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Some advance modifications

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1 parent 6b86f15 commit af22e9cd38c9684bd64cc7307137abe9efbba6d0 @ErikZalm ErikZalm committed Dec 4, 2011
Showing with 41 additions and 18 deletions.
  1. +2 −2 Marlin/Configuration.h
  2. +9 −3 Marlin/planner.cpp
  3. +30 −13 Marlin/stepper.cpp
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4 Marlin/Configuration.h
@@ -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)
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12 Marlin/planner.cpp
@@ -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
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43 Marlin/stepper.cpp
@@ -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;
@@ -253,13 +253,27 @@ 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
acc_step_rate = current_block->initial_rate;
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);

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