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Merge pull request #5371 from thinkyhead/rc_extruders_can_differ

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Allow distinct factors for multiple extruders
master
Scott Lahteine 8 years ago committed by GitHub
parent 1aca2dfe0c 4bafdf4b66
commit b6b100c471
29 changed files with 495 additions and 131 deletions
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12
Marlin/Conditionals_LCD.h
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@ -316,6 +316,18 @@
#define TOOL_E_INDEX current_block->active_extruder
#endif
/**
* Distinct E Factors – Disable by commenting out DISTINCT_E_FACTORS
*/
#if ENABLED(DISTINCT_E_FACTORS) && E_STEPPERS > 1
#define XYZE_N (XYZ + E_STEPPERS)
#define E_AXIS_N (E_AXIS + extruder)
#else
#undef DISTINCT_E_FACTORS
#define XYZE_N XYZE
#define E_AXIS_N E_AXIS
#endif
/**
* The BLTouch Probe emulates a servo probe
* and uses "special" angles for its state.

12
Marlin/Configuration.h
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@ -145,6 +145,9 @@
// :[1, 2, 3, 4]
#define EXTRUDERS 1
// Enable if your E steppers or extruder gear ratios are not identical
//#define DISTINCT_E_FACTORS
// For Cyclops or any "multi-extruder" that shares a single nozzle.
//#define SINGLENOZZLE
@ -472,26 +475,31 @@
*
* These settings can be reset by M502
*
* You can set distinct factors for each E stepper, if needed.
* If fewer factors are given, the last will apply to the rest.
*
* Note that if EEPROM is enabled, saved values will override these.
*/
/**
* Default Axis Steps Per Unit (steps/mm)
* Override with M92
* X, Y, Z, E0 [, E1[, E2[, E3]]]
*/
#define DEFAULT_AXIS_STEPS_PER_UNIT { 80, 80, 4000, 500 }
/**
* Default Max Feed Rate (mm/s)
* Override with M203
* X, Y, Z, E0 [, E1[, E2[, E3]]]
*/
#define DEFAULT_MAX_FEEDRATE { 300, 300, 5, 25 }
/**
* Default Max Acceleration (change/s) change = mm/s
* (Maximum start speed for accelerated moves)
* Override with M201
*
* Maximum start speed for accelerated moves: { X, Y, Z, E }
* X, Y, Z, E0 [, E1[, E2[, E3]]]
*/
#define DEFAULT_MAX_ACCELERATION { 3000, 3000, 100, 10000 }

47
Marlin/Marlin_main.cpp
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@ -1227,7 +1227,7 @@ inline bool code_value_bool() { return !code_has_value() || code_value_byte() >
}
inline float axis_unit_factor(int axis) {
return (axis == E_AXIS && volumetric_enabled ? volumetric_unit_factor : linear_unit_factor);
return (axis >= E_AXIS && volumetric_enabled ? volumetric_unit_factor : linear_unit_factor);
}
inline float code_value_linear_units() { return code_value_float() * linear_unit_factor; }
@ -5794,22 +5794,38 @@ inline void gcode_M85() {
if (code_seen('S')) max_inactive_time = code_value_millis_from_seconds();
}
/**
* Multi-stepper support for M92, M201, M203
*/
#if ENABLED(DISTINCT_E_FACTORS)
#define GET_TARGET_EXTRUDER(CMD) if (get_target_extruder_from_command(CMD)) return
#define TARGET_EXTRUDER target_extruder
#else
#define GET_TARGET_EXTRUDER(CMD) NOOP
#define TARGET_EXTRUDER 0
#endif
/**
* M92: Set axis steps-per-unit for one or more axes, X, Y, Z, and E.
* (Follows the same syntax as G92)
*
* With multiple extruders use T to specify which one.
*/
inline void gcode_M92() {
GET_TARGET_EXTRUDER(92);
LOOP_XYZE(i) {
if (code_seen(axis_codes[i])) {
if (i == E_AXIS) {
float value = code_value_per_axis_unit(i);
float value = code_value_per_axis_unit(E_AXIS + TARGET_EXTRUDER);
if (value < 20.0) {
float factor = planner.axis_steps_per_mm[i] / value; // increase e constants if M92 E14 is given for netfab.
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;
planner.max_feedrate_mm_s[E_AXIS] *= factor;
planner.max_acceleration_steps_per_s2[E_AXIS] *= factor;
planner.max_feedrate_mm_s[E_AXIS + TARGET_EXTRUDER] *= factor;
planner.max_acceleration_steps_per_s2[E_AXIS + TARGET_EXTRUDER] *= factor;
}
planner.axis_steps_per_mm[E_AXIS] = value;
planner.axis_steps_per_mm[E_AXIS + TARGET_EXTRUDER] = value;
}
else {
planner.axis_steps_per_mm[i] = code_value_per_axis_unit(i);
@ -6060,11 +6076,17 @@ inline void gcode_M200() {
/**
* M201: Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
*
* With multiple extruders use T to specify which one.
*/
inline void gcode_M201() {
GET_TARGET_EXTRUDER(201);
LOOP_XYZE(i) {
if (code_seen(axis_codes[i])) {
planner.max_acceleration_mm_per_s2[i] = code_value_axis_units(i);
const uint8_t a = i + (i == E_AXIS ? TARGET_EXTRUDER : 0);
planner.max_acceleration_mm_per_s2[a] = code_value_axis_units(a);
}
}
// steps per sq second need to be updated to agree with the units per sq second (as they are what is used in the planner)
@ -6082,11 +6104,18 @@ inline void gcode_M201() {
/**
* M203: Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in units/sec
*
* With multiple extruders use T to specify which one.
*/
inline void gcode_M203() {
GET_TARGET_EXTRUDER(203);
LOOP_XYZE(i)
if (code_seen(axis_codes[i]))
planner.max_feedrate_mm_s[i] = code_value_axis_units(i);
if (code_seen(axis_codes[i])) {
const uint8_t a = i + (i == E_AXIS ? TARGET_EXTRUDER : 0);
planner.max_feedrate_mm_s[a] = code_value_axis_units(a);
}
}
/**

39
Marlin/configuration_store.cpp
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@ -47,9 +47,9 @@
* 100 Version (char x4)
* 104 EEPROM Checksum (uint16_t)
*
* 106 M92 XYZE planner.axis_steps_per_mm (float x4)
* 122 M203 XYZE planner.max_feedrate_mm_s (float x4)
* 138 M201 XYZE planner.max_acceleration_mm_per_s2 (uint32_t x4)
* 106 M92 XYZE planner.axis_steps_per_mm (float x4 ... x7)
* 122 M203 XYZE planner.max_feedrate_mm_s (float x4 ... x7)
* 138 M201 XYZE planner.max_acceleration_mm_per_s2 (uint32_t x4 ... x7)
* 154 M204 P planner.acceleration (float)
* 158 M204 R planner.retract_acceleration (float)
* 162 M204 T planner.travel_acceleration (float)
@ -571,10 +571,10 @@ void Config_Postprocess() {
void Config_ResetDefault() {
const float tmp1[] = DEFAULT_AXIS_STEPS_PER_UNIT, tmp2[] = DEFAULT_MAX_FEEDRATE;
const long tmp3[] = DEFAULT_MAX_ACCELERATION;
LOOP_XYZE(i) {
planner.axis_steps_per_mm[i] = tmp1[i];
planner.max_feedrate_mm_s[i] = tmp2[i];
planner.max_acceleration_mm_per_s2[i] = tmp3[i];
LOOP_XYZE_N(i) {
planner.axis_steps_per_mm[i] = tmp1[i < COUNT(tmp1) ? i : COUNT(tmp1) - 1];
planner.max_feedrate_mm_s[i] = tmp2[i < COUNT(tmp2) ? i : COUNT(tmp2) - 1];
planner.max_acceleration_mm_per_s2[i] = tmp3[i < COUNT(tmp3) ? i : COUNT(tmp3) - 1];
}
planner.acceleration = DEFAULT_ACCELERATION;
@ -719,8 +719,16 @@ void Config_ResetDefault() {
SERIAL_ECHOPAIR(" M92 X", planner.axis_steps_per_mm[X_AXIS]);
SERIAL_ECHOPAIR(" Y", planner.axis_steps_per_mm[Y_AXIS]);
SERIAL_ECHOPAIR(" Z", planner.axis_steps_per_mm[Z_AXIS]);
#if E_STEPPERS == 1
SERIAL_ECHOPAIR(" E", planner.axis_steps_per_mm[E_AXIS]);
#endif
SERIAL_EOL;
#if ENABLED(DISTINCT_E_FACTORS)
for (uint8_t i = 0; i < E_STEPPERS; i++) {
SERIAL_ECHOPAIR(" M92 T", (int)i);
SERIAL_ECHOLNPAIR(" E", planner.axis_steps_per_mm[E_AXIS + i]);
}
#endif
CONFIG_ECHO_START;
@ -731,8 +739,16 @@ void Config_ResetDefault() {
SERIAL_ECHOPAIR(" M203 X", planner.max_feedrate_mm_s[X_AXIS]);
SERIAL_ECHOPAIR(" Y", planner.max_feedrate_mm_s[Y_AXIS]);
SERIAL_ECHOPAIR(" Z", planner.max_feedrate_mm_s[Z_AXIS]);
#if E_STEPPERS == 1
SERIAL_ECHOPAIR(" E", planner.max_feedrate_mm_s[E_AXIS]);
#endif
SERIAL_EOL;
#if ENABLED(DISTINCT_E_FACTORS)
for (uint8_t i = 0; i < E_STEPPERS; i++) {
SERIAL_ECHOPAIR(" M203 T", (int)i);
SERIAL_ECHOLNPAIR(" E", planner.max_feedrate_mm_s[E_AXIS + i]);
}
#endif
CONFIG_ECHO_START;
if (!forReplay) {
@ -742,8 +758,17 @@ void Config_ResetDefault() {
SERIAL_ECHOPAIR(" M201 X", planner.max_acceleration_mm_per_s2[X_AXIS]);
SERIAL_ECHOPAIR(" Y", planner.max_acceleration_mm_per_s2[Y_AXIS]);
SERIAL_ECHOPAIR(" Z", planner.max_acceleration_mm_per_s2[Z_AXIS]);
#if E_STEPPERS == 1
SERIAL_ECHOPAIR(" E", planner.max_acceleration_mm_per_s2[E_AXIS]);
#endif
SERIAL_EOL;
#if ENABLED(DISTINCT_E_FACTORS)
for (uint8_t i = 0; i < E_STEPPERS; i++) {
SERIAL_ECHOPAIR(" M201 T", (int)i);
SERIAL_ECHOLNPAIR(" E", planner.max_acceleration_mm_per_s2[E_AXIS + i]);
}
#endif
CONFIG_ECHO_START;
if (!forReplay) {
SERIAL_ECHOLNPGM("Accelerations: P=printing, R=retract and T=travel");

1
Marlin/enum.h
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@ -50,6 +50,7 @@ enum AxisEnum {
#define LOOP_XYZ(VAR) for (uint8_t VAR=X_AXIS; VAR<=Z_AXIS; VAR++)
#define LOOP_XYZE(VAR) for (uint8_t VAR=X_AXIS; VAR<=E_AXIS; VAR++)
#define LOOP_XYZE_N(VAR) for (uint8_t VAR=X_AXIS; VAR<XYZE_N; VAR++)
typedef enum {
LINEARUNIT_MM,

14
Marlin/example_configurations/Cartesio/Configuration.h
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@ -146,6 +146,9 @@
// :[1, 2, 3, 4]
#define EXTRUDERS 3
// Enable if your E steppers or extruder gear ratios are not identical
//#define DISTINCT_E_FACTORS
// For Cyclops or any "multi-extruder" that shares a single nozzle.
//#define SINGLENOZZLE
@ -472,26 +475,31 @@
*
* These settings can be reset by M502
*
* You can set distinct factors for each E stepper, if needed.
* If fewer factors are given, the last will apply to the rest.
*
* Note that if EEPROM is enabled, saved values will override these.
*/
/**
* Default Axis Steps Per Unit (steps/mm)
* Override with M92
* X, Y, Z, E0 [, E1[, E2[, E3]]]
*/
#define DEFAULT_AXIS_STEPS_PER_UNIT { 71.128, 71.128, 640, 152 }
/**
* Default Max Feed Rate (mm/s)
* Override with M203
* X, Y, Z, E0 [, E1[, E2[, E3]]]
*/
#define DEFAULT_MAX_FEEDRATE { 200, 200, 20, 20 } // (mm/sec)
#define DEFAULT_MAX_FEEDRATE { 200, 200, 20, 20 }
/**
* Default Max Acceleration (change/s) change = mm/s
* (Maximum start speed for accelerated moves)
* Override with M201
*
* Maximum start speed for accelerated moves: { X, Y, Z, E }
* X, Y, Z, E0 [, E1[, E2[, E3]]]
*/
#define DEFAULT_MAX_ACCELERATION { 1000, 1000, 100, 10000 }

12
Marlin/example_configurations/Felix/Configuration.h
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@ -145,6 +145,9 @@
// :[1, 2, 3, 4]
#define EXTRUDERS 1
// Enable if your E steppers or extruder gear ratios are not identical
//#define DISTINCT_E_FACTORS
// For Cyclops or any "multi-extruder" that shares a single nozzle.
//#define SINGLENOZZLE
@ -455,26 +458,31 @@
*
* These settings can be reset by M502
*
* You can set distinct factors for each E stepper, if needed.
* If fewer factors are given, the last will apply to the rest.
*
* Note that if EEPROM is enabled, saved values will override these.
*/
/**
* Default Axis Steps Per Unit (steps/mm)
* Override with M92
* X, Y, Z, E0 [, E1[, E2[, E3]]]
*/
#define DEFAULT_AXIS_STEPS_PER_UNIT { 76.190476, 76.190476, 1600, 164 }
/**
* Default Max Feed Rate (mm/s)
* Override with M203
* X, Y, Z, E0 [, E1[, E2[, E3]]]
*/
#define DEFAULT_MAX_FEEDRATE { 500, 500, 5, 25 }
/**
* Default Max Acceleration (change/s) change = mm/s
* (Maximum start speed for accelerated moves)
* Override with M201
*
* Maximum start speed for accelerated moves: { X, Y, Z, E }
* X, Y, Z, E0 [, E1[, E2[, E3]]]
*/
#define DEFAULT_MAX_ACCELERATION { 5000, 5000, 100, 80000 }

12
Marlin/example_configurations/Felix/DUAL/Configuration.h
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@ -145,6 +145,9 @@
// :[1, 2, 3, 4]
#define EXTRUDERS 2
// Enable if your E steppers or extruder gear ratios are not identical
//#define DISTINCT_E_FACTORS
// For Cyclops or any "multi-extruder" that shares a single nozzle.
//#define SINGLENOZZLE
@ -455,26 +458,31 @@
*
* These settings can be reset by M502
*
* You can set distinct factors for each E stepper, if needed.
* If fewer factors are given, the last will apply to the rest.
*
* Note that if EEPROM is enabled, saved values will override these.
*/
/**
* Default Axis Steps Per Unit (steps/mm)
* Override with M92
* X, Y, Z, E0 [, E1[, E2[, E3]]]
*/
#define DEFAULT_AXIS_STEPS_PER_UNIT { 76.190476, 76.190476, 1600, 164 }
/**
* Default Max Feed Rate (mm/s)
* Override with M203
* X, Y, Z, E0 [, E1[, E2[, E3]]]
*/
#define DEFAULT_MAX_FEEDRATE { 500, 500, 5, 25 }
/**
* Default Max Acceleration (change/s) change = mm/s
* (Maximum start speed for accelerated moves)
* Override with M201
*
* Maximum start speed for accelerated moves: { X, Y, Z, E }
* X, Y, Z, E0 [, E1[, E2[, E3]]]
*/
#define DEFAULT_MAX_ACCELERATION { 5000, 5000, 100, 80000 }

12
Marlin/example_configurations/Hephestos/Configuration.h
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@ -148,6 +148,9 @@
// :[1, 2, 3, 4]
#define EXTRUDERS 1
// Enable if your E steppers or extruder gear ratios are not identical
//#define DISTINCT_E_FACTORS
// For Cyclops or any "multi-extruder" that shares a single nozzle.
//#define SINGLENOZZLE
@ -464,26 +467,31 @@
*
* These settings can be reset by M502
*
* You can set distinct factors for each E stepper, if needed.
* If fewer factors are given, the last will apply to the rest.
*
* Note that if EEPROM is enabled, saved values will override these.
*/
/**
* Default Axis Steps Per Unit (steps/mm)
* Override with M92
* X, Y, Z, E0 [, E1[, E2[, E3]]]
*/
#define DEFAULT_AXIS_STEPS_PER_UNIT { 80, 80, 4000, 100.47095761381482 }
/**
* Default Max Feed Rate (mm/s)
* Override with M203
* X, Y, Z, E0 [, E1[, E2[, E3]]]
*/
#define DEFAULT_MAX_FEEDRATE { 200, 200, 3.3, 25 }
/**
* Default Max Acceleration (change/s) change = mm/s
* (Maximum start speed for accelerated moves)
* Override with M201
*
* Maximum start speed for accelerated moves: { X, Y, Z, E }
* X, Y, Z, E0 [, E1[, E2[, E3]]]
*/
#define DEFAULT_MAX_ACCELERATION { 1100, 1100, 100, 10000 }

12
Marlin/example_configurations/Hephestos_2/Configuration.h
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@ -145,6 +145,9 @@
// :[1, 2, 3, 4]
#define EXTRUDERS 1
// Enable if your E steppers or extruder gear ratios are not identical
//#define DISTINCT_E_FACTORS
// For Cyclops or any "multi-extruder" that shares a single nozzle.
//#define SINGLENOZZLE
@ -466,26 +469,31 @@
*
* These settings can be reset by M502
*
* You can set distinct factors for each E stepper, if needed.
* If fewer factors are given, the last will apply to the rest.
*
* Note that if EEPROM is enabled, saved values will override these.
*/
/**
* Default Axis Steps Per Unit (steps/mm)
* Override with M92
* X, Y, Z, E0 [, E1[, E2[, E3]]]
*/
#define DEFAULT_AXIS_STEPS_PER_UNIT { 160, 160, 8000, 210.02 }
/**
* Default Max Feed Rate (mm/s)
* Override with M203
* X, Y, Z, E0 [, E1[, E2[, E3]]]
*/
#define DEFAULT_MAX_FEEDRATE { 250, 250, 2, 200 }
/**
* Default Max Acceleration (change/s) change = mm/s
* (Maximum start speed for accelerated moves)
* Override with M201
*
* Maximum start speed for accelerated moves: { X, Y, Z, E }
* X, Y, Z, E0 [, E1[, E2[, E3]]]
*/
#define DEFAULT_MAX_ACCELERATION { 1000, 1000, 20, 1000 }

14
Marlin/example_configurations/K8200/Configuration.h
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@ -165,6 +165,9 @@
// :[1, 2, 3, 4]
#define EXTRUDERS 1
// Enable if your E steppers or extruder gear ratios are not identical
//#define DISTINCT_E_FACTORS
// For Cyclops or any "multi-extruder" that shares a single nozzle.
//#define SINGLENOZZLE
@ -502,25 +505,30 @@
*
* These settings can be reset by M502
*
* You can set distinct factors for each E stepper, if needed.
* If fewer factors are given, the last will apply to the rest.
*
* Note that if EEPROM is enabled, saved values will override these.
*/
/**
* Default Axis Steps Per Unit (steps/mm)
* Override with M92
* X, Y, Z, E0 [, E1[, E2[, E3]]]
*/
#define DEFAULT_AXIS_STEPS_PER_UNIT { 64.25, 64.25, 2560, 600} // for K8200
#define DEFAULT_AXIS_STEPS_PER_UNIT { 64.25, 64.25, 2560, 600 }
/**
* Default Max Feed Rate (mm/s)
* Override with M203
* X, Y, Z, E0 [, E1[, E2[, E3]]]
*/
#define DEFAULT_MAX_FEEDRATE { 500, 500, 5, 25 }
/**
* Default Max Acceleration (change/s) change = mm/s
* (Maximum start speed for accelerated moves)
* Override with M201
*
* Maximum start speed for accelerated moves: { X, Y, Z, E }
* X, Y, Z, E0 [, E1[, E2[, E3]]]
*/
#define DEFAULT_MAX_ACCELERATION { 9000, 9000, 100, 10000 }

12
Marlin/example_configurations/K8400/Configuration.h
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@ -145,6 +145,9 @@
// :[1, 2, 3, 4]
#define EXTRUDERS 1
// Enable if your E steppers or extruder gear ratios are not identical
//#define DISTINCT_E_FACTORS
// For Cyclops or any "multi-extruder" that shares a single nozzle.
//#define SINGLENOZZLE
@ -472,26 +475,31 @@
*
* These settings can be reset by M502
*
* You can set distinct factors for each E stepper, if needed.
* If fewer factors are given, the last will apply to the rest.
*
* Note that if EEPROM is enabled, saved values will override these.
*/
/**
* Default Axis Steps Per Unit (steps/mm)
* Override with M92
* X, Y, Z, E0 [, E1[, E2[, E3]]]
*/
#define DEFAULT_AXIS_STEPS_PER_UNIT { 134.74, 134.74, 4266.66, 148.7 }
/**
* Default Max Feed Rate (mm/s)
* Override with M203
* X, Y, Z, E0 [, E1[, E2[, E3]]]
*/
#define DEFAULT_MAX_FEEDRATE { 160, 160, 10, 10000 }
/**
* Default Max Acceleration (change/s) change = mm/s
* (Maximum start speed for accelerated moves)
* Override with M201
*
* Maximum start speed for accelerated moves: { X, Y, Z, E }
* X, Y, Z, E0 [, E1[, E2[, E3]]]
*/
#define DEFAULT_MAX_ACCELERATION { 9000, 9000, 100, 10000 }

12
Marlin/example_configurations/K8400/Dual-head/Configuration.h
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@ -145,6 +145,9 @@
// :[1, 2, 3, 4]
#define EXTRUDERS 2
// Enable if your E steppers or extruder gear ratios are not identical
//#define DISTINCT_E_FACTORS
// For Cyclops or any "multi-extruder" that shares a single nozzle.
//#define SINGLENOZZLE
@ -472,26 +475,31 @@
*
* These settings can be reset by M502
*
* You can set distinct factors for each E stepper, if needed.
* If fewer factors are given, the last will apply to the rest.
*
* Note that if EEPROM is enabled, saved values will override these.
*/
/**
* Default Axis Steps Per Unit (steps/mm)
* Override with M92
* X, Y, Z, E0 [, E1[, E2[, E3]]]
*/
#define DEFAULT_AXIS_STEPS_PER_UNIT { 134.74, 134.74, 4266.66, 148.7 }
/**
* Default Max Feed Rate (mm/s)
* Override with M203
* X, Y, Z, E0 [, E1[, E2[, E3]]]
*/
#define DEFAULT_MAX_FEEDRATE { 160, 160, 10, 10000 }
/**
* Default Max Acceleration (change/s) change = mm/s
* (Maximum start speed for accelerated moves)
* Override with M201
*
* Maximum start speed for accelerated moves: { X, Y, Z, E }
* X, Y, Z, E0 [, E1[, E2[, E3]]]
*/
#define DEFAULT_MAX_ACCELERATION { 9000, 9000, 100, 10000 }

12
Marlin/example_configurations/RepRapWorld/Megatronics/Configuration.h
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@ -145,6 +145,9 @@
// :[1, 2, 3, 4]
#define EXTRUDERS 1
// Enable if your E steppers or extruder gear ratios are not identical
//#define DISTINCT_E_FACTORS
// For Cyclops or any "multi-extruder" that shares a single nozzle.
//#define SINGLENOZZLE
@ -472,26 +475,31 @@
*
* These settings can be reset by M502
*
* You can set distinct factors for each E stepper, if needed.
* If fewer factors are given, the last will apply to the rest.
*
* Note that if EEPROM is enabled, saved values will override these.
*/
/**
* Default Axis Steps Per Unit (steps/mm)
* Override with M92
* X, Y, Z, E0 [, E1[, E2[, E3]]]
*/
#define DEFAULT_AXIS_STEPS_PER_UNIT { 78.7402*2, 78.7402*2, 5120.00, 760*1*1.5 }
/**
* Default Max Feed Rate (mm/s)
* Override with M203
* X, Y, Z, E0 [, E1[, E2[, E3]]]
*/
#define DEFAULT_MAX_FEEDRATE { 300, 300, 5, 25 }
/**
* Default Max Acceleration (change/s) change = mm/s
* (Maximum start speed for accelerated moves)
* Override with M201
*
* Maximum start speed for accelerated moves: { X, Y, Z, E }
* X, Y, Z, E0 [, E1[, E2[, E3]]]
*/
#define DEFAULT_MAX_ACCELERATION { 3000, 3000, 100, 10000 }

17
Marlin/example_configurations/RigidBot/Configuration.h
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@ -148,6 +148,9 @@
// :[1, 2, 3, 4]
#define EXTRUDERS 1 // Single extruder. Set to 2 for dual extruders
// Enable if your E steppers or extruder gear ratios are not identical
//#define DISTINCT_E_FACTORS
// For Cyclops or any "multi-extruder" that shares a single nozzle.
//#define SINGLENOZZLE
@ -469,27 +472,33 @@
*
* These settings can be reset by M502
*
* You can set distinct factors for each E stepper, if needed.
* If fewer factors are given, the last will apply to the rest.
*
* Note that if EEPROM is enabled, saved values will override these.
*/
/**
* Default Axis Steps Per Unit (steps/mm)
* Override with M92
* X, Y, Z, E0 [, E1[, E2[, E3]]]
*/
#define DEFAULT_AXIS_STEPS_PER_UNIT { 44.3090, 22.1545, 1600, 53.5 } // default steps per unit for RigidBot with standard hardware
// default steps for 16-tooth pulleys { 100.06, 50.06, 1600, 76 }, HPX2-MAX E=504, RigidBot E=53.5, Peter Stoneham's=76
// default steps per unit for RigidBot with standard hardware
#define DEFAULT_AXIS_STEPS_PER_UNIT { 44.3090, 22.1545, 1600, 53.5 }
// default steps for 16-tooth pulleys { 100.06, 50.06, 1600, 76 } // HPX2-MAX E=504, RigidBot E=53.5, Peter Stoneham's=76
/**
* Default Max Feed Rate (mm/s)
* Override with M203
* X, Y, Z, E0 [, E1[, E2[, E3]]]
*/
#define DEFAULT_MAX_FEEDRATE { 500, 500, 5, 25 }
/**
* Default Max Acceleration (change/s) change = mm/s
* (Maximum start speed for accelerated moves)
* Override with M201
*
* Maximum start speed for accelerated moves: { X, Y, Z, E }
* X, Y, Z, E0 [, E1[, E2[, E3]]]
*/
#define DEFAULT_MAX_ACCELERATION { 800, 800, 100, 10000 }

12
Marlin/example_configurations/SCARA/Configuration.h
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@ -177,6 +177,9 @@
// :[1, 2, 3, 4]
#define EXTRUDERS 1
// Enable if your E steppers or extruder gear ratios are not identical
//#define DISTINCT_E_FACTORS
// For Cyclops or any "multi-extruder" that shares a single nozzle.
//#define SINGLENOZZLE
@ -487,26 +490,31 @@
*
* These settings can be reset by M502
*
* You can set distinct factors for each E stepper, if needed.
* If fewer factors are given, the last will apply to the rest.
*
* Note that if EEPROM is enabled, saved values will override these.
*/
/**
* Default Axis Steps Per Unit (steps/mm)
* Override with M92
* X, Y, Z, E0 [, E1[, E2[, E3]]]
*/
#define DEFAULT_AXIS_STEPS_PER_UNIT { 103.69, 106.65, 200/1.25, 1000 } // default steps per unit for SCARA
/**
* Default Max Feed Rate (mm/s)
* Override with M203
* X, Y, Z, E0 [, E1[, E2[, E3]]]
*/
#define DEFAULT_MAX_FEEDRATE { 300, 300, 30, 25 }
/**
* Default Max Acceleration (change/s) change = mm/s
* (Maximum start speed for accelerated moves)
* Override with M201
*
* Maximum start speed for accelerated moves: { X, Y, Z, E }
* X, Y, Z, E0 [, E1[, E2[, E3]]]
*/
#define DEFAULT_MAX_ACCELERATION { 300, 300, 20, 1000 }

12
Marlin/example_configurations/TAZ4/Configuration.h
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@ -145,6 +145,9 @@
// :[1, 2, 3, 4]
#define EXTRUDERS 1
// Enable if your E steppers or extruder gear ratios are not identical
//#define DISTINCT_E_FACTORS
// For Cyclops or any "multi-extruder" that shares a single nozzle.
//#define SINGLENOZZLE
@ -493,26 +496,31 @@
*
* These settings can be reset by M502
*
* You can set distinct factors for each E stepper, if needed.
* If fewer factors are given, the last will apply to the rest.
*
* Note that if EEPROM is enabled, saved values will override these.
*/
/**
* Default Axis Steps Per Unit (steps/mm)
* Override with M92
* X, Y, Z, E0 [, E1[, E2[, E3]]]
*/
#define DEFAULT_AXIS_STEPS_PER_UNIT { 100.5, 100.5, 400, 850 }
/**
* Default Max Feed Rate (mm/s)
* Override with M203
* X, Y, Z, E0 [, E1[, E2[, E3]]]
*/
#define DEFAULT_MAX_FEEDRATE { 800, 800, 8, 50 }
/**
* Default Max Acceleration (change/s) change = mm/s
* (Maximum start speed for accelerated moves)
* Override with M201
*
* Maximum start speed for accelerated moves: { X, Y, Z, E }
* X, Y, Z, E0 [, E1[, E2[, E3]]]
*/
#define DEFAULT_MAX_ACCELERATION { 9000, 9000, 100, 10000 }

12
Marlin/example_configurations/WITBOX/Configuration.h
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@ -148,6 +148,9 @@
// :[1, 2, 3, 4]
#define EXTRUDERS 1
// Enable if your E steppers or extruder gear ratios are not identical
//#define DISTINCT_E_FACTORS
// For Cyclops or any "multi-extruder" that shares a single nozzle.
//#define SINGLENOZZLE
@ -464,26 +467,31 @@
*
* These settings can be reset by M502
*
* You can set distinct factors for each E stepper, if needed.
* If fewer factors are given, the last will apply to the rest.
*
* Note that if EEPROM is enabled, saved values will override these.
*/
/**
* Default Axis Steps Per Unit (steps/mm)
* Override with M92
* X, Y, Z, E0 [, E1[, E2[, E3]]]
*/
#define DEFAULT_AXIS_STEPS_PER_UNIT { 80, 80, 600.0*8/3, 102.073 }
/**
* Default Max Feed Rate (mm/s)
* Override with M203
* X, Y, Z, E0 [, E1[, E2[, E3]]]
*/
#define DEFAULT_MAX_FEEDRATE { 350, 350, 7.2, 80 }
/**
* Default Max Acceleration (change/s) change = mm/s
* (Maximum start speed for accelerated moves)
* Override with M201
*
* Maximum start speed for accelerated moves: { X, Y, Z, E }
* X, Y, Z, E0 [, E1[, E2[, E3]]]
*/
#define DEFAULT_MAX_ACCELERATION { 1000, 1000, 10, 1000 }

12
Marlin/example_configurations/adafruit/ST7565/Configuration.h
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@ -145,6 +145,9 @@
// :[1, 2, 3, 4]
#define EXTRUDERS 1
// Enable if your E steppers or extruder gear ratios are not identical
//#define DISTINCT_E_FACTORS
// For Cyclops or any "multi-extruder" that shares a single nozzle.
//#define SINGLENOZZLE
@ -472,26 +475,31 @@
*
* These settings can be reset by M502
*
* You can set distinct factors for each E stepper, if needed.
* If fewer factors are given, the last will apply to the rest.
*
* Note that if EEPROM is enabled, saved values will override these.
*/
/**
* Default Axis Steps Per Unit (steps/mm)
* Override with M92
* X, Y, Z, E0 [, E1[, E2[, E3]]]
*/
#define DEFAULT_AXIS_STEPS_PER_UNIT { 80, 80, 4000, 500 }
/**
* Default Max Feed Rate (mm/s)
* Override with M203
* X, Y, Z, E0 [, E1[, E2[, E3]]]
*/
#define DEFAULT_MAX_FEEDRATE { 300, 300, 5, 25 }
/**
* Default Max Acceleration (change/s) change = mm/s
* (Maximum start speed for accelerated moves)
* Override with M201
*
* Maximum start speed for accelerated moves: { X, Y, Z, E }
* X, Y, Z, E0 [, E1[, E2[, E3]]]
*/
#define DEFAULT_MAX_ACCELERATION { 3000, 3000, 100, 10000 }

12
Marlin/example_configurations/delta/biv2.5/Configuration.h
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@ -145,6 +145,9 @@
// :[1, 2, 3, 4]
#define EXTRUDERS 2
// Enable if your E steppers or extruder gear ratios are not identical
//#define DISTINCT_E_FACTORS
// For Cyclops or any "multi-extruder" that shares a single nozzle.
//#define SINGLENOZZLE
@ -520,26 +523,31 @@
*
* These settings can be reset by M502
*
* You can set distinct factors for each E stepper, if needed.
* If fewer factors are given, the last will apply to the rest.
*
* Note that if EEPROM is enabled, saved values will override these.
*/
/**
* Default Axis Steps Per Unit (steps/mm)
* Override with M92
* X, Y, Z, E0 [, E1[, E2[, E3]]]
*/
#define DEFAULT_AXIS_STEPS_PER_UNIT { 72.9, 72.9, 72.9, 291 } // default steps per unit for BI v2.5 (cable drive)
/**
* Default Max Feed Rate (mm/s)
* Override with M203
* X, Y, Z, E0 [, E1[, E2[, E3]]]
*/
#define DEFAULT_MAX_FEEDRATE { 500, 500, 500, 150 }
/**
* Default Max Acceleration (change/s) change = mm/s
* (Maximum start speed for accelerated moves)
* Override with M201
*
* Maximum start speed for accelerated moves: { X, Y, Z, E }
* X, Y, Z, E0 [, E1[, E2[, E3]]]
*/
#define DEFAULT_MAX_ACCELERATION { 9000, 9000, 9000, 10000 }

12
Marlin/example_configurations/delta/generic/Configuration.h
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@ -145,6 +145,9 @@
// :[1, 2, 3, 4]
#define EXTRUDERS 1
// Enable if your E steppers or extruder gear ratios are not identical
//#define DISTINCT_E_FACTORS
// For Cyclops or any "multi-extruder" that shares a single nozzle.
//#define SINGLENOZZLE
@ -520,26 +523,31 @@
*
* These settings can be reset by M502
*
* You can set distinct factors for each E stepper, if needed.
* If fewer factors are given, the last will apply to the rest.
*
* Note that if EEPROM is enabled, saved values will override these.
*/
/**
* Default Axis Steps Per Unit (steps/mm)
* Override with M92
* X, Y, Z, E0 [, E1[, E2[, E3]]]
*/
#define DEFAULT_AXIS_STEPS_PER_UNIT { 80, 80, 80, 760*1.1 } // default steps per unit for Kossel (GT2, 20 tooth)
/**
* Default Max Feed Rate (mm/s)
* Override with M203
* X, Y, Z, E0 [, E1[, E2[, E3]]]
*/
#define DEFAULT_MAX_FEEDRATE { 500, 500, 500, 25 }
/**
* Default Max Acceleration (change/s) change = mm/s
* (Maximum start speed for accelerated moves)
* Override with M201
*
* Maximum start speed for accelerated moves: { X, Y, Z, E }
* X, Y, Z, E0 [, E1[, E2[, E3]]]
*/
#define DEFAULT_MAX_ACCELERATION { 9000, 9000, 9000, 10000 }

12
Marlin/example_configurations/delta/kossel_mini/Configuration.h
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@ -145,6 +145,9 @@
// :[1, 2, 3, 4]
#define EXTRUDERS 1
// Enable if your E steppers or extruder gear ratios are not identical
//#define DISTINCT_E_FACTORS
// For Cyclops or any "multi-extruder" that shares a single nozzle.
//#define SINGLENOZZLE
@ -520,26 +523,31 @@
*
* These settings can be reset by M502
*
* You can set distinct factors for each E stepper, if needed.
* If fewer factors are given, the last will apply to the rest.
*
* Note that if EEPROM is enabled, saved values will override these.
*/
/**
* Default Axis Steps Per Unit (steps/mm)
* Override with M92
* X, Y, Z, E0 [, E1[, E2[, E3]]]
*/
#define DEFAULT_AXIS_STEPS_PER_UNIT { 80, 80, 80, 760*1.1 } // default steps per unit for Kossel (GT2, 20 tooth)
/**
* Default Max Feed Rate (mm/s)
* Override with M203
* X, Y, Z, E0 [, E1[, E2[, E3]]]
*/
#define DEFAULT_MAX_FEEDRATE { 500, 500, 500, 25 }
/**
* Default Max Acceleration (change/s) change = mm/s
* (Maximum start speed for accelerated moves)
* Override with M201
*
* Maximum start speed for accelerated moves: { X, Y, Z, E }
* X, Y, Z, E0 [, E1[, E2[, E3]]]
*/
#define DEFAULT_MAX_ACCELERATION { 9000, 9000, 9000, 10000 }

12
Marlin/example_configurations/delta/kossel_pro/Configuration.h
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@ -149,6 +149,9 @@
// :[1, 2, 3, 4]
#define EXTRUDERS 1
// Enable if your E steppers or extruder gear ratios are not identical
//#define DISTINCT_E_FACTORS
// For Cyclops or any "multi-extruder" that shares a single nozzle.
//#define SINGLENOZZLE
@ -514,26 +517,31 @@
*
* These settings can be reset by M502
*
* You can set distinct factors for each E stepper, if needed.
* If fewer factors are given, the last will apply to the rest.
*
* Note that if EEPROM is enabled, saved values will override these.
*/
/**
* Default Axis Steps Per Unit (steps/mm)
* Override with M92
* X, Y, Z, E0 [, E1[, E2[, E3]]]
*/
#define DEFAULT_AXIS_STEPS_PER_UNIT { XYZ_STEPS, XYZ_STEPS, XYZ_STEPS, 184.8 }
/**
* Default Max Feed Rate (mm/s)
* Override with M203
* X, Y, Z, E0 [, E1[, E2[, E3]]]
*/
#define DEFAULT_MAX_FEEDRATE { 200, 200, 200, 200 }
/**
* Default Max Acceleration (change/s) change = mm/s
* (Maximum start speed for accelerated moves)
* Override with M201
*
* Maximum start speed for accelerated moves: { X, Y, Z, E }
* X, Y, Z, E0 [, E1[, E2[, E3]]]
*/
#define DEFAULT_MAX_ACCELERATION { 9000, 9000, 9000, 9000 }

12
Marlin/example_configurations/delta/kossel_xl/Configuration.h
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@ -138,6 +138,9 @@
// :[1, 2, 3, 4]
#define EXTRUDERS 1
// Enable if your E steppers or extruder gear ratios are not identical
//#define DISTINCT_E_FACTORS
// For Cyclops or any "multi-extruder" that shares a single nozzle.
//#define SINGLENOZZLE
@ -526,26 +529,31 @@
*
* These settings can be reset by M502
*
* You can set distinct factors for each E stepper, if needed.
* If fewer factors are given, the last will apply to the rest.
*
* Note that if EEPROM is enabled, saved values will override these.
*/
/**
* Default Axis Steps Per Unit (steps/mm)
* Override with M92
* X, Y, Z, E0 [, E1[, E2[, E3]]]
*/
#define DEFAULT_AXIS_STEPS_PER_UNIT { XYZ_STEPS, XYZ_STEPS, XYZ_STEPS, 158 } // default steps per unit for PowerWasp
/**
* Default Max Feed Rate (mm/s)
* Override with M203
* X, Y, Z, E0 [, E1[, E2[, E3]]]
*/
#define DEFAULT_MAX_FEEDRATE { 200, 200, 200, 25 }
/**
* Default Max Acceleration (change/s) change = mm/s
* (Maximum start speed for accelerated moves)
* Override with M201
*
* Maximum start speed for accelerated moves: { X, Y, Z, E }
* X, Y, Z, E0 [, E1[, E2[, E3]]]
*/
#define DEFAULT_MAX_ACCELERATION { 9000, 9000, 9000, 10000 }

12
Marlin/example_configurations/makibox/Configuration.h
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@ -145,6 +145,9 @@
// :[1, 2, 3, 4]
#define EXTRUDERS 1
// Enable if your E steppers or extruder gear ratios are not identical
//#define DISTINCT_E_FACTORS
// For Cyclops or any "multi-extruder" that shares a single nozzle.
//#define SINGLENOZZLE
@ -475,26 +478,31 @@
*
* These settings can be reset by M502
*
* You can set distinct factors for each E stepper, if needed.
* If fewer factors are given, the last will apply to the rest.
*
* Note that if EEPROM is enabled, saved values will override these.
*/
/**
* Default Axis Steps Per Unit (steps/mm)
* Override with M92
* X, Y, Z, E0 [, E1[, E2[, E3]]]
*/
#define DEFAULT_AXIS_STEPS_PER_UNIT { 400, 400, 400, 163 } // default steps per unit for ***** MakiBox A6 *****
/**
* Default Max Feed Rate (mm/s)
* Override with M203
* X, Y, Z, E0 [, E1[, E2[, E3]]]
*/
#define DEFAULT_MAX_FEEDRATE { 60, 60, 20, 45 }
/**
* Default Max Acceleration (change/s) change = mm/s
* (Maximum start speed for accelerated moves)
* Override with M201
*
* Maximum start speed for accelerated moves: { X, Y, Z, E }
* X, Y, Z, E0 [, E1[, E2[, E3]]]
*/
#define DEFAULT_MAX_ACCELERATION { 2000, 2000, 30, 10000 }

14
Marlin/example_configurations/tvrrug/Round2/Configuration.h
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@ -145,6 +145,9 @@
// :[1, 2, 3, 4]
#define EXTRUDERS 1
// Enable if your E steppers or extruder gear ratios are not identical
//#define DISTINCT_E_FACTORS
// For Cyclops or any "multi-extruder" that shares a single nozzle.
//#define SINGLENOZZLE
@ -462,30 +465,35 @@
*
* These settings can be reset by M502
*
* You can set distinct factors for each E stepper, if needed.
* If fewer factors are given, the last will apply to the rest.
*
* Note that if EEPROM is enabled, saved values will override these.
*/
/**
* Default Axis Steps Per Unit (steps/mm)
* Override with M92
* X, Y, Z, E0 [, E1[, E2[, E3]]]
*/
#define DEFAULT_AXIS_STEPS_PER_UNIT { 71.1, 71.1, 2560, 600 } // David TVRR
//#define DEFAULT_AXIS_STEPS_PER_UNIT {79.87, 79.87, 2566, 563,78} // Al's TVRR
//#define DEFAULT_AXIS_STEPS_PER_UNIT { 79.87, 79.87, 2566, 563.78 } // Al's TVRR
//#define DEFAULT_AXIS_STEPS_PER_UNIT { 81.26, 80.01, 2561, 599.14 } // Michel TVRR old
//#define DEFAULT_AXIS_STEPS_PER_UNIT { 71.1, 71.1, 2560, 739.65 } // Michel TVRR
/**
* Default Max Feed Rate (mm/s)
* Override with M203
* X, Y, Z, E0 [, E1[, E2[, E3]]]
*/
#define DEFAULT_MAX_FEEDRATE { 500, 500, 5, 45 } // David TVRR
/**
* Default Max Acceleration (change/s) change = mm/s
* (Maximum start speed for accelerated moves)
* Override with M201
*
* Maximum start speed for accelerated moves: { X, Y, Z, E }
* X, Y, Z, E0 [, E1[, E2[, E3]]]
*/
#define DEFAULT_MAX_ACCELERATION { 9000, 9000, 100, 10000 }

94
Marlin/planner.cpp
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@ -78,15 +78,19 @@ Planner planner;
* A ring buffer of moves described in steps
*/
block_t Planner::block_buffer[BLOCK_BUFFER_SIZE];
volatile uint8_t Planner::block_buffer_head = 0; // Index of the next block to be pushed
volatile uint8_t Planner::block_buffer_tail = 0;
volatile uint8_t Planner::block_buffer_head = 0, // Index of the next block to be pushed
Planner::block_buffer_tail = 0;
float Planner::max_feedrate_mm_s[NUM_AXIS], // Max speeds in mm per second
Planner::axis_steps_per_mm[NUM_AXIS],
Planner::steps_to_mm[NUM_AXIS];
float Planner::max_feedrate_mm_s[XYZE_N], // Max speeds in mm per second
Planner::axis_steps_per_mm[XYZE_N],
Planner::steps_to_mm[XYZE_N];
uint32_t Planner::max_acceleration_steps_per_s2[NUM_AXIS],
Planner::max_acceleration_mm_per_s2[NUM_AXIS]; // Use M201 to override by software
#if ENABLED(DISTINCT_E_FACTORS)
uint8_t Planner::last_extruder = 0; // Respond to extruder change
#endif
uint32_t Planner::max_acceleration_steps_per_s2[XYZE_N],
Planner::max_acceleration_mm_per_s2[XYZE_N]; // Use M201 to override by software
millis_t Planner::min_segment_time;
float Planner::min_feedrate_mm_s,
@ -650,9 +654,17 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
lround(a * axis_steps_per_mm[X_AXIS]),
lround(b * axis_steps_per_mm[Y_AXIS]),
lround(c * axis_steps_per_mm[Z_AXIS]),
lround(e * axis_steps_per_mm[E_AXIS])
lround(e * axis_steps_per_mm[E_AXIS_N])
};
// When changing extruders recalculate steps corresponding to the E position
#if ENABLED(DISTINCT_E_FACTORS)
if (last_extruder != extruder && axis_steps_per_mm[E_AXIS_N] != axis_steps_per_mm[E_AXIS + last_extruder]) {
position[E_AXIS] = lround(position[E_AXIS] * axis_steps_per_mm[E_AXIS_N] * steps_to_mm[E_AXIS + last_extruder]);
last_extruder = extruder;
}
#endif
#if ENABLED(LIN_ADVANCE)
float target_float[XYZE] = {a, b, c, e};
float de_float = target_float[E_AXIS] - position_float[E_AXIS];
@ -702,7 +714,7 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
SERIAL_ECHOLNPGM(MSG_ERR_COLD_EXTRUDE_STOP);
}
#if ENABLED(PREVENT_LENGTHY_EXTRUDE)
if (labs(de) > (int32_t)axis_steps_per_mm[E_AXIS] * (EXTRUDE_MAXLENGTH)) { // It's not important to get max. extrusion length in a precision < 1mm, so save some cycles and cast to int
if (labs(de) > (int32_t)axis_steps_per_mm[E_AXIS_N] * (EXTRUDE_MAXLENGTH)) { // It's not important to get max. extrusion length in a precision < 1mm, so save some cycles and cast to int
position[E_AXIS] = target[E_AXIS]; // Behave as if the move really took place, but ignore E part
de = 0; // no difference
SERIAL_ECHO_START;
@ -941,7 +953,7 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
delta_mm[Y_AXIS] = db * steps_to_mm[Y_AXIS];
delta_mm[Z_AXIS] = dc * steps_to_mm[Z_AXIS];
#endif
delta_mm[E_AXIS] = esteps_float * steps_to_mm[E_AXIS];
delta_mm[E_AXIS] = esteps_float * steps_to_mm[E_AXIS_N];
if (block->steps[X_AXIS] < MIN_STEPS_PER_SEGMENT && block->steps[Y_AXIS] < MIN_STEPS_PER_SEGMENT && block->steps[Z_AXIS] < MIN_STEPS_PER_SEGMENT) {
block->millimeters = fabs(delta_mm[E_AXIS]);
@ -1091,16 +1103,16 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
accel = ceil(retract_acceleration * steps_per_mm);
}
else {
#define LIMIT_ACCEL_LONG(AXIS) do{ \
if (block->steps[AXIS] && max_acceleration_steps_per_s2[AXIS] < accel) { \
const uint32_t comp = max_acceleration_steps_per_s2[AXIS] * block->step_event_count; \
#define LIMIT_ACCEL_LONG(AXIS,INDX) do{ \
if (block->steps[AXIS] && max_acceleration_steps_per_s2[AXIS+INDX] < accel) { \
const uint32_t comp = max_acceleration_steps_per_s2[AXIS+INDX] * block->step_event_count; \
if (accel * block->steps[AXIS] > comp) accel = comp / block->steps[AXIS]; \
} \
}while(0)
#define LIMIT_ACCEL_FLOAT(AXIS) do{ \
if (block->steps[AXIS] && max_acceleration_steps_per_s2[AXIS] < accel) { \
const float comp = (float)max_acceleration_steps_per_s2[AXIS] * (float)block->step_event_count; \
#define LIMIT_ACCEL_FLOAT(AXIS,INDX) do{ \
if (block->steps[AXIS] && max_acceleration_steps_per_s2[AXIS+INDX] < accel) { \
const float comp = (float)max_acceleration_steps_per_s2[AXIS+INDX] * (float)block->step_event_count; \
if ((float)accel * (float)block->steps[AXIS] > comp) accel = comp / (float)block->steps[AXIS]; \
} \
}while(0)
@ -1110,15 +1122,16 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
// Limit acceleration per axis
if (block->step_event_count <= cutoff_long) {
LIMIT_ACCEL_LONG(X_AXIS);
LIMIT_ACCEL_LONG(Y_AXIS);
LIMIT_ACCEL_LONG(Z_AXIS);
LIMIT_ACCEL_LONG(E_AXIS);
} else {
LIMIT_ACCEL_FLOAT(X_AXIS);
LIMIT_ACCEL_FLOAT(Y_AXIS);
LIMIT_ACCEL_FLOAT(Z_AXIS);
LIMIT_ACCEL_FLOAT(E_AXIS);
LIMIT_ACCEL_LONG(X_AXIS,0);
LIMIT_ACCEL_LONG(Y_AXIS,0);
LIMIT_ACCEL_LONG(Z_AXIS,0);
LIMIT_ACCEL_LONG(E_AXIS,extruder);
}
else {
LIMIT_ACCEL_FLOAT(X_AXIS,0);
LIMIT_ACCEL_FLOAT(Y_AXIS,0);
LIMIT_ACCEL_FLOAT(Z_AXIS,0);
LIMIT_ACCEL_FLOAT(E_AXIS,extruder);
}
}
block->acceleration_steps_per_s2 = accel;
@ -1302,7 +1315,7 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
}
else {
block->use_advance_lead = true;
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[E_AXIS] * 256.0);
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[E_AXIS_N] * 256.0);
}
#elif ENABLED(ADVANCE)
@ -1350,13 +1363,18 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
*/
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
long na = position[X_AXIS] = lround(a * axis_steps_per_mm[X_AXIS]),
nb = position[Y_AXIS] = lround(b * axis_steps_per_mm[Y_AXIS]),
nc = position[Z_AXIS] = lround(c * axis_steps_per_mm[Z_AXIS]),
ne = position[E_AXIS] = lround(e * axis_steps_per_mm[E_AXIS]);
ne = position[E_AXIS] = lround(e * axis_steps_per_mm[_EINDEX]);
stepper.set_position(na, nb, nc, ne);
previous_nominal_speed = 0.0; // Resets planner junction speeds. Assumes start from rest.
ZERO(previous_speed);
}
@ -1375,7 +1393,6 @@ void Planner::set_position_mm_kinematic(const float position[NUM_AXIS]) {
#endif
}
/**
* Sync from the stepper positions. (e.g., after an interrupted move)
*/
@ -1387,24 +1404,35 @@ void Planner::sync_from_steppers() {
* Setters for planner position (also setting stepper position).
*/
void Planner::set_position_mm(const AxisEnum axis, const float& v) {
position[axis] = lround(v * axis_steps_per_mm[axis]);
#if ENABLED(DISTINCT_E_FACTORS)
const uint8_t axis_index = axis + (axis == E_AXIS ? active_extruder : 0);
last_extruder = active_extruder;
#else
const uint8_t axis_index = axis;
#endif
position[axis] = lround(v * axis_steps_per_mm[axis_index]);
stepper.set_position(axis, v);
previous_speed[axis] = 0.0;
}
// Recalculate the steps/s^2 acceleration rates, based on the mm/s^2
void Planner::reset_acceleration_rates() {
#if ENABLED(DISTINCT_E_FACTORS)
#define HIGHEST_CONDITION (i < E_AXIS || i == E_AXIS + active_extruder)
#else
#define HIGHEST_CONDITION true
#endif
uint32_t highest_rate = 1;
LOOP_XYZE(i) {
LOOP_XYZE_N(i) {
max_acceleration_steps_per_s2[i] = max_acceleration_mm_per_s2[i] * axis_steps_per_mm[i];
NOLESS(highest_rate, max_acceleration_steps_per_s2[i]);
if (HIGHEST_CONDITION) NOLESS(highest_rate, max_acceleration_steps_per_s2[i]);
}
cutoff_long = 4294967295UL / highest_rate;
}
// Recalculate position, steps_to_mm if axis_steps_per_mm changes!
void Planner::refresh_positioning() {
LOOP_XYZE(i) steps_to_mm[i] = 1.0 / axis_steps_per_mm[i];
LOOP_XYZE_N(i) steps_to_mm[i] = 1.0 / axis_steps_per_mm[i];
set_position_mm_kinematic(current_position);
reset_acceleration_rates();
}

38
Marlin/planner.h
Unescape View File

@ -140,22 +140,26 @@ class Planner {
* A ring buffer of moves described in steps
*/
static block_t block_buffer[BLOCK_BUFFER_SIZE];
static volatile uint8_t block_buffer_head; // Index of the next block to be pushed
static volatile uint8_t block_buffer_tail;
static volatile uint8_t block_buffer_head, // Index of the next block to be pushed
block_buffer_tail;
static float max_feedrate_mm_s[NUM_AXIS]; // Max speeds in mm per second
static float axis_steps_per_mm[NUM_AXIS];
static float steps_to_mm[NUM_AXIS];
static unsigned long max_acceleration_steps_per_s2[NUM_AXIS];
static unsigned long max_acceleration_mm_per_s2[NUM_AXIS]; // Use M201 to override by software
#if ENABLED(DISTINCT_E_FACTORS)
static uint8_t last_extruder; // Respond to extruder change
#endif
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];
static unsigned long max_acceleration_steps_per_s2[XYZE_N],
max_acceleration_mm_per_s2[XYZE_N]; // Use M201 to override by software
static millis_t min_segment_time;
static float min_feedrate_mm_s;
static float acceleration; // Normal acceleration mm/s^2 DEFAULT ACCELERATION for all printing moves. M204 SXXXX
static float retract_acceleration; // Retract acceleration mm/s^2 filament pull-back and push-forward while standing still in the other axes M204 TXXXX
static float travel_acceleration; // Travel acceleration mm/s^2 DEFAULT ACCELERATION for all NON printing moves. M204 MXXXX
static float max_jerk[XYZE]; // The largest speed change requiring no acceleration
static float min_travel_feedrate_mm_s;
static float 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;
#if HAS_ABL
static bool abl_enabled; // Flag that bed leveling is enabled
@ -343,7 +347,13 @@ class Planner {
static void set_position_mm_kinematic(const float position[NUM_AXIS]);
static void set_position_mm(const AxisEnum axis, const float &v);
static FORCE_INLINE void set_z_position_mm(const float &z) { set_position_mm(Z_AXIS, z); }
static FORCE_INLINE void set_e_position_mm(const float &e) { set_position_mm(E_AXIS, e); }
static FORCE_INLINE void set_e_position_mm(const float &e) {
set_position_mm(E_AXIS
#if ENABLED(DISTINCT_E_FACTORS)
+ active_extruder
#endif
, e);
}
/**
* Sync from the stepper positions. (e.g., after an interrupted move)

82
Marlin/ultralcd.cpp
Unescape View File

@ -1850,7 +1850,35 @@ void kill_screen(const char* lcd_msg) {
void lcd_control_temperature_preheat_material2_settings_menu() { _lcd_control_temperature_preheat_settings_menu(1); }
void _reset_acceleration_rates() { planner.reset_acceleration_rates(); }
#if ENABLED(DISTINCT_E_FACTORS)
void _reset_e_acceleration_rate(const uint8_t e) { if (e == active_extruder) _reset_acceleration_rates(); }
void _reset_e0_acceleration_rate() { _reset_e_acceleration_rate(0); }
void _reset_e1_acceleration_rate() { _reset_e_acceleration_rate(1); }
#if E_STEPPERS > 2
void _reset_e2_acceleration_rate() { _reset_e_acceleration_rate(2); }
#if E_STEPPERS > 3
void _reset_e3_acceleration_rate() { _reset_e_acceleration_rate(3); }
#endif
#endif
#endif
void _planner_refresh_positioning() { planner.refresh_positioning(); }
#if ENABLED(DISTINCT_E_FACTORS)
void _planner_refresh_e_positioning(const uint8_t e) {
if (e == active_extruder)
_planner_refresh_positioning();
else
planner.steps_to_mm[i] = 1.0 / planner.axis_steps_per_mm[i];
}
void _planner_refresh_e0_positioning() { _reset_e_acceleration_rate(0); }
void _planner_refresh_e1_positioning() { _reset_e_acceleration_rate(1); }
#if E_STEPPERS > 2
void _planner_refresh_e2_positioning() { _reset_e_acceleration_rate(2); }
#if E_STEPPERS > 3
void _planner_refresh_e3_positioning() { _reset_e_acceleration_rate(3); }
#endif
#endif
#endif
/**
*
@ -1876,22 +1904,76 @@ void kill_screen(const char* lcd_msg) {
MENU_ITEM_EDIT(float52, MSG_VZ_JERK, &planner.max_jerk[Z_AXIS], 0.1, 990);
#endif
MENU_ITEM_EDIT(float3, MSG_VE_JERK, &planner.max_jerk[E_AXIS], 1, 990);
//
// M203 Settings
//
MENU_ITEM_EDIT(float3, MSG_VMAX MSG_X, &planner.max_feedrate_mm_s[X_AXIS], 1, 999);
MENU_ITEM_EDIT(float3, MSG_VMAX MSG_Y, &planner.max_feedrate_mm_s[Y_AXIS], 1, 999);
MENU_ITEM_EDIT(float3, MSG_VMAX MSG_Z, &planner.max_feedrate_mm_s[Z_AXIS], 1, 999);
#if ENABLED(DISTINCT_E_FACTORS)
MENU_ITEM_EDIT(float3, MSG_VMAX MSG_E, &planner.max_feedrate_mm_s[E_AXIS + active_extruder], 1, 999);
MENU_ITEM_EDIT(float3, MSG_VMAX MSG_E1, &planner.max_feedrate_mm_s[E_AXIS], 1, 999);
MENU_ITEM_EDIT(float3, MSG_VMAX MSG_E2, &planner.max_feedrate_mm_s[E_AXIS + 1], 1, 999);
#if E_STEPPERS > 2
MENU_ITEM_EDIT(float3, MSG_VMAX MSG_E3, &planner.max_feedrate_mm_s[E_AXIS + 2], 1, 999);
#if E_STEPPERS > 3
MENU_ITEM_EDIT(float3, MSG_VMAX MSG_E3, &planner.max_feedrate_mm_s[E_AXIS + 3], 1, 999);
#endif
#endif
#else
MENU_ITEM_EDIT(float3, MSG_VMAX MSG_E, &planner.max_feedrate_mm_s[E_AXIS], 1, 999);
#endif
MENU_ITEM_EDIT(float3, MSG_VMIN, &planner.min_feedrate_mm_s, 0, 999);
MENU_ITEM_EDIT(float3, MSG_VTRAV_MIN, &planner.min_travel_feedrate_mm_s, 0, 999);
//
// M201 Settings
//
MENU_ITEM_EDIT_CALLBACK(long5, MSG_AMAX MSG_X, &planner.max_acceleration_mm_per_s2[X_AXIS], 100, 99000, _reset_acceleration_rates);
MENU_ITEM_EDIT_CALLBACK(long5, MSG_AMAX MSG_Y, &planner.max_acceleration_mm_per_s2[Y_AXIS], 100, 99000, _reset_acceleration_rates);
MENU_ITEM_EDIT_CALLBACK(long5, MSG_AMAX MSG_Z, &planner.max_acceleration_mm_per_s2[Z_AXIS], 10, 99000, _reset_acceleration_rates);
#if ENABLED(DISTINCT_E_FACTORS)
MENU_ITEM_EDIT_CALLBACK(long5, MSG_AMAX MSG_E, &planner.max_acceleration_mm_per_s2[E_AXIS + active_extruder], 100, 99000, _reset_acceleration_rates);
MENU_ITEM_EDIT_CALLBACK(long5, MSG_AMAX MSG_E1, &planner.max_acceleration_mm_per_s2[E_AXIS], 100, 99000, _reset_e0_acceleration_rate);
MENU_ITEM_EDIT_CALLBACK(long5, MSG_AMAX MSG_E2, &planner.max_acceleration_mm_per_s2[E_AXIS + 1], 100, 99000, _reset_e1_acceleration_rate);
#if E_STEPPERS > 2
MENU_ITEM_EDIT_CALLBACK(long5, MSG_AMAX MSG_E3, &planner.max_acceleration_mm_per_s2[E_AXIS + 2], 100, 99000, _reset_e2_acceleration_rate);
#if E_STEPPERS > 3
MENU_ITEM_EDIT_CALLBACK(long5, MSG_AMAX MSG_E4, &planner.max_acceleration_mm_per_s2[E_AXIS + 3], 100, 99000, _reset_e3_acceleration_rate);
#endif
#endif
#else
MENU_ITEM_EDIT_CALLBACK(long5, MSG_AMAX MSG_E, &planner.max_acceleration_mm_per_s2[E_AXIS], 100, 99000, _reset_acceleration_rates);
#endif
MENU_ITEM_EDIT(float5, MSG_A_RETRACT, &planner.retract_acceleration, 100, 99000);
MENU_ITEM_EDIT(float5, MSG_A_TRAVEL, &planner.travel_acceleration, 100, 99000);
//
// M92 Settings
//
MENU_ITEM_EDIT_CALLBACK(float62, MSG_XSTEPS, &planner.axis_steps_per_mm[X_AXIS], 5, 9999, _planner_refresh_positioning);
MENU_ITEM_EDIT_CALLBACK(float62, MSG_YSTEPS, &planner.axis_steps_per_mm[Y_AXIS], 5, 9999, _planner_refresh_positioning);
MENU_ITEM_EDIT_CALLBACK(float62, MSG_ZSTEPS, &planner.axis_steps_per_mm[Z_AXIS], 5, 9999, _planner_refresh_positioning);
#if ENABLED(DISTINCT_E_FACTORS)
MENU_ITEM_EDIT_CALLBACK(float62, MSG_ESTEPS, &planner.axis_steps_per_mm[E_AXIS + active_extruder], 5, 9999, _planner_refresh_positioning);
MENU_ITEM_EDIT_CALLBACK(float62, MSG_ESTEPS MSG_E1, &planner.axis_steps_per_mm[E_AXIS], 5, 9999, _planner_refresh_e0_positioning);
MENU_ITEM_EDIT_CALLBACK(float62, MSG_ESTEPS MSG_E2, &planner.axis_steps_per_mm[E_AXIS + 1], 5, 9999, _planner_refresh_e1_positioning);
#if E_STEPPERS > 2
MENU_ITEM_EDIT_CALLBACK(float62, MSG_ESTEPS MSG_E3, &planner.axis_steps_per_mm[E_AXIS + 2], 5, 9999, _planner_refresh_e2_positioning);
#if E_STEPPERS > 3
MENU_ITEM_EDIT_CALLBACK(float62, MSG_ESTEPS MSG_E4, &planner.axis_steps_per_mm[E_AXIS + 3], 5, 9999, _planner_refresh_e3_positioning);
#endif
#endif
#else
MENU_ITEM_EDIT_CALLBACK(float62, MSG_ESTEPS, &planner.axis_steps_per_mm[E_AXIS], 5, 9999, _planner_refresh_positioning);
#endif
#if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
MENU_ITEM_EDIT(bool, MSG_ENDSTOP_ABORT, &stepper.abort_on_endstop_hit);
#endif

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