From fb8e880734bb099b80b031ee2b876e628a50135e Mon Sep 17 00:00:00 2001
From: Sebastianv650 <sebastian_v650@kabelmail.de>
Date: Wed, 4 May 2016 18:53:17 +0200
Subject: [PATCH] Add LIN_ADVANCE
---
Marlin/Configuration_adv.h | 9 +++
Marlin/Marlin_main.cpp | 16 ++++++
Marlin/planner.cpp | 12 ++++
Marlin/planner.h | 4 ++
Marlin/stepper.cpp | 113 ++++++++++++++++++++++++++++++++++++-
Marlin/stepper.h | 27 ++++++++-
6 files changed, 178 insertions(+), 3 deletions(-)
diff --git a/Marlin/Configuration_adv.h b/Marlin/Configuration_adv.h
index 952da0fa7e..b90a2ee7e2 100644
--- a/Marlin/Configuration_adv.h
+++ b/Marlin/Configuration_adv.h
@@ -457,6 +457,15 @@
#define MESH_MAX_Y (Y_MAX_POS - (MESH_INSET))
#endif
+//Implementation of a linear pressure control
+//Assumption: advance = k * (delta velocity)
+//K=0 means advance disabled. A good value for a gregs wade extruder will be around K=75
+#define LIN_ADVANCE
+
+#if ENABLED(LIN_ADVANCE)
+ #define LIN_K 75
+#endif
+
// @section extras
// Arc interpretation settings:
diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index 73c7478377..e48ef2e59e 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -6468,6 +6468,16 @@ inline void gcode_M503() {
#endif // DUAL_X_CARRIAGE
+#if ENABLED(LIN_ADVANCE)
+/**
+ * M905: Set advance factor
+ */
+inline void gcode_M905() {
+ stepper.synchronize();
+ stepper.advance_M905();
+}
+#endif
+
/**
* M907: Set digital trimpot motor current using axis codes X, Y, Z, E, B, S
*/
@@ -7339,6 +7349,12 @@ void process_next_command() {
gcode_M605();
break;
#endif // DUAL_X_CARRIAGE
+
+ #if ENABLED(LIN_ADVANCE)
+ case 905: // M905 Set advance factor.
+ gcode_M905();
+ break;
+ #endif
case 907: // M907 Set digital trimpot motor current using axis codes.
gcode_M907();
diff --git a/Marlin/planner.cpp b/Marlin/planner.cpp
index bd60d75a1f..a0489c99fd 100644
--- a/Marlin/planner.cpp
+++ b/Marlin/planner.cpp
@@ -1045,6 +1045,18 @@ void Planner::check_axes_activity() {
// the maximum junction speed and may always be ignored for any speed reduction checks.
block->nominal_length_flag = (block->nominal_speed <= v_allowable);
block->recalculate_flag = true; // Always calculate trapezoid for new block
+
+ #ifdef LIN_ADVANCE
+ //bse = allsteps: A problem occures if there is a very tiny move before a retract.
+ //In this case, the retract and the move will be executed together. This leads to an enormus amount advance steps due to a hughe e_acceleration.
+ //The math is correct, but you don't want a retract move done with advance! This situation has to be filtered out.
+ if ((!bse || (!bsx && !bsy && !bsz)) || (stepper.get_advance_k() == 0) || (bse == allsteps)) {
+ block->use_advance_lead = false;
+ } else {
+ block->use_advance_lead = true;
+ block->e_speed_multiplier8 = (block->steps[E_AXIS] << 8) / block->step_event_count;
+ }
+ #endif
// Update previous path unit_vector and nominal speed
for (int i = 0; i < NUM_AXIS; i++) previous_speed[i] = current_speed[i];
diff --git a/Marlin/planner.h b/Marlin/planner.h
index 07de37134e..5c0d5e12aa 100644
--- a/Marlin/planner.h
+++ b/Marlin/planner.h
@@ -70,6 +70,10 @@ typedef struct {
volatile long final_advance;
float advance;
#endif
+ #ifdef LIN_ADVANCE
+ bool use_advance_lead;
+ int e_speed_multiplier8; //factorised by 2^8 to avoid float
+ #endif
// Fields used by the motion planner to manage acceleration
float nominal_speed, // The nominal speed for this block in mm/sec
diff --git a/Marlin/stepper.cpp b/Marlin/stepper.cpp
index f8e8a853c9..46d0f21e9d 100644
--- a/Marlin/stepper.cpp
+++ b/Marlin/stepper.cpp
@@ -351,6 +351,22 @@ void Stepper::isr() {
e_steps[current_block->active_extruder] += motor_direction(E_AXIS) ? -1 : 1;
}
#endif //ADVANCE
+
+ #if ENABLED(LIN_ADVANCE)
+ counter_E += current_block->steps[E_AXIS];
+ if (counter_E > 0) {
+ counter_E -= current_block->step_event_count;
+ count_position[_AXIS(E)] += count_direction[_AXIS(E)];
+ e_steps[current_block->active_extruder] += motor_direction(E_AXIS) ? -1 : 1;
+ }
+
+ if (current_block->use_advance_lead){
+ int delta_adv_steps; //Maybe a char would be enough?
+ delta_adv_steps = (((long)extruder_advance_k * current_estep_rate[current_block->active_extruder]) >> 9) - current_adv_steps[current_block->active_extruder];
+ e_steps[current_block->active_extruder] += delta_adv_steps;
+ current_adv_steps[current_block->active_extruder] += delta_adv_steps;
+ }
+ #endif //LIN_ADVANCE
#define _COUNTER(AXIS) counter_## AXIS
#define _APPLY_STEP(AXIS) AXIS ##_APPLY_STEP
@@ -363,7 +379,7 @@ void Stepper::isr() {
STEP_ADD(X);
STEP_ADD(Y);
STEP_ADD(Z);
- #if DISABLED(ADVANCE)
+ #if (DISABLED(ADVANCE) && DISABLED(LIN_ADVANCE))
STEP_ADD(E);
#endif
@@ -377,7 +393,7 @@ void Stepper::isr() {
STEP_IF_COUNTER(X);
STEP_IF_COUNTER(Y);
STEP_IF_COUNTER(Z);
- #if DISABLED(ADVANCE)
+ #if (DISABLED(ADVANCE) && DISABLED(LIN_ADVANCE))
STEP_IF_COUNTER(E);
#endif
@@ -398,6 +414,12 @@ void Stepper::isr() {
timer = calc_timer(acc_step_rate);
OCR1A = timer;
acceleration_time += timer;
+
+ #if ENABLED(LIN_ADVANCE)
+ if (current_block->use_advance_lead){
+ current_estep_rate[current_block->active_extruder] = ((unsigned long)acc_step_rate * current_block->e_speed_multiplier8) >> 8;
+ }
+ #endif
#if ENABLED(ADVANCE)
@@ -424,6 +446,12 @@ void Stepper::isr() {
timer = calc_timer(step_rate);
OCR1A = timer;
deceleration_time += timer;
+
+ #if ENABLED(LIN_ADVANCE)
+ if (current_block->use_advance_lead){
+ current_estep_rate[current_block->active_extruder] = ((unsigned long)step_rate * current_block->e_speed_multiplier8) >> 8;
+ }
+ #endif
#if ENABLED(ADVANCE)
advance -= advance_rate * step_loops;
@@ -436,6 +464,12 @@ void Stepper::isr() {
#endif //ADVANCE
}
else {
+ #ifdef LIN_ADVANCE
+ if (current_block->use_advance_lead){
+ current_estep_rate[current_block->active_extruder] = final_estep_rate;
+ }
+ #endif
+
OCR1A = OCR1A_nominal;
// ensure we're running at the correct step rate, even if we just came off an acceleration
step_loops = step_loops_nominal;
@@ -491,6 +525,55 @@ void Stepper::isr() {
#endif // ADVANCE
+#if ENABLED(LIN_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) { stepper.advance_isr(); }
+
+void Stepper::advance_isr() {
+ old_OCR0A += 52; // ~10kHz interrupt (250000 / 26 = 9615kHz) war 52
+ OCR0A = old_OCR0A;
+
+#define STEP_E_ONCE(INDEX) \
+ if (e_steps[INDEX] != 0) { \
+ E## INDEX ##_STEP_WRITE(INVERT_E_STEP_PIN); \
+ if (e_steps[INDEX] < 0) { \
+ E## INDEX ##_DIR_WRITE(INVERT_E## INDEX ##_DIR); \
+ e_steps[INDEX]++; \
+ } \
+ else if (e_steps[INDEX] > 0) { \
+ E## INDEX ##_DIR_WRITE(!INVERT_E## INDEX ##_DIR); \
+ e_steps[INDEX]--; \
+ } \
+ E## INDEX ##_STEP_WRITE(!INVERT_E_STEP_PIN); \
+ }
+
+ // Step all E steppers that have steps, up to 4 steps per interrupt
+ for (unsigned char i = 0; i < 4; i++) {
+ #if EXTRUDERS > 3
+ switch(current_block->active_extruder){case 3:STEP_E_ONCE(3);break;case 2:STEP_E_ONCE(2);break;case 1:STEP_E_ONCE(1);break;default:STEP_E_ONCE(0);}
+ #elif EXTRUDERS > 2
+ switch(current_block->active_extruder){case 2:STEP_E_ONCE(2);break;case 1:STEP_E_ONCE(1);break;default:STEP_E_ONCE(0);}
+ #elif EXTRUDERS > 1
+ #if DISABLED(DUAL_X_CARRIAGE)
+ if(current_block->active_extruder == 1){STEP_E_ONCE(1)}else{STEP_E_ONCE(0);}
+ #else
+ extern bool extruder_duplication_enabled;
+ if(extruder_duplication_enabled){
+ STEP_E_ONCE(0);
+ STEP_E_ONCE(1);
+ }else {
+ if(current_block->active_extruder == 1){STEP_E_ONCE(1)}else{STEP_E_ONCE(0);}
+ }
+ #endif
+ #else
+ STEP_E_ONCE(0);
+ #endif
+ }
+}
+#endif // LIN_ADVANCE
+
void Stepper::init() {
digipot_init(); //Initialize Digipot Motor Current
@@ -655,6 +738,18 @@ void Stepper::init() {
OCR1A = 0x4000;
TCNT1 = 0;
ENABLE_STEPPER_DRIVER_INTERRUPT();
+
+ #if ENABLED(LIN_ADVANCE)
+ for (int i = 0; i < EXTRUDERS; i++){
+ e_steps[i] = 0;
+ current_adv_steps[i] = 0;
+ }
+ #if defined(TCCR0A) && defined(WGM01)
+ CBI(TCCR0A, WGM01);
+ CBI(TCCR0A, WGM00);
+ #endif
+ SBI(TIMSK0, OCIE0A);
+ #endif //LIN_ADVANCE
#if ENABLED(ADVANCE)
#if defined(TCCR0A) && defined(WGM01)
@@ -1040,3 +1135,17 @@ void Stepper::microstep_readings() {
SERIAL_PROTOCOLLN(digitalRead(E1_MS2_PIN));
#endif
}
+
+#if ENABLED(LIN_ADVANCE)
+ void Stepper::advance_M905() {
+ if (code_seen('K')) extruder_advance_k = code_value();
+ SERIAL_ECHO_START;
+ SERIAL_ECHOPGM("Advance factor:");
+ SERIAL_CHAR(' ');
+ SERIAL_ECHOLN(extruder_advance_k);
+ }
+
+ int Stepper::get_advance_k(){
+ return extruder_advance_k;
+ }
+#endif
diff --git a/Marlin/stepper.h b/Marlin/stepper.h
index 1aebe366c0..e9d1191bc3 100644
--- a/Marlin/stepper.h
+++ b/Marlin/stepper.h
@@ -93,6 +93,10 @@ class Stepper {
#if ENABLED(ADVANCE)
static long e_steps[EXTRUDERS];
#endif
+
+ #if ENABLED(LIN_ADVANCE)
+ int extruder_advance_k = LIN_K;
+ #endif
private:
@@ -111,6 +115,14 @@ class Stepper {
static unsigned char old_OCR0A;
static long advance_rate, advance, old_advance, final_advance;
#endif
+
+ #if ENABLED(LIN_ADVANCE)
+ unsigned char old_OCR0A;
+ volatile int e_steps[EXTRUDERS];
+ int final_estep_rate;
+ int current_estep_rate[EXTRUDERS]; //Actual extruder speed [steps/s]
+ int current_adv_steps[EXTRUDERS]; //The amount of current added esteps due to advance. Think of it as the current amount of pressure applied to the spring (=filament).
+ #endif
static long acceleration_time, deceleration_time;
//unsigned long accelerate_until, decelerate_after, acceleration_rate, initial_rate, final_rate, nominal_rate;
@@ -159,6 +171,12 @@ class Stepper {
#if ENABLED(ADVANCE)
static void advance_isr();
#endif
+
+ #if ENABLED(LIN_ADVANCE)
+ void advance_isr();
+ void advance_M905();
+ int get_advance_k();
+ #endif
//
// Block until all buffered steps are executed
@@ -315,6 +333,13 @@ class Stepper {
acc_step_rate = current_block->initial_rate;
acceleration_time = calc_timer(acc_step_rate);
OCR1A = acceleration_time;
+
+ #if ENABLED(LIN_ADVANCE)
+ if (current_block->use_advance_lead){
+ current_estep_rate[current_block->active_extruder] = ((unsigned long)acc_step_rate * current_block->e_speed_multiplier8) >> 8;
+ final_estep_rate = (current_block->nominal_rate * current_block->e_speed_multiplier8) >> 8;
+ }
+ #endif
// SERIAL_ECHO_START;
// SERIAL_ECHOPGM("advance :");
@@ -332,4 +357,4 @@ class Stepper {
};
-#endif // STEPPER_H
\ No newline at end of file
+#endif // STEPPER_H
--
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