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Some advance modifications

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This commit is contained in:
Erik van der Zalm 2011-12-04 19:54:07 +01:00
parent 6b86f15686
commit af22e9cd38
3 changed files with 41 additions and 18 deletions
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4
Marlin/Configuration.h
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@ -278,8 +278,8 @@ const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of th
#ifdef ADVANCE
#define EXTRUDER_ADVANCE_K .3
#define D_FILAMENT 1.7
#define STEPS_MM_E 65
#define D_FILAMENT 2.85
#define STEPS_MM_E 836
#define EXTRUTION_AREA (0.25 * D_FILAMENT * D_FILAMENT * 3.14159)
#define STEPS_PER_CUBIC_MM_E (axis_steps_per_unit[E_AXIS]/ EXTRUTION_AREA)

12
Marlin/planner.cpp
View file

@ -198,7 +198,6 @@ void calculate_trapezoid_for_block(block_t *block, float entry_factor, float exi
// block->accelerate_until = accelerate_steps;
// block->decelerate_after = accelerate_steps+plateau_steps;
CRITICAL_SECTION_START; // Fill variables used by the stepper in a critical section
if(block->busy == false) { // Don't update variables if block is busy.
block->accelerate_until = accelerate_steps;
@ -482,7 +481,7 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
// Bail if this is a zero-length block
if (block->step_event_count <=dropsegments) { return; };
// Compute direction bits for this block
// Compute direction bits for this block
block->direction_bits = 0;
if (target[X_AXIS] < position[X_AXIS]) { block->direction_bits |= (1<<X_AXIS); }
if (target[Y_AXIS] < position[Y_AXIS]) { block->direction_bits |= (1<<Y_AXIS); }
@ -722,7 +721,7 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
else {
long acc_dist = estimate_acceleration_distance(0, block->nominal_rate, block->acceleration_st);
float advance = (STEPS_PER_CUBIC_MM_E * EXTRUDER_ADVANCE_K) *
(current_speed[E_AXIS] * current_speed[E_AXIS] * EXTRUTION_AREA * EXTRUTION_AREA / 3600.0)*65536;
(current_speed[E_AXIS] * current_speed[E_AXIS] * EXTRUTION_AREA * EXTRUTION_AREA)*256;
block->advance = advance;
if(acc_dist == 0) {
block->advance_rate = 0;
@ -731,6 +730,13 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
block->advance_rate = advance / (float)acc_dist;
}
}
/*
SERIAL_ECHO_START;
SERIAL_ECHOPGM("advance :");
SERIAL_ECHO(block->advance/256.0);
SERIAL_ECHOPGM("advance rate :");
SERIAL_ECHOLN(block->advance_rate/256.0);
*/
#endif // ADVANCE

43
Marlin/stepper.cpp
View file

@ -55,9 +55,9 @@ static long counter_x, // Counter variables for the bresenham line tracer
volatile static unsigned long step_events_completed; // The number of step events executed in the current block
#ifdef ADVANCE
static long advance_rate, advance, final_advance = 0;
static short old_advance = 0;
static long old_advance = 0;
#endif
static short e_steps;
static long e_steps;
static unsigned char busy = false; // TRUE when SIG_OUTPUT_COMPARE1A is being serviced. Used to avoid retriggering that handler.
static long acceleration_time, deceleration_time;
//static unsigned long accelerate_until, decelerate_after, acceleration_rate, initial_rate, final_rate, nominal_rate;
@ -253,6 +253,9 @@ FORCE_INLINE void trapezoid_generator_reset() {
#ifdef ADVANCE
advance = current_block->initial_advance;
final_advance = current_block->final_advance;
// Do E steps + advance steps
e_steps += ((advance >>8) - old_advance);
old_advance = advance >>8;
#endif
deceleration_time = 0;
// step_rate to timer interval
@ -260,6 +263,17 @@ FORCE_INLINE void trapezoid_generator_reset() {
acceleration_time = calc_timer(acc_step_rate);
OCR1A = acceleration_time;
OCR1A_nominal = calc_timer(current_block->nominal_rate);
// SERIAL_ECHO_START;
// SERIAL_ECHOPGM("advance :");
// SERIAL_ECHO(current_block->advance/256.0);
// SERIAL_ECHOPGM("advance rate :");
// SERIAL_ECHO(current_block->advance_rate/256.0);
// SERIAL_ECHOPGM("initial advance :");
// SERIAL_ECHO(current_block->initial_advance/256.0);
// SERIAL_ECHOPGM("final advance :");
// SERIAL_ECHOLN(current_block->final_advance/256.0);
}
// "The Stepper Driver Interrupt" - This timer interrupt is the workhorse.
@ -382,6 +396,9 @@ ISR(TIMER1_COMPA_vect)
count_direction[E_AXIS]=-1;
}
#endif //!ADVANCE
for(int8_t i=0; i < step_loops; i++) { // Take multiple steps per interrupt (For high speed moves)
MSerial.checkRx(); // Check for serial chars.
@ -390,19 +407,12 @@ ISR(TIMER1_COMPA_vect)
if (counter_e > 0) {
counter_e -= current_block->step_event_count;
if ((out_bits & (1<<E_AXIS)) != 0) { // - direction
CRITICAL_SECTION_START;
e_steps--;
CRITICAL_SECTION_END;
}
else {
CRITICAL_SECTION_START;
e_steps++;
CRITICAL_SECTION_END;
}
}
// Do E steps + advance steps
e_steps += ((advance >> 16) - old_advance);
old_advance = advance >> 16;
#endif //ADVANCE
counter_x += current_block->steps_x;
@ -461,6 +471,11 @@ ISR(TIMER1_COMPA_vect)
for(int8_t i=0; i < step_loops; i++) {
advance += advance_rate;
}
//if(advance > current_block->advance) advance = current_block->advance;
// Do E steps + advance steps
e_steps += ((advance >>8) - old_advance);
old_advance = advance >>8;
#endif
}
else if (step_events_completed > current_block->decelerate_after) {
@ -485,8 +500,10 @@ ISR(TIMER1_COMPA_vect)
for(int8_t i=0; i < step_loops; i++) {
advance -= advance_rate;
}
if(advance < final_advance)
advance = final_advance;
if(advance < final_advance) advance = final_advance;
// Do E steps + advance steps
e_steps += ((advance >>8) - old_advance);
old_advance = advance >>8;
#endif //ADVANCE
}
else {
@ -507,7 +524,7 @@ ISR(TIMER1_COMPA_vect)
// Timer 0 is shared with millies
ISR(TIMER0_COMPA_vect)
{
old_OCR0A += 25; // ~10kHz interrupt
old_OCR0A += 52; // ~10kHz interrupt (250000 / 26 = 9615kHz)
OCR0A = old_OCR0A;
// Set E direction (Depends on E direction + advance)
for(unsigned char i=0; i<4;) {
@ -519,7 +536,7 @@ ISR(TIMER1_COMPA_vect)
e_steps++;
WRITE(E_STEP_PIN, HIGH);
}
if (e_steps > 0) {
else if (e_steps > 0) {
WRITE(E_DIR_PIN,!INVERT_E_DIR);
e_steps--;
WRITE(E_STEP_PIN, HIGH);