DEBUG_DCODE_3` to `#if defined DEBUG_DCODE3 || defined DEBUG_DCODES`
- `#ifdef DEBUG_DCODE_5` to `#if defined DEBUG_DCODE5 || defined DEBUG_DCODES`
in the `Dcodes.h` file which I added to `Dcodes.cpp`.
Due to this issue the "Debug" version fails during compiling.
Sorry for that.
* Fix missing (hex) in D5 code
* Make ALL D-codes available for DEBUG mode
until now D3 and D5 needed to be defined separately
* Forgot to modify Marlin_main
Some EEPROM allocations do not use the hole allocated space:
- EEPROM_FARM_NUMBER is only numeric 000-999 and only uses 2 bytes to store the Farm number BUT allocated 3 bytes. Added EEPROM_FREE_NR1 as free space that can be used
- EEPROM_CRASH_DET just changes 1 byte to save it status [on/off] but allocated 5 bytes. Added EEPROM_FREE_NR2 to EEPROM_FREE_NR5 as free space that can be used
Just after setting up the w2m matrix, call "clamp_to_software_endstops"
on the current_position (initially [0,0,0]) to move it to the effective
minimal position, which is usually [0,0,non-zero] due to MIN_Z and the
negative probe offset.
This is required to calculate correctly the first relative move:
planning X+10 would unexpectedly calculate a Z shift otherwise.
Tune the "soft" filament recheck to be more in-line with the latest
changes. Relax the thresholds so that a poorly tracking filament
that managed to trigger a recheck can still pass as long as /some/
motion is detected.
Hide the unused fsensor_oq_result() behind the FSENSOR_QUALITY define,
which is likely broken currently anyway.
Cleanup and simplify all the OQ defines.
When doing a PAT9125 "soft check", use two different speeds between
retraction and extrusion. This increases the chances that we can
track the surface.
Depending on the filament surface and moving speed, the PAT9125 sensor
can stop being able to track movement.
In such cases, instead of triggering false errors and/or relying on
previous states, read and use the exposure data off the sensor and
increase error counts only for poorly exposed images instead, which
is a good indicator of a far-away (or missing!) tracking surface.
Rewrite the logic behind the "chunking"/error count behind the PAT9125.
Basic idea: check the _direction_ of movement returned by the optical
sensor and compare it to the direction of the stepper. To avoid doing
this continuosly (and because the optical sensor doesn't necessarily
have the accuracy to track small distances), do so in chunks.
Each time a chunk doesn't match the expected direction, increase the
error count.
Several improvements were done to the previous code:
- Increase the chunk window: this ensures that a filament with
poor response returns an usable direction, while also moving the
average return values from the sensor in the middle of the 12 bits
available for maximum effectiveness.
- Since the returned values are more reliable, reduce the error count
(1.25mm*4 = ~5mm before runout detection)
- Track _both_ positive and negative movement, although only trigger
errors during extrusion (necessary due to several assumptions made
in the mmu/unloading code)
- Do not reset the counters for each block: accumulate distances
correctly, allowing detection of any block lenght.
When the error count is cleared, the cumulative deltas as well as the
segment lenght which is kept inside the stepper isr need to be reset.
Introduce a helper function fsensor_reset_err_cnt to clear all the
required variables in one place which can be used in most cases
(the only exceptions being quality measument).
Introduce a new function st_reset_fsensor to also clear the segment
lenght within the isr.
- Hide all prototypes related to PAT9125 to force all callers
to check for the proper sensor, since the handling differences
are substantial
- Remove unneeded lenght accounting from the stepper isr as as
consequence.
- Keep detailed soft failure counts for the MK3 on the "last print
failures" status screen, but fix build on variants without a PAT9125
by fixing the lcd stats function.
The filament sensor "chunk lenght" needs to be updated every time the
E axis resolution is changed in order to trigger at the same distance.
Introduce a new function fsensor_set_axis_steps_per_unit() and use
it consistent during init, in M92 and M350.
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).
When calculating the advance tick interval, be sure to check for integer
overflow. Very low step rates can result in values exceeding uint16_t
causing premature LA tick delivery.
An overflow resulting in zero would also block in an infinite loop
within advance_spread().
Even though such rates are worthless in terms of compensation and often
result in 0 extra ticks as well, do not disable LA for the block (as
doing so would reset the count for short segments) and do not check for
zero in multiple paces either.
Saturate the interval instead, delaying any further tick to the next
block.
M24 was always cleaning the last print failstats. But because M24 is
used to restore a print after power failure (by setting the seek
offset), it would also reset the stats incorrectly after resuming.
Check for the file index position and reset the stats only when a print
is started from the beginning of the file.
Apply the same logic to M32 and similarly handle the LA10->15 conversion
(do not re-apply the adjustment for a resumed print).
There is a chance that current_block can be NULL despite
the queue being non-empty. This can happen early after a block has been
queued, but before the isr has picked it up for processing, and/or when
the current block is at the last step and is being discarded.
Check for current_block directly to avoid this race.
Both during early init and in uvlo_tiny, display "POWER PANIC DETECTED"
if enough charge is left.
This is not worth doing in regular uvlo_, as we want to give full
priority to the X motor
