BugFix for incorrect E-speed calculation
The extrusion speed was wrong due to a not high enough precision of esteps to XY steps, therefore now the target float values are used to calculate the ratio between XY movement and extrusion speed. The e_speed_multiplier8 was replaced by an absolute multiplier called abs_adv_steps_multiplier8, therefore one multiplication and bitshift can be saved inside the stepper ISR. Due to this, also extruder_advance_k is better suited inside the planner and not the stepper files any more.
This commit is contained in:
Sebastianv650
parent
fa6bf12697
commit
f9bea7968f
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@ -6988,7 +6988,7 @@ inline void gcode_M503() {
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*/
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inline void gcode_M905() {
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stepper.synchronize();
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stepper.advance_M905(code_seen('K') ? code_value_float() : -1.0);
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planner.advance_M905(code_seen('K') ? code_value_float() : -1.0);
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}
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#endif
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@ -131,6 +131,11 @@ float Planner::previous_speed[NUM_AXIS],
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long Planner::axis_segment_time[2][3] = { {MAX_FREQ_TIME + 1, 0, 0}, {MAX_FREQ_TIME + 1, 0, 0} };
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#endif
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#if ENABLED(LIN_ADVANCE)
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float Planner::extruder_advance_k = LIN_ADVANCE_K;
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float Planner::position_float[NUM_AXIS] = { 0 };
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#endif
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/**
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* Class and Instance Methods
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*/
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@ -140,6 +145,9 @@ Planner::Planner() { init(); }
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void Planner::init() {
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block_buffer_head = block_buffer_tail = 0;
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ZERO(position);
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#if ENABLED(LIN_ADVANCE)
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ZERO(position_float);
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#endif
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ZERO(previous_speed);
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previous_nominal_speed = 0.0;
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#if ABL_PLANAR
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@ -604,6 +612,14 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
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lround(c * axis_steps_per_mm[Z_AXIS]),
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lround(e * axis_steps_per_mm[E_AXIS])
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};
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#if ENABLED(LIN_ADVANCE)
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float target_float[XYZE] = {a, b, c, e};
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float de_float = target_float[E_AXIS] - position_float[E_AXIS];
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float mm_D_float = sqrt(sq(target_float[X_AXIS] - position_float[X_AXIS]) + sq(target_float[Y_AXIS] - position_float[Y_AXIS]));
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memcpy(position_float, target_float, sizeof(position_float));
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#endif
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long da = target[X_AXIS] - position[X_AXIS],
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db = target[Y_AXIS] - position[Y_AXIS],
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@ -1232,12 +1248,12 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
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// This leads to an enormous number of advance steps due to a huge e_acceleration.
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// The math is correct, but you don't want a retract move done with advance!
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// So this situation is filtered out here.
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if (!esteps || (!block->steps[X_AXIS] && !block->steps[Y_AXIS]) || stepper.get_advance_k() == 0 || (uint32_t)esteps == block->step_event_count) {
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if (!esteps || (!block->steps[X_AXIS] && !block->steps[Y_AXIS]) || extruder_advance_k == 0.0 || (uint32_t)esteps == block->step_event_count) {
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block->use_advance_lead = false;
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}
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else {
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block->use_advance_lead = true;
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block->e_speed_multiplier8 = (esteps << 8) / block->step_event_count;
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block->abs_adv_steps_multiplier8 = lround(extruder_advance_k * (de_float / mm_D_float) * block->nominal_speed / (float)block->nominal_rate * axis_steps_per_mm[Z_AXIS] * 256.0);
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}
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#elif ENABLED(ADVANCE)
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@ -1354,3 +1370,14 @@ void Planner::refresh_positioning() {
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}
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#endif
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#if ENABLED(LIN_ADVANCE)
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void Planner::advance_M905(const float &k) {
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if (k >= 0.0) extruder_advance_k = k;
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SERIAL_ECHO_START;
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SERIAL_ECHOPAIR("Advance factor: ", extruder_advance_k);
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SERIAL_EOL;
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}
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#endif
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@ -95,7 +95,7 @@ typedef struct {
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// Advance extrusion
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#if ENABLED(LIN_ADVANCE)
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bool use_advance_lead;
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int16_t e_speed_multiplier8; // Factorised by 2^8 to avoid float
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uint32_t abs_adv_steps_multiplier8; // Factorised by 2^8 to avoid float
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#elif ENABLED(ADVANCE)
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int32_t advance_rate;
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volatile int32_t initial_advance;
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@ -196,6 +196,11 @@ class Planner {
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// Segment times (in µs). Used for speed calculations
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static long axis_segment_time[2][3];
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#endif
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#if ENABLED(LIN_ADVANCE)
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static float position_float[NUM_AXIS];
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static float extruder_advance_k;
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#endif
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public:
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@ -245,6 +250,10 @@ class Planner {
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#define ARG_Z const float &lz
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#endif
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#if ENABLED(LIN_ADVANCE)
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void advance_M905(const float &k);
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#endif
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/**
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* Planner::_buffer_line
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@ -96,8 +96,7 @@ volatile uint32_t Stepper::step_events_completed = 0; // The number of step even
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#if ENABLED(LIN_ADVANCE)
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volatile int Stepper::e_steps[E_STEPPERS];
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int Stepper::extruder_advance_k = LIN_ADVANCE_K,
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Stepper::final_estep_rate,
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int Stepper::final_estep_rate,
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Stepper::current_estep_rate[E_STEPPERS],
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Stepper::current_adv_steps[E_STEPPERS];
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#else
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@ -534,7 +533,7 @@ void Stepper::isr() {
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#if ENABLED(LIN_ADVANCE)
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if (current_block->use_advance_lead) {
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int delta_adv_steps = (((long)extruder_advance_k * current_estep_rate[TOOL_E_INDEX]) >> 9) - current_adv_steps[TOOL_E_INDEX];
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int delta_adv_steps = current_estep_rate[TOOL_E_INDEX] - current_adv_steps[TOOL_E_INDEX];
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current_adv_steps[TOOL_E_INDEX] += delta_adv_steps;
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#if ENABLED(MIXING_EXTRUDER)
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// Mixing extruders apply advance lead proportionally
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@ -572,9 +571,9 @@ void Stepper::isr() {
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if (current_block->use_advance_lead) {
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#if ENABLED(MIXING_EXTRUDER)
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MIXING_STEPPERS_LOOP(j)
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current_estep_rate[j] = ((uint32_t)acc_step_rate * current_block->e_speed_multiplier8 * current_block->step_event_count / current_block->mix_event_count[j]) >> 8;
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current_estep_rate[j] = ((uint32_t)acc_step_rate * current_block->abs_adv_steps_multiplier8 * current_block->step_event_count / current_block->mix_event_count[j]) >> 17;
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#else
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current_estep_rate[TOOL_E_INDEX] = ((uint32_t)acc_step_rate * current_block->e_speed_multiplier8) >> 8;
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current_estep_rate[TOOL_E_INDEX] = ((uint32_t)acc_step_rate * current_block->abs_adv_steps_multiplier8) >> 17;
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#endif
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}
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@ -624,9 +623,9 @@ void Stepper::isr() {
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if (current_block->use_advance_lead) {
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#if ENABLED(MIXING_EXTRUDER)
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MIXING_STEPPERS_LOOP(j)
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current_estep_rate[j] = ((uint32_t)step_rate * current_block->e_speed_multiplier8 * current_block->step_event_count / current_block->mix_event_count[j]) >> 8;
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current_estep_rate[j] = ((uint32_t)step_rate * current_block->abs_adv_steps_multiplier8 * current_block->step_event_count / current_block->mix_event_count[j]) >> 17;
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#else
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current_estep_rate[TOOL_E_INDEX] = ((uint32_t)step_rate * current_block->e_speed_multiplier8) >> 8;
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current_estep_rate[TOOL_E_INDEX] = ((uint32_t)step_rate * current_block->abs_adv_steps_multiplier8) >> 17;
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#endif
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}
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@ -1350,14 +1349,3 @@ void Stepper::report_positions() {
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}
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#endif // HAS_MICROSTEPS
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#if ENABLED(LIN_ADVANCE)
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void Stepper::advance_M905(const float &k) {
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if (k >= 0) extruder_advance_k = k;
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SERIAL_ECHO_START;
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SERIAL_ECHOPAIR("Advance factor: ", extruder_advance_k);
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SERIAL_EOL;
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}
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#endif // LIN_ADVANCE
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@ -109,7 +109,6 @@ class Stepper {
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static volatile unsigned char eISR_Rate;
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#if ENABLED(LIN_ADVANCE)
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static volatile int e_steps[E_STEPPERS];
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static int extruder_advance_k;
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static int final_estep_rate;
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static int current_estep_rate[E_STEPPERS]; // Actual extruder speed [steps/s]
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static int current_adv_steps[E_STEPPERS]; // The amount of current added esteps due to advance.
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@ -277,11 +276,6 @@ class Stepper {
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return endstops_trigsteps[axis] * planner.steps_to_mm[axis];
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}
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#if ENABLED(LIN_ADVANCE)
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void advance_M905(const float &k);
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FORCE_INLINE int get_advance_k() { return extruder_advance_k; }
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#endif
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private:
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static FORCE_INLINE unsigned short calc_timer(unsigned short step_rate) {
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@ -367,8 +361,8 @@ class Stepper {
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#if ENABLED(LIN_ADVANCE)
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if (current_block->use_advance_lead) {
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current_estep_rate[current_block->active_extruder] = ((unsigned long)acc_step_rate * current_block->e_speed_multiplier8) >> 8;
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final_estep_rate = (current_block->nominal_rate * current_block->e_speed_multiplier8) >> 8;
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current_estep_rate[current_block->active_extruder] = ((unsigned long)acc_step_rate * current_block->abs_adv_steps_multiplier8) >> 17;
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final_estep_rate = (current_block->nominal_rate * current_block->abs_adv_steps_multiplier8) >> 17;
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}
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#endif
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