From 9d04f47d9809a22f2ed41cb8cc093ce68e5f5753 Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Mon, 11 Jun 2018 18:49:08 -0500 Subject: [PATCH] Improvements for junction_deviation_mm - Drop `max_jerk` with `JUNCTION_DEVIATION` - Add `max_e_jerk_factor` for use by `LIN_ADVANCE` - Recalculate `max_e_jerk_factor` when `junction_deviation_mm` changes - Fix LCD editing of `junction_deviation_mm` --- Marlin/src/gcode/config/M200-M205.cpp | 6 ++-- Marlin/src/gcode/config/M92.cpp | 4 ++- Marlin/src/lcd/ultralcd.cpp | 4 +-- Marlin/src/module/configuration_store.cpp | 22 ++++++++----- Marlin/src/module/planner.cpp | 24 +++++++++----- Marlin/src/module/planner.h | 38 +++++++++++++++-------- 6 files changed, 64 insertions(+), 34 deletions(-) diff --git a/Marlin/src/gcode/config/M200-M205.cpp b/Marlin/src/gcode/config/M200-M205.cpp index 2feab3c55e..c73f8da3cc 100644 --- a/Marlin/src/gcode/config/M200-M205.cpp +++ b/Marlin/src/gcode/config/M200-M205.cpp @@ -134,8 +134,10 @@ void GcodeSuite::M205() { #if ENABLED(JUNCTION_DEVIATION) if (parser.seen('J')) { const float junc_dev = parser.value_linear_units(); - if (WITHIN(junc_dev, 0.01, 0.3)) + if (WITHIN(junc_dev, 0.01, 0.3)) { planner.junction_deviation_mm = junc_dev; + planner.recalculate_max_e_jerk_factor(); + } else { SERIAL_ERROR_START(); SERIAL_ERRORLNPGM("?J out of range (0.01 to 0.3)"); @@ -151,8 +153,6 @@ void GcodeSuite::M205() { SERIAL_ECHOLNPGM("WARNING! Low Z Jerk may lead to unwanted pauses."); #endif } - #endif - #if DISABLED(JUNCTION_DEVIATION) || ENABLED(LIN_ADVANCE) if (parser.seen('E')) planner.max_jerk[E_AXIS] = parser.value_linear_units(); #endif } diff --git a/Marlin/src/gcode/config/M92.cpp b/Marlin/src/gcode/config/M92.cpp index 25c79fe0b8..c1b8ed2eec 100644 --- a/Marlin/src/gcode/config/M92.cpp +++ b/Marlin/src/gcode/config/M92.cpp @@ -39,7 +39,9 @@ void GcodeSuite::M92() { const float value = parser.value_per_axis_unit((AxisEnum)(E_AXIS + TARGET_EXTRUDER)); if (value < 20.0) { float factor = planner.axis_steps_per_mm[E_AXIS + TARGET_EXTRUDER] / value; // increase e constants if M92 E14 is given for netfab. - planner.max_jerk[E_AXIS] *= factor; + #if DISABLED(JUNCTION_DEVIATION) + planner.max_jerk[E_AXIS] *= factor; + #endif planner.max_feedrate_mm_s[E_AXIS + TARGET_EXTRUDER] *= factor; planner.max_acceleration_steps_per_s2[E_AXIS + TARGET_EXTRUDER] *= factor; } diff --git a/Marlin/src/lcd/ultralcd.cpp b/Marlin/src/lcd/ultralcd.cpp index 80e0240adc..9a7ad5c815 100644 --- a/Marlin/src/lcd/ultralcd.cpp +++ b/Marlin/src/lcd/ultralcd.cpp @@ -3752,7 +3752,7 @@ void lcd_quick_feedback(const bool clear_buttons) { MENU_BACK(MSG_MOTION); #if ENABLED(JUNCTION_DEVIATION) - MENU_ITEM_EDIT(float3, MSG_JUNCTION_DEVIATION, &planner.junction_deviation_mm, 0.01, 0.3); + MENU_ITEM_EDIT_CALLBACK(float43, MSG_JUNCTION_DEVIATION, &planner.junction_deviation_mm, 0.01, 0.3, planner.recalculate_max_e_jerk_factor); #else MENU_MULTIPLIER_ITEM_EDIT(float3, MSG_VA_JERK, &planner.max_jerk[A_AXIS], 1, 990); MENU_MULTIPLIER_ITEM_EDIT(float3, MSG_VB_JERK, &planner.max_jerk[B_AXIS], 1, 990); @@ -3761,8 +3761,8 @@ void lcd_quick_feedback(const bool clear_buttons) { #else MENU_MULTIPLIER_ITEM_EDIT(float52sign, MSG_VC_JERK, &planner.max_jerk[C_AXIS], 0.1, 990); #endif + MENU_MULTIPLIER_ITEM_EDIT(float3, MSG_VE_JERK, &planner.max_jerk[E_AXIS], 1, 990); #endif - MENU_MULTIPLIER_ITEM_EDIT(float3, MSG_VE_JERK, &planner.max_jerk[E_AXIS], 1, 990); END_MENU(); } diff --git a/Marlin/src/module/configuration_store.cpp b/Marlin/src/module/configuration_store.cpp index 3dbf3fa757..0a6e60b5d3 100644 --- a/Marlin/src/module/configuration_store.cpp +++ b/Marlin/src/module/configuration_store.cpp @@ -330,6 +330,10 @@ void MarlinSettings::postprocess() { fwretract.refresh_autoretract(); #endif + #if ENABLED(JUNCTION_DEVIATION) && ENABLED(LIN_ADVANCE) + planner.recalculate_max_e_jerk_factor(); + #endif + // Refresh steps_to_mm with the reciprocal of axis_steps_per_mm // and init stepper.count[], planner.position[] with current_position planner.refresh_positioning(); @@ -411,11 +415,13 @@ void MarlinSettings::postprocess() { EEPROM_WRITE(planner.travel_acceleration); EEPROM_WRITE(planner.min_feedrate_mm_s); EEPROM_WRITE(planner.min_travel_feedrate_mm_s); - EEPROM_WRITE(planner.max_jerk); #if ENABLED(JUNCTION_DEVIATION) + const float planner_max_jerk[] = { DEFAULT_XJERK, DEFAULT_YJERK, DEFAULT_ZJERK, DEFAULT_EJERK }; + EEPROM_WRITE(planner_max_jerk); EEPROM_WRITE(planner.junction_deviation_mm); #else + EEPROM_WRITE(planner.max_jerk); dummy = 0.02; EEPROM_WRITE(dummy); #endif @@ -1008,11 +1014,12 @@ void MarlinSettings::postprocess() { EEPROM_READ(planner.travel_acceleration); EEPROM_READ(planner.min_feedrate_mm_s); EEPROM_READ(planner.min_travel_feedrate_mm_s); - EEPROM_READ(planner.max_jerk); #if ENABLED(JUNCTION_DEVIATION) + for (uint8_t q = 4; q--;) EEPROM_READ(dummy); EEPROM_READ(planner.junction_deviation_mm); #else + EEPROM_READ(planner.max_jerk); EEPROM_READ(dummy); #endif @@ -1724,13 +1731,14 @@ void MarlinSettings::reset(PORTARG_SOLO) { planner.travel_acceleration = DEFAULT_TRAVEL_ACCELERATION; planner.min_feedrate_mm_s = DEFAULT_MINIMUMFEEDRATE; planner.min_travel_feedrate_mm_s = DEFAULT_MINTRAVELFEEDRATE; - planner.max_jerk[X_AXIS] = DEFAULT_XJERK; - planner.max_jerk[Y_AXIS] = DEFAULT_YJERK; - planner.max_jerk[Z_AXIS] = DEFAULT_ZJERK; - planner.max_jerk[E_AXIS] = DEFAULT_EJERK; #if ENABLED(JUNCTION_DEVIATION) planner.junction_deviation_mm = JUNCTION_DEVIATION_MM; + #else + planner.max_jerk[X_AXIS] = DEFAULT_XJERK; + planner.max_jerk[Y_AXIS] = DEFAULT_YJERK; + planner.max_jerk[Z_AXIS] = DEFAULT_ZJERK; + planner.max_jerk[E_AXIS] = DEFAULT_EJERK; #endif #if HAS_HOME_OFFSET @@ -2135,8 +2143,6 @@ void MarlinSettings::reset(PORTARG_SOLO) { SERIAL_ECHOPAIR_P(port, " X", LINEAR_UNIT(planner.max_jerk[X_AXIS])); SERIAL_ECHOPAIR_P(port, " Y", LINEAR_UNIT(planner.max_jerk[Y_AXIS])); SERIAL_ECHOPAIR_P(port, " Z", LINEAR_UNIT(planner.max_jerk[Z_AXIS])); - #endif - #if DISABLED(JUNCTION_DEVIATION) || ENABLED(LIN_ADVANCE) SERIAL_ECHOPAIR_P(port, " E", LINEAR_UNIT(planner.max_jerk[E_AXIS])); #endif diff --git a/Marlin/src/module/planner.cpp b/Marlin/src/module/planner.cpp index 87a3d1a2ae..db02c8f438 100644 --- a/Marlin/src/module/planner.cpp +++ b/Marlin/src/module/planner.cpp @@ -121,11 +121,15 @@ float Planner::max_feedrate_mm_s[XYZE_N], // (mm/s) M203 XYZE - Max speeds Planner::acceleration, // (mm/s^2) M204 S - Normal acceleration. DEFAULT ACCELERATION for all printing moves. Planner::retract_acceleration, // (mm/s^2) M204 R - Retract acceleration. Filament pull-back and push-forward while standing still in the other axes Planner::travel_acceleration, // (mm/s^2) M204 T - Travel acceleration. DEFAULT ACCELERATION for all NON printing moves. - Planner::max_jerk[XYZE], // (mm/s^2) M205 XYZE - The largest speed change requiring no acceleration. Planner::min_travel_feedrate_mm_s; // (mm/s) M205 T - Minimum travel feedrate #if ENABLED(JUNCTION_DEVIATION) float Planner::junction_deviation_mm; // (mm) M205 J + #if ENABLED(LIN_ADVANCE) + float Planner::max_e_jerk_factor; // Calculated from junction_deviation_mm + #endif +#else + float Planner::max_jerk[XYZE]; // (mm/s^2) M205 XYZE - The largest speed change requiring no acceleration. #endif #if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED) @@ -134,6 +138,9 @@ float Planner::max_feedrate_mm_s[XYZE_N], // (mm/s) M203 XYZE - Max speeds #if ENABLED(DISTINCT_E_FACTORS) uint8_t Planner::last_extruder = 0; // Respond to extruder change + #define _EINDEX (E_AXIS + active_extruder) +#else + #define _EINDEX E_AXIS #endif int16_t Planner::flow_percentage[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(100); // Extrusion factor for each extruder @@ -2021,6 +2028,13 @@ bool Planner::_populate_block(block_t * const block, bool split_move, accel = CEIL((esteps ? acceleration : travel_acceleration) * steps_per_mm); #if ENABLED(LIN_ADVANCE) + + #if ENABLED(JUNCTION_DEVIATION) + #define MAX_E_JERK (max_e_jerk_factor * max_acceleration_mm_per_s2[_EINDEX]) + #else + #define MAX_E_JERK max_jerk[E_AXIS] + #endif + /** * * Use LIN_ADVANCE for blocks if all these are true: @@ -2051,10 +2065,9 @@ bool Planner::_populate_block(block_t * const block, bool split_move, if (block->e_D_ratio > 3.0) block->use_advance_lead = false; else { - const uint32_t max_accel_steps_per_s2 = max_jerk[E_AXIS] / (extruder_advance_K * block->e_D_ratio) * steps_per_mm; + const uint32_t max_accel_steps_per_s2 = MAX_E_JERK / (extruder_advance_K * block->e_D_ratio) * steps_per_mm; #if ENABLED(LA_DEBUG) - if (accel > max_accel_steps_per_s2) - SERIAL_ECHOLNPGM("Acceleration limited."); + if (accel > max_accel_steps_per_s2) SERIAL_ECHOLNPGM("Acceleration limited."); #endif NOMORE(accel, max_accel_steps_per_s2); } @@ -2459,10 +2472,7 @@ bool Planner::buffer_segment(const float &a, const float &b, const float &c, con void Planner::_set_position_mm(const float &a, const float &b, const float &c, const float &e) { #if ENABLED(DISTINCT_E_FACTORS) - #define _EINDEX (E_AXIS + active_extruder) last_extruder = active_extruder; - #else - #define _EINDEX E_AXIS #endif position[A_AXIS] = LROUND(a * axis_steps_per_mm[A_AXIS]), position[B_AXIS] = LROUND(b * axis_steps_per_mm[B_AXIS]), diff --git a/Marlin/src/module/planner.h b/Marlin/src/module/planner.h index 2d880c8bd9..0e313152dd 100644 --- a/Marlin/src/module/planner.h +++ b/Marlin/src/module/planner.h @@ -195,21 +195,25 @@ class Planner { // May be auto-adjusted by a filament width sensor #endif - static uint32_t max_acceleration_steps_per_s2[XYZE_N], - max_acceleration_mm_per_s2[XYZE_N], // Use M201 to override - min_segment_time_us; // Use 'M205 B<µs>' to override - static float max_feedrate_mm_s[XYZE_N], // Max speeds in mm per second - axis_steps_per_mm[XYZE_N], - steps_to_mm[XYZE_N], - min_feedrate_mm_s, - acceleration, // Normal acceleration mm/s^2 DEFAULT ACCELERATION for all printing moves. M204 SXXXX - retract_acceleration, // Retract acceleration mm/s^2 filament pull-back and push-forward while standing still in the other axes M204 TXXXX - travel_acceleration, // Travel acceleration mm/s^2 DEFAULT ACCELERATION for all NON printing moves. M204 MXXXX - max_jerk[XYZE], // The largest speed change requiring no acceleration - min_travel_feedrate_mm_s; + static uint32_t max_acceleration_mm_per_s2[XYZE_N], // (mm/s^2) M201 XYZE + max_acceleration_steps_per_s2[XYZE_N], // (steps/s^2) Derived from mm_per_s2 + min_segment_time_us; // (µs) M205 B + static float max_feedrate_mm_s[XYZE_N], // (mm/s) M203 XYZE - Max speeds + axis_steps_per_mm[XYZE_N], // (steps) M92 XYZE - Steps per millimeter + steps_to_mm[XYZE_N], // (mm) Millimeters per step + min_feedrate_mm_s, // (mm/s) M205 S - Minimum linear feedrate + acceleration, // (mm/s^2) M204 S - Normal acceleration. DEFAULT ACCELERATION for all printing moves. + retract_acceleration, // (mm/s^2) M204 R - Retract acceleration. Filament pull-back and push-forward while standing still in the other axes + travel_acceleration, // (mm/s^2) M204 T - Travel acceleration. DEFAULT ACCELERATION for all NON printing moves. + min_travel_feedrate_mm_s; // (mm/s) M205 T - Minimum travel feedrate #if ENABLED(JUNCTION_DEVIATION) - static float junction_deviation_mm; // Initialized by EEPROM + static float junction_deviation_mm; // (mm) M205 J + #if ENABLED(LIN_ADVANCE) + static float max_e_jerk_factor; // Calculated from junction_deviation_mm + #endif + #else + static float max_jerk[XYZE]; // (mm/s^2) M205 XYZE - The largest speed change requiring no acceleration. #endif #if HAS_LEVELING @@ -745,6 +749,14 @@ class Planner { static void autotemp_M104_M109(); #endif + #if ENABLED(JUNCTION_DEVIATION) + FORCE_INLINE static void recalculate_max_e_jerk_factor() { + #if ENABLED(LIN_ADVANCE) + max_e_jerk_factor = SQRT(SQRT(0.5) * junction_deviation_mm) * RECIPROCAL(1.0 - SQRT(0.5)); + #endif + } + #endif + private: /**