From 5ae45bab1826fc9c743d62a52f55cea5fe124b6b Mon Sep 17 00:00:00 2001
From: studiodyne <42887851+studiodyne@users.noreply.github.com>
Date: Mon, 27 Apr 2020 12:59:52 +0200
Subject: [PATCH] Adjustable XY_FREQUENCY_LIMIT (#17583)
---
Marlin/Configuration_adv.h | 14 +++--
Marlin/src/gcode/config/M200-M205.cpp | 5 ++
Marlin/src/lcd/language/language_en.h | 2 +
Marlin/src/lcd/language/language_fr.h | 2 +
Marlin/src/lcd/menu/menu_advanced.cpp | 12 +++-
Marlin/src/module/planner.cpp | 80 +++++++++++++--------------
Marlin/src/module/planner.h | 32 ++++++-----
7 files changed, 84 insertions(+), 63 deletions(-)
diff --git a/Marlin/Configuration_adv.h b/Marlin/Configuration_adv.h
index e01f71d7e2..7a125b06d7 100644
--- a/Marlin/Configuration_adv.h
+++ b/Marlin/Configuration_adv.h
@@ -784,10 +784,16 @@
#define SLOWDOWN_DIVISOR 2
#endif
-// Frequency limit
-// See nophead's blog for more info
-// Not working O
-//#define XY_FREQUENCY_LIMIT 15
+/**
+ * XY Frequency limit
+ * Reduce resonance by limiting the frequency of small zigzag infill moves.
+ * See http://hydraraptor.blogspot.com/2010/12/frequency-limit.html
+ * Use M201 F<freq> G<min%> to change limits at runtime.
+ */
+//#define XY_FREQUENCY_LIMIT 10 // (Hz) Maximum frequency of small zigzag infill moves. Set with M201 F<hertz>.
+#ifdef XY_FREQUENCY_LIMIT
+ #define XY_FREQUENCY_MIN_PERCENT 5 // (percent) Minimum FR percentage to apply. Set with M201 G<min%>.
+#endif
// Minimum planner junction speed. Sets the default minimum speed the planner plans for at the end
// of the buffer and all stops. This should not be much greater than zero and should only be changed
diff --git a/Marlin/src/gcode/config/M200-M205.cpp b/Marlin/src/gcode/config/M200-M205.cpp
index 30e6f0f564..b717dc3365 100644
--- a/Marlin/src/gcode/config/M200-M205.cpp
+++ b/Marlin/src/gcode/config/M200-M205.cpp
@@ -60,6 +60,11 @@ void GcodeSuite::M201() {
const int8_t target_extruder = get_target_extruder_from_command();
if (target_extruder < 0) return;
+ #ifdef XY_FREQUENCY_LIMIT
+ if (parser.seenval('F')) planner.set_frequency_limit(parser.value_byte());
+ if (parser.seenval('G')) planner.xy_freq_min_speed_factor = constrain(parser.value_float(), 1, 100) / 100;
+ #endif
+
LOOP_XYZE(i) {
if (parser.seen(axis_codes[i])) {
const uint8_t a = (i == E_AXIS ? uint8_t(E_AXIS_N(target_extruder)) : i);
diff --git a/Marlin/src/lcd/language/language_en.h b/Marlin/src/lcd/language/language_en.h
index e9cd043e6d..f9fb84cc80 100644
--- a/Marlin/src/lcd/language/language_en.h
+++ b/Marlin/src/lcd/language/language_en.h
@@ -301,6 +301,8 @@ namespace Language_en {
PROGMEM Language_Str MSG_AMAX_EN = _UxGT("Amax *");
PROGMEM Language_Str MSG_A_RETRACT = _UxGT("A-Retract");
PROGMEM Language_Str MSG_A_TRAVEL = _UxGT("A-Travel");
+ PROGMEM Language_Str MSG_XY_FREQUENCY_LIMIT = _UxGT("Frequency max");
+ PROGMEM Language_Str MSG_XY_FREQUENCY_FEEDRATE = _UxGT("Feed min");
PROGMEM Language_Str MSG_STEPS_PER_MM = _UxGT("Steps/mm");
PROGMEM Language_Str MSG_A_STEPS = LCD_STR_A _UxGT("steps/mm");
PROGMEM Language_Str MSG_B_STEPS = LCD_STR_B _UxGT("steps/mm");
diff --git a/Marlin/src/lcd/language/language_fr.h b/Marlin/src/lcd/language/language_fr.h
index 23258b9015..3daac87a28 100644
--- a/Marlin/src/lcd/language/language_fr.h
+++ b/Marlin/src/lcd/language/language_fr.h
@@ -262,6 +262,8 @@ namespace Language_fr {
PROGMEM Language_Str MSG_ACCELERATION = _UxGT("Accélération");
PROGMEM Language_Str MSG_A_RETRACT = _UxGT("Acc.rétraction");
PROGMEM Language_Str MSG_A_TRAVEL = _UxGT("Acc.course");
+ PROGMEM Language_Str MSG_XY_FREQUENCY_LIMIT = _UxGT("Fréquence max");
+ PROGMEM Language_Str MSG_XY_FREQUENCY_FEEDRATE = _UxGT("Vitesse min");
PROGMEM Language_Str MSG_STEPS_PER_MM = _UxGT("Pas/mm");
PROGMEM Language_Str MSG_A_STEPS = LCD_STR_A _UxGT(" pas/mm");
PROGMEM Language_Str MSG_B_STEPS = LCD_STR_B _UxGT(" pas/mm");
diff --git a/Marlin/src/lcd/menu/menu_advanced.cpp b/Marlin/src/lcd/menu/menu_advanced.cpp
index 166442079d..0322ad1ff2 100644
--- a/Marlin/src/lcd/menu/menu_advanced.cpp
+++ b/Marlin/src/lcd/menu/menu_advanced.cpp
@@ -405,9 +405,9 @@ void menu_cancelobject();
#endif
#define EDIT_AMAX(Q,L) EDIT_ITEM_FAST(long5_25, MSG_AMAX_##Q, &planner.settings.max_acceleration_mm_per_s2[_AXIS(Q)], L, max_accel_edit_scaled[_AXIS(Q)], []{ planner.reset_acceleration_rates(); })
- EDIT_AMAX(A,100);
- EDIT_AMAX(B,100);
- EDIT_AMAX(C, 10);
+ EDIT_AMAX(A, 100);
+ EDIT_AMAX(B, 100);
+ EDIT_AMAX(C, 10);
#if ENABLED(DISTINCT_E_FACTORS)
EDIT_ITEM_FAST(long5_25, MSG_AMAX_E, &planner.settings.max_acceleration_mm_per_s2[E_AXIS_N(active_extruder)], 100, max_accel_edit_scaled.e, []{ planner.reset_acceleration_rates(); });
@@ -417,6 +417,12 @@ void menu_cancelobject();
EDIT_ITEM_FAST(long5_25, MSG_AMAX_E, &planner.settings.max_acceleration_mm_per_s2[E_AXIS], 100, max_accel_edit_scaled.e, []{ planner.reset_acceleration_rates(); });
#endif
+ #ifdef XY_FREQUENCY_LIMIT
+ EDIT_ITEM(uint16_3, MSG_XY_FREQUENCY_LIMIT, &planner.xy_freq_limit_hz, 0, 100, refresh_frequency_limit(), true);
+ editable.uint8 = ROUND(planner.xy_freq_min_speed_factor * 255 * 100); // percent to u8
+ EDIT_ITEM(percent, MSG_XY_FREQUENCY_FEEDRATE, &editable.uint8, 3, 255, []{ planner.set_min_speed_factor_u8(editable.uint8); }, true);
+ #endif
+
END_MENU();
}
diff --git a/Marlin/src/module/planner.cpp b/Marlin/src/module/planner.cpp
index 0643ba1cb3..ad9dffe4ea 100644
--- a/Marlin/src/module/planner.cpp
+++ b/Marlin/src/module/planner.cpp
@@ -113,7 +113,7 @@
Planner planner;
- // public:
+// public:
/**
* A ring buffer of moves described in steps
@@ -200,10 +200,9 @@ float Planner::previous_nominal_speed_sqr;
#endif
#ifdef XY_FREQUENCY_LIMIT
- // Old direction bits. Used for speed calculations
- unsigned char Planner::old_direction_bits = 0;
- // Segment times (in µs). Used for speed calculations
- xy_ulong_t Planner::axis_segment_time_us[3] = { { MAX_FREQ_TIME_US + 1, MAX_FREQ_TIME_US + 1 } };
+ int8_t Planner::xy_freq_limit_hz = XY_FREQUENCY_LIMIT;
+ float Planner::xy_freq_min_speed_factor = (XY_FREQUENCY_MIN_PERCENT) * 0.01f;
+ int32_t Planner::xy_freq_min_interval_us = LROUND(1000000.0 / (XY_FREQUENCY_LIMIT));
#endif
#if ENABLED(LIN_ADVANCE)
@@ -2006,7 +2005,7 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
// Slow down when the buffer starts to empty, rather than wait at the corner for a buffer refill
#if EITHER(SLOWDOWN, ULTRA_LCD) || defined(XY_FREQUENCY_LIMIT)
// Segment time im micro seconds
- uint32_t segment_time_us = LROUND(1000000.0f / inverse_secs);
+ int32_t segment_time_us = LROUND(1000000.0f / inverse_secs);
#endif
#if ENABLED(SLOWDOWN)
@@ -2014,9 +2013,10 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
#define SLOWDOWN_DIVISOR 2
#endif
if (WITHIN(moves_queued, 2, (BLOCK_BUFFER_SIZE) / (SLOWDOWN_DIVISOR) - 1)) {
- if (segment_time_us < settings.min_segment_time_us) {
- // buffer is draining, add extra time. The amount of time added increases if the buffer is still emptied more.
- const uint32_t nst = segment_time_us + LROUND(2 * (settings.min_segment_time_us - segment_time_us) / moves_queued);
+ const int32_t time_diff = settings.min_segment_time_us - segment_time_us;
+ if (time_diff > 0) {
+ // Buffer is draining so add extra time. The amount of time added increases if the buffer is still emptied more.
+ const int32_t nst = segment_time_us + LROUND(2 * time_diff / moves_queued);
inverse_secs = 1000000.0f / nst;
#if defined(XY_FREQUENCY_LIMIT) || HAS_SPI_LCD
segment_time_us = nst;
@@ -2072,42 +2072,36 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
}
#endif
- // Max segment time in µs.
#ifdef XY_FREQUENCY_LIMIT
- // Check and limit the xy direction change frequency
- const unsigned char direction_change = block->direction_bits ^ old_direction_bits;
- old_direction_bits = block->direction_bits;
- segment_time_us = LROUND((float)segment_time_us / speed_factor);
-
- uint32_t xs0 = axis_segment_time_us[0].x,
- xs1 = axis_segment_time_us[1].x,
- xs2 = axis_segment_time_us[2].x,
- ys0 = axis_segment_time_us[0].y,
- ys1 = axis_segment_time_us[1].y,
- ys2 = axis_segment_time_us[2].y;
-
- if (TEST(direction_change, X_AXIS)) {
- xs2 = axis_segment_time_us[2].x = xs1;
- xs1 = axis_segment_time_us[1].x = xs0;
- xs0 = 0;
- }
- xs0 = axis_segment_time_us[0].x = xs0 + segment_time_us;
+ static uint8_t old_direction_bits; // = 0
- if (TEST(direction_change, Y_AXIS)) {
- ys2 = axis_segment_time_us[2].y = axis_segment_time_us[1].y;
- ys1 = axis_segment_time_us[1].y = axis_segment_time_us[0].y;
- ys0 = 0;
- }
- ys0 = axis_segment_time_us[0].y = ys0 + segment_time_us;
-
- const uint32_t max_x_segment_time = _MAX(xs0, xs1, xs2),
- max_y_segment_time = _MAX(ys0, ys1, ys2),
- min_xy_segment_time = _MIN(max_x_segment_time, max_y_segment_time);
- if (min_xy_segment_time < MAX_FREQ_TIME_US) {
- const float low_sf = speed_factor * min_xy_segment_time / (MAX_FREQ_TIME_US);
- NOMORE(speed_factor, low_sf);
+ if (xy_freq_limit_hz) {
+ // Check and limit the xy direction change frequency
+ const uint8_t direction_change = block->direction_bits ^ old_direction_bits;
+ old_direction_bits = block->direction_bits;
+ segment_time_us = LROUND(float(segment_time_us) / speed_factor);
+
+ static int32_t xs0, xs1, xs2, ys0, ys1, ys2;
+ if (segment_time_us > xy_freq_min_interval_us)
+ xs2 = xs1 = ys2 = ys1 = xy_freq_min_interval_us;
+ else {
+ xs2 = xs1; xs1 = xs0;
+ ys2 = ys1; ys1 = ys0;
+ }
+ xs0 = TEST(direction_change, X_AXIS) ? segment_time_us : xy_freq_min_interval_us;
+ ys0 = TEST(direction_change, Y_AXIS) ? segment_time_us : xy_freq_min_interval_us;
+
+ if (segment_time_us < xy_freq_min_interval_us) {
+ const int32_t least_xy_segment_time = _MIN(_MAX(xs0, xs1, xs2), _MAX(ys0, ys1, ys2));
+ if (least_xy_segment_time < xy_freq_min_interval_us) {
+ float freq_xy_feedrate = (speed_factor * least_xy_segment_time) / xy_freq_min_interval_us;
+ NOLESS(freq_xy_feedrate, xy_freq_min_speed_factor);
+ NOMORE(speed_factor, freq_xy_feedrate);
+ }
+ }
}
+
#endif // XY_FREQUENCY_LIMIT
// Correct the speed
@@ -2832,7 +2826,7 @@ void Planner::set_max_jerk(const AxisEnum axis, float targetValue) {
const bool was_enabled = stepper.suspend();
#endif
- millis_t bbru = block_buffer_runtime_us;
+ uint32_t bbru = block_buffer_runtime_us;
#ifdef __AVR__
// Reenable Stepper ISR
@@ -2844,7 +2838,7 @@ void Planner::set_max_jerk(const AxisEnum axis, float targetValue) {
// Doesn't matter because block_buffer_runtime_us is already too small an estimation.
bbru >>= 10;
// limit to about a minute.
- NOMORE(bbru, 0xFFFFul);
+ NOMORE(bbru, 0x0000FFFFUL);
return bbru;
}
diff --git a/Marlin/src/module/planner.h b/Marlin/src/module/planner.h
index bf585320de..e9658f2c60 100644
--- a/Marlin/src/module/planner.h
+++ b/Marlin/src/module/planner.h
@@ -352,6 +352,23 @@ class Planner {
#if ENABLED(SD_ABORT_ON_ENDSTOP_HIT)
static bool abort_on_endstop_hit;
#endif
+ #ifdef XY_FREQUENCY_LIMIT
+ static int8_t xy_freq_limit_hz; // Minimum XY frequency setting
+ static float xy_freq_min_speed_factor; // Minimum speed factor setting
+ static int32_t xy_freq_min_interval_us; // Minimum segment time based on xy_freq_limit_hz
+ static inline void refresh_frequency_limit() {
+ //xy_freq_min_interval_us = xy_freq_limit_hz ?: LROUND(1000000.0f / xy_freq_limit_hz);
+ if (xy_freq_limit_hz)
+ xy_freq_min_interval_us = LROUND(1000000.0f / xy_freq_limit_hz);
+ }
+ static inline void set_min_speed_factor_u8(const uint8_t v255) {
+ xy_freq_min_speed_factor = float(ui8_to_percent(v255)) / 100;
+ }
+ static inline void set_frequency_limit(const uint8_t hz) {
+ xy_freq_limit_hz = constrain(hz, 0, 100);
+ refresh_frequency_limit();
+ }
+ #endif
private:
@@ -375,23 +392,12 @@ class Planner {
#endif
#if ENABLED(DISABLE_INACTIVE_EXTRUDER)
- /**
- * Counters to manage disabling inactive extruders
- */
+ // Counters to manage disabling inactive extruders
static uint8_t g_uc_extruder_last_move[EXTRUDERS];
- #endif // DISABLE_INACTIVE_EXTRUDER
-
- #ifdef XY_FREQUENCY_LIMIT
- // Used for the frequency limit
- #define MAX_FREQ_TIME_US (uint32_t)(1000000.0 / XY_FREQUENCY_LIMIT)
- // Old direction bits. Used for speed calculations
- static unsigned char old_direction_bits;
- // Segment times (in µs). Used for speed calculations
- static xy_ulong_t axis_segment_time_us[3];
#endif
#if HAS_SPI_LCD
- volatile static uint32_t block_buffer_runtime_us; //Theoretical block buffer runtime in µs
+ volatile static uint32_t block_buffer_runtime_us; // Theoretical block buffer runtime in µs
#endif
public:
--
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